JP2023534817A - 光センサアレイの汚れを検出する方法 - Google Patents
光センサアレイの汚れを検出する方法 Download PDFInfo
- Publication number
- JP2023534817A JP2023534817A JP2023504045A JP2023504045A JP2023534817A JP 2023534817 A JP2023534817 A JP 2023534817A JP 2023504045 A JP2023504045 A JP 2023504045A JP 2023504045 A JP2023504045 A JP 2023504045A JP 2023534817 A JP2023534817 A JP 2023534817A
- Authority
- JP
- Japan
- Prior art keywords
- crosstalk
- objects
- sensor array
- dimensions
- degree
- 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.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 28
- 238000011109 contamination Methods 0.000 title claims abstract description 17
- 230000003287 optical effect Effects 0.000 title claims abstract description 12
- 238000005259 measurement Methods 0.000 claims description 7
- 238000012360 testing method Methods 0.000 claims description 3
- 238000001514 detection method Methods 0.000 description 15
- 238000003491 array Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 239000007787 solid Substances 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 2
- 238000000149 argon plasma sintering Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000002310 reflectometry Methods 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Images
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
- G01S7/497—Means for monitoring or calibrating
-
- 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
- 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
- G01S7/4802—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
-
- 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
- G01S2007/4975—Means for monitoring or calibrating of sensor obstruction by, e.g. dirt- or ice-coating, e.g. by reflection measurement on front-screen
Landscapes
- 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
Description
B 画像
E 検出領域
L1 光信号
L2 光信号
O1~On 物体
Y 線
Claims (10)
- 光センサアレイ(1)の信号経路内の汚れを検出する方法であって、
前記センサアレイ(1)内の複数の光検出素子を使用して物体(O1~On)に反射された光信号(LS2)を検出することによって前記物体(O1~On)を検出することと、
各物体(O1~On)をその種類によって分類し、分類する際に所定の反射率を有する物体クラスに前記物体(O1~On)を割り当てることと、
前記物体(O1~On)までの距離を特定することと、
検出された前記光信号(L2)における複数の光検出素子へのクロストークを特定することと、
分類中に特定された前記所定の反射率、前記距離、及び前記クロストークの大きさに基づいて汚れの程度を特定することと
を特徴とする方法。 - 少なくとも1つのルックアップテーブルを用いて前記汚れの程度を特定することを特徴とする、請求項1に記載の方法。
- 前記センサアレイ(1)によって得られた少なくとも1つの基準測定値に基づいて前記少なくとも1つのルックアップテーブルを生成することを特徴とする、請求項2に記載の方法。
- 典型的なクロストーク構造について前記センサアレイ(1)によって検出された画像(B)をテストすることによってクロストークを特定することを特徴とする、請求項1から3のいずれか一項に記載の方法。
- 前記構造として直線構造を使用することと、
前記直線構造がぼやけている場合にクロストークがあると特定することと
を特徴とする、請求項4に記載の方法。 - ぼやけの程度が増大するにつれて、より高い程度のクロストークが特定されることを特徴とする、請求項5に記載の方法。
- 検出された前記物体(O1~On)の寸法をそのような物体(O1~On)の予想寸法と比較し、
検出された前記物体(O1~On)の寸法の前記予想寸法からの正の偏差が増加することでクロストークの程度の増加を特定する
ようにクロストークを特定することを特徴とする、請求項1から6のいずれか一項に記載の方法。 - 前記センサアレイ(1)によって得られた少なくとも1つの基準測定値に基づいて前記物体(O1~On)に対応する物体クラスに対して特定された寸法から前記予想寸法を特定することを特徴とする、請求項7に記載の方法。
- 前記物体(O1~On)に対応する物体クラスから前記予想寸法が導き出され、前記物体クラスに属する物体(O1~On)が標準化された寸法を有することを特徴とする、請求項7又は8に記載の方法。
- 車両及び/又はロボットにおいて自動運転、特に完全自動運転、又は自律動作を行うための請求項1から9のいずれか一項に記載の方法の使用。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102020119116.2A DE102020119116B3 (de) | 2020-07-21 | 2020-07-21 | Verfahren zur Detektion von Verunreinigungen einer optischen Sensoranordnung |
DE102020119116.2 | 2020-07-21 | ||
PCT/EP2021/066095 WO2022017689A1 (de) | 2020-07-21 | 2021-06-15 | Verfahren zur detektion von verunreinigungen einer optischen sensoranordnung |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2023534817A true JP2023534817A (ja) | 2023-08-14 |
JP7518279B2 JP7518279B2 (ja) | 2024-07-17 |
Family
ID=76553767
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2023504045A Active JP7518279B2 (ja) | 2020-07-21 | 2021-06-15 | 光センサアレイの汚れを検出する方法 |
Country Status (6)
Country | Link |
---|---|
US (1) | US20230288545A1 (ja) |
JP (1) | JP7518279B2 (ja) |
KR (1) | KR20230038577A (ja) |
CN (1) | CN116057416A (ja) |
DE (1) | DE102020119116B3 (ja) |
WO (1) | WO2022017689A1 (ja) |
Family Cites Families (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102005003970A1 (de) | 2005-01-27 | 2006-08-03 | Daimlerchrysler Ag | Verfahren zur Bestimmung der Funktionsfähigkeit einer Sensoranordnung und Sensoranordnung |
JP5022609B2 (ja) | 2006-02-27 | 2012-09-12 | 日立オートモティブシステムズ株式会社 | 撮像環境認識装置 |
DE102007032999A1 (de) * | 2007-07-16 | 2009-01-22 | Robert Bosch Gmbh | Verfahren und Vorrichtung zur Zustandserkennung eines an einem Kraftfahrzeug angeordneten Abstandssensors |
JP2009192499A (ja) | 2008-02-18 | 2009-08-27 | Stanley Electric Co Ltd | 距離画像生成装置 |
DE102009016563A1 (de) * | 2009-04-06 | 2009-11-19 | Daimler Ag | Verfahren und Vorrichtung zur Hinderniserkennung in einem Bodenbereich |
DE102015107132A1 (de) * | 2015-05-07 | 2016-11-10 | A.Tron3D Gmbh | Methode zum Erkennen von Verschmutzungen |
EP3688492B1 (en) * | 2017-09-26 | 2023-12-20 | Innoviz Technologies Ltd. | Lidar systems and methods |
JP6813541B2 (ja) | 2018-07-26 | 2021-01-13 | ファナック株式会社 | 光学系異常を検出する測距装置 |
US10867201B2 (en) | 2019-01-15 | 2020-12-15 | Waymo Llc | Detecting sensor occlusion with compressed image data |
DE102020103794B4 (de) | 2020-02-13 | 2021-10-21 | Daimler Ag | Verfahren zur Kalibrierung eines Lidarsensors |
DE102020201837A1 (de) | 2020-02-14 | 2021-08-19 | Robert Bosch Gesellschaft mit beschränkter Haftung | LiDAR-Anordnung, LiDAR-System, Fahrzeug und Verfahren |
-
2020
- 2020-07-21 DE DE102020119116.2A patent/DE102020119116B3/de active Active
-
2021
- 2021-06-15 JP JP2023504045A patent/JP7518279B2/ja active Active
- 2021-06-15 WO PCT/EP2021/066095 patent/WO2022017689A1/de active Application Filing
- 2021-06-15 CN CN202180061523.5A patent/CN116057416A/zh active Pending
- 2021-06-15 US US18/006,157 patent/US20230288545A1/en active Pending
- 2021-06-15 KR KR1020237005757A patent/KR20230038577A/ko unknown
Also Published As
Publication number | Publication date |
---|---|
DE102020119116B3 (de) | 2021-12-16 |
CN116057416A (zh) | 2023-05-02 |
US20230288545A1 (en) | 2023-09-14 |
JP7518279B2 (ja) | 2024-07-17 |
KR20230038577A (ko) | 2023-03-20 |
WO2022017689A1 (de) | 2022-01-27 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US6596978B2 (en) | Stereo imaging rain sensor | |
US9025071B2 (en) | Method for contamination detection in a TOF range camera | |
US20020097404A1 (en) | Distance determination | |
US20230194665A1 (en) | Method for ascertaining an optical crosstalk of a lidar sensor and lidar sensor | |
JP3596339B2 (ja) | 車間距離計測装置 | |
US7274386B2 (en) | Method for determining visibility | |
KR20050099623A (ko) | 차량의 내부 또는 외부 장면의 3차원 검출용 차량 장치 | |
US11525917B2 (en) | Distance measuring apparatus which detects optical system abnormality | |
CN101296326A (zh) | 特别是用于车辆的夜视系统和建立夜视图像的方法 | |
US20220137218A1 (en) | Detecting Retroreflectors in NIR Images to Control LIDAR Scan | |
CN112393681A (zh) | 提供三维成像的图像数据中的强度峰值位置的方法和设备 | |
US20090115993A1 (en) | Device and Method for Recording Distance Images | |
JP2004271404A (ja) | 車両用障害物検出装置 | |
JP7518279B2 (ja) | 光センサアレイの汚れを検出する方法 | |
JP2022538571A (ja) | 調整装置及びライダー測定装置 | |
US11520045B2 (en) | Method and device for detecting objects, and LIDAR system | |
JP3211732B2 (ja) | 距離測定装置 | |
JPH10105869A (ja) | 車種判別装置 | |
CN115735131A (zh) | 激光雷达传感器,尤其是竖直闪光激光雷达传感器 | |
CN113447940A (zh) | 距离测量数据的检测 | |
KR20220025894A (ko) | 두 개의 라이다 측정 장치를 구비하는 라이다 측정 시스템 | |
US20240134049A1 (en) | Method for recognizing a traffic sign by means of a lidar system | |
US20220179077A1 (en) | Method for supplementary detection of objects by a lidar system | |
JP7338904B2 (ja) | ライダー受信ユニット | |
US20230311770A1 (en) | Vehicular camera focus test system using light collimator in controlled test chamber |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20230309 |
|
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20231213 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20240109 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20240329 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20240611 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20240704 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 7518279 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |