| CPC B60W 60/001 (2020.02) [G01S 17/894 (2020.01); B60W 2420/408 (2024.01)] | 18 Claims |
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1. A system for a dynamic detection threshold for a sensor of an autonomous vehicle, comprising:
a Light Detection and Ranging (LiDAR) system of an autonomous vehicle, the LiDAR system comprising at least one light emitter configured to emit pulses of light and at least one light detector configured to receive reflected pulses of light and generate analog output signals based on the reflected pulses of light, the reflected pulses of light comprising the pulses of light reflected back to the at least one light detector;
a comparator configured to receive the analog output signals from the light detector and generate digital output signals based on the analog output signals and a threshold; and
a controller configured to:
receive a first digital output signal of the digital output signals from the comparator based on the threshold;
adjust the threshold;
receive at least one further digital output signal of the digital output signals from the comparator based on the threshold as adjusted; and
determine at least one aggregation based on the first digital output signal and the at least one further digital output signal,
wherein the at least one further digital output signal comprises a plurality of further digital output signals,
wherein adjusting the threshold and receiving the at least one further digital output signal comprises:
repeatedly adjusting the threshold and receiving a respective further digital output signal of the plurality of further digital output signals based on the threshold as adjusted,
wherein repeatedly adjusting the threshold and receiving a respective further digital output signal of the plurality of further digital output signals based on the threshold as adjusted comprises:
repeatedly adjusting the threshold according to a first linear search within a first range; and
repeatedly adjusting the threshold according to a second linear search within a second range.
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