Lidar device, motor vehicle with lidar device, and corresponding operating method

Abstract

The invention relates to a lidar device (2) and a motor vehicle (1) equipped with the lidar device. The invention also relates to a corresponding operating method. The lidar device (2) has a laser (3) for emitting a laser beam (6), an optical device (4) arranged in the beam path for shaping the beam, and a detector (10) for detecting a respective reflection of the laser beam. The optical device (4) comprises a variable optical element (5). Therefore, the lidar device (2) is designed to dynamically change at least one inherent beam property of the emitted laser beam (6) by means of the variable optical element (5) during operation thereof.

Description

Technical Field

[0001] The present invention relates to a lidar device and a motor vehicle equipped with such a lidar device. The present invention also relates to a method for operating such a lidar device or such a motor vehicle. Background Art

[0002] As accurate, reliable, and robust as possible environmental recognition and object recognition can be used in many different application fields, such as different industrial applications and road traffic. Different challenges exist here, such as changing environments, object types, and object distances, thus always presenting an improvement need.

[0003] As an application scenario, DE 11 2012 004255T5 describes a three-dimensional laser scanning device for detecting three-dimensional geometric data of a scene. The laser scanning device has an illumination system for generating a light beam and for scanning the light beam through the illumination points of the scene. In addition, the laser scanning device has an optical recognition system with a light detector and an optical system for imaging the light scattered in the scene or reflected from the scene onto the optical recognition system. The optical recognition system has a controllable filter element for dynamically distinguishing the light impinging from a selected area of the scene. Here, the filter element is controlled during the operation of the scanning device such that only the light impinging from a selected spatially limited area around the illumination points in the scene is guided to the light detector.

[0004] As an application in the transportation field, EP 2 936 193 B1 describes an optical object detection device for a motor vehicle. The optical object detection device has a transmitting unit for emitting a transmitting light beam, and the transmitting unit itself has a controllable micromirror and a transmitting lens. With the aid of the micromirror, the transmitting light beam can be pivoted along a pivoting direction. Here, the transmitting lens is arranged behind the micromirror and is configured as a concave-convex lens along the pivoting direction. Thus, even when the deflection of the micromirror is correspondingly limited, a larger opening angle of the detection device in the pivoting direction should be achieved. Summary of the Invention

[0005] The object of the present invention is to enable improved lidar-based environmental recognition.

[0006] This object is solved by the subject matter of the independent claims. Further possible designs of the present invention are disclosed in the dependent claims, the description, and the drawings. The features, advantages, and possible designs described within the scope of the description of one of the subjects of the independent claims should be considered at least similarly as the features, advantages, and possible designs of the corresponding subjects of the other independent claims and of each possible combination of the subjects of the independent claims, if necessary in combination with one or more dependent claims.

[0007] The lidar device according to the present invention can in particular be arranged or designed for use in a motor vehicle. However, the present invention can also be used in other application fields. The lidar device according to the present invention has a laser for emitting a laser beam, an optical device for beam shaping of the laser beam arranged in the optical path of the laser beam, and a detector for detecting the reflection of the laser beam. Thus, the optical device can be arranged and designed to shape or set or adapt one or more characteristics of the laser beam. Thus, the optical device can for example include one or more lenses and / or mirrors and / or conversion elements etc. The focus or focal point or focal region or divergence and / or beam profile or beam cross-section of the laser beam can for example be generated or set by means of the optical device according to a corresponding preset or design. An imaging optical device for imaging the reflection of the incoming laser beam onto a detector or a photosensitive detection surface or sensor surface can for example also be arranged in front of the detector.

[0008] According to the present invention, the optical device for beam shaping of the emitted laser beam has at least one variable optical element. Thus, the optical element can for example be adjusted and / or controlled and / or adapted directly or by means of a corresponding adjustment device, in particular automatically or electrically or electromechanically adjusted and / or controlled and / or adapted. According to the present invention, the lidar device is designed such that, during its operation, by means of the variable optical element, i.e. for example by manipulating or setting or adapting the optical element and / or an associated support or adjustment device coupled thereto, at least one inherent beam characteristic of the emitted laser beam is dynamically varied, i.e. changed or set. Such an inherent beam characteristic can here be a characteristic of the laser beam that is in particular independent of the radiation direction of the laser beam, i.e. the radiation angle or deflection angle. In other words, the inherent beam characteristic can be determined locally on the emitted laser beam itself, independently of surrounding components or the surrounding coordinate system used etc. Such an inherent beam characteristic can in particular be the beam profile or divergence or focus of the emitted laser beam, or relate thereto.

[0009] The dynamic variation of the inherent beam characteristic of the laser beam can in particular mean or include that the beam characteristic can be changed at least substantially continuously during the operation of the lidar device, in particular without manual intervention by a user or operator and / or without structural changes to the lidar device.

[0010] The present invention is based on the following recognition that hitherto lidar devices are generally not limited in sensitivity within their range of action, but rather limited in resolution. Thus, although different lidars are available on the market, they can have a resolution of typically 0.1° x 0.1° to 0.05° x 0.05°, and thus can have different effective ranges of action if necessary. Sometimes a maximum range of, for example, 250 meters, which is numerically limited or truncated, is also fixedly set. However, the optical components installed therein for beam shaping are purely static components, resulting in corresponding fixed characteristics of the lidar, and for example, the beam characteristics cannot be changed dynamically.

[0011] Even when below the theoretical maximum range of action, current lidars are, in an adverse scenario (worst case), i.e., for example, for detecting relatively small and dark objects, not limited by the detector sensitivity, but rather by the corresponding resolution or the corresponding scanning ability. Depending on the beam divergence and, if necessary, also on the imaging of the emitted laser beam's beam geometry onto the detector or the corresponding detector geometry, the following typically occurs for a given laser beam or a given lidar device and a given object: as the distance increases, the area of the object is first larger than, then exactly equal to, and then smaller than the beam cross-section of the laser beam and the corresponding imaging onto the detector, i.e., the receiver. As a result, therefore, first, i.e., at relatively short distances, multiple individual detections or pixels on the object or of the object can be generated, at the so-called pixel filling distance (English: pixel filling distance), exactly one detection or exactly one pixel of the object can be generated, and at greater distances, at most one pixel or less than one complete pixel of the object can be generated. If, in the last case, the object does not fill the entire cross-section of the emitted laser beam, this can lead to a significant deterioration of the signal-to-noise ratio, so that stable object detection may not be achievable. This may be unproblematic or unimportant for sufficiently large objects, but in practice, smaller objects are often to be detected. Due to the above limitations, this can only be reliably and stably achieved within a relatively limited distance or range of action with conventional static lidars, although lidar technology and sensor technology itself allow for a greater range of detection.

[0012] The present invention can achieve a corresponding adaptation of the emitted laser beam through a flexible variability of at least one inherent beam characteristic, and can thus achieve precise, flexible, and robust or stable detection of relatively small objects at different distances with a single lidar device. In particular, this is possible not only for distances that are the corresponding range limitations or detection limitations of conventional lidar, but also for distances greater than the range limitations or detection limitations. Therefore, the application range of the lidar device can be increased in an effective and efficient manner, and for example, an improvement in safety can be achieved according to the application scenario. For example, the latter can also be achieved by detecting relatively small objects in advance and / or in such a way that in order to detect relatively small objects at relatively large distances by correspondingly adapting the focal point or focal length, especially the beam cross-section in the area of the object to be detected, a smaller transmission power and laser power are used, i.e., it can be sufficient compared to conventional lidar without resulting in as poor a signal-to-noise ratio as in conventional lidar. This is because due to the reduced beam cross-section, at least a larger share of the laser beam or the corresponding photons are reflected by the corresponding object to be detected itself and do not pass through the object and then are reflected by other objects or the background.

[0013] The change of at least one inherent beam characteristic of the emitted laser beam by a variable optical element in the optical path of the laser represents a solution that is generally cheaper and more space-saving than, for example, using two or more different static lidar devices with different but static optical devices or beam characteristics.

[0014] In a possible design of the present invention, the lidar device is designed to change the divergence of the laser beam or the distance associated with the lidar device of the focal point of the laser beam, and / or the beam profile of the emitted laser beam, i.e., the beam shape or the beam cross-section, as an inherent beam characteristic of the emitted laser beam. Thus, the emitted laser beam can be adapted particularly simply and effectively for scanning and detecting objects of different sizes and / or objects at different distances. By reducing the divergence, for example, a reduced beam cross-section can be achieved or set at greater distances, which in turn can detect smaller objects at greater distances more robustly. The change in the shape of the beam cross-section or the beam profile can, for example, enable optimization for detecting objects with mainly horizontal or mainly vertical extensions. Therefore, it is also possible to flexibly achieve particularly reliable, robust, and long-distance detection of different objects, or to improve the detection in terms of range limitations or detection limitations at a given minimum signal-to-noise ratio.

[0015] In a further possible design of the present invention, the variable optical element is movably supported, wherein at least one inherent beam characteristic is variable by the movement of the respective optical element. For the movement, i.e., the motion, of the optical element, the lidar device may have, for example, a corresponding adjustment motor and / or a magnetic mount or assembly, such as an assembly having a coil surrounding the optical element, etc. Thus, the optical element can be moved in particular in an electrical or electrically controlled manner. This enables a particularly precise or particularly precisely controllable movement. In particular, the optical element can be movably supported, i.e., moved, in the radiation direction or the beam propagation direction of the laser beam, i.e., for example, along the optical axis of the optical device or the variable optical element or in the direction of this optical axis. By the proposed movement or displacement, i.e., the change in the physical position, of the variable optical element, at least one inherent beam characteristic can be changed particularly simply, and thus the present invention can be implemented relatively inexpensively and with conventionally simply available components.

[0016] In a further possible design of the present invention, the variable optical element can be changed electrically in terms of its shape and / or at least one optical characteristic in order to change at least one inherent beam characteristic of the emitted laser beam. Such an optical characteristic can be, for example, the refractive index, etc. The refractive index can be changed, i.e., set, electrically, i.e., for example, by applying an electric field or a voltage, depending on the design or material selection of the optical element. In the design proposed herein, the variable optical element can be designed, for example, as a liquid or gel-like lens, etc. The housing containing the liquid or gel-like material of the lens can be moved electrically or changed in its shape or, for example, in its mechanical stress or firmness, etc.

[0017] The material of the optical element can also have, i.e., contain, particles, such as magnetic particles or metal particles, for example, and thus react to the existing magnetic field and / or electric field, in particular by moving or changing its shape.

[0018] With the design proposed herein of the present invention, the lidar device can be implemented particularly compactly. In addition, by means of a correspondingly complex electric field configuration and / or magnetic field configuration, a particularly precise and / or particularly flexible setting of the variable optical element can be achieved, for example. A complex free form of the optical element can be achieved, whereby the beam profile can be set correspondingly flexibly and complexly, for example. Thus, the inherent beam characteristics can also be changed correspondingly flexibly and complexly, or a simultaneous or independent change in a plurality of inherent beam characteristics of the laser beam can be achieved.

[0019] In a further possible design of the present invention, it is provided that the variable optical element is or includes a lens. The control of such a lens (i.e., its movement or displacement, for example) can be implemented more simply and / or more precisely or robustly than, for example, the precise and reliable adjustment or shape change of a mirror, if necessary. Compared to the changes in the inherent beam properties caused, for example, by a mirror whose shape can be set precisely accordingly, a variable or adjustable lens can generally be implemented more inexpensively at present. However, the use of such a mirror that is controllably variable in its shape as a variable optical element (to change at least one inherent beam property of the emitted laser beam) can also be implemented as an alternative or supplementary design possibility of the present invention, at least if appropriate hardware is available.

[0020] The present invention also relates to a motor vehicle having a lidar device according to the present invention for detecting the environment, i.e., for detecting objects in the corresponding environment of the motor vehicle. The motor vehicle according to the present invention can in particular be or correspond to the motor vehicle mentioned in connection with the lidar device according to the present invention. The application or use of the lidar device according to the present invention in a motor vehicle can be particularly useful because, in traffic incidents, multiple different situations and environmental configurations can occur in which different objects, especially of different sizes, at different distances should be detected. Since this is achieved or supported by the lidar device according to the present invention, particularly reliable and accurate environment recognition can be achieved and finally an increased safety can be achieved when guiding the motor vehicle according to the present invention or generally in traffic incidents.

[0021] The present invention also relates to a method for operating a lidar device according to the present invention and / or a motor vehicle according to the present invention. Here, during the operation of the lidar device, the variable optical element or its plurality of variable optical elements of the lidar device and / or the adjustment device coupled thereto are automatically controlled, and thereby at least one inherent beam property of the laser beam emitted by the lidar device is changed. Further processes, measures or procedures mentioned in connection with the lidar device according to the present invention and / or the motor vehicle according to the present invention can form further, optionally additional method steps of the method according to the present invention.

[0022] In a possible improvement of the present invention, at least one inherent beam property is automatically set in an individually situation-adapted manner, i.e., coordinated with the situation in each case. Here, the variable optical element or the corresponding adjustment device is controlled or set in an individually situation-adapted manner. The situation-adapted setting or adaptation is based here on the respective current speed of the motor vehicle equipped with the lidar device and / or on the detected data from other sources that describe the corresponding environmental situation or on the corresponding environmental classification, especially based on these data.

[0023] Such other data sources may for example be or include, for example, environmental data previously generated by an environmental recognition device of a motor vehicle, in particular during a respective current journey of the motor vehicle on a respective current route section (which semantically describes the respective environment) and / or other sensors and / or map data and / or weather information services and / or other vehicles or traffic participants and / or traffic monitoring or traffic management infrastructure and / or a central server device external to the vehicle, such as a backend or cloud server, etc. The respective data from the external data sources may for example be detected via a respective Car2X data connection and / or via a mobile radio connection and / or via a WLAN connection, etc.

[0024] In free sight or below a preset threshold of the existing traffic density and / or when the preset minimum size of the unobstructed free area in the driving direction is present, as a case here, for example, it may be provided that the motor vehicle travels on a highway, in particular at at least one preset minimum speed, such as at least 80 km / h or at least 100 km / h, etc. This situation can be predicted or estimated relatively well, for example, regarding the occurrence of obstacles in the detection area of the lidar device and / or regarding the laser power available without interference, etc. In this case, it may be stipulated or desired that relatively small objects in as large a distance as possible be detected. To be able to achieve or support this, the variable optical element can be set, adjusted or adapted such that, as an inherent beam characteristic of the emitted laser beam, a respective far-apart or far-ahead-in-the-driving-direction focal point or focal area of the emitted laser beam is produced.

[0025] In contrast, in other cases, a lower speed of the motor vehicle and / or a higher traffic density in the environment of the motor vehicle may be provided. This may occur, for example, if the motor vehicle is located in an inner-city area. In this case, the detection of objects at a relatively far distance may be less important, and instead, the detection of objects in the nearby area or at a relatively short distance is more important than in the first-described case. In this case, the risk or probability of shielding or interfering with or otherwise damaging other road participants or devices in the environment of the motor vehicle by the emitted laser beam may also increase. Therefore, in this case, the optical element can, for example, be controlled, set or adapted such that, as an inherent beam characteristic, a focal point or focal area of the emitted laser beam closer to the motor vehicle or the lidar device is produced.

[0026] These cases can be understood as exemplary here, but it shows that through a corresponding situation-adapted change of the emitted laser beam of the lidar device, a corresponding optimization of different situations can be achieved.

[0027] In a possible improvement of the present invention, the lidar device is used, i.e., operates, in a motor vehicle to detect corresponding objects located in front of the motor vehicle, especially in the environment in front in the longitudinal direction of the vehicle or corresponding along the driving direction. Here, in cases where the corresponding environment is known or classifiable with a precision and / or confidence lower than a preset minimum, in order to scan the environment, i.e., to detect objects, in a predefined nearby area starting from the motor vehicle or the lidar device, as long as no obstacles, i.e., for example, at least no objects related to safe vehicle guidance, are detected, the power of the laser of the lidar device is increased as the distance increases. Thus, seemingly, the lidar device or the environmental scan can be advanced to a greater distance correspondingly carefully as long as no objects are detected. Thereby, at least the occlusion, interference, or other damage to other road participants or devices in the environment of the motor vehicle can be limited. But at the same time, reliable environmental recognition or object detection can be achieved because usually a smaller laser power is required or sufficient to detect objects at closer distances.

[0028] Once an object is detected at a certain distance, the laser power provided here, for example, can also be retained for environmental scanning at greater distances.

[0029] The predefined nearby area can here, for example, be an environmental area connected to the motor vehicle or the lidar device, for example, up to a preset distance.

[0030] Furthermore, it is stipulated here that in corresponding cases outside the nearby area, i.e., at greater distances or starting from a preset minimum distance from the motor vehicle or the lidar device, compared to the environmental scan within the nearby area, the focus sharpness or focus size of the laser beam is reduced. Thus, in the corresponding cases and distances, the size, hardness, or intensity of the focal point or focal area of the emitted laser beam can be reduced, especially until it is reduced below the maximum value technically achievable or set by the corresponding lidar device, or compared to the focus size, focus sharpness, or intensity used or set in the nearby area and / or in more accurate and / or better-known cases, if this can be achieved safely there, especially while complying with the preset eye safety requirements. With this reduced focus size, specific objects (which can also be detected robustly and reliably with a larger focus size, i.e., a less sharp focus, within the nearby area) can also be detected correspondingly reliably and robustly at greater distances. The here-proposed situation- and distance-dependent change in the focus size as an inherent beam characteristic of the emitted laser beam can be achieved as described by correspondingly manipulating, setting, or adapting at least one variable optical element of the lidar device.

[0031] In other possible improvement solutions of the present invention, during the operation of the lidar device or the motor vehicle, different values of at least one inherent beam characteristic of the emitted laser beam are automatically set periodically and repeatedly in a preset time sequence. In other words, the corresponding settings or positions of the variable optical element and / or the corresponding adjustment device will be automatically carried out correspondingly periodically. This can be carried out in specific or discrete steps from one value or setting or position to the next value or setting or position or continuously. The automatic change of the inherent beam characteristic proposed herein in a preset scenario or in a preset time flow can be realized particularly simply. Especially during the sufficiently fast operation of the sequence matching the corresponding usage purpose or application scenario, in different situations, it is possible to simultaneously achieve environmental scanning or object detection using at least one value or setting or position (which is suitable or optimal for the corresponding situation) respectively. This can be achieved particularly simply, reliably and consistently especially without the usually more complex or delayed recognition or classification of the corresponding situation. The automatic change of the inherent beam characteristic according to the preset sequence proposed herein can also be used as an alternative solution. This can be used, for example, when the corresponding situation cannot be recognized or classified, or cannot be recognized or classified with the preset minimum confidence level, etc. Thus, the improved robustness and reliability of the lidar device or its operation can be achieved overall. Brief Description of the Drawings

[0032] Other features of the present invention can be derived from the claims, the drawings and the description of the drawings. The features and combinations of features mentioned previously in the description and the features and combinations of features shown individually below in the description of the drawings and / or in the drawings can be used not only in the respectively described combinations, but also in other combinations or individually without departing from the scope of the present invention.

[0033] In the sole drawing, the drawing shows a schematic overview for explaining object detection by means of a lidar with variable optics. Detailed Description of the Invention

[0034] Figure 1 A schematic overview for explaining the operation of a dynamic lidar is shown. For this purpose, the motor vehicle 1 is partially shown here, and the motor vehicle is equipped with a lidar 2 for detecting the environment. The lidar 2 has a laser 3 and an optical device 4 arranged in the radiation or emission direction of the laser here. The optical device 4 is schematically represented by a lens 5 here. The laser beam 6 emitted by the laser 3 can be shaped by means of this lens 5 or this optical device 4.

[0035] Thus, during operation, the laser beam 6 can be emitted by the laser 3, then passed through the optics 4, and then radiated by the motor vehicle 1 or the lidar 2 into the surroundings of the motor vehicle 1 in the radiation direction 7. There, the laser beam 6 can reach the object to be detected and be reflected by the object. For illustration purposes, the corresponding object plane 8 is shown here, on which this reflection can occur. The laser beam 6 is reflected back from there at least partially in the reception direction 9 to the lidar 2, in particular to the detector 10 of the lidar 2. To avoid overlap and thus for better recognizability, a linear diagram is shown here, in which the path of the laser beam 6 is illustrated in a certain way in its own coordinate system. In practice or in a spatially correct illustration, the detector 10 can of course also be located in or on the lidar 2, for example next to the laser 3. Thus, the reception direction 9 is opposite to the radiation direction 7 and extends back from the object plane 8 to the lidar 2.

[0036] For further illustration, the optical axis 11 extending through the center of the laser beam 6 of the optics 4 is also shown here.

[0037] In the theoretical ideal case, the laser beam 6 would extend parallel or unchanged over its entire path and thus have zero divergence. This is shown here by the corresponding ideal beam path 12. In this ideal case, specific objects can be detected with the same accuracy, precision, or signal-to-noise ratio at any distance. However, in practice, this is not the case. Instead, beam expansion can occur conventionally. This is illustrated here by the conventional beam path 13. It can be clearly seen here that, in the corresponding setting of the optics 4 or for the corresponding laser beam 6 emitted by a corresponding conventional static lidar device, according to the conventional beam path 13, the laser beam 6 has a smaller beam cross-section in the object plane 8 than in the region of the optics 4 after reflection on the corresponding object.

[0038] For further illustration, the pixel filling dimension 14 is shown here on the object plane 8. Here, it is the dimension of the object irradiated by the emitted laser beam 6 that just fills the laser beam 6, i.e., corresponds to its cross-section or cross-sectional dimension. Such an object with a corresponding dimension at a corresponding distance can also be referred to as a pixel filling target. The distance to the lidar 2 can limit its effective range of action in a conventional static lidar device, at which distance a specific object just has this pixel filling dimension 14 for a given laser beam 6. This can be particularly important in practical applications for relatively small objects, such as beverage cans, barrels, tires, etc. A certain share of the laser beam reflections from the corresponding object can already be radiated past at the receiver side at the optics 4, so that not all photons reflected by the corresponding object can actually strike or be detected in the detector 10. This effect becomes stronger in smaller objects at the same distance or in the same object at a greater distance, so that stable object detection is not possible.

[0039] To solve this problem, the shaping beam optics 4 is designed here to be dynamically variable in setting. For this purpose, the lens 5 can be adjusted here, for example, between a first position or first setting 15 and a second position or second setting 16. Here, for example, the position of the lens 5 along the optical axis 11 can be changed and / or, for example, the shape and / or the optical properties of the lens 5 can be changed. Such a change can be carried out automatically, for example, periodically or situationally or situation-adaptedly, for example, under the control of the lidar 2.

[0040] For the corresponding control or operating method, the lidar 2 can have, for example, a corresponding control device or data processing device. Here, it can be, for example, a correspondingly designed circuit and / or process device and a computer-readable data memory coupled thereto, etc. In such a data memory, for example, a corresponding operating program or computer program can be stored, which encodes or implements the method steps, measures or processes of the corresponding method and / or the corresponding control instructions. The operating program or computer program can be executed by means of a process device, i.e., for example, by means of a microprocessor, microchip or microcontroller, etc., in order to execute the corresponding method or to cause it to be executed.

[0041] By correspondingly dynamically adjusting or adapting or setting the optical device 4 or at least one corresponding variable optical element of the optical device 4 (which is represented here by way of example in the form of a lens 5), for example, the divergence of the emitted laser beam 6 and thus the focus of the laser beam or the beam cross section of the laser beam can be changed or preset, i.e. set, at a specific distance. Here, by way of example, a corresponding adapted beam course 17 is shown. It can be seen that, here, according to the exemplary adapted beam course 17, the laser beam 6 has a smaller beam cross section in the region of the object plane 8 than the conventional beam course 13. Therefore, all light reflected back from the corresponding object to the optical device 4 can strike or be detected in the detector 10. Therefore, the corresponding object can be detected more reliably or, for example, also at a greater distance than by means of a conventional beam course 13. It is also possible to dynamically set, i.e. generate, a plurality of other adapted beam courses 17 during the operation of the laser radar 2 by other settings or adaptations of the optical device 4 or the variable lens 5.

[0042] Thus, at least for a plurality of laser pulses emitted in succession with different settings or adaptations of the optical system 4, a distance-independent pixel filling size 14 can be achieved at least in a larger size compared to conventional static laser radar devices. In other words, at a given distance, the scanning capability or the resolution of the laser radar 2 can be improved or respectively set as required or maintained by a reduction in the beam cross section with increasing distance, or at least not reduced as strongly or as quickly as with increasing distance compared to conventional static laser radar devices.

[0043] The effects and modifications or changes shown may occur in the vertical or horizontal direction.

[0044] Overall, the described example shows how a lidar device with a movable focus can be implemented.

[0045] Reference numerals list

[0046] 1Motor Vehicle

[0047] 2. LiDAR

[0048] 3 Lasers

[0049] 4 Optics

[0050] 5 Lenses

[0051] 6 Laser beams

[0052] 7 Radiation direction

[0053] 8 Object Plane

[0054] 9 Receiving direction

[0055] 10 detectors

[0056] 11 optical axis

[0057] 12 ideal beam direction

[0058] 13 conventional beam direction

[0059] 14 pixel filling size

[0060] 15 first setting

[0061] 16 second setting

[0062] 17 adapted beam direction

Claims

1. A lidar device (2) having a laser (3) for emitting a laser beam (6), an optical device (4) arranged in the optical path of the laser beam (6) for beam shaping the emitted laser beam (6), and a detector (10) for detecting the reflection of the laser beam, wherein, The optical device (4) has a variable optical element (5), and the lidar device (2) is designed to dynamically change at least one inherent beam characteristic of the emitted laser beam (6) by means of the variable optical element (5) during its operation.

2. The lidar device (2) according to claim 1, characterized in that, The lidar device (2) is designed to change the divergence of the laser beam or the beam profile of the laser beam as an inherent beam characteristic of the emitted laser beam (6).

3. The lidar device (2) according to any one of the preceding claims, characterized in that, The variable optical element (5) is movably supported, in particular, in the radiation direction of the laser beam (6), and by a corresponding movement of the optical element (5), the at least one inherent beam characteristic is variable.

4. The lidar device (2) according to any one of the preceding claims, characterized in that, The variable optical element (5) can be electrically changed in terms of its shape and / or at least one optical characteristic to change at least one inherent beam characteristic of the emitted laser beam (6).

5. The lidar device (2) according to any one of the preceding claims, characterized in that, The variable optical element (5) includes a lens (5).

6. A motor vehicle (1) having a lidar device (2) according to any one of the preceding claims for environmental detection.

7. A method for operating a lidar device (2) according to any one of claims 1 to 5 and / or for operating a motor vehicle (1) according to claim 6, wherein, During the operation of the lidar device (2), the variable optical element (5) and / or an associated adjustment device are automatically controlled, and thereby at least one inherent beam characteristic of the emitted laser beam (6) is changed.

8. The method according to claim 7, wherein The at least one inherent beam characteristic is automatically set, respectively, adaptively according to the respective current speed of the motor vehicle (1) equipped with the lidar device (2) and / or according to data detected from other data sources describing the corresponding environmental situation.

9. The method according to claim 7 or 8, characterized in that The lidar device (2) operates in the motor vehicle (1) for detecting an object (8) in the environment in front of the motor vehicle (1), and in a situation where the corresponding environment can be classified with less than a preset minimum accuracy and / or minimum confidence, in order to scan the environment, - in a predefined near region, starting from the motor vehicle (1), as long as no obstacle is detected, the power of the laser (3) is increased as the distance increases, and - outside the near region, the focal size of the laser beam (6) is reduced.

10. The method according to claim 7, wherein Different values of the at least one inherent beam characteristic are automatically set periodically and repetitively in a preset time sequence.

Images