[CamperBob2]

I think we may have had this discussion before, but from an engineering perspective, I don't buy it. For coding, the number of pulses per second is what matters, not power.

Large numbers of bits per unit of time are what it takes to make two sequences correlate (or not), and large numbers of bits per unit of time are not a problem in this business. Signal power limits imposed by eye safety requirements will kick in long after noise limits imposed by Shannon-Hartley.

[addaon]

> For coding, the number of pulses per second is what matters, not power.

I haven't seen a system that does anti-interference across multiple pulses, as opposed to by shaping individual pulses. (I've seen systems that introduce random jitter across multiple pulses to de-correlate interference, but that's a bit different.) The issue is you really do get a hell of a lot of data out of a single pulse, and for interesting objects (thin poles, power lines) there's not a lot of correlation between adjacent pulses -- you can't always assume properties across multiple pulses without having to throw away data from single data-carrying pulses.

Edit: Another way of saying this -- your revisit rate to a specific point of interference is around 20 Hz. That's just not a lot of bits per unit time.

> Signal power limits imposed by eye safety requirements will kick in long after noise limits imposed by Shannon-Hartley.

I can believe this is true for FMCW lidar, but I know it to be untrue for pulsed lidar. Perhaps we're discussing different systems?

[CamperBob2]

I haven't seen a system that does anti-interference across multiple pulses...

My naive assumption would be that they would do exactly that. In fact, offhand, I don't know how else I'd go about it. When emitting pulses every X ns, I might envision using a long LFSR whose low-order bit specifies whether to skip the next X-ns time slot or not. Every car gets its own lidar seed, just like it gets its own key fob seed now.

Then, when listening for returned pulses, the receiver would correlate against the same sequence. Echoes from fixed objects would be represented by a constant lag, while those from moving ones would be "Doppler-shifted" in time and show up at varying lags.

So yes, you'd lose some energy due to dead time that you'd otherwise fill with a constant pulse train, but the processing gain from the correlator would presumably make up for that and then some. Why wouldn't existing systems do something like this?

I've never designed a lidar, but I can't believe there's anything to the multiple-access problem that wasn't already well-known in the 1970s. What else needs to be invented, other than implementation and integration details?

Edit re: the 20 Hz constraint, that's one area where our assumptions probably diverge. The output might be 20 Hz but internally, why wouldn't you be working with millions of individual pulses per frame? Lasers are freaking fast and so are photodiodes, given synchronous detection.

[addaon]

I suggest looking at a rotating lidar with an infrared scope... it's super, super informative and a lot of fun. Worth just camping out in SF or Mountain View and looking at all the different patterns on the wall as different lidar-equipped cars drive by.

A typical long range rotating pulsed lidar rotates at ~20 Hz, has 32 - 64 vertical channels (with spacing not necessarily uniform), and fires each channel's laser at around 20 kHz. This gives vertical channel spacing on the order of 1°, and horizontal channel spacing on the order of 0.3°. The perception folks assure me that having horizontal data orders of magnitude denser than vertical data doesn't really add value to them; and going to a higher pulse rate runs into the issue of self-interference between channels, which is much more annoying to deal with then interference from other lidars.

If you want to take that 20 kHz to 200 kHz, you first run into the fact that there can now be 10 pulses in flight at the same time... and that you're trying to detect low-photon-count events with an APD or SPAD outputting nanoamps within a few inches of a laser driver putting generating nanosecond pulses at tens of amps. That's a lot of additional noise! And even then, you have an 0.03° spacing between pulses, which means that successive pulses don't even overlap at max range with a typical spot diameter of 1" - 2" -- so depending on the surfaces you're hitting, on their continuity as seen by you, you still can't really say anything about the expected time alignment of adjacent pulses. Taking this to 2 MHz would let you guarantee some overlap for a handful of pulses, but only some... and that's still not a lot of samples to correlate. And of course your laser power usage and thermal challenges just went up two orders of magnitude...