Lidar scanning device on a motor vehicle

Patent metadata

Field	Value
Publication number	US-11016181-B2
Application number	US-201616063912-A
Country	US
Kind code	B2
Filing date	Nov 7, 2016
Priority date	Dec 22, 2015
Publication date	May 25, 2021
Grant date	May 25, 2021

Abstract

A lidar scanning device for use in a motor vehicle includes a lidar sensor having a predefined scanning field, the lidar sensor being configured for determining the distance of an object within the scanning field, and a pivot device for varying an alignment of the scanning field of the lidar sensor as a function of a driving direction of the motor vehicle.

First claim

What is claimed is:

1. A lidar scanning device for a motor vehicle, comprising:
a lidar sensor having a predefined scanning field, wherein the lidar sensor is configured for determining the distance of an object within the scanning field; and
a pivot device to vary an alignment of the scanning field of the lidar sensor as a function of a driving situation of the motor vehicle, wherein the alignment extends in a driving direction of the motor vehicle or counter to the driving direction of the motor vehicle, and wherein a center of the scanning field is formed by the alignment, which is maintained at all times for the determined driving situation;
wherein the driving situation is determined based on a scanning result of the lidar sensor and/or based on other scanning operations, and
wherein the scanning field of the scanning device is characterized by two angles, wherein a first angle about a vertical axis of the motor vehicle is a horizontal angle, and a second angle about transverse axis of the motor vehicle is a vertical angle, wherein the alignment halves both the first angle and the second angle, and wherein the object is detectable with the lidar scanning device only if the object lies within the scanning field, and
wherein the scanning field is varied about the transverse axis of the motor vehicle, and the scanning field is varied in the direction of the ground at a low driving speed and in the direction of the horizon at a high driving speed.

2. The lidar scanning device of claim 1 , wherein the pivot device is configured to pivot the lidar sensor about an axis.

3. The lidar scanning device of claim 1 , wherein the pivot device is configured to pivot a reflective or refractive element in the optical path of the lidar sensor about an axis.

4. The lidar scanning device of claim 1 , wherein the alignment of the scanning field is varied as a function of a driving speed of the motor vehicle.

5. The lidar scanning device of claim 1 , wherein the alignment of the scanning field is varied about the vertical axis.

6. The lidar scanning device of claim 1 , wherein the lidar scanning device is mounted on a side-mirror housing of the motor vehicle.

7. A method to determine a distance from an object within a scanning field of a lidar sensor of a lidar scanning device of a motor vehicle, the method comprising:
determining a driving situation of the motor vehicle;
varying, via a pivot device, an alignment of the scanning field of the lidar sensor of the lidar scanning device that is mounted on the motor vehicle based on the determined driving situation, wherein the alignment extends in a driving direction of the motor vehicle or counter to a driving direction of the motor vehicle, and wherein a center of the scanning field is formed by the alignment, which is maintained at all times for the determined driving situation;
scanning an environment of the motor vehicle with the lidar scanning device; and
determining the distance from the object within the scanning field;
wherein the driving situation is determined based on a scanning result of the lidar sensor and/or based on other scanning operations, and
wherein the scanning field of the scanning device is characterized by two angles, wherein a first angle about a vertical axis of the motor vehicle is a horizontal angle, and a second angle about transverse axis of the motor vehicle is a vertical angle, wherein alignment halves both the first angle and the second angle, and wherein the object is detectable with the lidar scanning device only if the object lies within the scanning field, and
wherein the scanning field is varied about the transverse axis of the motor vehicle, and the scanning field is varied in the direction of the ground at a low driving speed and in the direction of the horizon at a high driving speed.

8. The method of claim 7 , wherein the motor vehicle is controlled as a function of the determined distance.

Assignees

• Bosch Gmbh Robert

Inventors

• Schwarz Hans-Jochen
• Sparbert Jan
• Ostrinsky Joern
• Stoppel Klaus
• Adams Rene
• Kamil Mustafa

Classifications

• G01S17/42 Primary

  Simultaneous measurement of distance and other co-ordinates (indirect measurement G01S17/46) · CPC title

• G01S2013/93273

  on the top of the vehicles · CPC title

• G01S2013/93275

  in the bumper area · CPC title

• G01S2013/932

  using own vehicle data, e.g. ground speed, steering wheel direction · CPC title

• G01S7/4972 Primary

  Alignment of sensor · CPC title