IP Library Granted Patent US 12,372,629
Granted Patent B2
US 12,372,629 · App. 17/644,664 · Granted Jul 29, 2025

Multi-chip daisychain for output aggregation

Inventors: Pieter Kapsenberg (Santa Clara, CA); Pierre-Yves Droz (Los Altos, CA); Sabareeshkumar Ravikumar (Sunnyvale, CA)
Assignee: Waymo LLC
G01S7/4863G06F13/36B60W60/001B60W2420/408
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Quick Facts
Patent No.
US 12,372,629
App. No.
17/644,664
Granted
Jul 29, 2025
Kind
B2
Abstract

An optical receiver may include a plurality of photodetectors, a common processed data pipeline, and a plurality of processors. Outputs of the plurality of processors are communicatively coupled to the common processed data pipeline. Each processor is configured to accept input signals from a respective photodetector of the plurality of photodetectors. Each processor is also configured to process the input signals to provide processed data and output the processed data into a data stream of the common processed data pipeline according to one or more predetermined data locations. A method for using the optical receiver and a non-transitory computer readable medium are also described.

Claims (33)

1. An optical receiver comprising:

a plurality of photodetectors;

a common processed data pipeline; and

a plurality of processors, wherein outputs of the plurality of processors are communicatively coupled to the common processed data pipeline, each processor configured to:

accept input signals from a respective photodetector of the plurality of photodetectors;

process the input signals to provide processed data; and

output the processed data into one or more predetermined data locations of a data stream of the common processed data pipeline.

2. The optical receiver of claim 1 , wherein each processor is further configured to internally stage the processed data until the processed data is output into the data stream at the one or more predetermined data locations.

3. The optical receiver of claim 1 , wherein accepting the input signals comprises accepting the input signals by way of an incoming data stream port.

4. The optical receiver of claim 3 , wherein the input signals are accepted from the incoming data stream port without buffering of the input signals.

5. The optical receiver of claim 1 , wherein the processors are arranged in a chain along the common processed data pipeline, such that the processors are configured to output their respective processed data into the data stream in a successive fashion based on the arrangement of processors in the chain.

6. The optical receiver of claim 5 , wherein a processor in a last location in the chain is further configured to output a fully populated data stream to a downstream system.

7. The optical receiver of claim 6 , wherein the fully populated data stream is formatted according to a high speed data protocol.

8. The optical receiver of claim 7 , wherein the high speed data protocol comprises MIPI Camera Serial Interface 2 (MIPI CSI-2).

9. The optical receiver of claim 6 , wherein the fully populated data stream comprises a plurality of packets, wherein a packet size of each of the packets comprises (32) (16-bit) words.

10. The optical receiver of claim 1 , wherein outputting the processed data into the data stream of the common processed data pipeline occurs in an out-of-order fashion.

11. The optical receiver of claim 1 , wherein the plurality of processors share a common clock.

12. The optical receiver of claim 1 , wherein each processor comprises a plurality of input channels.

13. A method comprising:

accepting, at a processor of a plurality of processors of an optical receiver, input signals from a respective photodetector of a plurality of photodetectors;

processing the input signals to provide processed data; and

outputting the processed data into one or more predetermined data locations of a data stream of a common processed data pipeline.

14. The method of claim 13 , further comprising:

internally staging the processed data until the processed data is output into the data stream at the one or more predetermined data locations.

15. The method of claim 13 , wherein the plurality of processors are arranged in a chain along the common processed data pipeline, such that the processors are configured to output their respective processed data into the data stream in a successive fashion based on the arrangement of processors in the chain.

16. The method of claim 15 , wherein a processor in a last location in the chain is further configured to output a fully populated data stream to a downstream system.

17. The method of claim 16 , wherein the fully populated data stream is formatted according to high speed data protocol.

18. The method of claim 17 , wherein the high speed data protocol comprises MIPI Camera Serial Interface 2 (MIPI CSI-2).

19. The method of claim 13 , wherein outputting the processed data into the data stream of the common processed data pipeline occurs in an out-of-order fashion.

20. A non-transitory computer-readable medium having encoded thereon instructions executable to carry out operations for providing a fully populated data stream in a common processed data pipeline based on outputs from a plurality of processors, the operations comprising, for each processor of the plurality of processors:

accepting input signals from a respective photodetector of a plurality of photodetectors;

processing the input signals to provide processed data; and

outputting the processed data into a data stream, according to one or more predetermined data locations.

Assignments (1)
ASSIGNMENT OF ASSIGNOR'S INTEREST Recorded Dec 20, 2021
From: KAPSENBERG, PIETER; DROZ, PIERRE-YVES; RAVIKUMAR, SABAREESHKUMAR
To: WAYMO LLC
Reel/Frame 058438/0423 →
Continuity (1)
Related Publication 20230194677A1 · Jun 22, 2023
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