WO2023280349A1 - Capteur lidar, système de détection d'environnement et véhicule - Google Patents

Capteur lidar, système de détection d'environnement et véhicule Download PDF

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Publication number
WO2023280349A1
WO2023280349A1 PCT/DE2022/100485 DE2022100485W WO2023280349A1 WO 2023280349 A1 WO2023280349 A1 WO 2023280349A1 DE 2022100485 W DE2022100485 W DE 2022100485W WO 2023280349 A1 WO2023280349 A1 WO 2023280349A1
Authority
WO
WIPO (PCT)
Prior art keywords
measurement signal
lidar sensor
receiving unit
unit
light
Prior art date
Application number
PCT/DE2022/100485
Other languages
German (de)
English (en)
Inventor
Jonas Binding
Original Assignee
Robert Bosch Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch Gmbh filed Critical Robert Bosch Gmbh
Priority to CN202280048311.8A priority Critical patent/CN117616308A/zh
Priority to DE112022003444.0T priority patent/DE112022003444A5/de
Publication of WO2023280349A1 publication Critical patent/WO2023280349A1/fr

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders

Definitions

  • Lidar sensor Lidar sensor, environment detection system and vehicle
  • the present invention relates to a lidar sensor, an environment detection system with such a lidar sensor and a vehicle with such a lidar sensor and/or such an environment detection system.
  • lidar sensors in the field of terrain reconnaissance, in particular airborne terrain reconnaissance, which are set up to emit light with different wavelengths for scanning an environment and to receive portions of this light scattered in the environment.
  • DE 102006010295 A1 describes a camera system with at least two different types of image recorders, the data of the at least two image recorders being merged into one image.
  • a 3D image is generated from the merged image recorder data, from which a distance to surrounding objects is determined.
  • the exemplary embodiments see i.a. propose a combination of a multi-pixel lidar and a 2D camera or an imager with SPAD technology and a CMOS imager.
  • DE 000010227171 B4 describes a method and a device for visualizing the surroundings of a vehicle with distance-dependent Fusion of an infrared and a visual image.
  • One aspect of the invention consists in displaying or making visible a combination or superimposition of a visual image and an infrared image of a largely the same section of the surroundings of a vehicle.
  • a lidar sensor which has: a transmitting unit, a first receiving unit, a second receiving unit and a partially transparent mirror.
  • the transmission unit is set up to emit laser light in the infrared wavelength range into an area surrounding the lidar sensor.
  • the transmission unit is designed, for example, as a laser diode or as a different laser source.
  • the partially transparent mirror is set up to direct light received from the environment via a reception path of the lidar sensor (i.e., for example laser light of the transmitter unit scattered in the environment and/or visible light) proportionately to the first receiver unit and to the second receiver unit.
  • a reception path of the lidar sensor i.e., for example laser light of the transmitter unit scattered in the environment and/or visible light
  • the first receiving unit is set up to receive light in the infrared wavelength range, to carry out a propagation time measurement between a transmission time of the laser light in the transmission unit and a reception time of the laser light scattered in the environment and to generate a first measurement signal based on the received light.
  • the second receiving unit is set up to receive light in the visible wavelength range and to generate a second measurement signal based on the received light.
  • the lidar sensor is set up to provide the first measurement signal and the second measurement signal.
  • the provision is made, for example, to a processing unit within the lidar sensor itself and/or to a processing unit outside of the lidar sensor.
  • the lidar sensor according to the invention offers the advantage, among other things, that when the lidar sensor scans the surroundings of the lidar sensor, both depth information based on the transit time measurement of the infrared light and corresponding intensity or color information is available for each solid angle scanned can be obtained based on the received visible light.
  • the corresponding measurement signals resulting from this can be used in downstream processing, for example for a more precise and/or more reliable environment detection. It is also conceivable to dispense with a separate camera, which may also be required for environment detection, by means of the lidar sensor according to the invention.
  • the lidar sensor is set up to filter the light directed to the first receiving unit before it strikes the first receiving unit using a first filter, which is essentially only permeable to light in the infrared wavelength range and/or the to filter light directed onto the second receiving unit before it strikes the second receiving unit by means of a second filter, which is essentially only permeable to light in the visible wavelength range.
  • the filters are each separate optical elements and/or are integrated into the partially transparent mirror. The latter can be achieved, for example, by means of suitable coatings on the partially transparent mirror. Using such filters to separate respective wavelength ranges is particularly advantageous if the first receiving unit and the second receiving unit themselves do not have integrated filtering with regard to respective target wavelength ranges and/or this filtering does not enable a sufficiently clear separation of the respective wavelength ranges.
  • the second receiving unit is a monochrome and/or a color receiving unit, in particular an RGB receiving unit.
  • a color receiving unit it is conceivable, for example, to use an integrated color receiving unit or to use a plurality of monochrome receiving units which are each set up to receive individual components (e.g. red, green and blue components) of the visible light. The latter is achieved, for example, by means of color filters upstream of the receiving units and/or by means of a beam splitter such as a prism, as a result of which the respective color components are locally fanned out and can be routed to corresponding receiving units.
  • a beam splitter such as a prism
  • the lidar sensor also has a control unit, which is designed, for example, as an ASIC, FPGA, processor, digital signal processor, microcontroller, or the like.
  • the control unit is set up to provide the first measurement signal and the second measurement signal in such a way that the first measurement signal and the second measurement signal represent essentially identical measurement times in the first receiving unit and the second receiving unit.
  • the control unit provides the two receiving units, for example, with a common trigger signal (synchronization signal), on the basis of which respective measurements are initiated by the two receiving units.
  • the control unit is preferably also connected to the transmission unit in terms of information technology, so that the triggering signal can be generated in relation to a transmission time of the transmission unit.
  • control unit is set up to ensure a temporal association between the first measurement signal and the second measurement signal. This is done, for example, by means of a time stamp added to the first measurement signal and the second measurement signal, which preferably represents respective measurement times in the first receiving unit and the second receiving unit. Alternatively or additionally, it is also conceivable to temporally allocate corresponding first measurement signals and second measurement signals in each case by means of a predefined sequence of the measurement signals when the measurement signals are output.
  • the control unit is advantageously set up to combine distance information contained in the first measurement signal and brightness information and/or color information contained in the second measurement signal in terms of solid angles. This is done, for example, on the basis of a merging algorithm, which is preferably set up to match different temporal and/or spatial resolutions of the first measuring unit and the second measuring unit to one another by means of interpolation or extrapolation of measured values, so that the information contained in each case is optimally combined.
  • the lidar sensor is a point scanner or a line scanner or a flash lidar sensor.
  • an environment recognition system which has a lidar sensor as described above and an evaluation unit.
  • the evaluation unit is designed, for example, as an independent unit or as part of the control unit according to the invention. Furthermore, the evaluation unit is set up to receive the first measurement signal and the second measurement signal from the lidar sensor and to carry out an environment detection based on the first measurement signal and the second measurement signal.
  • the surroundings are recognized, for example, on the basis of algorithms known from the prior art for surroundings recognition.
  • the environment recognition system also has a camera, the evaluation unit being set up to check the plausibility of an environment detection using the camera on the basis of the first measurement signal and/or the second measurement signal and/or to activate and deactivate the camera and/or to preprocess a adapt the third measurement signal generated by the camera (e.g. to adapt a temporal resolution of the third signal) and/or to take the third measurement signal into account and not to take it into account when recognizing the surroundings.
  • the evaluation unit being set up to check the plausibility of an environment detection using the camera on the basis of the first measurement signal and/or the second measurement signal and/or to activate and deactivate the camera and/or to preprocess a adapt the third measurement signal generated by the camera (e.g. to adapt a temporal resolution of the third signal) and/or to take the third measurement signal into account and not to take it into account when recognizing the surroundings.
  • a vehicle which has a lidar sensor and/or an environment recognition system as described above.
  • the features, combinations of features and the resulting advantages correspond to those explained in connection with the first and second mentioned aspects of the invention in such a way that, to avoid repetition, reference is made to the above explanations.
  • the vehicle is particularly advantageously an autonomous or semi-autonomous vehicle such as a robo-shuttle, a car, a robotaxi, a commercial vehicle or the like.
  • FIG. 1 shows a schematic plan view of a lidar according to the invention
  • Figure 2 is a schematic view of one according to the invention
  • FIG. 1 shows a schematic plan view of a lidar sensor 1 according to the invention with a housing 100, which is designed here as a line scanner, in an environment 40.
  • the lidar sensor 1 has a line-shaped laser diode array 10, which is set up to emit laser light to emit in the infrared wavelength range in the environment 40 of the lidar sensor 1.
  • the laser light is guided via a 50:50 mirror onto a partially transparent mirror 30 according to the invention, which deflects the laser light onto a rotatable deflection unit 35 .
  • the laser light is deflected via a transmission path 55 of the lidar sensor 1, which leads through a window 110 in the housing 100, into the environment 40 in such a way that it sweeps over the environment 40 in the course of the rotation (scan movement ).
  • a traffic light 120 in the vicinity 40 of the lidar sensor 1 scatters part of the emitted laser light back to the lidar sensor 1 so that it is routed back to the deflection unit 35 via a reception path 50 of the lidar sensor 1 .
  • visible light from the environment 40 or from the traffic light 120 is also received, provided the environment 40 has a corresponding Illuminated by visible light (e.g. sunlight, headlights, street lights, traffic lights, etc.).
  • the laser light and the visible light are deflected together via the deflection unit 35 to the partially transparent mirror 30 according to the invention, which is set up to filter the laser light and the visible light in such a way that the laser light is deflected in the direction of a first receiving unit 20 of the lidar sensor 1, while the visible light passes through the partially transparent mirror 30 in the direction of a second receiving unit 25 of the lidar sensor 1 essentially without deflection.
  • the partially transparent mirror 30 can consequently be understood as an optical element which has a first filter 60 for exclusively reflecting the infrared light and a second filter 65 for exclusively passing the visible light.
  • a prism 55 is arranged here between the partially transparent mirror 30 and the second receiving unit 25, which is set up to fan out the visible light locally in such a way that different wavelength ranges can be detected by means of a large number of monochrome CCD sensors of the receiving unit 25.
  • Respective output signals of the second receiving unit 25 represent red, green and blue components of the visible light impinging on the CCD sensors.
  • a control unit 70 of the lidar sensor 1, which is a microcontroller here, is connected in terms of information technology to the first receiving unit 20 and the second receiving unit 25, so that the control unit 70 is set up to receive first measurement signals from the first reception unit 20 and second measurement signals from the second reception unit 25 to receive and to combine distance information contained in the first measurement signal and color information contained in the second measurement signal in terms of solid angles.
  • control unit 70 is set up to provide respective first measurement signals and second measurement signals in such a way that the first measurement signal and the second measurement signal represent essentially identical measurement times in the first receiving unit 20 and the second receiving unit 25 .
  • control unit 70 is also set up to define respective measurement times by first receiving unit 20 and second receiving unit 25 in relation to respective transmission times by laser diode array 10 .
  • FIG. 2 shows a schematic view of a vehicle according to the invention in the form of a passenger car 140 with an environment recognition system according to the invention.
  • the environment recognition system according to the invention has a lidar sensor 1 as described above, a camera 90, an evaluation unit 80 and a control unit 130 for autonomous ferry operation.
  • the environment detection system is set up by means of the lidar sensor 1 to capture distance information based on a laser measurement as well as color information from an environment 40 of the car 140 .
  • the evaluation unit 80 is set up to activate and deactivate the camera 90 depending on the quality of a second measurement signal generated by the lidar sensor 1 and providing the color information.
  • control unit 130 for the autonomous ferry operation is connected in terms of information technology to the evaluation unit 80 so that respective results of the environment detection provided by the evaluation unit 80 can be received by the control unit 130 for the autonomous ferry operation and can be used there for autonomous vehicle guidance.

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

Abstract

L'invention concerne un capteur lidar (1), un système de détection d'environnement et un véhicule. Le capteur lidar (1) comprend une unité d'émission (10), une première unité de réception (20), une seconde unité de réception (25) et un miroir semi-transparent (30), l'unité d'émission (10) étant conçue pour émettre de la lumière laser dans la plage de longueur d'onde infrarouge vers un environnement (40) du capteur lidar (1), le miroir semi-transparent (30) est conçu pour diriger la lumière qui a été reçue de l'environnement (40) par le biais d'un trajet de réception (50) du capteur lidar (1) proportionnellement à la première unité de réception (20) et à la seconde unité de réception (25), la première unité de réception (20) est conçue pour recevoir la lumière dans la plage de longueur d'onde infrarouge, pour effectuer une mesure du temps de parcours entre un temps d'émission de la lumière laser dans l'unité d'émission (10) et un temps de réception de la lumière laser diffusée dans l'environnement (40), et pour générer un premier signal de mesure sur la base de la lumière reçue, la seconde unité de réception (25) est conçue pour recevoir la lumière dans la plage de longueur d'onde visible et pour générer un second signal de mesure sur la base de la lumière reçue, et le capteur lidar (1) étant conçu pour fournir le premier signal de mesure et le second signal de mesure.
PCT/DE2022/100485 2021-07-08 2022-07-07 Capteur lidar, système de détection d'environnement et véhicule WO2023280349A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN202280048311.8A CN117616308A (zh) 2021-07-08 2022-07-07 激光雷达传感器、环境检测系统和车辆
DE112022003444.0T DE112022003444A5 (de) 2021-07-08 2022-07-07 Lidar-Sensor, Umfelderfassungssystem und Fahrzeug

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102021207214.3A DE102021207214A1 (de) 2021-07-08 2021-07-08 Lidar-Sensor, Umfelderfassungssystem und Fahrzeug
DE102021207214.3 2021-07-08

Publications (1)

Publication Number Publication Date
WO2023280349A1 true WO2023280349A1 (fr) 2023-01-12

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PCT/DE2022/100485 WO2023280349A1 (fr) 2021-07-08 2022-07-07 Capteur lidar, système de détection d'environnement et véhicule

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CN (1) CN117616308A (fr)
DE (2) DE102021207214A1 (fr)
WO (1) WO2023280349A1 (fr)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102006010295A1 (de) 2006-03-07 2007-09-13 Conti Temic Microelectronic Gmbh Kamerasystem mit zumindest zwei Bildaufnehmern
WO2019032243A1 (fr) * 2017-08-08 2019-02-14 Waymo Llc Lidar rotatif avec imageur coaligné
DE10227171B4 (de) 2002-06-18 2019-09-26 Bayerische Motoren Werke Aktiengesellschaft Verfahren und Vorrichtung zur Sichtbarmachung der Umgebung eines Fahrzeugs mit abstandsabhängiger Fusion eines Infrarot- und eines Visuell-Abbilds
US20190361126A1 (en) * 2018-05-25 2019-11-28 Lyft, Inc. Image Sensor Processing Using a Combined Image and Range Measurement System
US20210185284A1 (en) * 2019-12-13 2021-06-17 Sony Semiconductor Solutions Corporation EBS/ToF/RGB CAMERA FOR SMART SURVEILLANCE AND INTRUDER DETECTION

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10227171B4 (de) 2002-06-18 2019-09-26 Bayerische Motoren Werke Aktiengesellschaft Verfahren und Vorrichtung zur Sichtbarmachung der Umgebung eines Fahrzeugs mit abstandsabhängiger Fusion eines Infrarot- und eines Visuell-Abbilds
DE102006010295A1 (de) 2006-03-07 2007-09-13 Conti Temic Microelectronic Gmbh Kamerasystem mit zumindest zwei Bildaufnehmern
WO2019032243A1 (fr) * 2017-08-08 2019-02-14 Waymo Llc Lidar rotatif avec imageur coaligné
US20190361126A1 (en) * 2018-05-25 2019-11-28 Lyft, Inc. Image Sensor Processing Using a Combined Image and Range Measurement System
US20210185284A1 (en) * 2019-12-13 2021-06-17 Sony Semiconductor Solutions Corporation EBS/ToF/RGB CAMERA FOR SMART SURVEILLANCE AND INTRUDER DETECTION

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DE102021207214A1 (de) 2023-01-12
CN117616308A (zh) 2024-02-27
DE112022003444A5 (de) 2024-06-20

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