EP4010737A1 - Système de mesure lidar comprenant deux dispositifs de mesure lidar - Google Patents

Système de mesure lidar comprenant deux dispositifs de mesure lidar

Info

Publication number
EP4010737A1
EP4010737A1 EP20734357.5A EP20734357A EP4010737A1 EP 4010737 A1 EP4010737 A1 EP 4010737A1 EP 20734357 A EP20734357 A EP 20734357A EP 4010737 A1 EP4010737 A1 EP 4010737A1
Authority
EP
European Patent Office
Prior art keywords
lidar measuring
view
field
measuring device
lidar
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP20734357.5A
Other languages
German (de)
English (en)
Inventor
Ralf Beuschel
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Microvision Inc
Original Assignee
Ibeo Automotive Systems GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Ibeo Automotive Systems GmbH filed Critical Ibeo Automotive Systems GmbH
Publication of EP4010737A1 publication Critical patent/EP4010737A1/fr
Pending legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/87—Combinations of systems using electromagnetic waves other than radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G01S17/894—3D imaging with simultaneous measurement of time-of-flight at a 2D array of receiver pixels, e.g. time-of-flight cameras or flash lidar
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
    • G01S7/4815—Constructional features, e.g. arrangements of optical elements of transmitters alone using multiple transmitters
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4816—Constructional features, e.g. arrangements of optical elements of receivers alone
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/497—Means for monitoring or calibrating
    • G01S7/4972—Alignment of sensor

Definitions

  • the present invention relates to a lidar measuring system for detecting an object in the surroundings of a vehicle.
  • the present invention also relates to a vehicle with a lidar measuring system and a method for detecting an object in the vicinity of a vehicle.
  • Modern vehicles have a large number of sensors that provide the driver with information and control individual functions of the vehicle partially or fully automatically.
  • the surroundings of the vehicle and other road users are recorded via sensors. Based on the recorded data, a model of the vehicle environment can be generated and changes in this vehicle environment can be reacted to.
  • Lidar technology is an important sensor principle for detecting the surroundings.
  • a lidar sensor is based on the emission of light signals and the detection of the reflected light.
  • a distance to the point of reflection can be calculated using a transit time measurement. It is also possible to determine a relative speed. Both unmodulated pulses and frequency-modulated signals (chirps) can be used here.
  • a target can be detected by evaluating the reflections received.
  • scanning and non-scanning systems A scanning system is mostly based on micromirrors and a scanning of the surroundings with a light spot, whereby one speaks of a coaxial system when the transmitted and received light pulses are deflected by the same micromirror.
  • several transmitting and receiving elements are arranged statically next to one another (in particular so-called focal plane array arrangement).
  • WO 2018/127789 A1 discloses lidar systems and methods for detecting and classifying objects.
  • the lidar system can detect one or more surface angles of an object based on one or more temporal distortions in reflected signals.
  • the lidar system can be based on objects on reflective fingerprints, surface angle fingerprints, or other measured properties. Other measured properties can include the surface composition of an object, the ambient lighting, detection differences between several sampling times and confidence values of several detection characteristics.
  • lidar systems One challenge in the area of lidar systems is the detection of small, dark and / or distant objects, with objects lying on the roadway being particularly relevant. For example, tires, dead animals or lost items of cargo must be recorded at distances of over 100 m, if possible.
  • a scanning lidar sensor with a resolution or a spot spacing of 0.1 ° in both horizontal and vertical directions often already has difficulties in detecting a tire lying on the road at a distance of 50 m, although the resolution would be sufficient in principle. This is due, on the one hand, to the fact that black objects have a very low reflectivity and, on the other hand, objects lying on the street mostly only have a relatively small extent in the vertical direction. If a tire falls into a gap in the detection grid, i.e. into a gap between two rows of light spots, reliable detection cannot be guaranteed.
  • the present invention has the object of providing an approach for the improved detection of obstacles.
  • it should be made possible to detect objects lying on the road in the area in front of a vehicle with greater reliability.
  • Distant, dark and / or flat objects should also be recorded as reliably as possible.
  • the invention relates in a first aspect to a lidar measuring system for detecting an object in the vicinity of a vehicle, comprising: a first lidar measuring device which is designed to scan a first field of view with a first vertical resolution; and a second lidar measuring device which is designed to scan a second field of view with a second vertical resolution, wherein the second field of view lies in a vertical direction within the first field of view and comprises an area of a roadway in front of the vehicle; and the second vertical resolution is higher than the first vertical resolution.
  • the present invention relates to a vehicle with a lidar measuring system as described above
  • aspects of the invention relate to a method embodied in accordance with the lidar measuring system and a computer program product with program code for performing the steps of the method when the program code is executed on a computer.
  • one aspect of the invention relates to a storage medium on which a computer program is stored which, when it is executed on a computer, effects the execution of the method described herein.
  • a lidar measuring system with two lidar measuring devices is proposed. Both lidar measuring devices each scan a field of vision, the second field of vision lying at least in a vertical direction within the first field of vision and encompassing an area of a roadway in front of the vehicle.
  • the second lidar measuring system offers a higher resolution in the vertical direction than the first lidar measuring system.
  • part of the field of view be in the vertical direction to be scanned using two lidar measuring devices.
  • the part of the field of vision or the part of the surroundings of the vehicle that includes the lane in front of the vehicle is scanned twice.
  • the additional scanning by the second lidar measuring device has a higher resolution than the scanning by the first lidar measuring device.
  • the road in front of the vehicle is scanned at a higher resolution than the rest of the area.
  • the range for detecting such objects can be increased so that the safety of the vehicle when driving can be improved based on an evaluation of the detected objects. Collisions with objects lying on the road can be avoided. The danger posed by objects lying on the road is reduced.
  • the first lidar measuring device is preferably designed as a scanning lidar measuring device with a 2D scanner unit.
  • a micromirror that is operated by means of a corresponding microelectromechanical system (MEMS) or by means of a galvanometer can be used for the 2D scanner unit.
  • MEMS microelectromechanical system
  • a micromirror scans the field of view line by line. In this way, a high resolution can be achieved with high update rates. A reliable object detection of objects in the vicinity of the vehicle is sufficient.
  • the second lidar measuring device preferably comprises a receiving unit in a Focal Plane Array arrangement.
  • a sensor is used in which the reception functions via several reception elements arranged in a grid.
  • a receiving unit that can be activated line by line or read out line by line can be used.
  • Such a focal plane array arrangement it allows implementation of high update rates and high resolutions. A reliable detection of objects lying on the road can be achieved.
  • the lidar measuring system comprises an input interface for receiving an input signal with information on a position of the roadway in relation to the lidar measuring system.
  • the second lidar measuring device is designed to adjust the second field of view based on the input signal. det.
  • the field of view of the second lidar measuring device is adapted based on a course of the road ahead of the vehicle.
  • An adaptation is understood to mean, in particular, an adaptation of the size and alignment of the field of view in the vertical direction. For example, an uneven road may require a field of view that is enlarged in the vertical direction, or an upward or downward gradient in the road as well as excessive vehicle loading may necessitate an adapted alignment.
  • the adaptation can in particular be made dynamically or continuously.
  • the second lidar measuring device is designed to select active cells of the receiving unit based on the input signal.
  • the input interface for receiving an environment sensor signal from an environment sensor is designed as an input signal. Additionally or alternatively, the input interface for receiving a position sensor signal from a position sensor is designed as an input signal. Additionally or alternatively, the input interface for receiving map data from a map database is designed as an input signal. Furthermore, additionally or alternatively, the input interface for receiving an output signal of the first lidar measuring device is designed as an input signal. Different parameters can be used as the input signal, which enable a statement to be made about the course of the roadway in relation to the lidar measuring system. It goes without saying that several different input signals can also be used in order to adapt the second field of view. Depending on the current situation, a second field of view adapted or optimized for this situation is used.
  • the second lidar measuring unit is designed to adapt a vertical extent of the second vertical field of view based on the input signal.
  • it can be advantageous to change or adapt a vertical expansion based on the input signal. For example, a rough road may require a larger vertical field of view.
  • the lidar measuring device is designed to determine a horizon line based on the input signal and to adapt the second field of view based on the horizon line. It is possible that a horizon line is never detected, for example based on a signal from a camera, and that, based on this horizon line, the second field of view is aligned so that an area below the horizon line is mapped in which the roadway runs. It goes without saying that the horizon line can be determined using the first or second lidar measuring unit.
  • the first field of view comprises a vertical angle between 20 ° and 30 °, preferably 25 °.
  • the first vertical resolution is between 0.2 ° and 0.8 °, preferably at most 0.4 °.
  • the second field of view comprises a vertical angle between 1 ° and 15 °, preferably 5 ° to 8 °.
  • the second vertical resolution is between 0.05 ° and 0.15 °, preferably 0.1 °.
  • the first field of view comprises a vertical angle which corresponds to a multiple of the vertical angle of the second field of view.
  • Such a large angle is necessary to ensure a reliable detection of possibly relevant objects in the vicinity of the vehicle.
  • the second field of view comprises a much smaller vertical angle that is sufficient to observe the road surface. However, a higher resolution can be used within this much smaller vertical angle. In this respect, it is proposed to use an adapted resolution in different areas in front of the vehicle.
  • a first sampling rate of the first lidar measuring device is less than a second sampling rate of the second lidar measuring device.
  • the first sampling rate is between 10 Hz and 15 Hz, preferably 12.5 Hz.
  • the second sampling rate is between 20 Hz and 70 Hz, preferably between 25 Hz and 50 Hz.
  • the second lidar measuring device can also use a higher sampling rate in addition to the higher resolution. This can ensure better tracking of objects lying on the road. The reliability of object detection is improved and the safety of a vehicle operating autonomously or partially autonomously based on the lidar measurement system is increased.
  • the second field of view comprises at least between 20 and 100 lines, preferably 50 to 80 lines.
  • a line-by-line system is used. If at least 40 to 50 lines are provided, sufficient security in the detection of objects lying on the road can be achieved.
  • the surroundings of a vehicle include in particular an area in the surroundings of the vehicle that is visible from the vehicle.
  • An object can be a static object such as a house, a tree or a traffic sign.
  • An object can also be a dynamic object, such as another vehicle or a pedestrian.
  • a field of view or a field of view of a lidar measuring device corresponds to a region that can be viewed by the lidar measuring device.
  • a field of view is defined by specifying an angle in the vertical direction and an angle in the horizontal direction.
  • a vertical field of view or a vertical field of view can be established by specifying an angle in the vertical direction with respect to the vehicle or to the lidar measuring device.
  • a resolution of a lidar measuring device corresponds to an indication of points or rows and columns per angular range.
  • a region of a roadway corresponds in particular to the part of a field of view in which the roadway runs, in particular to the part of the field of vision in which the roadway runs in a range between 50 and 150 m in front of the vehicle.
  • a position of a roadway is understood to mean, in particular, an indication of an alignment of the roadway in a coordinate system fixed to the vehicle. For example, an angle of a roadway plane with respect to a horizontal plane of the vehicle can correspond to a position of the roadway. It goes without saying that extensive information can also describe a position of the roadway. The invention is described and explained in more detail below with reference to a few selected exemplary embodiments in conjunction with the accompanying drawings. Show it:
  • FIG. 1 shows a schematic representation of a vehicle according to the invention with a lidar measuring system
  • FIG. 2 shows a schematic representation of a lidar measuring system according to the invention
  • 3 shows a schematic representation of a vehicle with a further embodiment of a lidar measuring system
  • FIG. 4 shows a schematic representation of a scanning lidar measuring device with a 2D scanner unit
  • FIG. 5 shows a schematic representation of a receiving unit of a lidar measuring device in a focal plane array arrangement
  • FIG. 6 shows a schematic representation of a method according to the invention.
  • a vehicle 10 according to the invention with a lidar measuring system 12 for detecting an object 14 in an environment 16 of the vehicle 10 is shown schematically.
  • the representation corresponds to a side sectional view.
  • the lidar measurement system 12 is integrated into the vehicle 10.
  • the lidar measurement system 12 can be mounted in the area of a bumper of the vehicle 10 and be designed to detect objects in front of the vehicle 10 within a field of view.
  • the extent of the field of view in the vertical direction is indicated by dashed lines.
  • the object 14 in the surroundings 16 of the vehicle 10 can for example be a car tire lying on the roadway 15 or another obstacle.
  • the lidar measuring system 12 comprises two lidar measuring devices which scan the field of view.
  • a first field of view 18 is scanned by the first lidar measuring device and a second field of view 20 is scanned by the second lidar measuring device.
  • the second field of view 20 lies in the vertical direction within the first field of view 18.
  • the second field of view 20 comprises the area of the road 15 in front of the vehicle 10.
  • the second lidar measuring device is used to detect objects 14 lying on the road 15, enables.
  • the resolution of the second lidar measuring device within the second field of view is higher than the resolution of the first lidar measuring device within of the (larger) first field of view.
  • a vertical resolution that is to say a resolution in the vertical direction, is relevant here.
  • a resolution in the vertical direction is understood to mean, in particular, a number of lines per angle.
  • a lidar measuring system 12 according to the invention is shown schematically in FIG. 2.
  • the lidar measuring system 12 comprises a first lidar measuring device 22 and a second lidar measuring device 24.
  • the first lidar measuring device 22 can in particular be designed as a scanning lidar measuring device with a 2D scanner unit.
  • a lidar measuring device of this type a comparatively large area can be imaged in a high resolution.
  • flat objects can be missed by the emitted light signal or laser signal if the position of the object changes between two scanning times.
  • the object can therefore systematically fall into gaps between individual lines.
  • smaller objects may not be hit. For example, for a small object such as a tire, the corresponding area of the field of view can only be hit every 5 to 10 ms in a 40 ms scan frame. The probability that the light signal is not aimed at the object at the right time is comparatively high.
  • the second lidar measuring device 24 is used to scan the area of the field of view that includes the roadway with a higher resolution and thus to improve object detection of objects located therein.
  • the second lidar measuring device has a smaller, second vertical field of view, in which, however, a higher resolution is realized.
  • the second lidar measuring device can advantageously include a receiving unit in a focal plane array arrangement. It is possible here for a line-by-line reading to take place, with one complete line being recorded at a time. This enables a higher sampling frequency to be achieved.
  • a possible opening angle of the second field of view in the vertical direction can, for example, based on a geometric consideration of an installation height of the lidar measuring system 12 above the roadway 15 (for example 0.5 m) and a loading taking into account the distance to be covered (e.g. 10 m). Based on these values, an angle in the vertical direction of the second field of view of 2.8 ° results, for example.
  • a required angular resolution for the second lidar measuring device can be determined on the basis of a height of the object in the vertical direction and a distance from the object. For example, for an object height of 20 cm and a distance of 100 m, the required angular resolution of 0.11 ° results. Based on such a consideration and comparable calculations, a corresponding resolution can be determined.
  • FIG. 3 An embodiment of the vehicle 10 according to the invention is shown schematically in FIG. 3.
  • the lidar measuring system 12 of the vehicle 10 is shown on the right-hand side in an enlarged view for better clarity.
  • the lidar measuring system 12 comprises, in addition to the first lidar measuring device 22 and the second lidar measuring device 24, an input interface 26 which is designed to provide an input signal with information on a course or a position of the roadway in relation to the lidar measuring system 12 to receive.
  • the second field of view can be adapted on the basis of this input signal.
  • the alignment of the second field of view can be adapted in comparison to the first field of view and a size of the second field of view in the vertical direction.
  • a sensor signal from a position sensor 28 within vehicle 10 can be used as the input signal for the adaptation.
  • an environment sensor signal from an environment sensor 30 of the vehicle can be used.
  • a signal from a radar, lidar, ultrasound or camera sensor on vehicle 10 can be used.
  • a signal from the lidar measuring system or the first or second lidar measuring device itself can be used as the input signal. Based on such a signal from an environmental sensor, a course or a position of the roadway can be detected. In particular, a position of a horizon line can be determined using algorithms for image evaluation. Based on this, it is then possible to adjust the second field of view accordingly.
  • map data from a map database 32 is also possible to use map data from a map database 32 as the input signal.
  • the map database 32 is included a remote database, which can be designed, for example, as an Internet database of a corre sponding service provider.
  • the vehicle 10 in the illustrated embodiment includes a mobile communication unit 33. It goes without saying, however, that it is also possible for the map database to be arranged within the vehicle, for example in a vehicle navigation system.
  • the lidar measurement system can be connected to a bus system of vehicle 10, for example.
  • the first lidar measuring device 22 comprises a transmitter 34 for emitting a light signal and a receiver 36 for receiving the light signal after reflection on the object.
  • the transmitter 34 is designed in particular as a laser source. On the one hand, it is possible that a pulsed signal is used. On the other hand, a frequency-modulated signal (chirp signal) can also be used.
  • the receiver 36 corresponds in particular to a photodetector which is designed to receive the light signal after it has been reflected on the object and thereby enable the object to be detected.
  • the first lidar measuring device 22 furthermore comprises a 2D scanner unit 38 in order to scan the field of view of the first lidar measuring device 22.
  • the 2D scanner unit 38 can in particular be designed as a microelectromechanical system (MEMS). It is also possible to use a galvanometer. A micromirror is activated to send the light signal to different positions and to receive corresponding detections of the different positions. In particular, a first field of view of the first lidar measuring device 22 is scanned line by line. In this respect, there is a fast horizontal axis and a slow vertical axis, which can each be controlled by associated actuators.
  • the 2D scanner unit 38 offers in particular a corresponding control interface in order to be able to control the vertical and horizontal movement of the mirror.
  • the first lidar measuring device 22 also includes a combination unit 40.
  • the combination unit 40 is designed as a circulator. It is also possible for the combination unit 40 to correspond to a beam splitter. Using a beam splitter has the disadvantage that part of the signal is lost. However, there are advantages in terms of reaction speed and in terms of manufacturing costs.
  • the illustrated first lidar measuring device 22 is also referred to as a coaxial lidar measuring device or as a lidar measuring device in coaxial design.
  • a receiving unit 42 of a second lidar measuring device is illustrated schematically.
  • the receiving unit 42 is designed in a focal plane array configuration and comprises several individual receiving elements 44 which are arranged essentially in one plane on a corresponding chip in several rows ZI, Z2, Z3.
  • the first lidar measuring device 22 comprises a correspondingly formed transmission unit, which can also be formed in a focal plane array configuration.
  • a line-by-line reading is possible. It is also possible to adapt the second field of view by only partially activating or reading out the lines.
  • a method according to the invention for detecting an object in the surroundings of a vehicle is shown schematically in FIG. 6.
  • the method comprises steps of scanning S10 of a first field of view and of scanning S12 of a second field of view.32
  • the method can be implemented, for example, in software that is executed on a microprocessor of a vehicle control unit or a lidar measurement system.
  • the method can be used as control software for a Li dar measuring system.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention concerne un système de mesure LiDAR (12) pour détecter un objet (14) dans un environnement (16) d'un véhicule (10), comprenant un premier dispositif de mesure LiDAR (22) conçu pour balayer un premier champ de vision (18) avec une première résolution verticale, et un second dispositif de mesure LiDAR (24) conçu pour balayer un second champ de vision (20) avec une seconde résolution verticale, le second champ de vision étant situé dans une direction verticale à l'intérieur du premier champ de vision et comprenant une région d'une route (15) à l'avant du véhicule, et la seconde résolution verticale étant supérieure à la première résolution verticale. L'invention concerne également un véhicule (10) comprenant un système de mesure LiDAR (12) et un procédé de détection d'un objet (14) dans un environnement (16) d'un véhicule (10).
EP20734357.5A 2019-08-06 2020-06-19 Système de mesure lidar comprenant deux dispositifs de mesure lidar Pending EP4010737A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102019211739.2A DE102019211739A1 (de) 2019-08-06 2019-08-06 Lidar-Messsystem mit zwei Lidar-Messvorrichtungen
PCT/EP2020/067233 WO2021023423A1 (fr) 2019-08-06 2020-06-19 Système de mesure lidar comprenant deux dispositifs de mesure lidar

Publications (1)

Publication Number Publication Date
EP4010737A1 true EP4010737A1 (fr) 2022-06-15

Family

ID=71130965

Family Applications (1)

Application Number Title Priority Date Filing Date
EP20734357.5A Pending EP4010737A1 (fr) 2019-08-06 2020-06-19 Système de mesure lidar comprenant deux dispositifs de mesure lidar

Country Status (9)

Country Link
US (1) US20220171030A1 (fr)
EP (1) EP4010737A1 (fr)
JP (1) JP7323738B2 (fr)
KR (1) KR20220025894A (fr)
CN (1) CN114174867A (fr)
CA (1) CA3142265A1 (fr)
DE (1) DE102019211739A1 (fr)
IL (1) IL290317A (fr)
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WO2021023423A1 (fr) 2021-02-11
CA3142265A1 (fr) 2021-02-11
KR20220025894A (ko) 2022-03-03
IL290317A (en) 2022-04-01
CN114174867A (zh) 2022-03-11
JP7323738B2 (ja) 2023-08-09
DE102019211739A1 (de) 2021-02-11
JP2022542041A (ja) 2022-09-29

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