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US 12,699,168 B2Granted
Method for calibrating and/or adjusting, and control unit for a LiDAR system, LiDAR system, and working device
AssigneeRobert Bosch GmbH
InventorsMario Lietz, Alf Neustadt, Reiner Schnitzer
Life of this patent
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Abstract
A method for calibrating and/or adjusting a lidar system. In the method, in order to perform a measurement-based comparison with respect to an underlying one-dimensionally or two-dimensionally detecting detector unit, a distribution of secondary light incident from the field of view and imaged onto the detector unit, and a center position and/or width of the distribution is/are acquired as position data and compared especially with presumed and/or expected position data featuring an expected center position and/or an expected distribution.
Claims10
A method for calibrating and/or adjusting a lidar system, comprising the following steps:
- acquiring, as position data, a distribution of secondary light incident from a field of view and imaged onto an underlying one-dimensionally or two-dimensionally detecting detector unit, and:
- (i) a center position of the distribution and/or (ii) a width of the distribution, to perform a measurement-based comparison with respect to the underlying detector unit;
- and
- performing the measurement-based comparison by comparing the acquired position data with presumed and/or expected position data including an expected center position and/or an expected distribution;
- wherein the distribution of the secondary light on the underlying detector unit and/or the center position of the distribution is ascertained by scanning a multiplicity of macro pixels of the underlying detector unit, which have one or more individual channels including a multiplicity of micropixels in the form of detector elements.
2 more elements
A control unit for a lidar system, the control unit configured to calibrate and/or adjust a lidar system, the control unit configured to:
- acquire, as position data, a distribution of secondary light incident from a field of view and imaged onto an underlying one-dimensionally or two-dimensionally detecting detector unit, and:
- (i) a center position of the distribution and/or (ii) a width of the distribution, to perform a measurement-based comparison with respect to the underlying detector unit;
- and
- perform the measurement-based comparison by comparing the acquired position data with presumed and/or expected position data including an expected center position and/or an expected distribution;
- wherein the distribution of the secondary light on the underlying detector unit and/or the center position of the distribution is ascertained by scanning a multiplicity of macro pixels of the underlying detector unit, which have one or more individual channels including a multiplicity of micropixels in the form of detector elements.
2 more elements
A lidar system, comprising:
- a transmitter unit configured to generate and emit primary light into a field of view for its illumination;
- a receiver unit configured to receive, detect and evaluate secondary light from the field of view;
- and
- a control unit configured to calibrate and/or adjust the lidar system, the control unit configured to:
- acquire, as position data, a distribution of secondary light incident from a field of view and imaged onto an underlying one-dimensionally or two-dimensionally detecting detector unit, and:
- (i) a center position of the distribution and/or (ii) a width of the distribution, to perform a measurement-based comparison with respect to the underlying detector unit;
- and
- perform the measurement-based comparison by comparing the acquired position data with presumed and/or expected position data including an expected center position and/or an expected distribution;
- wherein the distribution of the secondary light on the underlying detector unit and/or the center position of the distribution is ascertained by scanning a multiplicity of macro pixels of the underlying detector unit, which have one or more individual channels including a multiplicity of micropixels in the form of detector elements.
6 more elements
A vehicle, comprising a lidar system, the lidar system including:
- a transmitter unit configured to generate and emit primary light into a field of view for its illumination;
- a receiver unit configured to receive, detect and evaluate secondary light from the field of view;
- and
- a control unit configured to calibrate and/or adjust the lidar system, the control unit configured to:
- acquire, as position data, a distribution of secondary light incident from a field of view and imaged onto an underlying one-dimensionally or two-dimensionally detecting detector unit, and:
- (i) a center position of the distribution and/or (ii) a width of the distribution, to perform a measurement-based comparison with respect to the underlying detector unit;
- and
- perform the measurement-based comparison by comparing the acquired position data with presumed and/or expected position data including an expected center position and/or an expected distribution;
- wherein the distribution of the secondary light on the underlying detector unit and/or the center position of the distribution is ascertained by scanning a multiplicity of macro pixels of the underlying detector unit, which have one or more individual channels including a multiplicity of micropixels in the form of detector elements.
6 more elements
Dependencies are inferred from the claim text.