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1. 发明申请

WO2023091399A2 LIDAR SYSTEM WITH SCENE DEPENDENT FOCUS INTENSITY 审中-公开
公开(公告)号：WO2023091399A2
公开(公告)日：2023-05-25
申请号：PCT/US2022/049937
申请日：2022-11-15
申请人： LUMINAR, LLC
发明人： NUSS, Dominik , MAHESHWARI, Pranav , KHILARI, Shubham C. , PEGADO, Flavian , ENGLARD, Benjamin , BIRKE, Manuel
IPC分类号： G01S7/481 , G01S7/497 , G01S17/42 , G01S17/931
摘要： An imaging system is described for generating an estimate for the virtual horizon for a moving vehicle. The estimate of the virtual horizon can correspond to lower and higher boundaries of a region within the field of regard, such that the virtual horizon is between the lower and the higher boundaries. In cases where determination of the virtual horizon may be unreliable due to traffic, weather or other road conditions that obscure the visibility in front of the vehicle the imaging system may switch to a static vertical scan density pattern having a broad central focus, which can mitigate the possibility that the system focuses on an incorrect virtual horizon and fails to capture significant objects or conditions in the roadway.

2. 发明申请

WO2022192199A1 HYBRID PULSED/COHERENT LIDAR SYSTEM 审中-公开
公开(公告)号：WO2022192199A1
公开(公告)日：2022-09-15
申请号：PCT/US2022/019268
申请日：2022-03-08
申请人： LUMINAR, LLC
发明人： LACHAPELLE, Joseph G. , EICHENHOLZ, Jason M. , SINCORE, Alex Michael
IPC分类号： G01S7/4912 , G01S17/10 , H01S5/062 , H01S5/50 , G01S7/481 , G01S17/32 , H01S5/0625 , G01S17/89
摘要： In one embodiment, a lidar system includes a light source configured to emit (i) local-oscillator light and (ii) pulses of light, where each emitted pulse of light is coherent with a corresponding temporal portion of the local-oscillator light. The lidar system also includes a receiver configured to detect the local-oscillator light and a received pulse of light, the received pulse of light including a portion of one of the emitted pulses of light scattered by a target located a distance from the lidar system. The receiver includes a detector configured to produce a photocurrent signal corresponding to the local-oscillator light and the received pulse of light. The photocurrent signal includes a sum of a first term, a second term, and a third term.

3. 发明申请

WO2022076242A2 VELOCITY DETERMINATION WITH A SCANNED LIDAR SYSTEM 审中-公开
公开(公告)号：WO2022076242A2
公开(公告)日：2022-04-14
申请号：PCT/US2021/052883
申请日：2021-09-30
申请人： LUMINAR, LLC
发明人： MAHESHWARI, Pranav , GEBRE, Meseret R. , KHILARI, Shubham C. , RAMEZANI, Vahid R.
IPC分类号： G01S7/48 , G01S17/58 , G01S17/931 , G01S13/42 , G01S13/58 , G01S13/931 , G01S17/42 , G01S13/588 , G01S17/89 , G01S7/4808 , G01S7/4817 , G06K9/6218 , G06T2207/10028 , G06T7/13
摘要： A scanning imaging sensor is configured to sense an environment through which a vehicle is moving. A method for determining one or velocities associated with objects in the environment includes generating features from the first set of scan lines and the second set of scan lines, the two sets corresponding to two instances in time. The method further includes generating a collection of candidate velocities based on feature locations and time differences, the features selected pairwise with one from the first set and another from the second set. Furthermore, the method includes analyzing the distribution of candidate velocities, for example, by identifying one or more modes from the collection of the candidate velocities.

4. 发明申请

WO2023003997A2 LIDAR SYSTEM WITH PULSE-ENERGY MEASUREMENT 审中-公开
公开(公告)号：WO2023003997A2
公开(公告)日：2023-01-26
申请号：PCT/US2022/037802
申请日：2022-07-21
申请人： LUMINAR, LLC
发明人： SHAH, Lawrence , MINASI, David, H.
IPC分类号： G01S7/481 , G01S7/497 , G01S17/10 , G01R29/027 , G01S17/89 , G01S7/4814 , G01S7/4817 , G01S7/4818 , G01S7/484 , G01S7/4865
摘要： A system includes a light source, an optical splitter, and a pulse-energy measurement circuit. The light source is configured to generate an emitted beam of light that includes an emitted pulse of light. The optical splitter is configured to split the emitted beam of light to produce at least (i) a test beam of light that includes a test pulse of light, the test pulse of light including a first portion of the emitted pulse of light and (ii) an output beam of light that includes an output pulse of light, the output pulse of light including a second portion of the emitted pulse of light allowed to at least in part exit the system. The pulse-energy measurement circuit is configured to receive the test pulse of light and determine a numerical value corresponding to an individual energy amount of the test pulse of light.

5. 发明申请

WO2022132451A1 GENERATING LIDAR SCAN PATTERNS USING REINFORCEMENT MACHINE LEARNING 审中-公开
公开(公告)号：WO2022132451A1
公开(公告)日：2022-06-23
申请号：PCT/US2021/061585
申请日：2021-12-02
申请人： LUMINAR, LLC
发明人： MAHESHWARI, Pranav , RAMEZANI, Vahid R. , ENGLARD, Benjamin , RUSSELL, Austin K. , BURBANK, Istvan Peter , KHILARI, Shubham C. , GEBRE, Meseret R.
IPC分类号： G01S7/481 , G01S17/931
摘要： A method for determining a scan pattern according to which a sensor equipped with a scanner scans a field of regard (FOR) is presented. The method comprises obtaining, by processing hardware, a plurality of objective functions, each of the objective functions specifying a cost for a respective property of the scan pattern, expressed in terms of one or more operational parameters of the scanner. The method further includes applying, by the processing hardware, an optimization scheme to the plurality of objective functions to generate the scan pattern. The method further includes scanning the FOR according to the generated scan pattern.

6. 发明申请

WO2022076259A1 ELEVATION MOTOR DESIGN AND MIRROR PLACEMENT 审中-公开
公开(公告)号：WO2022076259A1
公开(公告)日：2022-04-14
申请号：PCT/US2021/053145
申请日：2021-10-01
申请人： LUMINAR, LLC
发明人： HUGHES, Sean P.
IPC分类号： G01S7/481
摘要： A scanner for a lidar system configured to direct emitted light to scan a field of regard of the lidar system includes a mirror and an actuator assembly. The mirror includes a first end, a second end, and a reflective surface and is pivotable along a mirror axle. The actuator assembly is disposed at the first end of the mirror and includes an asymmetric motor configured to exert a torque on the mirror to cause the mirror to pivot about the mirror axle.

7. 发明申请

WO2021226027A1 GRAPH NEURAL NETWORK FOR MULTI-OBJECT DETECTION AND TRACKING 审中-公开
公开(公告)号：WO2021226027A1
公开(公告)日：2021-11-11
申请号：PCT/US2021/030580
申请日：2021-05-04
申请人： LUMINAR, LLC
发明人： RAMEZANI, Vahid R. , RANGESH, Akshay , ENGLARD, Benjamin , MHATRE, Siddhesh Suhas , GEBRE, Meseret R. , MAHESHWARI, Pranav
IPC分类号： G06K9/00
摘要： A method for multi-object tracking includes receiving a sequence of images generated at respective times by one or more sensors configured to sense an environment through which objects are moving relative to the one or more sensors, and constructing a message passing graph in which each of a multiplicity of layers corresponds to a respective one in the sequence of images. The method also includes tracking multiple features through the sequence of images, including passing messages in a forward direction and a backward direction through the message passing graph to share information across time.

8. 发明申请

WO2021201946A2 LANE DETECTION AND TRACKING TECHNIQUES FOR IMAGING SYSTEMS 审中-公开
公开(公告)号：WO2021201946A2
公开(公告)日：2021-10-07
申请号：PCT/US2021/012288
申请日：2021-01-06
申请人： LUMINAR, LLC
发明人： MAHESHWARI, Pranav , RAMEZANI, Vahid R. , HOUCHEIMI, Ismail El , KHILARI, Shubham C. , MEHTA, Rounak Subodh , ENGLARD, Benjamin
IPC分类号： B60W40/072 , G05D1/02 , G05D1/00 , G06K9/46 , G06N20/00 , G06K9/00 , G08G1/04 , G06T11/20 , B60W60/00
摘要： A method for tracking a lane on a road is presented. The method comprises receiving, by one or more processors from an imaging system, a set of pixels associated with lane markings. The method further includes generating, by the one or more processors, a predicted spline comprising (i) a first spline and (ii) a predicted extension of the first spline in a direction in which the imaging system is moving. The first spline describes a boundary of a lane and is generated based on the set of pixels. The predicted extension of the first spline is generated based at least in part on a curvature of at least a portion of the first spline.

9. 发明申请

WO2023015281A1 LIDAR SYSTEM WITH SEMICONDUCTOR WINDOW 审中-公开
公开(公告)号：WO2023015281A1
公开(公告)日：2023-02-09
申请号：PCT/US2022/074586
申请日：2022-08-05
申请人： LUMINAR, LLC
发明人： MIELKE, Stephen, L. , GAALEMA, Stephen, D. , DANNENBERG, Rand , BUCHSBAUM, Philip , GATES, James, L.
IPC分类号： G01S7/481 , G01S17/931
摘要： A system includes a light source, a receiver, and an enclosure (600). The light source emits an optical signal and the receiver detects a received optical signal including at least a portion of the emitted optical signal scattered by an external target. The enclosure (600) includes a housing (610) and a semiconductor window (620) including semiconductor material (621), conductive coating (640), and anti-reflection, AR, coating (660). The semiconductor window (620) includes a semiconductor material to allow at least a portion of the emitted optical signal and the received optical signal to pass through the semiconductor window (620). The enclosure (600), including the housing (610) and the semiconductor window (620), is configured to attenuate radio-frequency, RF, electromagnetic radiation. Window (620) is affixed to housing (610) using conductive epoxy (650). Conductive epoxy (650) is an electrically conductive epoxy or adhesive used to affix window (620) to housing (610). It provides at least an electrical coupling between window (620) and housing (610). Using a semiconductor window, a lidar system can have significantly improved electromagnetic interference, EMI, properties while maintaining good optical transmission properties for transmitting and receiving light beams. In an embodiment, window (620) includes a heating element. The heating functionality allows semiconductor material (621) to melt obstructions such as frozen water on or near the external-facing surface of the associated enclosure, such as an enclosure for a lidar system.

10. 发明申请

WO2022256543A1 PROTECTIVE MASK FOR AN OPTICAL RECEIVER 审中-公开
公开(公告)号：WO2022256543A1
公开(公告)日：2022-12-08
申请号：PCT/US2022/031980
申请日：2022-06-02
申请人： LUMINAR, LLC
发明人： MIELKE, Stephen L. , CANNON, Roger S.
IPC分类号： H01L31/0203 , G01S7/481 , G01S17/10 , G01S17/42
摘要： An optical receiver including an ASIC, a light detector element, and a protective mask is disclosed. The light detector element is disposed on the ASIC and has a top surface oriented toward incident light, the top surface including a portion configured to receive the incident light and via which the incident light reaches an active area of the light detector element. The protective mask is placed over the ASIC so as to (i) cover, from the incident light, a portion of the ASIC, and (ii) provide an aperture that defines an optical path for the incident light through the protective mask to the portion of the top surface of the light detector element.

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