WO2022248479A1 - Verfahren und vorrichtung zur erkennung einer blockierung eines lidarsystems, sowie entsprechendes fahrzeug - Google Patents
Verfahren und vorrichtung zur erkennung einer blockierung eines lidarsystems, sowie entsprechendes fahrzeug Download PDFInfo
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- WO2022248479A1 WO2022248479A1 PCT/EP2022/064062 EP2022064062W WO2022248479A1 WO 2022248479 A1 WO2022248479 A1 WO 2022248479A1 EP 2022064062 W EP2022064062 W EP 2022064062W WO 2022248479 A1 WO2022248479 A1 WO 2022248479A1
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- WIPO (PCT)
- Prior art keywords
- lidar system
- laser
- receiver systems
- points
- point cloud
- Prior art date
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- 238000000034 method Methods 0.000 title claims abstract description 37
- 230000000903 blocking effect Effects 0.000 title abstract description 14
- 230000003287 optical effect Effects 0.000 description 5
- 238000001514 detection method Methods 0.000 description 4
- 238000005259 measurement Methods 0.000 description 4
- 238000012423 maintenance Methods 0.000 description 3
- 238000000691 measurement method Methods 0.000 description 2
- 230000005855 radiation Effects 0.000 description 2
- 238000002310 reflectometry Methods 0.000 description 2
- 230000009849 deactivation Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 230000000007 visual effect Effects 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
- 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
- G01S7/4808—Evaluating distance, position or velocity data
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- 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
- G01S7/497—Means for monitoring or calibrating
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
- G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
- G01S17/894—3D imaging with simultaneous measurement of time-of-flight at a 2D array of receiver pixels, e.g. time-of-flight cameras or flash lidar
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- 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
- G01S7/497—Means for monitoring or calibrating
- G01S2007/4975—Means for monitoring or calibrating of sensor obstruction by, e.g. dirt- or ice-coating, e.g. by reflection measurement on front-screen
-
- 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
Definitions
- the invention relates to a method for detecting a blockage in a lidar system.
- the invention also relates to a device for detecting a blockage of a lidar system.
- the invention also relates to a vehicle.
- DE 102020007772 A1 discloses a method for in-service calibration of a Udar of a vehicle with the following method steps:
- a vehicle with a lidar and a computing unit is described, the computing unit being set up to carry out the method.
- the invention is based on the object of specifying a new type of method and a new type of device for detecting a blockage of a lidar system and a new type of vehicle.
- the object is achieved according to the invention by a method which has the features specified in claim 1, by a device which has the features specified in claim 7, and by a vehicle which has the features specified in claim 9.
- the lidar system scans an environment, in particular an environment of the vehicle, with a plurality of laser-receiver systems in a common field of vision.
- An object point cloud is identified, which is created by a reflection of laser beams from the laser-receiver systems on a surface of an object that is in the common field of view. It is determined whether the points of the identified object point cloud come from the laser beams of all laser receiver systems of the lidar system and have essentially the same intensities. i.e.
- a device for detecting an, in particular optical, blockage of a lidar system, in particular a lidar system of a vehicle, in particular designed and set up to carry out the above-mentioned method for detecting the blockage of the lidar system, in particular the lidar system of a vehicle, the lidar system having a plurality of laser receivers -Systems, which are designed and set up for Scanning of an environment, in particular an environment of the vehicle, in a common field of view is designed and set up to identify an object point cloud that is created by a reflection of laser beams from the laser-receiver systems on a surface of an object that is in the common field of view, to determine whether points of the identified object point cloud come from the laser beams of all laser receiver systems of the lidar system and have essentially the same intensities, and to conclude that the lidar system is blocked, ie to detect the blockage of the lidar system, in the event of a determination, that the points of the identified object point cloud do not originate from the laser beams
- the lidar system to be checked using the method or the device with regard to a possible blockage is thus designed as such a lidar system with a plurality of laser-receiver systems which have a common field of vision.
- the lidar system scans the surroundings, in particular the surroundings of the vehicle, with a plurality of laser receiver systems in a common field of view. It thus scans the surroundings, in particular the surroundings of the vehicle, with a plurality of laser beams in the common field of vision, with the respective laser beam being generated and emitted by the respective laser-receiver system and reflected radiation of the respective laser beam, in particular caused by objects reflecting the laser beam , is received by the receiver of the laser receiver system.
- the respective laser-receiver system is thus a laser transmitter-receiver system.
- the common field of view is also referred to as the overlapping area.
- the fields of view of the individual laser-receiver systems overlap at least in some areas, with an overlapping area in which the fields of view of the individual laser-receiver systems overlap forming the common field of view.
- the lidar system includes at least two or more than two such laser receiver systems. Such a lidar system is also referred to as a multi-eye lidar system.
- the lidar system scans the surroundings, in particular the surroundings of the vehicle, with two laser receiver systems in the common field of view.
- An object point cloud is identified, which is created by the reflection of the laser beams of the two laser-receiver systems on the surface of the object that is in the common field of view.
- the points of the identified object point cloud come from the laser beams of both laser receiver systems of the lidar system and have essentially the same intensities. i.e. It is determined whether the object point cloud includes points generated by the laser beam of one laser-receiver system of the lidar system through its reflection as well as points generated by the laser beam of the other laser-receiver system of the lidar system through its reflection, and whether all of these Points have essentially the same intensities. If it is determined that the points of the identified object point cloud do not originate from the laser beams of both laser-receiver systems of the lidar system, i.e.
- the lidar system only stem from the laser beam of one of the two laser-receiver systems of the lidar system, or if it is determined that the points of the identified object point cloud originate from the laser beams of both laser receiver systems of the lidar system, but do not have essentially the same intensities, it is concluded that the lidar system is blocked, ie the blocking of the lidar system is then detected.
- the lidar system has two laser-receiver systems, which are designed and set up to scan the surroundings, in particular the surroundings of the vehicle, in the common field of view.
- the device is designed and set up to identify the object point cloud, which is created by the reflection of the laser beams of the two laser-receiver systems on the surface of the object located in the common field of view, to determine whether the points of the identified object point cloud of the laser beams of both laser-receiver systems of the lidar system originate and have essentially the same intensities, and to conclude that the lidar system is blocked, ie to detect the blockage of the lidar system, when determining that the points of the identified object point cloud are not from the Laser beams of both laser-receiver systems of the lidar system originate, ie only originate from the laser beam of one of the two laser-receiver systems of the lidar system, or that the points of the identified object point cloud originate from the laser beams of both laser-receiver systems of the lidar system,
- Scanning trajectories of the two laser-receiver systems run, for example, in the form of a zigzag pattern or meandering or wavy. In the common field of view, these two scanning trajectories interlock without intersecting. In particular, in the common field of view, a wave crest of one scanning trajectory protrudes at least in sections into a wave trough of the other scanning trajectory. In particular, the scanning trajectories run in opposite directions and are offset from one another by half a wavelength.
- the object point cloud in the method and/or by means of the device is identified in particular in such a way that it includes only two turning points in the common field of view of a scanning trajectory of one of the two laser-receiver systems.
- the object point cloud only includes at most the points of this scanning trajectory between these two turning points, including these two turning points, and the points of this scanning trajectory in the common field of view between these two turning points and a preceding and a subsequent turning point that are outside the common field of view and, if any, the points of the other scanning trajectory which are located between these two inflection points in the common field of view.
- the object point cloud is identified in the method and/or by means of the device in such a way that from the scanning trajectory of one of the two laser-receiver systems it only detects the two turning points and a section between these two turning points in the common field of view includes.
- the cloud of points only includes at most the points of this scanning trajectory between these two turning points, including the two turning points, in the common field of view and, if available, the points of the other scanning trajectory that are located between these two turning points in the common field of view. Only a narrowly limited area of the common field of view is used to determine whether the points of the object point cloud come from the laser beams of both laser-receiver systems of the lidar system and have essentially the same intensities.
- this narrow region it is assumed that this entire region is on the same geometry with the same reflectivity, so that the points of the object point cloud of this narrow region must all have essentially the same intensity. If this is not the case or if the points of the laser beam from one of the two laser-receiver systems, a blockage can therefore be concluded with a high degree of certainty.
- lidar systems for example so-called multi-eye lidar systems and also other lidar systems that use sensors with an overlapping detection area, i. H. Field of view
- Only unblocked lidar systems, for example multi-eye lidar systems can ensure safe operation of automated, in particular highly automated or autonomous vehicles, for example.
- a blockage of a lidar sensor, i. H. one of the laser receiver systems, insofar as it cannot be compensated for by other sensors, must lead to the deactivation of all autonomous driving functions and is therefore relevant to safety.
- the vehicle user can be informed about the detected blocking of the lidar system, for example by a corresponding optical, acoustic and/or haptic warning message. As a result, the vehicle user can, for example, try to remove the blockage himself.
- maintenance of the lidar system can be initiated, for example an automatic booking of a maintenance appointment in a workshop, or such a booking of a maintenance appointment by the vehicle can be suggested to the vehicle user, whereby he can be supported in this booking, for example, by the vehicle or can cause it to be carried out automatically.
- the device is a component of the lidar system, for example, or the lidar system is a component of the device.
- a vehicle according to the invention comprises such a device.
- the vehicle advantageously includes the lidar system described above, which has a plurality of, in particular two, laser-receiver systems which are formed and are set up to scan the surroundings, in particular the surroundings of the vehicle, in the common field of view.
- substantially the same intensities means in particular that the intensities agree with one another within a specified tolerance range, i. H. that any deviations in intensities are within specified tolerances. i.e. the points have essentially the same intensities if determined deviations in intensity lie within these specified tolerances. If this is the case, then the intensities of the points are evaluated as equal or at least essentially equal. If intensity deviations are determined that are not within these specified tolerances, i. H. exceed these specified tolerances, then the intensities of the points are not evaluated as equal, not even as substantially equal.
- FIG. 1 shows a schematic side view of a traffic situation with two vehicles
- FIG. 2 shows a schematic of a scanning trajectory of a laser receiver system of a lidar system
- Fig. 5 shows schematically sections of the scanning trajectories of both
- FIG. 7 schematically shows a device for detecting a blockage of a lidar system, in particular a lidar system of a vehicle, in particular for carrying out a method for detecting a blockage of the lidar system, in particular the lidar system of a vehicle.
- a method and a device 1 for detecting a decalibration of a lidar system 2, in particular a lidar system 2 of a vehicle 3, and a vehicle 3 are described below with reference to FIGS and wherein the vehicle 3 advantageously comprises the device 1 and the lidar system 2 .
- the method and the device 1 enable in particular the detection of a blockage, in particular an optical blockage, of the lidar system 2, in particular a multi-eye lidar system.
- Lidar or LiDAR is an abbreviation for "Light Detection And Ranging” and means “optical distance measurement”.
- Lidar is a measurement method similar to radar that measures the distance, location and intensity of an object O in the vicinity, i. H. in an environment of the lidar system 2. For example, it uses ultraviolet, infrared, and visible light rays. For this purpose, for example, light pulses can be used and a distance to an object O can be calculated by measuring the transit time of the light. This measurement technique is called Amplitude Modulated (AM) LiDAR or Time-of-Flight (ToF) LiDAR.
- AM Amplitude Modulated
- ToF Time-of-Flight
- a LiDAR point cloud hereinafter referred to as object point cloud, as in Figure 1 based on a side view of a traffic situation with the vehicle 3 and comprising the lidar system 2 another vehicle F shown schematically as an example.
- An object point cloud ie a LiDAR point cloud, is a finite set of LiDAR points, referred to below as points p for short, which are described by a distance d, a location x, y, z and an intensity I.
- the lidar system 2 i. H. the lidar sensor, emits light pulses which are reflected on objects O on which they impinge, in the example shown here on another vehicle F and on a road surface FO. From the respective object O reflected laser beams RLS are from the lidar system 2, d. H. from the lidar sensor.
- lidar sensors i. H. Lidar systems 2
- Lidar has clear advantages over other 3D sensors.
- An advantage over a stereo camera is, for example, that data quality from the generated lidar is essentially unaffected by daylight and darkness.
- the Multi-Eye LiDAR system hereinafter referred to as the Multi-Eye Lidar system.
- the solution described below for detecting the blockage of the lidar system 2 relates to a lidar system 2 designed as such a multi-eye lidar system.
- H. at least two laser receiver systems 2.1, 2.2, so-called “Eyes”, combined to form a lidar system 2.
- Scanning trajectories T1, T2 of the eyes, i. H. of the laser-receiver systems 2.1, 2.2 are variable, since the measuring method is based on swiveling mirrors, unlike the classic rotating LiDAR sensors.
- Figure 2 shows a schematic representation of the scanning trajectory T 1 of such a laser receiver system 2.1 of the lidar system 2, here when scanning an area OF of an object O.
- the scanning trajectories T1, T2 of two or more eyes i. H.
- Laser-receiver systems 2.1, 2.2, in a combined system, d. H. Lidar system 2 are also referred to as scan patterns.
- Laser-receiver systems 2.1, 2.2 is shown schematically in Figure 3, here also when scanning an area OF of an object O.
- a lidar system 2 In order to use such a lidar system 2 as a reliable core modality in an automated, in particular highly automated or autonomous, driving vehicle 3, it must be ensured that it works properly. If, for example, a housing of the lidar system 2 is soiled or damaged, the respective emitted light beam, in particular a laser beam, can be blocked, as a result of which distance measurement is no longer possible.
- the solution described below describes a technical method which enables the lidar system 2, in particular the emitter, in particular laser transmitter, and receiver of the respective laser-receiver system 2.1, 2.2 to be blocked without additional external sensors, as well as a device 1 for carrying out the method and a vehicle 3 with such a device 1.
- a technical method for detecting a blockage of a lidar system 2 designed as a multi-eye lidar system 2 is described below.
- the solution described can also be used for other lidar systems 2 that have a partially overlapping detection area, i. H. have a common field of view GSB, as shown in FIG. i.e. in particular lidar systems 2 which have such an overlapping sensor area, i. H. have such a common field of view GSB, which is particularly similar to the characteristic according to FIG. 4, can also be checked for blocking using the method described here.
- the lidar system 2 to be checked using the method or the device 1 with regard to a possible decalibration is designed as a lidar system 2 with several laser-receiver systems 2.1, 2.2, in the example shown with two, which have a common Have field of view GSB, also referred to as a multi-eye lidar system.
- the lidar system 2 scans the environment, in particular the environment of the vehicle 3, with several, in the example shown with two, laser receiver systems 2.1, 2.2 in the common field of view GSB.
- the respective laser-receiver system 2.1, 2.2 is therefore a laser transmitter-receiver system.
- the fields of view of the individual laser-receiver systems 2.1, 2.2 overlap at least in certain areas, as shown in FIG.
- scanning trajectories T1, T2 of two laser-receiver systems 2.1, 2.2 of the lidar system 2 designed as a multi-eye lidar system with respective points pu and p2 and with the common field of view GSB, i. H. the area in which the viewing areas and thus the scanning trajectories T1, T2 of the laser-receiver systems 2.1, 2.2 overlap.
- the lidar system 2 comprises at least two or more than two such laser receiver systems 2.1, 2.2. In the example shown here, it includes two such laser receiver systems 2.1, 2.2.
- the lidar system 2 scans the surroundings, in particular the surroundings of the vehicle 3, with several, in the example shown with two, laser receiver systems 2.1, 2.2 and thus with several, here with two, laser beams, namely with the Laser beam of the respective laser-receiver system 2.1, 2.2, from the common field of view GSB.
- an object point cloud is identified, which arises as a result of a reflection of laser beams from the laser-receiver systems 2.1, 2.2 on a surface OF of an object O located in the common field of view GSB.
- the scanning trajectories T1, T2 of the two laser-receiver systems 2.1, 2.2 each run, for example, in the form of a zigzag pattern or meandering or wavy, as shown in FIGS.
- these two scanning trajectories T1, T2 interlock without intersecting.
- a wave crest of one scanning trajectory T1, T2 protrudes at least in sections into a wave trough of the other scanning trajectory T2, T1.
- the scanning trajectories T1, T2 run in opposite directions and are offset from one another by half a wavelength.
- the object point cloud is identified in particular in such a way that it is only comprises two turning points WP in the common field of view GSB, as shown in FIG. 5 and FIG.
- the object point cloud only includes a maximum of the points p 2 i , pu of this scanning trajectory T2, T1, here the points p 2 i of the second scanning trajectory T2, between these two turning points WP, including these two turning points WP, and the points p 2 i , pu of this scanning trajectory T2, T1, here the points p 2 i of the second scanning trajectory T2, in the common field of view GSB between these two turning points WP and a preceding and a following turning point WP located outside the common field of view GSB (in Figures 5 and 6 not shown), and, if present, the points pu, p 2 i of the other scanning trajectory T1, T2, here the points pu of the first scanning trajectory T1, which is between these two Turning points WP are in the common field of view GSB, as shown in Figure 5.
- FIG. 6 shows the
- the object point cloud only includes a maximum of points p 2 , Pu of this scanning trajectory T2, T1, here points p 2 , i of the second scanning trajectory T2, between these two turning points WP, including these two turning points WP, in the common field of view GSB and, if present, the points pu, p 2 ,i of the other scanning trajectory T1, T2, here the points pu of the first scanning trajectory T1, which are located between these two turning points WP in the common field of view GSB.
- the wording “substantially the same intensities” used above is to be understood in particular to mean that the intensities match one another within a specified tolerance range, ie that any deviations in the intensities lie within specified tolerances. i.e. the points pu, p 2,i have essentially the same intensities if the determined deviations in intensity lie within these specified tolerances. If this is the case, then the intensities of the points pu, p 2,i are evaluated as equal or at least essentially equal. If intensity deviations are determined which are not within these specified tolerances, ie exceed these specified tolerances, then the intensities of the points pu, p 2 i are not evaluated as being equal, not even as essentially equal.
- Figure 7 shows the vehicle 3 with an exemplary schematic representation of the device 1 for detecting the blockage of the lidar system 2, in particular the lidar system 2 of the vehicle 3, in particular for carrying out the method described for detecting the blockage of the lidar system 2, in particular the lidar system 2 of the vehicle 3.
- the device 1 comprises the lidar system 2 with a plurality of laser receiver systems 2.1, 2.2, two in the example shown.
- the lidar system 2 may be part of the vehicle 3 but not the device 1 , for example, in which case the device 1 is also a part of the vehicle 3 .
- the device 1 may be part of the lidar system 2 , which is advantageously part of the vehicle 3 .
- the device 1 advantageously comprises a processing unit 4, in particular for carrying out and evaluating at least one or more of the method steps described above, in particular all of the method steps described above.
- the processing unit 4 can be a component of the lidar system 2, for example, ie it can also be a processing unit 4 that is present anyway be used to carry out the method described here for detecting the blocking of the lidar system 2, in particular the lidar system 2 of the vehicle 3.
- the method described here for detecting the blocking of the lidar system 2 can thus be implemented in the lidar system 2, for example.
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Abstract
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CN202280037776.3A CN117377889A (zh) | 2021-05-26 | 2022-05-24 | 用于识别激光雷达系统的阻断的方法和装置及对应运输工具 |
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DE102021002795.7A DE102021002795A1 (de) | 2021-05-26 | 2021-05-26 | Verfahren und Vorrichtung zur Erkennung einer Blockierung eines Lidarsystems, sowie Fahrzeug |
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US20190250254A1 (en) * | 2017-03-22 | 2019-08-15 | Luminar Technologies, Inc. | Scan patterns for lidar systems |
KR20200139407A (ko) * | 2019-06-04 | 2020-12-14 | 현대모비스 주식회사 | 라이다 센서의 신뢰성에 따른 차량 제어 장치 및 방법 |
US20210041566A1 (en) * | 2017-11-21 | 2021-02-11 | Magna Electronics Inc. | Vehicular driving assist system with lidar sensors that emit different patterns of light |
DE102020007772A1 (de) | 2020-12-18 | 2021-03-04 | Daimler Ag | Verfahren zur In-Betrieb-Kalibrierung eines Lidars und Fahrzeug |
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- 2022-05-24 WO PCT/EP2022/064062 patent/WO2022248479A1/de active Application Filing
- 2022-05-24 CN CN202280037776.3A patent/CN117377889A/zh active Pending
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DE102020007772A1 (de) | 2020-12-18 | 2021-03-04 | Daimler Ag | Verfahren zur In-Betrieb-Kalibrierung eines Lidars und Fahrzeug |
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