US 12,248,067 B1
Laser diode timing feedback using trace loop
Pierre-yves Droz, Los Altos, CA (US); and Gaetan Pennecot, San Francisco, CA (US)
Assigned to Waymo LLC, Mountain View, CA (US)
Filed by Waymo LLC, Mountain View, CA (US)
Filed on Aug. 25, 2022, as Appl. No. 17/895,208.
Application 17/895,208 is a continuation of application No. 15/992,340, filed on May 30, 2018, granted, now 11,460,575.
Application 15/992,340 is a continuation of application No. 15/728,065, filed on Oct. 9, 2017, granted, now 10,007,000, issued on Jun. 26, 2018.
Application 15/728,065 is a continuation of application No. 14/039,817, filed on Sep. 27, 2013, granted, now 9,784,835, issued on Oct. 10, 2017.
This patent is subject to a terminal disclaimer.
Int. Cl. G01S 17/08 (2006.01); G01S 7/481 (2006.01); G01S 7/484 (2006.01); G01S 7/4865 (2020.01); G01S 17/10 (2020.01); G01S 17/42 (2006.01); G01S 17/89 (2020.01); G08G 1/16 (2006.01); H01S 5/06 (2006.01)
CPC G01S 17/08 (2013.01) [G01S 7/484 (2013.01); G01S 17/10 (2013.01); G01S 17/42 (2013.01); G01S 17/89 (2013.01); G08G 1/16 (2013.01); G08G 1/165 (2013.01); G08G 1/166 (2013.01); H01S 5/06 (2013.01); G01S 7/4817 (2013.01); G01S 7/4865 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method, comprising:
applying an initiating signal to a firing circuit, wherein the firing circuit comprises a light emitting element, and wherein the initiating signal causes the light emitting element to emit a light pulse;
determining a pulse emission time that the light pulse is emitted based on a non-optical signal detected by a feedback circuit;
detecting a reflected light pulse, wherein the reflected light pulse includes a portion of the emitted light pulse that is reflected from an object;
determining a reception time of the reflected light pulse;
determining a distance to the object based on the reception time and the pulse emission time; and
providing instructions for controlling an autonomous vehicle travelling on a roadway based on the determined distance to the object.