公开(公告)号：US12146967B2

公开(公告)日：2024-11-19

申请号：US17568360

申请日：2022-01-04

Applicant: Aurora Operations, Inc.

Inventor： Stephen C. Crouch ,  Edward Angus ,  Michelle Milvich

IPC: G01S17/931 ,  B60W10/18 ,  B60W10/20 ,  B60W30/09 ,  B60W30/095 ,  B60W60/00 ,  G01S7/481 ,  G01S7/493 ,  G01S17/32 ,  G01S17/58 ,  G01S17/89 ,  G01S17/894 ,  G02B6/26 ,  G02B26/10 ,  G02B26/12

Abstract: An autonomous vehicle includes a LIDAR system that includes a waveguide array, a collimator configured to receive a plurality of beams from the waveguide array and output a plurality of collimated beams, and a scanner configured to adjust a direction of the plurality of collimated beams. The vehicle also includes one or more processors configured to determine a range to an object based on a return signal received from reflection or scattering of the plurality of collimated beams by the object and to control operation of at least one of a steering system or the braking system based on the range.

公开(公告)号：US11841441B2

公开(公告)日：2023-12-12

申请号：US17584169

申请日：2022-01-25

Applicant: AURORA OPERATIONS, INC.

Inventor： Zeb William Barber ,  Stephen C. Crouch ,  Ryan Moore Galloway ,  Edward Joseph Angus ,  Emil Kadlec

IPC: G01S13/93 ,  G01S17/931 ,  G01S7/48 ,  G01S7/4865 ,  G01S17/32 ,  G01S7/481 ,  G02B26/10

CPC classification number: G01S17/931 ,  G01S7/4804 ,  G01S7/4817 ,  G01S7/4865 ,  G01S17/32 ,  G02B26/105

Abstract: A LIDAR system includes a laser source, a first scanner, and a second scanner. The first scanner receives a first beam from the laser source and applies a first angle modulation to the first beam to output a second beam at a first angle. The second scanner receives the second beam and applies a second angle modulation to the second beam to output a third beam at a second angle.

公开(公告)号：US20220146643A1

公开(公告)日：2022-05-12

申请号：US17584169

申请日：2022-01-25

Applicant: AURORA OPERATIONS, INC.

Inventor： Zeb William Barber ,  Stephen C. Crouch ,  Ryan Moore Galloway ,  Edward Joseph Angus ,  Emil Kadlec

IPC: G01S7/481 ,  G01S17/931 ,  G02B26/10

Abstract: A LIDAR system includes a laser source, a first scanner, and a second scanner. The first scanner receives a first beam from the laser source and applies a first angle modulation to the first beam to output a second beam at a first angle. The second scanner receives the second beam and applies a second angle modulation to the second beam to output a third beam at a second angle.

公开(公告)号：US12196854B2

公开(公告)日：2025-01-14

申请号：US18099842

申请日：2023-01-20

Applicant: Aurora Operations, Inc.

Inventor： Stephen C. Crouch ,  Randy R. Reibel ,  James Curry ,  Michelle Milvich ,  Krishna Rupavatharam

IPC: G01S17/32 ,  G01S7/487 ,  G01S17/26 ,  G01S17/42 ,  G01S17/58 ,  G01S7/51

Abstract: Doppler correction of phase-encoded LIDAR includes a code indicating a sequence of phases for a phase-encoded signal, and determining a first Fourier transform of the signal. A laser optical signal is used as a reference and modulated based on the code to produce a transmitted phase-encoded optical signal. A returned optical signal is received in response. The returned optical signal is mixed with the reference. The mixed optical signals are detected to produce an electrical signal. A cross spectrum is determined between in-phase and quadrature components of the electrical signal. A Doppler shift is based on a peak in the cross spectrum. A device is operated based on the Doppler shift. Sometimes a second Fourier transform of the electrical signal and the Doppler frequency shift produce a corrected Fourier transform and then a cross correlation. A range is determined based on a peak in the cross correlation.

公开(公告)号：US20240192379A1

公开(公告)日：2024-06-13

申请号：US18587208

申请日：2024-02-26

Applicant: Aurora Operations, Inc.

Inventor： Devlin Baker ,  Stephen C. Crouch

IPC: G01S17/931 ,  G01S17/58 ,  G01S17/894

CPC classification number: G01S17/931 ,  G01S17/58 ,  G01S17/894

Abstract: Techniques for controlling an autonomous vehicle with a processor that controls operation, includes operating a Doppler LIDAR system to collect point cloud data that indicates for each point at least four dimensions including an inclination angle, an azimuthal angle, a range, and relative speed between the point and the LIDAR system. A value of a property of an object in the point cloud is determined based on only three or fewer of the at least four dimensions. In some of embodiments, determining the value of the property of the object includes isolating multiple points in the point cloud data which have high value Doppler components. A moving object within the plurality of points is determined based on a cluster by azimuth and Doppler component values.

公开(公告)号：US11953677B2

公开(公告)日：2024-04-09

申请号：US17066077

申请日：2020-10-08

Applicant: Aurora Operations, Inc.

Inventor： Stephen C. Crouch ,  Edward Joseph Angus ,  Michelle Milvich

IPC: G02B26/12 ,  G01S7/481 ,  G01S13/42 ,  G01S17/00 ,  G01S17/02 ,  G01S17/88 ,  G01S17/931 ,  G01S17/933

CPC classification number: G02B26/123 ,  G01S7/4817 ,  G01S17/02 ,  G01S17/931 ,  G01S7/481 ,  G01S13/426 ,  G01S13/428 ,  G01S17/00 ,  G01S17/88 ,  G01S17/933 ,  G02B26/129

Abstract: An apparatus include a motor, a first scanner, and a second scanner. The first scanner is coupled to the motor, and the motor is configured to rotate the first scanner at a first angular velocity about a rotation axis to deflect a first beam incident in a third plane on the first scanner into a first plane different from the third plane. The second scanner is coupled to the motor, and the motor is configured to rotate the second scanner at a second angular velocity different from the first angular velocity about the rotation axis to deflect a second beam incident in the third plane on the second scanner into a second plane different from the third plane.

公开(公告)号：US11921210B2

公开(公告)日：2024-03-05

申请号：US17959406

申请日：2022-10-04

Applicant: Aurora Operations, Inc.

Inventor： Stephen C. Crouch ,  Brant Kaylor ,  Randy R. Reibel

IPC: G01S17/42 ,  G01S7/48 ,  G01S17/89 ,  G06F18/22 ,  G06F18/2413 ,  G06F18/2431 ,  G06V10/40 ,  G06V10/74 ,  G06V10/75 ,  G06V10/764 ,  G06V20/64

CPC classification number: G01S17/42 ,  G01S7/4802 ,  G01S7/4808 ,  G01S17/89 ,  G06F18/22 ,  G06F18/24147 ,  G06F18/2431 ,  G06V10/40 ,  G06V10/7515 ,  G06V10/761 ,  G06V10/764 ,  G06V20/64

Abstract: A method for classifying an object in a point cloud includes computing first and second classification statistics for one or more points in the point cloud. Closest matches are determined between the first and second classification statistics and a respective one of a set of first and second classification statistics corresponding to a set of N classes of a respective first and second classifier, to estimate the object is in a respective first and second class. If the first class does not correspond to the second class, a closest fit is performed between the point cloud and model point clouds for only the first and second classes of a third classifier. The object is assigned to the first or second class, based on the closest fit within near real time of receiving the 3D point cloud. A device is operated based on the assigned object class.

公开(公告)号：US12241978B2

公开(公告)日：2025-03-04

申请号：US18320821

申请日：2023-05-19

Applicant: Aurora Operations, Inc.

Inventor： Stephen C. Crouch ,  Zeb William Barber ,  Emil Kadlec ,  Krishna Rupavatharam

IPC: G01S17/10 ,  G01S17/32 ,  G01S17/931 ,  G05D1/00

Abstract: An autonomous vehicle control system may include one or more processors configured to receive an electrical signal generated based on a returned optical signal that is reflected from an object. The one or more processors may determine a Doppler frequency shift of the returned optical signal over a first duration of the electrical signal. The one or more processors may generate a corrected electrical signal based on the Doppler frequency shift. The one or more processors may determine a range to the object based on the corrected electrical signal over a second duration that is shorter than the first duration. The one or more processors may control at least one of a steering system or a braking system based on the range.

公开(公告)号：US20250035791A1

公开(公告)日：2025-01-30

申请号：US18910994

申请日：2024-10-09

Applicant: Aurora Operations, Inc.

Inventor： Stephen C. Crouch ,  Edward Angus ,  Michelle Milvich

IPC: G01S17/931 ,  B60W10/18 ,  B60W10/20 ,  B60W30/09 ,  B60W30/095 ,  B60W60/00 ,  G01S7/481 ,  G01S7/493 ,  G01S17/32 ,  G01S17/58 ,  G01S17/89 ,  G01S17/894 ,  G02B6/26 ,  G02B26/10 ,  G02B26/12

Abstract: An autonomous vehicle includes a LIDAR system that includes a waveguide array, a collimator configured to receive a plurality of beams from the waveguide array and output a plurality of collimated beams, and a scanner configured to adjust a direction of the plurality of collimated beams. The vehicle also includes one or more processors configured to determine a range to an object based on a return signal received from reflection or scattering of the plurality of collimated beams by the object and to control operation of at least one of a steering system or the braking system based on the range.

公开(公告)号：US11947017B2

公开(公告)日：2024-04-02

申请号：US17956389

申请日：2022-09-29

Applicant: Aurora Operations, Inc.

Inventor： Devlin Baker ,  Stephen C. Crouch

IPC: G01S17/931 ,  G01S17/58 ,  G01S17/894

CPC classification number: G01S17/931 ,  G01S17/58 ,  G01S17/894

Abstract: Techniques for controlling an autonomous vehicle with a processor that controls operation, includes operating a Doppler LIDAR system to collect point cloud data that indicates for each point at least four dimensions including an inclination angle, an azimuthal angle, a range, and relative speed between the point and the LIDAR system. A value of a property of an object in the point cloud is determined based on only three or fewer of the at least four dimensions. In some of embodiments, determining the value of the property of the object includes isolating multiple points in the point cloud data which have high value Doppler components. A moving object within the plurality of points is determined based on a cluster by azimuth and Doppler component values.