IP Library › Granted Patent US 12,196,854
Granted Patent B2
US 12,196,854 · App. 18/099,842 · Granted Jan 14, 2025

LIDAR system to adjust doppler effects

Inventors: Stephen C. Crouch (Bozeman, MT); Randy R. Reibel (Bozeman, MT); James Curry (Bozeman, MT); Michelle Milvich (Bozeman, MT); Krishna Rupavatharam (Bozeman, MT)
Assignee: AURORA OPERATIONS, INC.
G01S17/32G01S7/487G01S17/26G01S17/42G01S17/58G01S7/51
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Quick Facts
Patent No.
US 12,196,854
App. No.
18/099,842
Granted
Jan 14, 2025
Kind
B2
Abstract

Doppler correction of phase-encoded LIDAR includes a code indicating a sequence of phases for a phase-encoded signal, and determining a first Fourier transform of the signal. A laser optical signal is used as a reference and modulated based on the code to produce a transmitted phase-encoded optical signal. A returned optical signal is received in response. The returned optical signal is mixed with the reference. The mixed optical signals are detected to produce an electrical signal. A cross spectrum is determined between in-phase and quadrature components of the electrical signal. A Doppler shift is based on a peak in the cross spectrum. A device is operated based on the Doppler shift. Sometimes a second Fourier transform of the electrical signal and the Doppler frequency shift produce a corrected Fourier transform and then a cross correlation. A range is determined based on a peak in the cross correlation.

Claims (71)

1. A light detection and ranging (LIDAR) system for a vehicle, the LIDAR system comprising:

a transmitter configured to transmit a frequency-modulated signal that is generated by modulating a laser signal from a laser;

a receiver configured to receive a returned signal in response to transmitting the frequency-modulated signal; and

a processor configured to

determine a Doppler frequency shift of the returned signal,

determine, based on a Fourier Transform, a correlation of the transmitted frequency-modulated signal and the returned signal,

determine, based on the Doppler frequency shift, a corrected correlation of the transmitted frequency-modulated signal and the returned signal,

determine a range based on a time lag of a peak in the corrected correlation, and

provide data including the range to an autonomous vehicle such that the vehicle is operated based on the data.

2. The LIDAR system according to claim 1 , wherein the processor is configured to determine the Doppler frequency shift of the returned signal relative to a reference spectrum.

3. The LIDAR system according to claim 1 , wherein the frequency-modulated signal is generated by modulating the laser signal using wideband radio frequency (RF) electrical signals.

4. The LIDAR system according to claim 1 , further comprising an optical mixer configured to mix the returned signal with a reference signal to generate a mixed optical signal with a beat frequency, wherein

the reference signal is generated based on the laser signal, and

the beat frequency is in an RF band that is proportional to a difference in frequencies between the reference and the returned signal.

5. The LIDAR system according to claim 1 , further comprising an optical mixer, wherein

the optical mixer is configured to mix the returned signal with a reference signal to generate an electrical signal, wherein the reference signal is generated based on the laser signal;

the processor is further configured to determine a cross spectrum between an in-phase component of the electrical signal and a quadrature component of the electrical signal; and

the processor is further configured to determine the Doppler frequency shift of the returned signal based on the cross spectrum.

6. The LIDAR system according to claim 5 , wherein in determining the Doppler frequency shift of the returned signal, the processor is further configured to:

determine the Doppler frequency shift of the returned signal based on a peak in the cross spectrum.

7. The LIDAR system according to claim 5 , wherein in determining the Doppler frequency shift based on the cross spectrum, the processor is further configured:

to determine the Doppler frequency shift based on a peak in an imaginary part of the cross spectrum.

8. The LIDAR system according to claim 5 , further comprising:

an optical detector configured to detect mixed signals to generate the electrical signal.

9. The LIDAR system according to claim 8 , wherein

the optical mixer is configured to mix the returned signal with the reference signal to generate an in-phase optical signal and a quadrature optical signal,

the optical detector is configured to detect the in-phase optical signal and the quadrature optical signal to generate a first electrical signal and a second electrical signal, respectively, and

the processor is configured to determine the cross spectrum between the first electrical signal and the second electrical signal.

10. The LIDAR system according to claim 1 , further comprising:

a display device, wherein

the transmitter is configured to transmit the frequency-modulated signal to a plurality of spots, and

the processor is configured to present on the display device an image that indicates a Doppler corrected position of at least one object located at the plurality of spots.

11. The LIDAR system according to claim 1 , wherein

the transmitter is configured to transmit the frequency-modulated signal to a plurality of spots, and

the processor is configured to communicate, to the vehicle, data that identifies at least one object based on a point cloud of Doppler corrected positions at the plurality of spots.

12. The LIDAR system according to claim 1 , further comprising:

a display device, wherein

the transmitter is configured to transmit the frequency-modulated signal to a plurality of spots, and

the processor is configured to present on the display device an image that indicates the Doppler frequency shift that is mapped to a corresponding spot among the plurality of spots, such that moving objects are distinguished from stationary objects.

13. A method for controlling a light detection and ranging (LIDAR) system that comprises a transmitter, a receiver and a processor, the method comprising:

transmitting, by the transmitter, a frequency-modulated signal that is generated by modulating a laser signal from a laser;

receiving, by the receiver, a returned signal in response to transmitting the frequency-modulated signal;

determining, by the processor, a Doppler frequency shift of the returned signal;

determining, by the processor based on a Fourier Transform, a correlation of the transmitted frequency-modulated signal and the returned signal;

determining, by the processor based on the Doppler frequency shift, a corrected correlation of the transmitted frequency-modulated signal and the returned signal;

determining, by the processor, a range based on a time lag of a peak in the corrected correlation; and

providing, by the processor, data including the range to an autonomous vehicle such that the vehicle is operated based on the data.

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

determining the Doppler frequency shift of the returned signal relative to a reference spectrum.

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

generating the frequency-modulated signal by modulating the laser signal using wideband radio frequency (RF) electrical signals.

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

mixing, by an optical mixer of the LIDAR system, the returned signal with a reference signal to generate a mixed optical signal with a beat frequency, wherein

the reference signal is generated based on the laser signal, and the beat frequency is in an RF band that is proportional to a difference in frequencies between the reference and the returned signal.

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

mixing, by an optical mixer of the LIDAR system, the returned signal with a reference signal to generate an electrical signal, wherein the reference signal is generated based on the laser signal;

determining, by the processor, a cross spectrum between an in-phase component of the electrical signal and a quadrature component of the electrical signal; and

determining, by the processor, the Doppler frequency shift of the returned signal based on the cross spectrum.

18. The method according to claim 17 , wherein determining the Doppler frequency shift of the returned signal comprises:

determining the Doppler frequency shift of the returned signal based on a peak in the cross spectrum.

19. The method according to claim 17 , wherein determining the Doppler frequency shift based on the cross spectrum comprises:

determining the Doppler frequency shift based on a peak in an imaginary part of the cross spectrum.

20. An autonomous vehicle control system comprising:

a transmitter configured to transmit a frequency-modulated signal that is generated by modulating a laser signal from a laser;

a receiver configured to receive a returned signal in response to transmitting the frequency-modulated signal; and

a processor configured to:

determine a Doppler frequency shift of the returned signal;

determine, based on a Fourier Transform, a correlation of the transmitted frequency-modulated signal and the returned signal;

determine, based on the Doppler frequency shift, a corrected correlation of the transmitted frequency-modulated signal and the returned signal;

determine a range based on a time lag of a peak in the corrected correlation, and

control operation of an autonomous vehicle using the range.

Assignments (3)
PATENT ASSIGNMENT AGREEMENT Recorded Dec 6, 2023
From: BLACKMORE SENSORS & ANALYTICS, LLC
To: AURORA OPERATIONS, INC.
Reel/Frame 065882/0242 →
ASSIGNMENT OF ASSIGNOR'S INTEREST Recorded Jan 20, 2023
From: CROUCH, STEPHEN C.; REIBEL, RANDY R.; CURRY, JAMES; MILVICH, MICHELLE; RUPAVATHARAM, KRISHNA
To: BLACKMORE SENSORS & ANALYTICS INC.
Reel/Frame 062444/0112 →
MERGER Recorded Jan 20, 2023
From: BLACKMORE SENSORS & ANALYTICS INC.
To: BLACKMORE SENSORS & ANALYTICS, LLC
Reel/Frame 062444/0155 →
Continuity (1)
Related Publication 20230161038A1 · May 25, 2023
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