Abstract: A LiDAR system includes a casing having a window, a light emitter in the casing, a light sensor including an array of photodetectors, and a scanning mirror between the window and the light sensor. The LiDAR system includes a controller programmed to move the scanning mirror to a plurality of different positions when the light emitter is inactive. The scanning mirror is aimed at a different subset of the photodetectors in the different positions. The controller is programmed to operate at least some of the photodetectors when the scanning mirror is in different positions and the light emitter is inactive. The controller is programmed to identify a blockage on the window based on comparison of detected light at different positions of the scanning mirror.

Abstract: A method and apparatus detects foreign material on a window of a LIDAR sensor and determines existence of a bad weather condition (fog, spray, rain). The LIDAR sensor has an illumination portion including a light source; a receiving portion having at least one photodetector for receiving light, sent from the light source, that is reflected from an object in a field of view of receiving optics; a blockage detection portion adjacent to the illumination portion; and a window portion extending from the illumination portion to the blockage detection portion. The method prevents light, from the light source that is scattered when foreign material is on a surface of the window or when a bad weather condition exists, to pass into the receiving portion and permits such scattered light to pass into the blockage detection portion. The scattered light is collected on a photodiode disposed in the blockage detection portion.

Abstract: A method and apparatus detects adverse weather conditions. The method provides a system including a LIDAR sensor having a transmitting portion including a light source and illumination optics, and a receiving portion having a photodetector or photodetector array for receiving reflected light, and receiving optics. The receiving optics is spaced from the illumination optics. The illumination optics and the receiving optics each define a field of view, with the field of views overlapping at a certain distance from the sensor defining a solid object sensing region. A region located outside of the solid object sensing region defines a non-overlapping region. The photodetector determines if a signal exists in the solid object sensing region indicative of a solid object therein. The same photodetector also determines if a signal exists in the non-overlapping region indicative of an adverse weather condition affecting the vehicle.

Abstract: A lidar sensor assembly includes a light source to generate light. An optic is in optical communication with the light source to generate a field of illumination of the light. A focal plane array is configured to receive light reflected off one or more objects. The lidar sensor assembly also includes an attenuating element configured to selectively attenuate at least a portion of the light.