EP4172650A1 - Capteur lidar, en particulier capteur lidar à flash vertical - Google Patents

Capteur lidar, en particulier capteur lidar à flash vertical

Info

Publication number
EP4172650A1
EP4172650A1 EP21735214.5A EP21735214A EP4172650A1 EP 4172650 A1 EP4172650 A1 EP 4172650A1 EP 21735214 A EP21735214 A EP 21735214A EP 4172650 A1 EP4172650 A1 EP 4172650A1
Authority
EP
European Patent Office
Prior art keywords
lidar sensor
evaluated
macropixel
laser signal
array
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
EP21735214.5A
Other languages
German (de)
English (en)
Inventor
Karl Christoph Goedel
Johannes Richter
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 EP4172650A1 publication Critical patent/EP4172650A1/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
    • 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
    • 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
    • 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
    • G01S17/02—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
    • G01S17/88—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
    • 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
    • G01S7/4868—Controlling received signal intensity or exposure of sensor
    • 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
    • G01S7/491—Details of non-pulse systems
    • G01S7/4912—Receivers
    • G01S7/4913—Circuits for detection, sampling, integration or read-out
    • G01S7/4914—Circuits for detection, sampling, integration or read-out of detector arrays, e.g. charge-transfer gates

Definitions

  • LiDAR sensor especially vertical flash LiDAR sensor
  • the present invention relates to a LiDAR sensor, in particular a vertical flash LiDAR sensor, with a laser source that is configured to emit a laser signal in a transmission path, and with a pixel detector that has at least one macro-pixel array that is configured to do so is to detect a reflected laser signal in a receiving path.
  • LiDAR sensors These are optical sensors that use a laser source to send a laser signal into a receiving path. The emitted laser signal is reflected on the objects in the vicinity of the LiDAR sensor and back into the LiDAR sensor. There the reflected laser signal is typically detected in a pixel detector. This creates a 3D point cloud of the environment.
  • the LiDAR sensor can be designed as a vertical flash macro scanner.
  • This type of LiDAR sensor generates a horizontal deflection of the emitted laser signal by a rotating scanner (for example a rotating mirror or a rotating transmitter and receiver module) and a vertical deflection by emitting a vertically divergent laser signal.
  • This vertically emitted laser signal is mapped onto the pixel detector in the reception path.
  • This pixel detector may have at least one micropixel array.
  • the micropixel array can be implemented, for example, by means of a plurality of diodes. These micropixel arrays are typically combined and jointly evaluated to improve statistics.
  • the pixel detector can thus have at least one macro-pixel array.
  • binary pixel detectors such as single photon avalanche diodes (SPAD)
  • a LiDAR sensor in which the pixel detector is set up to evaluate at least two macropixel arrays in each of its measuring points.
  • the LiDAR sensor In a LiDAR sensor, there are often two requirements for the mapping of the environment.
  • the LiDAR sensor should have a long range. This allows objects at great distances to the LiDAR sensor to be detected at an early stage.
  • these two requirements for the LiDAR sensor are typically opposing, so that a compromise has to be found between them.
  • the requirements for the long range of the LiDAR sensor and for the high angular resolution of the LiDAR sensor can be distributed over at least two different macropixel arrays.
  • the two opposing requirements can be met at the same time.
  • Both a long range and a high angular resolution can be achieved.
  • No additional hardware is required in the LiDAR sensor for this, only a corresponding configuration of the macro-pixel arrays.
  • Such a LiDAR sensor can be provided in a correspondingly cost-effective manner. It is also possible for the at least two evaluated macropixel arrays to have a different width.
  • the different widths of the two macropixel arrays evaluated provide two macropixel arrays with different configurations.
  • a “narrow” macro-pixel array can be provided. This narrow macro-pixel array enables a high angular resolution of the LiDAR sensor. The intensity of the reflected laser signal is homogeneously distributed within the macropixel. It is possible to determine the exact location and size of objects in the vicinity of the LiDAR sensor.
  • a “wide” macro-pixel array will be provided. This wide macro-pixel array enables the range of low-reflective objects to be maximized. An early detection of objects at great distances from the LiDAR sensor becomes possible.
  • This different configuration of the at least two evaluated macropixel arrays can also lead to an increase in the dynamic range for signal intensities of the LiDAR sensor.
  • Highly reflective objects can, for example, drive the narrow macropixel array into saturation, since the intensity of the reflected laser signal is too high. Correct intensity measurement is no longer possible. If, however, the same measuring point is also evaluated over the wide macropixel array, the intensity of the laser signal can, under certain circumstances, still be resolved.
  • a first evaluated macropixel array has a width which is matched to a width of the reflected laser signal.
  • the first macro-pixel array evaluated is the narrow macro-pixel array.
  • the scanning step of the LiDAR sensor can therefore correspond exactly to the width of the narrow macro-pixel array. In the case of a vertical flash LiDAR sensor, this can be, for example, the horizontal width of the laser signal.
  • the narrow macro-pixel array then allows a higher horizontal resolution. The angular resolution is increased. The location and size of objects can be precisely determined.
  • the first evaluated macropixel array is set up to detect the reflected laser signal in a plateau of the reflected laser signal.
  • a homogeneous distribution of the intensity of the laser signal over the width of the first evaluated macro-pixel array is also achieved. This means that objects can be detected with the same intensity everywhere in the first macro-pixel array evaluated.
  • a second evaluated macro-pixel array has a width which is greater than the width of the first evaluated macro-pixel array.
  • the second macro-pixel array evaluated corresponds to the wide macro-pixel array.
  • the edges of the intensity of the laser signal that fall laterally from the plateau of the laser signal are also measured here.
  • a homogeneous distribution of the intensity of the laser signal can then no longer be achieved.
  • the sensitivity of the second macropixel array evaluated is increased. The homogeneous distribution is nevertheless ensured by simultaneous evaluation of the first macro-pixel array.
  • the width of the second evaluated macropixel array covers at least 85% of the width of the reflected laser signal.
  • the signal-to-noise ratio of the second evaluated macropixel array can be optimized. In this way, at least 85% of the width of the laser signal is covered. The best possible signal-to-noise ratio is set.
  • the sensitivity of the LiDAR sensor is increased.
  • the LiDAR sensor has a long range.
  • the measurement data of the at least two evaluated macropixel arrays are output in parallel in a point cloud or the measurement data of one of the at least two evaluated macropixel arrays are output according to predetermined conditions.
  • the best signal for the evaluation for each reflected laser signal can be selected depending on the situation.
  • the predetermined conditions for outputting the measurement data from one of the at least two macropixel arrays can be specified by means of an algorithm.
  • FIG. 1a shows a diagram of the intensity of a laser signal as a function of the width of a macropixel array
  • FIG. 1b shows a diagram of the signal-to-noise ratio as a function of the width of the macropixel array
  • FIG. 2 shows a representation of a first evaluated macropixel array and a second evaluated macropixel array as well as a cross section through an associated profile of a laser signal.
  • the present invention relates to a LiDAR sensor, in particular a vertical flash LiDAR sensor, with a laser source which is set up to emit a laser signal in a transmission path, and with a pixel detector which has at least one macro-pixel array 1, 2, which is set up to detect a reflected laser signal in a receiving path, the pixel detector being set up to evaluate at least two macropixel arrays 1, 2 in each of its measuring points.
  • the at least two macro-pixel arrays 1, 2 can be provided by a first evaluated macro-pixel array 1 and a second evaluated macro-pixel array 2.
  • the second evaluated macropixel array 2 has a width 3 which is greater than a width 4 of the first evaluated macropixel array 1.
  • the detection of the reflected laser signal can include the determination of the intensity 5 of the laser signal.
  • a signal-to-noise ratio 6 of the reflected laser signal can also be detected.
  • a diagram 7 is therefore shown in FIG. 1 a, which shows a function 8 of the intensity 5 of the laser signal as a function of the width 3 of the second macropixel array 2 evaluated.
  • the width 3 of the second evaluated macropixel array 2 is specified in units of a width o of the laser signal. This is based on the following assumption as an example. It is assumed that the laser signal has the shape of a "Gaussian bell". This Gaussian bell has the width o. Furthermore, it is assumed that the noise of the background light follows a Poisson distribution and is dominated by it.
  • FIG. 1 b a diagram 9 is shown in FIG. 1 b that indicates a function 10 of the signal-to-noise ratio 6 as a function of the width 3 of the second macropixel array 2 evaluated.
  • the width 3 is again given in units of the width o of the laser signal. It can be seen in this that there is a line 11 which intersects the maximum of the signal-to-noise ratio 6. This line 11 lies at a width 3 of the second evaluated macropixel array 2, which corresponds approximately to 1.4 times the width o of the laser signal. At this maximum, 85% of the laser signal is already covered.
  • the optimum signal-to-noise ratio 6 can be achieved if the width 3 of the second evaluated macropixel array 2 is selected so that 85% of the laser signal is covered. It should be noted, however, that at this point there is no longer a homogeneous intensity 5 of the laser signal within the second evaluated macropixel array 2, since the Gaussian bell has already dropped too much. Nevertheless, a high sensitivity can be achieved for the second evaluated macropixel array 2 thanks to the optimal signal-to-noise ratio 6.
  • the second evaluated macropixel array 2 can achieve a long range of the LiDAR sensor, which ensures an early detection of objects at great distances.
  • the first evaluated macropixel array 1 is shown next to the second evaluated macropixel array 2. It can be seen that the width 3 of the second evaluated macro-pixel array 2 is greater than the width 4 of the first evaluated macro-pixel array 1.
  • the laser profile 13 is shown in a diagram 12 as a function 14 of the position 15 on the macro-pixel array. Array 1, 2 shown. The position 15 is in units of width o des Laser signal shown. The widths 3, 4 of the first evaluated macropixel array 1 and of the second evaluated macropixel array 2 are also shown.
  • the choice of the width 3 of the second evaluated macropixel array 2 was, as already described above, chosen to be 1.4 times the width o of the laser signal. This in turn enables 85% of the laser signal to be covered by means of the second macropixel array 2. The result is an optimal signal-to-noise ratio 6.
  • the sensitivity and the range of the LiDAR sensor are increased. It is possible to detect objects at a great distance at an early stage.
  • the width 4 of the first evaluated macropixel array 1 is selected such that it includes the plateau or the maximum of the function 14. At the same time, a homogeneous distribution of the intensity 5 can thereby also be achieved.
  • the objects to be detected are detected with the same intensity everywhere on the first evaluated macropixel array 1. This results in a high angular resolution of the first macropixel array 1 evaluated. A precise determination of the location and size of objects is possible.
  • a LiDAR sensor can be provided with a long range and a high angular resolution.

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

Abstract

L'invention concerne un capteur lidar, en particulier un capteur lidar à flash vertical, comportant une source laser conçue pour émettre un signal laser dans un trajet d'émission, et un détecteur de pixels comportant au moins un réseau de macropixels (1, 2) conçu pour détecter un signal laser réfléchi dans un trajet de réception. Le détecteur de pixels est conçu pour évaluer au moins deux réseaux de macropixels (1, 2) à chacun de ses points de mesure.
EP21735214.5A 2020-06-30 2021-06-17 Capteur lidar, en particulier capteur lidar à flash vertical Pending EP4172650A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102020208104.2A DE102020208104A1 (de) 2020-06-30 2020-06-30 LiDAR-Sensor, insbesondere Vertical Flash LiDAR-Sensor
PCT/EP2021/066450 WO2022002616A1 (fr) 2020-06-30 2021-06-17 Capteur lidar, en particulier capteur lidar à flash vertical

Publications (1)

Publication Number Publication Date
EP4172650A1 true EP4172650A1 (fr) 2023-05-03

Family

ID=76641664

Family Applications (1)

Application Number Title Priority Date Filing Date
EP21735214.5A Pending EP4172650A1 (fr) 2020-06-30 2021-06-17 Capteur lidar, en particulier capteur lidar à flash vertical

Country Status (5)

Country Link
US (1) US20230152462A1 (fr)
EP (1) EP4172650A1 (fr)
CN (1) CN115735131A (fr)
DE (1) DE102020208104A1 (fr)
WO (1) WO2022002616A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116466328A (zh) * 2023-06-19 2023-07-21 深圳市矽赫科技有限公司 一种Flash智能光学雷达装置及系统

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102016221049A1 (de) * 2016-10-26 2018-04-26 Robert Bosch Gmbh Vorrichtung und Verfahren zum Empfangen eines reflektierten Lichtpulses in einem Lidar-System
DE102018205376A1 (de) * 2018-04-10 2019-10-10 Ibeo Automotive Systems GmbH Verfahren zum Durchführen eines Messvorgangs

Also Published As

Publication number Publication date
CN115735131A (zh) 2023-03-03
WO2022002616A1 (fr) 2022-01-06
US20230152462A1 (en) 2023-05-18
DE102020208104A1 (de) 2021-12-30

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