US 12,222,452 B2
Systems and methods for adaptive range coverage using LIDAR
Mark Alexander Shand, Mountain View, CA (US)
Assigned to Waymo LLC, Mountain View, CA (US)
Filed by Waymo LLC, Mountain View, CA (US)
Filed on Nov. 2, 2023, as Appl. No. 18/500,659.
Application 18/500,659 is a continuation of application No. 17/659,674, filed on Apr. 19, 2022, granted, now 11,841,464.
Application 17/659,674 is a continuation of application No. 15/852,788, filed on Dec. 22, 2017, granted, now 11,340,339, issued on May 24, 2022.
Prior Publication US 2024/0061089 A1, Feb. 22, 2024
Int. Cl. G01S 7/48 (2006.01); G01S 1/10 (2006.01); G01S 7/481 (2006.01); G01S 7/484 (2006.01); G01S 7/4861 (2020.01); G01S 17/10 (2020.01); G01S 17/89 (2020.01); G01S 17/931 (2020.01)
CPC G01S 7/484 (2013.01) [G01S 1/10 (2013.01); G01S 7/4813 (2013.01); G01S 7/4815 (2013.01); G01S 7/4861 (2013.01); G01S 17/10 (2013.01); G01S 17/89 (2013.01); G01S 17/931 (2020.01)] 20 Claims
OG exemplary drawing
 
1. A system comprising:
a plurality of light-emitter devices, wherein the plurality of light-emitter devices is operable to emit light along a plurality of emission vectors such that the emitted light interacts with an external environment of the system;
a receiver subsystem configured to provide information indicative of interactions between the emitted light and the external environment; and
a controller operable to carry out operations, the operations comprising:
determining, for at least one light-emitter device of the plurality of light-emitter devices, a light pulse schedule, wherein the light pulse schedule is based on a respective emission vector of the at least one light-emitter device and a three-dimensional map of the external environment, wherein the three-dimensional map is a topographical map, and wherein the light pulse schedule comprises at least one pulse parameter and a listening window duration;
adjusting the light pulse schedule based on a contour line that extends around the system, wherein the contour line is determined based on the topographic map; and
causing the at least one light-emitter device of the plurality of light-emitter devices to emit a light pulse according to the adjusted light pulse schedule.