DE102022122258A1 - Active optical sensor system with structured mirror - Google Patents

Abstract

An active optical sensor system (1) has a light source (10), a detector unit (12) and a mirror (4) which is rotatably mounted about an axis of rotation (6) and which is arranged in such a way that light generated by the light source (10), which hits a mirror surface (7) of the mirror (4), is emitted into an environment of the active optical sensor system (1). The detector unit (12) is designed and arranged to detect portions (3b) of the emitted light (3a) reflected in the environment. The mirror surface (7) has a surface structure according to which a slope of a surface contour of the mirror surface (7) changes along a direction (z) within a cross-sectional plane (16) that is parallel to the axis of rotation (6).

Description

The invention relates to an active optical sensor system having a light source, a detector unit and a mirror that can be rotated about an axis of rotation, the mirror being arranged in such a way that light generated by the light source, which strikes a mirror surface of the mirror, enters an environment of the active optical sensor system is emitted and the detector unit is set up and arranged to detect portions of the emitted light reflected in the environment. The invention further relates to a vehicle with such an active optical sensor system.

Active optical sensor systems, such as lidar systems, can be mounted on motor vehicles in order to implement a variety of functions of driver assistance systems or other electronic vehicle guidance systems. These functions include distance measurements, distance control algorithms, lane keeping assistants, object tracking functions and so on.

With active optical sensor systems, the obstruction or other cancellation of light and the associated reduction in range in a certain field of vision can be problematic. Obstructions can, for example, be caused by particles on the light source. A lack of lighting can be caused by loose contacts on the light source, short circuits or other optoelectronic errors. With comparatively large effects, it can happen that an optical detector of the active optical sensor system can no longer measure a signal.

In document EP 2 625 542 B1 A deflection mirror arrangement for a laser scanner is described. The deflection mirror arrangement has at least two mirror units that are arranged on a rotatable axis and a drive unit to drive the rotatable axis.

It is an object of the present invention to reduce the reduction in range due to the above-mentioned effects in an active optical sensor system.

This task is solved by the respective subject matter of the independent claims. Advantageous developments and preferred embodiments are the subject of the independent claims.

The invention is based on the idea of providing a surface structure on the mirror surface in order to achieve a blurring of the emission angles. As a result, the effect of possible defects or the like on the light source is spatially distributed further on the receiving side.

According to one aspect of the invention, an active optical sensor system is specified which has a light source, a detector unit and a mirror, in particular a deflection mirror, which can be rotated about an axis of rotation. The light source is set up, in particular controlled by a control unit of the active optical sensor system, to generate light, for example light pulses, and to send it in the direction of the mirror. The mirror is arranged, in particular with respect to the light source and possibly with respect to a light exit region of the active optical sensor system, for example a housing component of the active optical sensor system, so that light generated by the light source, which strikes a mirror surface of the mirror, into an environment, in particular external Environment, the active optical sensor system is redirected and emitted. The detector unit is set up and arranged in such a way that it can detect reflected components of the light emitted into the environment, the reflected components being deflected in the direction of the detector unit in particular by means of the mirror or another deflection unit of the active optical sensor system. The mirror surface has a surface structure according to which a slope of a surface contour of the mirror surface changes along a direction, which is also referred to below as a direction of change, within a cross-sectional plane that is parallel to the axis of rotation.

Here and below, the term “light” can be understood to include electromagnetic waves in the visible range, the infrared range and/or the ultraviolet range. Accordingly, the term “optical” can also be understood to refer to light according to this understanding.

Reflected components can be understood as meaning components of the light pulses reflected back by objects in the environment outside the active optical sensor system. This does not necessarily mean reflected light. Rather, the reflected components can also contain retroreflected and/or scattered light.

By definition, an active optical sensor system has a light source for emitting light or light pulses. The light source can in particular be designed as a laser light source, for example as an infrared laser light source. For example, the light source contain one or more laser diodes. Furthermore, an active optical sensor system, here the detector unit, by definition has at least one optical detector in order to detect reflected components of the emitted light. The active optical sensor system is set up to generate and process or output one or more detector signals based on the detected components of the light. For example, lidar systems represent active optical sensor systems.

A well-known design of lidar systems are so-called laser scanners, in which light pulses are generated and deflected using a deflection unit so that different deflection angles of the light pulses can be achieved. The deflection unit can, for example, contain a rotatable mirror, as in the active optical sensor system according to the invention. The rotatable mirror can be connected to a shaft which is rotatably mounted and defines an axis of rotation. Alternatively, the mirror can have a tiltable and/or pivotable surface and can be designed, for example, as a microelectromechanical system, MEMS. The emitted light pulses can be partially reflected in the environment and the reflected components can in turn hit the laser scanner, in particular the mirror, which can direct them onto the detector unit of the laser scanner. Each optical detector of the detector unit generates in particular an associated detector signal based on the components detected by the respective optical detector. Based on the spatial arrangement of the respective optical detector, together with the current position of the deflection unit, in particular the rotational position or the tilting and/or pivoting position of the mirror, the direction of incidence of the detected reflected components can be deduced. A computing unit can also, for example, carry out a light transit time measurement in order to determine a radial distance of the reflecting object. Alternatively or additionally, a method can be used to determine the distance, according to which a phase difference between emitted and detected light is evaluated. The active optical sensor system according to the invention can be designed, for example, as a laser scanner.

The mirror can be rotated around the axis of rotation by an actuator system. The actuator system can, for example, drive the shaft. In the case of a MEMS, for example, piezoelectric actuators can be used. Whether and how light generated by the light source hits the mirror surface depends on the current rotation position or the tilt and/or pivot position of the mirror. The control unit can, for example, control the light source in such a way that temporal synchronization with the mirror position is achieved.

The cross-sectional plane is parallel to the axis of rotation and intersects the mirror surface, with a line of intersection of the cross-sectional plane with the mirror surface corresponding to the surface contour. As a result, any number of other such cross-sectional planes can be defined or, in other words, the distance between the cross-sectional plane and the axis of rotation is not necessarily fixed. A changing slope of the surface contour is then given, for example, for each cross-sectional plane that cuts the mirror surface accordingly or in any case for cross-sectional planes in a certain distance range from the axis of rotation.

For example, the mirror can have a cuboid mirror body, the axis of rotation running through a first side surface and a second side surface of the mirror body opposite the first side surface and intersecting them perpendicularly. The mirror surface with the surface contour can then be arranged on a third side surface of the mirror body. The cross-sectional plane can then be, for example, parallel to a fourth side surface of the mirror body, the fourth side surface being perpendicular to the third side surface. Furthermore, the direction along which the slope of the surface contour changes is then parallel to the axis of rotation or the third side surface. This example serves only as an explanation; in particular, other designs of the mirror or the mirror body are also possible.

The slope of the surface contour corresponds to the direction of a tangent within the cross-sectional plane to the surface contour. The slope of the surface contour can be defined in a two-dimensional coordinate system spanned by an x-axis that is parallel to the direction of the changing slope and a y-axis perpendicular thereto. In the above example of the cuboid mirror body or another polygonal mirror, the x-axis would then, for example, be parallel to the axis of rotation and lie within the cross-sectional plane.

The fact that the gradient changes can be understood in such a way that the gradient takes on at least two different values along the direction of change. The gradient can change discretely, for example if the surface contour runs according to a triangular function, or continuously, for example if the surface contour runs wave-shaped or sinusoidal.

In the case of a laser scanner, the axis of rotation can, for example, be perpendicular to an emission plane, also referred to as a scanning plane, within which the light pulses are emitted into the environment. The direction of change of the gradient is then perpendicular to the scanning plane.

The changing gradient means that parallel light rays that hit different positions on the mirror surface along the direction of change are deflected in different directions. It follows that a given active area of the detector unit, in particular an optical detector, is effectively illuminated by a larger active area of the light source than would be the case with a flat mirror surface. A defect or a dark spot on the light source therefore has a lesser effect on this active area of the detector unit. The effect of the defect is, so to speak, blurred and distributed over a larger active area of the detector unit, so that a range reduction in a field of vision of the active optical sensor system corresponding to the given active area of the detector unit is avoided or reduced.

According to at least one embodiment of the active optical sensor system, the slope of a further surface contour of the mirror surface is constant within a further cross-sectional plane that is perpendicular to the axis of rotation.

In particular, the slope is perpendicular to the direction of change or constant. Accordingly, there is no blurring within the scanning plane, so that the resolution of the active optical sensor system is not reduced in this regard.

According to at least one embodiment, the light source has at least one laser diode, for example at least one infrared laser diode, which can in particular generate the light or the light pulses, and which is designed, for example, as an edge emitter.

The active optical sensor system is therefore designed, for example, as a lidar system, in particular as a laser scanner.

Edge emitters, in particular infrared edge emitters, have a relatively large active surface, so that certain areas on the emitting edge can be assigned to corresponding active areas of the optical detectors. The invention has a particularly advantageous effect, for example, in the case of defects or particles on the active surface of the edge emitter.

According to at least one embodiment, the detector unit has at least two optical detectors, i.e. two or more optical detectors which are arranged parallel to the axis of rotation, i.e. in particular along an arrangement direction parallel to the axis of rotation.

In particular, the at least two optical detectors are arranged parallel to the direction of change. This causes blurring due to the surface structure along the arrangement of the optical detectors.

The at least two optical detectors can be designed, for example, as photodiodes, in particular as avalanche photodiodes, APD, or as single photon avalanche diodes, SPAD (English: “single photon avalanche diode”).

According to at least one embodiment, the light source has two or more laser diodes which are arranged parallel to the axis of rotation, i.e. in particular along a further arrangement direction parallel to the axis of rotation.

In particular, the at least two laser diodes are arranged parallel to the direction of change or parallel to the arrangement of the at least two optical detectors.

In such embodiments, the invention is particularly advantageous since the blurring caused by the surface contour can not only compensate for the effect of unintentional defects or imperfections, but also the effect of design-related dark areas between the individual laser diodes.

The light source can, for example, have a laser diode stack, also referred to as a stack, which contains the at least two laser diodes. the at least two laser diodes are arranged along a stacking direction of the laser diode stack. In other words, the stacking direction is parallel to the axis of rotation.

According to at least one embodiment, the slope of the surface contour changes with respect to the axis of rotation in a range that lies within the interval [-3°, 3°], for example within the interval [-2°, 2°], in particular within the interval [ -1°, 1°].

The slope can be understood as the angle of the corresponding tangent with respect to the x-axis. Analogously, the slope can also be understood as the tangent of this angle. The angular intervals mentioned have proven themselves for various specific embodiments of the active optical sensor system, in particular with regard to the size of the active areas of the light source and the detector unit turned out to be suitable. In particular, sufficient blurring can be achieved in this way without reducing the performance of the active optical sensor system due to excessive deflection.

According to at least one embodiment, an absolute value of a minimum slope of the surface contour is equal to an absolute value of a maximum slope of the surface contour. In other words, the values of the minimum slope and the maximum slope are the same except for a sign.

The blurring is therefore carried out symmetrically, whereby manufacturing tolerances or other usual tolerances must be taken into account. The result of this is that a specific active area of the detector unit can be illuminated on average just as strongly as would be the case with a flat mirror surface.

According to at least one embodiment, the light source, in particular the at least two laser diodes, has an optically active region, the extent of which along parallel to the axis of rotation is greater than an extent of the arrangement of the at least two optical detectors parallel to the axis of rotation.

The extent of the optically active area of the light source ranges, for example, from a value x _L,min to a value x _L,max and the extent of the arrangement of the at least two optical detectors ranges from a value x _D,min to a value x _D,max Then x _L,min < x _D,min and/or x _D,max > x _D,min .

According to at least one embodiment, the slope of the surface contour changes periodically at least in sections along the direction of change.

This allows a defined deflection of the light hitting the mirror surface to be achieved.

According to at least one embodiment, the slope of the surface contour changes continuously along the direction of change at least in sections, for example in the form of a wave or a sine function.

According to at least one embodiment, the slope of the surface contour along the direction of change is at least partially constant and different from zero.

This allows, for example, a surface contour to be realized in the form of a triangular function. Since the slope along the direction of change assumes at least two different values, two or more sections with different constant and non-zero slopes can be provided, for example in the form of a triangular function with different directions of the hypotenuse.

According to at least one embodiment, the mirror has a mirror body, wherein the mirror surface with the surface structure is part of the mirror body or is formed by a structural element which is arranged and fastened on a flat surface of the mirror body.

In various embodiments, the mirror body is cuboid. Reference is made to the relevant explanations above.

According to a further aspect of the invention, a vehicle, in particular a motor vehicle, is specified which has an active optical sensor system according to the invention, in particular for detecting the surroundings of an external environment of the vehicle.

The invention has a particularly advantageous effect here, since the range is particularly important in the context of semi-automatic or autonomous driving.

A computing unit can be understood in particular to mean a data processing device that contains a processing circuit. The arithmetic unit can therefore in particular process data to carry out arithmetic operations. This may also include operations to perform indexed access to a data structure, for example a translation table (LUT). A computing unit can in particular also carry out control and/or evaluation functions.

The computing unit can in particular contain one or more computers, one or more microcontrollers and/or one or more integrated circuits, for example one or more application-specific integrated circuits, ASIC (English: “application-specific integrated circuit”), one or more field-programmable gate circuits. Arrays, FPGA, and/or one or more single-chip systems, SoC (English: “system on a chip”). The computing unit can also have one or more processors, for example one or more microprocessors, one or more central processing units, CPU, one or more graphics processors purities, GPU (English: “graphics processing unit”) and/or one or more signal processors, in particular one or more digital signal processors, DSP. The computing unit can also contain a physical or a virtual network of computers or other of the units mentioned.

Further features of the invention emerge from the claims, the figures and the description of the figures. The features and combinations of features mentioned above in the description as well as the features and combinations of features mentioned below in the description of the figures and/or shown in the figures can be included in the invention not only in the combination specified in each case, but also in other combinations. In particular, the invention may also include designs and combinations of features that do not have all the features of an originally formulated claim. The invention may also include embodiments and combinations of features that go beyond or deviate from the combinations of features set out in the references to the claims.

In various embodiments, the computing unit includes one or more hardware and/or software interfaces and/or one or more memory units.

A storage unit can be used as a volatile data memory, for example as a dynamic random access memory, DRAM or static random access memory, SRAM, or as a non-volatile Data memory, for example as a read-only memory, ROM (English: “read-only memory”), as a programmable read-only memory, PROM (English: “programmable read-only memory”), as an erasable read-only memory, EPROM (English: “erasable read-only memory”) ), as electrically erasable read-only memory, EEPROM (English: “electrically erasable read-only memory”), as flash memory or flash EEPROM, as ferroelectric random access memory, FRAM (English: “ferroelectric random access memory”), as magnetoresistive memory with random access, MRAM (English: “magnetoresistive random access memory”) or as a phase change memory with random access, PCRAM (English: “phase-change random access memory”).

In the context of the present disclosure, it is said that a component of the active optical sensor system according to the invention, in particular the computing unit of the active optical sensor system, is set up, trained, designed, or the like to carry out or realize a specific function, to achieve a specific effect or to serve a specific purpose, this can be understood to mean that the component, beyond the fundamental or theoretical usability or suitability of the component for that function, effect or purpose, through appropriate adaptation, programming, physical design and so on is specifically and actually capable of carrying out or realizing the function, achieving the effect or serving the purpose.

The invention is explained in more detail below using concrete exemplary embodiments and associated schematic drawings. In the figures, identical or functionally identical elements can be provided with the same reference numerals. The description of the same or functionally identical elements may not necessarily be repeated with reference to different figures.

• 1 eine schematische Darstellung einer beispielhaften Ausführungsform eines erfindungsgemäßen Fahrzeugs;
• 2 eine schematische Darstellung einer beispielhaften Ausführungsform eines erfindungsgemäßen aktiven optischen Sensorsystems;
• 3 eine schematische Querschnittsdarstellung eines Spiegels einer weiteren beispielhaften Ausführungsform eines erfindungsgemäßen aktiven optischen Sensorsystems;
• 4 eine schematische Darstellung einer Lichtquelle und einer Detektoreinheit einer weiteren beispielhaften Ausführungsform eines erfindungsgemäßen aktiven optischen Sensorsystems; und
• 5 eine schematische Darstellung einer Lichtquelle und einer Detektoreinheit einer weiteren beispielhaften Ausführungsform eines erfindungsgemäßen aktiven optischen Sensorsystems.

Show:

• 1 a schematic representation of an exemplary embodiment of a vehicle according to the invention;
• 2 a schematic representation of an exemplary embodiment of an active optical sensor system according to the invention;
• 3 a schematic cross-sectional representation of a mirror of a further exemplary embodiment of an active optical sensor system according to the invention;
• 4 a schematic representation of a light source and a detector unit of a further exemplary embodiment of an active optical sensor system according to the invention; and
• 5 a schematic representation of a light source and a detector unit of a further exemplary embodiment of an active optical sensor system according to the invention.

In 1 an exemplary embodiment of a vehicle 11 according to the invention with an exemplary embodiment of an active optical sensor system 1 according to the invention is shown schematically.

In 2 is an exemplary embodiment of an active optical sensor system 1 according to the invention, for example in the vehicle 11 1 can be used and is designed in particular as a lidar system according to the design of a laser scanner.

The sensor system 1 has a light source 10, which contains, for example, one or more infrared laser diodes for generating light pulses. Furthermore, the sensor system 1 has a detector unit 12, which has, for example, one or more optical detectors. The sensor system 1 also contains a mirror 4, which has a mirror body 5 and a mirror surface 7, and is connected to a rotatably mounted shaft which defines an axis of rotation 6, so that the shaft and thus the mirror 4 can be rotated about the axis of rotation 6.

A control unit 9 of the sensor system 1, which can also be referred to as a computing unit or evaluation unit and can optionally have several subunits that implement different functions, is connected to the light source 10, the detector unit 12 and a drive system (not shown) for driving the shaft, so that the mirror 4 can be rotated about the axis of rotation 6, for example, at a constant angular velocity. Furthermore, the control unit 9 can control the light source 10 in order to generate the light pulses.

Different from that which can be understood purely schematically 2 As one might assume, the mirror 4 is arranged with respect to the light source 10 in such a way that the light pulses generated by the light source 10, depending on the rotational position of the shaft, hit the mirror surface 7 of the mirror 4 and are thereby emitted into an environment of the sensor system 1, in particular in Direction of an object 2 in the environment. The emitted light pulses 3a can, for example, be partially reflected by the object 2 and the reflected light pulses 3b, for example, in turn hit the mirror 4, in particular the mirror surface 7 or another mirror surface of the mirror 4, and are directed by this in the direction of the detector unit 12. In alternative embodiments, the reflected light pulses 3b strike another mirror (not shown) and are directed by this in the direction of the detector unit 12.

Optionally, the sensor system 1 has a lens 8 and/or further optical elements which are arranged in the optical path between the detector unit 12 and the mirror 4 and/or between the light source 10 and the mirror 4.

The optical detectors of the detector unit 12 detect corresponding portions of the reflected light pulses 3b falling on their active surfaces and generate a detector signal based on this. Based on the detector signals generated in this way, the control unit can determine a distance of the object 2 from the sensor system 1, in particular based on a light transit time measurement.

In 3 is schematically a cross section of the mirror 4 corresponding to a cross-sectional plane 16 (see 2 ) shown. The cross-sectional plane 16 is parallel to the axis of rotation 6 and in particular perpendicular to an emission plane x / y of the sensor system 1. If the mirror body 5 is, for example, cuboid, as in 2 indicated, the cross-sectional plane 16 is in particular perpendicular to the side surface of the mirror body 5, on which the mirror surface 7 is arranged.

The mirror surface 7 has a surface structure according to which a slope of a surface contour of the mirror surface, or in other words an angle β of a tangent to the surface contour with respect to the z-direction, which is parallel to the axis of rotation 6, changes. In the example of 3 For example, a wave-shaped periodic variation of the surface contour or the slope with a period length L is provided.

Due to the surface structure, the light pulses generated by the light source 10 are deflected differently along the z-direction, so that an angular blurring results, so to speak. In the case of a waveform, this blurring is soft and lies, for example, in an angular range of [-β _max , β _max ]. In other embodiments, the surface structure can also be given by a discrete function, for example a triangular function.

In 4 A preferred embodiment of the light source 10 and the detector unit 12 is shown schematically, in which the invention has a particularly advantageous effect.

The light source 10 has, for example, a stack of three edge emitters 10a, 10b, 10c, which are arranged along the z-direction. The detector unit 12 has a plurality of optical detectors 13, for example APDs or SPADs, which are also arranged along the z-direction. The optical detectors 13 can form a continuous pixel pattern, with each pixel being linked to a specific area of the edge emitters 10a, 10b, 10c. Due to the surface structure, pixels that would be linked between the edge emitters 10a, 10b, 10c with transition points 14, also referred to as stack transitions, in a flat mirror can then deliver a detector signal.

Likewise, those pixels that would be linked to defects 15 on the edge emitters 10a, 10b, 10c in the case of a flat mirror can also provide a detector signal, as in 5 shown schematically. Such defects 15 can, for example occur after long use of the light source 10 due to degenerative effects, so that parts of the emitter edges remain dark. A resulting impact on individual pixels and a resulting loss of range can be avoided by the invention.

In order to ensure symmetrical illumination of the pixels, the edge emitters 10a, 10b, 10c can, for example, project downwards and upwards parallel to the z direction by an amount D beyond the optical detectors 13. This is particularly advantageous for illumination profiles that should be essentially uniform over the course of the receiver field of view.

The amount D can be chosen such that the resulting angular range on the side of the optical detectors 13 is greater than or equal to the angular effect of the largest disruptive element to be expected. This can be a transition point or a typically expected degenerative defect within the stack.

In order to optimize the mixing, the surface contour can vary periodically over at least one period length L, preferably over a multiple of the period length L. Particularly in the case of a wave-shaped or other surface structure that is locally symmetrical along z, it can be ensured that the angles are blurred to the same extent both upwards and downwards.

The invention can make the entire system more resistant to particles and partial lighting failures. Compared to the theoretical possibility of generating mixing with an optical element provided separately from the mirror, through which the light pulses propagate and which causes the mixing through light refraction or diffusion, the active optical sensor system according to the invention is particularly advantageous due to low power losses due to reflections at the interfaces or wastage is advantageous.

QUOTES INCLUDED IN THE DESCRIPTION

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Cited patent literature

• EP 2625542 B1 [0004]

Claims (15)

Active optical sensor system (1) comprising a light source (10), a detector unit (12) and a mirror (4) rotatable about an axis of rotation (6), wherein - the mirror (4) is arranged in such a way that the light source (10) generated light, which strikes a mirror surface (7) of the mirror (4), is emitted into an environment of the active optical sensor system (1); and - the detector unit (12) is set up and arranged to detect portions (3b) of the emitted light (3a) reflected in the environment; characterized in that - the mirror surface (7) has a surface structure according to which a slope of a surface contour of the mirror surface (7) changes along a direction (z) within a cross-sectional plane (16) which is parallel to the axis of rotation (6). . Active optical sensor system (1) according to Claim 1 , characterized in that the slope of the surface contour with respect to the axis of rotation (6) changes in a range that lies within the interval [-3°, 3°], for example within the interval [-2°, 2°], in particular within of the interval [-1°, 1°]. Active optical sensor system (1) according to Claim 2 , characterized in that absolute values of a minimum slope of the surface contour) and a maximum slope of the surface contour are the same. Active optical sensor system (1) according to one of the preceding claims, characterized in that the gradient of the surface contour changes periodically at least in sections. Active optical sensor system (1) according to one of the preceding claims, characterized in that the slope of the surface contour changes continuously at least in sections. Active optical sensor system (1) according to one of the preceding claims, characterized in that the slope of the surface contour is constant at least in sections and different from zero. Active optical sensor system (1) according to one of the preceding claims, characterized in that the gradient of a further surface contour of the mirror surface (7) is constant within a cross-sectional plane which is perpendicular to the axis of rotation (6). Active optical sensor system (1) according to one of the preceding claims, characterized in that the light source (10) contains at least one laser diode (10a, 10b, 10c), which is designed in particular as an edge emitter. Active optical sensor system (1) according to one of the preceding claims, characterized in that the light source (10) has two or more laser diodes (10a, 10b, 10c) which are arranged parallel to the axis of rotation (6). Active optical sensor system (1) according to one of the preceding claims, characterized in that the detector unit (12) has at least two optical detectors (13) which are arranged parallel to the axis of rotation (6). Active optical sensor system (1) according to Claim 10 , characterized in that the optical detectors (13) are designed as avalanche photodiodes or as single photon avalanche diodes. Active optical sensor system (1) according to one of Claims 10 or 11 , the light source (10) has an optically active area, the extent of which parallel to the axis of rotation (6) is greater than an extent of the arrangement of at least two optical detectors (13) parallel to the axis of rotation (6). Active optical sensor system (1) according to one of the preceding claims, characterized in that the mirror (4) has a mirror body (5), the mirror surface (7) with the surface structure being part of the mirror body (5) or being formed by a structural element which is arranged on a flat surface of the mirror body (5). Active optical sensor system (1) according to one of the preceding claims, characterized in that the active optical sensor system (1) is designed as a lidar system. Vehicle (11) with an active optical sensor system (1) according to one of the preceding claims.

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