In one aspect, a vehicle's computing device may receive information identifying a client computing device, a pickup location, and an encryption key. When the vehicle is within a given distance of the pickup location, the computing device uses the encryption key to authenticate the client computing device. When the client computing device is authenticated, the computing device may estimate a first distance between the client computing device and the vehicle based on a strength of a signal received from the client computing device. The computing device may then automatically determine when to unlock the vehicle by selecting between a first distance value and a second distance value. The first value is selected when the first distance is greater than a threshold value, and the second value is selected when the first distance is less than the threshold value. The computing device may unlock the vehicle based on the determination.

Unlock and authentication for autonomous vehicles

Sensor-based object-detection optimization for autonomous vehicles

LiDAR (light detection and ranging) systems use one or more emitters and a detector array to cover a given field of view where the emitters each emit a single pulse or a multi-pulse packet of light that is sampled by the detector array. On each emitter cycle the detector array will sample the incoming signal intensity at the pre-determined sampling frequency that generates two or more samples per emitted light packet to allow for volumetric analysis of the retroreflected signal portion of each emitted light packet as reflected by one or more objects in the field of view and then received by each detector.

Methods and apparatus for object detection and identification in a multiple detector lidar array

A plurality of one-dimensional planar beam forming and steering optical phased array chips form a two-dimensional-scanning solid-state lidar, enabling manufacturing of threedimensional mapping time-of-flight lidars at high yield and low cost resulting from the simplicity of said one-dimensional optical phased array chips.

Three-dimensional-mapping two-dimensional-scanning LIDAR based on one-dimensional-steering optical phased arrays and method of using same

A lidar-based system and method are used for the solid state beamforming and steering of laser beams using optical phased array (OPA) photonic integrated circuits (PICs) and the detection of laser beams using photodetectors. Transmitter and receiver electronics, power management electronics, control electronics, data conversion electronics and processing electronics are also included in the system and used in the method. Laser pulses beamformed by the OPA PIC reflect from objects in the field of view (FOV) of said OPA, and are detected by a detector or a set of detectors. A lidar system includes at least one lidar, and any subset and any number of complementary sensors, data processing/communication/storage modules, and a balance of system for supplying power, protecting, connecting, and mounting the components of said system. Direct correlation between the 3D point cloud generated by the lidar and the color images captured by an RGB (Red, Green, Blue) video camera can be achieved by using an optical beam splitter that sends optical signals simultaneously to both sensors. A lidar system may contain a plurality of lidar sensors, a lidar sensor may contain a plurality of optical transmitters, and an optical transmitter may contain a plurality of OPA PICs.

Optical phased array lidar system and method of using same

A LIDAR device may transmit light pulses originating from one or more light sources and may receive reflected light pulses that are then detected by one or more detectors. The LIDAR device may include a lens that both (i) collimates the light from the one or more light sources to provide collimated light for transmission into an environment of the LIDAR device and (ii) focuses the reflected light onto the one or more detectors. The lens may define a curved focal surface in a transmit path of the light from the one or more light sources and a curved focal surface in a receive path of the one or more detectors. The one or more light sources may be arranged along the curved focal surface in the transmit path. The one or more detectors may be arranged along the curved focal surface in the receive path.

Devices and methods for a rotating LIDAR platform with a shared transmit/receive path

A vehicle is provided that includes one or more wheels positioned at a bottom side of the vehicle. The vehicle also includes a first light detection and ranging device (LIDAR) positioned at a top side of the vehicle opposite to the bottom side. The first LIDAR is configured to scan an environment around the vehicle based on rotation of the first LIDAR about an axis. The first LIDAR has a first resolution. The vehicle also includes a second LIDAR configured to scan a field-of-view of the environment that extends away from the vehicle along a viewing direction of the second LIDAR. The second LIDAR has a second resolution. The vehicle also includes a controller configured to operate the vehicle based on the scans of the environment by the first LIDAR and the second LIDAR.

Vehicle with multiple light detection and ranging devices (LIDARs)

Systems and methods are described that relate to a light detection and ranging (LIDAR) device. The LIDAR device includes a fiber laser configured to emit light within a wavelength range, a scanning portion configured to direct the emitted light in a reciprocating manner about a first axis, and a plurality of detectors configured to sense light within the wavelength range. The device additionally includes a controller configured to receive target information, which may be indicative of an object, a position, a location, or an angle range. In response to receiving the target information, the controller may cause the rotational mount to rotate so as to adjust a pointing direction of the LIDAR. The controller is further configured to cause the LIDAR to scan a field-of-view (FOV) of the environment. The controller may determine a three-dimensional (3D) representation of the environment based on data from scanning the FOV.

Long range steerable LIDAR system

Methods and systems are provided for detecting and measuring a peak value of a light pulse. One example method involves (i) receiving an analog signal comprising a pulse, (ii) differentiating the analog signal, using a differentiator, to provide a differentiated signal, (iii) detecting, using a comparator, a zero-crossing in the differentiated signal, (iv) delaying the analog signal by a delay amount, using a signal buffer, to provide a time-delayed analog signal, (v) in response to detecting the zero-crossing, causing a measurement of the time-delayed analog signal to be obtained, (vi) determining a measurement time associated with the measurement, and (vii) outputting the measurement and the measurement time. The methods and systems may be implemented for light detection and ranging (LIDAR) applications. In such applications, the measurement and measurement time may correspond to an object and a distance of the object, respectively, in an environment of a LIDAR device.

Dynamic measurements of pulse peak value

Systems and methods are provided for determining the status of traffic lights through a mobile device and communicating the status to the user of the device. The mobile device detects its geographical location, direction and elevation. The mobile device also receives information related to traffic lights, such as location and type. The device calculates positional deviation from the device to the traffic light and generates one or more prompts in the form of audible or tactile cues that progressively guide the user to point the device at the traffic light. The mobile device detects the image and color of the traffic light and determines the illumination and sign status of the traffic light. Then the mobile device communicates the traffic light status to the user.

Anthony Levandowski

Papers

Devices and methods for a rotating LIDAR platform with a shared transmit/receive path

Vehicle with multiple light detection and ranging devices (LIDARs)

Long range steerable LIDAR system

Dynamic measurements of pulse peak value

Traffic light detecting system and method