Method for calibrating and/or adjusting, and control unit for a LiDAR system, LiDAR system, and working device
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.
1 . 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 . The method as recited in claim 1 , wherein:
(i) (a) the lidar system includes a transmitter unit and a receiver unit having a presumed identical viewing angle and/or field of view, and/or (b) a region of an underlying detector unit is assigned to each viewing angle of the transmitter unit via an optical imaging,
(ii) for the measurement-based comparison, a field of view of the receiver unit is compared in a measuring manner with a field of view of the transmitter unit or with respective corresponding parts of the fields of view of the transmitter unit,
(iii) based on a result of the comparison, a deviation variable that is characteristic of a measure of a deviation of the fields of view of the transmitter unit and the receiver unit or the corresponding parts is determined, and
(iv) based on a value of the deviation variable, a correction variable characteristic of a measure of a required change in an alignment of at least one of the fields of view of the transmitter unit and the receiver unit or the corresponding parts is determined and provided.
3 . The method as recited in claim 2 , wherein an alignment of at least one of the fields of view of the transmitter unit and the receiver unit or the corresponding parts is modified in accordance with a value of the correction variable.
4 . The method as recited in claim 2 , wherein a change in the alignment is implemented electrically/electronically (i) by adapting an evaluation of the underlying detector unit and/or parts of the underlying detector, and/or (ii) by adapting an assignment of the underlying detector unit and/or parts of the underlying detector to the field of view of the receiver unit and/or to parts of the receiver unit.
5 . The method as recited in claim 2 , wherein a change in the alignment is implemented mechanically and/or optically by actuating a mechanical and/or optical adjustment unit for adapting (i) a position and/or alignment and/or orientation of the underlying detector unit and/or parts of the underlying detector unit, and/or (ii) an optical imaging of secondary light from the field of view onto the underlying detector unit and/or parts of the underlying detector unit.
6 . The method as recited in claim 1 , wherein a distinction is made between a useful signal of reflected secondary light and background noise by use of (i) a threshold value for a signal level and/or (ii) a coincidence filter.
7 . The method as recited in claim 1 , wherein the steps of the method are carried out:
during a normal operation and/or in parallel with a normal operation of the underlying lidar system, and/or
as a separate operation, with an intermediate storage and/or at a later point in time following the measuring operation, to the normal operation of the lidar system as part of an operating method of the lidar system.
8 . 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.
9 . 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.
10 . 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.