WO2015189025A1 - Fahrzeug-lidar-system - Google Patents
Fahrzeug-lidar-system Download PDFInfo
- Publication number
- WO2015189025A1 WO2015189025A1 PCT/EP2015/061547 EP2015061547W WO2015189025A1 WO 2015189025 A1 WO2015189025 A1 WO 2015189025A1 EP 2015061547 W EP2015061547 W EP 2015061547W WO 2015189025 A1 WO2015189025 A1 WO 2015189025A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- laser
- lidar system
- cmos
- image sensor
- vehicle lidar
- Prior art date
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
- G01S17/89—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
- G01S17/02—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
- G01S17/93—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
- G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters 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
- G01S7/4816—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
- G01S7/483—Details of pulse systems
- G01S7/486—Receivers
- G01S7/4861—Circuits for detection, sampling, integration or read-out
Definitions
- Vehicle lidar system The invention relates to a vehicle lidar system and to a use of the vehicle
- Optical system known for use in vehicle-based lidar systems.
- the system includes a semiconductor laser array and a suitable lens or other optical system.
- the system is operated in a way to replace lidar laser systems employing mechanically rotated or shifted reflective optics.
- the published patent application DE 10 2011 115 717 A1 shows a hand-held binocular with spectrometer.
- the spectrometer can, for example
- the published patent application DE 10 207 610 A1 shows a method and a
- CMOS silicon detectors in the visible wavelength range or near infrared, or with lower cost indium gallium arsenide (InGaAs) detectors in the wavelength range greater than 900 nm to 1700 nm.
- LIDAR systems operate usually at 905 nm with silicon detectors or at 1, 5 ⁇ also with less expensive InGaAs detectors or germanium detectors. Both sensors are usually stand-alone systems. If necessary, the measurement data are linked together by sensor fusion.
- the object underlying the invention can be seen to provide a vehicle lidar system.
- the object underlying the invention can also be seen to indicate a use of the vehicle lidar system.
- a vehicle lidar system comprising:
- At least one deflectably arranged mirror for deflecting the laser pulses in the direction of objects to be detected
- the receiver comprises a CMOS-compatible image sensor for detecting the reflected laser pulses and for taking an image of a region which can be illuminated by means of the deflected laser pulses.
- the vehicle lidar system is used to detect objects around a vehicle. This means that objects are detected in the environment of a vehicle by means of the vehicle lidar system.
- a transit time measurement of the laser pulses is carried out by means of the vehicle lidar system, so that in an advantageous manner
- Distance measurement to detected objects can be performed.
- a vehicle including the vehicle lidar system is provided.
- the invention therefore includes the concept of providing a receiver (which may also be referred to as a detector) for detecting the laser pulses reflected from the objects, the receiver comprising a CMOS-compatible image sensor (which may also be written without the hyphens:
- CMOS-compatible image sensor which can both detect the reflected laser pulses and record an image of an area which can be illuminated by the deflected laser pulses
- the CMOS-compatible image sensor according to the invention thus has one
- the vehicle lidar system according to the invention is thus smaller and more compact in comparison to the known systems and can therefore be installed in a smaller installation space.
- the CMOS compatible image sensor is a CMOS image sensor.
- the CMOS process can be used without modification and / or modification.
- the basic CMOS process is applicable, but changes in the process
- CMOS image sensor is manufactured using the CMOS process.
- the CMOS compatible image sensor was at least partially fabricated in the CMOS process, thus based on the CMOS manufacturing process, with respect to the CMOS manufacturing process changes and / or innovations in the production of the CMOS compatible
- the CMOS-compatible image sensor comprises a plurality of pixels and wherein an evaluation electronics
- the technical advantage causes one for each pixel
- each pixel signal can be used per se to the
- TOF time of flight
- Image sensor is provided. This has the technical advantage in particular that the illuminable region can be imaged optimally on the CMOS-compatible image sensor, so that the CMOS-compatible image sensor can capture the entire illuminable region and thus detect objects that are located in this illuminable region.
- the optical element is for example a lens or a mirror, for example a
- Parabolic mirror Preferably, a plurality of optical elements are provided, which are formed in particular the same or different.
- the optical element has a transmission of at least 95%, for example> 99%, for a
- the CMOS-compatible image sensor is designed to detect electromagnetic radiation having a wavelength of at least 900 nm, preferably of at least 1000 nm.
- the technical advantage in particular that causes the CMOS Compatible image sensor can also detect laser pulses having a wavelength of at least 900 nm, preferably of at least 1000 nm. In this wavelength range greater than 900 nm, preferably greater than 1000 nm, the sensitivity to damage to the eye for this electromagnetic radiation is usually reduced, so that in the
- CMOS-compatible image sensor is doped and / or surface-modified as sensor material
- Such a silicon is more sensitive to wavelengths greater than 900 nm, in particular greater than 1000 nm, in comparison to undoped or not surface-modified silicon.
- Such silicon is known, for example, as black silicon (black silicon) or as pink silicon (pink silicon).
- sulfur can be provided as dopant.
- the surface modification is for example by means of a
- laser pulses have, for example, a pulse duration of ⁇ 10 ns, for example of ⁇ 1 ns.
- Coating be performed. This means that the silicon is coated.
- the technical effect is caused that thereby an absorption probability for photons is increased, so that a sensitivity of the detector is increased even at longer wavelengths.
- the pulse laser is a solid-state laser with a brilliance of at least 100 kW / (mm 2 sr), which is formed laser pulses with a wavelength of at least 900 nm, preferably at least 1000 nm, and a maximum power per laser pulse of at least 50 W to emit.
- the solid-state laser has a brilliance of at least 1 MW / (mm 2 sr).
- the brilliance of the solid-state laser is preferably between 100 kW / (mm 2 sr) and 1 MW7 (mm 2 sr).
- a higher brilliance advantageously means a higher one
- the brilliance can be referred to in particular as a beam quality.
- the brilliance in optics and in laser technology usually describes the bundling of a beam of electromagnetic radiation, here the laser beam.
- a maximum power per laser pulse is between 50 W and 100 W. Again, higher maximum power means greater range.
- a maximum performance per laser pulse is between 50 W and 100 W. Again, higher maximum power means greater range.
- Laser pulse means that even laser pulses with a lower power can be emitted.
- the maximum possible power per laser pulse is 50 W, 100 W or a value between 50 W or 100 W.
- the laser pulses have a duration of ⁇ 100 ns, preferably of ⁇ 50 ns, in particular of ⁇ 10 ns, for example of ⁇ 1 ns, in particular between 2 ns and 20 ns, preferably between 2 ns and 4 ns, for example 2.2 ns.
- a duration of ⁇ 100 ns preferably of ⁇ 50 ns, in particular of ⁇ 10 ns, for example of ⁇ 1 ns, in particular between 2 ns and 20 ns, preferably between 2 ns and 4 ns, for example 2.2 ns.
- smaller pulse durations provide improved accuracy or resolution in terms of range finding.
- the pulsed laser is electrically and / or optically pumpable or excitable. This means that the solid-state laser is or will be electrically or optically pumped or excited.
- the solid-state laser is designed as a vertical resonator surface-emitting laser.
- a vertical resonator surface emitting laser is commonly referred to as "vertical cavity surface emitting laser”.
- the corresponding abbreviation is: VCSEL.
- a VCSEL shows at most a thermal roll-over. Such a thermal roll-over does not lead to destruction and is advantageously reversible.
- a VCSEL can be manufactured and tested on a wafer level scale so that production costs are scalable, in particular scalable similar to high-power LEDs.
- the laser material becomes hotter, thereby reducing the degree of twisting, which makes it even hotter. From a certain reduction in efficiency, the laser goes out. LED and vertical emitter radiate the power upwards. In the production you can the
- Duty Cycle is the ratio between "in operation, ie on” and “not in operation, that is off”. In one embodiment, a duty cycle of the
- Solid state laser between 1% to 2%. Edge emitters sometimes create only less than 1% or less.
- a solid-state laser in the sense of the present invention comprises in particular a laser-active material which is incorporated in a crystal lattice or another host material. Examples of such solid-state lasers are: Neodymium or Ytterbium-doped yttrium aluminum garnet (Nd: YAG, Yb: YAG). Furthermore, according to other embodiments, the solid state laser also
- the semiconductor laser may be an aluminum gallium arsenide laser. This emits laser radiation having a wavelength of up to 1100 nm.
- a semiconductor laser may comprise an indium or a phosphate-doped laser-active material. Such a semiconductor laser emits laser radiation in the wavelength range of> 1000 nm.
- Processing device is provided, which is designed to determine based on the recorded image at least a certain area in the illuminable region, wherein the pulse laser depends on the determined
- Area is operable and / or wherein the mirror is deflected depending on the determined area in order to illuminate the particular area accordingly.
- This particular area is also referred to as "Region of Interest (ROI)."
- ROI Region of Interest
- LIDAR master determines where (ie which area or which area) is located
- Evaluation device is formed, which is designed to determine a distance to a detected object based on the detected laser pulses. This in particular by means of a transit time measurement of the laser pulses.
- the vehicle lidar system is used to detect or detect objects around the vehicle.
- a transit time measurement of the laser pulses is performed. This means that the pulse laser emits laser pulses. If these laser pulses hit objects, they are reflected by them. This at least partially in the direction of the receiver, which may also be referred to as a detector. Based on transit time measurements of the laser pulses, a distance between the object and the vehicle lidar system can then be determined in a manner known per se.
- the CMOS compatible image sensor is monolithically composed or formed of silicon so that no hybrid must be used, such as in InGaAs TOF systems.
- As sensor material so preferably only silicon is provided, in particular
- Fig. 1 is a vehicle lidar system
- Fig. 2 shows another vehicle lidar system.
- the vehicle lidar system 101 includes a pulse laser 103 for emitting laser pulses. To represent the pulse laser 103, a symbolic symbol is used.
- the pulse laser 103 is, for example, a
- the solid state laser is as a
- the pulse laser 103 emits laser pulses having a wavelength between 1000 nm and
- one wavelength of the laser pulses is 1060 nm ⁇ 4 nm.
- a maximum power per laser pulse is in particular 100 W.
- a pulse duration of a laser pulse is, for example, 2.2 ns.
- the vehicle lidar system 101 further includes a deflectable
- Mirror 105 for deflecting the laser pulses towards objects to be detected.
- the mirror 105 is designed, for example, as a micromechanical mirror. Due to the deflectability of the mirror 105, an illuminable region 107 can be formed by means of the deflected laser pulses. In English, such an illuminable region 107 is also referred to as a "field of view". If objects are within the illuminable area 107, they can be detected by the vehicle lidar system. As an example, here an object with the reference numeral 109 is shown. This is located in the illuminable area 107.
- the deflected laser pulses strike the object 109 and are reflected by it in the direction of a receiver or detector 11 1.
- This receiver or detector 11 1 is designed to detect laser pulses which have been reflected by objects which are located in the illuminable region 107.
- the receiver or detector 11 1 comprises a CMOS compatible
- This CMOS compatible image sensor 113 is configured to detect the reflected laser pulses and to capture an image of the illuminable region 107.
- black silicon 113 is provided as sensor material of the CMOS compatible image sensor 1 11 .
- Black silicon is referred to as black silicon in English and stands for a surface-structured crystalline Silicon.
- doped crystalline silicon can also be used as the sensor material.
- so-called pink silicone, ie pink silicon can be used as the sensor material.
- the CMOS-compatible image sensor 113 comprises a plurality of pixels 1 15.
- the object 109 is therefore imaged pixel by pixel.
- the detected laser pulses are thus detected pixel by pixel.
- the detector 11 1 comprises an evaluation electronics unit 1 17, which is designed to read out signals of the pixels 15 of the CMOS-compatible image sensor 113 and to determine a distance to a detected object based on the signals read out, here to the object 109. The determination is based in particular on a transit time measurement of the laser pulses.
- ASIC application specific integrated circuit
- This application-specific integrated circuit 1 19 is used to perform the propagation time measurement of the CMOS-compatible image sensor 1 13 pixel-selectively.
- a lens 121 is provided as an optical element which images the illuminable region 107 onto the pixels 115 of the CMOS-compatible image sensor 13.
- the lens 121 is provided with an antireflection coating at a wavelength corresponding to the laser wavelength ⁇ 20 nm, more preferably ⁇ 10 nm. That is, wavelengths within this range are allowed to pass through. Wavelengths outside this range are blocked. Accordingly, the lens 121 has a highly reflective coating for this wavelength.
- the CMOS compatible image sensor 113 may also capture an image of the illuminable area 107.
- an image of the object 109 can advantageously be recorded as well as a distance to the object 109 can be determined. This by means of a single sensor, here the CMOS compatible image sensor 113.
- the vehicle lidar system 101 is constructed according to another embodiment as follows:
- the system 101 includes a light source for emitting laser pulses, for example, the VCSEL 103 having a laser wavelength between 900 nm and 1300 nm, preferably at 1060 nm ⁇ 4 nm.
- the VCSEL 103 emits
- Laser pulses which preferably have a peak power of 100 W with a pulse length between 2 ns and 20 ns, preferably 2 ns to 4 ns.
- the laser radiation of the VCSEL 103 with a brilliance of greater than 100 kW / (mm 2 sr) is propagated to a MEMS optical mirror 105 at a pulse repetition rate of preferably 100 kHz.
- (Microelectromechanical system) mirror 105 has a diameter between 1 mm and 8 mm, preferably between 3 mm and 5 mm, and is provided with a highly reflective layer for the laser wavelength.
- the movement of the MEMS mirror 105 spans the field of view (FOV) (illuminable region 107), preferably at 40 ° x 80 °. If the laser radiation (ie the laser pulses) is reflected by an object, in this case the object 109, this reflected laser radiation is transmitted through the lens 121 to the detector 11 comprising the CMOS-compatible image sensor 113
- the lens 121 is preferably provided with an anti-reflection coating at the laser wavelength ⁇ 10nm to ⁇ 20nm.
- the lens 121 is for the remaining wavelength range
- the black silicon detector 11 1 additionally has the possibility of performing a Time of Flight (TOF) measurement (runtime measurement) for each pixel 115 and groups of pixels 115 in order to measure the distance from the object 109. In addition to the TOF measurement, the detector 11 1 can also capture an image of the entire FOV 107
- the detector 1 11 is monolithically composed of silicon, so that no hybrid must be used (as in InGaAs TOF systems).
- FIG. 2 shows another vehicle lidar system 201.
- the vehicle lidar system 201 is constructed essentially analogously to the vehicle lidar system 101 according to FIG. 1. On the corresponding
- the lens is what the illuminable region 107 images on the pixels 1 15, not coated as the lens 121, but broadband anti-reflective.
- This lens 121 is identified by the reference numeral 203.
- FIG. 2 additionally shows, for comparison, the vehicle lidar system 101 with the coated lens 121.
- a receiver or detector 205 is for
- the receiver 205 comprises analog to the receiver or detector
- the lens 203 is anti-reflective to the visible
- Wavelength range (ie 380 nm to 780 nm) is coated, not only the wavelengths are transmitted around the laser wavelength, but also wavelengths in the range of visible light (ie 380 nm to 780 nm).
- the wavelengths are transmitted around the laser wavelength, but also wavelengths in the range of visible light (ie 380 nm to 780 nm).
- Wavelength less than 1 ⁇ or greater than 1 ⁇ to 1, 5 ⁇ Wavelength less than 1 ⁇ or greater than 1 ⁇ to 1, 5 ⁇ .
- Semiconductor lasers can be low cost passively Q-switched solid state lasers (for example, Er / Yb: YAG or glass with a co-spinel Q-switch).
- solid-state laser the MEMS mirror diameter can be reduced to preferably 1 mm due to the better brilliance compared to semiconductor lasers.
- LIDAR function master: with the LI DAR it is determined where objects in the FOV are to define regions of interest for the camera function, ie for the CMOS-compatible image sensor. This saves a computational burden without neglecting areas in the FOV.
- camera function master: In the case of objects detected in the captured image, the pulsed laser is operated and / or the mirror is deflected in such a way that the interesting areas (ROI) are supplemented by an angle and distance detection of the LIDAR.
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Measurement Of Optical Distance (AREA)
- Lasers (AREA)
Abstract
Description
Claims
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020177000688A KR102481680B1 (ko) | 2014-06-11 | 2015-05-26 | 차량 라이더 시스템 |
US15/310,938 US20170090032A1 (en) | 2014-06-11 | 2015-05-26 | Vehicle lidar system |
EP15725007.7A EP3155450A1 (de) | 2014-06-11 | 2015-05-26 | Fahrzeug-lidar-system |
JP2016572399A JP2017524911A (ja) | 2014-06-11 | 2015-05-26 | 車両ライダシステム |
CN201580031479.8A CN106461782A (zh) | 2014-06-11 | 2015-05-26 | 车辆激光雷达系统 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102014211071.8 | 2014-06-11 | ||
DE102014211071.8A DE102014211071A1 (de) | 2014-06-11 | 2014-06-11 | Fahrzeug-Lidar-System |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2015189025A1 true WO2015189025A1 (de) | 2015-12-17 |
Family
ID=53268802
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP2015/061547 WO2015189025A1 (de) | 2014-06-11 | 2015-05-26 | Fahrzeug-lidar-system |
Country Status (7)
Country | Link |
---|---|
US (1) | US20170090032A1 (de) |
EP (1) | EP3155450A1 (de) |
JP (1) | JP2017524911A (de) |
KR (1) | KR102481680B1 (de) |
CN (1) | CN106461782A (de) |
DE (1) | DE102014211071A1 (de) |
WO (1) | WO2015189025A1 (de) |
Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110121659A (zh) * | 2016-12-30 | 2019-08-13 | 齐诺马蒂赛股份有限公司 | 用于对车辆的周围环境进行特征描述的系统 |
WO2019162004A1 (de) * | 2018-02-26 | 2019-08-29 | Robert Bosch Gmbh | Senderoptik für ein abtastendes lidar-system, lidar-system und arbeitsvorrichtung |
WO2019219970A1 (de) | 2018-05-18 | 2019-11-21 | Jenoptik Optical Systems Gmbh | Objektiv, dessen verwendung zur laufzeitdetektion und messsystem |
US10754034B1 (en) | 2015-09-30 | 2020-08-25 | Near Earth Autonomy, Inc. | Apparatus for redirecting field of view of lidar scanner, and lidar scanner including same |
CN111742238A (zh) * | 2018-01-05 | 2020-10-02 | 通快光电器件有限公司 | 具有滤光器的激光器布置结构 |
WO2021094318A1 (de) | 2019-11-15 | 2021-05-20 | Jenoptik Optical Systems Gmbh | Objektiv, verwendung eines objektivs und messsystem |
WO2021094314A1 (de) | 2019-11-15 | 2021-05-20 | Jenoptik Optical Systems Gmbh | Objektiv, verwendung eines objektivs und messsystem |
WO2021233737A1 (de) | 2020-05-19 | 2021-11-25 | Jenoptik Optical Systems Gmbh | Objektiv, verwendung eines objektivs, messsystem mit einem objektiv sowie verwendung einer biasphärischen kunststofflinse in einem objektiv |
Families Citing this family (32)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9880267B2 (en) | 2015-09-04 | 2018-01-30 | Microvision, Inc. | Hybrid data acquisition in scanned beam display |
US10503265B2 (en) | 2015-09-08 | 2019-12-10 | Microvision, Inc. | Mixed-mode depth detection |
JP2017135493A (ja) * | 2016-01-26 | 2017-08-03 | 池上通信機株式会社 | 屋外監視用撮影装置 |
US9766060B1 (en) | 2016-08-12 | 2017-09-19 | Microvision, Inc. | Devices and methods for adjustable resolution depth mapping |
US10145680B2 (en) | 2016-08-12 | 2018-12-04 | Microvision, Inc. | Devices and methods for providing depth mapping with scanning laser image projection |
DE102016122194A1 (de) * | 2016-11-18 | 2018-05-24 | Valeo Schalter Und Sensoren Gmbh | Verfahren zum Betreiben eines optoelektronischen Sensors eines Kraftfahrzeugs mit variabler Ansteuerung einer Lichtquelle, optoelektronischer Sensor, Fahrerassistenzsystem sowie Kraftfahrzeug |
DE102016014593A1 (de) | 2016-12-08 | 2017-07-06 | Daimler Ag | Optische Detektoreinrichtung |
US10200683B2 (en) | 2016-12-21 | 2019-02-05 | Microvision, Inc. | Devices and methods for providing foveated scanning laser image projection with depth mapping |
DE102017206026A1 (de) * | 2017-04-07 | 2018-10-11 | Robert Bosch Gmbh | LIDAR-Vorrichtung und Verfahren zum Abtasten eines Abtastwinkels und zum Auswerten eines Detektors |
US11163042B2 (en) | 2017-06-06 | 2021-11-02 | Microvision, Inc. | Scanned beam display with multiple detector rangefinding |
DE102017209748B4 (de) * | 2017-06-09 | 2020-06-04 | Robert Bosch Gmbh | Verfahren zur Bereitstellung eines Detektionssignals für zu detektierende Objekte |
DE102017211490A1 (de) * | 2017-07-06 | 2019-01-10 | Robert Bosch Gmbh | Drehwinkelsensoranordnung, LiDAR-System, Arbeitsvorrichtung und Betriebsverfahren für ein LiDAR-System |
DE102017211491A1 (de) * | 2017-07-06 | 2019-01-10 | Robert Bosch Gmbh | Drehwinkelsensoranordnung, LiDAR-System, Arbeitsvorrichtung und Betriebsverfahren für ein LiDar-System |
DE102017211493A1 (de) | 2017-07-06 | 2019-01-10 | Robert Bosch Gmbh | Drehwinkelsensoranordnung, LiDAR-System und Arbeitsvorrichtung |
DE102017211817A1 (de) * | 2017-07-11 | 2019-01-17 | Robert Bosch Gmbh | LIDAR-Vorrichtung zum situationsabhängigen Abtasten von Raumwinkeln |
DE102017213480A1 (de) * | 2017-08-03 | 2019-02-07 | Continental Automotive Gmbh | Sensor-Chip für ein Kraftfahrzeug |
US10447973B2 (en) | 2017-08-08 | 2019-10-15 | Waymo Llc | Rotating LIDAR with co-aligned imager |
US10523880B2 (en) | 2017-09-28 | 2019-12-31 | Waymo Llc | Synchronized spinning LIDAR and rolling shutter camera system |
US11341771B2 (en) * | 2017-10-18 | 2022-05-24 | Sony Semiconductor Solutions Corporation | Object identification electronic device |
DE102017223102A1 (de) | 2017-12-18 | 2019-06-19 | Robert Bosch Gmbh | Multipuls-Lidarsystem zur mehrdimensionalen Erfassung von Objekten |
DE102017223658A1 (de) * | 2017-12-22 | 2019-06-27 | Robert Bosch Gmbh | LIDAR-Vorrichtung (100) zur Erfassung eines Objekts |
DE102018209020A1 (de) * | 2018-06-07 | 2019-12-12 | Robert Bosch Gmbh | Vorrichtung, ausgebildet zur Erkennung einer Verschmutzung wenigstens eines Sendefensters und/oder eines Empfangsfensters eines Sensors |
DE102018113849B4 (de) | 2018-06-11 | 2023-04-20 | Sick Ag | Optoelektronischer Sensor und Verfahren zu Erfassung von Objekten |
WO2020102196A1 (en) | 2018-11-13 | 2020-05-22 | Nuro, Inc. | Lidar for vehicle blind spot detection |
US11754682B2 (en) | 2019-05-30 | 2023-09-12 | Microvision, Inc. | LIDAR system with spatial beam combining |
US11828881B2 (en) | 2019-05-30 | 2023-11-28 | Microvision, Inc. | Steered LIDAR system with arrayed receiver |
US11796643B2 (en) | 2019-05-30 | 2023-10-24 | Microvision, Inc. | Adaptive LIDAR scanning methods |
US11480660B2 (en) | 2019-07-09 | 2022-10-25 | Microvision, Inc. | Arrayed MEMS mirrors for large aperture applications |
US11579256B2 (en) | 2019-07-11 | 2023-02-14 | Microvision, Inc. | Variable phase scanning lidar system |
CN113056682B (zh) * | 2019-10-24 | 2022-04-29 | 趣眼有限公司 | 光子系统及方法 |
CN112701558A (zh) * | 2020-11-06 | 2021-04-23 | 福建海创光电有限公司 | 低成本高性能微型化的1.5μm被动调Q脉冲激光器 |
JP2023133816A (ja) * | 2022-03-14 | 2023-09-27 | ソニーセミコンダクタソリューションズ株式会社 | 測距装置 |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5581094A (en) * | 1993-11-18 | 1996-12-03 | Mitsubishi Denki Kabushiki Kaisha | Photodetector, a photodector array comprising photodetectors, an object detector comprising the photodetecter array and an object detecting procedure |
EP1221582A2 (de) * | 2001-01-05 | 2002-07-10 | Leuze electronic GmbH + Co. | Optoelektronische Vorrichtung |
WO2002082201A1 (en) * | 2001-04-04 | 2002-10-17 | Instro Precision Limited | Image analysis apparatus |
DE102012211222A1 (de) * | 2011-07-05 | 2013-01-10 | Denso Corporation | Zielinformationsmessvorrichtung mit hoher möglicher Genauigkeit gemessener Informationen |
Family Cites Families (19)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH04240770A (ja) * | 1991-01-24 | 1992-08-28 | Sharp Corp | 固体撮像装置 |
CN2195807Y (zh) * | 1994-06-01 | 1995-04-26 | 常州市红豆技术开发公司 | 复合式纯铜蒸汽激光泵浦染料激光装置 |
KR20000072223A (ko) * | 2000-08-18 | 2000-12-05 | 이훈영 | 발광부 및 수광부를 하나의 경통에 구비한 거리 측정기 |
EP1356664A4 (de) * | 2000-12-11 | 2009-07-22 | Canesta Inc | Cmos-kompatible dreidimensionale bilderfassung durch quanteneffizienzmodulation |
DE10207610A1 (de) | 2002-02-22 | 2003-09-25 | Rudolf Schwarte | Verfahren und Vorrichtung zur Erfassung und Verarbeitung elektrischer und optischer Signale |
JP2004200319A (ja) * | 2002-12-17 | 2004-07-15 | Fuji Film Microdevices Co Ltd | 固体撮像素子およびその製造方法 |
US7196314B2 (en) * | 2004-11-09 | 2007-03-27 | Omnivision Technologies, Inc. | Image sensor and pixel having an anti-reflective coating over the photodiode |
JP2006186118A (ja) * | 2004-12-28 | 2006-07-13 | Sony Corp | 固体撮像素子、固体撮像素子の製造方法および撮像装置 |
US7544945B2 (en) | 2006-02-06 | 2009-06-09 | Avago Technologies General Ip (Singapore) Pte. Ltd. | Vertical cavity surface emitting laser (VCSEL) array laser scanner |
US8803978B2 (en) * | 2006-05-23 | 2014-08-12 | Microsoft Corporation | Computer vision-based object tracking system |
JP5569153B2 (ja) * | 2009-09-02 | 2014-08-13 | ソニー株式会社 | 固体撮像装置およびその製造方法 |
KR102234065B1 (ko) * | 2009-09-17 | 2021-03-31 | 사이오닉스, 엘엘씨 | 감광성 이미징 장치 및 이와 관련된 방법 |
JP2011089874A (ja) * | 2009-10-22 | 2011-05-06 | Toyota Central R&D Labs Inc | 距離画像データ取得装置 |
US20110102763A1 (en) * | 2009-10-30 | 2011-05-05 | Microvision, Inc. | Three Dimensional Imaging Device, System and Method |
JP2013096742A (ja) * | 2011-10-28 | 2013-05-20 | Denso Corp | レーダ装置 |
DE102011115717A1 (de) | 2011-10-12 | 2013-04-18 | Carl Zeiss Sports Optics Gmbh | Handgehaltenes Fernglas mit Spektrometer |
JP2015522937A (ja) * | 2012-06-01 | 2015-08-06 | エーエスエムエル ネザーランズ ビー.ブイ. | 複数の放射ビームの特性を修正するアセンブリ、リソグラフィ装置、複数の放射ビームの特性を修正する方法およびデバイス製造方法 |
WO2014016994A1 (ja) * | 2012-07-26 | 2014-01-30 | 日本電気株式会社 | インターフェース装置、プログラム、及び制御方法 |
WO2014043461A1 (en) * | 2012-09-14 | 2014-03-20 | Faro Technologies, Inc. | Laser scanner with dynamical adjustment of angular scan velocity |
-
2014
- 2014-06-11 DE DE102014211071.8A patent/DE102014211071A1/de active Pending
-
2015
- 2015-05-26 KR KR1020177000688A patent/KR102481680B1/ko active IP Right Grant
- 2015-05-26 CN CN201580031479.8A patent/CN106461782A/zh active Pending
- 2015-05-26 US US15/310,938 patent/US20170090032A1/en not_active Abandoned
- 2015-05-26 WO PCT/EP2015/061547 patent/WO2015189025A1/de active Application Filing
- 2015-05-26 JP JP2016572399A patent/JP2017524911A/ja active Pending
- 2015-05-26 EP EP15725007.7A patent/EP3155450A1/de not_active Withdrawn
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5581094A (en) * | 1993-11-18 | 1996-12-03 | Mitsubishi Denki Kabushiki Kaisha | Photodetector, a photodector array comprising photodetectors, an object detector comprising the photodetecter array and an object detecting procedure |
EP1221582A2 (de) * | 2001-01-05 | 2002-07-10 | Leuze electronic GmbH + Co. | Optoelektronische Vorrichtung |
WO2002082201A1 (en) * | 2001-04-04 | 2002-10-17 | Instro Precision Limited | Image analysis apparatus |
DE102012211222A1 (de) * | 2011-07-05 | 2013-01-10 | Denso Corporation | Zielinformationsmessvorrichtung mit hoher möglicher Genauigkeit gemessener Informationen |
Non-Patent Citations (2)
Title |
---|
"Narrow Divergence VCSEL Array (60W) Part # NDVA-08-60-W0975 Optical & Electrical Characteristics", 1 January 2009 (2009-01-01), XP055208039, Retrieved from the Internet <URL:http://www.princetonoptronics.com/pdfs/NDVA-08-60-W0975.pdf> [retrieved on 20150817] * |
DAVID STOPPA ET AL: "A CMOS 3-D Imager Based on Single Photon Avalanche Diode", IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS PART I: REGULAR PAPERS, IEEE SERVICE CENTER, NEW YORK, NY, US, vol. 54, no. 1, 1 January 2007 (2007-01-01), pages 4 - 12, XP011155729, ISSN: 1057-7122, DOI: 10.1109/TCSI.2006.888679 * |
Cited By (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10754034B1 (en) | 2015-09-30 | 2020-08-25 | Near Earth Autonomy, Inc. | Apparatus for redirecting field of view of lidar scanner, and lidar scanner including same |
CN110121659A (zh) * | 2016-12-30 | 2019-08-13 | 齐诺马蒂赛股份有限公司 | 用于对车辆的周围环境进行特征描述的系统 |
CN111742238A (zh) * | 2018-01-05 | 2020-10-02 | 通快光电器件有限公司 | 具有滤光器的激光器布置结构 |
WO2019162004A1 (de) * | 2018-02-26 | 2019-08-29 | Robert Bosch Gmbh | Senderoptik für ein abtastendes lidar-system, lidar-system und arbeitsvorrichtung |
WO2019219970A1 (de) | 2018-05-18 | 2019-11-21 | Jenoptik Optical Systems Gmbh | Objektiv, dessen verwendung zur laufzeitdetektion und messsystem |
WO2021094318A1 (de) | 2019-11-15 | 2021-05-20 | Jenoptik Optical Systems Gmbh | Objektiv, verwendung eines objektivs und messsystem |
WO2021094314A1 (de) | 2019-11-15 | 2021-05-20 | Jenoptik Optical Systems Gmbh | Objektiv, verwendung eines objektivs und messsystem |
WO2021233737A1 (de) | 2020-05-19 | 2021-11-25 | Jenoptik Optical Systems Gmbh | Objektiv, verwendung eines objektivs, messsystem mit einem objektiv sowie verwendung einer biasphärischen kunststofflinse in einem objektiv |
US11789233B2 (en) | 2020-05-19 | 2023-10-17 | Jenoptik Optical Systems Gmbh | Objective, use of an objective, measurement system comprising an objective and use of a bi-aspherical plastic lens in an objective |
Also Published As
Publication number | Publication date |
---|---|
DE102014211071A1 (de) | 2015-12-17 |
EP3155450A1 (de) | 2017-04-19 |
KR102481680B1 (ko) | 2022-12-28 |
JP2017524911A (ja) | 2017-08-31 |
KR20170010062A (ko) | 2017-01-25 |
US20170090032A1 (en) | 2017-03-30 |
CN106461782A (zh) | 2017-02-22 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
EP3155450A1 (de) | Fahrzeug-lidar-system | |
WO2015189024A1 (de) | Fahrzeug-lidar-system | |
EP2910969B1 (de) | Optoelektronischer Sensor und Verfahren zur Objekterfassung in einem Überwachungsbereich | |
EP3415950B1 (de) | Distanzmesser mit spad-anordnung und range walk kompensation | |
EP3279685B2 (de) | Optoelektronischer sensor und verfahren zur erfassung eines objekts | |
EP3450915B1 (de) | Totalstation oder theodolit mit scanfunktionalität und einstellbaren empfangsbereichen des empfängers | |
EP2686700B1 (de) | Messvorrichtung zur messung einer entfernung zwischen der messvorrichtung und einem zielobjekt mit hilfe optischer messstrahlung | |
EP2486370B1 (de) | Optisches entfernungsmessgerät mit kalibrierungseinrichtung | |
EP2708914A1 (de) | Optoelektronischer Sensor und Verfahren zur Erfassung einer Tiefenkarte | |
DE102016011299A1 (de) | Codierte Laserlicht-Pulssequenzen für LIDAR | |
EP3438699A1 (de) | Distanzmesser mit spad-anordnung zur berücksichtigung von mehrfachzielen | |
EP2708913A1 (de) | Optoelektronischer Sensor und Verfahren zur Objekterfassung | |
DE102018129246B4 (de) | Interferenzdetektierung und -minderung für lidarsysteme | |
DE102017002235A1 (de) | LIDAR-System mit flexiblen Scanparametern | |
DE212017000247U1 (de) | LiDAR-Vorrichtung | |
DE212017000248U1 (de) | LiDAR-Vorrichtung | |
DE102018108340A1 (de) | Optoelektronischer Sensor und Verfahren zur Erfassung und Abstandsbestimmung von Objekten | |
DE202013105389U1 (de) | Optoelektronischer Sensor mit im Geiger-Modus betriebenen Lawinenphotodiodenelementen | |
DE202014100836U1 (de) | Optoelektronischer Sensor zur Objekterfassung in einem Überwachungsbereich | |
DE102018220932A1 (de) | Verfahren zum Bestimmen des Abstands und Rückstrahlvermögens einer Objektoberfläche | |
EP2909650B1 (de) | Optoelektronische detektionseinrichtung mit reduzierter energieaufnahme, kraftfahrzeug und entsprechendes verfahren | |
DE102018214447A1 (de) | Objektdetektionsvorrichtung | |
DE102015100910A1 (de) | Vorrichtung und Verfahren zum Erfassen von Objekten für ein Kraftfahrzeug | |
DE102017213729B4 (de) | Verfahren und Vorrichtung zur Bereitstellung eines Detektionssignals für zu detektierende Objekte | |
DE102019100929A1 (de) | Langstreckendetektor für LIDAR |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 15725007 Country of ref document: EP Kind code of ref document: A1 |
|
REEP | Request for entry into the european phase |
Ref document number: 2015725007 Country of ref document: EP |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2015725007 Country of ref document: EP |
|
WWE | Wipo information: entry into national phase |
Ref document number: 15310938 Country of ref document: US |
|
ENP | Entry into the national phase |
Ref document number: 2016572399 Country of ref document: JP Kind code of ref document: A |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
ENP | Entry into the national phase |
Ref document number: 20177000688 Country of ref document: KR Kind code of ref document: A |