Granted Patent B2

US 12,481,032 · App. 16/888,071 · Granted Nov 25, 2025

Inventors: Edward Joseph Angus (Bozeman, MT); Ryan Moore Galloway (Bozeman, MT)

Assignee: AURORA OPERATIONS, INC.

G01S7/4817G01S7/4861G01S17/89G01S17/931G02B26/105

Abstract

Claims (38)

1 . An autonomous vehicle control system, comprising:

a polygon deflector comprising a plurality of facets and a cavity defined inward from the plurality of facets;

a motor rotatably coupled to the polygon deflector to rotate the polygon deflector about an axis, wherein a first facet of the plurality of facets is oriented at a different angle relative to the axis than a second facet of the plurality of facets;

an optic that is positioned within the cavity, the optic to direct a first beam from a laser source outward from the axis to a respective facet of the plurality of facets; and

one or more processors configured to:

cause the motor to rotate the polygon deflector;

cause the laser source to transmit the first beam in the cavity so that the polygon deflector receives the first beam directed by the optic to the respective facet and refracts the first beam between a first angle and a second angle as the motor rotates the polygon deflector;

determine at least one of a range to an object or a velocity of the object based on a signal received from the object responsive to the first beam; and

control operation of an autonomous vehicle using the at least one of the range or the velocity.

2 . The autonomous vehicle control system of claim 1 , further comprising a detector array configured to receive the signal from the object.

3 . The autonomous vehicle control system of claim 1 , wherein the polygon deflector is configured to refract the first beam between the first angle and the second angle through an azimuthal field of view.

4 . The autonomous vehicle control system of claim 1 , wherein the one or more processors are configured to control operation of the autonomous vehicle to perform collision avoidance with respect to the object.

5 . The autonomous vehicle control system of claim 1 , wherein the motor is configured to rotate the polygon deflector about a first axis that is orthogonal to a first plane, and each facet of the plurality of facets is configured to refract the first beam in a second plane orthogonal to the first plane.

6 . The autonomous vehicle control system of claim 1 , wherein:

the optic comprises a first lens configured to collimate the first beam and a second lens configured to deflect the collimated first beam to provide a deflected first beam; and

an inner surface of the polygon deflector is configured to collimate the deflected first beam within the polygon deflector.

7 . The autonomous vehicle control system of claim 1 , wherein a particular facet of the plurality of facets is configured to increase an angular spread of the first beam based on a ratio of an index of refraction of the polygon deflector to an index of refraction of a medium surrounding the polygon deflector.

8 . The autonomous vehicle control system of claim 1 , wherein at least a portion of the polygon deflector is made from a material that is transmissive at a wavelength of the first beam.

9 . The autonomous vehicle control system of claim 1 , wherein the motor is configured to rotate the polygon deflector at a rotation velocity that is greater than 10 revolutions per minute (rpm) and less than 10,000 rpm.

10 . The autonomous vehicle control system of claim 1 , wherein the plurality of facets comprise six facets.

11 . The autonomous vehicle control system of claim 1 , wherein an index of refraction of the polygon deflector is in a range from about 1.3 to about 1.8.

12 . The autonomous vehicle control system of claim 1 , wherein the motor includes a first portion defining the cavity.

13 . An autonomous vehicle comprising:

at least one of a steering system or a braking system;

a LIDAR system comprising:

a polygon deflector comprising a plurality of facets disposed around an axis and a cavity defined inward from the plurality of facets, wherein a first facet of the plurality of facets is oriented at a different angle relative to the axis than a second facet of the plurality of facets;

a motor rotatably coupled to the polygon deflector; and

an optic that is positioned within the cavity, the optic to direct a first beam from a laser source away from the axis to a respective facet of the plurality of facets the polygon deflector; and

one or more processors configured to:

cause the motor to rotate the polygon deflector about the axis;

cause the laser source to transmit the first beam in the cavity so that the polygon deflector receives the first beam directed by the optic to the respective facet and refracts the first beam between a first angle and a second angle as the motor rotates the polygon deflector;

determine at least one of a range to an object or a velocity of the object based on a signal received from the object responsive to the first beam; and

control operation of the at least one of the steering system or the braking system using the at least one of the range or the velocity.

14 . The autonomous vehicle of claim 13 , wherein the motor is configured to rotate the polygon deflector about a first axis that is orthogonal to a first plane, and each facet of the plurality of facets is configured to refract the beam in a second plane orthogonal to the first plane.

15 . The autonomous vehicle of claim 13 , wherein:

a plurality of second beams comprise the first beam; and

the LIDAR system comprises a planar fiber array configured to transmit the plurality of second beams within the cavity.

16 . The autonomous vehicle of claim 13 , wherein the polygon deflector is configured to refract the first beam between the first angle and the second angle through an azimuthal field of view.

Assignments (3)

Continuity (3)

References Cited (400)