Method for dynamically controlling laser power
To dynamically control power in a lidar system, a controller identifies a triggering event and provides a control signal to a light source in the lidar system adjusting the power of light pulses emitted by the light source. The triggering event includes identifying a particular type of object within a threshold distance of the lidar system. In some scenarios, the power is adjusted to address eye-safety concerns.
1 . A method for dynamically varying an amount of laser power in a lidar system, the method comprising:
emitting light pulses by a light source in a lidar system;
identifying, by a controller in the lidar system, a triggering event for adjusting an amount of power for subsequent light pulses emitted by the light source, the triggering event including identifying an object of a particular type within a threshold distance of the lidar system;
providing, by the controller, a control signal to the light source adjusting the amount of power for the subsequent light pulses emitted by the light source based on the triggering event;
identifying a second triggering event for adjusting an amount of power for second subsequent light pulses emitted by the light source, the second triggering event including identifying an object beyond the threshold distance of the lidar system; and
providing a second control signal to the light source adjusting the amount of power for the second subsequent light pulses emitted by the light source in response to identifying the object beyond the threshold distance.
2 . The method of claim 1 , wherein adjusting the amount of power for the subsequent light pulses emitted by the light source includes adjusting the amount of power for the subsequent light pulses as a function of a distance between the lidar system and the object.
3 . The method of claim 1 , wherein adjusting the amount of power for the subsequent light pulses emitted by the light source includes decreasing the amount of power for the subsequent light pulses in response to identifying the object within the threshold distance of the lidar system.
4 . The method of claim 1 , wherein the amount of power for the subsequent light pulses emitted by the light source is adjusted in one or more predetermined increments, wherein adjusting the amount of power for the subsequent light pulses emitted by the light source includes adjusting the amount of power by a first predetermined increment.
5 . The method of claim 4 , wherein the threshold distance is a first threshold distance, and further comprising:
upon adjusting the amount of power by the first predetermined increment, identifying the object within a second threshold distance of the lidar system, wherein the second threshold distance is shorter than the first threshold distance; and
adjusting the amount of power by a second predetermined increment in response to identifying the object within the second threshold distance of the lidar system.
6 . The method of claim 1 , wherein identifying the triggering event includes identifying a plurality of triggering events, wherein at least one of the plurality of triggering events is associated with causing an increase in the amount of power and at least one other of the plurality of triggering events is associated with causing a decrease in the amount of power; and
further comprising determining a priority level for each of the plurality of triggering events, wherein the control signal provided to the light source adjusting the amount of power for the subsequent light pulses emitted by the light source is based on the triggering event having a highest priority level.
7 . The method of claim 6 , wherein the triggering event having the highest priority level includes eye safety for nearby pedestrians or passengers, wherein adjusting the amount of power for the subsequent light pulses emitted by the light source includes decreasing the amount of power for the subsequent light pulses.
8 . The method of claim 1 , wherein the particular type of object comprises a person.
9 . A lidar system comprising:
a light source configured to emit light pulses;
a scanner configured to scan a field of view of the light source across a field of regard of the lidar system;
a detector configured to detect return light pulses from some of the light pulses scattered by one or more remote targets; and
a controller configured to:
identify a triggering event for adjusting an amount of power for subsequent light pulses emitted by the light source, the triggering event including identifying an object of a particular type within a threshold distance of the lidar system;
cause the light source to adjust the amount of power for the subsequent light pulses emitted by the light source based on the triggering event;
identify a second triggering event for adjusting an amount of power for second subsequent light pulses emitted by the light source, the second triggering event including identifying an object beyond the threshold distance of the lidar system; and
cause the light source to adjust the amount of power for the second subsequent light pulses emitted by the light source in response to identifying the object beyond the threshold distance.
10 . The lidar system of claim 9 , wherein adjusting the amount of power for the subsequent light pulses emitted by the light source includes adjusting the amount of power for the subsequent light pulses as a function of a distance between the lidar system and the object.
11 . The lidar system of claim 9 , wherein adjusting the amount of power for the subsequent light pulses emitted by the light source includes decreasing the amount of power for the subsequent light pulses in response to identifying the object within the threshold distance of the lidar system.
12 . The lidar system of claim 9 , wherein the amount of power for the subsequent light pulses emitted by the light source is adjusted in one or more predetermined increments, wherein adjusting the amount of power for the subsequent light pulses emitted by the light source includes adjusting the amount of power by a first predetermined increment.
13 . The lidar system of claim 12 , wherein the threshold distance is a first threshold distance, and wherein the controller is further configured to:
upon adjusting the amount of power by the first predetermined increment, identify the object within a second threshold distance of the lidar system, wherein the second threshold distance is shorter than the first threshold distance; and
cause the light source to adjust the amount of power by a second predetermined increment in response to identifying the object within the second threshold distance of the lidar system.
14 . The lidar system of claim 9 , wherein identifying the triggering event includes identifying a plurality of triggering events, wherein at least one of the plurality of triggering events is associated with causing an increase in the amount of power and at least one other of the plurality of triggering events is associated with causing a decrease in the amount of power; and
the controller is further configured to determine a priority level for each of the plurality of triggering events, wherein adjusting the amount of power for the subsequent light pulses emitted by the light source is based on the triggering event having a highest priority level.
15 . The lidar system of claim 14 , wherein the triggering event having the highest priority level includes eye safety for nearby pedestrians or passengers, wherein adjusting the amount of power for the subsequent light pulses emitted by the light source includes decreasing the amount of power for the subsequent light pulses.
16 . The lidar system of claim 9 , wherein the particular type of object comprises a person.
17 . A controller in a lidar system comprising:
one or more processors; and
a non-transitory computer-readable memory coupled to the one or more processors and storing instructions thereon that, when executed by the one or more processors, cause the controller to:
provide a control signal to a light source to emit light pulses having an amount of power;
identify a triggering event for adjusting an amount of power for subsequent light pulses emitted by the light source, the triggering event including identifying an object of a particular type within a threshold distance of the lidar system;
in response to identifying the triggering event, provide a control signal to the light source adjusting the amount of power for the subsequent light pulses emitted by the light source based on the triggering event;
identify a second triggering event for adjusting an amount of power for second subsequent light pulses emitted by the light source, the second triggering event including identifying an object beyond the threshold distance of the lidar system; and
in response to identifying the second triggering event, provide a second control signal to the light source adjusting the amount of power for the second subsequent light pulses emitted by the light source in response to identifying the object beyond the threshold distance.
18 . The controller of claim 17 , wherein adjusting the amount of power for the subsequent light pulses emitted by the light source includes adjusting the amount of power for the subsequent light pulses as a function of a distance between the lidar system and the object.
19 . The controller of claim 17 , wherein adjusting the amount of power for the subsequent light pulses emitted by the light source includes decreasing the amount of power for the subsequent light pulses in response to identifying the object within the threshold distance of the lidar system.
20 . The controller of claim 17 , wherein the amount of power for the subsequent light pulses emitted by the light source is adjusted in one or more predetermined increments, wherein adjusting the amount of power for the subsequent light pulses emitted by the light source includes adjusting the amount of power by a first predetermined increment.