EP3994497A1 - Anpassungsvorrichtung und lidar-messvorrichtung - Google Patents
Anpassungsvorrichtung und lidar-messvorrichtungInfo
- Publication number
- EP3994497A1 EP3994497A1 EP20734352.6A EP20734352A EP3994497A1 EP 3994497 A1 EP3994497 A1 EP 3994497A1 EP 20734352 A EP20734352 A EP 20734352A EP 3994497 A1 EP3994497 A1 EP 3994497A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- lidar
- measuring device
- detection
- vehicle
- unit
- 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
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
- 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
- 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
-
- 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
- G01S7/483—Details of pulse systems
- G01S7/484—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
- G01S7/483—Details of pulse systems
- G01S7/486—Receivers
- G01S7/4861—Circuits for detection, sampling, integration or read-out
- G01S7/4863—Detector arrays, e.g. charge-transfer gates
Definitions
- the present invention relates to an adaptation device for adapting a detection process of a lidar measuring device in a focal plane array arrangement on a vehicle.
- the present invention further relates to a lidar measuring device in a focal plane array arrangement for detecting objects in the surroundings of a vehicle and a method for adapting a detection process of a lidar measuring device.
- Modern vehicles include a variety of systems that provide information to a driver or operator and / or control individual functions of the vehicle partially or fully automatically.
- the surroundings of the vehicle and, if necessary, other road users are recorded by sensors. Based on the recorded data, a model of the vehicle environment can be generated and changes in this vehicle environment can be reacted to.
- ADAS advanced driver assistance systems
- autonomously operating transport systems are increasing.
- the development of ever more precise sensors makes it possible to record the environment and to control individual functions of the vehicle completely or partially without intervention by the driver.
- Lidar technology (light detection and ranging) is an important sensor principle for detecting the surroundings.
- a lidar sensor is based on the emission of light pulses and the detection of the reflected light.
- a distance to the point of reflection can be calculated using a transit time measurement.
- a target can be detected by evaluating the reflections received.
- scanning systems which mostly work based on micromirrors, and non-scanning systems, in which several transmitting and receiving elements are arranged statically next to one another (especially so-called focal plane array arrangement) .
- WO 2017/081294 A1 describes a method and a device for optical distance measurement.
- a use of a transmission matrix for transmitting measuring pulses and a receiving matrix for receiving the measuring pulses is disclosed. When the measurement pulses are sent, subsets of the send elements of the send matrix are activated.
- a challenge in the detection of objects by means of a lidar lies in the large variety of objects to be detected and their different properties with regard to the reflection of laser pulses. Dark objects such as tires are more difficult to detect than lighter objects such as bridge pillars or lane boundaries. Since there are a large number of different objects in the area of vehicle applications, all of which are to be detected, suitable lidar measuring devices must be designed accordingly. In order to ensure detections with sufficient reliability, the performance can be increased on the one hand. On the other hand, an update rate can optionally be reduced in order to enable more detections per time step.
- the present invention has the object of providing an approach for the improved detection of objects in a field of view of a lidar measuring device.
- the most reliable possible detection of objects with different properties should be achieved.
- the energy consumption should be kept as low as possible.
- a cost-effective realization of the lidar measuring device should be made possible.
- the invention relates in a first aspect to an adaptation device for adapting a detection process of a lidar measuring device in a focal plane array arrangement on a vehicle, with:
- an input interface for receiving a setting with information on at least two vertical detection zones
- a setting unit for determining a control parameter of a detection process for each of the at least two detection zones based on the received setting
- a selection unit for determining a subset of lines running parallel to a longitudinal plane of the vehicle of transmission elements of a lidar transmission unit of the lidar measuring device and / or sensor elements of a lidar reception unit of the Lidar measurement device for each of the at least two detection zones based on the received setting;
- control unit for controlling the lidar measuring device, the determined subset of lines being controlled based on the determined control parameters for each detection zone in order to detect objects within the at least two detection zones.
- the present invention relates to a lidar measuring device in a focal plane array arrangement for detecting objects in the surroundings of a vehicle with:
- a lidar transmission unit with a plurality of transmission elements for emitting light pulses and a lidar reception unit with a plurality of sensor elements for receiving the light pulses, the transmission elements and the sensor elements being arranged in lines which run parallel to a longitudinal plane of the vehicle; and an adapter as previously defined.
- a vertical detection zone is understood to mean a vertical section or area of the field of view.
- a field of view of the lidar measuring device is divided into several detection zones.
- a control parameter is now determined for each of these detection zones.
- a subset of lines of transmitter elements and / or sensor elements running parallel to a horizontal plane of the vehicle is determined for each of these detection zones.
- the respective subset of lines is controlled separately via a control unit.
- different parameters are set for different parts of the field of view.
- the line-by-line controllable lidar transmission unit or the line-by-line readable dar receiving unit is controlled in such a way that lines of different receiving zones are treated in different ways.
- the upper rows of transmitting or sensor elements also at least partially capture the sky and objects above the road, such as bridges, ceilings, etc.
- the lower rows of transmitting and / or sensor elements capture the road.
- Different objects are to be expected in these different areas or detection zones.
- different distances are particularly relevant. For example, a black tire can be on the road, whereas one is not to be expected in the sky. Due to the differentiation according to the invention and the individual definition of control parameters for at least two vertical detection zones, such model knowledge can be taken into account and made usable for object recognition.
- the lidar measuring device is operated in such a way that the properties of the lidar transmitting unit or the lidar receiving unit for different vertical detection zones are adapted to the objects expected in these detection zones. In this way, the reliability in the detection of objects can be improved. In addition or as an alternative, it becomes possible to use a cost-effective sensor with constant reliability. There are also advantages in terms of the required performance and the required installation space.
- the input interface is designed to receive a height of a horizon line in relation to an alignment and position of the lidar measuring device on the vehicle.
- the selection unit is designed to determine a first subset of lines which are assigned to an area above the horizon line and a second subset of lines which are assigned to an area below the horizon line. In particular, it is expedient to distinguish between two detection zones on a horizon line.
- the road and objects in the area of the road are primarily to be expected below the horizon line. Above the horizon line, objects that span the road are primarily to be expected. Objects that span the carriageway are usually comparatively light. Objects that lie on the carriageway can also be dark. In addition, different ranges are relevant.
- the input interface is designed to receive a total time budget for a measurement process.
- the setting unit is designed to determine a control parameter with a share of the total time budget for each detection zone.
- a specific total time budget that is available for carrying out an individual measuring process can be specified for a lidar measuring device.
- Such a total time budget arises, for example, on the basis of the desired or required measurement frequency (update rate) or also on the basis of the hardware implementation.
- a given total time budget is distributed in an adapted manner to the various detection zones.
- the input interface is designed to receive an overall power budget of a measurement process.
- the setting unit is designed to determine a control parameter with a share of the total power budget for each detection zone.
- a total performance budget can also be specified in a manner comparable to the specification of an overall time budget described above. This power is divided between the different detection zones so that the objects to be expected in this detection zone can be detected as reliably as possible.
- the adaptation device is designed for adapting the detection process while the lidar measuring device is being put into operation.
- the adaptation device according to the invention is used to adapt the detection process of the lidar measuring device.
- the input interface as well as the setting unit and selection unit perform their function once when the lidar measuring device is put into operation, whereas the control unit performs its function during a measuring process, that is, during operation.
- the input interface is designed to receive a setting with information on a vertical extent of four vertical detection zones.
- a first detection zone corresponds to an area of the sky.
- a second detection zone below the first detection zone corresponds to a distance viewing area.
- a third detection zone below the two The th detection zone corresponds to a central lane area.
- a fourth detection zone below the third detection zone corresponds to a nearby lane area.
- the lidar measuring device is designed to carry out a time correlated single photon counting TCSPC measuring method.
- the setting unit is designed to determine a number of TCSPC integrations. A number of TCSPC integrations is preferably determined as a control parameter in the setting unit. If a higher number of TCSPC integrations is used in a detection zone, an improved object recognition can be achieved within this detection zone. In particular, dark and / or objects that are further away can also be recognized.
- the lidar measuring device is designed to be attached to a vehicle in an area of a bumper rail of the vehicle.
- the lidar measuring device can be integrated into a bumper of the vehicle, for example. This results in a clear view of objects in front of or behind the vehicle.
- the differentiation between different detection zones is particularly advantageous, since a free field of view results for the lidar measuring device.
- the lidar transmitting unit and lidar receiving unit have a vertical field of view of 12 degrees to 20 degrees, preferably 16 degrees.
- a center of the field of view of the vertical field of view preferably runs parallel to a longitudinal plane of the vehicle.
- a larger field of vision is divided into different detection zones.
- a specific parameter and a specific assignment in particular a number of TCSPC integrations as well as an indication of the lines for different detection zones (an assignment of lines to detection zones), can also be received directly via the input interface.
- the setting unit and the selection unit then, so to speak, essentially forward the resulting speaking information to the control unit.
- the setting unit for example forwards the number of TCSPC integrations for the respective detection zone as a control parameter.
- the selection unit forwards the subsets on the basis of the received assignment of lines to detection zones.
- a detection process corresponds to a transmission process of the lidar transmission unit and a corresponding readout over a predetermined period of time by the lidar reception unit.
- a vertical detection zone corresponds to a part of the field of view of the lidar measuring device.
- a focal plane array arrangement is understood to mean a configuration of the sensor elements (or the transmission elements) essentially in one plane.
- a lidar receiving unit is in particular a microchip with corresponding sensor elements.
- a lidar transmission unit is also in particular a microchip with corresponding transmission elements.
- the receiving and transmitting units can be arranged together on a microchip.
- the transmission and sensor elements are, for example, each arranged on a chip in matrix form and distributed over an area of the chip. One or more sensor elements are assigned to a transmission element.
- a light pulse from a lidar transmission unit is understood to mean, in particular, a pulse of laser light.
- the surroundings of a vehicle include in particular an area in the surroundings of the vehicle that is visible from the vehicle.
- the longitudinal plane of a vehicle is aligned parallel to a longitudinal and a transverse axis of the vehicle.
- FIG. 1 shows a schematic representation of a lidar measuring device according to one aspect of the present invention
- FIG. 2 shows a schematic representation of an adaptation unit according to the invention
- 3 shows a schematic representation of an adaptation device with four vertical detection zones
- FIG. 5 shows a schematic representation of a method according to the invention.
- a lidar measuring device 10 for detecting an object 12 in the vicinity of a vehicle 14 is shown schematically.
- the lidar measuring device 10 is integrated into the vehicle 14 in the exemplary embodiment shown.
- the object 12 in the vicinity of the vehicle 14 can be, for example, another vehicle or a static object (traffic sign, house, tree, etc.) or another road user (pedestrians, cyclists, etc.).
- the lidar measuring device 10 is preferably mounted in the area of a bumper of the vehicle 14 and can in particular evaluate the surroundings of the vehicle 14 in front of the vehicle.
- the lidar measuring device 10 can be integrated into the front bumper.
- the lidar measuring device 10 comprises a lidar receiving unit 16 and a lidar transmitting unit 18. Furthermore, the lidar measuring device 10 comprises an adaptation device 20 for adapting a field of view of the lidar measuring device 10.
- Both the lidar receiving unit 16 and the lidar transmitting unit 18 are preferably designed in a focal plane array configuration.
- the elements of the respective device are arranged essentially in one plane on a corresponding chip.
- the chip of the lidar receiving unit or the lidar transmitting unit is arranged in a focal point of a corresponding optical system (transmitting optical system or receiving optical system).
- sensor elements of the lidar receiving unit 16 or transmitting elements of the lidar transmitting unit 18 are arranged at the focal point of the respective receiving or transmitting optics. These optics can be formed, for example, by an optical lens system.
- the sensor elements of the lidar receiving unit 16 are preferably designed as SPAD (Single Photon Avalanche Diode).
- the lidar transmission unit 18 comprises several transmission elements for emitting laser light or laser pulses.
- the transmission elements are preferably designed as VCSELs (Vertical Cavity Surface Emitting Laser).
- the transmission elements of the lidar transmission unit 18 are divided ver over an area of a transmission chip.
- the sensor elements of the lidar receiving unit 16 are distributed over an area of the receiving chip.
- the transmission chip is assigned a transmission optics
- the reception chip is assigned a receiving optics.
- the optics depict light arriving from a spatial area onto the respective chip.
- the spatial area corresponds to the visual area of the lidar measuring device 10, which is examined or sensed for objects 12.
- the spatial area of the lidar receiving unit 16 or the lidar transmitting unit 18 is essentially identical.
- the transmission optics images a transmission element onto a solid angle that represents a partial area of the spatial area.
- the transmission element sends out laser light accordingly in this solid angle.
- the transmission elements jointly cover the entire room area.
- the receiving optics images a sensor element onto a solid angle that represents a sub-area of the spatial area. The number of all sensor elements covers the entire room area.
- a laser light from a transmission element is normally always mapped onto the associated sensor element.
- several sensor elements are arranged within the solid angle of a Sendeele element.
- the lidar measuring device 10 carries out a measuring process.
- a measuring process comprises one or more measuring cycles, depending on the design of the measuring system and its electronics.
- a TCSPC (Time Correlated Single Photon Counting) method is preferably used in the control unit.
- individual incoming photons are detected, in particular by a SPAD, and the time at which the sensor element was triggered (detection time) is stored in a memory element.
- the time of detection is related to a reference time at which the laser light is emitted. The difference can be determine the transit time of the laser light, from which the distance of the object 12 can be determined.
- a sensor element of the lidar receiving unit 16 can be triggered on the one hand by the laser light and on the other hand by ambient radiation.
- a laser light always arrives at a certain distance from the object 12 at the same time, whereas the ambient radiation always provides the same probability of triggering a sensor element.
- the triggering of the sensor element add up at the detection time which corresponds to the transit time of the laser light with respect to the distance of the object.
- the triggers from the ambient radiation are evenly distributed over the measurement duration of a measurement cycle.
- a measurement corresponds to the emission and subsequent detection of the laser light.
- the data of the individual measuring cycles of a measuring process stored in the memory element enable an evaluation of the multiple detection times in order to infer the distance from the object 12.
- a sensor element is favorably connected to a TDC (Time to Digital Converter).
- the TDC stores the time at which the sensor element was triggered in the storage element.
- a storage element can be designed, for example, as a short-term memory or as a long-term memory.
- the TDC fills a storage element with the times at which the sensor elements detect the arrival of the photon. This can be represented graphically by means of a histogram based on the data of the memory element. In a histogram, the duration of a measurement cycle is divided into very short time segments (so-called bins). If a sensor element is triggered, the TDC increases the value of a bin by 1. The bin is filled which corresponds to the transit time of the laser pulse, i.e. the difference between the time of detection and the reference time.
- an adaptation device for adapting a detection process of a lidar measuring device in a focal plane array arrangement on a vehicle.
- the adaptation device 20 comprises an input interface 22, a setting unit 24, a selection unit 26 and a control unit 28.
- the various units and interfaces can be implemented or implemented individually or in combination in software and / or hardware be. In particular, the units can be implemented in software that is executed on a processor of the lidar measuring device.
- a setting is received via the input interface 22.
- the setting includes information on at least two vertical detection zones.
- the setting can in particular already include an assignment between lines of transmission elements and / or sensor elements to detection zones and an indication of a performance and / or a number of integration processes for each detection zone.
- the setting includes other information on the basis of which a control parameter and a subset of lines can then be determined for each of the detection zones.
- the setting can be an indication of the current surroundings of the vehicle.
- the activation of the lidar measuring device according to the invention can also take place based on a current traffic situation.
- a different setting is used on a motorway than on a country road or in city traffic. The traffic situation in which the vehicle is located (i.e.
- the setting can be determined based on environmental sensors, map material, user input or other information sources.
- a total power budget and / or a total time budget can be received as a setting. This total budget can then be divided in the setting unit 24 and in the selection unit 26 among the various detection zones.
- a control parameter of a detection process is determined for each detection zone.
- the control parameter can in particular include a number of TCSPC integration processes. Such a number can be determined, for example, based on a predetermined total number of possible TCSPC integration processes (total time budget).
- the control parameters allow the lidar measuring device to be controlled and specify the properties of the measuring process.
- a separate control parameter is determined for each of the detection zones. In this respect, each detection zone is operated with different properties.
- a subset of rows of transmission elements and / or sensor elements is determined in the selection unit 26.
- the received setting is evaluated for this purpose. It is determined which rows of the cell-shaped arranged lidar chip are assigned or assigned to the respective detection zones. If a specification of the lines has already been received as a setting, this can be passed on directly in the selection unit 26. It is also possible that the subset of lines is determined, for example, based on a setting that includes an indication of the zone sizes on an absolute or relative scale.
- the lidar measuring device is activated via the control unit 28.
- the assigned subset of lines is controlled separately for each detection zone based on the corresponding control parameters.
- the lidar measuring device is operated in such a way that objects within the detection zones are detected with different parameters.
- a vehicle 14 is shown schematically in a side view, in which a lidar measuring device 10 is arranged with an adapter 20, a lidar receiving unit 16 and a lidar transmitting unit 18 in the area of the bumper.
- the vertical field of view 30 of the lidar measuring device is divided into a total of four different detection zones E 1 -E 4 . In each of these detection zones E 1 -E 4 , separate control parameters are set or used.
- the vertical field of view can, for example, have an opening angle of 16 degrees.
- the lidar transmission unit comprises a total of 80 lines of transmission elements
- lines 65 to 74 of the third detection zone E3 and lines 75 to 79 are assigned to the fourth detection zone E4.
- the boundary between the first acquisition zone Ei and the second acquisition zone E2 runs on a horizontal plane H, which corresponds to a longitudinal plane of the vehicle 14 in the illustrated exemplary embodiment.
- the first detection zone Ei then corresponds to an area of the sky above the horizon line. Long range is required in this first detection zone, but dark objects are unlikely to occur.
- a budget of 235 TCSPC integrations can be provided in this area, for example.
- a distance vision area is recorded in this area. In this area it is very relevant to be able to recognize dark objects, for example, to be able to detect tires lying on the road. A higher number of TCSPC integrations are therefore used in this area, for example 355.
- a middle lane area that is to say a lane area at a medium distance, is recorded. For example, the middle area corresponds to a distance of up to 29 meters.
- a number of 262 TCSPC integrations can be specified using the control parameters.
- a near lane area that is to say an area directly in front of the vehicle, for example up to a distance of 10 meters, is evaluated. Because this area is close and it may not be possible to react to possible obstacles anyway, a smaller number of TCSPC integrations is sufficient. For example, 222 TCSPC integrations can be used. Overall, the TCSPC integrations are each assigned to the expected object properties in the corresponding detection zone.
- a lidar transmission unit 18 according to the invention is shown schematically in FIG. 4.
- the lidar transmission unit 18 comprises a plurality of transmission elements 32 which are arranged in a plurality of rows Zi-Ze. For reasons of clarity, only a few lines or a selection of the transmitting elements 32 are shown in the drawing.
- the lidar transmission unit 18 can comprise an array with 80 * 128 transmission elements 32, for example.
- a corresponding sensor element of the lidar receiving unit is assigned to each transmitting element 32.
- a sensor element can also describe a macro cell with several individual SPAD cells.
- the transmission elements 32 can be activated line by line. This means that all transmission elements 32 which are arranged in the same row Zi-Ze can be activated simultaneously.
- the lidar transmission unit 18 is designed in a focal plane array arrangement and is permanently connected to the vehicle or is installed in the vehicle, the alignment of the array of the lidar transmission unit 18 with respect to the vehicle cannot be changed during operation will.
- the assignment of the detection zones to the various lines of transmission and / or sensor elements can therefore also be specified when the sensor is started up. An adjustment during runtime is also conceivable.
- lines that are assigned to a specific detection zone are operated with different control parameters. ben. In this way, objects within the detection zones can be detected in an optimized manner.
- the lidar receiving unit is designed with sensor elements corresponding to the lidar transmitting unit 18.
- the lidar transmitting unit 18 and the lidar receiving unit 16 are firmly connected to one another and are preferably arranged next to one another when the vehicle is moving.
- the sensor elements of the lidar reception unit 16 can also be read line by line.
- FIG. 5 schematically shows a method according to the invention for adapting a detection process of a lidar measuring device in a focal plane array arrangement on a vehicle.
- the method comprises the steps of receiving S10 a setting, determining S12 a control parameter, determining S14 a subset of parallel lines of transmitting elements and / or sensor elements and activating S16 the lidar measuring device.
- the method can be implemented, for example, in software that is executed on a processor of a lidar measuring device.
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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)
- Optical Radar Systems And Details Thereof (AREA)
- Traffic Control Systems (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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DE102019209691.3A DE102019209691A1 (de) | 2019-07-02 | 2019-07-02 | Anpassungsvorrichtung und Lidar-Messvorrichtung |
PCT/EP2020/067142 WO2021001178A1 (de) | 2019-07-02 | 2020-06-19 | Anpassungsvorrichtung und lidar-messvorrichtung |
Publications (1)
Publication Number | Publication Date |
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EP3994497A1 true EP3994497A1 (de) | 2022-05-11 |
Family
ID=71130961
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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EP20734352.6A Pending EP3994497A1 (de) | 2019-07-02 | 2020-06-19 | Anpassungsvorrichtung und lidar-messvorrichtung |
Country Status (9)
Country | Link |
---|---|
US (1) | US20220179093A1 (de) |
EP (1) | EP3994497A1 (de) |
JP (1) | JP7376149B2 (de) |
KR (1) | KR20220016272A (de) |
CN (1) | CN114144693A (de) |
CA (1) | CA3142394A1 (de) |
DE (1) | DE102019209691A1 (de) |
IL (1) | IL289492A (de) |
WO (1) | WO2021001178A1 (de) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
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CN117665770A (zh) * | 2022-08-29 | 2024-03-08 | 上海禾赛科技有限公司 | 激光雷达及其接收装置、数据接收方法和计算机可读介质 |
DE102022132321A1 (de) | 2022-12-06 | 2024-06-06 | Valeo Detection Systems GmbH | Anpassungsverfahren zum Anpassen eines Gesamtdetektionsfeldes eines LiDAR-Systems eines Fahrzeugs abhängig von einer vorherrschenden Situation |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
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EP3168641B1 (de) | 2015-11-11 | 2020-06-03 | Ibeo Automotive Systems GmbH | Verfahren und vorrichtung zur optischen distanzmessung |
JP6942966B2 (ja) * | 2016-03-16 | 2021-09-29 | 株式会社リコー | 物体検出装置及び移動体装置 |
AU2018297291B2 (en) * | 2017-07-05 | 2024-03-07 | Ouster, Inc. | Light ranging device with electronically scanned emitter array and synchronized sensor array |
DE102017222969A1 (de) * | 2017-12-15 | 2019-06-19 | Ibeo Automotive Systems GmbH | Verfahren zur verbesserten Nah- und Ferndetektion einer LIDAR Empfangseinheit |
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2019
- 2019-07-02 DE DE102019209691.3A patent/DE102019209691A1/de active Pending
-
2020
- 2020-06-19 WO PCT/EP2020/067142 patent/WO2021001178A1/de unknown
- 2020-06-19 EP EP20734352.6A patent/EP3994497A1/de active Pending
- 2020-06-19 CN CN202080048760.3A patent/CN114144693A/zh active Pending
- 2020-06-19 KR KR1020227000236A patent/KR20220016272A/ko unknown
- 2020-06-19 CA CA3142394A patent/CA3142394A1/en active Pending
- 2020-06-19 JP JP2021576717A patent/JP7376149B2/ja active Active
-
2021
- 2021-12-29 IL IL289492A patent/IL289492A/en unknown
- 2021-12-31 US US17/567,027 patent/US20220179093A1/en active Pending
Also Published As
Publication number | Publication date |
---|---|
WO2021001178A1 (de) | 2021-01-07 |
CA3142394A1 (en) | 2021-01-07 |
CN114144693A (zh) | 2022-03-04 |
JP7376149B2 (ja) | 2023-11-08 |
JP2022538246A (ja) | 2022-09-01 |
US20220179093A1 (en) | 2022-06-09 |
DE102019209691A1 (de) | 2021-01-07 |
KR20220016272A (ko) | 2022-02-08 |
IL289492A (en) | 2022-02-01 |
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