Lidar system and method for sensing surroundings

Abstract

The invention relates to a lidar system for a vehicle, wherein the lidar system comprises: an optical transmitting device designed to emit an optical signal, an optical receiving device designed to receive the optical signal, an optical deflecting device (16) comprising at least two mirror surfaces (16.1, 16.2, 16.3, 16.4) of different sizes arranged at an angle to each other, a respective mirror surface (16.1, 16.2, 16.3, 16.4) being assigned to a respective sensing region (22.1, 22.2, 22.3, 22.4), the deflection device (16) being designed to deflect, by means of at least one of the mirror surfaces (16.1, 16.2, 16.3, 16.4), the optical signal (L) on an optical path to and / or from the respective assigned sensing region (22.1, 22.2, 22.3, 22.4), mirror surfaces (16.1, 16.2, 16.3, 16.4) of different sizes being assigned to respective sensing regions (22.1, 22.2, 22.3, 22.4) of different depths. The sensing regions overlap, and the common centre of the sensing regions is scanned more frequently. This corresponds to the greater importance of the centre during the scanning process. The opening angles of the sensing regions in the vertical direction are the same. The intensity of the optical signal deflected by the narrower mirror surfaces (16.2, 16.4) can be increased by increasing the laser power. The number of pulses of the optical signal for the narrower mirror surfaces (16.2, 16.4) can also be increased. As a result, the detection probability and the range can be improved.

Description

[0001] 2023PF02580 1

[0002] LIDAR SYSTEM AND ENVIRONMENTAL SENSING METHOD

[0003] Technical field

[0004] The application relates to a lidar system for a vehicle and to a vehicle that incorporates such a lidar system. The application further relates to a method for environmental sensing using an optical signal from a lidar system.

[0005] background

[0006] Modern vehicles (cars, vans, trucks, motorcycles, etc.) are equipped with a multitude of sensor systems whose data serves to inform the driver and / or provide data to driver assistance systems. These sensor systems detect the vehicle's surroundings, including other road users. Based on the collected data, a model of the vehicle's environment can be created, and the system can react to changes in this environment.

[0007] Sensor systems are constantly being developed for various functions, such as environmental sensing in the near and far range of vehicles, including passenger cars and commercial vehicles. Sensor systems can also be used for driver assistance systems, particularly those for autonomous or semi-autonomous vehicle control. They can be used specifically for detecting obstacles and / or other road users in the front, rear, or blind spot areas of a vehicle. Sensor systems can be based on various sensor principles, such as radar, ultrasound, optics, etc.

[0008] An important optical sensor principle for environmental sensing, e.g., of vehicles, is lidar technology (Lidar stands for Light Detection and Ranging). A lidar system has an optical transmitter and an optical receiver. The transmitter can emit an optical signal in the form of light, which can be continuous or pulsed. The transmitted optical signal can also be modulated. In a lidar system, optical signals in the form of laser beams in the ultraviolet, visible, or infrared range can be used. The receiver can detect the optical signal after reflection from a point in the vicinity of the lidar system. The received optical signal can be analyzed using the transmitted optical signal, e.g., using a time-of-flight method, to determine the spatial location and distance of the point from which the reflection occurred.In this context, reflection or reflected light is understood to mean any light that is thrown back and is intended in particular to include light thrown back by scattering or absorption-emission.

[0009] The reflected optical signal can be detected in the receiving device via a receiving sensor. Receiving sensors in lidar systems can have multiple receiving elements, called pixels, for opto-electrical conversion. The pixels can be configured to receive optical signals from different viewing angles.

[0010] Scanning lidar systems emit optical signals that move in a scanning direction. This scanning motion can be achieved by deflecting the optical signal transmitted by the optical transmitter using a deflection device. The deflection of the light can be effected, for example, by rotating the deflection device, which may include at least one rotating mirror.

[0011] US20240036211A1 describes a lidar system comprising an optical transmitter, an optical receiver, and an optical deflector. The deflector has mirror surfaces that form an irregularly shaped, multi-sided rotating surface, which can be used to densify the scanning of a detection area.

[0012] US20230041288A1 describes a short- and long-range lidar system comprising a first receiver and a second receiver. The first receiver is configured to receive light reflected from an object within a short-range first detection area. The second receiver is configured to receive light reflected from an object within a long-range second detection area, where a two-dimensional portion of the second detection area, at least partially overlapping the first, is included within the first detection area.

[0013] German patent DE102022122223A1 describes a lidar system in which a deflection device with mirror surfaces is arranged between the transmitting and receiving devices. The deflection device has several mirror surfaces 2023PF02580 3. A scanning of a detection area can be achieved by means of a rotational movement of the mirror surfaces.

[0014] Overview

[0015] A lidar system for a vehicle comprises an optical transmitter, an optical receiver, and an optical deflector. The optical transmitter is configured to transmit an optical signal. The optical receiver is configured to receive the optical signal. The optical deflector comprises at least two differently sized mirror surfaces arranged at an angle to each other. Each mirror surface is assigned a specific detection area.

[0016] The deflection device is designed to deflect the optical signal along an optical path to and / or from the respective assigned detection area by means of at least one of the mirror surfaces, whereby mirror surfaces of different sizes are assigned to respective detection areas of different depths.

[0017] The lidar system is designed for environmental sensing of the vehicle. It is configured to monitor at least two detection areas using an optical signal. The optical signal is emitted by the transmitter, travels along an optical path to the respective detection area, is reflected there, and received by the receiver. The deflection device deflects the optical signal towards and / or away from the respective detection area by at least one of the mirror surfaces. The mirror surfaces can be flat. The deflection at the respective mirror surface can include, in particular, reflection at the respective mirror surface.

[0018] The at least two mirror surfaces of the deflection device are thus assigned to a respective detection area. This means that the optical path of the optical signal, which exhibits deflection at the respective mirror surface, has a reflection in the detection area assigned to that mirror surface. An optical path with deflection at a different mirror surface of a different size has a reflection in the respective other assigned detection area, which has a different depth, i.e., a greater or lesser range for environmental detection. 2023PF02580 4

[0019] This allows for ranges from medium, approximately 50-150 m, to long, approximately 150-300 m, to ultra-long ranges greater than 300 m.

[0020] The optical signal is deflected, for example, along a first optical path at a first mirror surface and reflected in a first detection area. The optical signal is then deflected, for example, along a second optical path at a second mirror surface and reflected in a second detection area. The first mirror surface is of a different size than the second mirror surface, and the depth of the first detection area differs from the depth of the second detection area.

[0021] It is also possible that the optical signal is deflected multiple times, e.g., twice, by the same mirror surface along its respective optical path. This could occur, for example, on the path from the transmitting device to the detection area associated with the mirror surface. It could also occur, for example, on the path from the detection area associated with the mirror surface to the receiving device.

[0022] The lidar system can include a processing unit that controls the transmission process in the transmitting device and the reception process in the receiving device. The transmitted and received optical signals can be analyzed in the processing unit to determine environmental data.

[0023] In one embodiment of the lidar system, the respective detection ranges overlap at least partially. This makes it possible for a particularly interesting or important area of ​​the environment to be covered by both detection ranges. This can increase safety.

[0024] In one embodiment of the lidar system, the emitted optical signal depends on the size of the mirror surface in the optical path of the signal. For example, the characteristics of the optical signal emitted by the transmitter can be adapted to the size of the mirror surface in the optical path to which the signal is emitted, such that the optical signal has characteristics suitable for scanning the assigned detection area. The optical signal can, for example, be adapted by the transmitter before emission depending on the size of the mirror surface in the optical path for the optical signal to be emitted. The modification of the optical signal emitted by the transmitter 2023PF02580 5 can, for example, be specified by the processing unit and executed by the transmitter.

[0025] In one embodiment of the lidar system, the intensity of the emitted optical signal depends on the size of the mirror surface in the optical path of the signal. The intensity of the optical signal can be adjusted, particularly by the transmitter, so that, for example, a higher-intensity optical signal is transmitted to smaller mirror surfaces. The transmitter thus adjusts the intensity of the optical signal during transmission depending on the size of the mirror surface located in the optical path for deflection. For example, a higher optical signal intensity can be selected for a smaller mirror surface, so that the limit values ​​applicable to laser light, for example, are still met for smaller mirror surfaces, while simultaneously achieving a greater depth, i.e., range, of the detection area associated with the smaller mirror surface.The range for the smaller mirror surface can reach up to 300 m.

[0026] In one embodiment of the lidar system, the depth and / or resolution of the respective detection area can be adjusted by at least one parameter of the emitted optical signal. In particular, the intensity and / or the repetition rate of the detection can be set as a parameter depending on the size of the mirror surface in the optical path. This allows the depth and / or resolution of the detection area to be adjusted. Specifically, for narrower detection areas with a small aperture angle, the intensity of the optical signal and / or the repetition rate of the detection can be increased to achieve greater depth and thus greater range, while remaining within predefined limits for, e.g., laser light. The transmitter can be controlled accordingly, for example, by the processing unit.

[0027] In one embodiment of the lidar system, the deflection device is rotatable about a rotational axis. One or more rotational angular positions of the deflection device are assigned to the deflection of the optical signal by the respective mirror surface. Both the transmission of the optical signal by the transmitting device and the rotational movement of the deflection device can be controlled, for example, by the processing unit, so that the respective detection areas are captured with the desired characteristics. 2023PF02580 6

[0028] In one embodiment of the lidar system, the respective detection areas can be scanned by the optical signal through the rotational movement of the deflection device. The rotational movement can be performed, particularly by the processing unit in conjunction with the transmission of the optical signal, in such a way that the environmental detection is achieved through scanning with the desired characteristics.

[0029] In one embodiment of the lidar system, mirror surfaces of varying widths in the direction of rotation are assigned to respective detection areas of varying widths in the direction of rotation. This allows, for example, wider detection areas, i.e., areas with a larger opening angle in the direction of rotation, to be created by deflection through wider mirror surfaces. Conversely, narrower detection areas, i.e., areas with a smaller opening angle in the direction of rotation, can be created by deflection through narrower mirror surfaces.

[0030] In one embodiment of the lidar system, the at least two mirror surfaces are arranged longitudinally to the axis of rotation of the deflection device. The mirror surfaces can, in particular, be flat and arranged parallel to the axis of rotation of the deflection device. The deflection device can, in particular, have more than two mirror surfaces, which are flat and arranged parallel to the axis of rotation.

[0031] In one embodiment of the lidar system, the deflection device has four mirror surfaces, with each pair of opposing mirror surfaces having the same width in the direction of rotation. In this embodiment, the mirror surfaces can, for example, form right angles to each other. The mirror surfaces can each have a substantially rectangular shape.

[0032] The deflection device can be designed, in particular, as a right prism with rectangular bases, in which the four lateral faces of the prism have four mirror surfaces. The mirror surfaces are designed as two narrow and two wide mirror surfaces. The axis of rotation of the deflection device intersects the bases of the prism perpendicularly. The axis of rotation can, for example, intersect the bases of the prism at their midpoints with respect to the sides.

[0033] In one embodiment of the lidar system, the optical signal is pulsed. The optical transmitter can emit the optical signal in pulses. The pulsed optical signal has short periods during which the optical signal is transmitted. This can be referred to as a pulse or impulse. Between pulses, the optical transmitter does not transmit an optical signal. The frequency of pulse emission is a parameter of the optical signal, which can be set, for example, by the processing unit, controlled by the transmitter.

[0034] In one embodiment of the lidar system, the emission of a pulse of the pulsed optical signal depends on the rotational angular position of the deflection device. The processing unit can thus control the scanning of the respective detection area so precisely that a pulse of the optical signal is emitted in such a way that the optical signal reaches a desired point within the detection area and is reflected there. The width of a given detection area can depend on the width of the respective mirror surface that causes a deflection in the optical path of the optical signal.

[0035] By emitting pulses of a pulsed optical signal more quickly, in conjunction with the rotational position, a higher density of emitted pulses can be achieved, meaning pulses with a smaller angular spacing between them. This can result in a higher density of reflection points, i.e., sampling points, in the detection area and / or a greater range.

[0036] In one embodiment of the lidar system, the pulse frequency depends on the size of the mirror surface in the optical path of the optical signal. Specifically, the intensity and / or frequency of the emitted pulses can be set as parameters depending on the size of the mirror surface in the optical path. This allows the depth and / or resolution of the detection area to be adjusted. In particular, for narrower detection areas with a small aperture angle, the intensity of the optical signal and / or the pulse frequency of the optical signal can be increased to achieve greater depth and thus greater range.

[0037] In one embodiment of the lidar system, the transmitting and receiving units are arranged on the same side of the deflection unit. This allows for a compact lidar system design. In such an embodiment, the same mirror surface can deflect the optical signal twice along the optical path. This can be, for example, once on the path from the transmitting unit to the assigned detection area and once on the path from the assigned detection area to the receiving unit. 2023PF02580 8

[0038] A vehicle can be equipped with the described lidar system. The lidar system can be used to detect the vehicle's surroundings and the captured environmental data can be used to implement autonomous or semi-autonomous driving functions in the vehicle.

[0039] A lidar system for an environmental sensing method comprises an optical deflection device with at least two differently sized mirror surfaces arranged at an angle to each other, each mirror surface corresponding to a specific sensing area. The environmental sensing method using an optical signal from the lidar system includes:

[0040] • Emitting the optical signal,

[0041] • Deflection of the optical signal by means of at least one of the mirror surfaces along an optical path to and / or from the respective assigned detection area,

[0042] • Receiving the optical signal,

[0043] • where the mirror surfaces of different sizes are assigned to respective detection areas of different depths.

[0044] The environmental sensing method can detect stationary and moving objects in the environment. Such objects can include things like vehicles, people, animals, obstacles, road surface irregularities, lane markings, traffic signs, open spaces, especially parking lots, precipitation, or the like.

[0045] The method makes it possible to create detection areas of different depths, i.e., ranges, using mirror surfaces of different sizes.

[0046] In one embodiment of the method, at least one parameter of the emitted optical signal is adjusted depending on the size of the mirror surface in the optical path of the optical signal. The emitted optical signal can thus be adjusted to the size of the mirror surface in the optical path and thereby influence the detection range.

[0047] In one embodiment of the method, the depth of the detection area is set by at least one parameter of the emitted optical signal. This makes it possible to influence the depth of the detection area as a function of the size of the mirror surface in the optical path by means of at least one parameter of the optical signal. 2023PF02580 9

[0048] In one embodiment of the method, the optical signal is a pulsed optical signal. At least one parameter can relate to properties of the pulses of a pulsed optical signal.

[0049] In one embodiment of the method, at least one parameter is the intensity and / or frequency of the pulses. In particular, greater depth can be achieved by emitting the optical signal with higher intensity. Greater depth can also be achieved, for example, by emitting the pulses of a pulsed optical signal more quickly, thereby achieving a higher density of reflection points, i.e., sampling points, in the detection area.

[0050] Tour list

[0051] The following section provides further explanation and description of exemplary implementations of this application with reference to the figures. They show

[0052] Fig. 1 shows a schematic representation of a lidar system,

[0053] Fig. 2 shows a schematic representation of the position of an optical deflection device.

[0054] Fig. 3 shows a schematic representation of another position of the optical deflection device,

[0055] Fig. 4 shows a schematic representation of mirror surfaces with associated detection areas,

[0056] Fig. 5 shows a schematic representation of horizontal fields of view of detection areas,

[0057] Fig. 6 shows a schematic representation of vertical fields of view of detection areas,

[0058] Fig. 7 is a schematic representation of a driving situation.

[0059] The same reference symbols are used in the figures for identical or similar elements. Representations in the figures may not be to scale. 2023PF02580 10

[0060] Fiaurenbebeschreibunguna

[0061] Figure 1 schematically shows a lidar system 10 for a vehicle, comprising an optical transmitter 12, an optical receiver 14, an optical deflector 16, and a processing unit 18. The processing unit 18 can include a processor, an FPGA, or similar for processing data, as well as memory and data input and output interfaces.

[0062] The optical transmitter 12 emits an optical signal L. It has a light source for emitting, for example, laser light. Optionally, the optical transmitter 12 can emit the optical signal L in pulses. The pulsed optical signal L has short periods during which the optical signal L is transmitted. This can be referred to as a pulse.

[0063] The emitted optical signal L can be deflected along its optical path by the deflecting device 16. The optical signal L is reflected along its optical path in a detection area 22.1, 22.2, 22.3, 22.4 and received by the receiving device 14.

[0064] The optical deflection device 16 comprises a rotating mirror assembly with four mirror surfaces 16.1, 16.2, 16.3, 16.4. The deflection device 16 is rotatable about a rotational axis A in a direction of rotation 28. The rotation can be effected, for example, by a motor 24. The rotational movement of the deflection device 16 can be influenced, in particular, by the computing unit 18 by controlling the motor 24.

[0065] The deflection device 16 can, for example, have the form of a right prism, with each prism having a rectangle as its base and top surface. The axis of rotation A can penetrate the base and top surface perpendicularly at their centers. The mirror surfaces 16.1, 16.2, 16.3, 16.4 can be arranged on the lateral faces of the right prism. The mirror surfaces 16.1, 16.2, 16.3, 16.4 can have at least two different sizes. In the example shown, opposite surfaces 16.1, 16.3 and 16.2, 16.4 are of the same size, with surfaces 16.1, 16.3 being wider than surfaces 16.2, 16.4 in the direction of rotation 28.

[0066] Detection areas are assigned to the different mirror surfaces 16.1, 16.2, 16.3, 16.4, depending on the respective size of the mirror surface 2023PF02580 11

[0067] 16.1, 16.2, 16.3, 16.4 are of different depths, meaning they have different ranges.

[0068] The optical receiving device 14 comprises an optoelectronic receiving sensor 26, also called a detector. The receiving sensor 26 can, for example, have point-shaped sensors, so-called pixels or receiving pixels, which can be arranged in rows or areas. A pixel can, for example, have one or more avalanche photodiodes (APDs) or one or more single-photon avalanche diodes (SPADs). The optoelectronic detector can receive light, in particular the optical signal L, and convert it into electrical receiving signals. The electrical receiving signals can be processed by the processing unit 18.

[0069] The processing unit 18 is configured to control the transmission of the optical signal L in the transmitting device 12 as a function of the deflecting device 16, e.g., as a function of the rotational position (angular position) of the deflecting device 16. The processing unit 18 is further configured to adjust at least one parameter of the transmitted optical signal L as a function of the size of the mirror surface 16.1, 16.2, 16.3, 16.4 that is located in the optical path of the transmitted optical signal L. In particular, the at least one parameter can be adjusted such that the depth of the detection area 22.1, 22.2, 22.3, 22.4 associated with the respective mirror surface is thereby influenced.

[0070] The processing unit 18 is further configured to control the reception process of the optical signal L in the receiving device 14. For the reception process, pixels of the receiving sensor 26 can be activated or deactivated, for example.

[0071] The processing unit 18 is further developed to evaluate the transmitted and received optical signal L. From the evaluation of the optical signal L, environmental information 20 about the environment within the detection range 22.1, 22.2, 22.3, 22.4 can be obtained. The lidar system can output the environmental information via an interface.

[0072] A point cloud can be generated from the environmental information 20 produced by the lidar system 10 during the evaluation process. Information is provided for each point in the point cloud, which depends on the environmental information 20. In particular, the points in the point cloud contain information about the spatial location and distance of the reflection points 2023PF02580 12 within the detection range 22.1, 22.2, 22.3, 22.4. The reflection points are those points within the detection range 22.1, 22.2, 22.3, 22.4 where the reflection of the optical signal L emitted and received by the lidar system 10 occurred.

[0073] Figure 2 schematically shows the lidar system 10 with the transmitter 12, receiver 14, and deflection unit 16. The transmitter 12 and the receiver 14 are arranged one above the other on the same side of the deflection unit 16. In the illustrated embodiment, the receiver 14 is arranged above the transmitter 12. It is also possible to arrange the receiver 14 below the transmitter 12.

[0074] In the illustrated embodiment, the optical path of the optical signal L between the transmitting device 12 and the receiving device 14 has a deflection twice at the first mirror surface 16.1 and a reflection at an object 0.

[0075] The motor 24, which drives the rotary motion of the deflection device 16, can be arranged below the deflection device 16, e.g., at the base of the prism. The motor 24 can also be arranged above the deflection device 16, e.g., at the top of the prism.

[0076] Due to the rotational movement of the deflection device 16, the optical signal L performs a scanning movement within the first detection area 22.1 by means of the deflection at the moving first mirror surface 16.1.

[0077] The reflection of the optical signal L, e.g., from object 0, therefore occurs within the first detection area 22.1. The first mirror surface 16.1 and the size of the first detection area 22.1 are shown schematically on the right side of Figure 2. The representation of the first detection area 22.1 corresponds to a top view of the first detection area 22.1 in the direction of the axis of rotation A. The opening angle shown in this top view corresponds, for example, to a horizontal field of view of the lidar system 10. The horizontal opening angle, and thus the horizontal field of view of the first detection area 22.1, depends on the width of the first mirror surface 16.1 in the direction of rotation.

[0078] Figure 3 schematically shows the lidar system 10 from Figure 2. Compared to the representation in Figure 2, the deflection device 16 in Figure 3 is in a different angular position of rotation. In the depicted position of the deflection device 16, the optical path of the optical signal L between the transmitting device 2023PF02580 13

[0079] 12 and the receiving device 14 a double deflection at the second mirror surface 16.2 and a reflection at an object 0.

[0080] Due to the rotational movement of the deflection device 16, the optical signal performs a scanning movement within the second detection area 22.2 by means of the deflection at the moving second mirror surface 16.2.

[0081] The reflection of the optical signal L, e.g., from object 0, therefore occurs within the second detection area 22.2. The second mirror surface 16.2 and the size of the second detection area 22.2 are shown schematically on the right side of Figure 3. The representation of the second detection area 22.2 corresponds to a top view of the second detection area 22.2 in the direction of the axis of rotation A. The opening angle shown in this top view corresponds, for example, to a horizontal field of view of the lidar system 10. The horizontal opening angle, and thus the horizontal field of view of the second detection area 22.2, depends on the width of the second mirror surface 16.2 in the direction of rotation 28.

[0082] The second mirror surface 16.2 is narrower in the direction of rotation 28 than the first mirror surface 16.1. The width of the second detection area 22.2 is therefore narrower in the direction of rotation 28 than the width of the first detection area 22.1. The same applies to the third mirror surface 16.3 and the third detection area 22.3, and the fourth mirror surface 16.4 and the fourth detection area 22.4.

[0083] Figures 2 and 3 also show that the first detection area 22.1 is less deep than the second detection area 22.2. The greater depth of the second detection area 22.2 can be achieved by appropriately adjusting the emitted optical signal L. This can, for example, be emitted with a higher intensity.

[0084] Figure 4 schematically depicts the deflection device 16 of the lidar system 10. The corresponding detection areas 22.1, 22.2, 22.3, 22.4 are shown for each of the respective mirror surfaces 16.1, 16.2, 16.3, 16.4. It can be seen that the first and third wider mirror surfaces 16.1, 16.3 are assigned the first and third wider and shallower detection areas 22.1, 22.3. The second and fourth narrower mirror surfaces 16.2, 16.4 are assigned the second and fourth narrower and deeper detection areas 22.2, 22.4. Greater depth means greater range, thus enabling detection at a greater distance. 2023PF02580 14

[0085] Figure 4 below schematically compares the widths of the scans achievable with the respective mirror surfaces 16.1, 16.2, 16.3, and 16.4. The scan width corresponds to the width of the respective detection areas 22.1, 22.2, 22.3, and 22.4 in the horizontal direction. One line of a scan corresponds to a so-called frame.

[0086] It can be seen that the detection areas 22.1, 22.2, 22.3, and 22.4 overlap, and the common center – indicated by a dashed line – of these areas is sampled more frequently. This corresponds to the greater importance of the center during the sampling process. Possible sampling rates are, for example, 20 frames per second for the outer areas and 40 frames per second for the areas covered by both the first and third mirror surfaces.

[0087] 16.1, 16.3 as well as through the second and fourth mirror surfaces 16.2, 16.4.

[0088] The computing unit 18 controls the transmitting device 12 and the receiving device 14 depending on which mirror surface 16.1, 16.2, 16.3, 16.4 is located in the current optical path of the optical signal L.

[0089] Figure 5 schematically shows the detection areas 22.1, 22.2, 22.3, 22.4 superimposed in a top view in a plane perpendicular to the axis of rotation A. The different horizontal extent and depth are evident.

[0090] With the second and fourth detection areas 22.2, 22.4, ranges of up to 300 m or even over 300 m can be achieved, for example.

[0091] Figure 6 schematically shows the detection areas 22.1, 22.2, 22.3, and 22.4 superimposed in a top view on a plane parallel to the axis of rotation A and perpendicular to the plane shown in Figure 5. The different depths of detection areas 22.1 and 22.3 compared to detection areas 22.2 and 22.4 are evident. The opening angles of the detection areas are also shown.

[0092] 22.1, 22.2, 22.3 and 22.4 in the vertical direction are the same.

[0093] The opening angle in the vertical direction can be achieved by the lidar system, for example, by widening the optical signal L in the vertical direction, so that the detection area 22.1, 22.2, 22.3, 22.4 is scanned by a line-shaped optical signal L in the vertical direction. Point-like scans are also conceivable, which scan the detection area 22.1, 22.2, 22.3, 22.4, for example, line by line in the vertical direction. 2023PF02580 15

[0094] Figure 7 schematically shows a vehicle 30, for example a passenger car. The vehicle 30 has a lidar system 10. The lidar system 10 is arranged in a front area of ​​the vehicle 3, and the detection areas 22.1, 22.2, 22.3, 22.4 are located in front of the vehicle 30 in the direction of travel.

[0095] Figure 7 schematically illustrates how the described method and the described lidar system 10 can be used to detect collision-relevant objects 01, O2, 03 at medium to extremely long distances.

[0096] Shown are the first and third detection areas 22.1, 22.3 with a first depth TI and the second and fourth detection areas 22.2, 22.4 with a second depth T2.

[0097] A first object 01 is detected in both the first and third detection areas 22.1, 22.3 as well as in the second and fourth detection areas 22.2, 22.4. A second and a third object 02, 03 are detected only in the second and fourth detection areas 22.2, 22.4. This corresponds to the extra-long range of the narrower mirror surfaces 16.2, 16.4.

[0098] The intensity of the optical signal L deflected by the narrower mirror surfaces 16.2, 16.4 can be increased, for example, by increasing the laser power. It is also possible to increase the number of pulses of the optical signal L, e.g., the laser signal for the narrower mirror surfaces 16.2, 16.4. This improves the detection probability and range. To avoid exceeding the safety limits for the eye, the field of view of the second and fourth detection areas 22.2, 22.4 is limited to a very narrow area by utilizing the narrow mirror surfaces 16.2, 16.4. This area covers the same lane or a maximum of three lanes in order to detect the collision-relevant objects 02, 03 shown in Figure 7. 2023PF02580 16

[0099] Bezuaszeichen

[0100] 10 Lidar systems

[0101] 12 optical transmitting device

[0102] 14 optical receiving device

[0103] 16 optical deflection devices

[0104] 16.1-16.4 Mirror surface

[0105] 18 computing units

[0106] 20 environmental data

[0107] 22.1-22.4 Scope

[0108] 24 Motor

[0109] 26 Receiving sensor

[0110] 28 Direction of rotation

[0111] 30 vehicles

[0112] A axis of rotation

[0113] L optical signal

[0114] 0, 01, 02, 03 Object

[0115] TI, T2 depth

Claims

2023PF02580 17 REQUIREMENTS 1. Lidar system (10) for a vehicle (30), wherein the lidar system (10) comprises: an optical transmitter (12) configured to transmit an optical signal (L), an optical receiver (14) configured to receive the optical signal (L), an optical deflection device (16) comprising at least two angularly arranged mirror surfaces (16.1, 16.2, 16.3, 16.4) of different sizes, wherein each mirror surface (16.1, 16.2, 16.3, 16.4) is assigned a respective detection area (22.1, 22.2, 22.3, 22.4), wherein the deflection device (16) is configured to deflect the optical signal (L) by means of at least one of the mirror surfaces (16.1, 16.2, 16.3, 16.4) along an optical path to and / or from the respective assigned to deflect detection area (22.1, 22.2, 22.3, 22.4), whereby mirror surfaces (16.1, 16.2, 16.3, 16.4) of different sizes to the respective detection areas (22.1, 22.2, 22.3, 22.4) are assigned different depths (TI, T2).

2. Lidar system (10) according to claim 1, wherein the respective detection areas (22.1, 22.2, 22.3, 22.4) overlap at least partially.

3. Lidar system (10) according to claim 1 or 2, wherein the emitted optical signal (L) depends on the size of the mirror surface (16.1, 16.2, 16.3, 16.4) in the optical path of the optical signal (L).

4. Lidar system (10) according to one of the preceding claims, wherein the intensity of the emitted optical signal (L) depends on the size of the mirror surface (16.1, 16.2, 16.3, 16.4) in the optical path of the optical signal (L).

5. Lidar system (10) according to one of the preceding claims, wherein the depth (TI, T2) of the respective detection area (22.1, 22.2, 22.3, 22.4) and / or the resolution of the detection of the respective detection area (22.1, 22.2, 22.3, 22.4) is adjustable by at least one parameter of the emitted optical signal (L). 2023PF02580 18 6. Lidar system (10) according to one of the preceding claims, wherein the deflection device is rotatable about an axis of rotation (A) and one or more rotational angular positions of the deflection device (16) are assigned to the deflection of the optical signal (L) by the respective mirror surface (16.1, 16.2, 16.3, 16.4).

7. Lidar system (10) according to claim 6, wherein the respective detection areas (22.1, 22.2, 22.3, 22.4) can be scanned by the optical signal (L) through the rotary movement of the deflection device (16).

8. Lidar system (10) according to claim 6 or 7, wherein mirror surfaces (16.1, 16.2, 16.3, 16.4) of different widths in the direction of rotation (28) are assigned to respective detection areas (22.1, 22.2, 22.3, 22.4) of different widths in the direction of rotation (28).

9. Lidar system (10) according to one of claims 6 to 8, wherein the at least two mirror surfaces (16.1, 16.2, 16.3, 16.4) are arranged longitudinally, in particular parallel, to the axis of rotation (A) of the deflection device (16).

10. Lidar system (10) according to claim 9, wherein the deflection device (16) has four mirror surfaces (16.1, 16.2, 16.3, 16.4), wherein two opposite surfaces in the direction of rotation (28) have the same width.

11. Lidar system (10) according to one of the preceding claims, wherein the optical signal (L) comprises a pulsed optical signal (L).

12. Lidar system (10) according to claim 10, wherein the emission of a pulse of the pulsed optical signal (L) depends on the rotational angular position of the deflection device (16).

13. Lidar system (10) according to claim 10 or 11, wherein the frequency of the pulses depends on the size of the mirror surface (16.1, 16.2, 16.3, 16.4) in the optical path of the optical signal (L).

14. Lidar system (10) according to one of the preceding claims, wherein the transmitting device (12) and the receiving device (14) are arranged on the same side of the deflection device (16).

15. Vehicle (30) comprising a lidar system (10) according to any of the preceding claims. 2023PF02580 19 16. Method for environmental detection using an optical signal (L) of a lidar system (10), wherein the lidar system (10) comprises an optical deflection device (16) which has at least two mirror surfaces (16.1, 16.2, 16.3, 16.4) arranged at an angle to each other and of different sizes, wherein a respective detection area (22.1, 22.2, 22.3, 22.4) is assigned to each mirror surface (16.1, 16.2, 16.3, 16.4), wherein the method comprises: Emitting the optical signal (L), Deflection of the optical signal (L) by means of at least one of the mirror surfaces (16.1, 16.2, 16.3, 16.4) on an optical path to and / or from the respective associated detection area (22.1, 22.2, 22.3, 22.4), Receiving the optical signal (L), wherein the mirror surfaces (16.1, 16.2, 16.3, 16.4) of different sizes are assigned to respective detection areas (22.1, 22.2, 22.3, 22.4) of different depths (TI, T2).

17. Method according to claim 17, wherein at least one parameter of the emitted optical signal (L) is adjusted depending on the size of the mirror surface (16.1, 16.2, 16.3, 16.4) in the optical path of the optical signal.

18. Method according to one of claims 17 or 18, wherein the depth (TI, T2) of the detection area (22.1, 22.2, 22.3, 22.4) is set by the at least one parameter of the emitted optical signal (L).

19. Method according to any one of claims 17 to 19, wherein the optical signal (L) comprises a pulsed optical signal (L).

20. Method according to one of claims 19 or 20, wherein the at least one parameter comprises the intensity and / or the frequency of the pulses.

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