Method and device for identifying contamination on a protective screen of a lidar sensor
View Patent ↗A method and device for identifying contamination on a protective screen of a lidar sensor may involve determining a sector background noise in a particular sector of a detection region of the lidar sensor and a detection region background noise is determined in a remaining detection region or the entire detection region. Contamination in the sector in question is then determined if the sector background noise is significantly lower than the detection region background noise. Alternatively, or additionally, a sector background noise is determined in the sector in question at different sensitivities of a receiver of the lidar sensor, and contamination in the sector in question is then determined if a sector background noise determined with a higher sensitivity is not significantly higher than a sector background noise determined with a lower sensitivity.
1. A method for identifying contamination on a protective screen of a Lidar sensor, comprising:
dividing a detection region of the Lidar sensor into multiple sectors, wherein it is determined by sector whether there is contamination on the protective screen in the respective sector, and wherein
in each sector a sector background noise is determined at various sensitivities of a receiver on the Lidar sensor, wherein it is inferred that there is contamination in the respective sector if a sector background noise detected at a higher sensitivity compared with a sector background noise detected at a lower sensitivity does not show a significantly higher level of sector background noise,
wherein when contamination is inferred the contamination is removed from the protective screen.
2. The method as claimed in claim 1 , wherein the sector background noise is determined in each sector and a detection region background noise is determined in the remaining detection region or the entire detection region, wherein it is inferred that there is contamination in the respective sector if the sector background noise is significantly lower than the detection region background noise.
3. The method as in claim 2 , wherein the sector background noise and the detection region background noise are determined based on a background light intensity detected for a signal transit time with at least one scan between sending out one infrared laser pulse and receiving one reflection of the infrared laser pulse.
4. The method as in claim 3 , wherein the intensity of the background light is determined over the entire signal transit time and an effective intensity value is generated.
5. The method as in claim 4 , wherein the detection region background noise is determined based on determining a noise level of the background light in the remaining detection region or the entire detection region.
6. The method as in claim 4 , wherein the sector background noise is determined based on
determining a noise level of the background light for exactly one scan done in the respective sector or
determining a noise level of the background light for some or all of the scans done in the respective sector.
7. The method as in claim 4 , wherein the sector background noise is determined as follows:
all inputs received by the receiver in the respective sector are integrated,
reflection inputs received by the receiver from reflections of multiple infrared laser pulses in the respective sector are integrated, and
a total noise input describing the sector background noise for the respective sector is determined from the difference between the integrated received inputs and the integrated reflection inputs.
8. The method as in claim 1 , wherein the receiver sensitivity is set based on an operating point adjustment or by changing an internal amplification factor of the speaker.
9. A device for identifying contamination on a protective screen of a Lidar sensor, comprising:
a detection region of the Lidar sensor is divided into multiple sectors and
a data processing unit is configured to determine by sector whether there is contamination on the protective screen in the respective sector, wherein the data processing unit:
in each sector determines a sector background noise at various sensitivities of a receiver of the Lidar sensor, and infers that there is contamination in the respective sector if a sector background noise detected at a higher sensitivity is compared with a sector background noise detected at a lower sensitivity that does not show a significantly higher level of sector background noise,
wherein when contamination is inferred the contamination is removed from the protective screen.
10. The device as in claim 9 wherein in a vehicle and/or a robot, the at least one Lidar sensor is intended for surroundings detection.
11. The device method as in claim 10 , wherein
based on data detected by the at least one Lidar sensor, an automated or autonomous vehicle and/or robot is operated and
when at least one instance of contamination is detected on the protective screen of the at least one Lidar sensor, automated operation is reduced.
12. The device as claimed in claim 9 , wherein the data processing unit determines a sector background noise in each sector and determines a detection region background noise in the remaining detection region or the entire detection region, and infers that there is contamination in the respective sector if the sector background noise is significantly lower than the detection region background noise.