METHOD FOR CONTROLLING THE OPERATION OF A MOTOR VEHICLE LIDAR SENSOR

Abstract

A computer-implemented method (100) is provided for controlling the operation of a lidar sensor (310) of a motor vehicle (400). The lidar sensor (310) is designed to determine the distances of objects in the vicinity of the motor vehicle (400). The lidar sensor (310) comprises a laser source (320) and an analog-to-digital converter (330).The method (100) comprises: determining (110) a prevailing driving situation of the motor vehicle (400); determining (120) a distance resolution and / or range to be provided for determining distances by the lidar sensor (310) for the prevailing driving situation of the motor vehicle (400); and outputting (130) a control signal to adjust one or more parameters of the laser source (320) and / or to adjust one or more parameters of the analog-to-digital converter (330) such that the determination of distances by the lidar sensor (310) is carried out with the distance resolution and / or range to be provided.

Description

[0001] The present disclosure relates to a computer-implemented method for controlling the operation of a lidar sensor of a motor vehicle, a control device configured to execute the method, and a motor vehicle comprising the control device. Additionally, or alternatively, a computer-readable medium is provided which contains instructions which, when executed by a computer, cause the computer to execute the method, at least partially.

[0002] Vehicles equipped with modern driver assistance systems may include lidar sensors designed to detect objects in the vehicle's vicinity. The lidar sensor emits individual light pulses into the surrounding area. If a light pulse is reflected back to the lidar sensor by an object in the vicinity, such as another vehicle, the distance between the lidar sensor and the object can be determined based on the pulse's travel time. This allows lidar sensors to measure distances in real time.

[0003] The conversion of an analog signal into a digital signal takes place in so-called analog-to-digital converters (AD converters). Analog signals can be generated, for example, at a photodiode on the receiving side of a lidar sensor by a reflected light pulse.

[0004] Lidar sensors and their associated analog-to-digital converters (ADCs) require high electrical power and generate a significant amount of heat, which must be dissipated in a complex manner. Particularly in electric vehicles, this can lead to a considerable reduction in the vehicle's range.

[0005] In light of this prior art, the purpose of the present disclosure is to specify a method and / or a control device, each of which is suitable to enrich the prior art.

[0006] The problem is solved by the features of the independent claims. The dependent and subordinate claims each contain optional further developments of the disclosure.

[0007] The problem is then solved by a computer-implemented method for controlling the operation of a motor vehicle's lidar sensor. The lidar sensor is designed to determine the distances of objects in the vehicle's environment. The lidar sensor comprises a laser source and an analog-to-digital converter. The method includes determining the prevailing driving situation of the vehicle and determining the required distance resolution and / or range for the lidar sensor to determine distances under that driving situation. The method includes outputting a control signal to adjust one or more parameters of the laser source and / or one or more parameters of the analog-to-digital converter such that the lidar sensor determines distances with the required distance resolution and / or range.

[0008] A lidar sensor can be understood as a device for light detection and ranging. A lidar sensor can be configured to use light waves to measure distances and velocities. A lidar sensor can emit and / or receive electromagnetic waves, particularly laser beams. Lidar sensors are designed to emit and / or receive light, particularly laser beams, in individual light pulses. In a light pulse, especially a laser pulse, the light is not emitted continuously, but in time-limited portions or pulses. A lidar sensor can, for example, include a laser diode and generate individual laser beams using the laser diode. A "laser source" is understood to be a device designed to emit laser pulses.A lidar sensor includes at least one laser source, which may include at least one laser diode.

[0009] Determining distances between a vehicle and its surroundings involves using a lidar sensor to emit light pulses, particularly laser beams, into the vehicle's environment within a predetermined detection range. These pulses are then received by the lidar sensor to determine distances. If a single light pulse, especially a laser beam, is reflected back to the lidar sensor in the vehicle's surroundings, it can be received. Based on the elapsed time, or travel time, between the emission of the single light pulse and its reception, the distance between the lidar sensor and the point of reflection can be determined. The received light pulse, reflected back to the lidar sensor, is then converted into an electrical signal by a detector.The detector or photodetector can, for example, be designed as a photodiode or at least include a photodiode.

[0010] In general, an analog-to-digital converter (ADC) is an electronic circuit or component that converts an analog signal into its corresponding digital signal equivalent. An ADC can be understood as a device that translates a received analog electrical signal, generated at a detector of the lidar sensor, into a digital signal. Optionally, at least one ADC and one detector of the lidar sensor can be spaced apart from each other and / or connected to each other.

[0011] A prevailing driving situation refers to a condition existing at a given time to which a motor vehicle is exposed and which influences the driving parameters to be selected, such as speed and / or distance to an object in front of the vehicle. Accurate and reliable detection of the prevailing driving situation may require the lidar sensor to measure distances adapted to that situation.

[0012] Distance resolution can be understood as distance precision, which can depend on the distance between the lidar sensor or vehicle and an object, as well as the object's properties, such as reflectivity and angle of incidence. Distance resolution can also be influenced or determined by a sampling rate; for example, increasing the sampling rate can contribute to an increase in distance resolution. A sampling rate refers to the frequency, cadence, or repetition rate with which a signal emitted by the laser source and received by a lidar sensor's detector is received.

[0013] The range refers to the (currently) furthest point at which an object can still be reliably detected by the lidar sensor in the vehicle. The actual range can be influenced by properties of the reflecting object, such as size, distance, reflectivity, and / or diffusion, as well as by external factors like weather conditions, temperature, and / or humidity. The actual range can be greater or less than a predetermined reference range. Optionally, the range can be kept constant relative to a predetermined reference range. The predetermined reference range can optionally represent a target value for the range to be provided.

[0014] Setting the parameters of the laser source means changing and / or adjusting properties of the light pulses to be generated by the laser source, such as a repetition rate for the emission of the light pulses, a pulse energy and / or a pulse duration.

[0015] Setting parameters of the analog-to-digital converter means changing and / or adapting the operation of the analog-to-digital converter to determine distances by the lidar sensor, especially in real time.

[0016] The method described above offers several advantages. It reduces the energy consumption of the analog-to-digital converter (ADC) and / or the lidar sensor of a vehicle, which can increase the available range, particularly in electric vehicles. ADCs in lidar sensors conventionally exhibit unavoidable power consumption per conversion from the analog to the digital domain. Consequently, even if no signal is detected, the digital value 0 is typically still generated. This disclosure offers the advantage that the operation of the lidar sensor can be adapted to reduce or eliminate the power consumption of the ADC when it is not needed. This reduces the energy consumed by the ADC.This method offers the further advantage of reducing waste heat generation by lowering the energy consumption of the analog-to-digital converters (ADCs) in the lidar sensor. Particularly with ADCs and photodetectors, this also reduces the risk of heat-related damage to the photodetectors.

[0017] The described method offers the advantage that, depending on the prevailing driving situation, energy consumption can be reduced by adjusting the parameters of the analog-to-digital converter and / or by changing the parameters of the laser source. This results in lower energy consumption than with continuous operation of the ADC, as is conventionally the case. Furthermore, the method offers the advantage that by adjusting the parameters of the analog-to-digital converter and / or the laser source according to the prevailing driving situation, a desired, adjustable distance resolution and / or range can be provided. This, in turn, contributes to reducing the energy consumption and heat dissipation of the ADC in the lidar sensor, while still providing a distance resolution appropriate for the driving situation.

[0018] Possible further developments of the procedure described above are explained in detail below.

[0019] It is conceivable that one or more parameters of the laser source could include a light pulse duration and / or a light pulse energy of a light pulse generated by the lidar sensor and / or a repetition rate for emitting the light pulses. This could reduce the energy consumption of the laser source.

[0020] A light pulse duration can refer to the time between the 50% values ​​of the rising and falling pulse edges (full width at half maximum). A light pulse duration can be adjustable, specifically increased or decreased relative to a predetermined reference light pulse duration. Optionally, the light pulse duration can remain constant relative to a predetermined reference light pulse duration. A light pulse duration can be in nanoseconds (ns), optionally > 1 ns, optionally < 5 ns, optionally 5 ns, or optionally < 20 ns. The advantage is that changing or adjusting the light pulse duration based on the prevailing driving situation allows for a reduction in the power consumption of a lidar sensor.

[0021] Light pulse energy refers to the energy of a laser pulse generated by the lidar sensor's laser source. Light pulse energy can be adjustable; in particular, it can be increased or decreased relative to a reference light pulse energy predetermined for a given driving situation. Optionally, the light pulse energy can be kept constant relative to a predetermined reference light pulse energy. The advantage of this is that changing or adjusting the light pulse energy based on the prevailing driving situation can reduce the power consumption of a lidar sensor.

[0022] The repetition rate for emitting light pulses refers to the frequency with which the laser source emits laser beams to measure distances. Optionally, the repetition rate can be adjusted to the distance resolution required in the prevailing driving situation. This also helps to reduce the energy consumption of the lidar sensor.

[0023] It is conceivable that one or more parameters of the analog-to-digital converter include an activation state of the analog-to-digital converter and / or a sampling rate of the analog-to-digital converter.

[0024] An activation state of the analog-to-digital converter (ADC) refers to the operating state of the ADC, which can be either active or inactive. Optionally, in inactive mode, no information is translated or converted. In other words, the ADC can be deactivated or in standby mode. In active mode, however, the ADC can be activated and operate normally. This offers the advantage of reducing the power consumption of the ADC in a lidar sensor, particularly in situations where no information from the lidar sensor is required.

[0025] Distance resolution can be defined by adjusting the sampling rate, with, for example, increasing the sampling rate contributing to an increase in distance resolution. A sampling rate is the frequency with which an analog signal received by a detector of a lidar sensor is measured and converted into a discrete-time signal within a predetermined time. The sampling rate can be increased or decreased relative to a predetermined reference sampling rate. Optionally, the sampling rate can remain constant relative to a reference sampling rate predetermined for the prevailing driving situation. Optionally, analog-to-digital converters (ADCs) can be operated with 4-8 samples per light pulse at a light pulse duration of 5 ns, i.e., approximately 500-700 megasamples per measurement.

[0026] Optionally, the sampling rate of analog-to-digital converters (ADCs) in lidar sensors is selected so that the analog signal of the detected light pulse is sampled with a sufficient number of points. This, combined with the associated power consumption, generates waste heat that must be dissipated in a complex manner. The described method offers the advantage that adjusting the sampling rate of the ADC reduces both the generation of waste heat and the energy consumption of the ADCs in the lidar sensor.

[0027] It is conceivable that the activation state of the analog-to-digital converter could be set in such a way that the converter is deactivated in driving situations where no information provided by the lidar sensor is required. Optionally, such a driving situation could be a very low speed and / or a stationary vehicle. This could reduce the power consumption of the lidar sensor.

[0028] It is conceivable that the activation state of the analog-to-digital converter could be set such that the converter is deactivated during periods in which the lidar sensor does not emit light pulses and / or in which detection and / or evaluation of the detected light pulses is not required. Optionally, such a driving situation could be a very low speed and / or a stationary vehicle. The advantage here is that switching off the ADC, optionally between periods in which no light pulses are emitted, can reduce the energy consumption of the lidar sensor.

[0029] It is conceivable that the specific, prevailing driving situation includes a current vehicle speed and / or a prevailing distance of the motor vehicle to an object in the vicinity of the motor vehicle.

[0030] Current vehicle speed is the instantaneous speed at which the vehicle is moving. "Distance" refers to the spatial distance between the vehicle and an object in the vehicle's vicinity, optionally the nearest object in the vehicle's direction of travel.

[0031] Alternatively or additionally, the area or field of view covered by the lidar sensor can be adapted to the prevailing driving situation. Optionally, the prevailing driving situation can be influenced by the lidar sensor's sensitivity to other light sources, particularly laser sources from other vehicles, and / or sunlight. Optionally, the prevailing driving situation can also be influenced by weather conditions such as fog, precipitation, rain, and / or hail to which the vehicle is exposed.

[0032] It is conceivable that the repetition rate for the emission of light pulses by the lidar sensor and / or the sampling rate of the analog-to-digital converter could be set depending on the current vehicle speed and / or the prevailing distance of the vehicle to an object in its vicinity, particularly in the direction of travel. This could offer the advantage that the energy consumption of the lidar sensor could be reduced by adjusting the sampling rate, while still providing the distance resolution required for the prevailing driving situation.

[0033] It is conceivable that determining the required distance resolution and / or range for distance measurement by the lidar sensor for the prevailing driving situation of the vehicle is based on predetermined reference values ​​for distance resolutions and / or ranges for different driving situations. Target values ​​can be provided as reference values ​​for the distance resolutions and / or ranges for the predetermined driving situations.

[0034] Above a reference value means a higher or larger value than the reference value. Below a reference value means a lower or smaller value than the reference value.

[0035] It is conceivable that measures may be taken to improve the distance resolution and / or range if the required distance resolution and / or range falls below a predetermined reference value for the prevailing driving situation. These measures may include adjusting the light pulse duration, light pulse energy, and / or sampling rate to improve the distance resolution and / or range to at least meet the predetermined reference value.

[0036] It is possible that at low vehicle speeds, a low distance resolution and / or range may be sufficient. The advantage here is that at low vehicle speeds, operating the laser source with longer light pulses at reduced pulse energy, and simultaneously with a reduced sampling rate, is sufficient, which leads to a reduction in distance resolution and, in turn, contributes to lower power consumption.

[0037] If the required range of a light pulse generated by the lidar sensor exceeds a predetermined reference range, which depends on the prevailing driving situation, the procedure could include: setting the light pulse duration above a predetermined reference pulse duration, which depends on the prevailing driving situation; and setting a sampling rate below a predetermined reference sampling rate, which depends on the prevailing driving situation. The advantage of this approach is that, at the maximum range of a lidar sensor, operating the laser source with longer light pulses while maintaining a constant light pulse energy (more energy per pulse overall), and simultaneously reducing the sampling rate, eliminates the need for the highest distance resolution, which in turn contributes to reducing power consumption.

[0038] The above can be summarized in other words and in a possible more concrete elaboration of the revelation as described below, whereby the following description is not to be interpreted as restrictive for the revelation.

[0039] Lidar sensors can consume high electrical power, which in turn can reduce the vehicle's range, especially for electric and hybrid vehicles. Furthermore, lidar sensors often generate a significant amount of heat, which requires complex dissipation systems. Analog-to-digital converters (ADCs), which are integrated into the lidar detectors, typically operate at a constant, very high sampling rate, regardless of the driving situation. More precisely, ADCs inherently consume an unavoidable amount of electrical power per conversion from analog to digital. Lacking prior knowledge of when a signal will be received, the ADC in lidar sensors must continuously sample. Even when nothing is detected, a digital value of 0 is generated.The required sampling rate is defined by the light pulse duration and the desired distance resolution (the pulse duration and the distance resolution are also related). In conventional lidar sensors, the light pulse duration is not varied. Typical values ​​are 5 ns or generally < 20 ns. The analog-to-digital converters (ADCs) in conventional lidar sensors operate continuously at a constant sampling rate. The sampling rate is chosen so that the analog signal of the light pulse is sampled with a sufficient number of points (e.g., 4-8 samples, i.e., a 5 ns pulse duration, approximately 500-700 megasamples per second).

[0040] By operating an AD converter in a situation-adapted manner, optionally in combination with a similarly situation-adapted control of the light pulse duration of a lidar sensor as specified, both power consumption and heat generation in lidar sensors can be reduced.

[0041] To reduce the energy consumption of the analog-to-digital converters (ADCs), the following measures can be taken. An ADC can be switched off when no information from the lidar sensor is needed; that is, components of the lidar sensor other than the ADC can continue to operate independently. Furthermore, an ADC can be switched off during periods when no laser light is emitted. Optionally, ADCs can operate like conventional ADCs, as switching them off is not inherently possible.

[0042] Furthermore, to reduce the energy consumption of an analog-to-digital converter (ADC), the ADC sampling rate can optionally be varied along with the light pulse duration, depending on the vehicle speed and driving situation. Operation can be performed with a minimum light pulse duration and maximum sampling rate when the highest possible distance resolution is required (as in conventional operation). Additionally, the ADC can be stopped at a speed-dependent reduction of the maximum range (digital truncation), in contrast to conventional operation, which, for example, provides a range of 250 m regardless of the vehicle speed. Finally, operation with longer light pulses (with constant light pulse intensity or energy = more energy per pulse) and a simultaneous reduction of the sampling rate is possible, at the expense of maximum distance resolution.Furthermore, at low speeds, operation with longer light pulses (at reduced light pulse intensity or energy, because less range is required) is possible, along with a simultaneous reduction in the sampling rate and without sacrificing the highest resolution.

[0043] Furthermore, a control device for controlling the operation of a lidar sensor for a motor vehicle is provided. The control device is configured to control the operation of a lidar sensor of a motor vehicle, wherein the lidar sensor is designed to determine distances between objects in the vicinity of the motor vehicle and the motor vehicle, and wherein the lidar sensor comprises a laser source and an analog-to-digital converter. The control device can be configured to determine a prevailing driving situation of the motor vehicle and to determine a distance resolution and / or range to be provided for the lidar sensor to determine distances for the prevailing driving situation of the motor vehicle.Furthermore, the control device is designed to output a control signal for setting one or more parameters of the laser source and / or for setting one or more parameters of the analog-to-digital converter in such a way that the distances are determined by the lidar sensor with the required distance resolution and / or range.

[0044] The control device or control unit can be part of the driver assistance system or constitute the system itself. The control device can, for example, be an electronic control unit (ECU). The electronic control unit can be an intelligent, processor-controlled unit that can communicate with other modules via a central gateway (CGW) and may form the vehicle's electrical network via fieldbuses such as CAN bus, LIN bus, MOST bus, FlexRay, and / or Automotive Ethernet, for example, together with telematics control units and / or environmental sensors.

[0045] It is conceivable that the control unit manages functions relevant to the vehicle's driving behavior, such as steering, engine control, power transmission, and / or the braking system. Furthermore, driver assistance systems, such as a parking assistant, adaptive cruise control (ACC), lane keeping assist, lane change assist, traffic sign recognition, light signal recognition, hill start assist, night vision assist, and / or intersection assist, can be controlled by the control unit.

[0046] Furthermore, a motor vehicle equipped with the control unit or control device described above will be provided.

[0047] The motor vehicle can be a passenger car, in particular an automobile, or a commercial vehicle, such as a truck. The motor vehicle can be an electric vehicle and / or a hybrid vehicle.

[0048] A motor vehicle can include at least one lidar sensor, or at least one lidar sensor comprising at least one laser source and at least one analog-to-digital converter. The lidar sensor can be located, for example, at the front of the motor vehicle, on the roof of the motor vehicle, or behind the windshield of the motor vehicle. Alternatively, the lidar sensor can also be at least partially integrated into the outer skin of the motor vehicle. The motor vehicle can also include multiple lidar sensors. Preferably, the motor vehicle includes driver assistance systems that use the representation of the motor vehicle's surroundings determined by the lidar sensor to control the longitudinal and / or lateral guidance of the motor vehicle.

[0049] The vehicle can be automated. The vehicle can be designed to take over longitudinal and / or lateral control, at least partially and / or temporarily, by means of the control device during automated driving. Automated driving can be implemented in such a way that the vehicle's movement is (largely) autonomous. Automated driving can be controlled, at least partially and / or temporarily, by the control device. It is conceivable that the vehicle actively intervenes in the vehicle's lateral control through a driver assistance system, e.g., by adjusting the current steering wheel position, and optionally passively, e.g., by displaying a turn instruction. The vehicle can be a Level 0 autonomous vehicle, meaning the driver performs the dynamic driving task, even if support systems (e.g., ABS or ESP) are present.

[0050] The vehicle can be a Level 1 autonomous vehicle, meaning it has certain driver assistance systems that support the driver in operating the vehicle, such as adaptive cruise control (ACC). The vehicle can be a Level 2 autonomous vehicle, meaning it is partially automated, with functions such as automatic parking, lane keeping / lateral control, general longitudinal control, acceleration, and / or braking being handled by driver assistance systems. The vehicle can be a Level 3 autonomous vehicle, meaning it is conditionally automated, meaning the driver does not need to continuously monitor the system. The vehicle independently performs functions such as activating the turn signals, changing lanes, and / or maintaining lane position. The driver can attend to other tasks but will be prompted by the system to take over driving if necessary, within a reasonable warning period.The vehicle can be a Level 4 autonomous vehicle, meaning it is so highly automated that the vehicle's system permanently takes over driving. If the system can no longer handle the driving tasks, the driver may be prompted to take over. Alternatively, the vehicle can be a Level 5 autonomous vehicle, meaning it is so fully automated that the driver is not required to perform the driving task. No human intervention is required except for setting the destination and starting the system. The vehicle can operate without a steering wheel and pedals.

[0051] What has been described above with reference to the control device also applies analogously to the vehicle and vice versa.

[0052] The control procedure can be a computer-implemented procedure, i.e., one, several or all steps of the procedure can be performed at least partially by a computer or a data processing device, optionally the control device.

[0053] What has been described above with reference to the control device and the motor vehicle also applies analogously to the procedure and vice versa.

[0054] Furthermore, a computer program is provided, comprising instructions that, when executed by a computer, cause it to at least partially execute the procedure described above. The program code of the computer program can be in any form, in particular in a form suitable for controlling motor vehicles.

[0055] The above descriptions relating to the procedure, the control device, the motor vehicle also apply analogously to the computer program and vice versa.

[0056] Furthermore, a computer-readable medium, in particular a computer-readable storage medium, is provided. The computer-readable medium comprises instructions which, when executed by a computer, cause it to at least partially execute the procedure described above. That is, a computer-readable medium can be provided that contains a computer program as defined above. The computer-readable medium can be any digital data storage device, such as a USB flash drive, a hard drive, a CD-ROM, an SD card, or an SSD card (or SSD drive / SSD hard drive). The computer program does not necessarily have to be stored on such a computer-readable storage medium to be made available to the vehicle, but can also be obtained via the internet or from other external sources.

[0057] The above description relating to the procedure, the control device, the computer program, and the motor vehicle also applies analogously to the computer-readable medium and vice versa.

[0058] The following is an optional embodiment with reference to Fig. 1 to 3 described. Fig. Figure 1 schematically shows a flowchart of the disclosed procedure for controlling the operation of a lidar sensor of a motor vehicle. Fig. Figures 2A and B show a graphical representation of the analog received signal of a lidar sensor according to optional embodiments of the disclosed method. Fig. Figure 3 schematically shows a motor vehicle with a control device and a lidar sensor, which includes a laser source and an AD converter, according to one embodiment.

[0059] Fig. Figure 1 shows in a schematic diagram the process of a computer-implemented method 100 for controlling the operation of a lidar sensor 310 of a vehicle 400 (see also Fig. 3) The lidar sensor 310 is designed to determine the distances of objects in the vicinity of the vehicle 400. The lidar sensor 310 comprises a laser source 320 and an analog-to-digital converter 330.

[0060] In a first step 110, the procedure 100 includes determining 110 a prevailing driving situation of the vehicle 400.

[0061] In a further step 120, the procedure 100 includes determining 120 a distance resolution and / or range to be provided for determining the distances by the lidar sensor 310 for the prevailing driving situation of the vehicle 400.

[0062] In a further step 130, the method 100 includes outputting 130 a control signal for setting one or more parameters of the laser source 320 and / or for setting one or more parameters of the analog-to-digital converter 330 such that the determination of the distances by the lidar sensor 310 is carried out with the distance resolution and / or range to be provided.

[0063] Fig. Figures 2A and 2B show a graphical representation of the analog received signal of a lidar sensor according to optional embodiments of the disclosed method. The horizontal axes in Fig. 2A represents time, where one distance unit corresponds to one nanosecond. The vertical axis shows the amplitude of the detected signal in arbitrary units.

[0064] Fig. Figure 2A shows a received signal according to a conventional embodiment, in which the analog-to-digital converter (ADC) operates at a sampling rate of 1.7 ns, a full width at half maximum (FWHM) of 5.0 ns, and 600 Msa when receiving the analog signal. Msa (megasamples) is the repetition rate of measured points per second during the measurement period. For example, n samples / scan means that a lidar sensor with a laser beam captures n points or samples in one scan cycle. Fig. Figure 2A below shows an embodiment in which the A / D converter is operated during the reception of the analog signal with a time interval of 5.1 ns between successive samples, a half-width at half the maximum of 15.0 ns and a sampling rate of approximately 200 MSa per second.

[0065] Fig. 2B shows the same embodiment above, which is shown in Fig. 2A is shown below. Fig. Figure 2B shows an embodiment in which the A / D converter is operated during the reception of the analog signal with a sampling rate of 5.1 ns, a half-width at half the maximum of 15.0 ns, and 200 MSa per second (megasamples), but with a reduced amplitude of the light pulse compared to that in Figure 2B. Fig. 2A, the embodiment shown above, i.e., at lower light pulse intensity. The horizontal axes in Fig. 2B represents time, where one distance unit corresponds to three nanoseconds. The vertical axis shows the amplitude of the detected signal in arbitrary units.

[0066] Fig. Figure 3 schematically shows a motor vehicle 400 with a control device 300 as disclosed. The control device 300 is designed which, with reference to Fig. 100 detailed (tax) procedures to be carried out. Fig.Figure 3 further shows a motor vehicle 400 with a lidar sensor 310, which has a laser source 320 and an AD converter 330. Reference symbol list 100 procedures 110-130 process steps 300 control device 310 Lidar sensor 320 laser source 330 AD converter 400 motor vehicles

Claims

[1] Computer-implemented method (100) for controlling an operation of a lidar sensor (310) of a motor vehicle (400), wherein the lidar sensor (310) is designed to determine distances of objects in an environment of the motor vehicle (400) to the motor vehicle (400), and wherein the lidar sensor (310) has a laser source (320) and an analog-to-digital converter (330), characterized by that the method (100) comprises Determining (110) a prevailing driving situation of the motor vehicle (400); Determining (120) a distance resolution and / or range to be provided for determining the distances by the lidar sensor (310) for the prevailing driving situation of the motor vehicle (400); and Outputting (130) a control signal for setting one or more parameters of the laser source (320) and / or for setting one or more parameters of the analog-to-digital converter (330) such that the distances are determined by the lidar sensor (310) with the distance resolution and / or range to be provided. [2] Method (100) according to claim 1, characterized by in that the one or more parameters of the laser source (320) comprise a light pulse duration and / or a light pulse energy of a light pulse that can be generated by the lidar sensor (310) and / or a repetition rate for emitting the light pulses. [3] Method (100) according to claim 1 or 2, characterized by that the one or more parameters of the analog-to-digital converter (330) comprise an activation state of the analog-to-digital converter (330) and / or a sampling rate of the analog-to-digital converter (330). [4] Method (100) according to claim 3, characterized bythat the activation state of the analog-to-digital converter (330) is set such that the analog-to-digital converter (330) is deactivated in driving situations in which no information provided by the lidar sensor (310) is required. [5] Method according to claim 3 or 4, characterized by that the activation state of the analog-to-digital converter (330) is set such that the analog-to-digital converter (330) is deactivated during periods in which the lidar sensor (310) does not emit any light pulses. [6] Method according to one of the preceding claims, characterized by that the determined, prevailing driving situation comprises a current vehicle speed and / or a prevailing distance of the motor vehicle (400) to an object in the surroundings of the motor vehicle (400). [7] Method according to claim 6, characterized bythat a repetition rate for the emission of the light pulses by the lidar sensor (310) and / or a sampling rate of the analog-digital converter (330) are set as a function of the current vehicle speed and / or as a function of the prevailing distance of the motor vehicle (400) to an object in the surroundings of the motor vehicle (400). [8] Control device (300) which is designed to control an operation of a lidar sensor (310) of a motor vehicle (400), wherein the lidar sensor (310) is designed to determine distances of objects in an environment of the motor vehicle (400) to the motor vehicle (400), and wherein the lidar sensor (310) has a laser source (320) and an analog-to-digital converter (330), characterized by that the control device (300) is arranged to: - to determine a prevailing driving situation of the motor vehicle (400), - to determine a distance resolution and / or range to be provided for determining the distances by the lidar sensor (310) for the prevailing driving situation of the motor vehicle (400); and - to output a control signal for setting one or more parameters of the laser source (320) and / or for setting one or more parameters of the analog-to-digital converter (330) such that the distances are determined by the lidar sensor (310) with the distance resolution and / or range to be provided. [9] Motor vehicle (400) comprising the control device (300) according to claim 8. [10] Computer-readable medium, characterized by that the computer-readable medium comprises instructions which, when executed by a computer, cause the computer to carry out the method according to one of claims 1 to 7.

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