Method for detecting a defocusing of a lidar sensor, and lidar sensor

A non-transitory machine-readable storage medium on which is stored a computer program for detecting a defocusing of a LIDAR sensor, the computer program, when executed by a computer, causing the computer to perform the following steps:

• emitting primary light in the form of a laser line into a field of view of the LIDAR sensor using at least one laser emitter unit of a transmitting unit of the LIDAR sensor for scanning the field of view;
• receiving, using a matrix-shaped detector unit of a receiving unit, secondary light reflected and/or scattered by an object in the field of view, wherein the detector unit has a first reception area and a second reception area different from the first reception area;
• determining, using an evaluation unit, a distance between the LIDAR sensor and an object in the field of view of the LIDAR sensor based on secondary light received in the first reception area;
• and
• ascertaining, using an evaluation unit, information about an extent of the defocusing based on secondary light received in the second reception area;
• wherein:
• the first reception area is determined a calibration of the matrix-shaped detector unit;
• the first reception area and the second reception area are separately activated for receiving secondary light;
• and
• the second reception area is activated during individual scan recordings of several temporally consecutive scan recordings.

A LIDAR sensor, comprising:

• a transmitting unit including at least one laser emitter unit, which is configured to emit primary light in the form of a laser line into a field of view of the LIDAR sensor;
• a receiving unit including a matrix-shaped detector unit, which is configured to receive secondary light reflected and/or scattered by an object in the field of view, wherein the detector unit has a first reception area and a second reception area different from the first reception area;
• and
• an evaluation unit, which is configured to determine a distance between the LIDAR sensor and an object in the field of view of the LIDAR sensor based on secondary light received in the first reception area and to ascertain information about an extent of a defocusing of the LIDAR sensor based on secondary light received in the second reception area;
• wherein:
• the first reception area is determined by a calibration of the matrix-shaped detector unit;
• the first reception area and the second reception area can separately be activated for receiving secondary light;
• and
• the second reception area can be activated during individual scan recordings of several temporally consecutive scan recordings.