Lidar system having a ray optics diagnosis
A LiDAR system including an emitter and a detector, as well as a ray optics that is at least developed to deflect a ray of light emitted by the emitter for scanning an environment in a normal operation. The LiDAR system has a diagnosis system situated in the LiDAR system. In a diagnosis operation, the ray optics is configured to deflect the ray of light from the emitter onto the diagnosis system and to guide the light reflected by the diagnosis system to the detector in order to detect a diagnosis light signal. A control unit of the LiDAR system is developed to detect an error in the ray optics based on a difference between an expected diagnosis light signal and the actually received diagnosis light signal.
1 . A LiDAR system, comprising:
an emitter;
a detector;
a ray optics, which at least is configured to deflect a ray of light emitted by the emitter for scanning an environment in a normal operation;
a diagnosis system situated in the LiDAR system, and including at least one optical element configured to reflect or diffract the ray of light, wherein, in a diagnosis operation, the ray optics is configured to deflect the ray of light from the emitter onto the diagnosis system and to guide the light reflected by the diagnosis system to the detector to detect a diagnosis light signal; and
a control unit configured to detect an error in the ray optics based on a difference between an expected diagnosis light signal and the received diagnosis light signal,
wherein the diagnosis operation is performed during a dead time of the LiDAR system, the dead time being a time period in which the ray optics does not scan the environment.
2 . The LiDAR system as recited in claim 1 , wherein the diagnosis system includes at least one diffractive optical diagnosis element and/or at least one holographic optical diagnosis element.
3 . The LiDAR system as recited in claim 2 , wherein the diagnosis system includes at least one surface hologram and/or at least one volume hologram.
4 . The LiDAR system as recited in claim 1 , wherein the diagnosis system is situated within a housing of the LiDAR system.
5 . The LiDAR system as recited in claim 4 , wherein the diagnosis system is situated on an inner wall of the housing.
6 . The LiDAR system as recited in claim 1 , wherein the ray optics includes at least one rotatable mirror, which is configured to guide the ray of light emitted by the emitter through a window out of a housing of the LiDAR system in the normal operation, and to guide the ray of light to the diagnosis system in the diagnosis operation.
7 . The LiDAR system as recited in claim 1 , wherein the diagnosis system has at least one pattern with known dimensions.
8 . The LiDAR system as recited in claim 7 , wherein the at least one pattern is a circle or a square or a rectangle.
9 . The LiDAR system as recited in claim 1 , wherein the diagnosis system includes at least one pattern that, at a predefined setting of the ray optics, produces an imaged pattern having known dimensions in a plane of the detector.
10 . The LiDAR system as recited in claim 9 , wherein the imaged pattern is a circle or a square or a rectangle.
11 . The LiDAR system as recited in claim 1 , wherein the diagnosis system has a reflectance factor of maximally 20% for light emitted by the emitter.
12 . The LiDAR system as recited in claim 11 , wherein the reflectance factor is maximally 10%.
13 . The LiDAR system as recited in claim 11 , wherein the diagnosis system includes at least one holographic optical diagnosis element, and the reflectance factor of the holographic optical diagnosis element is reduced to maximally 20% by selection of a refractive index modulation and/or a thickness of a holographic layer.
14 . The LiDAR system as recited in claim 12 , wherein the diagnosis system includes at least one holographic optical diagnosis element, and the reflectance factor of the holographic optical diagnosis element is reduced to maximally 10% by selection of a refractive index modulation and/or a thickness of a holographic layer.
15 . A control unit for a vehicle including a LiDAR system, the LiDAR system including an emitter, a detector, a ray optics, which at least is configured to deflect a ray of light emitted by the emitter for scanning an environment in a normal operation, and a diagnosis system situated in the LiDAR system, wherein, in a diagnosis operation, the ray optics is configured to deflect the ray of light from the emitter onto the diagnosis system and to guide the light reflected by the diagnosis system to the detector to detect a diagnosis light signal, and wherein the control unit is configured to detect an error in the ray optics based on a difference between an expected diagnosis light signal and the received diagnosis light signal,
wherein the diagnosis operation is performed during a dead time of the LiDAR system, the dead time being a time period in which the ray optics does not scan the environment.