US 12,248,100 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 Jan. 15, 2024, as Appl. No. 18/412,820.
Application 18/412,820 is a continuation of application No. 17/839,676, filed on Jun. 14, 2022, granted, now 11,927,697.
Application 17/839,676 is a continuation of application No. 16/851,987, filed on Apr. 17, 2020, granted, now 11,415,680, issued on Aug. 16, 2022.
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 2024/0151829 A1, May 9, 2024
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, by a computing system, a Light Detection and Ranging (LIDAR) device to emit a plurality of light pulses and to detect return light pulses in a plurality of corresponding detection periods, wherein the plurality of corresponding detection periods includes (i) one or more standard detection periods that establish a nominal detection range for the LIDAR device and (ii) one or more extended detection periods having respective durations that are longer than respective durations of the one or more standard detection periods;
receiving, by the computing system, information indicative of a first return light pulse from an object detected by the LIDAR device during a particular extended detection period of the one or more extended detection periods, wherein the information indicative of the first return light pulse comprises a first detection time associated with the first return light pulse;
receiving, by the computing system, information indicative of a second return light pulse from the object detected by the LIDAR device during a particular standard detection period of the one or more standard detection periods, wherein the information indicative of the second return light pulse comprises a second detection time associated with the second return light pulse; and
determining, by the computing system, a distance to the object based on the first detection time and the second detection time.