DE102020003009A1 - Process for operating a lidar and lidar - Google Patents
Process for operating a lidar and lidar Download PDFInfo
- Publication number
- DE102020003009A1 DE102020003009A1 DE102020003009.2A DE102020003009A DE102020003009A1 DE 102020003009 A1 DE102020003009 A1 DE 102020003009A1 DE 102020003009 A DE102020003009 A DE 102020003009A DE 102020003009 A1 DE102020003009 A1 DE 102020003009A1
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- Germany
- Prior art keywords
- laser
- lidar
- infrared
- infrared light
- emitted
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 238000000034 method Methods 0.000 title claims abstract description 9
- 230000005855 radiation Effects 0.000 claims abstract description 13
- 238000005286 illumination Methods 0.000 claims abstract description 5
- 230000005540 biological transmission Effects 0.000 claims description 5
- 238000005259 measurement Methods 0.000 description 7
- 238000001514 detection method Methods 0.000 description 6
- 230000001419 dependent effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- BUHVIAUBTBOHAG-FOYDDCNASA-N (2r,3r,4s,5r)-2-[6-[[2-(3,5-dimethoxyphenyl)-2-(2-methylphenyl)ethyl]amino]purin-9-yl]-5-(hydroxymethyl)oxolane-3,4-diol Chemical compound COC1=CC(OC)=CC(C(CNC=2C=3N=CN(C=3N=CN=2)[C@H]2[C@@H]([C@H](O)[C@@H](CO)O2)O)C=2C(=CC=CC=2)C)=C1 BUHVIAUBTBOHAG-FOYDDCNASA-N 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000035484 reaction time Effects 0.000 description 1
- 238000002366 time-of-flight method Methods 0.000 description 1
- 238000009736 wetting Methods 0.000 description 1
Images
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/483—Details of pulse systems
- G01S7/484—Transmitters
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
- G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/483—Details of pulse systems
- G01S7/486—Receivers
- G01S7/4868—Controlling received signal intensity or exposure of sensor
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
Die Erfindung betrifft ein Verfahren zum Betrieb eines Lidar (1), wobei mittels einer Lasersendeeinheit (2) Laserpulse (LP) ausgesendet werden, mittels einer Laserempfangseinheit (3) Reflexionen (R) der Laserpulse (LP) empfangen werden und eine Signallaufzeit zwischen der Aussendung eines Laserpulses (LP) und dem Empfang einer zugehörigen Reflexion (R) ermittelt wird. Erfindungsgemäß wird zusätzlich zur Messung der Signallaufzeit ein Hintergrundrauschen in Abhängigkeit einer Raumrichtung gemessen und mittels der Lasersendeeinheit (2) wird Laserstrahlung (LS) im Nahinfrarot-Bereich derart emittiert, dass in einer Umgebung eine konstante Nahinfrarot-Beleuchtung erzeugt wird.Die Erfindung betrifft weiterhin ein Lidar (1).The invention relates to a method for operating a lidar (1), whereby laser pulses (LP) are emitted by means of a laser transmitter unit (2), reflections (R) of the laser pulses (LP) are received by means of a laser receiver unit (3), and a signal delay time between the emission a laser pulse (LP) and the reception of an associated reflection (R) is determined. According to the invention, in addition to measuring the signal propagation time, a background noise is measured as a function of a spatial direction and by means of the laser transmitter unit (2) laser radiation (LS) is emitted in the near infrared range in such a way that constant near infrared illumination is generated in an environment Lidar (1).
Description
Die Erfindung betrifft ein Verfahren zum Betrieb eines Lidar gemäß dem Oberbegriff des Anspruchs 1.The invention relates to a method for operating a lidar according to the preamble of
Die Erfindung betrifft weiterhin ein Lidar gemäß dem Oberbegriff des Anspruchs 4.The invention further relates to a lidar according to the preamble of
Aus der
Der Erfindung liegt die Aufgabe zu Grunde, ein neuartiges Verfahren zum Betrieb eines Lidar und ein neuartiges Lidar anzugeben.The invention is based on the object of specifying a novel method for operating a lidar and a novel lidar.
Die Aufgabe wird erfindungsgemäß gelöst durch ein Verfahren, welches die im Anspruch 1 angegebenen Merkmale aufweist, und durch ein Lidar, welches die im Anspruch 4 angegebenen Merkmale aufweist.The object is achieved according to the invention by a method which has the features specified in
Vorteilhafte Ausgestaltungen der Erfindung sind Gegenstand der Unteransprüche.Advantageous embodiments of the invention are the subject of the dependent claims.
In einem Verfahren zum Betrieb eines Lidar werden mittels einer Lasersendeeinheit Laserpulse ausgesendet, mittels einer Laserempfangseinheit Reflexionen der Laserpulse empfangen und es wird eine Signallaufzeit zwischen der Aussendung eines Laserpulses und dem Empfang einer zugehörigen Reflexion ermittelt.In a method for operating a lidar, laser pulses are emitted by means of a laser transmission unit, reflections of the laser pulses are received by means of a laser reception unit, and a signal transit time is determined between the transmission of a laser pulse and the reception of an associated reflection.
Erfindungsgemäß wird zusätzlich zur Messung der Signallaufzeit ein Hintergrundrauschen in Abhängigkeit einer Raumrichtung gemessen und mittels der Lasersendeeinheit wird Laserstrahlung im Nahinfrarot-Bereich derart emittiert, dass in einer Umgebung eine konstante Nahinfrarot-Beleuchtung erzeugt wird.According to the invention, in addition to measuring the signal propagation time, a background noise is measured as a function of a spatial direction, and laser radiation in the near-infrared range is emitted by means of the laser transmitter unit in such a way that constant near-infrared lighting is generated in an environment.
Die Messung des Hintergrundrauschens in Abhängigkeit einer Raumrichtung ermöglicht eine Gewinnung zusätzlicher Merkmale für eine Objekterkennung in einer Umgebung des Lidars, beispielsweise einer Fahrzeugumgebung. Die Erzeugung der konstanten Nahinfrarot-Beleuchtung mittels der Lasersendeeinheit ermöglicht die Messung des Hintergrundrauschens auch bei schwacher Umgebungsbeleuchtung und/oder bei Nacht. Durch die Erzeugung der konstanten Nahinfrarot-Beleuchtung und der Erfassung des Hintergrundrauschens kann die Funktion einer Nahinfrarot-Kamera in ein Lidar integriert werden, wodurch eine Verbesserung der Leistungsfähigkeit des Lidar, insbesondere im Hinblick auf die Objekterkennung, sowie eine Verbesserung weiterer Funktionen, wie beispielsweise eine Witterungserkennung und Reichweitenschätzung, unabhängig von einer Stärke der Umgebungsbeleuchtung erreicht werden. Somit steigt neben der Leistungsfähigkeit auch eine Verfügbarkeit des Lidar und daraus folgend auch eine Leistungsfähigkeit und Verfügbarkeit eines Systems, welche mittels des Lidars erfasste Daten nutzt.The measurement of the background noise as a function of a spatial direction enables additional features to be obtained for object detection in an environment of the lidar, for example a vehicle environment. The generation of constant near-infrared lighting by means of the laser transmitter enables background noise to be measured even in poor ambient lighting and / or at night. By generating the constant near-infrared illumination and the detection of the background noise, the function of a near-infrared camera can be integrated into a lidar, which improves the performance of the lidar, in particular with regard to object detection, and also improves other functions, such as, for example Weather detection and range estimation can be achieved regardless of the level of ambient lighting. Thus, in addition to the performance, the availability of the lidar and consequently also the performance and availability of a system which uses data acquired by means of the lidar increases.
Ausführungsbeispiele der Erfindung werden im Folgenden anhand einer Zeichnung näher erläutert.Exemplary embodiments of the invention are explained in more detail below with reference to a drawing.
Dabei zeigt:
-
1 Schematisch ein Blockschaltbild eines Lidar.
-
1 Schematic of a block diagram of a lidar.
In der einzigen
Das Lidar
Das Lidar
Das Lidar
Zusätzlich zur Messung der Signallaufzeit wird ein Hintergrundrauschen in Abhängigkeit einer Raumrichtung gemessen, so dass mittels des Lidar
Um die Verlässlichkeit der Informationen zu steigern, ist vorgesehen, die Lasersendeeinheit
In einer möglichen Ausgestaltung des Lidars
Werden bei einer Kombination der Emission von Laserstrahlung LS im Nahinfrarot-Bereich und Infrarotlicht L die mittels der Lasersendeeinheit
BezugszeichenlisteReference list
- 11
- LidarLidar
- 22nd
- LasersendeeinheitLaser transmitter unit
- 33rd
- LaserempfangseinheitLaser receiving unit
- 44th
- VerarbeitungseinheitProcessing unit
- 55
- Infrarot-Leuchtdiode Infrared light emitting diode
- HLHL
- HintergrundlichtBacklight
- LL
- InfrarotlichtInfrared light
- LPLP
- LaserpulsLaser pulse
- LSLS
- LaserstrahlungLaser radiation
- RR
- Reflexionreflection
ZITATE ENTHALTEN IN DER BESCHREIBUNG QUOTES INCLUDE IN THE DESCRIPTION
Diese Liste der vom Anmelder aufgeführten Dokumente wurde automatisiert erzeugt und ist ausschließlich zur besseren Information des Lesers aufgenommen. Die Liste ist nicht Bestandteil der deutschen Patent- bzw. Gebrauchsmusteranmeldung. Das DPMA übernimmt keinerlei Haftung für etwaige Fehler oder Auslassungen.This list of documents listed by the applicant has been generated automatically and is only included 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.
Zitierte PatentliteraturPatent literature cited
- DE 102018002003 A1 [0003]DE 102018002003 A1 [0003]
Claims (5)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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DE102020003009.2A DE102020003009A1 (en) | 2020-05-19 | 2020-05-19 | Process for operating a lidar and lidar |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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DE102020003009.2A DE102020003009A1 (en) | 2020-05-19 | 2020-05-19 | Process for operating a lidar and lidar |
Publications (1)
Publication Number | Publication Date |
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DE102020003009A1 true DE102020003009A1 (en) | 2020-07-02 |
Family
ID=71079889
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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DE102020003009.2A Withdrawn DE102020003009A1 (en) | 2020-05-19 | 2020-05-19 | Process for operating a lidar and lidar |
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DE (1) | DE102020003009A1 (en) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102021202618A1 (en) | 2021-03-18 | 2022-09-22 | Robert Bosch Gesellschaft mit beschränkter Haftung | Procedure for operating a LiDAR system |
DE102022203976A1 (en) | 2022-04-25 | 2023-10-26 | Robert Bosch Gesellschaft mit beschränkter Haftung | Licam sensor and environment detection system |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102018002003A1 (en) | 2018-03-13 | 2018-09-20 | Daimler Ag | Sensor device for a motor vehicle, in particular for a motor vehicle |
-
2020
- 2020-05-19 DE DE102020003009.2A patent/DE102020003009A1/en not_active Withdrawn
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102018002003A1 (en) | 2018-03-13 | 2018-09-20 | Daimler Ag | Sensor device for a motor vehicle, in particular for a motor vehicle |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102021202618A1 (en) | 2021-03-18 | 2022-09-22 | Robert Bosch Gesellschaft mit beschränkter Haftung | Procedure for operating a LiDAR system |
DE102022203976A1 (en) | 2022-04-25 | 2023-10-26 | Robert Bosch Gesellschaft mit beschränkter Haftung | Licam sensor and environment detection system |
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Legal Events
Date | Code | Title | Description |
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R230 | Request for early publication | ||
R081 | Change of applicant/patentee |
Owner name: DAIMLER AG, DE Free format text: FORMER OWNER: DAIMLER AG, 70372 STUTTGART, DE |
|
R119 | Application deemed withdrawn, or ip right lapsed, due to non-payment of renewal fee |