LIDAR SYSTEM AND METHOD FOR MONITORING A SURVEILLANCE AREA USING A LIDAR SYSTEM

Abstract

The present invention relates to a lidar system (10) for a vehicle (20). The lidar system (10) is designed to monitor a monitoring area (22), wherein the monitoring process comprises emitting an optical signal (L) to the monitoring area (22) and receiving the optical signal (L) reflected from the monitoring area (22), wherein the lidar system (10) is designed to change at least one signal parameter of the optical signal (L) during the monitoring process, the change depending on a temperature. The disclosure also relates to a vehicle (20), a method for monitoring a monitoring area (22) and a computer program product.

Description

Technical field

[0001] The present disclosure relates to a lidar system, a vehicle comprising a lidar system, a method for monitoring a monitoring area using a lidar system, and a computer program product. background

[0002] Modern vehicles such as cars, vans, trucks, motorcycles, etc., may include sensor systems whose data is used by driver assistance systems and autonomous and / or semi-autonomous driving functions. The data can also be used to provide driver information.

[0003] Sensor systems are continuously being developed for various functions, such as capturing environmental information at close and long ranges of vehicles, like passenger cars or commercial vehicles. Based on the collected data, a model of the vehicle's surroundings can be created, enabling the system to react to changes in this environment. Sensor systems can also serve as sensors for driver assistance systems, particularly those for autonomous or semi-autonomous vehicle control. For example, they can be used to detect obstacles and / or other road users in front of, behind, or in the vehicle's blind spot. Sensor systems can be based on different sensor principles, such as radar, ultrasound, and optics.

[0004] Optical detection systems include passive optical detection systems, such as cameras, and active optical detection systems, such as lidar systems (Lidar: Light Detection and Ranging). A lidar system comprises an optical emission device and an optical receiver. The emission device emits an optical signal, which can be continuous or pulsed. Furthermore, the optical signal can be modulated. For example, electromagnetic waves in the form of laser beams in the ultraviolet, visible, or infrared range can be used as optical signals in a lidar system. The light is received by the optical receiver after reflection from a monitoring area of ​​the lidar system.The optical signal can be evaluated, for example, using a time-of-flight method, and the spatial position and distance of the object from which the reflection occurred can be determined. It may also be possible to determine a relative velocity. Reflection or reflected light is understood here to mean any light that is reflected back, and specifically includes light that is reflected back through scattering or absorption emission.

[0005] Scanning lidar systems emit optical signals that perform a movement in a scan direction. This scanning movement can be achieved by directing the optical signal emitted by the optical emission device using an optical deflection device. The optical deflection device may include at least one rotating mirror. The light beam may be pulsed. The scanning movement of the light beam depends on the angular position of the rotating mirror at the time of reflection of the optical signal. The optical signal that performs the scanning movement across the lidar system's monitoring area can be one-dimensional or two-dimensional and may, for example, be point-like or line-like.

[0006] US9766060B1 describes devices and methods that provide scan surfaces and generate 3D point clouds describing the depth of the measured surface at each point. Scanning mirrors direct a laser beam onto a surface in a pattern of scan lines. Reflections of the laser beam from the surface are received and used to generate the 3D point cloud. The movement of the scanning mirrors can be dynamically adjusted to modify the resolution or data density of the resulting 3D point cloud. Brief description

[0007] A lidar system for a vehicle is designed to monitor a surveillance area. The monitoring process involves emitting an optical signal to the surveillance area and receiving the optical signal reflected from the surveillance area.

[0008] The lidar system is designed to change at least one signal parameter of the optical signal during the monitoring process, with the change depending on a temperature.

[0009] The lidar system uses the optical signal to monitor the surveillance area. Depending on the temperature, at least one parameter of the optical signal emitted towards the surveillance area is modified. Depending on this parameter, the parameters used to monitor the area are also changed. Modifying this parameter can involve, for example, influencing an optical source, such as a laser emitter or an optical emission device within the lidar system, thereby altering the parameter at the time of emission. Modifying the parameter can also involve influencing the signal after emission as it travels towards the surveillance area, for example, by changing its direction.

[0010] With the described lidar system, it is possible to maintain the overall operating temperature of the lidar system at a level that ensures its continued functionality. Overheating of the lidar system can be prevented. Furthermore, the monitoring function of the lidar system can be made available even in harsh environmental conditions, such as hot desert regions, traffic jams, slow-moving traffic facing the sun, or similar situations.

[0011] The modification of at least one signal parameter can additionally depend on the current speed of the lidar system and / or its current power consumption. The current speed of the lidar system can correspond to the speed of the vehicle to which the lidar system is mounted. Changing the signal parameter based on power consumption can also reduce the overall power consumption of the lidar system.

[0012] The lidar system may include a control unit. The control unit may be designed to control the emission and reception of the optical signal. The control unit may be designed to change at least one signal parameter depending on the temperature.

[0013] The control unit can also be designed to evaluate the emitted and received signal in order to monitor the monitored area. Monitoring the monitored area can include detecting objects within the area and / or obtaining a point cloud of the area. Points stored in the point cloud contain information about the reflection points within the monitored area where the light beam of the optical signal was reflected. For example, the points in the point cloud can include information about the spatial location and distance of the reflection points within the monitored area.

[0014] The reflection points in the monitored area can depend on at least one signal parameter of the optical signal. The size of the monitored area can depend on at least one signal parameter of the optical signal. The density of the points in the point cloud can depend on at least one signal parameter of the optical signal. Therefore, the point cloud itself can also depend on at least one signal parameter of the optical signal. Changing at least one signal parameter of the emitted signal can therefore also change the point cloud generated by the lidar system.

[0015] The described lidar system can be designed to generate data from which a point cloud can be created. The generated data and the point cloud can depend on the temperature and additionally on the vehicle speed and / or the power consumption of the lidar system. This enables more flexible and efficient operation of the lidar system.

[0016] The at least one signal parameter that changes depending on the temperature can relate to the repetition rate at which the monitoring of the monitored area is repeated.

[0017] If a lidar system is located in an environment with temperature fluctuations, adjusting at least one signal parameter based on temperature can improve the availability and / or reliability of the lidar system and / or extend its service life. For operation in a vehicle environment, the environment with greater temperature fluctuations can apply to a lidar system located behind or on the windshield. The described lidar system can also mitigate the effects of very high temperatures, which applies, for example, to lidar systems located in the windshield area of ​​the vehicle. Very high temperatures can also apply to lidar systems under certain road conditions, dry weather conditions, areas with generally high temperatures, exposure to direct sunlight, or similar conditions.

[0018] The described lidar system can also be advantageous during operation when the vehicle is stationary. In a stationary position, there is no constant airflow to help ventilate the lidar system. This can lead to an increase in the overall operating temperature of the lidar system, which can affect its operation. This effect can be mitigated by adjusting at least one parameter of the optical signal.

[0019] The lidar system can modify at least one signal parameter of the emitted optical signal depending on the current temperature of the lidar system. Depending on the current temperature, the lidar system can then adjust how the monitoring area is observed. For example, the at least one signal parameter can be modified to reduce the heat generated by the lidar system itself and / or to reduce the power consumption of the lidar system itself.

[0020] In some embodiments, the lidar system may be designed to measure the temperature, in particular its current temperature, and / or to estimate the temperature, in particular its current temperature.

[0021] The lidar system may include an optical deflection device designed to deflect the optical signal so that it performs a scanning motion over the monitored area.

[0022] The optical deflection device can be configured to direct the optical signal from the lidar system into the monitoring area. After emission by the optical emission device, the direction of the optical signal is then changed by the optical deflection device. The movement of the optical deflection device can be used, for example, to perform a scanning motion of the optical signal within the monitoring area. The optical deflection device can perform a rotational movement, which may include a rotational movement of the at least one mirror of the optical deflection device, the mirror providing a reflective surface for the optical signal from the lidar system to change its direction. The control unit of the lidar system can be configured to control the rotational movement of the optical deflection device.

[0023] For a pulsed optical signal, each pulse of the optical signal will lead to scan points in the monitored area, which will then perform the scan movement. The scan movement can be induced by the optical deflection device as described above. Each scan point can correspond to a point in the point cloud.

[0024] The at least one signal parameter can influence the scanning motion of the optical signal. In particular, it can influence the scan density of the monitored area and / or the repetition rate of the scan motion. The at least one signal parameter can influence the point cloud that can be generated. In particular, the at least one signal parameter can influence the density of the generated point cloud and / or its regeneration rate.

[0025] The at least one signal parameter of the optical signal can relate to the optical deflection device. For example, the at least one signal parameter can be changed by altering a deflection parameter of the optical signal. In particular, the at least one signal parameter can be changed by altering the movement of the optical deflection device. In other words, the acquisition pattern of the lidar system can be adjusted depending on the temperature.

[0026] In embodiments of the lidar system, the at least one signal parameter, which is changed depending on the temperature, includes a horizontal field of view, a vertical field of view, a horizontal resolution, a vertical resolution and / or a repetition rate.

[0027] For a lidar system mounted on a vehicle, the horizontal and vertical directions relative to the vehicle and its occupants can be defined. The horizontal field of view and the vertical field of view refer to the horizontal and vertical extent of the monitored area, respectively. The horizontal resolution and the vertical resolution refer to the horizontal and vertical density of scan points in the horizontal and vertical directions of the monitored area, respectively. The repetition rate can refer to the frequency with which the monitored area is scanned repeatedly over time.

[0028] The described signal parameters can be changed depending on the temperature. In particular, the parameters can be adjusted so that there are fewer scan points when the temperature is higher, and more scan points when the temperature is lower. The point cloud generated by the lidar system can then contain fewer points when the temperature is higher, and more points when the temperature is lower.

[0029] In general, the number of scan points generated by the lidar system can be reduced as the temperature increases, and vice versa. This prevents the lidar system from overheating and ensures consistently good scan results and a consistently high-quality point cloud.

[0030] In some lidar system configurations, the system is designed to modify multiple signal parameters as a set during the monitoring process, with the modification depending on the temperature. In this configuration, several signal parameters are combined into a single set and modified together. Different sets of signal parameters can be predefined and stored together. For example, a different set of signal parameters can be applied depending on the current temperature range.

[0031] Each set of parameters can be associated with a set of conditions that can be verified by the lidar system. The set of signal parameters can then be selected based on the verification of the set of conditions. One of the conditions might be, in particular, the temperature. Other conditions might include aspects of operation that can influence the point cloud and / or be influenced by the point cloud. Other conditions might include the current speed of the lidar system, especially the speed of the vehicle to which the lidar system is mounted. At lower speeds, the requirements for the point cloud can be lower. Other conditions might include the current power consumption of the lidar system or similar factors.Reducing the power consumption of the lidar system by changing the parameter of the optical signal can help balance the overall power consumption of the vehicle.

[0032] The set of conditions can depend on the parameters and current values ​​of the lidar system's operational design domain. The operational design domain (ODD) comprises a set of operating conditions for an automated system, such as an autonomous vehicle. These operating conditions can include environmental and geographical constraints, time-of-day restrictions, traffic characteristics, and / or roadway characteristics. The operational design domain can specify the area of ​​intended operation for the lidar system. The concept of the operational design domain can help ensure safety and performance.

[0033] By adjusting at least one signal parameter depending on the set of conditions that depend on the operational design domain, it may be possible to extend the overall operational parameter domain of the lidar system.

[0034] In one embodiment of the lidar system, the lidar system is designed to select a new set of signal parameters, the selection of which depends on the temperature and further on the current speed of the lidar system and / or its current power consumption. The set of conditions that can be associated with the set of signal parameters includes temperature, speed of the lidar system, and power consumption of the lidar system. The speed of the lidar system can, in particular, be the speed of the vehicle in which the lidar system is located. In this embodiment, the set of signal parameters can be selected depending on the entire set of conditions.

[0035] After selecting the new set of signal parameters, the lidar system, for example its control unit, can read the new set of signal parameters from a data memory and perform the monitoring operation with the new set of signal parameters. In this embodiment, the set of signal parameters can be changed depending on the entire set of conditions. In other words, the point cloud can be adjusted in multiple ways depending on the entire set of conditions. This allows for rapid adaptation of the point cloud to changing conditions, such as environmental and / or driving conditions.

[0036] In various lidar system configurations, the data memory can contain multiple sets of signal parameters. Several predefined sets of signal parameters can be stored together in the data memory. The data memory can be located within the lidar system itself or in the vehicle housing the lidar system. The multiple sets of signal parameters can include a standard set. The set of conditions associated with each set of signal parameters can also be stored in the data memory.

[0037] The standard set of signal parameters can be used by the lidar system to perform a standard monitoring operation. This standard monitoring operation using the standard set can be performed, for example, after the lidar system is started. The standard monitoring operation using the standard set of signal parameters can also be performed for a predefined period after a monitoring operation using a different set of signal parameters. After this predefined period, the lidar system automatically reverts to the standard monitoring operation.

[0038] The lidar system can be integrated into a vehicle. For example, it can be mounted on or behind the windshield, and the lidar system's monitoring process can be adjusted as described. This can be particularly useful if the lidar system is directly exposed to sunlight and the associated heat.

[0039] The lidar system for a vehicle is designed to perform a monitoring operation. This operation involves emitting an optical signal to the monitoring area and receiving the optical signal reflected from the monitoring area. One method for monitoring the monitoring area involves modifying at least one parameter of the optical signal during the monitoring operation, with the modification depending on the temperature. This allows the monitoring operation to be adapted to the temperature, which can help prevent, for example, overheating and / or a degradation of the monitoring result. The described method can be performed by the lidar system's control unit.

[0040] The described monitoring process makes it possible to maintain the overall operating temperature of the lidar system at a level that ensures its continued functionality. Overheating of the lidar system can be prevented. Furthermore, the monitoring function of the lidar system can be made available even in harsh environmental conditions, such as hot desert regions, traffic jams, slow-moving traffic facing the sun, or similar situations.

[0041] The change in at least one signal parameter can additionally depend on the current speed of the lidar system and / or its current power consumption. The current speed of the lidar system can correspond to the speed of the vehicle to which the lidar system is mounted. By changing the signal parameter depending on the power consumption, the overall power consumption of the monitoring process can be reduced.

[0042] The temperature on which the change of at least one signal parameter depends can, for example, include the current temperature of the lidar system. The lidar system can measure and / or estimate its current temperature. The lidar system's current temperature can also be derived from a temperature value available in the vehicle in which the lidar system is mounted. This temperature value can be received by the lidar system via a communication channel, such as an in-vehicle network.

[0043] During monitoring of the surveillance area, multiple signal parameters can be changed as a set. The selection of the new set of signal parameters depends on the temperature and may also depend on the current speed and / or power consumption of the lidar system.

[0044] A computer program product comprises instructions which, when executed by a control unit of a lidar system, cause the control unit to perform the described procedure.

[0045] A computer-readable storage medium contains instructions which, when executed by a control unit of a lidar system, cause the control unit to carry out the described procedure. Brief description of the characters

[0046] The embodiments are now described only by way of example, with reference to the attached drawings. Similar reference numbers are used throughout to refer to similar elements. The illustrated structures and devices are not necessarily drawn to scale. Fig. Figure 1 schematically illustrates a vehicle with a lidar system. Fig. Figure 2 schematically illustrates a field of view of a lidar system. Fig. Figure 3 schematically illustrates a procedure for monitoring a monitored area. Detailed description

[0047] Fig. Figure 1 schematically illustrates a vehicle 20, for example, a passenger car. The vehicle 20 includes a lidar system 10. The lidar system 10 is located in a front area of ​​the vehicle 20. It comprises an optical emission device 12, an optical receiving device 14, an optical deflection device 16, and a control unit 18. The control unit 18 may include a data storage device, input / output interfaces, and a processor, a field-programmable gate array, or similar for data processing.

[0048] The optical deflection device 16 can be arranged to deflect the optical signal L, which is transmitted by the optical emission device 12, to a monitoring area 22. The optical deflection device 16 can be arranged to deflect the optical signal L, which is reflected at a reflection point in the monitoring area 22, so that it is received by the optical receiving device 14. The optical deflection device 16 can be controlled such that the optical signal L performs a scan movement across the monitoring area 22 in a horizontal scan direction 24.H and / or in a vertical scan direction 24.V. The optical deflection device 16 can, for example, include a rotating mirror that performs a rotational movement to deflect the optical signal L so that the scan movement 24.H, 24.V is carried out by the optical signal L.

[0049] The lidar system 10 can include a control unit 18. The control unit 18 can control the transmission process of the optical signal L as a function of the angular position of the deflection device 16. The transmitted and received optical signals L can be evaluated in the control unit 18, for example, using time-of-flight measurements. The evaluation can provide sensor data from the lidar system 10. The sensor data from the lidar system 10 can be used to generate a point cloud of the environment of the lidar system 10 in the monitoring area 22 and / or to perform object detection and / or feature detection in the monitoring area 22 and / or in the generated point cloud.

[0050] The control unit 18 of the lidar system 10 can be configured to generate the point cloud. The sensor data generated by the lidar system 10 can be transmitted by the control unit 18 to another processing unit of the vehicle 20. The point cloud can also be generated by the other processing unit in the vehicle 20. For example, the other processing unit of the vehicle 20 can be designed as a central vehicle computer in which data from multiple sensors of the vehicle 20 can be received, evaluated, and / or further processed. The other processing unit can be used, for example, to implement autonomous or semi-autonomous driving functions.

[0051] The lidar system 10 can, for example, be placed or integrated at the front of the vehicle 20, e.g., in the bumper area or on the windshield. Accordingly, an area in the direction of travel in front of the vehicle 20 can be monitored by the lidar system 10. Additional lidar systems 10 can be arranged in other parts of the vehicle 20, e.g., for surround-view functions, such as on the sides and / or rear of the vehicle 20. It is also possible to arrange lidar systems 10 and / or other sensors such as radar, ultrasound, etc., on the vehicle 20, including in corner areas of the vehicle 20. Sensor fusion can then be performed using the sensor data from the various sensors.

[0052] The lidar system 10 can be used to detect features within the monitoring area 22. These features can be stationary or moving objects in the environment. An elongated imperfection 80 of the road surface can be such a feature. Other features can include vehicles, people, animals, plants, obstacles, road surface irregularities, especially potholes or stones, lane boundaries, traffic signs, open areas, especially parking lots, precipitation, or the like. Feature detection can be performed, for example, using the point cloud generated based on the sensor data produced by the lidar system 10.

[0053] From the sensor data of the lidar system 10, an accurate and dense point cloud of the monitoring area 22 can be generated. The point cloud can show the contour of objects and / or other features, making the lidar system 10 a very valuable sensor for, e.g., autonomous or semi-autonomous driving.

[0054] The point cloud contains the collection of measurement data for the various reflection points of the optical signal L in the monitoring area 22. If, for example, the optical signal is transmitted as light pulses by the optical emission device 12, each light pulse of the optical signal L that is reflected in the monitoring area 22 and received by the optical receiving device 14 can provide a point in the point cloud. In a scanning lidar system 10, the optical signal L performs the scanning motion 24.H, 24.V, thus successively scanning points in the monitoring area 22 with a changing angle of incidence. During the scanning process, the measurement data of the points in the point cloud can be obtained.

[0055] Point cloud data is sometimes referred to as 3D image data. The reflection points are the points where the reflection of the optical signal emitted and received by the lidar system 10 occurred. The point cloud can be understood as a set of points, with each point containing corresponding coordinates in a specific three-dimensional coordinate system. In the case of a 3D point cloud, the three-dimensional coordinates can be determined, for example, by the direction of incidence of a light ray reflected at a reflection point and the corresponding propagation time or radial distance, also known as depth, measured for that particular point. The direction of incidence can be given, for example, by the horizontal angle and the elevation angle. In addition to spatial information, e.g.,In addition to the three-dimensional coordinates, which include the distance or depth to the point, the point cloud can also store additional information or measurement data for the individual points, such as the pulse width of the respective received optical signal L.

[0056] Signal parameters of the optical signal L can include parameters that influence the scan movement 24.H, 24.V performed by the lidar system 10. The lidar system 10, e.g., its control unit 18, is configured to change at least one of these signal parameters depending on the temperature of the lidar system 10. This is advantageous for lidar systems 10 that are located in or on the windshield of the vehicle 20, as there are more challenging operating conditions for the lidar system 10 with regard to operating temperature at this location. In particular, the airflow may be reduced when the vehicle 20 is stationary, which can lead to an increased operating temperature of the lidar system 10. To support safe, reliable, robust, and precise operation of the lidar system 10, at least one signal parameter is changed depending on the temperature.This can cause the point cloud to change depending on the temperature, resulting in a so-called adaptive point cloud. The change in at least one signal parameter can also depend on the vehicle speed and / or the power consumption of the lidar system 10.

[0057] In Fig. Figure 2 shows a schematic illustration of the monitoring area 22 of the lidar system 10. The horizontal field of view 22.H and the vertical field of view 22.V of the monitoring area 22 are illustrated. The illustration of Fig. Figure 2 shows the lidar system 10 in the bumper area of ​​the vehicle 20, but it can be located in any other part of the vehicle, e.g. the windshield area of ​​the vehicle 20.

[0058] The horizontal field of view 22.H can be characterized by the maximum angle of incidence of the optical signal L in the horizontal direction. The horizontal direction is defined with respect to the passenger 20 seated in the vehicle. Adjusting the horizontal field of view 22.H as a function of temperature can lead to a reduced or increased horizontal field of view 22.H. For example, an increased temperature can reduce the horizontal field of view 22.H, and a reduced temperature can increase the horizontal field of view 22.H.

[0059] The vertical field of view 22.V can be characterized by the maximum angle of incidence of the optical signal L in the vertical direction. The vertical direction is defined with respect to the passenger 20 seated in the vehicle. Adjusting the vertical field of view 22.V as a function of temperature can lead to a reduced or increased horizontal field of view 22.V. For example, an increased temperature can reduce the vertical field of view 22.V, and a reduced temperature can increase the vertical field of view 22.V.

[0060] Similarly, the scan repetition rate in the vertical direction (24.V) and / or the horizontal direction (24.H) can be adjusted depending on the temperature. The repetition rate can also be referred to as the frame rate. For example, increasing the temperature can decrease the frame rate in the vertical and / or horizontal direction (24.V, 24.H), and decreasing the temperature can increase the frame rate in the vertical and / or horizontal direction (24.V, 24.H).

[0061] In another similar way, the density of scan points in monitoring area 22 can be adjusted depending on the temperature. The density of the scan points can also be referred to as the resolution. The resolution can be adjusted for the horizontal and / or vertical direction. For example, with an increased temperature, the resolution in the vertical and / or horizontal direction 24.V, 24.H can be reduced, and with a reduced temperature, the resolution in the vertical and / or horizontal direction 24.V, 24.H can be increased.

[0062] Fig. Figure 3 schematically illustrates a procedure for monitoring a monitoring area 22 using the described lidar system 10.

[0063] At 300, the lidar system 10 performs the scan operation 24.H, 24.V of the monitoring area 22 with a set of standard signal parameters.

[0064] In step 302, current values ​​of input parameters are measured and / or estimated for the process. The input parameters include temperature. The measurement and / or estimation can be performed by the lidar system 10, and / or the measured and / or estimated input parameters can be received by the lidar system 10. The parameters include, for example, temperature, the current power consumption of the lidar system 10, and vehicle speed.

[0065] The input parameters may relate in particular to the operational design domain of the lidar system 10.

[0066] At 304, the current values ​​of the input parameters are evaluated.

[0067] In step 306, a new set of signal parameters is selected based on the current values ​​of the input parameters, as evaluated in step 304. This new set of signal parameters is chosen to provide the best possible performance under the current operating conditions.

[0068] At 308, the lidar system 10 performs the scan operation 24.H, 24.V of the monitoring area 22 with the new set of signal parameters, as selected at 306.

[0069] After a certain period of operation with the new set of signal parameters, the procedure returns to 300, where the scanning is performed again with the set of standard signal parameters.

[0070] The procedure can be performed in real time during the operation of the lidar system 10. The set of signal parameters can therefore be adapted in real time to changing environmental conditions.

[0071] As a result, a larger operational design domain can be enabled for the lidar system 10. The availability of the lidar system 10 for providing environmental information can be extended to conditions where, for example, the temperature is very high. In these conditions, the density, refresh rate, and / or field of view of the lidar system 10 can be reduced, but the lidar system 10 and the associated sensor data and / or the associated point cloud can still be available for, for example, a (semi-)autonomous driving function of the vehicle 20. Furthermore, the provided point cloud can be made more robust because the availability of the monitoring function using the lidar system 10 is extended.

[0072] Overall, the robustness and reliability of the lidar system can be improved 10 times. REFERENCE MARK 10 Lidar systems 12 optical emission device 14 optical receiving device 16 optical deflection device 18 Control unit 20 vehicles 22 Monitoring area 22.H horizontal field of view 22.V vertical field of view 24.H horizontal scan direction 24V vertical scan direction 300-308 process steps L optical signal QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] US 9766060B1

[0006]

Claims

[1] Lidar system (10) for a vehicle (20), wherein the lidar system (10) is designed to monitor a monitoring area (22), the monitoring process comprising emitting an optical signal (L) to the monitoring area (22) and receiving the optical signal (L) reflected from the monitoring area (22), wherein the lidar system (10) is designed to change at least one signal parameter of the optical signal (L) during the monitoring process, the change depending on a temperature. [2] Lidar system according to claim 1, wherein the temperature comprises the current temperature of the lidar system (10). [3] Lidar system according to claim 2, wherein the lidar system (10) is designed to measure its current temperature and / or estimate its current temperature. [4] Lidar system according to one of the preceding claims, wherein the lidar system (10) comprises an optical deflection device (16) designed to deflect the optical signal (L) in such a way that it performs a scan movement (24.H, 24.V) over the monitoring area (22). [5] Lidar system according to claim 4, wherein the scan movement (24.H, 24.V) depends on the at least one signal parameter. [6] Lidar system according to one of the preceding claims, wherein the at least one signal parameter comprises a horizontal field of view (22.H), a vertical field of view (22.H), a horizontal vertical resolution, a vertical resolution and / or a repetition rate. [7] Lidar system according to one of the preceding claims, wherein the lidar system (10) is designed to change several signal parameters as a set during the monitoring process, wherein the change depends on the temperature. [8] Lidar system according to claim 7, wherein the lidar system (10) is designed to select the new set of signal parameters, the selection of the new set depending on the temperature and further depending on the current speed of the lidar system (10) and / or the current power consumption of the lidar system (10). [9] Lidar system according to claim 7 or 8, wherein the lidar system (10) is designed to read the new set of signal parameters from a data storage device and to perform the monitoring operation with the new set of signal parameters. [10] Lidar system according to claim 9, wherein the data storage comprises a plurality of sets of signal parameters, wherein the plurality of sets of signal parameters includes a standard set. [11] Lidar system according to claim 10, wherein the lidar system (10) is designed to perform the monitoring operation using the standard set after the start and / or after the monitoring operation has been carried out using a set that differs from the standard set for a predefined period of time. [12] Vehicle (20) comprising the lidar system (10) according to any one of the preceding claims. [13] Method for monitoring a monitoring area using a lidar system (10) for a vehicle, wherein the monitoring process comprises emitting an optical signal (L) to the monitoring area (22) and receiving the optical signal (L) reflected from the monitoring area (22), wherein at least one signal parameter of the optical signal (L) is changed during the monitoring process, the change depending on a temperature. [14] Method according to claim 13, wherein the temperature comprises the current temperature of the lidar system (10). [15] Method according to claim 14, further comprising measuring the current temperature of the lidar system (10) and / or estimating the current temperature of the lidar system (10). [16] Method according to any one of claims 13 to 15, further comprising changing several signal parameters as a set during the monitoring process and selecting the new set of signal parameters depending on the temperature and further depending on the current speed of the lidar system (10) and / or the current power consumption of the lidar system (10). [17] Computer program product comprising instructions which, when executed by a control unit (18) of a lidar system (10), cause the control unit (18) to perform a method according to any one of claims 13 to 16.

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