LIDAR system and method for recognizing a contamination of a beam path of a LIDAR system

A method for recognizing a contamination of a beam path of a LIDAR system, the method comprising:

• determining, by the LIDAR system, point cloud data including measured points based on LIDAR measured data which have been obtained during an optical scanning of surroundings of the LIDAR system;
• recognizing, by the LIDAR system from among the measured points, near points and far points, the near points being recognized within a predetermined distance from the LIDAR system shorter than a distance of the far points from the LIDAR system;
• determining, by the LIDAR system, a ratio between the near points and the measured points;
• determining, by the LIDAR system, a further ratio between the near points and a tile size of the LIDAR system;
• and
• recognizing, by the LIDAR system, the contamination of the beam path based on the ratio and the further ratio.

A LIDAR system, comprising:

• a light transmitting unit;
• a light receiving unit, a beam path being formed between the light transmitting unit and the light receiving unit of the LIDAR system, in order to optically scan surroundings of the LIDAR system during operation of the LIDAR system;
• wherein the LIDAR system is configured to determine point cloud data including measured points based on LIDAR measured data which have been obtained during the optical scanning of the surroundings, the measured points including far points and near points, the near points being recognized within a predetermined distance from the LIDAR system shorter than a distance of the far points from the LIDAR system, and wherein the LIDAR system is configured to determine a ratio between the near points and the measured points and recognize a contamination of the beam path based on the ratio,
• wherein the LIDAR system is further configured to:
• determine valid points and invalid points from among the measured points;
• determine a second ratio between the near points and the valid points;
• and
• recognize the contamination of the beam path based on the second ratio.

A method for recognizing a contamination of a beam path of a LIDAR system, the method comprising:

• determining, by the LIDAR system, point cloud data including measured points based on LIDAR measured data which have been obtained during an optical scanning of surroundings of the LIDAR system;
• recognizing, by the LIDAR system from among the measured points, near points and far points, the near points being recognized within a predetermined distance from the LIDAR system shorter than a distance of the far points from the LIDAR system;
• determining, by the LIDAR system, a ratio between the near points and the measured points;
• and
• recognizing, by the LIDAR system, the contamination of the beam path based on the ratio,
• the method further comprising:
• determining, by the LIDAR system, valid points and invalid points from among the measured points;
• determining, by the LIDAR system, a second ratio between the near points and the valid points;
• and
• recognizing, by the LIDAR system, the contamination of the beam path based on the second ratio.