US 11,988,775 B1
Dynamic sensor illumination
Harrison Thomas Waschura, Los Altos Hills, CA (US); Turhan Karadeniz, Oakland, CA (US); Ryan McMichael, Mountain View, CA (US); Robert Nicholas Moor, San Mateo, CA (US); Denis Nikitin, Campbell, CA (US); Subasingha Shaminda Subasingha, San Ramon, CA (US); Joseph Patrick Warga, San Francisco, CA (US); and Silas Kogure Wilkinson, San Francisco, CA (US)
Assigned to Zoox, Inc., Foster City, CA (US)
Filed by Zoox, Inc., Foster City, CA (US)
Filed on Dec. 18, 2019, as Appl. No. 16/719,565.
Int. Cl. G01S 7/484 (2006.01); G01S 17/10 (2020.01)
CPC G01S 7/484 (2013.01) [G01S 17/10 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A system comprising:
a time-of-flight sensor including an array of light emitters comprising a plurality of rows of light emitters and a plurality of columns of light emitters configured to emit emitted light into an environment;
a receiver configured to receive reflected light corresponding to at least a portion of the emitted light after reflecting off an object in the environment;
one or more processors; and
memory storing processor-executable instructions that, when executed by the one or more processors, configure a vehicle to perform operations comprising:
receiving first sensor data from the time-of-flight sensor, the first sensor data corresponding to first reflected light associated with the time-of-flight sensor configured in a first configuration, the first configuration configuring the time-of-flight sensor to emit the emitted light at a first illumination intensity;
determining a location of an object in a field of view of the time-of-flight sensor, the location corresponding to a position of one or more saturated pixels in the first sensor data;
determining a second configuration for the time-of-flight sensor, the second configuration configuring the time-of-flight sensor to emit a first portion of the emitted light corresponding to a first portion of the field of view proximate the location at a second illumination intensity lower than the first illumination intensity by decreasing one or more of a voltage or a current supplied to one or more light emitters associated with the first portion and to emit a second portion of the emitted light corresponding to a second portion of the field of view excluding the first portion at the first illumination intensity, wherein the first portion of the emitted light comprises at least one of a first row of the plurality of rows or a first column of the plurality of columns; and
generating a signal to configure the time-of-flight sensor in the second configuration.