US 12,339,404 B2
Light detection and ranging (LIDAR) device with an off-axis receiver
Pierre-Yves Droz, Los Altos, CA (US); and Simon Verghese, Mountain View, 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. 18/412,700.
Application 18/412,700 is a continuation of application No. 16/700,543, filed on Dec. 2, 2019, granted, now 11,906,671.
Application 16/700,543 is a continuation of application No. 15/396,476, filed on Dec. 31, 2016, granted, now 10,520,592, issued on Dec. 31, 2019.
Prior Publication US 2024/0151834 A1, May 9, 2024
Int. Cl. G01S 17/42 (2006.01); G01S 7/48 (2006.01); G01S 7/497 (2006.01); G01S 17/04 (2020.01); G01S 17/931 (2020.01); G05D 1/00 (2006.01); G05D 1/247 (2024.01)
CPC G01S 7/497 (2013.01) [G01S 7/4804 (2013.01); G01S 17/04 (2020.01); G01S 17/42 (2013.01); G01S 17/931 (2020.01); G05D 1/0231 (2013.01); G05D 1/247 (2024.01)] 20 Claims
OG exemplary drawing
 
1. A light detection and ranging (LIDAR) device comprising:
a transmitter configured to emit light pulses into an environment of the LIDAR device to provide an illuminated region of the environment;
light detectors configured to generate sensor data indicative of light detected by the light detectors, wherein the light detectors include a light detector array and an offset light detector; and
a controller, wherein the controller is configured to perform operations comprising:
receiving the sensor data indicative of light detected by the light detectors; and
detecting a possible spoofing device based on the sensor data indicative of light detected by the light detectors, wherein detecting the possible spoofing device comprises determining that the sensor data indicative of light detected by the light detectors includes sensor data from the offset light detector indicative of detected light emitted by an external light source located in a region of the environment that is not being illuminated by the transmitter.