US 11,656,358 B2
Synchronization of multiple rotating sensors of a vehicle
Blaise Gassend, East Palo Alto, CA (US); Nicholas Armstrong-Crews, Mountain View, CA (US); Andreas Wendel, Mountain View, CA (US); Benjamin Ingram, Santa Clara, CA (US); and Clayton Kunz, Mountain View, CA (US)
Assigned to Waymo LLC, Mountain View, CA (US)
Filed by Waymo LLC, Mountain View, CA (US)
Filed on Nov. 1, 2019, as Appl. No. 16/671,858.
Claims priority of provisional application 62/755,335, filed on Nov. 2, 2018.
Prior Publication US 2020/0142073 A1, May 7, 2020
Int. Cl. G01S 17/89 (2020.01); G01S 17/10 (2020.01); G01S 7/481 (2006.01)
CPC G01S 17/89 (2013.01) [G01S 7/4817 (2013.01); G01S 17/10 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A system comprising:
a first light detection and ranging (LIDAR) device mounted to a vehicle at a first mounting position, wherein the first LIDAR device scans a first field-of-view (FOV) defined by a first range of yaw directions of the first LIDAR device and the first mounting position, wherein the first FOV extends a first distance from the vehicle;
a second LIDAR device mounted to the vehicle at a second mounting position, wherein the second LIDAR device scans a second FOV defined by a second range of yaw directions of the second LIDAR device and the second mounting position, wherein the second FOV at least partially overlaps the first FOV, wherein the second FOV extends a second distance from the vehicle, and wherein the first distance is greater than the second distance;
a first LIDAR controller, wherein the first LIDAR controller operates a first actuator to rotate the first LIDAR device to adjust a first yaw direction of the first LIDAR device; and
a second LIDAR controller, wherein the second LIDAR controller operates a second actuator to rotate the second LIDAR device synchronously with the rotation of the first LIDAR device to adjust a second yaw direction of the second LIDAR device.