WO2019110206A1 - Système lidar de perception de l'environnement et procédé pour faire fonctionner un système lidar - Google Patents

Système lidar de perception de l'environnement et procédé pour faire fonctionner un système lidar Download PDF

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Publication number
WO2019110206A1
WO2019110206A1 PCT/EP2018/079825 EP2018079825W WO2019110206A1 WO 2019110206 A1 WO2019110206 A1 WO 2019110206A1 EP 2018079825 W EP2018079825 W EP 2018079825W WO 2019110206 A1 WO2019110206 A1 WO 2019110206A1
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WO
WIPO (PCT)
Prior art keywords
lidar system
detector
component
emitter
solid angle
Prior art date
Application number
PCT/EP2018/079825
Other languages
German (de)
English (en)
Inventor
Andre Nauen
Original Assignee
Osram 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
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Publication of WO2019110206A1 publication Critical patent/WO2019110206A1/fr

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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
    • G01S7/481—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
    • 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
    • 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
    • G01S7/4815—Constructional features, e.g. arrangements of optical elements of transmitters alone using multiple transmitters
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—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
    • G01S17/88—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

Definitions

  • the invention relates to a LIDAR system for environment detection, wherein the LIDAR system is designed to carry out repeated measurements for detecting the environment, the LIDAR system having a transmitting unit which is designed to emit at least one light beam for carrying out a measurement and wherein the LIDAR system has a
  • Detection unit which is designed to detect a reflected during a measurement steel content.
  • the LIDAR system has a control device which is designed in the event that at least one
  • the invention also includes a method for operating a LIDAR system.
  • the function of a LIDAR system is based on a
  • Transit time measurement of emitted light signals When these impinge on surfaces in the vicinity of the LIDAR system, some of the emitted power is reflected towards the LIDAR system. Accordingly, the pulse echo can be recorded with a suitable detector. If the transmission of the pulse takes place at a first time and the echo signal is detected at a later second time, then the distance to the reflecting surface over the transit time, which represents the difference between the first and the second time, can be calculated.
  • a LIDAR system usually works with light pulses that have a specific
  • Wavelength for example, 905 nanometers, and have a certain pulse length. Furthermore, every light pulse
  • a LIDAR system which generates its resolution exclusively by means of the detector, is called a Flash LIDAR. It consists of an emitter, which illuminates as homogeneously as possible the entire field of vision.
  • the detector on the other hand consists in this case of several individually readable and arranged in a matrix segments or pixels. Each of these pixels is accordingly one
  • Solid angle range assigned If light is received in a certain pixel, then the light correspondingly comes from the solid angle range assigned to this pixel.
  • a raster LIDAR has an emitter which emits the measuring pulses selectively and in particular temporally sequentially in different spatial directions. As a detector sufficient here is a single segment. If, in this case, light is received by the detector in a certain measuring time window, then this light originates from a solid angle range into which the light was emitted by the emitter in the same measuring time window.
  • DE 10 2015 101 902 A1 describes a detector and a LIDAR system, wherein the detector has a series of juxtaposed radiation-sensitive pixels.
  • the pixels of the row have such contours that opposite sides of adjacent pixels are at least partially different from a vertical one
  • radiation-insensitive intermediate areas are avoided. But even with such a geometric configuration of the individual pixels, radiation-insensitive areas between the pixels can not be avoided. Along with this, gaps in the detectable field of view can not be avoided.
  • the object of the present invention is therefore to provide a LIDAR system and a method for operating a LIDAR system, which enable a more effective detection of a field of view.
  • An inventive LIDAR system for environment detection is designed to repeat the detection of the environment
  • the LIDAR system has a transmitting unit which is designed for the
  • the LIDAR system comprises a detection unit which is adapted to detect a reflected during a measurement steel content.
  • the LIDAR system has a control device that
  • the LIDAR system has at least one movable Component and an actuator which is adapted to move the component from a first position to a second position different from the first position, wherein, when the component is in the second position, the assignment is changed in a predetermined manner.
  • the movable component may, for example, a
  • the same effect can also be achieved, if not the detector matrix, but other components of the LIDAR system, for example a detector optics relative to the detector or also an emitter matrix, as will be described in more detail later
  • Component is in the first position to capture by moving this component to the second position.
  • the LIDAR system is adapted to a first measurement
  • Component is located in the second position, the
  • Control device is designed to combine the first measurement and the at least one second measurement and on Basis of the combination to provide a spatially resolved measurement result, which has a resolution that is higher than a provided on the basis of only the first or only the second measurement provided spatially resolved measurement result.
  • measurements of moving components can be used to generate an image of the environment, which has a much higher resolution than the respective partial images provided in the individual measurements. In particular, depending on the situation, the resolution can possibly even be doubled.
  • the movable component may form part of the detection unit. It is preferred if the detection unit has a detector with several pixels, wherein the detector represents the movable component.
  • the detector may thus be provided as an image sensor with a plurality of pixels suitable for a particular one
  • Wavelength range is sensitive.
  • Such an image sensor usually represents a particularly light component, so that the detector is particularly easy to move, which ultimately also a shift of
  • Detector can be implemented in a particularly efficient simple and, above all, fast way.
  • each of the pixels is a respective one
  • each of the pixels is associated with a respective second solid angle range, wherein a respective second
  • Solid angle range at least partially different from a respective first solid angle range, and preferably overlaps with a respective first solid angle range.
  • the pixels of the detector are in at least a first
  • the field of view detected by the LIDAR system does not substantially change.
  • the change in the field of view is therefore at most as large as the spatial angle range detectable by a pixel with respect to the first direction.
  • Position is shifted by half the width of the pixel in the row.
  • width of a pixel is also an optionally existing between two pixels
  • the width of a pixel is defined as the distance between the centers of two consecutive pixels in the first direction.
  • the first pixel and subsequently a second pixel are arranged in a row in the first direction, then in the first position of the Detector the first pixel a first solid angle range and the second pixel a second solid angle range.
  • these pixels are shifted in such a way that now the new position of the first pixel is shifted relative to its original position by half its width or the distance between the centers of the first and second pixels in the direction of the second pixel.
  • this first pixel now detects half of the solid angle range detected by the first pixel in the first position, and approximately half of that of the second pixel in its first position
  • Position detected solid angle range Such a shift can increase the resolution
  • the pixels of the detector are in turn arranged in at least a first direction in a row, wherein a
  • respective pixel in the first direction has a width and in a second direction which is perpendicular to the first direction, a length and in a third direction extending between the first and second direction a third
  • the diagonal can be defined analogously to the definition of the width of a pixel, that is to say that the spaces between diagonally arranged pixels are taken into account in the length of the diagonal.
  • the length of the diagonal of a pixel may be the distance between two
  • This embodiment has the particularly great advantage that in this way an increase in resolution in two dimensions can be achieved without the detector To be able to move in two different directions.
  • the displacement of the detector in one direction, the third direction, is sufficient around one
  • the detector has a plurality of rows of pixels. Again, the detector can be half the length of the
  • Diagonals of a pixel can be moved from the first to the second position or even more or less.
  • the shift may again be defined by a random length between a minimum length and a maximum length, which may now be defined in relation to the pixel width with respect to the length of the diagonal of a pixel,
  • the actuator when the actuator is adapted to move the movable component from the first position to the second position in a first direction, and from the first and / or second position to a third position in FIG a second to move from the first different direction, in particular wherein the second direction is perpendicular to the first direction.
  • the detector is designed as a two-dimensional pixel matrix, a displacement of the detector both in the direction of the rows and in the direction of the columns of these
  • Gapless coverage of the field of view of the LIDAR system can be realized in two dimensions.
  • control device is adapted to randomly select at least the second position between a minimum position and a maximum position and the actuator for Setting the second position to control.
  • the moving scheme of the movable component does not necessarily have to be a regular scheme, as described above, according to which the movable component is placed in the one according to a predetermined sequence
  • Movement scheme can also be a stochastic scheme
  • the spatial position of the movable component is varied randomly, in particular within fixed limits, which are defined by the minimum position and the maximum position.
  • the maximum position may be away from the first position in the first direction by at most half the pixel width as defined above, while the minimum position
  • Displacing the movable component, such as the detector, by less than one-tenth of the pixel size of the detector is not very useful, as this will not result in a very significant increase in resolution. This could be done, for example, by a corresponding rounding or quantization of the random numbers, on the basis of which the second position is randomly determined.
  • a minimum displacement does not necessarily have to be related to the first position, but may also be related to the last position or current position of the movable component.
  • a limitation of the minimum shift compared to the previous field can be done. This is for example particularly advantageous in order to avoid clumping of the partial images and thus to achieve a meaningful balance between coverage of the field of view and resolution improvement.
  • the second position can also be determined by superposition of a temporally regular function with a random value.
  • the detection unit has at least one first optical element, which represents the movable component.
  • an optical element may, for example, a the
  • Detector associated optics which consist of a
  • the optical element it is also possible in an analogous manner, to move this first optical element relative to the detector.
  • the movement of the first optical element takes place, for example, in the first direction by a distance which is at most as long as the width of a pixel of the detector.
  • the first optical element may be shifted relative to the detector by half a pixel width in the second position from the first position.
  • the movement of the first optical element takes place, for example, in the first direction by a distance which is at most as long as the width of a pixel of the detector.
  • the first optical element may be shifted relative to the detector by half a pixel width in the second position from the first position.
  • a predetermined minimum position and maximum position which may be defined analogous to the above, is randomly selected and set.
  • the detection unit can not only have a single optical element, but also a plurality of optical elements in a particular arrangement to each other, in turn, an entire arrangement of a plurality of optical
  • the detection unit can be a
  • Secondary optics can be, for example, a lens or, in turn, an optical system composed of several individual optical elements
  • the secondary optics can do this
  • this secondary optics can be designed to have a respective solid angle segment or a specific one
  • Solid angle range of the LIDAR field of view to a respective pixel of the detector It defines the field of vision of the LIDAR system across all solid angle segments.
  • the optional additional detector optics can be located between the secondary optics and the detector.
  • the detector optics can optimize the mapping of the solid angle segments to the individual pixels of the detector.
  • this detector optics can be designed as a microlens array or the like. Accordingly, therefore, for example, the secondary optics or the detector optics can also represent the movable component.
  • the preferred detector optics can be located between the secondary optics and the detector.
  • the detector optics can optimize the mapping of the solid angle segments to the individual pixels of the detector.
  • this detector optics can be designed as a microlens array or the like. Accordingly, therefore, for example, the secondary optics or the detector optics can also represent the movable component.
  • the preferred embodiment can be designed as a microlens array or the like. Accordingly, therefore, for example, the secondary optics or the detector optics
  • the transmitting unit may have an emitter arrangement comprising a plurality of emitter units arranged in at least one row, wherein the
  • Emitter arrangement represents the movable component.
  • This emitter arrangement can be designed analogously to a detector with a plurality of pixels arranged in a matrix. In other words, such an emitter matrix can also be made
  • Emitter units be formed with multiple rows and columns.
  • such an emitter array is provided as a single row of emitter units.
  • This emitter arrangement can now likewise be moved analogously to the detector described, namely preferably in the direction of the at least one row by a length which is at most as great as the width of an emitter unit in this direction.
  • the shift may in turn be done diagonally to the emitter units arranged in one or more rows, for example by half the length of one emitter
  • Diagonals of an emitter unit In this case, too, a shift by a length which corresponds to half the width, or also the diagonal, of an emitter unit in a specific direction preferably also takes place here. Theoretically, however, the displacement can also be greater, in particular greater than half the width of an emitter unit and also larger than the entire width of an emitter unit. Again, the shift in both one and in two dimensions, depending on the application and the formation of the emitter arrangement, that is, whether as a single row or as a two-dimensional matrix, take place.
  • a respective emitter unit in the first position of the emitter arrangement a respective one associated with the third solid angle range, which is illuminated by the respective emitter unit, wherein a
  • Emitter arrangement is assigned a respective one of the respective third solid angle ranges at least partially different fourth solid angle range. If, for example, the transmitting unit is set up in such a way that the respective third solid angle ranges are disjoint, that is, not connected to one another, there are unilluminated solid angle ranges between these third ones
  • Solid angle ranges it can be achieved by a displacement of the emitter array that in the second
  • Solid angle ranges are illuminated. An overlap with the previously illuminated solid angle ranges is still possible. This, in turn, also makes it possible
  • the emitter arrangement does not necessarily have to be moved again, for example relative to an emitter optic, but an optic can also be moved relative to the emitter arrangement, which, however, in turn causes the same effect. Accordingly, it represents a further advantageous embodiment of the invention, when the transmitting unit at least a second optical
  • This second optical element can again represent a single lens, or it can also be a single lens
  • the transmitting unit may have a secondary optic, which is designed to control the light emission of the individual
  • the Sending unit optionally also a further emitter optics
  • the emitter optic may optionally provide for emitter emission deformation to accommodate secondary optics.
  • the emitter optics can represent the movable component and can be moved as described in order to be able to displace the irradiated solid angle segments or solid angle ranges.
  • the emitter optics can have a significantly lower weight than the secondary optics, it is preferable to design the emitter optics as a movable component, since correspondingly much faster movements are then possible.
  • the LIDAR system can do this, for example
  • light pulses are emitted at a wavelength which is preferably in the range between 850 nanometers and 1600 nanometers, or in other areas.
  • Nanometers or 8100 nanometers are also conceivable, for example less than 850 nanometers, for example 600 nanometers, 650 nanometers, 700 nanometers, 750 nanometers or 800 nanometers.
  • the LIDAR system can be designed to emit light pulses having a frequency between one kilohertz and one megahertz, preferably with a frequency smaller than 100 kilohertz.
  • the detection range of the LIDAR system can be between a few centimeters, for example 20 centimeters, up to 300 meters, possibly even further.
  • the measurement time window ie the measurement period from the emission of a light pulse, within which the detector or the individual detector pixels are read out, for example, last two microseconds, which is the duration of a light pulse in Case of reflection on an object 300 meters away.
  • the respective measurement time windows do not necessarily always have to remain the same, but can, for example, also be adapted dynamically to the distance of recently detected objects.
  • the measurement time window ie the measurement period from the emission of a light pulse, within which the detector or the individual detector pixels are read out, for example, last two microseconds, which is the duration of a light pulse in Case of reflection on an object 300 meters away.
  • the respective measurement time windows do not necessarily always have to remain the same, but can, for example, also be adapted dynamically to the distance of recently detected objects.
  • the measurement time window ie the measurement period from the emission of a light pulse, within which the detector or the individual detector pixels are read out, for example, last two microseconds, which is the duration of a light pulse in Case of reflection
  • the individual light pulses can continue to have a pulse length between 1 and 100 nanoseconds.
  • the pulse length is in the range of a few nanoseconds, such as 1 nanosecond, 5 nanoseconds, 10
  • Nanoseconds 15 nanoseconds, 20 nanoseconds, and so on, but preferably less than 5 nanoseconds.
  • the LIDAR system for example, as
  • Resolution exclusively generated by means of the detector which consists in this case of several individually readable segments or pixels.
  • a single row with readable segments or pixels is sufficient. If a resolution in two dimensions is to be provided, this can be accomplished by a detector having a plurality of individually readable and arranged in a matrix with a plurality of rows and columns segments or pixels.
  • the transmitting unit can in this case only one single emitter arrangement
  • the detector itself can be moved or also an optics associated with the detector relative to the detector.
  • the LIDAR system can also be designed as a raster LIDAR, the having an emitter, which the measuring light pulses targeted in different spatial directions or
  • Solid angle ranges emits, especially in time
  • the detector may be combined with an optic which images the entire field of view of the LIDAR system onto the single pixel element.
  • the transmitting unit can have an emitter arrangement, which can be used as an or
  • Laser light sources which emit in the range between 850 nanometers and 1600 nanometers pulses of power between 30 watts and 200 watts, preferably with a pulse length in the range between 1 nanosecond and 100 nanoseconds.
  • strip emitters and VCSEL types for example VCSEL and VECSEL, can be used
  • the light sources can basically be provided both as LEDs and as laser diodes.
  • the individual, by such a laser diodes are used.
  • Emitter emitted light pulses can have a power in the range of a few milliwatts (VCSEL) and between 30 watts and 200 watts (VECSEL). In the case of a raster LIDAR, it is preferred that the one described above
  • Component is realized. For example, as described, either the emitter arrangement relative to an optic or the optics associated with the emitter arrangement can be moved relative to the emitter arrangement.
  • the LIDAR system may be formed as a hybrid of both LIDAR types, that is, Flash LIDAR and raster LIDAR, for example, such that one in one dimension
  • one-dimensional matrix can be formed from individual emitters which, optionally by means of a suitable optics, illuminates in a first dimension or direction temporally sequentially a certain solid angle range.
  • the detector may also be formed as a one-dimensional pixel matrix, which has a spatial or angular resolution in the
  • both the detector and the emitter arrangement can be designed to be movable and, for the increase in resolution, be moved from a respective first position into a corresponding second position.
  • the LIDAR system or one of its embodiments according to the invention preferably finds application
  • Embodiments are considered as belonging to the invention. In principle, however, there are no limits to the fields of application of the LIDAR system according to the invention or its embodiments. This can also be used, for example, in aircraft, drones, ships, lighthouses,
  • pivotable lighting devices in the entertainment and studio lighting area, or the like are used.
  • the invention also relates to a method for operating a LIDAR system, which performs repeated measurements for environment detection, in which each case
  • At least one light beam is emitted by the LIDAR system and, in the event that during a measurement at least one reflected steel component is detected, the detected
  • Beam portion is assigned based on a predetermined assignment a solid angle range, from which the Beam component comes. Furthermore, at least one
  • Fig. 1 is a schematic representation of a LIDAR system according to an embodiment of the invention
  • Fig. 2 is a schematic cross-sectional view of a
  • Fig. 3 is a schematic cross-sectional view of a
  • FIG. 4 is a schematic representation of a
  • Fig. 5 is a schematic cross-sectional view of a
  • Fig. 6 is a schematic representation of a transmitting unit of a LIDAR system in cross section according to another embodiment of the invention.
  • Fig. 1 shows a schematic representation of a LIDAR system 10 according to an embodiment of the invention.
  • the LIDAR system 10 has in this example a transmitting unit 12, a detection unit 14 and a control device 16.
  • the transmitting unit 12 is designed to emit repeated measuring light pulses. If such measuring light pulses on an object in the vicinity of the LIDAR system 10th
  • the LIDAR system 10 may further be configured as a Flash LIDAR, as a raster LIDAR or as a combination of both LIDAR types.
  • the resolution is generated exclusively by means of the detection unit 14, which in such a case has a detector 18 with a plurality of individually readable and arranged in a matrix segments in the form of pixels 20.
  • the LIDAR system 10 may alternatively be referred to as
  • Raster LIDAR be formed, in which by the
  • Transmitting unit 12 measuring pulses targeted to different
  • the Transmitting unit 12 a corresponding emitter array 22 in the form of a one- or two-dimensional emitter matrix
  • Single emitter 24 can then via an appropriate optics 26 (see FIG. 5 and FIG. 6) an associated optics 26 (see FIG. 5 and FIG. 6) an associated optics 26 (see FIG. 5 and FIG. 6) an associated optics 26 (see FIG. 5 and FIG. 6) an associated optics 26 (see FIG. 5 and FIG. 6) an associated optics 26 (see FIG. 5 and FIG. 6) an associated optics 26 (see FIG. 5 and FIG. 6) an associated
  • Illuminate solid angle range In the case of a raster LIDAR, a single segment, that is to say a single pixel 20, in particular in combination with a corresponding optical system 25, which images the entire field of view of the LIDAR system 10 onto this individual segment, is sufficient as the detector.
  • the LIDAR system 10 is embodied as a hybrid of the LIDAR types mentioned, so that a raster movement takes place in a first dimension D1, that is to say temporally sequential illumination of individual solid angle regions arranged side by side in the first dimension D1 by individual control of the individual emitter 24.
  • the resolution in the second dimension D2 is determined by a in this second dimension D2
  • angle-selective detector 18 accomplished.
  • the second dimension D2 are arranged side by side
  • the third spatial coordinate which indicates the distance to the LIDAR system 10 is determined on the basis of the transit time measurement of this emitted and detected light pulse. So to provide a three-dimensional image of the environment, so in this example are a one-dimensional
  • Emitter matrix 22 as well as a one-dimensional trained detector 18 sufficient.
  • a combination of raster and flash LIDAR is also referred to as hybrid raster LIDAR.
  • the detector 18 can generally consist of a one- or two-dimensional arrangement of individual pixels 20, which can each be read out individually.
  • any type of detector 18 is contemplated, which is the LIDAR wavelength, typically between 850
  • Nanometers and 1600 nanometers with one
  • Minimum bandwidth which is typically greater than 1 megahertz, can convert into an electrical voltage.
  • these may be, for example, a PIN diode, an avalanche photo diode (APD), a single photon avalanche photo diode (SPAD) or a photomultiplier.
  • APD avalanche photo diode
  • SPAD single photon avalanche photo diode
  • photomultiplier a photomultiplier.
  • other types of detectors 18 come into question.
  • the controller 16 is adapted to both the
  • At least one LIDAR component is moved in position, in particular repeatedly.
  • the control of such a shift D can also be taken over by the control device 16.
  • a component of the transmitting unit 12 and / or the detection unit 14 can be moved.
  • the detector 18 itself, or at least one component of the optics 25 associated with the detector 18, or the emitter arrangement 22 or at least a part of the optics 26 associated with the emitter arrangement 22 can be embodied as a movable component.
  • temporally sequential partial images can be generated, wherein each partial image has a resolution as determined by the resolution of, for example, the detector matrix 18 or the
  • Emitter array 22 is specified.
  • a shift D by, for example, a half detector pixel width can through the combination of the two fields ideally double the resolution. This can in particular
  • control device 16 corresponding image processing algorithms that can be executed by the control device 16 are used to process these partial images.
  • FIG. 2 shows a schematic illustration of a cross section through the detection unit 14 according to FIG.
  • the detection unit 14 in turn has a detector 18 with a plurality of pixels 20 arranged at least in one row. These are arranged in a starting situation in a respective first position PI. Furthermore, each of these pixels 20 is assigned a corresponding solid angle range Q1, W2, W3 based on its position PI. This assignment is indicated schematically in FIG. 2 by ZI. If, for example, one of these pixels 20 receives a light pulse, then the
  • Controller 16 based on the information from which the pixel 20 has received this light pulse according to this assignment ZI determine from which direction
  • the pixel width B can be defined as the length of the distance between two center points of respectively adjacent pixels in the direction R. In this pixel width B are also taken into account between the pixels 20 spaces.
  • each pixel 20 in the changed second position P2 now looks at a solid angle range WI ', W2', W3 'shifted or tilted relative to the solid angle ranges Q1, W2, W3 assigned in the first position PI.
  • a shift D of, for example, half
  • Pixel width B also overlap the associated
  • Positions PI, P2 were recorded can be combined with each other before several such first fields and second fields are averaged over several measurements and then combined accordingly. It is preferred that a maximum of 100 consecutive measurements are averaged, especially if a measurement time window is two microseconds. In the case of shorter measuring time windows, correspondingly more averaging is possible.
  • a displacement D of the movable component as here the detector 18 is not only possible in one direction, but for example in two mutually perpendicular directions. This can be done, for example, in the case of a flash LIDAR with a two-dimensional detector matrix 18
  • the resolution is provided solely by the detector array 18, and then in accordance with a movement of the detector in two
  • Positions in their temporal sequence are predetermined and fixed, but it can also be applied to a stochastic scheme.
  • the detector 18 may be randomized from the first position PI
  • Position P2 is shifted by at least 10 percent of the pixel width B from the first position PI in the direction R, and at most by half the pixel width B. The same is true for the displacement D in a second dimension.
  • FIG. 3 shows a schematic cross-sectional representation of the detection unit 14 for a LIDAR system 10 according to an exemplary embodiment of the invention.
  • the detection unit 14 in turn has a detector 18, which may be designed as described above.
  • the detector 18 may be designed as described above.
  • This optics 25 may have a secondary optics 28, which has the task, each a certain solid angle segment or a solid angle range Q1, W2, W3, WI ', W2', W3 'of the LIDAR viewing region to a mirror of the matrix, that is to say a corresponding pixel 20 of the detector 18,
  • map It thus defines the field of view of the LIDAR system 10 over all solid angle segments.
  • Fig. 4 shows a schematic representation of
  • the optics 25 assigned to the detector 18 now have a detector optics 30 in addition to the secondary optics 28.
  • This can be formed for example as a microlens array.
  • any other training options for these are
  • the detector optics 30 is arranged between the secondary optics 28 and the actual detector 18 and can optimize the imaging of the solid angle ranges W1, W2, W3, WI ', W2', W3 'to the individual pixels 20.
  • the detector optics 30 and / or the secondary optics of the detector can also have holographic optical elements.
  • the detector 18 is. This may turn in or opposite direction R, both optionally additionally in a further direction, preferably perpendicular to the direction R is to be moved, which is illustrated by the movement arrow 31. in the
  • the movable component of the LIDAR system 10 is a part of the optical system 25, in particular in this example, the detector optics 30.
  • Detector optics 30 can now be moved in or against the direction R and optionally additionally in a second direction, which in turn is preferably perpendicular to the direction R, which is also indicated by the movement arrow 31
  • the movement of the detector optics 30 can be carried out as described for the movement of the detector 18.
  • the detector optics 30 can also be moved from a first position to a corresponding second position. This movement can also be a regular scheme follow or in turn a stochastic scheme.
  • Detector optics 30 by a maximum length of the pixel width B, preferably by a length corresponding to half the pixel width B, and in the case of a stochastic scheme by a length which is at least 10 percent and at most 50 percent of the pixel width B.
  • the displacement of the detector 18 with respect to the optical system 25 and on the other hand, the displacement of an optical component relative to the detector 18 have the same technical effect. If, as shown in FIG. 4, the detector optics 30 are displaced, the assignment of the solid angle ranges Q1, Q2, W3 to the individual pixels 20 of the detector 18 also changes, as has already been described with reference to FIG.
  • Fig. 5 now shows a schematic representation in one
  • Transmitting unit 12 has an emitter arrangement 22 with a plurality of individual emitters 24 arranged in a one- or two-dimensional matrix.
  • this emitter assembly 22 is associated with a corresponding optics 26.
  • associated optics 26 may in turn include a secondary optics 32, which has the task of the light emission of
  • each emitter 24 arranged in a two-dimensional matrix would be imaged into its own solid angle segment W1, W2, W3.
  • Fig. 6 shows a schematic
  • Emitter assembly 22 has associated.
  • Emitter optic 34 can optionally be a deformation of the
  • the movable component of the LIDAR system 10 now represents the emitter arrangement 22.
  • Displacement of the emitter arrangement 22, which in turn is illustrated by the movement arrow 31, also results in a displacement or tilting of the light emitted by the individual emitters 24 illuminated solid angle ranges Ql, Q2, W3. This also makes it possible to achieve an increase in resolution as in the displacement of the detector 18.
  • a displacement of a part of the emitter arrangement 22 can also take place
  • Emitter optics 34 shifted, which is illustrated by the movement arrow 31. Again, this causes a shift in the lit by the individual emitter 24
  • the actuator is preferably to
  • Detector optics 30 are moved, which means the downstream optics 25 accordingly in the detected
  • Solid angle segments translated. At a typical width of a PIN diode along the narrow edge of 500
  • Microns would be a movement amplitude of about 250
  • the pixel width already includes the optically inactive border area.
  • the update rate of LIDAR data is typically in the range between 10 hertz and 200 hertz. A resolution increase by a factor of N in one dimension reduces the update rate accordingly. Depending on the application request, it is advantageous if the actuator thus necessary for the resolution increase
  • One possible embodiment of the actuator is in the form of a piezoelectric actuator having a piezoelectric element.
  • LIDAR system 10 is a hybrid scanning LIDAR
  • Move the movable component are used to increase the resolution using temporally sequential fields.
  • Embodiments provided numerous possibilities to detect the field of view of the LIDAR system particularly efficiently and to increase the resolution of the LIDAR system in a particularly effective manner. LIST OF REFERENCE NUMBERS

Abstract

La présente invention concerne un système LIDAR (10) de perception de l'environnement qui est conçu pour effectuer des mesures répétées afin de percevoir l'environnement, le système LIDAR (10) présentant une unité émettrice (12) qui est conçue pour envoyer au moins un faisceau lumineux pour effectuer une mesure, le système LIDAR (10) présentant une unité de détection (14) qui est conçue pour détecter une partie de faisceau réfléchie par une mesure, le système LIDAR (10) présentant une unité de commande (16) qui est conçue pour que, dans le cas où au moins une partie de faisceau réfléchie est détectée, une zone d'angle solide (Ω1, Ω2, Ω3), d'où provient la partie de faisceau, soit affectée à la partie de faisceau détectée sur la base d'une affectation (Z1) prédéterminée. Le système LIDAR (10) présente en outre au moins un composant (18, 22, 28, 20, 32, 34) mobile et un actionneur qui est conçu pour déplacer le composant (18, 22, 28, 20, 32, 34) d'une première position (P1) dans au moins une seconde position (P2) différente de la première position (P1), l'affectation (Z2) étant modifiée de manière prédéterminée lorsque le composant (18, 22, 28, 20, 32, 34) se trouve dans la seconde position (P2).
PCT/EP2018/079825 2017-12-04 2018-10-31 Système lidar de perception de l'environnement et procédé pour faire fonctionner un système lidar WO2019110206A1 (fr)

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