Lidar device for a vehicle and method for operating a lidar device

Abstract

The application relates to a lidar device (10) for a vehicle (100) having an optical transmission unit (12) with a transmission light source for transmitting transmission light (20), an optical receiving unit (14) with an optical receiving sensor (16) and a controller (18) which is configured to control the lidar device (10) such that the receiving sensor (16) is ready to receive at a readiness time (TB) which depends on internal reflections (IR), wherein the internal reflections (IR) relate to reflections of the transmission light (20) within the lidar device (10). The application furthermore relates to a vehicle (100) having a lidar device (10), and to a method for operating a lidar device (10).

Description

[0001] Lidar device for a vehicle and method for operating a lidar device

[0002] Technical area

[0003] The application relates to a lidar device for a vehicle, a vehicle with a lidar device and a method for operating the lidar device.

[0004] background

[0005] Modern vehicles (cars, vans, trucks, motorcycles, etc.) are equipped with a multitude of sensors whose data is used to inform the driver and / or provide data to driver assistance systems. These sensors record the vehicle's surroundings and other road users. Based on the recorded data, a model of the vehicle's environment can be created, and changes in this environment can be responded to.

[0006] Lidar systems are constantly being developed for various functions, such as capturing environmental information in the near and far range of vehicles such as passenger cars or commercial vehicles. Lidar systems can also serve as sensor systems for driver assistance systems, particularly assistance systems for autonomous or semi-autonomous vehicle control. They can be used in particular to detect obstacles and / or other road users in the front, rear, or blind spot area of ​​a vehicle. Distance determination is of particular importance here.

[0007] An important sensor principle for detecting the environment, e.g., of vehicles, is Lidar technology (Light Detection and Ranging). A Lidar system has an optical transmitter and an optical receiver. The transmitter can emit transmitted light. In a Lidar system, laser light in the ultraviolet, visible, or infrared range can be used as the light. The receiver can receive the emitted light after being reflected by an object in a monitored area in the vicinity of the Lidar system.

[0008] The received light can be evaluated by a processing unit of the lidar system using the transmitted light, and in particular, the spatial position and distance of the object at which the reflection occurred can be determined. Reflection or reflected light is understood here to mean any light that is returned and should also include, in particular, light that is returned by scattering or absorption emission.

[0009] The lidar system can be designed as a system that operates with light flashes, a so-called flash lidar. This allows an area of ​​the surrounding area to be illuminated with a flash of light, and the signals reflected from any objects can be recorded by the receiver. Scanning lidar systems emit light beams that move in a scanning direction. Point scanners illuminate areas of the surrounding area point by point. Line scanners illuminate areas of the surrounding area line by line.

[0010] DE102017202957A1 describes a receiver arrangement with a light-sensitive element. The receiver arrangement is capable of receiving light pulses with the light-sensitive element and outputting a corresponding received signal, which is used for object detection. The sensitivity of the light-sensitive element is adjusted via a bias voltage and increased during a measurement cycle.

[0011] Overview

[0012] A lidar device for a vehicle comprises an optical transmitting unit with a transmitting light source for emitting transmitted light and an optical receiving unit with an optical receiving sensor. A controller of the lidar device is configured to control the lidar device such that the receiving sensor is ready to receive at a time dependent on internal reflections, wherein the internal reflections relate to reflections of the transmitted light within the lidar device.

[0013] Once the receiver is ready to receive, the distance, position, and / or speed of even very close objects in front of the lidar device can be measured. Furthermore, the lidar device can be designed more compactly, as complex optical isolation of the transmitting light source and receiving sensor is no longer necessary. This is useful, for example, in coaxial lidar devices, where the optical elements for the transmitter and receiver can be shared.

[0014] In a method for operating the lidar device described above, the lidar device is controlled such that the receiving sensor is ready to receive at a time dependent on internal reflections, where the internal reflections refer to reflections of the transmitted light within the lidar device. This method allows the detection range of the lidar device to be extended to include the very close distance.

[0015] The receiving sensor has at least one light-sensitive element for receiving reflected transmitted light, which has been reflected, for example, by an object in a detection range of the lidar device. By evaluating the transmitted light and received light, for example, by the lidar device's controller, an output signal can be generated for further use in the vehicle. A cycle involving the transmission of transmitted light and reception of the reflected light can be referred to as a measurement cycle. The duration of a measurement cycle can be in the range of nanoseconds. The output signal can include information on the distance of the object, the relative speed of the lidar device to the object, and / or information on the nature of the object.

[0016] The light-sensitive element can contain highly sensitive light sensors such as an avalanche photodiode (APD), which can also be designed as a so-called single photon avalanche diode (SPAD), also known as a Geiger-mode APD. A SPAD or Geiger-mode APD can, for example, be designed for the sensitivity of a single photon. However, the threshold can also be set higher, e.g., to detect a light pulse in order to take background noise into account. Several APDs or SPADs can be combined to form a so-called silicon photomultiplier (SiPM), in which they are connected together in an array. Individual diodes in such an array are also called cells.

[0017] Such highly sensitive light sensors have the property that after being triggered, e.g. due to a single photon, they have a greatly reduced light sensitivity for a certain time (dead time) during which they are not or almost not ready to receive.

[0018] Internal reflections, also known as back reflections, can occur in the lidar device. These internal reflections can, in particular, involve reflections of the transmitted light from at least one optical element of the transmitting unit, the receiving unit, and / or the housing, in particular a glass cover of the housing. In particular, these reflections can, for example, trigger the receiving sensor upon initial emission of the transmitted light due to reflections on the housing, the transmitting / receiving optics, the optical cover glass, any additional pane in front of the system, and / or other components within the lidar device. This can occur with the described lidar devices for vehicles, since the emitted light output can amount to several hundred watts, and individual photons can be sufficient to trigger the receiving sensor.

[0019] The lidar device's controller controls the lidar device so that the receiving sensor is ready to receive at a time dependent on internal reflections. This offers the advantage that the readiness to receive can be postponed to a more favorable time within the measurement cycle. For example, the readiness to receive can be postponed to a time within a measurement cycle when the internal reflections have already subsided. This is equivalent to postponing the readiness of the receiving sensor to a time when the internal reflections are expected to have already subsided.

[0020] This has the advantage that the light received from the moment the receiving sensor is ready to receive can be used for analysis and thus, for example, for measurement. This has the advantage that the lidar device is already capable of performing evaluations at close range, for example, measuring distances. The minimum distance that an object to be detected must be from the lidar device can be set significantly smaller or even eliminated entirely.

[0021] This eliminates the need to ignore recorded data in the first few nanoseconds to eliminate measurement errors caused by internal reflections. The duration of the first few nanoseconds is determined by the pulse length of the transmitted light and the distance traveled by internal reflections within the device. This results in the minimum distance a device must be from the lidar device to be detected, which can therefore be up to several meters. The lidar device described, in contrast, offers the advantage of being able to be implemented without discarding received reflected transmitted light in the first few nanoseconds, thus allowing a much smaller minimum distance to detectable objects.

[0022] In addition, the lidar system can more reliably detect blockages. Blockages can occur, for example, due to contamination of the device's optics, especially on the outside of the device, such as on the lidar device's cover glass. This blockage prevents the lidar device from performing evaluations, such as object detection. A further advantage of the lidar device described is that blockages in the device can be reliably detected, since received light can be evaluated immediately from the moment the receiving sensor is ready to receive.

[0023] In embodiments, the lidar device is configured to begin emitting the transmitted light at a transmission time, wherein the standby time of the receiving sensor depends on the transmission time of the transmitted light. The transmission time of the transmitted light can, in particular, coincide with the standby time. In other embodiments, the transmission time can be before the standby time, but the emission of the transmitted light can, for example, be controlled such that full power is only reached at the standby time.

[0024] The readiness time can also depend on the ambient light intensity and / or the temperature of the receiving sensor and can be dynamically adjusted to these conditions, for example. This allows for more accurate detection and measurement by the lidar device in changing ambient conditions.

[0025] In some embodiments, the controller of the lidar device deliberately sets the receiving sensor to a non-receiving state before the ready time. This can be done, for example, by triggering the dead time before the ready time or, for example, by deliberately influencing a bias voltage of the receiving sensor. If the receiving sensor has an array with multiple cells, the averaged dead time across multiple cells or the maximum of the dead times in the array can be used. It is also possible to use the upper tenth of the value range of the dead times in the array, i.e., a value at which approximately 10% of the dead times in the array lie above this value and the others below it.

[0026] In exemplary embodiments, the controller is configured to set the standby time by controlling the receiving sensor, in particular by adjusting the light sensitivity of the receiving sensor. The readiness to receive depends on the light sensitivity of the receiving sensor. Depending on the type of receiving sensor, the readiness to receive can change gradually with the light sensitivity, or the readiness to receive can be given, for example, when a certain light sensitivity threshold is exceeded.

[0027] The light sensitivity can be influenced, in particular, by adjusting the bias voltage of the receiving sensor. It is possible to influence the sensitivity of receiving sensors, especially highly sensitive light sensors such as APDs, SPADs, and SiPMs, by adjusting their bias voltage. In this case, the bias voltage of the optical receiving sensors, e.g., the Geiger-mode APD, can be controlled so that they are activated only after internal reflections from the transmitted light source of the lidar device have subsided.

[0028] In embodiments, the bias voltage of the receiving sensor can initially be set below the breakdown voltage, particularly for avalanche photodiodes, so that they are initially not activated. The bias voltage is kept below the breakdown voltage and thus in a deactivated state during the period during which internal reflections occur. Later—after the internal reflections have subsided—the sensor is activated by increasing the bias voltage.

[0029] A so-called switchable bias voltage enables the receiving sensor's readiness to be approximately switched on or off. The receiving sensor's readiness to receive can be switched on at the ready time, for example, by setting it to maximum light sensitivity. Before the ready time, the receiving sensor's readiness to receive remains switched off by a corresponding bias voltage. When the receiving sensor's readiness is switched off, internal reflections are therefore not received. The ready time is then selected so that the internal reflections have decayed. Consequently, from the time of readiness to receive, even very close objects in front of the sensor can be measured in terms of distance and position.

[0030] In addition, the sensitivity of the light sensors can be optionally adjusted to the expected signal level by selectively controlling the bias voltage, thereby optimizing, for example, the signal-to-noise ratio. This can affect not only the temperature and ambient light dependence but also the expected intensity of the received reflections. For example, a much greater reflected intensity, i.e., the amount of light, is expected for objects in the close range of the lidar device than for objects far away.

[0031] By adjusting the bias voltage accordingly, the light sensitivity of the receiving sensor can be adjusted so that it increases over the course of a measurement cycle to accommodate the lower intensity of the received reflections from more distant objects. The bias voltage curve can be determined with regard to the timing of the measurement cycle and the sensitivity characteristics of the receiving sensor.

[0032] The bias voltage can be increased over the course of a measurement cycle, particularly in a degressive, linear, quadratic, and / or stepwise manner. A degressive increase means that the increase in light sensitivity decreases over the course of the measurement cycle, i.e., the slope of the light sensitivity curve becomes increasingly smaller. A stepwise change in the bias voltage offers the advantage of a simpler system design, and in particular, the circuit design.

[0033] The targeted setting of the receiving sensor to a non-receiving state before the standby time can be achieved, in particular, by optical pre-triggering of one or more light-sensitive elements of the receiving sensor. The optical pre-triggering starts the dead time before the standby time so that the receiving sensor is specifically ready to receive again at the standby time.

[0034] Pre-triggering by deliberately triggering the light sensor in order to put the receiving sensor into reception readiness at the ready time can be achieved, for example, by a trigger light source controlled at a different time and / or by, for example, a targeted temporal progression of the actual light energy of the transmitted light.

[0035] In one embodiment, the controller is configured to set the standby time by triggering the trigger light source, whose trigger light hits the receiving sensor in such a way that the receiving sensor is ready to receive at the standby time. In particular, the trigger time at which the trigger light source is intended to be triggered can be before the transmission time. In particular, the trigger light of the trigger light source can be configured to trigger the dead time in the receiving sensor without readiness to receive in such a way that the receiving sensor is then ready to receive at the standby time.

[0036] The trigger light source is preferably designed, particularly with regard to light propagation and power, so that as many cells of the receiving sensor as possible are reached and triggered. Advantageously, the interval between the trigger time and the transmission time can be adjusted during operation of the lidar device, for example, to compensate for temperature influences and / or changes in the intensity of the background light.

[0037] Alternatively or additionally, the controller can be configured to set the standby time by controlling the transmitted light so that the receiving sensor is ready to receive at the standby time. This can particularly involve changing the intensity of the transmitted light. The intensity of the transmitted light can be increased during the transmission. It is particularly advantageous to emit transmitted light with low intensity at the beginning of transmission. This low-intensity transmitted light then hits the receiving sensor due to internal reflections and puts it into a non-receiving state during the dead time. The dead time without readiness to receive is triggered in such a way that the receiving sensor is then ready to receive at the standby time. The maximum intensity of the transmitted light can then be reached, for example, at the transmission time.

[0038] Preferably, the initial transmission power is designed to trigger the cells, particularly with regard to the initial transmission power, so that as many cells of the light sensor as possible are reached and triggered. Advantageously, the delay time from the start of the transmission light at reduced intensity until the maximum intensity is reached can be adjusted, for example, to compensate for temperature influences and / or changes in the intensity of the background light.

[0039] Fiourenliste

[0040] In the following, embodiments of this application are further explained and described with reference to the figures.

[0041] Fig. 1 schematically shows a lidar system with transmitting and receiving unit,

[0042] Fig. 2 schematically shows the setting of the light sensitivity of the receiving sensor,

[0043] Fign. 3+4 schematic illustrations of internal reflections,

[0044] Fign. 5+6 schematically show the light sensitivity of the receiving sensor with dead times, and

[0045] Fig. 7 a vehicle with Lidar system.

[0046] The same reference numerals are used throughout the figures to refer to identical or similar elements. Representations in the figures may not be to scale.

[0047] Flower description

[0048] Figure 1 schematically illustrates a lidar device 10. The lidar device 10 has an optical transmitting device 12 and an optical receiving device 14 with a receiving sensor 16. A controller 18 can monitor and control the transmission of transmitted light 20 in the transmitting device 12 and the reception of received light 22 in the receiving device 14. The controller 18 can be arranged, for example, on a computing unit with a processor and memory of the lidar device 10 and can be implemented thereon, for example, as software.

[0049] With the lidar device 10, stationary or moving objects O, in particular vehicles, people, animals, plants, obstacles, road surface irregularities, in particular potholes or stones, road markings, traffic signs, open spaces, in particular parking spaces, precipitation or the like, can be detected, i.e., recorded, in a detection area 30 (Fig. 7). By evaluating the transmitted light 20 and the received light 22 by the controller 18, the distance to the object O and / or the direction in which the object O is located can be determined, for example. Alternatively or additionally, a relative speed to the object O and / or properties of the object O can be determined. Information about properties of the object O can be obtained, for example, by evaluating the intensities of the received light 22.

[0050] The receiving sensor 16 has a light-sensitive element, but preferably several light-sensitive elements, which can convert received light into an electrical current that can be read and evaluated by a downstream electrical circuit. The light-sensitive elements of the receiving sensor 16 can be designed, for example, as avalanche photodiodes (APDs), as so-called single photon avalanche diodes (SPADs), or as an array of several interconnected APDs or SPADs, as a so-called silicon photomultiplier (SiPM). Arrays of photodiodes can receive received light 22 from several directions simultaneously. Individual photodiodes of a SiPM are also referred to as cells. It can be provided that each cell of a SiPM receives received light 22 from a different direction.

[0051] Figure 2 shows, plotted against a time axis t, the light sensitivity 24 of a light-sensitive element, for example, an avalanche photodiode. The light sensitivity 24 can be adjusted via a bias voltage VB. In the example shown, the bias voltage VB is increased in steps at a standby time TB. This results in an increase in the light sensitivity 24 of the light-sensitive element. In the example shown, the light sensitivity 24 of the light-sensitive element increases approximately linearly from the standby time TB. The light-sensitive element is ready to receive from the standby time TB. The relationship between the bias voltage VB and the light sensitivity 24 of the light-sensitive element depends on the type of light-sensitive element.

[0052] The bias voltage VB is therefore temporally controlled such that it is reduced below the breakdown voltage of the light-sensitive elements during the internal reflection phase, so that the receiving sensor 16 is initially not activated. The bias voltage VB is then increased above the breakdown voltage of the light-sensitive elements so that the receiving sensor 16 can be activated for object measurement. This means that to regulate the light sensitivity of the light-sensitive elements, the bias voltage VB is changed over time. This means that the receiving sensor 16 is initially deactivated for the phase in which the internal reflections IR occur and is then activated by controlling the bias voltage VB. The bias voltage VB can be changed continuously over time to regulate the sensitivity of the light sensor. Furthermore, a step-by-step change of the bias voltage VB can be carried out. For example, the bias voltage VB can be designed to be switchable.The so-called switchable bias voltage VB switches the reception readiness of the receiving sensor 16 on or off. Alternatively, the bias voltage VB can be realized, for example, by charging a capacitor.

[0053] The light sensitivity of the light-sensitive element, in particular an avalanche diode, depends on the bias voltage VB, which can be applied as an overvoltage above the breakdown voltage of the diode. To reduce the light sensitivity of the light-sensitive element, the bias voltage can be lowered, and in particular, to deactivate the receiving sensor 16, it can be lowered below the breakdown voltage. Preferably, the bias voltage VB is not lowered far below the breakdown voltage of the light-sensitive element to enable a rapid increase in sensitivity at the standby time TB.

[0054] At a transmission time TS, transmitted light 20 is emitted. This is illustrated in Figure 2 by an increase in the intensity of transmitted light 20. Thus, at time TS, a transmitted light pulse is emitted. Due to internal reflections IR of the lidar device 10, a first back reflection of the received light 22 initially reaches the receiving sensor 16, resulting from internal reflections IR. Detection of these internal reflections IR is undesirable. The standby time TB was therefore chosen such that when the first internal reflections IR hit the receiving sensor 16, the latter is not yet ready to receive. The first back reflections, resulting from the internal reflections IR, of the received light 22 occur before the standby time TB.At the standby time TB, the bias voltage VB is increased so that after the standby time TB, the light-sensitive element(s) of the receiving sensor 16 is / are ready to receive. The subsequent reflection of the transmitted light 20 impinges on the receiving sensor 16 as received light 22, later after the standby time TB. This reflection can be detected as intended by the lidar device 10 with the receiving sensor 16 ready to receive.

[0055] Figure 3 schematically illustrates a lidar device 10. The optical transmitting device 12 emits transmitted light 20. The generation of internal IR reflections is illustrated in Figure 3 as an example. Part of the transmitted light 20 is reflected by the cover glass AG of the housing of the lidar device 10. Part of these internal IR reflections impinges on the receiving sensor 16. These internal IR reflections are undesirable. If the receiving sensor 16 receives them, its light-sensitive elements are placed in a state in which they are not ready to receive during a dead time TZ after receiving them.

[0056] Reflections of the transmitted light 20 from objects O outside the lidar device 10 could not be received by the receiving sensor 16 during this dead time TZ. Therefore, in the embodiment of Figures 3 and 4, a trigger light source TL is provided. The trigger light source TL can emit trigger light 28 onto the receiving sensor 16. Upon receipt of the trigger light 28, the trigger light 28 initially puts the light-sensitive elements of the receiving sensor 16 into a state in which they are not ready to receive during the dead time TZ. This dead time TZ is selected such that it coincides with the impingement of the internal reflections IR on the receiving sensor 16. After the internal reflections IR have subsided and after the end of the dead time TZ, the receiving sensor 16 is therefore ready to receive at a standby time TB.The trigger time TT, at which the trigger light source TL is triggered, is therefore preferably selected such that the dead time TZ of the light-sensitive elements of the receiving sensor 16 triggered by the trigger light 28 has ended and the receiving sensor 16 is ready to receive at the ready time TB. Figure 4 shows the lidar device 10 with trigger light source TL using the exemplary embodiment in Figure 3. Figure 4 illustrates internal reflections IR that can occur within the cover glass AG on the two surfaces of the cover glass AG. The optical transmission unit 12 emits transmitted light 20. Portions of the transmitted light 20 are reflected as internal reflections IR within the cover glass AG of the lidar device 10 and impinge on the receiving sensor 16 as internal reflections IR.The impact of these internal reflections IR on the receiving sensor 16 is also undesirable, since, as described with reference to Figure 3, it can trigger dead times TZ of the light-sensitive elements of the receiving sensor 16. Therefore, the trigger light source TL is provided, which emits the trigger light 28 to the receiving sensor at the trigger time TT in such a way that as many cells as possible are hit by the trigger light 28.

[0057] The mode of operation of the exemplary embodiment of Figures 3 and 4 is shown as an example in Figure 5. The light sensitivity 26 of the optical elements of the receiving sensor 16 is shown as an example. In the example shown, the state EB of the light sensitivity 26 denotes a readiness to receive of the light-sensitive element and the state NEB denotes a non-readiness to receive of the light-sensitive element. In the example shown, a dead time TZ of the light-sensitive element is triggered by the trigger light 28 at the trigger time TT. During the dead time TZ, the light-sensitive element is in a non-ready to receive state NEB. At a transmission time TS, which lies after the trigger time TT, the intensity of the transmitted light 20 is increased such that a measuring cycle is started. The readiness to receive at the readiness time TB is reached shortly after the end of the transmitted light pulse of the transmitted light 20.In the example shown, the standby time TB coincides with the end of the dead time TZ. The standby time TB is selected such that it occurs after internal reflections IR have decayed. After the standby time TB, the light-sensitive element of the receiving sensor 16 is ready to receive reflections from objects O and to detect these objects O. Figure 6 schematically illustrates the mode of operation of a further embodiment of the application. In the example shown, the intensity of the transmitted light 20 is increased at a transmission time TS. This increase initially occurs to a small extent and such that this transmitted light 20 of low intensity causes internal reflections in the lidar device and impinges on the receiving sensor 16. This triggers a dead time TZ in the light-sensitive elements of the receiving sensor 16 and puts them into a non-receiving state NEB.At the ready time TB, the light sensitivity 26 of the light-sensitive elements returned to the ready-to-receive state EB.

[0058] The emission of the transmitted light 20 with increased and, in particular, full intensity is now delayed. This occurs in such a way that the full intensity of the transmitted light 20 is only reached after the transmission time TS but before the light-sensitive elements of the receiving sensor 16 reach the reception readiness EB at the readiness time TB.

[0059] Internal reflections IR thus impinge on the receiving sensor 16 while the latter is in the non-receiving state NEB during its dead time TZ. Only then does the standby time TB occur, and the receiving sensor 16 is in the receiving state EB for receiving reflections from objects O in the detection range 30 of the lidar device 10.

[0060] Figure 7 schematically illustrates a vehicle 100, for example, a passenger car. The lidar device 10 is arranged in a front area of ​​the vehicle 100. The controller 18 can evaluate the transmitted light 20 and the received light 22 for detecting, determining the distance, and / or speed of the object O located in the detection area 30.

[0061] The detection area 30 is located in front of the front area of ​​the vehicle 100. This allows, in the example shown, an area in front of the vehicle 100 in the direction of travel to be monitored. It is also possible to arrange the lidar device 10 in other areas of the vehicle 100, for example, in the rear area and / or in the side areas. It is also possible to arrange multiple lidar devices 10 on the vehicle 100, in particular in corner areas of the vehicle 100. With a scanning lidar device 10, the detection area is successively scanned by the transmitted light 20. This is illustrated by the arrow in Figure 7. With a flash lidar, the detection area can be illuminated as a whole or in parts simultaneously.

Claims

CLAIMS 1. Lidar device (10) for a vehicle (100) with an optical transmitting unit (12) with a transmitting light source for emitting transmitted light (20), an optical receiving unit (14) with an optical receiving sensor (16) and a controller (18) which is configured to control the lidar device (10) such that the receiving sensor (16) is ready to receive at a standby time (TB) dependent on internal reflections (IR), wherein the internal reflections (IR) relate to reflections of the transmitted light (20) within the lidar device (10).

2. Lidar device according to claim 1, wherein the internal reflections (IR) relate to reflections of the transmitted light at at least one optical element of the transmitting unit (12), the receiving unit (14) and / or the housing (AG).

3. Lidar device according to claim 1 or 2, wherein the lidar device (10) is configured to start emitting the transmitted light (20) at a transmission time (TS), wherein the standby time (TB) depends on the transmission time (TS) of the transmitted light.

4. Lidar device according to one of the preceding claims, wherein the standby time (TB) depends on the ambient light intensity and / or the temperature of the receiving sensor.

5. Lidar device according to one of the preceding claims, wherein the control of the lidar device by the controller (18) comprises setting the receiving sensor (16) into a non-receiving state (NEB) before the standby time (TB).

6. Lidar device according to one of the preceding claims, wherein the controller (18) is configured to set the standby time (TB) by controlling the receiving sensor (16), in particular by setting a light sensitivity (24, 26) of the receiving sensor (16).Lidar device according to claim 6, wherein the controller (18) is configured to adjust the light sensitivity (14) by adjusting a bias voltage (VB) of the receiving sensor (16). Lidar device according to claim 7, wherein the bias voltage (VB) is increased over the course of a measurement cycle, wherein the increase occurs in particular degressively, linearly, quadratically, and / or in steps. Lidar device according to claim 6 or 7, wherein the bias voltage (VB) is realized by charging a capacitor. Lidar device according to one of the preceding claims, wherein the controller (18) is configured to adjust the standby time (TB) by triggering a trigger light source (TL), the trigger light (18) of which strikes the receiving sensor (16) such that the latter is ready to receive at the standby time (TB). Lidar device according to claim 10, wherein the trigger time (TT), at which the triggering of the trigger light source (TL) is intended to occur, lies before the transmission time (TS).Lidar device according to one of the preceding claims, wherein the controller (18) is configured to set the standby time (TB) by controlling the transmitted light (20) such that the receiving sensor (16) is ready to receive at the standby time (TB). Lidar device according to claim 12, wherein controlling the transmitted light (20) comprises changing the intensity of the transmitted light (20), and in particular increasing the intensity of the transmitted light during the transmission. Vehicle (100) with a lidar device (10) according to one of the preceding claims. Method for operating a lidar device (10) with an optical transmitting unit (12) with a transmitting light source for emitting transmitted light (12) and an optical receiving unit (14) with an optical receiving sensor (16), wherein the lidar device (10) is controlled such that the receiving sensor (16) is ready to receive at a standby time (TB) dependent on internal reflections (IR), wherein. the internal reflections (IR) refer to reflections of the transmitted light (20) within the lidar device (10).

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