Lidar system
In one embodiment, a lidar system includes a light source configured to emit pulses of light and a scanner configured to scan at least a portion of the emitted pulses of light across a field of regard. The lidar system also includes a receiver configured to detect at least a portion of the scanned pulses of light scattered by a target located a distance from the lidar system.
1. A lidar system comprising:
a light source configured to emit pulses of light;
a scanner configured to scan at least a portion of the emitted pulses of light across a field of regard; and
a receiver comprising an avalanche photodiode (APD), a first comparator, a second comparator, and a time-to-digital converter (TDC), wherein the receiver is configured to detect at least a portion of the scanned pulses of light scattered by a target located a distance from the lidar system by generating, by the APD, an electrical-current signal corresponding to a received pulse of light, the received pulse of light corresponding to a pulse of light emitted by the light source, and wherein:
the first comparator is configured to produce a first electrical-edge signal when a voltage signal corresponding to the electrical-current signal generated by the APD rises above a first predetermined threshold voltage;
the second comparator is configured to produce a second electrical-edge signal when the voltage signal falls below a second predetermined threshold voltage; and
the TDC is configured to:
receive the first and second electrical-edge signals;
determine a first interval of time between emission of the pulse of light by the light source and receipt of the first electrical-edge signal; and
determine a second interval of time between emission of the pulse of light by the light source and receipt of the second electrical-edge signal.
2. The lidar system of claim 1 , further comprising a sensor head located remotely from the light source, wherein:
the sensor head comprises the scanner and the receiver; and
the sensor head is coupled to the light source by an optical link, wherein the optical link conveys the portion of the emitted pulses of light from the light source to the sensor head.
3. The lidar system of claim 2 , wherein the lidar system further comprises one or more additional sensor heads, wherein:
each of the additional sensor heads comprises a respective scanner and receiver; and
the light source is coupled to each of the additional sensor heads by a respective optical link which conveys a respective portion of the emitted pulses of light from the light source to each of the additional sensor heads.
4. The lidar system of claim 2 , wherein the lidar system is incorporated into a vehicle wherein the sensor head and one or more additional sensor heads of the lidar system are positioned to provide a greater than or equal to 30-degree view of an environment around the vehicle.
5. The lidar system of claim 1 , wherein the lidar system has a maximum range of greater than or equal to 50 meters.
6. The lidar system of claim 1 , wherein the field of regard comprises:
a horizontal field of regard greater than or equal to 25 degrees; and
a vertical field of regard greater than or equal to 5 degrees.
7. The lidar system of claim 1 , wherein the lidar system has a horizontal resolution of greater than or equal to 100 pixels and a vertical resolution of greater than or equal to 4 pixels.
8. The lidar system of claim 1 , wherein the lidar system is configured to generate point clouds at a rate between approximately 0.1 frames per second and approximately 1,000 frames per second.
9. The lidar system of claim 1 , wherein the light source comprises a pulsed laser diode.
10. The lidar system of claim 1 , wherein the light source comprises:
a seed laser configured to produce optical seed pulses; and
one or more optical amplifiers configured to amplify the optical seed pulses to produce the pulses of light emitted by the light source.
11. The lidar system of claim 10 , wherein the seed laser comprises a distributed-feedback (DFB) laser or a distributed-Bragg reflector (DBR) laser.
12. The lidar system of claim 1 , wherein the light source comprises a booster amplifier comprising a double-clad gain fiber comprising erbium dopants or erbium and ytterbium dopants.
13. The lidar system of claim 1 , wherein the light source comprises:
a plurality of laser diodes, wherein each laser diode is configured to produce light at a different operating wavelength; and
an optical multiplexer configured to combine the light produced by each laser diode into a single optical fiber.
14. The lidar system of claim 1 , wherein the light source is an eye-safe laser with an operating wavelength between approximately 1400 nm and approximately 1600 nm.
15. The lidar system of claim 1 , wherein the pulses of light emitted by the light source have pulse characteristics comprising:
an operating wavelength between approximately 1400 nm and approximately 1600 nm;
a pulse repetition frequency of less than or equal to 100 MHz;
a pulse duration of less than or equal to 20 nanoseconds; and
a duty cycle of less than or equal to 1%.
16. The lidar system of claim 15 , wherein the pulse characteristics further comprise:
a pulse energy of greater than or equal to 10 nanojoules;
a peak power of greater than or equal to 1 watt; and
an average power of less than or equal to 50 watts.
17. The lidar system of claim 1 , wherein the light source comprises an optical filter configured to transmit light at one or more operating wavelengths of the light source and attenuate light away from the transmitted wavelengths by at least 10 dB.
18. The lidar system of claim 1 , wherein the light source comprises an optical filter configured to reduce an amount of amplified spontaneous emission light produced by one or more optical amplifiers of the light source.
19. The lidar system of claim 1 , wherein the light source comprises a diode-pumped solid-state (DP S S) laser.
20. The lidar system of claim 1 , wherein the scanner comprises one or more mirrors, wherein each mirror is mechanically driven by a galvanometer scanner, a resonant scanner, a microelectromechanical systems (MEMS) device, or a voice coil motor.
21. The lidar system of claim 20 , wherein the scanner comprises:
a first mirror driven by a first galvanometer scanner that scans the first mirror along a first direction; and
a second mirror driven by a second galvanometer scanner that scans the second mirror along a second direction substantially orthogonal to the first direction.
22. The lidar system of claim 20 , wherein the scanner comprises:
a first mirror driven by a resonant scanner that scans the first mirror along a first direction; and
a second mirror driven by a galvanometer scanner that scans the second mirror along a second direction substantially orthogonal to the first direction.
23. The lidar system of claim 1 , wherein the scanner comprises two mirrors driven synchronously, wherein the synchronously driven mirrors trace out a scan pattern that comprises substantially straight lines.
24. The lidar system of claim 1 , wherein the scanner comprises a mirror driven by two actuators configured to scan the mirror along two substantially orthogonal directions.
25. The lidar system of claim 1 , wherein the scanner comprises a mirror configured to be scanned along two axes, wherein motion along each axis is provided by two actuators arranged in a push-pull configuration.
26. The lidar system of claim 1 , wherein the receiver further comprises a transimpedance amplifier (TIA) and a voltage-gain circuit, wherein the TIA and voltage-gain circuit are configured to receive the electrical-current signal from the APD and produce the voltage signal that corresponds to the electrical-current signal.
27. The lidar system of claim 1 , wherein determining the first or second interval of time comprises determining a time associated with the emission of the pulse of light by the light source, wherein the time associated with the emission of the pulse of light is determined based at least in part on detection by the receiver of a portion of light from the emitted pulse of light.
28. The lidar system of claim 1 , further comprising a processor configured to determine the distance from the lidar system to the target based at least in part on the first and second intervals of time.
29. The lidar system of claim 1 , further comprising an optical filter located in front of the receiver, wherein the optical filter is configured to transmit light at one or more operating wavelengths of the light source and attenuate light at surrounding wavelengths by at least 10 dB.
30. The lidar system of claim 1 , wherein the receiver comprises an array of two or more avalanche photodiodes (APDs), wherein the APD is part of the array of APDs.
31. The lidar system of claim 1 , further comprising a processor configured to determine the distance from the lidar system to the target based at least in part on a round-trip time of flight for the pulse of light emitted by the light source to travel from the lidar system to the target and back to the lidar system.
32. The lidar system of claim 31 , wherein the round-trip time of flight is determined based at least in part on the first or second interval of time.
33. The lidar system of claim 1 , wherein:
the receiver comprises three or more comparators, the three or more comparators comprising the first and second comparators; and
each of the three or more comparators is associated with a respective threshold voltage, the threshold voltages comprising the first and second predetermined threshold voltages, wherein:
each of the threshold voltages has a different value; and
each comparator is configured to provide a rising or falling electrical-edge signal to the TDC when the voltage signal rises above or falls below the threshold voltage associated with the comparator.
34. The lidar system of claim 1 , further comprising a processor configured to determine a duration of the received pulse of light based at least in part on a time difference between receipt of the first and second electrical-edge signals.
35. The lidar system of claim 1 , further comprising a processor configured to determine a time associated with a peak of the received pulse of light based at least in part on the first and second intervals of time.
36. The lidar system of claim 35 , wherein the processor is further configured to determine the distance from the lidar system to the target based at least in part on the time associated with the peak of the received pulse of light.
37. A lidar system comprising:
a light source configured to emit pulses of light;
a scanner configured to scan an output beam comprising at least a portion of the emitted pulses of light across a field of regard;
an overlap mirror configured to overlap an input beam and the output beam so that the input and output beams are substantially coaxial, wherein:
the input beam comprises at least a portion of the scanned pulses of light scattered by a target located a distance from the lidar system; and
the overlap mirror comprises:
a hole, slot, or aperture through which the output beam is configured to pass; and
a reflecting surface configured to reflect at least a portion of the input beam toward the receiver; and
a receiver configured to detect the portion of the scanned pulses of light scattered by the target.
38. The lidar system of claim 37 , wherein:
scanning the portion of the emitted pulses of light across the field of regard comprises scanning a field of view of the light source across the field of regard; and
the scanner is further configured to scan a field of view of the receiver across the field of regard, wherein the light-source field of view and the receiver field of view are scanned synchronously with respect to one another.
39. The lidar system of claim 38 , wherein the light-source field of view and the receiver field of view are at least partially overlapped during scanning.
40. The lidar system of claim 38 , wherein:
the light-source field of view and the receiver field of view are scanned along a scanning direction; and
the receiver field of view is offset from the light-source field of view in a direction opposite the scanning direction.
41. The lidar system of claim 38 , wherein an angular extent of the light-source field of view is approximately equal to an angular extent of the receiver field of view.
42. The lidar system of claim 38 , wherein:
the light-source field of view has an angular extent of less than or equal to 50 milliradians; and
the receiver field of view has an angular extent of less than or equal to 50 milliradians.
43. A lidar system comprising:
a light source configured to emit pulses of light;
a scanner configured to scan at least a portion of the emitted pulses of light across a field of regard; and
a receiver configured to detect at least a portion of the scanned pulses of light scattered by a target located a distance from the lidar system, wherein the receiver comprises:
an avalanche photodiode (APD) configured to operate as a single-photon avalanche diode (SPAD); and
a quenching circuit configured to reduce a reverse-bias voltage applied to the SPAD when an avalanche event occurs in the SPAD.
44. A lidar system comprising:
a light source configured to emit pulses of light;
a scanner configured to scan at least a portion of the emitted pulses of light across a field of regard; and
a receiver configured to detect at least a portion of the scanned pulses of light scattered by a target located a distance from the lidar system, wherein the receiver comprises:
two or more avalanche photodiodes (APDs); and
one or more logic gates coupled to the APDs, wherein the logic gates are configured to produce an output indicating that the receiver has detected an optical pulse only if each of the APDs produces an electrical signal corresponding to detection of the optical pulse.