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
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
  • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
  • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
• • 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
  • G01S17/42—Simultaneous measurement of distance and other co-ordinates
• • 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
  • G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
  • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
  • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
  • B60W2420/408—Radar; Laser, e.g. lidar

Definitions

• Optical system in particular LiDAR system, and vehicle
• the present invention relates to an optical system, in particular a LiDAR system, comprising at least one optical transmitter and at least one optical detector, the optical transmitter being set up to emit a scanning light beam along a first beam path into an environment, and the optical detector being set up for this is a reflected light beam along a second beam path from a
• Mirror surfaces deflect the light beam from a first plane into a second plane parallel to it.
• Optical systems such as in particular LiDAR systems (for English: light detection and ranging) serve, among other things, as a method related to radar for optical distance and speed measurement.
• LiDAR systems for English: light detection and ranging
• Optical systems serve, among other things, as a method related to radar for optical distance and speed measurement.
• radar In contrast to radar, however, significantly smaller and closer objects can be measured with greater accuracy, which has made technology more important in recent years, particularly for measuring the surroundings of vehicles.
• Scanning LIDAR systems mostly use a rotating element to achieve spatial resolution, typically in the horizontal direction.
• the optical transmitter usually comprising one or more lasers
• the optical detector This has the disadvantage that a power supply and data transmission to the rotating element must be realized.
• Beam deflection optics rotate, the optical transmitter and usually also the optical detector being stationary.
• the rotating optic is usually a mirror, which both the emitted and the received beam over a certain
• the effective transmission and detector area becomes smaller because the effective mirror area decreases.
• the angular ranges are the
• FoV must be coherent, usually only one side is used, e.g. 10 ° - 150 °.
• WO 2011/150942 A1 relates to wind turbines and in particular discloses an improved Doppler anemometer for determining the wind speed by means of a LiDAR system.
• it is proposed to fasten the corresponding LiDAR system on a stator and the beam path for tracking the wind direction takes place via a rotatably mounted deflection mirror.
• a deflection via a second mirror inclined by 45 ° is also proposed.
• EP 2 172 790 B1 discloses a LiDAR system which comprises a transmitting device and a receiving device.
• the document discloses components of a conventional optical system for the detection of molecules, particles and aerosols in the troposphere.
• the light beam with a diameter is deflected by means of prisms onto a light beam expander which expands the light beam to a larger diameter.
• the light beam is guided through a Z-stage with two adjustable mirrors, the Z-stage being a non-rotatable periscope.
• the mirror surfaces are rotatably supported and coupled to one another in such a way that when they are rotated together about an axis of rotation perpendicular to the two planes, the surroundings are scanned, so that no tilting of the light beam occurs during the rotation, with a beam shaping of the scanning light beam at least partially via a Curvature of the two mirror surfaces and / or at least partially takes place via a beam former in the first beam path.
• the scanning light beam (for example a laser beam) is deflected over two mirror surfaces so that the emitted one
• reflected light beam after the beam deflection is located on one of two parallel planes. This prevents the scanning light beam from tilting during the rotation of the mirror surfaces and at the same time enables a large FoV.
• mirror surfaces are relative to that
• the plane of propagation of the scanning light beam is tilted by 45 °.
• the generated scanning light beam can first be shaped using a beam former.
• the two mirror surfaces can also take on a task in beam shaping. This means that one or both of the mirror surfaces can have a curvature or other optical
• the light beam is deflected twice by 90 ° through the mirror surfaces.
• the two mirror surfaces rotate together around an axis.
• the deflected light beam leaves the deflection unit, which comprises the two mirror surfaces, on a parallel plane which is so far away from the incident plane that the beam can now pass the optical transmitter unhindered.
• the optical detector works accordingly.
• a received reflected light beam is then deflected twice by 90 ° by a rotating deflection unit (strikes a beam former and / or is shaped by the mirror surfaces) and is detected by means of the optical detector.
• it can make sense to deflect both the optical transmitter and the optical detector or in each case only the optical transmitter or the optical detector in this way.
• the term “optical” is to be understood broadly in the context of this application and not only relates to visible light, but can also include infrared light and / or UV light.
• the optical transmitter can be one or more
• the optical transmitter and / or the optical detector are placed on a stator and do not rotate with the mirror surfaces. This simplifies the construction since no power supply and data connection for rotating components have to be provided.
• the first beam path and the second beam path are superimposed, so that both beam paths use the same mirror surfaces.
• the system can also be designed coaxially. This means that parts of the first and the second beam path are identical.
• the scanning light beam can then first be shaped (widened) and then, using the same component (s), an inverse beam shaping of the reflected light beam can be done at least partially via a curvature of the two mirror surfaces and / or at least partially via a beam former in the first / second beam path respectively.
• additional components that are otherwise necessary can be saved in a separate second beam path.
• a separate pair of mirror surfaces tilted by 90 ° relative to each other deflects the light beam from a first plane into a second plane parallel to it.
• the scanning light beam is essentially shaped into a line profile.
• the line profile has a finite length. “Essentially a line profile” is to be understood here in such a way that the line profile does not have an absolutely uniform line shape, but only a larger extension along one of the two transverse axes perpendicular to the direction of propagation.
• the line profile can have an approximately elliptical cross section with high eccentricity.
• the line profile of the scanning light beam does not rotate about the direction of propagation due to the rotation of the mirror surfaces. This can be achieved by the relative arrangement of the mirror surfaces according to the invention, which compensates for an otherwise occurring tilting of a scanning light beam with a non-round beam shape. This enables a significantly more uniform scanning result to be achieved across the entire FoV.
• the invention also relates to a vehicle comprising at least one optical system according to one of the preceding embodiments, the optical system being installed in the vehicle such that the scanning light beam scans the surroundings of the vehicle essentially horizontally.
• the optical system provides a coherent horizontal field of view of at least 200 °, preferably of at least 250 °, particularly preferably of at least 300 °.
• the unusually large field of vision is caused by the “bypassing” of the optical transmitter or the optical detector by moving the
• the optical system is arranged with the center of its coherent field of view in the direction of the main direction of travel of the vehicle.
• the highest possible accuracy of the scanning in the direction of travel is usually desired in order to identify obstacles.
• At least one optical system is arranged with the center of its coherent field of view against the main direction of travel of the vehicle.
• the highest possible accuracy of the scanning is also desired against the direction of travel, for example in order to identify the following vehicles or obstacles when reversing.
• FIG. 1 shows a top view of an optical system of the prior art
• FIG. 2 shows an optical system of the prior art with a mirror at a deflection angle of 0 °
• FIG. 3 shows an optical system of the prior art with a mirror at a deflection angle of 90 °
• FIG. 4 shows an optical system according to the invention in a top view
• Figure 5 is an illustration of the first beam path in one
• FIG. 6 shows an optical system according to the invention at 0 ° deflection angle
• FIG. 7 shows an optical system according to the invention at 90 ° deflection angle.
• Figure 1 shows an optical system 1 of the prior art comprising an optical transmitter 2 and an optical detector 3, which are housed in a common housing.
• the optical transmitter 2 is set up to emit a scanning light beam along a first beam path 4 into an environment.
• An optical element 5 for beam shaping is arranged in the beam path.
• the scanning light beam then strikes a mirror surface 6 which deflects the light beam so as to scan the surroundings.
• the optical system has two separate FoVs of, for example, 140 ° each, which are arranged to the right and left of a blind spot by a deflection angle of 0 °. Therefore often only one of the two FoV is used and the functionality of the optical system is clearly limited.
• FIGS. 2 and 3 illustrate another problem in the prior art.
• the beam path 4 and the mirror surface 6 are shown, as well as two screens 9, 10, which illustrate the shape of the scanning light beam.
• the scanning light beam is each shaped into a line profile.
• Figure 2 shows a deflection angle of 0 ° in the scanning plane
• Scanning light beam on the screen 9 generates a vertical line profile. This allows scanning in a certain area (for example in the case of a vehicle LiDAR) in the height direction.
• the scanning light beam is tilted in the first beam path 4 and reaches the screen 10 horizontally.
• FIG. 4 now shows an optical system 11 according to the invention, in particular a LiDAR system, comprising at least one optical transmitter 12 and at least one optical detector 13.
• the optical transmitter 12 is set up to emit a scanning light beam along a first beam path 14 into an environment.
• the optical transmitter 12 can comprise a laser, for example.
• the optical detector 13 is set up to receive a reflected light beam from a surrounding area along a second beam path (not explicitly shown).
• the second beam path can be superimposed on the first beam path 14 in the opposite direction, as is the case here, but it can also be arranged separately. There are two in at least one of the first beam path 14 and the second beam path
• Mirror surfaces 15, 16 tilted relative to one another by 90 °, which deflect the light beam from a first plane into a second plane parallel to it (see also FIG. 5).
• the mirror surfaces 15, 16 are rotatably mounted and coupled to one another in such a way that when they rotate together about an axis of rotation perpendicular to the two planes, the surroundings are scanned. The light beam is not tilted during the rotation (see also FIGS. 6 and 7).
• a beam shaping of the scanning light beam takes place at least partially via a curvature of the two mirror surfaces and / or at least partially via a beam former 17 in the first beam path 14.
• the beam is then deflected twice by 90 ° through the mirror surfaces 15, 16.
• the two mirror surfaces 15, 16 rotate together about an axis.
• the deflected beam leaves the deflection unit, which comprises the two mirror surfaces 15, 16, on a parallel plane which is so far away from the incident plane that the beam can now pass the optical transmitter unhindered.
• Deflection unit can also include other optical elements.
• the optical detector 13 functions accordingly.
• a received beam is then deflected twice by 90 ° by a rotating deflection unit, optionally strikes a beam shaper and is detected by means of the optical detector 13.
• a rotating deflection unit optionally strikes a beam shaper and is detected by means of the optical detector 13.
• the two mirror surfaces 15, 16 can also take on a task in beam shaping. This means that one or both of the mirror surfaces 15, 16 can have a curvature or contain other optical elements.
• the beam former 17 shown in FIG. 4 is therefore optional.
• the optical system 11 has a coherent horizontal field of view 18 of approximately 200 °. But there are also fields of view of over 300 ° without
• Detector 13 by moving the scanning light beam in a parallel plane achieved by a double reflection on the mirror surfaces 15, 16. This is shown schematically in FIG. 5 in a simplified side view of the embodiment in FIG. According to the invention, the scanning light beam
• the scanning light beam is moved to a certain extent in a parallel, higher plane, so that the optical transmitter 12 and the optical detector 13 no longer block the scanning light beam.
• the mirror surfaces 15, 16 which can rotate together about an axis.
• the mirror surfaces are each tilted relative to one another and to the propagation plane of the scanning light beam by 45 °, as shown in FIG. 5.
• the scanning light beam is each shaped into a line profile.
• Figure 6 shows a deflection angle of 0 ° in the scanning plane
• Scanning light beam on the screen 19 generates a vertical line profile.
• the scanning light beam in the first beam path 14 is only rotated about the axis of rotation of the mirror surfaces 15, 16, without tilting.
• the scanning light beam thus continues to produce a vertical line profile on the screen 20.

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• 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)
• Automation & Control Theory (AREA)
• Mathematical Physics (AREA)
• Transportation (AREA)
• Mechanical Engineering (AREA)
• Optical Radar Systems And Details Thereof (AREA)

Applications Claiming Priority (2)

Publications (1)

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• 2019
  • 2019-01-23 DE DE102019200764.3A patent/DE102019200764A1/de active Pending
  • 2019-12-30 KR KR1020217025960A patent/KR20210116561A/ko active Search and Examination
  • 2019-12-30 WO PCT/EP2019/087137 patent/WO2020151898A1/de unknown
  • 2019-12-30 CN CN201980090187.XA patent/CN113348375A/zh active Pending
  • 2019-12-30 EP EP19832415.4A patent/EP3914926A1/de active Pending
  • 2019-12-30 JP JP2021542356A patent/JP2022518493A/ja active Pending
  • 2019-12-30 US US17/294,294 patent/US20220011439A1/en active Pending

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