LIDAR RECEIVING UNIT
The present invention relates to a lidar receiving unit in a focal plane array arrangement, having: a multiplicity of sensor elements for receiving light pulses of a lidar emitting unit; and a plurality of routing channels for transporting signals of the sensor elements to an edge region (R) of the lidar receiving unit, wherein in each case a plurality of sensor elements are arranged in a macro cell, which is allocated to an emission element of the lidar emitting unit; in each case a plurality of macro cells form a macro cell cluster and in each case a plurality of macro cell clusters are arranged in a plurality of rows (Z 1 , Z 2 , Z 3 ); and the routing channels cross the plurality of rows in each case between adjacent macro cell clusters of a row and are configured for transporting the signals in a direction orthogonal to the rows. The present invention furthermore relates to a lidar measuring device for detecting an object in an environment of a vehicle.
1 . A lidar receiving unit in a focal plane array arrangement, having:
a multiplicity of sensor elements for receiving light pulses of a lidar emitting unit; and
a plurality of routing channels for transporting signals of the sensor elements to an edge region of the lidar receiving unit, wherein
in each case a plurality of sensor elements are arranged in a macro cell, which is allocated to an emission element of the lidar emitting unit;
in each case a plurality of macro cells form a macro cell cluster W) and in each case a plurality of macro cell clusters are arranged in a plurality of rows (Z 1 , Z 2 , Z 3 ); and
the routing channels cross the plurality of rows in each case between adjacent macro cell clusters of a row and are configured for transporting the signals in a direction orthogonal to the rows.
2 . The lidar receiving unit according to claim 1 ,
wherein
in each case two macro cells form a macro cell cluster; and
the two macro cells of the macro cell cluster are preferably arranged parallel to the rows (Z 1 , Z 2 , Z 3 ).
3 . The lidar receiving unit according to claim 1 , wherein the macro cell clusters of a first row (Z 1 , Z 2 , Z 3 ) are arranged offset with respect to the macro cell clusters of a second row, which is adjacent to the first row.
4 . The lidar receiving unit according to claim 1 , wherein the routing channels run in channel sections between the rows (Z 1 , Z 2 , Z 3 ), parallel to the rows.
5 . The lidar-receiving unit according to claim 1 , wherein
a distance (A 3 ) between adjacent macro cell clusters of a row (Z 1 , Z 2 , Z 3 ) is greater than a distance (A 4 ) between adjacent macro cell clusters in adjacent rows; and/or
in each case preprocessing elements for reading the sensor elements are arranged between adjacent rows (Z 1 , Z 2 , Z 3 ), wherein the preprocessing elements preferably comprise a transistor.
6 . The lidar-receiving unit according to claim 1 , wherein a whole number multiple of a diameter (D S ) of the sensor elements is different from a distance (D A ) between midpoints of the allocated emission elements of the lidar emitting unit.
7 . The lidar-receiving unit according to claim 1 , wherein sensor elements with reduced sensitivity are arranged between macro cells of a macro cell cluster.
8 . The lidar-receiving unit according to claim 1 , having evaluation electronics for row-by-row reading of the sensor elements.
9 . The lidar-receiving unit according to claim 1 , wherein a macro cell cluster comprises between 14 and 34 sensor elements.
10 . A lidar measuring device for detecting an object in an environment of a vehicle, having:
a lidar receiving unit according to one of the preceding claims;
a lidar emitting unit with a multiplicity of emission elements for emitting light pulses; and
a control unit for controlling the lidar emitting unit and for evaluating the signals of the sensor elements, in order to detect the object.