The embodiments described herein provide systems and methods that can improve performance in scanning laser devices. Specifically, the systems and methods emit first emission control pulse sets that are used to detect when objects (e.g., persons) are within a relatively close first safety range. Then second emission control pulses to detect when objects are within a second safety range. Then, higher energy long-range pulse sets are conditionally emitted only when objects were not detected within the first and second safety ranges with the first and second emission control pulse sets. The use of first and second emission control pulse sets can provide for improved reliability of nearby object detections, while still meeting the energy limits needed for eye safety.
The embodiments described herein provide systems and methods that can improve performance in scanning laser devices (100). Specifically, the systems and methods emit emission control pulse sets that are used to detect when objects (e.g., persons) are within a relatively close safety range (222). Then, higher energy long-range pulse sets are conditionally emitted only when objects were not detected within the safety range with the emission control pulse sets. These emission control pulse sets are emitted variable timing and/or variable energy that is determined at least in part on whether previous emission control pulse sets detected an object with the safety range. The use of emission control pulse sets with variable timing and/or variable energy can provide for improved reliability of object detection in a safety range, while still meeting the energy limits needed for eye safety.
The embodiments described herein provide systems and methods that can improve performance in scanning laser devices. Specifically, the systems and methods emit emission control pulse sets that are used to detect when objects (e.g., persons) are within a relatively close safety range. Then, higher energy long-range pulse sets are conditionally emitted only when objects were not detected within the safety range with the emission control pulse sets. These emission control pulse sets are emitted variable timing and/or variable energy that is determined at least in part on whether previous emission control pulse sets detected an object with the safety range. The use of emission control pulse sets with variable timing and/or variable energy can provide for improved reliability of object detection in a safety range, while still meeting the energy limits needed for eye safety.
09 - Appareils et instruments scientifiques et électriques
Produits et services
LIDAR apparatus; sensors for determining position, velocity,
direction, and acceleration; sensors for use in controlling
the drive and operation of safety devices and equipment for
motor vehicles, namely, LIDAR sensors integrated with
electronic controllers; sensors and sensor systems comprised
of flash-based LIDAR apparatus that make up the systems for
detecting, identifying, and classifying objects in the
environment, analyzing and mapping visual data, and
generating 3D maps of the environment; sensors and sensor
systems comprised of flash-based laser beam scanning
apparatus that make up the systems for detecting,
identifying, and classifying objects in the environment,
analyzing and mapping visual data, and generating 3D maps of
the environment.
A method for classifying targets is proposed, which comprises the extraction of features from measurement data of one or several receiving elements of a sensor by means of a neuronal network or by means of a Gaussian Mixture Model, wherein the respective measurement data of the at least one receiving element of the sensor involve at least one section of a photon histogram, and wherein the neuronal network involves a fully connected neuronal network or a convolutional neuronal network.
G06V 10/764 - Dispositions pour la reconnaissance ou la compréhension d’images ou de vidéos utilisant la reconnaissance de formes ou l’apprentissage automatique utilisant la classification, p.ex. des objets vidéo
G06V 10/82 - Dispositions pour la reconnaissance ou la compréhension d’images ou de vidéos utilisant la reconnaissance de formes ou l’apprentissage automatique utilisant les réseaux neuronaux
G01S 17/89 - Systèmes lidar, spécialement adaptés pour des applications spécifiques pour la cartographie ou l'imagerie
09 - Appareils et instruments scientifiques et électriques
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et services
Downloadable and recorded software for calculating and analyzing the position and velocity of objects in the surrounding environment; downloadable and recorded software for operating sensors, scanners, and LIDAR Providing online non-downloadable software for calculating and analyzing the position and velocity of objects in the surrounding environment; providing online non-downloadable software for operating sensors, scanners, and LIDAR; providing online non-downloadable software for operating driver assistance systems for motor vehicles featuring LIDAR
09 - Appareils et instruments scientifiques et électriques
Produits et services
LIDAR apparatus; sensors for determining position, velocity, direction, and acceleration; Sensors for use in controlling the drive and operation of safety devices and equipment for motor vehicles, namely, LIDAR sensors integrated with electronic controllers; Sensors and sensor systems comprised of flash-based LIDAR apparatus that make up the systems for detecting, identifying, and classifying objects in the environment, analyzing and mapping visual data, and generating 3D maps of the environment
8.
APPARATUS FOR GENERATING BACKSCATTER HISTOGRAM DATA FOR DETERMINING A DIFFUSE BACKSCATTER DURING AN OPTICAL RUNTIME MEASUREMENT AND A METHOD
An apparatus for generating backscatter histogram data for determining a diffuse backscatter during an optical runtime measurement, comprising:
An apparatus for generating backscatter histogram data for determining a diffuse backscatter during an optical runtime measurement, comprising:
At least one histogram accumulation unit, which has several signal inputs, so as to receive time-correlated histogram data; and
wherein the histogram accumulation unit is set up to generate backscatter histogram data based upon the time-correlated histogram data received at the signal inputs.
G01S 7/48 - DÉTERMINATION DE LA DIRECTION PAR RADIO; RADIO-NAVIGATION; DÉTERMINATION DE LA DISTANCE OU DE LA VITESSE EN UTILISANT DES ONDES RADIO; LOCALISATION OU DÉTECTION DE LA PRÉSENCE EN UTILISANT LA RÉFLEXION OU LA RERADIATION D'ONDES RADIO; DISPOSITIONS ANALOGUES UTILISANT D'AUTRES ONDES - Détails des systèmes correspondant aux groupes , , de systèmes selon le groupe
G01S 7/4863 - Réseaux des détecteurs, p.ex. portes de transfert de charge
G01S 17/894 - Imagerie 3D avec mesure simultanée du temps de vol sur une matrice 2D de pixels récepteurs, p.ex. caméras à temps de vol ou lidar flash
9.
METHOD FOR ANALYZING BACKSCATTER HISTOGRAM DATA IN AN OPTICAL PULSE RUNTIME METHOD AND DEVICE FOR DATA PROCESSING
A method for analyzing backscatter histogram data in an optical pulse runtime method, including the steps of receiving backscatter histogram data; and analyzing the received backscatter histogram data.
A device (1) for producing a photoactive system (10), in particular a deactivated photoactive system (10), characterised by: an imaging device (2) having at least one imaging arrangement (20), wherein the at least one imaging arrangement (20) has a beam passage plane (SE) and an optical axis (O), and the at least one imaging arrangement (20) is designed to generate electromagnetic beams which extend along a beam path and pass through the imaging arrangement (20) on the beam passage plane (SE) and to reflect the electromagnetic beams along the beam path at the photoactive arrangement (11) in order to image, on a first focal plane (B1) of the imaging arrangement (20), an evaluation image of a photoactive arrangement (11) of the photoactive system (10) to be produced, and the electromagnetic beams of the beam path are captured on the first focal plane (B1) in order to capture the evaluation image of the photoactive arrangement (11); and a first holding device (3a) having a first holding plane (Ha), on the first holding plane (Ha), an optical arrangement (12) of the photoactive system (10) to be produced; and a second holding device (3b) having a second holding plane (3b) for holding the photoactive arrangement (11) on the second holding plane (Hb); wherein the first holding device (3a) having the first holding plane (Ha) and/or the second holding device (3a) having the second holding plane (Ha) is/are movably positioned relative to the imaging device (2).
The embodiments described herein provide systems and methods that can improve performance in scanning laser devices. Specifically, the systems and methods utilize a non-uniform variation in optical expansion coupled with variation in the energy level of laser light pulses to provide an improved effective range over a scanning area. In general, the improved effective range varies over the scan field, with relatively long effective range in some areas of the scan field and relatively short effective range in other areas of the scan field. This varying range over the scan field is facilitated by expansion optics that provide a non-uniform variation in optical expansion for laser light pulses relative to position along a first axis in the scan field and by a light source controller that varies the energy level of the laser light pulses according to position along the first axis of the scan field.
The embodiments described herein provide systems and methods that can improve performance in scanning laser devices (100). Specifically, the systems and methods utilize a non-uniform variation in optical expansion coupled with variation in the energy level of laser light pulses to provide an improved effective range over a scanning area. In general, the improved effective range varies over the scan field (114), with relatively long effective range in some areas of the scan field and relatively short effective range in other areas of the scan field. This varying range over the scan field is facilitated by expansion optics (108) that provide a non-uniform variation in optical expansion for laser light pulses relative to position along a first axis in the scan field and by a light source controller that varies the energy level of the laser light pulses according to position along the first axis of the scan field.
09 - Appareils et instruments scientifiques et électriques
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et services
LIDAR apparatus; driver assistance systems for motor
vehicles featuring LIDAR; sensors for determining position,
velocity, direction, and acceleration; sensors for use in
controlling the drive and operation of safety devices and
equipment for motor vehicles, namely, LIDAR sensors
integrated with electronic controllers; sensors and sensor
systems for detecting, identifying, and classifying objects
in the environment, analyzing and mapping visual data, and
generating 3D maps of the environment; computer hardware and
downloadable and recorded software for use in connection
with operating sensors, scanners, and LIDAR; embedded
component, namely, a miniature video, picture, image and
data projector enabling the projection of video, pictures,
images and data onto an external surface; computer software
and hardware featuring technology that enables portable
projection of video, pictures, images and data onto an
external surface. Providing non-downloadable software for use in connection
with operating sensors, scanners, and LIDAR; providing
non-downloadable software for use in association with driver
assistance systems for motor vehicles featuring LIDAR;
providing scientific and technological services, namely,
consultation, research and development in connection with
operating sensors, scanners, and LIDAR; design of operating
sensors, scanners, and lidar for motor vehicles.
09 - Appareils et instruments scientifiques et électriques
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et services
LIDAR apparatus; driver assistance systems for motor
vehicles featuring LIDAR; sensors for determining position,
velocity, direction, and acceleration; sensors for use in
controlling the drive and operation of safety devices and
equipment for motor vehicles, namely, LIDAR sensors
integrated with electronic controllers; sensors and sensor
systems for detecting, identifying, and classifying objects
in the environment, analyzing and mapping visual data, and
generating 3D maps of the environment; computer hardware and
downloadable and recorded software for use in connection
with operating sensors, scanners, and LIDAR; embedded
component, namely, a miniature video, picture, image and
data projector enabling the projection of video, pictures,
images and data onto an external surface; computer software
and hardware featuring technology that enables portable
projection of video, pictures, images and data onto an
external surface. Providing non-downloadable software for use in connection
with operating sensors, scanners, and LIDAR; providing
non-downloadable software for use in association with driver
assistance systems for motor vehicles featuring LIDAR;
providing scientific and technological services, namely,
consultation, research and development in connection with
operating sensors, scanners, and LIDAR; design of operating
sensors, scanners, and lidar for motor vehicles.
09 - Appareils et instruments scientifiques et électriques
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et services
LIDAR apparatus; driver assistance systems for motor
vehicles featuring LIDAR; sensors for determining position,
velocity, direction, and acceleration; sensors for use in
controlling the drive and operation of safety devices and
equipment for motor vehicles, namely, LIDAR sensors
integrated with electronic controllers; sensors and sensor
systems for detecting, identifying, and classifying objects
in the environment, analyzing and mapping visual data, and
generating 3D maps of the environment; computer hardware and
downloadable and recorded software for use in connection
with operating sensors, scanners, and LIDAR; embedded
component, namely, a miniature video, picture, image and
data projector enabling the projection of video, pictures,
images and data onto an external surface; computer software
and hardware featuring technology that enables portable
projection of video, pictures, images and data onto an
external surface. Providing non-downloadable software for use in connection
with operating sensors, scanners, and LIDAR; providing
non-downloadable software for use in association with driver
assistance systems for motor vehicles featuring LIDAR;
providing scientific and technological services, namely,
consultation, research and development in connection with
operating sensors, scanners, and LIDAR; design of operating
sensors, scanners, and lidar for motor vehicles.
09 - Appareils et instruments scientifiques et électriques
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et services
LIDAR apparatus; driver assistance systems for motor
vehicles featuring LIDAR; sensors for determining position,
velocity, direction, and acceleration; sensors for use in
controlling the drive and operation of safety devices and
equipment for motor vehicles, namely, LIDAR sensors
integrated with electronic controllers; sensors and sensor
systems for detecting, identifying, and classifying objects
in the environment, analyzing and mapping visual data, and
generating 3D maps of the environment; computer hardware and
downloadable and recorded software for use in connection
with operating sensors, scanners, and LIDAR; embedded
component, namely, a miniature video, picture, image and
data projector enabling the projection of video, pictures,
images and data onto an external surface; computer software
and hardware featuring technology that enables portable
projection of video, pictures, images and data onto an
external surface. Providing non-downloadable software for use in connection
with operating sensors, scanners, and LIDAR; providing
non-downloadable software for use in association with driver
assistance systems for motor vehicles featuring LIDAR;
providing scientific and technological services, namely,
consultation, research and development in connection with
operating sensors, scanners, and LIDAR; design of operating
sensors, scanners, and LIDAR for motor vehicles.
09 - Appareils et instruments scientifiques et électriques
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et services
LIDAR apparatus; driver assistance systems comprised of LIDAR apparatus, electronic controllers, cameras, velocity sensors, and acceleration sensors for motor vehicles featuring LIDAR; sensors for determining position, velocity, direction, and acceleration; Sensors for use in controlling the drive and operation of safety devices and equipment for motor vehicles, namely, LIDAR sensors integrated with electronic controllers; Sensors and sensor systems comprised of flash-based LIDAR apparatus that make up the systems for detecting, identifying, and classifying objects in the environment, analyzing and mapping visual data, and generating 3D maps of the environment; Sensors and sensor systems comprised of MEMS-based laser beam scanning apparatus that make up the systems for detecting, identifying, and classifying objects in the environment, analyzing and mapping visual data, and generating 3D maps of the environment; Computer hardware and downloadable and recorded software for operating sensors, scanners, and LIDAR Providing online non-downloadable software for operating sensors, scanners, and LIDAR; Providing online non-downloadable software for operating driver assistance systems for motor vehicles featuring LIDAR; Providing scientific and technological services, namely, consultation, research and development in connection with operating sensors, scanners and LIDAR apparatus; Design of operating sensors, scanners, and lidar for motor vehicles
09 - Appareils et instruments scientifiques et électriques
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et services
LIDAR apparatus; driver assistance systems comprised of LIDAR apparatus, electronic controllers, cameras, velocity sensors, and acceleration sensors for motor vehicles featuring LIDAR; sensors for determining position, velocity, direction, and acceleration; Sensors for use in controlling the drive and operation of safety devices and equipment for motor vehicles, namely, LIDAR sensors integrated with electronic controllers; Sensors and sensor systems comprised of flash-based LIDAR apparatus that make up the systems for detecting, identifying, and classifying objects in the environment, analyzing and mapping visual data, and generating 3D maps of the environment; Sensors and sensor systems comprised of MEMS-based laser beam scanning apparatus that make up the systems for detecting, identifying, and classifying objects in the environment, analyzing and mapping visual data, and generating 3D maps of the environment; Computer hardware and downloadable and recorded software for operating sensors, scanners, and LIDAR Providing online non-downloadable software for operating sensors, scanners, and LIDAR; Providing online non-downloadable software for operating driver assistance systems for motor vehicles featuring LIDAR; Providing scientific and technological services, namely, consultation, research and development in connection with operating sensors, scanners and LIDAR apparatus; Design of operating sensors, scanners, and Lidar for motor vehicles
19.
SCANNING LASER DEVICES AND METHODS WITH DETECTORS FOR SENSING LOW ENERGY REFLECTIONS
The embodiments described herein provide systems and methods that can facilitate increased detector sensitivity and reliability in a scanning laser device (100). Specifically, the systems and methods utilize detectors with multiple sensors that are configured to receive reflections of laser light pulses from objects within a scan field (114). These multiple sensors are configured to receive these reflections through the same optical assembly (104) used to scan the laser light pulses out to the scan field. Furthermore, the multiple sensors are configured to at least partially cancel the effects of back reflections from within the optical assembly itself. The cancellation of the effects of back reflections from within the optical assembly can improve the sensitivity of the detector, particularly for the detection of low energy reflections of laser pulses from within the scan field.
G01S 7/48 - DÉTERMINATION DE LA DIRECTION PAR RADIO; RADIO-NAVIGATION; DÉTERMINATION DE LA DISTANCE OU DE LA VITESSE EN UTILISANT DES ONDES RADIO; LOCALISATION OU DÉTECTION DE LA PRÉSENCE EN UTILISANT LA RÉFLEXION OU LA RERADIATION D'ONDES RADIO; DISPOSITIONS ANALOGUES UTILISANT D'AUTRES ONDES - Détails des systèmes correspondant aux groupes , , de systèmes selon le groupe
The present invention relates to a lidar receiving unit in a focal plane array arrangement, having: a multiplicity of sensor elements for receiving light pulses of a lidar emitting unit; and a plurality of routing channels for transporting signals of the sensor elements to an edge region (R) of the lidar receiving unit, wherein in each case a plurality of sensor elements are arranged in a macro cell, which is allocated to an emission element of the lidar emitting unit; in each case a plurality of macro cells form a macro cell cluster and in each case a plurality of macro cell clusters are arranged in a plurality of rows (Z1, Z2, Z3); and the routing channels cross the plurality of rows in each case between adjacent macro cell clusters of a row and are configured for transporting the signals in a direction orthogonal to the rows. The present invention furthermore relates to a lidar measuring device for detecting an object in an environment of a vehicle.
G01S 7/4863 - Réseaux des détecteurs, p.ex. portes de transfert de charge
G01S 17/10 - Systèmes déterminant les données relatives à la position d'une cible pour mesurer la distance uniquement utilisant la transmission d'ondes à modulation d'impulsion interrompues
G01S 7/481 - Caractéristiques de structure, p.ex. agencements d'éléments optiques
G01S 7/4865 - Mesure du temps de retard, p.ex. mesure du temps de vol ou de l'heure d'arrivée ou détermination de la position exacte d'un pic
The present invention relates to a reading device for determining a signal propagation time of a light pulse between a lidar transmission unit and a lidar receiving unit of a lidar measuring device in a focal plane array arrangement, comprising: an input interface for receiving detections from multiple sensor elements of the lidar receiving unit, said sensor elements being arranged in a macrocell paired with a transmission element of the lidar transmission unit; a weighting unit for determining a respective individual weighting parameter for each of the plurality of sensor elements, said weighting parameter being based on a signal-to-noise ratio of the sensor element; a summation unit for generating a histogram with an allocation of the detections to the detection times of the detections, said summation unit being configured to weight the detections on the basis of the individual weighting parameters; a propagation time unit for determining the signal propagation time on the basis of the generated histogram; and an output unit for outputting the signal propagation time. The invention additionally relates to a method for determining a signal propagation time and to a lidar measuring device in a focal plane array arrangement for detecting objects in a surroundings of a vehicle.
The embodiments described herein provide systems and methods that can facilitate increased detector sensitivity and reliability in a scanning laser device. Specifically, the systems and methods utilize detectors with multiple sensors that are configured to receive reflections of laser light pulses from objects within a scan field. These multiple sensors are configured to receive these reflections through the same optical assembly used to scan the laser light pulses out to the scan field. Furthermore, the multiple sensors are configured to at least partially cancel the effects of back reflections from within the optical assembly itself. The cancellation of the effects of back reflections from within the optical assembly can improve the sensitivity of the detector, particularly for the detection of low energy reflections of laser pulses from within the scan field.
G01S 7/48 - DÉTERMINATION DE LA DIRECTION PAR RADIO; RADIO-NAVIGATION; DÉTERMINATION DE LA DISTANCE OU DE LA VITESSE EN UTILISANT DES ONDES RADIO; LOCALISATION OU DÉTECTION DE LA PRÉSENCE EN UTILISANT LA RÉFLEXION OU LA RERADIATION D'ONDES RADIO; DISPOSITIONS ANALOGUES UTILISANT D'AUTRES ONDES - Détails des systèmes correspondant aux groupes , , de systèmes selon le groupe
G01S 7/481 - Caractéristiques de structure, p.ex. agencements d'éléments optiques
G01S 17/10 - Systèmes déterminant les données relatives à la position d'une cible pour mesurer la distance uniquement utilisant la transmission d'ondes à modulation d'impulsion interrompues
G01S 17/89 - Systèmes lidar, spécialement adaptés pour des applications spécifiques pour la cartographie ou l'imagerie
09 - Appareils et instruments scientifiques et électriques
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et services
LIDAR apparatus; driver assistance systems comprised of LIDAR apparatus, electronic controllers, cameras, velocity sensors, and acceleration sensors for motor vehicles featuring LIDAR; sensors for determining position, velocity, direction, and acceleration; Sensors for use in controlling the drive and operation of safety devices and equipment for motor vehicles, namely, LIDAR sensors integrated with electronic controllers; Sensors and sensor systems comprised of flash-based LIDAR apparatus that make up the systems for detecting, identifying, and classifying objects in the environment, analyzing and mapping visual data, and generating 3D maps of the environment; Sensors and sensor systems comprised of MEMS-based laser beam scanning apparatus that make up the systems for detecting, identifying, and classifying objects in the environment, analyzing and mapping visual data, and generating 3D maps of the environment; Computer hardware and downloadable and recorded software for operating sensors, scanners, and LIDAR Providing online non-downloadable software for operating sensors, scanners, and LIDAR; Providing online non-downloadable software for operating driver assistance systems for motor vehicles featuring LIDAR; Providing scientific and technological services, namely, consultation, research and development in connection with operating sensors, scanners and LIDAR apparatus; Design of operating sensors, scanners, and Lidar for motor vehicles
An adjustment device for adjusting a visual field of a Lidar measuring device in a focal plane array arrangement on a vehicle, with: a pitch angle estimating unit for determining a pitch angle (N) of the vehicle; an area unit for determining a desired object detection area in relation to an alignment of the vehicle based upon the pitch angle; a selection unit for determining a selection of rows (Z1-Z6) of transmitting elements of a Lidar transmitting unit of the Lidar measuring device and/or sensor elements of a Lidar receiving unit of the Lidar measuring device running parallel to a horizontal plane of the vehicle based upon the desired object detection area; and a control interface for activating the selection of rows of transmitting elements of the Lidar transmitting unit and/or sensor elements of the Lidar receiving unit of the Lidar measuring device, so as to detect objects within the object detection area. The present invention further relates to a Lidar measuring device in a focal plane array arrangement for detecting objects in an environment of a vehicle. In addition, the invention relates to a method for adjusting a visual field of a Lidar measuring arrangement in a focal plane array arrangement on a vehicle.
An adjustment device for adjusting a detection process of a Lidar measuring device in a focal plane array arrangement on a vehicle, with: an input interface for receiving a setting with information about at least two vertical acquisition zones; a setting unit for determining a control parameter of a detection process for each of the at least two acquisition zones (E1-E4) based upon the received setting; a selection unit for determining a partial quantity of rows running parallel to a longitudinal plane of the vehicle of transmitting elements of a Lidar transmitting unit of the Lidar measuring device and/or sensor elements of a Lidar receiving unit of the Lidar measuring device for each of the at least two acquisition zones based upon the received setting; and a control unit for controlling the Lidar measuring device, wherein the determined partial quantity of rows is controlled for each acquisition zone based upon the determined control parameter, so as to detect objects within the at least two acquisition zones. The present invention further relates to a Lidar measuring device as well as to a method for adjusting a detection process of a Lidar measuring device in a focal plane array arrangement on a vehicle.
A Lidar measuring system for detecting an object in an environment of a vehicle, with a first Lidar measuring device, which is configured to scan a first visual field with a first vertical resolution; and a second Lidar measuring device, which is configured to scan a second visual field with a second vertical resolution, wherein the second visual field lies in a vertical direction within the first visual field, and comprises an area of a roadway in front of the vehicle; and the second vertical resolution is higher than the first vertical resolution. Further, a vehicle with a Lidar measuring system and a method for detecting an object in an environment of a vehicle.
An improved method for optical distance measurement is provided, in which only subsets of the transmitting elements of the transmission matrix are activated when using a transmission matrix to transmit measuring pulses and a reception matrix for receiving the latter.
G01S 7/481 - Caractéristiques de structure, p.ex. agencements d'éléments optiques
G01S 17/10 - Systèmes déterminant les données relatives à la position d'une cible pour mesurer la distance uniquement utilisant la transmission d'ondes à modulation d'impulsion interrompues
G01S 17/42 - Mesure simultanée de la distance et d'autres coordonnées
09 - Appareils et instruments scientifiques et électriques
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et services
LIDAR apparatus; driver assistance systems comprised of LIDAR apparatus, electronic controllers, cameras, velocity sensors, and acceleration sensors for motor vehicles featuring LIDAR; sensors for determining position, velocity, direction, and acceleration; Sensors for use in controlling the drive and operation of safety devices and equipment for motor vehicles, namely, LIDAR sensors integrated with electronic controllers; Sensors and sensor systems comprised of flash-based LIDAR apparatus that make up the systems for detecting, identifying, and classifying objects in the environment, analyzing and mapping visual data, and generating 3D maps of the environment; Sensors and sensor systems comprised of MEMS-based laser beam scanning apparatus that make up the systems for detecting, identifying, and classifying objects in the environment, analyzing and mapping visual data, and generating 3D maps of the environment; Computer hardware and downloadable and recorded software for operating sensors, scanners, and LIDAR Providing online non-downloadable software for operating sensors, scanners, and LIDAR; Providing online non-downloadable software for operating driver assistance systems for motor vehicles featuring LIDAR; Providing scientific and technological services, namely, consultation, research and development in connection with operating sensors, scanners and LIDAR apparatus; Design of operating sensors, scanners, and Lidar for motor vehicles
The present invention relates to a method (100) for classifying targets, which comprises the extraction (107) of features from measurement data of one or more receiving elements of a sensor (11) using a neural network (14a) or a Gaussian Mixture Model (GMM; 14b), wherein the measurement data of the at least one receiving element of the sensor (11) is in each case at least a portion of a photon histogram (40), and wherein the neural network (14a) is a fully connected neural network (FCN) or a convolutional neural network (CNN).
G06V 10/50 - Extraction de caractéristiques d’images ou de vidéos en utilisant l’addition des valeurs d’intensité d’image; Analyse de projection
G06V 10/764 - Dispositions pour la reconnaissance ou la compréhension d’images ou de vidéos utilisant la reconnaissance de formes ou l’apprentissage automatique utilisant la classification, p.ex. des objets vidéo
G06V 10/82 - Dispositions pour la reconnaissance ou la compréhension d’images ou de vidéos utilisant la reconnaissance de formes ou l’apprentissage automatique utilisant les réseaux neuronaux
G06F 18/241 - Techniques de classification relatives au modèle de classification, p.ex. approches paramétriques ou non paramétriques
The invention relates to a device for operating a light source for the optical time-of-flight measurement. The light source operating device includes a light source, which is configured to emit light pulses according to a pulse signal sequence and a monitoring circuit for monitoring a light output emitted by the light source based on a current signal and/or voltage signal of the light source.
G01S 7/4865 - Mesure du temps de retard, p.ex. mesure du temps de vol ou de l'heure d'arrivée ou détermination de la position exacte d'un pic
G01S 7/4861 - Circuits pour la détection, d'échantillonnage, d'intégration ou de lecture des circuits
G01S 17/10 - Systèmes déterminant les données relatives à la position d'une cible pour mesurer la distance uniquement utilisant la transmission d'ondes à modulation d'impulsion interrompues
G01S 17/894 - Imagerie 3D avec mesure simultanée du temps de vol sur une matrice 2D de pixels récepteurs, p.ex. caméras à temps de vol ou lidar flash
Described herein are analog-to-digital converters (ADCs) that utilize time-to-digital converters (TDCs) and a histogram block to generate time-correlated histograms from analog signals. In some implementations, the time-to-digital converters determine time intervals for which the analog signal above or below a ramp signal, and the histogram block generates the time-correlated histograms of values using the determined time intervals. Furthermore, in some implementations, the analog-to-digital converters receive the analog signals from photodiodes, such as photo diodes used in Light Detection and Ranging (LIDAR) devices. In some such applications, the use of time intervals to generate time-correlated histograms may be used to reduce the effects of time jitter.
An eye-safe light detection and ranging system (100) includes a virtual protective housing (180). A short range pulse (210) is emitted at every measurement point in a field of view before conditionally emitting a long range pulse (230). Short range pulses result in accessible emissions that are eye-safe at short distances and long range pulses result in accessible emissions that are eye-safe at longer distances.
A scanning laser projection system includes a virtual protective housing circuit to automatically reduce accessible emissions of visible laser light by decimating areas of a projected image to reduce optical power exposure levels for safety, comfort, aesthetic, or system classification purposes. IR laser light pulses are scanned in a field of view, and a percentage of visible laser light pulses are blanked based on attributes of reflections of the IR laser light pulses.
An eye-safe light detection and ranging system includes a virtual protective housing. A short range pulse is emitted at every measurement point in a field of view before conditionally emitting a long range pulse. Short range pulses result in accessible emissions that are eye-safe at short distances and long range pulses result in accessible emissions that are eye-safe at longer distances.
The invention relates to a method (100) for generating (101) combined scenarios for testing an object detection unit (17). The method (100) has the step of providing (103) first sensor data (11) of a first scenario and second sensor data (12) of a second scenario, said first sensor data (11) and second sensor data (12) each being a respective point cloud which comprises a plurality of points. The method (100) has a step of classifying (107) each point (11a) of the first sensor data (11) and each point (12a) of the second sensor data (12) as relevant or not relevant, and the method also has a step of combining (114) the first sensor data (11) and the second sensor data (12) in order to obtain third sensor data (28) of a combined scenario, wherein only relevant points (26) of the first sensor data (11) and relevant points (26) of the second sensor data (12) are combined in order to form the third sensor data (28) of the combined scenario.
G06V 20/58 - Reconnaissance d’objets en mouvement ou d’obstacles, p.ex. véhicules ou piétons; Reconnaissance des objets de la circulation, p.ex. signalisation routière, feux de signalisation ou routes
36.
METHOD FOR ANALYZING BACKSCATTER HISTOGRAM DATA IN AN OPTICAL PULSE RUNTIME METHOD AND DEVICE FOR DATA PROCESSING
The invention relates to a method (20, 30, 40, 50) for analysing backscattering histogram data in an optical pulse delay method, comprising: receiving (21, 31, 41, 51) backscattering histogram data; and analysing (22, 32, 42, 52) the received backscattering histogram data.
G01S 7/48 - DÉTERMINATION DE LA DIRECTION PAR RADIO; RADIO-NAVIGATION; DÉTERMINATION DE LA DISTANCE OU DE LA VITESSE EN UTILISANT DES ONDES RADIO; LOCALISATION OU DÉTECTION DE LA PRÉSENCE EN UTILISANT LA RÉFLEXION OU LA RERADIATION D'ONDES RADIO; DISPOSITIONS ANALOGUES UTILISANT D'AUTRES ONDES - Détails des systèmes correspondant aux groupes , , de systèmes selon le groupe
G01S 7/4865 - Mesure du temps de retard, p.ex. mesure du temps de vol ou de l'heure d'arrivée ou détermination de la position exacte d'un pic
G01S 17/931 - Systèmes lidar, spécialement adaptés pour des applications spécifiques pour prévenir les collisions de véhicules terrestres
G01S 7/487 - Extraction des signaux d'écho désirés
G01S 17/10 - Systèmes déterminant les données relatives à la position d'une cible pour mesurer la distance uniquement utilisant la transmission d'ondes à modulation d'impulsion interrompues
37.
APPARATUS FOR GENERATING BACKSCATTER HISTOGRAM DATA FOR DETERMINING A DIFFUSE BACKSCATTER DURING AN OPTICAL RUNTIME MEASUREMENT AND A METHOD
The invention relates to a device (1) for generating backscattering histogram data (RHD0) for determining a diffuse backscattering in an optical delay measurement, comprising at least one histogram accumulation unit (HA0 to HAX), having multiple signal inputs, in order to receive time-correlated histogram data (ZHD0 to ZHDP), and wherein the histogram accumulation unit (HA0 to HAX) is designed to generate backscattering histogram data (RHD0) based on the time-correlated histogram data (ZHD0 to ZHDP) received at the signal inputs.
G01S 7/48 - DÉTERMINATION DE LA DIRECTION PAR RADIO; RADIO-NAVIGATION; DÉTERMINATION DE LA DISTANCE OU DE LA VITESSE EN UTILISANT DES ONDES RADIO; LOCALISATION OU DÉTECTION DE LA PRÉSENCE EN UTILISANT LA RÉFLEXION OU LA RERADIATION D'ONDES RADIO; DISPOSITIONS ANALOGUES UTILISANT D'AUTRES ONDES - Détails des systèmes correspondant aux groupes , , de systèmes selon le groupe
G01S 7/4863 - Réseaux des détecteurs, p.ex. portes de transfert de charge
G01S 7/487 - Extraction des signaux d'écho désirés
G01S 17/95 - Systèmes lidar, spécialement adaptés pour des applications spécifiques pour la météorologie
38.
DEVICE AND METHOD FOR GENERATING TEST DATA FOR TESTING A DISTANCE DETERMINATION IN AN OPTICAL TIME-OF-FLIGHT MEASUREMENT
The invention relates to a device (7) for generating test data for testing a distance determination in an optical time-of-flight measurement, comprising: a test pattern generator (8) that is designed to generate a time sequence of test events in order to provide them to a test histogram channel (10) for generating time-correlated test histogram data for testing the distance determination in the optical time-of-flight measurement.
The invention relates to a device (1) for producing a photoactive system (10), in particular a deactivated photoactive system (10), characterised by: an imaging device (2) having at least one imaging arrangement (20), wherein the at least one imaging arrangement (20) has a beam passage plane (SE) and an optical axis (O), and the at least one imaging arrangement (20) is designed: to generate electromagnetic beams which extend along a beam path and pass through the imaging arrangement (20) on the beam passage plane (SE); and, in order to image an evaluation image of a photoactive arrangement (11) of the photoactive system (10) to be produced, to reflect the electromagnetic beams along the beam path towards the photoactive arrangement (11) and to image said beams in the imaging arrangement (20) on a first focal plane (B1), and the electromagnetic beams of the beam path are captured on the first focal plane (B1) in order to capture the evaluation image of the photoactive arrangement (11); a first holding device (3a) having a first holding plane (Ha) for holding an optical arrangement (12) of the photoactive system (10) to be produced on the first holding plane (Ha); and a second holding device (3b) having a second holding plane (3b) for holding the photoactive arrangement (11) on the second holding plane (Hb); wherein, in a working state, the first holding device (3a) having the first holding plane (Ha) and/or the second holding device (3a) having the second holding plane (Ha) is/are movably positioned relative to the imaging device (2).
A method for classifying objects which comprises a provision of measuring data from a sensor for a feature extraction unit as well as extraction of modality-independent features from the measuring data by means of the feature extraction unit, wherein the modality-independent features are independent of a sensor modality of the sensor, so that a conclusion to the sensor modality of the sensor is not possible from the modality-independent features.
G06K 9/00 - Méthodes ou dispositions pour la lecture ou la reconnaissance de caractères imprimés ou écrits ou pour la reconnaissance de formes, p.ex. d'empreintes digitales
G06V 20/58 - Reconnaissance d’objets en mouvement ou d’obstacles, p.ex. véhicules ou piétons; Reconnaissance des objets de la circulation, p.ex. signalisation routière, feux de signalisation ou routes
G06F 18/2413 - Techniques de classification relatives au modèle de classification, p.ex. approches paramétriques ou non paramétriques basées sur les distances des motifs d'entraînement ou de référence
G06F 18/21 - Conception ou mise en place de systèmes ou de techniques; Extraction de caractéristiques dans l'espace des caractéristiques; Séparation aveugle de sources
G06V 10/80 - Fusion, c. à d. combinaison des données de diverses sources au niveau du capteur, du prétraitement, de l’extraction des caractéristiques ou de la classification
G06V 10/82 - Dispositions pour la reconnaissance ou la compréhension d’images ou de vidéos utilisant la reconnaissance de formes ou l’apprentissage automatique utilisant les réseaux neuronaux
G06V 10/44 - Extraction de caractéristiques locales par analyse des parties du motif, p.ex. par détection d’arêtes, de contours, de boucles, d’angles, de barres ou d’intersections; Analyse de connectivité, p.ex. de composantes connectées
41.
Arrangement and method for using light signals and groups of light-receiving elements with different sensitivities to determine a distance of an object
Light signals are converted into first electric signals by a first group of light-receiving elements, and the light signals are additionally converted into second electrical signals by a second group of light-receiving elements. The second group has a lower degree of sensitivity for converting the photons into an electric current than the first group. The first electric signals are used to ascertain the distance to an object by means of a time-correlated photon counting process depending on a starting time for the emission of the light signals. Furthermore, the second electric signals are used to determine the distance depending on the starting time but using a second signal processing different from the process used for the first electric signals.
G01S 7/481 - Caractéristiques de structure, p.ex. agencements d'éléments optiques
G01S 7/4865 - Mesure du temps de retard, p.ex. mesure du temps de vol ou de l'heure d'arrivée ou détermination de la position exacte d'un pic
G01S 17/10 - Systèmes déterminant les données relatives à la position d'une cible pour mesurer la distance uniquement utilisant la transmission d'ondes à modulation d'impulsion interrompues
G01S 7/4863 - Réseaux des détecteurs, p.ex. portes de transfert de charge
G01S 17/931 - Systèmes lidar, spécialement adaptés pour des applications spécifiques pour prévenir les collisions de véhicules terrestres
42.
Arrangements of light-receiving elements with different sensitivities and methods for receiving light signals
A receiving arrangement for receiving light signals and a method for receiving light signals are proposed, wherein a light receiver is provided, which serves for receiving the light signals and converting them into electrical signals. Furthermore, an evaluation circuit is provided, which, depending on the electrical signals and a start signal for the emission of the light signals, determines a distance between the receiving arrangement and an object at which the light signals are reflected. A characterizing feature is that the light receiver has a first group of light-receiving elements, which has a higher sensitivity for receiving the light signals than at least one further group of light-receiving elements, wherein the first and the further groups are ready for reception at different times.
G01S 17/931 - Systèmes lidar, spécialement adaptés pour des applications spécifiques pour prévenir les collisions de véhicules terrestres
G01S 17/10 - Systèmes déterminant les données relatives à la position d'une cible pour mesurer la distance uniquement utilisant la transmission d'ondes à modulation d'impulsion interrompues
43.
Method and device for optically measuring distances
What is proposed is a method for optically measuring distances, in the case of which a first plurality of measuring pulses is emitted during a first measuring interval by means of a transmitting element of a transmitting unit at first emitting times, and wherein a second plurality of measuring pulses is emitted during a second measuring interval by means of the transmitting element of the transmitting unit at second emitting times. The method comprises the reception of reflected measuring pulses by means of a receiving element of a receiving unit assigned to the transmitting element at receiving times. The method further comprises the determining of a first amount of times-of-flight for each received measuring pulse, wherein the first amount of times-of-flight is determined by using the first emitting times.
G01S 7/4865 - Mesure du temps de retard, p.ex. mesure du temps de vol ou de l'heure d'arrivée ou détermination de la position exacte d'un pic
G01S 17/931 - Systèmes lidar, spécialement adaptés pour des applications spécifiques pour prévenir les collisions de véhicules terrestres
G01S 17/10 - Systèmes déterminant les données relatives à la position d'une cible pour mesurer la distance uniquement utilisant la transmission d'ondes à modulation d'impulsion interrompues
44.
Method and device for optical distance measurement
A method for optical distance measurement involves transmitting measuring pulses by means of a transmission matrix having a plurality of transmission elements, reflecting transmitted measuring pulses to at least one object, and receiving reflected measuring pulses by a reception matrix. The reception matrix includes a plurality of reception elements each having a plurality of reception sub-elements. The method involves monitoring reception rates of reception sub-elements of the reception matrix for determining a misalignment between the transmission matrix and reception matrix, wherein the transmission matrix and reception matrix define a visual field, and wherein the method is used for the navigation of a vehicle. Monitoring takes place while a vehicle is traveling, wherein the method does not involve the conscious introduction of measuring objects into the visual field for determining a misalignment.
What is proposed is a method (100) for optically measuring distances, in the case of which a first plurality of measuring pulses (13) is emitted (101) during a first measuring interval (10) by means of a transmitting element of a transmitting unit at first emitting times, and wherein a second plurality of measuring pulses (13) is emitted (102) during a second measuring interval (11) by means of the transmitting element of the transmitting unit at second emitting times. The method (100) comprises the reception (103) of reflected measuring pulses by means of a receiving element of a receiving unit assigned to the transmitting element at receiving times. The method further comprises the determining (106) of a first amount of times- of-flight for each received measuring pulse, wherein the first amount of times-of-flight is determined by using the first emitting times. The method (100) furthermore comprises the determining (107) of a second amount of times-of-flight for each received measuring pulse, wherein the second amount of times-of-flight is determined using the second emitting times. The method (100) comprises the creating (108) of at least one histogram (15) for the receiving element and the entering of the first amount and/or of the second amount of times-of-flight in the histogram.
G01S 17/10 - Systèmes déterminant les données relatives à la position d'une cible pour mesurer la distance uniquement utilisant la transmission d'ondes à modulation d'impulsion interrompues
G01S 7/4865 - Mesure du temps de retard, p.ex. mesure du temps de vol ou de l'heure d'arrivée ou détermination de la position exacte d'un pic
The invention relates to a LIDAR measuring system, comprising an emitter element, a sensor element and an optical element, wherein the emitter element emits a laser light of a first wavelength which strikes the LIDAR measuring system again after a reflection at an object, wherein the incident laser light passes through the optical element and strikes the sensor element, a wavelength converter being formed on the LIDAR measuring system which converts the first wavelength of the laser light into a second wavelength, so that the laser light of the second wavelength strikes the sensor element.
G01S 17/10 - Systèmes déterminant les données relatives à la position d'une cible pour mesurer la distance uniquement utilisant la transmission d'ondes à modulation d'impulsion interrompues
47.
Method for controlling sensor elements of a LIDAR measuring system
A method for controlling sensor elements of a LIDAR measuring system, wherein a sensor element is activated and deactivated during a measurement cycle, wherein a measurement process comprises a plurality of measurement cycles, wherein the sensor element is activated at a first time during a first measurement cycle and the same sensor element is activated at a second time during a second measurement cycle.
G01S 7/4865 - Mesure du temps de retard, p.ex. mesure du temps de vol ou de l'heure d'arrivée ou détermination de la position exacte d'un pic
G01S 17/18 - Systèmes déterminant les données relatives à la position d'une cible pour mesurer la distance uniquement utilisant la transmission d'ondes à modulation d'impulsion interrompues dans lesquels des fenêtres en distance sont utilisées
48.
Automatic power reduction using a pre-scanned virtual protective housing
A scanning laser projection system includes a virtual protective housing circuit to automatically reduce power levels of visible laser light pulses when necessary to render the laser projection system eye-safe. IR laser light pulses are scanned out in front of visible laser light pulses in a field of view, and emitted power of visible laser light pulses is modulated based on attributes of reflections of the IR laser light pulses.
LIDAR measurement system with a LIDAR transmitting unit and a LIDAR receiving unit, which is configured in a focal-plane-array arrangement, wherein the LIDAR receiving unit has a plurality of sensor elements and wherein the LIDAR transmitting unit has a plurality of emitter elements, wherein a plurality of sensor elements form a macrocell, wherein the macrocell is associated with a single emitter element, wherein the distance between two adjacent emitter elements is unequal to an integer multiple of the distance between two adjacent sensor elements.
G01S 7/481 - Caractéristiques de structure, p.ex. agencements d'éléments optiques
G01S 17/10 - Systèmes déterminant les données relatives à la position d'une cible pour mesurer la distance uniquement utilisant la transmission d'ondes à modulation d'impulsion interrompues
G01S 17/89 - Systèmes lidar, spécialement adaptés pour des applications spécifiques pour la cartographie ou l'imagerie
What is proposed is a method (100) for optical distance measurement, which comprises a creation (101) of at least one frame, wherein 3D information of at least one subregion of a measuring region is determined as part of the frame. The method (100) comprises the splitting (102) of a time budget for creating the frame between a first phase for assessing at least one region of interest, and a second phase for determining 3D information from the at least one region of interest. The method (100) further comprises the performance (103) of the first phase, wherein a plurality of measuring pulses is emitted (107) by means of a transmitting unit (11), and reflected measuring pulses are received (108) by a receiving unit (12) as part of the first phase, wherein 2D information of the measuring region is determined (109) as part of the first phase, and wherein at least one region of interest is assessed (111) from the 2D information. The method (100) moreover comprises the performance (112) of the second phase, wherein a plurality of measuring pulses is emitted (116) by means of a transmitting unit (11), and reflected measuring pulses are received (117) by the receiving unit (12) as part of the second phase, and wherein 3D information of the at least one region of interest is determined (118) as part of the second phase.
G01S 17/10 - Systèmes déterminant les données relatives à la position d'une cible pour mesurer la distance uniquement utilisant la transmission d'ondes à modulation d'impulsion interrompues
A method for optical distance measurement, comprising a creation of at least one frame, including determining 3D information of at least one subregion of a measuring region. A time budget for creating the frame is split between a first phase for assessing at least one region of interest, and a second phase for determining 3D information from the at least one region of interest. During the first phase a plurality of measuring pulses is emitted by a transmitting unit, and reflected measuring pulses are received by a receiving unit, wherein 2D information of the measuring region is determined, wherein at least one region of interest is assessed from the 2D information. During the second phase a plurality of measuring pulses is emitted by a transmitting unit, and reflected measuring pulses are received by the receiving unit, wherein 3D information of the at least one region of interest is determined as part of the second phase.
G01S 17/894 - Imagerie 3D avec mesure simultanée du temps de vol sur une matrice 2D de pixels récepteurs, p.ex. caméras à temps de vol ou lidar flash
G01S 7/48 - DÉTERMINATION DE LA DIRECTION PAR RADIO; RADIO-NAVIGATION; DÉTERMINATION DE LA DISTANCE OU DE LA VITESSE EN UTILISANT DES ONDES RADIO; LOCALISATION OU DÉTECTION DE LA PRÉSENCE EN UTILISANT LA RÉFLEXION OU LA RERADIATION D'ONDES RADIO; DISPOSITIONS ANALOGUES UTILISANT D'AUTRES ONDES - Détails des systèmes correspondant aux groupes , , de systèmes selon le groupe
The invention relates to a LiDAR measuring system (12) for detecting an object (14) in an environment (16) of a vehicle (10), comprising a first LiDAR measuring device (22) designed for scanning a first field of view (18) with a first vertical resolution, and a second LiDAR measuring device (24) designed for scanning a second field of view (20) with a second vertical resolution, wherein the second field of view lies in a vertical direction within the first field of view and includes a region of a road (15) in front of the vehicle, and the second vertical resolution is higher than the first vertical resolution. The invention also relates to a vehicle (10) comprising a LiDAR measuring system (12) and a method for detecting an object (14) in an environment (16) of a vehicle (10).
A light detection and ranging system includes synchronously scanning transmit and receive mirrors that scan a pulsed fanned laser beam in two dimensions. Imaging optics image a receive aperture onto an arrayed receiver that includes a plurality of light sensitive devices. Scanning mirror assemblies include stationary permanent magnets and MEMS devices with attached mirrors and conductive coils.
G02B 26/08 - Dispositifs ou dispositions optiques pour la commande de la lumière utilisant des éléments optiques mobiles ou déformables pour commander la direction de la lumière
G01S 7/481 - Caractéristiques de structure, p.ex. agencements d'éléments optiques
A method for performing a measurement process for a LIDAR measuring system, wherein during the measurement process a multiplicity of essentially similar measurement cycles are performed, wherein a new measurement cycle only begins after the end of the preceding measurement cycle and a waiting time, wherein the waiting times of consecutive measurement cycles are different.
G01S 17/10 - Systèmes déterminant les données relatives à la position d'une cible pour mesurer la distance uniquement utilisant la transmission d'ondes à modulation d'impulsion interrompues
G01S 7/481 - Caractéristiques de structure, p.ex. agencements d'éléments optiques
G01S 7/4865 - Mesure du temps de retard, p.ex. mesure du temps de vol ou de l'heure d'arrivée ou détermination de la position exacte d'un pic
G01S 17/931 - Systèmes lidar, spécialement adaptés pour des applications spécifiques pour prévenir les collisions de véhicules terrestres
55.
Microelectromechanical (MEMS) scanners for scanning laser devices
The embodiments described herein include scanners that can provide improved scanning laser devices. Specifically, the embodiments described herein provide scanners with a modular construction that includes one or more separately formed piezoelectric actuators coupled to a microelectromechanical system (MEMS) scan plate, flexure structures, and scanner frame. Such modular scanners can provide improved scanning laser devices, including scanning laser projectors and laser depth scanners, LIDAR systems, 3D motion sensing devices, gesture recognition devices, etc.
G02B 26/08 - Dispositifs ou dispositions optiques pour la commande de la lumière utilisant des éléments optiques mobiles ou déformables pour commander la direction de la lumière
H02N 2/02 - Machines électriques en général utilisant l'effet piézo-électrique, l'électrostriction ou la magnétostriction produisant un mouvement linéaire, p.ex. actionneurs; Positionneurs linéaires
A light detection and ranging system includes synchronously scanning transmit and receive mirrors that scan a pulsed fanned laser beam in two dimensions. Imaging optics image a receive aperture onto an arrayed receiver that includes a plurality of light sensitive devices. Scanning mirror assemblies include stationary coils and MEMS devices with attached mirrors and permanent magnets.
G01S 7/481 - Caractéristiques de structure, p.ex. agencements d'éléments optiques
G01S 7/4865 - Mesure du temps de retard, p.ex. mesure du temps de vol ou de l'heure d'arrivée ou détermination de la position exacte d'un pic
G01S 17/931 - Systèmes lidar, spécialement adaptés pour des applications spécifiques pour prévenir les collisions de véhicules terrestres
G01S 17/58 - Systèmes de détermination de la vitesse ou de la trajectoire; Systèmes de détermination du sens d'un mouvement
G02B 26/08 - Dispositifs ou dispositions optiques pour la commande de la lumière utilisant des éléments optiques mobiles ou déformables pour commander la direction de la lumière
57.
Arrayed MEMS mirrors for large aperture applications
A light detection and ranging system includes multiple scanning mirror assemblies to increase a receive aperture. The multiple scanning mirror assemblies are controlled to mimic the operation of one large scanning mirror. The multiple scanning mirror assemblies may be arranged in one-dimensional arrays or two-dimensional arrays. Two arrays of scanning mirror assemblies provide for scanning in two dimensions.
G02B 26/08 - Dispositifs ou dispositions optiques pour la commande de la lumière utilisant des éléments optiques mobiles ou déformables pour commander la direction de la lumière
G01S 17/10 - Systèmes déterminant les données relatives à la position d'une cible pour mesurer la distance uniquement utilisant la transmission d'ondes à modulation d'impulsion interrompues
A light detection and ranging system includes synchronously scanning transmit and receive mirrors that scan a pulsed fanned laser beam in two dimensions. Imaging optics image a receive aperture onto an arrayed receiver that includes a plurality of light sensitive devices. A phase offset may be injected into a scanning trajectory to mitigate effects of interfering light sources.
G01S 7/48 - DÉTERMINATION DE LA DIRECTION PAR RADIO; RADIO-NAVIGATION; DÉTERMINATION DE LA DISTANCE OU DE LA VITESSE EN UTILISANT DES ONDES RADIO; LOCALISATION OU DÉTECTION DE LA PRÉSENCE EN UTILISANT LA RÉFLEXION OU LA RERADIATION D'ONDES RADIO; DISPOSITIONS ANALOGUES UTILISANT D'AUTRES ONDES - Détails des systèmes correspondant aux groupes , , de systèmes selon le groupe
The invention relates to a reading device (20) for ascertaining a signal propagation time of a light pulse between a LIDAR transmission unit (18) and a LIDAR receiving unit (16) of a LIDAR measuring device (10) in a focal plane array arrangement, comprising: an input interface (22) for receiving detections from multiple sensor elements (36a-36j) of the LIDAR receiving unit, said sensor elements being arranged in a macrocell (34) paired with a transmission element (32) of the LIDAR transmission unit; a weighting unit (24) for ascertaining a respective individual weighting parameter for each of the plurality of sensor elements, said weighting parameter being based on a signal-to-noise ratio of the sensor element; a summation unit (26) for generating a histogram with an allocation of the detections to the detection times of the detections, said summation unit being designed to weight detections on the basis of the individual weighting parameters; a propagation time unit (28) for ascertaining the signal propagation time on the basis of the generated histogram; and an output unit (30) for outputting the signal propagation time. The invention additionally relates to a method for ascertaining a signal propagation time and to a LIDAR measuring device (10) in a focal plane array arrangement for detecting objects (12) in the surroundings of a vehicle.
G01S 17/10 - Systèmes déterminant les données relatives à la position d'une cible pour mesurer la distance uniquement utilisant la transmission d'ondes à modulation d'impulsion interrompues
The invention relates to a LIDAR receiving unit (16) in a focal plane array assembly, comprising a plurality of sensor elements (24) for receiving light pulses of a LIDAR transmitting unit (14), and multiple routing channels (32) for transporting signals from the sensor elements to an edge region (R) of the LIDAR receiving unit, wherein respective multiple sensor elements are arranged in a macrocell (26, 26'), which is assigned to a transmission element (22) of the LIDAR transmitting unit, respective multiple macrocells form a macrocell cluster (32) and respective multiple macrocell clusters are arranged in multiple rows (Z1, Z2, Z3), and the routing channels cross the multiple rows between respective neighbouring macrocell clusters of a row and are designed for transporting the signals in an orthogonal direction relative to the rows. The invention also relates to a LIDAR measuring device (10) for detecting an object (12) in an environment of a vehicle (14).
The invention relates to an adaptation device (20) for adapting a detection process of a LIDAR measuring device (10) in a focal plane array arrangement on a vehicle (14), comprising: an input interface (22) for receiving a setting with information on at least two vertical detection zones; a setting unit (24) for ascertaining a control parameter of a detection process for each of the at least two detection zones (E1-E4) on the basis of the received setting; a selection unit (26) for ascertaining a sub-quantity of rows of transmission elements (32) of a LIDAR transmission unit (18) of the LIDAR measuring device and/or sensor elements of a LIDAR receiving unit (16) of the LIDAR measuring device for each of the at least two detection zones on the basis of the received setting, said rows running parallel to a longitudinal plane of the vehicle; and a control unit (28) for actuating the LIDAR measuring device, wherein for each detection zone, the ascertained sub-quantity of rows is actuated on the basis of the ascertained control parameter in order to detect objects (12) within the at least two detection zones. The invention further relates to a LIDAR measuring device (10) and to a method for adapting a detection process of a LIDAR measuring device (10) in a focal plane array arrangement on a vehicle (14).
The invention relates to an adaptation device (20) for adapting the field of view (30) of a LIDAR measuring device (10) in a focal plane array arrangement on a vehicle (14), comprising: a pitch angle estimating unit (22) for ascertaining the pitch angle (N) of the vehicle; a region unit (24) for ascertaining a desired object detection region (32) with respect to the orientation of the vehicle on the basis of the pitch angle; a selection unit (26) for ascertaining a selection of rows (Z1- Z6) of transmission elements (34) of a LIDAR transmission unit (18) of the LIDAR measuring device and/or sensor elements of a LIDAR receiving unit (16) of the LIDAR measuring device on the basis of the desired object detection region, said rows running parallel to a horizontal plane of the vehicle; and a control interface (28) for activating the selection of rows of transmission elements of the LIDAR measuring device and/or sensor elements of the LIDAR receiving unit of the LIDAR measuring device in order to detect objects (12) within the object detection region. The invention further relates to a LIDAR measuring device (10) in a focal plane array arrangement for detecting objects (12) in the surroundings of the vehicle (14) and to a method for adapting the field of view (30) of a LIDAR measuring device (10) in a focal plane array arrangement on a vehicle (14).
A light detection and ranging system includes synchronously scanning transmit and receive mirrors that scan a pulsed fanned laser beam in two dimensions. Imaging optics image a receive aperture onto an arrayed receiver that includes a plurality of light sensitive devices. Scanning mirror offsets may be applied to modify a fan angle of the pulsed fanned laser beam. Adaptive methods dynamically modify the size and location of the field of view, laser pulse properties, and/or fan angle in response to internal and external sensors data.
G01S 7/481 - Caractéristiques de structure, p.ex. agencements d'éléments optiques
G01S 7/4865 - Mesure du temps de retard, p.ex. mesure du temps de vol ou de l'heure d'arrivée ou détermination de la position exacte d'un pic
G01S 17/89 - Systèmes lidar, spécialement adaptés pour des applications spécifiques pour la cartographie ou l'imagerie
G01S 17/931 - Systèmes lidar, spécialement adaptés pour des applications spécifiques pour prévenir les collisions de véhicules terrestres
G01S 17/10 - Systèmes déterminant les données relatives à la position d'une cible pour mesurer la distance uniquement utilisant la transmission d'ondes à modulation d'impulsion interrompues
G01S 7/48 - DÉTERMINATION DE LA DIRECTION PAR RADIO; RADIO-NAVIGATION; DÉTERMINATION DE LA DISTANCE OU DE LA VITESSE EN UTILISANT DES ONDES RADIO; LOCALISATION OU DÉTECTION DE LA PRÉSENCE EN UTILISANT LA RÉFLEXION OU LA RERADIATION D'ONDES RADIO; DISPOSITIONS ANALOGUES UTILISANT D'AUTRES ONDES - Détails des systèmes correspondant aux groupes , , de systèmes selon le groupe
G01S 13/42 - Mesure simultanée de la distance et d'autres coordonnées
A light detection and ranging system includes synchronously scanning transmit and receive mirrors that scan a pulsed fanned laser beam in two dimensions. Imaging optics image a receive aperture onto an arrayed receiver that includes a plurality of light sensitive devices. Adaptive methods dynamically modify the size and location of the field of view as well as laser pulse properties in response to internal and external sensors data.
G01C 3/08 - Utilisation de détecteurs électriques de radiations
G01S 7/481 - Caractéristiques de structure, p.ex. agencements d'éléments optiques
G01S 17/10 - Systèmes déterminant les données relatives à la position d'une cible pour mesurer la distance uniquement utilisant la transmission d'ondes à modulation d'impulsion interrompues
A light detection and ranging system includes synchronously scanning transmit and receive mirrors that scan a pulsed fanned laser beam in two dimensions. Imaging optics image a receive aperture onto an arrayed receiver that includes a plurality of light sensitive devices. Adaptive methods dynamically modify the size and location of the field of view as well as laser pulse properties in response to internal and external sensors data.
A 3D imaging system includes a camera to capture visible images, and a MEMS device with a scanning mirror that sweeps a beam in two dimensions. Actuating circuits receive angular extents and offset information and provide signal stimulus to the MEMS device to control the amount and direction of mirror deflection on two axes. The scan angle and offset information may be modified in response to camera properties.
H04N 13/254 - Générateurs de signaux d’images utilisant des caméras à images stéréoscopiques en combinaison avec des sources de rayonnement électromagnétique pour l’éclairage du sujet
H04N 13/236 - Générateurs de signaux d’images utilisant des caméras à images stéréoscopiques utilisant un seul capteur d’images 2D utilisant des lentilles à foyer progressif ou des miroirs
G01S 17/89 - Systèmes lidar, spécialement adaptés pour des applications spécifiques pour la cartographie ou l'imagerie
H04N 5/232 - Dispositifs pour la commande des caméras de télévision, p.ex. commande à distance
G01S 17/42 - Mesure simultanée de la distance et d'autres coordonnées
H04N 13/239 - Générateurs de signaux d’images utilisant des caméras à images stéréoscopiques utilisant deux capteurs d’images 2D dont la position relative est égale ou en correspondance à l’intervalle oculaire
G01S 17/86 - Combinaisons de systèmes lidar avec des systèmes autres que lidar, radar ou sonar, p.ex. avec des goniomètres
67.
Dynamically interlaced laser beam scanning 3D depth sensing system and method
Laser light pulses are generated and scanned in a raster pattern in a field of view. The laser light pulses are generated at times that result in structured light patterns and non-structured light patterns. The structured light patterns and non-structured light patterns may be in common frames or different frames. Time-of-flight measurement is performed to produce a first 3D point cloud, and structured light processing is performed to produce a second 3D point cloud.
09 - Appareils et instruments scientifiques et électriques
12 - Véhicules; appareils de locomotion par terre, par air ou par eau; parties de véhicules
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et services
Optoelectronic sensors and scanners, in particular for motor
vehicles; laser scanners for motor vehicles, in particular
for driver support purposes; software, in particular for
operating laser scanners; distance measuring equipment for
motor vehicles; distance control equipment; infrared
distance measuring equipment for motor vehicles; driver
assistance systems for motor vehicles; electronic apparatus
for vehicle parking assistance; pedestrian recognition
equipment for motor vehicles; electronic accident preventon
equipment with braking intervention functions for motor
vehicles; electronic accident warning equipment for motor
vehicles; automatic braking equipment for motor vehicles;
electronic hazard identification equipment for motor
vehicles; lane change control equipment for motor vehicles;
road condition identification equipment for motor vehicles;
adaptive cruise control for motor vehicles; congestion
assistants for motor vehicles; digital mapping apparatus. Automotive vehicles. Scientific and technological services and research and
design relating thereto; industrial analysis and research
services; design and development of computer hardware and
software; all the aforesaid services exclusively in relation
to optoelectronic sensors and scanners, in particular laser
scanners, and driver assistance systems for motor vehicles.
LIDAR receiving unit in a focal plane array assembly, including a plurality of sensor elements arranged in macro cells and a plurality of readout elements, wherein at least two sensor elements are assigned to a macro cell, and each sensor element can be activated and deactivated individually or can be activated and deactivated in groups of sensor elements.
A method for optical distance measurement is suggested which comprises executing at least one time-of-flight measurement, wherein a time-of-flight measurement comprises transmitting at least one measuring pulse by means of a transmission unit, reflecting at least one transmitted measuring pulse and receiving at least one reflected measuring pulse by means of a reception unit. The method further comprises generating a backscatter curve based on the time-of-flight measurement and evaluating the backscatter curve for object recognition.
G01S 7/4865 - Mesure du temps de retard, p.ex. mesure du temps de vol ou de l'heure d'arrivée ou détermination de la position exacte d'un pic
G01S 17/931 - Systèmes lidar, spécialement adaptés pour des applications spécifiques pour prévenir les collisions de véhicules terrestres
G01S 17/10 - Systèmes déterminant les données relatives à la position d'une cible pour mesurer la distance uniquement utilisant la transmission d'ondes à modulation d'impulsion interrompues
71.
Method for improved near and remote detection of a LIDAR receiving unit
Method for the improved near and remote detection of a LIDAR receiving unit for motor vehicles, wherein the receiving unit has a plurality of sensor elements, wherein the sensor elements can be activated and deactivated, wherein at least a subset of the sensor elements are activated at a first point in time within a measurement cycle, wherein one or more sensor elements are activated and/or one or more sensor elements are deactivated at a second point in time within the measurement cycle, said second point in time occurring after the first point in time.
Proposed is a method (100) for optical distance measurement, which comprises executing (101) at least one time-of-flight measurement, wherein a time-of- flight measurement comprises transmitting (102) at least one measuring pulse by means of a transmission unit (12), reflecting (103) at least one transmitted measuring pulse and receiving (104) at least one reflected measuring pulse by means of a reception unit (11). The method (100) comprises generating (105) a backscatter curve (20) based on the time-of-flight measurement and evaluating (109) the backscatter curve (20) for object recognition (113). The method (100) further comprises providing (106) a sensitivity curve (21) for evaluating (109) the backscatter curve (20), wherein the evaluation (109) comprises determining (110) a correlation between the sensitivity curve (21) and backscatter curve (20), in order to use the at least one time- of-flight measurement to determine whether a particle cloud is arranged in a measuring range that was measured by means of the time-of-flight measurement and to allocate (120) a particle cloud feature to the time-of-flight measurement.
G01S 17/10 - Systèmes déterminant les données relatives à la position d'une cible pour mesurer la distance uniquement utilisant la transmission d'ondes à modulation d'impulsion interrompues
G01S 7/4865 - Mesure du temps de retard, p.ex. mesure du temps de vol ou de l'heure d'arrivée ou détermination de la position exacte d'un pic
A light detection and ranging system modulates laser light pulses with a channel signature to encode transmitted pulses with channel information. The modulated laser light pulses may be scanned into a field of view. Received reflections not modulated with the same channel signature are rejected. Multiple light pulses of different wavelengths may be similarly or differently modulated.
G01S 7/00 - DÉTERMINATION DE LA DIRECTION PAR RADIO; RADIO-NAVIGATION; DÉTERMINATION DE LA DISTANCE OU DE LA VITESSE EN UTILISANT DES ONDES RADIO; LOCALISATION OU DÉTECTION DE LA PRÉSENCE EN UTILISANT LA RÉFLEXION OU LA RERADIATION D'ONDES RADIO; DISPOSITIONS ANALOGUES UTILISANT D'AUTRES ONDES - Détails des systèmes correspondant aux groupes , ,
G01S 7/4861 - Circuits pour la détection, d'échantillonnage, d'intégration ou de lecture des circuits
G01S 7/4865 - Mesure du temps de retard, p.ex. mesure du temps de vol ou de l'heure d'arrivée ou détermination de la position exacte d'un pic
G01S 7/487 - Extraction des signaux d'écho désirés
G01S 17/26 - Systèmes déterminant les données relatives à la position d'une cible pour mesurer la distance uniquement utilisant la transmission d'ondes à modulation d'impulsion interrompues dans lesquels les impulsions transmises utilisent une onde porteuse modulée en fréquence ou en phase, p.ex. pour la compression d'impulsion des signaux reçus
74.
Alteration of resonant mode frequency response in mechanically resonant device
A mechanically resonant system exhibits a resonant mode frequency response. A conductor is included on a resonant member within the mechanically resonant system. A current in the conductor causes a modification of the resonant mode frequency response when in the presence of a magnetic field. The modification of the resonant mode frequency response may include an offset in the natural frequency of the mechanically resonant system.
G03B 21/00 - Projecteurs ou visionneuses du type par projection; Leurs accessoires
H04N 9/31 - Dispositifs de projection pour la présentation d'images en couleurs
G02B 26/08 - Dispositifs ou dispositions optiques pour la commande de la lumière utilisant des éléments optiques mobiles ou déformables pour commander la direction de la lumière
H04N 3/02 - TRANSMISSION D'IMAGES, p.ex. TÉLÉVISION - Détails des dispositifs de balayage des systèmes de télévision; Leur combinaison avec la production des tensions d'alimentation par des moyens optiques-mécaniques uniquement
H04N 3/08 - TRANSMISSION D'IMAGES, p.ex. TÉLÉVISION - Détails des dispositifs de balayage des systèmes de télévision; Leur combinaison avec la production des tensions d'alimentation par des moyens optiques-mécaniques uniquement comportant un réflecteur mobile
H04N 3/00 - TRANSMISSION D'IMAGES, p.ex. TÉLÉVISION - Détails des dispositifs de balayage des systèmes de télévision; Leur combinaison avec la production des tensions d'alimentation
09 - Appareils et instruments scientifiques et électriques
12 - Véhicules; appareils de locomotion par terre, par air ou par eau; parties de véhicules
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et services
Optoelectronic sensors and scanners, in particular for motor vehicles; laser scanners for motor vehicles, in particular for driver support purposes; downloadable and recorded software for operating laser scanners; distance measuring equipment for motor vehicles; electronic distance control equipment, namely, sensors and cameras; infrared distance measuring equipment for motor vehicles being distance measuring apparatus; electronic apparatus for vehicle parking assistance, namely, parking sensors for vehicles, pedestrian recognition equipment for motor vehicles, namely, electronic sensors for detecting the presence of pedestrians in proximity to vehicles; electronic accident prevention equipment with braking intervention functions for motor vehicles, namely, electronic sensors for detecting the presence of other vehicles; electronic accident warning equipment for motor vehicles in the nature of electronic scanners and electronic sensors for measuring distances and for sensing road condition hazards in path of vehicles; automatic braking equipment for motor vehicles, namely, brake controllers; vehicle safety equipment in the nature of electronic hazard identification equipment for motor vehicles; lane change control equipment for motor vehicles, namely, electronic sensors for sensing breaching of traffic lanes by vehicles; road condition identification equipment for motor vehicles, namely, electronic sensors for sensing road condition hazards in path of vehicles; adaptive cruise control for motor vehicles; congestion assistants for motor vehicles, namely, electronic sensors for detecting the presence of other vehicles; digital mapping apparatus, namely, optoelectronic sensors and scanners and cameras Automotive vehicles, namely, automobiles Scientific and technological services and research and design relating thereto, namely, scientific and technological research relating to optoelectronic sensors and scanners, design of optoelectronic sensors and scanners; industrial analysis and research services, namely, industrial research in the field of optoelectronic sensors and scanners; design and development of computer hardware and software; all the aforesaid services exclusively in relation to optoelectronic sensors and scanners, in particular laser scanners, and driver assistance systems for motor vehicles
76.
METHOD AND DEVICE FOR OPTICAL DISTANCE MEASUREMENT
A method for optical distance measurement is suggested, wherein a first distribution of times-of-flight of light of detected photons of transmitted measurement pulses is determined, which is stored in a first memory area of a memory unit. The first distribution of times-of-flight of light is assigned to time intervals of a first plurality of time intervals and frequency portions of the first distribution above a predetermined cut-off frequency are reduced or suppressed by means of a low pass filter in a reduction step, so that a second distribution of times-of-flight of light is generated. The second distribution is assigned to time intervals of a second plurality of time intervals, and the blocking frequency of the low pass filter is selected to be smaller than or equal to half of the reciprocal value of a smallest interval width of the second plurality of time intervals.
G01S 7/4865 - Mesure du temps de retard, p.ex. mesure du temps de vol ou de l'heure d'arrivée ou détermination de la position exacte d'un pic
G01S 17/10 - Systèmes déterminant les données relatives à la position d'une cible pour mesurer la distance uniquement utilisant la transmission d'ondes à modulation d'impulsion interrompues
77.
Method and device for optical distance measurement
A method for optical distance measurement is suggested, wherein a first distribution of times-of-flight of light of detected photons of transmitted measurement pulses is determined, which is stored in a first memory area of a memory unit. The first distribution of times-of-flight of light is assigned to time intervals of a first plurality of time intervals and frequency portions of the first distribution above a predetermined cut-off frequency are reduced or suppressed by means of a low pass filter in a reduction step, so that a second distribution of times-of-flight of light is generated. The second distribution is assigned to time intervals of a second plurality of time intervals and the blocking frequency of the low pass filter is selected to be smaller than or equal to half of the reciprocal value of a smallest interval width of the second plurality of time intervals.
The invention relates to a device (1) for operating a light source (2) for the purpose of optical time-of-flight measurement, comprising: a light source (2) designed to emit light pulses in accordance with a pulse signal sequence; and a monitoring circuit (3) for monitoring, on the basis of a current signal and/or voltage signal of the light source (2), a light output emitted by the light source (2).
The invention relates to a deicing system (12) for a sensor (10), comprising a heating element (32, E) for controlling the temperature of a fluid, a flow generator (30, S) for driving a fluid, and a cover element (28), which separates an external region (A) from an internal region (I), the cover element (28) being designed in such a way that a fluid driven by the flow generator (30, S) flows along the cover element (28) in order to heat up the cover element (28).
G01S 7/481 - Caractéristiques de structure, p.ex. agencements d'éléments optiques
G01S 13/931 - Radar ou systèmes analogues, spécialement adaptés pour des applications spécifiques pour prévenir les collisions de véhicules terrestres
G01S 7/02 - DÉTERMINATION DE LA DIRECTION PAR RADIO; RADIO-NAVIGATION; DÉTERMINATION DE LA DISTANCE OU DE LA VITESSE EN UTILISANT DES ONDES RADIO; LOCALISATION OU DÉTECTION DE LA PRÉSENCE EN UTILISANT LA RÉFLEXION OU LA RERADIATION D'ONDES RADIO; DISPOSITIONS ANALOGUES UTILISANT D'AUTRES ONDES - Détails des systèmes correspondant aux groupes , , de systèmes selon le groupe
G01S 7/52 - DÉTERMINATION DE LA DIRECTION PAR RADIO; RADIO-NAVIGATION; DÉTERMINATION DE LA DISTANCE OU DE LA VITESSE EN UTILISANT DES ONDES RADIO; LOCALISATION OU DÉTECTION DE LA PRÉSENCE EN UTILISANT LA RÉFLEXION OU LA RERADIATION D'ONDES RADIO; DISPOSITIONS ANALOGUES UTILISANT D'AUTRES ONDES - Détails des systèmes correspondant aux groupes , , de systèmes selon le groupe
The invention relates to an analogue-to-digital converter (1), comprising: an analogue input for receiving an analogue signal; a first time-to-digital converter (7); and a histogram block (10), wherein the first time-to-digital converter (7) samples the analogue signal based on a ramp signal and delivers an output (20, 25) to the histogram block (10), which creates a time-correlated histogram (21, 26, 30) on the basis thereof.
A non-imaging concentrator is employed in an upside down configuration in which light enters a smaller aperture and exits a larger aperture. The input angle of light rays may be as large as 180 degrees, while the maximum exit angle is limited to the acceptance angle of the non-imaging concentrator. A dichroic filter placed at the larger aperture has a maximum angle of incidence equal to the acceptance angle of the non-imaging concentrator.
G01S 7/481 - Caractéristiques de structure, p.ex. agencements d'éléments optiques
G01S 17/10 - Systèmes déterminant les données relatives à la position d'une cible pour mesurer la distance uniquement utilisant la transmission d'ondes à modulation d'impulsion interrompues
G01S 17/88 - Systèmes lidar, spécialement adaptés pour des applications spécifiques
82.
Method and apparatus for optical distance measurements
A method for optical distance measurements is suggested which comprises carrying out Radar measurements, building a grid map comprising a plurality of elements based on the Radar measurements, extracting information about the dynamic state of each element and assigning the information to the respective element. The method further comprises carrying out Lidar measurements resulting in a Lidar point cloud and associating the Lidar point cloud with the grid map.
G01S 17/89 - Systèmes lidar, spécialement adaptés pour des applications spécifiques pour la cartographie ou l'imagerie
G05D 1/02 - Commande de la position ou du cap par référence à un système à deux dimensions
G01S 13/86 - Combinaisons de systèmes radar avec des systèmes autres que radar, p.ex. sonar, chercheur de direction
G01S 17/931 - Systèmes lidar, spécialement adaptés pour des applications spécifiques pour prévenir les collisions de véhicules terrestres
G01S 7/48 - DÉTERMINATION DE LA DIRECTION PAR RADIO; RADIO-NAVIGATION; DÉTERMINATION DE LA DISTANCE OU DE LA VITESSE EN UTILISANT DES ONDES RADIO; LOCALISATION OU DÉTECTION DE LA PRÉSENCE EN UTILISANT LA RÉFLEXION OU LA RERADIATION D'ONDES RADIO; DISPOSITIONS ANALOGUES UTILISANT D'AUTRES ONDES - Détails des systèmes correspondant aux groupes , , de systèmes selon le groupe
83.
METHOD AND APPARATUS FOR OPTICAL DISTANCE MEASUREMENTS
A method (100) for optical distance measurements is suggested which comprises carrying out (101) Radar measurements, building (102) a grid map (24) comprising a plurality of elements (25) based on the Radar measurements, extracting information (103) about the dynamic state of each element (25) and assigning (105) the information to the respective element (25). The method (100) further comprises carrying out (106) Lidar measurements resulting in a Lidar point cloud (26) and associating (107) the Lidar point cloud (26) with the grid map (24).
The invention relates to a method (100) for classifying objects, which comprises providing (106) measurement data from a sensor for a feature extraction unit (13) and extracting (107) modality-independent features from the measurement data by means of the feature extraction unit (13). The modality-independent features are independent of the sensor modality of the sensor, and therefore the sensor modality of the sensor cannot be inferred from the modality-independent features.
G06V 10/764 - Dispositions pour la reconnaissance ou la compréhension d’images ou de vidéos utilisant la reconnaissance de formes ou l’apprentissage automatique utilisant la classification, p.ex. des objets vidéo
G06V 10/82 - Dispositions pour la reconnaissance ou la compréhension d’images ou de vidéos utilisant la reconnaissance de formes ou l’apprentissage automatique utilisant les réseaux neuronaux
09 - Appareils et instruments scientifiques et électriques
12 - Véhicules; appareils de locomotion par terre, par air ou par eau; parties de véhicules
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et services
Optoelectronic sensors and scanners, in particular for motor vehicles; Laser scanners for motor vehicles, in particular for driver support purposes; Software, In particular for operating laser scanners; Distance measuring equipment for motor vehicles; Distance control equipment; Infrared distance measuring equipment for motor vehicles; Driver assistance systems for motor vehicles; Electronic apparatus for vehicle parking assistance; Pedestrian recognition equipment for motor vehicles; Electronic accident preventon equipment with braking intervention functions for motor vehicles; Electronic accident warning equipment for motor vehicles; Automatic braking equipment for motor vehicles; Electronic hazard identification equipment for motor vehicles; Lane change control equipment for motor vehicles; Road condition identification equipment for motor vehicles; Adaptive cruise control for motor vehicles; Congestion assistants for motor vehicles; Digital mapping apparatus. Automotive vehicles. Scientific and technological services and research and design relating thereto; Industrial analysis and research services; Design and development of computer hardware and software; All the aforesaid services exclusively in relation to optoelectronic sensors and scanners, in particular laser scanners, and driver assistance systems for motor vehicles.
86.
Method and device for optical distance measurement
The invention relates to a method for optical distance measurement which includes the steps of emitting measurement pulses by a transmission unit and receiving measurement pulses reflected by an object by a receiver unit to identify objects within a field of view of the receiver unit. A background signal is received by receiver elements and the intensity of the background signal is determined for each receiver element, wherein the determined intensities of the background signal are compared in order to identify objects not identified by the measurement within the field of view of the receiver unit. At least one region of minimal intensity of the background signal is established within an intensity image of the field of view of the receiver unit. The region of minimal intensity is assigned a masking in the field of view, the masking originating from an object not identified by the measurement.
G01S 17/10 - Systèmes déterminant les données relatives à la position d'une cible pour mesurer la distance uniquement utilisant la transmission d'ondes à modulation d'impulsion interrompues
G01C 3/02 - Mesure des distances dans la ligne de visée; Télémètres optiques - Détails
G01S 17/08 - Systèmes déterminant les données relatives à la position d'une cible pour mesurer la distance uniquement
G01S 17/89 - Systèmes lidar, spécialement adaptés pour des applications spécifiques pour la cartographie ou l'imagerie
A method for optical distance measurement is proposed which comprises the emission of a plurality of measurement pulses, the reflection of emitted measurement pulses at at least one object and the receipt of reflected measurement pulses. A sequence of measurement pulses is emitted, wherein the sequence comprises temporal pulse spacings between temporally successive measurement pulses, and wherein each measurement pulse of the sequence has a temporal pulse width of T(Pulse). The pulse spacings form a first set, wherein the first set is defined by {T(delay)+i*T(Pulse): i is an element of the natural numbers between 0 and j}, wherein for all values of i it holds that: T(delay)+i*T(Pulse)<(2T(delay)+2T(Pulse)), wherein the first set only comprises one element for all values of i between 0 and j, respectively, and wherein T(delay) defines a pulse spacing base unit.
G01S 7/487 - Extraction des signaux d'écho désirés
G01S 7/48 - DÉTERMINATION DE LA DIRECTION PAR RADIO; RADIO-NAVIGATION; DÉTERMINATION DE LA DISTANCE OU DE LA VITESSE EN UTILISANT DES ONDES RADIO; LOCALISATION OU DÉTECTION DE LA PRÉSENCE EN UTILISANT LA RÉFLEXION OU LA RERADIATION D'ONDES RADIO; DISPOSITIONS ANALOGUES UTILISANT D'AUTRES ONDES - Détails des systèmes correspondant aux groupes , , de systèmes selon le groupe
G05D 1/02 - Commande de la position ou du cap par référence à un système à deux dimensions
88.
METHOD AND DEVICE FOR OPTICAL DISTANCE MEASUREMENT
The invention relates to a method (100) for optical distance measurement which comprises carrying out (101) at least one measurement, a measurement comprising emitting (102) measurement pulses by means of a transmission unit (11) and receiving (103) measurement pulses reflected by an object by means of a receiver unit (12) to identify (104) objects within a field of view (16) of the receiver unit (12), the receiver unit (12) comprising receiver elements. The method (100) further comprises receiving (105) a background signal by means of the receiver elements. An intensity (21) of the background signal is determined (106) for each receiver element, wherein the determined intensities (21) of the background signal of the receiver elements are compared (109) in order to identify (111) objects not identified by means of the measurement within the field of view (16) of the receiver unit (12). At least one region (22) of minimal intensity of the background signal is established (110) within an intensity image (20) of the field of view (16) of the receiver unit (12), the at least one region (22) of minimal intensity being assigned (112) a masking (19) in the field of view (16) of the receiver unit (12), the masking (19) originating from an object (18) not identified by means of the measurement.
G01S 17/10 - Systèmes déterminant les données relatives à la position d'une cible pour mesurer la distance uniquement utilisant la transmission d'ondes à modulation d'impulsion interrompues
89.
METHOD AND DEVICE FOR OPTICAL DISTANCE MEASUREMENT
A method (100) for optical distance measurement is proposed which comprises the emission (101) of a plurality of measurement pulses (22), the reflection (102) of emitted measurement pulses (22) at at least one object and the receipt (103) of reflected measurement pulses (22). A sequence (20) of measurement pulses (22) is emitted, wherein the sequence (20) comprises temporal pulse spacings (24) between temporally successive measurement pulses (22), and wherein each measurement pulse (22) of the sequence (20) has a temporal pulse width (23) of T(Pulse). The pulse spacings (24) form a first set, wherein the first set is defined by IT(delay)+i*T(Pulse): i is an element of the natural numbers between 0 and wherein for all values of i it holds that: T(delay)+i*T(Pulse) < (2T(delay)+2T(Pulse)), wherein the first set only comprises one element for all values of i between 0 and j, respectively, and wherein T(delay) defines a pulse spacing base unit (25).
G01S 17/10 - Systèmes déterminant les données relatives à la position d'une cible pour mesurer la distance uniquement utilisant la transmission d'ondes à modulation d'impulsion interrompues
90.
METHOD AND DEVICE FOR OPTICAL DISTANCE MEASUREMENT
A method (100) for optical distance measurement is proposed, which comprises emitting (101) a plurality of measurement pulses (13), reflecting (103) emitted measurement pulses on at least one object (20) within a measurement range (17) with a length (17a) and receiving (104) reflected measurement pulses (13). N subsets of measurement pulses (13) are emitted (102), wherein each subset comprises a constant pulse interval. The constant pulse interval of different subsets is different, wherein the least common multiple of the constant pulse intervals of the N subsets corresponds to at least twice the length (17a) of the measurement range (17).
G01S 17/10 - Systèmes déterminant les données relatives à la position d'une cible pour mesurer la distance uniquement utilisant la transmission d'ondes à modulation d'impulsion interrompues
91.
Method and device for optical distance measurement
A method for optical distance measurement is provided, which comprises emitting a plurality of measurement pulses, reflecting emitted measurement pulses on at least one object within a measurement range with a length and receiving reflected measurement pulses. N subsets of measurement pulses are emitted, wherein each subset comprises a constant pulse interval. The constant pulse interval of different subsets is different, wherein the least common multiple of the constant pulse intervals of the N subsets corresponds to at least twice the length of the measurement range.
G01S 17/10 - Systèmes déterminant les données relatives à la position d'une cible pour mesurer la distance uniquement utilisant la transmission d'ondes à modulation d'impulsion interrompues
An angular velocity correcting optical device receives a sinusoidally swept input light beam and outputs a non-sinusoidally swept output beam. The output beam may have a constant angular velocity. The output beam may have a constant pitch on a target surface for a constant periodicity pulsed light beam. Optical surfaces may be freeform surfaces specified by polynomials.
G02B 26/08 - Dispositifs ou dispositions optiques pour la commande de la lumière utilisant des éléments optiques mobiles ou déformables pour commander la direction de la lumière
Laser light pulses of at least two different wavelengths are reflected off a scanning mirror. A first time-of-flight distance measurement circuit receives reflected light pulses of a first wavelength and determines distances. A second time-of-flight distance measurement circuit receives reflected light pulses of a second wavelength and determines distances. The timing of transmission of laser light pulses of differing wavelengths are adjusted, and the data buffering of converted return pulses are adjusted, to compensate for laser light source misalignment.
G01S 7/00 - DÉTERMINATION DE LA DIRECTION PAR RADIO; RADIO-NAVIGATION; DÉTERMINATION DE LA DISTANCE OU DE LA VITESSE EN UTILISANT DES ONDES RADIO; LOCALISATION OU DÉTECTION DE LA PRÉSENCE EN UTILISANT LA RÉFLEXION OU LA RERADIATION D'ONDES RADIO; DISPOSITIONS ANALOGUES UTILISANT D'AUTRES ONDES - Détails des systèmes correspondant aux groupes , ,
G01S 17/89 - Systèmes lidar, spécialement adaptés pour des applications spécifiques pour la cartographie ou l'imagerie
G01S 7/481 - Caractéristiques de structure, p.ex. agencements d'éléments optiques
G01S 7/4863 - Réseaux des détecteurs, p.ex. portes de transfert de charge
G01S 7/4865 - Mesure du temps de retard, p.ex. mesure du temps de vol ou de l'heure d'arrivée ou détermination de la position exacte d'un pic
G01S 17/10 - Systèmes déterminant les données relatives à la position d'une cible pour mesurer la distance uniquement utilisant la transmission d'ondes à modulation d'impulsion interrompues
Laser scanning devices and methods are described that provide for improved touch detection. The laser scanning devices and methods determine if an object is touching a touch surface by determining if a halo region having corresponding locally high amplitude signals is proximate to the object. The presence of such a halo region can confirm that the object is touching surface and not just hovering above the surface. Furthermore, the presence of the halo region can confirm object touching even for objects having significantly different sizes. As one example, the determined presence of the halo region can be used to reliably determine that a human finger is touching the surface even though human fingers can have significantly different sizes.
G06F 3/042 - Numériseurs, p.ex. pour des écrans ou des pavés tactiles, caractérisés par les moyens de transduction par des moyens opto-électroniques
G09G 3/02 - Dispositions ou circuits de commande présentant un intérêt uniquement pour l'affichage utilisant des moyens de visualisation autres que les tubes à rayons cathodiques par traçage ou balayage d'un faisceau lumineux sur un écran
G01S 17/42 - Mesure simultanée de la distance et d'autres coordonnées
G01S 17/10 - Systèmes déterminant les données relatives à la position d'une cible pour mesurer la distance uniquement utilisant la transmission d'ondes à modulation d'impulsion interrompues
G06F 1/16 - TRAITEMENT ÉLECTRIQUE DE DONNÉES NUMÉRIQUES - Détails non couverts par les groupes et - Détails ou dispositions de structure
H04N 9/31 - Dispositifs de projection pour la présentation d'images en couleurs
H04N 3/08 - TRANSMISSION D'IMAGES, p.ex. TÉLÉVISION - Détails des dispositifs de balayage des systèmes de télévision; Leur combinaison avec la production des tensions d'alimentation par des moyens optiques-mécaniques uniquement comportant un réflecteur mobile
G09G 3/34 - Dispositions ou circuits de commande présentant un intérêt uniquement pour l'affichage utilisant des moyens de visualisation autres que les tubes à rayons cathodiques pour la présentation d'un ensemble de plusieurs caractères, p.ex. d'une page, en composant l'ensemble par combinaison d'éléments individuels disposés en matrice en commandant la lumière provenant d'une source indépendante
A scanning light detection and ranging (LIDAR) system includes a scanning apparatus that scans laser light pulses sinusoidally in a vertical direction, and quasi-statically through angular extents in a horizontal direction. Multiple light sensors, each with a substantially nonoverlapping field of view, are multiplexed during the scan of the laser light pulses. Multiple scanning LIDAR systems may be combined to increase the effective horizontal angular extents.
G01S 7/48 - DÉTERMINATION DE LA DIRECTION PAR RADIO; RADIO-NAVIGATION; DÉTERMINATION DE LA DISTANCE OU DE LA VITESSE EN UTILISANT DES ONDES RADIO; LOCALISATION OU DÉTECTION DE LA PRÉSENCE EN UTILISANT LA RÉFLEXION OU LA RERADIATION D'ONDES RADIO; DISPOSITIONS ANALOGUES UTILISANT D'AUTRES ONDES - Détails des systèmes correspondant aux groupes , , de systèmes selon le groupe
G01S 7/4863 - Réseaux des détecteurs, p.ex. portes de transfert de charge
G01S 7/481 - Caractéristiques de structure, p.ex. agencements d'éléments optiques
G01S 17/89 - Systèmes lidar, spécialement adaptés pour des applications spécifiques pour la cartographie ou l'imagerie
The invention relates to a LIDAR measuring system (10) comprising an emitter element (18), a sensor element (28), and an optical element (30). The emitter element (18) emit laser light of a first wavelength (22a), said laser light striking the LIDAR measuring system (10) after being reflected on an object (24), wherein the incident laser light passes through the optical element (30) and strikes the sensor element (28), and the LIDAR measuring system (10) is equipped with a wavelength converter (36) which converts the first wavelength (22a) of the laser light into a second wavelength (22b) such that the laser light strikes the sensor element (28) with the second wavelength (22b). When using a wavelength of approximately 1,500 nm, the transmission power can be selected so as to be ten to twenty times greater than the transmission power for a wavelength of 950 nm for example. Although the wavelength converter has an efficiency of approximately 20%, this leads to an increase of the incident power on the sensor element by a factor of two to four. Thus, the detection of objects is improved. In an advantageous embodiment, the wavelength converter is applied onto the sensor element or onto the sensor chip in the form of a coating.
The invention relates to a method for carrying out a measurement process for a LIDAR measurement system, wherein, during the measurement process, a plurality of essentially identical measurement cycles 60, 62, 64 are performed, wherein a new measurement cycle 62 starts only after the end of the previous measurement cycle 60 and a waiting period ? t 1, ? t 2, the waiting periods ? t 1, ? t 2 of successive measurement cycles 60, 62 being different from one another. The object 32 which is detected by a sensor element at the shown time is within the measurement period t meas. An object 66 is also shown. This object 66 is situated outside the fixed maximum measurement range of the LIDAR measurement system. Furthermore, the object 66 has a reflectivity which causes detection by the sensor element in a subsequent measurement cycle. The laser pulse emitted at the start of the first measurement cycle 60 and reflected at the object 66 is now detected in the second measurement cycle 62. A first waiting period ? t 1 elapses between the end of the first measurement cycle 60 and the start of the second measurement cycle 62. The laser pulse reflected at the object 66 is thus detected at the time T 1. A second waiting period ? t 2 elapses between the end of the second measurement cycle 62 and the start of the third measurement cycle 64. The first waiting period ? t 1 and the second waiting period ? t 2 are different. The laser light which is reflected at the object 66 is thus detected at the time T 2. Ghost objects are no longer identified during evaluation of a histogram.
The invention relates to a method for actuating sensor elements 28 of a receiving chip 26 of a LIDAR measuring system 10 comprising a transmission unit 12 and a receiving unit 14 which are arranged in a focal plane array (FRA) configuration, wherein each plane is arranged in the focal point or on the focal plane of an optical element 16, 18. A sensor element 28 is activated and deactivated during a measurement cycle of a measurement process that comprises multiple measurement cycles. During a first measurement cycle, the sensor element 28 is activated at a first point in time t d , and during a second measurement cycle, the same sensor element 28 is activated at a second point in time t e . The number of sensor elements 28 is greater than the number of emitter elements 24. The sensor elements 28 can be advantageously activated and deactivated individually or at least in groups. Thus, each relevant sensor element 28 of a macrocell can be activated, and the irrelevant sensor elements can be deactivated. A measurement cycle comprises the transmission of the laser pulse 30, the switchover of the sensor groups, and the detection of incident light in the close range, mid-range and far range. The sensor elements 28 detect the incident laser pulse 30, and the triggering of said sensor elements 28 is read by a time to digital converter (TDC) and written into a histogram. The histogram is evaluated in order to ascertain possible objects and the distances thereof. The evaluation of the histogram is problematic if the object 32 is located at a distance which corresponds to the switchover range between the close range and the mid-range and between the mid-range and the far range. According to the invention, the length of the close range and the length of the mid-range as well as the end and beginning thereof, respectively, are delayed over the number of measurement cycles. The points in time of the activation or deactivation of sensor elements can be selected randomly or in a deterministic manner.
A beam combining device combines laser beams and performs speckle reduction of the laser light. Two laser beams are incident on a non-polarizing beam splitter and combined beams are split into two light paths with different optical path lengths. The two light paths may have different geometric path lengths and/or different indices of refraction in the paths to produce the different optical path lengths. One of the light paths is passed through a polarization rotation device and then the two light paths are recombined with a polarizing beam splitter to produce a combined reduced speckle laser beam.
G02B 26/08 - Dispositifs ou dispositions optiques pour la commande de la lumière utilisant des éléments optiques mobiles ou déformables pour commander la direction de la lumière
G02B 27/48 - Systèmes optiques utilisant la granulation produite par laser
G02B 27/10 - Systèmes divisant ou combinant des faisceaux
G02B 27/14 - Systèmes divisant ou combinant des faisceaux fonctionnant uniquement par réflexion
G02B 27/28 - Systèmes ou appareils optiques non prévus dans aucun des groupes , pour polariser
A63F 13/213 - Dispositions d'entrée pour les dispositifs de jeu vidéo caractérisées par leurs capteurs, leurs finalités ou leurs types comprenant des moyens de photo-détection, p.ex. des caméras, des photodiodes ou des cellules infrarouges
G01S 17/10 - Systèmes déterminant les données relatives à la position d'une cible pour mesurer la distance uniquement utilisant la transmission d'ondes à modulation d'impulsion interrompues
100.
Receiver arrangement for the reception of light impulses, lidar module and method for receiving light impulses
A receiver assembly for receiving light pulses, a lidar module containing such a receiver assembly, and a method for receiving light pulses are proposed. There is at least one photosensitive receiver (SPAD) therein, which converts the light pulses into an electric signal. An evaluation circuit is connected to the receiver, which determines a distance between the receiver assembly and at least one object that reflects the light pulses from the electric signal, by means of a time-correlated photon counting with at least one histogram, via a time of flight of the light pulse. The evaluation circuit is configured to reduce the resolution of the distance determination starting at no further than a predetermined distance.
