US 11,940,535 B2
Multi-pulse LIDAR system for multi-dimensional detection of objects
Reiner Schnitzer, Reutlingen (DE); and Tobias Hipp, Hechingen (DE)
Assigned to ROBERT BOSCH GMBH, Stuttgart (DE)
Appl. No. 16/770,941
Filed by Robert Bosch GmbH, Stuttgart (DE)
PCT Filed Dec. 17, 2018, PCT No. PCT/EP2018/085099
§ 371(c)(1), (2) Date Aug. 7, 2020,
PCT Pub. No. WO2019/121437, PCT Pub. Date Jun. 27, 2019.
Claims priority of application No. 10 2017 223 102.5 (DE), filed on Dec. 18, 2017.
Prior Publication US 2021/0181315 A1, Jun. 17, 2021
Int. Cl. G01S 7/481 (2006.01); G01S 7/4863 (2020.01); G01S 17/10 (2020.01); G01S 17/89 (2020.01); G01S 17/931 (2020.01)
CPC G01S 17/89 (2013.01) [G01S 7/4816 (2013.01); G01S 7/4863 (2013.01); G01S 17/10 (2013.01); G01S 17/931 (2020.01)] 9 Claims
OG exemplary drawing
 
1. A multipulse LIDAR system for detecting objects in an observation area, comprising:
a transmitting device including at least one laser source configured to generate a transmission laser beam from a temporal sequence of single laser pulses, each of the single laser pulses illuminating a detection area that is limited to a portion of the observation area and samples at least one sampling point;
a receiving device having a detection surface, including a linear or matrix subdetector system made up of multiple subdetectors adjacently situated in a first direction of extension, the receiving device being configured to receive the transmission laser beam, in the form of a reception laser beam, that is reflected and/or scattered on objects in the observation area of the multipulse LIDAR system, the receiving device being configured to image the sampling point, detected by the transmission laser beam, on the detection surface in the form of a pixel;
a scanning device configured to generate a scanning movement of the transmission laser beam in a scanning direction for successive sampling of the entire observation area along successive multiple sampling points situated in succession in the scanning direction, the scanning movement of the transmission laser beam, for the single laser pulses in chronological succession, being configured to image the pixel on the detection surface, in each case shifted along the linear or matrix subdetector system; and
a control device configured to determine distance information of the sampling points based on propagation times of the single laser pulses, the control device being configured to group subdetectors, which are detected from the pixel that is instantaneously imaged on the detection surface, to form a macropixel that is individually associated with the pixel, for shared evaluation;
wherein the transmitting device includes multiple laser sources whose detection areas are mutually orthogonal with respect to the scanning direction, the detection surface for each of the laser sources including a subdetector system that is individually associated with the laser source, the subdetector systems being mutually orthogonal with respect to the scanning direction.