公开(公告)号：US12155000B2

公开(公告)日：2024-11-26

申请号：US17475010

申请日：2021-09-14

Applicant: Waymo LLC

Inventor： Caner Onal ,  Pierre-Yves Droz ,  Nirav Dharia

IPC: H01L31/107 ,  G01S7/481 ,  H01L27/144 ,  H01L31/0232 ,  H01L31/18

Abstract: An optical system may include a substrate and a plurality of silicon photomultipliers (SiPMs) monolithically integrated with the substrate. Each SiPM may include a plurality of single photon avalanche diodes (SPADs). The optical system also includes an aperture array having a plurality of apertures. The plurality of SiPMs and the aperture array are aligned so as to define a plurality of receiver channels. Each receiver channel includes a respective SiPM of the plurality of SiPMs optically coupled to a respective aperture of the plurality of apertures.

公开(公告)号：US11973154B2

公开(公告)日：2024-04-30

申请号：US18159508

申请日：2023-01-25

Applicant: Waymo LLC

Inventor： Caner Onal ,  Simon Verghese ,  Pierre-Yves Droz

IPC: H01L31/0352 ,  G01S17/89 ,  H01L27/144 ,  H01L31/107 ,  H01L31/18 ,  G01S7/486 ,  G01S7/4863

CPC classification number: H01L31/035272 ,  G01S17/89 ,  H01L27/1443 ,  H01L31/035281 ,  H01L31/107 ,  H01L31/186 ,  G01S7/4863 ,  G01S7/4868

Abstract: Example embodiments relate to controlling detection time in photodetectors. An example embodiment includes a device. The device includes a substrate. The device also includes a photodetector coupled to the substrate. The photodetector is arranged to detect light emitted from a light source that irradiates a top surface of the device. A depth of the substrate is at most 100 times a diffusion length of a minority carrier within the substrate so as to mitigate dark current arising from minority carriers photoexcited in the substrate based on the light emitted from the light source.

公开(公告)号：US20230408691A1

公开(公告)日：2023-12-21

申请号：US17806629

申请日：2022-06-13

Applicant: Waymo LLC

Inventor： Alex Bogatko ,  Caner Onal ,  Paul Karplus

IPC: G01S17/14 ,  G01S17/894 ,  G01S17/931 ,  G01S17/42 ,  G01S7/481 ,  G01S7/4861

CPC classification number: G01S17/14 ,  G01S17/894 ,  G01S7/4861 ,  G01S17/42 ,  G01S7/4817 ,  G01S17/931

Abstract: Example embodiments relate to light detectors for nearby object detection in light detection and ranging (lidar) devices. An example embodiment includes a lidar device. The lidar device includes a light emitter configured to emit a light signal at a first time. The lidar device also includes a light detector configured to detect the emitted light signal. Additionally, the lidar device includes a biasing circuit configured to modify a detector bias using a bias signal. The bias signal ramps the detector bias from a first bias level at the first time to a second bias level at a second time. The second time is separated from the first time by a ramp duration. The ramp duration is sufficient to prevent any internal feedback within the lidar device caused by the emitted light signal from saturating the light detector or detection circuitry associated with the light detector.

公开(公告)号：US20230194681A1

公开(公告)日：2023-06-22

申请号：US18171883

申请日：2023-02-21

Applicant: Waymo LLC

Inventor： Caner Onal ,  David Schleuning ,  Brendan Hermalyn ,  Simon Verghese ,  Alex McCauley ,  Brandyn White ,  Ury Zhilinsky

IPC: G01S7/4865 ,  G01S7/48 ,  G01S7/481 ,  G01S17/931

CPC classification number: G01S7/4865 ,  G01S7/4804 ,  G01S7/4816 ,  G01S17/931

Abstract: The present disclosure relates to systems and methods that provide both an image of a scene and depth information for the scene. An example system includes at least one time-of-flight (ToF) sensor and an imaging sensor. The ToF sensor and the imaging sensor are configured to receive light from a scene. The system also includes at least one light source and a controller that carries out operations. The operations include causing the at least one light source to illuminate at least a portion of the scene with illumination light according to an illumination schedule. The operations also include causing the at least one ToF sensor to provide information indicative of a depth map of the scene based on the illumination light. The operations additionally include causing the imaging sensor to provide information indicative of an image of the scene based on the illumination light.

公开(公告)号：US11145778B2

公开(公告)日：2021-10-12

申请号：US16577035

申请日：2019-09-20

Applicant: Waymo LLC

Inventor： Caner Onal ,  Pierre-Yves Droz ,  Nirav Dharia

IPC: H01L31/107 ,  H01L31/0232 ,  G01S7/481 ,  H01L31/18 ,  H01L27/144

Abstract: An optical system may include a substrate and a plurality of silicon photomultipliers (SiPMs) monolithically integrated with the substrate. Each SiPM may include a plurality of single photon avalanche diodes (SPADs). The optical system also includes an aperture array having a plurality of apertures. The plurality of SiPMs and the aperture array are aligned so as to define a plurality of receiver channels. Each receiver channel includes a respective SiPM of the plurality of SiPMs optically coupled to a respective aperture of the plurality of apertures.

公开(公告)号：US11131781B2

公开(公告)日：2021-09-28

申请号：US16577021

申请日：2019-09-20

Applicant: Waymo LLC

Inventor： Simon Verghese ,  Caner Onal ,  Pierre-Yves Droz

IPC: G01S17/89 ,  G01T1/24 ,  G01T1/29 ,  G01T1/208 ,  G01T1/20 ,  G01S17/90

Abstract: The present disclosure relates to devices, systems, and methods relating to configurable silicon photomultiplier (SiPM) devices. An example device includes a substrate and a plurality of single photon avalanche diodes (SPADs) coupled to the substrate. The device also includes a plurality of outputs coupled to the substrate and a plurality of electrical components coupled to the substrate. The plurality of electrical components are configured to selectively connect the plurality of SPADs to the plurality of outputs by selecting which output of the plurality of outputs is connected to each SPAD of the plurality of SPADs and to thereby define a plurality of SiPMs in the device such that each SiPM of the plurality of SiPMs comprises a respective set of one or more SPADs connected to a respective output of the plurality of outputs.

公开(公告)号：US20210173047A1

公开(公告)日：2021-06-10

申请号：US16838581

申请日：2020-04-02

Applicant: Waymo LLC

Inventor： Pierre-Yves Droz ,  Caner Onal ,  Simon Ellgas ,  Augusto Tazzoli

IPC: G01S7/484 ,  G01S17/931 ,  G01S17/42 ,  G01S7/497

Abstract: Example embodiments relate to pulse energy plans for light detection and ranging (lidar) devices based on areas of interest and thermal budgets. An example lidar device includes a plurality of light emitters configured to emit light pulses into an environment in a plurality of different emission directions. The lidar device also includes circuitry configured to power the plurality of light emitters. Further, the lidar device includes a plurality of detectors configured to detect reflections of light pulses emitted by the plurality of light emitters. In addition, the lidar device includes a controller configured to (i) determine a pulse energy plan based on one or more regions of interest in the environment and a thermal budget and (ii) control the circuitry based on the pulse energy plan. The pulse energy plan specifies a pulse energy level for each light pulse emitted by each light emitter in the plurality of light emitters.

公开(公告)号：US20190317503A1

公开(公告)日：2019-10-17

申请号：US16453401

申请日：2019-06-26

Applicant: Waymo LLC

Inventor： Pierre-Yves Droz ,  Caner Onal ,  William McCann ,  Bernard Fidric ,  Vadim Gutnik ,  Laila Mattos ,  Rahim Pardhan

IPC: G05D1/02 ,  G01S7/481 ,  G01S13/93 ,  G01S7/491 ,  G01S17/93 ,  G01S17/42 ,  G01S17/02 ,  G01S17/89

Abstract: Described herein is a LIDAR device that may include a transmitter, first and second receivers, and a rotating platform. The transmitter may be configured to emit light having a vertical beam width. The first receiver may be configured to detect light at a first resolution while scanning the environment with a first FOV and the second receiver may be configured to detect light at a second resolution while scanning the environment with a second FOV. In this arrangement, the first resolution may be higher than the second resolution, the first FOV may be at least partially different from the second FOV, and the vertical beam width may encompass at least a vertical extent of the first and second FOVs. Further, the rotating platform may be configured to rotate about an axis such that the transmitter and first and second receivers each move based on the rotation.

公开(公告)号：US12169252B2

公开(公告)日：2024-12-17

申请号：US18334039

申请日：2023-06-13

Applicant: Waymo LLC

Inventor： Pierre-Yves Droz ,  Caner Onal ,  Simon Ellgas ,  Augusto Tazzoli

IPC: G01S7/484 ,  G01S7/497 ,  G01S17/42 ,  G01S17/931

Abstract: Example embodiments relate to pulse energy plans for light detection and ranging (lidar) devices based on areas of interest and thermal budgets. An example lidar device includes a plurality of light emitters configured to emit light pulses into an environment in a plurality of different emission directions. The lidar device also includes circuitry configured to power the plurality of light emitters. Further, the lidar device includes a plurality of detectors configured to detect reflections of light pulses emitted by the plurality of light emitters. In addition, the lidar device includes a controller configured to (i) determine a pulse energy plan based on one or more regions of interest in the environment and a thermal budget and (ii) control the circuitry based on the pulse energy plan. The pulse energy plan specifies a pulse energy level for each light pulse emitted by each light emitter in the plurality of light emitters.

公开(公告)号：US12072451B2

公开(公告)日：2024-08-27

申请号：US17455239

申请日：2021-11-17

Applicant: Waymo LLC

Inventor： Jingyuan Linda Zhang ,  Caner Onal

IPC: G01S7/497 ,  B60S1/56 ,  G01S17/931

CPC classification number: G01S7/497 ,  B60S1/56 ,  G01S17/931 ,  G01S2007/4977

Abstract: An example method includes receiving point cloud information about a field of view of a lidar system. The point cloud information includes spatiotemporal and amplitude information about return light received. The method also includes determining, based on the point cloud information, a set of bright light returns from at least one highly reflective object. The bright light returns include return light having an amplitude above a photon threshold and a corresponding bright light return range. The method yet further includes determining, based on the point cloud information, a set of crosstalk returns. The crosstalk returns include return light having a corresponding crosstalk return range. The method includes adjusting, based on a normalized number of crosstalk returns, at least one of: a cleaning system, an operating mode of a lidar system, or an operating mode of a vehicle.