Disclosed herein are system and method embodiments to implement a scout pulse LiDAR. An embodiment operates by emitting a leading sequence of two or more discrete pulses with a constant timing offset and large intensity ratio. These leading pulses are each called a ‘scout pulse’ because they scout ahead of the primary pulse to detect high intensity targets, which would otherwise saturate the detector. In the simplest configuration, there are only two pulses, one primary pulse (lagging, high power/intensity) and one scout pulse (leading, low power/intensity). In more complex configurations, there may be any number of multiple scout pulses, each with a unique time delay and intensity. In any configuration, the signals are emitted in order of ascending intensity, with the lowest intensity signal in front (first), and the highest intensity signal in the back (last) within the pulse train.

Disclosed herein are system and method embodiments to implement a scout pulse LiDAR. An embodiment operates by emitting a leading sequence of two or more discrete pulses with a constant timing offset and large intensity ratio. These leading pulses are each called a ‘scout pulse’ because they scout ahead of the primary pulse to detect high intensity targets, which would otherwise saturate the detector. In the simplest configuration, there are only two pulses, one primary pulse (lagging, high power/intensity) and one scout pulse (leading, low power/intensity). In more complex configurations, there may be any number of multiple scout pulses, each with a unique time delay and intensity. In any configuration, the signals are emitted in order of ascending intensity, with the lowest intensity signal in front (first), and the highest intensity signal in the back (last) within the pulse train.

A system in a vehicle includes a lidar system to obtain lidar data in a lidar coordinate system, a camera to obtain camera data in a camera coordinate system, and processing circuitry to automatically determine an alignment state resulting in a lidar-to-vehicle transformation matrix that projects the lidar data from the lidar coordinate system to a vehicle coordinate system to provide lidar-to-vehicle data. The alignment state is determined using the camera data.

Methods and apparatus for nonuniformity correction (NUC) for a sensor having an avalanche photodiode (APD) array and an integrated circuit. The sensor can include anode bias control module, a passive mode module, and an active mode module. DC photocurrent from the APD array can be measured and used for controlling an anode reverse bias voltage to each element in the APD to achieve a nonuniformity correction level less than a selected threshold.

Methods and apparatus for nonuniformity correction (NUC) for a sensor having an avalanche photodiode (APD) array and an integrated circuit. The sensor can include anode bias control module, a passive mode module, and an active mode module. DC photocurrent from the APD array can be measured and used for controlling an anode reverse bias voltage to each element in the APD to achieve a nonuniformity correction level less than a selected threshold.

A method including providing a sensor device including one or several sensors. The sensor device is arranged to perform at least one high-power type measurement and at least one low-power type measurement and includes at least one image sensor arranged to depict a person by a measurement of said high-power type. Each of the low-power type measurements over time requires less electric power for operation as compared to each of the high-power type measurements. The method includes detecting a potential presence of the person using at least one of said low-power type measurements. The method includes producing, using one of the high-power type measurements, an image depicting a person and detecting a presence of the person based on im-age analysis of the image. The method includes detecting, using at least one of the low-power type measurements, a maintained presence of the person. The method includes failing to detect a maintained presence of the person.

A LIDAR noise removal apparatus and a LIDAR noise removal method thereof are provided. The apparatus includes a LIDAR detection information processor that processes LIDAR detection information received from a LIDAR of a vehicle. A sun position acquirer acquires an azimuth angle and elevation angle of the sun relative to a traveling direction of the vehicle. An ROI selector selects an ROI corresponding to the sun from a front image of the vehicle based on the azimuth angle and elevation angle and compares a brightness of the selected ROI with a threshold value. A noise region selector selects a noise region corresponding to the ROI from the LIDAR detection information based on the azimuth angle and elevation angle when the brightness of the ROI exceeds the threshold value, and a noise remover removes noise points in the selected noise region.

A LIDAR noise removal apparatus and a LIDAR noise removal method thereof are provided. The apparatus includes a LIDAR detection information processor that processes LIDAR detection information received from a LIDAR of a vehicle. A sun position acquirer acquires an azimuth angle and elevation angle of the sun relative to a traveling direction of the vehicle. An ROI selector selects an ROI corresponding to the sun from a front image of the vehicle based on the azimuth angle and elevation angle and compares a brightness of the selected ROI with a threshold value. A noise region selector selects a noise region corresponding to the ROI from the LIDAR detection information based on the azimuth angle and elevation angle when the brightness of the ROI exceeds the threshold value, and a noise remover removes noise points in the selected noise region.

A method and apparatus is provided to calibrate a LiDAR using a reflect array calibration target having a spatially varying spectral reflectance profile. A frequency modulated continuous wave LiDAR emits a beam that spans a range of wavelengths, and, therefore, spatially varying spectral features in the reflectance profile can be used as indicia of where the LiDAR beam hits the calibration target. For example, the center has one absorption wavelength and the periphery has another, such that alignment is achieved by changing the alignment direction to maximize the spectral feature at the one absorption wavelength while minimizing the spectral feature at the other absorption wavelength. Alternatively, at least one spectral feature can have a center wavelength that changes as a function of space. Thus, the LiDAR is aligned by changing the beam direction to shift the center wavelength to a value corresponding to the target center.

Embodiments described herein include a method of receiving, by a moving assisting vehicle, a calibration assistance request related to a moving ego vehicle that requested assistance in collaborative calibration of a sensor deployed on the moving ego vehicle. The method further includes analyzing the calibration assistance request to extract at least one of a schedule or an assistance route associated with the requested assistance. The method includes communicating with the moving ego vehicle about a desired location relative to the position of the moving ego vehicle for the moving assisting vehicle to be in order to assist the sensor to acquire information of a target present on the moving assisting vehicle. The method includes facilitating to drive the moving assisting vehicle to reach the desired location to achieve the collaborative calibration of the sensor on the moving ego vehicle.