IP Library › Granted Patent US 12,386,045
Granted Patent B1
US 12,386,045 · App. 17/577,039 · Granted Aug 12, 2025

Enhanced LiDAR measurements using chirp nonlinearities

Inventors: Nurul Taimur Islam (Cupertino, CA); Helen H. Liang (Los Gatos, CA); Jack E. Graves (Sunnyvale, CA); Malcolm J. Northcott (Santa Cruz, CA)
Assignee: Apple Inc.
G01S7/4917G01S17/34G01S17/58
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Quick Facts
Patent No.
US 12,386,045
App. No.
17/577,039
Granted
Aug 12, 2025
Kind
B1
Abstract

A range sensing apparatus includes a modulator that applies a frequency chirp to a light source, causing a nonlinear variation in a frequency of an outgoing beam towards a target. A detector receives both a portion of the outgoing beam and a reflection of the outgoing beam from the target. A processor, which linearizes the frequency chirp, extracts characteristic signals with and without linearization of the chirps to identify a range and velocity of the target.

Claims (27)

1. Range sensing apparatus, comprising:

a light source, which is configured to transmit an outgoing beam of optical radiation toward a target;

a modulator, which is coupled to apply a frequency chirp to the light source, which causes a nonlinear variation in a frequency of the outgoing beam over a period of the frequency chirp;

a detector, which is configured to receive both a portion of the outgoing beam and a reflection of the outgoing beam from the target, and to output beat signals corresponding to a frequency difference between the outgoing and reflected beams; and

a processor, which is configured to linearize the frequency chirp, to receive a first beat signal from the detector responsively to the linearized frequency chirp, to receive a second beat signal from the detector without linearizing the frequency chirp, and to measure a range and velocity of the target based on a comparison of the first and second beat signals.

2. The apparatus according to claim 1 , wherein the processor is configured to extract a first beat frequency from the first beat signal and to extract a second beat frequency from the second beat signal, and to measure the range and velocity of the target based on the first and second beat frequencies.

3. The apparatus according to claim 1 , wherein the processor is configured to drive the modulator so as to linearize the frequency chirp that is applied to the light source.

4. The apparatus according to claim 1 , wherein the processor is configured to correct a phase error in the beat signal so as to linearize the frequency chirp.

5. The apparatus according to claim 4 , wherein the frequency chirp comprises multiple phases, including alternating up-ramp phases and down-ramp phases, and wherein the processor is configured to extract both a first beat frequency and a second beat frequency from a single one of the phases, and to measure the range and velocity of the target based on the first and second beat frequencies.

6. The apparatus according to claim 1 , wherein the detector is configured to receive multiple incoming beams reflected from multiple targets, and wherein the processor is configured to extract multiple first beat frequencies from the first beat signal, to extract multiple second beat frequencies from the second beat signal, and to disambiguate respective ranges and velocities of the multiple targets by comparing the multiple first and second beat frequencies.

7. The apparatus according to claim 1 , wherein the processor is configured to store a record of a dependence of a deviation between the first and second beat signals on the range of the target, and to apply the record in measuring the range and velocity based on the first and second beat signals.

8. The apparatus according to claim 7 , wherein the record is indicative of the dependence of the deviation between the first and second beat signals on the range and velocity of a target, and wherein the processor is configured to measure the deviation between the first and second beat signals, and to compare the measured difference to the difference indicated by the record in order to estimate a direction and speed of movement of a moving target.

9. A method for range sensing, comprising:

transmitting an outgoing beam of optical radiation toward a target while applying a frequency chirp to cause a nonlinear variation in a frequency of the outgoing beam over a period of the frequency chirp;

receiving in a detector both a portion of the outgoing beam and a reflection of the outgoing beam from the target, so that the detector outputs beat signals corresponding to a frequency difference between the outgoing and reflected beams; and

linearizing the frequency chirp and receiving a first beat signal from the detector responsively to the linearized frequency chirp;

receiving a second beat signal from the detector without linearizing the frequency chirp; and

measuring a range and velocity of the target based on a comparison of the first and second beat signals.

10. The method according to claim 9 , wherein measuring the range and velocity comprises extracting a first beat frequency from the first beat signal, extracting a second beat frequency from the second beat signal, and measuring the range and velocity of the target based on the first and second beat frequencies.

11. The method according to claim 9 , wherein applying the frequency chirp comprises applying a modulator to a light source that generates the outgoing beam, and wherein linearizing the frequency chirp comprises driving the modulator so as to linearize the frequency chirp that is applied to the light source.

12. The method according to claim 9 , wherein linearizing the frequency chirp comprises correcting a phase error in the beat signal so as to linearize the frequency chirp.

13. The method according to claim 12 , wherein the frequency chirp comprises multiple phases, including alternating up-ramp phases and down-ramp phases, and

wherein measuring the range and velocity comprises extracting a first beat frequency and a second beat frequency from a single one of the phases, and measuring the range and velocity of the target based on the first and second beat frequencies.

14. The method according to claim 9 , wherein receiving the reflection of the outgoing beam comprises receiving in the detector multiple incoming beams reflected from multiple targets, and

wherein measuring the range and velocity comprises extracting multiple first beat frequencies from the first beat signal, extracting multiple second beat frequencies from the second beat signal, and disambiguating respective ranges and velocities of the multiple targets by comparing the multiple first and second beat frequencies.

15. The method according to claim 9 , wherein measuring the range and velocity comprises storing a record of a dependence of a deviation between the first and second beat signals on the range of the target, and applying the record in measuring the range and velocity based on the first and second beat signals.

16. The method according to claim 15 , wherein the record is indicative of the dependence of the deviation between the first and second beat signals on the range and velocity of a target, and wherein measuring the range and velocity comprises measuring the deviation between the first and second beat signals, and comparing the measured difference to the difference indicated by the record in order to estimate a direction and speed of movement of a moving target.

Assignments (1)
ASSIGNMENT OF ASSIGNOR'S INTEREST Recorded Jan 17, 2022
From: ISLAM, NURUL TAIMUR; LIANG, HELEN H.; GRAVES, JACK E.; NORTHCOTT, MALCOLM J.
To: APPLE INC.
Reel/Frame 058668/0898 →
Continuity (1)
Provisional Application 63149677 · Feb 16, 2021
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