Method and lidar system for environment detection, and vehicle comprising a lidar system

Abstract

The invention relates to a method for environment detection by means of a lidar system comprising a deflection device (10) by means of which an optical signal (L) can be deflected in order to scan a detection area (12). The method comprises: A) carrying out a first scan within a first scan period (A): - transmitting the optical signal (L), - incrementally changing the angle (20) at which the optical signal (L) is deflected into the detection area (12), B) carrying out a second scan within a second scan period (B): - transmitting the optical signal (L), - incrementally changing the angle (20) at which the optical signal (L) is deflected into the detection area (12), wherein at least one angle (20) during the second scan is different from the angles (20) during the first scan. The invention also relates to a lidar system (30) and to a vehicle (100) comprising a lidar system (30).

Description

[0001] Method and lidar system for environmental detection and vehicle with lidar system

[0002] Technical area

[0003] The application relates to a method for environmental detection using a lidar system, a lidar system for environmental detection and a vehicle with a lidar system.

[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] 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 unit and an optical receiver unit. The transmitter unit can emit an optical signal, which can be pulsed. In a Lidar system, light, particularly laser beams in the ultraviolet, visible, or infrared range, can be used as the optical signal. The optical signal can be reflected by an object in a detection zone in the vicinity of the Lidar system and received by the receiver unit. The received optical signal can be evaluated using the transmitted optical signal by a control unit of the Lidar system using a time-of-flight method, and the spatial position and distance of the objects from which the reflection occurred can be determined. It is also possible to determine a relative speed.In this context, reflection or reflected optical signal refers to any returned optical signal (light) and is intended to include, in particular, light reflected by scattering or absorption emission. Time-of-Flight (TOF) systems can be used, in particular, to determine the distance to objects.

[0007] 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.

[0008] 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.

[0009] DE102016122194A1 describes a method for operating a lidar system in which light pulses are emitted with a transmitting unit to detect an object, and the light pulses reflected by the object are received by a receiving unit. To emit the light pulses, a light source of the transmitting unit is controlled at specific transmission times, and the light pulses are deflected within a predetermined detection range by a deflection device. The light source is controlled such that the time intervals between the specific transmission times differ from one another.

[0010] Overview

[0011] A lidar system has a deflection device by which an optical signal can be deflected to scan a detection area. A method for environmental detection using the lidar system includes:

[0012] A) First scan within a first scan period: Emitting the optical signal, gradually changing the angle at which the optical signal is deflected by the deflection device into the detection area. B) Second scan within a second scan period: Emitting the optical signal, gradually changing the angle at which the optical signal is deflected by the deflection device into the detection area.

[0013] During the first and second scans, a so-called frame of the lidar system is captured. By deflecting the optical signal at an angle, the optical signal impinges on an angular range of the detection area that depends on the angle. The angle can therefore also be referred to as the deflection angle. By gradually deflecting the optical signal into the detection area, the detection area can be scanned step by step. Scanning lidar systems are also called scanning lidar systems.

[0014] At least one angle at which the optical signal is deflected into the detection area differs during the second scan from the angles during the first scan. This offers the advantage that, on the one hand, all angular ranges of the detection area are illuminated by the optical signal during the first and / or second scan, and, on the other hand, time can be saved by omitting at least one angular range during the first scan. This means that at least one gap is left in the detection area during the first scan, which gap is then filled during the second scan by deflecting the optical signal into this gap.

[0015] The first sampling period can therefore be shorter than a sampling period in which all possible angular ranges of the detection area would be scanned. The missing angular ranges can then be scanned during the second sampling period in order to be able to determine, for example, a high-resolution image of the detection area using a combination of the first and second scanning. In the present case, possible angular ranges are understood to mean those angular ranges that depend on the angles that can be set by the deflection device. Possible angular ranges therefore refer to those angular ranges that are scanned by the optical signal when it is deflected at the angles that can be set by the deflection device. To effect the deflection, the deflection device can, for example, have at least one single-sided or multi-sided, rotating or oscillating optical element, e.g. at least one mirror.The deflection can be based on reflective light deflection, e.g. by at least one mirror, and / or transmissive light deflection, e.g. by at least one prism and / or an optical array.

[0016] The detection range of the lidar system comprises the area into which the optical signal is emitted by a transmitting unit of the lidar system. To deflect the optical signal for scanning the detection range, the lidar system has a deflection device, which can, for example, comprise at least one mirror. The at least one mirror can, for example, perform a rotary movement, which can include a pendulum movement and / or a rotational movement. The scanning direction depends on the rotary movement of the at least one mirror. The stepwise change of the angle of the deflection of the optical signal can be achieved, for example, by controlling the deflection device. The control of the deflection device can be carried out, for example, by a control unit of the lidar system. By controlling the deflection device, the step size of the angle change and thus the angular resolution within the detection range can be adjusted.

[0017] The control unit of the lidar system can also be configured to control the transmitting unit and the receiving unit and to evaluate the transmitted optical signal and the received optical signal for environmental detection. The receiving unit has a receiving sensor, by means of which the reflected optical signal can be received. The receiving sensor can also be two-dimensional and have individual pixels arranged in an array. The respective pixels can be assigned to respective directions, i.e., angular ranges, from which they can receive optical signals. The pixels can be configured so that they can be specifically activated for reception.

[0018] In one embodiment of the method, the optical signal reflected from the detection area during the first sampling period and the optical signal reflected from the detection area during the second sampling period is evaluated and a measured value image is determined depending on the evaluation.

[0019] The measurement image contains measured values ​​obtained by evaluating the optical signal during the first and second sampling periods. It includes the measured values ​​from both frames of the lidar system.

[0020] The repetition rate of the respective sampling periods is also referred to as the frame rate. A shorter sampling period can be repeated more quickly, thus enabling a higher frame rate. With a higher frame rate, changes in the environment to be captured can be detected more quickly, for example, when an object moves into the detection area.

[0021] The measured value image can include information about objects in the detection area from which the optical signal was reflected. In particular, the measured value image also includes information about the angle at which the optical signal was deflected, which was then evaluated at the respective pixel. The resolution of the image thus depends on the angular resolution of the lidar system.

[0022] A measured value image can, for example, contain an image with depth information. The depth information can correspond to distance information, such as that determined using a time-of-flight measurement method. Examples of time-of-flight measurement methods include indirect or direct time-of-flight methods.

[0023] Such a measured value image has the advantage of being able to be captured at full resolution, as information from the first and second scans can be combined. The gaps in the individual frames can be filled, creating a complete, high-resolution measured value image.

[0024] In one embodiment of the method, the optical signal is emitted in pulsed form, and the angle is changed step by step from pulse to pulse. Light pulses are emitted by the transmitting unit during the respective sampling periods. Furthermore, the light pulses reflected from the detection area are received by the receiving unit. To emit the light pulses, a light source, e.g., a laser diode, of the transmitting unit is preferably controlled at specific transmission times, and the light pulses are deflected by the deflection device at the specific angle. The light source is controlled in particular such that the time intervals between the specific transmission times within a sampling period are the same. In particular, the time intervals between the specific transmission times within the first sampling period can also be the same as within the second sampling period.

[0025] In one embodiment, the respective transmission times can be triggered when the respective angles of light deflection are reached. For a deflection device that has, for example, a rotating mirror, this can be achieved, for example, by angle sensors on the deflection device, which have a significantly higher resolution than the angular ranges.

[0026] In one embodiment of the method, by gradually changing the angle, the detection area is scanned from a first edge region to a second edge region within the first sampling period and / or within the second sampling period. This embodiment has the advantage that the entire detection area can be captured during the first sampling period and / or during the second sampling period. As a result, the individual frames that can be recorded consecutively each encompass the detection area in its width from edge region to edge region. This also allows the edge regions of the detection area to be scanned twice as frequently.The scanning that takes place may have gaps because not all angular ranges of the detection area may have been scanned during the first and / or second scanning period. However, the resolution can be selected so that larger objects or larger changes, particularly in the edge areas, are detected during one scanning period. These changes can then be responded to. Any gaps in the first scan can then be filled by the second scan, which then covers angular ranges that were omitted during the first scan. In one embodiment of the method, a possible angle is omitted within the first scanning period when the angle is changed step by step, and the optical signal is deflected within the second scanning period with the respective omitted possible angles.In this embodiment, sampling during the first sampling period occurs such that the optical signal is deflected at only every other possible angle, so that one possible angular range is alternately scanned and the following one is not, and so on. In the second sampling period, the optical signal is deflected at the other angles, so that during the second sampling period, those angular ranges that were omitted during the first sampling period are scanned. The second sampling is therefore offset from the first sampling. By combining the information from both sampling periods, a high-resolution measured value image can be generated.

[0027] In one embodiment of the method, the first scan is performed alternately with the second scan. The acquisition of the individual frames through the sampling periods can be continuously repeated. If the first scan and the second scan are performed alternately, the measured value image can be determined after each frame. This image depends on information from the current scan and the previous scan and can thus have the full resolution. It is therefore possible to continuously determine the measured value image from the two previous measured value images. In particular, the measured value image can also be determined from more than two previous measured value images.

[0028] In one embodiment of the method, the step size of the angle change within the first sampling period is the same as within the second sampling period. This can relate to the actual angle change during the first and second sampling periods, i.e., the angle change with the gaps with respect to the possible angle changes. This means that the step size of the actual angle change during the first sampling period is the same as during the second sampling period. Likewise, the possible angle changes within the first and second sampling periods can be the same. This has the advantage that a deflection device can be used that provides the same possible deflection angles during the first sampling period.

[0029] In one embodiment of the method, the step size of the angle change between possible angles corresponds to the angular resolution of the lidar system. The offset of the second scan compared to the first scan in this embodiment thus corresponds to the angular resolution of a lidar system. In this embodiment, the angular resolution of the lidar system is utilized for environmental detection, so that, for example, the measured value image can be determined at the possible angular resolution of the lidar system.

[0030] In embodiments, it is possible to provide more than two sampling periods, each of which leaves gaps in the sampling pattern that are filled during other sampling periods. This allows the sampling frequency in areas, e.g., areas near the edges, to be further multiplied.

[0031] The lidar system for environmental detection has a deflection device which is designed to deflect the optical signal for scanning the detection area, wherein the lidar system is designed to carry out the described first scanning within the first scanning period and the described second scanning within the second scanning period.

[0032] During the first scan, the angle at which the optical signal is deflected into the detection area by the deflection device is changed step by step, and the optical signal reflected from the detection area is evaluated.

[0033] During the second scan, the angle at which the optical signal is deflected into the detection area by the deflection device is changed step by step, and the optical signal reflected from the detection area is evaluated.

[0034] At least one angle during the second scan differs from the angles during the first scan. This allows scanning gaps left in the detection area during the first scan, i.e., the gaps in the scan, to be filled by the second scan. In one embodiment of the lidar system, the control unit of the lidar system is designed to evaluate the optical signal reflected from the detection area and determine the measured value image. For each measured value image, received optical signals from two sampling periods each can be evaluated. Preferably, the optical signal from the current sampling period and the previous sampling period is evaluated. It is also possible to evaluate the optical signals from more than two sampling periods.

[0035] In one embodiment, the lidar system is configured to output the measured value image. By outputting the measured value image after each frame, changes in the detection area can be quickly responded to, as the measured value image can be output after the completion of each sampling period. At the same time, the measured value image can have a high resolution, as gaps in the scanning of one frame can be filled by the other frame, which was included in the measured value image.

[0036] A vehicle can have such a lidar system. The vehicle can also have at least one control unit, wherein the at least one control unit executes at least one driving function that depends on the measured value image. For this purpose, the control unit can have a computing unit, memory, and input and output interfaces.

[0037] Using the described method, the lidar system can be used, for example, on a vehicle in road traffic to detect the environment in various situations. This increases its applicability. It is possible to use the lidar system in situations where high resolution is required, e.g., to detect small objects at a great distance. At the same time, the lidar system can also be used in situations where a high frame rate is required, e.g., to quickly react to large objects moving at the edge of the detection area.

[0038] For the example of a scanning lidar system, both of these requirements can be met by the described method and the lidar system. High resolution can be achieved using fine angular steps, which are achieved by filling gaps in the scanning pattern of the first scan with the second scan. At the same time, the first scan can be completed quickly because gaps can be left in the scanning pattern. This allows a high frame rate to be achieved by the first scan with gaps.

[0039] The method and the lidar system therefore make it possible to multiply the frame rate by introducing the first, second, and optionally further sampling periods, while simultaneously obtaining a high-resolution, optionally even complete, measured value image, e.g., a distance image or a range image.

[0040] Fiourenliste

[0041] In the following, embodiments of this application are further explained and described with reference to the figures.

[0042] Fig. 1 schematically shows a method for environmental detection with first and second sampling periods,

[0043] Fig. 2 schematically shows a deflection device with detection range,

[0044] Fig. 3 schematic angular ranges in scanning direction,

[0045] Fig. 4 schematically shows pulses of an optical signal,

[0046] Fig. 5 a top view of a vehicle with Lidar system.

[0047] 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.

[0048] Flower description

[0049] Figure 1 schematically shows a method for environmental detection using a lidar system 30 with a first sampling period A and a second sampling period B. The two sampling periods A, B are carried out alternately.

[0050] Within the first sampling period A, the first sampling occurs with the transmission of an optical signal L by a transmission unit 32 of the lidar system 30. The transmitted optical signal L is deflected in its direction by a deflection device 10. The angle 20 at which the optical signal L is deflected into a detection area 12 of the lidar system 30 is changed step by step. The optical signal L reflected from the detection area 12 is received by a reception unit 34 of the lidar system 30.

[0051] During the first scanning, possible deflection angles 20 of the optical signal L are omitted in the scanning of the detection range 12, so that gaps are left in scanned angular ranges 16.

[0052] Within the second sampling period B, the second sampling occurs with the transmission of the optical signal L by the transmitting unit 32 of the lidar system 30. The transmitted optical signal L is deflected in its direction by the deflection device 10. The angle 20 at which the optical signal L is deflected by the deflection device 10 into the detection area 12 of the lidar system 30 is changed in steps. The optical signal L reflected from the detection area 12 is received by the receiving unit 34 of the lidar system 30.

[0053] The deflection device 10 can have, for example, at least one single-sided or multi-sided, rotating or oscillating optical element, for example at least one mirror 14, to effect the deflection.

[0054] At least one deflection angle 20 during the second scan fills one of the gaps left by the first scan. In some embodiments, the deflection angles 20 during the second scan fill the gaps left by the first scan. In other embodiments, the detection area 12 is scanned during the second scan with an offset compared to the first scan.

[0055] Figure 2 schematically shows the deflection device 10 with the detection area 12. In the illustrated embodiment, the deflection device 10 has a mirror 14, at which the optical signal L can be deflected at an angle 20. The mirror 14 is rotatably mounted and, in the illustrated embodiment, can perform a rotational movement with the direction of rotation 22. The rotational movement of the mirror 14 can change the deflection angle 20 in a scanning direction 18. The mirror 14 can be controlled, for example, by a control unit 36 ​​of the lidar system 30.

[0056] The lidar system 30, to which the deflection device 20 shown in Figure 2 belongs, can, for example, belong to a scanning lidar. The optical signal L can, for example, be point-shaped and the mirror 14 can cause a 1D mirror deflection. The 1D mirror deflection scans the detection area 12 in a line-shaped manner, i.e. the step-by-step change in the deflection angle 20 of the optical signal L in the scanning direction 18 results in a line. By lining up the lines, a surface-wide scan can then be achieved. The optical signal L can also, for example, be line-shaped and the mirror 14 can cause a 2D mirror deflection. The 2D mirror deflection scans the detection area 12 in a surface-wide manner, i.e. the step-by-step change in the deflection angle 20 of the optical signal L in the scanning direction 18 results in a surface.

[0057] Within the first scanning period A, the angular ranges 16 designated by A are scanned. Gaps, also called defects, are left. The defects are filled, i.e., scanned, within the second scanning period B. During both the first scanning and the second scanning, the respective angular ranges 16 are specifically illuminated with the optical signal L by adjusting the angle 20.

[0058] In the exemplary embodiment shown in Figure 2, the detection area 12 is scanned both during the first scan and during the second scan from an area near a first edge RI of the detection area 12 in the scanning direction 18 to an area near a second edge R2 of the detection area 12. As a result, the areas around the edges RI, R2 can be detected both within the first scanning period A and within the second scanning period B. Detection in the area of ​​the edges RI, R2 therefore occurs twice as frequently as when the entire detection area 12 is scanned without defects with the same angular resolution.

[0059] By evaluating the reflected optical signal L, a measured value image of the surroundings of the lidar system 30 can be determined. To determine the measured value image, in particular, the optical signals L received during the first sampling period A and during the second sampling period B can be evaluated. In Figure 3, the angular ranges 16 sampled by the optical signal L during the respective sampling periods A, B are plotted against the scanning direction 18. The interleaved individual frames of the first and second scanning are then shown at the bottom of Figure 3.

[0060] Such interleaving is possible continuously, meaning that information obtained during two or more previous scans can be combined. This makes it possible to implement a continuous combination of frames, so that a frame can be combined with at least one previous frame.

[0061] Figure 4 schematically shows an embodiment of a temporal sequence of the individual trigger signals for emitting pulses of the optical signal L during the first sampling period A and the second sampling period B. With an ideal, constant rotational movement 22 of the mirror 14 and the light deflection, the time intervals 24 between the trigger signals are always the same. In the example shown, the time 24 between two pulses of the optical signal L is therefore the same in the first sampling period A as in the second sampling period B. The time 26 between two pulses of the optical signal L when changing from the first sampling period A to the second sampling period B can be selected such that it is an integer multiple of the time 24 between two pulses and is shifted by half a time interval 24.As a result, the detection area 12 is then scanned in equal angular ranges 16 and the gaps in the first scan can be filled by the second scan.

[0062] The integer multiple of the time interval 24 can be selected for the time 26 between the sampling periods so that any dead points of the light deflection are included. With the rotating mirror 14, this can, for example, affect the times when a non-reflective area of ​​the mirror 14 faces a light source of the transmitting unit 32 of the lidar system 30. During such times, the transmission of the optical signal L can then be suppressed and only resumed—e.g., with the next sampling period—when a reflective surface of the mirror 14 is again facing the light source.

[0063] The offset of the sampled angular ranges 16 of the sampling periods A, B can, for example, correspond to the angular resolution of the lidar system 30. Thus, the respective sampled angular ranges 16 can correspond to the possible angles 20 of deflection by the deflection device 10.

[0064] The angular resolution of the lidar system 30 can, for example, be in the range of hundredths of a degree. For the detection of large objects, the offset, i.e., the gaps in the scanning, can therefore be neglected. It is also possible to select a scan pattern that is not completely regular, in which, for example, the outer regions near the edges RI, R2 completely overlap. This would mean that certain angular regions near the edges RI, R2 are scanned during both the first scanning period A and the second scanning period B.

[0065] In exemplary embodiments, it is possible to provide more than two sampling periods A, B, each of which leaves gaps in the sampling pattern that are filled during other sampling periods. This allows the sampling frequency in regions, e.g., regions near the edges RI, R2, to be further multiplied.

[0066] Large or nearby objects can be detected based on the evaluation of a single sampling period A, B. For such objects, the detection frequency increases many times with the number of nested sampling periods.

[0067] The type of analysis used to obtain environmental measurements can also be modified for individual areas of the detection zone 12 and / or for the driving situation (parking, highway, etc.). For example, it is possible to vary between individual frames captured during a sampling period A, B, and the combination of frames obtained from two or more sampling periods. The sampling method does not need to be changed for this purpose and therefore does not need to be validated multiple times during the development phase.

[0068] The number of nested frames, i.e. the sampling periods, can be adapted in particular to the angular ranges 16 and angular velocity of the change of the angle 20.

[0069] The described principle of alternating sampling periods with respective error ranges is advantageous for ID deflected systems and 2D deflected systems, since information from the vicinity of the current sampling point or the current scanning line can be obtained quickly.

[0070] The described method can be combined with methods that each scan the detection area 12 without any gaps. Switching between the different modes is then possible, for example, even during operation. This can be implemented, for example, by delaying the trigger signals for the pulses of the optical signal L. In addition to completely overlapping frames, modes are also conceivable in which frames that completely scan the detection area 12 are combined with frames that leave gaps in the scanning. This allows, for example, certain areas of the detection area 12 to be specifically captured with greater resolution.

[0071] Figure 5 schematically shows a vehicle 100, for example a passenger car. The lidar system 30 is arranged in a front region of the vehicle 100. The lidar system 30 has the optical transmitter unit 32 and the optical receiver unit 34. The deflection device 10 is arranged between the transmitter unit 32 and the receiver unit 34. The deflection device 10 can deflect the optical signal L transmitted by the optical transmitter unit 32 such that the detection area 12 is scanned step by step in the scanning direction 18. In this case, scanning can be realized from a first edge RI of the scanning area 12 to a second edge R2 of the scanning area 12.

[0072] The receiving unit 34 can have a receiving sensor for receiving the optical signal L. The receiving sensor can have, for example, at least one photodiode or at least one charge-coupled semiconductor component, e.g., a charge-coupled device (CCD), for receiving the optical signal L. The CCD can be configured as a two-dimensional array. Pixels of the two-dimensional array can be activated to receive the optical signal, with the activation of the pixels being possible individually and / or in groups.

[0073] The control unit 36 ​​can evaluate the optical signal L that is transmitted into the detection area 12 and received from the detection area 12. The control unit 36 ​​can also monitor and control the transmission process in the transmission unit 32, the reception process in the reception unit 34, and, if applicable, the rotational movement of the mirror 14.

[0074] The detection area 12 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 system 30 in other areas of the vehicle 100, for example in the rear area and / or in side areas. It is also possible to arrange multiple lidar systems 30 on the vehicle 100, in particular also in corner areas of the vehicle 100. The lidar system 30 can detect 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, in the detection area 12.

Claims

CLAIMS 1. A method for environmental detection by means of a lidar system, comprising a deflection device (10) by means of which an optical signal (L) can be deflected at an angle (20) for scanning a detection area (12), the method comprising: A) first sampling within a first sampling period (A): - Emitting the optical signal (L), - gradually changing the angle (20) at which the optical signal (L) is deflected into the detection area (12), B) second sampling within a second sampling period (B): - Emitting the optical signal (L), - stepwise changing the angle (20) at which the optical signal (L) is deflected into the detection area (12), wherein at least one angle (20) during the second scanning is different from the angles (20) during the first scanning.

2. Method according to claim 1, wherein the optical signal (L) reflected from the detection area (12) during the first sampling period (A) and during the second sampling period (B) is evaluated and a measured value image is determined as a function of the evaluation.

3. Method according to one of the preceding claims, wherein the optical signal (L) is emitted in pulsed form and the angle (20) is changed step by step from pulse to pulse.

4. Method according to one of the preceding claims, wherein by changing the angle (20) step by step, the detection area (12) is scanned within the first scanning period (A) and / or within the second scanning period (B) from a first edge area (RI) to a second edge area (R2).

5. Method according to one of the preceding claims, wherein within the first sampling period (A) in the stepwise change of the angle (20) a respective possible angle is omitted and wherein the optical signal (L) is deflected within the second sampling period (B) with the respective omitted possible angles.

6. Method according to one of the preceding claims, wherein the first scanning is carried out alternately with the second scanning.

7. Method according to one of the preceding claims, wherein the step size of the angle change within the first sampling period is the same as within the second sampling period.

8. Method according to one of the preceding claims, wherein the step size of the angle change between possible angles corresponds to the angular resolution of the lidar system.

9. Lidar system (30) for environmental detection, comprising a deflection device (10) which is designed to deflect an optical signal (L) for scanning a detection area (12) at an angle (20), wherein the lidar system (30) is designed to carry out a first scan within a first scanning period (A) and a second scan within a second scanning period (B), - wherein during the first scanning the angle (20) at which the optical signal (L) is deflected into the detection area (12) is changed step by step, - wherein during the second scanning, the angle (20) at which the optical signal (L) is deflected into the detection area (12) is changed step by step, wherein at least one angle (20) during the second scanning is different from the angles (20) during the first scanning.

10. Lidar system according to claim 9, wherein a control unit (36) of the lidar system is designed to evaluate the optical signal (L) reflected from the detection area (12) during the first scanning and the optical signal (L) reflected from the detection area (12) during the second scanning and to determine a measured value image depending on the evaluation.

11. Lidar system according to claim 10, wherein the lidar system (30) is configured to output the measured value image.

12. Vehicle (100) with a lidar system (30) according to one of claims 9 to 11.

13. Vehicle according to claim 12, comprising at least one control unit, wherein the at least one control unit is designed to execute at least one driving function which depends on the measured value image.

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