US 11,947,017 B2
Lidar system for autonomous vehicle
Devlin Baker, Bozeman, MT (US); and Stephen C. Crouch, Bozeman, MT (US)
Assigned to AURORA OPERATIONS, INC., Pittsburgh, PA (US)
Filed by Aurora Operations, Inc., Pittsburgh, PA (US)
Filed on Sep. 29, 2022, as Appl. No. 17/956,389.
Application 17/956,389 is a continuation of application No. 17/167,857, filed on Feb. 4, 2021, granted, now 11,500,106.
Application 17/167,857 is a continuation of application No. 16/725,399, filed on Dec. 23, 2019, granted, now 10,914,841, issued on Feb. 9, 2021.
Application 16/725,399 is a continuation of application No. PCT/US2019/028532, filed on Apr. 22, 2019.
Claims priority of provisional application 62/661,327, filed on Apr. 23, 2018.
Prior Publication US 2023/0025474 A1, Jan. 26, 2023
Int. Cl. G01S 17/931 (2020.01); G01S 17/58 (2006.01); G01S 17/894 (2020.01)
CPC G01S 17/931 (2020.01) [G01S 17/58 (2013.01); G01S 17/894 (2020.01)] 15 Claims
OG exemplary drawing
 
1. A light detection and ranging (LIDAR) sensor system for a vehicle, comprising:
one or more scanning optics coupled to an autonomous vehicle and configured to output a first transmit signal at a first angle and a second transmit signal at a second angle; and
one or more processors configured to:
receive a first return signal from at least one of reflection or scattering of the first transmit signal by an object, the first return signal associated with a first location on the object;
receive a second return signal from at least one of reflection or scattering of the second transmit signal by the object, the second transmit signal associated with a second location on the object;
determine a rate of turning of the object by determining a Doppler feature of the object based on the first return signal and the second return signal; and
provide a control signal to a control system of the vehicle for the control system to control operation of at least one of a steering system of the vehicle or a braking system of the vehicle responsive to the rate of turning of the object.