Granted Patent B2

US 11,002,853 · App. 15/716,008 · Granted May 11, 2021

Abstract

Claims (87)

1. A lidar system comprising:

a light source configured to emit light pulses;

a scanner configured to scan a field of view of the light source across a field of regard of the lidar system, including direct the light pulses at different angles relative to a forward-facing direction toward different points within the field of regard;

a receiver configured to detect light from some of the light pulses scattered by one or more remote targets to generate respective pixels;

a window having an exterior-facing surface, the window arranged in front of the light source, the scanner, and the receiver, wherein the emitted light pulses are transmitted through the window toward the one or more remote targets, and light from the some light pulses is scattered by the one or more remote targets, transmitted through the window, and detected at the receiver;

one or more ultrasonic transducers attached to the window and configured to cause vibration at the window to remove debris from the exterior-facing surface of the window; and

a controller configured to detect the debris on the window and transmit a control signal to the one or more ultrasonic transducers to vibrate, wherein to detect the debris on the window the controller is configured to:

receive an indication from the receiver of at least a portion of a duration of a return light pulse;

compare the indication of the at least a portion of the duration to a threshold duration; and

in response to determining that the at least a portion of the duration exceeds the threshold duration, identify debris on the window.

2. The lidar system of claim 1 , wherein the controller is further configured to detect the debris on the window by receiving an indication of debris from a rain sensor within a vehicle in which the lidar system operates.

3. The lidar system of claim 1 , wherein to detect the debris on the window the controller is further configured to:

receive, from a positioning sensor, an indication of a geolocation of a vehicle in which the lidar system operates;

transmit a request to a weather data service for current weather data for the received geolocation;

receive, from the weather data service, a response to the request indicating rain; and

detect debris on the window based on the indication of rain.

4. The lidar system of claim 1 , wherein the exterior-facing surface of the window is provided with a hydrophobic or oleophobic layer.

5. The lidar system of claim 1 , wherein the one or more ultrasonic transducers include a plurality of ultrasonic transducers vibrating with a particular phase shift to generate a travelling ultrasonic wave, thereby causing the debris to sweep across the exterior-facing surface of the window.

6. The lidar system of claim 1 , wherein:

the window is an external window; and

the lidar system further comprises an internal window arranged between the external window and the light source, scanner, and receiver.

7. The lidar system of claim 6 , wherein the internal window is configured to provide an airtight or watertight seal for the lidar system.

8. A method for removing debris from a window of a lidar system, the method comprising:

emitting light pulses by a light source in a lidar system;

scanning, by a scanner in the lidar system, a field of view of the light source across a field of regard of the lidar system, including directing the light pulses toward different points within the field of regard;

detecting, by a receiver in the lidar system, light from some of the light pulses scattered by one or more remote targets to generate respective pixels;

detecting debris on a window having an exterior-facing surface arranged in front of the light source, the scanner, and the receiver, wherein the emitted light pulses are transmitted through the window toward the one or more remote targets and light from the some light pulses is scattered by the one or more remote targets, transmitted through the window, and detected at the receiver, wherein detecting the debris on the window includes detecting a size or amount of the debris on the window; and

causing one or more ultrasonic transducers attached to the window to vibrate in response to detecting the debris on the window to remove the debris from the exterior-facing surface of the window, including causing the one or more ultrasonic transducers to vibrate at a particular intensity selected based on the size or amount of the debris.

9. The method of claim 8 , wherein detecting the debris on the window includes receiving an indication of debris from a rain sensor within a vehicle in which the lidar system operates.

10. The method of claim 8 , wherein detecting the debris on the window includes:

receiving an indication from the receiver of at least a portion of a duration of a return light pulse;

comparing the indication of the at least a portion of the duration to a threshold duration; and

in response to determining that the at least a portion of the duration exceeds the threshold duration, identifying debris on the window.

11. The method of claim 8 , wherein detecting the debris on the window includes:

receiving, from a positioning sensor, an indication of a geolocation of a vehicle in which the lidar system operates;

transmitting a request to a weather data service for current weather data for the received geolocation;

receiving, from the weather data service, a response to the request indicating rain; and

detecting debris on the window based on the indication of rain.

12. The method of claim 8 , wherein detecting the debris on the window includes:

not receiving an indication from the receiver of a return light pulse corresponding to a same angle relative to a forward-facing direction of a vehicle in which the lidar system operates for more than a threshold number of frames while the vehicle is moving; and

detecting debris on the window at the angle relative to the forward-facing direction of the vehicle with respect to the light source.

13. A controller in a lidar system comprising:

one or more processors; and

a non-transitory computer-readable memory coupled to the one or more processors and storing instructions thereon that, when executed by the one or more processors, cause the controller to:

provide a control signal to a light source to emit light pulses;

detect debris on a window having an exterior-facing surface arranged in front of the light source, a scanner, and a receiver, wherein the emitted light pulses are transmitted through the window toward one or more remote targets and light from the some light pulses is scattered by the one or more remote targets, transmitted through the window, and detected at the receiver, wherein to detect the debris on the window the instructions cause the controller to:

not receive an indication from the receiver of a return light pulse corresponding to a same angle relative to a forward-facing direction of a vehicle in which the lidar system operates for more than a threshold number of frames while the vehicle is moving; and

detect debris on the window at the angle relative to the forward-facing direction of the vehicle with respect to the light source; and

provide a control signal to one or more ultrasonic transducers attached to the window to vibrate to remove debris from the exterior-facing surface of the window.

14. The controller of claim 13 , wherein to detect the debris on the window the instructions further cause the controller to receive an indication of debris from a rain sensor within a vehicle in which the lidar system operates.

15. A lidar system comprising:

a light source configured to emit light pulses;

a scanner configured to scan a field of view of the light source across a field of regard of the lidar system, including direct the light pulses at different angles relative to a forward-facing direction toward different points within the field of regard;

a receiver configured to detect light from some of the light pulses scattered by one or more remote targets to generate respective pixels;

a window having an exterior-facing surface, the window arranged in front of the light source, the scanner, and the receiver, wherein the emitted light pulses are transmitted through the window toward the one or more remote targets, and light from the some light pulses is scattered by the one or more remote targets, transmitted through the window, and detected at the receiver;

one or more ultrasonic transducers attached to the window and configured to cause vibration at the window to remove debris from the exterior-facing surface of the window; and

a controller configured to detect the debris on the window and transmit a control signal to the one or more ultrasonic transducers to vibrate, wherein to detect the debris on the window the controller is configured to:

not receive an indication from the receiver of a return light pulse corresponding to a same angle relative to a forward-facing direction of a vehicle in which the lidar system operates for more than a threshold number of frames while the vehicle is moving; and

detect debris on the window at the angle relative to the forward-facing direction of the vehicle with respect to the light source.

16. The lidar system of claim 15 , wherein the exterior-facing surface of the window is provided with a hydrophobic or oleophobic layer.

17. The lidar system of claim 15 , wherein the one or more ultrasonic transducers include a plurality of ultrasonic transducers vibrating with a particular phase shift to generate a travelling ultrasonic wave, thereby causing the debris to sweep across the exterior-facing surface of the window.

18. A lidar system comprising:

a light source configured to emit light pulses;

a scanner configured to scan a field of view of the light source across a field of regard of the lidar system, including direct the light pulses at different angles relative to a forward-facing direction toward different points within the field of regard;

a receiver configured to detect light from some of the light pulses scattered by one or more remote targets to generate respective pixels;

a window having an exterior-facing surface, the window arranged in front of the light source, the scanner, and the receiver, wherein the emitted light pulses are transmitted through the window toward the one or more remote targets, and light from the some light pulses is scattered by the one or more remote targets, transmitted through the window, and detected at the receiver;

one or more ultrasonic transducers attached to the window and configured to cause vibration at the window to remove debris from the exterior-facing surface of the window; and

a controller configured to:

detect the debris on the window, including detecting a size or amount of the debris on the window; and

transmit a control signal to the one or more ultrasonic transducers to vibrate, including transmitting the control signal to the one or more ultrasonic transducers indicating an intensity at which to vibrate, wherein the intensity is selected based on the size or amount of the debris.

19. The lidar system of claim 18 , wherein the exterior-facing surface of the window is provided with a hydrophobic or oleophobic layer.

20. The lidar system of claim 18 , wherein the one or more ultrasonic transducers include a plurality of ultrasonic transducers vibrating with a particular phase shift to generate a travelling ultrasonic wave, thereby causing the debris to sweep across the exterior-facing surface of the window.

21. A controller in a lidar system comprising:

one or more processors; and

a non-transitory computer-readable memory coupled to the one or more processors and storing instructions thereon that, when executed by the one or more processors, cause the controller to:

provide a control signal to a light source to emit light pulses;

detect debris on a window having an exterior-facing surface arranged in front of the light source, a scanner, and a receiver, wherein the emitted light pulses are transmitted through the window toward one or more remote targets and light from the some light pulses is scattered by the one or more remote targets, transmitted through the window, and detected at the receiver, wherein to detect the debris on the window the instructions cause the controller to:

receive an indication from the receiver of at least a portion of a duration of a return light pulse;

compare the indication of the at least a portion of the duration to a threshold duration; and

in response to determining that the at least a portion of the duration exceeds the threshold duration, identify debris on the window; and

provide a control signal to one or more ultrasonic transducers attached to the window to vibrate to remove debris from the exterior-facing surface of the window.

22. A controller in a lidar system comprising:

one or more processors; and

a non-transitory computer-readable memory coupled to the one or more processors and storing instructions thereon that, when executed by the one or more processors, cause the controller to:

provide a control signal to a light source to emit light pulses;

detect debris on a window having an exterior-facing surface arranged in front of the light source, a scanner, and a receiver, wherein the emitted light pulses are transmitted through the window toward one or more remote targets and light from the some light pulses is scattered by the one or more remote targets, transmitted through the window, and detected at the receiver, wherein detecting the debris on the window includes detecting a size or amount of the debris on the window; and

provide a control signal to one or more ultrasonic transducers attached to the window to vibrate to remove debris from the exterior-facing surface of the window, including providing the control signal to the one or more ultrasonic transducers indicating an intensity at which to vibrate, wherein the intensity is selected based on the size or amount of the debris.

Assignments (7)