Lidar system and method for detecting surroundings

Abstract

The invention relates to a lidar system (10) having: an optical transmitting device (12) designed to emit an optical signal (L), an optical receiving device (14) designed to receive the optical signal (L) after the optical signal has been reflected in a detection region (22) of the lidar system (10), and a housing (30) in which the optical transmitting device (12) and the optical receiving device (14) are provided, the housing (30) being designed to have an optically active region (34) which influences an optical path (24) of the optical signal (L) and interacts with the optical transmitting device (12) and / or the optical receiving device (14) in such a way that the influencing of the optical path (24) results in modification of the detection region (22) of the lidar system (10). The invention further relates to a vehicle (20) having a lidar system (10), to a method for detecting surroundings, and to a housing (30) for a lidar system (10).

Description

[0001] 2024PF01159 1

[0002] LIDAR SYSTEM AND ENVIRONMENTAL SENSING METHOD

[0003] Technical field

[0004] The application relates to a lidar system for environmental sensing for a vehicle, as well as to a vehicle equipped with such a lidar system. The application further relates to a method for environmental sensing and a housing for 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 perception, 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 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 then process the optical signal.

[0009] The optical signal is received after reflection at a point in the vicinity of the lidar system. Using the transmitted optical signal, the received optical signal can be analyzed, for example, using a time-of-flight method, to determine the spatial location and distance of the point of reflection. In this context, reflection or reflected light refers to any light that is thrown back and specifically includes light reflected by scattering or absorption-emission.

[0010] The reflected optical signal can be detected in the receiving device via a receiving sensor. Receiving sensors of lidar systems can have several receiving elements, called pixels, for opto-electrical conversion. The pixels can be configured to receive optical signals from different reception angles.

[0011] 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.

[0012] US Patent 2019235055A1 describes a lidar system housed in an enclosure. The enclosure consists of a four-sided container with a square or rectangular cross-section, featuring a first open end and a second open end opposite the container. The lidar system is mounted on a mounting surface inside the four-sided container. Reflective material is applied to the inside of the second and third sides of the four-sided container. The lidar system generates laser light. This laser light, which interacts with the environment surrounding the enclosure and is reflected back to the lidar system, is detected. The detected laser light is then processed to create an image of the environment surrounding the enclosure.

[0013] Overview

[0014] A lidar system comprises an optical transmitter, an optical receiver, and a housing in which the optical transmitter and the optical receiver are arranged. The optical transmitter 2024PF01159 3

[0015] The device is configured to emit an optical signal. The optical receiving device is configured to receive the optical signal after reflection within a detection range of the lidar system.

[0016] The housing is designed to include an optically active area that influences the optical path of the optical signal and interacts with the optical transmitter and / or receiver in such a way that the influence on the optical path shapes the detection area of ​​the lidar system. The housing provides mechanical and electrical protection and shielding from the environment. The housing can be solid or flexible, or partially solid and partially flexible. It can be made of plastic, fiber material, metal, and / or composite material.

[0017] An optically active region is an area that can influence optical signals, i.e., light. This influence includes, for example, reflection, transmission, and / or scattering. The optically active region can therefore reflect, transmit, and / or scatter the optical signal. To achieve this, the optically active region has a surface that reflects, transmits, and / or scatters light. In particular, the optically active region can be designed to change the direction of light propagation.

[0018] The housing features, in particular, an optically active area and may optionally have several optically active areas that operate on the same or a similar principle. These multiple optically active areas can be located at various points on the housing, especially on its inner walls. An optically active area can also be segmented and comprise several segments interrupted by areas that are optically inactive or less active.

[0019] The lidar system housing can be designed compactly because the optically active area allows for an increase in the detection range. The housing itself and the lidar system components it contains, such as the transmitter and receiver, can also be kept compact. This is advantageous because it allows the lidar system to be installed in locations within the vehicle where space is limited, for example, in the roof area or inside the vehicle behind the windshield. 2024PF01159 4

[0020] The optically active area is designed and positioned in such a way that the optical path is altered by the direction of the optical signal, thereby changing the shape of the lidar system's detection area as desired. The detection area can thus be shaped and, in particular, enlarged by appropriately positioning and designing the optically active area on the housing. This requires no changes to the design of the transmitter and / or receiver. For some applications, the transmitter and / or receiver can be made more compact and, for example, designed for a smaller detection area. By incorporating the optically active area, a larger detection area can then be achieved despite the compact design of the transmitter and / or receiver.

[0021] The detection area corresponds to the field of view (FoV) of the lidar system and encompasses the points detected by the optical signal within the lidar system's environment. The detection area can also be referred to as the monitoring area.

[0022] The lidar system can include a processing unit located within the housing. This processing unit can control the transmission process by the transmitter and the reception process by the receiver, and evaluate the transmitted and received optical signals. The evaluation can include, for example, time-of-flight measurement of the optical signal and object detection. In one embodiment of the lidar system, the detection range is increased by the influence of the optically active area on the optical path. The optical effect of the optically active area on the optical signal is designed such that the shaping of the detection area by the optically active area increases the detection range. For this purpose, for example,It is provided that the optical signal can be reflected at the optically active area and thereby reflected at reflection points in the environment that cannot be reached by optical signals on direct optical paths.

[0023] In one embodiment of the lidar system, the housing has an opening through which the optical path runs. The optically active area is located on the housing in the region of the opening. The optically active area can, for example, surround the opening, in particular, border it. The optically active area can also be located in individual areas of the edge of the opening, e.g., on opposite sides. 2024PF01159 5

[0024] The opening faces the detection area. Optionally, the housing opening can be fitted with a cover plate. The cover plate is designed to be transparent to the optical signal used by the lidar system to detect the detection area. It can be made of materials such as plastic or glass. The housing opening and the cover plate are designed to allow the optical signal used by the lidar system to detect the detection area to pass through on its way to and from the detection area.

[0025] The optically active area is positioned on the housing in the region of the opening, particularly at the edge of the opening, such that optical signals are reflected at the edge and thus traverse optical paths to reflection points corresponding to an enlarged detection area. The characteristics of the optically active area, at which the optical signal can be reflected on its way to and / or from the detection area, are known. This knowledge can be taken into account when evaluating the transmitted and received optical signal in the processing unit.

[0026] In one embodiment of the lidar system, the optically active area is located on the inner side of a housing wall and is designed to be reflective. The optical signal is deflected along the optical path through the optically active area. The housing interior in the optically active area can be prepared, for example, by coating it, such that at least a portion, and in particular a large portion, of the optical signal is reflected at this prepared location. This allows the detection range of the lidar system to be increased while maintaining a compact housing design. The optically active area possesses optical properties that can, for example, cause the optical signal to be deflected. For this purpose, the optically active area can, for example, be mirrored.The optically active area is located, in particular, on an inner side of the housing, which can be reached by the optical signals emitted by the transmitting device along their optical path.

[0027] In one embodiment of the lidar system, the optically active area, due to its shape, forms the detection area. Here, the optically active area can, for example, be designed to influence the optical signal due to its surface structure. Furthermore, the optically active area can, for example, be designed due to 2024PF01159 6

[0028] Its shape may be designed to influence the optical signal. In particular, the optically active area may give the edge of the housing opening a shape that influences the shape of the detection area.

[0029] In one embodiment of the lidar system, the optical signal travels along one or more optical paths and one or more further optical paths on its way to and from the detection area. On one or more optical paths, the optical signal is influenced, in particular deflected, at least once by the optically active area. The optically active area is therefore located on the optical path. In contrast, the optically active area lies outside the further optical path(s). Optical signals on the further optical path(s) are not influenced by the optically active area. The detection area is thus covered by optical signals that travel along the optical path(s) and the further optical path(s).

[0030] In one embodiment of the lidar system, an optical deflection device is further arranged within the housing. The optical deflection device allows the optical signal to be deflected, whereby the detection area can be scanned by the optical signal through a stepwise change in the direction of deflection. During scanning, the optical signal traverses several optical paths and several further optical paths.

[0031] In one embodiment of the lidar system, the resolution of the detection area can be adjusted by changing the step size of the deflection direction. For example, when deflecting the image using a rotating mirror, the angle of change can be adjusted, allowing the detection area to be scanned with angular resolution.

[0032] The deflection device is designed to deflect the optical signal. For this purpose, the deflection device can have one or more mirror surfaces. Alternatively or additionally, the deflection device can have MEMS mirrors for deflecting the optical signal. Other deflection options include optical phased arrays or, for example, liquid crystal-based systems.

[0033] The optical transmitter, the optical receiver, and the optical deflection device of the lidar system are arranged in the housing. The optical deflection device enables scanning of the detection area. For scanning the detection area, the optical element can be deflected. 2024PF01159 7

[0034] The deflection device can gradually modify the signal. This allows for a gradual change in the solid angle at which the optical signal is emitted and strikes the reflection point in the detection area. The deflection device can be controlled, for example, by the processing unit depending on the transmitted optical signal. The deflection device can, for instance, consist of a rotating mirror assembly capable of rotation, the angular position of which can be adjusted by the processing unit based on the transmitted optical signal. When controlling the deflection device, changes in the optical path due to the optically active areas of the housing can be taken into account.

[0035] In one embodiment of the lidar system, at least a peripheral region of the detection area can be scanned by the optical signal along the multiple optical paths. This utilizes the fact that optical signals reflected from the optically active area, particularly at the edge of the aperture, can extend the detection area, especially at its edges. The optical signals can be deflected via the optically active areas to points they would not have reached directly.

[0036] In one embodiment of the lidar system, the deflection device is arranged between the transmitting and receiving units. This allows the lidar system to be implemented in a compact design with a low profile and a large detection range. In particular, the transmitting and receiving units can be arranged on opposite sides of the deflection device.

[0037] In one embodiment of the lidar system, a processing unit is further arranged within the housing. This unit is configured and designed to determine information, such as distance information, about reflection points of the optical signal within the detection range, using the transmitted and received optical signals and taking into account the optically active area. This information can then be further processed, for example, into a point cloud that provides spatial information about the reflection points.

[0038] A vehicle is equipped with the described lidar system. The detection range of the lidar system installed in the vehicle is located in the vicinity of the vehicle and can be used, for example, to monitor a short or long area. 2024PF01159 8

[0039] The lidar system can be used in the front, rear, or blind spot areas of the vehicle. In conjunction with the vehicle, it can be used to monitor the vehicle's surroundings, such as the road, for objects and is particularly useful for autonomous or semi-autonomous driving functions.

[0040] In one embodiment of the vehicle, at least one edge of the detection area relates to a vertical edge in relation to the vehicle's direction of travel. This allows the lidar system to be designed even more compactly. The lidar system can be designed with a low vertical height, as the opening can also be made shallower. In particular, the vertical height required for the lidar system can be reduced, which can be advantageous, for example, for installation in the headliner (e.g., behind the vehicle's windshield). If scanning of the detection area is provided, in this embodiment the scanning can advantageously be combined with a horizontal scanning direction (viewed in the vehicle's direction of travel).For example, an essentially linear optical signal in the vertical direction can be provided, which is influenced at its vertical edges by the optically active area.

[0041] In one embodiment of the vehicle, at least one edge region of the detection area relates to an edge region in the horizontal direction with respect to a direction of travel of the vehicle. The detection area of ​​the lidar system can thus be shaped and, in particular, extended in the horizontal direction, for example, as an alternative or additional to the vertical direction.

[0042] A housing for the described lidar system has the described opening, which is passable by an optical signal. The housing has an optically active area in the region of the opening, which shapes the detection area of ​​the lidar system. This allows the housing for the lidar system to be designed compactly while simultaneously extending the detection area selectively at its edges.

[0043] In one embodiment, the housing is designed to be reflective on the inside in the optically active area and serves to deflect the optical signal onto a 2024PF01159 9

[0044] optical path. By placing the reflective surfaces at the edge of the opening, specific peripheral areas of the detection range can be influenced by the optically active areas.

[0045] In one embodiment of the housing, the optically active area is designed to shape the detection area. Here, the shape of the housing at the edge of the opening can be specifically shaped to enlarge the detection area to the desired size.

[0046] A method for environmental sensing using the described lidar system exhibits:

[0047] • Emitting the optical signal,

[0048] • Receiving the optical signal,

[0049] • Determining information about the reflection points in the detection area using the transmitted optical signal, the received optical signal and taking into account the optically active 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 vehicle with a lidar system and detection range,

[0053] Fig. 2 shows a schematic representation of a lidar system with housing and a first embodiment of optically active areas,

[0054] Fig. 3 shows a schematic representation of a second embodiment of optically active areas of the housing,

[0055] Fig. 4 shows a schematic representation of the second embodiment of the optically active areas of the housing,

[0056] Fig. 5 shows a schematic representation of a third embodiment of the optically active areas of the housing,

[0057] Fig. 6 shows a schematic representation of a fourth embodiment of the optically active areas of the housing. 2024PF01159 10

[0058] The same reference symbols are used in the figures for identical or similar elements. Representations in the figures may not be to scale.

[0059] Fiaurenbebeschreibunguna

[0060] Figure 1 schematically shows a vehicle 20, for example a passenger car. The vehicle 20 has a lidar system 10. The lidar system 10 is arranged in a front area of ​​the vehicle 20, and a detection area 22 covered by the lidar system 10 is located in front of the vehicle 20 in the direction of travel. The lidar system 10 can be arranged, for example, in the area of ​​the bumper or in the roof area behind a windshield inside the vehicle 20.

[0061] The lidar system 10 comprises an optical transmitter 12, an optical receiver 14, an optical deflector 16, and a computing unit 18. The computing 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. The optical signal L is transmitted into the detection area 22. The optical receiver 14 receives the optical signal L reflected at a reflection point in the detection area 22. The reflection can occur, for example, at an object O located in the detection area 22.

[0063] Optionally, the optical transmitter 12 can transmit 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. Between the pulses, the optical transmitter 12 does not transmit any optical signal L.

[0064] The optical deflection device 16 is configured to deflect the optical signal L transmitted by the optical transmitter 12 into the environment 22 and / or to deflect the optical signal L reflected at reflection points in the environment 22 to the optical receiver 14. The deflection device 16 can be controlled such that the optical signal L performs a scanning movement.

[0065] The deflection device 16 performs a scanning movement 26 over the detection area 22. For example, the deflection device 16 can have a rotating mirror device and perform a rotational movement 36 about a rotational axis A to deflect the optical signal L such that the scanning movement 26 is performed by the optical signal L. During the rotational movement 36, the angular position of the deflection device 16 is changed. Scanning the environment 22 can also be referred to as scanning. The scanning movement 26 can also be referred to as scanning.

[0066] The optical receiving device 14 comprises an optoelectronic receiving sensor, also called a detector. The receiving sensor 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.

[0067] The processing unit 18 is configured to control the transmission of the optical signal L. Parameters of the transmitted optical signal L can be set. The transmission process can be controlled, in particular, depending on the deflection device 16, especially depending on the angular position of the deflection device 16. For pulsed optical signals L, the processing unit can, for example, control the timing of pulse transmission depending on the angular position of the deflection device 16.

[0068] The processing unit 18 is further configured to control the reception process of the optical signal L in the receiving device 14. Parameters of the detector can be set. For the reception process, for example, pixels of the receiving sensor can be activated or deactivated and / or their sensitivity and / or spatial reception direction can be adjusted. The reception process can be controlled, in particular, depending on the deflection device 16, especially depending on the angular position of the deflection device 16. The processing unit 18 is further configured to evaluate the transmitted and received optical signal L. From the evaluation of the optical signal L, 2024PF01159 12

[0069] The system acquires environmental information about the surroundings of vehicle 20 within detection range 22. The lidar system can output this environmental information via an interface.

[0070] A point cloud can be generated from the environmental information produced by the lidar system 10 during the evaluation process. Information about each point in the point cloud is provided, depending on the environmental information. In particular, the points in the point cloud contain information about the spatial location and distance of the reflection points within the detection area 22. The reflection points are those points within the detection area 22 where the reflection of the optical signal L emitted and received by the lidar system 10 occurred.

[0071] The point cloud can be used, for example, to detect objects O within the detection area 22, to determine the distance to such objects O, and / or to perform further analyses. The point cloud can be generated, for example, in the lidar system 10 from environmental information, and / or the point cloud can be generated, for example, in another control unit of the vehicle 20 from the environmental information of the lidar system 10.

[0072] The additional control unit can, for example, be configured as the central vehicle computer of vehicle 20, in which data from several sensor systems of vehicle 20 can be received, evaluated, and / or further processed. The additional control unit can, for example, be used to implement autonomous or semi-autonomous driving functions.

[0073] The lidar system 10 can, for example, be mounted or integrated in the front area of ​​the vehicle 20. Lidar systems 10 are also possible for other parts of the vehicle 20, e.g., for surround-view functions, such as on the sides and / or rear of the vehicle 20. It is also possible to arrange lidar systems 10 and / or other sensor systems such as radar, ultrasound, etc., on the vehicle 20, particularly in the corner areas of the vehicle 20.

[0074] The lidar system 10 can be used to detect stationary or moving objects O in the environment 22. Such objects O can include things such as vehicles, people, animals, plants, obstacles, road surface irregularities, especially potholes or stones, lane boundaries, traffic signs, open areas, especially parking lots, precipitation, or the like. 2024PF01159 13

[0075] The optical transmitter 12, the optical receiver 14, the optical deflector 16, and the computing unit 18 are arranged in a housing 30. The housing 30 provides mechanical and electrical protection for the components of the lidar system 10 and shields them from the environment. The housing 30 can be solid or flexible, or partially solid and partially flexible. It can be made of plastic, fiber material, metal, and / or composite material.

[0076] Figure 2 schematically shows a top view of an embodiment of the lidar system 10 with the arrangement of transmitter 12, receiver 14 and deflection device 16 in the housing 30. In the illustrated embodiment, the transmitter 12 and the receiver 14 are arranged opposite each other on different sides of the deflection device 16.

[0077] In the illustrated example, the deflection device 16 is designed as a polygonal mirror with a square base and four lateral faces. Each lateral face has a corresponding mirror surface. The deflection device 16 is rotatable about the axis of rotation A to execute the rotational movement 36. The rotational movement 36 can be effected, for example, by a motor. The rotational movement 36 of the deflection device 16 can be influenced, in particular, by the processing unit 18 through control of the motor. Due to the rotational movement 36 of the deflection device 16, the optical signal L, deflected by the moving mirror surface, performs the scanning movement 26. Through this scanning, information about reflection points with different solid angles relative to the lidar system 10 can be obtained. The scanning then enables angle-resolved acquisition of the detection area 22.The deflection device 16 can be controlled by the processing unit 18 such that it can assume several different angular positions and the optical signal L can scan the detection area 22 accordingly. The optical signal L can be emitted in pulsed light pulses.

[0078] The optical signal L passes through an opening 32 in the housing 30 on its way to and from the detection area 22. The illumination of the detection area 22 by the optical signal is of great importance for environmental sensing by the lidar system 10. In the transmitter 12, the optical signal L emitted by the light source is shaped by optical elements, such as lenses, mirrors, or the like, so that, for example, a solid angle in 2024PF01159 14

[0079] The line is illuminated in the form of a line. The line can, for example, extend vertically in the spatial angle relative to the vehicle 20. The optical signal L is deflected by means of the deflection device 16 to execute the scanning movement 26 as described, so that the line then performs the scanning movement 26 in the horizontal direction.

[0080] The scanning movement 26 can, for example, be performed in a horizontal direction relative to the vehicle 20. The axis of rotation A of the deflection device 16 can then be directed vertically relative to the vehicle 20. The housing 30 has a first embodiment of optically active areas 34. Here, the optically active areas 34 are arranged at the edges of the opening 32 in a horizontal direction. The optically active areas 34 then allow the field of view, i.e., the detection area 22, of the lidar system 10 to be changed, in particular extended, in the horizontal direction. This allows the detection area 22 to be fanned out, for example, in the horizontal direction. The horizontal direction refers to a possible direction of travel of the vehicle 20.

[0081] The optically active areas 34 at the horizontal edges of the aperture 32 make it possible to illuminate a larger solid angle and thus increase the detection range 22. For example, the line described as an example, which performs the scanning movement 26 in the horizontal direction as shown in Figure 2, can be deflected into larger solid angles in the horizontal direction by the optically active areas 34. This can extend the detection range 22 in the horizontal direction. As a result, information from a larger field of view of the lidar system 10 can be acquired during a scanning operation. Such an increase in the detection range 22 by increasing the scanning angle in the horizontal direction can be achieved when using the first embodiment of the optically active areas 34 without having to increase the length, height, or width of the lidar system 10.

[0082] Figure 3 shows a schematic representation of a second embodiment of optically active areas 34 of the housing 30. The optically active areas 34 are arranged, by way of example, in a vertical direction, i.e., above and below, inside the housing 30. The vertical direction refers to a possible direction of travel of the vehicle 20.

[0083] The housing 30 has an opening 32 at one end in the longitudinal direction, through which the optical signal L can exit the housing 30. The optical signal 2024PF01159 15

[0084] The optical signal L coming from the transmitting device 12 can optionally be deflected by the deflecting device 16. In this embodiment, the housing 30 has exactly one opening 32. The opening 32 is directed, for example, towards the windshield of the vehicle 20 and allows the optical signal from the housing 30 to exit through the windshield into an area in front of the vehicle 20. By providing the single opening 32 and its orientation, the amount of optical signal L entering the interior of the vehicle 20 can be minimized.

[0085] By means of the optical paths 24, which encompass at least one of the optically active areas 34, the area reached and optionally scanned by the optical signals L can be increased. This also allows the detection range 22 of the lidar system 10 to be increased.

[0086] For example, the vertical line described as an example in relation to Figure 2, which performs the optional scanning movement 26 in the horizontal direction, can extend further upwards and / or downwards in the vertical direction by influencing the optically active areas 34. This provides information on reflection points from a larger field of view of the lidar system 10 during a scanning operation. Such an increase in the detection area 22 by increasing the illumination angle can be achieved using the at least one optically active area 34 without having to increase the length, height, or width of the lidar system 10.

[0087] The optical signal on the optical paths 24 is deflected by at least one of the optically active areas 34 inside the housing 30 at the edge of the opening 32, such that it can exit the housing 30 through the opening 32 and illuminate the surroundings of the lidar system 10. The optically active areas have, for example, a coating that reflects the optical signal.

[0088] The inner wall of the housing 30 can be provided in area 34 with a highly reflective coating, e.g., aluminum, silver, gold. The coating can be selected to reflect particularly well in the wavelength range of the optical signal L. The optical signal L reflected in the optically active area 34 can then be used, depending on the shape and / or orientation of the optically active area 34, to illuminate an additional area of ​​the 2024PF01159 16

[0089] The environment of the lidar system 10 can be used. This increase in the detection range 22 is possible without having to increase the size of the housing 30. The lidar system 10 can therefore be designed to be compact.

[0090] On further optical paths 28, the optical signal L can exit the housing directly through the opening 32. In Figure 3, the area that can be reached and scanned by the optical signal L – excluding the optically active areas 34 – on the further optical paths 28 is shown with a dashed line. It can be seen that the detection area 22 acquired by the lidar system 10 can be increased by the optically active areas 34.

[0091] Figures 4 to 6 show different configurations of the shape and orientation of the optically active areas 34. The optically active areas 34 have a reflective surface with a shape designed such that the detection area 22 is shaped as desired. By adjusting the reflectivity of the surface and the shape of the optically active areas 34, i.e., the shape of the edges of the opening 32, the area illuminated by the optical signal L on the optical paths 24 can be finely adjusted.

[0092] The dashed line in Figures 4 to 6 shows the beginning of the area through which the optical signal L - without the optically active areas 34 - passes on the further optical paths 28.

[0093] Figure 4 shows a schematic representation of the second embodiment of the optically active areas 34 of the housing 30 with a straight continuation of the housing 30. Here, the detection area 22 is shaped as described in Figure 3.

[0094] Figure 5 shows a schematic representation of a third embodiment of the optically active areas 34 of the housing 30. Here, the detection area 22 can be shaped narrower than in Figures 3 or 4. If the optically active areas 34 are arranged in a vertical direction, as shown in Figure 5, the detection area 22 becomes narrower in the vertical direction.

[0095] Figure 6 shows a schematic representation of a fourth embodiment of the optically active areas 34 of the housing 30. Here, the detection area 22 can be wider than in Figures 3 or 4. If the optically active areas 34 are arranged vertically – as shown in Figure 6 – the detection area 22 becomes wider, i.e., taller, in the vertical direction. 2024PF01159 17

[0096] The described optically active areas 34 can also be used for lidar systems 10 with other scanning directions 26, e.g. vertical instead of horizontal, and / or point-like scanning.

[0097] It is also possible to position the optically active areas 34 at both the vertical and horizontal edges of the opening 32. It is also conceivable to selectively extend the detection area 22 in specific directions by providing the optically active area 34 at the opposite edge of the opening 32. Thus, if an upward extension of the detection area 22 is desired, the lower inner edge of the opening 32 can be specifically equipped with the optically active area 34.

[0098] This allows for precise environmental sensing using the Lidar system 10, while maintaining a compact design.

[0099] Bezuoszeichen

[0100] Lidar system

[0101] 12 optical transmitting device

[0102] 14 optical receiving device

[0103] 16 optical deflection devices

[0104] 18 computing units

[0105] 20 vehicles

[0106] 22 Detection area

[0107] 24 optical path

[0108] 26 scanning movement

[0109] 28 further optical path

[0110] 30 cases

[0111] 32 Opening

[0112] 34 optically active area

[0113] 36 Rotational movement

[0114] A axis of rotation

[0115] L optical signal

[0116] O object

Claims

2024PF01159 18 REQUIREMENTS 1. Lidar system (10) featuring: an optical transmitting device (12) which is configured to transmit an optical signal (L), an optical receiving device (14) which is configured to receive the optical signal (L) after a reflection in a detection area (22) of the Li-dar system (10), a housing (30) in which the optical transmitting device (12) and the optical receiving device (14) are arranged, wherein the housing (30) is designed to have an optically active area (34) which influences an optical path (24) of the optical signal (L) and interacts with the optical transmitting device (12) and / or the optical receiving device (14) such that the influence on the optical path (24) shapes the detection area (22) of the lidar system (10).

2. Lidar system (10) according to claim 1, wherein the detection area (22) is increased by the influence of the optically active area (34) on the optical path (24).

3. Lidar system (10) according to claim 1 or 2, wherein the housing (30) has an opening (32) through which the optical path (24) passes, wherein the housing (30) has the optically active area (34) in the region of the opening (32).

4. Lidar system (10) according to one of the preceding claims, wherein the optically active area (34) is arranged on an inside of a wall of the housing (30) and is designed to be reflective, and wherein the optical signal (L) on the optical path (24) is deflected by the optically active area (34).

5. Lidar system (10) according to one of the preceding claims, wherein the optically active area (34) forms the detection area (22) due to its shape. 2024PF01159 19 6. Lidar system (10) according to one of the preceding claims, wherein the optical signal (L) passes through one or more optical paths (24) and one or more further optical paths (28) on its way to and from the detection area (22).

7. Lidar system (10) according to one of the preceding claims, wherein an optical deflection device (16) is further arranged in the housing (30), by means of which the optical signal (L) can be deflected, wherein the detection area (22) can be scanned by the optical signal (L) by means of a stepwise change in the direction of the deflection, wherein several optical paths (24) and several further optical paths (28) are traversed during scanning by the optical signal (L).

8. Lidar system (10) according to claim 7, wherein at least one edge area of ​​the detection area (22) is scannable by the optical signal (L) on the multiple optical paths (24).

9. Lidar system (10) according to claim 7 or 8, wherein the resolution of the detection of the detection area (22) is adjustable by the step size of the stepwise change of the direction of the deflection.

10. Lidar system (10) according to one of the preceding claims, wherein a computing unit (18) is further arranged in the housing (30), which is configured and designed to determine information on reflection points of the optical signal (L) in the detection area (22) using the transmitted optical signal (L), the received optical signal (L) and taking into account the optically active area (34).

11. Vehicle (20) comprising a lidar system (10) according to any of the preceding claims.

12. Vehicle (20) according to claim 11, wherein the at least one edge region of the detection area (22) relates to an edge region in a vertical and / or horizontal direction with respect to a direction of travel of the vehicle (20). 2024PF01159 20 13. Housing (30) for a lidar system according to one of claims 1 to 10, wherein the housing (30) has an opening (32) which is passable by an optical signal (L), wherein the housing (30) has an optically active area (34) in the area of ​​the opening (32) which causes a formation of a detection area (22) of the lidar system (10).

14. Housing according to claim 13, wherein the housing (30) is designed to be reflective on the inside in the optically active area (34) and serves to deflect the optical signal (L) on an optical path (24).

15. Housing according to claim 13 or 14, wherein the optically active area (34) is configured to shape the detection area (22) due to its shape.

16. Method for environmental sensing using a lidar system (10) according to any one of claims 1 to 10, comprising: Emitting the optical signal (L), Receiving the optical signal (L), Determining information on reflection points in the detection area (22) using the transmitted optical signal (L), the received optical signal (L) and taking into account the optically active area (34).

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