Granted Patent B2

US 12,210,099 · App. 17/054,250 · Granted Jan 28, 2025

Inventors: Phillip Sandborn (Mountain View, CA); Sen Lin (Mountain View, CA); James Ferrara (Mountain View, CA)

Assignee: AURORA OPERATIONS, INC.

G01S17/34G01S7/4817G01S7/491G01S17/58G01S17/95G01S7/4815

Abstract

Claims (111)

1. A photonics assembly couplable to a beam steering module, the photonics assembly comprising:

an optical system configured to receive a frequency modulated laser beam, the optical system comprising:

an optical splitter couplable to the beam steering module, the optical splitter configured to:

optically split the frequency modulated laser beam into a local laser beam and a target laser beam,

deliver the target laser beam to the beam steering module; and

receive the target laser beam reflected by a target from the beam steering module; and

a coherent receiver coupled to the optical splitter, the coherent receiver configured to:

receive the local laser beam from the optical splitter;

receive the reflected target laser beam from the optical splitter; and

mix the local laser beam and the target laser beam to produce an output signal, wherein the output signal comprises an I-channel output signal and a Q-channel output signal; and

a control circuit configured to substantially simultaneously process the I-channel output signal and the Q-channel output signal and configured to process power-spectral-density (PSD) measurements using the I-channel output signal and the Q-channel output signal as a function of frequency to determine estimation values for both a distance to the target and a velocity of the target.

2. The photonics assembly of claim 1 , wherein the optical splitter comprises an optical power tap configured to optically split the frequency modulated laser beam into the local laser beam and the target laser beam.

3. The photonics assembly of claim 1 , wherein the optical splitter comprises an optical circulator configured to:

deliver the target laser beam to the beam steering module;

receive the target laser beam reflected by a target from the beam steering module; and

deliver the reflected target laser beam to the coherent receiver.

4. The photonics assembly of claim 1 , wherein the photonics assembly comprises an integrated photonic chip.

5. The photonics assembly of claim 1 , further comprising the beam steering module.

6. The photonics assembly of claim 5 , wherein the beam steering module further comprises:

a beam scanner; and

an optical lens system configured to:

receive the target laser beam from the optical splitter;

project the target laser beam to the beam scanner;

receive the reflected target laser beam from the beam scanner; and

direct the reflected target laser beam to the optical splitter.

7. The photonics assembly of claim 1 , wherein the optical system comprises a first optical system, the frequency modulated laser beam comprises a first frequency modulated laser beam, the optical splitter comprises a first optical splitter, and the coherent receiver comprises a first coherent receiver, the photonics assembly further comprising:

a second optical system configured to receive a second frequency modulated laser beam simultaneously as the first frequency modulated laser beam is received by the first optical system, the second optical system comprising:

a second optical splitter couplable to the beam steering module, the second optical splitter configured to:

optically split the second frequency modulated laser beam into a second local laser beam and a second target laser beam;

deliver the second target laser beam to the beam steering module; and

receive the second target laser beam reflected by a target from the beam steering module; and

a second coherent receiver coupled to the second optical splitter, the second coherent receiver configured to:

receive the second local laser beam from the second optical splitter;

receive the reflected second target laser beam from the second optical splitter; and

mix the second local laser beam and the second target laser beam to produce a second output signal.

8. The photonics assembly of claim 7 , further comprising the beam steering module.

9. The photonics assembly of claim 8 , wherein the beam steering module further comprises:

a beam scanner; and

an optical lens system configured to:

receive the first target laser beam and the second target laser beam from each of the first optical splitter and the second optical splitter,

project the first target laser beam and the second target laser beam to the beam scanner;

receive the reflected first target laser beam and the reflected second target laser beam from the beam scanner; and

direct the reflected first target laser beam and the reflected second target laser beam to the first optical splitter and the second optical splitter, respectively.

10. The photonics assembly of claim 8 , wherein the beam steering module further comprises:

a first beam scanner;

a first optical lens system configured to:

receive the first target laser beam from the first optical splitter;

project the first target laser beam to the first beam scanner;

receive the reflected first target laser beam from the first beam scanner; and

direct the reflected first target laser beam to the first optical splitter;

a second beam scanner; and

a second optical lens system configured to:

receive the second target laser beam from the second optical splitter;

project the second target laser beam to the second beam scanner;

receive the reflected second target laser beam from the second beam scanner; and

direct the reflected second target laser beam to the second optical splitter.

11. The photonics assembly of claim 1 , wherein

the PSD measurements include a first peak value at a first frequency value and a second peak value at a second frequency value,

the control circuit is configured to:

determine a nominal beat frequency based on a difference between the first frequency value and the second frequency value, and to determine the distance to the target based on the nominal beat frequency.

12. The photonics assembly of claim 1 , wherein the coherent receiver comprises an optical hybrid.

13. The photonics assembly of claim 1 , wherein the coherent receiver comprises a pair of balanced photodiodes configured to output the output signal.

14. A method for scanning a target environment via a photonics assembly comprising an optical system, the optical system comprising an optical splitter and a coherent receiver coupled to the optical splitter, the method comprising:

receiving, by the optical system, a frequency modulated laser beam;

optically splitting, by the optical splitter, the frequency modulated laser beam into a local laser beam and a target laser beam;

delivering, by the optical splitter, the target laser beam to the beam steering module;

receiving, by the optical splitter, the target laser beam reflected by a target from the beam steering module;

receiving, by the coherent receiver, the local laser beam from the optical splitter;

receiving, by the coherent receiver, the reflected target laser beam from the optical splitter;

mixing, by the coherent receiver, the local laser beam and the target laser beam to produce an output signal, wherein the output signal comprises an I-channel output signal and a Q-channel output signal; and

substantially simultaneously processing the I-channel output signal and the Q-channel output signal to by a control circuit processing power-spectral-density (PSD) measurements using the I-channel output signal and the Q-channel output signal as a function of frequency to determine estimation values for both a distance to the target and a velocity of the target.

15. The method of claim 14 , wherein the optical splitter comprises an optical power tap configured to optically split the frequency modulated laser beam into the local laser beam and the target laser beam.

16. The method of claim 14 , wherein the optical splitter comprises an optical circulator, the method further comprising:

delivering, by the optical circulator, the target laser beam to the beam steering module;

receiving, by the optical circulator, the target laser beam reflected by a target from the beam steering module; and

delivering, by the optical circulator, the reflected target laser beam to the coherent receiver.

17. The method of claim 14 , wherein the photonics assembly comprises an integrated photonic chip.

18. The method of claim 14 , wherein the photonics assembly further comprises the beam steering module.

19. The method of claim 18 , wherein the beam steering module further comprises a beam scanner an optical lens system, the method further comprising:

receiving, by the optical lens system, the target laser beam from the optical splitter;

projecting, by the optical lens system, the target laser beam to the beam scanner,

receiving, by the optical lens system, the reflected target laser beam from the beam scanner; and

directing, by the optical lens system, the reflected target laser beam to the optical splitter.

20. The method of claim 14 , wherein the optical system comprises a first optical system, the frequency modulated laser beam comprises a first frequency modulated laser beam, the optical splitter comprises a first optical splitter, and the coherent receiver comprises a first coherent receiver, the method further comprising:

receiving, by a second optical system, a second frequency modulated laser beam simultaneously as the first frequency modulated laser beam is received by the first optical system;

optically splitting, by a optical splitter, the second frequency modulated laser beam into a second local laser beam and a second target laser beam;

delivering, by the optical splitter, the second target laser beam to the beam steering module;

receiving, by the optical splitter, the second target laser beam reflected by a target from the beam steering module;

receiving, by a second coherent receiver, the second local laser beam from the second optical splitter,

receiving, by the second coherent receiver, the reflected second target laser beam from the second optical splitter; and

mixing, by the second coherent receiver, the second local laser beam and the second target laser beam to produce a second output signal.

21. The method of claim 20 , wherein the photonics assembly further comprises the beam steering module.

22. The method of claim 21 , wherein the beam steering module further comprises a beam scanner and an optical lens system, the method further comprising:

receiving, by the optical lens system, the first target laser beam and the second target laser beam from each of the first optical splitter and the second optical splitter;

projecting, by the optical lens system, the first target laser beam and the second target laser beam to the beam scanner;

receiving, by the optical lens system, the reflected first target laser beam and the reflected second target laser beam from the beam scanner; and

directing, by the optical lens system, the reflected first target laser beam and the reflected second target laser beam to the first optical splitter and the second optical splitter, respectively.

23. The method of claim 21 , wherein the beam steering module further comprises a first beam scanner, a first optical lens system, a second beam scanner, and a second optical lens system, the method further comprising:

receiving, by the first optical lens system, the first target laser beam from the first optical splitter;

projecting, by the first optical lens system, the first target laser beam to the first beam scanner;

receiving, by the first optical lens system, the reflected first target laser beam from the first beam scanner;

directing, by the first optical lens system, the reflected first target laser beam to the first optical splitter;

receiving, by the second optical lens system, the second target laser beam from the second optical splitter;

projecting, by the second optical lens system, the second target laser beam to the second beam scanner;

receiving, by the second optical lens system, the reflected second target laser beam from the second beam scanner; and

directing, by the second optical lens system, the reflected second target laser beam to the second optical splitter.

24. The method of claim 14 , wherein

the PSD measurements include a first peak value at a first frequency value and a second peak value at a second frequency value, and

the method comprises the control circuit determining a nominal beat frequency based on a difference between the first frequency value and the second frequency value, and determining the distance to the target based on the nominal beat frequency.

25. The method of claim 14 , wherein the coherent receiver comprises an optical hybrid.

26. The method of claim 14 , wherein the coherent receiver comprises a pair of balanced photodiodes configured to output the output signal.

Assignments (3)

Continuity (4)

References Cited (36)