Shot reordering in LIDAR systems
Systems and methods described herein relate to LIDAR systems and their operation. An example method includes partitioning a plurality of light-emitter devices into a plurality of groups. Each light-emitter device is associated with a given group of the plurality of groups. The method also includes selecting a group from the plurality of groups according to a predetermined group order and selecting one or more light-emitter devices from the plurality of light-emitter devices of the selected group according to a firing order. The method yet further includes, at a predetermined shot dither time, causing the selected light-emitter device to emit at least one light pulse. The predetermined shot dither time is based on a shot dither schedule. The method may additionally include repeating the method to provide a complete scan in which each light-emitter device of the plurality of light-emitter devices has emitted at least one light pulse.
1. A system comprising:
a plurality of light-emitter devices partitioned into a plurality of groups, wherein each light-emitter device is associated with a given group of the plurality of groups, wherein each group comprises light-emitter devices disposed within a respective contiguous region; and
a controller, wherein the controller carries out operations, the operations comprising:
causing each of the plurality of light-emitter devices to emit an impulse, wherein the impulse comprises at least one light pulse, wherein the plurality of the impulses is emitted from the plurality of light-emitter devices based on a firing order, wherein between temporally-adjacent impulses emitted from light-emitter devices in a given group, an impulse from a light-emitter device in at least one other group is timed to occur, wherein between temporally-adjacent impulses emitted from a given light-emitter device, an impulse from every other light-emitter device in the same group is timed to occur, wherein the plurality of impulses is emitted among the plurality of groups based on a predetermined group order, and wherein the predetermined group order is configured so as to temporally separate light pulses emitted by spatially adjacent groups.
2. The system of claim 1 , wherein each group of the plurality of groups comprises a plurality of spatially-adjacent light-emitter devices within the respective contiguous region.
3. The system of claim 2 , wherein the firing order comprises at least one out-of-order permutation, wherein the at least one out-of-order permutation comprises a next-to-be-fired light-emitter device that is not adjacent to a last-fired light-emitter device as set forth in a nominal firing order, wherein the nominal firing order is configured such that spatially-adjacent light-emitter devices within a given group are temporally-adjacent to one another in firing order.
4. The system of claim 3 , wherein the firing order repeats after all of the light-emitter devices of the plurality of light-emitter devices have emitted impulses.
5. The system of claim 1 , wherein temporally-adjacent impulses are emitted according to a shot dither schedule, wherein the shot dither schedule comprises a plurality of pseudorandom shot dither times.
6. The system of claim 5 , wherein the shot dither schedule repeats after all of the light-emitter devices of the plurality of light-emitter devices have emitted impulses.
7. The system of claim 1 , further comprising a receiver unit, wherein the operations further comprise:
after causing a given light-emitter device to emit an impulse, enabling the receiver unit to detect reflected light during a listening period.
8. The system of claim 1 , wherein between temporally-adjacent impulses emitted from light-emitter devices in a given group, an impulse from a light-emitter device in every other group is timed to occur.
9. A system comprising:
a plurality of light-emitter devices partitioned into a plurality of groups, wherein each light-emitter device is associated with a given group of the plurality of groups, wherein each group comprises light-emitter devices disposed within a respective contiguous region; and
a controller, wherein the controller carries out operations, the operations comprising:
causing each of the plurality of light-emitter devices to emit an impulse, wherein the impulse comprises at least one light pulse, wherein the plurality of the impulses is emitted from the plurality of light-emitter devices based on a firing order, wherein between temporally-adjacent impulses emitted from light-emitter devices in a given group, an impulse from a light-emitter device in at least one other group is timed to occur, wherein between temporally-adjacent impulses emitted from a given light-emitter device, an impulse from at least one other light-emitter device in the same group is timed to occur wherein the plurality of impulses is emitted among the plurality of groups based on a predetermined group order, and wherein the predetermined group order is configured so as to temporally separate light pulses emitted by spatially adjacent groups.
10. The system of claim 9 , wherein between temporally-adjacent impulses emitted from light-emitter devices in a given group, an impulse from a light-emitter device in every other group is timed to occur.
11. The system of claim 9 , wherein temporally-adjacent impulses are emitted according to a shot dither schedule, wherein the shot dither schedule comprises a plurality of pseudorandom shot dither times.
12. The system of claim 11 , wherein the shot dither schedule repeats after all of the light-emitter devices of the plurality of light-emitter devices have emitted impulses.
13. A method comprising:
causing each light-emitter device of a plurality of light-emitter devices to emit an impulse, wherein the plurality of light-emitter devices are partitioned into a plurality of groups, wherein each group comprises light-emitter devices disposed within a respective contiguous region, wherein each impulse comprises at least one light pulse, wherein the plurality of impulses is emitted from the plurality of light-emitter devices based on a firing order, wherein between temporally-adjacent impulses emitted from light-emitter devices in a given group, an impulse from a light-emitter device in at least one other group is timed to occur, wherein between temporally-adjacent impulses emitted from a given light-emitter device, an impulse from at least one other light-emitter device in the same group is timed to occur, wherein the plurality of impulses is emitted among the plurality of groups based on a predetermined group order, and wherein the predetermined group order is configured so as to temporally separate light pulses emitted by spatially adjacent groups.
14. The method of claim 13 , wherein each light-emitter device of the plurality of light-emitter devices is coupled to a corresponding pulser circuit of a plurality of pulser circuits, wherein causing each light-emitter device to emit a plurality of impulses comprises causing the corresponding pulser circuit to provide one or more current or voltage pulses to the light-emitter device, wherein the method further comprises, after causing the corresponding pulser circuit to provide the one or more current or voltage pulses, enabling a receiver unit to detect reflected light during a listening period.
15. The method of claim 13 , wherein the plurality of groups includes a 3×2 array of groups, and wherein the predetermined group order is configured so as to temporally separate spatially adjacent shots.
16. The method of claim 13 , wherein the firing order comprises at least one out-of-order permutation, wherein the at least one out-of-order permutation comprises a next-to-be-fired light-emitter device that is not adjacent to a last-fired light-emitter device as set forth in a nominal firing order, wherein the nominal firing order is configured such that spatially-adjacent light-emitter devices within a given group are temporally-adjacent to one another in firing order.
17. The method of claim 13 , further comprising repeating the firing order after all of the light-emitter devices of the plurality of light-emitter devices have emitted impulses.
18. The method of claim 13 , wherein temporally-adjacent impulses are emitted according to a shot dither schedule, wherein the shot dither schedule comprises a plurality of pseudorandom shot dither times, wherein the method further comprises repeating the shot dither schedule after all of the light-emitter devices of the plurality of light-emitter devices have emitted impulses.
19. The method of claim 13 , wherein between temporally-adjacent impulses emitted from light-emitter devices in a given group, an impulse from a light-emitter device in every other group is timed to occur.
20. The method of claim 13 , wherein between temporally-adjacent impulses emitted from a given light-emitter device, an impulse from every other light-emitter device in the same group is timed to occur.