Lidar system with adjustable pulse period
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 field of regard contains all or part of a target located a distance from the lidar system that is less than or equal to a maximum range of the lidar system, and one or more of the emitted pulses of light are scattered by the target. The lidar system also includes a receiver configured to detect at least a portion of the pulses of light scattered by the target. The lidar system further includes 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 an emitted pulse of light.
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, wherein:
the field of regard contains all or part of a target located a distance from the lidar system that is less than or equal to a maximum range of the lidar system; and
one or more of the emitted pulses of light are scattered by the target;
a receiver configured to detect at least a portion of the pulses of light scattered by the target; and
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 a first emitted pulse of light to travel from the lidar system to the target and back to the lidar system, wherein the pulses of light emitted by the light source comprise adaptive-resolution pulses having dynamically adjustable pulse periods, wherein:
each of the dynamically adjustable pulse periods is less than or equal to a maximum pulse period τ max wherein τ max corresponds to the maximum range D max of the lidar system, wherein τ max equals 2D max /c+β, wherein c is a speed of light and β is a buffer time;
a pulse period τ between the first pulse and a subsequently emitted second pulse is based on the time of flight T for the first pulse, wherein τ equals T+β, T equals 2D/c, and D is the distance from the lidar system to the target, and wherein D is less than or equal to D max and τ is less than or equal to τ max ; and
a third pulse is emitted a time interval τ max after the second pulse is emitted if no return pulse associated with the second pulse is detected by the receiver within the time interval τ max after the second pulse is emitted.
2. The lidar system of claim 1 , wherein the pulses of light emitted by the light source have a pulse energy that varies based on a pulse repetition frequency of the emitted pulses of light, wherein the pulse energy decreases as the pulse repetition frequency increases.
3. The lidar system of claim 2 , wherein an average optical power of the emitted pulses of light varies by less than 10% as the pulse repetition frequency is varied.
4. The lidar system of claim 2 , wherein:
the light source operates at a wavelength between approximately 1400 nm and approximately 1600 nm; and
the lidar system operates in an eye-safe manner as the pulse repetition frequency is varied.
5. The lidar system of claim 1 , wherein information from a previous scan across the field of regard is used to dynamically adjust one or more scan parameters for a subsequent scan across all or a portion of the field of regard.
6. The lidar system of claim 5 , wherein the information from the previous scan comprises a location or size of the target or motion information for the target or the lidar system.
7. The lidar system of claim 5 , wherein:
the previous scan comprises a standard-resolution scan across the field of regard; and
the subsequent scan comprises a high-resolution scan of a high-resolution scan region that contains at least part of the target, wherein the one or more scan parameters for the subsequent scan comprise a location of the high-resolution scan region or a size of the high-resolution scan region.
8. The lidar system of claim 1 , wherein the pulses of light emitted by the light source further comprise one or more series of standard-resolution pulses alternating with one or more series of high-resolution pulses, wherein each series of the standard-resolution pulses comprises a plurality of pulses having a standard pulse period, and each series of the high-resolution pulses comprises a plurality of pulses having a high-resolution pulse period, wherein:
the standard pulse period is greater than or equal to a round-trip time associated with the maximum range, wherein the round-trip time associated with the maximum range is approximately 2D max /c; and
the high-resolution pulse period is less than the standard pulse period.
9. The lidar system of claim 8 , wherein the high-resolution pulse period is less than or equal to one half of the standard pulse period.
10. The lidar system of claim 8 , wherein a window of time is associated with an emitted high-resolution pulse, wherein the window comprises a center time and a width, wherein:
the center time is based at least in part on distance information determined from one or more standard-resolution pulses; and
the width of the window represents a time interval within which a return pulse associated with the emitted high-resolution pulse is expected to be received by the lidar system.
11. The lidar system of claim 10 , wherein:
a pulse received within the width of the window is identified as a valid return pulse associated with the emitted high-resolution pulse; and
the lidar system is configured to ignore a pulse received outside the width of the window.
12. The lidar system of claim 8 , wherein:
a standard-resolution point cloud is determined from one or more series of the standard-resolution pulses; and
a high-resolution point cloud is determined from one or more series of the high-resolution pulses and the standard-resolution point cloud.
13. The lidar system of claim 12 , wherein:
each standard-resolution pixel in the standard-resolution point cloud is associated with a standard-resolution distance value; and
an ambiguity in a distance value of the high-resolution point cloud is resolved based at least in part on one or more standard-resolution distance values.
14. The lidar system of claim 1 , wherein β is approximately equal to 0 ps, 10 ps, 100 ps, 1 ns, 10 ns, 100 ns, or 500 ns.
15. The lidar system of claim 1 , wherein β is approximately equal to 0%, 1%, 2%, 5%, 10%, or 20% of T.
16. The lidar system of claim 1 , wherein the pulses of light emitted by the light source further comprise a series of hybrid-resolution pulses, wherein:
the series of hybrid-resolution pulses comprises a plurality of standard-resolution pulses and a plurality of high-resolution pulses; and
the series of hybrid-resolution pulses results in a hybrid-resolution point cloud comprising one or more standard-resolution regions corresponding to the standard-resolution pulses and one or more high-resolution regions corresponding to the high-resolution pulses.
17. The lidar system of claim 16 , wherein the standard-resolution pulses have a standard pulse period and the high-resolution pulses have a high-resolution pulse period, wherein:
the standard pulse period is greater than or equal to a round-trip time associated with the maximum range, wherein the round-trip time associated with the maximum range is approximately 2D max /c; and
the high-resolution pulse period is less than the standard pulse period.
18. The lidar system of claim 16 , wherein:
if the distance from the lidar system to the target is greater than a threshold distance, then a region of the field of regard associated with the target is scanned with standard-resolution pulses; and
if the distance from the lidar system to the target is less than or equal to the threshold distance, then the region of the field of regard associated with the target is scanned with high-resolution pulses.
19. The lidar system of claim 1 , wherein the buffer time β represents a time interval between (i) receipt of a return pulse associated with the first pulse and (ii) emission of the second pulse.
20. A method comprising:
emitting, by a light source of a lidar system, pulses of light;
scanning, by a scanner of the lidar system, at least a portion of the emitted pulses of light across a field of regard, wherein:
the field of regard contains all or part of a target located a distance from the lidar system that is less than or equal to a maximum range of the lidar system; and
one or more of the emitted pulses of light are scattered by the target;
detecting, by a receiver of the lidar system, at least a portion of the pulses of light scattered by the target; and
determining, by a processor of the lidar system, the distance from the lidar system to the target based at least in part on a round-trip time of flight for a first emitted pulse to travel from the lidar system to the target and back to the lidar system, wherein the pulses of light emitted by the light source comprise adaptive-resolution pulses having dynamically adjustable pulse periods, wherein:
each of the dynamically adjustable pulse periods is less than or equal to a maximum pulse period τ max , wherein τ max corresponds to the maximum range D max of the lidar system, wherein τ max equals 2D max /c+β, wherein c is a speed of light and β is a buffer time;
a pulse period τ between the first pulse and a subsequently emitted second pulse is based on the time of flight T for the first pulse, wherein τ equals T+β, T equals 2D/c, and D is the distance from the lidar system to the target, and wherein D is less than or equal to D max , and τ is less than or equal to τ max ; and
a third pulse is emitted a time interval τ max after the second pulse is emitted if no return pulse associated with the second pulse is detected by the receiver within the time interval τ max after the second pulse is emitted.