Method and device for the recognition of blooming in a lidar measurement

Patent metadata

Field	Value
Publication number	US-2023122788-A1
Application number	US-202117920071-A
Country	US
Kind code	A1
Filing date	Mar 31, 2021
Priority date	Apr 21, 2020
Publication date	Apr 20, 2023
Grant date	—

Abstract

Blooming in a lidar measurement is recognized using a distance from a lidar reflection point determined in an active measurement and a passive measurement. A first distance value is determined in the active measurement, based on a signal duration of a laser pulse, and a second distance value is determined in the passive measurement, based on a triangulation of two-dimensional intensity measurements carried out from different measuring positions. Blooming is identified when the second distance value exceeds the first distance value by a pre-determined amount.

First claim

1 - 7 . (canceled)

8 . A method for recognizing blooming in a lidar measurement, the method comprising:
determining a distance to a lidar reflection point using an active measurement and a passive measurement, wherein the determined distance includes a first distance value determined in the active measurement based on a signal duration of a laser pulse, and wherein the determined distance includes a second distance value determined in the passive measurement based on a triangulation of two-dimensional intensity measurements performed from different measuring positions; and identifying blooming in the lidar measurement when the second distance value exceeds the first distance value by a predetermined amount.

9 . The method of claim 8 , wherein
the passive measurement is based on first and second two-dimensional intensity measurements, the first two-dimensional intensity measurement is performed by a first lidar; and the second two-dimensional intensity measurement performed by a second lidar arranged in a different position from the first lidar.

10 . The method of claim 9 , wherein the first and second passive two-dimensional intensity measurements performed simultaneously or chronologically one after the other.

11 . The method of claim 8 , wherein
the passive measurement is based on first and second two-dimensional intensity measurements, the first two-dimensional intensity measurement is performed by a lidar located in a first position, and the second two-dimensional intensity measurement is performed by the same lidar at a point in time after the first measurement and in a second position that is different from the first position.

12 . The method of claim 9 , wherein the passive measurement is performed using a stereoscopic method to evaluate two-dimensional intensity images captured by the first and second two-dimensional intensity measurements.

13 . The method of claim 12 , wherein the stereoscopic method involves a semi-global matching algorithm.

14 . A device for recognizing blooming in a lidar measurement, the device comprising:
at least one lidar; and a processing unit configured to
determine a distance to a lidar reflection point using an active measurement and a passive measurement, wherein the determined distance includes a first distance value determined in the active measurement based on a signal duration of a laser pulse, and wherein the determined distance includes a second distance value determined in the passive measurement based on a triangulation of two-dimensional intensity measurements performed from different measuring positions; and
identify blooming in the lidar measurement when the second distance value exceeds the first distance value by a predetermined amount.

Assignees

• Mercedes Benz Group Ag

Inventors

• Meinke Martin
• Peter David
• Buck Sebastian

Classifications

• G01S7/497 Primary

  Means for monitoring or calibrating · CPC title

• G01S17/48

  Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves · CPC title

• G01S17/931

  of land vehicles · CPC title