WO2019211146A1 - Procédé destiné à faire fonctionner un dispositif de balayage laser et dispositif de balayage laser - Google Patents

Procédé destiné à faire fonctionner un dispositif de balayage laser et dispositif de balayage laser Download PDF

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Publication number
WO2019211146A1
WO2019211146A1 PCT/EP2019/060558 EP2019060558W WO2019211146A1 WO 2019211146 A1 WO2019211146 A1 WO 2019211146A1 EP 2019060558 W EP2019060558 W EP 2019060558W WO 2019211146 A1 WO2019211146 A1 WO 2019211146A1
Authority
WO
WIPO (PCT)
Prior art keywords
laser
signals
laser signals
monitoring area
beam axis
Prior art date
Application number
PCT/EP2019/060558
Other languages
German (de)
English (en)
Inventor
Thorsten BEUTH
Daniel Thiel
Original Assignee
Valeo Schalter Und Sensoren Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Valeo Schalter Und Sensoren Gmbh filed Critical Valeo Schalter Und Sensoren Gmbh
Publication of WO2019211146A1 publication Critical patent/WO2019211146A1/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
    • G01S7/4814—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
    • G01S17/04—Systems determining the presence of a target
    • 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
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • 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
    • G01S17/87—Combinations of systems using electromagnetic waves other than radio 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
    • 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

Definitions

  • the invention relates to a method for operating a laser scanning device, in which
  • a first monitoring area is scanned for objects with at least one first laser scanner by means of first laser signals
  • a second monitoring area is scanned for objects with at least one second laser scanner by means of second laser signals
  • first monitoring area and the second monitoring area overlap at least in sections.
  • the invention relates to a laser scanning device
  • control and evaluation device for controlling the laser scanner and for evaluating object information determined with the laser scanners
  • first monitoring area and the second monitoring area overlap at least in sections.
  • motor vehicles are being equipped more and more with laser technology, for example in the form of laser scanners.
  • laser technology for example in the form of laser scanners.
  • surveillance areas can be scanned with laser scanners by means of pulsed laser signals, that is, they can be scanned.
  • the laser technology must comply with corresponding protective regulations in order to prevent persons who get into the beam area of lasers from being injured. Particular attention must be paid to the protection of the eyes. It is not enough that each laser complies with the appropriate protection regulations. When overlapping beams of several lasers, the safety regulations must also be adhered to.
  • the invention has for its object to design a method and a laser scanning device of the type mentioned, which make it possible that also in the use of Ver multiple laser scanner health risks to living beings, especially humans or animals, which are located in a monitoring range of Laserscanvor direction reduced, preferably excluded, can be.
  • this object is achieved in the method in that directions of beam axes and / or transmission powers of the first laser signals and the second laser signals are adapted to each other so that a total energy from the first laser signals and the second laser signals is at least within a predetermined range. can not exceed a given limit energy.
  • the laser signals are adjusted so that even in the most unfavorable case, an overlap of the laser signals energy is not enough to produce health damage to living things, especially their eyes, motifzu.
  • the marginal energy can be so low that damage to an eye, in particular a human eye, is excluded.
  • the first laser signals and the second laser signal can hit the living being, in particular the eye, at the same time.
  • the first laser signals and the second laser signals can also hit the living being within a time interval.
  • the total energy of the first laser signal and the second laser signals must not exceed a predetermined limit within a time interval specified in particular in protective regulations.
  • the marginal energy can be specified depending on a wavelength of the laser signals.
  • the beam axis is a virtual axis which defines the propagation direction of the laser signals starting from the transmitter of the corresponding laser scanner.
  • the beam axis can ben for several consecutively emitted laser signals remain the same.
  • the direction of the beam axis can be changed continuously or discretely after the emission of one or more laser signals, so that overall the monitoring range can be scanned with laser signals.
  • the laser scanners can operate according to a light transit time method.
  • Laser scanner operating according to the light pulse transit time method may be designed and referred to as time-of-flight (TOF), light-detection-and-ranging (LiDAR), laser-detection-and-ranging (LaDAR), or the like.
  • TOF time-of-flight
  • LiDAR light-detection-and-ranging
  • LaDAR laser-detection-and-ranging
  • the respective monitoring areas are scanned, that is scanned.
  • the corresponding laser signals in particular special the beam axes of the laser signals, so to speak, pivoted about the monitoring area.
  • at least one deflecting mirror device can be used with each laser scanner.
  • the deflecting mirror devices can be configured as microsystems (MEMS).
  • the invention can be applied to a vehicle, in particular a motor vehicle.
  • the invention can be used in a land vehicle, in particular a passenger car, truck, a bus, a motorcycle or the like, an aircraft and / or a watercraft.
  • the invention can also be used in autonomous or at least partially autonomous driving testify.
  • the laser scanning device may advantageously be connected to or part of at least one electronic control device of the vehicle, in particular a driver assistance system and / or a chassis control and / or a driver information device and / or a parking assistance system or the like.
  • the object information detected by the laser scanning device in particular the distance, orientation and / or relative speed of an object relative to the vehicle, can be transmitted to the control device and influence the driving functions, in particular the speed, a braking function, a steering function, a Chassis control and / or an output of a warning and / or warning signal in particular for the driver or the like, are used.
  • the laser scanning device can also be used in conjunction with a recognition device for movement patterns, in particular gesture recognition. In this way, functions of the vehicle, in particular the Publ tion of doors, a tailgate, a trunk lid, a hood or the like can be activated on the basis of results of the laser scanning device.
  • Standing or moving objects in particular vehicles, persons, animals, obstacles, road bumps, in particular potholes or stones, roadway boundaries, free spaces, in particular parking spaces or the like, can be detected with the laser scanning device.
  • the direction of the first beam axis of the first laser signals and the direction of the second Strahlach se of the second laser signals at least for a part of the overlapping moni monitoring range in at least one spatial direction diverging to each other are rich tet switched. In this way, a spatial separation of the laser signals can take place.
  • the divergent alignment Without the divergent alignment according to the invention, as the distance to the laser scanning device increases, an angle decreases, under which the first beam axis and the second beam axis can intersect. If this angle becomes smaller than a critical angle of 4 ° there is a health risk to a human eye which is hit by the two beam axes. By diverging Ausrich tion of the beam axes, this can be prevented.
  • the critical angle of 4 ° refers to the worst case that the pupil of an eye illuminated by the laser signals has a diameter of 7 mm and the eye has a near point of 100 mm.
  • the opening angle of the human Au ges is then 4 °. With the invention can be prevented that meet several La serstrahlen within an angle of 4 ° crossing in any focal point of the eye.
  • the first Strahlach se the first laser signals in at least a first pivot surface pivoted who and the second beam axis of the second laser signals can be pivoted in at least a second pivot surface, wherein the at least one first pivot surface and the at least one second pivot surface aligned diverging who the.
  • the monitoring areas can be scanned by corresponding pivoting of the beam axes without the two beam axes coming too close. So the total energy can be further limited.
  • the first pivot surface is traversed by the first beam axis when scanning the first monitoring area.
  • the second pivot surface is traversed by the second beam axis when scanning the second monitoring area.
  • At least one of the pivot surfaces can be flat. It can then be called a "swivel plane”.
  • the at least one first pivot surface and the at least one second Schwenkflä surface can be inclined to each other at an inclination angle. In this way they are aligned divergently.
  • the first Strahlach se of the first laser signals in a first pivot surface and the second beam axis of the second laser signals can be pivoted in a second pivot surface and after each pivoting operation, the first pivot surface and the second pivot surface each about an imaginary axis be pivoted by a swivel angle by the two laser scanners.
  • the surveillance areas can be scanned in three-dimensional space.
  • the first pivot surface and the second pivot surface can be pivoted to the same extent, in particular by the same pivot angle. In this way, the surveillance areas can be scanned more evenly.
  • first pivot surface and the second pivot surface can be pivoted about a pivot angle which is twice as large as a tilt angle between the first pivot surface and the second pivot surface. In this way alternately a first pivot surface and a second pivot surface can be realized in a uniform sequence.
  • a transmission power of the first laser signals and / or a transmission power of the second laser signals can be reduced as long as the first beam axis of the first laser signals and / or the second beam axis of the second laser signals in a region between a main axis of the first laser scanner and a main axis of the second laser scanner is located.
  • the total beam power can be reduced, so that in overlapping areas a corresponding de total energy is kept so low that health damage can be ruled out.
  • a transmission of first laser signals and / or second laser signals can be suspended.
  • a corresponding mechanism in particular a special special deflection device, continue to pivot the corresponding beam axis, so sampled at the next transmission of a laser signal, a corresponding further sample point of the surveillance area who can.
  • At least one laser signal which is provided for a detection region of the object can be detected with respect to the direction of its beam axis and / or in its transmission axis. performance to be changed. In this way, in the presence of an object in a surveillance area, the energy of the laser signals in the area of the detection area can be correspondingly reduced.
  • the detection area of the object is the area of the surveillance area in which the object is located.
  • the object can be detected by appropriate means. In this way it can be identified whether the object is a living being.
  • the laser scanning device and / or another detection device can be used. Further means for detecting the object can be realized in a software-based and / or hardware-based way.
  • At least one further detection device can be used to detect an object in a monitoring area.
  • the object can be identified in particular independently of the laser scanning device.
  • the at least one further detection device may comprise at least one camera, an ultrasound system or the like.
  • the technical problem is solved according to the invention in the laser scanning device in that the at least one control and evaluation unit has means for performing a method according to the invention.
  • control and evaluation unit may be connected to at least one further detection device for detecting objects.
  • the detection device the objects can be detected independently of the laser scanners.
  • control and evaluation unit comprises means for detecting, in particular special identification, of objects.
  • control and evaluation unit for distinguishing living beings, in particular humans or animals, of objects, in particular other vehicles, crash barriers, obstacles or the like, be configured.
  • Figure 1 is a plan view of a vehicle with a Laserscanvorraum for
  • Figure 2 is a side view of the vehicle of Figure 1;
  • FIG. 3 shows a scanning pattern of laser signals of the laser scanning device of the vehicle of FIGS. 1 and 2;
  • Figure 4 is the plan view of the vehicle of Figure 1 during an exemplary
  • FIG. 5 shows the top view of the vehicle from FIG. 1 during a further sampling step of the laser scanning device.
  • a vehicle 10 for example a motor vehicle, is shown in a plan view.
  • the vehicle 10 may be an autonomous or teilauto nomes vehicle.
  • the vehicle 10 may have a so-called driver assistance system.
  • FIGS. 1-10 For the sake of easier orientation, the respective axes of an orthogonal x-y-z coordinate system are shown in FIGS.
  • the vehicle 10 is located on a roadway which is parallel to the x-y plane.
  • the vehicle 10 has a laser scanning device 12 and an optical detection device 14.
  • the laser scanning device 12 comprises two laser scanners 16a and 16b, which are spaced apart from each other at the same height at the front of the vehicle 10 are arranged. Furthermore, the laser scanning device 12 includes a control and evaluation unit 18, with which the laser scanner 16 can be controlled and processed with the laser scanners 16a and 16b detected information.
  • the control and evaluation unit 18 may be part of the driver assistance system or at least connected thereto.
  • the detection device 14 may, for example, comprise a camera.
  • the Detekti onsvorraum 14 is also located at the front of the vehicle 10.
  • the detection device 14 may be arranged between the laser scanners 16 example.
  • the detection device 14 is also connected to the control and evaluation unit 18.
  • the laser scanners 16 a and 16 b and the detection device 12 are aligned in the direction of travel 20 of the vehicle 10.
  • the direction of travel 20 runs, for example, parallel to the x-axis.
  • the main axis 22a of the first laser scanner 16a and the main axis 22b of the second laser scanner 16b in this exemplary embodiment run parallel to each other and, for example, parallel to the x-axis.
  • the main axis of the detection device 14, which is not shown for clarity, runs parallel to the main axes 22a and 22b.
  • the major axes 22a and 22b define the orientations of the laser scanners 16a and 16b.
  • the major axis of the detection device 14 defines its orientation.
  • the laser scanners 16a and 16b are constructed identically by way of example, so that only the first laser scanner 16a is described in the fol lowing for the sake of simplicity.
  • the laser scanner 16a has a transmitter, for example in the form of a laser diode, for emitting first laser signals 24a, for example in the form of laser pulses, and a receiver for receiving the re-sparked by a possible object 26 laser signals 24a. Furthermore, the laser scanner 16a has a deflecting mirror device, which is of no further interest here, with which the laser signals 24a can be deflected into a first monitoring area 28a. The propagation direction of the first laser signals 24a is referred to below as the first beam axis 30a. With the deflection mirror device, the first beam axis 30a is moved over the monitoring area 28a. With the Umlenkspiegel adopted further reflected at et waigen objects 26 first laser signals 24a are deflected to the receiver vice.
  • second laser signals 24b are transmitted correspondingly in the direction of a second beam axis 30b into a second monitoring area 28b.
  • FIG. 1 shows the limits of the monitoring regions 28a and 28b, which correspond to the maximum deflections of the beam axes 30a and 30b of the laser signals 24a and 24b.
  • the beam axes 30a and 30b are pivoted back and forth between their respective maximum orientations.
  • FIGS. 4 and 5 show two sampling phases in which the Projections of the beam axes 30a and 30b viewed in the direction of the z-axis intersect under different deflections each.
  • FIG. 3 shows a scanning pattern of the laser scanning device 12 which is produced by the movements of the beam axes 30a and 30b during a monitoring cycle in a sectional plane 32.
  • the cutting plane 32 is parallel to the y-z plane.
  • the first beam axis 30a is pivoted in a first pivot surface in the form of a pivot plane 34a.
  • the first pivot plane 34a is pivoted about an imaginary axis 39 by the two laser scanners 16a and 16b by a pivot angle 35, which is shown in Figure 2, upwards.
  • the imaginary axis 39 is exemplary parallel to the y-axis.
  • the transmission of the first laser signals 24a is interrupted by way of example since the scanning speed there is too low.
  • the course of the scan with the first La sersignalen 24a has the shape of a serpentine. By way of example, the entire procedure is performed five times within one monitoring cycle. Alternatively, the process may also be carried out less or more than five times.
  • the second beam axis 30b is swiveled in a second pivot surface in the form of a pivot plane 34b simultaneously with the deflecting mirror device of the second laser scanner 16b.
  • the second pivot plane 34b is also pivoted about the pivot angle 35 after each pivoting operation.
  • Figure 2 shows the positions of the first pivot planes 34a and the second pivot plane 34b in the course of the monitoring cycle in a side view.
  • the pivot angle 35 for the first pivot plane 34a and the pivot angle 35 for the second pivot plane 34b are equal.
  • An inclination angle 38 between the first pivot plane 34a and the second pivot plane 34b is half as large as the pivot angle 35.
  • the second pivot plane 34b is inclined in each discharge phase with respect to the first pivot plane 34a so that the beam axes 30a and 30b at least in the Overlapping monitoring area 28c always at least one ge shown in Figure 3 showed minimum distance 40 to each other.
  • the pivot plane 34 a and the pivot plane 34 b and thus the beam axes 30 a and 30 b are divergent out.
  • the minimum distance 40 is 7 mm by way of example. At this minimum distance 40, a health hazard can be excluded by the laser scanning device 12 in a human eye with a near point of 100 mm and an opening angle of 4 °.
  • the first monitoring area 28a of the first laser scanner 16a and the second monitoring area 28b of the second laser scanner 16b overlap on the mutually facing sides in the overlapping monitoring area 28c.
  • the directions of the beam axes 30a and 30b are matched to each other.
  • the beam axes 30a and 30b temporarily intersect at an angle a which is smaller than the opening angle of a human eye, namely 4 °.
  • the adaptation of the beam axes 30a and 30b ensures that the total energy from the first laser signals 34a and the second laser signals 34b does not exceed a predetermined limit energy.
  • the marginal energy is the energy from which health damage, for example, of an eye is to be feared.
  • the transmission powers of the laser signals 24a and 24b are reduced as long as the first beam axis 30a and / or the second beam axis 30b are in a region 44 between the first main axis 22a and the second main axis 22b located.
  • laser safety is increased by additionally monitoring the monitoring areas 28a and 28b with the detection device 14 for objects 26. As soon as an object 26 is detected with the detection device 14, the laser signals 24a and / or 24b provided for the detection region of the object 26 are reduced in their transmission power.
  • the recognition area of the object 26 is defined by its outlines.
  • the first beam axis 30a and / or second beam axis 30b may also be changed, for example inclined, to reduce the overall energy in the region of the detection region of the object 16.
  • the object 26 can be additionally identified, for example, as a person or animal.

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

Abstract

L'invention décrit un procédé destiné à faire fonctionner un dispositif (12) de balayage laser et un dispositif (12) de balayage laser. Selon le procédé, une première zone de contrôle (28a) sur des objets (26) est explorée avec au moins un premier système de balayage laser (16a) au moyen de premiers signaux laser. Une deuxième zone de contrôle (28b) sur des objets (26) est explorée avec au moins un deuxième système de balayage laser (16b) au moyen de deuxièmes signaux laser. À partir d'un certain éloignement (42) par rapport au dispositif (12) de balayage laser, la première zone de contrôle (28a) et la deuxième zone de contrôle (28b) se superposent au moins par sections. Des directions d'axes de rayonnement et/ou de puissances d'émissions des premiers signaux laser et des deuxièmes signaux laser sont adaptées les unes aux autres de sorte qu'une énergie totale provenant des premiers signaux laser et des deuxièmes signaux lasers ne dépasse pas une énergie limite prédéfinie au moins à l'intérieur d'une partie (28c) prédéfinissable des zones de contrôle (28a, 28b). Les systèmes de balayage laser (16a et 16b) sont agencés à la même hauteur à une certaine distance l'un de l'autre à l'avant d'un véhicule (10). Le dispositif (12) de balayage laser comprend en outre une unité de commande et d'évaluation (18) grâce à laquelle les systèmes de balayage laser (16) peuvent être commandés et les informations calculées avec les systèmes de balayage laser (16a et 16b) peuvent être traitées. Le véhicule (10) dispose en outre de préférence d'un dispositif de détection optique (14), par exemple une caméra. Lorsque le dispositif de balayage laser fonctionne, les premiers signaux laser et les deuxièmes signaux laser peuvent se rencontrer simultanément sur un être vivant, en particulier sur l'œil. Les premiers signaux laser et les deuxièmes signaux laser peuvent également se rencontrer sur l'être vivant durant un intervalle de temps. Afin d'empêcher une atteinte à la santé, l'énergie totale des premiers signaux laser et des deuxièmes signaux laser ne doit pas dépasser une valeur limite prédéfinie durant un intervalle de temps, en particulier prédéfini dans les normes de protection.
PCT/EP2019/060558 2018-05-03 2019-04-25 Procédé destiné à faire fonctionner un dispositif de balayage laser et dispositif de balayage laser WO2019211146A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102018110549.5A DE102018110549A1 (de) 2018-05-03 2018-05-03 Verfahren zum Betreiben einer Laserscanvorrichtung und Laserscanvorrichtung
DE102018110549.5 2018-05-03

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WO2019211146A1 true WO2019211146A1 (fr) 2019-11-07

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2021120224A1 (fr) * 2019-12-20 2021-06-24 深圳市大疆创新科技有限公司 Appareil de détection d'aire de stationnement et procédé de commande

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102016103898A1 (de) * 2016-03-04 2017-09-07 Valeo Schalter Und Sensoren Gmbh Optische Messvorrichtung für Kraftfahrzeuge und Verfahren zum Betrieb einer solchen
US20180113200A1 (en) * 2016-09-20 2018-04-26 Innoviz Technologies Ltd. Variable flux allocation within a lidar fov to improve detection in a region

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102016103898A1 (de) * 2016-03-04 2017-09-07 Valeo Schalter Und Sensoren Gmbh Optische Messvorrichtung für Kraftfahrzeuge und Verfahren zum Betrieb einer solchen
US20180113200A1 (en) * 2016-09-20 2018-04-26 Innoviz Technologies Ltd. Variable flux allocation within a lidar fov to improve detection in a region

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2021120224A1 (fr) * 2019-12-20 2021-06-24 深圳市大疆创新科技有限公司 Appareil de détection d'aire de stationnement et procédé de commande

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