# US 12,000,933 B2 · Operating method for a LIDAR system, control unit, LIDAR system, and device > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,000,933 B2 - Document ID: US12000933B2 - Status: Granted - Kind: B2 - Application number: 17/043,137 - Filed: 2019-06-04 - Published: 2021-01-28 - Granted: 2024-06-04 - Earliest claimed: 2018-06-07 - Assignees: Robert Bosch GmbH - Applicants: Robert Bosch GmbH - Inventors: Oliver Kern; Gor Hakobyan; Robert Korn - Web page: https://patentgrep.com/patent/US12000933B2 ## CPC - G01S 17/931: of land vehicles - G01S 7/4808: {Evaluating distance, position or velocity data} - G01S 7/4814: {of transmitters alone} - G01S 7/4911: Transmitters - G01S 7/4917: {superposing optical signals in a photodetector, e.g. optical heterodyne detection} - G01S 7/493: Extracting wanted echo signals - G01S 17/06: Systems determining position data of a target - G01S 17/34: using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal - G01S 17/58: Velocity or trajectory determination systems; Sense-of-movement determination systems - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES ## Abstract An operating method for a LIDAR system. A laser device that includes an optical modulator optically coupled thereto for receiving and modulating the frequency of non-modulated light emitted by the laser device, using a frequency modulation function, and for outputting frequency-modulated light as primary light into a visual field, is used as a light source unit. Secondary light received from the visual field and non-modulated light of the laser device are optically superimposed to form superimposed detection light. The superimposed detection light is photoelectrically detected by generating and outputting a primary electrical detection signal that is representative of the detection light. For the evaluation, the primary electrical detection signal is electrically mixed with an electrical signal that is representative of the frequency modulation function of the optical modulator to form a first evaluation signal, and is assessed. ## Claims ### Claim 1 A method for operating a LIDAR system, the method comprising: using, as a light source unit, a laser device that includes an optical modulator optically coupled thereto for receiving and modulating a frequency of non-modulated light emitted by the laser device, using a frequency modulation function, and for outputting frequency-modulated light as primary light into a visual field; optically superimposing secondary light received from the visual field and non-modulated light of the laser device, to form superimposed detection light; photoelectrically detecting the superimposed detection light by generating and outputting a primary electrical detection signal that is representative of the detection light; and electrically mixing, for an evaluation, the primary electrical detection signal with an electrical signal that is representative of the frequency modulation function of the optical modulator to form a first evaluation signal, and assessing the first evaluation signal. ### Claim 2 (depends on 1) The operating method as recited in claim 1, wherein during the optical superimposition, the received secondary light and the non-modulated light of the laser device are brought into interference with one another. ### Claim 3 (depends on 1) The operating method as recited in claim 1, wherein the electronic mixing of the primary electrical detection signal with the electrical signal which is representative of the frequency modulation function takes place for dechirping and for determining a beat frequency as a sum of a Doppler frequency that is representative of a speed of an object in the visual field, and a distance frequency that is representative of a distance of the object. ### Claim 4 (depends on 3) The operating method as recited in claim 3, wherein the primary electrical detection signal is directly used as a second evaluation signal for the evaluation and is assessed. ### Claim 5 (depends on 4) The operating method as recited in claim 4, wherein the first evaluation signal and the second evaluation signal are assessed jointly with regard to their interdependence. ### Claim 6 (depends on 4) The operating method as recited in claim 4, wherein in the first evaluation signal, a frequency of a main signal component is ascertained as the beat frequency by Fourier analysis. ### Claim 7 (depends on 6) The operating method as recited in claim 6, wherein based on the second evaluation signal, the beat frequency derived from the first evaluation signal, and/or data for defining the frequency modulation function, values that are representative of the speed of the object in the visual field and/or of the distance of the object are ascertained using an estimation method. ### Claim 8 (depends on 7) The operating method as recited in claim 7, wherein the estimating method is a maximum likelihood estimation method. ### Claim 9 An apparatus for a LIDAR system, comprising: a control unit configured to perform the following: using, as a light source unit, a laser device that includes an optical modulator optically coupled thereto for receiving and modulating the frequency of non-modulated light emitted by the laser device, using a frequency modulation function, and for outputting frequency-modulated light as primary light into a visual field; optically superimposing secondary light received from the visual field and non-modulated light of the laser device, to form superimposed detection light; photoelectrically detecting the superimposed detection light by generating and outputting a primary electrical detection signal that is representative of the detection light; and electrically mixing, for an evaluation, the primary electrical detection signal with an electrical signal that is representative of the frequency modulation function of the optical modulator to form a first evaluation signal, and assessing the first evaluation signal. ### Claim 10 A LIDAR system, comprising: a transmitter optical system that is configured to generate and emit primary light into a visual field for illuminating the visual field; a receiver optical system configured to receive, detect, and evaluate secondary light from the visual field; and a control unit configured to control operation of the transmitter optical system and/or of the receiver optical system, wherein the control unit is configured to perform the following: optically superimposing the secondary light received from the visual field and non-modulated light of a laser device of the transmitter optical system, to form superimposed detection light; photoelectrically detecting the superimposed detection light by generating and outputting a primary electrical detection signal that is representative of the detection light; and electrically mixing, for an evaluation, the primary electrical detection signal with an electrical signal that is representative of the frequency modulation function of the optical modulator to form a first evaluation signal, and assessing the first evaluation signal. ### Claim 11 (depends on 10) The LIDAR system as recited in claim 10, wherein: the transmitter optical system includes the laser device and an optical modulator coupled to the laser device for receiving and for modulating a frequency of the non-modulated light emitted by the laser device, using a frequency modulation function, and for outputting frequency-modulated light as primary light into the visual field; and/or the receiver optical system includes an optical combiner that is configured to optically superimpose the secondary light, received from the visual field, with the non-modulated light of the laser device to form the superimposed detection light; and/or an electronic mixer is configured to electronically mix the primary detection signal, which is representative of the superimposed detection light, with the electrical signal which is representative of the frequency modulation function of the optical modulator, for generating the first evaluation signal. ### Claim 12 A vehicle, comprising: a LIDAR system including: a transmitter optical system configured to generate and emit primary light into a visual field for illuminating the visual field; a receiver optical system configured to receive, detect, and evaluate secondary light from the visual field; and a control unit configured to control operation of the transmitter optical system and/or of the receiver optical system, wherein the control unit is configured to perform the following: optically superimposing the secondary light, which is received from the visual field and non-modulated light of a laser device of the transmitter optical system, to form superimposed detection light; photoelectrically detecting the superimposed detection light by generating and outputting a primary electrical detection signal that is representative of the detection light; and electrically mixing, for an evaluation, the primary electrical detection signal with an electrical signal that is representative of the frequency modulation function of the optical modulator to form a first evaluation signal, and assessing the first evaluation signal.