High resolution LiDAR using high frequency pulse firing
In accordance with some embodiments, a light detection and ranging (LiDAR) scanning system includes a light source. The light source is configured to transmit a pulse of light. The LiDAR scanning system also includes a beam steering apparatus configured to steer the pulse of light in at least one of vertically and horizontally along an optical path. The beam steering apparatus is further configured to concurrently collect scattered light generated based on the light pulse illuminating an object in the optical path. The scattered light is coaxial or substantially coaxial with the optical path. The LiDAR scanning system further includes a light converging apparatus configured to direct the collected scattered light to a focal point. The LiDAR scanning system further includes a light detector, which is situated substantially at the focal point. In some embodiments, the light detector can include an array of detectors or detector elements.
1. A light detection and ranging (LiDAR) scanning system, comprising:
a light source configured to transmit a light pulse;
a beam steering apparatus configured to steer the light pulse in at least one of vertical and horizontal directions along an optical path and to collect a scattered light, wherein the scattered light is generated based on the light pulse illuminating an object in the optical path;
a light detector coupled to the beam steering apparatus, wherein the light detector comprises a plurality of detector elements and is configured to detect the scattered light; and
an electrical processor and computer device electrically coupled to the light source and the light detector, the electrical processor and computer device being configured to:
obtain a location profile of the scattered light on the light detector;
based on the obtained location profile, obtain data relating to a movement of the beam steering apparatus; and
based on the obtained data, determine a correlation between the transmitted light pulse and the detected scattered light.
2. The LiDAR scanning system of claim 1 , wherein the electrical processor and computer device is further configured to determine a distance to the object.
3. The LiDAR scanning system of claim 1 , wherein the location profile is indicative of whether a detector element of the detector elements detected the scattered light and an associated signal intensity.
4. The LiDAR scanning system of claim 1 , wherein the electrical processor and computer device is further configured to, based on the location profile, determine a center of a landing area of the scattered light.
5. The LiDAR scanning system of claim 4 , wherein the electrical processor and computer device is further configured to, based on the center of the landing area, determine a shifting distance.
6. The LiDAR scanning system of claim 5 , wherein the electrical processor and computer device is further configured to, based on the shifting distance, determine a shifting angle.
7. The LiDAR scanning system of claim 6 , wherein the electrical processor and computer device is further configured to, based on the shifting angle, determine a travel time of the transmitted pulse.
8. The LiDAR scanning system of claim 6 , wherein the electrical processing and computing device is further configured to:
determine a candidate travel time based on a time at which the light pulse is transmitted and a time at which the scattered light is detected;
compare the candidate travel time with the travel time determined based on the shifting angle;
based on the comparison, determine a correlation between the transmitted light pulse and the detected scattered light; and
calculate a distance to the object based on the candidate time.
9. The LiDAR scanning system of claim 8 , wherein the information includes the geometry, angle, electrical phase, electrical frequency, or any combination thereof.
10. The LiDAR scanning system of claim 6 , wherein the electrical processing and computing device is further configured to:
determine a candidate travel time based on information related to the scattered light;
compare the candidate travel time with the travel time determined based on the shifting angle;
based on the comparison, determine a correlation between the transmitted light pulse and the detected scattered light; and
calculate a distance to the object based on the candidate time.
11. The LiDAR scanning system of claim 1 , where the light source is configured to consecutively transmit light pulses at a time interval that is smaller than the time it takes for the round trip of time of flight for a light pulse to reach the farthest of the objects per the design specification of the system.
12. The LiDAR scanning system of claim 1 , further comprising a light converging apparatus configured to direct the collected scattered light to a focal point.
13. The LiDAR scanning system of claim 1 , wherein the light detector is disposed at or in proximity to a focal point.
14. The LiDAR scanning system of claim 1 , where the transmitted pulse includes encoding information.
15. A computer-implemented method for operating a light detection and ranging (LiDAR) system, the LiDAR system having a light source, a beam steering apparatus, and a light detector having a plurality of detector elements, the method comprising:
transmitting, with the light source, a light pulse;
steering, with the beam steering apparatus, the light pulse in at least one of vertical and horizontal directions along an optical path;
collecting, with the beam steering apparatus, a scattered light generated based on the light pulse illuminating an object in the optical path;
detecting, with the light detector, the scattered light;
obtaining a location profile of the scattered light on the light detector;
based on the obtained location profile, obtaining data relating to a movement of the beam steering apparatus; and
based on the obtained data, determining a correlation between the transmitted light pulse and the detected scattered light.