Lidar receiver calibration
A method for calibrating lidar systems operating in vehicles includes detecting a triggering event, causing the lidar system to not emit light during a calibration period, determining an amount of noise measured by the lidar system during the calibration period, generating a noise level metric based on the amount of noise detected during the calibration period, and adjusting subsequent readings of the lidar system using the noise level metric. The adjusting includes measuring energy levels of return light pulses emitted from the lidar system and scattered by targets and offsetting the measured energy levels by the noise level metric.
1. A method for calibrating lidar systems, the method comprising:
detecting, by one or more processors, a triggering event for performing calibration of a lidar system, including determining that a vehicle in which the lidar system operates is stopped;
causing, by one or more processors, the lidar system to not emit light during a calibration period;
determining an amount of noise measured by the lidar system during the calibration period;
generating, by the one or more processors, a noise level metric based on the amount of noise detected during the calibration period; and
adjusting subsequent readings of the lidar system using the noise level metric.
2. The method of claim 1 , wherein adjusting subsequent readings of the lidar system using the noise level metric comprises:
measuring energy levels of return light pulses emitted from the lidar system and scattered by targets, and
offsetting the measured energy levels by the noise level metric.
3. The method of claim 1 , further comprising:
determining a false-alarm rate at which the lidar system detects false-positive alarms during the calibration period, each alarm corresponding to an instance of a comparator of the lidar system receiving a voltage that exceeds a threshold voltage of the comparator,
determining whether the false-alarm rate exceeds an upper false alarm limit or falls below a lower false alarm limit, and
adjusting the threshold voltage of the comparator in accordance with the determination of whether the false-alarm rate exceeds the upper or the lower false alarm limit.
4. The method of claim 1 , wherein causing the lidar system to not emit light during a calibration period includes causing the lidar system to not emit light during a scan of a single line of pixels.
5. The method of claim 1 , wherein causing the lidar system to not emit light during a calibration period includes causing the lidar system to not emit light during a scan of a two-dimensional field of regard.
6. The method of claim 1 , wherein causing the lidar system to not emit light during a calibration period includes causing the lidar system to not emit light during a retrace period while the lidar system returns from an endpoint of a scan to a starting point of the scan.
7. The method of claim 1 , wherein determining the amount of noise measured by the lidar system during the calibration period includes determining an amount of electrical noise caused by circuitry in a receiver of the lidar system.
8. The method of claim 1 , wherein determining the amount of noise measured by the lidar system during the calibration period includes determining an amount of optical noise caused by ambient light.
9. The method of claim 1 , further comprising:
receiving an indication of an amount of ambient light to which the lidar system is currently exposed; and
determining whether the amount of measured noise is due to optical noise or electrical noise based on the indication of the amount of ambient light.
10. The method of claim 1 , further comprising disconnecting power from electrical components of the lidar system during the calibration period to reduce electrical noise.
11. A lidar system comprising:
a light source configured to emit light pulses;
a scanner configured to direct the light pulses to scan a field of regard of the lidar system;
a receiver configured to detect the light pulses scattered by one or more targets; and
a controller configured to automatically calibrate the lidar system, including:
detect a triggering event for performing calibration, wherein the triggering event corresponds to expiration of a periodic timer,
in response to detecting the triggering event, cause the light source to not emit light during a calibration period,
determine an amount of noise measured by the lidar system during the calibration period,
generate a noise level metric based on the amount of noise detected during the calibration period, and
adjust subsequent readings of the lidar system using the noise level metric.
12. The lidar system of claim 11 , wherein adjusting subsequent readings of the lidar system using the noise level metric comprises: (i) measure energy levels of return light pulses emitted from the lidar system and scattered by targets, and (ii) offset the measured energy levels by the noise level metric.
13. The lidar system of claim 11 , wherein the calibration period during which the light source does not emit light corresponds to a time it takes the scanner to scan a single line of pixels.
14. The lidar system of claim 11 , wherein the calibration period during which the light source does not emit light corresponds to a time it takes the scanner to scan a two-dimensional field of regard.
15. The lidar system of claim 11 , wherein the calibration period during which the light source does not emit light corresponds to a retrace period during which the scanner returns from an endpoint of a scan to a starting point of the scan.
16. A self-driving vehicle comprising:
vehicle maneuvering components to effectuate at least steering, acceleration, and braking of the self-driving vehicle;
a lidar system including:
a light source configured to emit light pulses,
a scanner configured to direct the light pulses to scan a field of regard of the lidar system, and
a receiver configured to detect the light pulses reflected by one or more targets to generate signals indicative of positions of the one or more targets relative to the self-driving vehicle; and
a vehicle controller communicatively coupled to the vehicle maneuvering components and the lidar system, the vehicle controller configured to (i) control the vehicle maneuvering components using the signals generated by the lidar system and (ii) provide indications of a status of the self-driving vehicle to the lidar system;
wherein the lidar system is configured to:
detect a triggering event for performing calibration of the lidar system,
in response to the triggering event, cause the lidar system to not emit light during a calibration period, and
obtain measurements at the receiver of the lidar system during the calibration period, and
adjust subsequent readings of the receiver of the lidar system in view of the obtained measurements, including:
determine a false-alarm rate at which the lidar system detects false-positive alarms during the calibration period, each alarm corresponding to an instance of a comparator of the receiver receiving a voltage that exceeds a threshold voltage of the comparator,
determine whether the false-alarm rate exceeds an upper false alarm limit or falls below a lower false-alarm limit, and
adjust the threshold voltage of the comparator in accordance with the determination of whether the false-alarm rate exceeds the upper or the lower false alarm limit.
17. The self-driving vehicle of claim 16 , wherein the triggering event for performing calibration of the lidar system is received from the vehicle controller.
18. The self-driving vehicle of claim 16 , wherein the triggering event corresponds to an indication that the self-driving vehicle has stopped.
19. The self-driving vehicle of claim 16 , wherein the triggering event corresponds to a temperature or a temperature change of the lidar system or an environment around the lidar system.
20. The self-driving vehicle of claim 16 , wherein the calibration period during which the light source does not emit light corresponds to a time it takes the scanner to scan a single line of pixels.
21. The self-driving vehicle of claim 16 , wherein the calibration period during which the light source does not emit light corresponds to a time it takes the scanner to scan a two-dimensional field of regard.
22. A method for calibrating lidar systems, the method comprising:
detecting, by one or more processors, a triggering event for performing calibration of a lidar system, including detecting a particular environmental condition around the lidar system;
causing, by one or more processors, the lidar system to not emit light during a calibration period;
determining an amount of noise measured by the lidar system during the calibration period;
generating, by the one or more processors, a noise level metric based on the amount of noise detected during the calibration period; and
adjusting subsequent readings of the lidar system using the noise level metric.
23. A method for calibrating lidar systems, the method comprising:
detecting, by one or more processors, a triggering event for performing calibration of a lidar system;
causing, by one or more processors, the lidar system to not emit light during a calibration period, including causing the lidar system to not emit light during a scan of a single line of pixels;
determining an amount of noise measured by the lidar system during the calibration period;
generating, by the one or more processors, a noise level metric based on the amount of noise detected during the calibration period; and
adjusting subsequent readings of the lidar system using the noise level metric.
24. A method for calibrating lidar systems, the method comprising:
detecting, by one or more processors, a triggering event for performing calibration of a lidar system, including one of:
(i) determining that a vehicle in which the lidar system operates is stopped,
(ii) determining that a temperature of the lidar system or an environment around the lidar system is within a certain range and/or had changed by a certain amount,
(iii) determining that an amount of ambient light around the lidar system is within a certain range and/or has changed by a certain amount, or
(iv) detecting a particular environmental condition around the lidar system;
causing, by one or more processors, the lidar system to not emit light during a calibration period;
determining an amount of noise measured by the lidar system during the calibration period;
generating, by the one or more processors, a noise level metric based on the amount of noise detected during the calibration period; and
adjusting subsequent readings of the lidar system using the noise level metric.
25. A method for calibrating lidar systems, the method comprising:
detecting, by one or more processors, a triggering event for performing calibration of a lidar system;
causing, by one or more processors, the lidar system to not emit light during a calibration period, including one of:
(i) causing the lidar system to not emit light during a scan of a single line of pixels,
(ii) causing the lidar system to not emit light during a calibration period includes causing the lidar system to not emit light during a scan of a two-dimensional field of regard, or
(iii) causing the lidar system to not emit light during a retrace period while the lidar system returns from an endpoint of a scan to a starting point of the scan;
determining an amount of noise measured by the lidar system during the calibration period;
generating, by the one or more processors, a noise level metric based on the amount of noise detected during the calibration period; and
adjusting subsequent readings of the lidar system using the noise level metric.
26. A lidar system comprising:
a light source configured to emit light pulses;
a scanner configured to direct the light pulses to scan a field of regard of the lidar system;
a receiver configured to detect the light pulses scattered by one or more targets; and
a controller configured to automatically calibrate the lidar system, including:
detect a triggering event for performing calibration, including determine that a vehicle in which the lidar system operates has stopped,
in response to detecting the triggering event, cause the light source to not emit light during a calibration period,
determine an amount of noise measured by the lidar system during the calibration period,
generate a noise level metric based on the amount of noise detected during the calibration period, and
adjust subsequent readings of the lidar system using the noise level metric.
27. A lidar system comprising:
a light source configured to emit light pulses;
a scanner configured to direct the light pulses to scan a field of regard of the lidar system;
a receiver configured to detect the light pulses scattered by one or more targets; and
a controller configured to automatically calibrate the lidar system, including:
detect a triggering event for performing calibration, wherein the triggering event corresponds to a temperature or a temperature change of the lidar system or an environment around the lidar system,
in response to detecting the triggering event, cause the light source to not emit light during a calibration period,
determine an amount of noise measured by the lidar system during the calibration period,
generate a noise level metric based on the amount of noise detected during the calibration period, and
adjust subsequent readings of the lidar system using the noise level metric.