Fast-scanning frequency-modulated continuous wave (FMCW) lidar systems
The techniques of this disclosure enable lidar systems to operate as fast-scanning FMCW lidar systems. The fast-scanning lidar system alternates chirp patterns frame by frame as a way to increase scanning speed, without adding additional hardware. Each consecutive pair of frames includes a frame with a long chirp pattern with multiple chirps and a frame with a short chirp pattern with as few as a single chirp, which is derived from the long chirp pattern assuming a constant object velocity between frames. The chirp pattern applied to each pixel is consistent within each frame but different from one frame to the next. The combined duration of two consecutive frames is less than the combined duration of two consecutive frames of a traditional FMCW lidar system that uses the same chirp pattern from one frame to the next. The shorter duration increases frame rate, scanning speed, or overall throughput of the fast-scanning lidar system.
1. A method comprising:
scanning, by a lidar system of an automobile, during an initial frame of two consecutive frames and for each pixel within a field-of-view, an initial pattern of two or more chirps;
determining, by the lidar system, based on the scanning of the initial pattern of the two or more chirps, a beat frequency associated with the initial frame;
identifying, based on the beat frequency associated with the initial frame, object range and range rate information associated with the initial frame;
scanning, by the lidar system, during a subsequent frame of the two consecutive frames and for each pixel within the field-of-view, a different pattern of one or more chirps, a duration of the initial frame exceeding a duration of the subsequent frame;
determining, by the lidar system, based on the scanning of the different pattern of the one or more chirps, a beat frequency associated with the subsequent frame;
identifying, based on the beat frequency associated with each of the initial frame and the subsequent frame, object range and range rate information associated with the subsequent frame;
determining, based on the object range and range rate information associated with each of the initial and subsequent frames, distance and velocity for at least one object present in the field-of-view; and
outputting, by the lidar system, the distance and velocity of the at least one object present in the field-of-view.
2. The method of claim 1 , wherein identifying the object range and range rate information associated with the subsequent frame further comprises applying a Doppler frequency determined for the initial frame as the Doppler frequency for the subsequent frame.
3. The method of claim 1 , wherein the initial pattern of two or more chirps comprises a pair of chirps, and the subsequent pattern of one or more chirps comprises a single chirp.
4. The method of claim 3 , wherein the pair of chirps in the initial frame comprise a first chirp and a second chirp and the single chirp in the subsequent frame comprises a third chirp different or similar with the first chirp or the second chirp.
5. The method of claim 4 , wherein a frequency of the first chirp increases over time and a frequency of the second chirp decreases or remains constant.
6. The method of claim 4 , wherein the first chirp and the second chirp have different durations.
7. The method of claim 4 , wherein the third chirp is similar to the first chirp or the second chirp.
8. The method of claim 7 , wherein the third chirp has a duration similar to that of the first chirp or the second chirp.
9. The method of claim 1 , wherein outputting the distance and velocity information of the at least one object present in the field-of-view comprises outputting the distance and velocity information of the object present in the field-of-view to another system of the automobile.
10. A lidar system comprising:
a transmitter;
a receiver; and
at least one processing unit configured to:
direct the transmitter and receiver to scan, during an initial frame of two consecutive frames and for each pixel within a field-of-view, an initial pattern of two or more chirps;
determine, based on the scanning of the initial pattern of the two or more chirps, a beat frequency associated with the initial frame;
identify, based on the beat frequency associated with the initial frame, object range and range rate information associated with the initial frame;
direct the transmitter and receiver to scan, during a subsequent frame of the two consecutive frames and for each pixel within the field-of-view, a different pattern of one or more chirps, a duration of the initial frame exceeding a duration of the subsequent frame;
determine, based on the scanning of the different pattern of the one or more chirps, the beat frequency associated with the subsequent frame;
identify, based on the beat frequency associated with the initial frame and the subsequent frame, object range and range rate information associated with the subsequent frame;
determine, based on the object range and range rate information associated with each of the initial and subsequent frames, distance and velocity for at least one object present in the field-of-view; and
output the distance and velocity of the at least one object present in the field-of-view.
11. The lidar system of claim 10 , wherein:
the initial pattern of two or more chirps comprises a first chirp and a second chirp, and the subsequent pattern of one or more chirps comprises a single third chirp, different or similar with the first chirp or the second chirp.
12. The lidar system of claim 11 , wherein a frequency of the first chirp increases over time.
13. The lidar system of claim 12 , wherein a frequency of the second chirp decreases or remains constant over time.
14. The lidar system of claim 11 , wherein the first chirp and the second chirp have different durations.
15. The lidar system of claim 11 , wherein the third chirp is similar to the first chirp or the second chirp.
16. The lidar system of claim 15 , wherein the third chirp has a duration similar to that of the first chirp or the second chirp.
17. A lidar system comprising:
means for scanning, during an initial frame of two consecutive frames and for each pixel within a field-of-view, an initial pattern of two or more chirps;
means for determining, based on the scanning of the initial pattern of the two or more chirps, a beat frequency associated with the initial frame;
means for identifying, based on the beat frequency associated with the initial frame, object range and range rate information associated with the initial frame;
means for scanning, during a subsequent frame of the two consecutive frames and for each pixel within the field-of-view, a different pattern of one or more chirps a duration of the initial frame exceeding a duration of the subsequent frame;
means for determining, based on the scanning of the different pattern of the one or more chirps, the beat frequency associated with the subsequent frame;
means for identifying, based on the beat frequency associated with the initial frame and the subsequent frame, object range and range rate information associated with the subsequent frame; and
means for determining, based on the object range and range rate information associated with each of the initial and subsequent frames, distance and velocity for at least one object present in the field-of-view.
18. The lidar system of claim 17 , wherein the means for identifying the object range and range rate information associated with the subsequent frame further comprises means for applying a Doppler frequency determined for the initial frame as the Doppler frequency for the subsequent frame.
19. The lidar system of claim 17 , wherein the initial pattern of two or more chirps comprises a pair of chirps, and the subsequent pattern of one or more chirps comprises a single chirp.
20. The lidar system of claim 19 , wherein the pair of chirps in the initial frame comprise a first chirp and a second chirp and the single chirp in the subsequent frame comprises a third chirp different or similar with the first chirp or the second chirp.