DE102022115268A1 - Method for operating a flash LiDAR system for a vehicle, flash LiDAR system and vehicle - Google Patents

Abstract

A method for operating a flash LiDAR system for a vehicle using an indirect time-of-flight method, a flash LiDAR system and a vehicle are described. In the method, at least one amplitude-modulated transmitted light signal is sent into at least one monitoring area using at least one transmitting device of the Flash LiDAR system (12). Light coming from the at least one monitoring area is received with at least part of the reception areas of a reception matrix of a reception device of the Flash LiDAR system and converted into reception variables (A0,k, A1,k, A2,k, A3,k). The reception variables (A0,k, A1,k, A2,k, A3,k) can be assigned to the reception areas, each characterize a quantity of the light received with the corresponding reception area and can be processed with a processor device of the Flash LiDAR system. Any scattered light effects on at least some of the reception areas are corrected with at least one correction function (42). The light coming from the at least one monitoring area is converted into respective reception variables in the form of phase variables (A0,k, A1,k, A2,k, A3,k) by the reception areas during at least two recording time ranges. At least two of the recording time ranges are started out of phase with respect to a modulation period of the at least one transmitted light signal. Corrected final phase variables are determined for at least some of the phase variables (A0,k, A1,k, A2,k, A3,k) using the at least one correction function (42).

Description

Technical area

The invention relates to a method for operating a flash LiDAR system for a vehicle using an indirect time-of-flight method, in which
at least one amplitude-modulated transmitted light signal is sent into at least one monitoring area using at least one transmitting device of the Flash LiDAR system,
Light coming from the at least one monitoring area is received with at least part of the reception areas of a reception matrix of a reception device of the Flash LiDAR system and converted into reception variables, the reception variables being assignable to the reception areas, each characterizing a quantity of the light received with the corresponding reception area and can be processed with a processor device of the Flash LiDAR system, and any scattered light effects on at least part of the reception areas are corrected with at least one correction function.

The invention further relates to a flash LiDAR system for a vehicle, which is designed to carry out an indirect time-of-flight method,
with at least one transmitting device for sending transmitted light signals into at least one monitoring area,
with at least one receiving device which has at least one receiving matrix, which comprises a plurality of receiving areas for receiving light coming from the at least one monitoring area and for converting it into respective received quantities,
and with at least one correction function to correct any scattered light effects on reception areas.

The invention also relates to a vehicle with at least one flash LiDAR system which is designed to carry out an indirect time-of-flight method.

State of the art

• Durchführen von Operationen durch eine Schaltung der LIDAR-Vorrichtung, die Folgendes umfassen:
  • Empfangen von Erfassungssignalen, die von Detektorpixeln eines Detektorarrays ausgegeben werden, die auf Licht reagieren, das ihnen von einem oder mehreren optischen Elementen zugeführt wird, die so konfiguriert sind, dass sie einfallendes Licht in eine oder mehrere Richtungen lenken, wobei das Licht Streulicht umfasst, das relativ zu der einen oder den mehreren Richtungen umgelenkt wird; und Erzeugen korrigierter Bilddaten auf der Grundlage der Erfassungssignale und einer erwarteten Streufunktion für das Licht.

From the US 2020/0072946 A1 a method for operating a LIDAR (Light Detection and Ranging) device is known, the method comprising:

• Performing operations by a circuit of the LIDAR device including:
  • receiving detection signals output from detector pixels of a detector array responsive to light supplied thereto by one or more optical elements configured to direct incident light in one or more directions, the light including scattered light, that is redirected relative to the one or more directions; and generating corrected image data based on the detection signals and an expected scattering function for the light.

The invention is based on the object of designing a method, a flash LiDAR system and a vehicle of the type mentioned at the outset, in which any scattered light effects on the reception areas can be corrected better, in particular more efficiently and/or more precisely.

Disclosure of the invention

The object is achieved in the method according to the invention in that
the light coming from the at least one monitoring area is converted into respective reception variables in the form of phase variables during at least two recording time ranges,
wherein at least two of the recording time ranges are started out of phase with respect to a modulation period of the at least one transmitted light signal,
Corrected final phase variables are determined for at least some of the phase variables using the at least one correction function.

According to the invention, any scattered light effects on reception areas are corrected based on the determined phase sizes. The light coming from the at least one monitoring area can contain at least one received light signal originating from at least one transmission signal reflected into the at least one monitoring area. The position of the object in the monitoring area can be determined via the position of the reception areas within the reception matrix hit by the received light signal. With the reception matrix, a spatially resolved LiDAR measurement is possible.

A respective phase size is determined for at least some of the reception areas. Here, the light that hits the relevant reception area is converted to the corresponding phase size during at least two recording time ranges. The at least two recording time ranges are started out of phase with respect to a modulation period of the transmitted light signals. Two phase variables are used for each of the reception areas used, namely, a phase size is determined for each of the at least two recording time ranges.

Corrected final phase variables are determined for at least some of the phase variables using the at least one correction function. Each of the phase variables used is processed separately into a corresponding final phase variable using the at least one correction function.

In this way, at least two end phase variables are determined for each reception area used, corresponding number of recording time areas.

From the final phase variables, the distances of the detected object from which the received light signals that hit the corresponding reception area come from can be determined for each reception area used.

In order to be able to detect weakly reflecting objects in a surveillance area, measurements with a Flash LiDAR system use correspondingly long integration times when detecting the light, in particular the reflected received light signals, with the receiving areas. Depending on the design of the receiving device, the integration times can be achieved using appropriate shutter speeds. The use of flash LiDAR systems with long integration times, especially long shutter speeds, can lead not only to oversaturation of reception areas hit by received light signals originating from highly reflective objects, but also to corruption of reception areas in the vicinity of those with the received light signals Reception areas hit by the highly reflective objects. This distortion is called blooming or glare. Blooming in the signal leads to an error in determining the distance of objects near highly reflective objects. The distance of the objects is distorted towards the distance of the highly reflective object.

With the method according to the invention, highly reflective objects, such as traffic signs with retroreflective properties, and weaker reflective objects, such as pedestrians, obstacles such as walls, or the like, can be distinguished in scenes, particularly in road traffic, and their respective distances can be determined more precisely. Without the method according to the invention, the received light signals from highly reflective objects, in particular retroreflective objects, can be smeared across the reception matrix, in particular due to internal reflections, in particular in the optical reception path and/or due to optical crosstalk in the reception device.

The Flash LiDAR system works according to an indirect time-of-flight method. With an indirect time-of-flight method, a shift in the received light signal relative to the transmitted light signal caused by the flight time of the amplitude-modulated transmitted light signal and the corresponding received light signal can be determined. From the displacement, the distance of an object on which the corresponding transmitted light signal is reflected can be determined.

Advantageously, laser signals can be sent as transmitted light signals with the at least one transmitting device. Laser signals can be precisely defined and sent out over a long range, especially several hundred meters.

A Flash LiDAR system is a LiDAR system in which each transmitted light signal - similar to a flash - illuminates the entire surveillance area.

The flash LiDAR system can advantageously be designed as a laser-based distance measuring system. A laser-based distance measuring system can have at least one laser, in particular a diode laser, as the light source of a transmitting device. In particular, pulsed transmitted light signals can be sent with the at least one laser. The laser can be used to emit light signals in wavelength ranges that are visible or invisible to the human eye. Accordingly, the receiving matrix of the receiving device can be implemented with at least one sensor designed for the wavelength of the emitted light, in particular a CCD sensor, an active pixel sensor, in particular a CMOS sensor or the like. Such sensors have a plurality of reception areas, in particular pixels or groups of pixels. Such sensors can be operated in such a way that the converted phase variables can be assigned to the respective reception areas

The method and the flash LiDAR system can advantageously be used in vehicles, in particular motor vehicles. The method and the flash LiDAR system can advantageously be used in land vehicles, in particular passenger cars, trucks, buses, motorcycles or the like, aircraft, in particular drones, and/or watercraft. The process and the Flash LiDAR system can also be used on vehicles that can be operated autonomously or at least partially autonomously. However, the method and the flash LiDAR system are not limited to vehicles. They can also be used in stationary operation, in robotics and/or in machines, in particular construction or transport machines, such as cranes, excavators or the like.

The Flash LiDAR system has a processor device, in particular an electronic control and evaluation device, with which the Flash LiDAR system can be controlled and received variables, in particular phase variables, can be processed.

The Flash LiDAR system can advantageously be connected or part of at least one electronic control device of a vehicle or a machine, in particular a driver assistance system and/or a chassis control system and/or a driver information device and/or a parking assistance system and/or a gesture recognition or the like be one of those. In this way, at least some of the functions of the vehicle or machine can be operated autonomously or semi-autonomously.

The Flash LiDAR system can be used to detect stationary or moving objects, in particular vehicles, people, animals, plants, obstacles, uneven road surfaces, in particular potholes or stones, road boundaries, traffic signs, open spaces, in particular parking spaces, precipitation or the like, and/or Movements and/or gestures are used.

In an advantageous embodiment of the method,
at least one short measurement and at least one long measurement are carried out from the same scene in the at least one monitoring area with at least part of the reception areas,
wherein the at least one short measurement can be carried out with a short integration period, during which the light coming from the at least one monitoring area, in particular at least one received light signal originating from a reflected transmitted light signal, is received by the reception areas in at least two different recording time ranges and into corresponding short phase sizes can be converted,
and wherein the at least one long measurement can be carried out with a long integration period that is greater than the short integration period, during which the light coming to the at least one monitoring area, in particular at least one received light signal originating from a reflected transmitted light signal, in the at least two different ones Recording time ranges can be received and converted into corresponding long-phase variables,
For at least some of the short phase variables, a respective correction phase variable can be generated by means of at least one mathematical convolution with the at least one correction function, which can be assigned to the reception range and the recording time range, which correspond to the short phase variable used for convolution,
and for at least some of the long phase variables, an end phase variable can be formed as the difference between the respective long phase variable and the correction phase variable, which corresponds to the reception range and the recording time range of the long phase variable.

In the short measurements with the short integration period, reception variables, which are referred to below as short phase variables for better differentiation, are determined only from those reception areas which are hit by strong reception light signals, in particular by reception light signals that come from retroreflective objects, which are above the noise level. In this way, the reception variables, in particular the phase variables, can be determined for the reception areas hit by strong reception light signals, which would be oversaturated or overexposed with longer integration times. Furthermore, the reception areas that are hit by strong received light signals can be identified.

In the long measurements with the longer long integration period, however, reception variables, which are referred to below as long phase variables for better differentiation, are also determined from those reception areas that are hit by weaker received light signals, which are above the noise.

However, the long measurements can be disturbed by scattered light effects. The interference caused by the scattered light effects can be corrected by determining a final phase size for at least some of the reception areas as the difference between a long phase size and a correction phase size corresponding to the same reception area and the same recording time range.

The correction phase variables are determined by mathematical convolution of the respective short phase variables with the at least one correction function.

The short measurements and the long measurements are carried out for the same scene in the surveillance area. The same scene can be almost the same scene at a low speed of the Flash LiDAR system, especially the vehicle.

In a further advantageous embodiment of the method,
the at least two phase-shifted recording time ranges with a respective phase shift relative to a reference event, in particular relative to a reference event of the at least one transmitted light signal, in particular relative to an intensity minimum of the at least one transmitted light signal and / or a zero crossing of an electrical transmission signal with which a light source of the transmitting device for emitting the at least one transmitted light signal is controlled
and or
four recording time ranges with phase shifts of 0°, 90°, 180° and 270° compared to a reference event, in particular compared to a reference event of the at least one transmitted light signal, in particular compared to an intensity minimum of the at least one transmitted light signal and / or a zero crossing of an electrical transmitted signal, with which a light source of the transmitting device is controlled to emit the at least one transmitting light signal. In this way, the recording time ranges can be started specifically.

Phase shifts compared to a reference event of the at least one transmitted light signal enable a more precise assignment of the at least one received light signal to the at least one transmitted light signal. An intensity minimum of the at least one transmitted light signal and a zero crossing of an electrical transmitted signal can be easily defined.

With four recording time ranges, the phase shifts of which each differ by 90°, a total of four phase variables, in particular short phase variables and long phase variables, can be generated, which each characterize the time course of the received light signal. In this way, the displacement of the at least one received light signal relative to the at least one transmitted light signal and thus the flight time, which characterizes the distance, can be determined more precisely.

In a further advantageous embodiment of the method, scattered light effects of transmitted light signals that are reflected on highly reflective objects, in particular retroreflective objects, in the at least monitoring area can be corrected. In this way, the determination of distances from objects from which received light rays hit reception areas which are adjacent to the reception areas which are hit by strong received light rays from highly reflective objects, in particular retroreflective objects, can be improved. Due to the scattered light effects, which are caused by reflections on highly reflective objects, in particular retroreflective objects, without the correction according to the invention, the distances from less strongly reflective objects are incorrectly shifted towards the distances from the highly reflective, in particular retroreflective objects.

In a further advantageous embodiment of the method, the short integration duration can be set so that only the most highly reflective objects, in particular retroreflective objects, in the scene lead to a short phase size that can be distinguished from noise in at least one of the recording time ranges. In this way, those reception areas that are affected by scattered light effects due to strong received light signals can be identified, and the corresponding phase variables can be corrected.

Advantageously, the length of the short integration period can be chosen so that even strong received light signals from retroreflective objects do not lead to overloading in the receiving matrix. The short integration period can advantageously be set to approximately 1 µs.

In a further advantageous embodiment of the method, the at least one correction function can be specified for a detection of retroreflective objects, which can usually occur in the at least one monitoring area during operation of the flash LiDAR system, in particular the flash LiDAR system of the vehicle . In this way, the Flash LiDAR system can be optimized for scenes that commonly occur.

Advantageously, the at least one correction function can be specified for detecting retroreflective road signs or road markings. In this way, the Flash LiDAR system can be set for use in road traffic, in particular for use in a vehicle.

In a further advantageous embodiment of the method,
for at least one reception area from at least a part of the end phase variables belonging to this reception area, a respective distance an object can be determined with the at least one detected object,
and or
For at least one reception area, which is hit by received light signals from an object, directional information characterizing the direction of the reflecting object relative to the flash LiDAR system can be determined from a position of the reception area within the reception matrix. In this way, distances and/or directions of detected objects can be determined relative to the Flash LiDAR system.

With the distances and directions of detected objects, a distance image of the surveillance area can be created, in which the distances of objects can be displayed with spatial resolution.

In a further advantageous embodiment of the method,
the light coming from the at least one monitoring area, in particular at least one received light signal, is received with reception areas of a one-dimensional, in particular line-shaped, reception matrix, or with reception areas of a two-dimensional, in particular matrix-shaped, reception matrix
and or
at least one of the phase variables, in particular the at least one phase variable that can be assigned to the at least one reception area and/or at least one short phase variable and/or at least one long phase variable and/or at least one correction phase variable and/or at least one final phase variable, a corresponding one one-dimensional or two-dimensional phase size matrix, in particular a short phase size matrix and / or a long phase size matrix and / or a correction phase size matrix and / or a final phase size matrix
and or
the at least one correction function is implemented with a one-dimensional or a two-dimensional correction variable matrix.

The light can advantageously be received with reception areas of a one-dimensional reception matrix. In this way, the at least one monitoring area with any objects can be recorded in one dimension in a spatially resolved manner. Alternatively, the light can be received with reception areas of a two-dimensional reception matrix. In this way, the at least one monitoring area can be recorded in two dimensions with spatial resolution. With the help of a one-dimensional or two-dimensional reception matrix, directions of detected objects relative to the Flash LiDAR system can be determined.

Alternatively or additionally, at least one of the phase sizes can advantageously be assigned to a corresponding one-dimensional phase size matrix or a two-dimensional phase size matrix. In this way, the phase variables can be more easily assigned to the corresponding reception areas.

Advantageously, at least one phase size matrix can be a group of tuples, whereby each tuple can contain at least one value, in particular at least one coordinate size, which identifies a respective reception area, and the phase size assigned to the reception area.

Alternatively or additionally, at least one correction function can advantageously be implemented with a one-dimensional or a two-dimensional correction size matrix. In this way, the correction function can be implemented according to the dimensions of the receiving matrix.

Furthermore, the task in the flash LiDAR system is solved in that the flash LiDAR system has means for carrying out the method according to the invention.

According to the invention, the Flash LiDAR system has means with which
the light coming from the at least one monitoring area can be converted into respective reception variables in the form of phase variables during at least two recording time ranges,
wherein at least two of the recording time ranges can be started out of phase with respect to a modulation period of the at least one transmitted light signal,
Corrected final phase variables can be determined for at least some of the phase variables using the at least one correction function.

In this way, even in scenes with highly reflective objects, in particular retroreflective objects, such as street signs, road markings or the like, distances from weakly reflective objects, such as pedestrians, other vehicles, cyclists, obstacles or the like, can also be determined more precisely.

In addition, the task in the vehicle is solved in that the vehicle has at least one flash LiDAR system according to the invention.

With a Flash LiDAR system, at least one monitoring area in the surroundings of the vehicle and/or in the interior of the vehicle can be monitored for objects. The Flash LiDAR system can be used to determine distances to detected objects.

Advantageously, the vehicle can have at least one driving assistance system. With the driver assistance system, the vehicle can be operated autonomously or at least partially autonomously.

Advantageously, at least one Flash LiDAR system can be functionally connected to at least one driver assistance system of the vehicle. In this way, information about the at least one monitoring area, in particular distance variables and/or directional variables, which can be determined with the at least one Flash LiDAR system, can be transmitted to the at least one driver assistance system. With the at least one driver assistance system, the vehicle can be operated autonomously or at least partially autonomously, taking into account the information about the at least one monitoring area.

Furthermore, the features and advantages shown in connection with the method according to the invention, the flash LiDAR system according to the invention and the vehicle according to the invention and their respective advantageous embodiments apply accordingly to one another and vice versa. The individual features and advantages can of course be combined with one another, which can result in further advantageous effects that go beyond the sum of the individual effects.

Brief description of the drawings

• 1 ein Fahrzeug in der Vorderansicht mit einem Fahrerassistenzsystem und einem Flash-LiDAR-System zur Bestimmung von Entfernungen von Objekten zu dem Fahrzeug;
• 2 eine Funktionsdarstellung eines Teils des Fahrzeugs mit dem Fahrerassistenzsystem und dem Flash-LiDAR-System aus der 1;
• 3 eine Vorderansicht einer Empfangsmatrix einer Empfangseinrichtung des Flash-LiDAR-Systems aus den 1 und 2, wobei die Empfangsmatrix eine Vielzahl von Empfangsbereichen aufweist;
• 4 ein Signalstärke-Zeit-Diagramm mit vier beispielhaften Phasenbildern DCS₀ bis DCS₃, welche mit jeweiligen Phasenverschiebungen von 90° aus einem Empfangslichtsignal eines reflektierten Sendelichtsignals des Flash-LiDAR-Systems aus den 1 und 2 ermittelt werden und deren Amplituden als Phasengrößen zur Ermittlung von Entfernungen von Objekten dienen;
• 5 ein Entfernungsbild einer Szene mit mehreren Objekten in Graustufendarstellung, wobei eines der Objekte ein retroreflektives Straßenschild ist, welches hier abgedeckt ist;
• 6 ein Entfernungsbild der Szene aus der 5, wobei hier das retroreflektive Straßenschild nicht abgedeckt ist und zu Streulichteffekten führt;
• 7 ein Entfernungsbild der Szene aus der 5, wobei hier die Streulichteffekte korrigiert sind;
• 8 eine Graustufen-Matrix-Darstellung eines Ablaufs zur Ermittlung von Korrektur-Phasengrößen mit einer Faltung von Kurz-Phasengrößen mit einer Korrekturfunktion;
• 9 eine Graustufen-Matrix-Darstellung eines Ablaufs zur Ermittlung von End-Phasengrößen als Differenz aus Lang-Phasengrößen und den Korrektur-Phasengrößen aus 8;
• 10 das Ablaufschema zum Ablauf der Ermittlung der Korrektur-Phasengrößen aus der 8 für die Kurz-Phasengrößen der Phasenbilder DCS₀ und DCS₁ für die Empfangsbereiche einer Zeile der Empfangsmatrix;
• 11 das Ablaufschema zum Ablauf der Ermittlung der End-Phasengrößen aus der 9 für die Lang-Phasengrößen der Phasenbilder DCS₀ und DCS₁ für die Empfangsbereiche einer Zeile der Empfangsmatrix.

Further advantages, features and details of the invention result from the following description, in which exemplary embodiments of the invention are explained in more detail with reference to the drawing. The person skilled in the art will expediently also consider the features disclosed in combination in the drawing, the description and the claims individually and combine them into further sensible combinations. Show it schematically

• 1 a front view of a vehicle with a driver assistance system and a flash LiDAR system for determining distances from objects to the vehicle;
• 2 a functional representation of part of the vehicle with the driver assistance system and the flash LiDAR system from the 1 ;
• 3 a front view of a reception matrix of a reception device of the Flash LiDAR system from the 1 and 2 , wherein the reception matrix has a plurality of reception areas;
• 4 a signal strength-time diagram with four exemplary phase images DCS ₀ to DCS ₃ , which with respective phase shifts of 90 ° from a received light signal of a reflected transmitted light signal of the Flash LiDAR system 1 and 2 are determined and whose amplitudes serve as phase variables for determining distances from objects;
• 5 a grayscale range image of a scene with multiple objects, one of the objects being a retroreflective street sign, which is covered here;
• 6 a distance image of the scene from the 5 , whereby the retroreflective street sign is not covered here and leads to scattered light effects;
• 7 a distance image of the scene from the 5 , where the scattered light effects are corrected;
• 8th a grayscale matrix representation of a process for determining correction phase variables with a convolution of short phase variables with a correction function;
• 9 a grayscale matrix representation of a process for determining final phase sizes as the difference between long phase sizes and the correction phase sizes 8th ;
• 10 the flow chart for the process of determining the correction phase variables from the 8th for the short phase sizes of the phase images DCS ₀ and DCS ₁ for the reception areas of a row of the reception matrix;
• 11 the flow chart for the process of determining the final phase variables from the 9 for the long phase sizes of the phase images DCS ₀ and DCS ₁ for the reception areas of a row of the reception matrix.

In the figures, the same components are given the same reference numbers.

Embodiment(s) of the invention

In the 1 a vehicle 10 is shown as an example in the form of a passenger car in the front view. 2 shows a functional representation of a part of the vehicle 10.

The vehicle 10 has a LiDAR system 12, which is designed as a flash LiDAR system tet is. The LiDAR system 12 is, for example, arranged in the front bumper of the vehicle 10. With the LiDAR system 12, a monitoring area 14 in the direction of travel 16 in front of the vehicle 10 can be monitored for objects 18. The LiDAR system 12 can also be arranged elsewhere on the vehicle 10 and aligned differently. With the LiDAR system 12, object information, for example distances D, directions and speeds of objects 18 relative to the vehicle 10 or to the LiDAR system 12, can be determined.

The objects 18 can be stationary or moving objects, for example other vehicles, people, animals, plants, obstacles, bumps in the road, for example potholes or stones, road boundaries, traffic signs, open spaces, for example parking spaces, precipitation or the like.

In the following, for the sake of easier explanation, each object 18 is equated with a single object target. An object target is a location on an object 18 at which transmitted light signals 20, which are sent from the LiDAR system 12 into the monitoring area 14, can be reflected. Each object 18 typically has several such object targets.

The LiDAR system 12 is connected to a driver assistance system 22. With the driver assistance system 22, the vehicle 10 can be operated autonomously or semi-autonomously.

The LiDAR system 12 includes, for example, a transmitting device 24, a receiving device 26 and a control and evaluation device 28.

The control and evaluation device 28 is, for example, an electronic control and evaluation device, for example in the form of one or more processors. The functions of the control and evaluation device 28 can be implemented centrally or decentrally using software and/or hardware. Parts of the functions of the control and evaluation device 28 can also be integrated in the transmitting device 24 and/or the receiving device 26.

Electrical transmission signals can be generated with the control and evaluation device 28. The transmitting device 24 can be controlled with the electrical transmission signals so that it sends amplitude-modulated transmission light signals 20 in the form of light pulses into the monitoring area 14.

The transmitting device 24 has, for example, a laser as a light source. The laser can be used to generate transmitted light signals 20 in the form of laser pulses. In addition, the transmitting device 24 has an optical device with which the transmitted light signals 20 are expanded so that they can spread into the entire monitoring area 14 - similar to a flash. In this way, the entire monitoring area 14 can be illuminated with each transmitted light signal 20.

Transmitted light signals 20 reflected on an object 18 in the direction of the receiving device 26, which are referred to as received light signals 30 for better distinction, can be received with the receiving device 26.

The receiving device 26 can optionally have a received light signal deflection device, with which the received light signals 30 to one in the 3 shown reception matrix 32 of the receiving device 26 are directed.

The reception matrix 32 is realized, for example, with an area sensor in the form of a CCD sensor with a large number of reception areas 34. Each reception area 34 can be implemented, for example, by a group of pixels. The reception matrix 32 has, for example, 320 x 240 reception areas 34. In the 3 For the sake of clarity, only 7 x 7 of the reception areas 34 are indicated as an example.

Instead of a CCD sensor, a different type of surface sensor, for example an active pixel sensor or the like, can also be used.

With the reception areas 34 of the reception matrix 32, the portions of received light signals 30 that hit them can be divided into corresponding ones 4 designated phase variables A ₀ , A ₁ , A ₂ and A ₃ , which for the sake of simplicity can also be referred to below as phase variables Ai, are converted. By way of example, the phase variables A ₀ , A ₁ , A ₂ and A ₃ are the amplitudes of phase images (differential correlation samples) DCS ₀ , DCS ₁ , DCS ₂ and DCS ₃ , which can also be referred to below as phase images DCS _i for the sake of simplicity .

Each reception area 34 can be activated via suitable closure means for the detection of received light signals 30 for defined recording time ranges TB ₀ , TB ₁ , TB ₂ and TB ₃ , which, for the sake of simplicity, can also be referred to below as recording time ranges TB _i .

By way of example, the reception areas 34 can each be activated in four recording time ranges TB0, TB ₁ , TB ₂ and TB ₃ for detecting received signals 30.

Each recording time range TBi is defined by a starting time and an integration period t _INT . The integration durations t _INT of the recording time ranges TBi are significantly shorter than a period duration t _MOD of the modulation period MP of the transmitted light signal 20. The time intervals between two defined recording time ranges TBi are smaller than the period duration t _MOD of the modulation period MP.

During a recording time range TBi, portions of received light signals 30 hitting the respective reception area 34 can be converted into corresponding electrical reception signals. The respective phase images DCS _i and their amplitudes Ai can be determined from the received signals, which characterize respective signal sections of the received light signal 30 in the respective recording time ranges TBi. The phase images DCS _i and their amplitudes, i.e. the phase variables Ai, characterize the respective amount of light that is collected during the recording time ranges TBi with the correspondingly activated reception area 34 of the reception matrix 32.

For example, each reception area 34 can be activated and read out individually. The closure means can be implemented using software and/or hardware. Such closure means can be implemented as so-called “shutters”. For example, the reception areas 34 can be controlled with corresponding periodic recording control signals in the form of shutter signals. The shutter signals can be triggered via the electrical transmission signals with which the laser of the transmission device 24 is controlled, or together with them. The phase variables Ai are thus related to the transmitted light signals 20. For example, the electrical transmission signals can be triggered at a starting time ST. The reception areas 34 are triggered with the corresponding time-offset shutter signals.

The receiving device 26 can optionally have optical elements with which received light signals 30 coming from the monitoring area 14 are imaged onto respective receiving areas 34 when viewed in the direction of the receiving areas 34, depending on the direction from which they come. The direction of an object 18 on which the transmitted light signal 20 is reflected can thus be determined from the position of the illuminated reception areas 34 within the reception matrix 32.

In the 4 a modulation period MP of a reception envelope 36 of the phase images DCS ₀ , DCS ₁ , DCS ₂ and DCS ₃ is shown in a common signal strength-time diagram. The signal strength axis is labeled “S” and the time axis is labeled “t”.

The reception envelope 36 is offset in time from the starting time ST. The time offset in the form of a phase difference Φ characterizes the flight time between the emission of the transmitted light signal 20 and the reception of the corresponding received light signal 30.

The distance D of the reflecting object 18 can be determined from the phase difference Φ. The phase shift Φ can therefore be used as a distance quantity for the distance D. The flight time is known to be proportional to the distance D of the object 18 relative to the LiDAR system 12.

The reception envelope 36 can be approximated by, for example, four support points in the form of the four phase images DCS ₀ , DCS ₁ , DCS ₂ and DCS ₃ . Alternatively, the reception envelope 36 can also be approximated by more or fewer support points in the form of phase images.

The recording time ranges TB ₀ , TB ₁ , TB ₂ and TB ₃ are each started based on a reference event, for example in the form of a trigger signal for the electrical transmission signal at the starting time ST. The reference event can, for example, be a zero crossing of the electrical signal with which the laser is controlled to generate the transmitted light signal 20. By way of example, the modulation period MP of the transmitted light signal 20 extends over 360°. By way of example, the recording time ranges TB ₀ , TB ₁ , TB ₂ and TB ₃ each start at a distance of 90° from one another in relation to the modulation period MP. The recording time ranges TB ₀ , TB ₁ , TB ₂ and TB ₃ therefore start with phase shifts of 0°, 90°, 180° and 270°, respectively, compared to the starting time ST.

A distance D of a detected object 18 can be determined, for example, from the amplitudes, i.e. the phase variables A ₀ , A ₁ , A ₂ and A ₃ , of the phase images DCS ₀ , DCS ₁ , DCS ₂ and DCS ₃ for a respective reception area 34, not further here be determined computationally in the manner of interest.

In the 5 a distance image of a scene is shown in grayscale, which was captured with the LiDAR system 12. Included The 320 columns of the reception matrix 32 are indicated in the horizontal dimension of the distance image. Each column characterizes the horizontal direction from which the received light signals 30 received with the reception areas 34 of the column come, i.e. in which the corresponding object 18 is located. The 240 lines of the reception matrix 32 are indicated in the vertical dimension of the distance image. Each line characterizes the vertical direction from which the received light signals 30 received with the reception areas 34 of the line come, i.e. in which the corresponding object 18 is located. The direction of the object 18 from which the corresponding received light signals 30 come can be characterized via the position of a reception area 34 in the reception matrix 32 that is hit with received light signals 30. The distances D of the detected objects 18 are defined in gray levels according to a gray level scale shown next to the distance image.

Several objects 18, for example a person, a street sign and a board, are shown in the distance image. The actually highly reflective, for example retroreflective street sign, which is referred to below as object 18 _R for the sake of better distinction, is in the in 5 scene shown with a normal reflective cover. In the 6 is the same scene as in the 5 shown. Here, however, the cover of the highly reflective object 18 _R , namely the street sign, is removed.

The use of the LiDAR system 12 with long integration times t _INT , which are required to also detect weakly reflecting objects 18, such as in the 5 and 6 Detecting the person and the board in the monitoring area 14 can not only lead to an oversaturation of reception areas 34, which are hit by received light signals 30 reflected on highly reflective objects _18R , but also to a falsification of the signals of the reception areas 34 nearby the reception areas 34 hit by the received light signals 30 from the highly reflective objects 18 _R. This distortion is referred to as blooming or glare. Blooming results in an error in determining the distance D from objects 18 near highly reflective objects 18 _R. The distance D of the normally or weakly reflecting objects 18 is, as in the 6 shown, falsified in the direction of the distance D of the highly reflective objects 18 _R. In the 6 an annular blooming area 38 can be seen around the retroreflective object 18 _R. The blooming area 38 extends here over the reception areas 34, which should actually capture the received light signals 30 from the neighboring normally reflecting objects 18, namely the board and part of the person. The true distances D of the neighboring normally reflecting objects 18 cannot be determined in the blooming area 38.

The scattered light effects caused by highly reflective objects 18 _R can be corrected as described below. In this way, the correct distances D can also be determined for the weakly or normally reflecting objects 18 in the vicinity of strongly reflecting objects 18 _R.

To correct the scattered light effects, both a short measurement and a long measurement are carried out of the same scene in the monitoring area 14 with the reception areas 34.

The short measurement is carried out with a short integration period t _INT;k , during which the light, including received light signals 30, are received from the monitoring area 14 with the reception areas 34 in the four recording time areas TB ₀ , TB ₁ , TB ₂ and TB ₃ . The length of the short integration period t _INT,K is chosen so that even the strong received light signals 30 from the retroreflective object 18 _R do not lead to overloading in the reception matrix 32. For example, the short integration period t _INT,K is approximately 1 µs.

With each of the reception areas 34, the respectively received light is converted into the four corresponding short phase variables A _0,k , A _1,k , A _2,k and A _3,k assigned to the respective reception area 34, which are described below for the sake of simplicity can also be referred to as short phase variables A _i,k .

The short phase variables A _0,k , A _1,k , A _2,k and A _3,k become one of four in the corresponding recording time ranges TB ₀ , TB ₁ , TB ₂ and TB ₃ 8th shown short phase size matrices 40 ₀ , 40 ₁ , 40 ₂ and 40 ₃ respectively, which for the sake of simplicity can also be referred to below as short phase size matrices 40i.

In the 8th From left to right, a flowchart for folding the short phase variables A _i,k with a correction function 42 is shown in grayscale. 10 shows the corresponding flow chart from top to bottom as an example for the row 175 of the two short phase size matrices 40 ₀ and 40 ₁ in an intensity profile representation.

In the 8th on the left are the four short phase size matrices 40 ₀ , 40 ₁ , 40 ₂ , 40 ₃ for those in the 5 until 7 The scene shown is shown after a short measurement.

For the sake of clarity, in each of the short phase size matrices 40 ₀ , 40 ₁ , 40 ₂ , 40 ₃ there is only one of the short phase sizes A _0,k , A _1,k , A _2,k and A _3,k , which with the reception area 34, for example the reception area 34 in row 175, column 170, which is hit with a received light signal 30 coming from the highly reflective object 18 _R , provided with a reference number. Overall, each of the short phase size matrices 40 ₀ , 40 ₁ , 40 ₂ , 40 ₃ contains as many short phase sizes A _0,k , A _1,k , A _2,k and A _3,k as the reception matrix 32 contains reception areas 34 , namely 320 x 240.

For the sake of clarity, the short phase size matrices are 40 ₀ , 40 ₁ , 40 ₂ , 40 ₃ in the 8th left, analogous to the representation of the reception matrix 32 from the 3 , the y-axis and the z-axis are shown, although this does not refer to a spatial orientation in the short phase size matrices 40 ₀ , 40 ₁ , 40 ₂ , 40 ₃ . The respective short phase variables A _0,k , A _1,k , A _2,k and A _3,k are visualized, for example, as intensities INT using gray levels. The corresponding grayscale scale is shown to the right of the short phase size matrices 40 ₀ , 40 ₁ , 40 ₂ , 40 ₃ .

When presented in the 8th On the left it is merely an exemplary visualization of the short phase size matrices 40i. The short phase size matrices 40i are actually each a group of tuples, the number of which corresponds to the number of reception areas 34 of the reception matrix 32, namely 320 x 240. Each tuple contains at least one assignment variable, for example coordinates, which enables the assignment to the corresponding reception area 34, and the short phase variable Ai _{, k} assigned to the corresponding reception area 34.

In the 10 An example of an intensity profile of row 175 of the short phase size matrix 40 ₀ is shown at the top left. 10 Top right shows an intensity profile of row 175 of the short phase size matrix 40 ₁ .

For each of the short phase quantities A _0,k , A _1,k , A _2,k and A _3,k , as in the 8th and 10 shown, by means of a mathematical convolution with a correction function 42, a respective correction phase variable A _0,c , A _1,c , A _2,c and A _3,c is generated, which for the sake of simplicity are also referred to below as correction phase variables A _{i, c} can be referred to.

The correction function 42 is in the 8th in the middle in a two-dimensional grayscale representation as a correction size matrix and in the 10 shown in the middle in a three-dimensional grid representation. The correction function 42 can be implemented with a kernel. The correction function 42 can be implemented as a group of tuples with column values, row values and intensity values.

The correction phase sizes A _0,c , A _1,c , A _2,c and A _3,c become one of four correction phase size matrices 44 ₀ , 44 ₁ according to their respective recording time ranges TB ₀ , TB ₁ , TB ₂ and TB ₃ , 44 ₂ and 44 ₃ respectively, which for the sake of simplicity can also be referred to below as correction phase size matrices 44i. In this way, the correction phase variables A _0,c , A _1,c , A _2,c and A _3,c are also assigned to the corresponding reception areas 34 and the corresponding recording time areas TB ₀ , TB ₁ , TB ₂ and TB ₃ , which correspond to the short phase sizes A _0,k , A _1,k , A _2,k and A _3,k used for folding.

In the 8th on the right are the four correction phase size matrices 44 ₀ , 44 ₁ , 44 ₂ , 44 ₃ for the short phase size matrices 40 ₀ , 40 ₁ , 40 ₂ , 40 ₃ from the 8th shown on the left. For the sake of clarity, in each of the correction phase size matrices 44 ₀ , 44 ₁ , 44 ₂ , 44 ₃ only the correction phase size A _0,c , A _1,c , A _2,c and A _3,c is given a reference number provided, which emerge from the short phase variables A _0,k , A ₁ ,k _, A ₂ ,k and A _3,k designated in the short phase size matrices 40 ₀ , 40 1, 40 _2, 40 ₃ . Overall, each of the correction phase size matrices 44 ₀ , 44 ₁ , 44 ₂ , 44 ₃ contains as many correction phase sizes A _0,c , A _1,c , A _2,c and A _3,c as the short phase size matrices 40 ₀ , 40 ₁ , 40 ₂ , 40 ₃ short phase sizes A _0,k , A _1,k , A _2,k and A _3,k , namely 320 x 240.

For the sake of clarity, the correction phase size matrices 44i are in the 8th right, analogous to the representation of the reception matrix 32 in the 3 , the y-axis and the z-axis are shown, although this does not refer to a spatial orientation in the case of the correction phase size matrices 44i. The respective correction phase variables A _0,c , A _1,c , A _2,c and A _3,c are visualized, for example, as intensities INT in gray levels. The corresponding grayscale scale is shown to the right of the correction phase size matrices 44i.

When presented in the 8th on the right it is simply a visualization of the correction phase size matrices 44i. The correction phase size matrices 44i are actually a group of tuples, the number of which corresponds to the number of reception areas 34 of the reception matrix 32, namely 320 x 240. Each tuple contains at least one assignment variable, for example coordinates, which enables the assignment to the corresponding reception area 34, and the correction phase size A _i,c assigned to the corresponding reception area 34.

In the 10 An example of an intensity profile through row 175 of the correction phase size matrix 44 ₀ is shown at the bottom left. 10 The bottom right shows an intensity profile through row 175 of the correction phase size matrix 44 ₁ .

The long measurement is carried out with a long integration period t _INT,L , which is longer than the short integration period t _INT,k . In the 4 For example, the phase image DCS ₁ determined with the long integration period t _INT,L is indicated by dashed lines, with the scales of the short integration period t _INT,K and the long integration period t _INT,L being exaggerated there. The length of the long integration period t _INT,L is chosen so that the received light signals 30 from the normally or weakly reflecting objects 18 also lead to signals on the side of the correspondingly illuminated reception areas 34, which can be distinguished from noise. For example, the long integration time t _INT,L is approximately 1000 µs.

With each of the reception areas 34, the respectively received light is converted into the four corresponding long-phase variables A _0,l , A _1,l , A _2,l and A _3,l assigned to the respective reception area 34, which are described below for the sake of simplicity can also be referred to as long phase variables A _i,l .

The long-phase sizes A _0,I , A _1,I , A _2,I and A _3,I become one of four long-phase size matrices 46 ₀ , 46 ₁ according to their respective recording time ranges TB ₀ , TB ₁ , TB ₂ and TB ₃ , 46 ₂ and 46 ₃ respectively, which for the sake of simplicity can also be referred to below as long phase size matrices 46i.

In the 9 From left to right, a flow chart for forming the difference between the long phase variables A _i,l and the short phase variables A _i,k is shown in grayscale representation. 11 shows the corresponding flow chart from top to bottom as an example for the row 175 of the two long-phase size matrices 46 ₀ and 46 ₁ in an intensity profile representation.

In the 9 on the left are the four long phase size matrices 46 ₀ , 46 ₁ , 46 ₂ , 46 ₃ for those in the 5 until 7 The scene shown is shown after a long measurement.

In each of the long phase size matrices 46 ₀ , 46 ₁ , 46 ₂ , 46 ₃ , for the sake of clarity, is analogous to the short phase size matrices 40 ₀ , 40 ₁ , 40 ₂ , 40 ₃ from the 8th On the left, only the long-phase variables A _0,l , A _1,I , A _2,I and A _3,I are provided with a reference number, which is determined with the reception area 34, for example the reception area 34 in row 175, column 170 , which is hit with a received light signal 30 coming from the highly reflective object 18 _R. Overall, each of the long-phase size matrices 46 ₀ , 46 ₁ , 46 ₂ , 46 ₃ contains as many long-phase sizes A _0,I , A _1,I , A _2,I and A _3,I as the reception matrix 32 reception areas 34 and the short phase size matrices 40 ₀ , 40 ₁ , 40 ₂ , 40 ₃ contains short phase sizes A _0,k , A _1,k , A _2,k and A _3,k , namely 320 × 240.

For the sake of clarity, there are in the 9 left, analogous to the representation of the reception matrix 32 from the 3 , the y-axis and the z-axis are shown, although this does not refer to a spatial orientation in the long phase size matrices 46 ₀ , 46 ₁ , 46 ₂ , 46 ₃ . The respective long-phase variables A _0,l , A _1,l , A _2,l and A _3,l are visualized, for example, as intensities INT using gray levels. The corresponding grayscale scale is shown to the right of the long-phase size matrices 46 ₀ , 46 ₁ , 46 ₂ , 46 ₃ .

When presented in the 9 On the left it is merely an exemplary visualization of the long phase size matrices 46i. The long phase size matrices 46i, like the short phase size matrices 40i, are actually a group of tuples, the number of which corresponds to the number of reception areas 34 of the reception matrix 32, namely 320 x 240. Each tuple contains at least one assignment variable, for example coordinates, which enables the assignment to the corresponding reception area 34, and the long-phase variable A _i,l assigned to the corresponding reception area 34.

In the 11 An example of an intensity profile of row 175 of the long-phase size matrix 46 ₀ is shown at the top left. 11 Top right shows an intensity profile of row 175 of the long phase size matrix 46 ₁ .

For each of the long-phase quantities A _0,I , A _1,I , A _2,I and A _3,I , as in the 9 and 11 shown, one final phase size A _0,e , A _1,e , A _2,e and A _3,e as the difference from the long phase size A _0,I , A _1,I , A _2,I and A ₃ respectively _,I and the correction phase size A _0,c , A _1,c , A _2,c and A _3,c, respectively, which correspond to the reception area 34 and the recording time range TB ₀ , TB ₁ , TB ₂ and TB ₃ of the long phase size A _0,I , A _1,I , A _2,I or A _3,I corresponds. The final phase sizes A _0,e , A _1,e , A _2,e and A _3,e can be found below For the sake of simplicity, they can also be referred to as final phase variables A _i,e .

The final phase sizes A _0,e , A _1,e , A _2,e , A _3,e become one of four final phase size matrices 48 ₀ , 48 ₁ according to their respective recording time ranges TB ₀ , TB ₁ , TB ₂ and TB ₃ , 48 ₂ and 48 ₃ respectively, which for the sake of simplicity can also be referred to below as final phase size matrices 48i. In this way, the final phase variables A _0,e , A _1,e , A _2,e , A _3,e are also assigned to the corresponding reception areas 34 and the corresponding recording time areas TB ₀ , TB ₁ , TB ₂ and TB ₃ , which correspond to the short phase sizes A _0,k , A _1,k , A _2,k and A _3,k used for folding.

In the 9 on the right are the four final phase size matrices 48 ₀ , 48 ₁ , 48 ₂ , 48 ₃ for the long phase size matrices 46 ₀ , 46 ₁ , 46 ₂ , 46 ₃ from the 9 shown on the left. In each of the final phase size matrices 48 ₀ , 48 ₁ , 48 ₂ , 48 ₃ , for the sake of clarity, only the final phase size A _0,e , A _1,e , A _2,e , A _3,e is provided with a reference number , which emerge from the long phase sizes A _0,I , A ₁ ,I _{, A 2} ,I and A _{3 ,I} designated in the long phase size matrices 46 ₀ , 46 ₁ , 46 _{2 ,} 46 3 . In total, each of the final phase size matrices 48 ₀ , 48 ₁ , 48 ₂ , 48 ₃ contains as many final phase sizes A _0,e , A _1,e , A _2,e , A _3,e as the long phase size matrices 46 ₀ , 46 ₁ , 46 ₂ , 46 ₃ long phase sizes A _0,I , A _1,I , A _2,I and A _3,I , namely 320 × 240.

For the sake of clarity, the final phase size matrices 48i are in the 9 right, analogous to the representation of the reception matrix 32 from the 3 , the y-axis and the z-axis are shown, although this does not refer to a spatial orientation in the final phase size matrices 48 ₀ , 48 ₁ , 48 ₂ , 48 ₃ . The respective final phase sizes A _0,e , A _1,e , A _2,e , A _3,e are visualized, for example, as intensities INT in grayscale. The corresponding grayscale scale is shown to the right of the final phase size matrices 48 ₀ , 48 ₁ , 48 ₂ , 48 ₃ .

When presented in the 9 on the right it is just a visualization of the final phase size matrices 48i. The final phase size matrices 48i, like the short phase size matrices 40i, the long phase size matrices 46i and the correction phase size matrices 44i, are actually each a group of tuples, the number of which corresponds to the number of reception areas 34 of the reception matrix 32, namely 320 x 240 . Each tuple contains at least one assignment variable, for example coordinates, which enables the assignment to the corresponding reception area 34, and the final phase size A _i,e assigned to the corresponding reception area 34.

In the 11 An example of an intensity profile through row 175 of the final phase size matrix 44 ₀ is shown at the bottom left. 11 bottom right shows an intensity profile through row 175 of the final phase size matrix 44 ₁ .

The distances D of the objects 18 and 18 _R detected with the reception areas 34 are determined mathematically from the final phase variables A _0,e , A _1,e , A _2,e and A _3,e for each reception area 34. 7 shows the distance image of the scene from the 6 after correcting the scattered light effects described above. In 7 it can be seen that the blooming area 38 compared to the representation in the 6 is reduced. The distances D for the weakly and normally reflecting objects 18, namely for the person and for the board, are after the correction, as in the 7 shown, specified in more detail.

QUOTES INCLUDED IN THE DESCRIPTION

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Cited patent literature

• US 2020/0072946 A1 [0004]

Claims (10)

Method for operating a flash LiDAR system (12) for a vehicle (10) according to an indirect time-of-flight method, in which at least one amplitude-modulated transmitted light signal (20) with at least one transmitting device (24) of the flash LiDAR system (12) is sent into at least one monitoring area (14), from which at least one monitoring area (14) coming light (30) with at least part of the reception areas (34) of a reception matrix (32) of a reception device (26) of the Flash LiDAR System (12) is received and converted into reception variables (A _0,k , A _1,k , A _2,k , A _3,k , A _0,l A _1,l , A _2,l , A _3,l ). , where the reception variables (A _0,k , A _1,k , A _2,k , A _3,k , A _0,l , A _1,l , A _2,l , A _3,l ) correspond to the reception areas (34) can each be assigned, characterize a quantity of the light (30) received with the corresponding reception area (34) and can be processed with a processor device (28) of the flash LiDAR system (12), and any scattered light effects on at least some of the reception areas ( 34) can be corrected with at least one correction function (42), characterized in that the light (30) coming from the at least one monitoring area (14) communicates with the reception areas (34) during at least two recording time areas (TB ₀ , TB ₁ , TB ₂ , TB ₃ ) into respective reception variables in the form of phase variables (A _0,k , A _1,k , A _2,k , A _3,k , A _0,l , A _1,l , A _2,l , _{A 3,l} ) is converted, with at least two of the recording time ranges (TB ₀ , TB ₁ , TB ₂ , TB ₃ ) being started out of phase with respect to a modulation period (MP) of the at least one transmitted light signal (20), for at least a part of the phase variables (A _{0, k} , A _1,k , A _2,k , A _3,k , A _0,l , A _1,l , A _2,l , A _3,l ) corrected final phase variables using the at least one correction function (42). (A _0,e , A _1,e , A _2,e , A _3,e ) can be determined. Procedure according to Claim 1 , characterized in that at least one short measurement and at least one long measurement are carried out of the same scene in the at least one monitoring area (14) with at least part of the reception areas (34), the at least one short measurement having a short integration period (t _{INT; k} ) is carried out, during which the light (30) coming from the at least one monitoring area (14), in particular at least one received light signal (30) originating from a reflected transmitted light signal (20), communicates with the reception areas (34) in at least two different recording time ranges ( TB ₀ , TB ₁ , TB ₂ , TB ₃ ) is received and converted into corresponding short phase variables (A _0,k , A _1,k , A _2,k , A _3,k ), and wherein the at least one long measurement with a long integration period (t _INT;l ), which is greater than the short integration period (t _INT;k ), during which the light (30) coming to the at least one monitoring area (14), in particular at least one of A received light signal (30) originating from a reflected transmitted light signal (20), received in the at least two different recording time ranges (TB ₀ , TB ₁ , TB ₂ , TB ₃ ) and converted into corresponding long-phase sizes (A _0,l , A _1,l , A _2,l , A _3,l ) is converted for at least some of the short phase variables (A _{0,k ,} A _1,k , A _2,k , A _3,k ,) by means of at least one mathematical convolution with the at least a correction function (42) generates a respective correction phase variable (A _0,c , A _1,c , A _2,c , A _3,c ), which corresponds to the reception area (34) and the recording time range (TB ₀ , TB ₁ , TB ₂ , TB ₃ ), which correspond to the short phase size used for folding (A _0,k , A _1,k , A _2,k , A _3,k ,), and for at least part of the long phase Phase sizes (A _0,l , A _1,l , A _2,l , A _3,l ) each have a final phase size (A _0,e , A _1,e , A _2,e , A _3,e ) as a difference from the respective long phase size (A _0,l , A _1,l , A _2,l , A _3,l ) and the correction phase size (A _0,c , A _1,c , A _2,c , A _{3 ,c} ), which corresponds to the reception area (34) and the recording time range (TB ₀ , TB ₁ , TB ₂ , TB ₃ ) of the long-phase size (A _0,l , A _1,l , A _2,l , A _3,l ) corresponds, is formed. Procedure according to Claim 1 or 2 , characterized in that the at least two phase-shifted recording time ranges (TB ₀ , TB ₁ , TB ₂ , TB ₃ ) with a respective phase shift compared to a reference event (ST), in particular compared to a reference event of the at least one transmitted light signal (20), in particular compared to an intensity -Minimum of the at least one transmitted light signal and/or a zero crossing of an electrical transmitted signal, with which a light source of the transmitting device (24) is controlled for emitting the at least one transmitted light signal (20), are started and/or four recording time ranges (TB ₀ , TB ₁ , TB ₂ , TB ₃ ) with phase shifts of 0°, 90°, 180° and 270° compared to a reference event (ST), in particular compared to a reference event of the at least one transmitted light signal (20), in particular compared to an intensity minimum of the at least one transmitted light signal ( 20) and/or a zero crossing of an electrical transmission signal, with which a light source of the transmission device (24) is controlled for emitting the at least one transmission light signal (20). Method according to one of the preceding claims, characterized in that scattered light effects are corrected by transmitted light signals (20) which are reflected on highly reflective objects (18 _R ), in particular retroreflective objects, in the at least monitoring area (14). Procedure according to Claim 2 , characterized in that the short integration period is set so that only the most highly reflective objects (18 _R ), in particular retroreflective objects, are included in the scene in at least one of the recording time ranges (TB ₀ , TB ₁ , TB ₂ , TB ₃ ). a short phase variable (A _0,k , A _1,k , A _2,k , A _3,k ,) that can be distinguished from noise. Method according to one of the preceding claims, characterized in that the at least one correction function (42) is specified for a detection of retroreflective objects (18 _R ) that occur during operation of the flash LiDAR system (12), in particular the flash LiDAR -System (12) of the vehicle (10), usually in which at least one monitoring area (14) occurs. Method according to one of the preceding claims, characterized in that for at least one reception area (34) from at least a part of the final phase variables (A _0,e , A _1,e , A _2,e , A.) belonging to this reception area (34). _3,e ) a respective distance (D) of a detected object (18, 18 _R ) is determined, and/or for at least one reception area (34), which receives light signals (30) of an object (18, 18 _R ) is hit, from a position of the reception area (34) within the reception matrix (32), directional information characterizing the direction of the reflecting object (18, 18 _R ) relative to the flash LiDAR system (12) is determined. Method according to one of the preceding claims, characterized in that the light (30) coming from the at least one monitoring area (14), in particular at least one received light signal (30), with reception areas of a one-dimensional, in particular line-shaped, reception matrix, or with reception areas (34) a two-dimensional, in particular matrix-shaped, reception matrix (32) is received and/or at least one of the phase variables, in particular the at least one phase variable which can be assigned to the at least one reception area (34) and/or at least one short phase variable (A _0,k , A _{1, k} , A _2,k , A _3,k ,) and/or at least one long phase variable (A _0,l , A _1,l , A _2,l , A _3,l ) and/or at least one correction phase variable (A _0,k , A _1,k , A _2,k , A _3,k ) and/or at least one final phase size (A _0,e , A _1,e , A _2,e , A _3,e ) , a corresponding one-dimensional or two-dimensional phase size matrix, in particular a short phase size matrix (40 ₀ , 40 ₁ , 40 ₂ , 40 ₃ ) and/or a long phase size matrix (46 ₀ , 46 ₁ , 46 ₂ , 46 ₃ ) and/or one Correction phase size matrix (44 ₀ , 44 ₁ , 44 ₂ , 44 ₃ ) and/or a final phase size matrix (48 ₀ , 48 ₁ , 48 ₂ , 48 ₃ ) is assigned and/or the at least one correction function (42). a one-dimensional or a two-dimensional correction size matrix is realized. Flash LiDAR system (12) for a vehicle (10), which is designed to carry out an indirect time-of-flight method, with at least one transmitting device (24) for sending transmitted light signals (20) into at least one monitoring area (14) , with at least one receiving device (26), which has at least one receiving matrix (32), which has a plurality of receiving areas (34) for receiving light (30) coming from the at least one monitoring area (14) and for converting it into respective received variables (A _{0, k} , A _1,k , A _2,k , A _3,k , A _0,l , A _1,l , A _2,l , A _3,l ), and with at least one correction function (42) to correct any Scattered light effects on reception areas (34), characterized in that the flash LiDAR system (12) has means for carrying out the method according to one of the preceding claims. Vehicle (10) with at least one flash LiDAR system (12) which is designed to carry out an indirect time-of-flight method, characterized in that the vehicle has at least one flash LiDAR system (12). Claim 9 having.

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