WO2019086601A1

WO2019086601A1 - Lidar device for sensing an object in the environment

Info

Publication number: WO2019086601A1
Application number: PCT/EP2018/079999
Authority: WO
Inventors: Stefanie HARTMANN; Annette Frederiksen
Original assignee: Robert Bosch Gmbh
Priority date: 2017-11-06
Filing date: 2018-11-02
Publication date: 2019-05-09
Also published as: DE102017219611A1

Abstract

The invention relates to a LIDAR device (100) for sensing an object in the environment, comprising at least one transmitter (101) for emitting electromagnetic radiation (102) into the environment; at least one detection optical unit (105) for receiving electromagnetic radiation (104) that was reflected in the environment by the object and for directing the received electromagnetic radiation (104) at a first detector unit (106); and at least one unit (107) for the functional testing of the transmitter (101). The core of the invention is that the unit (107) for the functional testing of the transmitter (101) has at least one diffractive optical element (108, 108-1, 108-2) and at least one second detector unit (109) having at least one detection unit.

Description

description

title

The present invention relates to a LIDAR device for detecting an object

Object in the environment and a method for driving a LIDAR device according to the preamble of independently formulated claims.

State of the art

DE 10 2015 118 258 B3 discloses a laser scanner with a light emitter for emitting a light beam into a surveillance area, a light receiver for generating a reception signal from the light beam reflected from objects in the surveillance area, a rotatable one

Deflection unit for the periodic deflection of the light beam, in the course of

Motion to scan the monitoring area, an internal reference target that reflects the emitted light beam in a first reference rotational position of the high intensity deflection unit and in a second reference rotational position of the low intensity deflection unit within the laser scanner to the light receiver to generate a strong and a weak reference signal, and with an evaluation unit, which is designed to detect objects based on the received signal, as well as to test the functionality of the laser scanner based on the reference signal. Disclosure of the invention

The present invention is based on a LIDAR device for detecting an object in the environment with at least one transmitter for emitting electromagnetic radiation into the environment; at least one

Detection optics for receiving electromagnetic radiation contained in the Reflected from the object, and for directing the received electromagnetic radiation to a first detector unit; and at least one unit for functional testing of the transmitter.

For the function check of the transmitter, the unit has at least one diffractive optical element and at least one second detector unit with at least one detection unit.

The transmitter can be designed as a laser, in particular as a laser diode. The emitted electromagnetic radiation may be laser light. The emitted electromagnetic radiation can be a predetermined

Have wavelength. The transmitter can also comprise at least two lasers, wherein the at least two lasers can emit the electromagnetic radiation in the form of a laser line. The at least two lasers can be driven sequentially.

The detection optics can be designed as an objective in the receive beam path. The detection optics may comprise one or more optical lenses. The first detector unit may have at least one detection unit.

A detection unit of the first detector unit can be designed as a photodiode. A detection unit of the second detector unit can be designed as a photodiode.

The advantage of the invention is that the diffractive optical element occupies little space and is flexible in its arrangement within the LIDAR device. Thus, the space of the LI DAR device can be kept small.

In an advantageous embodiment of the invention, it is provided that the diffractive optical element is designed to divert a predetermined portion of the emitted electromagnetic radiation to the second detector unit. The advantage of this embodiment is that the diffractive optical element is not subject to the limitations of the law of reflection. An optical function of the diffractive optical element, for example an angle around which the incident light is deflected at a predetermined wavelength, can be freely selected during the production of the diffractive optical element. The diffractive optical element can also act in a transmissive or reflective manner on incident light. There is greater freedom in the spatial arrangement of the diffractive optical element within the LI DAR device. It can additional optical functions such as a beam-bundling function cost-effective and space-saving in the

be stored diffractive optical element.

In a further advantageous embodiment of the invention it is provided that the diffractive optical element is designed to the predetermined proportion by means of at least one predetermined deflection angle to the second

To redirect the detector unit. In this case, the at least one predetermined deflection angle depends on the wavelength of the emitted electromagnetic radiation.

The advantage of this embodiment is that electromagnetic

Radiation of different wavelengths at the same or different angles of incidence over different deflection angle to the second

Detector unit can be deflected.

In a further advantageous embodiment of the invention, it is provided that the unit is designed to detect the predetermined portion of the emitted electromagnetic radiation as at least one signal and based on the at least one signal, a property of the at least one of the transmitter emitted electromagnetic radiation, in particular a power, an energy, a pulse length and / or a wavelength to determine.

The advantage of this embodiment is that an efficient

Function check of the transmitter is enabled. The functional check may include a performance check, an energy check, a Pulse length check and / or a wavelength check. An efficient performance review can be enabled. It can be enabled an efficient energy verification. It can be an efficient one

Pulse length checking be enabled. It can be an efficient one

Wavelength checking be enabled. By calibrating the functional verification unit, a reliable functional check of the transmitter can be made possible. This increases the security of the LI DAR device. The at least one signal can be used as a trigger signal of the time-of-flight measurement of the LIDAR device.

In a further advantageous embodiment of the invention, it is provided that the second detector unit has at least two detection units.

The advantage of this embodiment is that electromagnetic radiation of a first wavelength can be deflected to a first detection unit of the second detector unit. Electromagnetic radiation of a second wavelength can be deflected to a second detection unit of the second detector unit. It can be detected electromagnetic radiation of different wavelengths. Electromagnetic radiation of different wavelengths can be distinguished from each other.

In a further advantageous embodiment of the invention, it is provided that the LIDAR device further comprises a control unit, which is designed to control the at least one transmitter depending on the specific property. For this purpose, the control unit may be connected to the unit for functional testing and to the transmitter.

The advantage of this embodiment is that fluctuations of the laser can be compensated. So can fluctuations due to the

Production batch, be balanced due to the ambient temperature and / or due to aging. As a result, for example, the

Eye safety of LIDAR device can be ensured.

The control unit can control the at least one transmitter, for example, in such a way that the predetermined by the standard of eye safety Limits regarding the performance of the emitted electromagnetic radiation are met. The permissible power can also be dependent on the wavelength of the emitted electromagnetic radiation. The control unit can control the at least one transmitter, for example, in such a way that, when the wavelength of change is detected, the at least one transmitter

emitted electromagnetic radiation, the power is adjusted so that the prescribed by the standard of eye safety limits are met. The LIDAR device may further include a

Have temperature control of the transmitter. The control unit can the

Control temperature control such that the wavelength of the emitted electromagnetic radiation is changed. As a result, the wavelength can be adapted to a filter in the detection optics in an advantageous manner. As a result, a narrow-banded filter can be used in the detection optics and the range of the LIDAR device can be improved.

In a further advantageous embodiment of the invention it is provided that the LIDAR device further comprises at least one transmitting optics for beam shaping of the electromagnetic radiation emitted by the transmitter. The diffractive optical element is arranged on the transmission optics. The diffractive optical element can be the predetermined proportion of the emitted

transmit electromagnetic radiation and deflect by means of at least one predetermined deflection angle to the second detector unit.

The advantage of this embodiment is that the reception path with the detection optics and the first detector unit is not influenced by the predetermined proportion of the emitted electromagnetic radiation.

In a further advantageous embodiment of the invention, it is provided that the LIDAR device further comprises a housing. The diffractive optical element is arranged on the housing. The diffractive element may in this case be arranged on an inner side of the housing. The diffractive element can also be arranged on an outer side of the housing. In this case additional measures are necessary to ensure the scratch resistance of the diffractive element and to protect the diffractive element from dirt. Alternatively, the diffractive element is arranged in the housing. The diffractive Element can be embedded in a housing composite for this purpose. If a LIDAR device has at least two diffractive elements, they can be arranged on and / or in the housing in different ways. The diffractive optical element can reflect the predetermined proportion of the emitted electromagnetic radiation and deflect it by means of at least one predetermined deflection angle to the second detector unit. The housing may be made of glass and / or another transparent material for the emitted and received electromagnetic radiation.

The advantage of this embodiment is that the arrangement of the diffractive optical element on the housing is very flexible. There are many possibilities of arrangement. These arrangements can be specifically adapted to the requirements of the functional verification.

In a further advantageous embodiment of the invention, it is provided that the diffractive optical element is designed as a holographic optical element, in particular as a volume hologram, as an amplitude hologram and / or as a phase hologram.

The advantage of this embodiment is that such a diffractive optical element has an angular and wavelength selectivity. This angular and wavelength selectivity is in particular by a

Volume modulation achieved. In addition, the diffractive optical element can be manufactured by printing processes. The diffractive optical element may be constructed of thin film material. The diffractive optical element can be individually adapted to the LIDAR device. In particular, the optical properties of the diffractive optical element can be individually adapted to the LIDAR device. For example, the diffraction efficiency of the diffractive optical element in the production can be set such that the predetermined proportion of the emitted

electromagnetic radiation is as large as necessary to perform a meaningful functional check, but as small as necessary to keep energy loss in the transmit beam path low. In a further advantageous embodiment of the invention it is provided that a protective layer is arranged on the diffractive optical element. The protective layer may, for example, comprise a material which has a predetermined temperature coefficient. The material may also be optically transparent to the wavelength of the emitted electromagnetic radiation. If the diffractive element is arranged in the housing, the housing itself may be formed as a protective layer.

The advantage of this embodiment is that the diffractive optical element can be protected against a change external influences. For example, a change in the ambient temperature can have an effect on a lattice structure of the diffractive optical element and thus on the

Function check of the transmitter have. The influence here depends strongly on the diffractive optical element itself, for example from

Hologram type, the geometry, the composite material, the substrate material, etc. By a suitable arrangement of the protective layer on the diffractive optical element, the influence, for example, a temperature change can be significantly reduced. The function check of the transmitter can thus be carried out with higher accuracy.

It can be provided in particular that the unit for

Function check of the transmitter at least two diffractive optical

Has elements. In this way, the influence of a temperature change on the first diffractive optical element can be compensated by at least one second diffractive optical element, a so-called counter hologram. In this case, the lattice planes of the first and the at least second diffractive optical element must be arranged mirror-symmetrically. Furthermore, it is advantageous in this embodiment if the two diffractive optical elements in the operation of the LIDAR device are the same or similar

Temperature changes are exposed.

In a further advantageous embodiment of the invention, it is provided that the unit for functional testing of the transmitter further comprises at least one block element for shielding the second detector unit

Having secondary radiation. The advantage of this embodiment is that disturbing secondary radiation such as sunlight can be blocked. The

Function check of the transmitter can be carried out with higher accuracy.

The LIDAR device may further comprise a movable deflection unit. The movable deflection unit may be configured to scan the environment with the emitted, and in particular shaped, electromagnetic radiation during the movement of the deflection unit. The deflection unit can be of macroscopic size. In one embodiment, the transmitter, the detection optics, the detector unit and / or the unit for functional testing of the transmitter can be arranged in a stationary manner. In an alternative embodiment, the deflection unit, the transmitter, the detection optics, the detector unit and / or the unit for

Function check of the transmitter to be arranged movably on a rotating unit of the LIDAR device. The scanning can be carried out in particular with a second portion of the electromagnetic radiation emitted by the light source. The second component differs from the predetermined component of the emitted electromagnetic radiation, which can be deflected onto the second detector unit.

The present invention is further based on a method for

Activation of a LIDAR device with the steps: emission

electromagnetic radiation into the environment by means of at least one transmitter; Receiving electromagnetic radiation reflected in the vicinity of the object by means of at least one detection optics; Directing the received electromagnetic radiation to a first detector unit; and verifying the function of the transmitter by means of at least one unit for functional testing of the transmitter.

According to the invention, the method comprises the further step of deflecting a predetermined portion of the emitted electromagnetic radiation onto a second detector unit by means of at least one diffractive optical element. The method may comprise the further step of beamforming the emitted electromagnetic radiation by means of at least one transmission optical system. The method may comprise the further step of scanning the environment with the emitted electromagnetic radiation by means of at least one of

Have deflection.

Drawings Several exemplary embodiments of the present invention will be explained in more detail below with reference to the accompanying drawings. Like reference numerals in the figures indicate the same or equivalent elements. Show it:

Figure 1 to 4 different embodiments of the LI DAR device;

FIG. 5 different possibilities of arranging the at least one diffractive optical element on a housing or on a transmission optical system of the LIDAR device;

Figure 6 lattice planes of transmission holograms with different

geometries;

Figure 7 relationship between wavelength change and

Deflection angle of a diffractive optical element;

FIG. 8 Method for controlling a LIDAR device.

FIGS. 1 to 4 show examples of different embodiments of the invention

LIDAR device 100. In each of the embodiments shown here, LIDAR device 100 includes a movable deflection unit 112 configured as a unit 112 rotating about a rotation axis 113. On this rotating unit 112, all components of the LIDAR device 100 may be arranged. In a further embodiment, not shown here, the deflection unit 112 can also be movable, wherein further components of the LIDAR device 100 can be arranged in a stationary manner. In the embodiments shown in FIGS. 1 to 4, the LIDAR device 100 has a housing 111 in each case. The LIDAR device 100 (see FIGS. 1 to 4) has a transmitter 101. The transmitter 101 emits electromagnetic radiation 102, which is shaped by means of a transmission optics 103. The transmitting optics 103 may comprise at least one optical lens and / or at least one optical filter. The

Electromagnetic radiation 102 is emitted into the environment of the LIDAR device 100 after beam forming. In the area can the

emitted electromagnetic radiation 102 are reflected by an object. Subsequently, the reflected electromagnetic radiation can be received by a detection optics 105 of the LIDAR device 100. The received electromagnetic radiation 104 is detected by the detection optics

105 directed to a first detector unit 106. The detection optics 105 may comprise at least one optical lens and / or at least one optical filter. As shown in FIGS. 1 to 4, the detection optics 105 can be designed as an objective in the receive beam path. The first detector unit 106 may comprise at least one detection unit. A detection unit can be designed as a photodiode.

Each of the embodiments of the LIDAR device 100 shown in FIGS. 1 to 4 has a unit 107 for functional testing of the transmitter 101. The unit 107 has in each case a diffractive optical element 108 and a second detector unit 109. The diffractive optical element 108 can be designed as a holographic optical element, in particular as a volume hologram, as an amplitude hologram and / or as a phase hologram. The diffractive optical element 108 may be configured to have a

predetermined proportion 114 of the emitted electromagnetic radiation 102 to the second detector unit 109 to redirect. For this purpose, the diffractive optical element 108 has an optical grating, on which the predetermined portion 114 is diffracted. In manufacturing the diffractive optical element 108, the optical grating may be designed such that the diffractive optical element 108 has a predetermined diffraction efficiency. In this way, the predetermined proportion 114 of the emitted electromagnetic radiation can be as large as necessary in order to carry out a meaningful functional check, but to be as small as necessary in order to minimize energy loss in the transmission beam path. The second detector unit 109 may determine the predetermined portion 114 of the emitted electromagnetic radiation 102 as detect at least one signal and, based on the at least one signal, determine a property of the electromagnetic radiation 102 emitted by the at least one transmitter 101, in particular a power, an energy, a pulse length and / or a wavelength. For this purpose, the second detector unit 109 can be connected to a computing unit, which is part of the unit 107 for functional testing of the transmitter 101. Alternatively, the at least one signal can be transmitted to a computing unit, which is part of the LIDAR device 100 and which, for example, in addition to

Signal processing of the signals detected by the first detector unit 106 is formed. For example, upon prior calibration of the LIDAR device 100 in manufacturing and by determining a power of the portion 114 of the emitted electromagnetic radiation 102, the total power of the emitted electromagnetic radiation 102 may be deduced. The same applies to the energy, the pulse length and / or the wavelength.

As shown by way of example in FIGS. 1, 2 and 4, the function check unit 107 may further comprise at least one block element 110 for

Shielding of the second detector unit 109 from secondary radiation. This can prevent the functional check from being disturbed, for example, by sunlight. Disturbing secondary radiation may additionally or alternatively be reduced by means of an optical filter which is arranged on the housing 111. Disturbing, non-pulsed secondary radiation may additionally or alternatively be subtracted from the signals of the pulsed, received electromagnetic radiation.

The diffractive optical element 108 shown in FIGS. 1 to 4 also has a beam-bundling effect in addition to the deflecting effect. The predetermined portion 114 is thus by means of the diffractive optical

Elements 108 deflected to the second detector unit 109 and focused. There is no additional optics necessary.

The second detector unit 109 shown in FIGS. 1 and 2 is designed as a detection unit, in particular a photodiode. Due to the beam-collimating effect of the diffractive optical element 108, a small photodiode area can be used. With the exemplary embodiments shown in FIGS. 1 and 2, in particular a power, an energy and / or a pulse length of the signals emitted by the transmitter 101 can be obtained

electromagnetic radiation 102 can be determined.

The second detector unit 109 shown in FIGS. 3 and 4 has three detection units, in particular three photodiodes. Here, the first detection unit for a first wavelength λι be sensitive and

detect electromagnetic radiation of this wavelength Ai. In this case, the second detection unit can be sensitive to a second wavelength λ2 and detect electromagnetic radiation of this wavelength A2. In this case, the third detection unit can be sensitive to a third wavelength A3 and

detect electromagnetic radiation of this wavelength As. The diffractive optical element 108 shown in FIGS. 3 and 4 may be designed to deflect the predetermined component 114 to the second detector unit 109 by means of at least one predetermined deflection angle, the at least one predetermined deflection angle depending on the wavelength of the emitted electromagnetic radiation 102. The diffractive optical element 108 may have a lattice structure which causes the predetermined proportion 114 to be deflected by different deflection angles onto the second detector unit 109 depending on the wavelength of the emitted electromagnetic radiation 102. Depending on the wavelength of the emitted electromagnetic radiation 102, the predetermined proportion 114 can be deflected to one of the three detection units. From the information which detects at least one signal of the three detection units, the wavelength of the emitted electromagnetic radiation 102 can be deduced. For example, if two detection units provide a signal, the wavelength can also be measured according to the two measured ones

Performance components are interpolated.

On the diffractive optical element 108 may further be arranged a protective layer. This may be advantageous in particular for the embodiments of the LIDAR device, as shown in FIGS. 3 and 4.

Changes in the grating structure of the diffractive optical element 108, which can occur with temperature changes, are avoided. The Wavelength checking can be done with greater reliability.

As shown in FIGS. 1 to 4, the LI DAR device 100 further includes a controller 115. The controller 115 is connected to the transmitter 101, the first

Detector unit 106 and the second detector unit 109 connected. It is designed to control the at least one transmitter 101 depending on the specific property. The control device 115 may be designed to control the at least one transmitter 101 depending on the specific power, energy, pulse length and / or wavelength of the electromagnetic radiation 102 emitted by the transmitter 101.

In the embodiments shown in FIGS. 1 and 3, the diffractive optical element is arranged on the inside of the housing 111. In these two embodiments, the diffractive optical element 108 acts

reflecting on the predetermined portion 114 of the emitted

electromagnetic radiation. The diffractive optical element 108 to the predetermined portion 114 um by means of at least one predetermined

Redirecting the deflection angle to the second detector unit 109.

In the embodiments shown in FIGS. 2 and 4, the diffractive optical element 108 is arranged on the transmission optics 103. In these

Embodiments, the diffractive optical element 108 transmissive acts for the emitted electromagnetic radiation 102. The diffractive optical element 108 can deflect the predetermined portion 114 by at least one predetermined deflection angle to the second detector unit 109.

FIG. 5 shows, by way of example, various possibilities of arranging the at least one diffractive optical element 108 on a housing 111 of the LIDAR device 100. The same or comparable possibilities of the FIGS

The arrangement of the at least one diffractive optical element also results on a transmission optics 103 of the LIDAR device 100. The actually curved housing 111 is flat, so to speak, "rolled out" for better illustration The housing 111 of the LIDAR device 100 extends from -180 ° to + 180 °. One or more diffractive optical elements 108 are arranged on the housing 111.

In FIGS. 5a, 5c, 5d and 5e, precisely one diffractive optical element 108 is arranged on the housing 111. In FIG. 5b, two diffractive optical elements 108-1 and 108-2 are on the housing 111

arranged. The diffractive optical elements 108, 108-1 and 108-2 of FIGS. 5a to 5d are respectively arranged in the lower region of the housing 111. This arrangement may be advantageous when the transmitter 101 emits the electromagnetic radiation 102 in a columnar, vertically extended manner over the housing 111. Embodiments 5a to 5d differ in what proportion of the field of view a functional check takes place. In FIG. 5 a, the diffractive optical element 108 extends over a smaller area at 0 ° of the housing 111. The functional check of the transmitter 101 may take place once within the field of view of the LIDAR device 100. In FIG. 5 b, the diffractive optical element 108 - 1 extends over a smaller area at -75 ° of the housing 111 and the diffractive optical element 108 - 2 extends over a smaller area at + 75 ° of the housing 111 can take place twice within the field of view of LIDAR device 100 here. In FIG. 5 c, the diffractive optical element 108 extends over a larger range of -75 ° of the + 75 ° of the housing 111. If the field of view of the LIDAR device 100 is greater

For example, 150 °, it can take place in the entire field of view, the function check of the transmitter. In Figure 5d, the diffractive optical element 108 extends over the entire range of -180 ° to + 180 ° of the housing 111. A field of view of 150 ° would thus be able to take place outside the field of view, a function check. The diffractive optical element 108, FIG. 5 e, is arranged over a vertical region of the housing 111. This arrangement may be advantageous if the transmitter 101 consists of a plurality of laser diodes, which emit electromagnetic radiation 102 in individual areas of the vertical field of view.

In Figs. 6a) to 6d), the lattice planes are four

Transmission holograms shown with different geometries. It is the diffraction effect in transmission for different grids, with different ones Alignment and different distance, shown. In each case the local extent 602 of each transmission hologram is plotted on the x-axis. In each case the local extent 601 of each transmission hologram is plotted on the y-axis. FIGS. 6a) to 6d) can be correspondingly in each case as a 2-dimensional section through a

Transmission hologram be understood. The extent of the

Interference layer is in each case 10 μηι. The lines 604 represent the grid that arises in each case during the reconstruction of the holograms. The field represented by the lines 605 is generated in the reconstruction with the field of defined angles represented by the lines 603. The

Beam 606 respectively indicates the direction of a first plane wave. The beam 607 respectively indicates the direction of a second plane wave.

FIG. 7 shows the relationship between the change in the wavelength 702 of the emitted electromagnetic radiation 102 and the deflection angle

701 of a diffractive optical element 108, 108-1, 108-2. This may be of particular interest for LIDAR devices of the embodiments according to FIGS. 3 and 4. Changes in the wavelength 702 may directly cause a change in the deflection angle 701. The configuration of the diffractive optical element 108, 108-1, 108-2 can be selected such that, with the available space in the LIDAR device 100, the desired resolution in the wavelength measurement in combination with the size of the second detector unit 109 still achieved becomes. FIG. 8 shows a method for driving a LIDAR device. The

Method starts in step 801. In step 802, electromagnetic becomes

Radiation emitted into the environment of the LIDAR device by means of at least one transmitter. In step 803, beamforming of the emitted electromagnetic radiation takes place by means of transmission optics. In step 804, a predetermined proportion of the emitted

Electromagnetic radiation deflected to a second detector unit by means of a diffractive optical element. Step 804 is followed by step 808 where a functional check of the transmitter is performed. In this case, a property of the electromagnetic radiation emitted by the transmitter is determined. In an optional step 809, the transmitter becomes dependent controlled by the specific property by means of a control unit. Parallel to step 804, step 803 is followed by step 805. In step 805, the environment of the LIDAR devices is scanned. In the subsequent step 806, electromagnetic radiation which has been reflected in the environment of the object is received by means of at least one detection optics. In the next step 807, the received electromagnetic radiation is directed to a first detector unit. After steps 807 and 808, or alternatively after steps 807 and 809, the method is terminated in step 810.

Claims

claims

LIDAR device (100) for detecting an object in the environment with

• at least one transmitter (101) for emitting electromagnetic radiation (102) into the environment;

• at least one detection optics (105) for receiving electromagnetic radiation (104) which has been reflected in the surroundings of the object and for directing the received electromagnetic radiation (104) onto a first detector unit (106); and

• at least one unit (107) for functional testing of the transmitter (101); characterized in that

• the unit (107) for functional testing of the transmitter (101) has at least one diffractive optical element (108, 108-1, 108-2) and at least one second detector unit (109) with at least one detection unit.

LIDAR device (100) according to claim 1, characterized in that the diffractive optical element (108, 108-1, 108-2) is adapted to a predetermined portion (114) of the emitted electromagnetic radiation (102) on the second detector unit (109) to redirect.

3. LIDAR device (100) according to claim 2, characterized in that the

diffractive optical element (108, 108-1, 108-2) is adapted to the

predetermined proportion (114) by means of at least one predetermined deflection angle to the second detector unit (109) to redirect, wherein the at least one predetermined deflection angle of the wavelength of the emitted

electromagnetic radiation (102) depends.

4. LIDAR device (100) according to claim 2 or 3, characterized in that the unit (107) is adapted to detect the predetermined portion (114) of the emitted electromagnetic radiation (102) as at least one signal and based on the at least a signal a property of the electromagnetic radiation (102) emitted by the at least one transmitter (101), in particular, to determine a power, an energy, a pulse length and / or a wavelength.

5. LIDAR device (100) according to one of claims 1 to 4, characterized

characterized in that the second detector unit (109) at least two

Having detection units.

6. LIDAR device (100) according to any one of claims 4 or 5, characterized

characterized in that the LIDAR device further comprises a controller (115) adapted to drive the at least one transmitter (101) depending on the determined characteristic.

7. LIDAR device (100) according to one of claims 1 to 6, characterized

characterized in that the LIDAR device further comprises at least one transmitting optics (103) for beam shaping of the electromagnetic radiation (102) emitted by the transmitter (101); and that the diffractive optical element (108, 108-1, 108-2) is arranged on the transmission optics (103).

8. LIDAR device (100) according to one of claims 1 to 7, characterized

characterized in that the LIDAR device further comprises a housing (111), wherein the at least one diffractive optical element (108, 108-1, 108-2) is arranged on or in the housing (111).

9. LIDAR device (100) according to one of claims 1 to 8, characterized

in that the diffractive optical element (108, 108-1, 108-2) is designed as a holographic optical element, in particular as a volume hologram, as an amplitude hologram and / or as a phase hologram.

10. LIDAR device (100) according to one of claims 1 to 9, characterized

in that a protective layer is arranged on the diffractive optical element (108, 108-1, 108-2).

11. LIDAR device (100) according to one of claims 1 to 10, characterized

in that the unit (107) for functional testing of the transmitter (101) at least one block element (110) for shielding the second

Detector unit (109) before secondary radiation.

12. Method (800) for driving a LIDAR device with the steps:

• Emission (802) of electromagnetic radiation into the environment by means of

at least one transmitter;

Receiving (806) electromagnetic radiation reflected in the vicinity of the object by means of at least one detection optics;

Directing (807) the received electromagnetic radiation to a first detector unit; and

• checking the function (808) of the transmitter by means of at least one unit for functional testing of the transmitter;

characterized in that the method comprises the further step:

• redirecting (804) a predetermined proportion of the emitted

electromagnetic radiation to a second detector unit by means of at least one diffractive optical element.