WO2022171526A1 - LIDAR-Vorrichtung - Google Patents
LIDAR-Vorrichtung Download PDFInfo
- Publication number
- WO2022171526A1 WO2022171526A1 PCT/EP2022/052651 EP2022052651W WO2022171526A1 WO 2022171526 A1 WO2022171526 A1 WO 2022171526A1 EP 2022052651 W EP2022052651 W EP 2022052651W WO 2022171526 A1 WO2022171526 A1 WO 2022171526A1
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- WO
- WIPO (PCT)
- Prior art keywords
- facet
- main
- light source
- detector
- component
- Prior art date
Links
- 238000001514 detection method Methods 0.000 claims abstract description 50
- 239000013598 vector Substances 0.000 claims description 22
- 238000005259 measurement Methods 0.000 description 3
- 230000005855 radiation Effects 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 239000000758 substrate Substances 0.000 description 2
- 230000001419 dependent effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
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
- G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
-
- 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
- G01S7/4812—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver transmitted and received beams following a coaxial path
-
- 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
- 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 LIDAR device and a vehicle with such a LIDAR device.
- LIDAR devices based on a rotating mirror are known from the prior art. These have a light source and a detector, where light is emitted from the light source via the rotatable mirror device and rotation of the mirror device results in beam deflection. This allows a radiation area to be scanned. Light reflected from an object is then reflected again by the mirror device and strikes the detector. A propagation time measurement, i.e. the measurement of the time that a light beam needs to reach an object after leaving the light source via the mirror device, to be reflected by the object and to hit the detector again via the mirror device, makes it possible to make a statement about how far the object is from the LIDAR device.
- the mirror device it is also known from the prior art to design the mirror device as a so-called facet wheel, the facet wheel having a number of facets.
- the facet wheel is designed in such a way that a regular n-corner is shifted perpendicularly to a plane defined by the n-corner and thereby forms a polygon, with the lateral surfaces of the polygon representing the facets of the facet wheel.
- An axis perpendicular to the regular n-gon serves as the axis of rotation around which the facet wheel can be rotated.
- Light emitted by the light source hits a facet of the facet wheel, from there the object, light reflected from the object hits the same facet of the facet wheel and from there the detector.
- the light source and the detector are usually arranged one above the other, ie in different planes relative to the axis of the facet wheel.
- the light beam emitted by the light source can be deflected in a plane perpendicular to the axis. If deflection is also to take place parallel to the axis, the light source can also be equipped with a beam deflection device, such as a tilting mirror or another device that allows the emitted light to be deflected parallel to the axis.
- the light source can in particular be a laser.
- LIDAR devices Due to the fact that the light source and detector are arranged one above the other, such LIDAR devices have a certain overall height, so that it is not possible to install such a LIDAR device in all desirable positions in a vehicle.
- An object of the invention is to provide a LIDAR device in which an overall height can be reduced. Another object of the present invention is to provide a vehicle with such a LIDAR device.
- a LIDAR device includes a light source, a detector, and a mirror device.
- the light source has a main emission direction and the detector has a main detection direction.
- the mirror device is rotatable about an axis and has a facet wheel with a facet number of facets.
- the main emission direction and the main detection direction are at a predetermined angle to one another, the predetermined angle depending on the number of facets.
- a ray of light emitted by the light source is reflected by a first facet of the facet wheel, while a ray of light is reflected by an object reflected beam of light is reflected by a second facet of the facet wheel.
- the first facet and the second facet are different.
- the main emission direction extends from the light source to the first facet and the main detection direction leads from the second facet to the detector. Due to the fact that different facets are used for the reflection of the emitted light beam and the re-incident light beam, the light source, detector and facet wheel can be arranged within the LIDAR device in such a way that the overall height of the LIDAR device can be reduced. In order to achieve this, the angle between the main emission direction and the main detection direction must be selected based on the number of facets.
- the LIDAR device can have the other elements mentioned in the prior art, such as the deflection device for the light beam parallel to the axis.
- the light source can include a laser.
- the facet wheel can also comprise a polygon in which a regular n-corner is shifted parallel to the axis and the lateral surfaces of the polygon form the facets of the facet wheel.
- the light source and the detector are arranged on different sides of the mirror device (ie the facet wheel).
- this enables the LIDAR device to have a low overall height for use in a vehicle, for example in a motor vehicle.
- a further advantage of this arrangement can be that scattered light, which can reach the detector from the light source, can be suppressed and a more precise measurement is thus possible.
- the predetermined angle can be calculated according to the formula 720° divided by the number of facets times a natural number plus a tolerance deviation.
- the number of facets corresponds to the number of corners of the regular n-corner of the polygon that defines the facet wheel.
- the natural number can be used to take into account whether and how many further facets are possibly arranged between the first facet and the second facet. If the natural number is chosen to be 1, then the first facet and the second facet are directly adjacent to one another. If the natural number is 2, a further facet is thus arranged between the first facet and the second facet.
- the natural number can be selected from the set of numbers ⁇ 1; 2; 3 ⁇ can be selected.
- the angular relationship between the main emission direction and the main detection direction depending on the number of facets can be easily determined using the given formula. If this angular relationship is selected, the result is that an emitted light beam reflected by the first facet is emitted in an emission direction and a light beam incident against the emission direction is deflected via the second facet to the detector.
- the tolerance deviation can be 0 in particular.
- the angle for a facet wheel with four facets is 180°, with the natural number being chosen to be 1 in this case, and with a facet number of five equal to 144° or 288°, with the natural number being chosen to be 1 or 2 a facet number of six 120° or 240°, in which case the natural number is chosen equal to 1 or 2; and for a facet number of eight, 90° or 180°, in which case the natural number is also chosen equal to 1 or 2 becomes.
- the angle can be chosen to be 72°, 144° or 216°, with the natural number being 1, 2 or 3 in this case.
- a plane perpendicular to the axis is defined by the main emission direction and the main detection direction and the light source and the detector are arranged in this plane. In particular, this enables the LIDAR device to have a very low overall height.
- the main emission direction and the main detection direction are each described by a three-dimensional vector with three components.
- a Cartesian coordinate system for describing the vectors has an x-axis, a y-axis and a z-axis, with the z-axis being parallel to the axis (ie the axis of rotation of the facet wheel).
- the vector of the main emission direction has an x-component, a y-component and a z-component, the y-component of the vector being the main emission direction 0.
- the vector of the main detection direction also has an x-component, a y-component and a z-component, the x-component and the y-component of the vector of the main detection direction depend on the x-component of the vector of the main emission direction and the z-component of the vector of the main detection direction corresponds to the negative of the z-component of the vector of the main emission direction.
- a two-dimensional projection of the main direction of emission and the main direction of detection in the xy plane is such that projection vectors with only the x component and the y component of the main direction of emission and the main direction of detection of the already specified angular relationship of 720° divided by the number of facets times a natural number plus/minus a tolerance deviation.
- This also makes more complicated geometries of the light source, detector and facet wheel possible, which in turn allow a compact design of the LIDAR device.
- a main plane is perpendicular to the axis, with the main emission direction and the main detection direction each deviating from the main plane by a maximum of 5° and in particular each being arranged in the main plane.
- the LIDAR device comprises a further light source, a further detector and a further mirror device.
- the further mirror device can also be rotated about the axis and has a further facet wheel with a further facet number of facets, the further facet wheel being rigidly connected to the facet wheel and the further facet number being different from the further facet number. Due to the fact that the facet wheel and the further facet wheel are rigidly connected to one another, but the number of facets differs, a LIDAR device can be achieved in which advantageous illumination of a close range and a far range is possible.
- the rigid use of facet wheel and another facet wheel means that the light beam emitted by the other light source is moved faster in an emission area than that of light beam emitted by the light source.
- the further light beam can then be used more for a close range closer to the LIDAR device than the light beam that is more suitable for a far range. This is particularly advantageous if the LIDAR device is to be used in a vehicle and, for example, a larger angle is to be covered in a close range than in a far range.
- the close-up range corresponds more to the vehicle's immediate surroundings, with the long-distance range corresponding to a more distant road situation.
- a LIDAR device can be achieved which, although it corresponds more to conventional LIDAR devices in terms of its overall height, has a significantly improved measuring range having.
- the further light source has a further main emission direction parallel to the main emission direction and the further detector has a further main detection direction parallel to the main detection direction. If this is the case, the light source and the further light source can be arranged on one side of the mirror device and the detector and the further detector can be arranged on another side of the mirror device.
- an exemplary embodiment is also possible in which the further main emission direction is anti-parallel to the main detection direction and the further main detection direction is anti-parallel to the main emission direction.
- This is particularly advantageous when the light source or the additional light source is significantly different in height from the detector or the additional detector and thus the light source and the additional detector on one side of the mirror device and the mirror device on the other side Detector and the other light source can be arranged, since the overall height can be reduced in this way.
- the number of facets is a multiple of the further number of facets.
- the number of facets corresponds to twice the further number of facets.
- the further number of facets can be four and the number of facets can be eight. In particular, this makes it possible to select an angle of 180° for both facet wheels in accordance with the above formula, thereby achieving a particularly compact arrangement of the LIDAR device.
- all of the embodiments with an additional light source, an additional detector and an additional mirror device can also be designed outside of a main plane analogously to the embodiment described above.
- the detector is set up to filter incident light according to a property of the light source and the further detector is set up to filter incident light according to a characteristic of the further light source.
- the light source and the further light source each have a different light wavelength and the detector and the further detector have a corresponding wavelength filter.
- the light emitted by the light source and the additional light source is modulated with different frequencies and the signal from the detector and the additional detector is filtered according to these different modulation frequencies.
- the invention also includes a vehicle, in particular a motor vehicle, with the LIDAR device according to the invention.
- the LIDAR device can be arranged directly below the roof, in the radiator grille or behind a windshield of the vehicle.
- FIG. 1 shows another LIDAR device
- FIG. 3 shows a front plan view of the further LIDAR device
- FIG. 4 is an isometric view of another LIDAR device;
- Fig. 5 shows the beam deflection principle of the LIDAR device;
- Figure 6 shows another LIDAR device
- FIG. 1 shows a LIDAR device 100 with a light source 110, a detector 120 and a mirror device 130.
- the mirror device 130 can be rotated about an axis 131.
- the mirror device 130 further includes a facet wheel 140 having a facet count of facets. Facet wheel 140 has a first facet 141 , a second facet 142 , a third facet 143 and a fourth facet 144 . The number of facets is therefore four.
- a light beam 111 emanating from the light source 110 impinges on the mirror device 130, that is to say on the facet wheel 140, and is reflected on the first facet 141.
- the mirrored emitted light beam 112 is emitted in the direction of an emission area 101 .
- a main emission direction 161 corresponds to the direction of the emitted light beam 111, with a main detection direction 162 corresponding to the direction of the reflected reflected light beam 114 .
- the main emission direction 161 represents a main direction in which light is emitted from the light source 110 , while the main detection direction 162 defines a direction in which light can fall on the detector 120 .
- the light beam 111 emitted by the light source is therefore reflected by the first facet 141 and a light beam 113 reflected by an object is reflected by the second facet 142 .
- the main emission direction 161 and the main detection direction 162 are at a predetermined angle to one another, which is 180° in FIG. This angle depends on the number of facets of the facet wheel 140, i.e. if the facet wheel 140 has a facet number other than four, the predetermined angle may be other than 180°.
- the facet wheel 140 is square in Figure 1, which means that a polygon defining the respective facets 141, 142, 143, 144 is a square, where this square can be shifted along the axis 131 and thus a polygon with the facets 141 , 142, 143, 144 can be formed.
- FIG. 2 shows a further exemplary embodiment of a LIDAR device 100, which corresponds to the LIDAR device 100 of FIG. 1, provided that no differences are described below.
- the facet wheel 140 of the mirror device 130 has six facets, i.e. in addition to the first facet 141, the second facet 142, the third facet 143 and the fourth facet 144, a fifth facet 145 and a sixth facet 146.
- the facet wheel 140 is formed in this case from a regular hexagon, wel ches is shifted parallel to the axis 131 and so the six facets 141, 142, 143, 144, 145, 146 are formed.
- the outgoing light beam 111 impinges on the first facet 141 and is reflected by this and exits the LIDAR device 100 as a reflected outgoing light beam 112 in the direction of the emission region 101 .
- a reflected light beam 113 is reflected by the second facet 142 in the direction of the detector 120 and strikes the detector 120 as a reflected reflected light beam 114.
- the main emission direction 161 and the main detection direction 162 are at an angle of 120° to one another. This is due to the fact that due to the higher number of facets of the facet wheel 140, an angle between the first facet 141 and the second facet 142 is larger than in the facet wheel 140 of FIG. 1 and the angular relationships thus change overall.
- FIG. 3 shows a front view of the LIDAR device 100 of FIG. 2.
- FIG. 3 is drawn in such a way that the viewer looks at the LIDAR device 100 from the emission area 101 and the light beam 112 reflected by the first facet 141 is reflected runs towards the viewer and the light beam 113 returned by the object runs away from the viewer towards the second facet 142, there is mirrored and travels in the direction of the detector 120 as a mirrored reflected light beam 114 .
- the light source 110 and the detector 120 are each arranged on different sides of the mirror device 130, as is also shown in FIGS. 1 to 3, for example.
- the angle between the main emission direction 161 and the main detection direction 162 can generally be calculated according to the formula 720° divided by the number of facets times a natural number plus/minus a tolerance deviation.
- the natural number corresponds to the number of facets increased by 1 between the first facet 141 and the second facet 142.
- the natural number is therefore 1 and this results in 720 for the exemplary embodiment in FIG ° divided by 4 for the number of facets, ie 180°, while for the exemplary embodiment in FIG.
- the result is 720° divided by 6 for the number of facets, ie 120°.
- the first facet 141 and the second facet 142 do not directly adjoin one another, in which case the angle between the main radiation direction 161 and the main detection direction 162 is correspondingly multiplied by a natural number must, where the natural number corresponds to the number of facets between the first facet 141 and the second facet 142 plus 1.
- the main emission direction 161 and the main detection direction 162 can be collinear, as shown for example in the exemplary embodiment in FIG.
- the main emission direction 161 and the main detection direction 162 can also be collinear if the facet wheel has a number of facets that is a multiple of four, for example eight or twelve facets, and the light beam 113 reflected by the object in the case of the facet wheel with eight facets on the next but one facet and in the case of a facet wheel with twelve facets the next but one facet.
- the light source 110, the facet wheel or the mirror device 130 and the detector 120 in a main plane 102 are arranged. Provision can also be made for a small tolerance deviation of up to 5° to be provided, with which the main emission direction 161 and the main detection direction 162 deviate from the main plane 102 .
- FIG. 4 shows a view of another exemplary embodiment of a LIDAR device 100, which corresponds to the LIDAR device 100 of FIG. 1, unless differences are described below.
- the main emission direction 161 and the main detection direction 162 are each described by a three-dimensional vector with three components, with a Cartesian coordinate system for describing the vectors having an x-axis 151, a y-axis 153 and a z-axis 153, with the z-axis 153 is parallel to first axis 131 .
- the vector of the main emission direction 161 has an x-component, a y-component and a z-component, where the y-component is 0.
- the main detection direction 162 also has an x-component, a y-component and a z-component, the z-component of the main detection direction 162 corresponding to the negative of the z-component of the main emission direction 161 and the x-component and the y-component of the Main detection direction 162 can be calculated from the main emission direction 161.
- this consideration is simplified to the fact that the main detection direction 162 also has only one x-component and the y-component is 0, which results from the angular relationship of 180° already described.
- the facet wheel 140 has a number of facets other than 4, as shown in Figure 2, for example, the result is that a two-dimensional projection in the xy plane of the main emission direction 161 and the main detection direction 162 again corresponds to the angular relationship of 120° already described, while the z components of the main emission direction 161 and the main detection direction 162 are each negative to one another.
- This exemplary embodiment corresponds in principle to an inclined facet wheel 140, with the z components having to be taken into account due to the inclination and the x component and y component being identical to the angular relationship already described for the facet wheel 140 can be observed.
- Figure 5 shows two images of different positions of the facet wheel 140 of Figure 1 at different angles of rotation and thus shows that the radiation area 101 is arranged in different directions depending on the position of the facet wheel 140, with the angular relationships between the light beam 111 emanating from the first Facet 141 reflected outgoing light beam 112, reflected from the object light beam 113 and reflected reflected light beam 114 are each such that the angular relationship between main emission direction 161 and main detection direction 162 is maintained.
- FIG. 6 shows a plan view of another LIDAR device 100, which basically has the light source 110, the detector 120 and the mirror device 130 with the facet wheel 140 as described in connection with FIG.
- the LIDAR device 100 also has a further light source 170, a further detector 180 and a further mirror device 190, the further mirror device 190 having a further facet wheel 199 with a first facet te 191, a second facet 192, a third facet 193 , a fourth facet te 194, a fifth facet 195, a sixth facet 196, a seventh facet 197 and an eighth facet 198.
- the two facet wheels 140, 199 are rigidly connected to one another and can rotate about the axis 131.
- the third facet 193 is arranged between the first facet 191 and the second facet 192 .
- Another light beam 171 emanating from the other light source 170 impinges on the first facet 191 of the other facet wheel 199 and is reflected from there to form another reflected outgoing light beam 172.
- a further reflected light beam 173 reflected by an object is reflected at the second facet 192 Facet wheel 199 reflected to further detector 180.
- the light beam deflected by the facet wheel 140 scans a larger scanning area four times per full revolution, while the additional facet wheel 199 scans a smaller scanning area eight times. It can thus be provided, for example, that a near range is measured with the LIDAR device 100 of Figure 6 by means of the light source 110, the facet wheel 140 and the detector 120, while a far range is measured with the further light source, the further facet wheel 199 and the further detector 180 is measured.
- a further main emission direction 163 is parallel to the main emission direction or antiparallel to the main emission 161 and a further main detection direction 164 is parallel or antiparallel to the main detection direction 162 . This enables the compact design of a LIDAR device 100 with two different distance measuring ranges.
- FIG. 6 shows that all facets 141, 142, 143, 144 of the facet wheel 140 are not parallel to the further facets 191, 192, 193, 194, 195, 196, 197, 198 of the further facet wheel 199.
- the reflected outgoing light beam 112 and the further reflected outgoing light beam 172 can be directed in a different spatial direction at any time.
- the facets 141, 142, 143, 144 of the facet wheel 140 are each parallel to further facets 191, 192, 193, 194, 195, 196, 197, 198 of the further facet wheel 199. In this case, it can be provided that the influence of filters, as explained further below, is minimized.
- FIG. 7 shows a frontal view of the LIDAR device 100 of FIG.
- the light source 110 and the further light source 170 are arranged on one side of the mirror device 130 or the further mirror device 190 and the detector 120 and the further detector 180 are each arranged on the other side of the mirror device 130 or 190.
- the light source 110 and the additional light source 170 are therefore arranged one above the other, as are the detector 120 and the additional detector 180.
- Figure 8 shows a LIDAR device 100, which also has a further light source 170, a further detector 180 and a further mirror device 190 analogous to Figures 6 and 7, in which case the light source 110 and the further detector 180 and the further Light source 170 and detector 120 are each arranged one above the other, with light source 110, facet wheel 140 and detector 120 and further light source 170, further facet wheel 199 and wei terer detector 180 are each arranged in one plane.
- the detectors 120, 180 are significantly higher than the light sources 110, 170.
- the other conceivable case namely that the light sources 110, 170 are higher than the detectors 120, 180.
- this enables the main Beam direction 161 and the other main beam direction 163 to be designed parallel or anti-parallel and the main detection direction 162 and the other main detection direction 164 parallel or anti-parallel to each other.
- FIGS. 6 to 8 can also be configured for a facet wheel 140 arranged obliquely analogously to FIG. 4 or for a further facet wheel 198.
- FIG. 8 also shows that the detector 120 includes an optional filter 121 and the additional detector 180 includes an optional additional filter 181 . It can be provided in particular that the light emitted by the light source 110 has a different wavelength than the light emitted by the further light source 170 and the filter 121 is set up to filter the wavelength of the light source 110 and the further filter 181 is set up to filter the wavelength of the light emitted by the further light source 170 .
- the optional filters 121, 181 can also be provided in the exemplary embodiment in FIG.
- the optional filters 121, 181 can also be set up, for example, to filter with regard to an amplitude modulation of the light emitted by the light sources 110, 170, the light emitted by the light source 110 being modulated with a different frequency than that of the further light source 170 emitted light.
- the light source 110 and also the further light source 170 can in particular comprise a laser. It can also be provided that the light source 110 and the further light source 170 each have a deflection device, not shown, with which the emitted light can be controllably deflected parallel to the axis 131 in order to enable the LIDAR device 110 not only in one plane, but also to some extent parallel to axis 131 in different planes.
- FIG. 9 shows a vehicle 10 with a radiator grille 11, a windshield 12 and a roof 13.
- the described construction of the LIDAR device 100 of FIGS. direction of the axis 131 provided with little overall height construction of the LIDAR device 100 possible.
- the LIDAR device 100 can be arranged in the area of the radiator grille 11 between the radiator grille slats 14 , or in the area of the windshield 12 or in the area of the roof 13 .
- the LIDAR device 100 can therefore be provided in at least one of the named installation spaces within the vehicle 10 .
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
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CN202280014400.0A CN116868080A (zh) | 2021-02-10 | 2022-02-04 | 激光雷达设备 |
EP22707355.8A EP4291919A1 (de) | 2021-02-10 | 2022-02-04 | LIDAR-Vorrichtung |
US18/264,411 US20240094352A1 (en) | 2021-02-10 | 2022-02-04 | Lidar device |
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DE102021201247.7 | 2021-02-10 | ||
DE102021201247.7A DE102021201247A1 (de) | 2021-02-10 | 2021-02-10 | LIDAR-Vorrichtung |
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WO2022171526A1 true WO2022171526A1 (de) | 2022-08-18 |
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PCT/EP2022/052651 WO2022171526A1 (de) | 2021-02-10 | 2022-02-04 | LIDAR-Vorrichtung |
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US (1) | US20240094352A1 (de) |
EP (1) | EP4291919A1 (de) |
CN (1) | CN116868080A (de) |
DE (1) | DE102021201247A1 (de) |
WO (1) | WO2022171526A1 (de) |
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DE102022122223A1 (de) * | 2022-09-02 | 2024-03-07 | Valeo Detection Systems GmbH | Lidar-system und verfahren zum betrieb eines lidar-systems |
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US6115114A (en) * | 1996-04-12 | 2000-09-05 | Holometrics, Inc. | Laser scanning system and applications |
DE102015013710A1 (de) * | 2015-10-23 | 2017-04-27 | Wabco Gmbh | Sensoreinrichtung zur Erfassung von Umgebungsinformationen |
US20200064623A1 (en) * | 2019-11-04 | 2020-02-27 | Intel Corporation | Multi-polygon, vertically-separated laser scanning apparatus and methods |
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AT413452B (de) | 2003-11-18 | 2006-03-15 | Riegl Laser Measurement Sys | Einrichtung zur aufnahme eines objektraumes |
DE102006044864A1 (de) | 2006-09-22 | 2008-04-10 | Siemens Ag | Verfahren zur rechnergestützten Bildverarbeitung in einem Nachtsichtsystem eines Verkehrsmittels |
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2021
- 2021-02-10 DE DE102021201247.7A patent/DE102021201247A1/de active Pending
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2022
- 2022-02-04 CN CN202280014400.0A patent/CN116868080A/zh active Pending
- 2022-02-04 US US18/264,411 patent/US20240094352A1/en active Pending
- 2022-02-04 EP EP22707355.8A patent/EP4291919A1/de active Pending
- 2022-02-04 WO PCT/EP2022/052651 patent/WO2022171526A1/de active Application Filing
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DE102015013710A1 (de) * | 2015-10-23 | 2017-04-27 | Wabco Gmbh | Sensoreinrichtung zur Erfassung von Umgebungsinformationen |
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CN116868080A (zh) | 2023-10-10 |
US20240094352A1 (en) | 2024-03-21 |
EP4291919A1 (de) | 2023-12-20 |
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