Method for detecting a defocusing of a LIDAR sensor, and lidar sensor
A method for detecting a defocusing of a LIDAR sensor. The method includes: emitting primary light as a laser line into a field of view of the LIDAR sensor using a 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 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, by means of an evaluation unit, information about an extent of the defocusing based on the secondary light received in the second reception area.
1 . A method for detecting a defocusing of a LIDAR sensor, comprising 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.
2 . The method according to claim 1 , wherein:
the first reception area is formed from a first sequence of pixels along several rows of the matrix-shaped detector unit, wherein the first sequence includes exactly one pixel in each row; and
the second reception area is formed from a second sequence of pixels along the several rows of the matrix-shaped detector unit, wherein the second sequence includes exactly one pixel in each row, and wherein the pixels of the second sequence in each row are shifted by the same number of pixels and in the same direction relative to a respectively adjacent pixel of the first sequence in the row.
3 . The method according to claim 2 wherein the first sequence is configured in such a way: that a pixel of a row of the matrix-shaped detector unit is located in the same column as a pixel of a directly adjacent row of the matrix-shaped detector unit and/or that a pixel of a row of the matrix-shaped detector unit is located in a directly adjacent column as a pixel of a directly adjacent row of the matrix-shaped detector unit.
4 . The method according to claim 1 , further comprising:
transmitting the ascertained information about an extent of the defocusing to a control unit of a vehicle, the control unit being configured to control a driving function of the vehicle.
5 . The method according to claim 1 , further comprising:
controlling a cleaning device of the LIDAR sensor based on the extent of the defocusing exceeds a predetermined threshold value.
6 . 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.
7 . 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.
8 . The LIDAR sensor according to claim 7 , wherein:
the first reception area is formed from a first sequence of pixels along several rows of the matrix-shaped detector unit, wherein the first sequence includes exactly one pixel in each row; and
the second reception area is formed from a second sequence of pixels along the several rows of the matrix-shaped detector unit, wherein the second sequence includes exactly one pixel in each row, and wherein the pixels of the second sequence in each row are shifted by the same number of pixels and in the same direction relative to a respectively adjacent pixel of the first sequence in the row.
9 . The LIDAR sensor according to claim 7 , further comprising a cleaning device configured to prevent and/or inhibit and/or eliminate at least one contamination of the protective glass.