EP4045931A1 - Système lidar à impulsions multiples et procédé de capture d'un objet dans une région observée - Google Patents

Système lidar à impulsions multiples et procédé de capture d'un objet dans une région observée

Info

Publication number
EP4045931A1
EP4045931A1 EP20772290.1A EP20772290A EP4045931A1 EP 4045931 A1 EP4045931 A1 EP 4045931A1 EP 20772290 A EP20772290 A EP 20772290A EP 4045931 A1 EP4045931 A1 EP 4045931A1
Authority
EP
European Patent Office
Prior art keywords
sub
detectors
pixel
macro
laser beam
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
EP20772290.1A
Other languages
German (de)
English (en)
Inventor
Reiner Schnitzer
Siegwart Bogatscher
Alexander Greiner
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.)
Robert Bosch GmbH
Original Assignee
Robert Bosch 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 Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP4045931A1 publication Critical patent/EP4045931A1/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
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/42—Simultaneous measurement of distance and other co-ordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—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
    • G01S7/483—Details of pulse systems
    • G01S7/486—Receivers
    • G01S7/4861—Circuits for detection, sampling, integration or read-out
    • G01S7/4863—Detector arrays, e.g. charge-transfer gates

Definitions

  • the present invention relates to a multipulse lidar system for detecting at least one object in an observation area and a method for detecting at least one object in an observation area with the aid of a multipulse lidar system.
  • a multi-pulse lidar system for detecting objects in an observation area, comprising: a transmission device with at least one laser source for generating a transmission laser beam from a temporal sequence of individual laser pulses which each illuminate a solid angle limited to a part of the observation area, and sample into at least one sample point; a receiving device with a detection surface comprising a line or matrix-shaped sub-detector arrangement of several sub-detectors arranged next to one another in a first direction of extent for receiving the transmitted laser beam reflected and / or scattered on objects in the observation area of the multi-pulse lidar system in the form of a received laser beam, the receiving device being designed to have a image the scanning point detected by the transmission laser beam on the detection surface in the form of an image point; a scanning device for generating a scanning movement of the transmission laser beam in a scanning direction for successive scanning of the entire observation area along a plurality of scanning points following one another in the scanning direction, the scanning movement of the transmission laser
  • the present invention is based on a multi-pulse lidar system for detecting at least one object in an observation area.
  • the multi-pulse lidar system comprises a transmission device with at least one laser source for generating a transmission laser beam from a time sequence of at least two individual laser pulses, which each illuminate a detection area limited to a part of the observation area, a receiving device with a detection area comprising a line or matrix-shaped sub-detector arrangement of several Sub-detectors arranged next to one another in a first extension direction for receiving the transmitted laser beam reflected and / or scattered on the object in the observation area of the multi-pulse lidar system in the form of a received laser beam, the receiving device being designed to image a detection area captured by the transmitted laser beam on the detection surface in the form of a pixel.
  • the multi-pulse lidar system further comprises a scanning device for generating a scanning movement of the transmitter laser beam and the receiving laser beam in one scanning direction for successive scanning of the entire observation area along several detection areas that follow one another in the scanning direction and a control device for determining distance information from the detection areas based on the transit times of the respective individual laser pulses .
  • the control device is designed to select an angular range of the observation area and to group sub-detectors for evaluation to form a first macro-pixel for at least one first individual laser pulse that can be illuminated in a first detection area; and for at least a second Individual laser pulse, by means of which at least a second detection area can be illuminated, to group sub-detectors for evaluation into at least one second macro-pixel.
  • the selected angular range can be mapped in each case by means of the sub-detectors of the first and the at least one second macro-pixel, and the sub-detectors are each captured by an image point currently mapped on the detection area.
  • a multi-pulse lidar system is a lidar system in which a detection area is illuminated by means of several individual laser pulses of lower power, which follow one another in rapid succession. By adding up the individual measurements, a suitable detector signal with a sufficient signal-to-noise ratio can be obtained.
  • a single-pulse lidar system can scan each detection area by means of a single laser pulse. For this, however, individual laser pulses with a relatively high laser power are required, which is why a correspondingly powerful laser source is required.
  • a multi-pulse lidar system manages with a significantly lower laser power.
  • the multi-pulse lidar system can be used, among other things, to detect objects in the vicinity of ego vehicles.
  • the transmission laser beam can be moved successively along a scanning direction, with the objects located in the observation area being able to be detected.
  • a relative position of a detected object in relation to an ego vehicle can be determined by a corresponding angle of the transmitted laser beam and distance information determined by measuring the transit time of the individual laser pulses.
  • the receiving device with the detection surface is designed in particular as a SPAD detector.
  • SPAD stands for Single Photon Avalanche Photodiode.
  • the SPAD detector can have so-called SPAD cells as sub-detectors.
  • a cell-shaped sub-detector arrangement comprises a plurality of sub-detectors arranged next to one another in a first direction of extent.
  • a matrix-like sub-detector arrangement comprises several sub-detectors arranged next to one another in a first direction of extent and several sub-detectors arranged one behind the other in a second direction of extent.
  • the advantage of the invention is that, despite the use of several pulses for a measurement, the same lateral resolution can be achieved as with a single-pulse lidar system, with the ability to separate objects being improved. A better ability to separate objects, especially in the horizontal direction, can be achieved. In particular, smaller objects, such as lost items of freight, within a greater range, i.e. greater distance from the multi-pulse lidar system, can be better detected. It can also prevent a lot of interfering background light from negatively influencing the measurements.
  • the components of the multi-pulse lidar system can also be easily implemented.
  • the effort involved in evaluating the measurement data, such as B. the determination of the distance information can be kept small. Required storage space and computing effort can be kept to a minimum.
  • control device is also designed to group the at least one second macro-pixel independently of the first macro-pixel.
  • distance information can be determined on the basis of the second macro-pixel independently of the first macro-pixel.
  • control device is set up to create and evaluate a first histogram for the first macro pixel and to create and evaluate a second histogram for the second macro pixel, the second histogram being able to be created and evaluated independently of the first histogram.
  • the second histogram can be created and evaluated without taking the first histogram into account. In other words, the first histogram is not temporarily stored but can be ignored.
  • the advantage of this embodiment is that the effort for evaluating the measurement data can be kept low. Little storage space and computing effort are required.
  • the transmission device comprises a plurality of laser sources, the detection areas of which are arranged one below the other orthogonally to the scanning direction.
  • the detection area for each laser source comprises a sub-detector arrangement individually assigned to the respective laser source, the sub-detector arrangements being arranged one below the other orthogonally to the scanning direction. This allows the vertical resolution of the lidar system to be increased.
  • the invention is also based on a method for detecting at least one object in an observation area with the aid of a multi-pulse lidar system.
  • the method comprises the steps of: generating a transmission laser beam in the form of a time sequence of at least two individual laser pulses, the transmission laser beam illuminating a detection area limited to a section of the observation area with each individual laser pulse; Generating a scanning movement of the transmitter laser beam and a received laser beam in a scanning direction, which causes a successive scanning of the entire observation area in several detection areas successive in the scanning direction; Receiving the received laser beam generated by reflection and / or scattering of the transmitter laser beam on the object in the observation area on a detection surface with a line or matrix-shaped sub-detector arrangement composed of several sub-detectors arranged next to one another in a first direction of extent, with a detection area currently detected by the transmission laser beam on the detection surface in the form of a pixel is mapped; Selection of an angular range of the observation area; Grouping of sub-detectors for at least one first individual laser pulse, which illuminates a first detection area, to form a first macro-pixel, and grouping of sub-de
  • the grouping of sub-detectors to form at least one second macro-pixel takes place independently of the grouping of sub-detectors to form the first macro-pixel.
  • distance information is determined on the basis of the second macro-pixel independently of the first macro-pixel.
  • a first histogram for the first macro-pixel is created and evaluated, and a second histogram for the second macro-pixel is created and evaluated independently of the first histogram.
  • the second histogram can be created and evaluated without taking the first histogram into account. In other words, the first histogram is not temporarily stored but can be ignored.
  • the advantage of this embodiment is that the effort for evaluating the measurement data can be kept low. Little storage space and computing effort are required.
  • the invention is also based on a computer program which is set up to carry out all steps of the method described.
  • the invention is also based on a machine-readable storage medium on which the described computer program is stored.
  • Figure 1 schematically shows a perspective view of a
  • FIG. 2 shows a schematic representation of a rotating lidar system during the scanning of a vehicle arranged in its observation area
  • FIG. 3 illustrates the grouping of a first and subsequent macro-pixel
  • FIG. 7-9 a schematic representation of a scanning process of an object
  • FIG. 10 shows an exemplary embodiment of the method for detecting at least one object in an observation area.
  • FIG. 1 shows, by way of example, a macro lidar system 100 with a rotating sensor head 101, which has several transmitting and receiving units arranged at different angles, with only the transmitting device 110 being shown in the present example.
  • the sensor head 101 executes a rotating scanning movement 122, the axis of rotation 102 running parallel to the Z-axis in the present example.
  • the horizontal image resolution of the lidar system is determined by the rotational movement and the measuring rate.
  • the vertical image resolution is defined by the number and the respective angular spacing of the receiving units.
  • the sensor head 101 performs a complete rotation of 360 °. For each embodiment, however, the scanning movement can also be restricted to a defined angular range.
  • FIG. 2 shows a schematic representation of the macro lidar system 100 from FIG. 1 during a scanning process in which an object 400 (in the present case a vehicle) arranged in the observation area 300 of the lidar system 100 is scanned by means of laser radiation 200.
  • the lidar system 100 has a rotating sensor head 101 which comprises a transmitting device 110 with at least one laser source 111 and a receiving device 140 with a detection surface 141.
  • the detection area 141 comprises a line-shaped or matrix-shaped sub-detector arrangement 143 composed of a plurality of sub-detectors 142n arranged next to one another in a first direction of extent 144.
  • FIG. 2 shows only a cell-shaped sub-detector arrangement 143 with only three sub-detectors 142n.
  • the sensor head 101 further comprises an optical imaging device 150.
  • This can be, for example, one or more optical lens elements with the aid of which the laser beams 210, 220 are shaped in the desired manner.
  • the sensor head 101 can have a Beam splitter 121 for superimposing or separating the transmitted and received laser beams 210, 220.
  • Such an optical beam splitter 121 can be designed, for example, in the form of a partially transparent mirror.
  • the lidar system 100 typically also includes a control device 130 for controlling the transmitting and receiving devices 110, 140.
  • the control device 130 also includes a measuring device for determining the transit times of the emitted and re-received individual laser pulses and an evaluation device for determining distance information of the sampling points on the basis of the measured transit times.
  • the control device 130 or individual of its components can be arranged outside the sensor head 101 and connected to the respective devices in the sensor head 101 by means of corresponding signal and data lines.
  • the control device 130 or also individual components thereof can be accommodated within the sensor head 101.
  • each laser source of the transmission device 110 generates its own transmission laser beam 210 in the form of a chronological sequence of short individual laser pulses.
  • the transmission laser beam 210 illuminates a solid angle defining the detection area 310 of the respective individual laser pulse, which typically represents only a relatively small section of the entire observation area 300 of the lidar system 100. Scanning of the entire observation area 300 is only achieved through the rotating scanning movement 122 and the associated successive displacement of the detection areas 310 of successive individual laser pulses.
  • FIG. 2 shows an example of a measurement sequence with three individual laser pulses emitted one after the other and their respective detection areas 310-1 to 310-3. The detection areas 310-1 to 310-3 are drawn by means of a dashed line.
  • the detection areas 310-1 to 310-3 of the transmission laser beam 210 are shown in a circle in the present exemplary embodiment.
  • the cross section of the transmission laser beam 210 which defines the shape of a detection area 310, can, however, also be designed differently, for example elliptical or approximately square or rectangular. Due to the scanning movement 122 of the sensor head 101, the individual laser pulses are emitted at different angles, so that the transmission laser beam 210 with its current detection area 310 travels in predetermined angular steps over the object 400 being scanned.
  • the transmitted laser beam 210 reflected on the object 400 or backscattered from the object 400 is received in the form of a received laser beam 220 in the sensor head 101 and imaged on the detection surface 141.
  • a current detection area 310 is imaged on the detection surface 141, displaced by a defined distance in the case of successive laser pulses.
  • FIG. 3 shows a timing diagram with which the grouping of a first and subsequent macro-pixel is clarified.
  • the detection surface 141 in the present exemplary embodiment has a matrix-shaped sub-detector arrangement 143 which comprises a total of 21 sub-detectors 142 i, j arranged next to one another in a first direction of extent 144 and a total of eight sub-detectors 142 i, j arranged one behind the other in a second direction of extent 145.
  • this angular range 307 is first selected.
  • this angular range 307 or in other words this solid angle, could define the detection range 310-1 from FIG.
  • the middle sub-detectors 142i, j of the sub-detector arrangement 143 which are shown by way of example between the two vertical lines marked with the bracket 307, are designed in the present example to map the selected angular range 307.
  • a first detection area 310 n is now illuminated by means of a first individual laser pulse.
  • a transmission laser beam reflected on an object or scattered back from the object is received at time 301 in the form of a reception laser beam and imaged as image point 230 n on detection surface 141.
  • the lowermost sub-detector arrangement 143 illustrates which of the Sub-detectors 142i, j, which are designed to map the angular region 307, are each detected at the point in time 301 by an image point 230 n currently mapped on the detection surface 141. These are the dark hatched sub-detectors 142i, jA.
  • the sub-detectors 142i, jB arranged to the right of the sub-detectors 142i, jA are also designed to map the angular range 307, but are not detected at the time 301 by the image point 230 n currently mapped on the detection surface 141.
  • the lighter hatched sub-detectors 142i, jC which are arranged to the left of the sub-detectors 142i, jA at time 301, are indeed detected by the image point 230 n currently depicted on the detection surface 141, but are not designed to depict the angular range 307.
  • the sub-detectors 142i, jA are grouped into a first macro-pixel 160 n.
  • the signals of the grouped sub-detectors 142i, jA are jointly assigned to a histogram assigned to the first macro-pixel 160-1.
  • a second detection area 310 n is then illuminated by means of a second individual laser pulse.
  • a transmission laser beam reflected on an object or scattered back from the object is received at time 302 in the form of a reception laser beam and imaged as image point 230 n on detection surface 141.
  • the second sub-detector arrangement 143 illustrates which of the sub-detectors 142i, j, which are designed to map the angular range 307, are each detected at the point in time 302 by a pixel 230 n currently mapped on the detection surface 141. Again, these are the dark hatched sub-detectors 142i, jA.
  • the dark hatched sub-detectors are now also grouped into a second macropixel 160-2 for time 302.
  • the second macro-pixel 160-2 is grouped independently of the first macro-pixel 160-1.
  • the signals of the sub-detectors 142i, jA grouped for the time 302 are jointly assigned to a histogram assigned to the second macro-pixel 160-2.
  • the second histogram is created and evaluated independently of the histogram of the first macro-pixel 160-1.
  • the effort for evaluating the measurement data can be kept low as a result. The same applies to points in time 303 to 306.
  • FIG. 3 shows how a scanning movement in the scanning direction 123, by means of which a successive scanning of the entire observation area is made possible along several detection areas 310 n following one another in the scanning direction 123, creates the impression that the image point 230 n is moving over the sub-detector arrangement 143.
  • the impression also arises that the macropixels 160 n pass through the sub-detector arrangement 143, whereby they simultaneously change their size.
  • the number of sub-detectors 142i, jA which can be used for grouping to form the individual macropixels 160 n , differs depending on the point in time 301 to 306. The number thus increases from point in time 301 to point in time 303.
  • all sub-detectors 142i, j which are designed to image the angular range 307 are detected by the image point 230 n currently being imaged on the detection surface 141.
  • the detection range 310 n corresponds to the angular range 307.
  • the detection range 310 n lies exactly in the angular range 307.
  • all sub-detectors 142i, j, which are designed to image the angular range 307 can move to the third macro-pixel in this example 160-3 can be grouped. From time 303 to time 306, the number of sub-detectors 142i, jA decreases again.
  • FIGS. 4 to 6 show schematic representations of the lidar system according to the invention to illustrate the scanning process of an object by means of three successive individual laser pulses.
  • FIGS. 4 to 6 show the short scan sequence already shown in FIG. 2, which includes the scanning of the vehicle 400 by means of three individual laser pulses.
  • FIG. 4 shows a first individual measurement in which the vehicle 400 is illuminated by means of a first individual laser pulse. This first individual laser pulse illuminates a first detection area 310-1 that is limited to a part of the observation area 300.
  • the detection area 310-1 corresponds to the selected angular area 307.
  • the first detection area 310-1 detected by the transmission laser beam 210 in FIG Image point 230 n .
  • the image point 230 n thereby illuminates a total of 64 of the sub-detectors 142i, j of the matrix-shaped sub-detector arrangement 143, which are marked in FIG. 4 as the dark-hatched sub-detectors 142i, jA.
  • the first detection area 310-1 lies completely in a selected angular area 307 of the observation area 300 for the first individual measurement.
  • the selected angular area 307 can thus be mapped by means of all sub-detectors 142i, jA illuminated by the image point.
  • the sub-detectors 142i, jA are grouped to form a first macro-pixel 160 n for evaluation.
  • This first macro-pixel 160 n thus comprises the sub-detectors 142i, jA, which are detected by an image point 230 n currently depicted on the detection surface 141.
  • the signals of the grouped sub-detectors 142i, jA are jointly assigned to a histogram 170 n assigned to the first macro-pixel 160 n.
  • the transmission laser beam 210 has traveled further in the scanning direction 123 as a result of the scanning movement 122.
  • the currently emitted second individual laser pulse therefore has a detection area 310 - 2 shifted by a specific angular amount in the scanning direction 123.
  • the position of the first image point 230 n on the detection surface 141 is also shifted by a defined amount.
  • the displacement of the image point 230 n depends directly on the imaging properties of the optical components and the respective angular difference between the individual measurements and thus on the scanning speed and the measuring rate.
  • these parameters are coordinated with one another in such a way that, in subsequent individual measurements, the image point 230 n is mapped on the detection surface in each case shifted by a distance which corresponds as exactly as possible to the lateral width of the sub-detectors 142i, j.
  • the steps with which the image points 230 n are mapped on the detection surface in a shifted manner in subsequent individual measurements are an integral multiple of the lateral width of the sub-detectors 142i, j.
  • the corresponding parameters of the lidar system can, however, also turn out to be such that the steps with which the image points are mapped shifted on the detection surface in subsequent individual measurements are each a fraction the lateral width of the sub-detectors.
  • lidar systems can also be implemented in which the displacement of the image points 230 n on the detection surface is in no rational relationship to the lateral width of the sub-detectors 142 i J.
  • the first detection area 310-2 detected by the transmission laser beam 210 in FIG. 5 is imaged on the detection surface 141 in the form of an image point 230 n .
  • the image point 230 n illuminates a total of 64 of the sub-detectors 142i, j of the matrix-shaped sub-detector arrangement 143.
  • the second detection area 310-2 for the second individual measurement is no longer completely in the selected angular area 307 of the observation area 300. Only the 56 sub-detectors 142i, jA, which are designed to map the angular range 307 are captured by the image point 230 n currently mapped on the detection surface 141.
  • the lighter shaded sub-detectors 142i, jC which are arranged in Figure 5 to the right of the sub-detectors 142i, jA are indeed detected n of the on the detection area 141 currently imaged image point 230, but are not adapted to map the angular range 307th
  • the sub-detectors 142i, jB arranged to the left of the sub-detectors 142i, jA are designed to map the angular range 307, but are currently not detected by the image point 230 n mapped on the detection surface 141.
  • the sub-detectors 142i, jA are grouped into a second macro-pixel 160 n.
  • the second macro-pixel 160 n accordingly only comprises information from the sub-area 308 of the selected angular area 307.
  • the signals of the grouped sub-detectors 142i, jA are jointly assigned to a second histogram 170 n assigned to the second macro-pixel 160 n.
  • the second histogram 170 n is created and evaluated independently of the histogram of the first macro-pixel.
  • FIG. 6 shows a process status during a third individual measurement, which follows the second individual measurement shown in FIG.
  • the transmission laser beam has moved to the right by a further angular amount, so that the associated detection area 310-3 has now moved by a further amount compared to the first individual measurement shown in FIG.
  • the shift is twice the lateral width of the sub-detectors 142i, j.
  • the current image point 230 n thereby illuminates a total of 64 of the sub-detectors 142i, j of the matrix-shaped sub-detector arrangement 143.
  • the third detection area 310-3 for the third individual measurement lies even less in the selected angular area 307 of the observation area 300. Only the 40 sub-detectors 142i, jA, which are designed to map the angular range 307 are captured by the image point 230 n currently mapped on the detection surface 141.
  • the lighter shaded sub-detectors 142i, jC which are arranged in Figure 6 the right of the sub-detectors 142i, jA are indeed detected n of the on the detection area 141 currently imaged image point 230, but are not adapted to map the angular range 307th
  • the sub-detectors 142i, jB arranged to the left of the sub-detectors 142i, jA are designed to map the angular range 307, but are currently not detected by the image point 230 n mapped on the detection surface 141.
  • the sub-detectors 142i, jA are grouped into a third macro-pixel 160 n.
  • the third macro-pixel 160 n accordingly only includes information from the sub-area 309 of the selected angular range 307.
  • the signals of the grouped sub-detectors 142i, jA are jointly assigned to a histogram 170 n assigned to the third macro-pixel 160 n.
  • the third histogram 170 n is created and evaluated independently of the histogram of the first macro-pixel and independently of the histogram of the second macro-pixel.
  • FIGS. 7 to 9 show a schematic representation of a scanning process of an object 400 located in a selected angular range 307.
  • the relationship between the rotating scanning movement and the displacement of the macropixels 160 n over the detection surface 141 of the sub-detector arrangement 143 and the simultaneously variable size of the macro - Pixel 160 n clarified.
  • FIGS. 7 to 9 show a sequence of the scanning process comprising three individual measurements.
  • a simplified embodiment of the sensor head 101 is shown in each case, the laser beams 235 directly onto the detection surface 141 by means of an optical imaging device 150 without being deflected by a beam splitter can be mapped.
  • the emitted laser beam 210 detects an object 400 located in the selected angular range 307.
  • the laser beam 210 is reflected back on the object 400 and received again by the sensor head 101 of the lidar system 100 in the form of a received laser beam.
  • An image point 230 n is imaged on the detection surface 141.
  • the detection surface 141 which in the present exemplary embodiment is a two-dimensional sub-detector arrangement 143 in the form of a 12 * 8 matrix, is shown both in the side view and in a top view.
  • the image point 230 n is imaged on a central area of the sub-detector arrangement 143 for each of the individual measurements shown in FIGS. This area is marked with the thick border. For example, only the sub-detectors 142i, j arranged in this image point 230 n are activated.
  • FIG. 7 shows which of the sub-detectors 142 i, j, which are designed to map the angular range 307, are detected by the image point 230 n currently mapped on the detection surface 141.
  • These are the eight sub-detectors 142i, jA.
  • the eight sub-detectors 142i, jB arranged to the left of the sub-detectors 142i, jA are also designed to map the angular range 307, but are not detected by the image point 230 n currently mapped on the detection surface 141 in the first individual measurement.
  • the sub-detectors 142i, jB are currently not activated, for example.
  • the eight sub-detectors 142i, jC arranged to the right of the sub-detectors 142i, jA are detected by the image point 230 n currently depicted on the detection surface 141, but are not designed to depict the angular range 307.
  • the eight sub-detectors 142i, jA are grouped to form a first macro-pixel 160 n .
  • the signals of the grouped sub-detectors 142i, jA are jointly assigned to a histogram assigned to the first macro-pixel 160 n.
  • FIG. 8 shows the arrangement from FIG. 7 during the subsequent second individual measurement.
  • the transmission laser beam 210 has traveled further in the scanning direction 123 as a result of the scanning movement 122.
  • the 16 sub-detectors 142i, jA are adapted to map the angular range 307, and are recorded from the n on the detection area 141 currently imaged pixel 230th
  • the 16 sub-detectors 142i, jA are grouped to form a second macro-pixel 160 n .
  • the second macro-pixel 160 n is grouped independently of the first macro-pixel.
  • the signals of the grouped sub-detectors 142i, jA are jointly assigned to a histogram assigned to the second macro-pixel 160 n.
  • the second macro-pixel 160 n is thus shifted in the scanning direction 123 and is larger, that is to say comprises a higher number of sub-detectors 142i, jA, than the first macro-pixel 160 n .
  • the second histogram is created and evaluated independently of the histogram of the first macro pixel.
  • FIG. 9 shows the arrangement from FIGS. 7 and 8 during the subsequent third individual measurement.
  • the transmission laser beam 210 has traveled further in the scanning direction 123 as a result of the scanning movement 122.
  • the eight sub-detectors 142i, jA are adapted to map the angular range 307, and are recorded from the n on the detection area 141 currently imaged pixel 230th
  • the eight sub-detectors 142i, jB arranged to the right of the sub-detectors 142i, jA are also designed to map the angular range 307, but are not detected by the image point 230 n currently mapped on the detection surface 141 in the third individual measurement.
  • the sub-detectors 142i, jB are currently not activated, for example.
  • the eight sub-detectors 142i, jC arranged to the left of the sub-detectors 142i, jA are detected by the image point 230 n currently depicted on the detection surface 141, but are not designed to depict the angular range 307.
  • the eight sub-detectors 142i, jA are grouped to form a third macro-pixel 160 n .
  • the third macro-pixel 160 n is grouped independently of the first macro-pixel and also independently of the second macro-pixel.
  • the signals of the grouped sub-detectors 142i, jA are jointly assigned to a histogram assigned to the third macro-pixel 160 n.
  • the third macro-pixel 160 n is thus shifted in the scanning direction 123 and is smaller, that is to say comprises a smaller number of sub-detectors 142i, jA, than the second macro-pixel 160 n .
  • the third histogram is created and evaluated independently of the histogram of the first macro-pixel and also independently of the histogram of the second macro-pixel.
  • FIG. 10 shows once again, summarized, an exemplary embodiment of the method 1000 for detecting at least one object in one Observation area using a multi-pulse lidar system.
  • the method 1000 starts in step 1001. It comprises the further steps: generating 1002 a transmission laser beam in the form of a time sequence of individual laser pulses, the transmission laser beam illuminating a detection area limited to a section of the observation area with each individual laser pulse; Generating 1003 a scanning movement of the transmission laser beam in a scanning direction, which causes successive scanning of the entire observation area in a plurality of detection areas that follow one another in the scanning direction;
  • Receiving 1004 a received laser beam generated by reflection and / or scattering of the transmitted laser beam on the object in the observation area on a detection surface with a line or matrix-shaped sub-detector arrangement made up of several sub-detectors arranged next to one another in a first direction of extent, with a detection area currently detected by the transmitted laser beam on the detection surface in the form of a Image point is imaged; Selection 1005 of an angular range of the observation area; Grouping 1006 of sub-detectors for at least one first individual laser pulse, which illuminates a first detection area, to form a first macro-pixel, and grouping 1007 of sub-detectors for at least one second individual laser pulse, which illuminates at least a second detection area, to form at least one second macro-pixel, where the sub-detectors of the first and of the at least one second macro-pixel each image the selected angular range and are captured by an image point currently depicted on the detection area; and evaluating 1008 the first and the at least one second macro-pixel to

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

Abstract

Système lidar à impulsions multiples (100) permettant de capturer au moins un objet (400) comprenant : un dispositif émetteur (110) avec au moins une source laser (111) ; un dispositif récepteur (140) avec une zone de détection (141) comprenant un agencement de sous-détecteur en forme de ligne ou de matrice (143) pour recevoir un faisceau laser de transmission (210) qui a été réfléchi et/ou diffusé au niveau de l'objet (400) dans une région observée (300), le dispositif récepteur (140) étant conçu pour former une image d'une région de capture (310n), capturée par le faisceau laser de transmission (210), sur la zone de détection (141) sous la forme d'un élément d'image (230n) ; un dispositif de balayage (120) permettant de générer un mouvement de balayage (122) du faisceau laser de transmission (210) et un faisceau laser de réception (220) ; et un dispositif de commande (130) pour déterminer des informations de distance autour des régions de capture (310n) le dispositif de commande (130) étant conçu pour sélectionner une plage angulaire (307) de la région observée (300) et grouper des sous-détecteurs (142i,j) à des fins d'évaluation pour former un premier macro-pixel (160n) pour au moins une première impulsion laser unique, au moyen de laquelle une première région de capture (310n) peut être éclairée ; et pour grouper des sous-détecteurs (142i,j) à des fins d'évaluation pour former au moins un deuxième macro-pixel (160n) pour au moins une seconde impulsion laser unique, au moyen de laquelle au moins une seconde région de capture (310n) peut être éclairée ; la plage angulaire sélectionnée (307) étant apte à être imagée dans chaque cas au moyen des sous-détecteurs (142i,j) du premier macro-pixel et d'au moins un second macro-pixel (160n) et les sous-détecteurs (142i,j) étant chacun capturés par un élément d'image (230n) imagé actuellement sur la zone de détection (141).
EP20772290.1A 2019-10-14 2020-09-16 Système lidar à impulsions multiples et procédé de capture d'un objet dans une région observée Pending EP4045931A1 (fr)

Applications Claiming Priority (2)

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DE102019215751.3A DE102019215751A1 (de) 2019-10-14 2019-10-14 Multipuls-Lidarsystem und Verfahren zur Erfassung eines Objekts in einem Beobachtungsbereich
PCT/EP2020/075815 WO2021073824A1 (fr) 2019-10-14 2020-09-16 Système lidar à impulsions multiples et procédé de capture d'un objet dans une région observée

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JP (1) JP2022551193A (fr)
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US10324171B2 (en) * 2015-12-20 2019-06-18 Apple Inc. Light detection and ranging sensor
DE102016221049A1 (de) * 2016-10-26 2018-04-26 Robert Bosch Gmbh Vorrichtung und Verfahren zum Empfangen eines reflektierten Lichtpulses in einem Lidar-System
CN110268283B (zh) * 2016-11-16 2023-09-01 应诺维思科技有限公司 激光雷达系统和方法
WO2019064062A1 (fr) * 2017-09-26 2019-04-04 Innoviz Technologies Ltd. Systèmes et procédés de détection et localisation par la lumière
DE102017223102A1 (de) * 2017-12-18 2019-06-19 Robert Bosch Gmbh Multipuls-Lidarsystem zur mehrdimensionalen Erfassung von Objekten

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