LiDAR sensor for detecting an object and method for a LiDAR sensor

Abstract

A lidar sensor for detecting at least one object (504) in a field of view (506), comprising: a transmitting unit (101) having at least one laser source (102) for generating primary light (503) and emitting the primary light into the field of view (506); a receiving unit (103) having at least one detector unit (104) for receiving secondary light reflected and / or scattered by an object (504) in the field of view (506); wherein the detector unit (104) comprises a sub-detector arrangement (205) consisting of a plurality of sub-detectors (201i,j) arranged side by side in a first extension direction (203) and / or arranged successively in a second extension direction (204); and a processor unit (108) configured to select a first group from the plurality of sub-detectors (201i,j) and group them into a first macro-pixel (2021), and at the same time select at least one second group and group them into at least one second macro-pixel (202-2 to 202-5), wherein at least one second macro-pixel of the first macro-pixel (202-1) and the second macro-pixels (202-2 to 202-5) comprises at least one common sub-detector (201i,j).

Description

Technical Field

[0001] The present invention relates to a lidar sensor for detecting at least one object in the field of view of the lidar sensor and a method for a lidar sensor for detecting an object in the field of view of the lidar sensor. Background Art

[0002] Lidar sensors will be established in the implementation of highly automated driving functions in the coming years. To cover a large horizontal detection angle between 150° and 360°, mechanical lidar scanners are known today. In a first configuration, a rotating mirror lidar scanner with a maximum detection range limited to approximately 120°, the motor-driven deflecting mirror rotates. For a larger detection area of up to 360°, all electro-optical components are on a motor-driven turntable or rotor. Summary of the Invention

[0003] The present invention is based on a lidar sensor for detecting at least one object in the field of view of the lidar sensor. The lidar sensor includes: a transmitting unit having at least one laser source for generating primary light and emitting it into the field of view; a receiving unit having at least one detector unit for receiving secondary light that has been reflected and / or scattered by an object in the field of view; wherein the detector unit includes a sub-detector arrangement composed of a plurality of sub-detectors arranged side by side (nebeneinander) in a first extension direction and / or arranged successively (hintereinander) in a second extension direction. The lidar sensor further includes a processor unit for selecting a first group from the plurality of sub-detectors and grouping them into a first macro-pixel, and at the same time selecting at least one second group and grouping them into at least one second macro-pixel, wherein the first macro-pixel and at least one second macro-pixel of the second macro-pixels include at least one common sub-detector. In other words, each at least two macro-pixels are constructed to overlap each other.

[0004] With the lidar sensor, the distance between the lidar sensor and an object in the field of view of the lidar sensor can be determined, for example, based on the signal propagation time (time of flight, TOF). The transmitting unit can be configured to output the primary light as a point beam or as a beam in a line form or in an illumination pattern form. The laser source can in particular be configured to output the primary light as a point beam or as a beam in a line form or in an illumination pattern form. The illumination pattern can have a first direction and a second direction, wherein the first direction and the second direction are arranged orthogonally to each other, and wherein the extension of the illumination pattern in the first direction is greater than the extension of the illumination pattern in the second direction.

[0005] The field of view of the lidar sensor can be scanned by means of the emitted primary light. The extension of the field of view can be predefined here by the horizontal and vertical scanning angles and by the range of action of the primary light. In the case of scanning by the lidar sensor, the primary light is emitted and received again at different scanning angles. Then an environmental image can be derived from these individual angle-related measurements. The lidar sensor can also include a deflection unit. Emitting the primary light at different scanning angles, i.e., deflecting the primary light into the field of view, can be accomplished by means of the deflection unit.

[0006] The detector unit is particularly configured as a SPAD detector. SPAD here stands for single photon avalanche photodiode. The SPAD detector can have so-called SPAD cells as sub-detectors. The sub-detectors are arranged in a matrix-like configuration in particular. At least two sub-detectors can be configured to receive the secondary light simultaneously. In particular, the sub-detectors of the sub-detector unit can be configured to receive all the secondary light simultaneously. The detector unit can be configured to detect the received secondary light. The processor unit can be configured to process the detected secondary light. Selecting a first group from a plurality of sub-detectors and grouping them into a first macro-pixel and simultaneously selecting a second group from a plurality of sub-detectors and grouping them into a second macro-pixel can also be referred to as the association of sub-detectors. In other words, the processor unit can be configured, for example, to associate a plurality of SPAD cells of the SPAD detector. The processor unit can include a processing circuit, which can preferably be configured as an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), a processor, a digital signal processor, a microcontroller, etc. The processor unit can be connected in terms of information technology to internal and / or external memory units. The processor unit can also be configured to control the laser source, for example, for emitting pulsed primary light. The processor unit can also be configured to analyze the processed secondary light. The result of the analysis can be used, for example, for the driver assistance function of a vehicle. The result of the analysis can be used, for example, to control an autonomous driving vehicle. The lidar sensor can particularly be configured for use in at least partially autonomous vehicles. With the aid of the lidar sensor, semi-autonomous or autonomous driving of a vehicle can be achieved on highways and in urban traffic.

[0007] The advantages of the present invention are that the operating range of the lidar sensor can be increased. In particular, the operating range for a defined scenario of the lidar sensor can be increased significantly. For example, objects with a low height and width can also be easily detected at greater distances. Such smaller objects are in particular smaller than, for example, an external vehicle at the same distance from the lidar sensor. For example, lost piece goods on the lane can be easily detected at greater distances. Such objects can be located with greater accuracy. Thereby, a greater operating range of the lidar sensor can be achieved for such objects. At the same time, the data volume can still be kept small, in particular with regard to the detected secondary light.

[0008] In an advantageous configuration of the present invention, it is provided that at least one second macro-pixel can be grouped shiftably relative to the first macro-pixel along a first extension direction and / or along a second extension direction. The advantage of this configuration is that an unnecessarily large amount of interfering background light can be prevented from negatively affecting the measurement of the lidar sensor.

[0009] In another advantageous configuration of the present invention, it is provided that at least one second macro-pixel can be grouped relative to the first macro-pixel by having shifted exactly one sub-detector. The advantage of this configuration is that it can be ensured that not only a single point is detected from an object, but at least two points are detected. This enables better verification of the object.

[0010] The present invention is also based on a method for a lidar sensor for detecting objects in the field of view of the lidar sensor. The method has the following steps: generating primary light with a transmitting unit having at least one laser source and emitting it into the field of view; receiving secondary light reflected and / or scattered by objects in the field of view with a receiving unit having at least one detector unit, wherein the detector unit includes a sub-detector arrangement composed of a plurality of sub-detectors arranged side by side in a first extension direction and / or arranged successively in a second extension direction; selecting a first group of sub-detectors from the plurality of sub-detectors with a processor unit and grouping the first group into a first macro-pixel, and at the same time selecting at least one second group of sub-detectors from the plurality of sub-detectors with the processor unit and grouping the at least second group into at least one second macro-pixel, wherein at least one second macro-pixel among the first macro-pixel and the second macro-pixel includes at least one common sub-detector; analyzing the first macro-pixel and the at least one second macro-pixel; and detecting at least one object in the field of view based on at least the analyzed first macro-pixel.

[0011] In an advantageous configuration of the present invention, it is provided that the detection of at least one object is additionally based on at least one second macro-pixel that has been analyzed. The advantage of this configuration is that the probability of detecting an object can be increased. Since at least one second macro-pixel among the first macro-pixel and the second macro-pixel includes at least one common sub-detector, the analysis can be performed significantly more accurately. Small objects at a greater operating distance can be detected in at least the first macro-pixel or at least one second macro-pixel with a higher probability.

[0012] In another advantageous configuration of the present invention, it is provided that the detection of at least one object is additionally based on at least one analyzed second macro-pixel only when an object cannot be detected based on the analyzed first macro-pixel. In other words, only when an object cannot be detected based on the analyzed first macro-pixel, it is possible to consider the data of at least one second macro-pixel for the detection. Conversely, if an object has already been able to be detected based on the analyzed first macro-pixel, the data of at least one second macro-pixel can be discarded for the detection of the object. The advantage of this configuration is that the data volume can be kept small.

[0013] In another advantageous configuration of the present invention, it is provided that the detection of at least one object is performed based on macro-pixels selected according to a pre-givable criterion. The selected macro-pixel can be the first macro-pixel or at least the second macro-pixel. In other words, if an object can be detected based on at least two macro-pixels, only the data of one selected macro-pixel can be considered for the detection. In this case, for example, only the following macro-pixels are selected: for which macro-pixel, the best signal-to-noise ratio of the received secondary light appears. Therefore, the pre-givable criterion can be the signal-to-noise ratio. The pre-givable criterion can especially be the amplitude of the received secondary light in each alternative macro-pixel. The advantage of this configuration is that the data volume can be kept small.

[0014] In another advantageous configuration of the present invention, it is provided that information regarding the selected macro-pixel is transmitted to the processor unit of the lidar sensor. In particular, the following information is transmitted to the processor unit: that an object can also be detected based on the unselected macro-pixels. The advantage of this configuration is that when an object is detected, a conclusion can be drawn regarding its size. In the case of a larger object, it can be achieved that, compared to the case of a smaller object, a higher number of macro-pixels are selected, with the aid of which the object can be detected.

[0015] In an advantageous configuration of the present invention, it is provided that at least one second macro-pixel is grouped shiftedly relative to the first macro-pixel along a first extension direction and / or along a second extension direction.

[0016] In an advantageous configuration of the present invention, it is provided that at least one second macro-pixel is grouped shiftedly relative to the first macro-pixel by exactly one sub-detector.

[0017] The present invention is also based on a computer program which is configured to carry out all steps of the above-described method.

[0018] The present invention is also based on a machine-readable storage medium on which the above computer program is stored. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Embodiments of the present invention will be described in more detail below with reference to the drawings. Identical reference numerals in the drawings denote identical elements or elements having the same function. The drawings show:

[0020] Figure 1 An embodiment of a lidar sensor is shown;

[0021] Figure 2 A first embodiment of selecting and grouping sub-detectors to form macro-pixels is shown;

[0022] Figure 3 A second embodiment of selecting and grouping sub-detectors to form macro-pixels is shown;

[0023] Figure 4 A third embodiment of selecting and grouping sub-detectors to form macro-pixels is shown;

[0024] Figure 5 An application example of a lidar sensor for detecting an object is shown;

[0025] Figure 6 An embodiment of a method for a lidar sensor for detecting an object is shown. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0026] As an example, Figure 1 A lidar sensor 100 for detecting an object in the field of view of the lidar sensor 100 is shown. The lidar sensor 100 has a transmitting unit 101 with a laser source 102 for generating primary light and emitting it into the field of view. The lidar sensor 100 also has a receiving unit 103 with a detector unit 104 for receiving secondary light that has been reflected and / or scattered by an object in the field of view. The detector unit 104 includes a matrix-shaped sub-detector arrangement, the structure and mode of operation of which are described in more detail, by way of example, in Figures 2 to 4 . The lidar sensor 100 also has a processor unit 108 which is configured to select a first group from a plurality of sub-detectors of the sub-detector arrangement and group them into a first macro-pixel, and at the same time select at least one second group and group them into at least one second macro-pixel, wherein at least one of the first macro-pixel and the second macro-pixel includes at least one common sub-detector. This is also shown inFigures 2 to 4 is described in more detail below.

[0027] The transmitting unit 101 may also have at least one optical component 105. The optical element 105 may for example be a refractive optical element, a diffractive optical element or a mirror (Spiegel). The transmitting unit 101 may also have a deflection unit 106. By means of the deflection unit 106, the field of view of the lidar sensor 100 can be scanned. The receiving unit 103 may also have at least one optical component 105. The receiving unit 103 may also have a deflection unit 106. In the example shown, the transmitting unit 101 and the receiving unit 103 have the same optical components 105 and the same deflection unit 106. Alternatively and not shown here, the transmitting unit 101 may have an optical component 105 that is different from the second optical component 105 of the receiving unit 103. Alternatively and not shown here, the transmitting unit 101 may have a deflection unit 106 that is different from the second deflection unit 106 of the receiving unit 103.

[0028] The lidar sensor 100 may also have a control unit 107. The control unit 107 may be configured to control the laser source 102. The control unit 107 may be configured to control the detector unit 104. The control unit 107 may be configured to control the deflection unit 106. The processor unit 108 may be connected to the control unit 107. The processor unit 108 and the control unit 107 may also be constructed together as a processor unit. Thus, the processor unit may also be configured to control the laser source, for example to emit pulsed primary light. The processor unit 108 may also be configured to analyze the processed secondary light.

[0029] Figure 2 A first embodiment of the selection and grouping of sub-detectors to form macro-pixels is shown. A matrix-shaped sub-detector arrangement 205 is shown, as it is used for example in Figure 1 the detector unit 104. Here, the detector unit 104 is in particular configured as a SPAD detector. In this case, the sub-detectors 201i,j may be configured as SPAD cells. The sub-detector arrangement 205 is constructed in a matrix shape and includes a plurality of sub-detectors 201i,j. In a first extension direction 203, four sub-detectors 201 (i = 1 - 4) are arranged side by side, and in a second extension direction 204, ten sub-detectors 201 (j = 1 - 10) are arranged successively. The index i represents the numbering of the sub-detectors along the first extension direction 203, and the index j represents the numbering of the sub-detectors along the second extension direction 204.

[0030] Exemplary of the lidar sensor 100 in Figure 1The processor unit 108 shown is configured to select a first group from the sub-detectors 201i,j and group them into a first macro-pixel 202-1. In the example shown, the first macro-pixel 202-1 includes sub-detectors 201(1,1) to 201(4,4). For greater clarity, these 16 upper sub-detectors 201i,j are additionally enclosed by an upper dashed circle. In another embodiment, the macro-pixel may also include a number of sub-detectors 201i,j that is different from 16. The processor unit 108 is also configured to simultaneously select at least one second group from the sub-detectors 201i,j and group them into at least one second macro-pixel. In Figure 2 the example shown, these are additional macro-pixels: 202-2, which includes sub-detectors 201(1,3) to 201(4,6), the sub-detectors being enclosed by a second dashed circle counted from the top; 202-3, which includes sub-detectors 201(1,5) to 201(4,8), the sub-detectors being enclosed by a third dashed circle counted from the top; and 202-4, which includes sub-detectors 201(1,7) to 201(4,10), the sub-detectors being enclosed by a fourth dashed circle counted from the top. Here, each two of the macro-pixels 202-1 to 202-4 shown here always include at least one common sub-detector 201i,j. Thus, for example, both macro-pixel 202-1 and macro-pixel 202-2 include sub-detectors 201(1,3) to 201(4,4). Both macro-pixel 202-2 and macro-pixel 202-3 include sub-detectors 201(1,5) to 201(4,6). Both macro-pixel 202-3 and macro-pixel 202-4 include sub-detectors 201(1,7) to 201(4,8). In other words, at least two of the macro-pixels 202-1 to 202-4 are constructed to overlap each other respectively. For each of the macro-pixels 202-1 to 202-4, a processing histogram can be generated and analyzed with the aid of the processor unit 108.

[0031] Since the processor unit 108 is configured to group the sub-detectors 201i,j into macro-pixels 202-1 to 202-4 in the manner just described, it is also possible to detect smaller objects at a greater operating distance, i.e., at a greater distance from the lidar sensor 100, with the lidar sensor 100. It is possible to avoid unnecessary interference background light from affecting the measurement. If the processor unit 108 is only configured to group the sub-detectors 201i,j into macro-pixels that do not include at least one common sub-detector 201i,j, detecting smaller objects at a greater operating distance will become significantly more difficult or completely impossible. For example, if the processor unit 108 is only configured to group the sub-detectors 201i,j into macro-pixels 202-1 and 202-3, the following probability will be high: Small objects, especially at a greater operating distance, will only be detected by such macro-pixels halfway or not at all. For example, if the processor unit 108 is only configured to group the sub-detectors 201i,j into smaller macro-pixels (e.g., a first macro-pixel composed of sub-detectors 201(1,1) to 201(4,2), a second macro-pixel composed of sub-detectors 201(1,3) to 201(4,4), etc.), then detecting smaller objects may be achievable; however, compared to the possibilities of macro-pixel formation described exemplarily in Figure 2 it is only at a smaller distance from the lidar sensor 100.

[0032] According to Figure 2 the example in, the macro-pixels can be grouped in a shiftable manner along the second extension direction 204. For example, the second macro-pixel 202-2 can be grouped in a shiftable manner relative to the first macro-pixel 202-1 along the extension direction 204. The same applies to the other two macro-pixels 202-3 and 202-4.

[0033] Figure 3 A second embodiment showing the selection and grouping of the sub-detectors 201i,j to form the macro-pixels 202-1 to 202-4 is shown. Another example of a matrix-shaped sub-detector arrangement 205 is shown, such as, for example, as used in the detector unit 104 in Figure 1 The sub-detector arrangement 205 is constructed in a matrix shape and includes a plurality of sub-detectors 201i,j. In this example, the sub-detectors 201i,j can also be constructed as SPAD units. In the first extension direction 203, eight sub-detectors 201(i = 1-8) are arranged side by side, and in the second extension direction 204, ten sub-detectors 201(j = 1-10) are arranged successively. The index i again represents the numbering of the sub-detectors along the first extension direction 203, and the index j again represents the numbering of the sub-detectors along the second extension direction 204.

[0034] Exemplary of the lidar sensor 100 inFigure 1 The processor unit 108 shown in Figure 3 is configured to select a first group from the sub-detectors 201i,j of the sub-detector arrangement 205 shown in Figure 3 and group them into a first macro-pixel 202-1. The processor unit 108 is also configured to simultaneously select at least one second group from the sub-detectors 201i,j and group them into at least one second macro-pixel 202-2 to 202-4. In

[0035] In Figure 3 the macro-pixels 202-1 to 202-4 shown represent an example of an arbitrary selection of possible macro-pixels. The processor unit 108 may be configured to further select additional groups from the sub-detectors 201i,j of the sub-detector arrangement 205 shown in Figure 3 and group them into additional macro-pixels 202-n. However, for clarity, not all possibilities are shown. At least one first macro-pixel and a second macro-pixel again include at least one common sub-detector 201i,j. In Figure 3 this is made clear by the example of the macro-pixels 202-3 and 202-4. In other words, at least two of the macro-pixels 202-1 to 202-4 are also constructed overlapping each other here. For each of the macro-pixels 202-1 to 202-4, a processing histogram can be generated and analyzed by means of the processor unit 108.

[0036] In addition, according to Figure 3It can be seen that in this embodiment, the macro pixels 202-2 to 202-4 can be grouped in a shifted manner relative to the first macro pixel 202-1 along the first extension direction 203 and / or along the second extension direction 204. Thus, for example, the macro pixel 202-2 can be grouped in a shifted manner relative to the first macro pixel 202-1 along the first extension direction 203. The macro pixels 202-3 and 202-4 shown as an example can be grouped in a shifted manner relative to the first macro pixel 202-1 along the first extension direction 203 and along the second extension direction 204. By grouping along the first extension direction 203 and / or along the second extension direction 204, a further improvement in the range can be achieved when detecting small objects.

[0037] Figure 4 A third embodiment of selecting and grouping sub-detectors 201i,j to form macro-pixels 202-1 to 202-5 is shown. Another example of a matrix-shaped sub-detector arrangement 205 is shown, such as in Figure 1 The sub-detector arrangement 205 is constructed in a matrix shape and includes a plurality of sub-detectors 201i, j. In this example, the sub-detectors 201i, j can also be constructed as SPAD units. In the first extension direction 203, eight sub-detectors 201 (i=1-8) are arranged side by side, and in the second extension direction 204, four sub-detectors 201 (j=1-4) are arranged one after another. The index i again represents the number of the sub-detectors along the first extension direction 203, and the index j again represents the number of the sub-detectors along the second extension direction 204.

[0038] The laser radar sensor 100 is exemplarily Figure 1 The processor unit 108 shown in FIG. 1 is configured to select a first group from the sub-detectors 201i,j and group them into a first macropixel 202-1. In the example shown, the first macropixel 202-1 includes sub-detectors 201(1,1) to 201(4,4). For greater clarity, the 16 sub-detectors 201i,j are additionally surrounded by a dotted circle on the left. In another embodiment, the macropixel may also include the following number of sub-detectors 201i,j: the number is different from 16. The processor unit 108 is also configured to simultaneously select at least one second group from the sub-detectors 201i,j and group them into at least one second macropixel. Figure 4In the example shown, these are additional macro pixels: 202-2, which includes sub-detectors 201(2,1) to 201(5,4), surrounded by the second dashed circle starting from the left; 202-3, which includes sub-detectors 201(3,1) to 201(6,4); 202-4, which includes sub-detectors 201(4,1) to 201(7,4); and 202-5, which includes sub-detectors 201(5,1) to 201(8,4). Here, each of the macro pixels 202-1 to 202-5 shown here includes at least one common sub-detector 201i,j at least two of them. Thus, for example, both macro pixel 202-1 and macro pixel 202-2 include sub-detectors 201(2,1) to 201(4,4). Both macro pixel 202-2 and macro pixel 202-3 include sub-detectors 201(3,1) to 201(5,4). Both macro pixel 202-3 and macro pixel 202-4 include sub-detectors 201(4,1) to 201(6,4). Both macro pixel 202-4 and macro pixel 202-5 include sub-detectors 201(5,1) to 201(7,4). In other words, at least two of the macro pixels 202-1 to 202-5 are constructed to overlap each other respectively. For each of the macro pixels 202-1 to 202-5, a processing histogram can be generated and analyzed by means of the processor unit 108.

[0039] According to Figure 4 the example in, the macro pixels can be grouped shiftably along the first extension direction 203. For example, the second macro pixel 202-2 can be grouped shiftably along the first extension direction 203 relative to the first macro pixel 202-1. The same applies to the other three macro pixels 202-3 and 202-5. As can also be seen from Figure 4 and the description just given, the second macro pixel 202-2 can be grouped shiftably along the first extension direction 203 relative to the first macro pixel 202 1 by exactly one sub-detector 201i,j. The same applies to the third macro pixel 202-3, which can be grouped shiftably along the first extension direction 203 relative to the macro pixel 202-2 by exactly one sub-detector 201i,j, and so on. In other words, the macro pixel 202-n can be grouped shiftably along the first extension direction 203 relative to the previous macro pixel 202(n-1) by exactly one sub-detector 201i,j. This can ensure that not only a single point is detected from an object, but at least two points are detected. An object in the field of view of the lidar sensor can be detected with a higher probability. Better verification of the object can be achieved.

[0040] Figure 5An example of an application of a lidar sensor for detecting an object 504 is shown. A vehicle 501 is shown, which has the lidar sensor 100 described above, which is not shown here in addition, at an installation location 502. The vehicle 501 moves on a lane 505 of a road. With the aid of the lidar sensor 100, primary light 503 can be emitted into the field of view 506 of the lidar sensor 100. With the aid of the receiving unit 103 of the lidar sensor 100, secondary light reflected and / or scattered by the object 504 in the field of view 506 can be received. The object 504 can be a small object 504 at a large range, i.e., at a large distance from the lidar sensor 100. For example, the object 504 can be a lost piece of cargo. The object 504 can be constructed in a possibly absorptive manner (reflectivity of approximately 5%). If necessary, the lane 505 can be significantly more reflective (up to 30%).

[0041] In particular, in the case of the properties of the object 504 and the lane 505 just described, it may be difficult to detect such an object 504 using the previously known lidar sensors. In this case, the signal may previously have been very small. Here, the invention described above comes into play. As an example, in Figure 1 The laser radar sensor described in the embodiment of the present invention can circumvent this problem. The laser radar sensor has a detector unit 104, which includes a matrix-shaped sub-detector arrangement. The structure and working mode of the sub-detector arrangement have been exemplarily described in Figures 2 to 4 Small objects 504 can also be easily detected at greater distances.

[0042] As an example, Figure 6A method 600 for a lidar sensor for object detection is shown. The method starts at step 601. In step 602, primary light is generated by a transmitting unit of the lidar sensor having at least one light source and emitted into the field of view. In step 603, secondary light reflected and / or scattered by an object in the field of view is received by a receiving unit having at least one detector unit, wherein the detector unit includes a matrix-shaped sub-detector arrangement that includes a plurality of sub-detectors arranged side by side in a first extension direction and successively arranged in a second extension direction. In step 604, a first group of sub-detectors is selected from the plurality of sub-detectors, and the first group is grouped into a first macro-pixel by a processor unit of the lidar sensor. At the same time in step 605, at least one second group of sub-detectors is selected from the plurality of sub-detectors, and the at least second group is grouped into at least one second macro-pixel by the processor unit. Here, at least one second macro-pixel among the first macro-pixel and the second macro-pixel includes at least one common sub-detector. In step 606, the first macro-pixel and the at least one second macro-pixel are analyzed. For example, for each of the macro-pixels, a histogram can be generated and analyzed by the processor unit. In step 607, at least one object in the field of view is detected based on at least the analyzed first macro-pixel. The method 600 ends at step 608.

[0043] It can be achieved that the data of the object has been analyzed in the first macro-pixel in step 606. Correspondingly, it can be achieved that the object in the field of view has been identified in step 607. In this case, the detection 607 of the object will be equivalent to the identification of the object in the field of view. In this case, if necessary, the information from the analysis 606 of the at least second macro-pixel can be discarded.

[0044] Preferably, the detection 607 of at least one object is additionally based on the at least one analyzed second macro-pixel. For example, if no object is identified in the step of detecting 607 at least one object in the field of view based on the at least analyzed first macro-pixel, it is preferably additionally detected 607 the at least one object based on the at least one analyzed second macro-pixel. In this case, the information from the analysis 606 of the at least second macro-pixel will not be discarded, but will be taken into account.

[0045] However, in order not to unnecessarily increase the amount of data to be processed, it is preferred to additionally detect 607 at least one object based on the at least one analyzed second macro-pixel only when the object cannot be detected based on the analyzed first macro-pixel.

[0046] Based on the sub-detector arrangement 205 in Figure 2In the embodiment shown, method 600 will be exemplified as follows: By means of a processor unit, in steps 604 and 605, as already described in Figure 2 , the macro pixels 202-1 to 202-4 are selected and grouped. Here, the second macro pixels are grouped with a shift relative to the previous macro pixels respectively along the second extension direction 204. (Similarly, as can be seen from Figure 3 and Figure 4 , in steps 604 and 605, at least one second macro pixel can also be grouped with a shift relative to the first macro pixel along the first extension direction 203 and / or along the second extension direction 204.) In step 606, the macro pixels 202-1 to 202-4 are analyzed and processed. For this purpose, the signals of the secondary light detected by the sub-detectors 201i,j of the detector unit can be processed. If the data of the object has already been analyzed and processed for the macro pixel 202-1 in step 606, then in step 607, the object in the field of view can already be identified based on the data from the macro pixel 202-1. The information from the analysis and processing 606 of the macro pixel 202-2 can be discarded. However, if no object is identified based on the analyzed and processed macro pixel 202-1 in step 607, for example, then the information from the analysis and processing 606 of the macro pixel 202-2 will not be discarded, but will be taken into account. At least one object can be detected additionally based on the macro pixel 202-2 in 607.

[0047] Based on the sub-detector arrangement 205 in Figure 4As can be seen from the embodiments shown, in steps 604 and 605, at least one second macro-pixel can be grouped, for example, by shifting exactly one sub-detector relative to the first macro-pixel grouping. This ensures that not only a single point is detected from an object, but at least two points are detected. However, in this case, in order to avoid an unnecessarily large number of histograms that require high computing power, preferably for the analysis processing 606 of the first and at least the second macro-pixels, the following secondary light is selected: the secondary light is reflected and / or scattered at a pre-given distance range of the lidar sensor. Here, the distance range is especially in the range of 90 m to 120 m. At this distance, i.e., at this operating distance, the above-mentioned scenarios are most likely to occur. At this distance, it is particularly difficult to identify smaller objects (such as, for example, missing piece goods) with the lidar sensors known so far. With the method 600 described here, it is now possible to detect such objects. Here, preferably the following macro-pixels can be selected: for which the data of the object has already been analyzed and processed in step 606. In step 607, based on the data from these selected macro-pixels, an object in the field of view can be identified. Here, particularly preferably, exactly the following two macro-pixels are selected: for which the data of the object has already been analyzed and processed in step 606. These are especially the following two macro-pixels: in the case of these two macro-pixels, half of the secondary light is received by one macro-pixel and the other half of the secondary light is received by the other macro-pixel. Alternatively, the maximum signal can be determined in the histogram for a pre-given sub-detector spacing. This can also ensure the maximum operating distance.

Claims

1. A lidar sensor (100) for detecting at least one object (504) in a field of view (506) of the lidar sensor (100), the lidar sensor comprising: · A transmitting unit (101) having at least one laser source (102) for generating primary light (503) and emitting the primary light into the field of view (506); · A receiving unit (103) having at least one detector unit (104) for receiving secondary light reflected and / or scattered by an object (504) in the field of view (506); wherein the detector unit (104) comprises a sub-detector arrangement (205) consisting of a plurality of sub-detectors (201i,j) arranged side by side in a first extension direction (203) and / or arranged successively in a second extension direction (204); and · A processor unit (108) comprising processing circuitry, the processor unit configured to process the detected secondary light and analyze the processed secondary light, select a first group from the plurality of sub-detectors (201i,j), group them into a first macro-pixel (202-1), and generate a first histogram for the first macro-pixel (202-1), and, simultaneously, select at least one second group, group them into at least one second macro-pixel (202-2 to 202-5), and generate at least one second histogram for the at least one second macro-pixel (202-2 to 202-5), wherein at least one second macro-pixel among the first macro-pixel (202-1) and the second macro-pixels (202-2 to 202-5) includes at least one common sub-detector (201i,j), and analyze the first macro-pixel and the at least one second macro-pixel (202-2 to 202-5), wherein analyze the histogram of the first macro-pixel and the histogram of the at least one second macro-pixel (202-2 to 202-5), wherein the processor unit is further configured to detect at least one object in the field of view based on at least the analyzed first macro-pixel (202-1) and additionally detect the at least one object based on the analyzed at least one second macro-pixel (202-2 to 202-5); Characterized in that The processor unit (108) is further configured to detect the at least one object additionally based on the analyzed at least one second macro-pixel only when an object cannot be detected based on the analyzed first macro-pixel (202-1).

2. The lidar sensor (100) according to claim 1, wherein, The at least one second macro-pixel (202-2 to 202-5) can be grouped shiftably relative to the first macro-pixel (202-1) along the first extension direction (203) and / or along the second extension direction (204).

3. The lidar sensor (100) according to claim 2, wherein, The at least one second macro-pixel (202-2 to 202-5) can be grouped such that it is shifted relative to the first macro-pixel (202-1) by exactly one sub-detector (201i,j).

4. A method (600) for a lidar sensor for detecting an object in a field of view of the lidar sensor, the method having the following steps: · generating primary light by means of a transmitting unit having at least one laser source and emitting the primary light into the field of view (602); ·Receiving, by means of a receiving unit having at least one detector unit, secondary light (603) reflected and / or scattered by an object in the field of view, wherein, The detector unit includes a sub-detector arrangement, which consists of a plurality of sub-detectors arranged side by side in a first extension direction and / or arranged successively in a second extension direction; · selecting, by means of a processor unit including a processing circuit, a first group of sub-detectors from the plurality of sub-detectors, grouping the first group into a first macro-pixel and generating a first histogram for the first macro-pixel; and simultaneously selecting, by means of the processor unit, at least one second group of sub-detectors from the plurality of sub-detectors, grouping the at least second group into at least one second macro-pixel and generating at least one second histogram for the at least one second macro-pixel; wherein at least one second macro-pixel of the first macro-pixel and the second macro-pixel includes at least one common sub-detector; · analyzing (606) the first macro-pixel and the at least one second macro-pixel, wherein the histogram of the first macro-pixel and the histogram of the at least one second macro-pixel are analyzed; and · detecting (607) at least one object in the field of view based on at least the analyzed first macro-pixel, wherein the detection (607) of the at least one object is additionally based on the at least one second macro-pixel that has been analyzed; characterized in that the detection (607) of the at least one object is additionally carried out based on the at least one second macro-pixel that has been analyzed only if an object cannot be detected based on the analyzed first macro-pixel.

5. The method (600) according to claim 4, wherein, The at least one second macro-pixel is grouped such that it is shifted relative to the first macro-pixel along the first extension direction and / or along the second extension direction.

6. The method (600) according to claim 5, wherein, The at least one second macro-pixel is grouped such that it is shifted relative to the first macro-pixel by exactly one sub-detector.

7. A computer program product, which is configured to carry out all steps of the method (600) according to any one of claims 4 to 6.

8. A machine-readable storage medium, on which a computer program is stored, the computer program being configured to carry out all steps of the method (600) according to any one of claims 4 to 6.

Images