WO2020114740A1 - Lidar-system sowie kraftfahrzeug - Google Patents
Lidar-system sowie kraftfahrzeug Download PDFInfo
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- WO2020114740A1 WO2020114740A1 PCT/EP2019/081148 EP2019081148W WO2020114740A1 WO 2020114740 A1 WO2020114740 A1 WO 2020114740A1 EP 2019081148 W EP2019081148 W EP 2019081148W WO 2020114740 A1 WO2020114740 A1 WO 2020114740A1
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- lidar system
- darkening
- photodetectors
- filter
- photodetector
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4816—Constructional features, e.g. arrangements of optical elements of receivers alone
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
- G01N21/55—Specular reflectivity
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
- G01S7/4813—Housing arrangements
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/483—Details of pulse systems
- G01S7/486—Receivers
- G01S7/4861—Circuits for detection, sampling, integration or read-out
- G01S7/4863—Detector arrays, e.g. charge-transfer gates
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/483—Details of pulse systems
- G01S7/486—Receivers
- G01S7/4868—Controlling received signal intensity or exposure of sensor
-
- 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
- G01S7/491—Details of non-pulse systems
- G01S7/4912—Receivers
- G01S7/4913—Circuits for detection, sampling, integration or read-out
- G01S7/4914—Circuits for detection, sampling, integration or read-out of detector arrays, e.g. charge-transfer gates
Definitions
- the present invention relates to a LiDAR system which is set up to scan an environment with a light beam in order to acquire information about the environment, the LiDAR system being set up both
- the present invention further relates to a motor vehicle with such a LiDAR system, the LiDAR system being operatively connected to the motor vehicle.
- Such LiDAR systems and motor vehicles are generally known. For example, they have an avalanche photodiode as a photodetector, for example a single-photon avalanche diode (SPAD), or instead a silicon photomultiplier (SiPM) as a photodetector.
- the LiDAR system can have a laser source in order to emit the light beam.
- the photodetector is arranged to receive the light beam reflected from the environment.
- Evaluation electronics can then receive the information, for example depth information, from received signals from the photodetector.
- photodetectors become saturated too quickly when there is a lot of light, for example from highly reflective objects in the vicinity, or a low amount of light, for example from
- DE 10 2014 207 599 A1 relates, for example, to a photodetector, in particular for LiDAR systems, with avalanche photodiodes that can be activated individually.
- the avalanche photodiodes are activated offset to one another in order to cover a large dynamic range and to maintain measurement capability by avoiding saturation.
- Dimming device in front of an optical receiving unit.
- the problem is mentioned that a dynamic range is limited by an upper threshold above which the receiver is saturated.
- the dimming device therefore has an electrochromatic or a photochromatic medium in order to
- a LiDAR system (“electro-optical device”) is known from US 2017 176579 A, consisting of a laser source, a beam deflection, a photodetector, optics and corresponding electronics.
- Patent Application Laid-Open discloses a system that successively activates detector pixels to increase a sensor's signal-to-noise ratio. It is apparent to the person skilled in the art from this teaching that this is an m-mirror-based implementation of the LiDAR system. However, they are
- Flash uniform illumination pattern
- US 2018 003821 A discloses a LiDAR system (“object detector”), consisting of several light sources, a photodetector, optics and appropriate electronics. The light sources are individually and sequentially controllable laser diodes. US 2018 003821 A discloses that everyone
- Light source is assigned exactly one receiving element.
- the pixels are read out individually and simultaneously / in parallel.
- the detector type can be considered a SPAD
- SPAD sensors with red, green and blue (RGB) color channels and with separate photodetectors are known.
- DE 94 10 659 U1 discloses a receiving device for electromagnetic signals.
- the device provides a time-variable attenuator to limit the dynamic range of a signal in order to avoid saturation effects.
- An optoelectronic range finder is known from EP 3 171 201 B1.
- An optical output power of a light emitter is appropriately varied by one
- Receive signal in an intensity range evaluable by a receiver unit, which is above a lower detectability limit and below an upper saturation of the receiver unit.
- EP 2 300 852 B1 describes a method for Doppler-LiDAR measurement of speeds, in which a number of laser pulses to be integrated on one detector per measurement depend on the intensity of the radiation coming from the medium. A dynamic range can be increased in this way.
- a LiDAR system of the type mentioned at the outset is used for
- Detector side would be necessary. This makes it easy to compensate for a too rapid saturation of all pixels with high light levels. Objects in / and about the environment can be detected regardless of their distance, such as a retroreflector in the near field,
- the invention simplifies the provision of a LiDAR system with a high dynamic range.
- the near field of the environment is at a distance of between 0 m and up to 50 m, preferably up to 40 m, particularly preferably up to 30 m, measured from a photodetector of the system.
- the far field of the environment is at a distance of more than 30 m, preferably more than 40 m and particularly preferably more than 50 m, measured from a photodetector of the system.
- the objects can be movable objects, such as, for example, people, vehicles or animals, and / or immovable objects, such as, for example, guardrails, walls, bridge pillars or the like.
- LiDAR system is set up for
- Evaluation electronics set up to statistically evaluate histograms of the photodetectors in order to determine the majority of reflectivity properties of the objects in the environment, and preferably to relate them in synchronism with their distance, in particular to the photodetector.
- at least one of the photodetectors is one
- the darkening filter preferably reduces the amount of light incident on the photodetector.
- the darkening filter therefore reduces the darkening filter
- Saturation probability of the photodetector so that the photodetector can in principle have any saturation probability ex works and the darkening filter adjusts, in particular reduces, the saturation probability.
- all of the photodetectors can preferably be of identical design, which can reduce the manufacturing outlay and the costs.
- a preferred filter is a neutral density (ND) filter.
- ND filters also called gray filters, can be particularly good for reducing the
- Saturation probability can be used as a darkening filter because they effectively reduce the amount of light that falls on the photodetector. This reduces the saturation probability of the downstream of the ND filter
- the darkening filter is preferably a static optical filter. This means that a darkening performance is constant over time and cannot be controlled manually or automatically. This simplifies the construction and increases the reliability, since the filter does not have to have movable screens, active components or the like. This reduces the complexity and ensures high component availability. Instead of darkening filters, however, several of the photodetectors can also be present, which already differ from the factory
- the photodetectors can preferably have different, but preferably static, relative to one another
- Detection sensitivities can be established. Then the darkening filters for these photodetectors and thus space can be saved.
- Some embodiments provide several darkening filters, which are arranged in a common filter matrix and form a common filter component. A compact design and simple handling of the
- the filter matrix is preferably in optical reception path in front of a SPAD-based detector in SiPM configuration (SPAD array). It is particularly preferred that all darkening filters are arranged in the common filter matrix and form the common filter component.
- the filter matrix preferably has rows and columns, the number of rows preferably being the same as the number of columns.
- a preferred filter matrix is a modified Bayer filter, in which darkening filters with darkening of different degrees relative to one another are preferably adjacent and alternate.
- the LiDAR system preferably has a first photodetector arrangement and a second photodetector arrangement, the first
- Photodetector arrangement is set up for a first
- the second photodetector arrangement is set up to have a second saturation probability, the first saturation probability being different from the second
- Photodetector arrangements can be recognized. Each photodetector arrangement comprises one or more photodetectors. It is preferred that each
- Photodetector arrangement comprises two or more photodetectors. It is preferred that all photodetectors are identical. The first
- Saturation probability can be defined by first upstream darkening filters, which bring about a first darkening while the second
- Saturation probability can be defined by second upstream darkening filters which bring about a second darkening which is different from the first darkening. It is therefore preferred that a degree of darkening by the upstream darkening filter defines the affiliation of the photodetectors to the respective photodetector arrangement.
- the second saturation probability can also be embodied by the light sensitivity of the photodetectors of the second
- the first darkening can be between 33% and 66% compared to the second darkening.
- the first darkening filter only lets through between 33% and 66% of the amount of light like the second darkening filter, or the first darkening filter only lets between 33% and 66% of the maximum detection rate of the second one
- Photodetector arrangement provided that there are no second darkening filters upstream. If, as is preferred, the darkening filter is a static filter, the darkening is constant over time. Detections in photodetectors with a strong darkening filter, for example a darkening of more than 50%, based on the amount of incident light, can preferably be assigned to a particularly bright object property and detections in photodetectors with a weak or no darkening filter, for example with a
- Object property can be assigned, in particular by the
- the LiDAR system has a third photodetector arrangement, the third photodetector arrangement being set up to have a third saturation probability, the third
- Saturation probability is different from the first saturation probability and from the second saturation probability. In this way, a better graded sensitivity and an increased dynamic range of the LiDAR system can be achieved. It is preferred that all photodetectors of the third photodetector arrangement are identical to the photodetectors of the first and second photodetector arrangement and only third darkening filters with a third darkening that is different from the first darkening and the second darkening, or a special light sensitivity of the
- the third darkening lies between the first and the second darkening, preferably in between. It is particularly preferred that the LiDAR system has at least one further one
- each further photodetector arrangement having a further saturation probability which is different from all other of the photodetector arrangements. So can be a very finely graded Sensitivity and a very high dynamic range of the LiDAR system can be achieved.
- two or more are
- Photodetector arrangements arranged in a common detector matrix It is preferred that two or more of the photodetector arrangements form a common detector component. This has the advantage that the adjustment and configuration effort can be reduced because individual photodetector arrangements no longer have to be configured as a function of one another before commissioning, but two or more photodetector arrangements can be provided as a preconfigured common component. It is particularly preferred that all photodetector arrangements in the common
- Detector matrix are arranged and form a common detector component.
- the detector matrix preferably has rows and columns, the number of rows preferably being the same as the number of columns.
- the number of rows and columns of the filter matrix preferably corresponds to the number of rows and columns of the
- Photodiodes are made with the respective darkening filters in order to
- the detector component and the filter component form a common component.
- the filter component and the detector component can
- the detector component and the filter component are preferably integrally connected to one another, in particular glued, in order to form the common component.
- This can be a simple, inexpensive and efficient way of producing the common component.
- the photodetectors are each individually encapsulated in an interior space that is formed between the filter component and the detector component. So each photodetector can be on the detector component well protected separately. In some embodiments, however, it is provided that several photodetectors are encapsulated in a common interior.
- Photodetectors are single-photon avalanche photodiodes. Such
- Single photon avalanche photodiodes are set up to count single photons. If there are too many photons in the optical path, the probability increases that SPADs connected in an SiPM are also saturated at the same time and are therefore no longer sensitive. However, since the individual darkening filters of the filter matrix only transmit as many photons as their attenuation level allows, SPADs behind them can receive just as many photons from highly reflective objects as in unfiltered or weakly filtered pixels with slightly reflective objects.
- Detection ability also called arm probability, remains homogeneous.
- Photodetector groups can be used. It is particularly preferred that all of the photodetectors are single-photon avalanche photodiodes. A large number of identical photodetectors can be used, which can reduce costs and simplify production. The use of the SPAD allows a significant reduction in exposure times, which common imagers demand in poor lighting conditions, preferably reduced from the order of milliseconds to the order of nanoseconds.
- Photodetector arrangements exactly one photodetector. In some
- Embodiments include one or more of the photodetector arrays two or more photodetectors. Preferably the number is on
- Photodetectors for two or more or all photodetector arrangements are the same. Since the affiliation of the photodetectors to the photodetector arrangements is defined in embodiments by the upstream darkening filters, two or more darkening filters are preferred in terms of their
- the filter matrix provides preferably two or more different darkenings are available, so that a corresponding number of photodetector arrangements is defined.
- the number of identical darkening filters in the filter matrix is preferably the same for each of the different darkening. So there is
- a 3x3 filter matrix preferably three darkening filters with a darkening of 33%, three further darkening filters with a darkening of 50% and three further darkening filters with a darkening of 66%, based on the incident light quantity, so that this results in a downstream 3x3 detector matrix , which comprises nine identical photodetectors, three
- Photodetector arrangements can be defined. However, there is
- a further, fourth photodetector arrangement with four photodetectors could be provided on the detector matrix, which is defined by four further darkening filters with 90% darkening in the filter matrix.
- the detector matrix would then preferably have 13 identical photodetectors.
- the motor vehicle of the type mentioned at the outset is also made available, an embodiment of the above
- LiDAR system is operatively connected to the motor vehicle.
- Detector side would be necessary.
- the detection capability of the photodetectors can always be retained with a higher probability.
- the invention simplifies the provision of the motor vehicle with a LiDAR system with a high dynamic range.
- Preferred motor vehicles are passenger cars, trucks, and trailers.
- the LiDAR system in the motor vehicle can be operatively connected to control units for at least partially automated driving functions via a suitable interface, especially for mono video partially automated driving.
- the motor vehicle can also have 3D cameras.
- FIG. 1 shows a LIDAR system according to a first embodiment of the invention with a common detector matrix and a common filter matrix, which is upstream of the detector matrix;
- Figure 2 is a schematic plan view of a common detector component of the LiDAR system according to the first embodiment of the invention
- Figure 3 is a side cross-sectional view through a portion of the
- Figure 4 is a plan view of an alternative filter matrix according to a second embodiment of the invention.
- the LiDAR system 1 shows a LiDAR system 1 in a first embodiment according to the invention.
- the LiDAR system 1 is arranged in a motor vehicle (not shown) and is operatively connected to the motor vehicle.
- Various details of the LiDAR system 1 known to the person skilled in the art have been omitted for the sake of simplicity, for example a laser source which serves to emit a light beam in order to scan an environment.
- the LiDAR system 1 shown in FIG. 1 is set up to scan the environment with a light beam in order to record information about the environment, the LiDAR system being set up to include both highly reflective objects in a near field of the environment as well as low reflecting objects in a far field of the environment, as will be explained in detail below.
- the LiDAR system 1 comprises a detector component 2 and a filter component 3.
- the detector component 2 comprises a plurality of photodetectors 4, here nine identical photodetectors 4 by way of example, which are set up to have different saturation probabilities, as will be explained in more detail below.
- the LiDAR system 1 is set up to distinguish the highly reflective objects in the near field from the low-reflecting objects in the far field from received signals from the plurality of photodetectors 4.
- the near field, measured from the photodetector, is at a distance of about 0 m to 40 m, while the far field is at a distance of more than 40 m.
- the individual photodetectors 4 are grouped into three photodetector arrangements, which are defined by the filter component 3, which is arranged upstream of the detector component 2 in the detection direction of the photodetectors 3.
- the filter component 3 comprises a filter frame 5 and a filter matrix 6 with, here also nine, darkening filters 7a-c, three of which are identical, namely three each let through the same amount of light.
- the filter matrix 6 is designed as a checkerboard-like modified Bayer filter.
- Darkening filters 7a-c which each provide different darkening, are arranged adjacent to one another.
- the photodetectors 4 are single-photon avalanche photodiodes and are all identical, so they can only count individual photons.
- the darkening filter 7a-c which is located upstream of the photodetector 4, reduces the saturation probability of the photodetector 4, which is located downstream of the darkening filter 7a-c.
- the affiliation of the photodetectors 4 to a respective photodetector arrangement thus only results from the relative amount of light for which the darkening filter 7a-c of the filter matrix 6, which is upstream of the respective photodetector 4, is transparent.
- the detector component 2 thus comprises a common 3 ⁇ 3 detector matrix 8 with nine identical individual ones
- the filter component 3 comprises the 3x3 filter matrix 6 with three darkening filters 7a, which each provide a first darkening and thus allow 75% of the incident light quantity to pass through, three more
- the first saturation probability defined by the first darkening, the second saturation probability defined by the second darkening and the third saturation probability defined by the third darkening are the identical photodetectors 4 downstream of the darkening filters 7a-c different from each other.
- Each of the nine photodetectors 4 is thus obviously assigned to exactly one of the photodetector arrangements, with each of the photodetectors 4 being preceded by a darkening filter 7a-c which is transparent to the amount of light that is to be received by the respective photodetector arrangement.
- a design of the filter matrix 6 a design of the
- FIG. 1 shows a first configuration according to the invention which, for the detector matrix 8, has a SiPM constellation of several,
- the filter matrix 8 of different attenuation levels is arranged in the individual pixels of the optical reception path, so that each SPAD of the photodetectors 4 only photons of a selected one
- Dynamic range can count.
- stronger or weaker darkening filters 7a-c can be provided in a smaller or higher proportion.
- FIG. 2 now shows a top view of the detector component 2.
- the detector component 2 comprises the 3x3 detector matrix 8, which consists of the nine identical photodetectors, and a carrier plate 9, which carries the detector matrix 8. Without knowledge of the filter matrix 6, it is therefore not possible to see which of the nine identical ones
- Photodetectors 4 to which photodetector arrangement is assigned In other words, this means that the assignment of the photodetectors 4 can also be changed by exchanging the filter matrix 6.
- Each photodetector 4 is connected via an electronic conductor arrangement 10 to evaluation electronics 11, for example formed by an integrated evaluation control circuit.
- the evaluation electronics 11 is set up to distinguish the highly reflective objects in the near field from the low-reflecting objects in the far field from received signals from the photodetectors 4 of the plurality of photodetectors 4.
- Evaluation electronics 1 1 knows from a stored assignment table the assignment of the individual photodetectors 4 of the detector matrix 8 to the, here three, different photodetector arrangements and can, for example, receive a count signal from a photodetector 4, which is preceded by a darkening filter 7a with a first darkening, as a reception signal from the first
- the evaluation electronics 1 1 is set up in the first embodiment to receive all
- Evaluation electronics 1 1 set up from the received signals of the Photodetectors 4 to obtain depth information about the environment. Each photodetector 4 thus has a double function. Furthermore, the evaluation electronics 11 is set up to record and statistically evaluate histograms of the photodetectors 4, for example here
- FIG. 2 shows a SPAD matrix, that is to say the detector component 2, in SiPM configuration for a single macropixel including interconnection and (if “backside illumination SPAD / SiPM are not used) non-active area with evaluation electronics 1 1. It is important that for the combined acquisition of light and dark image information but also the SiPM properties (parallel operation for the purpose of redundancy of the quickly saturable and thus inactive SPAD), a higher number of SPADs, i.e. photodetectors 4, in the macropixel matrix, the detector matrix 8, must be present as shown here (for example 4x4, 5x5, etc.).
- FIG. 3 shows a lateral cross-sectional view through a section of the detector component 2 and the filter component 3.
- Has filter matrix 6, is integrally connected to the detector component 2, which has the detector matrix 8.
- the filter component 3 is glued to the detector component 2 at a connection point 12 in an edge region.
- Detector component 2 and filter component 3 are permanently connected to one another.
- the detector component 2 and the filter component 3 thus form a common component.
- the photodetectors 4 are encapsulated in an interior space 13, which is formed between the detector component 2 and the filter component 3.
- the individual photodetectors 4 are thus protected from external environmental influences, such as moisture.
- a photodetector 4 is encapsulated individually in the interior 13. In other
- Exemplary embodiments are two or more photodetectors 4 in
- FIG. 3 shows an average image of an individual SPAD, that is to say photodetector 4, to illustrate the seamless connection of a filter matrix 6 to the semiconductor diode, photodetector 4, in a clean room process, for example with the aid of cohesive adhesive connections.
- FIG. 4 shows a top view of an alternative filter matrix 6 according to a second embodiment of the invention. The filter matrix 6 is again as
- the filter matrix 6 which is again arranged in the filter frame 5, is a 4x5 filter matrix 6 with four rows and five columns, that is to say twenty darkening filters 7a-d.
- the detector matrix 8 in the second embodiment of the LiDAR system 1 has twenty identical detectors 4 in a 4x5 detector matrix 8, so that the design of the filter matrix 6 again corresponds to the design of the detector matrix 8 and a darkening filter 7a-d in each case the filter matrix 6 a photodetector 4 of the detector matrix 8, in
- Direction of reception is upstream. Not only three, but four different darkening filters 7a-d are provided here, each of which transmits a different, reduced amount of light.
- the LiDAR system 1 with the alternative filter matrix 6 from FIG. 4 thereby comprises an additional, fourth photodetector arrangement which is set up to have a fourth saturation probability.
- the fourth photodetector arrangement which is set up to have a fourth saturation probability.
- the darkening filter 7d provides a darkening that only one
- the number of photodetectors 4 in the fourth photodetector arrangement is, as can be seen from FIG. 4, less than the number of photodetectors 4 in each of the other three
- Photodetector arrangements in the second embodiment Illustratively in FIG. 4 are a darkening filter 7a with a first darkening, a darkening filter 7b with a second darkening, a darkening filter 7c with a third darkening and a darkening filter 7d with a fourth darkening
- the LiDAR system 1 is provided, which is operatively connected to the LiDAR system 1, the LiDAR system 1 being set up to scan an environment with a light beam in order to record information about the surroundings.
- the LiDAR system 1 is additionally set up for both highly reflective objects in the near field of the
- the LiDAR system To detect the environment as well as low-reflecting objects in a far field of the environment and the LiDAR system has several photodetectors 4, which are set up to have different saturation probabilities.
- a darkening filter 7a-d is placed in front of the photodetectors 4, so that the photodetectors 4 are set up not only to count photons, but also from the
- Received signals from the photodetectors 4 can also be distinguished from highly reflective objects from low reflecting objects.
- all darkening filters 7a-d are neutral density filters, also called ND filters.
- the evaluation electronics 11 can then evaluate the information from the photodetectors 4 and output synchronous light and dark image information, for example.
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Abstract
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Priority Applications (5)
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EP19805919.8A EP3891532A1 (de) | 2018-12-06 | 2019-11-13 | Lidar-system sowie kraftfahrzeug |
CN201980080476.1A CN113167905A (zh) | 2018-12-06 | 2019-11-13 | 激光雷达系统以及机动车 |
KR1020217020725A KR20210096243A (ko) | 2018-12-06 | 2019-11-13 | 라이다 시스템 및 자동차 |
US17/274,382 US20210341586A1 (en) | 2018-12-06 | 2019-11-13 | Lidar system and motor vehicle |
JP2021531904A JP2022511045A (ja) | 2018-12-06 | 2019-11-13 | ライダーシステムおよび自動車 |
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DE102018221083.7 | 2018-12-06 | ||
DE102018221083.7A DE102018221083A1 (de) | 2018-12-06 | 2018-12-06 | LiDAR-System sowie Kraftfahrzeug |
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WO2020114740A1 true WO2020114740A1 (de) | 2020-06-11 |
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PCT/EP2019/081148 WO2020114740A1 (de) | 2018-12-06 | 2019-11-13 | Lidar-system sowie kraftfahrzeug |
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US (1) | US20210341586A1 (de) |
EP (1) | EP3891532A1 (de) |
JP (1) | JP2022511045A (de) |
KR (1) | KR20210096243A (de) |
CN (1) | CN113167905A (de) |
DE (1) | DE102018221083A1 (de) |
WO (1) | WO2020114740A1 (de) |
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US20210208276A1 (en) * | 2020-01-07 | 2021-07-08 | Liturex (Guangzhou) Co. Ltd | High dynamic range lidar |
DE102021201074A1 (de) | 2021-02-05 | 2022-08-11 | Robert Bosch Gesellschaft mit beschränkter Haftung | Detektorbaugruppe und optischer Sensor |
DE102021214433A1 (de) | 2021-12-15 | 2023-06-15 | Robert Bosch Gesellschaft mit beschränkter Haftung | LIDAR-Vorrichtung mit verbessertem Dynamikbereich |
CN114594493B (zh) * | 2022-01-13 | 2023-03-21 | 杭州宏景智驾科技有限公司 | 激光雷达系统及其环境光感知方法 |
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US20210341586A1 (en) | 2021-11-04 |
KR20210096243A (ko) | 2021-08-04 |
DE102018221083A1 (de) | 2020-06-10 |
CN113167905A (zh) | 2021-07-23 |
EP3891532A1 (de) | 2021-10-13 |
JP2022511045A (ja) | 2022-01-28 |
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