Method and device for detecting objects, and LIDAR system

Patent metadata

Field	Value
Publication number	US-11520045-B2
Application number	US-201816613882-A
Country	US
Kind code	B2
Filing date	May 16, 2018
Priority date	May 23, 2017
Publication date	Dec 6, 2022
Grant date	Dec 6, 2022

Abstract

A method for detecting objects using a LIDAR system. The method includes emitting a first light beam scanning in a scanning direction in an emission direction at a first instant, allocating a first propagation time between the first transmission instant and a first receiving instant of a first reflection of the first light beam to the emission direction, emitting in the emission direction, an angle-resolved, further light beam scanning in the scanning direction and angularly offset from the first light beam, at a second transmission instant following the first emission instant, allocating a second propagation time between the second transmission instant and a second receiving instant of a second reflection of the second light beam to the emission direction, and evaluating hits using the propagation times allocated to the emission direction.

First claim

What is claimed is:

1. A method for detecting an object using a LIDAR system, having a rotor, a transmitting device and a receiving device, the method comprising:
transmitting, in a step of transmitting, a first light beam scanning in a scanning direction in an emission direction at a first transmission instant;
allocating, in a step of allocating, a first propagation time between the first transmission instant and a first receiving instant of a first reflection of the first light beam to the emission direction, which is a direction to the object;
transmitting, in the step of transmitting, a further light beam scanning in the scanning direction and angularly offset from the first light beam in the emission direction at a second transmission instant following the first transmission instant;
allocating, in the step of allocating, a second propagation time between the second transmission instant and a second receiving instant of a second reflection of the second light beam to the emission direction; and
evaluating, in a step of evaluating, hits using the first and second propagation times allocated to the emission direction;
wherein the transmission device performs the transmitting, and the transmission device and the receiving device are on the rotor,
wherein the rotor rotates about a rotation axis at an angular velocity,
wherein in each angular position of the rotor, the transmission device transmits a multitude of light beams, which are divergent by an angle of divergence into a multitude of angles,
wherein the angle of divergence is such that the light beams impinge upon the object in quick succession, so that a relative movement between the object and the LIDAR system results in small changes in the propagation times, so that the object is thus detected in a quasi-static manner, and
wherein an average value is formed across the propagation times to detect outliers of the hits, wherein the average value improves a detection reliability of the object.

2. The method as recited in claim 1 , wherein the steps of transmitting and allocating are repeated for additional emission directions at additional transmission instants.

3. The method as recited in claim 1 , wherein, in a step of receiving, the first and second reflections are received in the receiving device which is situated laterally next to the transmission device of the LIDAR system.

4. The method as recited in claim 1 , wherein, in a step of receiving, the first reflection is received in a first receiving range of a receiving device allocated to the first light beam, and the second reflection is received in a second receiving range of the receiving device allocated to the second light beam, the first receiving range and the second receiving range having a lateral offset in the scanning direction.

5. The method as recited in claim 1 , wherein, in the step of transmitting, the first and further light beams are transmitted at an angular offset from one another of between zero degrees and five degrees.

6. The method as recited in claim 1 , wherein, in the step of transmitting, the first and further light beams are transmitted with different intensities.

7. The method as recited in claim 1 , wherein laser beams are transmitted as the first and further light beams in the step of transmitting.

8. The method as recited in claim 1 , wherein, in the step of transmitting, the first and further light beams are transmitted in fanned out form across an angular range that is aligned transversely to the scanning direction, and in a step of receiving, the first and second reflections are received in an angle-resolved manner across the angular range.

9. An apparatus for detecting an object, comprising:
a LIDAR system, having a rotor, a transmitting device and a receiving device, configured to perform the following:
transmitting a first light beam scanning in a scanning direction in an emission direction at a first transmission instant;
allocating a first propagation time between the first transmission instant and a first receiving instant of a first reflection of the first light beam to the emission direction, which is a direction to the object;
transmitting a further light beam scanning in the scanning direction and angularly offset from the first light beam, in the emission direction at a second transmission instant following the first transmission instant;
allocating a second propagation time between the second transmission instant and a second receiving instant of a second reflection of the second light beam, to the emission direction; and
evaluating hits using the first and second propagation times allocated to the emission direction;
wherein the transmission device performs the transmitting, and the transmission device and the receiving device are on the rotor,
wherein the rotor rotates about a rotation axis at an angular velocity,
wherein in each angular position of the rotor, the transmission device transmits a multitude of light beams, which are divergent by an angle of divergence into a multitude of angles,
wherein the angle of divergence is such that the light beams impinge upon the object in quick succession, so that a relative movement between the object and the LIDAR system results in small changes in the propagation times, so that the object is thus detected in a quasi-static manner, and
wherein an average value is formed across the propagation times to detect outliers of the hits, wherein the average value improves a detection reliability of the object.

10. A LIDAR system, having a rotor, a transmitting device and a receiving device, comprising:
a device configured for detecting an object, by performing the following:
transmitting a first light beam scanning in a scanning direction in an emission direction at a first transmission instant;
allocating a first propagation time between the first transmission instant and a first receiving instant of a first reflection of the first light beam to the emission direction, which is a direction to the object;
transmitting a further light beam scanning in the scanning direction and angularly offset from the first light beam, in the emission direction at a second transmission instant following the first transmission instant;
allocating a second propagation time between the second transmission instant and a second receiving instant of a second reflection of the second light beam, to the emission direction; and
evaluating hits using the first and second propagation times allocated to the emission direction;
wherein the transmission device performs the transmitting, and the transmission device and the receiving device are on the rotor,
wherein the rotor rotates about a rotation axis at an angular velocity,
wherein in each angular position of the rotor, the transmission device transmits a multitude of light beams, which are divergent by an angle of divergence into a multitude of angles,
wherein the angle of divergence is such that the light beams impinge upon the object in quick succession, so that a relative movement between the object and the LIDAR system results in small changes in the propagation times, so that the object is thus detected in a quasi-static manner, and
wherein an average value is formed across the propagation times to detect outliers of the hits, wherein the average value improves a detection reliability of the object.

11. The system as recited in claim 10 , wherein the angle of divergence is between one and three degrees.

12. The method as recited in claim 1 , wherein the angle of divergence is between one and three degrees.

13. The apparatus as recited in claim 9 , wherein the angle of divergence is between one an

Assignees

• Bosch Gmbh Robert

Inventors

• Schultz Ingmar
• Schnitzer Reiner
• Has Remigius
• Spiessberger Stefan

Classifications

• G01S17/10

  using transmission of interrupted, pulse-modulated waves (determination of distance by phase measurements G01S17/32) · CPC title

• G01S7/4816

  of receivers alone · CPC title

• G01S7/4815 Primary

  using multiple transmitters · CPC title

• G01S17/42

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

• G01S7/4817

  relating to scanning · CPC title