Granted Patent B2

US 12,422,563 · App. 18/068,503 · Granted Sep 23, 2025

Inventors: Jingyuan Linda Zhang (Menlo Park, CA); Kanika Sachdev (Sunnyvale, CA); Caner Onal (Palo Alto, CA); Michael Marx (Mountain View, CA); Yuchi Wang (Ann Arbor, MI)

Assignee: Waymo LLC

G01S17/95G01S7/4873G01S17/42

Abstract

Claims (71)

1. A method comprising:

dividing a plurality of light detection and ranging (lidar) device channels into at least a first group of channels and a second group of channels, wherein the first group of channels and the second group of channels are interleaved;

applying a threshold to at least the first group of channels;

emitting light pulses from a lidar device into an environment surrounding the lidar device;

detecting return light pulses in the first group of channels and the second group of channels, wherein the return light pulses in the first group of channels are sampled from the signals that exceed the threshold;

determining a differential in a statistical distribution between the return light pulses in the first group of channels and the return light pulses in the second group of channels; and

based on the differential, detecting an atmospheric scattering medium in the environment surrounding the lidar device.

2. The method of claim 1 , wherein the lidar device is configured to emit light pulses into an environment and to generate a signal resulting from (i) reflections of the emitted light pulses by one or more objects in the environment and (ii) reflections of the emitted light pulses by the atmospheric scattering medium in the environment surrounding the lidar device.

3. The method of claim 1 , wherein determining the differential in the statistical distribution between the return light pulses in the first group of channels and the return light pulses in the second group of channels comprises:

voxelizing a coordinate system of the lidar device;

determining, for each voxel, excess return light pulses, wherein the excess return light pulses are the difference between the return light pulses in the first group of channels and the second group of channels; and

detecting, based on a positive difference, a presence of atmospheric scattering medium in the environment surrounding the lidar device.

4. The method of claim 1 , wherein determining the differential in the statistical distribution between the return light pulses in the first group of channels and the return light pulses in the second group of channels comprises:

determining a pitch and a yaw direction associated with a last return pulse in the first group of channels and a last return pulse in the second group of channels;

determining a difference between the median range of a last return pulse in the first group of channels and the median range of a last return pulse in the second group of channels; and detecting, based on the difference, a presence of atmospheric scattering medium in the pitch and the yaw direction.

5. The method of claim 1 , wherein determining the differential in the statistical distribution between the return light pulses in the first group of channels and the return light pulses in the second group of channels comprises:

determining a difference between a median range of noise returns in the first group of channels and a median range of noise returns in the second group of channels; and

determining, based on the difference, a visibility estimate.

6. The method of claim 1 , wherein determining the differential in the statistical distribution between the return light pulses in the first group of channels and the return light pulses in the second group of channels comprises:

determining a first range delta between at least two range values at predetermined percentiles of noise returns in the first group of channels;

determining a second range delta between at least two range values at predetermined percentiles of noise returns in the second group of channels;

determining a range difference between the first range delta of the first group of channels and the second range delta of the second group of channels; and

determining, based on the range difference, a visibility estimate.

7. The method of claim 1 , wherein determining the differential in the statistical distribution between the return light pulses in the first group of channels and the return light pulses in the second group of channels comprises:

determining a difference between an average number of return light pulses per emitted light pulses in the first group of channels and an average number of return light pulses per emitted light pulses in the second group of channels; and

determining, based on the difference, a visibility estimate.

8. The method of claim 1 , wherein the threshold is a ramped-in-time threshold.

9. The method of claim 1 , wherein the interleaved channels comprises a pattern of two first groups of channels and one second group of channels.

10. The method of claim 1 , further comprising:

dividing the plurality of lidar device channels into a third group of channels, wherein the first group of channels, the second group of channels, and the third group of channels are interleaved;

detecting return light pulses emitted from the lidar device, wherein the detected return light pulses in the first group of channels are sampled from the signals that exceed a first threshold, and wherein the detected return pulses in the second group of channels are sampled from the signals that exceed a second threshold; and

comparing a first differential in a first statistical distribution between the return light pulses in the first group of channels and the return light pulses in the second group of channels, a second differential in a second statistical distribution between the return light pulses in the first group of channels and the return light pulses in the third group of channels, and a third differential in a third statistical distribution between the return light pulses in the second group of channels and the return light pulses in the third group of channels to determine if at least two of the differentials match.

11. A method comprising:

determining that a first light detection and ranging (lidar) device and a second lidar device have an overlapping field of view;

applying a threshold to the first lidar device;

emitting light pulses from the first lidar device and emitting light pulses from the second lidar device into an environment surrounding the lidar devices;

detecting return light pulses from the first lidar device at the first lidar device, wherein the return light pulses from the first lidar device are sampled from the signals that exceed the threshold;

detecting return light pulses from the second lidar device at the second lidar device;

determining a differential in a statistical distribution between the return light pulses from the first lidar device and the return light pulses from the second lidar device; and

based on the differential, detecting an atmospheric scattering medium in the environment surrounding the first lidar device and the second lidar device.

12. A system comprising:

a light detection and ranging (lidar) device comprising a light detector; and

a controller comprising at least one processor and a non-transitory computer-readable medium wherein the non-transitory computer-readable medium stores a set of program instructions, wherein the at least one processor executes the program instructions so as to carry out operations, the operations comprising:

dividing a plurality of lidar device channels into at least a first group of channels and a second group of channels, wherein the first group of channels and the second group of channels are interleaved;

applying a threshold to at least the first group of channels;

emitting light pulses from the lidar device into an environment surrounding the lidar device;

detecting return light pulses in the first group of channels and the second group of channels, wherein the return light pulses in the first group of channels are sampled from the signals that exceed the threshold;

determining a differential in a statistical distribution between the return light pulses in the first group of channels and the return light pulses in the second group of channels; and

based on the differential, detecting an atmospheric scattering medium in the environment surrounding the lidar device.

13. The system of claim 12 , wherein the lidar device is configured to emit light pulses into an environment and to generate a signal resulting from (i) reflections of the emitted light pulses by one or more objects in the environment and (ii) reflections of the emitted light pulses by the atmospheric scattering medium in the environment surrounding the lidar device.

14. The system of claim 12 , wherein determining the differential in the statistical distribution between the return light pulses in the first group of channels and the return light pulses in the second group of channels comprises:

voxelizing a coordinate system of the lidar device;

determining, for each voxel, excess return light pulses, wherein the excess return light pulses are the difference between the return light pulses in the first group of channels and the second group of channels; and

detecting, based on a positive difference, a presence of atmospheric scattering medium in the environment surrounding the lidar device.

15. The system of claim 12 , wherein determining the differential in the statistical distribution between the return light pulses in the first group of channels and the return light pulses in the second group of channels comprises:

determining a pitch and a yaw direction associated with a last return pulse in the first group of channels and a last return pulse in the second group of channels;

determining a difference between the median range of a last return pulse in the first group of channels and the median range of a last return pulse in the second group of channels; and

detecting, based on the difference, a presence of atmospheric scattering medium in the pitch and the yaw direction.

16. The system of claim 12 , wherein determining the differential in the statistical distribution between the return light pulses in the first group of channels and the return light pulses in the second group of channels comprises:

determining a difference between a median range of noise returns in the first group of channels and a median range of noise returns in the second group of channels; and

determining, based on the difference, a visibility estimate.

17. The system of claim 12 , wherein determining the differential in the statistical distribution between the return light pulses in the first group of channels and the return light pulses in the second group of channels comprises:

determining a first range delta between at least two range values at predetermined percentiles of noise returns in the first group of channels;

determining a second range delta between at least two range values at predetermined percentiles of noise returns in the second group of channels;

determining a range difference between the first range delta of the first group of channels and the second range delta of the second group of channels; and

determining, based on the range difference, a visibility estimate.

18. The system of claim 12 , wherein determining the differential in the statistical distribution between the return light pulses in the first group of channels and the return light pulses in the second group of channels comprises:

determining a difference between an average number of return light pulses per emitted light pulses in the first group of channels and an average number of return light pulses per emitted light pulses in the second group of channels; and

determining, based on the difference, a visibility estimate.

19. The system of claim 12 , wherein the threshold is a ramped-in-time threshold.

20. The system of claim 12 , wherein the interleaved channels comprises a pattern of two first groups of channels and one second group of channels.

Assignments (1)

Continuity (1)

References Cited (17)

Cited By (1)

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