US 11,971,507 B2
Systems and methods for mitigating optical crosstalk in a light ranging and detection system
Leon Nicolas Avlas, Los Gatos, CA (US); and Eric Nathaniel Berseth, Santa Clara, CA (US)
Assigned to VELODYNE LIDAR USA, INC., San Jose, CA (US)
Filed by VELODYNE LIDAR USA, INC., San Jose, CA (US)
Filed on Aug. 24, 2018, as Appl. No. 16/112,273.
Prior Publication US 2020/0064452 A1, Feb. 27, 2020
Int. Cl. G01S 7/487 (2006.01); G01S 7/48 (2006.01); G01S 17/931 (2020.01)
CPC G01S 7/4876 (2013.01) [G01S 7/4804 (2013.01); G01S 17/931 (2020.01)] 21 Claims
OG exemplary drawing
 
1. A method comprising:
performing, by a first LIDAR system, operations including:
initiating a passive state, wherein laser firing by a plurality of lasers of the first LIDAR system is suppressed;
receiving, during the passive state, by a passive LIDAR detector of the first LIDAR system, a passive LIDAR return comprising one or more first optical returns from one or more optical sources other than the plurality of lasers;
initiating an active state, wherein the first LIDAR system fires at least one laser included in the plurality of lasers;
receiving, during the active state, by an active LIDAR detector of the first LIDAR system, an active LIDAR return comprising one or more second optical returns corresponding to the firing of the at least one laser and one or more third optical returns from the other optical sources;
suppressing firing of the plurality of lasers of the first LIDAR system when a second LIDAR system is within a field of view of the first LIDAR system, the field of view of the first LIDAR system being less than a field of view threshold,
comparing a passive signal generated by the passive LIDAR detector based on the passive LIDAR return and an active signal generated by the active LIDAR detector based on the active LIDAR return; and
based on the comparing of the passive signal and the active signal, removing, from the active signal, at least a portion of interference corresponding to one or more peaks of the one or more third optical returns from the other optical sources.