US 12,032,101 B1
Calibration system for light detection and ranging (lidar) devices
Ralph H. Shepard, Menlo Park, CA (US); Pierre-Yves Droz, Los Altos, CA (US); Caner Onal, Palo Alto, CA (US); and Hui Son, Hayward, CA (US)
Assigned to Waymo LLC, Mountain View, CA (US)
Filed by Waymo LLC, Mountain View, CA (US)
Filed on Apr. 27, 2023, as Appl. No. 18/308,430.
Application 18/308,430 is a continuation of application No. 16/822,481, filed on Mar. 18, 2020, granted, now 11,747,453.
Claims priority of provisional application 62/930,009, filed on Nov. 4, 2019.
This patent is subject to a terminal disclaimer.
Int. Cl. G01S 17/88 (2006.01); G01S 7/4913 (2020.01); G01S 7/497 (2006.01); G01S 17/00 (2020.01); G01S 17/02 (2020.01); G01S 17/08 (2006.01); G01S 17/06 (2006.01)
CPC G01S 7/497 (2013.01) [G01S 7/4913 (2013.01); G01S 17/08 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A lidar calibration system, comprising:
a calibration target comprising a surface, wherein the surface is configured to receive one or more calibration signals emitted by a lidar device along one or more optical axes when the lidar device is separated from the calibration target by a calibration distance;
at least one lens positioned along the one or more optical axes to modify the one or more calibration signals;
an attenuator positioned along the one or more optical axes, wherein the attenuator is configured to attenuate each of the one or more calibration signals to simulate, in combination with the at least one lens, a distance that is different than the calibration distance; and
a calibration controller configured to analyze data associated with detected reflections of the one or more calibration signals based on the calibration distance and characteristics of the at least one lens.