Lidar system to detect doppler effects

1. A method comprising:

transmitting an optical signal that is output from a laser and modulated based on a modulating signal;

receiving a returned optical signal in response to transmitting the optical signal; mixing, during a first time interval, the returned optical signal with a first reference optical signal that is modulated based on a first version of the modulating signal, to produce a first mixed optical signal;

mixing, during a second time interval, the returned optical signal with a second reference optical signal that is modulated based a second version of the modulating signal, to produce a second mixed optical signal;

generating a digital signal based on the first mixed optical signal and the second mixed optical signal;

determining a Doppler frequency shift of the returned optical signal based, at least in part, on the digital signal; and

operating a vehicle based on the Doppler frequency shift.

2. The method according to claim 1 , wherein the second time interval is non-overlapping with the first time interval.

3. The method according to claim 1 , wherein the first time interval and the second time interval alternate an equal number of times during a processing time interval.

4. The method according to claim 2 , wherein the first time interval and the second time interval occur an equal number of times randomly during a processing time interval.

5. The method according to claim 1 , wherein the modulating signal is a digital signal.

6. The method according to claim 1 , wherein the transmitted optical signal is a phase-encoded optical signal.

7. The method according to claim 1 , wherein the transmitted optical signal is an up and down chirped optical signal.

8. The method according to claim 1 , further comprising:

detecting the first mixed optical signal during the first time interval to produce a first electrical signal; and

detecting the second mixed optical signal during the second time interval to produce a second electrical signal.

9. The method according to claim 8 , wherein generating the digital signal comprises generating the digital signal by using a digitized sample of one of the first electrical signal and the second electrical signal as a real part of the digital signal and a digitized sample of a different one of the first electrical signal and the second electrical signal as an imaginary part of the digital signal.

10. The method according to claim 1 , wherein the Doppler frequency shift of the returned optical signal is determined based on a Fourier transform of the digital signal.

11. The method according to claim 1 , further comprising:

presenting, on a display device, an image that indicates a Doppler corrected position of an object at a plurality of spots illuminated by the transmitted optical signal.

12. The method according to claim 1 , further comprising: communicating, to the device, data that identifies at least one object based on a point cloud of Doppler corrected positions at a plurality of spots illuminated by the transmitted optical signal.

13. The method according to claim 1 , further comprising:

presenting on a display device an image that indicates a size of the Doppler frequency shift at a plurality of spots illuminated by the transmitted optical signal, such that moving objects are distinguished from stationary objects and absent objects.

14. The method according to claim 1 , further comprising:

moving the vehicle to avoid a collision with an object, wherein a closing speed between the vehicle and the object is determined based on a size of the Doppler frequency shift at a plurality of spots illuminated by the transmitted optical signal.

15. The method according to claim 1 , further comprising:

identifying an object based on a point cloud of Doppler corrected positions at a plurality of spots illuminated by the transmitted optical signal.

16. The method according to claim 1 , wherein the first version of the modulating signal is an in-phase version of the modulating signal.

17. The method according to claim 1 , wherein the second version of the modulating signal is a quadrature version of the modulating signal representing a quadrature local oscillator signal.

18. A light detection and ranging (LIDAR) system comprising a transmitter, a receiver, an optical mixer and a processor, wherein:

the transmitter is configured to transmit an optical signal that is output from a laser and modulated based on a modulating signal;

the receiver is configured to receive a returned optical signal in response to transmitting the optical signal;

the optical mixer is configured to:

mix, during a first time interval, the returned optical signal with a first reference optical signal that is modulated based on a first version of the modulating signal, to produce a first mixed optical signal; and

mix, during a second time interval, the returned optical signal with a second reference optical signal that is modulated based a second version of the modulating signal, to produce a second mixed optical signal; and the processor is configured to:

generate a digital signal based on the first mixed optical signal and the second mixed optical signal;

determine a Doppler frequency shift of the returned optical signal based, at least in part, on the digital signal; and

operate a vehicle based on the Doppler frequency shift.

19. The LIDAR system according to claim 18 , further comprising an optical detector configured to:

detect the first mixed optical signal during the first time interval to produce a first electrical signal; and

detect the second mixed optical signal during the second time interval to produce a second electrical signal.

20. The LIDAR system according to claim 19 , wherein the optical mixer includes a multimode interference (MMI) structure configured to:

mix, during the first time interval, the returned optical signal with the first reference optical signal to produce the first mixed optical signal;

mix, during the second time interval, the returned optical signal with a second reference optical signal to produce the second mixed optical signal; and

output a positive optical component and a negative optical component of the first and second mixed optical signals.

21. The LIDAR system according to claim 20 , wherein the optical detector is a balanced optical detector configured to output an electrical signal that indicates a difference between the positive optical component and the negative optical component.

22. The LIDAR system according to claim 18 , wherein the first version of the modulating signal is an in-phase version of the modulating signal.

23. The LIDAR system according to claim 18 , wherein the second version of the modulating signal is a quadrature version of the modulating signal representing a quadrature local oscillator signal.

24. An autonomous vehicle control system comprising one or more processors,

wherein the one or more processors are configured to:

modulate, based on a modulating signal, an optical signal that is output from a laser;

modulate a first reference optical signal based on a first version of the modulating signal;

modulate a second reference optical signal based on a second version of the modulating signal;

produce a first mixed optical signal by mixing, during a first time interval, the first reference optical signal with a returned optical signal received in response to transmitting the optical signal;

produce a second mixed optical signal by mixing, during a second time interval, the second reference optical signal with the returned optical signal;

generate a digital signal based on the first mixed optical signal and the second mixed optical signal;

determine a Doppler frequency shift of the returned optical signal based, at least in part, on the digital signal; and

operate a vehicle based on the Doppler frequency shift.