DE102020206935A1 - Vertical scan lidar - Google Patents

Abstract

The present invention relates to a lidar measuring device (12) for detecting an object (14) in the vicinity of a vehicle (10), having: a transmitter (18) for emitting a light signal; a receiver (20) for receiving the light signal after reflection from the object; a 2D scanner unit (22) for scanning a field of view (16) of the lidar measuring device by deflecting the light signal; a combination unit (24) for transferring the light signal from the transmitter to the 2D scanner unit and for transferring the light signal from the 2D scanner unit to the receiver, the 2D scanner unit for scanning the field of view in several scan lines (30 ) is trained. The present invention also relates to a system and a method for detecting an object (14) in the vicinity of a vehicle (10).

Description

The present invention relates to a lidar measuring device for detecting an object in the surroundings of a vehicle. The present invention further relates to a system for detecting an object in the vicinity of a vehicle and a vehicle with a lidar measuring device and a method for detecting an object in the vicinity of a vehicle.

Modern vehicles (cars, vans, trucks, motorcycles, etc.) have a large number of sensors that provide the driver with information and control individual functions of the vehicle in a partially or fully automated manner. The surroundings of the vehicle and other road users are recorded via sensors. Based on the recorded data, a model of the vehicle environment can be generated and changes in this vehicle environment can be reacted to.

Lidar technology (light detection and ranging) is an important sensor principle for capturing the surroundings. A lidar sensor is based on the emission of light signals and the detection of the reflected light. A distance to the point of reflection can be calculated by means of a transit time measurement. It is also possible to determine a relative speed. Both unmodulated pulses and frequency-modulated signals (chirps) can be used here (frequency-modulated continuous wave lidar, FMCW lidar). A target can be detected by evaluating the received reflections. With regard to the technical implementation of the lidar sensor, a distinction is made between scanning and non-scanning systems. A scanning system is mostly based on micromirrors and a scanning of the environment with a light spot, whereby one speaks of a coaxial system when the transmitted and received light pulses are deflected by the same micromirror. In non-scanning systems, several transmitting and receiving elements are arranged statically next to one another (especially so-called focal plane array arrangement).

In this context, the WO 2018/127789 A1 Lidar systems and methods for detecting and classifying objects are disclosed. In one implementation, the lidar system can detect one or more surface angles of an object based on one or more temporal distortions in reflected signals. In further embodiments, the lidar system can identify objects based on reflective fingerprints, surface angle fingerprints, or other measured properties. Other measured properties can include the surface composition of an object, the ambient lighting, detection differences between several sampling times and confidence values of several detection characteristics.

One challenge in the field of vehicle lidar sensors is the detection of smaller, dark and / or distant objects, with objects lying on the roadway being particularly relevant. For example, tires, dead animals or lost items of cargo must be recorded as far as possible at distances of over 100 m. For example, a scanning lidar sensor with a resolution or a spot spacing of 0.1 ° in both horizontal and vertical directions already has difficulties in detecting a tire lying on the road at a distance of 50 m, although the resolution would be sufficient in principle. This is due to the fact that black objects have a very low reflectivity and can therefore only be reliably detected if they are completely hit by a light spot. However, if the tire falls into a gap in the detection grid, i.e. at a position between two rows of light spots, there are only partial hits and the reflected light power is not sufficient for detection.

Based on this, the present invention has the task of providing an approach for the reliable detection of objects in the vicinity of a vehicle. In particular, it should be made possible to detect objects lying on the road in the area in front of a vehicle with high reliability. Even distant and / or dark or black objects should be detected as reliably as possible.

• einem Sender zum Aussenden eines Lichtsignals;
• einem Empfänger zum Empfangen des Lichtsignals nach einer Reflexion an dem Objekt;
• einer 2D-Scannereinheit zum Abtasten eines Sichtfelds der Lidar-Messvorrichtung durch Ablenken des Lichtsignals;
• einer Kombinationseinheit zum Überleiten des Lichtsignals vom Sender zu der 2D-Scannereinheit und zum Überleiten des Lichtsignals von der 2D-Scannereinheit zum Empfänger, wobei
• die 2D-Scannereinheit zum Abtasten des Sichtfelds in mehreren parallel zu einer Hochachse des Fahrzeugs verlaufenden Abtastlinien ausgebildet ist.

To achieve this object, the invention relates in a first aspect to a lidar measuring device for detecting an object in the surroundings of a vehicle, with:

• a transmitter for emitting a light signal;
• a receiver for receiving the light signal after reflection from the object;
• a 2D scanner unit for scanning a field of view of the lidar measuring device by deflecting the light signal;
• a combination unit for transferring the light signal from the transmitter to the 2D scanner unit and for transferring the light signal from the 2D scanner unit to the receiver, wherein
• the 2D scanner unit is designed to scan the field of view in a plurality of scan lines running parallel to a vertical axis of the vehicle.

• zwei Lidar-Messvorrichtungen wie zuvor beschrieben, wobei
• zwei Sichtfelder der beiden Lidar-Messvorrichtungen orthogonal zu der Fahrzeug-Hochachse nebeneinander liegen und sich in einem gemeinsamen Winkelbereich überlappen; und
• der gemeinsame Bereich einen Azimutwinkel von 1° bis 5° umfasst.

In a further aspect, the present invention relates to a system for detecting an object in the surroundings of a vehicle, with:

• two lidar measuring devices as described above, wherein
• two fields of view of the two lidar measuring devices lie next to one another orthogonally to the vertical axis of the vehicle and overlap in a common angular range; and
• the common area comprises an azimuth angle of 1 ° to 5 °.

Further aspects of the invention relate to a method embodied in accordance with the lidar measuring device and a computer program product with program code for performing the steps of the method when the program code is executed on a computer, as well as a storage medium on which a computer program is stored is executed on a computer, causes an execution of the method described herein.

Preferred embodiments of the invention are described in the dependent claims. It goes without saying that the features mentioned above and those yet to be explained below can be used not only in the respectively specified combination, but also in other combinations or on their own, without departing from the scope of the present invention. In particular, the system, the vehicle, the method and the computer program product can be designed in accordance with the configurations described for the lidar measuring device in the dependent claims.

It is provided that the 2D scanner unit of the lidar measuring device is designed to scan the field of view in a plurality of scan lines running parallel to a vertical axis of the vehicle. The scan lines are vertical. Light signals are sent out via a transmitter. These light signals are reflected on all objects within the field of view of the lidar measuring device. The field of view is scanned by a 2D scanner unit. After the reflection, the light signals can be received by the receiver. The objects in the vicinity can then be detected from an evaluation of the reflections.

In contrast to previous approaches in which the field of view of the lidar measuring device was scanned in horizontally running scanning lines, scanning in vertically running scanning lines parallel to the vertical axis of the vehicle offers the advantage that lying objects, which have a greater extent in the horizontal direction than in Have vertical direction can be detected with higher reliability. Tires or other objects that can lie on the roadway, in particular, often have a greater extent in the horizontal direction, that is to say in the direction of the transverse axis of the vehicle. In order to be able to detect these better, it is advantageous to scan with a higher resolution in this vertical direction. Current systems scan the field of vision in several parallel lines. To this extent, a slow direction and a fast direction are provided, the slow direction being oriented orthogonally to the lines. The fast direction usually offers the higher resolution as well as better options for dynamically adjusting the resolution. If the scan lines, i.e. the fast direction, run in the vertical direction, a higher measurement frequency can generate a higher resolution. Objects can be detected with high reliability. This also makes it possible to determine the height of objects lying on the road with greater reliability.

In a preferred embodiment, the lidar measuring device comprises a vertical adaptation unit for adapting a resolution of the lidar measuring device in a vertical direction along the vertical axis of the vehicle. The vertical adjustment unit is preferably designed to control the transmitter, the receiver and / or the 2D scanner unit in order to scan an area of the field of view within a current vertical region-of-interest with a first resolution and an area outside the vertical region-of -Interest with a smaller, second resolution or not to be sampled. The scanning of the field of view in (vertical) scanning lines running parallel to the vertical axis of the vehicle enables the resolution in this direction to be easily adapted. In particular, the reading frequency can be adapted depending on the current position of the 2D scanner unit. It is also possible to adjust the scanning speed by moving the 2D scanner unit more quickly. As a result, the region of interest, that is to say the area that is currently considered to be particularly relevant, can be scanned with a higher resolution. In particular, it is possible to scan an area that includes the lane running in front of the vehicle with a higher resolution and thus to improve the reliability in the detection of objects in this area. The security in the detection of objects in the vicinity and the reliability are improved.

In a preferred embodiment, the vertical adaptation unit is designed to adapt the resolution of the lidar measuring device in the vertical direction based on a predefined deviation angle of a mounting position of the lidar measuring device on the vehicle. It is also possible that the adaptation is based on a measurement of a pitch angle of the vehicle, preferably done by an initial sensor. Furthermore, it is possible for the adaptation to take place based on map data with information on the course of a roadway in an area in front of the vehicle. Finally, it is possible for the adaptation to take place based on a distance of a detected object and a vertical position of the detected object within the field of view of the lidar measuring device. By adapting depending on the current situation or depending on the predefined parameters, a higher level of reliability can be achieved in the detection of objects in the relevant area. It is made possible that the existing computing power or

Communication bandwidth is optimally used. Less relevant areas are scanned with a lower resolution or not at all. On the one hand, fixed deviations, such as a constant deviation (bias) due to imprecise mounting of the lidar measuring device on the vehicle, or variable deviations, such as braking and acceleration processes, can be compensated for. The relevant area is scanned with optimized resolution.

In a preferred embodiment, the lidar measuring device comprises a horizontal adaptation unit for adapting a resolution of the lidar measuring device in a horizontal direction orthogonal to the vertical axis of the vehicle. The horizontal adjustment unit is preferably designed to control the transmitter, the receiver and / or the 2D scanner unit. In addition or as an alternative, it is also possible to adjust the resolution in the horizontal direction, that is to say parallel to the transverse axis of the vehicle. For this purpose, the various components of the lidar measuring device can also be controlled. In particular, it is possible for a distance between the individual scan lines to be adapted depending on the assigned position in the horizontal direction. Similar to the adjustment in the vertical direction, the reliability of the object detection in the relevant area can also be improved.

In a preferred embodiment, the horizontal adjustment unit is designed to adjust a distance between the scan lines based on a speed of the vehicle. A higher speed preferably requires a smaller distance (between the scan lines). Because a scan is carried out at a higher speed with a smaller angle between the scan lines, a narrower area can be scanned with a higher resolution. This narrower area is particularly relevant if the speed of the vehicle is so high anyway that only the reduced scanning area can be reached. In other words, if it is no longer possible to drive a curve under normal circumstances, it is sufficient to scan the achievable, narrower area. Object detection reliability can be improved.

In a preferred embodiment, the 2D scanner unit is designed to scan the field of view in a plurality of scan lines which have a different distance from one another within a first horizontal sub-area orthogonal to the vertical axis of the vehicle than outside the first horizontal sub-area. It is possible for the resolution in the horizontal direction to be adapted in that the scan lines have different distances from one another. In particular, the scanning lines can have a smaller distance from one another within a relevant area than outside this relevant area. As a result, the object detection can be carried out with higher reliability within a relevant area.

In a preferred embodiment, the 2D scanner unit is designed as a microelectromechanical system, MEMS, and comprises a two-dimensionally controllable micromirror for deflecting the light signal. By using a MEMS, a fast response speed can be achieved with low manufacturing costs. There is an efficient manufacturability. One axis deflects the light signal parallel to the vertical axis of the vehicle. The other axis causes a deflection parallel to the transverse axis of the vehicle.

In a preferred embodiment, a rotational movement of the micromirror with respect to a first axis causes a deflection of the light signal in the direction of the vertical axis of the vehicle. A rotational movement of the micromirror with respect to a second axis causes a deflection of the light signal in the direction of a transverse axis of the vehicle. The micromirror is designed to carry out a faster movement with respect to the first axis and a slower movement with respect to the second axis. Additionally or alternatively, a range of motion of the movement of the micromirror with respect to the first axis is greater than a range of motion of the movement of the micromirror with respect to the second axis. By controlling the micromirror, column-by-column scanning can be achieved. In this case, there is usually a faster oscillation in the direction of the vertical axis of the vehicle, so that a column is scanned in this vertical direction before the micromirror is moved further into the next column. There is an efficient implementability.

In a preferred embodiment, a line spacing between the scanning lines of between 0.05 degrees and 0.15 degrees, preferably 0.1 degrees, is provided. This line spacing leads to sufficient resolution to enable reliable object detection. Furthermore, the resulting data can be processed with sufficient speed to enable real-time object recognition.

In a preferred embodiment, the transmitter is designed to continuously transmit a frequency-modulated light signal. The lidar measuring device can be operated as a frequency-modulated continuous system (frequency-modulated continuous wave).

A field of view or a field of view of the lidar measuring device corresponds to an area that can be seen by the lidar measuring device. In particular, the field of view is defined by specifying an angle in the vertical direction (elevation angle) and an angle in the horizontal direction (azimuth angle). A vertical resolution corresponds to a resolution in the vertical direction within this field of view. A vertical resolution can in particular be specified in the form of a scanning angle increment. A scanning angle increment corresponds in particular to a line spacing in the case of a line-by-line scanning of the field of view. Basically, resolution is preferably to be understood as an angle specification between two adjacent rows or columns when the field of view is scanned by the 2D scanner unit in the horizontal (horizontal resolution) or vertical direction (vertical resolution). A horizontal or vertical area or a horizontal / vertical region-of-interest corresponds to a cutout or section of the field of view in the corresponding direction. A vertical region of interest thus corresponds, for example, to a field of view section within a specific elevation angle range. The surroundings of a vehicle include, in particular, an area in the surroundings of the vehicle that is visible from the vehicle. The lidar measuring device is preferably a coaxial lidar measuring device in which the signal paths from the transmitter or to the receiver between the 2D scanner unit and the combination unit run coaxially. A scanning line corresponds to a straight line section along which a plurality of scanning points are arranged or along which a light or laser beam is continuously guided.

• 1 eine schematische Darstellung eines Fahrzeugs mit einer Lidar-Messvorrichtung in einer Seitenansicht und in einer Draufsicht;
• 2 eine schematische Darstellung einer Lidar-Messvorrichtung;
• 3 eine schematische Darstellung der Abtastung des Sichtfelds in mehreren parallel zu einer Hochachse des Fahrzeugs verlaufenden Abtastlinien;
• 4 eine schematische Darstellung einer Anpassung der Abtastung in Horizontalrichtung;
• 5 eine schematische Darstellung einer Anpassung der Abtastung in Horizontalrichtung durch Anpassen des Abstands zwischen den verschiedenen Abtastlinien;
• 6 eine schematische Darstellung einer Anpassung der Abtastung des Sichtfelds in Vertikalrichtung;
• 7 eine schematische Darstellung einer Abtastung durch eine Kombination von zwei Lidar-Messvorrichtungen; und
• 8 eine schematische Darstellung eines erfindungsgemäßen Verfahrens.

The invention is described and explained in more detail below using a few selected exemplary embodiments in connection with the accompanying drawings. Show it:

• 1 a schematic representation of a vehicle with a lidar measuring device in a side view and in a top view;
• 2 a schematic representation of a lidar measuring device;
• 3 a schematic representation of the scanning of the field of view in several scanning lines running parallel to a vertical axis of the vehicle;
• 4th a schematic representation of an adaptation of the scanning in the horizontal direction;
• 5 a schematic representation of an adaptation of the scanning in the horizontal direction by adapting the distance between the different scan lines;
• 6th a schematic representation of an adaptation of the scanning of the field of view in the vertical direction;
• 7th a schematic representation of a scan by a combination of two lidar measuring devices; and
• 8th a schematic representation of a method according to the invention.

In the 1 is schematically a vehicle 10 with a lidar measuring device 12th for detecting an object 14th in an environment of the vehicle 10 illustrated in accordance with the present invention. The representation corresponds to a side sectional view in the upper part and a plan view of the same situation in the lower part. The object 14th can be, for example, a car tire or a part of a vehicle lying on the road. The lidar measuring device 12th can for example in the area of a bumper of the vehicle 10 be assembled and designed to be objects 14th in front of the vehicle 10 to detect. In principle, it is also possible that the lidar measuring device 12th is carried out separately. It is also possible that the functionality of the lidar measuring device 12th is implemented in software.

In the representation of the 1 a y-axis runs parallel to a vertical axis (vertical axis) of the vehicle 10 , a z-axis runs parallel to a transverse axis of the vehicle 10 and an x-axis is parallel to a longitudinal axis of the vehicle 10 . In the illustration, the vehicle is moving in the direction of the x-axis on a roadway.

In the 1 the field of view is dashed 16 of the lidar measuring device. The field of view 16 (field-of-view) can be 46 degrees in the horizontal direction and 38 degrees in the vertical direction, for example. It is provided that the field of view in several parallel to the vertical axis of the vehicle 10 running scan lines is scanned. This allows objects 14th in the neighborhood of the vehicle 10 especially better when these objects 14th lie and to this extent have a greater extent in the direction of the vehicle transverse axis than in the direction of the vehicle vertical axis. This applies, for example, to a car tire lying on the roadway.

In the 2 is schematically the lidar measuring device 12th shown. The lidar measuring device 12th includes a transmitter 18th for emitting a light signal and a receiver 20th for receiving the light signal after reflection on the object. The transmitter 18th is designed in particular as a laser source. On the one hand, it is possible that a pulsed signal is used. On the other hand, a frequency-modulated signal (chirp signal) can also be used. The recipient 20th corresponds in particular to a photodetector which is designed to receive the light signal after reflection on the object and thereby enable detection of the object.

Furthermore, the lidar measuring device comprises 12th a 2D scanner unit 22nd to adjust the field of view of the lidar measurement device 12th to feel. The 2D scanner unit 22nd can in particular be designed as a microelectromechanical system (MEMS). It is also possible to use a galvanometer. A micromirror is activated in order to transmit the light signal to different positions and to receive corresponding detections of the different positions. In particular, the field of view of the lidar measuring device can be used 12th are scanned column by column. To this extent, there is a fast vertical axis and a slower horizontal axis, each of which can be controlled by associated actuators. A distance between the individual scan lines can be 0.1 degrees, for example. The micromirror executes a rotational movement with respect to a first axis, which causes a deflection of the light signal in the direction of the vertical axis of the vehicle. With respect to a second axis, the micromirror executes a movement which causes the light signal to be deflected in the direction of a transverse axis of the vehicle. The movement with respect to the first axis is faster than the movement with respect to the second axis. In particular, one column can be scanned parallel to the vertical axis of the vehicle and then another column can be scanned in the next step. The 2D scanner unit 22nd be formed directly in a corresponding manner. It is also possible for a corresponding activation to take place.

Furthermore, the lidar measuring device comprises 12th a combination unit 24 , which can in particular be designed as a circulator. It is also possible that the combination unit 24 corresponds to a beam splitter. The disadvantage of using a beam splitter is that part of the signal can be lost. However, there are advantages with regard to the speed of reaction and with regard to the manufacturing costs. The fact that for the transmitted light signal and for the received light signal between the 2D scanner unit 22nd and combination unit 24 the same path is used, the illustrated lidar measurement device is used 12th referred to as a lidar measuring device in coaxial design or as a coaxial allidar measuring device.

In the representation of the 2 is shown in dashed lines that the lidar measuring device 12th additionally a vertical adjustment unit 26th as well as a horizontal adjustment unit 28 may include. The two adaptation units make it possible to achieve a resolution of the lidar measuring device 12th adapt in a corresponding direction. In other words, the resolution is changed depending on a position in the vertical or horizontal direction. In particular, an activation of the transmitter can be used for this purpose 18th , Recipient 20th and / or the 2D scanner unit 22nd respectively. A current region of interest can be scanned with a higher resolution than the remaining area of the field of view in the corresponding direction. With the vertical adjustment unit 26th a resolution can be adapted in a vertical direction orthogonal to the transverse axis of the vehicle or along the vertical axis of the vehicle. Through the horizontal adjustment unit 28 a resolution can be adapted in a horizontal direction orthogonal to the vertical axis of the vehicle or along the transverse axis of the vehicle. The adaptation can take place dynamically during the operation of the lidar measuring device. However, static or non-changeable adjustment during operation is also possible.

In the 3 is schematic the field of view 16 the lidar measuring device shown from the perspective of the lidar measuring device. The field of view 16 denotes the area with the various scan lines 30th is covered. Within the field of view 16 there is an object 14th . In addition, the road runs 32 to the horizon line 34 within the field of view 16 . The distance between the scan lines 30th is 0.1 degrees, for example. The scan lines run parallel to the vertical axis of the vehicle and essentially vertical to the roadway 32 .

In the 4th , 5 , 6th and 7th Possibilities for adapting the resolution of the lidar measuring device are shown schematically in each case. The lines shown correspond to the scan lines 30th . The representations correspond to the representation of 3 , being the roadway that The horizon line and the object are not shown for the sake of clarity.

In the 4th is shown schematically that the field of view 16 or the scan lines 30th can be adjusted in the horizontal direction, as indicated by the arrows. In particular, it is possible that, based on current information, a shift should take place in the direction of the vehicle's transverse axis, to the right or left in the representation.

In the 5 is indicated schematically that a distance between the scan lines 30th can be changed from each other. On the left (a) have the scan lines 30th a smaller distance from one another than in the original state (b) and in the state shown on the right (c). By appropriately controlling the 2D scanner unit, a high-resolution scanning of a specific area can therefore take place. The change in the spacing of the scan lines 30th corresponds to an adjustment of the resolution in the horizontal direction. The adaptation can in particular be based on a speed of the vehicle. A higher speed can result in a smaller distance (cf. a), whereas a lower speed can result in a greater distance (cf. c). As a result, it can be achieved that at a higher speed, at which it is no longer possible to deviate from a selected travel trajectory (curve) anyway due to physical conditions, a relevant area is scanned as optimally as possible.

In the 6th it is shown schematically that the resolution of the lidar measuring device can also be adapted in the vertical direction parallel to the vertical axis of the vehicle. In particular, it is possible for an area of a current vertical region of interest 36 to be scanned with a higher resolution than an area outside of this vertical region of interest 36. As in FIG 6th displayed, the high-resolution area is shifted up or down, depending on the current situation.

The basis for the adjustment in the vertical direction can be, on the one hand, a predefined vertical region of interest or a corresponding parameter, by means of which, for example, a calibration with respect to a mounting position of the lidar measuring device 12th can be done on the vehicle. Depending on the alignment of the lidar measuring device, a corresponding adjustment in the vertical direction can take place in the sense of a calibration. It is also possible to react to a current situation or fact. It is thus possible for a pitch angle of the vehicle to be measured and for the current region of interest to be adapted based on this measured pitch angle. If a vehicle brakes and this braking process leads to a change in the pitch angle, the current region of interest, which is to be scanned with a higher resolution, can in particular be adjusted upwards. As a result, the relevant area remains on the roadway in the area in front of the vehicle within the region of interest. Furthermore, information obtained on the basis of map data can also be taken into account in order to include, for example, a course of the road in the area in front of the vehicle.

In the 7th is shown schematically that two lidar measuring devices can be arranged in a system, the fields of view of which are orthogonal to the vertical axis of the vehicle. On the left of the 7th the two fields of view 16a, 16b or the scan lines are shown. In the example shown in the 7th the two fields of view each have an area with a higher resolution, that is to say a smaller distance between the scanning lines, and an area with a lower resolution, that is to say a greater distance between the scanning lines, in the horizontal direction. The two lidar measuring devices can then be arranged next to one another in such a way that the area overlaps with lower resolution in the horizontal direction. If, for example, it is assumed that the field of view has an extension in the vertical direction of 20 degrees and in the horizontal direction an extension of 15 degrees with high resolution and 5 degrees with lower resolution, the two lidar measuring devices can cover a common field of view 16c of 30 degrees if an overlap in the area of the lower resolution is assumed. The representation is to be understood only schematically. Overall, in reality, for example, a line spacing of 0.06 degrees can be used in the high-resolution range, so that 250 scan lines are located within a range of 15 degrees. The advantage of this arrangement is that it results in a high level of reliability in the direction of the vertical axis.

A higher precision is achieved in the direction of the vertical axis of the vehicle. This is advantageous for a distance estimation and a detection of free areas. The lower precision in the direction of the horizontal axis or in the direction of the transverse axis of the vehicle is less critical, since the most important decision in this dimension is only an assignment as to whether an object is located within its own lane or not. In the example shown, the overlap with the lower resolution can be used for calibration or also to improve safety.

In the 8th is a schematic of a method according to the invention for detecting an object shown in an environment of a vehicle. The method comprises the steps of transmitting S10 a light signal, receiving S12 the light signal, scanning S14 a field of view and transmitting S16 the light signal. The method can be implemented, for example, as software that is executed on a microprocessor of a lidar measuring device. In particular, the method can be used as control software for a lidar measuring device.

The invention has been comprehensively described and explained with reference to the drawings and the description. The description and explanation are to be understood as an example and not restrictive. The invention is not limited to the disclosed embodiments. Other embodiments or variations will become apparent to those skilled in the art using the present invention and a careful analysis of the drawings, the disclosure, and the following claims.

In the claims, the words “comprising” and “having” do not exclude the presence of further elements or steps. The undefined article “a” or “an” does not exclude the presence of a plural. A single element or a single unit can perform the functions of several of the units mentioned in the patent claims. An element, a unit, an interface, a device and a system can be implemented partially or completely in hardware and / or in software. The mere mention of a few measures in several different dependent patent claims should not be understood to mean that a combination of these measures cannot also be used advantageously. Reference signs in the patent claims are not to be understood as restrictive.

List of reference symbols

10

vehicle

12th

Lidar measuring device

14th

object

16

Field of view

18th

Channel

20th

recipient

22nd

2D scanner unit

24

Combination unit

26th

Vertical adjustment unit

28

Horizontal adjustment unit

30th

Scan line

32

roadway

34

Horizon line

36

vertical region of interest

QUOTES INCLUDED IN THE DESCRIPTION

This list of the documents listed by the applicant was 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.

Patent literature cited

• WO 2018/127789 A1 [0004]

Claims (14)

Lidar measuring device (12) for detecting an object (14) in the surroundings of a vehicle (10), having: a transmitter (18) for emitting a light signal; a receiver (20) for receiving the light signal after reflection from the object; a 2D scanner unit (22) for scanning a field of view (16) of the lidar measuring device by deflecting the light signal; a combination unit (24) for transferring the light signal from the transmitter to the 2D scanner unit and for transferring the light signal from the 2D scanner unit to the receiver, wherein the 2D scanner unit is designed to scan the field of view in a plurality of scan lines (30) running parallel to a vertical axis of the vehicle. Lidar measuring device (12) according to Claim 1 , with: a vertical adjustment unit (26) for adjusting a resolution of the lidar measuring device in a vertical direction along the vertical axis of the vehicle (10), the vertical adjustment unit preferably for controlling the transmitter (18), the receiver (20) and / or the 2D scanner unit (22) is designed to scan an area of the field of view (16) within a current vertical region-of-interest (36) with a first resolution and an area outside the vertical region-of-interest with a smaller, second resolution or not to be sampled. Lidar measuring device (12) according to Claim 2 wherein the vertical adjustment unit (26) is designed to adjust the resolution based on a predefined deviation angle of a mounting position of the lidar measuring device on the vehicle (10); a measurement of a pitch angle of the vehicle, preferably by an inertial sensor, is formed; Map data is formed with information on a course of a roadway in an area in front of the vehicle; and / or a distance between a detected object (14) and a vertical position of the detected object within the field of view (16) of the lidar measuring device. Lidar measuring device (12) according to one of the preceding claims, with: a horizontal adjustment unit (28) for adjusting a resolution of the lidar measuring device in a horizontal direction orthogonal to the vertical axis of the vehicle (10), wherein the horizontal adjustment unit is preferably designed to control the transmitter (18), the receiver (20) and / or the 2D scanner unit (22). Lidar measuring device (12) according to one of the preceding claims, wherein the horizontal adjustment unit (28) is configured to adjust a distance between the scanning lines (30) based on a speed of the vehicle (10); and preferably a higher speed requires a smaller distance. Lidar measuring device (12) according to one of the preceding claims, wherein the 2D scanner unit (22) is designed to scan the field of view (16) in a plurality of scan lines (30) which, within a first horizontal sub-area, are orthogonal to the vertical axis of the vehicle (10 ) have a different distance from one another than outside the first horizontal sub-area. Lidar measuring device (12) according to one of the preceding claims, wherein the 2D scanner unit (22) is designed as a microelectromechanical system, MEMS, and comprises a two-dimensionally controllable micromirror for deflecting the light signal. Lidar measuring device (12) according to Claim 7 wherein a rotational movement of the micromirror with respect to a first axis causes a deflection of the light signal in the direction of the vertical axis of the vehicle (10); a rotational movement of the micromirror with respect to a second axis causes a deflection of the light signal in the direction of a transverse axis of the vehicle; and the micromirror is designed to perform a faster movement with respect to the first axis and a slower movement with respect to the second axis and / or a movement scope of the movement of the micro-mirror with respect to the first axis is greater than a movement scope of the movement of the micro-mirror with respect to the second axis. Lidar measuring device (12) according to one of the preceding claims, wherein a line spacing between the scanning lines (30) is between 0.05 ° and 0.15 °, preferably 0.1 °. Lidar measuring device (12) according to one of the preceding claims, wherein the transmitter (18) is designed to continuously transmit a frequency-modulated light signal. System for detecting an object (14) in the vicinity of a vehicle (10), comprising: Two lidar measuring devices (12a, 12b) according to one of the preceding claims, wherein two fields of view (16a, 16b) of the two lidar measuring devices lie next to one another orthogonally to the vertical axis of the vehicle and overlap in a common angular range; and the common area comprises an azimuth angle of 1 ° to 5 °. Vehicle (10) with a lidar measuring device (12) according to one of the Claims 1 until 10 or with a system after Claim 11 . Method for detecting an object (14) in the surroundings of a vehicle (10), comprising the steps: Emitting (S10) a light signal; Receiving (S12) the light signal after reflection on the object; Scanning (S14) a field of view (16) of the lidar measuring device by deflecting the light signal; Transferring (S16) the light signal from the transmitter to the 2D scanner unit (22) and transferring the light signal from the 2D scanner unit to the receiver, wherein In the scanning step, the field of view is scanned in several scanning lines (30) running parallel to a vertical axis of the vehicle. Computer program product with program code for performing the steps of the method according to Claim 13 when the program code is executed on a computer.

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