DE102016223892A1 - LiDAR with preselected detection range - Google Patents

Abstract

Arrangement (101) with at least one radiation source (105), a first mirror (107) and at least one detector (109); wherein the first mirror (107) is adapted to perform a pivotal movement oscillating between two reversal points; wherein the radiation source (105) is adapted to emit at least one beam (113); wherein the beam (12) is deflected by the first mirror (107); the detector (109) having n areas B, ..., B; wherein the regions B, ..., B are configured to detect, in an activated state, rays impinging on the respective region; wherein each two regions B are arranged adjacent to B 1 ≤ i <n; wherein a reflection of the beam (113) deflected by the first mirror (107) on an object (111) at a time t up reaches an area B when the object is located at a distance d; wherein the reflection meets a region B at a time t when the object (111) is located at a distance d with t <t and d <d. All regions Bwith i≤i≤i and / or i≤i≤in are activated from time t to time t; the remaining areas being deactivated from the time t until the time t.

Description

The invention relates to an arrangement according to the preamble of claim 1, the use of such an arrangement according to claim 16 and a method according to claim 17.

The publication DE 10 2008 031 681 A1 discloses a LiDAR system for measuring velocities. In this case, a laser beam is emitted and detects a reflection of the beam on an object. On the basis of the time (time of flight), which passes until the reflection is detected, a relative speed to the object can be determined. The system has a switching device with which the detector can be selectively activated or deactivated. The detector is activated only after a time which corresponds to a time which requires the light from the beam source to the beginning of the desired measurement volume and, if necessary, back to the detector. After a time equal to the time it takes the light from the beam source to the end of the desired measurement volume and, if necessary, back to the detector, the detector is deactivated. In this way, on the one hand reflections of optically transparent elements, which are located in front of the LiDAR system suppress. On the other hand, the scattering of background light is reduced.

The described LiDAR system has a static mirror. LiDAR systems with rotating or tilting mirrors allow a further reduction in ambient light scattering. This potential can be based on the disclosure of the document DE 10 2008 031 681 A1 do not exhaust.

The invention is accordingly based on the object of improving the performance of a LiDAR system with a movable mirror by further reducing the scattering of ambient light.

This object is achieved by an arrangement according to claim 1 and a method implemented with this arrangement. Preferred developments are contained in the subclaims.

The arrangement comprises at least one radiation source, at least one mirror and at least one detector.

By radiation source is meant a means which is designed to emit at least one beam.

The arrangement is preferably designed as a LiDAR system in which a laser is used as the radiation source. In particular, it may be a pulsed laser emitting pulsed beams.

A bundle of rays denotes a set of simultaneously emitted rays. The rays can be rectified or divergent. In particular, it can be electromagnetic radiation, preferably from the near infrared, i. from the region of the electromagnetic spectrum which adjoins the visible light in the direction of longer wavelengths. This range extends from 780 nm to 3 μm.

In a pulsed transmission of beams, during one or more time intervals, i. from the beginning to the end of the respective time interval, the rays belonging to the respective ray bundle are transmitted continuously. The pulse duration, i. the length of this time interval is preferably in the single-digit nanosecond range.

A pulsed laser can be realized by using electrically pulsed laser diodes. These can be controlled by means of a silicon avalanche or gallium nitride field-effect transistor and high voltages. In order to achieve the required pulse peak power, it may be necessary to use a plurality of laser diodes, which are preferably driven at the same time. Alternatively, the laser diodes can be driven sequentially to reduce the thermal stress on the components.

An alternative way to generate high energy short pulses of light is to use a Passive Q-Switched Microchip Laser. This consists of a special crystal structure which converts continuously fed light of a short wavelength, for example 808 nm, into light pulses of a longer wavelength, for example 1064 nm.

The mirror is designed to perform a pivoting or rotational movement about at least one, preferably exactly one pivot or rotation axis. The mirror oscillates between a first reversing position and a second reversing position.

The pivoting or rotational movement of the mirror takes place in particular relative to the other components of the arrangement. These components are preferably arranged fixed in a common frame of reference. The reference system is, for example, a vehicle equipped with the arrangement in which the components of the arrangement are thus fixed.

Starting from the first reversing position, the pivoting movement of the mirror takes place such that the mirror is pivoted until it reaches the second reversing position. In the second reversing position, the mirror temporarily comes to a standstill and, starting from the second reversing position, executes a pivoting movement in the opposite direction until it temporarily comes to a standstill again in the first reversing position. Starting from the first reversing position, the described sequence of movements is repeated. The swivel angle is therefore a periodic function. Preferably, the movement of the mirror is sinusoidal.

The radiation source is directed - directly or indirectly - at the mirror. This means that the radiation beam emitted by the radiation source first strikes the mirror after it has possibly been broken and / or deflected. The mirror forms a reflective surface so that the beam is deflected by the mirror. The direction in which the beam is deflected, is dependent on the position of the mirror, in particular an angle φ (t) of the pivoting of the mirror about its pivot axis.

The detector is subdivided into n regions B ₁ ,..., B _n with n ≥ 2. The detector preferably has exactly n regions.

Each region B _i with 1 ≦ i ≦ n is designed to detect, in an activated state, rays which strike the region B _i . In each case two regions B _i and B _{i + 1} with 1 ≦ i <n are arranged adjacent. Between two adjacent areas there is no further area of the detector. Preferably, two of the adjacent regions adjoin each other. Adjacent areas are characterized by a common interface or line.

The aim is to detect reflections of the beam deflected by the mirror on an object, such as an object or a person or an animal. Based on the time that elapses until the radiation beam emitted by the radiation source is detected by the detector, ie by one or more of the regions B ₁ ,..., B _n , it can be combined with a swivel angle φ (t ₀ ) of Mirror determine the position of the object. In this case, t ₀ denotes a time at which the radiation beam impinges on the mirror and is deflected by the mirror.

Reflection of a first beam or a first set of beams generally designates a second beam or a second entirety of beams which is produced by reflection of the first beam or of the first entirety of beams.

The position of the object is determined relative to a reference point. The reference point is chosen so that the distance of the object correlates with a distance that the beam must travel from the mirror to the object. Preferably, the reference point lies on the mirror or on its reflective surface. In particular, a profile of the pivot axis of the mirror through the reference point is preferred.

Depending on the distance of the object, the reflection of the beam deflected by the mirror impinges on the object on different areas of the detector. Thus, the reflection applies a time t ₁ at least to a regions B _{i 1} when the object is located at a distance d _min . If the object is arranged at a distance d _max with d _min <d _max , the reflection at a time t ₂ with t ₁ <t ₂ meets at least a region B _{i 2} , In this case, 1 ≦ i ₁ ≦ n, 1 ≦ i ₂ ≦ n and i ₁ ≠ i ₂ . d _min denotes a minimum measuring distance, d _max corresponding to a maximum measuring distance. Both values are freely selectable and can be specified as a constant or variably set. The times t ₁ and t ₂ result from the choice of d _min and d _max .

The measuring range of the arrangement is defined by d _min and d _max . If the object is located within the measuring range, ie, for a distance d of the object from the reference point d _min ≦ d ≦ d _max , then the reflection strikes at least a region B _i with i ₁ ≦ i ≦ i ₂ and / or i ₂ ≤ i ≤ i ₁ .

The invention follows the idea to reduce the scattering of ambient light by targeted deactivation of unnecessary areas and thus to improve the range in the detection of objects. Correspondingly, all regions B _i with i ₁ ≦ i ≦ i ₂ and / or i ₂ ≦ i ≦ i _{1 are} activated from time t ₁ to time t ₂ and the remaining regions, ie all regions B _j with 1 ≦ j <i ₁ and 1 ≤ j <i ₂ or with i ₁ <j ≤ n and i ₂ <j ≤ n deactivated. This implies that the activation or deactivation of the respective areas takes place before or at the time t ₁ .

In a preferred embodiment, the mirror is not only used to deflect the beam, but also its reflection on the object. The mirror may be designed to redirect the reflection at least partially directly or indirectly to the detector. In the case of an indirect deflection, the reflection deflected by the mirror passes on the way to the detector further optical elements. In a direct deflection, the deflected reflection falls on the detector without passing through such elements.

The arrangement has, in a further preferred development, at least one beam splitter. This is arranged so that it directs at least a portion of the beam to the mirror. The beam splitter is thus located in a beam path from the radiation source to the mirror. Furthermore, the beam splitter is in a beam path from the mirror to the detector. Accordingly, the reflection from the mirror is deflected to the beam splitter, so that the beam splitter conducts at least part of the reflection to the detector or to at least a region B _i with i ₁ ≤ i ≤ i ₂ and / or i ₂ ≤ i ≤ i ₁ ,

Alternatively, the arrangement can be developed with a further mirror. The additional mirror serves, instead of the above-mentioned mirror, to deflect the reflection to the detector directly or indirectly. It is preferably shadowed from the radiation source. This means that the radiation source and the further mirror are arranged so that no rays emitted by the radiation source are directly, i. without reflection, refraction or other change of direction, can hit the other mirror. This prevents the beam from hitting the other mirror. Instead, the reflection of the beam hits the other mirror.

Also, the further mirror is designed to perform an oscillating between two reversal points pivotal movement. The pivoting movements of the two mirrors are synchronized. The pivoting movement of one of the two mirrors thus takes place in dependence on the pivoting movement of the other mirror, i. at least one parameter of the pivoting movement of one of the mirrors is defined as a function of at least one parameter of the pivotal movement of the other mirror. Preferably, the pivoting movements are synchronized such that a frequency of the pivoting movement of one of the mirrors and a frequency of the pivoting movement of the other mirror are equal.

oder $$i_2\le i_1\le \raisebox{1ex}{$n$}\!\left/ \!\raisebox{-1ex}{$2$}\right.\text{.}$$

In a preferred embodiment, the areas B _{i 1} and B _{i 2} on the same side of the center of the detector. This means that applies $$\raisebox{1ex}{$n$}\!\left/ \!\raisebox{-1ex}{$2$}\right.\le i_1\le i_2$$

or $$i_2\le i_1\le \raisebox{1ex}{$n$}\!\left/ \!\raisebox{-1ex}{$2$}\right.\text{,}$$

In particular, ⁿ / ₂ <i ₁ and / or i ₁ <i ₂ , or i ₂ <i ₁ and / or i ₁ < ⁿ / ₂ .

und $$i_2=\lceil \raisebox{1ex}{$\left(n+1\right)$}\!\left/ \!\raisebox{-1ex}{$2$}\right.+K{\displaystyle \underset{0}{\overset{t_2}{\int }}\left|\omega \left(t\right)\right|dt}\rceil \text{.}$$

In a further preferred development, the indices i ₁ and i _{2 are determined} according to a first calculation rule or a second calculation rule. The first refraction rule is: $$i_1=\lfloor \raisebox{1ex}{$\left(n+1\right)$}\!\left/ \!\raisebox{-1ex}{$2$}\right.+K{\displaystyle \underset{0}{\overset{t_1}{\int }}\left|\omega \left(t\right)\right|dt}\rfloor$$

and $$i_2=\lceil \raisebox{1ex}{$\left(n+1\right)$}\!\left/ \!\raisebox{-1ex}{$2$}\right.+K{\displaystyle \underset{0}{\overset{t_2}{\int }}\left|\omega \left(t\right)\right|dt}\rceil \text{,}$$

und $$i_2=\lfloor \raisebox{1ex}{$\left(n+1\right)$}\!\left/ \!\raisebox{-1ex}{$2$}\right.K{\displaystyle \underset{0}{\overset{t_2}{\int }}\left|\omega \left(t\right)\right|dt}\rfloor \text{.}$$

The second calculation rule is: $$i_1=\lceil \raisebox{1ex}{$\left(n+1\right)$}\!\left/ \!\raisebox{-1ex}{$2$}\right.K{\displaystyle \underset{0}{\overset{t_1}{\int }}\left|\omega \left(t\right)\right|dt}\rceil$$

and $$i_2=\lfloor \raisebox{1ex}{$\left(n+1\right)$}\!\left/ \!\raisebox{-1ex}{$2$}\right.K{\displaystyle \underset{0}{\overset{t_2}{\int }}\left|\omega \left(t\right)\right|dt}\rfloor \text{,}$$

In this case, ω (t) denotes an angular velocity of the mirror or the mirror at the time t. So it applies $$\omega \left(t\right)=\frac{d}{dt}\phi \left(t\right)\text{,}$$

K is a constant representing a gear ratio between the pivotal movement of the mirror and the exposed detector areas. It is a quotient of a change in the index of the illuminated area and a change in the tilt angle of the mirror. The constant K results from the number n of the regions of the detector, a width of the detector or the width of the individual regions and a position of the mirror relative to the detector.

When the regions B ₁ , ..., B _{n are} deactivated, their ability to detect rays is reduced. Preferably, they do not detect any rays from the spectrum emitted by the radiation source when they are deactivated. In a particularly preferred development, the areas B ₁ ... B _n do not detect any beams in the deactivated state. This means that the regions B _j with 1 ≦ j <i ₁ and 1 ≦ j <i ₂ or with i ₁ <j ≦ n and i ₂ <j ≦ n from the time t ₀ to the time t ₁ no rays from the spectrum emitted by the radiation source and, moreover, preferably no detect any rays.

The individual areas of the detector can be physically or logically disabled. In the case of physical deactivation, the areas to be deactivated are put into a physical state in which they can not detect any rays from the spectrum emitted by the radiation source or any rays, that is to say no radiation. in which they are physically unable to detect the rays. This can be done for example by switching off a supply voltage.

With a logical deactivation, the deactivated areas remain physically activated. The physical behavior of the deactivated areas does not change compared to the activated state. However, signals that generate these areas upon impact of beams are ignored in the disabled state, i. not evaluated.

The detector is preferably developed as a so-called detector array. In this case, the regions B ₁ ..., B _n in each case a plurality of partial areas, also called cells, in. Preferably, all areas B ₁ ..., B _{n have} the same number of partial areas. The areas B ₁ , ..., B _n apply exactly then activated, if all sections of the respective area are activated. In the activated state, the subregions are able to detect beams that strike the respective area.

The individual areas B ₁ ..., B _n preferably form columns of the detector. This means that the partial regions of a region are each set vertically offset with respect to the above-mentioned reference system. Corresponding subareas of each of the areas B ₁ , ..., B _n form a column. Thus, each column has exactly one subarea of each area. The subregions belonging to a column are arranged horizontally offset with respect to the above-mentioned reference system.

The areas B ₁ ,..., B _n are in each case preferably deactivated as exactly if all subregions of the respective area are deactivated. In the deactivated state, each subregion in particular does not detect any rays from the spectrum emitted by the radiation source. Each subarea preferably does not detect any beams in the deactivated state.

Similar to the areas, the sections can be deactivated physically or logically. In the case of physical deactivation, the subregions are put into a physical state in which they can not detect any rays from the spectrum emitted by the radiation source or any rays, that is to say no radiation. in which they are physically unable to detect the rays. This can be done for example by switching off a supply voltage.

With a logical deactivation, the subareas remain physically activated. The physical behavior of the subareas in the deactivated state thus does not change in comparison to the activated state. However, signals which generate the subregions when beams strike the respective subarea are ignored in the deactivated state, i. not evaluated.

The beam preferably has the shape of a vertical beam of light. With such a lightbar, the horizontal divergence is less than the vertical divergence. Thus, in a preferred embodiment, the beam has a horizontal divergence of 0.1 ° to 0.5 ° and a vertical divergence of 10 ° to 40 °, preferably 20 °. The divergence of a beam, also called beam propagation, denotes the divergence of the beams belonging to the beam as they propagate.

The two mirrors can each consist of one or more individual mirrors. Preferably, the mirror (s) are each further developed as one or more MEMS mirrors. The frequencies of their torsional vibrations preferably correspond to the resonance frequencies of the mirror.

A MEMS mirror refers to a micromirror actuator. This is to be understood as meaning a microelectromechanical component for the dynamic direction control of light through mirrors.

A crucial difference of a MEMS mirror compared to a rotating mirror is the working frequency. While the rotating mirror is operated at typically about 25 revolutions per second, the MEMS mirror oscillates at a frequency in the range of 0.5 to 3 kHz. As a result, during the signal transit time, i. E. in the time from the emission of the beam by the radiation source to the impact of the reflection of the beam on the object on the first area or the second area, a movement is exercised, as a result of which the angle of rotation of the mirror changes significantly.

The pivot axes of the two mirrors preferably extend through the respective mirror. In particular, the pivot axes may be defined by a mirror surface formed by the respective mirror, i. reflective surface run. Preferably, the pivot axes extend through a plurality of points of the respective mirror surface.

The pivot axes are at least partially aligned vertically in a further preferred development. This means that the pivot axes not only run horizontally, but with respect to the horizontal by an angle that is not 0 °, preferably 80 °, tilted. In particular, the pivot axes of both mirrors can be aligned parallel to one another.

The assembly may be movable, such as when the assembly is placed in a movable frame of reference, such as a vehicle. A horizontal in this case refers to a plane which is fixed with respect to the arrangement and runs horizontally when the arrangement is in a reference position. The same applies to the vertical. A vertical thus designates a straight line, which in relation to the Arrangement is fixed, and which is vertical when the assembly is in the reference position. The reference position is freely selectable. In a vehicle, the reference position is preferably taken when the vehicle is traveling on a plane, horizontally oriented surface or comes to a stop on this surface. Horizontal orientation refers to an orientation along or parallel to said horizontal. Correspondingly, a vertical orientation denotes an alignment along or parallel to said vertical.

The described alignment of the pivot axes requires a matching alignment of the radiation source. Accordingly, the optical axis of the radiation source is preferably at least partially aligned horizontally. The optical axis of the radiation source thus does not run vertically, but is tilted relative to the vertical by a non-zero angle. In particular, the optical axis of the radiation source can be fully aligned horizontally.

In a preferred embodiment, the detector is a SIPM (Silicum Photo Multiplier) detector. SIPM detectors enable a high amplification of the occurring light. In particular, the high sensitivity of the SIPMs can be used to compensate for the loss of brightness of a smaller MEMS mirror compared to a conventional rotating mirror. In addition, SIPMs can be inexpensively manufactured in a standard CMOS process.

The SIPM detector has parallel-connected SPAD (Single Photon Avalanche Diode) cells. Each SPAD cell forms one of the detector areas described above.

The arrangement is preferably further developed with at least one means for position calculation, at least one means for angle determination and at least one means for transit time measurement.

The means for measuring transit time is designed to determine the time t ₀ and a time t _D with t ₁ ≦ t _D ≦ t ₂ . At time t _D , the reflection hits the detector when the object is at a distance d with d _min ≤ d ≤ d _max . As a difference t _D t ₀ , the means for measuring transit time calculates a time of flight of the radiation beam emitted by the radiation source and of its reflection at the object.

The angle determination means is designed to determine a swivel angle φ (t ₀ ) of the first mirror at the time t ₀ . The angle φ (t ₀ ) clearly defines a direction in which the beam is deflected by the first mirror. Reflection of the rays on the object implies that the object is located in just that direction.

A calculation of the position of the object is carried out by the means for position calculation. On the basis of the angle φ (t ₀ ) and the time difference t _D t ₀ , a horizontal position of the object can be calculated. A vertical position of the object is obtained by evaluating the subregions of individual areas of the detector. Thus, for a region in which rays were detected, the corresponding subregions are identified. Thus, those subregions are identified which have detected rays and conversely those which have detected no rays.

• - Aussenden des Strahlenbündels;
• - Aktivieren aller Bereiche B_i mit i₁ ≤ i ≤ i₂ und/oder i₂ ≤ i ≤ i₁ vor dem Zeitpunkt t₁;
• - Deaktivieren der übrigen Bereiche vor dem Zeitpunkt t₁;
• - Ermitteln der Zeitpunkte t₀ und t_D;
• - Bestimmen des Schwenkwinkels φ(t₀); und
• - Berechnen der Position des Objekts anhand des Schwenkwinkels φ(t₀) und der Zeitpunkte t₀ und t_D.

An inventive method is carried out using the inventive arrangement or a development of this arrangement and comprises the steps

• - emitting the beam;
• Activating all regions B _i with i ₁ ≦ i ≦ i ₂ and / or i ₂ ≦ i ≦ i ₁ before time t ₁ ;
• Deactivating the remaining areas before time t ₁ ;
• - determining the times t ₀ and t _D ;
• Determining the swivel angle φ (t ₀ ); and
• - calculating the position of the object on the basis of the swing angle φ (t ₀₎ and the time points t ₀ and t _D.

• 1 den Aufbau eines LiDARs mit Strahlteiler;
• 2 einzelne Komponenten des LiDARs.

Preferred embodiments of the invention are in 1 shown. Matching reference numbers identify identical or functionally identical characteristics. In detail shows:

• 1 the construction of a LiDAR with beam splitter;
• 2 individual components of the LiDAR.

A LiDAR system 101 with a beam splitter 103 is in 1 shown. The LiDAR system 101 includes adjacent to the beam splitter 103 a laser 105 , a MEMS mirror 107 and a detector 109 ,

To the position of an object 111 To determine, the laser sends 105 a pulsed beam 113 out. A part of the beam 113 is from the beam splitter 103 to the mirror 107 directed. The part of the beam 113 standing on the mirror 107 meets, gets from the mirror 107 in the direction of the object 111 diverted.

By reflection on the object 111 a part of the mirror comes from 107 in the direction of the object 111 redirected part of the beam 113 back to the mirror 107 and from this to the beam splitter 103 diverted. The beam splitter 103 finally, the rays are directed to the receiver 109 ,

At the beam splitter 103 it is a semi-transparent mirror. This one can, as in 1 shown to be arranged so that the laser 105 emitted beam to a first part in the direction of the mirror 107 be reflected. At a second part are the beams from the beam splitter 103 pass through. In the reverse direction are those of the mirror 107 to the beam splitter 103 redirected rays to a first part to the receiver. The rays are reflected to a second part.

A detailed construction of such a LiDAR system 101 is shown in FIG 2 shown. In addition to the in 1 As shown, this system includes a laser driver 201 , a mirror control 203 , a position measurement 205 , an optic 207 , a detector area activation 209 , a transit time measurement 211 as well as a distance and angle calculation 213 , Between the laser 105 and the mirror 107 There may be further optics.

The laser driver 201 controls those of the laser 105 emitted radiation beam 113 , The mirror control 203 influences the oscillation of the mirror 107 , in particular its amplitude.

About the position measurement 205 At defined times, the pivoting angle of the mirror is determined 107 determined. A corresponding position signal 214 uses the mirror control 203 for regulating the amplitude. Furthermore, the position signal 214 to detector area activation 209 and to the distance and angle calculation 213 transfer.

The detector area activation controls in dependence of the position signal 214 the detector 109 , In order to reduce the influence of scattered light, targeted individual areas of the detector 109 depending on the position measurement 205 on the detector area activation 209 transmitted pivot angle and a minimum measuring distance d _min and a maximum measuring distance d _max activated.

The optics 207 is in a beam path between the beam splitter 103 and the detector 109 arranged. It bundles those from the beam splitter 103 on the detector 109 meeting rays.

In particular, the look includes 207 an optical bandpass for the light of the laser 103 is transmissive and reflects light of different wavelengths back towards the mirror. When using a NIR laser with 905 nm wavelength, an optical bandpass with a pass band of 905 nm +/- 20 nm is preferably used. The smaller the passband area, the better the interference light of other wavelengths can be suppressed.

The transit time measurement 211 determines the time taken by the emission of a beam by the laser 105 until the reflection hits the detector 109 passes. In this case, for example, Time to Digital Converter (TDC) can be used, which is preceded by a comparator circuit for monitoring a predetermined threshold value exceeding the detector output signal. For each line of the detector 109 In this case, a TDC with comparator circuit is provided. The signals of all activated cells 301 in a row are added in the detector analogously to a sum signal.

From the of the transit time measurement 211 determined time, from the position signal 214 and from a row position of the detector 109 Detected radiation determines the distance and angle calculation 213 the position of the object 111 ,

LIST OF REFERENCE NUMBERS

101

LiDAR

103

beamsplitter

105

laser

107

mirror

109

detector

111

object

113

ray beam

201

laser driver

203

mirror control

205

position measurement

207

optics

209

Detector activation range

211

Runtime measurement

213

Distance and angle calculation

214

position signal

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 102008031681 A1 [0002, 0003]

Claims (17)

Arrangement (101) with at least one radiation source (105), a first mirror (107) and at least one detector (109); wherein the first mirror (107) is adapted to perform a pivotal movement oscillating between two reversal points; wherein the radiation source (105) is adapted to emit at least one beam (113); wherein the beam (12) is deflected by the first mirror (107); wherein the detector (109) has n regions B ₁ , ..., B _n ; wherein the regions B ₁ , ..., B _n are adapted to detect in an activated state rays which strike the respective region; wherein each two areas B _i and B _{i + 1} with 1 ≤ i <n are arranged adjacent; wherein a reflection of the beam (113) deflected by the first mirror (107) on an object (111) at a time t ₁ to a region B _{i 1} if the object is located at a distance d _min ; and wherein the reflection at a time t ₂ to a range B _{i 2} if the object (111) is located at a distance d _max , with t ₁ <t ₂ and d _min <d _max ; characterized in that all regions B _i with i ₁ ≤ i ≤ i ₂ and / or i ₂ ≤ i ≤ i ₁ are activated from the time t ₁ to the time t ₂ ; the remaining areas being deactivated from the time t ₁ to the time t ₂ . Arrangement (101) according to Claim 1 ; characterized in that the first mirror (107) is adapted to deflect the reflection at least partially to the detector (109). Arrangement (101) according to one of the preceding claims; characterized by at least one beam splitter (103); wherein the beam splitter (103) directs at least a portion of the beam (113) to the first mirror (107); wherein the reflection from the first mirror (107) is redirected to the beam splitter (103); wherein the beam splitter (103) directs at least a portion of the reflection to the detector (109). Arrangement (101) according to Claim 1 ; characterized by a second mirror; wherein the second mirror is configured to redirect the reflection to the detector (109). Arrangement (101) according to one of the preceding claims; characterized in that applies $$\raisebox{1ex}{$n$}\!\left/ \!\raisebox{-1ex}{$2$}\right.\le i_1\le i_2$$

or $$i_2\le i_1\le \raisebox{1ex}{$n$}\!\left/ \!\raisebox{-1ex}{$2$}\right.\text{,}$$

Arrangement (101) according to the preceding claim; characterized in that applies $$i_1=\lfloor \raisebox{1ex}{$\left(n+1\right)$}\!\left/ \!\raisebox{-1ex}{$2$}\right.+K{\displaystyle \underset{0}{\overset{t_1}{\int }}\left|\omega \left(t\right)\right|dt}\rfloor$$

and $$i_2=\lceil \raisebox{1ex}{$\left(n+1\right)$}\!\left/ \!\raisebox{-1ex}{$2$}\right.+K{\displaystyle \underset{0}{\overset{t_2}{\int }}\left|\omega \left(t\right)\right|dt}\rceil \text{.}$$

or $$i_1=\lceil \raisebox{1ex}{$\left(n+1\right)$}\!\left/ \!\raisebox{-1ex}{$2$}\right.K{\displaystyle \underset{0}{\overset{t_1}{\int }}\left|\omega \left(t\right)\right|dt}\rceil$$

and $$i_2=\lfloor \raisebox{1ex}{$\left(n+1\right)$}\!\left/ \!\raisebox{-1ex}{$2$}\right.K{\displaystyle \underset{0}{\overset{t_2}{\int }}\left|\omega \left(t\right)\right|dt}\rfloor \text{.}$$

with an angular velocity ω (t) and a constant K. Arrangement (101) according to one of the preceding claims; characterized in that the areas B ₁ ..., B _n respectively detect no rays when they are deactivated. Arrangement (101) according to one of the preceding claims; characterized in that the areas B ₁ ..., B _n each have a plurality of subregions; the areas B ₁ ,..., B _{n are} respectively considered to be activated if and only if all subregions of the respective area are activated; and wherein each of the portions is configured to detect beams when activated. Arrangement (101) according to the preceding two claims; characterized in that the areas B ₁ ..., B _{n are} respectively considered to be deactivated if and only if all subregions of the respective area are deactivated; and wherein each of the portions detects no rays when deactivated. Arrangement (101) according to one of the preceding claims; characterized in that the beam (113) has a horizontal divergence of 0.1 ° to 0.5 ° and a vertical divergence of 10 ° to 20 °. Arrangement (101) according to one of the preceding claims; characterized in that the first mirror (107) and / or the second mirror are MEMS mirrors. Arrangement (101) according to one of the preceding claims; characterized in that the pivotal movement of the first mirror (107) and / or the second mirror is in each case about a pivot axis; wherein the pivot axis is at least partially aligned vertically. Arrangement (101) according to one of the preceding claims; characterized in that at the detector (109) dumbles around a SiPM detector. Arrangement (101) according to one of the preceding claims; characterized by at least one position calculation means (213), at least one angle determination means (205) and at least one transit time measurement means (211); wherein the radiation beam (113) is deflected by the first mirror (107) at a time t ₀ ; wherein the reflection hits the detector (109) at a time t _D with t ₁ ≦ t _D ≦ t ₂ ; wherein the means for measuring transit time (211) is _adapted to determine the times t ₀ and t _D ; wherein the angle determination means (205) is adapted to determine a swivel angle φ (t ₀ ) of the first mirror (107) at the time t ₀ ; wherein the position calculation means (213) is adapted to calculate a position of the object (111) based on the swivel angle φ (t ₀ ) and the times t ₀ and t _D. Vehicle having at least one arrangement (101) according to one of the preceding claims. Use of an arrangement (101) according to one of Claims 1 to 14 for determining the position of an object (111) relative to a vehicle. A method of determining the position of an object (111) using an array (101) Claim 14 with the steps - Emitting the beam (113); Activating all regions B _i with i ₁ ≦ i ≦ i ₂ and / or i ₂ ≦ i ≦ i ₁ before time t ₁ ; - deactivating the remaining areas before the time t ₁ , - determining the times t ₀ and t _D ; Determining the swivel angle φ (t ₀ ); and - calculating the position based on the swivel angle φ (t ₀ ) and the times t ₀ and t _D.

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