LIDAR systems and methods. Respective emitters of emitter array emit beams directed towards FOV by scanning unit. In one implementation, emitted beams directed according to alternating energy level illumination protocol for enabling detection under blooming, where first beam emitted by first emitter and having first energy level illuminates first FOV region, and second beam emitted by second emitter and having second energy level illuminates second FOV region, adjacent to first FOV region, where first energy level is lower than second energy level. In another implementation, emitted beams directed according to shifted illumination protocol for enabling detection under blooming, where first beam emitted by first emitter in first plurality of scan lines illuminates FOV portion at first time, and second beam emitted by second emitter in second plurality of scan lines illuminates FOV portion at second time subsequent to first time. Respective detectors of detector array detect reflections of emitted beams.
Embodiments are provided for a LIDAR system comprising a laser emission unit configured to generate at least one laser beam; a scanning unit configured to project the at least one laser beam toward a field of view of the LIDAR system; and at least one processor programmed to: determine at least one indicator of a current yaw orientation of the LIDAR system based on analysis of point cloud representations of at least one stationary object in an environment of a host vehicle and based on detected ego motion of the host vehicle; determine a difference between the current yaw orientation and a target yaw orientation for the LIDAR system; and adjust at least one scan range limit associated with the scanning unit to at least partially compensate for a difference between the current yaw orientation of the LIDAR system and the target yaw orientation for the LIDAR system.
A device includes an optical path and a beam profile redistributor arranged in the optical path to receive an input light beam. The beam profile redistributor is configured to convert the received input light beam so that at least one output light beam of the device includes, (i) in a near field and/or at the beam profile redistributor, a redistributed beam intensity profile compared to at least one further output light beam when the beam profile redistributor is not present, (ii) within a given measuring aperture at a position along the optical path in the near field, a lower output light power compared to the at least one further output light beam, and (iii) in a far field, at least substantially the same beam intensity profile compared to the at least one further output light beam. Other embodiments are also described.
An imaging system for receiving light reflected from a Field Of View (FOV) illuminated by a LIDAR system, comprising a focusing unit configured to receive reflected light from a FOV illuminated by a LIDAR system and focus a plurality of portions of the reflected light on a focal plane of the focusing unit, a sensor array comprising a plurality of sensing elements configured to detect the reflected light, and a micro-optic array comprising a plurality of micro- optic elements each associated with a respective sensing element. Each micro -optic element comprises a light entrance coincident with the focal plane and configured for receiving a respective portion of the reflected light from the focusing unit, a light exit through which the respective portion of the reflected light is transmitted to the associated sensing element, and a light blocking exterior disposed between the light entrance exit and configured to prevent transmission of reflected light.
G01S 17/89 - Lidar systems, specially adapted for specific applications for mapping or imaging
G01S 17/894 - 3D imaging with simultaneous measurement of time-of-flight at a 2D array of receiver pixels, e.g. time-of-flight cameras or flash lidar
G01S 17/88 - Lidar systems, specially adapted for specific applications
G01S 17/02 - Systems using the reflection of electromagnetic waves other than radio waves
G01S 7/481 - Constructional features, e.g. arrangements of optical elements
B60Q 1/00 - Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
G02B 26/08 - Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
A LIDAR system, comprising one or more light sources configured to project light toward a field of view (FOV) of the LIDAR system, one or more sensors configured to receive light projected by the light source(s) and reflected from objects in the FOV, and one or more processors. The processor(s) are configured to cause the light source(s) to project light towards the FOV in a plurality of scanning cycles, receive from the sensor(s) reflection signals indicative of at least part of the projected light reflected from object(s) in the FOV, identify volumetrically dispersed targets indicative of at least one environmental condition in the FOV based on statistical analysis of data derived from reflection signals received during the plurality of scanning cycles, and transmitting one or more alerts indicative of presence of the environmental condition(s) to one or more systems associated with a vehicle on which the LIDAR system is mounted.
A solid-state photodetector is disclosed, which may comprise an integrated circuit comprising at least one light sensitive photodiode configured to generate output signal indicative of light impinging on the light sensitive photodiode; at least one heating resistor configured to heat the solid-state photodetector when an electric current passes through the at least one heating resistor; and a circuitry for transmitting the electric current of an electric current source to the at least one heating resistor.
G02B 26/08 - Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
H05B 3/18 - Heating elements characterised by the composition or nature of the materials or by the arrangement of the conductor the conductor being embedded in an insulating material
H10N 30/20 - Piezoelectric or electrostrictive devices with electrical input and mechanical output, e.g. functioning as actuators or vibrators
A LIDAR system includes at least one processor configured to control at least one light source for projecting light toward a field of view and receive from at least one first sensor first signals associated with light projected by the at least one light source and reflected from an object in the field of view, wherein the light impinging on the at least one first sensor is in a form of a light spot having an outer boundary. The processor may further be configured to receive from at least one second sensor second signals associated with light noise, wherein the at least one second sensor is located outside the outer boundary; determine, based on the second signals received from the at least one second sensor, an indicator of a magnitude of the light noise; and determine, based on the indicator the first signals received from the at least one first sensor and, a distance to the object.
G01S 17/06 - Systems determining position data of a target
G01S 17/10 - Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
G01S 17/32 - Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
G01S 17/42 - Simultaneous measurement of distance and other coordinates
G01S 17/58 - Velocity or trajectory determination systemsSense-of-movement determination systems
G01S 17/89 - Lidar systems, specially adapted for specific applications for mapping or imaging
G01S 17/931 - Lidar systems, specially adapted for specific applications for anti-collision purposes of land vehicles
G02B 26/12 - Scanning systems using multifaceted mirrors
Rotating LIDAR systems and methods are disclosed. In one implementation, a rotatable LIDAR system comprises a rotor having a central rotational axis and a plurality of optical component mounting locations about a peripheral region of the rotor, wherein components mounted at the plurality of optical component mounting locations are configured to rotate around the central rotational axis; a scanning light deflector mounted at one of the plurality of optical component mounting locations, the scanning light deflector being configured to vertically scan a field of view as the rotor rotates; a light detector mounted at one of the plurality of optical component mounting locations and configured to receive, while the rotor rotates, reflections of light from objects in the field of view; and a plurality of optical elements mounted at others of the plurality of optical component mounting locations, the scanning light deflector and the plurality of optical elements defining at least one optical pathway having at least one directional change between the scanning light deflector and the light detector.
A system (20) includes an illumination unit (22) configured to emit light, a detector (26) comprising an array of detection elements (40), one or more optical elements (28) configured to direct the light toward a field of view (36) and to direct respective reflections (38) of portions of the light from one or more objects in the field of view, along an optical pathway, toward different respective ones of the detection elements, and one or more point-spread-function-mitigating components (60) disposed along the optical pathway and configured to mitigate a point spread function of the optical elements, which without the mitigation would cause at least one of the reflections to impinge on multiple ones of the detection elements. Other embodiments are also described.
A LIDAR system may include a laser emission unit configured to generate a plurality of laser beams. The LIDAR system may also include an optical system configured to transmit the plurality of laser beams from the laser emission unit to a scanning unit. The scanning unit may be configured to project the plurality of laser beams toward a field of view of the LIDAR system to simultaneously scan the field of view along a plurality of scan lines traversing the field of view.
A LIDAR system includes at least one laser source; a scanning system configured to scan light emitted from the at least one laser source relative to a field of view of the LIDAR system; a primary detector positioned in the LIDAR system to receive laser light reflections from objects in the field of view; at least one short-range detector at least partially shielded from parasitic optical signals within the LIDAR system caused by internal reflections of the light emitted from the at least one laser source; and at least one processor configured to detect objects located in a first distance range relative to the LIDAR system based on one or more signals output by the short-range detector, and wherein the at least one processor is configured to detect objects located in a second distance range relative to the LIDAR system based on one or more signals output by the primary detector.
A LIDAR system is disclosed. The LIDAR system may include at least one light source configured to project laser light toward a field of view of the LIDAR system, at least one sensor configured to detect laser light reflections from objects in the field of view of the LIDAR system, and at least one processor configured to perform operations. The processor may be configured to use the laser light reflections to generate point-cloud representations of an environment of the LIDAR system within the field of view of the LIDAR system, output navigational information based on the generated point-cloud representations to one or more processors associated with a vehicle on which the LIDAR system is mounted, and store at least some of the generated point-cloud representations in a cache memory to provide a point-cloud archive. The processor may further be configured to detect occurrence of a point-cloud archive output triggering event, in response to detection of the point-cloud archive output triggering event, collect from the cache memory two or more point clouds from the point-cloud archive that were generated within a predetermined period of time relative to the detected point-cloud archive output triggering event, and output the two or more point clouds collected from the cache memory.
A LIDAR system may have a laser emission unit configured to generate a plurality of laser beams. The LIDAR system may also have an optical system configured to transmit the plurality of laser beams from the laser emission unit to a common scanning unit. The common scanning unit may be configured to project the plurality of laser beams towards a first set of spaced apart locations of a field of view of the LIDAR system. The first set of spaced apart locations may be associated with a first plurality of parallel scan lines traversing the field of view. The common scanning unit may also be configured to simultaneously scan the field of view along the first plurality of scan lines by sequentially illuminating non contiguous segments in a first set of non-contiguous segments of the field of view positioned along the first plurality of scan lines.
A LIDAR having dynamic alignment capabilities, the LIDAR may include an optical unit that comprises a sensing unit, a processor and a compensation unit. The sensing unit may include a sensing array that comprises sets of sensing elements that are configured to sense reflected light impinging on sensing regions of the sets of sensing elements of the sensing array, during one or more sensing periods; wherein the sensing unit is configured to generate detection signals by the sensing elements of the sensing array. The processor may be configured to determine, based on at least some of the detection signals, one or more optical unit misalignments related to the optical unit of the LIDAR. The compensation unit may be configured to compensate for the one or more optical unit misalignment.
A LIDAR system may have a laser emission unit configured to generate a plurality of laser beams. The LIDAR system may also have an optical system configured to transmit the plurality of laser beams from the laser emission unit to a common scanning unit. The common scanning unit may be configured to project the plurality of laser beams towards a first set of spaced apart locations of a field of view of the LIDAR system. The first set of spaced apart locations may be associated with a first plurality of parallel scan lines traversing the field of view. The common scanning unit may also be configured to simultaneously scan the field of view along the first plurality of scan lines by sequentially illuminating non-contiguous segments in a first set of non-contiguous segments of the field of view positioned along the first plurality of scan lines.
In one implementation, a LIDAR system includes a laser emission unit configured to generate a laser beam; a scanning unit configured to deflect the laser beam toward a field of view of the LIDAR system, and cyclically scan the laser beam over the field of view during a plurality of frame capture events; and a processor programmed to: determine an actual frame capture progression for the LIDAR system based on an actual frame capture rate of the scanning unit; receive, from a location external to the LIDAR system, an indicator of a current external time; determine an expected frame capture progression for the LIDAR system based on a target frame capture rate for the scanning unit and based on the indicator of the current external time; and adjust the actual frame capture rate of the scanning unit in response to a detected difference between the actual frame capture progression and the expected frame capture progression.
LIDAR systems and methods for generating point cloud data points using LIDAR systems are provided. In one implementation, a LIDAR system may include a processor programmed to control at least one light source configured to emit a plurality of light bursts for scanning a field of view, wherein each of the plurality of light bursts includes a plurality of light pulses. The processor is further configured to receive, from at least one sensor, reflection signals associated with the plurality of light pulses included in the plurality of light bursts. The processor is further programmed to selectively determine a number of point cloud data points to generate based on the received reflection signals associated with the plurality of light pulses included in at least one light burst. Then, the processor is programmed to output the determined number of point cloud data points generated for the at least one light burst.
09 - Scientific and electric apparatus and instruments
Goods & Services
Lidar apparatus comprised of computer hardware, electronic
hardware, including detectors and sensors, and embedded
software, for scanning, detecting, identifying and
classifying objects in the environment, for measuring
distances between objects in the environment, and for
analyzing and mapping visual data and generating 3D maps of
the environment.
09 - Scientific and electric apparatus and instruments
Goods & Services
Lidar apparatus comprised of computer hardware, electronic hardware, including detectors and sensors, and embedded software, for scanning, detecting, identifying and classifying objects in the environment, for measuring distances between objects in the environment, and for analyzing and mapping visual data and generating 3D maps of the environment.
Provided herein are an oscillator assembly including a stator, a rotor and at least one rotor magnet disposed on the rotor. The rotor magnet configured to move with the rotor between a first terminal point and a second terminal point. The assembly includes a counter-rotating mass (CRM) rotatably and elastically mounted on the stator, wherein the rotor is rotatably mounted on the CRM. The CRM including a first energy conversion element (ECE) disposed on the CRM, wherein the first ECE is configured to transfer torque from the rotor to the CRM, thereby causing rotation of the CRM and at least a second ECE disposed on the CRM, wherein the second ECE is configured to transfer torque from the rotor to the CRM, thereby causing rotation of the CRM.
H02K 33/16 - Motors with reciprocating, oscillating or vibrating magnet, armature or coil system with polarised armatures moving in alternate directions by reversal or energisation of a single coil system
H02K 7/02 - Additional mass for increasing inertia, e.g. flywheels
G02B 26/08 - Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
F16F 15/14 - Suppression of vibrations in rotating systems by making use of members moving with the system using freely-swinging masses rotating with the system
21.
SELECTIVE OPERATION OF A SENSING UNIT OF A LIDAR SYSTEM
A LIDAR system that includes optics configured to (a) transmit, using a scanner, a transmitted signal, and (b) receive, using the scanner, reflections from objects, during a scan segment time window that corresponds to a scan segment of a field of view (FOV) of the LIDAR system; a sensing unit that includes multiple sensing elements; and a controller that is arranged to (a) activate the multiple sensing elements before starting to receive the reflections, and (b) selectively deactivate at least some of the multiple sensing elements, based on a scan direction of the scan segment, thereby reducing a number of active sensing elements during the scan segment time window.
A system includes at least one processor configured to detect, based on point cloud information, portions of a particular object, and determine, based on the detected portions, at least a first portion having a first reflectivity corresponding to a license plate, and at least two additional spaced-apart portions corresponding to locations on the particular object other than a location of the first portion. The at least two additional portions have reflectivity substantially lower than the first reflectivity. The at least one processor is further configured to classify the particular object as a vehicle, based on a spatial relationship and a reflectivity relationship between the first portion and the at least two additional portions.
G06V 10/60 - Extraction of image or video features relating to illumination properties, e.g. using a reflectance or lighting model
G06V 10/75 - Organisation of the matching processes, e.g. simultaneous or sequential comparisons of image or video featuresCoarse-fine approaches, e.g. multi-scale approachesImage or video pattern matchingProximity measures in feature spaces using context analysisSelection of dictionaries
G06V 10/82 - Arrangements for image or video recognition or understanding using pattern recognition or machine learning using neural networks
G06V 20/56 - Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
G06V 20/58 - Recognition of moving objects or obstacles, e.g. vehicles or pedestriansRecognition of traffic objects, e.g. traffic signs, traffic lights or roads
G06V 20/62 - Text, e.g. of license plates, overlay texts or captions on TV images
23.
SYSTEMS AND METHODS FOR UPDATING POINT CLOUDS IN LIDAR SYSTEMS
A LIDAR system includes at least one laser light source, at least one light-sensitive detector including a plurality of pixels, and at least one processor configured to cause the at least one laser light source to project laser light toward a field of view of the LIDAR system, generate a point cloud including distance information relative to objects in the field of view of the LIDAR system based on output signals generated by the at least one light-sensitive detector in response to received laser light return signals reflected from the objects in the field of view, and generate an image representative of at least a portion of the field of view of the LIDAR system based on output signals generated by the at least one light-sensitive detector in response to non-laser light incident upon the at least one-light sensitive detector. The processor is configured to compare the point cloud to the image to detect whether inconsistencies exist between representations in the point cloud and corresponding representations in the image of objects from the field of view, and, in response to detection of one or more inconsistencies between representations in the point cloud and corresponding representations in the image of objects from the field of view, adjust one or more aspects of the generated point cloud to provide an updated point cloud.
A method of processing of LIDAR measurement data including: receiving successive LIDAR 3D data sets over a time from a LIDAR system moving, during the time, through space, each LIDAR 3D data set corresponding to a measurement field of view (FOV) of the LIDAR system; identifying a plurality of objects in the LIDAR 3D data sets; designating at least one of the plurality of objects as at least one potential aggressor object; tracking position of the one or more potential aggressor objects relative to the LIDAR system as the one or more potential aggressor objects move outside of the measurement FOV of the LIDAR system; and characterizing one or more of the plurality of objects as one or more multi-path object using tracked position of the one or more potential aggressor objects.
A LIDAR system for detecting an obstruction on a window that is associated with the LIDAR system, the LIDAR system includes at least one processor configured to detect, based on detection signals generated by an obstruction sensor of the LIDAR system, an obstruction that at least partially obstructs a passage of light through the window. The obstruction sensor differs from an object related sensor of the LIDAR system that is configured to detect of one or more objects within a field of view (FOV) of the LIDAR system.
09 - Scientific and electric apparatus and instruments
Goods & Services
Lidar apparatus comprised of computer hardware, electronic
hardware, computer vision software and software tools for
the Lidar apparatus, including detectors and sensors, and
embedded software, for scanning, detecting, identifying,
tracking and classifying objects in the environment, for
measuring distances between objects in the environment, and
for analyzing and mapping visual data and generating 3D maps
of the environment; Lidar dedicated software; safety system
comprised of Lidar dedicated software; safety system
comprised of a Lidar apparatus, Lidar apparatus comprised of
computer hardware, for vehicles, in-car safety system
including autonomous cars; automated safety system for
preventing car accidents.
27.
DYNAMIC ALIGNMENT OF A LIDAR USING DEDICATED FEEDBACK SENSING ELEMENTS
A distance measurement (DM) optical sensor that includes (i) a 2D sensing array that includes sensing elements that include DM sensing elements and feedback sensing elements that are statically allocated to act as feedback sensing elements, (ii) output paths that include DM output paths and feedback output paths; and (iii) one or more processing circuits that are configured to: (a) trigger an outputting of DM output signals, trigger an outputting of feedback output signals, and (b) process the feedback output signals to determine a spatial relationship between an actual location of light sensed by at least some of the sensing elements and an expected location of the light.
09 - Scientific and electric apparatus and instruments
Goods & Services
Lidar apparatus comprised of computer hardware, electronic hardware, recorded computer vision software and recorded software tools for the lidar apparatus, namely, detectors and sensors, and embedded software, for scanning, detecting, identifying, tracking and classifying objects in the environment, for measuring distances between objects in the environment, and for analyzing and mapping visual data and generating 3D maps of the environment; Lidar dedicated downloadable software for scanning, detecting, identifying, tracking and classifying objects in the environment, for measuring distances between objects in the environment, and for analyzing and mapping visual data and generating 3D maps of the environment; Safety system comprised of lidar dedicated downloadable software for scanning, detecting, identifying, tracking and classifying objects in the environment, for measuring distances between objects in the environment, and for analyzing and mapping visual data and generating 3D maps of the environment; Vehicle and autonomous car in-car safety system comprised of a lidar apparatus consisting of computer hardware for scanning, detecting, identifying, tracking and classifying objects in the environment, for measuring distances between objects in the environment, and for analyzing and mapping visual data and generating 3D maps of the environment; Automated safety system consisting of cameras, video monitors, and sensors for preventing car accidents
29.
MULTIPLE SIMULTANEOUS LASER BEAM EMISSION AND ILLUMINATION WHILE ENSURING EYE SAFETY
A LIDAR system is disclosed. The system may include a laser light projection system that may simultaneously provide at least two laser light beams. The system may also include an optical system, including one or more deflectors to project the at least two laser light beams toward a field of view of the LIDAR system. Each of the laser light beams may have an energy density below an eye safe level. However, a total combined energy density of the laser light beams may exceed an eye safe level. The laser light beams may be projected from the deflector are spaced apart from one another by an angular spacing ranging from 2.5 mrad to 6 mrad.
Receiving LIDAR measurement data including object pixel data corresponding to measurement of an object, the object pixel data including a plurality of data pixels corresponding to an edge of the object, the plurality of data pixels including at least two pixels adjacent to each other in a first direction where the at least two pixels are offset from each other in a second direction by an offset distance which is less than a dimension of at least one of the at least two pixels in a second direction, where at least one outer pixel of the at least two pixels extends by the offset away from an outer edge of at least one inner pixel of the at least two pixels; determining a location of the edge of the object to truncate an extent of the object from that of the plurality of data pixels.
G01B 11/24 - Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
G01B 11/02 - Measuring arrangements characterised by the use of optical techniques for measuring length, width, or thickness
G01B 11/03 - Measuring arrangements characterised by the use of optical techniques for measuring length, width, or thickness by measuring coordinates of points
G01S 17/06 - Systems determining position data of a target
G01S 17/42 - Simultaneous measurement of distance and other coordinates
G01S 17/00 - Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
G01C 11/00 - Photogrammetry or videogrammetry, e.g. stereogrammetryPhotographic surveying
31.
OBJECT EDGE IDENTIFICATION BASED ON PARTIAL PULSE DETECTION
A LIDAR system may include a light source, a sensor, and a processor. The processor may be configured to receive from the sensor, a first output signal associated with a first laser light pulse maximally incident upon an object; receive from the sensor, a second output signal associated with a second laser light pulse partially incident upon the object; use the first output signal and the second output signal to determine a value indicative of a portion of the second laser light pulse that was incident upon the object; use the determined value to determine a location associated with an edge of the object; and generate a point cloud data point representative of the determined location associated with the edge of the object.
A LIDAR system and respective method are described. The LIDAR system comprising at least one light source configured for scanning a selected scene, a sensing unit comprising at least one pixel configured to generate output data indicative on light intensity collected by said at least one pixel, and a processing unit. The processing unit is configured and operable for periodically determining data on alignment measure based on output data received from the sensing unit, and for varying at least one of IFOV parameters, alignment of collected light reflected from said selected scene and readout of said at least one pixel of the sensing unit to improve signal to noise ratio (SNR) of said system.
LiioLL) is the portion of the FOV at which a person (14) may be and at which the illuminated beam profile distribution is required to meet stricter eye-safety requirements. The beam profile redistributor (120) may be implemented as at least one of: an aspherical lens, a (Gaussian-to) top-hat converter, a diffractive optical element, a phase shifter, a meta surface, a liquid crystal display, a liquid crystal on silicon, and a set of reflectors, in particular a micromirror array.
A LIDAR system including a MEMS scanning device is disclosed. The LIDAR system includes a light source, a light deflector, a sensor, and a processor. The light deflector deflects light from the light source or light received from an environment outside a vehicle in which the LIDAR system is installed. The sensor detects the light received from the light source or the environment. The processor determines a distance of one or more objects in the environment from the vehicle based on the signals from the sensor. The light deflector includes one or more actuators, which include one or more actuating arms. Connectors connect the actuating arms to an MEMS mirror or other deflector. The actuating arms move when subjected to an electrical field in the form of a voltage or current. Movement of the actuating arms causes movement of the MEMS mirror or deflector causing it to deflect light.
G01S 17/89 - Lidar systems, specially adapted for specific applications for mapping or imaging
G01S 17/931 - Lidar systems, specially adapted for specific applications for anti-collision purposes of land vehicles
G01S 17/894 - 3D imaging with simultaneous measurement of time-of-flight at a 2D array of receiver pixels, e.g. time-of-flight cameras or flash lidar
G01S 7/481 - Constructional features, e.g. arrangements of optical elements
G01S 17/10 - Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
G02B 26/00 - Optical devices or arrangements for the control of light using movable or deformable optical elements
G02B 26/08 - Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
35.
LIDAR systems and methods for detection and classification of objects
A vehicle-assistance system for classifying objects in a vehicle's surroundings. The system includes: at least one memory configured to store classification information for classifying a plurality of objects; and at least one processor configured to receive a plurality of detection results associated with light detection and ranging system (LIDAR) detection results, each detection result including location information, and further information indicative of at least two of the following detection characteristics: object surface reflectivity; temporal spreading of signal reflected from the object; object surface physical composition; ambient illumination measured at a LIDAR dead time; difference in detection information from a previous frame; and confidence level associated with another detection characteristic. The at least one processor is also configured to: access the classification information; and based on the classification information and the detection results, classify an object in the vehicle's surroundings.
G06V 10/60 - Extraction of image or video features relating to illumination properties, e.g. using a reflectance or lighting model
G06V 10/75 - Organisation of the matching processes, e.g. simultaneous or sequential comparisons of image or video featuresCoarse-fine approaches, e.g. multi-scale approachesImage or video pattern matchingProximity measures in feature spaces using context analysisSelection of dictionaries
G06V 10/82 - Arrangements for image or video recognition or understanding using pattern recognition or machine learning using neural networks
G06V 20/56 - Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
G06V 20/58 - Recognition of moving objects or obstacles, e.g. vehicles or pedestriansRecognition of traffic objects, e.g. traffic signs, traffic lights or roads
G06V 20/62 - Text, e.g. of license plates, overlay texts or captions on TV images
There is provided a LIDAR system and method for surveying a Field of View (FOV) comprising: an illumination system, a light-sensitive detector, a scanning unit and at least one processing unit, wherein the illumination system is configured to project a first light with first illumination parameters, deflected by the scanning system through a window toward the field of view of the LIDAR system; and the light-sensitive detector is configured to receive light reflected from objects in the field of view and deflected by the scanning unit; and the at least one processing unit is configured to analyze detected light and determine information about the objects, and wherein the illumination system is further configured to project a second light with second illumination parameters toward a window vicinity.
A LIDAR system, comprising: (a) a plurality of anchored LIDAR sensing units, each anchored LIDAR sensing unit comprising at least: (i) a housing; (ii) at least one detector, mounted in the housing, configured to detect light signals arriving from objects in a field of view of the anchored LIDAR sensing unit; and (iii) a communication unit, configured to output detection information which is based on outputs of the at least one detector and which is indicative of existence of the objects; and (b) at least one integratory processing unit, configured to receive the detection information from two or more of the plurality of anchored LIDAR sensing units, and to process the received detection information to provide a three dimensional model of a scene which is larger than any of the field of views of the independent anchored LIDAR sensing units.
A LIDAR system or a vehicle may include at least one processor configured to perform a method to detect objects in a field of view. The method may include controlling at least one LIDAR light source in a manner enabling light flux of the at least one LIDAR light source to vary over a plurality of scans of a field of view; receiving, from a group of detectors, a plurality of input signals indicative of reflections of light projected from the field of view; detecting a possible existence of an object in the background area based on first input signals associated with a first scanning cycle; detecting a possible existence of the object based on second input signals associated with a second scanning cycle; and aggregating the first and second input signals to detect an existence of the object at an object-existence-certainty level higher than a threshold.
G01S 7/481 - Constructional features, e.g. arrangements of optical elements
G01S 17/931 - Lidar systems, specially adapted for specific applications for anti-collision purposes of land vehicles
G01H 1/00 - Measuring vibrations in solids by using direct conduction to the detector
G01S 17/10 - Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
G01S 7/4863 - Detector arrays, e.g. charge-transfer gates
G01S 7/4914 - Detector arrays, e.g. charge-transfer gates
G01S 17/32 - Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
G01S 17/58 - Velocity or trajectory determination systemsSense-of-movement determination systems
G01S 7/48 - Details of systems according to groups , , of systems according to group
A yoke assembly of an oscillatory system is described herein. The yoke assembly includes a yoke structure. The yoke structure includes a first sidewall and a second sidewall, the second sidewall spaced apart from the first sidewall, the first and second sidewalls having a gap therebetween. The yoke structure includes at least one member extending between the first and second sidewalls, a first flange extending laterally from the first sidewall and a second flange extending laterally from the second sidewall. The yoke structure is a unitary structure having the first and second sidewalls and the first and second flanges integrally connected.
G01S 7/481 - Constructional features, e.g. arrangements of optical elements
G01S 17/89 - Lidar systems, specially adapted for specific applications for mapping or imaging
G02B 7/182 - Mountings, adjusting means, or light-tight connections, for optical elements for prismsMountings, adjusting means, or light-tight connections, for optical elements for mirrors for mirrors
G02B 26/08 - Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
An electro-optical system may include a light source configured to emit a beam of radiation, and a pivotable scanning mirror configured to project the beam of radiation toward a field of view. The electro-optical system may also include a first electrode associated with the scanning mirror, and a plurality of second electrodes spaced apart from the first electrode. The electro-optical system may further include a processor programmed to determine a capacitance value for each of the second electrodes relative to the first electrode. Each of the determined capacitance values may have an accuracy in a range of ± 1/100 to ± 1/1000 of a difference between a highest capacitance value and a lowest capacitance value between the first electrode and a respective one of the second electrodes. The processor may also be programmed to determine an orientation of the scanning mirror based on one or more of the determined capacitance values.
G01S 7/481 - Constructional features, e.g. arrangements of optical elements
G01B 7/30 - Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapersMeasuring arrangements characterised by the use of electric or magnetic techniques for testing the alignment of axes
G01S 17/931 - Lidar systems, specially adapted for specific applications for anti-collision purposes of land vehicles
G02B 26/08 - Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
A LIDAR system includes a light source configured to generate a plurality of laser beams arranged in a beam pattern, a rotatable deflector configured to rotate about a scanning axis, a beam rotator configured to cause rotation of the beam pattern of the plurality of laser beams relative to the scanning axis of the rotatable deflector and at least one sensor configured to receive, via the rotatable deflector and the beam rotator, laser light resulting from one or more of the plurality of laser beams reflected from at least one object in the field of view of the LIDAR system wherein the multibeam array is maintained at a substantially fixed orientation with respect to the optical axis.
A LIDAR system includes at least one light source; at least one deflector configured to scan light emitted by the at least one light source over a field of view of the LIDAR system; and at least one processor configured to cause the at least one deflector to scan the field of view of the LIDAR system with a first scan pattern including a first series of scan lines and subsequently with a second scan pattern including a second series of scan lines that are interlaced with the first series of scan lines to provide a single frame scan pattern, and analyze reflection signals associated with the single frame scan pattern to determine whether at least one target object present in the field of view of the LIDAR system is moving.
A biaxial scanning system suitable for use in a LIDAR system. The biaxial system comprises a payload; a first actuator coupled to the payload and adapted to rotate the payload about a first axis; and a resonant oscillator. The system can also comprise a second actuator adapted to rotate the first actuator and the payload around a second axis perpendicular to the first axis. Also provided is a scanning system, comprising a light source configured to generate at least one light beam; at least one deflector; a first actuator configured to rotate the at least one deflector about a first scan axis and a second actuator configured to rotate the at least one deflector about a second scan axis, the at least one deflector configured to deflect the at least one light beam to a field of view; and at least one processor configured to control the light source, the first actuator and the second actuator to cause the at least one deflector to scan the field of view. During scanning of at least a portion of the field of view, the at least one processor causes the first actuator and the second actuator to simultaneously rotate the at least one deflector about the first scanning axis and the second scanning axis according to a compensated scan pattern.
A photodiode-based detection module may include at least one photodiode for detecting light. The photodiode-based detection module may also include a sensitivity damper configured to temporarily reduce the sensitivity of the at least one photodiode. The photodiode-based detection module may further include a controller configured to trigger the sensitivity damper to reduce a sensitivity of the at least one photodiode to less than a nominal sensitivity threshold.
G01S 7/489 - Gain of receiver varied automatically during pulse-recurrence period
G01S 17/931 - Lidar systems, specially adapted for specific applications for anti-collision purposes of land vehicles
G01S 7/481 - Constructional features, e.g. arrangements of optical elements
G01S 7/4863 - Detector arrays, e.g. charge-transfer gates
H01L 31/107 - Devices sensitive to infrared, visible or ultraviolet radiation characterised by only one potential barrier or surface barrier the potential barrier working in avalanche mode, e.g. avalanche photodiode
An electrooptical system may include a processor programmed to control a light source to enable light flux to vary over a scan of a field-of-view using light from the light source. The FOV may be divided into a plurality of segments, which may include a first set of non-contiguous segments, and each of the non-contiguous segments included in the first set may be separated from other non-contiguous segments in the first set by at least one segment. The scanning of the field-of-view may include sequentially illuminating the non-contiguous segments, which may proceed such that, during illumination of a particular non-contiguous segment in the first set of non-contiguous segments, other segments in the plurality of segments are not be illuminated, and such that other segments in the plurality of segments are not be illuminated between the illuminations of the non-contiguous segments in the first set of non-contiguous segments.
A LIDAR system has a laser emission unit configured to generate a plurality of laser beams. The LIDAR system also has an optical system configured to transmit the plurality of laser beams from the laser emission unit to a common scanning unit. The common scanning unit is configured to project the plurality of laser beams toward a field of view of the LIDAR system to simultaneously scan the field of view along a plurality of scan lines traversing the field of view.
Methods for generating point cloud data points using LIDAR systems are provided. A LIDAR system includes a processor programmed to control at least one light source configured to emit a plurality of light bursts for scanning a field of view, wherein each of the plurality of light bursts includes a plurality of light pulses (708A - 708D, 708E - 708H). The processor is further configured to receive, from at least one sensor, reflection signals (808A - 808D, 808E - 808H) associated with the plurality of light pulses (708A - 708D, 708E - 708H) included in the plurality of light bursts. The processor is further programmed to selectively determine a number of point cloud data points (902) to generate based on the received reflection signals associated with the plurality of light pulses included in at least one light burst. Then, the processor is programmed to output the determined number of point cloud data points generated for the at least one light burst. In the embodiment, the calculated confidence level for each of signal pulses (808E - 808H) is below a confidence threshold (900). But signal pulses (808E - 808H) may be summed, and the summed result may pass confidence threshold (900). Accordingly, the LIDAR system may use signal pulses (808E - 808H) to generate a single data point (902) for the point cloud. Moreover, the LIDAR system may selectively determine a number of light bursts to emit for each portion of the field of view based on a desired point cloud resolution for each portion of the field of view.
A deflector unit for a light scanning system includes a mirror and at least one actuator arm. The actuator arm may include an anchor end and a coupler end. The at least one actuator arm may include an anchor end, a coupler end, and an actuator axis that extends from a first midpoint to a second midpoint, the first midpoint being a midpoint of an edge of the at least one actuator arm at the coupler end and the second midpoint being a midpoint of an edge of the at least one actuator arm at the anchor end, the mirror being coupled to the coupler end of the at least one actuator arm, wherein the mirror is configured to tilt about at least one tilting axis in response to a movement of the at least one actuator arm, and wherein a shortest distance of the mirror from the first midpoint is less than a shortest distance of the mirror from the second midpoint.
G02B 26/08 - Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
G01S 7/481 - Constructional features, e.g. arrangements of optical elements
In one implementation, a LIDAR system includes a laser emission unit configured to generate a laser beam; a scanning unit configured to deflect the laser beam toward a field of view of the LIDAR system, and cyclically scan the laser beam over the field of view during a plurality of frame capture events; and a processor programmed to: determine an actual frame capture progression for the LIDAR system based on an actual frame capture rate of the scanning unit; receive, from a location external to the LIDAR system, an indicator of a current external time; determine an expected frame capture progression for the LIDAR system based on a target frame capture rate for the scanning unit and based on the indicator of the current external time; and adjust the actual frame capture rate of the scanning unit in response to a detected difference between the actual frame capture progression and the expected frame capture progression.
A LIDAR having dynamic alignment capabilities, the LIDAR may include an optical unit that comprises a sensing unit, a processor and a compensation unit. The sensing unit may include a sensing array that comprises sets of sensing elements that are configured to sense reflected light impinging on sensing regions of the sets of sensing elements of the sensing array, during one or more sensing periods; wherein the sensing unit is configured to generate detection signals by the sensing elements of the sensing array. The processor may be configured to determine, based on at least some of the detection signals, one or more optical unit misalignments related to the optical unit of the LIDAR. The compensation unit may be configured to compensate for the one or more optical unit misalignment.
A time-of-flight (TOF) optical sensor may include a controller, a sensing array, and a readout unit. The sensing array may include a plurality of sensing cells. The readout unit may include a plurality of readout TOF modules. The number of the plurality of readout TOF modules may be less than the number of the plurality of sensing cells. The controller may be configured to trigger a connection of a first sensing cell of the plurality of sensing cells to a first readout TOF module of the plurality of readout TOF modules at a first time during a sampling period, thereby enabling the first readout TOF module to provide a first measurement of a change in output of the first sensing cell.
In one implementation, a LIDAR system includes a laser emission unit configured to generate at least one laser beam, a scanning unit configured to project the at least one laser beam toward a field of view of the LIDAR system; and at least one processor programmed to define a road surface plane indicative of a portion of a road surface in an environment of the host vehicle; determine at least one indicator of a current pitch of the LIDAR system relative to the road surface plane; compare the current pitch for the LIDAR system to a target pitch for the LIDAR system relative to the road surface plane; and adjust at least one scan range limit associated with the scanning unit to at least partially compensate for a difference between the current pitch of the LIDAR system and the target pitch for the LIDAR system.
A method for detecting objects using a LIDAR system may include controlling a light emission assembly comprising a light source in a manner enabling spatial light modulation to a field of view (FOV) of the LIDAR system to vary during different flash light emissions of the light emission assembly. The method may also include controlling a sensor to detect first reflection signals indicative of reflections of first flash light emissions from objects in the FOV. The method may further include determining a nonuniform spatial light modulation for the light emission assembly based on at least one of the first reflection signals. The method may also include instructing the light emission assembly to emit to the FOV a second flash light emission in accordance with the nonuniform spatial light modulation, and detecting an object in the FOV based on second reflection signals of the second flash light emission.
A LIDAR system has a laser emission unit configured to generate a plurality of laser beams. The system has a scanning unit configured to receive the plurality of laser beams. The common scanning unit projects the plurality of laser beams toward a field of view of the LIDAR system. The system has at least one processor. The processor is programmed to cause the scanning unit to scan the field of view of the LIDAR system by directing the plurality of beams along a first plurality of scan lines traversing the FOV. The processor is also programmed to displace the plurality of laser beams from a first set of locations associated with the first plurality of scan lines to a second set of locations associated with a second plurality of scan lines. Further, the processor is programmed to direct the plurality of laser beams along the second plurality of scan lines.
A replaceable antireflective sticker may include a substrate having a thickness less than 5 mm. The replaceable antireflective sticker may also include an antireflective coating on one side of the substrate. The antireflective sticker may further include a coupling surface for detachably coupling the antireflective sticker to a window of a LIDAR system.
A LIDAR system is disclosed. The system has a laser light projection system to simultaneously project at least two laser light beams. The system also has a deflector to project the at least two laser light beams toward a field of view of the LIDAR system. Each of the at least two laser light beams has an energy density below an eye safe level. A total combined energy density of the at least two laser light beams is above an eye safe level. Further, the at least two laser light beams projected from the deflector are separated from one another by an angular spacing ranging from 2.5 mrad to 6 mrad.
A LIDAR system may include at least one processor configured to control at least one light source for emitting a light flux. The at least one processor may also be configured to control a light deflector to deflect light from the at least one light source in order to scan a field of view. The at least one processor may further be configured to detect an object within the field of view based on first reflections from the field of view received by at least one sensor. The at least one processor may also be configured to determine a first position of the light deflector based on second reflections from the field of view received by a plurality of detector cells, and control a repositioning of the light deflector to a second position based on the first position of the light deflector and an intended illumination location.
A mirror includes an ultralight substrate. A reflective layer is disposed on the ultralight substrate. A bonding layer may be disposed between the reflective layer and the substrate.
A LIDAR system may include a laser emission unit configured to generate a plurality of laser beams. The LIDAR system may also include an optical system configured to transmit the plurality of laser beams from the laser emission unit to a common scanning unit. The common scanning unit may be configured to project the plurality of laser beams toward a field of view of the LIDAR system to simultaneously scan the field of view along a plurality of scan lines traversing the field of view.
A pulsed laser diode driver may include at least one low side switching circuit connected to at least one laser diode. The at least one laser diode may generate at least one light pulse. The low side switching circuit may include an input for receiving energy. The low side switching circuit may also include an inductor configured to store at least a portion of the received energy. Further, the low side switching circuit may include a trigger switch. The trigger switch may cause the inductor to store the portion of the received energy when the trigger switch is closed, and the trigger switch may cause the portion of the received energy stored in the inductor to be delivered to the at least one laser diode after the trigger switch is opened.
A LIDAR system is disclosed. The system may include a laser light projection system that may simultaneously provide at least two laser light beams. The system may also include an optical system, including one or more deflectors to project the at least two laser light beams toward a field of view of the LIDAR system. Each of the laser light beams may have an energy density below an eye safe level. However, a total combined energy density of the laser light beams may exceed an eye safe level. The laser light beams may be projected from the deflector are spaced apart from one another by an angular spacing ranging from 2.5 mrad to 6 mrad.
A LIDAR system is provided. The LIDAR system may include at least one processor configured to: control at least one light deflector to deflect light from a plurality of light sources towards a region in a field of view while the at least one light deflector is in a particular instantaneous position; control the at least one light deflector such that while the at least one light deflector is at the particular instantaneous position, light reflections from the field of view are received on at least one common area along a plurality of return paths to at least one sensor; and receive from at least one of a plurality of light detectors included in the at least one sensor, signals associated with beam spots of the received light reflections, wherein each of the beam spots impinges on more than one of the plurality of light detectors.
G01S 17/42 - Simultaneous measurement of distance and other coordinates
G02B 26/08 - Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
B60Q 1/00 - Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
B60Q 1/26 - Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
Systems and methods may detect an object within a minimum predetermined distance of a LIDAR system. The LIDAR system may comprise a processor configured to control a light source and a light deflector to illuminate objects located in a space illuminated by the light source; determine a distance to a first object based located within a field of view of a LIDAR sensor; receive, from a supplementary sensor, reflection signals indicative of light reflected from a second object outside the field of view; determine, based on the second reflection signals that the second object is located within a predetermined distance; and regulate, based on the determination, at least one of the light source and the light deflector to prevent an accumulated energy density of light emitted by the light source from exceeding a maximum permissible exposure level.
A microelectromechanical system (MEMS) mirror assembly may comprise a frame and a MEMS mirror coupled to the frame. The MEMS mirror assembly may also include at least one piezoelectric actuator including a body and a piezoelectric element. When subjected to an electrical field, the piezoelectric element may be configured to bend the body, thereby moving the MEMS mirror with respect to a plane of the frame. The MEMS mirror assembly may further include at least one heating resistor configured to heat the piezoelectric element when an electric current passes through the at least one heating resistor.
G02B 26/08 - Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
H05B 3/18 - Heating elements characterised by the composition or nature of the materials or by the arrangement of the conductor the conductor being embedded in an insulating material
G01S 17/931 - Lidar systems, specially adapted for specific applications for anti-collision purposes of land vehicles
H10N 30/20 - Piezoelectric or electrostrictive devices with electrical input and mechanical output, e.g. functioning as actuators or vibrators
Systems and methods are disclosed for a LIDAR system with a mirror housing and a window. The LIDAR system may include a light deflector, a mirror housing encasing the light deflector comprising a window for transmitting light between the light deflector and an exterior of the mirror housing, and a sensor positioned outside the mirror housing for detecting light signals from an environment of the LIDAR system. The light signals may propagate from the environment through the window to the light deflector, and from the light deflector through the window to the sensor. The window may be configured such that light arriving from outside of a field of view of the LIDAR system is deflected by the window away from the sensor. The LIDAR system may also include a processor for processing the light signals detected by the sensor to determine a distance to an object in the environment of the LIDAR system.
G02B 26/08 - Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
MEMS scanning devices having textured surfaces and methods for manufacturing the MEMS scanning device are provided. In one implementation, a MEMS scanning device includes a frame and a movable MEMS mirror configured to be rotated about at least one rotational axis. The MEMS scanning device further includes a plurality of flexible actuators coupling the movable MEMS mirror and the frame, the plurality of flexible actuators being configured to facilitate rotation of the movable MEMS mirror about the at least one rotational axis. The MEMS scanning device also includes a plurality of microstructured elements disposed on a surface of each of the plurality of flexible actuators. The plurality of microstructured elements are configured to diffuse light incident on the surface of each of the plurality of flexible actuators.
An electro-optical system may include a light source configured to emit a beam of radiation, and a pivotable scanning mirror configured to project the beam of radiation toward a field of view. The electro-optical system may also include a first electrode associated with the scanning mirror, and a plurality of second electrodes spaced apart from the first electrode. The electro-optical system may further include a processor programmed to determine a capacitance value for each of the second electrodes relative to the first electrode. Each of the determined capacitance values may have an accuracy in a range of ±1/100 to ±1/1000 of a difference between a highest capacitance value and a lowest capacitance value between the first electrode and a respective one of the second electrodes. The processor may also be programmed to determine an orientation of the scanning mirror based on one or more of the determined capacitance values.
G02B 26/08 - Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
68.
SYSTEMS AND METHODS FOR PHOTODIODE-BASED DETECTION
A photodiode-based detection module may include at least one photodiode for detecting light. The photodiode-based detection module may also include a sensitivity damper configured to temporarily reduce the sensitivity of the at least one photodiode. The photodiode-based detection module may further include a controller configured to trigger the sensitivity damper to reduce a sensitivity of the at least one photodiode to less than a nominal sensitivity threshold.
G01S 7/489 - Gain of receiver varied automatically during pulse-recurrence period
G01S 17/14 - Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves wherein a voltage or current pulse is initiated and terminated in accordance with the pulse transmission and echo reception respectively, e.g. using counters
G01S 17/42 - Simultaneous measurement of distance and other coordinates
G01S 17/931 - Lidar systems, specially adapted for specific applications for anti-collision purposes of land vehicles
G01S 7/4863 - Detector arrays, e.g. charge-transfer gates
G01S 7/481 - Constructional features, e.g. arrangements of optical elements
A method for detecting objects using a LIDAR system may include controlling a light emission assembly comprising a light source in a manner enabling spatial light modulation to a field of view (FOV) of the LIDAR system to vary during different flash light emissions of the light emission assembly. The method may also include controlling a sensor to detect first reflection signals indicative of reflections of first flash light emissions from objects in the FOV. The method may further include determining a nonuniform spatial light modulation for the light emission assembly based on at least one of the first reflection signals. The method may also include instructing the light emission assembly to emit to the FOV a second flash light emission in accordance with the nonuniform spatial light modulation, and detecting an object in the FOV based on second reflection signals of the second flash light emission.
An electrooptical system may include a processor programmed to control a light source to enable light flux to vary over a scan of a field-of-view using light from the light source. The FOV may be divided into a plurality of segments, which may include a first set of non-contiguous segments, and each of the non-contiguous segments included in the first set may be separated from other non-contiguous segments in the first set by at least one segment. The scanning of the field-of-view may include sequentially illuminating the non-contiguous segments, which may proceed such that, during illumination of a particular non-contiguous segment in the first set of non-contiguous segments, other segments in the plurality of segments are not be illuminated, and such that other segments in the plurality of segments are not be illuminated between the illuminations of the non-contiguous segments in the first set of non-contiguous segments.
A replaceable antireflective sticker may include a substrate having a thickness less than 5 mm. The replaceable antireflective sticker may also include an antireflective coating on one side of the substrate. The antireflective sticker may further include a coupling surface for detachably coupling the antireflective sticker to a window of a LIDAR system.
A LIDAR system including a MEMS scanning device is disclosed. The LIDAR system includes a light source, a light deflector, a sensor, and a processor. The light deflector deflects light from the light source or light received from an environment outside a vehicle in which the LIDAR system is installed. The sensor detects the light received from the light source or the environment. The processor determines a distance of one or more objects in the environment from the vehicle based on the signals from the sensor. The light deflector includes one or more actuators, which include one or more actuating arms. Connectors connect the actuating arms to an MEMS mirror or other deflector. The actuating arms move when subjected to an electrical field in the form of a voltage or current. Movement of the actuating arms causes movement of the MEMS mirror or deflector causing it to deflect light.
G02B 26/00 - Optical devices or arrangements for the control of light using movable or deformable optical elements
G01S 17/89 - Lidar systems, specially adapted for specific applications for mapping or imaging
G01S 17/931 - Lidar systems, specially adapted for specific applications for anti-collision purposes of land vehicles
G01S 17/894 - 3D imaging with simultaneous measurement of time-of-flight at a 2D array of receiver pixels, e.g. time-of-flight cameras or flash lidar
G01S 7/481 - Constructional features, e.g. arrangements of optical elements
G01S 17/10 - Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
G02B 26/08 - Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
73.
Varying Detection Sensitivity Between Detections in LIDAR Systems
Systems and methods use LIDAR technology. In one implementation, a LIDAR system includes at least one processor configured to: control activation of at least one light source for illuminating a field of view; receive from at least one sensor having a plurality of detection elements reflections signals indicative of light reflected from objects in the field of view; dynamically allocate a first subset of the plurality of detection elements to constitute a first pixel; dynamically allocate a second subset of the plurality of detection elements to constitute a second pixel; following processing of the first pixel and the second pixel, dynamically allocate a third subset of the plurality of detection elements to constitute a third pixel, the third subset verlapping with at least one of the first subset and the second subset, and differing from each of the first subset and the second subset; and following processing of the first pixel and the second pixel, dynamically allocate a fourth subset of the plurality of detection elements to constitute a fourth pixel, the fourth subset overlapping with at least one of the first subset, the second subset, and the third subset, and differing from each of the first subset, the second subset, and the third subset.
A time-of-flight (TOF) optical sensor may include a controller, a sensing array, and a readout unit. The sensing array may include a plurality of sensing cells. The readout unit may include a plurality of readout TOF modules. The number of the plurality of readout TOF modules may be less than the number of the plurality of sensing cells. The controller may be configured to trigger a connection of a first sensing cell of the plurality of sensing cells to a first readout TOF module of the plurality of readout TOF modules at a first time during a sampling period, thereby enabling the first readout TOF module to provide a first measurement of a change in output of the first sensing cell.
A vehicle-assistance system for classifying objects in a vehicle's surroundings is provided. The system may include at least one memory configured to store classification information for classifying a plurality of objects and at least one processor configured to receive, on a pixel-by-pixel basis, a plurality of measurements associated with LIDAR detection results. The measurements may include at least one of: a presence indication, a surface angle, object surface physical composition, and a reflectivity level. The at least one processor may also be configured to receive, on the pixel-by-pixel basis, at least one confidence level associated with each received measurement, and access the classification information. The at least one processor may further be configured to, based on the classification information and the received measurements with the at least one associated confidence level plurality, identify a of pixels as being associated with a particular object.
A LIDAR system may include at least one processor configured to control at least one light source for emitting a light flux. The at least one processor may also be configured to control a light deflector to deflect light from the at least one light source in order to scan a field of view. The at least one processor may further be configured to detect an object within the field of view based on first reflections from the field of view received by at least one sensor. The at least one processor may also be configured to determine a first position of the light deflector based on second reflections from the field of view received by a plurality of detector cells, and control a repositioning of the light deflector to a second position based on the first position of the light deflector and an intended illumination location.
A MEMS scanning device may include: a movable MEMS mirror configured to pivot about at least one axis; at least one actuator operable to rotate the MEMS mirror about the at least one axis, each actuator out of the at least one actuator operable to bend upon actuation to move the MEMS mirror; and at least one flexible interconnect element coupled between the at least one actuator and the MEMS mirror for transferring a pulling force of the bending of the at least one actuator to the MEMS mirror. Each flexible interconnect element out of the at least one interconnect element may be an elongated structure comprising at least two turns at opposing directions, each turn greater than 120°.
G01S 7/00 - Details of systems according to groups , ,
G01S 7/481 - Constructional features, e.g. arrangements of optical elements
G01S 17/931 - Lidar systems, specially adapted for specific applications for anti-collision purposes of land vehicles
G01H 1/00 - Measuring vibrations in solids by using direct conduction to the detector
G01S 17/10 - Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
G01S 7/4863 - Detector arrays, e.g. charge-transfer gates
G01S 7/4914 - Detector arrays, e.g. charge-transfer gates
G01S 17/32 - Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
G01S 17/58 - Velocity or trajectory determination systemsSense-of-movement determination systems
G01S 7/48 - Details of systems according to groups , , of systems according to group
In some embodiments, a LIDAR system may include at least one processor configured to control at least one light source for projecting light toward a field of view and receive from at least one first sensor first signals associated with light projected by the at least one light source and reflected from an object in the field of view, wherein the light impinging on the at least one first sensor is in a form of a light spot having an outer boundary. The processor may further be configured to receive from at least one second sensor second signals associated with light noise, wherein the at least one second sensor is located outside the outer boundary; determine, based on the second signals received from the at least one second sensor, an indicator of a magnitude of the light noise; and determine, based on the indicator the first signals received from the at least one first sensor and, a distance to the object.
G01S 17/06 - Systems determining position data of a target
G01S 17/10 - Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
G01S 17/32 - Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
G01S 17/42 - Simultaneous measurement of distance and other coordinates
G01S 17/58 - Velocity or trajectory determination systemsSense-of-movement determination systems
G01S 17/89 - Lidar systems, specially adapted for specific applications for mapping or imaging
G01S 17/931 - Lidar systems, specially adapted for specific applications for anti-collision purposes of land vehicles
G02B 26/12 - Scanning systems using multifaceted mirrors
79.
Aggregating pixel data associated with multiple distances to improve image quality
In some embodiments, a LIDAR system may include at least one processor configured to control at least one light source for projecting light toward a field of view and receive from at least one first sensor first signals associated with light projected by the at least one light source and reflected from an object in the field of view, wherein the light impinging on the at least one first sensor is in a form of a light spot having an outer boundary. The processor may further be configured to receive from at least one second sensor second signals associated with light noise, wherein the at least one second sensor is located outside the outer boundary; determine, based on the second signals received from the at least one second sensor, an indicator of a magnitude of the light noise; and determine, based on the indicator the first signals received from the at least one first sensor and, a distance to the object.
G01S 7/481 - Constructional features, e.g. arrangements of optical elements
G01S 17/931 - Lidar systems, specially adapted for specific applications for anti-collision purposes of land vehicles
G01S 17/10 - Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
G01S 7/4863 - Detector arrays, e.g. charge-transfer gates
G01S 7/4914 - Detector arrays, e.g. charge-transfer gates
G01S 17/32 - Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
G01S 17/58 - Velocity or trajectory determination systemsSense-of-movement determination systems
G01S 7/48 - Details of systems according to groups , , of systems according to group
A LIDAR system may include: a first housing containing a processor configured to control a light source to enable light flux of the light source to vary over a scan of a field of view; a second housing located in a vehicle remote from the first housing, the second housing containing a controllable light deflector, and an actuator configured to move the light deflector; and a data conduit configured to interconnect the first housing and the second housing, the data conduit is associated with a forward path from the first housing to the second housing and a return path from the second housing to the first housing, wherein the data conduit is configured to cooperate with the processor and the actuator such that the forward path conveys signals for controlling the actuator and the return path conveys reflections signals indicative of light reflected from objects in the field of view.
G01S 17/06 - Systems determining position data of a target
G01S 17/10 - Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
G01S 17/32 - Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
G01S 17/42 - Simultaneous measurement of distance and other coordinates
G01S 17/58 - Velocity or trajectory determination systemsSense-of-movement determination systems
G01S 17/89 - Lidar systems, specially adapted for specific applications for mapping or imaging
G01S 17/931 - Lidar systems, specially adapted for specific applications for anti-collision purposes of land vehicles
G02B 26/12 - Scanning systems using multifaceted mirrors
In some embodiments, a LIDAR system may include at least one processor configured to control at least one light source for projecting light toward a field of view and receive from at least one first sensor first signals associated with light projected by the at least one light source and reflected from an object in the field of view, wherein the light impinging on the at least one first sensor is in a form of a light spot having an outer boundary. The processor may further be configured to receive from at least one second sensor second signals associated with light noise, wherein the at least one second sensor is located outside the outer boundary; determine, based on the second signals received from the at least one second sensor, an indicator of a magnitude of the light noise; and determine, based on the indicator the first signals received from the at least one first sensor and, a distance to the object.
G01S 17/06 - Systems determining position data of a target
G01S 17/10 - Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
G01S 17/32 - Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
G01S 17/42 - Simultaneous measurement of distance and other coordinates
G01S 17/58 - Velocity or trajectory determination systemsSense-of-movement determination systems
G01S 17/89 - Lidar systems, specially adapted for specific applications for mapping or imaging
G01S 17/931 - Lidar systems, specially adapted for specific applications for anti-collision purposes of land vehicles
G02B 26/12 - Scanning systems using multifaceted mirrors
Systems and methods may detect an object within a minimum predetermined distance of a LIDAR system. The LIDAR system may comprise a processor configured to control a light source and a light deflector to illuminate objects located in a space illuminated by the light source; determine a distance to a first object based located within a field of view of a LIDAR sensor; receive, from a supplementary sensor, reflection signals indicative of light reflected from a second object outside the field of view; determine, based on the second reflection signals that the second object is located within a predetermined distance; and regulate, based on the determination, at least one of the light source and the light deflector to prevent an accumulated energy density of light emitted by the light source from exceeding a maximum permissible exposure level.
A LIDAR system for detecting a vehicle may include a processor configured to: scan a field of view (FOV) by controlling movement of at least one deflector at which at least one light source is directed; receive from at least one sensor signals indicative of light reflected from a particular object in the FOV; detect, based on time of flight in the received signals, portions of the particular object in the FOV that are similarly spaced from the light source; determine, based on the detected portions, at least a first portion having a first reflectivity corresponding to a license plate, and at least two additional spaced-apart portions corresponding to locations on the particular object other than a location of the first portion; and based on a spatial relationship and a reflectivity relationship between the first portion and the at least two additional portions, classify the particular object as a vehicle.
A microelectromechanical system (MEMS) mirror assembly may comprise a frame and a MEMS mirror coupled to the frame. The MEMS mirror assembly may also include at least one piezoelectric actuator including a body and a piezoelectric element. When subjected to an electrical field, the piezoelectric element may be configured to bend the body, thereby moving the MEMS mirror with respect to a plane of the frame. The MEMS mirror assembly may further include at least one heating resistor configured to heat the piezoelectric element when an electric current passes through the at least one heating resistor.
G01S 7/481 - Constructional features, e.g. arrangements of optical elements
G01S 17/931 - Lidar systems, specially adapted for specific applications for anti-collision purposes of land vehicles
G02B 26/08 - Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
85.
LIDAR SYSTEM HAVING A MIRROR HOUSING WITH A WINDOW
Systems and methods are disclosed for a LIDAR system with a mirror housing and a window. The LIDAR system may include a light deflector, a mirror housing encasing the light deflector comprising a window for transmitting light between the light deflector and an exterior of the mirror housing, and a sensor positioned outside the mirror housing for detecting light signals from an environment of the LIDAR system. The light signals may propagate from the environment through the window to the light deflector, and from the light deflector through the window to the sensor. The window may be configured such that light arriving from outside of a field of view of the LIDAR system is deflected by the window away from the sensor. The LIDAR system may also include a processor for processing the light signals detected by the sensor to determine a distance to an object in the environment of the LIDAR system.
G01S 7/48 - Details of systems according to groups , , of systems according to group
G01S 7/481 - Constructional features, e.g. arrangements of optical elements
G01S 17/42 - Simultaneous measurement of distance and other coordinates
G01S 17/89 - Lidar systems, specially adapted for specific applications for mapping or imaging
G01S 17/931 - Lidar systems, specially adapted for specific applications for anti-collision purposes of land vehicles
G01S 17/933 - Lidar systems, specially adapted for specific applications for anti-collision purposes of aircraft or spacecraft
G02B 26/08 - Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
09 - Scientific and electric apparatus and instruments
Goods & Services
Lidar apparatus comprised of computer hardware, electronic
hardware, computer vision software and software tools for
the lidar apparatus, including detectors and sensors, and
embedded software, for scanning, detecting, identifying,
tracking and classifying objects in the environment, for
measuring distances between objects in the environment, and
for analyzing and mapping visual data and generating 3D maps
of the environment; lidar dedicated software; safety system
comprised of lidar dedicated software; safety system
comprised of a lidar apparatus, lidar apparatus comprised of
computer hardware, for vehicles, in-car safety system
including autonomous cars, automated safety system for
preventing car accidents.
87.
MEMS MIRROR WITH RESISTOR FOR DETERMINING A POSITION OF THE MIRROR
The present disclosure relates to MEMS mirrors and methods for operating and measuring locations of the same. In one implementation, a microelectromechanical system (MEMS) mirror assembly may include a MEMS mirror; a frame; a plurality of actuators configured to rotate pivot the MEMS mirror with respect to a plane of the frame; one or more strain gauges configured to measure a movement of one or more of the plurality of actuators, each strain gauge including at least one movable resistor disposed on the one or more actuators; and circuitry configured to measure an electrical response of the at least one moveable resistor to one or more applied voltages, determine at least one electrical property of the at least one movable resistor, and determine a location of the MEMS mirror based on the at least one electrical property.
G02B 26/08 - Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
G09G 3/34 - Control arrangements or circuits, of interest only in connection with visual indicators other than cathode-ray tubes for presentation of an assembly of a number of characters, e.g. a page, by composing the assembly by combination of individual elements arranged in a matrix by control of light from an independent source
G01S 13/93 - Radar or analogous systems, specially adapted for specific applications for anti-collision purposes
A LIDAR system for use in a vehicle is provided. The LIDAR system may include at least one processor configured to control at least one light source for illuminating a field of view and scan a field of view by controlling movement of at least one deflector at which the at least one light source is directed. The at least one processor may also be configured to receive, from at least one sensor, reflections signals indicative of light reflected from an object in the field of view. The at least one processor may further be configured to detect at least one temporal distortion in the reflections signals, and determine from the at least one temporal distortion an angular orientation of at least a portion of the object.
G06V 10/75 - Organisation of the matching processes, e.g. simultaneous or sequential comparisons of image or video featuresCoarse-fine approaches, e.g. multi-scale approachesImage or video pattern matchingProximity measures in feature spaces using context analysisSelection of dictionaries
G06V 20/56 - Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
G06V 20/58 - Recognition of moving objects or obstacles, e.g. vehicles or pedestriansRecognition of traffic objects, e.g. traffic signs, traffic lights or roads
89.
LIDAR SYSTEMS AND METHODS WITH INTERNAL LIGHT CALIBRATION
The present disclosure relates to systems and methods for calibrating LIDAR systems using internal light. In one implementation, at least one processor of a LIDAR system may control at least one light source; receive from a group of detectors a first plurality of input signals associated with light projected by the at least one light source and reflected from an object external to the LIDAR system; determine based on the first plurality of input signals a distance to the object; receive from the group of detectors a second plurality of input signals associated with light projected internal to the LIDAR system by the at least one light source; determine based on the second plurality of input signals that there is performance degradation in at least one detector of the group of detectors; and initiate a remedial action in response to the determined performance degradation.
09 - Scientific and electric apparatus and instruments
Goods & Services
Lidar apparatus comprised of computer hardware, electronic hardware, recorded computer vision software and recorded software tools for the lidar apparatus, including detectors and sensors, and embedded recorded software, all for scanning, detecting, identifying, tracking and classifying objects in the environment, for measuring distances between objects in the environment, and for analyzing and mapping visual data and generating 3D maps of the environment; downloadable lidar dedicated software for scanning, detecting, identifying, tracking and classifying objects in the environment, for measuring distances between objects in the environment, and for analyzing and mapping visual data and generating 3D maps of the environment; recorded lidar dedicated software for scanning, detecting, identifying, tracking and classifying objects in the environment, for measuring distances between objects in the environment, and for analyzing and mapping visual data and generating 3D maps of the environment; safety system comprised of recorded and downloadable lidar dedicated software for use in preventing accidents
91.
Dynamically allocating detection elements to pixels in LIDAR systems
The present disclosure provides systems and methods that use LIDAR technology. In one implementation, a LIDAR system includes at least one processor configured to: control activation of at least one light source for illuminating a field of view; receive from at least one sensor a reflection signal associated with an object in the field of view, a time lapse between light leaving the at least one light source and reflection impinging on the least one sensor constituting a time of flight; and alter an amplification parameter associated with the at least one sensor during the time of flight.
A LIDAR system, comprising: (a) a plurality of anchored LIDAR sensing units, each anchored LIDAR sensing unit comprising at least: (i) a housing; (ii) at least one detector, mounted in the housing, configured to detect light signals arriving from objects in a field of view of the anchored LIDAR sensing unit; and (iii) a communication unit, configured to output detection information which is based on outputs of the at least one detector and which is indicative of existence of the objects; and (b) at least one integratory processing unit, configured to receive the detection information from two or more of the plurality of anchored LIDAR sensing units, and to process the received detection information to provide a three dimensional model of a scene which is larger than any of the field of views of the independent anchored LIDAR sensing units.
A LIDAR system including a MEMS scanning device is disclosed. The LIDAR system includes a light source, a light deflector, a sensor, and a processor. The light deflector deflects light from the light source or light received from an environment outside a vehicle in which the LIDAR system is installed. The sensor detects the light received from the light source or the environment. The processor determines a distance of one or more objects in the environment from the vehicle based on the signals from the sensor. The light deflector includes one or more actuators, which include one or more actuating arms. Connectors connect the actuating arms to an MEMS mirror or other deflector. The actuating arms move when subjected to an electrical field in the form of a voltage or current. Movement of the actuating arms causes movement of the MEMS mirror or deflector causing it to deflect light.
In some embodiments, a LIDAR system may include at least one processor configured to control at least one light source for projecting light toward a field of view and receive from at least one first sensor first signals associated with light projected by the at least one light source and reflected from an object in the field of view, wherein the light impinging on the at least one first sensor is in a form of a light spot having an outer boundary. The processor may further be configured to receive from at least one second sensor second signals associated with light noise, wherein the at least one second sensor is located outside the outer boundary; determine, based on the second signals received from the at least one second sensor, an indicator of a magnitude of the light noise; and determine, based on the indicator the first signals received from the at least one first sensor and, a distance to the object.
The present disclosure relates to systems and method for identification and classification of objects using a LIDAR. In one implementation, the LIDAR system may detect one or more surface angles of an object based on one or more temporal distortions in reflection signals. In additional implementations, the LIDAR system may identify objects using reflectivity fingerprints, surface angle fingerprints, or other measured properties, such as object surface physical composition, ambient illumination measured at a LIDAR dead time, difference in detection information from a previous frame, and confidence levels associated with one or more detection characteristics.
A LIDAR system is provided. The LIDAR system comprises at least one processor configured to: control at least one deflector to deflect light from a plurality of light sources along a plurality of outbound paths, towards a plurality of regions forming a field of view while the at least one deflector is in a particular instantaneous position; control the at least one deflector such that while the at least one deflector is in the particular instantaneous position, light reflections from the field of view are received on at least one common area of the at least one deflector; and receive from each of a plurality of detectors, at least one signal indicative of light reflections from the at least one common area while the at least one deflector is in the particular instantaneous position.
B60Q 1/00 - Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
B60Q 1/26 - Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
A LIDAR system for use in a vehicle may include at least one processor configured to control at least one light source in a manner enabling light flux of at least one light source to vary over scans of a field of view. The processor may also be configured to control at least one light deflector to deflect light from the at least one light source in order to scan the field of view. The processor may also be configured to receive input indicative of a current driving environment of the vehicle, and based on the current driving environment, coordinate the control of the at least one light source with the control of the at least one light deflector to dynamically adjust an instantaneous detection distance by varying an amount of light projected and a spatial light distribution of light across the scan of the field of view.
B60Q 1/00 - Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
B60Q 1/26 - Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
A LIDAR system for use with a roadway vehicle traveling on a highway may include at least one processor configured to control at least one light source in a manner enabling light flux of light from at least one light source to vary over a scanning cycle of a field of view. The processor may also be configured to control at least one deflector to deflect light from the at least one light source in order to scan the field of view. The processor may also be configured to coordinate the control of the at least one light source with the control of the at least one light deflector such that during scanning of the field of view that encompasses a central region, a right peripheral region, and a left peripheral region, more light is directed to the central region than to the peripheral regions.
B60Q 1/00 - Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
B60Q 1/26 - Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
A LIDAR system for use in a vehicle may include at least one light source configured to project light toward a field of view for illuminating a plurality of objects in an environment of a vehicle and at least one processor configured to control the at least one light source in a manner enabling light flux of light from the at least one light source to vary over scans of a plurality of portions of the field of view. The LIDAR system may receive information indicating that a temperature associated with at least one system component exceeds a threshold, and in response to the received information indicating the temperature exceeding the threshold, modify an illumination ratio between two portions of the field of view such that during at least one subsequent scanning cycle less light is delivered to the field of view than in a prior scanning cycle.
B60Q 1/00 - Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
B60Q 1/26 - Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
A LIDAR system is provided. The LIDAR system comprises at least one processor configured to: access an optical budget stored in memory, the optical budget being associated with at least one light source and defining an amount of light that is emittable in a predetermined time period by the at least one light source; receive information indicative of a platform condition for the LIDAR system; based on the received information, dynamically apportion the optical budget to a field of view of the LIDAR system based on at least two of: scanning rates, scanning patterns, scanning angles, spatial light distribution, and temporal light distribution; and output signals for controlling the at least one light source in a manner enabling light flux to vary over scanning of the field of view in accordance with the dynamically apportioned optical budget.
B60Q 1/00 - Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
B60Q 1/26 - Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
