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WO2019206817A1 - Système lidar et verre de protection incurvé - Google Patents

Système lidar et verre de protection incurvé Download PDF

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Publication number
WO2019206817A1
WO2019206817A1 PCT/EP2019/060140 EP2019060140W WO2019206817A1 WO 2019206817 A1 WO2019206817 A1 WO 2019206817A1 EP 2019060140 W EP2019060140 W EP 2019060140W WO 2019206817 A1 WO2019206817 A1 WO 2019206817A1
Authority
WO
WIPO (PCT)
Prior art keywords
protective glass
compensation element
lidar system
curved
compensation
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2019/060140
Other languages
German (de)
English (en)
Inventor
Stefanie HARTMANN
Annette Frederiksen
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of WO2019206817A1 publication Critical patent/WO2019206817A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
    • G01S7/4813—Housing arrangements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles

Definitions

  • the present invention relates to a LIDAR system and a curved protective glass, preferably for a LIDAR system.
  • LIDAR Light Detection And Ranging.
  • LIDAR uses a technique that is very similar to a RADAR.
  • LIDAR is a kind of scanner and allows a remote examination of objects.
  • LIDAR is increasingly in
  • Used motor vehicles for example, to investigate traffic in the area.
  • a LIDAR system includes at least one
  • a transmitting unit comprising a light source such as a laser source, and a receiving unit, namely a detector.
  • the light source emits light beams, for example laser beams, in the direction of an object, for example a car, and the detector receives the light beam reflected by the object.
  • the position of the object can also be determined in order to avoid a collision.
  • the LIDAR system can thus, if it is installed for example in a motor vehicle, effectively increase the driving safety of the motor vehicle.
  • LI DAR systems often have a scanning and rotating LIDAR sensor.
  • the angle of the beam relative to the normal of the interface in front of and behind the protective glass remains the same despite twice the transition of the light (air-glass-air). Therefore, with a non-curved protective glass behind the protective glass, the beam continues in exactly the same running direction as it entered the protective glass. In a curved protective glass, however, changes the direction of the beam. In particular, when the transmitting unit and the receiving unit of the LIDAR sensor are arranged side by side, an amplified beam change occurs at a curved interface, such as the curved protective glass, since the beam passage through the protective glass is then not centered, but laterally offset.
  • a waveguide-based LIDAR is known, wherein the waveguides have holographic gratings for radiation deflection.
  • Receiver waveguide corresponding grating elements for targeted alignment to certain angle ranges include.
  • CA 2 316 946 A1 discloses active and passive curved surface holographic components.
  • a curved surface element for example on a light bulb, an ornament or a light pipe, on its inner or outer surface at least in part with a diffraction grating, for example a holographic
  • Diffraction grating is designed to redirect light such that a viewer is a rainbow effect is generated. In other applications, however, this rainbow effect may be an undesirable side effect.
  • the diffraction grating may be in the form of a holographic optical element, also called a diffractive holographic optical pattern (HOP), which is attached to the curved surface or embossed in the curved surface.
  • HOP diffractive holographic optical pattern
  • a LIDAR system having a curved protective glass is provided, wherein the LIDAR system
  • Compensating element which is adapted to compensate for a refraction of light caused by the protective glass.
  • the beam deflection is not predetermined by refraction, but by diffraction at the compensation element.
  • a light beam emanating from the LIDAR sensor thus retains its original running direction
  • Compensation element diffracted from an entrance angle in an exit angle so that the caused by the curved protective glass refraction of the laser beam is compensated exactly.
  • the compensation element can be inexpensive and thus allow a low-cost LIDAR system. Negative influences due to the curved protective glass are compensated.
  • a compensation element is provided in transmission. In some embodiments, a compensation element is provided in reflection.
  • the compensation element consists of a holographic material and an optically transparent support on which the holographic material is applied.
  • the carrier serves to support the holographic material.
  • a preferred carrier is one
  • the holographic material has a thickness of less than 5 mm. Particularly preferred is a thickness of less than 1 mm, more preferably less than 500 pm, more preferably less than 100 pm. It is preferred that the holographic material has a thickness of more than 1 pm.
  • the protective glass has the compensation element.
  • the compensation element is then mounted on the protective glass or integrated into the protective glass composite. So can be dispensed with a separate holder for the compensation element. Furthermore, a good stability for the compensation element can be achieved.
  • the compensation element is mounted on an inner side of the protective glass.
  • the support carrying the holographic material is applied to the protective glass.
  • the holographic material is between the protective glass and the support carrying the holographic material.
  • the holographic material is then located on the protective glass facing side of the carrier and is protected in use by the carrier, for example the plastic film.
  • the plastic film and the protective glass can protect the holographic element.
  • the compensation element is attached to an outside of the protective glass. Then the protective glass between the compensation element and the LIDAR sensor is arranged.
  • the compensation element is easily accessible from the outside and can be easily replaced in some embodiments, if necessary.
  • a compensation element-protective glass composite is provided, in the middle of which the compensation element is located.
  • the compensation element then consists only of the holographic element and no longer has an additional carrier, such as a plastic carrier.
  • the compensation element is then surrounded by the protective glass.
  • the compensation element in the protective glass be poured.
  • the compensation element is one of the
  • the compensation plate is preferably arranged between the protective glass and the LIDAR sensor. Then, for example, an existing LIDAR system around the
  • Receiving unit is arranged, particularly preferably on a rotatably mounted carrier disk, which also carries the transmitting unit and the receiving unit.
  • a rotatably mounted carrier disk which also carries the transmitting unit and the receiving unit.
  • Compensation element to compensate for the distortions caused by the protective glass curvature as an additional plane compensation element in the beam path between LIDAR optics and protective glass.
  • the optical function of the compensation element for example a holographic element, is locally adapted to the curvature of the protective glass so that it can be compensated.
  • the compensation element is a holographic optical element.
  • the holographic optical element consists of the
  • the holographic optical element is designed so that it is the refraction caused by the curved
  • the holographic optical element is a volume hologram. This allows a high diffraction efficiency by volume diffraction. In contrast to
  • the holographic optical elements can be produced both in transmission and in reflection and by the free choice of incident and failure or diffraction angle they allow new designs.
  • the Holographic diffraction gratings are preferably exposed in a thin film, in particular in a thin layer which is applied to a thin substrate film or a glass block or a plastic block as a carrier. Due to the volume diffraction, the holographic optical elements can additionally be assigned a characteristic wavelength and angle selectivity or filter function. Depending on the recording condition (wavelength, angle), only light from defined directions and with defined wavelengths is diffracted at the structure. As a result, the holographic material applied to a film is particularly characterized by its
  • Such film material can be inexpensive. Light is diffracted only from certain directions and wavelengths on the structure. For all other directions, the hologram remains transparent.
  • the compensation element has a characteristic wavelength selectivity and / or characteristic
  • Compensation element so preferably the holographic material or the holographic optical element, reduced.
  • Assigning characteristic holographic optics to the holographic optical element can prevent the incident light and / or light of the wrong wavelength from being deflected from the wrong direction on the structure. An improved signal-to-noise ratio can be achieved in this way.
  • Compensation element is assigned a filter function.
  • the compensation element provides a filtering function of ambient light when viewing the receive path of the LIDAR system.
  • characteristic angular and wavelength selectivity diffracts only light from a particular direction and at a particular wavelength on the structure. The rest of the light experiences on the reverse path, so from
  • the strength of the filter function can be determined by the material parameters of the holographic material (thickness and refractive index modulation) and is system-dependent a compromise between
  • the holographic optical element has a pixel structure that depends on a calculated desired
  • Diffraction grating is adapted to a curvature of the protective glass.
  • the unexposed holographic material is applied to the curved glass substrate, for example the protective glass or the separate compensation plate.
  • Two coherent light waves (first wave and second wave) are brought into interference.
  • An angle ai corresponds to the angle of the light beam of the LIDAR system at the defined position.
  • laser light with a wavelength corresponding to the later target system is used for this purpose.
  • the compensation element pixel by pixel, preferably a holographic grating, in embodiments
  • Volume hologram to print pixel by pixel. This will be the desired
  • Diffraction grating is calculated and can thus be adjusted pixel by pixel to the curvature. This offers the possibility of holograms in the
  • An advantage of the invention is that it increases with the curvature of the
  • Protective glass works better, as thus a stronger separation of the first wave and the second wave is possible during recording.
  • Some embodiments provide exactly one compensation element. This is particularly advantageous because so all optical functions, such as angular and wavelength selectivity and filter function, in a single
  • Compensation element can be combined.
  • the compensation element surrounds as a film 360 ° of the inside of the protective glass.
  • different compensation elements are provided correspondingly for different optical functions.
  • a holographic optical element may be provided in transmission to compensate for the angular misalignment, while another holographic optical element may be used for one
  • a curved protective glass is also provided for a LIDAR system, wherein the protective glass has a compensation element which is adapted to compensate for a refraction of light caused by the protective glass.
  • the beam deflection is not determined solely by refraction of the protective glass, but additionally by diffraction on the compensation element to compensate for the offset caused by the refraction of light on the curved protective glass.
  • the compensation element can be inexpensive and thus allow a low-cost LIDAR system. Negative influences due to the curved protective glass are compensated. Preferred embodiments of the protective glass with respect to the compensation element can be designed as described above with regard to the LIDAR system with the stated advantages.
  • Figure 1 shows a first embodiment of the present invention
  • FIG. 2 is an enlarged detail of the first embodiment of the present invention, schematically illustrating the invention.
  • Figure 3 shows a second embodiment of the present invention.
  • FIG. 1 shows a LIDAR system 1 according to a first exemplary embodiment of the present invention.
  • the LIDAR system 1 has a curved protective glass 2.
  • the LIDAR system 1 further has a transmitting unit 3, more precisely a laser source.
  • a transmitting lens 4 is arranged with a plurality of optical components, in the present embodiment, three lenses 5a-c.
  • the transmitting unit 3 is arranged to transmit a laser beam through the transmitting lens 4.
  • the transmission objective 4 conditions the signal transmitted by the transmission unit 3
  • Laser beam such that it is suitable for LIDAR measurements with the LIDAR system 1.
  • the LIDAR system 1 further has a receiving unit 6, more precisely a laser detector. Between receiving unit 6 and protective glass 2, a receiving objective 7 is arranged with a plurality of further optical components, in this case four further lenses 8a-d.
  • the receiving lens 7 conditions the laser beam emitted by the transmitting unit 3, transmitted through the protective glass 2 and reflected by an object (not shown) arranged outside the protective glass 2 such that it can be detected by the receiving unit 6.
  • the transmitting unit 3, the transmitting lens 4, the receiving lens 7 and the receiving unit 6 are fixed on a common, rotatably mounted carrier disk 9.
  • Receiving unit 6 together form a LIDAR sensor of the LIDAR system.
  • the carrier disk 9 is mounted rotatably and drivable on a central axis of rotation 10.
  • the receiving unit 6 and the transmitting unit 3 are arranged side by side on the support disk 9, that is laterally offset from one another.
  • Transmitting unit 3 and the receiving unit 6 are also arranged rotatably about the central axis of rotation 10, so are rotatably arranged together with the support plate 9 about the central axis of rotation 10.
  • the central axis of rotation 10 of the carrier disk 9 is located in the center of the protective glass 2 and provides a
  • the protective glass 2 is decoupled from the rotation of the support disk 9, thus does not rotate in the driven operating state of the LIDAR system 1 with the support disk 9, the transmitting unit 3, the transmission lens 4, the receiving lens 7 and the
  • the protective glass 2 of the LIDAR system 1 is thus arranged stationary and protects the LIDAR sensor of the LIDAR system 1, which is mounted rotatably relative thereto, from environmental influences.
  • the transmitting unit 3 and the receiving unit 6 are located on the support disk 9 on different sides of the axis of rotation 10. This means that the
  • the protective glass 2 Refraction caused by the protective glass 2 to compensate.
  • the imaging quality of LIDAR system 1 is increased.
  • the compensation element 11 is mounted on an inner side of the protective glass 2. The inside is an inward, facing the LIDAR sensor-facing interface of the protective glass 2. That's the reason
  • the compensation element 1 1 in the first embodiment of Figure 1 is a holographic optical element (HOE), more precisely a
  • the compensation element 1 1 is mounted on a circumference of 360 ° on the protective glass 2, in the horizontal scanning plane of the transmitting unit 3 and the receiving unit 6. This is so provided because the transmitting unit 3 and the receiving unit 6 are rotatably mounted 360 ° and therefore during the rotation of the support disk 9 about the central axis of rotation 10 of the protective glass 2 successively and repeatedly the full circle of the cylindrical, curved protective glass 2 is irradiated by the laser beam in the scanning plane.
  • the compensation element 11 is a characteristic
  • the compensation element 11 is further associated with a characteristic angle selectivity.
  • Compensation element 11 associated with a filter function.
  • the compensation element 11 has a pixel structure which is adapted to a curvature of the protective glass 2 as a function of a calculated desired diffraction grating.
  • Figure 2 illustrates an enlarged detail of the first
  • Embodiment of the present invention schematically.
  • the case of an emerging from the protective glass 2 laser beam is sketched.
  • the beam path of the laser beam 2 is the dashed arrow line indicated.
  • a laser beam entering the protective glass 2 the same applies analogously, in the reverse manner.
  • FIG. 2 A circular segment of a cross section through the cylindrical, curved protective glass 2 is shown in Figure 2, viewed from above.
  • Compensation element 11 generates a precompensation of the curvature of the protective glass 2. This is an example of diffraction on the holographic grating in transmission. As a result, the laser beam emerges from the protective glass 2 substantially in the same direction as it has entered the compensation element 11 coming from the transmitting unit.
  • Snell's law of refraction is used.
  • An angle a 2 is determined by the compensation element such that the entrance angle cu into the compensation element 11 and the exit angle a 3 out of the compensation element 1 1 out are substantially exactly the same size. The incident beam is thus bent at the angle cd on the holographic grating of the compensation element 1 1 in the angle a 2 .
  • a 2 can be set up such that the subsequent distortion due to the curvature of the cover glass, the protective glass 2, can be compensated.
  • the running direction of the laser beam behind the protective glass 2 is then considered substantially exactly equal to the running direction of the laser beam in front of the compensation element 1 1, coming from the transmitting unit 3 coming.
  • the compensation element 11 compensates according to the invention for the refraction of light caused by the protective glass 2. More precisely, the light diffraction compensates on
  • FIG. 3 shows a second embodiment of the present invention. Many features of the second embodiment are identical to features of the first embodiment. However, the compensation element 11 is designed as a separate from the protective glass 2 compensation plate.
  • Compensation element 11 is more precisely a plane, rectangular
  • Compensation element 11 arranged downstream of the transmitting lens with respect to the beam path of the laser beam and fixed separately from the protective glass 2 on the support disk 9.
  • the compensation element 1 1 is arranged upstream of the receiving lens 7 with respect to the beam path of the laser beam and is fixed separately from the protective glass 2 on the carrier disk 9.
  • Compensation element 11 is rotatably mounted to the carrier plate 9, so it rotates with the carrier plate 9 in the operating state.
  • Compensation element 11 can in principle anywhere in the beam path of the
  • the compensation plate is curved, preferably with the same radius of curvature as that
  • the invention thus describes a compensation of the beam change at a curved interface for LIDAR sensors.
  • the core of the invention is the compensation of the influence of a curved protective glass 2 in LIDAR sensors with a compensation element 11, in particular holographic optical elements.
  • a lidar system 1 which has a curved protective glass 2, wherein the lidar system 1 is a
  • Compensation element 11 which is adapted to compensate for a refraction of light caused by the protective glass 2.
  • a curved protective glass 2 in this case for a LIDAR system 1, is accordingly proposed, wherein the protective glass 2 has a compensation element 11 which is set up to compensate for a refraction of light caused by the protective glass 2.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

L'invention concerne un système LIDAR (1) qui présente un verre de protection (2) incurvé , le système LIDAR (1) présentant un élément de compensation (11) qui est conçu pour compenser une réfraction lumineuse produite par le verre de protection (2). L'invention concerne par ailleurs un verre de protection (2) incurvé destiné de préférence à un système LIDAR (1), le verre de protection (2) présentant un élément de compensation (11) qui est conçu pour compenser une réfraction lumineuse produite par le verre de protection (2).
PCT/EP2019/060140 2018-04-25 2019-04-18 Système lidar et verre de protection incurvé Ceased WO2019206817A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102018206341.9A DE102018206341A1 (de) 2018-04-25 2018-04-25 LIDAR-System sowie gekrümmtes Schutzglas
DE102018206341.9 2018-04-25

Publications (1)

Publication Number Publication Date
WO2019206817A1 true WO2019206817A1 (fr) 2019-10-31

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2019/060140 Ceased WO2019206817A1 (fr) 2018-04-25 2019-04-18 Système lidar et verre de protection incurvé

Country Status (2)

Country Link
DE (1) DE102018206341A1 (fr)
WO (1) WO2019206817A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102020125023A1 (de) 2020-09-25 2022-03-31 Marelli Automotive Lighting Reutlingen (Germany) GmbH Sensoreinrichtung, Scheinwerfer, Verfahren und Steuergerät
DE102021126105A1 (de) 2021-10-08 2023-04-13 Valeo Schalter Und Sensoren Gmbh Sensoreinheit und fahrzeug

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CA2316946A1 (fr) 1998-01-16 1999-07-22 Jefferson E. Odhner Elements a surface courbe sur la base d'une holographie optique active et passive
GB2444138A (en) * 2006-11-27 2008-05-28 Riegl Laser Measurement Sys Scanning apparatus
AT507684A4 (de) * 2008-12-23 2010-07-15 Riegl Laser Measurement Sys Einrichtung zur abtastung eines objektraumes
DE102013210887A1 (de) * 2013-06-11 2014-12-11 Robert Bosch Gmbh Optische Sensoranordnung für ein Fahrzeug und Fahrzeug mit einer derartigen Sensoranordnung
WO2016116733A1 (fr) 2015-01-20 2016-07-28 Milan Momcilo Popovich Lidar à guide d'ondes holographique
WO2018015086A1 (fr) * 2016-07-18 2018-01-25 Saint-Gobain Glass France Vitre de véhicule en verre feuilleté à trajet optique optimisé pour un capteur monté dessus

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CA2316946A1 (fr) 1998-01-16 1999-07-22 Jefferson E. Odhner Elements a surface courbe sur la base d'une holographie optique active et passive
GB2444138A (en) * 2006-11-27 2008-05-28 Riegl Laser Measurement Sys Scanning apparatus
AT507684A4 (de) * 2008-12-23 2010-07-15 Riegl Laser Measurement Sys Einrichtung zur abtastung eines objektraumes
DE102013210887A1 (de) * 2013-06-11 2014-12-11 Robert Bosch Gmbh Optische Sensoranordnung für ein Fahrzeug und Fahrzeug mit einer derartigen Sensoranordnung
WO2016116733A1 (fr) 2015-01-20 2016-07-28 Milan Momcilo Popovich Lidar à guide d'ondes holographique
WO2018015086A1 (fr) * 2016-07-18 2018-01-25 Saint-Gobain Glass France Vitre de véhicule en verre feuilleté à trajet optique optimisé pour un capteur monté dessus

Also Published As

Publication number Publication date
DE102018206341A1 (de) 2019-10-31

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