EP3397992A1 - Dispositif de déflexion pour détecteur lidar - Google Patents

Dispositif de déflexion pour détecteur lidar

Info

Publication number
EP3397992A1
EP3397992A1 EP16797532.5A EP16797532A EP3397992A1 EP 3397992 A1 EP3397992 A1 EP 3397992A1 EP 16797532 A EP16797532 A EP 16797532A EP 3397992 A1 EP3397992 A1 EP 3397992A1
Authority
EP
European Patent Office
Prior art keywords
deflection device
view
field
optical
lidar sensor
Prior art date
Legal status (The legal status 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 status listed.)
Pending
Application number
EP16797532.5A
Other languages
German (de)
English (en)
Inventor
Frank Kaestner
Siegwart Bogatscher
Hans-Jochen Schwarz
Jan Sparbert
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
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
Publication of EP3397992A1 publication Critical patent/EP3397992A1/fr
Pending legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
    • 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
    • G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning

Definitions

  • the invention relates to a deflection device for a lidar sensor.
  • the invention further relates to a lidar sensor.
  • the invention further relates to a method for producing a deflection device for a lidar sensor.
  • lidar sensors for example in the motor vehicle sector
  • a deflecting mirror or transmission optics
  • the mirror or an imaging end can be a plane or "simply” curved surface.
  • An object of the invention is to provide an improved deflection device for a lidar sensor.
  • the invention provides a deflection device for a lidar sensor, comprising:
  • the deflection device is designed to illuminate a field of view of the lidar sensor defined
  • an illumination region of the lidar sensor can be specifically expanded, wherein in particular a limited possibility of movement of a movable micromirror can be supplemented.
  • This makes it possible to illuminate peripheral areas of a field of view that are not high resolution but are able to detect the presence of objects or people in the peripheral areas.
  • a safety of a motor vehicle with a lidar sensor with the proposed deflection device can be advantageously increased in this way.
  • the object is achieved with a method for producing a deflection device for a lidar sensor, comprising the steps:
  • optical placement element is arranged in relation to the main optical element such that a defined field of view can be illuminated by means of the deflection device;
  • Preferred embodiments of the deflection device are the subject of dependent claims.
  • a preferred embodiment of the deflection device is characterized in that the optical placement element is arranged in a corner region of the main optical element. Thereby, a specifically definable extension of a main illumination area of the main optical element can be provided. Furthermore, it is advantageously supported that areas must be misplaced or resorted to the smallest possible angle.
  • a further preferred embodiment of the deflection device is characterized in that a horizontal extension of the field of view can be expanded by means of the optical placement element.
  • a detection range of a lidar sensor can advantageously be extended, whereby a safety level of a motor vehicle is advantageously increased.
  • a further preferred embodiment of the illumination device is characterized in that pixels of the field of view placed by means of the optical placement element are elongated. This way, an advantageous extension of a detection range of the lidar sensor can be realized because, although the resolution is not high by means of the elongated pixels, there is a possibility of detecting moving objects. In this way, safety and assistance systems in motor vehicles can be adapted accordingly.
  • a further preferred embodiment of the deflection device is characterized in that the optical placement element is designed as a reflective, or as a refractive or as a diffractive optical element. This supports the fact that various optical principles can be used to realize targeted formations of the field of view.
  • a further preferred embodiment of the deflection device is characterized in that the deflection device has a reflective and / or a refractive and / or as a diffractive optical placement element. This supports the fact that various optical principles can be used to realize targeted formations of the field of view.
  • a further preferred embodiment of the deflecting device is characterized in that the deflecting device has properties which place it only at a defined distance between the deflecting device and the field of view.
  • the deflecting device has properties which place it only at a defined distance between the deflecting device and the field of view.
  • Disclosed device features result analogously from corresponding disclosed method features and vice versa. This means, in particular, that features, technical advantages and designs relating to the deflection device result analogously from corresponding embodiments, features and advantages of the method for producing the deflection device and vice versa.
  • FIG. 1 shows a lighting device with a conventional deflection device for a lidar sensor
  • FIG. 2 shows a further illumination device with a further conventional deflection device for a lidar sensor
  • 3-5 different exemplary fields of view or illumination areas which can be realized with the proposed deflection device; a lighting device with a first embodiment of a deflecting device for a lidar sensor; a lighting device with a second embodiment ei ner deflection for a Lidarsensor; a schematic representation of a principal mode of operation of the deflection device; and a basic procedure of an embodiment of a method for producing a deflection device for a lidar sensor.
  • Description of embodiments 1 shows in principle a structure of a lighting device 100 with a conventional deflection device 30 for a lidar sensor.
  • the illumination device 100 comprises a radiation generation device 10, preferably a laser, which emits an electromagnetic emission beam S in the form of light onto a movable micromirror 20.
  • the micromirror 20 reflects the transmission beam S onto the deflection device 30 in the form of a reflecting mirror, which illuminates a field of view (FOV) 200.
  • FOV field of view
  • a basic shape of the field of view 200 essentially corresponds to a basic shape of the deflection device 30.
  • the transmission beam S is guided over the deflection device 30 and thereby illuminates the entire field of view 200.
  • the transmission beam S is reflected, wherein reflected radiation is detected and used to determine a distance of the object.
  • FIG. 1 shows a deflection device 30 according to the reflection principle.
  • FIG. 2 shows a further illumination device 100 with a further conventional deflection device 30, which is designed according to the transmission principle.
  • the deflection device 30 consists of a transmission optical system, which has for the transmit beam S in the middle of merging and spreading at the edge or widening properties.
  • the central region A of the field of view 200 has round image or scan points P and the edge regions B, C of the field of view 200 spread or oblong oval image or image Have scan points P.
  • Reception optics of Lidarsensors be realized, which allows any redistribution and change in shape of scan points P in the field of view 200.
  • the predetermined by a deflection unit in the form of the movable micromirror 20 "mechanical" field of view is mounted by a mounted in the optical path adapted optical element such that the pixels arise in an actually interesting detection area.
  • optical element reflective (e.g., mirrors), refractive (e.g., transmission optics), diffractive (e.g., diffractive optical element, DOE).
  • reflective e.g., mirrors
  • refractive e.g., transmission optics
  • diffractive e.g., diffractive optical element, DOE
  • the edge area of the field of view 200 is not needed in a high resolution.
  • a lidar sensor with the deflection device in the motor vehicle for example, it is important that vehicles are detected at an early time in a driving tube of the vehicle. The closer the Einscherer, the more dangerous this is for the ego vehicle. The closer the Einscherer is to the ego vehicle, the larger it appears as an object. Since it is a large object, it will fill the entire vertical field of view. Therefore, a high vertical resolution is not required in this case. Much more important is the extension of the horizontal field of view of the fiber optic sensor. In the center of the image, all vertical pixels are then again recorded in accordance with the mechanical field of view, in order to enable as high a resolution as possible object detection or free area detection.
  • FIGS. 3 to 5 show different possibilities of the changes of the
  • Field of view 200 in particular to a horizontal expansion of the field of view 200.
  • a number of pixels P of the modified field of view 200 is preferably the same as a number of pixels P of the original field of view 100 in all variants shown.
  • FIG. 3 shows on the left a conventional field of view 200, as can be realized, for example, with a deflection device 30 of FIG.
  • a modified field of view 200 can be seen, in which pixels P are missing in the upper area, which are added to the left and right in the middle area.
  • FIG. 4 shows a further variant of a modified field of view 200.
  • the top and bottom lines of the pixels P of the field of view 200 are added offset to the top and bottom of the field of view 200.
  • FIG. 5 shows a further variant of a modified field of view 200, wherein in this variant regions with pixels P are inserted to the left and right of the main field. be added, which are spread in the vertical direction. In this way, low vertical sensitivity and increased horizontal sensitivity of the illumination device 100 (not shown) are supported. In this way, with all the aforementioned modified fields of view 200 a
  • Detecting regions left and right beyond the source region of the field of view 200 which means a horizontal extension of the field of view 200.
  • a lidar system with a wider field of vision or detection area is made possible, which is better able to detect, in particular, moving objects.
  • FIG. 6 shows an illumination device 100 with a first embodiment of a deflection device 30 for a lidar sensor. It can be seen that the deflection device 30 comprises a main optical element 31 and optical placement elements 32a, 32b, which serve as optical wedge-shaped optics to the optical
  • Main element 32 are added or integrated into this. As a result, this provides a kind of "split" optic of the redirector 30. In this way, an upper placement element 32a assists in illuminating a left area 200a of the field of view 200. A lower placement element 32b allows a transmit beam to cover the right area 200b of the field of view 200. As a result, it is made possible that the overall field of view is expanded horizontally.
  • FIG. 7 shows an illumination device 100 having a radiation generating device 10 with a further embodiment of a proposed deflection device 30. It can be seen that a total of four positioning elements 32a... 32d are provided, which are arranged in corner regions of the deflection device 30, the corner regions of Field of view 200 (not shown) illuminate. Any desired transformation of "mechanical" into “real" detection regions (rectangular to round, etc.) via reflective optical elements is possible with the deflection devices 30 mentioned, whose reflection region can be a defined geometric or defined free-form optical surface. In order to implement the desired effects, a defined number of reflective, and / or transmissive and / or diffraction-changing elements can be used. the. Furthermore, for this purpose, any combination of said elements is possible.
  • the deflection device 30 shows, in principle, that a defined minimum distance z2 of the field of view 200 from the deflection device 30 is required for achieving the proposed effect of the deflection device 30.
  • the distance z1 is too small, the areas A, B, C of the field of view 200 are arranged overlapping each other ("near zone") .Almost in the "far range” at a distance z2 which is approximately ten times the geometric diameter x of the deflection device 30, the areas A, B, C of the field of view 200 become separately visible.
  • the deflection device 30 can be formed as a one-piece device having separate or integrally formed placement elements 32a ... 32d.
  • FIG. 9 shows a basic sequence of an embodiment of the proposed method for producing a deflecting device 30 for a lidar sensor.
  • a main optical element 30 is provided.
  • a step 310 at least one optical placement element 32a ... 32d is provided.
  • the optical placement element 31 a ... 31 d is arranged in relation to the main optical element 30 in such a way that a defined field of view 200 can be illuminated by means of the deflection device 30, a defined number of times being determined by means of the optical placement element 32 a Pixel of the field of view is defined placeable.
  • the order of providing the main optical element 30 and the at least one optical placement element 32a ... 32d is freely selectable.
  • the present invention provides an improved deflection device for a lidar sensor, with which various possibilities for light redistribution in lidar systems can be realized, the deflection device permitting an expansion of the limited possibilities of micromirror movement.
  • the lidar sensor with the proposed deflection device can preferably be used in the automotive sector for distance and speed measurement of objects.
  • an improved lidar sensor can be realized, which provides a specifically extended detection range and can thereby significantly increase a safety level of the motor vehicle.
  • a preconditioning of a brake booster or another assistance system of the motor vehicle is undertaken.

Landscapes

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

Abstract

Dispositif de détection (30) destiné à un détecteur lidar, présentant : un élément optique principal (30); et au moins un élément de placement optique (32a...32d). Selon l'invention : le dispositif de déflexion (30) est conçu pour éclairer de façon définie le champ de visée (200) du détecteur lidar; et un nombre défini de points d'image (P) du champ de visée (200) peut être placé de manière définie au moyen de l'élément de placement optique (32a...32d).
EP16797532.5A 2015-12-29 2016-11-15 Dispositif de déflexion pour détecteur lidar Pending EP3397992A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015226771.7A DE102015226771A1 (de) 2015-12-29 2015-12-29 Umlenkeinrichtung für einen Lidarsensor
PCT/EP2016/077773 WO2017114611A1 (fr) 2015-12-29 2016-11-15 Dispositif de déflexion pour détecteur lidar

Publications (1)

Publication Number Publication Date
EP3397992A1 true EP3397992A1 (fr) 2018-11-07

Family

ID=57326395

Family Applications (1)

Application Number Title Priority Date Filing Date
EP16797532.5A Pending EP3397992A1 (fr) 2015-12-29 2016-11-15 Dispositif de déflexion pour détecteur lidar

Country Status (7)

Country Link
US (1) US20180372845A1 (fr)
EP (1) EP3397992A1 (fr)
JP (1) JP6679732B2 (fr)
KR (1) KR20180098280A (fr)
CN (1) CN108474855B (fr)
DE (1) DE102015226771A1 (fr)
WO (1) WO2017114611A1 (fr)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102017221981A1 (de) * 2017-12-06 2019-06-06 Robert Bosch Gmbh Mikrospiegelbasierte Vorrichtung zum Aussenden von Lichtstrahlen
DE102017129641A1 (de) * 2017-12-12 2019-06-13 Bircher Reglomat Ag 3D Sensorsystem mit einer Freiformoptik
DE102017129639A1 (de) * 2017-12-12 2019-06-13 Bircher Reglomat Ag 3D Sensorsystem mit einer von einem Raumwinkel abhängigen Szenenbeleuchtung
DE102018132851A1 (de) * 2018-12-19 2020-06-25 Volkswagen Aktiengesellschaft Messanordnung
DE102020114739A1 (de) 2020-06-03 2021-12-09 HELLA GmbH & Co. KGaA Messgerät zum Messen einer Distanz zu einem Objekt
DE102020215663A1 (de) 2020-12-10 2022-06-15 Peter Westphal Vorrichtung zur ortsaufgelösten Distanz- und Geschwindigkeitsmessung

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Also Published As

Publication number Publication date
JP2019502122A (ja) 2019-01-24
CN108474855B (zh) 2022-07-08
CN108474855A (zh) 2018-08-31
DE102015226771A1 (de) 2017-06-29
US20180372845A1 (en) 2018-12-27
KR20180098280A (ko) 2018-09-03
JP6679732B2 (ja) 2020-04-15
WO2017114611A1 (fr) 2017-07-06

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