公开(公告)号：US20180356500A1

公开(公告)日：2018-12-13

申请号：US16030514

申请日：2018-07-09

Applicant: Waymo LLC

Inventor： Benjamin INGRAM ,  Pierre-Yves DROZ ,  Luke WACHTER ,  Scott MCCLOSKEY ,  Blaise GASSEND ,  Gaetan PENNECOT

IPC: G01S7/481 ,  G01S17/10 ,  H01S3/11

CPC classification number: G01S7/4815 ,  G01S7/484 ,  G01S17/10 ,  G01S17/936 ,  H01S3/11 ,  H01S3/2308 ,  H01S5/4025 ,  H01S5/4056

Abstract: The present disclosure relates to systems and methods that facilitate light detection and ranging operations. An example transmit block includes at least one substrate with a plurality of angled facets. The plurality of angled facets provides a corresponding plurality of elevation angles. A set of angle differences between adjacent elevation angles includes at least two different angle difference values. A plurality of light-emitter devices is configured to emit light into an environment along the plurality of elevation angles toward respective target locations so as to provide a desired resolution and/or a respective elevation angle. The present disclosure also relates to adjusting shot power and a shot schedule based on the desired resolution and/or a respective elevation angle.