Lidar sensor and method for using the same

Abstract

The present disclosure generally relates to a laser radar sensor and a method for a laser radar sensor. A laser radar sensor is provided. The laser radar sensor includes an optical transmitter, which, when operating in a first operating mode, is configured to illuminate a first sub-area of ​​a field of view for one-dimensionally scanning an environment in the field of view. When operating in a second operating mode, the optical transmitter is configured to illuminate a second sub-area of ​​the field of view for scanning an environment in a portion of the field of view. The second illumination intensity used to illuminate the second sub-area is higher than the first illumination intensity used to illuminate the first sub-area. The laser radar sensor also includes an optical receiver, which is configured to receive reflections from the first sub-area and the second sub-area.

Description

Technical Field

[0001] The present disclosure relates to light detection and ranging (LiDAR). In particular, examples relate to LiDAR sensors and methods for LiDAR sensors. Background Art

[0002] Various different LiDAR systems using concepts such as flash LiDAR, 1D scanning LiDAR or 2D scanning LiDAR are available on the market. Each concept has corresponding disadvantages such as low light intensity, low range or low frame rate. Summary of the invention

[0003] Therefore, there may be a need for improved lidar technology.

[0004] This need may be met by the subject matter of the appended claims.

[0005] The example relates to a lidar sensor. The lidar sensor includes an optical transmitter configured to sequentially illuminate a first sub-area of ​​a field of view for one-dimensionally scanning an environment in the field of view when operating in a first operating mode. When operating in a second operating mode, the optical transmitter is configured to illuminate a second sub-area of ​​the field of view for scanning an environment in a portion of the field of view. The second illumination intensity used to illuminate the second sub-area is higher than the first illumination intensity used to illuminate the first sub-area. The lidar sensor also includes an optical receiver configured to receive reflections from the first sub-area and the second sub-area.

[0006] Another example relates to a method for a lidar sensor. The method includes sequentially illuminating a first sub-area of ​​a field of view in a first operating mode for one-dimensionally scanning an environment in the field of view. In addition, the method includes illuminating a second sub-area of ​​the field of view in a second operating mode for scanning an environment in a portion of the field of view. A second illumination intensity used to illuminate the second sub-area is higher than a first illumination intensity used to illuminate the first sub-area. In addition, the method includes receiving reflections from the first sub-area and the second sub-area.

[0007] The example relates to another lidar sensor including an optical transmitter and an optical receiver. The optical transmitter and the optical receiver are configured to scan an environment in a field of view one-dimensionally when operating in a first operating mode. When operating in a second operating mode, the optical transmitter and the optical receiver are configured to scan an environment in at least a portion of the field of view two-dimensionally.

[0008] Another example relates to another method for a lidar sensor. The method includes scanning an environment in a field of view one-dimensionally in a first operating mode. In addition, the method includes scanning an environment in at least a portion of the field of view two-dimensionally in a second operating mode.

[0009] The example relates to another lidar sensor. The lidar sensor includes a first reflective surface configured to swing around a first rotation axis. In addition, the lidar sensor includes a first light source configured to controllably emit a first light beam onto the first reflective surface via an optical system, so that the first reflective surface emits the first light beam into the environment. The lidar sensor includes a second reflective surface configured to swing around a second rotation axis. In addition, the lidar sensor includes a second light source configured to controllably emit a second light beam onto a second reflective surface, so that the second reflective surface emits the second light beam onto the first reflective surface via the optical system. The first reflective surface is configured to emit the second light beam into the environment.

[0010] The example relates to yet another lidar sensor. The lidar sensor includes a reflective surface configured to swing around a rotation axis. Additionally, the lidar sensor includes a first light source configured to controllably emit a first light beam onto the first reflective surface via an optical system, so that the first reflective surface emits the first light beam into the environment. In addition, the lidar sensor includes a linear array of second light sources, each second light source configured to controllably emit a corresponding second light beam onto the first reflective surface via an optical system, so that the first reflective surface emits the second light beam into the environment.

[0011] Another example relates to a lidar sensor. The lidar sensor includes an optical transmitter configured to illuminate the entire field of view simultaneously when operating in a first operating mode for simultaneously sensing the environment in the entire field of view. When operating in a second operating mode, the optical transmitter is configured to sequentially illuminate sub-areas of the field of view for one-dimensionally scanning the environment in a portion of the field of view. The lidar sensor also includes an optical receiver configured to receive reflections from the environment.

[0012] The example relates to yet another method for a lidar sensor. The method includes simultaneously illuminating the entire field of view in a first operating mode for simultaneously sensing the environment in the entire field of view. In addition, the method includes sequentially illuminating sub-areas of the field of view in a second operating mode for one-dimensionally scanning the environment in portions of the field of view. The method also includes receiving reflections from the environment.

[0013] In addition, the example relates to a lidar sensor, the lidar sensor including a first light source configured to controllably emit light into the entire field of view of the lidar sensor. The lidar sensor also includes a reflective surface configured to swing around a rotation axis, and a second light source configured to controllably emit a light beam onto the reflective surface, so that the reflective surface sequentially emits the light beam into sub-areas of the field of view. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Some examples of apparatus and / or methods will be described below by way of example only and with reference to the accompanying drawings, in which

[0015] Figure 1 A first example of a lidar sensor sensing an environment is shown;

[0016] Figure 2 A second example of a lidar sensor sensing an environment is shown;

[0017] Figure 3 An example of a photodetector for a lidar sensor is shown;

[0018] Figure 4 A third example of a lidar sensor sensing an environment is shown;

[0019] Figure 5 A fourth example of a lidar sensor sensing an environment is shown;

[0020] Figure 6 A fifth example of a lidar sensor is shown;

[0021] Figure 7 A fifth example of a lidar sensor in another operating mode is shown;

[0022] Figure 8 A fifth example of a lidar sensor in yet another mode of operation is shown;

[0023] Fig. 9 A sixth example of a lidar sensor for sensing an environment is shown;

[0024] Fig.10 A seventh example of a lidar sensor for sensing an environment is shown;

[0025] Fig.11 Another photodetector for a lidar sensor is shown;

[0026] Fig.12 An eighth example of a lidar sensor for sensing an environment is shown;

[0027] Fig.13A flow chart showing a first example of a method for a lidar sensor;

[0028] Fig.14 A flow chart showing a second example of a method for a lidar sensor; and

[0029] Fig.15 A flow chart of a third example of a method for a lidar sensor is shown. DETAILED DESCRIPTION

[0030] Various examples will now be described more fully with reference to the accompanying drawings, in which some examples are shown.In the accompanying drawings, the thickness of lines, layers and / or regions may be exaggerated for clarity.

[0031] Therefore, although other examples can have various modifications and alternative forms, some specific examples are shown in the drawings and will be described in detail later. However, this detailed description does not limit other examples to the specific forms described. Other examples can cover all modifications, equivalents and alternatives that fall within the scope of the present disclosure. Throughout the description of the drawings, the same or similar numbers represent the same or similar elements, and when the same or similar functions are provided, they can be implemented in the same or in a modified form.

[0032] It should be understood that when an element refers to being "connected" or "coupled" to another element, the element may be directly connected or coupled or via one or more intermediate elements. If two elements A and B are combined using "or", if not otherwise explicitly or implicitly defined, this will be understood to disclose all possible combinations, i.e., "only A", "only B" and "A and B". Alternative terms for the same combination are "at least one of A and B" or "A and / or B". This also applies to combinations of more than two elements, mutatis mutandis.

[0033] The terms used herein for the purpose of describing a specific example are not intended to limit other examples. Whenever singular forms (such as "one", "an" and "the") are used and only using a single element is neither explicitly nor implicitly defined as mandatory, other examples may also use multiple elements to implement the same function. Similarly, when a function is subsequently described as being implemented using multiple elements, other examples may use a single element or processing entity to implement the same function. It should also be understood that when the terms "include" and / or "comprise" are used, the existence of the features, integers, steps, operations, processes, actions, elements and / or parts described are listed, but the existence or addition of any group of one or more other features, integers, steps, operations, processes, actions, elements, parts and / or them is not excluded.

[0034] Unless otherwise defined, all terms (including technical and scientific terms) are used herein in accordance with the common meaning of the art to which their examples belong.

[0035] Figure 1 An example of a lidar sensor 100 is shown for sensing an environment 190. The lidar sensor 100 includes an optical transmitter 110 and an optical receiver 120. The lidar sensor 100 presents a field of view 105 that defines the extent of the environment 190 that can be observed by the lidar sensor 100 at a given moment.

[0036] The lidar sensor 100 (and in particular the optical transmitter 110 ) can operate in two different operating modes.

[0037] When operating in the first operating mode, the optical emitter 110 is configured to (exclusively) sequentially illuminate a first sub-area 101-1, ..., 101-N in the field of view 105 for one-dimensionally scanning the environment 190 in the field of view 105. Figure 1 , the first sub-regions 101-1, ..., 101-N are elongated sub-regions of the field of view 105 extending orthogonally to the horizontal axis (i.e., the first sub-regions 101-1, ..., 101-N extend substantially in the vertical direction). In other words, the lidar sensor 100 is configured to scan the field of view 105 one-dimensionally along the horizontal axis.

[0038] For example, the optical emitter 110 may be configured to selectively emit a first (pulsed) light beam into a first sub-region 101-1, ..., 101-N of the field of view 105 for one-dimensionally scanning the environment 190 in the field of view 105. Figure 1 An exemplary illumination of a first sub-region 101 -I among a plurality of first sub-regions 101 -1, ..., 101 -N by a first light beam 111 -I is shown in FIG.

[0039] However, the lidar sensor 100 is not limited to scanning the field of view 105 one-dimensionally along the horizontal axis. In general, the lidar sensor 100 can be configured to scan the field of view 105 one-dimensionally along any desired (predetermined) axis. For example, the lidar sensor 100 can be configured to scan the field of view 105 one-dimensionally along the vertical axis. Thus, the first sub-region can be an elongated sub-region of the field of view 105 that extends orthogonally to the vertical axis (i.e., the first sub-region can extend substantially in the horizontal direction).

[0040] For illuminating the first sub-regions 101 - 1 , . . . , 101 -N, the first light beams may have a substantially rectangular cross-section in a plane orthogonal to their respective beam directions (ie the first light beams may be line-shaped or strip-shaped).

[0041] The optical receiver 120 is configured to receive reflections from the first sub-areas 101-1, ..., 101-N after they are illuminated by the optical transmitter 110. For example, the optical receiver 120 may include a photodetector (not shown) configured to receive reflections of the first light beam from the environment 190. The photodetector may be, for example, a two-dimensional array of photosensitive sensor elements. In other words, the photosensitive sensor elements may be arranged along two different (e.g., orthogonal) spatial directions. For example, the photosensitive sensor elements may be photodiodes, avalanche photodiodes (APDs), single photon avalanche diodes (SPADs), or single photon avalanche diode arrays (SIPMs) as silicon photomultipliers.

[0042] If an object is located at the position of the illuminated first sub-area 101-I in the environment 190, the object will reflect the first light beam 111-I back to the lidar sensor 100. The reflection 111-I' is received by the photodetector of the optical receiver 120. Based on the illumination time of the first sub-area 101-I and the reception time of the reflection 111-I' reflected from the illuminated first sub-area 101-I, the distance from the lidar sensor 100 to the object located at the position of the illuminated first sub-area 101-1 in the environment 190 can be determined. In other words, the distance to the object can be determined by a time of flight (ToF) measurement. For example, a processing circuit (not shown) of the lidar sensor 100 or an external processing circuit can be coupled to the optical transmitter 110 and the optical receiver 120 for determining the distance to the object.

[0043] When operating in the second operating mode, the optical emitter 110 is configured to sequentially illuminate second sub-regions 102-1, ..., 102-N of the field of view 105 for scanning the environment 190 in a portion 106 of the field of view 105. The portion 106 of the field of view 105 is smaller than the entire field of view 105 and thus covers only a portion of the entire field of view 105. To illuminate the second sub-regions 102-1, ..., 102-N, the optical emitter 110 uses a second illumination intensity that is higher than a first illumination intensity used by the optical emitter 110 to illuminate the first sub-regions 101-1, ..., 101-N. In other words, the optical emitter 110 uses a higher optical power per unit area to illuminate the second sub-regions 102-1, ..., 102-N than to illuminate the first sub-regions 101-1, ..., 101-N. In some examples, the optical emitter 110 alternatively uses the same illumination intensity but a different wavelength or a different (e.g., lower) beam divergence for illuminating the second sub-regions 102-1, ..., 102-N as compared to illuminating the first sub-regions 101-1, ..., 101-N. Figure 1As shown, the second sub-regions 102-1, ..., 102-N cover a smaller portion of the field of view 150 than the first sub-regions 101-1, ..., 101-N.

[0044] For example, the optical emitter 110 may be configured to selectively emit a second (pulsed) light beam into a second sub-region 102-1, ..., 102-N of the field of view 105 for scanning the portion 106 of the field of view 105. The illumination intensity of the second light beam is higher than the illumination intensity of the first light beam because the optical emitter 110 illuminates the second sub-region 102-1, ..., 102-N with a second illumination intensity that is higher than the first illumination intensity used by the optical emitter 110 to illuminate the first sub-region 101-1, ..., 101-N. Figure 1 An exemplary illumination of a second sub-region 102-I among the plurality of second sub-regions 102-1, ..., 102-N via a second light beam 112-I is shown. Alternatively, the second light beam may exhibit a different wavelength or a different beam divergence than the first light beam.

[0045] exist Figure 1 , the second sub-regions 102-1, ..., 102-N present a circular cross-section. Thus, the second beams may have a substantially circular cross-section in a plane orthogonal to their respective beam directions. However, the optical emitter 110 is not limited to using circular second sub-regions 102-1, ..., 102-N. In general, the sub-regions 102-1, ..., 102-N (and therefore also the second beams) may present any shape / cross-section (e.g., angular, quadratic, elongated, ribbon-like, etc.). However, the cross-section of the second beams in a plane orthogonal to their respective beam directions is smaller than the cross-section of the first beam in a plane orthogonal to their respective beam directions. In some examples, the cross-section of one of the second beams in a plane orthogonal to its beam direction may be, for example, rotated relative to the cross-section of one of the first beams in a plane orthogonal to its beam direction (e.g., the first and second beams may present an elongated shape along orthogonal spatial axes).

[0046] The first light beam and the second light beam may, for example, exhibit different polarizations and / or different wavelengths. For example, the first light beam and the second light beam may be infrared light beams. The first light beam and the second light beam may, for example, be laser beams.

[0047] The optical receiver 120 is also configured to receive reflections from the second sub-areas 102-1, ..., 102-N after their respective illumination by the optical transmitter 110. For example, the photodetector of the optical receiver 120 may be configured to receive reflections of the second light beam from the environment 190. If an object is located at the location of the illuminated second sub-area 102-1 in the environment 190, the object will reflect the second light beam 112-I back to the lidar sensor 100. The reflection 112-I' is received by the photodetector of the optical receiver 120. Similar to what is described above for the first sub-area 101-1, based on the illumination time of the second sub-area 102-1 and the reception time of the reflection 112-I' reflected from the illuminated second sub-area 102-1, the distance to the object located in the environment 190 at the location of the illuminated second sub-area 102-1 may be determined.

[0048] exist Figure 1 , the second sub-areas 102-1, ..., 102-N are arranged two-dimensionally. Therefore, when operating in the second operating mode, the optical emitter 110 can be configured to illuminate the second sub-areas 102-1, ..., 102-N so that the environment 190 in the portion 106 of the field of view 105 is scanned two-dimensionally. In other words, the lidar sensor 100 can scan the environment 190 in the portion 106 of the field of view 105 two-dimensionally. However, the lidar sensor 100 is not limited to scanning the environment 190 two-dimensionally in the second operating mode. In some examples, the second sub-areas 102-1, ..., 102-N can be arranged one-dimensionally, so that the lidar sensor 100 can be configured to scan the environment 190 in the portion 106 of the field of view 105 one-dimensionally when operating in the second operating mode.

[0049] The lidar sensor 100 may allow different sensing conditions to be used to sense the environment. A one-dimensional scan of the field of view 105 using the first sub-areas 101-1, ..., 101-N may allow large or tall objects, such as two people 191 and a person 192 on the side of the road in the environment 190, to be detected at a medium or short distance from the lidar sensor 100. Scanning a portion 106 of the (e.g., two-dimensional) field of view 105 using a smaller second sub-area 102-1, ..., 102-N and a higher illumination intensity may allow small objects (such as a ball 193 in the environment 190) to be detected at a long distance from the lidar sensor 100. Thus, the lidar sensor 100 may provide increased flexibility and increased operability compared to conventional lidar systems.

[0050] When operating in the second operating mode, for example, the optical emitter 110 can be configured to illuminate the second sub-region 102-1, ..., 102-N simultaneously with the first sub-region 101-1, ..., 101-N. That is, the optical emitter 110 can be configured to illuminate the second sub-region 102-1, ..., 102-N in conjunction with the first sub-region 101-1, ..., 101-N. In other words, the optical emitter 110 can be configured to superimpose the illumination of the first sub-region 101-1, ..., 101-N and the illumination of the second sub-region 102-1, ..., 102-N in sequence. Therefore, in the second operating mode, the photodetector of the optical receiver 120 can simultaneously (in parallel) receive reflections from the first sub-region and the second sub-region. This configuration of the second operating mode can achieve a one-dimensional scan of the field of view 105 at a high frame rate, and simultaneously achieve a scan of the portion 106 of the field of view using an increased range and an increased resolution.

[0051] Alternatively, when operating in the second operating mode, the optical emitter 110 can be configured to exclusively illuminate the second sub-region 102-1, ..., 102-N of the field of view 105. In other words, in the second operating mode, the optical emitter 110 can be configured to illuminate only the second sub-region 102-1, ..., 102-N, without illuminating the first sub-region 101-1, ..., 101-N. Therefore, in the second operating mode, the photodetector of the optical receiver 120 can exclusively receive reflections from the second sub-region. In this configuration of the second operating mode, the lidar sensor 100 can enable switching from a one-dimensional scan of the entire field of view 105 to scanning only a portion 106 of the field of view 105 (e.g., two-dimensionally). Therefore, the lidar sensor 100 can switch between a one-dimensional scan of the field of view 105 at a high frame rate and a scan of a portion 106 of the field of view 150 using an increased range and an increased resolution.

[0052] For example, optical transmitter 110 may be configured to switch operation from a first mode of operation to a second mode of operation upon receiving control data indicating an area of ​​interest in environment 190. Lidar sensor 100 may thus be configured to adjust portion 106 of field of view 105 so that portion 106 of field of view 105 (substantially) corresponds to the area of ​​interest. For example, if lidar sensor 100 is used in a vehicle (e.g., a car, truck, or motorcycle), the area of ​​interest may be, for example, Figure 1 The road shown is 194. Figure 1As shown, part 106 of field of view 105 substantially covers road 194. Thus, in the second operating mode, small objects on the road surface (such as ball 193, children or debris) can be detected already at a long distance. Control data can be determined, for example, based on a one-dimensional scan of the environment in the first operating mode. For example, a processing circuit (not shown) of lidar sensor 100 or an external processing circuit (not shown) can generate control data. Alternatively or additionally, control data can be determined, for example, based on measurement data of one or more other sensors (e.g., radar sensor, camera, etc.).

[0053] Figure 2 A more detailed example of a lidar sensor 200 for sensing environment 190 is shown. Figure 1 Compared to the lidar sensor 100 shown in FIG. 1 , the lidar sensor 200 shows more details of the optical transmitter 110 and the optical receiver 120 . Therefore, mainly the differences between the lidar sensor 200 and the lidar sensor 100 will be discussed. For the sake of simplicity, Figure 2 Only one first sub-region 101 -1 and one second sub-region 102 - 2 are shown.

[0054] The optical transmitter 110 of the laser radar sensor 200 includes at least one reflective surface 113, which is used to emit the first light beam 101-I and the second light beam 102-I into the first sub-area 101-I and the second sub-area 102-I. The reflective surface 113 is configured to swing around the rotation axis. That is, the reflective surface 113 rotates from the first end position to the second end position along the first rotation direction around the rotation axis, and vice versa, that is, rotates from the second end position to the first end position along the opposite second rotation direction. For example, the swinging motion of the reflective surface 113 may include rotation in two rotation directions between 2° and 45°. The swinging frequency of the reflective surface 113 around the rotation axis may be adjustable (for example, by the control circuit of the laser radar sensor 200). For example, the reflective surface 113 may swing around the rotation axis at a frequency between 10Hz and 100kHz (for example, 2.5kHz). The reflective surface 113 can be implemented in many different ways. In some examples, the reflective surface 113 may be a MEMS (micro-electromechanical system) mirror.

[0055] The optical receiver 120 of the lidar sensor 200 includes a photodetector 121 implemented as a two-dimensional (or one-dimensional) array of photosensitive sensor elements. In addition, the optical receiver 120 includes an optical system 122 (e.g., including one or more lenses), which is configured to project the reflection 111-I' and the reflection 112-I' onto the photodetector 121.

[0056] Due to the elongated shape along the vertical axis of the first light beam 111-I for illuminating the first sub-region 101-1, the reflection 111-I' reflected from the first sub-region 101-1 also presents an elongated shape along the vertical axis. Therefore, the reflection 111-I' hits the entire column i of photosensor elements at the photodetector 121. The second light beam 112-I for illuminating the second sub-region 102-1 presents a smaller cross-section in a plane orthogonal to its beam direction, so that the reflection 112-I' reflected from the second sub-region 102-1 hits only a small number of photosensor elements (e.g., individual photosensor elements) at the photodetector 121. For example, the reflection 112-I' may hit only one photosensor element in the photosensor elements column k, such as Figure 2 shown.

[0057] Each light-sensitive sensor element of the photodetector 121 is only able to receive light from a certain solid angle. To illustrate this, a representation of the light-sensitive sensor elements of the photodetector 121 is placed together with a representation of the environment 190. Figure 2 Bottom. Figure 2 As shown, each light-sensitive sensor element of photodetector 121 is only capable of receiving light from a certain portion of environment 190 .

[0058] Since the solid angles into which the first light beam 111-I and the second light beam 112-I are emitted are known, it is sufficient to observe these solid angles only via the photodetector 121. That is, only those light-sensitive sensor elements of the photodetector 121 can be selectively activated or enabled, which are able to receive light from the solid angles into which the first light beam 111-I and the second light beam 112-I are emitted. Other light-sensitive sensor elements of the photodetector 121 can be selectively deactivated, disabled or disconnected. Thus, power-efficient operation of the optical detector 121 can be enabled. For example, if the first light beam 111-I is emitted, only the light-sensitive sensor elements in column i (and optionally, the light-sensitive sensor elements in one or more adjacent columns) can be activated, because only these light-sensitive sensor elements can receive reflections from the first sub-area 101-I. Similarly, if the second light beam 112-I is emitted, only the light-sensitive sensor elements in column k (and optionally, the light-sensitive sensor elements in one or more adjacent columns) can be activated, since only these light-sensitive sensor elements can receive reflections from the second sub-region 102-I. The selective activation and deactivation of individual light-sensitive sensor elements of the photodetector 121 can be controlled, for example, by a control circuit (not shown) of the lidar sensor 200.

[0059] The (high-resolution) two-dimensional photodetector 121 of the lidar sensor 200 may support one-dimensional scanning in the first operating mode and two-dimensional scanning in the second operating mode.

[0060] Figure 3 A surface of an exemplary photodetector 300 for a lidar sensor according to the proposed technique is shown. The photodetector 300 is implemented as a two-dimensional array of light-sensitive sensor elements.

[0061] Further shown are two reflections 111-1' and 111-N' of a first light beam for one-dimensionally scanning the environment in the field of view (as in the first operating mode described above). The two shown reflections 111-1' and 111-N' are the reflections of the first and last beams of the sequence of first light beams. Figure 3 As shown, as the sequence passes through, the reflection of the first light beam hits the photodetector 300 at different positions along the horizontal axis. In other words, as the sequence passes through, the reflection of the first light beam hits a changing column of light-sensitive sensor elements. A one-dimensional scan of the environment along the horizontal axis can allow high horizontal resolution at a high frame rate.

[0062] In addition, three reflections 112-I', 112-K' and 112-M' of a second light beam for two-dimensionally scanning the environment of a portion of the field of view (eg, as described above in the second mode of operation) are shown. Figure 3 In the middle, the movement along the horizontal axis and the movement along the vertical axis are indicated by line 301. Due to the smaller cross-section of the second light beam compared to the first light beam, the reflection of the second light beam hits only a single photosensitive sensor element of the photodetector 300. Compared to one-dimensional scanning, two-dimensional scanning can provide high vertical resolution. Because the optical intensity of the second light beam is higher than the optical intensity of the first light beam, two-dimensional scanning can enable the range of object detection in the environment to be increased.

[0063] Therefore, the lidar sensor according to the proposed technology can achieve high vertical resolution and horizontal resolution, that is, high resolution in two orthogonal directions. As mentioned above, two-dimensional scanning is optional. The lidar sensor according to the proposed technology can operate only in one-dimensional scanning mode.

[0064] Figure 4 Another example of a lidar sensor 400 is shown, which shows more structural details than the lidar sensor described above. In addition, the lidar sensor 400 includes an optical transmitter 110 and an optical receiver 120.

[0065] The optical transmitter 110 includes two light sources 131 and 132 for generating a first light beam and a second light beam. For example, the two light sources 131 and 132 may be laser diodes (e.g., edge-emitting laser diodes). The first light beam and the second light beam may, for example, exhibit different polarizations and / or different wavelengths. In addition, the optical transmitter 110 includes a first reflective surface 133 (e.g., a MEMS mirror), which is configured to swing around a first rotation axis. Alternatively, a rotating or turning reflective surface may be used instead of a swinging reflective surface (including quasi-static movement of the reflective surface).

[0066] The first light source 131 is configured to controllably emit a first light beam onto the first reflective surface 133 via the optical system 135, so that the first reflective surface 133 emits the first light beam into a first sub-region of the field of view. Figure 4 1 is exemplarily shown for the first light beam 111-I. The first light beam 111-I is emitted onto the first reflective surface 133 via the system 135, so that the first reflective surface 133 emits (deflects) the first light beam 111-I into the first sub-region 101-I of the lidar sensor. In some examples, the optical system 135 can be omitted so that the first light source 131 directly emits the first light beam onto the first reflective surface 133.

[0067] The optical transmitter 110 additionally includes a second reflective surface 134 (e.g., a MEMS mirror), which is configured to swing around a second rotation axis (which is different from the first rotation axis). The first rotation axis and the second rotation axis are arranged at an angle relative to each other, wherein the angle is different from 0° and 180°. For example, the first rotation axis can be orthogonal to the second rotation axis. In other words, the reflective surface 133 and the reflective surface 134 can swing around orthogonal rotation axes.

[0068] The second light source 132 is configured to controllably emit a second light beam onto the second reflective surface 134, so that the second reflective surface 134 emits (deflects) the second light beam onto the first reflective surface 133 via the optical system 135. The first reflective surface 133 is configured to emit (deflect) the second light beam into a second sub-area of ​​the field of view. Figure 4 1 is exemplarily shown for the first light beam 112-I. The second light beam 112-I is emitted onto the second reflective surface 134, so that the second reflective surface 134 emits the second light beam 112-I onto the first reflective surface 133 via the optical system 135, and the first reflective surface 133 in turn emits the second light beam 112-I into the second sub-region 102-I of the field of view of the lidar sensor.

[0069] Because the reflective surface 133 and the reflective surface 134 swing around the differently aligned (e.g., orthogonal) rotation axes, the second light beam can be emitted to the environment in a two-dimensional pattern. In particular, the reflective surface 133 and the reflective surface 134 can allow the beam direction of the second light beam to be adjusted along two different spatial axes (e.g., two orthogonal spatial axes). In other words, the second light beam can achieve a two-dimensional scan of the environment.

[0070] For example, the control circuit (not shown) of the lidar sensor 400 can be configured to control the emission time of the first light source 131 and the second light source 132 so that the first reflective surface 133 and the second reflective surface 134 emit the first light beam and the second light beam to the environment as described above.

[0071] The optical system 135 includes an optical element 136, which is configured to receive the second light beam from the second reflection 134 and reflect the second light beam onto the first reflective surface 133. In addition, the optical element 136 is optically transparent to the first light beam, so that the first light beam emitted by the first light source 131 is transmitted to the first reflective surface 133 through the optical element 136. For example, if the first light beam and the second light beam exhibit different polarizations, the optical element 136 can be a polarization beam splitter (e.g., a mirror). Alternatively, if the first light beam and the second light beam exhibit different wavelengths, the optical element 136 can be wavelength-sensitive according to its reflectivity and transmission properties.

[0072] The optical system 135 additionally includes an optical lens system 137, which is arranged between both the first reflective surface 133 and the second reflective surface 134 and the optical element 136. In an alternative example, the optical lens system 137 may be arranged between only one of the first reflective surface 133 and the second reflective surface 134 and the optical element 136. The optical lens system 137 acts as a relay optics, which enables a small distance between the two reflective surfaces 133 and 134. For example, the distance between the first reflective surface 133 and the second reflective surface 134 may be (substantially) equal to the diameter or longitudinal extension of one of the first reflective surface 133 and the second reflective surface 134. In some examples, the distance between the first reflective surface 133 and the second reflective surface 134 may be smaller than the diameter or longitudinal extension of one of the first reflective surface 133 and the second reflective surface 134. Due to the small distance between the two reflective surfaces 133 and 134, the reflective surface 133 and the reflective surface 134 (for example, implemented as a MEMS mirror) can be arranged in the same semiconductor package. Alternatively, the reflective surface 133 and the reflective surface 134 (for example, implemented as a MEMS mirror) can be arranged in two separate semiconductor packages.

[0073] exist Figure 4 In the example of , an object 195 is present in the environment at the location of the first sub-area 101-I and the second sub-area 102-I. Therefore, the first light beam 111-I and the second light beam 112-I are reflected back to the lidar sensor 400. The reflections 111-I' and 112-I' are sensed by the optical receiver 120 of the lidar sensor. In particular, the optical system 122 (e.g., including one or more lenses) of the optical receiver 120 is configured to project the reflections 111-I' and 112-I' onto the photodetector 121. The photodetector 121 is again implemented as a two-dimensional array of light-sensitive sensor elements.

[0074] The individual light sensitive sensor elements may be read out by the readout circuit 123. The reception times of the individual reflections from the illuminated sub-area of ​​the field of view may be determined based on the readout signals provided by the readout circuit 123. Together with the emission times of the first light source 131 and the second light source 132 associated with the first and second light beams, the distance of the lidar sensor 400 to the object 195 may be determined.

[0075] The lidar sensor 400 may allow one-dimensional scanning and optional two-dimensional scanning of the environment according to the proposed lidar technology. The lidar sensor 400 may further enable increasing the illumination intensity in a portion of the lidar sensor's field of view without adjusting the relay optics (optical system 135) in terms of, for example, divergence, focusing, etc. The setup of the relay optics (optical system 135) is the same (unchanged) for both operating modes.

[0076] Figure 5 A lidar sensor 500 is shown using an alternative structure for the optical transmitter 110. Figure 4 Compared to the illustrated lidar sensor 400 , the lidar sensor 500 merely uses a different structure for the optical transmitter 110 . Therefore, it mainly concerns the differences of the lidar sensor 500 compared to the lidar sensor 400 .

[0077] Instead of using two reflective surfaces, the laser radar sensor 500 uses only one reflective surface 138 and a linear array of second light sources 139 for generating a second light beam. The reflective surface 138 is configured to swing around the axis of rotation. The linear array of the second light sources 139 is arranged along a spatial axis, which in turn is arranged at an angle different from 0° and 180° relative to the axis of rotation. For example, the linear array of the second light sources 139 can be arranged along a spatial axis orthogonal to the axis of rotation.

[0078] As in lidar sensor 400, first light source 131 is configured to controllably emit a first light beam onto reflective surface 138 via optical system 135, such that reflective surface 138 emits the first light beam into a first sub-region of the field of view. This is again shown for first light beam 111-I.

[0079] Each second light source of the linear array of second light sources 139 is configured to controllably emit a corresponding second light beam onto the reflective surface 138 via the optical system 135, so that the reflective surface 138 emits the second light beam into a second sub-region of the field of view. Figure 5 1 is exemplarily illustrated for the second light beam 112-I. The second light source 139-D is selectively activated (e.g., by the control circuit of the lidar sensor 500) so that the second light beam 112-I is emitted by the second light source 139-D via the optical system 135 onto the reflective surface 138. The reflective surface 138 then emits the second light beam 112-I into the second sub-region 102-1 of the field of view of the lidar sensor.

[0080] Instead of using a second reflector to change the position where the second light beam is projected onto the reflective surface 138, the lidar sensor 500 selectively activates different light sources in the linear array of second light sources 139 to change the projection position of the second light beam on the reflective surface 138. One or more second light sources in the linear array of second light sources 139 may be selectively activated at one time.

[0081] For example, the control circuit (not shown) of the lidar sensor 500 can be configured to control the emission time of individual second light sources of the linear array of first light sources and second light sources 139 so that the first reflective surface 138 emits the first light beam and the second light beam to the environment as described above.

[0082] The optical system 135 is substantially the same as described above. The optical system 135 includes an optical element 136, which is configured to receive a second light beam from a linear array of second light sources 139 and reflect the second light beam onto a reflective surface 138. Likewise, the optical element 136 is optically transparent to the first light beam, so that the first light beam emitted by the first light source 131 is transmitted through the optical element 136 to the reflective surface 138.

[0083] In addition, optical system 135 includes an optical lens system 137 disposed between both reflective surface 138 and the linear array of second light sources 139 and optical element 136. In an alternative example, optical lens system 137 may be disposed between only one of reflective surface 138 and the linear array of second light sources 139 and optical element 136. Optical lens system 137 serves as relay optics.

[0084] Furthermore, the lidar sensor 500 may allow one-dimensional scanning and optionally two-dimensional scanning of the environment according to the proposed lidar technology. Furthermore, the lidar sensor 500 may enable increasing the illumination intensity in a portion of the lidar sensor's field of view without adjusting the relay optics (optical system 135) in terms of, for example, divergence, focusing, etc. The setup of the relay optics (optical system 135) is the same (unchanged) for both operating modes.

[0085] Another example of a lidar sensor 600 showing more structural details of the optical transmitter will be described below in conjunction with Figures 6 to 8 is described. Figures 6 to 8 Only the optical transmitter of the lidar sensor 600 is shown. Figure 6 The lidar sensor 600 is shown when operating in a first operating mode, ie, the lidar sensor 600 performs only a one-dimensional scan.

[0086] The first light source 131 (eg, an edge emitting laser diode) is configured to emit a first light beam. Figure 6 The second light source 132 and the second reflective surface 134 are not active (disabled).

[0087] The first optical projection system 140 is used to project the first light beam onto the optical element 136 of the optical system 135. The optical system 135 is arranged between the first reflective surface 133 and the first light source 131. Figure 6 As shown, the first optical projection system 140 may, for example, include three optical lenses for adjusting the shape (e.g., cross-section) of the first light beams and focusing them onto the optical element 136. As described above, the first light beams are transmitted through the optical element 136 and pass through the optical lens system 137. The optical lens system 137 collimates the first light beams and projects them onto the first reflective surface 133 so that they are emitted to the first sub-region of the field of view.

[0088] Figure 6 Further shown is a second optical system 150 which is used to collimate and project a second light beam of the second light source 132 onto a second reflective surface. Figure 7 Further illustrated is the lidar sensor 600 when operating in a second operating mode, wherein the lidar sensor 600 performs only two-dimensional scanning.

[0089] Therefore, the second light source 132 (eg, an edge emitting laser diode) is configured to emit a second light beam. Figure 7 1 is exemplarily described for the second light beam 112 -I. The first light source 131 is not active.

[0090] The second optical system 150 is used to collimate and adjust the shape (eg, cross section) of the second light beam. In addition, the second optical system 150 is used to project (focus) the second light beam onto the second reflective surface 134. Figure 7 As shown, the second optical projection system 150 may, for example, include two optical lenses 151 and an optical lens 152 for collimating the second light beam and an aperture for adjusting the shape of the collimated second light beam.

[0091] The second reflective surface 134 deflects the second light beams via an optical lens system 137 onto an optical element 136 of an optical system 135. The optical element 136 reflects the second light beams via the optical lens system 137 onto the first reflective surface 133 so that they are emitted to a second sub-region of the field of view.

[0092] As described above, the lidar sensor according to the proposed technology can achieve superposition of one-dimensional scanning and two-dimensional scanning in the second operation mode. Figure 8 The lidar sensor 600 is further shown when operating in a second operating mode, wherein the lidar sensor 600 performs a one-dimensional scan and a two-dimensional scan in parallel (ie, simultaneously).

[0093] Light sources 131 and 132 and both reflective surfaces 133 and 134 are active. Thus, a first light beam sequentially illuminates a first sub-region of the field of view of the lidar sensor for scanning the environment in the field of view in one dimension. At the same time, a second light beam sequentially illuminates a second sub-region of the field of view for scanning the environment of a portion of the field of view in two dimensions. This can achieve a one-dimensional scan of the field of view at a high frame rate, and at the same time the scan of a portion of the field of view has an increased range and an increased resolution.

[0094] In general, some examples of the present disclosure relate to a lidar sensor that includes an optical transmitter (for illuminating an environment in a field of view) and an optical receiver (for receiving reflections from the environment in the field of view). The optical transmitter and the optical receiver are configured to (exclusively) scan the environment in the field of view one-dimensionally when operating in a first operating mode. When operating in a second operating mode, the optical transmitter and the optical receiver are configured to scan the environment of at least a portion of the field of view two-dimensionally. For example, when operating in the second operating mode, the optical transmitter and the optical receiver may be configured to scan the environment of at least a portion of the field of view two-dimensionally, (in addition to / simultaneously / in parallel) in combination with scanning the environment in the field of view one-dimensionally. Alternatively, when operating in the second operating mode, the optical transmitter and the optical receiver may be configured to exclusively scan the environment of at least a portion of the field of view two-dimensionally. As described above, the lidar sensor may be configured to switch operation from a first operating mode to a second operating mode upon receiving control data indicating an area of ​​interest in the environment, wherein the portion of the field of view corresponds to the area of ​​interest.

[0095] Fig. 9 Another exemplary lidar sensor 900 is shown for sensing an environment 990. The lidar sensor 900 includes an optical transmitter 910 and an optical receiver 920. The lidar sensor 900 presents a field of view 905.

[0096] Optical transmitter 910 can operate in two different operating modes.

[0097] When operating in the first operating mode, the optical emitter 910 is configured to (exclusively) simultaneously illuminate the entire field of view 905 for simultaneously sensing the environment 990 in the entire field of view. For example, the optical emitter 910 can be configured to selectively emit light 912 into the entire field of view 905 for simultaneously sensing the entire environment 990. Simultaneously illuminating the entire field of view 905 for simultaneously sensing the environment 990 throughout the field of view is also referred to as "flash lidar illumination." For example, a single light beam or multiple light beams can be used to simultaneously illuminate the entire field of view.

[0098] The optical receiver 920 is configured to receive reflections from the environment 990 in the field of view 905 after being illuminated by the optical transmitter 910. For example, the optical receiver 920 may include a photodetector (not shown) configured to receive optical reflections from the environment 990. The photodetector may be, for example, a two-dimensional array of light-sensitive sensor elements.

[0099] Based on the illumination time of the entire field of view 905 and the reception time of the reflection from the environment 990 in the entire field of view 905, the distance from the lidar sensor 900 to the object located in the environment 990 can be determined. For example, the distance to the ball 993 in the environment 990 or two people 991 and 992 on the roadside can be determined simultaneously.

[0100] When operating in the second operating mode, the optical emitter 910 is configured to sequentially illuminate sub-areas 901-1, ..., 901-N of the field of view 905 for one-dimensionally scanning the environment 990 in a portion 906 of the field of view 905. The portion 906 of the field of view 905 is smaller than the entire field of view 905. For example, the optical emitter 910 can be configured to selectively emit (pulsed) light beams into the sub-areas 901-1, ..., 901-N of the field of view 905 for one-dimensionally scanning the portion 906 of the field of view 905. Fig. 9 , an exemplary illumination of a sub-region 901 - 1 , ..., 901 -N among a plurality of sub-regions 901 - 1 , ..., 901 -N via a light beam 911 -I is shown.

[0101] The second illumination intensity used to illuminate the sub-regions 901 - 1 , . . . , 901 -N of the field of view 905 is higher than the first illumination intensity used to illuminate the entire field of view 905 .

[0102] exist Fig. 9 In the example of , sub-regions 901-1, ..., 901-N are elongated sub-regions of the field of view 905 extending orthogonally to the horizontal axis (i.e., sub-regions 901-1, ..., 901-N extend substantially in the vertical direction). In other words, the lidar sensor 900 is configured to scan a portion 906 of the field of view 905 one-dimensionally along the horizontal axis.

[0103] However, the lidar sensor 900 is not limited to scanning the field of view 905 one-dimensionally along a horizontal axis. In general, the lidar sensor 900 can be configured to scan a portion 90 of the field of view 905 one-dimensionally along any desired (predetermined) axis. For example, the lidar sensor 900 can be configured to scan a portion of the field of view 905 one-dimensionally along a vertical axis. Thus, the sub-region can be an elongated sub-region of the field of view 905 that extends orthogonally to the vertical axis (i.e., the sub-region can extend substantially in a horizontal direction). Fig. 9 , an exemplary illumination of a sub-region 901 - 1 , ..., 901 -N among a plurality of sub-regions 901 - 1 , ..., 901 -N via a light beam 911 -I is shown.

[0104] For illuminating the sub-regions 901-1, ..., 901-N, the light beams can have a substantially rectangular cross-section in a plane orthogonal to their respective beam directions (i.e., the light beams can be linear or strip-shaped). However, the optical emitter 910 is not limited to use with rectangular sub-regions 901-1, ..., 901-N. In general, the sub-regions 901-1, ..., 901-N (and therefore, the light beams) can present any cross-section (e.g., angular, quadratic, elongated, ribbon-shaped, etc.).

[0105] The light used to illuminate the entire field of view and the light beam used to illuminate the sub-regions 901-1, ..., 901-N may, for example, exhibit different polarizations and / or different wavelengths. For example, the light and the light beam may be infrared light (beam). The light and the light beam may, for example, be a laser (beam).

[0106] The optical receiver 920 is also configured to receive reflections from the sub-areas 901-1, ..., 901-N after corresponding illumination by the optical transmitter 910. For example, the photodetector of the optical receiver 920 may be configured to receive reflections of a light beam from the environment 990. Similar to what is described above, the distance to an object in the environment 990 located at the location of the illuminated sub-area 901-1 may be determined based on the illumination time of the sub-area 901-1 and the reception time of the reflection 911-I' reflected from the illuminated sub-area 901-1.

[0107] The lidar sensor 900 can allow different sensing conditions to be used to sense the environment. Simultaneous scanning of the entire field of view 905 can allow the environment 990 in the field of view 905 to be scanned at a high frame rate. One-dimensional scanning of the environment using sub-regions can allow portions 906 of the field of view 905 to be scanned along a scan axis (e.g., Fig. 9 The scan of the horizontal axis in the example) has increased range and increased resolution.

[0108] When operating in the second operating mode, the optical emitter 910 can, for example, be configured to illuminate sub-areas 901-1, ..., 901-N of the field of view 905 in combination with simultaneously illuminating the entire field of view 905. In other words, the optical emitter 910 can be configured to superimpose sequential illumination of the sub-areas 901-1, ..., 901-N and simultaneous illumination of the entire field of view 905.

[0109] Thus, the photodetector of optical receiver 920 can simultaneously receive reflections from the entire field of view and sub-regions 901-1, ..., 901-N of field of view 905. This configuration of the second operating mode can enable flash lidar sensing of the entire field of view 905 at a high frame rate, and simultaneously scan a portion 906 of the field of view 905 with increased range and increased resolution.

[0110] For example, optical transmitter 910 may be configured to switch operation from a first mode of operation to a second mode of operation upon receiving control data indicating an area of ​​interest in environment 990. Lidar sensor 900 may be configured to adjust portion 906 of field of view 905 accordingly, such that portion 906 of field of view 905 (substantially) corresponds to the area of ​​interest. For example, if lidar sensor 900 is used in a vehicle, the area of ​​interest may be, for example, Figure 1 Road 994 is shown. Figure 1 As shown, part 906 of field of view 905 substantially covers road 994. Thus, in the second operating mode, objects on the road surface (such as ball 193) can be detected already at a long distance. Control data can be determined, for example, based on flash lidar sensing of the environment in the first operating mode. For example, a processing circuit (not shown) of lidar sensor 900 or an external processing circuit (not shown) can generate control data. Alternatively or additionally, control data can be determined, for example, based on measurement data of one or more other sensors (e.g., radar sensor, camera, etc.).

[0111] Fig.10 A more detailed example of a lidar sensor 1000 for sensing environment 990 is shown. Fig. 9 Compared to the lidar sensor 900 shown in FIG. 1 , lidar sensor 1000 shows more details of optical transmitter 910 and optical receiver 920. Therefore, it mainly relates to the differences of lidar sensor 1000 compared to lidar sensor 900. For simplicity, Fig.10 Only one sub-region 901 -I is shown.

[0112] The optical transmitter 910 of the lidar sensor 1000 comprises a reflective surface 913 for emitting a light beam 911-I to a sub-area 901-I. The reflective surface 913 is configured to oscillate around an axis of rotation.

[0113] In addition, the optical transmitter 910 of the lidar sensor 1000 includes a light source (not shown) for emitting light to illuminate the entire field of view 905.

[0114] The optical receiver 920 of the lidar sensor 1000 includes a photodetector 921 implemented as a two-dimensional array of light-sensitive sensor elements. In addition, the optical receiver 920 includes an optical system 922 (e.g., including one or more lenses) configured to project reflections from the illuminated environment onto the photodetector 921.

[0115] Each light-sensitive sensor element of the photodetector 921 is only able to receive light from a specific solid angle. To illustrate this, a representation of the light-sensitive sensor elements of the photodetector 921 is placed along with a representation of the environment 990. Fig.10 Bottom. It can be seen from the figure that each light-sensitive sensor element of the photodetector 921 is only able to receive light from a certain part of the environment 990.

[0116] Thus, if the entire field of view 905 is illuminated simultaneously, all light-sensitive sensor elements of the photodetector 921 may receive reflections. Since an elongated shape along the vertical axis of the light beam 911-I is used to illuminate the sub-region 901-I, the reflections from the sub-region 901-I also present an elongated shape along the vertical axis. Thus, the reflections hit several light-sensitive sensor elements of the column i of light-sensitive sensor elements at the photodetector 921.

[0117] The two-dimensional (high-resolution) photodetector 921 of the lidar sensor 1000 can support flash lidar sensing in the first operating mode and one-dimensional scanning in the second operating mode.

[0118] Fig.11 A surface of an exemplary photodetector 1100 for a lidar sensor according to the proposed technology is shown. The photodetector 1100 is implemented as a two-dimensional array of light-sensitive sensor elements.

[0119] Since the entire field of view is illuminated simultaneously during flash lidar sensing, all photosensitive sensor elements of the photodetector 1100 receive reflections of the light used for flash lidar sensing.

[0120] Further shown are two reflections 911-1' and 911-N' of the environment for one-dimensionally scanning a portion of the field of view (e.g., as in the second mode of operation described above). The two shown reflections 911-1' and 911-N' are the reflection of the first beam and the reflection of the last beam of the beam sequence. Fig.11 As shown, as the sequence passes through, reflections of the light beams hit the photodetector 1100 at different locations along the horizontal axis. In other words, as the sequence passes through, reflections of the first light beam hit different columns of light sensitive sensor elements. One-dimensional scanning of the environment along the horizontal axis can allow for an increased range of object detection at high horizontal resolution.

[0121] A lidar sensor according to the proposed technology can achieve a high level of resolution and enhanced range for object detection in one-dimensional scanning mode. In addition, an enhanced frame rate can be achieved in the flash lidar sensing mode. The one-dimensional scanning mode is optional. A lidar sensor according to the proposed technology can operate only in the flash lidar sensing mode.

[0122] Fig.12 Another example of a lidar sensor 1200 is shown, showing more structural details than the lidar sensor 900 and lidar sensor 1000 described above. Again, the lidar sensor 1200 includes an optical transmitter 910 and an optical receiver 920.

[0123] The optical emitter 910 includes a first light source 931 configured to controllably emit light 912 into the entire field of view 905. For example, the first light source 931 may include one or more laser diodes (e.g., edge-emitting laser diodes) that emit one or more laser beams and an optical system that illuminates the entire field of view 905 using the one or more laser beams.

[0124] Additionally, the optical transmitter 910 includes a reflective surface 933 (eg, a MEMS mirror) that is configured to oscillate about an axis of rotation.

[0125] The second light source 932 of the optical transmitter 910 is configured to controllably emit a light beam onto the reflective surface 933, so that the reflective surface 933 emits the light beam into a sub-region of the field of view 905. Fig.12 Light beam 911-I is emitted onto reflective surface 933, so that reflective surface 933 emits light beam 911-I into sub-region 901-I of the field of view of the lidar sensor.

[0126] For example, the control circuit (not shown) of the lidar sensor 1200 can be configured to control the emission time of the second light source 932 so that the reflective surface 933 emits a light beam to the environment as described above. Similarly, the control circuit can control the emission time of the first light source 931 for selectively illuminating the entire field of view 905. The light 912 and the light beam 911-I can, for example, exhibit different polarizations and / or different wavelengths.

[0127] exist Fig.12 In the example of , there is an object 995 in the environment at the location of the sub-area 901-I. The light used to illuminate the entire field of view is reflected back to the lidar sensor 1200 by, in particular, the object 995 (indicated by the extensive reflection 912'). In addition, the light beam 111-I is reflected back to the lidar sensor 1200 by the object 995. The reflection 911-I' and the reflection 912' are sensed by the optical receiver 920 of the lidar sensor. In particular, the optical system 922 (e.g., including one or more lenses) of the optical receiver 920 is configured to project the reflection 911-I' and the reflection 912' onto the photodetector 921. The photodetector 921 is again implemented as a two-dimensional array of light-sensitive sensor elements.

[0128] Individual light sensitive sensor elements may be read out by readout circuitry 923. The reception times of individual reflections from the illuminated area of ​​the field of view may be determined based on the readout signals provided by readout circuitry 923. Together with the emission times of first light source 931 and second light source 932 for the light and beams, the distance of lidar sensor 400 to object 995 may be determined.

[0129] The lidar sensor 1200 may allow flash lidar sensing and optional one-dimensional scanning of the environment according to the proposed lidar technology.

[0130] To further explain the operation of the above-mentioned LiDAR sensor, Figures 13 to 15 A flow chart of an exemplary method for a lidar sensor is shown.

[0131] Fig.13 A flow chart of a first exemplary method 1300 for a lidar sensor is shown. The method 1300 includes sequentially illuminating 1302 a first sub-area of ​​a field of view in a first operating mode for one-dimensionally scanning an environment in the field of view. In addition, the method 1300 includes illuminating a second sub-area of ​​the field of view in a second operating mode for scanning an environment in a portion of the field of view. The second illumination intensity for illuminating the second sub-area is higher than the first illumination intensity for illuminating the first sub-area. Additionally, the method 1300 includes receiving 1306 reflections from the first sub-area and the second sub-area.

[0132] Fig.14 A flow chart of a second exemplary method 1400 for a lidar sensor is shown. The method 1400 includes scanning 1402 an environment in a field of view one-dimensionally in a first operating mode. In addition, the method 1400 includes scanning 1404 an environment of at least a portion of the field of view two-dimensionally in a second operating mode.

[0133] Fig.15 A flow chart of a third exemplary method 1500 for a lidar sensor is shown. The method 1500 includes simultaneously illuminating 1502 the entire field of view in a first operating mode for simultaneously sensing the environment in the entire field of view. Additionally, the method 1500 includes sequentially illuminating 1504 sub-areas of the field of view in a second operating mode for one-dimensionally scanning a portion of the environment of the field of view. The method 1500 also includes receiving 1506 reflections from the environment.

[0134] Further details and aspects of methods 1300, 1400, and 1500 are explained in conjunction with the proposed technology or one or more example embodiments described above (eg, Figures 10 to 12 ). The method may include one or more additional optional features corresponding to one or more aspects of the proposed technology or one or more examples described above.

[0135] The example as described herein can be summarized as follows:

[0136] Some examples relate to a lidar sensor. The lidar sensor includes an optical transmitter configured to sequentially illuminate a first sub-area of ​​a field of view when operating in a first operating mode for one-dimensionally scanning an environment in the field of view. When operating in a second operating mode, the optical transmitter is configured to illuminate a second sub-area of ​​the field of view for scanning the environment in a portion of the field of view. The second illumination intensity used to illuminate the second sub-area is higher than the first illumination intensity used to illuminate the first sub-area. The lidar sensor also includes an optical receiver configured to receive reflections from the first sub-area and the second sub-area.

[0137] According to some examples, the second sub-area covers a smaller portion of the field of view than the first sub-area.

[0138] In some examples, when operating in the second operating mode, the optical emitter is configured to illuminate the second sub-region and the first sub-region simultaneously.

[0139] In an alternative example, when operating in the second operating mode, the optical emitter is configured to illuminate exclusively the second sub-area.

[0140] According to some examples, when operating in the second operating mode, the optical emitter is configured to illuminate the second sub-area such that the environment in the portion of the field of view is scanned two-dimensionally.

[0141] In some examples, the optical transmitter is configured to switch operation from a first operating mode to a second operating mode upon receiving control data indicating an area of ​​interest in the environment, wherein the portion of the field of view corresponds to the area of ​​interest.

[0142] According to some examples, the optical transmitter is configured to selectively transmit a first light beam into a first sub-region of the field of view for one-dimensionally scanning an environment in the field of view. In addition, the optical transmitter is configured to selectively transmit a second light beam into a second sub-region of the field of view for scanning a portion of the field of view. The optical intensity of the second light beam is higher than the optical intensity of the first light beam. The optical receiver includes a photodetector configured to receive reflections of the first light beam and the second light beam from the environment.

[0143] In some examples, the photodetector is a two-dimensional array or a one-dimensional array of light-sensitive sensor elements.

[0144] According to some examples, the optical transmitter includes a first reflective surface configured to swing around a first rotation axis, and a first light source configured to controllably emit a first light beam onto the first reflective surface via an optical system, so that the first reflective surface emits the first light beam into a first sub-region of the field of view. The optical transmitter also includes a second reflective surface and a second light source, the second reflective surface configured to swing around a second rotation axis, and the second light source configured to controllably emit a second light beam onto the second reflective surface, so that the second reflective surface emits the second light beam onto the first reflective surface via the optical system. The first reflective surface is configured to emit the second light beam into a second sub-region of the field of view.

[0145] In some examples, the optical system includes an optical element configured to reflect a second light beam received from a second reflective surface onto a first reflective surface, wherein the optical element is optically transparent to the first light beam such that the first light beam emitted by the first light source is transmitted to the first reflective surface via the optical element.

[0146] According to some examples, the optical system further includes an optical lens system disposed between at least one of the first reflective surface and the second reflective surface and the optical element.

[0147] In some examples, the first axis of rotation is orthogonal to the second axis of rotation.

[0148] In an alternative example, the optical transmitter includes a reflective surface configured to oscillate about a rotation axis, and a first light source configured to controllably emit a first light beam onto the reflective surface via an optical system, such that the reflective surface emits the first light beam into a first sub-region of the field of view. The optical transmitter additionally includes a linear array of second light sources, each second light source configured to controllably emit a corresponding second light beam onto the reflective surface via the optical system, such that the reflective surface emits the second light beam into a second sub-region of the field of view.

[0149] According to some examples, the optical system includes an optical element configured to reflect a second light beam received from a linear array of second light sources onto a reflective surface, wherein the optical element is optically transparent to the first light beam such that the first light beam emitted by the first light source is transmitted to the reflective surface via the optical element.

[0150] In some examples, the optical system further includes an optical lens system disposed between at least one of the reflective surface of the second light source and the linear array and the optical element.

[0151] According to some examples, the linear array of second light sources is arranged along a spatial axis orthogonal to the rotation axis.

[0152] In some examples, the first light beam and the second light beam exhibit different polarizations and / or different wavelengths.

[0153] According to some examples, a cross section of one of the second light beams in a plane orthogonal to its beam direction is smaller than a cross section of one of the first light beams in a plane orthogonal to its beam direction.

[0154] In some examples, a cross section of one of the second beams in a plane orthogonal to its beam direction is rotated relative to a cross section of one of the first beams in a plane orthogonal to its beam direction.

[0155] Other examples relate to a method for a lidar sensor. The method includes sequentially illuminating a first sub-area of ​​a field of view in a first operating mode for one-dimensionally scanning an environment in the field of view. In addition, the method includes illuminating a second sub-area of ​​the field of view in a second operating mode for scanning an environment in a portion of the field of view. A second illumination intensity used to illuminate the second sub-area is higher than a first illumination intensity used to illuminate the first sub-area. In addition, the method includes receiving reflections from the first sub-area and the second sub-area.

[0156] Some examples relate to another lidar sensor including an optical transmitter and an optical receiver. The optical transmitter and the optical receiver are configured to scan an environment in a field of view one-dimensionally when operating in a first operating mode. When operating in a second operating mode, the optical transmitter and the optical receiver are configured to scan an environment in at least a portion of the field of view two-dimensionally.

[0157] In some examples, the lidar sensor is configured to switch operation from a first operating mode to a second operating mode upon receiving control data indicating an area of ​​interest in the environment, and wherein the portion of the field of view corresponds to the area of ​​interest.

[0158] According to some examples, when operating in the second operating mode, the optical transmitter and the optical receiver are configured to scan the environment in at least a portion of the field of view two-dimensionally, in combination with scanning the environment in the field of view one-dimensionally.

[0159] In some examples, when operating in the second operating mode, the optical transmitter and the optical receiver are configured to exclusively two-dimensionally scan the environment in at least a portion of the field of view.

[0160] Another example relates to another method for a lidar sensor. The method includes scanning an environment in a field of view one-dimensionally in a first operating mode. In addition, the method includes scanning an environment of at least a portion of the field of view two-dimensionally in a second operating mode.

[0161] Some examples relate to additional lidar sensors. The lidar sensor includes a first reflective surface that is configured to swing around a first axis of rotation. In addition, the lidar sensor includes a first light source that is configured to controllably emit a first light beam onto the first reflective surface via an optical system, so that the first reflective surface emits the first light beam into the environment. The lidar sensor includes a second reflective surface that is configured to swing around a second axis of rotation. Additionally, the lidar sensor includes a second light source that is configured to controllably emit a second light beam onto a second reflective surface, so that the second reflective surface emits the second light beam onto the first reflective surface via the optical system. The first reflective surface is configured to emit the second light beam into the environment.

[0162] According to some examples, the optical system includes an optical element configured to reflect a second light beam received from a second reflective surface to a first reflective surface, wherein the optical element is optically transparent to the first light beam such that the first light beam emitted by a first light source is transmitted to the first reflective surface via the optical element.

[0163] Some examples relate to additional lidar sensors. The lidar sensor includes a reflective surface configured to swing around an axis of rotation. Additionally, the lidar sensor includes a first light source configured to controllably emit a first light beam onto the first reflective surface via an optical system, such that the first reflective surface emits the first light beam into the environment. Furthermore, the lidar sensor includes a linear array of second light sources, each second light source configured to controllably emit a corresponding second light beam onto the first reflective surface via an optical system, such that the first reflective surface emits the second light beam into the environment.

[0164] According to some examples, the optical system includes an optical element configured to reflect a second light beam received from a linear array of second light sources to a reflective surface, wherein the optical element is optically transparent to the first light beam such that the first light beam emitted by the first light source is transmitted to the reflective surface via the optical element.

[0165] Other examples relate to a lidar sensor. The lidar sensor includes an optical transmitter configured to illuminate the entire field of view simultaneously when operating in a first operating mode for simultaneously sensing a sensing environment in the entire field of view. When operating in a second operating mode, the optical transmitter is configured to sequentially illuminate sub-areas of the field of view for one-dimensionally scanning the environment in a portion of the field of view. The lidar sensor also includes an optical receiver configured to receive reflections from the environment.

[0166] In some examples, when operating in the second operating mode, the optical emitters are configured to illuminate sub-regions, combined with simultaneously illuminating the entire field of view.

[0167] According to some examples, the optical transmitter is configured to switch operation from a first operating mode to a second operating mode upon receiving control data indicating an area of ​​interest in the environment, wherein the portion of the field of view corresponds to the area of ​​interest.

[0168] In some examples, the optical transmitter is configured to selectively transmit light into the entire field of view for simultaneously sensing the environment in the entire field of view. In addition, the optical transmitter is configured to selectively transmit the light beam into a sub-region of the field of view for one-dimensionally scanning a portion of the field of view. The optical receiver includes a photodetector configured to receive light from the environment and a reflection of the light beam.

[0169] According to some examples, the photodetector is a two-dimensional array of light-sensitive sensor elements.

[0170] In some examples, the optical emitter includes a first light source configured to controllably emit light into the entire field of view. In addition, the optical emitter includes a reflective surface configured to oscillate about a rotation axis, and a second light source configured to controllably emit a light beam onto the reflective surface such that the reflective surface emits the light beam into a sub-region of the field of view.

[0171] According to some examples, the light and the light beam exhibit different polarizations and / or different wavelengths.

[0172] Some examples relate to another method for a lidar sensor. The method includes simultaneously illuminating the entire field of view in a first operating mode for simultaneously sensing the environment in the entire field of view. In addition, the method includes sequentially illuminating sub-areas of the field of view in a second operating mode for one-dimensionally scanning the environment of a portion of the field of view. The method also includes receiving a reflection from the environment.

[0173] In addition, some examples relate to a lidar sensor that includes a first light source configured to controllably emit light into the entire field of view of the lidar sensor. The lidar sensor further includes a reflective surface configured to swing around an axis of rotation, and a second light source configured to controllably emit a light beam onto the reflective surface such that the reflective surface sequentially emits the light beam into sub-regions of the field of view.

[0174] In some examples, the lidar sensor also includes a photodetector configured to receive light from the environment and reflections of the light beam.

[0175] with one or more of the previously described examples and appendices Figure 1 The aspects and features mentioned and described here may also be combined with one or more other examples in order to replace the same features of another example or in order to additionally introduce features into another example.

[0176] The description and drawings merely illustrate the principles of the present disclosure. In addition, all examples described herein are primarily intended to be used for illustrative purposes only, to help the reader understand the principles of the present disclosure and the concepts contributed by (multiple) inventors to promote the art. All statements describing the principles, aspects and examples of the present disclosure and their specific examples herein are intended to cover their equivalents.

[0177] For example, the block diagrams may show high-level circuit diagrams that implement the principles of the present disclosure.The methods disclosed in the specification or claims may be implemented by a device having means for performing each of the corresponding acts of these methods.

[0178] It should be understood that multiple actions, processes, operations, steps or functions disclosed in the specification or claims may not be interpreted as being in a specific order unless otherwise stated explicitly or implicitly, such as for technical reasons. Therefore, the disclosure of multiple actions or functions will not limit these to a specific order unless these actions or functions are not interchangeable for technical reasons. In addition, in some examples, a single action, function, process, operation or step may include or may be decomposed into multiple sub-processes, sub-functions, sub-processes, sub-operations or sub-steps, respectively. Such sub-actions may be included in the disclosure of the single action and be part of the disclosure of the single action, unless explicitly excluded.

[0179] Furthermore, the appended claims are incorporated into the detailed description in such a way that each claim can stand on its own as a separate example. However, it should be noted that—although a dependent claim may refer to a specific combination with one or more other claims in the claims—other examples may also include combinations of a dependent claim with the subject matter of each other dependent or independent claim. Such combinations are explicitly proposed herein unless it is stated that a specific combination is not intended. Furthermore, it is intended to also include the features of an independent claim of any other independent claim, even if that claim is not directly subordinate to the independent claim.

Claims

1. A laser radar sensor (100), comprising: An optical transmitter (110) configured to: When operating in a first operating mode, sequentially emitting first light beams to sequentially illuminate first sub-regions (101-1, ..., 101-N) of a field of view (105) for one-dimensionally scanning an environment in the field of view (105) and providing horizontal resolution; When operating in a second operating mode, emitting a second light beam to illuminate a second sub-region (102-1, ..., 102-N) of the field of view (105) for two-dimensionally scanning an environment in a portion (106) of the field of view (105) and providing vertical resolution, wherein a second illumination intensity used to illuminate the second sub-region (102-1, ..., 102-N) is higher than a first illumination intensity used to illuminate the first sub-region (101-1, ..., 101-N); an optical receiver (120) configured to receive reflections from the first sub-area and the second sub-area, The cross section of each of the second light beams in a plane orthogonal to the beam direction thereof is smaller than the cross section of each of the first light beams in a plane orthogonal to the beam direction thereof.

2. The lidar sensor (100) according to claim 1, wherein the second sub-area (102-1, ..., 102-N) covers a smaller portion of the field of view (105) than the first sub-area (101-1, ..., 101-N).

3. The laser radar sensor (100) according to claim 1 or 2, wherein: When operating in the second operating mode, the optical emitter (110) is configured to illuminate the second sub-region (102-1, ..., 102-N) and the first sub-region (101-1, ..., 101-N) simultaneously.

4. The laser radar sensor (100) according to claim 1 or 2, wherein: When operating in the second operating mode, the optical emitter (110) is configured to exclusively illuminate the second sub-area (102-1, ..., 102-N).

5. The laser radar sensor (100) according to claim 1 or 2, wherein: When operating in the second operating mode, the optical emitter (110) is configured to illuminate the second sub-area (102-1, ..., 102-N) such that the environment in the portion (106) of the field of view (105) is scanned two-dimensionally.

6. A lidar sensor (100) according to claim 1 or 2, wherein the optical transmitter (110) is configured to switch operation from the first operating mode to the second operating mode upon receiving control data indicating an area of ​​interest in the environment, and wherein the portion (106) of the field of view (105) corresponds to the area of ​​interest.

7. The laser radar sensor (100) according to claim 1 or 2, wherein the optical transmitter (110) is configured as: selectively emitting a first light beam into the first sub-region (101-1, ..., 101-N) of the field of view (105) for one-dimensionally scanning the environment in the field of view (105); and selectively emitting a second light beam into the second sub-region (102-1, ..., 102-N) of the field of view (105) for scanning the portion (106) of the field of view (105), wherein the optical intensity of the second light beam is higher than the optical intensity of the first light beam, The optical receiver (120) comprises a photodetector (121) configured to receive reflections of the first light beam and the second light beam from the environment.

8. The lidar sensor (100) according to claim 7, wherein the photodetector (121) is a two-dimensional array or a one-dimensional array of photosensitive sensor elements.

9. The laser radar sensor (100) according to claim 7, wherein the optical transmitter (110) comprises: a first reflective surface (133) configured to oscillate about a first rotation axis; a first light source (131) configured to controllably emit the first light beam onto the first reflective surface (133) via an optical system (135), such that the first reflective surface (133) emits the first light beam into the first sub-region (101-1, ..., 101-N) of the field of view (105); a second reflective surface (134) configured to oscillate about a second axis of rotation; as well as a second light source (132) configured to controllably emit the second light beam onto the second reflective surface (134), so that the second reflective surface (134) emits the second light beam onto the first reflective surface (133) via the optical system (135), The first reflective surface (133) is configured to emit the second light beam into a second sub-region (102-1, ..., 102-N) of the field of view (105).

10. The lidar sensor (100) according to claim 9, wherein the optical system (135) includes an optical element (136), and the optical element (136) is configured to reflect the second light beam received from the second reflecting surface (134) onto the first reflecting surface (133), wherein the optical element (136) is optically transparent to the first light beam, so that the first light beam emitted by the first light source (131) is transmitted through the optical element (136) to the first reflecting surface (133).

11. The lidar sensor (100) according to claim 10, wherein the optical system (135) further includes an optical lens system (137), and the optical lens system (137) is arranged between at least one of the first and second reflecting surfaces and the optical element (136).

12. The lidar sensor (100) of claim 9, wherein the first rotation axis is orthogonal to the second rotation axis.

13. The laser radar sensor (100) according to claim 7, wherein the optical transmitter (110) comprises: a reflective surface (138) configured to oscillate about an axis of rotation; a first light source (131) configured to controllably emit the first light beam onto the reflective surface (138) via an optical system (135), such that the reflective surface (138) emits the first light beam into the first sub-region (101-1, ..., 101-N) of the field of view (105); as well as A linear array of second light sources (139), each of the second light sources (139) being configured to controllably emit a corresponding second light beam onto the reflective surface (138) via the optical system (135), so that the reflective surface (138) emits the second light beam into the second sub-region (102-1, ..., 102-N) of the field of view (105).

14. The lidar sensor (100) according to claim 13, wherein the optical system (135) includes an optical element (136), and the optical element (136) is configured to reflect the second light beam received from the linear array of the second light sources to the reflective surface (138), wherein the optical element (136) is optically transparent to the first light beam, so that the first light beam emitted by the first light source (131) is transmitted through the optical element (136) to the reflective surface (138).

15. The lidar sensor (100) of claim 14, wherein the optical system (135) further comprises an optical lens system (137), the optical lens system (137) being arranged between the reflective surface (138) and at least one of the linear arrays of the second light source and the optical element (136).

16. The lidar sensor (100) according to claim 13, wherein the linear array of second light sources is arranged along a spatial axis orthogonal to the rotation axis.

17. The lidar sensor (100) according to claim 7, wherein the first light beam and the second light beam exhibit different polarizations and / or different wavelengths.

18. The lidar sensor (100) according to claim 7, wherein a cross-section of one of the second beams in a plane orthogonal to its beam direction is rotated relative to a cross-section of one of the first beams in a plane orthogonal to its beam direction.

19. A method (1300) for a laser radar sensor, comprising: sequentially emitting first light beams in a first operating mode to sequentially illuminate (1302) a first sub-region of a field of view for one-dimensionally scanning an environment in the field of view and providing horizontal resolution; emitting a second light beam in a second operating mode to illuminate (1304) a second sub-region of the field of view for two-dimensionally scanning an environment in a portion of the field of view and providing vertical resolution, wherein a second illumination intensity used to illuminate the second sub-region is higher than a first illumination intensity used to illuminate the first sub-region; as well as receiving (1306) reflections from the first sub-area and the second sub-area, The cross section of each of the second light beams in a plane orthogonal to the beam direction thereof is smaller than the cross section of each of the first light beams in a plane orthogonal to the beam direction thereof.

20. A laser radar sensor (100), comprising an optical transmitter (110) and an optical receiver (120), wherein the optical transmitter (110) and the optical receiver (120) are configured to: When operating in a first operating mode, scanning the environment in a field of view (105) one-dimensionally with a first light beam and providing horizontal resolution, such that the field of view is exclusively scanned during the first operating mode; and When operating in a second operating mode, the environment in at least a portion (106) of the field of view (105) is two-dimensionally scanned with a second light beam according to a two-dimensional scanning pattern and providing vertical resolution, The cross section of each of the second light beams in a plane orthogonal to the beam direction thereof is smaller than the cross section of each of the first light beams in a plane orthogonal to the beam direction thereof.

21. A lidar sensor (100) according to claim 20, wherein the lidar sensor (100) is configured to switch operation from the first operating mode to the second operating mode upon receiving control data indicating an area of ​​interest in the environment, and wherein the portion (106) of the field of view (105) corresponds to the area of ​​interest.

22. The laser radar sensor (100) according to claim 20 or 21, wherein: When operating in the second operating mode, the optical transmitter (110) and the optical receiver (120) are configured to scan the environment in at least the portion (106) of the field of view (105) two-dimensionally, in combination with scanning the environment in the field of view (105) one-dimensionally.

23. The laser radar sensor (100) according to claim 20 or 21, wherein: When operating in the second operating mode, the optical transmitter (110) and the optical receiver (120) are configured to exclusively two-dimensionally scan the environment in at least the portion (106) of the field of view (105).

24. A method (1400) for a laser radar sensor, comprising: scanning (1402) an environment in a field of view one-dimensionally with a first beam in a first operating mode such that the field of view is scanned exclusively during the first operating mode and provides horizontal resolution; in a second mode of operation, two-dimensionally scanning (1404) at least a portion of the environment of the field of view with a second light beam according to a two-dimensional scanning pattern and providing vertical resolution, The cross section of each of the second light beams in a plane orthogonal to the beam direction thereof is smaller than the cross section of each of the first light beams in a plane orthogonal to the beam direction thereof.

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