Lidar and method for generating repeatable PPM waveforms to determine a range to a target include: a processor for a) creating a modulation pool, based on a maximum nominal PRF and a specified final PPM code length of N; b) obtaining a seed code; c) eliminating bad modulation levels from the modulation pool to generate a good modulation pool, d) selecting a modulation level from the good modulation pool; e) concatenating the selected modulation level to the seed code to generate an i-element modulation sequence; f) repeating steps c to e N times to generate an N-element modulation sequence; g) selecting a PRF less than the maximum nominal PRF; and h) generating a repeatable PPM waveform by applying the N-element modulation sequence to the selected PRF.

Lidar and method for generating repeatable PPM waveforms to determine a range to a target include: a processor for a) creating a modulation pool, based on a maximum nominal PRF and a specified final PPM code length of N; b) obtaining a seed code; c) eliminating bad modulation levels from the modulation pool to generate a good modulation pool, d) selecting a modulation level from the good modulation pool; e) concatenating the selected modulation level to the seed code to generate an i-element modulation sequence; f) repeating steps c to e N times to generate an N-element modulation sequence; g) selecting a PRF less than the maximum nominal PRF; and h) generating a repeatable PPM waveform by applying the N-element modulation sequence to the selected PRF.

Embodiments of the disclosure provide a receiver in an optical sensing system. The exemplary receiver includes a movable detector configured to receive optical signals reflected or scattered from an object scanned by the optical sensing system. The receiver further includes an actuator configured to move the movable detector. The receiver also includes a controller configured to determine a plurality of target positions of the movable detector for receiving the optical signals. The controller is further configured to control the actuator to move the movable detector to the plurality target positions according to a movement pattern.

Embodiments of the disclosure provide a receiver in an optical sensing system. The exemplary receiver includes a movable detector configured to receive optical signals reflected or scattered from an object scanned by the optical sensing system. The receiver further includes an actuator configured to move the movable detector. The receiver also includes a controller configured to determine a plurality of target positions of the movable detector for receiving the optical signals. The controller is further configured to control the actuator to move the movable detector to the plurality target positions according to a movement pattern.

An optical receiver includes one or more photodetectors and an analog front end (AFE) configured to accept input signals from the one or more photodetectors. The AFE includes a non-linear gain amplifier (NLGA). The NLGA includes a piecewise linear gain stage configured to apply a piecewise linear transfer function to the input signals to form amplified signals. The AFE also includes a DC offset stage configured to apply a DC offset to the amplified signals. A related method of operation and vehicle are also disclosed.

An optical receiver includes one or more photodetectors and an analog front end (AFE) configured to accept input signals from the one or more photodetectors. The AFE includes a non-linear gain amplifier (NLGA). The NLGA includes a piecewise linear gain stage configured to apply a piecewise linear transfer function to the input signals to form amplified signals. The AFE also includes a DC offset stage configured to apply a DC offset to the amplified signals. A related method of operation and vehicle are also disclosed.

A laser range finder (LRF) and an automated method for determining a return laser signal associated with a target thereof are disclosed. In one example embodiment, the LRF includes a laser beam emitter to emit a laser beam towards a target. Further, the LRF includes a receiver circuit to receive multiple return laser signals reflected from objects including the target and to determine an amplitude of each of the multiple return laser signals. Furthermore, the LRF includes a processor coupled to the receiver circuit to compare the amplitude of each of the multiple return laser signals with a range varying threshold that accounts for range and atmospheric losses and to determine one of the multiple return laser signals as being associated with the target based on the comparison.

A laser range finder (LRF) and an automated method for determining a return laser signal associated with a target thereof are disclosed. In one example embodiment, the LRF includes a laser beam emitter to emit a laser beam towards a target. Further, the LRF includes a receiver circuit to receive multiple return laser signals reflected from objects including the target and to determine an amplitude of each of the multiple return laser signals. Furthermore, the LRF includes a processor coupled to the receiver circuit to compare the amplitude of each of the multiple return laser signals with a range varying threshold that accounts for range and atmospheric losses and to determine one of the multiple return laser signals as being associated with the target based on the comparison.

A Lidar system includes a light emitter and an array of photodetectors. The Lidar system includes a computer having a processor and a memory storing instructions executable by the processor to actuate the light emitter to output a series of shots. The instructions include instructions to provide a first bias voltage to the photodetectors for a first period of time after the light emitter emits a first subset of the series of shots. The instructions includes instructions to provide a second bias voltage to at least one of the photodetectors for a second period of time after the light emitter emits a second subset of the series of shots, the second bias voltage greater that the first bias voltage, the second subset of shots emitted after the first subset of the series of shots.

A vehicle and ladar sensor assembly system is proposed which makes use of forward mounted long range ladar sensors and short range ladar sensors mounted in auxiliary lamps to identify obstacles and to identify potential collisions with the vehicle. A low cost assembly is developed which can be easily mounted within a body panel cutout of a vehicle, and which connects to the vehicle electrical and computer systems through the vehicle wiring harness. The vehicle has a digital processor which interprets 3D data received from the ladar sensor assembly, and which is in control of the vehicle subsystems for steering, braking, acceleration, and suspension. The digital processor onboard the vehicle makes use of the 3D data and the vehicle control subsystems to avoid collisions and steer a best path.