DE102010054078A1 - Laser sensor for driver assistance system for detecting surrounding of car, has transmission unit with laser diodes generating laser beams, where scanning of laser beams takes place in plane around angular distance - Google Patents

Abstract

The sensor has a transmission unit and a receiving unit, where the transmission unit comprises a predetermined number of laser diodes (28) for generating appropriate laser beams. The laser beams are formed in a fan-shaped arrangement, where outer laser beams define a detection angle. The laser beams are arranged at a predetermined angular distance, where scanning of the laser beams takes place in a plane around the angular distance.

Description

The invention relates to a laser sensor for a driver assistance system of a motor vehicle according to the preamble of claim 1.

• – Lasersensoren mit einer Vielzahl von Sende- und Empfangskanälen (Multikanal) sowie
• – Lasersensoren mit einem nachgeführten Strahlfächer.

Laser sensors for driver assistance system are used in today's motor vehicles, for example, for the exact environment determination of the vehicle to run the driver assistance system data on other vehicles or obstacles in the immediate and wider environment. When installing a laser sensor over the windshield to observe the front vehicle environment, two laser sensor principles were previously relevant:

• - Laser sensors with a variety of transmit and receive channels (multi-channel) as well
• - Laser sensors with a tracked jet fan.

While the multi-channel concept requires a high number of costly photo semiconductors to achieve acceptable lateral resolution, the mechanical tracking concept achieves good lateral resolution due to its overlapping scanning movements. However, this required a mechanism that has not been too robust so far. In addition, there is a complex and complicated optical fiber technology, which was installed to further minimize the number of photomultipliers.

That's how it shows DE 199 213 702 A1 a distance sensor system for detecting objects in the surroundings of a motor vehicle with a laser scanner for monitoring a surveillance sector, wherein the laser beam of the scanner is deflected after sweeping the surveillance sector by a device for reversing the pivoting movement.

Further shows DE 195 30 281 C2 an apparatus for optically detecting obstacles in front of vehicles within a surveillance sector comprising a vehicle mounted scanner which rotates 360 ° around a narrowly focused beam of light pulses in a substantially horizontal pivot plane adjacent to the scanner in the pivot plane and outside the scanner Surveillance sector is arranged at least one plane mirror, which reflects the light beam in the surveillance sector.

From the publication DE 10 2007 004 609 A1 For example, a vehicle-based lidar system consisting of an array of multiple juxtaposed laser diodes is known, wherein each laser diode of the array can be activated in turn. In front of the laser array, an optical element for beam shaping is arranged, so that interrogation beams can be generated in substantially different spatial directions, which are individually controllable. Furthermore, the optical element can be moved relative to the laser array, so that the spatial direction of the active supercharger beam are variable. For detection of the reflected beams, the lidar system comprises one or more photodetectors, wherein a photodetector is arranged in the neighborhood in an integrated form for each laser element. Complete monitoring of an angular range is not possible.

The invention is therefore based on the object to provide a laser sensor for driver assistance system, which allows a good lateral resolution and sensing at different levels with a simple structure.

This object is achieved by a laser sensor for a driver assistance system for measuring the environment of a motor vehicle with the features of claim 1. Preferred embodiments of the invention are subject of the dependent claims.

An inventive laser sensor for a driver assistance system for detecting the surroundings of a vehicle has a transmitting unit and a receiving unit, wherein the transmitting unit comprises a predetermined number of laser elements for generating corresponding laser beams. The laser beams form a fan-shaped arrangement in a first plane, wherein the two outer laser beams of the fan define a predetermined detection angle, adjacent laser beams of the fan are arranged at a predetermined angular distance and scanning the laser fan in the first plane by the predetermined angular distance.

With this measure, the laser fan can completely sweep the predetermined angular distance of two laser beams by means of a small scanning movement and is thus able to control and detect every angle of the detection angle.

Preferably, the laser elements for generating de laser beams in the form of an array are arranged side by side.

More preferably, a first optical unit is arranged in front of the transmitting unit, which generates the laser fan.

In particular, the scanning of the laser fan can be generated by a movement of the transmitting unit and / or by a movement of the first optical unit.

Preferably, the transmitting unit has a movable second optical unit, which is arranged in the beam direction after the first optical unit whose movement causes a displacement of the laser beams in a second plane, wherein the second plane is arranged perpendicular to the first plane.

Preferably, the movement of the first optical unit is an oscillating horizontal movement caused by a first drive. More preferably, the movement of the second optical unit is a vertical movement, which is effected by a second drive. Thereby, a continuous illumination of the detection angle within the first plane can be achieved. Due to the additional movement in the second level, this can also be achieved in this level.

By juxtaposing a plurality of laser diodes with defined distances, an oscillating horizontal movement with a stroke corresponding to the spacing of the laser diodes multiplies the lateral resolution caused by the laser diode number. The additional vertical movement can then compensate for the vehicle inclination and / or allows multi-level sensing.

In particular, each laser unit of the transmitting unit can be controlled separately. As a result, the laser sensor according to the invention is scalable and can be adapted in different equipment variants to the respective desired driver assistance tasks. This is achieved by measuring, i. H. the transmission and reception of the signals, for example, depending on the particular environmental situation and / or the driver assistance function. For example, in an ACC (Adaptive Cruise Control) system, only the middle beams with a higher number of measurements per stroke can be active. For the near range, advantageously all measurements would be active with a lower number of measurements per stroke. Furthermore, it can first be checked in a first pass whether there are objects in the measuring range and then the objects thus detected can be measured with higher resolution or higher accuracy.

Starting with near-field sensing for a system for emergency braking to the combination with a video camera (LiCam) many applications and variations are possible.

Preferably, the first optical unit is formed by beam-forming units whose number corresponds to that of the laser units, wherein a beam-shaping unit arranged in front of a respective laser unit produces the desired beam cross-section of the laser beam in two planes perpendicular to the beam direction. Further preferably, the beam-shaping unit assigned to a respective laser unit has a rectangular cross-section and conical profile, wherein the cone tapers in the beam direction.

Thus, the beam shaping unit can produce the desired beam cross section in two planes. Furthermore, the cone can be designed so that in each displacement position, the entire or at least a significant part of the transmitted light of the corresponding laser unit coupled into the beam shaping unit, so that overall considered an optimal coupling of the laser is achieved in acting as a beam former first optical unit.

Preferably, the second optical unit is formed by a mirror, for example by a concave mirror.

More preferably, the receiving unit comprises an array of photodetectors, the number of which is equal to the number of laser units, wherein before the receiving unit, a third optical unit formed by light collector elements is arranged, so that each photodetector is associated with a light collector element. In this case, the light collector element preferably has a rectangular cross-section and a conical shape, with the cone tapering towards the photodetector, that is to say in the beam direction of the incident, reflected beam.

Preferably, a fourth optical unit is arranged in front of the third optical unit, which guides the reflected light of a respective laser unit onto the corresponding light collector element of the photodetector corresponding to the respective laser unit. In particular, the fourth optical unit can be formed for example by a concave mirror.

For further optimization, the exit windows of the beam-shaping elements can be arranged on a correction curve to correct the aberrations of the second optical unit. In an analogous manner, in order to correct the aberrations of the fourth optical unit, the entrance windows of the light collector elements can likewise be arranged on a corresponding correction curve. The correction curves result from the geometry of the second and the fourth optical units.

Further, it is possible to move the receiving unit synchronously with the scanning of the laser fan, thereby improving the signal-to-noise ratio of a measurement.

Furthermore, the laser sensor may comprise a proximity sensor, the nines range transmitting unit preferably below the transmitting unit formed by the laser units and whose short-range receiving unit is preferably arranged below the receiving unit formed by the photodetectors.

• – Der Sensor ist modular aufgebaut und kann in seiner Ausgestaltung unterschiedlichen Fahrerassistenzsystemen angepasst werden. Von der einfachsten Ausführung mit festen Strahlen bis zu LiCam. Auch ein 3D-Scanner ist realisierbar.
• – Die Lateralauflösung ist skalierbar und im Grunde nur durch den Aufwand an Auswerte-Hardware und deren Verarbeitungsgeschwindigkeit begrenzt.
• – Die Scanbewegung mit ihrer geringer Amplitude ist mit einfachen mechanischen Mitteln darstellbar. Denkbare Lösungen sind Hubmagnet (siehe 6), Piezoelemente oder eine Mechatronik, wie sie für die Bildstabilisierung bei Digitalkameras angewendet wird.
• – Die Minimalmechanik und die hier eingesetzte Optik führen zu geringeren Abmessungen.
• – Durch den Aufbau mit den auf Abstand montierten Laserdioden ist genug Raum zu deren verlustfreiem und prozesssicherem Bonding vorhanden. Das ist unterschiedlich zu einem Multikanal-Aufbau, bei dem die Laserdioden auf ihrer aktiven Fläche gebondet werden müssen.
• – Die Horizontalbewegung erfolgt durch die Hubbewegungen des Lichtformers vor der Sendeeinheit. Die Elektronik ist auf einer Platine montiert. Normalerweise ist sie bei Bewegungen sehr anfällig. Aus diesem Grund ist es sehr vorteilhaft, nur die Strahlformer zu bewegen, um so die Elektronik nicht zu belasten, insbesondere die Anschlussleitungen.
• – Die Vertikalbewegung wird erreicht, indem beispielsweise der Spiegel in die entsprechende Ebene gekippt wird. Der Vorteil besteht darin, dass eine komplizierte Vertikal- und Horizontalbewegung an einem Element nicht notwendig ist.
• – Weiterhin ist es vorteilhaft, dass der Spiegel mit nur einer niedrigen Frequenz von beispielsweise 2 bis 5 Hz kontinuierlich bewegt wird, um 3D-Informationen zu bekommen.
• – Eine Frequenz von beispielsweise 1 bis 2 Hz ist für den Spiegel ausreichend, um die Nickbewegungen des Fahrzeugs zu kompensieren.
• – Die Messfolge während der Bewegung in horizontaler Ebene ist skalierbar, d. h. bei einer ersten Messfolge zur Detektion von mindestens einem Objekt ist die Bewegung gleichmäßig. Im weiteren Messverlauf wird die Messfolge, d. h. die Anzahl der Messungen pro Zeiteinheit dort erhöht, wo zuvor ein Objekt erfasst wurde, um so bessere Messwerte zu bekommen. D. h. es werden auch nur die Messungen z. B. an drei Kanälen durchgeführt, die dem Objekt zugewandt sind. Der Vorteil ist, dass die Auswertung so nicht mit den uninteressanten Informationen außerhalb des detektierten Objektes belastet wird. Zwischendurch, beispielsweise alle 0,5 Sekunden, kann der komplette Messverlauf mit allen Kanälen durchgeführt werden, damit zwischenzeitlich im Überwachungsbereich, d. h. dem Bereich der komplett mit allen Kanälen überwacht wird bzw. überwacht werden kann, aufgetauchte Objekte erfasst werden. Wird ein neues Objekt erfasst, das aufgrund seiner näheren Entfernung eine höhere Relevanz hat, wird dieser Bereich nachfolgend mit einer höheren Messfolge untersucht.

The laser sensor according to the invention therefore has the following advantages:

• - The sensor is modular and can be adapted in its design different driver assistance systems. From the simplest design with solid beams to LiCam. A 3D scanner is also feasible.
• - The lateral resolution is scalable and basically limited only by the amount of evaluation hardware and its processing speed.
• - The scanning movement with its low amplitude can be displayed by simple mechanical means. Conceivable solutions are solenoid (see 6 ), Piezo elements or mechatronics, as used for image stabilization in digital cameras.
• - The minimal mechanics and the optics used here lead to smaller dimensions.
• - Due to the structure with the distance mounted laser diodes enough space is available for their lossless and process-reliable bonding. This is different from a multi-channel design where the laser diodes must be bonded on their active surface.
• - The horizontal movement takes place by the strokes of the light former in front of the transmitting unit. The electronics are mounted on a circuit board. Usually she is very vulnerable to movement. For this reason, it is very advantageous to move only the beam shaper so as not to stress the electronics, in particular the connecting lines.
• - The vertical movement is achieved, for example, by tilting the mirror in the corresponding plane. The advantage is that a complicated vertical and horizontal movement on an element is not necessary.
• Furthermore, it is advantageous that the mirror is continuously moved with only a low frequency, for example 2 to 5 Hz, in order to obtain 3D information.
• A frequency of, for example, 1 to 2 Hz is sufficient for the mirror to compensate for the pitching movements of the vehicle.
• - The measurement sequence during the movement in the horizontal plane is scalable, ie, in a first measurement sequence for detecting at least one object, the movement is uniform. In the further course of the measurement, the measurement sequence, ie the number of measurements per unit of time, is increased where previously an object was detected in order to obtain better measured values. Ie. it will be only the measurements z. B. performed on three channels, which face the object. The advantage is that the evaluation is not burdened with the uninteresting information outside the detected object. In between, for example every 0.5 seconds, the complete measurement process can be carried out with all channels, so that in the meantime in the monitoring area, ie the area which can be monitored or monitored completely with all channels, objects that have emerged can be detected. If a new object is detected, which has a higher relevance due to its proximity, this area is subsequently examined with a higher measurement sequence.

A preferred embodiment of the invention will be explained below with reference to the drawings. Showing:

1 a laser sensor in a schematic representation,

2 a transmitting unit in a schematic representation,

3 a cross section through a beam-shaping element of the first optical unit,

4 a cross section through a plurality of light-collecting elements of the third optical unit,

5 the beam geometry of the laser sensor in lateral view,

6 the beam geometry of the laser sensor in plan view,

7 the beam path in the light-collecting elements of the third optical unit at a first angle,

8th the beam path in the light collecting elements of the third optical unit at a second angle,

9 the beam path in the light-collecting elements of the third optical unit at a third angle, and

10 the beam path in the light-collecting elements of the third optical unit at a fourth angle.

1 shows a preferred embodiment of the laser sensor 1 in a schematic representation. In this case, the laser sensor includes 1 a transmitting device 2 , one opposite the transmitting device 2 arranged concave mirror 3 , a receiving device 4 and a relative to the receiving device arranged further concave mirror 5 , transmitting device 2 and receiving device 4 are on a base plate 6 arranged, with all components of the laser sensor 1 in a schematically indicated here housing 7 are housed. The opposite to the transmitting device 2 arranged concave mirror 3 corresponds to the already mentioned second optical unit, since instead of a concave mirror, for example, a corresponding lens arrangement could be used. Likewise corresponds to the other, the receiving device 4 arranged opposite concave mirror of the fourth optical unit. Instead of the further concave mirror 5 The fourth optical unit could also be replaced by a lens system.

Furthermore, in 1 shown schematically that below the transmitting device 2 a near field transmission unit 27 and below the receiving device 4 a near field receiving unit are arranged.

2 shows the transmitting device 2 of the 1 in greater detail. In this case, the transmitting device comprises 2 a transmitting unit 21 , which in the present example consists of seven laser diodes (not shown), which are arranged in a row on a carrier board, wherein the distances of the laser diodes from one another correspond to the double beam exit width. In front of the transmitting unit 21 is a beam forming unit acting as the first optical unit 22 arranged, each laser diode acting as a light guide beam shaping element 221 . 227 assigned. The beam-shaping unit 22 oscillates, for example, with about 40 Hz and a stroke of about 2.4 mm in the direction of arrow schematically shown 26 , This oscillation is caused by a movement device 23 showing the movement over an axis 24 on a recording 25 the beam-forming unit 22 transfers. The recording is used 25 for the arrangement of the beam-shaping elements 221 to 227 ,

Furthermore, in the 2 a near field transmission unit 27 and below the beam shaping unit 22 is arranged. The near field transmission unit 27 can be realized with conventional LEDs and detects detection gaps in front of the motor vehicle.

3 shows one of the beam-shaping elements 221 the beam-forming unit 22 together with a laser diode 28 in a schematic longitudinal section. The light of the laser diode 28 is via an entrance window 22E in the beam-shaping element 221 coupled and leaves the beam-shaping element 221 via a corresponding exit window 22A in the preferred embodiment, the beam-shaping element has a rectangular cross section and tapers from the entrance window 22E to the exit window 22A in other words, in the laser light direction 29 has the beam-shaping element 221 a conical shape. The rectangular cross-section is only to be understood as an example, other suitable cross-sectional shapes, for example circular, are also possible

By the lifting movement of the movement device 23 of the 2 For example, the seven present in the example are passed through the beam-shaping unit 22 shaped laser beams displaced in the horizontal direction, wherein the thus formed single beam on the concave mirror 3 of the 1 is brought to a horizontal divergence of about 1.25 ° and a vertical divergence of about 4 °. An object, such as the laser sensor 1 facing surface is illuminated with a series of seven laser light spots, which oscillate horizontally so that no gaps remain.

In order to be able to compensate for pitching movements of the vehicle or to obtain a three-dimensional image of the environment, the in 1 illustrated concave mirror 3 that is, the second optical unit, tiltable in the corresponding plane, for example by rotation about a horizontal axis (not shown), whereby a deflection of the laser beams in the vertical direction is achieved. The concave mirror 3 can be moved continuously at a frequency of 2 to 5 Hz to obtain a three-dimensional image. To compensate for pitching movements of the vehicle, a frequency of 1 to 2 Hz is sufficient.

To compensate for the spherical aberration of the concave mirror 3 are also the exit windows 22A the beam-shaping elements 221 to 227 the beam-forming unit 2 of the 2 on a correction curve, such as a circular path arranged.

4 shows the in 1 illustrated receiving device 4 consisting of a receiving unit 41 and a light collecting unit 42 , The receiving unit 41 in the example has seven photodetectors 411 to 417 on what the number of laser beams of the transmitting unit 21 in 2 equivalent. The front of the receiving unit 41 arranged light collection unit 41 includes a corresponding number of seven light-collecting elements 421 to 427 , which preferably have a rectangular cross section and that of the respective light entry surface 42E to the light exit surface 42A have a tapered shape to that of the concave mirror 5 of the 1 light directed to the light collecting unit optimally and collect over the oscillation range of the laser beams and the photodiodes 411 to 417 to be able to

5 shows a motor vehicle 8th , which is equipped with a laser sensor (not shown) on the upper edge of the windscreen. The laser sensor has a remote area 9 on, which includes a vertical angle range of 4 °. Below of the far field 9 is the neighborhood 10 arranged covering a range of 10 ° in the vertical direction. The distant area 9 and close range is separated by a range of about 1 °. This range of 1 ° corresponds to the pitch range of the motor vehicle 8th ,

6 shows the beam geometry of the laser sensor of a motor vehicle 8th on a three-lane highway 11 in plan view. To recognize is the far range 9 with a covering area in the horizontal direction of for example 32.1 °. The detection range is about 150 m, with each beam in the preferred embodiment having a width of 1.24 ° and a scan range of 4.58 °. In contrast, has the near range 10 a range of max. 15 m and a covering width in the horizontal direction of about 50 °.

7 shows the beam path in the light collection unit 42 for an angle of incidence of 0 ° on the concave mirror 5 , Due to the arrangement of the entrance surfaces 42E the light collecting elements 421 to 427 on a correction curve for correcting the spherical aberration of the concave mirror 5 all light of this angle becomes from the middle light-collecting element 424 fed, this angle in the assignment to the light of the central laser element of the transmitting unit 21 equivalent.

8th corresponds to a beam path at an incident angle of 4.6 °, whereby this light from the light collecting element 425 is supplied.

9 corresponds to a beam path at an angle of incidence of 9.1 °, whereby this light from the light-collecting element 426 is supplied.

10 corresponds to a beam path at an incident angle of 13.5 °, whereby this light from the light-collecting element 427 is supplied.

The light collecting elements 421 to 423 correspond to the negative angles of incidence -4.6 °, -9.1 ° and -13.5 ° and are not shown separately.

LIST OF REFERENCE NUMBERS

1

laser sensor

2

Transmitting device with transmitting unit and first optical unit

3

Concave mirror (second optical unit)

4

Receiving device with receiving unit and third optical unit

5

Concave mirror (fourth optical unit)

6

baseplate

7

casing

8th

motor vehicle

9

remote area

10

close range

11

Highway

21

transmission unit

22

first optical unit

221

Beam shaping element

222

Beam shaping element

223

Beam shaping element

224

Beam shaping element

225

Beam shaping element

226

Beam shaping element

227

Beam shaping element

23

lifting

24

axis

25

Recording beam-shaping element

26

movement direction

27

Nahfeldsendeeinheit

28

laser diode

22E

entry surface

22A

exit area

29

Laser light direction

41

receiver unit

411

photodetector

412

photodetector

413

photodetector

414

photodetector

415

photodetector

416

photodetector

417

photodetector

42

Light collecting unit (third optical unit)

421

Light-collecting element

422

Light-collecting element

423

Light-collecting element

424

Light-collecting element

425

Light-collecting element

426

Light-collecting element

427

Light-collecting element

42A

exit area

42E

entry surface

43

Nahfeldempfangseinheit

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 199213702 A1 [0004]
• DE 19530281 C2 [0005]
• DE 102007004609 A1 [0006]

Claims (21)

Laser sensor ( 1 ) for a driver assistance system for detecting the surroundings of a vehicle with a transmission unit ( 21 ) and a receiving unit ( 41 ), wherein the transmitting unit ( 21 ) a predetermined number of laser elements ( 28 ) for generating corresponding laser beams, characterized in that the laser beams form a fan-shaped arrangement in a first plane, wherein the two outer laser beams of the fan define a predetermined detection angle, adjacent laser beams of the fan are arranged at a predetermined angular distance and a scanning of the laser fan in the first level takes place by the predetermined angular distance. Laser sensor according to claim 1, characterized in that the laser elements ( 28 ) are arranged side by side in the form of an array. Laser sensor according to one of claims 1 or 2, characterized in that in front of the transmitting unit ( 21 ) a first optical unit ( 22 ), which generates the laser fan. Laser sensor according to one of the preceding claims, characterized in that the scanning of the laser fan by a movement of the transmitting unit ( 21 ) and / or by a movement of the first optical unit ( 22 ) is produced. Laser sensor according to one of claims 3 or 4, characterized in that the first optical unit ( 22 ) by beam-shaping elements ( 221 , ..., 227 ) is formed, whose number corresponds to that of the laser elements. Laser sensor according to claim 5, characterized in that each beam-shaping element ( 221 , ..., 227 ) produces the desired beam cross section of the laser beam in two planes perpendicular to the beam directions and is arranged in front of a respective laser element Laser sensor according to claim 6, characterized in that each beam-shaping element ( 221 , ..., 227 ) has a rectangular cross-section and conical shape, wherein the cone tapers in the jet direction. Laser senor according to one of claims 3 to 7, characterized in that the transmitting unit ( 21 ) a movable second optical unit ( 3 ), which in the beam direction after the first optical unit ( 22 ), and a movement of the second optical unit ( 3 ) causes a displacement of the laser fan in a second plane, wherein the second plane is arranged perpendicular to the first plane. Laser sensor according to one of claims 3 to 8, characterized in that the movement of the first optical unit ( 22 ) is an oscillating horizontal movement generated by a first drive ( 23 ) is effected. Laser sensor according to claim 8 or 9, characterized in that the movement of the second optical unit ( 3 ) is a vertical movement, which is effected by a second drive. Laser sensor according to one of claims 8 to 10, characterized in that the second optical unit ( 3 ) is formed by a mirror. Laser sensor according to one of the preceding claims, characterized in that each laser element can be controlled separately. Laser sensor according to one of the preceding claims, characterized in that the receiving unit ( 41 ) an array of photodetectors ( 411 , ..., 417 ), the number of which is equal to the number of laser units, wherein in front of the receiving unit ( 41 ) a third light collector elements ( 421 , ..., 427 ) formed optical unit ( 42 ) is arranged so that each photodetector ( 411 , ..., 417 ) a light collector element ( 421 , ..., 427 ) assigned. Laser sensor according to claim 13, characterized in that a light collector element ( 421 , ..., 427 ) has a rectangular cross-section and conical shape, wherein the cone tapers towards the photodetector. Laser sensor according to one of claims 13 or 14, characterized in that in front of the third optical unit ( 42 ) a fourth optical unit ( 5 ) is arranged, which the reflected light of a respective laser element to the corresponding light collecting element, ( 421 , ..., 427 ) of the respective laser element corresponding photodetector ( 411 , ..., 417 ). Laser sensor according to claim 15, characterized in that the fourth optical unit ( 5 ) is formed by a concave mirror. Laser sensor according to one of claims 8 to 16, characterized in that to correct the aberrations of the second optical unit ( 22 ) the exit windows ( 22A ) of the beam-shaping elements ( 221 , ... 227 ) are arranged on a correction curve. Laser sensor according to one of Claims 15 to 18, characterized in that, in order to correct the aberrations of the fourth optical unit ( 5 ) the entrance windows ( 42E ) of the light collector elements ( 421 , ..., 427 ) are arranged on a correction curve. Laser sensor according to one of the preceding claims, characterized in that the receiving unit ( 41 ) is moved synchronously to scan the laser fan. Laser sensor according to one of the preceding claims, characterized in that the laser sensor is a Nahbereichssendeeinheit ( 27 ), which below the transmitting device ( 2 ) is arranged. Laser sensor according to claim 20, characterized in that the laser sensor of the laser sensor comprises a short-range receiving unit ( 43 ), which below the receiving device ( 2 ) is arranged.

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