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WO2018219706A1 - Capteur lidar - Google Patents

Capteur lidar Download PDF

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Publication number
WO2018219706A1
WO2018219706A1 PCT/EP2018/063301 EP2018063301W WO2018219706A1 WO 2018219706 A1 WO2018219706 A1 WO 2018219706A1 EP 2018063301 W EP2018063301 W EP 2018063301W WO 2018219706 A1 WO2018219706 A1 WO 2018219706A1
Authority
WO
WIPO (PCT)
Prior art keywords
light
lidar sensor
optics
directional filter
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.)
Ceased
Application number
PCT/EP2018/063301
Other languages
German (de)
English (en)
Inventor
Alexander Greiner
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 WO2018219706A1 publication Critical patent/WO2018219706A1/fr
Anticipated expiration legal-status Critical
Ceased 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
    • 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
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G01S17/32—Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
    • G01S17/34—Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
    • 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
    • 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
    • G01S7/4811—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
    • G01S7/4814—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
    • 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
    • G01S7/4816—Constructional features, e.g. arrangements of optical elements of receivers alone
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B17/00—Systems with reflecting surfaces, with or without refracting elements
    • G02B17/02—Catoptric systems, e.g. image erecting and reversing system
    • G02B17/06—Catoptric systems, e.g. image erecting and reversing system using mirrors only, i.e. having only one curved mirror
    • G02B17/0605—Catoptric systems, e.g. image erecting and reversing system using mirrors only, i.e. having only one curved mirror using two curved mirrors
    • G02B17/061—Catoptric systems, e.g. image erecting and reversing system using mirrors only, i.e. having only one curved mirror using two curved mirrors on-axis systems with at least one of the mirrors having a central aperture

Definitions

  • the invention relates to a LiDAR sensor.
  • the invention relates to a multi-beam LiDAR sensor.
  • a LiDAR sensor includes a light source, a light detector, and a processing device.
  • the light source emits light in a predetermined spatial area where an object can reflect the light toward the detector.
  • the processing device determines a distance between the LiDAR sensor and the object on the basis of a signal propagation time (Time of Flight, TOF) or on the basis of a Frequency Modulated Continuous Wave (FMCW) signal.
  • TOF Time of Flight
  • FMCW Frequency Modulated Continuous Wave
  • a single-beam system uses a laser as the light source
  • a multi-beam system includes a light source that emits multiple laser beams simultaneously.
  • a mechanical laser scanner is generally used in which the propagation direction of the laser beams is changed by means of a movable mirror.
  • An object underlying the present invention is to provide an improved LiDAR sensor.
  • the invention achieves this object by means of the subject matter of the independent claim. Subclaims give preferred embodiments again.
  • a LiDAR sensor comprises a multi-beam light source for emitting light rays; a receiving optics for collecting incident light rays; a directional filter; and a light detector having at least one sensor associated with one of the light sources.
  • the light detector comprises a plurality of sensors, each sensor being associated with one of the light sources.
  • each sensor being associated with one of the light sources.
  • as many sensors as light sources are provided.
  • the association between sensors and light sources can be bijective.
  • the receiving optics may have a large aperture in order to also receive a weak reflection of an emitted light beam on an object and to focus it in a focused manner onto the light detector.
  • the aperture can be chosen freely over a wide range and in particular more than about 800 mm 2 .
  • the receiving optics can be designed to be bright, in order to reliably detect even a faint or distant reflection of a light beam. A detection range can thereby be increased.
  • An accuracy of the LiDAR sensor in particular with regard to its image sharpness or resolution, can be improved.
  • the receiving optics comprise a reflective element.
  • the reflective element may in particular comprise a mirror system with one or more mirrors, a prism or another element in which a total reflection of light takes place.
  • the receiving optics may comprise a folded optics in which a light beam is deflected in such a way. is directed that an optical path through the receiving optics is significantly longer than their size.
  • a reflective receiving optics is usually limited in angle, so it may be poorly suited for a multi-beam LiDAR sensor, especially if this is to be used to cover a relatively large vertical angle range of up to about 8 ° or even more.
  • the directional filter In connection with the directional filter, however, despite the aberrations of the reflective element, it can be ensured that a light beam associated with a first sensor of the light detector does not fall, or falls only slightly, onto a second sensor which is adjacent to the first sensor. Losses in the light passing through the directional light amount can be compensated in particular by a large aperture of the receiving optics. Thus, an improved image sharpness or resolution can be realized.
  • the signal dynamics can be limited.
  • the receiving optics can be realized compactly and with only a few elements.
  • the reflective element can have a low temperature dependence, so that the receiving optics can be improved in terms of temperature stability.
  • the directional filter is integrated with the reflective element. As a result, a robust receiving optics, for example for use of the LiDAR sensor on a motor vehicle, can be provided.
  • the directional filter may be formed, for example, on or in a prism or a concave mirror element.
  • the directional filter may comprise a pinhole or a coating of a transparent element. Both variants can be easily integrated with the reflective element.
  • the directional filter can be arranged, in particular when a light beam emerges from a more dense optical medium than air.
  • the pinhole may, for example, comprise a plastic or metal part which carries as many recesses as light beams and sensors are provided.
  • the recesses may be introduced, for example by means of punching. The position of each recess defines the direction of an incident light beam. Light that does not fall from the predetermined direction through the recess does not hit the sensor of the associated one
  • the LiDAR sensor may further include imaging optics arranged to image the plane of the directional filter onto the light detector.
  • an aperture of the imaging optics may be small, in particular substantially smaller than the aperture of the receiving optics, as a result of which the imaging optics can be realized inexpensively and arranged in a space-saving manner.
  • the imaging optics have an imaging factor not equal to one. In other words, the imaging optics can be set up with little effort to realize an optical enlargement or reduction.
  • the optics can be improved so adapted to a predetermined light detector, the number and arrangement of light sensors usually can not be changed. This can be a great variety of existing
  • Light sensors with the optics described can be used to provide an improved Lidarsensor.
  • the imaging optics comprise a first and a second element, between which light beams can propagate.
  • the elements may be designed and arranged such that the light beams propagate between them substantially parallel to one another.
  • an optical filter can then easily be arranged which, for example, keeps unwanted extraneous light away from the light detector.
  • the optical filter may in particular be a narrow-band frequency filter. The interference immunity of the LiDAR sensor can thereby be improved.
  • FIG. 1 shows a multi-beam lidar sensor in a first embodiment
  • FIG. 2 shows a multi-beam lidar sensor in a second embodiment
  • FIG. 3 shows a schematic representation of a lidar sensor with an imaging optics
  • FIG. 4 shows exemplary directional filters for a multi-beam lidar sensor represents.
  • the LiDAR sensor 100 includes a multi-beam
  • a light source 105 adapted to emit a plurality of coherent light beams 110, a receiving optics 115 for collecting light beams 110 reflected at an object 120 (not shown), a directional filter 125, and a light detector 130 having a plurality of sensors 135 are preferred.
  • a processing device 140 is provided to determine the distance between the LiDAR sensor 100 and the object 120 based on emitted and received light.
  • the illustrated receiving optical system 1 15 is preferably designed as a folded optic and comprises in the illustrated embodiment one or more mirror elements 145 for collecting and directing the incident light.
  • a folded optics is configured to make the length of an optical path along which light travels through the optics longer than the distance along the optical axis of the optic Typically, the folded optic comprises at least one reflective surface Frequently, the light is reflected multiple times within the optic, being able to cover part of the path through the optic in the opposite direction from the entrance to the exit of the optic, exemplified by a receiving optic 15 having a primary and a secondary mirror element 145 respectively
  • at least one of the mirror elements 145 may be spherical or parabolic, and incident light is reflected at the surface of the primary mirror element 145 and falls back onto the secondary mirror element 145 where it is reflected again.
  • Both mirror elements 145 can bundle the incident light beams or direct the output side to a narrower area than an input area, through which they enter the optics.
  • a directional filter 125 which is adapted to selectively forward incident light beams on the basis of their direction of arrival in each case only one of the sensors 135.
  • Light that does not come from a predetermined direction is preferably absorbed or in one further embodiment completely or partially reflected.
  • sensors 135 are provided on the light detector 130 as light beams 1 10 can be emitted simultaneously by the light source 105.
  • the light detector 130 preferably has the same number of light sensors 135.
  • the number of light sensors 135 can also be different from the number of light beams 110, in particular fewer light sensors 135 can be used, which is illuminated successively by means of different light beams 110.
  • the arrangement of the light sensors 135 may correspond to the arrangement of the light rays emerging from the light source 105. This arrangement can be one or two-dimensional.
  • the sensors 135 are usually called photosensitive
  • the directional filter 125 can be used to compensate for an angle-related, relatively large error of the receiving optics 115. By retaining light which does not have a predetermined direction, the portions of the light which are due to an aberration of the receiving optical system 1 15 can be excluded from further processing. The attenuating effect of the directional filter 125 on the incident light can be compensated by selecting an aperture of the receiving optics 115 to be correspondingly large. As a result, it can nevertheless be ensured that sufficient light falls on the light sensors 135 in order to enable reliable detection.
  • the imaging optics 150 Before the received light from the directional filter 125 falls on the light detector 130, it may pass through imaging optics 150 to enhance focusing of the light beams onto the light detector 130.
  • the imaging optics can be made adjustable.
  • the imaging optics are arranged to enlarge or reduce an image of the light beams on the light detector 130.
  • the imaging optics 150 preferably comprises one or more refractive elements, in particular lenses.
  • Fig. 2 shows a multi-beam LiDAR sensor 100 in a second embodiment.
  • the optical system 115 is preferably made in one piece.
  • the optical system 1 15 may be formed in the manner of an inverted telescope and, for example, be made of glass or plastic.
  • a material having a high refractive index can be used to make the optical system 115 and therefore the entire LiDAR system 100 more compact.
  • the directional filter 125 can be attached directly to or in the receiving optical system 1 15, integrated with it or designed as one piece with it.
  • the directional filter 125 may be formed as a coating of the material from which the receiving optical system 15 is formed.
  • the directional filter 125 includes a pinhole attached to the receiving optics 115, such as by gluing, vapor deposition, or otherwise.
  • FIG 3 shows a schematic representation of a LiDAR sensor 100 in the manner of FIGS. 1 or 2, with imaging optics 150.
  • the imaging optics 150 comprises at least one refractive element 205, which may be designed in particular as a lens.
  • a first refractive element 205 and a second refractive element 210 are provided.
  • the refractive elements 205, 210 are preferably designed and arranged against one another such that incident light beams 110 run substantially parallel to one another between them. It is further preferred that in the space between the refractive elements 205,
  • an optical filter 215 is provided so as to allow as far as possible to pass only light which was originally emitted by the light source 105.
  • the optical filter can be designed in particular as a bandpass filter.
  • the light emitted by the light source 105 ideally has a very narrow wavelength range. Accordingly, the optical filter 215 can be made very narrow-band in order to transmit only light whose wavelength corresponds to the wavelength of the emitted light.
  • the illustrated directional filters 125 are designed as pinhole diaphragms.
  • An embodiment a is for three light beams, an embodiment b for nine light beams, one embodiment c for sixteen light beams, and one embodiment d for twenty-five light beams.
  • the directional filter 125 each includes an opaque material 405, such as a metal sheet, in which as many recesses 410 are provided as rays to be transmitted through the directional filter 125. A position of each recess
  • 410 corresponds to a direction from which light may fall through the directional filter 125. Light incident on the material 405 from another direction is absorbed or reflected thereby.

Landscapes

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

Abstract

Capteur lidar comprenant une source lumineuse multi-faisceaux pour l'émission de faisceaux lumineux ; une optique de réception pour collecter les faisceaux lumineux incidents ; un filtre directionnel; un détecteur optique comprenant au moins un capteur qui est associé à une des sources lumineuses.
PCT/EP2018/063301 2017-06-01 2018-05-22 Capteur lidar Ceased WO2018219706A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017209294.7 2017-06-01
DE102017209294.7A DE102017209294A1 (de) 2017-06-01 2017-06-01 Lidarsensor

Publications (1)

Publication Number Publication Date
WO2018219706A1 true WO2018219706A1 (fr) 2018-12-06

Family

ID=62222687

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2018/063301 Ceased WO2018219706A1 (fr) 2017-06-01 2018-05-22 Capteur lidar

Country Status (2)

Country Link
DE (1) DE102017209294A1 (fr)
WO (1) WO2018219706A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110109127A (zh) * 2019-04-02 2019-08-09 中山大学 一种增加激光雷达点云稠密度的装置及方法
WO2020225187A1 (fr) * 2019-05-09 2020-11-12 Imec Vzw Système et procédé de détection de différence de phase
EP4375702A1 (fr) * 2022-11-23 2024-05-29 Scantinel Photonics GmbH Dispositif de balayage de mesure de plage lidar fmcw

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2021235778A1 (fr) 2020-05-22 2021-11-25 주식회사 에스오에스랩 Dispositif lidar
EP4071504B1 (fr) 2021-04-09 2023-03-22 Sick Ag Capteur optoélectronique et procédé de détection d'objets
EP4105682B1 (fr) 2021-06-18 2023-08-02 Sick Ag Capteur optoélectronique et procédé de détection des objets

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1674886A1 (fr) * 2004-12-23 2006-06-28 Thales Dispositif de détection de turbulences atmosphériques
EP2957926A1 (fr) * 2013-02-13 2015-12-23 Universitat Politècnica De Catalunya Système et procédé pour scanner une surface et programme d'ordinateur qui met en oeuvre le procédé
US20160182846A1 (en) * 2014-12-22 2016-06-23 Google Inc. Monolithically integrated rgb pixel array and z pixel array

Family Cites Families (2)

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Publication number Priority date Publication date Assignee Title
IL125659A (en) * 1998-08-05 2002-09-12 Cadent Ltd Method and device for three-dimensional simulation of a structure
US20080002176A1 (en) * 2005-07-08 2008-01-03 Lockheed Martin Corporation Lookdown and loitering ladar system

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1674886A1 (fr) * 2004-12-23 2006-06-28 Thales Dispositif de détection de turbulences atmosphériques
EP2957926A1 (fr) * 2013-02-13 2015-12-23 Universitat Politècnica De Catalunya Système et procédé pour scanner une surface et programme d'ordinateur qui met en oeuvre le procédé
US20160182846A1 (en) * 2014-12-22 2016-06-23 Google Inc. Monolithically integrated rgb pixel array and z pixel array

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110109127A (zh) * 2019-04-02 2019-08-09 中山大学 一种增加激光雷达点云稠密度的装置及方法
WO2020225187A1 (fr) * 2019-05-09 2020-11-12 Imec Vzw Système et procédé de détection de différence de phase
US12468034B2 (en) 2019-05-09 2025-11-11 Imec Vzw Phase difference detection system and a method for detecting a phase difference
EP4375702A1 (fr) * 2022-11-23 2024-05-29 Scantinel Photonics GmbH Dispositif de balayage de mesure de plage lidar fmcw

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