US 11,927,697 B2
Use of extended detection periods for range aliasing detection and mitigation in a light detection and ranging (LIDAR) system
Mark Alexander Shand, Palo Alto, CA (US)
Assigned to Waymo LLC, Mountain View, CA (US)
Filed by Waymo LLC, Mountain View, CA (US)
Filed on Jun. 14, 2022, as Appl. No. 17/839,676.
Application 17/839,676 is a continuation of application No. 16/851,987, filed on Apr. 17, 2020, granted, now 11,415,680.
Application 16/851,987 is a continuation of application No. 15/665,591, filed on Aug. 1, 2017, granted, now 10,627,492, issued on Apr. 21, 2020.
Prior Publication US 2022/0308191 A1, Sep. 29, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. G01S 7/4865 (2020.01); G01S 17/10 (2020.01); G01S 17/42 (2006.01); G01S 17/931 (2020.01)
CPC G01S 7/4865 (2013.01) [G01S 17/10 (2013.01); G01S 17/42 (2013.01); G01S 17/931 (2020.01)] 20 Claims
OG exemplary drawing
 
1. A method comprising:
operating a Light Detection and Ranging (LIDAR) device to emit light pulses in accordance with an emission time sequence and to detect return light pulses in accordance with a detection time sequence, wherein the detection time sequence includes, for each emitted light pulse in the emission time sequence, a corresponding detection period for detection of a corresponding return light pulse, wherein the corresponding detection period is one of (i) a standard detection period having a duration that establishes a nominal detection range for the LIDAR device or (ii) an extended detection period having a duration longer than the duration of the standard detection period;
adjusting the detection time sequence, wherein adjusting the detection time sequence comprises increasing utilization of extended detection periods; and
operating the LIDAR device to detect return light pulses according to the adjusted detection time sequence.