Lidar sensor for optically detecting a field of view and method for operating a lidar sensor

Abstract

A lidar sensor (100) for optically detecting a field of view has a transmitting unit with at least one light source (101, 101-1, 101-2) for generating and outputting primary light into a first angular range (111) of the field of view, a deflection unit (105) rotatable and / or oscillatable about an axis of rotation (106) for deflecting the primary light impinging on the deflection unit (105) into a second angular range (505) of the field of view, and a receiving unit (110) with at least one detector unit (204) for receiving secondary light that has been reflected and / or scattered in the field of view by an object, wherein the first angular range (111) extends in a plane arranged parallel to the axis of rotation (106) of the deflection unit (105), and wherein the transmitting unit is configured to output the primary light as a first transmitting beam bundle (102-1) with two edge beams (103-1, 103-2) and as at least one second transmitting beam bundle (102-2) with two edge beams (104-1, 104-2) into at least two partial regions (111-1, 111-2) of the first angular range (111), and wherein the transmitting unit is additionally configured to output the first transmitting beam bundle (102-1) such that a first edge beam (103-1) of the first transmitting beam bundle (102-1) impinges on a first edge region (112-1) of a surface of the deflection unit (105), and to output the at least one second transmitting beam bundle (102-2) such that a first edge beam (104-1) of the second transmitting beam bundle (102-2) impinges on a second edge region (112-2) of the surface of the deflection unit (105) opposite the first edge region.

Description

Technical Field

[0001] The invention relates to a lidar sensor for optically detecting a field of view and a method for operating a lidar sensor. Background Art

[0002] LiDAR sensors are primarily used in driver assistance systems in motor vehicles to detect the traffic environment, for example to locate vehicles or other obstacles / objects ahead.

[0003] Known lidar sensors typically use a rotatable and / or pivotable deflection unit, such as a mirror, to deflect the emitted primary light and received secondary light in one dimension. The extent of the field of view in an angular range can be predetermined, for example, by the scanning direction of the rotatable mirror. If the lidar sensor is located in or on a motor vehicle, the angular range in azimuth can be predetermined, for example, by the scanning direction of the rotatable mirror. The extent of the field of view in an angular range orthogonal to this angular range, such as the angular range being evaluated, can be predetermined based on the housing dimensions of the lidar sensor, the dimensions of the mirror, and / or the beam diameter of the primary light. Summary of the Invention

[0004] The present invention is based on a lidar sensor for optically detecting a field of view. The lidar sensor comprises: a transmitting unit having at least one light source for generating and emitting primary light into a first angular range of the field of view; a deflection unit rotatable and / or pivotable about a rotational axis for deflecting the primary light impinging on the deflection unit into a second angular range of the field of view; and a receiving unit having at least one detector unit for receiving secondary light reflected and / or scattered by objects in the field of view. The first angular range extends in a plane arranged parallel to the rotational axis of the deflection unit. The transmitting unit is configured to emit the primary light as a first transmission beam having two marginal beams and as at least one second transmission beam having two marginal beams into at least two sub-areas of the first angular range. The transmitting unit is further configured to output a first transmitting beam bunching such that a first edge beam of the first transmitting beam bunching impinges on a first edge region of a surface of the deflection unit, and to output at least one second transmitting beam bunching such that a first edge beam of the second transmitting beam bunching impinges on a second edge region of the surface of the deflection unit opposite to the first edge region.

[0005] With a lidar sensor, the distance between the lidar sensor and an object in its field of view can be determined directly or indirectly based on the signal propagation time (Time of Flight, TOF). For example, the distance between the lidar sensor and an object in its field of view can be determined with a lidar sensor based on a frequency modulated continuous wave (FMCW) signal.

[0006] The light source of the transmitting unit can be configured as at least one laser unit. The field of view of the lidar sensor can be scanned using the emitted primary light. The extent of the field of view can be predetermined by a first angular range and a second angular range, as well as by the range of the primary light. The primary light can be emitted at different scanning angles of the field of view and received again. An image of the surroundings can then be derived from these individual angle-dependent measurements. The emission of the primary light into the different scanning angles of the second angular range is performed using a rotatable and / or pivotable deflection unit.

[0007] The lidar sensor optionally includes at least one evaluation unit. The evaluation unit can be used to evaluate the received secondary light. The results of the evaluation can be used, for example, for driver assistance functions of the vehicle. The results of the evaluation can be used, for example, to control an autonomously driven vehicle. The lidar sensor can be designed, in particular, for use in at least partially autonomously driven vehicles. The lidar sensor can be used to enable partially autonomous or autonomous driving of the vehicle on highways and / or in city traffic.

[0008] The deflection unit may be a mirror that is rotatable and / or swingable about a rotation axis. The deflection unit may be constructed as a three-dimensional body. The surface of the deflection unit onto which the first transmission beam is focused can be constructed as a side surface of the deflection unit. The surface of the deflection unit onto which the second transmission beam is focused can be constructed as a side surface of the deflection unit. The first edge region of the deflection unit surface may be a first edge region of the side surface of the deflection unit. The first edge region may be arranged, for example, in an area of ​​the surface that is arranged close to the top surface of the deflection unit. The second edge region of the deflection unit surface may be a second edge region of the side surface of the deflection unit. The second edge region may be arranged, for example, in an area of ​​the surface that is arranged close to the base surface of the deflection unit.

[0009] The present invention has the advantage of increasing the field of view of a lidar sensor. In particular, the field of view can be increased along a first angular range. Because the first edge beam of the first transmission beam cluster impinges on a first edge region of the deflection unit surface, and the first edge beam of the second transmission beam cluster impinges on a second edge region of the deflection unit surface opposite the first edge region, vignetting can be reduced or avoided. Vignetting can be understood as obscuration of the output primary light and / or received secondary light by the housing edge of the lidar sensor. The generated primary light can be output over the entire length of the exit window of the lidar sensor into the first angular range. The beam diameter of the generated primary light can be increased to cover the entire length of the exit window. When output into the first angular range, the generated primary light is lost little to no at the edges of the housing. In particular, eye safety of the lidar sensor in the central region of the first angular range of the field of view can be improved. The primary light can be output with increased power into the central region of the first angular range of the field of view, thereby increasing the range.

[0010] In particular, the range of the primary light for at least two sub-regions of the first angular range can be set individually.

[0011] The structural volume of the lidar sensor can be reduced by increasing the beam diameter of the output primary light and increasing the transmission power of the primary light.

[0012] In an advantageous configuration of the present invention, the transmitting unit is further configured to output the first transmitting beam bunching in such a way that a second edge beam of the first transmitting beam bunching is irradiated onto a central area of ​​the surface of the deflection unit; and to output at least one second transmitting beam bunching in such a way that a second edge beam of the second transmitting beam bunching is irradiated onto a central area of ​​the surface of the deflection unit.

[0013] The advantage of this configuration is that the generated primary light can be output into the first angular range over the entire length of the exit window of the lidar sensor. The beam diameter of the generated primary light can be increased to cover the entire length of the exit window. The primary light can be output in the form of a line. This line can be configured so that it extends over the entire length of the exit window of the lidar sensor.

[0014] In an advantageous embodiment of the invention, it is provided that the first marginal beam of the first transmission beam bundle and the first marginal beam of the second transmission beam bundle impinge on the surface of the deflection unit orthogonally to the axis of rotation.

[0015] The advantage of this configuration is that vignetting can be avoided more reliably. When output into the first angular range, the generated primary light is not lost at the housing edge.

[0016] In an advantageous embodiment of the present invention, the lidar sensor further comprises at least one first deflection mirror for deflecting the primary light output by the transmitting unit onto the deflection unit and / or for deflecting the secondary light impinging on the deflection unit onto at least one detector unit.

[0017] This configuration has the advantage that the beam path of the primary light and the beam path of the secondary light can be brought into one axis, thereby reducing the size of the deflection unit.

[0018] In an advantageous configuration of the present invention, it is provided that at least one light source is constructed to output a first portion of the primary light as at least one transmission beam into a first partial area of ​​a first angular range; and wherein the transmission unit further has at least one half-mirror and at least one second deflection mirror; and wherein the half-mirror and the second deflection mirror are constructed to output at least one second portion of the primary light output by the light source into at least one second partial area of ​​the first angular range.

[0019] The advantage of this embodiment is that one light source is sufficient for focusing the emission of at least two transmission beams into at least two sub-areas of the first angular range. This allows for a more cost-effective implementation of the lidar sensor.

[0020] In another advantageous embodiment of the present invention, it is provided that the transmission unit has at least two light sources. Here, the at least two light sources can be designed as laser bars, for example.

[0021] The advantage of this configuration is that it can avoid additional optical elements, such as a semi-transparent mirror or a second deflection mirror, and can reduce the structural volume of the lidar sensor.

[0022] In another advantageous embodiment of the invention, it is provided that the number of light sources of the transmission unit corresponds to the number of sub-regions of the first angular range. These light sources can be designed as laser bars, for example.

[0023] The advantage of this configuration is that the voltage at each light source can be reduced by a factor corresponding to the number of light sources. This allows the overall power consumption of the light sources to be reduced by this factor. Alternatively, the total power of the light sources can be increased by a first predetermined factor while maintaining power consumption. This first predetermined factor can be derived from the square root of the number of light sources. This can result in the range of the primary light being increased by a second predetermined factor. This second predetermined factor can be derived from the square root of the square root of the number of light sources.

[0024] The application further starts from a method for operating a lidar sensor for optically detecting a field of view. The method has the following steps: generating and outputting primary light into a first angular range of the field of view by means of a sending unit; deflecting the primary light that impinges on the deflection unit into a second angular range of the field of view by means of a deflection unit that is rotatable and / or pivotable about a rotation axis; and receiving secondary light that has been reflected and / or scattered in the field of view by means of an object by means of a receiving unit. Here, the first angular range extends in a plane that is arranged parallel to the rotation axis of the deflection unit. The primary light is output into at least two partial areas of the first angular range by means of the sending unit as a first sending beam bundle having two edge beams and as at least one second sending beam bundle having two edge beams. The first sending beam bundle is output by means of the sending unit in such a way that a first edge beam of the first sending beam bundle impinges on a first edge region of a surface of the deflection unit; and wherein the at least one second sending beam bundle is output in such a way that a first edge beam of the second sending beam bundle impinges on a second edge region of the surface of the deflection unit that is opposite the first edge region.

[0025] In an advantageous configuration of the application, it is provided that the first sending beam bundle is additionally output by means of the sending unit in such a way that a second edge beam of the first sending beam bundle impinges on a central region of the surface of the deflection unit; and wherein the at least one second sending beam bundle is output in such a way that a second edge beam of the second sending beam bundle impinges on the central region of the surface of the deflection unit. BRIEF DESCRIPTION OF DRAWINGS

[0026] Embodiments of the application are explained in greater detail below on the basis of the drawings. Identical reference signs in the drawings denote identical or identically acting elements. The drawings show:

[0027] Figure 1 a side view of a first embodiment of a lidar sensor;

[0028] Figure 2 a side view of a second embodiment of a lidar sensor;

[0029] Figure 3 a side view of a third embodiment of a lidar sensor;

[0030] Figure 4 a side view of a fourth embodiment of a lidar sensor;

[0031] Figure 5 a top view of an embodiment of a lidar sensor;

[0032] Figure 6 a side view of a third embodiment of a lidar sensor; DETAILED DESCRIPTION

[0033] Figures 1 to 4 Different embodiments of a lidar sensor 100 are shown. Figures 1 to 4 In the exemplary embodiment, two transmission beams are bundled and outputted into two partial regions of the first angular range. However, more than two transmission beams can also be bundled and outputted into more than two partial regions of the first angular range. In addition, for a better understanding of the present invention, Figures 1 to 5 The expanded beam paths brought into a plane are shown in each case.

[0034] Figure 1 A side view of a first exemplary embodiment of a lidar sensor 100 for optically detecting a field of view is shown. Lidar sensor 100 includes a transmitting unit with light sources 101-1 and 101-2 for generating and emitting primary light into a first angular range 111 of the field of view. Lidar sensor 100 also includes a deflection unit 105 that is rotatable and / or pivotable about an axis of rotation 106 and for deflecting the primary light impinging on deflection unit 105 into a second angular range of the field of view of lidar sensor 100. First angular range 111 extends in a plane that is arranged parallel to axis of rotation 106 of deflection unit 105.

[0035] The light source 101-1 generates primary light and outputs it as a first transmission beam cluster 102-1 into a first partial area 111-1 of a first angular range 111. The first transmission beam cluster 102-1 has two edge beams 103-1 and 103-2. The transmission unit is configured to output the first transmission beam cluster 102-1 in such a way that the first edge beam 103-1 of the first transmission beam cluster 102-1 is irradiated onto a first edge area 112-1 of the surface of the deflection unit 105. The light source 101-1 is configured to output the first transmission beam cluster 102-1 in such a way that the first edge beam 103-1 of the first transmission beam cluster 102-1 is irradiated onto a first edge area 112-1 of the surface of the deflection unit 105. As in Figure 1, the first marginal beam 103-1 of the first transmission beam spot 102-1 impinges on the surface of the deflection unit 105, in particular, perpendicularly to the rotation axis 106. The transmission unit is further configured to emit the first transmission beam spot 102-1 in such a way that the second marginal beam 103-2 of the first transmission beam spot 102-1 impinges on a central region 113 of the surface of the deflection unit 105. The light source 101-1 is further configured to emit the first transmission beam spot 102-1 in such a way that the second marginal beam 103-2 of the first transmission beam spot 102-1 impinges on the central region 113 of the surface of the deflection unit 105. The second marginal beam 103-2 impinges on the deflection unit 105, in particular, at an angle different from 90° relative to the rotation axis 106.

[0036] The light source 101-2 generates primary light and outputs it as a second transmission beam cluster 102-2 into a second partial area 111-2 of the first angular range 111. The second transmission beam cluster 102-2 has two edge beams 104-1 and 104-2. The transmission unit is configured to output the second transmission beam cluster 102-2 in such a way that the first edge beam 104-1 of the second transmission beam cluster 102-2 is irradiated onto a second edge area 112-2 of the surface of the deflection unit 105. The second edge area 112-2 is located opposite the first edge area 112-1 on the surface of the deflection unit 105. The light source 101-2 is configured to output the second transmission beam cluster 102-2 in such a way that the first edge beam 104-1 of the second transmission beam cluster 102-2 is irradiated onto a second edge area 112-2 of the surface of the deflection unit 105. As shown in Figure 1 As shown in FIG, the first marginal beam 104-1 of the second transmission beam bunch 102-2 impinges on the surface of the deflection unit 105, in particular, perpendicularly to the rotation axis 106. The transmission unit is further configured to emit the second transmission beam bunch 102-2 in such a way that the second marginal beam 104-2 of the second transmission beam bunch 102-2 impinges on a central region 113 of the surface of the deflection unit 105. The light source 101-2 is further configured to emit the second transmission beam bunch 102-2 in such a way that the second marginal beam 104-2 of the second transmission beam bunch 102-2 impinges on the central region 113 of the surface of the deflection unit 105. In this case, the second marginal beam 104-2 impinges on the deflection unit 105, in particular, at an angle different from 90° relative to the rotation axis 106.

[0037] exist Figure 1The number of light sources of the lidar sensor 100 shown in FIG is two. This corresponds to the number of sub-areas ( 111 - 1 and 111 - 2 ) of the first angular range 111 , which is also two. However, it is also possible to output more than two transmission beams in more than two sub-areas of the first angular range 111 . To this end, the lidar sensor 100 can, for example, have one or more additional light sources. Such additional light sources can be arranged between light sources 101 - 1 and 101 - 2 . In this case, the edge beams of the beam bundle output by the additional light sources can be irradiated onto the deflection unit 105 at an angle different from 90° relative to the rotation axis 106 .

[0038] The generated primary light can be output into the first angular range 111 over the entire length of the exit window 107 of the laser radar sensor 100. The exit window 107 is arranged in the housing 114. The generated primary light can be output in the form of a line. The output primary light can be reflected and / or scattered by an object in the field of view of the laser radar sensor 100. The reflected and / or scattered primary light can be received as secondary light by the receiving unit 110 of the laser radar sensor 100. The receiving unit 110 is arranged between the light sources 101-1 and 101-2. Here, the receiving unit 110 has at least one, not Figure 1 The secondary light can be received as a reception beam bundle 109. The reception beam bundle 109 has edge beams 108-1 and 108-2. The receiving unit 110 is preferably designed such that it can receive the secondary light from the entire first angular range 111.

[0039] Figure 2 A side view of a second embodiment of a lidar sensor 100 is shown as an example. Figure 2 The lidar sensor 100 in this case essentially corresponds to Figure 1 Correspondingly, identical or identically functioning elements are provided with the same reference numerals. However, Figure 2 A more detailed diagram is shown, in which the individual beams of the first beam bunching, the second beam bunching and the receive beam bunching are also shown. Figure 2 In the example, primary light is also generated by light source 101-1 and output as first transmission beam spot 102-1 into a first sub-area of ​​first angular range 111-1. The primary light first passes through optical element 205-1. Optical element 205-1 can be configured as an optical lens. First transmission beam spot 102-1 in turn has a first edge beam 103-1, which has the same Figure 1 The first transmission beam bunching 102-1 has a second edge beam 103-2, which has the characteristics described in Figure 1The first transmission beam bundle 102-1 has a first edge beam 104-1 which has the features as described in

[0040] The primary light is also generated by the light source 101-2 and output as a second transmission beam bundle 102-2 into a second partial region 111-2 of the first angular range 111. The primary light first passes through an optical element 205-2. The optical element 205-2 can be configured as an optical lens. The second transmission beam bundle 102-2 in turn has a first edge beam 104-1 which has the features as described in Figure 1 The second transmission beam bundle 102-2 in turn has a second edge beam 104-2 which has the features as described in Figure 1 The second transmission beam bundle 102-2 in turn has a second edge beam 104-2 which has the features as described in

[0041] The receiving unit 110 is furthermore shown in more detail. A detector unit 204 of the receiving unit 110 is shown. The receiving beam bundle 109 is deflected onto the detector unit 204 by means of an optical element 203. The optical element 203 can be configured as an optical lens. Further single beams 206-1 and 206-2 are additionally shown for the receiving beam bundle 109.

[0042] Figure 3 A side view of a third embodiment of the lidar sensor 100 is exemplary shown. Here, the lidar sensor 100 is similar to the lidar sensor 100 shown in Figure 1 The same or identically acting elements are provided with the same reference signs. In contrast to the lidar sensor 100 in Figure 1 In contrast to the lidar sensor 100 in Figure 3The transmitting unit of the lidar sensor 100 shown in FIG has exactly one light source 101. Light source 101 is configured to output a first portion of the primary light as at least one transmission beam bundle 102-1 into a first sub-region of a first angular range 111-1. The transmitting unit also includes a half mirror 301. The second portion of the primary light output by light source 101 is deflected onto a deflection mirror 302 using half mirror 301. This is illustrated by edge beams 303-1 and 303-2. From deflection mirror 302, the second portion of the primary light is output into a second sub-region 111-2 of the first angular range 111. Therefore, half mirror 301 and second deflection mirror 302 are configured to output the second portion of the primary light output by light source 101 into a second sub-region 111-2 of the first angular range 111.

[0043] Figure 4 A side view of a fourth embodiment of a lidar sensor 100 is shown as an example. Figure 4 The lidar sensor 100 in the embodiment of the present invention basically corresponds to Figure 3 Correspondingly, identical or identically functioning elements are provided with the same reference numerals. However, Figure 4 Again showing the ratio Figure 3 A more detailed illustration, in which the individual beams of the first beam bunching, the second beam bunching and the receive beam bunching are also shown. For an explanation of these individual beams and a more detailed illustration of the receive unit 110, see Figure 2 The features described there apply analogously to Figure 4 The lidar sensor 100 in FIG.

[0044] Figure 5 Schematically shows a top view of an embodiment of a laser radar sensor 100. Figure 4 and 5 As in the embodiment in FIG. 1 , only the light source 101 is shown by way of example. However, the top view shown here also corresponds to the embodiment according to FIG. Figure 1 and Figure 2 A top view of an embodiment of a lidar sensor 100 is shown. Figure 5 Of the light sources 101 shown in FIG, for example, the first light source 101 - 1 can be seen. The light source 101 - 2 would then be arranged behind the light source 101 - 1 in the drawing plane and would therefore be concealed by it.

[0045] Figure 5 The lidar sensor 100 in FIG. 1 further comprises two first deflection mirrors 501 and 502 . Figures 1 to 4 The lidar sensor 100 in the embodiment can optionally have such a first deflection mirror; Figures 1 to 4The first deflection mirrors 501 and 502 are different from the transmitting unit. Figure 3 and Figure 4 . The first deflection mirror 501 is configured to deflect the primary light output by the transmitting unit onto the deflection unit 105. The deflection unit 105 is configured to deflect the irradiated primary light into a second angular range 505 of the field of view. The irradiated primary light can be deflected into different sub-regions of the second angular range 505. Sub-regions 503 and 504 are marked as examples. The other first deflection mirror 502 is configured to deflect the secondary light irradiated on the deflection unit 105 onto at least one detector unit of the receiving unit 110. With the help of the first deflection mirrors 501 and 502, the beam path of the primary light and the beam path of the secondary light can be brought into one axis.

[0046] Figure 6 An exemplary embodiment of a method 600 according to the present invention for operating a lidar sensor for optically detecting a field of view is shown. Method 600 begins in step 601. In step 602, primary light is generated by means of a transmission unit and emitted into a first angular range of the field of view. The first angular range extends in a surface parallel to the axis of rotation of a deflection unit that is rotatable and / or pivotable about the axis of rotation. The primary light is emitted by means of the transmission unit as a first transmission beamform having two edge beams and as at least one second transmission beamform having two edge beams into at least two sub-areas of the first angular range. The first transmission beamform is emitted by means of the transmission unit such that a first edge beam of the first transmission beamform impinges on a first edge region of the surface of the deflection unit, and the at least one second transmission beamform is emitted such that a first edge beam of the second transmission beamform impinges on a second edge region of the surface of the deflection unit that is opposite the first edge region. In step 603, the primary light impinging on the deflection unit is deflected into a second angular range of the field of view using a deflection unit that is rotatable and / or pivotable about a rotation axis. In step 604, the secondary light reflected and / or scattered by objects in the field of view is received using a receiving unit. The method ends in step 605.

[0047] In an advantageous configuration, a first transmission beam bunching is output by means of a transmission unit in such a way that a second edge beam of the first transmission beam bunching impinges on a central area of ​​a surface of the deflection unit; and wherein at least one second transmission beam bunching is output in such a way that a second edge beam of the second transmission beam bunching impinges on a central area of ​​the surface of the deflection unit.

Claims

1. A laser radar sensor (100) for optically detecting a field of view, comprising: a transmitting unit with at least one light source (101, 101-1, 101-2), the transmitting unit being configured to generate and output primary light into a first angular range (111) of the field of view; a deflection unit (105) rotatable and / or pivotable about a rotation axis (106), the deflection unit being configured to deflect primary light incident on the deflection unit (105) into a second angular range (505) of the field of view; and a receiving unit (110) with at least one detector unit (204) for receiving secondary light that has been reflected and / or scattered by an object in the field of view; - wherein the transmitting unit is configured to output the primary light as a first transmitting beam bunching (102-1) having two edge beams (103-1, 103-2) and as at least one second transmitting beam bunching (102-2) having two edge beams (104-1, 104-2) into at least two sub-regions (111-1, 111-2) of the first angular range (111); - and wherein the transmitting unit is further configured to output the first transmitting beam cluster (102-1) in such a way that a first edge beam (103-1) of the first transmitting beam cluster (102-1) impinges on a first edge region (112-1) of the surface of the deflection unit (105); and to output at least one second transmitting beam cluster (102-2) in such a way that a first edge beam (104-1) of the second transmitting beam cluster (102-2) impinges on a second edge region (112-2) of the surface of the deflection unit (105) opposite to the first edge region, - and wherein the transmitting unit is further configured to output the first transmitting beam bunching (102-1) in such a way that a second edge beam (103-2) of the first transmitting beam bunching (102-1) impinges on a central area (113) of the surface of the deflection unit (105); and to output the at least one second transmitting beam bunching (102-2) in such a way that a second edge beam (104-2) of the second transmitting beam bunching (102-2) impinges on a central area (113) of the surface of the deflection unit (105), It is characterized by: The first angular range (111) extends in a plane arranged parallel to the rotation axis (106) of the deflection unit (105), and the first edge beam (103-1) of the first transmission beam cluster (102-1) and the first edge beam (104-1) of the second transmission beam cluster (102-2) are irradiated onto the surface of the deflection unit (105) orthogonally to the rotation axis (106). wherein the second edge beam (103-2) of the first transmission beam bunching (102-1) and the second edge beam (104-2) of the second transmission beam bunching (102-2) are irradiated onto the deflection unit (105) at an angle different from 90° relative to the rotation axis (106); The generated primary light energy is output into the first angular range (111) over the entire length of the exit window (107) of the laser radar sensor (100).

2. The lidar sensor (100) according to claim 1 further comprises at least one first deflection mirror (501, 502), which is used to deflect the primary light output by the transmitting unit onto the deflection unit (105) and / or to deflect the secondary light irradiated on the deflection unit (105) onto the at least one detector unit (204).

3. The laser radar sensor (100) according to claim 1 or 2, wherein: The at least one light source (101) is configured to output a first portion of the primary light as at least one transmission beam cluster (102-1) into a first partial region (111-1) of the first angular range (111); and wherein the transmission unit further comprises at least one half-mirror (301) and at least one second deflection mirror (302); and wherein the half-mirror (301) and the second deflection mirror (302) are configured to output at least one second portion of the primary light output by the light source (101) into at least one second partial region (111-2) of the first angular range (111).

4. The laser radar sensor (100) according to claim 1 or 2, wherein: The transmitting unit has at least two light sources (101-1, 101-2).

5. The laser radar sensor (100) according to claim 4, wherein: The number of light sources (101-1, 101-2) of the transmitting unit corresponds to the number of partial areas (111-1, 111-2) of the first angular range (111).

6. A method (600) for operating a lidar sensor for optically detecting a field of view, the method comprising the following steps: - generating and outputting (602) primary light by means of a transmission unit into a first angular range of the field of view; deflecting the primary light impinging on the deflection unit into a second angular range of the field of view by means of a deflection unit that is rotatable and / or pivotable about a rotation axis; - receiving (604) by means of a receiving unit secondary light that has been reflected and / or scattered by an object in the field of view; - and wherein the primary light is emitted by means of the transmission unit as a first transmission beam bundle having two marginal beams and as at least one second transmission beam bundle having two marginal beams into at least two sub-regions of the first angular range; - and wherein, by means of the transmission unit, the first transmission beam bunching is output in such a way that a first edge beam of the first transmission beam bunching impinges on a first edge region of the surface of the deflection unit; and wherein, at least one second transmission beam bunching is output in such a way that a first edge beam of the second transmission beam bunching impinges on a second edge region of the surface of the deflection unit, which is opposite the first edge region, - and wherein, by means of the transmission unit, the first transmission beam bunching is additionally output in such a way that a second edge beam of the first transmission beam bunching impinges on a central area of ​​the surface of the deflection unit; and wherein, the at least one second transmission beam bunching is output in such a way that a second edge beam of the second transmission beam bunching impinges on a central area of ​​the surface of the deflection unit, It is characterized by: The first angular range extends in a plane which is arranged parallel to the axis of rotation of the deflection unit; and a first marginal beam of the first transmission beam bunching and a first marginal beam of the second transmission beam bunching impinge on the surface of the deflection unit orthogonally to the rotation axis, wherein the second edge beam (103-2) of the first transmission beam bunch (102-1) and the second edge beam (104-2) of the second transmission beam bunch (102-2) impinge on the deflection unit (105) at an angle different from 90° relative to the rotation axis (106), - enabling the generated primary light energy to be output into the first angular range (111) over the entire length of the exit window (107) of the lidar sensor (100).

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