Operating method and control unit for a lidar system, lidar system, and device

Patent metadata

Field	Value
Publication number	US-12523749-B2
Application number	US-202017767511-A
Country	US
Kind code	B2
Filing date	Nov 4, 2020
Priority date	Nov 7, 2019
Publication date	Jan 13, 2026
Grant date	Jan 13, 2026

Abstract

An operating method for a LiDAR system, in particular of the compressed sensing type. On the emission side, primary light is emitted in an unstructured manner into a visual field for the illumination thereof, and on the receiving side, light from the visual field is received as secondary light, is converted by light structuring using a predefined, fixed, and temporally constant, matrix-like pattern, into restructured secondary light having at least one matrix-like light pattern consisting of columnar patterns, and for detection, is respectively imaged column by column using the columnar patterns on an associated common detector element of a detector arrangement and detected as a whole.

First claim

The invention claimed is:

1 . An operating method for a LiDAR system of compressed sensing type, the method comprising the following steps:
(i) on an emission side, using an emitter unit, emitting primary light in an unstructured manner into a visual field for illumination of the visual field; and (ii) on a receiving side, using a receiver unit including a predefined, fixed, and temporally constant matrix-like pattern:
receiving light from the visual field as secondary light;
converting the received light by light structuring, using the matrix-like pattern, into restructured secondary light having at least one matrix-like light pattern including columnar patterns; and
imaging for detection the restructured secondary light column by column using the columnar patterns on an associated common detector element of a detector arrangement and detecting the restructured secondary light as a whole, wherein one of:
(a) the emitting step includes the step of swiveling the emitter unit in a controlled manner, or
(b) the receiving step includes the step of swiveling the receiver unit in a controlled manner.

2 . The operating method according to claim 1 , wherein
the matrix-like pattern is provided using a pattern generator using a predefined, fixed, and temporally constant light mask, and/or the secondary light is restructured to the restructured secondary light in transmission and/or in reflection to the pattern generator, and/or transmitted restructured secondary light having a first, transmitted matrix-like light pattern having first columnar patterns is detected by a first detector arrangement having first detector elements, and/or reflected restructured secondary light having a second, reflected matrix-like light pattern having second columnar patterns is detected by a second detector arrangement having second detector elements, and/or reflected and transmitted light patterns are evaluated after detection as light patterns complementary to one another separately and/or in combination with one another.

3 . The operating method according to claim 1 , wherein the illumination of the visual field using the primary light:
(i) takes place through linear illumination using a linear light field of the primary light by sampling while swiveling the light field over the visual field, by swiveling a light source and/or deflecting optics; and/or (ii) takes place through planar illumination using a planar light field; each time continuously and/or according to a flash principle.

4 . The operating method according to claim 1 , wherein, during the illumination of the visual field, for the purpose of an association between columnar patterns of the matrix-like pattern and corresponding imaged columnar patterns on detector elements of a respective detector arrangement, on the receiving side, an underlying pattern generator and/or a respective detector arrangement rand/or underlying primary optics are swiveled in a coordinated and/or controlled and/or regulated manner.

5 . The operating method according to claim 1 , wherein:
pair-wise different columnar patterns are provided and/or generated and/or used as a basis for the matrix-like pattern and/or for the matrix-like light pattern, and from consecutive use and/or imaging with all columnar patterns, unambiguous association of depth information in the visual field to individual detector elements is determined.

6 . The operating method according to claim 1 , wherein a runtime histogram of received light intensity is ascertained for every pixel in each columnar pattern and depth information associated with the columnar pattern is determined therefrom.

7 . The operating method according to claim 1 , wherein the columnar patterns used for light structuring includes or forms a complete set of columnar patterns and a complete orthogonal basis or a part of an orthogonal basis at a proportion of approximately 25%.

8 . The operating method according to claim 1 , wherein the columnar patterns used for the light structuring exhibits uniform or variable resolution along a column direction.

9 . The operating method according to claim 1 , wherein the emitter unit is swiveled.

10 . The operating method according to claim 1 , wherein the receiver unit is swiveled.

11 . A control unit for a LiDAR system, the control unit configured to control the LiDAR system to:
(i) on an emission side, using an emitter unit, emit primary light in an unstructured manner into a visual field for illumination of the visual field; and (ii) on a receiving side, using a receiver unit including a predefined, fixed, and temporally constant matrix-like pattern:
receive light from the visual field as secondary light;
convert the received light by light structuring, using the matrix-like pattern, into restructured secondary light having at least one matrix-like light pattern including columnar patterns; and
image for detection the restructured secondary light column by column using the columnar patterns on an associated common detector element of a detector arrangement and detecting the restructured secondary light as a whole, wherein one of:
(a) emitting includes swiveling the emitter unit in a controlled manner, or
(b) receiving includes swiveling the receiver unit in a controlled manner.

12 . A LiDAR system, comprising:
an emitter unit configured to generate and emit primary light into a visual field for illumination of the visual field; and a receiver unit configured to for receive, detect, and evaluate secondary light from the visual field; wherein the LiDAR system is configured to:
(i) on an emission side, emit, using the emitter unit, the primary light in an unstructured manner into the visual field for illumination of the visual field; and
(ii) on a receiving side, using the receiver unit including a predefined, fixed, and temporally constant matrix like pattern:
receive light from the visual field as the secondary light;
convert the received light by light structuring, using the matrix-like pattern, into restructured secondary light having at least one matrix-like light pattern including columnar patterns; and
image for detection the restructured secondary light column by column using the columnar patterns on an associated common detector element of a detector arrangement and detecting the restructured secondary light as a whole, wherein one of:
(a) emitting includes swiveling the emitter unit in a controlled manner, or
(b) receiving includes swiveling the receiver unit in a controlled manner.

13 . The LiDAR system according to claim 12 , wherein the receiver unit includes an optical pattern generator which is configured to accept and to restructure the received secondary light according to the matrix-like pattern of the pattern generator and to output the restructured secondary light having the matrix-like secondary light pattern for detection.

14 . The LiDAR system according to claim 12 , wherein the optical pattern generator is configured as a mechanically fixedly predefined light mask having a shape physically matching or corresponding to the matrix-like pattern.

15 . A vehicle, comprising:
a LiDAR system, including:
an emitter unit configured to generate and emit primary light into a visual field for illumination of the visual field; and
a receiver unit configured to for receive, detect, and evaluate secondary light from the visual field;
wherein the LiDAR system is configured to:
(i) on an emission side, emit, using the emitter unit, the primary light in an unstructured manner into the visual field for illumination of the visual field; and
(

Assignees

• Bosch Gmbh Robert

Inventors

• Haag Norman
• Spiessberger Stefan

Classifications

• G01S17/89 Primary

  for mapping or imaging · CPC title

• G01S7/4816 Primary

  of receivers alone · CPC title