Adjusting receiver characteristics in view of weather conditions
In one embodiment, a method for dynamically varying receiver characteristics in a lidar system includes emitting light pulses by a light source in a lidar system. The method further includes detecting, by a receiver in the lidar system, light from one of the light pulses scattered by one or more remote targets to identify a return light pulse. The method also includes determining an atmospheric condition at or near a geolocation of a vehicle that includes the lidar system. The method further includes providing a control signal to the receiver adjusting one or more characteristics of the receiver to compensate for attenuation or distortion of the return light pulses associated with the atmospheric condition.
1. A method for dynamically varying receiver characteristics in a lidar system, the method comprising:
emitting light pulses by a light source in a lidar system;
detecting, by a receiver in the lidar system, light from one of the light pulses scattered by one or more remote targets to identify a return light pulse;
determining an atmospheric condition at or near a geolocation of a vehicle that includes the lidar system, wherein determining the atmospheric condition includes:
receiving an indication from the receiver of at least a portion of a duration of the return light pulse, wherein the at least a portion of the duration of the return light pulse includes a duration of a falling edge;
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 fog, sleet, snow, rain, dust, smog, exhaust, or insects; and
providing a control signal to the receiver adjusting one or more characteristics of the receiver to compensate for attenuation or distortion of the return light pulses associated with the atmospheric condition.
2. The method of claim 1 , wherein providing the control signal to the receiver adjusting one or more characteristics of the receiver includes providing the control signal to the receiver to adjust a threshold voltage.
3. The method of claim 1 , wherein providing the control signal to the receiver adjusting one or more characteristics of the receiver includes providing the control signal to the receiver to adjust a gain.
4. The method of claim 3 , wherein the gain is adjusted for each pixel, scan line, or frame.
5. The method of claim 3 , wherein adjusting the gain comprises toggling between gain values.
6. The method of claim 1 , wherein providing the control signal to the receiver adjusting one or more characteristics of the receiver includes providing the control signal to toggle between threshold voltages.
7. The method of claim 6 , wherein the threshold voltage toggles for each pixel, scan line, or frame.
8. The method of claim 1 , wherein providing the control signal to the receiver adjusting one or more characteristics of the receiver includes providing the control signal to toggle between gain values.
9. The method of claim 1 , wherein determining the atmospheric condition further includes:
receiving a second indication from the receiver of a pulse energy of the return light pulse;
comparing the second indication of the pulse energy to a pulse energy threshold; and
in response to determining that the pulse energy is below the pulse energy threshold, identifying fog, sleet, snow, rain, dust, smog, exhaust, or insects.
10. The method of claim 1 , wherein determining the atmospheric condition at or near the geolocation of a vehicle further includes determining the atmospheric condition within a portion of a frame.
11. The method of claim 1 , wherein determining the atmospheric condition further includes:
receiving, from a positioning sensor, an indication of the geolocation of the vehicle; and
receiving, from a weather data service, current weather data including the atmospheric condition for a region that includes the received geolocation.
12. The method of claim 1 , wherein determining the atmospheric condition further includes using a rain sensor.
13. The method of claim 1 , wherein the receiver includes:
a detector configured to produce an electrical-current signal corresponding to the return light pulse; and
a pulse-detection circuit configured to receive the electrical-current signal from the detector and produce an output signal corresponding to the return light pulse, wherein the pulse-detection circuit comprises a transimpedance amplifier, a gain circuit, a comparator, and a time-to-digital converter.
14. A lidar system comprising:
a light source configured to emit light pulses;
a scanner configured to scan a field of regard of the lidar system including direct the light pulses at different angles 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 identify return light pulses; and
a controller configured to adjust one or more characteristics of the receiver, including:
determine an atmospheric condition at or near a geolocation of a vehicle wherein determining an atmospheric condition includes:
receive an indication from the receiver of a duration of a falling edge of one of the return light pulses;
compare the indication of the duration of the falling edge to a threshold duration; and
in response to determining that the duration of the falling edge exceeds the threshold duration, identify fog, sleet, snow, rain, dust, smog, exhaust, or insects; and
cause the receiver to adjust one or more characteristics of the receiver to compensate for attenuation or distortion of the return light pulses associated with the atmospheric condition.
15. The lidar system of claim 14 , wherein to determine the atmospheric condition, the controller is further configured to:
receive, from a positioning sensor, an indication of the geolocation of the vehicle; and
receive, from a weather data service, current weather data including the atmospheric condition for a region that includes the received geolocation.
16. The lidar system of claim 14 , wherein to determine the atmospheric condition, the controller is further configured to:
for one or more of the return light pulses:
receive a second indication from the receiver of a pulse energy of the return light pulse;
compare the second indication of the pulse energy to a pulse energy threshold; and
in response to determining that the pulse energy is below the pulse energy threshold, identify fog, sleet, snow, rain, dust, smog, exhaust, or insects.
17. The lidar system of claim 14 , wherein to cause the receiver to adjust one or more characteristics of the receiver, the controller is configured to provide a control signal to the receiver to adjust a threshold voltage.
18. The lidar system of claim 14 , wherein to cause the receiver to adjust one or more characteristics of the receiver, the controller is configured to provide a control signal to the receiver to adjust a gain.
19. The lidar system of claim 14 , wherein to cause the receiver to adjust one or more characteristics of the receiver, the controller is configured to provide a control signal to the receiver to toggle between threshold voltages.
20. The lidar system of claim 19 , wherein the threshold voltages toggle for each pixel, scan line, or frame.
21. The lidar system of claim 14 , wherein to cause the receiver to adjust one or more characteristics of the receiver, the controller is configured to provide a control signal to the receiver to toggle between gain values.
22. The lidar system of claim 21 , wherein the gain values toggle for each pixel, scan line, or frame.
23. 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:
determine an atmospheric condition at or near a geolocation of a vehicle associated with the lidar system, wherein determining the atmospheric condition includes:
receiving an indication from a receiver of the lidar system of at least a portion of a duration of a return light pulse, wherein the at least a portion of the duration of the return light pulse includes a duration of a falling edge;
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 fog, sleet, snow, rain, dust, smog, exhaust, or insects; and
in response to determining the atmospheric condition, provide a control signal to the receiver of the lidar system to adjust one or more characteristics of the receiver to compensate for attenuation or distortion of return light pulses associated with the atmospheric condition.