KR102695558B1 - Lidar sensing device and method - Google Patents

Abstract

A lidar sensing device and method are disclosed. The lidar sensing device of the present invention is characterized by including: a bandwidth adjuster for adjusting a bandwidth so that incident light of the adjusted bandwidth, among incident light reflected from a target and incident through a light-receiving reflector, is incident on the light detection unit; a light detection unit for detecting incident light incident from the bandwidth adjuster; an illuminance detection unit for detecting illuminance around a vehicle; and a control unit for detecting illuminance through the illuminance detection unit according to the intensity of a reception signal detected by the light detection unit, and controlling the bandwidth adjuster according to the detected illuminance to adjust the bandwidth.

Description

LIDAR SENSING DEVICE AND METHOD

The present invention relates to a lidar sensing device, and more specifically, to a lidar sensing device and method for improving maximum detection distance performance by adjusting the bandwidth of an optical filter according to ambient illuminance when the signal intensity of a received signal is relatively low.

As vehicle technology advances, functions such as autonomous driving and autonomous parking are required. To perform these functions, the need for LIDAR sensors is increasing.

Lidar sensors are mounted on the bumper of a vehicle and detect objects or structures by detecting the front and rear of the vehicle. Lidar sensors are installed inside the glass or the structure of the vehicle body. Lidar sensors detect targets using light.

A lidar sensor includes a transmitting optical system that transmits light and a receiving optical system that receives incident light. The transmitting optical system includes a laser generator, a transmitting optical tube, a transmitting lens, and a transmitting reflector, and the receiving optical system includes a receiving lens, a reflecting mirror, and a laser detector.

However, in conventional lidar sensors, the focal length received by the detector is formed as the light passing through the receiving lens is reflected by the reflective mirror. Since a reflective mirror that bends the optical path is installed to reduce the size of the lidar sensor, there is a problem of an increase in the number of parts.

In addition, since a part of the receiving area of the receiving optical system is covered by the transmitting optical system's transmitting tube and transmitting reflector, a shadow area is created, and thus the light receiving efficiency of the lidar sensor may be reduced.

In addition, conventional lidar sensors have a problem in that the maximum detection distance performance is reduced due to solar noise in conditions where the ambient light level is relatively high, which reduces the light reception efficiency.

The background technology of the present invention is disclosed in Korean Patent Publication No. 2015-0009177 (registered on January 26, 2015, title of the invention: Lidar sensor system).

The present invention has been created to improve the above-mentioned problems, and an object of one aspect of the present invention is to provide a lidar sensing device and method that improves maximum detection distance performance by adjusting the bandwidth of an optical filter according to the surrounding illuminance when the signal intensity of a received signal is relatively low.

According to one aspect of the present invention, a lidar sensing device comprises: a bandwidth adjuster for adjusting a bandwidth so that incident light of the adjusted bandwidth, among incident light reflected from a target and incident through a light-receiving reflector, is incident on the light detection unit; a light detection unit for detecting incident light incident from the bandwidth adjuster; an illuminance detection unit for detecting illuminance around a vehicle; and a control unit for detecting illuminance through the illuminance detection unit according to the intensity of a reception signal detected by the light detection unit, and controlling the bandwidth adjuster according to the detected illuminance to adjust the bandwidth.

The bandwidth adjuster of the present invention is characterized by including an optical filter disposed between the light receiving reflector and the light detection unit to allow incident light of the adjusted bandwidth to be incident on the light detection unit; and a bandwidth adjuster that adjusts the bandwidth of the optical filter by adjusting the position of the optical filter.

The control unit of the present invention is characterized in that it compares the intensity of the reception signal detected by the light detection unit with a preset first reference value and detects illuminance through the illuminance detection unit according to the comparison result.

The control unit of the present invention is characterized in that it maintains the preset optical filter initial setting value when the intensity of the reception signal detected by the light detection unit is equal to or higher than the first reference value, and detects the illuminance through the illuminance detection unit when the intensity of the reception signal is less than the first reference value.

The control unit of the present invention is characterized by comparing the illuminance detected by the illuminance detection unit with a preset second reference value and adjusting the bandwidth of the optical filter according to the comparison result.

The control unit of the present invention is characterized in that it adjusts the initial setting value of the optical filter when the illuminance detected by the illuminance detection unit is lower than or equal to the second reference value.

The control unit of the present invention is characterized in that it reduces the bandwidth of the optical filter when the illuminance detected by the illuminance detection unit exceeds the second reference value.

A lidar sensing method according to one aspect of the present invention is characterized by including a step in which a control unit detects the intensity of a reception signal detected by a light detection unit; a step in which the control unit detects illuminance through an illuminance detection unit according to the intensity of the reception signal detected by the light detection unit; and a step in which the control unit controls the bandwidth adjuster to adjust the bandwidth according to the illuminance detected by the illuminance detection unit.

In the step of detecting illuminance through the illuminance detection unit of the present invention, the control unit is characterized in that it detects illuminance through the illuminance detection unit if the intensity of the reception signal detected by the light detection unit is equal to or higher than a preset first reference value.

In the step of controlling the bandwidth adjuster of the present invention to adjust the bandwidth, the control unit is characterized in that it compares the illuminance detected by the illuminance detection unit with a preset second reference value and adjusts the bandwidth of the optical filter according to the comparison result.

In the step of controlling the bandwidth adjuster of the present invention to adjust the bandwidth, the control unit is characterized in that it adjusts the initial setting value of the optical filter if the illuminance detected by the illuminance detection unit is lower than or equal to the second reference value.

In the step of controlling the bandwidth adjuster of the present invention to adjust the bandwidth, the control unit is characterized in that it reduces the bandwidth of the optical filter when the illuminance detected by the illuminance detection unit exceeds the second reference value.

A lidar sensing device and method according to one aspect of the present invention can improve the maximum detection distance by adjusting the bandwidth of an optical filter according to the surrounding illuminance when the signal intensity of a received signal is relatively low.

According to another aspect of the present invention, a lidar sensing device and method can reduce the number of parts of a lidar sensing device since a portion of a receiving optical system and a transmitting optical system are integrated into a single optical module.

A lidar sensing device and method according to another aspect of the present invention can reduce the size of an occluded area in a light-receiving lens, thereby increasing light reception efficiency. As the light reception efficiency increases, the maximum detection distance of the lidar sensing device can be further increased.

FIG. 1 is a configuration diagram illustrating a lidar sensing device according to a first embodiment of the present invention.
FIG. 2 is a configuration diagram illustrating a sensing light source unit, a light receiving lens, and a light receiving reflector in a lidar sensing device according to the first embodiment of the present invention.
FIG. 3 is a diagram showing an example of bandwidth adjustment of a lidar sensing device according to the first embodiment of the present invention.
FIG. 4 is a diagram showing the effect of maximum detection distance according to an increase in illuminance according to the first embodiment of the present invention.
FIG. 5 is a drawing illustrating a lidar sensing method according to the first embodiment of the present invention.
FIG. 6 is a configuration diagram illustrating a sensing light source, a light receiving lens, and a light receiving reflector in a lidar sensing device according to a second embodiment of the present invention.
FIG. 7 is a configuration diagram illustrating a lidar sensing device according to a third embodiment of the present invention.
FIG. 8 is a configuration diagram illustrating a sensing light source unit, a light receiving lens, and a light receiving reflector in a lidar sensing device according to a third embodiment of the present invention.
FIG. 9 is a configuration diagram illustrating a sensing light source unit, a light receiving lens, and a light receiving reflector in a lidar sensing device according to a fourth embodiment of the present invention.

Hereinafter, a lidar sensing device and method according to an embodiment of the present invention will be described in detail with reference to the attached drawings. In this process, the thickness of lines and the size of components illustrated in the drawings may be exaggerated for clarity and convenience of explanation. In addition, the terms described below are terms defined in consideration of functions in the present invention, and may vary depending on the intention or custom of the user or operator. Therefore, the definitions of these terms should be made based on the contents throughout this specification.

The implementations described herein may be implemented, for example, as a method or process, an apparatus, a software program, a data stream or a signal. Even if discussed in the context of only a single form of implementation (e.g., discussed only as a method), the implementation of the features discussed may also be implemented in other forms (e.g., as an apparatus or a program). The apparatus may be implemented using suitable hardware, software, firmware, and the like. The method may be implemented in an apparatus such as a processor, which generally refers to a processing device including, for example, a computer, a microprocessor, an integrated circuit, or a programmable logic device. A processor also includes a communication device such as a computer, a cell phone, a personal digital assistant ("PDA"), and other devices that facilitate communication of information between end-users.

FIG. 1 is a configuration diagram illustrating a lidar sensing device according to a first embodiment of the present invention, FIG. 2 is a configuration diagram illustrating a sensing light source unit, a light receiving lens, and a light receiving reflector in a lidar sensing device according to the first embodiment of the present invention, FIG. 3 is a diagram illustrating an example of bandwidth adjustment of a lidar sensing device according to the first embodiment of the present invention, and FIG. 4 is a diagram illustrating the influence of maximum detection distance according to an increase in illuminance according to the first embodiment of the present invention.

Referring to FIGS. 1 and 2, a lidar sensing device according to a first embodiment of the present invention includes a sensing light source unit (10), a light transmitting reflector (20), a scanner unit (30), a light receiving lens (40), a light receiving reflector (50), a light detection unit (60), a bandwidth adjuster (70), an illuminance detection unit (80), and a control unit (90).

The sensing light source unit (10) irradiates sensing light. The sensing light source unit (10) is positioned so as to be outside the light path of the light receiving lens (40) and the light receiving reflector (50). Since the sensing light source unit (10) is positioned so as to be outside the light path of the light receiving lens (40) and the light receiving reflector (50), the sensing light source unit (10) can be prevented from blocking (blacking effect) incident light in the light path. Accordingly, the generation of a blacking area (A) by the sensing light source unit (10) in the light path of the light receiving lens (40) can be prevented, thereby increasing the light receiving efficiency. As the light receiving efficiency increases, the maximum detection distance of the lidar sensing device can be increased.

The sensing light source unit (10) includes a light tube (11), a light source (13), and a light transmitting lens unit (15).

The light tube (11) is positioned so as to be out of the light path of the light receiving lens (40). The light tube (11) may be formed in a cylindrical shape. The light source (13) is installed inside the light tube (11). The light transmitting lens unit (15) is installed on the output side of the light source (13) to collimate the sensing light irradiated from the light source (13). Since the light transmitting lens unit (15) collimates the sensing light into parallel rays, the output of the sensing light can be improved.

The light transmitting lens unit (15) includes a first light transmitting lens (15a) and a second light transmitting lens (15b). The first light transmitting lens (15a) is installed inside the barrel (11). The second light transmitting lens (15b) is installed inside the barrel (11), and the sensing light passing through the first light transmitting lens (15a) is incident on the second light transmitting lens (15b). Since the first light transmitting lens (15a) and the second light transmitting lens (15b) are installed inside the barrel (11), the first light transmitting lens (15a) and the second light transmitting lens (15b) can be prevented from forming a reception covering area (A) of the light receiving lens (40).

The light-emitting reflector (20) reflects the sensing light irradiated from the sensing light source (10). The light-emitting reflector (20) may be coated with a metal reflective layer (not shown) to improve light reflection efficiency.

The light transmitting reflector (20) is placed in the light path of the light receiving lens (40). At this time, since the light transmitting reflector (20) is placed in the light path of the light receiving lens (40), the receiving cover area (A) becomes as wide as the width of the light transmitting reflector (20). Accordingly, since the receiving cover area (A) is reduced in the light receiving lens (40), the light receiving efficiency can be increased. As the light receiving efficiency increases, the maximum detection distance of the lidar sensing device can be further increased.

The scanner unit (30) reflects the sensing light reflected from the light-transmitting reflector (20) onto the target and reflects the incident light reflected from the target. A reflective layer is also formed on the scanner unit (30) to improve light reflection efficiency.

The scanner unit (30) includes a scanner reflector (31) and a scanner driving unit (33). The scanner reflector (31) reflects the sensing light reflected from the light transmitting reflector (20) toward the target, and reflects the incident light reflected from the target toward the light receiving lens (40). The scanner driving unit (33) is connected to the scanner reflector (31) so as to rotate the scanner reflector (31). Since the scanner driving unit (33) rotates the scanner reflector (31), the reflection angles of the sensing light and the incident light can be changed according to the angle of the scanner reflector (31).

A motor unit can be applied as the scanner driving unit (33). The motor unit may include an encoder (not shown) or be connected to an encoder. The encoder measures the number of rotations, rotation speed, rotation angle, etc. of the motor unit and provides them to the control unit (90).

The incident light reflected from the scanner unit (30) is transmitted through the receiving lens (40), and the receiving lens (40) is formed integrally with the light-transmitting reflector (20). The receiving lens (40) and the light-transmitting reflector (20) can be processed from the same optical material, such as crystal, glass, or transparent synthetic resin. The receiving lens (40) can have an anti-reflective coating layer formed on it to prevent the incident light from being reflected. Since the receiving lens (40) and the light-transmitting reflector (20) are integrated into one optical module, the number of parts can be reduced. In addition, the formation of a reception cover area (A) by the optical tube (11) can be prevented.

The light receiving reflector (50) reflects the incident light that has passed through the light receiving lens (40). A reflective layer (not shown) is also formed in the scanner section (30) to improve light reflection efficiency.

The light detection unit (60) receives incident light reflected from the light receiving reflector (50). The light detection unit (60) can detect the position and distance of the target as the incident light is received.

The bandwidth controller (70) adjusts the bandwidth so that incident light of a preset bandwidth from the light receiving reflector (50) is incident on the light detection unit (60).

The bandwidth adjuster (70) includes an optical filter (71) and a bandwidth adjuster (72).

The optical filter (71) is installed between the light receiving reflector (50) and the light detection unit (60), and its position is adjusted by the bandwidth adjuster (70), thereby changing the transmission position of the incident light. This optical filter (71) is a bandwidth-variable optical filter (71), and its bandwidth is different depending on the filter area. That is, as shown in Fig. 3, the position of the optical filter (71) is varied by the bandwidth adjuster (72), and the filter area becomes different depending on the change in position, so that the bandwidth can be adjusted, and through this, the incident light with the bandwidth corresponding to the corresponding position is incident on the light detection unit (60).

The bandwidth adjustment unit (72) adjusts the position of the optical filter (71) so that the bandwidth can be adjusted.

The illuminance detection unit (80) detects the illuminance around the vehicle. When the illuminance is relatively high, the noise of the reception signal may increase significantly due to sunlight. Accordingly, the illuminance detection unit (80) detects the illuminance so as to minimize the noise caused by sunlight, and the bandwidth is adjusted by the bandwidth adjuster (70) according to the detected illuminance, thereby improving the maximum detection distance and accurately detecting the position and distance of the target. The illuminance detection unit (80) may employ a navigation system or an illuminance sensor that collects or detects illuminance. The illuminance detection unit (80) is not particularly limited as long as it detects the illuminance around the vehicle.

The control unit (90) controls the bandwidth regulator (70) according to the initial setting value at the time of initial operation. The initial setting value is the position value of the optical filter (71) at the time of initial operation.

Thereafter, the control unit (90) detects the intensity of the reception signal detected by the light detection unit (60), and compares the intensity of the reception signal with a preset first reference value to determine whether the intensity of the reception signal is less than the first reference value. The first reference value is the intensity of the reception signal that serves as a criterion for determining whether the intensity of the reception signal is sufficient to detect the position and distance of the target. If the intensity of the reception signal is greater than or equal to the first reference value, it can be said to be suitable for detecting the position and distance of the target, and if the intensity is less than the first reference value, it can be said to be unsuitable for detecting the position and distance of the target.

Therefore, the control unit (90) maintains the position of the optical filter (71) at the initial setting value if the intensity of the received signal is greater than or equal to the first reference value.

On the other hand, the control unit (90) controls the illuminance detection unit (80) to detect illuminance by adjusting the position of the optical filter (71) to increase the maximum detection distance if the intensity of the received signal is less than the first reference value.

When illuminance is detected by the illuminance detection unit (80), the control unit (90) compares the illuminance with a second reference value and determines whether the illuminance exceeds the second reference value. The second reference value is the illuminance that serves as a reference for adjusting the position of the optical filter (71).

As a result of the judgment, if the illuminance is lower than the second reference value, the control unit (90) adjusts the initial setting value of the optical filter (71). In this case, the intensity of the received signal is relatively small, but the illuminance is relatively low, which is suitable for target detection (a state in which sunlight noise is relatively small). Accordingly, the control unit (90) adjusts the initial setting value of the optical filter (71) described above to be suitable for target detection, and controls the bandwidth adjuster (70) to position the optical filter (71) according to the newly adjusted initial setting value.

On the other hand, when the illuminance exceeds the second reference value, the control unit (90) controls the bandwidth adjuster (70) to adjust the bandwidth of the optical filter (71). That is, the control unit (90) adjusts the position of the optical filter (71) so that the bandwidth of the optical filter (71) is reduced when the illuminance exceeds the second reference value. Through this, the maximum detection distance is increased while reducing sunlight noise.

Figure 4 shows the noise level and maximum detection distance of the received signal according to the illuminance.

Referring to Fig. 4, when the target is detected at the maximum detection distance (#1 maximum detection distance) according to the initial setting value, it can be seen that as the illuminance increases, noise due to sunlight increases, and as a result, the noise level of the reception signal detected by the light detection unit increases and the maximum detection distance (#2 maximum detection distance) decreases.

However, as the bandwidth is adjusted through the optical filter (71), it can be seen that the noise caused by sunlight is reduced, which reduces the noise level of the reception signal detected by the photodetector and increases the maximum detection distance (#3 maximum detection distance).

Hereinafter, a lidar sensing method according to a first embodiment of the present invention will be described in detail with reference to FIG. 5.

FIG. 5 is a drawing illustrating a lidar sensing method according to the first embodiment of the present invention.

Referring to Fig. 5, first, the control unit (90) controls the bandwidth adjuster (70) according to the initial setting value at the time of initial operation to move the optical filter (71) to a position corresponding to the initial setting value (S10).

In this case, the sensing light source unit (10) irradiates sensing light, and the incident light reflected by the target is incident on the light detection unit (60) through the light receiving reflector (50).

The light detection unit (60) converts incident light into an electrical signal, and the control unit (90) detects the intensity of the received signal detected by the light detection unit (60) (S20).

As the intensity of the received signal is detected, the control unit (90) compares the intensity of the received signal with a first reference value and determines whether the intensity of the received signal is less than the first reference value (S20).

If the judgment result in step (S20) is that the intensity of the received signal is greater than or equal to the first reference value, the control unit (90) maintains the position of the optical filter (71) at the initial setting value.

On the other hand, if the judgment result in step (S20) is that the intensity of the received signal is less than the first reference value, the control unit (90) controls the illuminance detection unit (80) to detect the surrounding illuminance (S30).

When illuminance is detected by the illuminance detection unit (80), the control unit (90) compares the illuminance with a second reference value and determines whether the illuminance exceeds the second reference value (S40).

If the judgment result at step (S40) is that the illuminance is lower than or equal to the second reference value, the control unit (90) adjusts the initial setting value of the optical filter (71) (S50) and positions the optical filter (71) according to the newly adjusted initial setting value.

On the other hand, if the determination result in step (S40) shows that the illuminance exceeds the second reference value, the control unit (90) controls the bandwidth adjuster (70) to adjust the bandwidth of the optical filter (71) (S60). That is, the control unit (90) adjusts the position of the optical filter (71) so that the bandwidth of the optical filter (71) is reduced when the illuminance exceeds the second reference value, thereby reducing the sunlight noise and increasing the maximum detection distance.

Next, a lidar sensing device according to a second embodiment of the present invention will be described. Since the second embodiment is substantially the same as the first embodiment except for the sensing light source unit, the same drawing numbers are given and the description thereof is omitted.

FIG. 6 is a configuration diagram illustrating a sensing light source, a light receiving lens, and a light receiving reflector in a lidar sensing device according to a second embodiment of the present invention.

Referring to FIG. 6, the sensing light source unit (10) according to the second embodiment of the present invention includes a light tube (11), a light source (13), and a light transmitting lens unit (15).

The light tube (11) is positioned so as to be out of the light path of the light receiving lens (40). The light tube (11) may be formed in a cylindrical shape. The light source (13) is installed inside the light tube (11). The light transmitting lens unit (15) is installed on the output side of the light source (13) to collimate the sensing light irradiated from the light source (13). Since the light transmitting lens unit (15) collimates the sensing light into parallel rays, the output of the sensing light can be improved.

The light transmitting lens unit (15) includes a first light transmitting lens (15a) and a second light transmitting lens (15b).

At least one first light transmitting lens (15a) is installed inside the optical tube (11). The first light transmitting lens (15a) is made of an optical material such as crystal, glass, or transparent synthetic resin.

The second transmitting lens (15b) is formed integrally with the receiving lens (40), and at least one is installed so that the sensing light transmitted through the first transmitting lens (15a) is incident. In addition, the receiving lens (40) and the transmitting reflector are formed integrally. The second transmitting lens (15b), the receiving lens (40), and the transmitting reflector (20) can be processed from the same optical material, such as crystal, glass, or transparent synthetic resin. Since the second transmitting lens (15b), the receiving lens (40), and the transmitting reflector (20) are integrated into one optical module, the number of parts of the lidar sensing device can be reduced. In addition, the formation of a reception cover area (A) by the optical tube (11) can be prevented.

Next, a lidar sensing device according to a third embodiment of the present invention will be described.

FIG. 7 is a configuration diagram illustrating a lidar sensing device according to a third embodiment of the present invention, and FIG. 8 is a configuration diagram illustrating a sensing light source unit, a light receiving lens, and a light receiving reflector in a lidar sensing device according to the third embodiment of the present invention.

Referring to FIGS. 7 and 8, the third embodiment of the present invention includes a sensing light source unit (10), a scanner unit (30), a light receiving lens (40), a light receiving reflector (50), a light detection unit (60), a bandwidth adjuster (70), an illuminance detection unit (80), and a control unit (90).

Here, the light detection unit (60), bandwidth adjuster (70), illuminance detection unit (80), and control unit (90) are the same as those in the first embodiment described above, so a detailed description is omitted.

The sensing light source unit (10) irradiates sensing light. The sensing light source unit (10) is arranged in the light path of the light receiving lens (40) and the light receiving reflector (50). Therefore, since the sensing light source unit (10) forms a receiving cover area (A) of the light receiving lens (40) and the light receiving reflector (50), the size of the receiving cover area (A) can be reduced. Accordingly, since the receiving cover area (A) is reduced in the light receiving lens (40), the light receiving efficiency can be increased. As the light receiving efficiency increases, the maximum detection distance of the lidar sensing device can be further increased.

In addition, since the sensing light source unit (10) is placed on the light path of the light receiving lens (40), there is no need to install a light transmitting reflector that reflects the sensing light irradiated from the sensing light source unit (10) toward the scanner unit (30). Accordingly, the number of parts of the lidar sensing device can be reduced.

The sensing light source unit (10) includes a light tube (11), a light source (13), and a light transmitting lens unit (15).

The light tube (11) is placed in the light path of the light receiving lens (40) and the light receiving reflector (50). The light tube (11) can be formed in a cylindrical shape. The light source (13) is installed inside the light tube (11).

The light transmitting lens unit (15) is installed on the output side of the light source (13) to collimate the sensing light irradiated from the light source (13), and is formed integrally with the light receiving lens (40). Since the light transmitting lens unit (15) collimates the sensing light into parallel rays, the output of the sensing light can be improved. In addition, since the light transmitting lens unit (15) and the light receiving lens (40) are integrated integrally, and the installation of the light transmitting reflector is omitted, the number of parts of the lidar sensing device can be further reduced.

The light transmitting lens unit (15) includes a first light transmitting lens (15a) and a second light transmitting lens (15b). The first light transmitting lens (15a) is installed inside the barrel (11). The second light transmitting lens (15b) is formed integrally with the light receiving lens (40), and the sensing light passing through the first light transmitting lens (15a) is incident on the second light transmitting lens (15b). Since the second light transmitting lens (15b) is formed integrally with the light receiving lens (40), the number of parts of the lidar sensing device can be reduced.

The scanner unit (30) reflects the sensing light irradiated from the sensing light source unit (10) to the target and reflects the incident light reflected from the target. A reflective layer is also formed on the scanner unit (30) to improve the light reflection efficiency. Since the sensing light irradiated from the sensing light source unit (10) is incident on the scanner unit (30), a light transmitting reflector does not need to be installed to reflect the sensing light toward the scanner unit (30). Therefore, the number of parts of the lidar sensing device can be reduced.

The scanner unit (30) includes a scanner reflector (31) and a scanner driving unit (33). The scanner reflector (31) reflects sensing light irradiated from the sensing light source unit (10) toward the target, and reflects incident light reflected from the target to the light receiving lens (40). The scanner driving unit (33) is connected to the scanner reflector (31) so as to rotate the scanner reflector (31). Since the scanner driving unit (33) rotates the scanner reflector (31), the reflection angles of the sensing light and the incident light can be changed according to the angle of the scanner reflector (31).

A motor unit can be applied as the scanner driving unit (33). The motor unit may include an encoder or be connected to an encoder. The encoder measures the number of rotations, rotation speed, rotation angle, etc. of the motor unit and provides them to the control unit (90).

The light receiving lens (40) transmits incident light reflected from the scanner unit (30) and is formed integrally with the sensing light source unit (10). The light receiving lens (40) can be processed from an optical material such as crystal, glass, or transparent synthetic resin. The light receiving lens (40) can have an anti-reflection coating layer formed on it to prevent incident light from being reflected. Since the light receiving lens (40) and the sensing light source unit (10) are integrated into one optical module, the number of parts can be reduced. In addition, the reception cover area (A) can be reduced.

The light receiving reflector (50) reflects the incident light that has passed through the light receiving lens (40). A reflective layer is also formed in the scanner section (30) to improve light reflection efficiency.

The light detection unit (60) receives incident light reflected from the light receiving reflector (50). The light detection unit (60) can detect the position and distance of the target as the incident light is received.

Next, a lidar sensing device according to a fourth embodiment of the present invention will be described. The fourth embodiment is substantially the same as the third embodiment except for the light transmitting lens unit and the light receiving lens, and therefore, the same drawing numbers are given and the description thereof is omitted.

FIG. 9 is a configuration diagram illustrating a sensing light source unit, a light receiving lens, and a light receiving reflector in a lidar sensing device according to a fourth embodiment of the present invention.

Referring to FIG. 9, the sensing light source unit (10) according to the fourth embodiment of the present invention includes a light tube (11), a light source (13), and a light transmitting lens unit (15).

The light tube (11) is placed on the light path of the light receiving lens (40) and the light receiving reflector (50). The light tube (11) can be formed in a cylindrical shape. The light source (13) is installed inside the light tube (11).

The light transmitting lens unit (15) is arranged on the output side of the light source (13) to collimate the sensing light irradiated from the light source (13), and is formed integrally with the light receiving lens (40). Since the light transmitting lens unit (15) collimates the sensing light into parallel rays, the output of the sensing light can be improved. In addition, since the light transmitting lens unit (15) and the light receiving lens (40) are formed integrally, the number of parts of the lidar sensing device can be reduced.

The light transmitting lens unit (15) includes a first light transmitting lens (15a) and a second light transmitting lens (15b).

The first light transmitting lens (15a) is formed integrally with the light receiving lens (40). The first light transmitting lens (15a) is made of an optical material such as crystal, glass, or transparent synthetic resin. Since the first light transmitting lens (15a) is formed integrally with the light receiving lens (40), the number of parts of the lidar sensing device can be reduced.

The second transmitting lens (15b) receives the sensing light transmitted through the first transmitting lens (15a) and is formed integrally with the receiving lens (40). The second transmitting lens (15b), the first transmitting lens (15a), and the receiving lens (40) can be processed from the same optical material such as crystal, glass, or transparent synthetic resin. Since the receiving lens (40), the first transmitting lens (15a), and the second transmitting lens (15b) are integrated into one optical module, the number of parts of the lidar sensing device can be reduced. In addition, the size of the receiving cover area (A) can be reduced.

As described above, since parts of the receiving optical system and the transmitting optical system are integrated into a single optical module, the number of parts of the lidar sensing device can be reduced.

In addition, since the size of the occlusion area in the light receiving lens (40) can be reduced, the light receiving efficiency can be increased. As the light receiving efficiency increases, the maximum detection distance of the lidar sensing device can be further increased.

In this way, the lidar sensing device and method according to one embodiment of the present invention can improve the maximum detection distance by adjusting the bandwidth of the optical filter (71) according to the surrounding illuminance when the signal intensity of the received signal is relatively low.

In addition, since the lidar sensing device and method according to one embodiment of the present invention integrates a portion of the receiving optical system and the transmitting optical system into one optical module, the number of parts of the lidar sensing device can be reduced.

In addition, the lidar sensing device and method according to one embodiment of the present invention can reduce the size of the occlusion area in the light-receiving lens, thereby increasing the light receiving efficiency. As the light receiving efficiency increases, the maximum detection distance of the lidar sensing device can be further increased.

Although the present invention has been described with reference to the embodiments shown in the drawings, these are merely exemplary, and those skilled in the art will understand that various modifications and equivalent other embodiments are possible from this. Accordingly, the true technical protection scope of the present invention should be determined by the following patent claims.

10: Sensing light source 11: Optical tube
13: Light source 15: Light transmission lens
15a: 1st transmitting lens 15b: 2nd transmitting lens
20: Transmission reflector 30: Scanner section
31: Scanner reflector 33: Scanner drive unit
40: Photoreceiving lens 50: Photoreceiving reflector
60: Photodetector 70: Bandwidth adjuster
71: Optical filter 72: Bandwidth adjustment unit
80: Illumination detection unit 90: Control unit
A: Receiver Coverage Area

Claims (12)

A bandwidth adjuster that adjusts the bandwidth of incident light reflected from a target and incident through a light receiving reflector;
A light detection unit that detects incident light incident from the above bandwidth adjuster;
A light detection unit that detects the light around the vehicle; and
A control unit is included that detects illuminance through the illuminance detection unit according to the intensity of the reception signal detected by the above light detection unit, and controls the bandwidth controller according to the detected illuminance to adjust the bandwidth.
The bandwidth adjuster comprises an optical filter arranged between the light receiving reflector and the light detection unit to allow incident light of the adjusted bandwidth to enter the light detection unit; and a bandwidth adjustment unit that adjusts the bandwidth of the optical filter by adjusting the position of the optical filter.
The above control unit detects illuminance through the illuminance detection unit when the intensity of the reception signal detected by the light detection unit is less than the first reference value,
A lidar sensing device characterized in that the control unit adjusts the initial setting value of the optical filter or reduces the bandwidth by adjusting the position of the optical filter according to the illuminance detected by the illuminance detection unit.
delete delete In the first paragraph, the control unit
A lidar sensing device characterized in that the initial setting value of the preset optical filter is maintained when the intensity of the reception signal detected by the above-detected light detection unit is equal to or greater than the first reference value.
delete In the first paragraph, the control unit
A lidar sensing device characterized in that the initial setting value of the optical filter is adjusted when the illuminance detected by the illuminance detection unit is lower than or equal to a preset second reference value.
In the first paragraph, the control unit
A lidar sensing device characterized in that the bandwidth of the optical filter is reduced when the illuminance detected by the illuminance detection unit exceeds a preset second reference value.
A step in which the control unit detects the intensity of a received signal detected by the photodetector;
A step in which the control unit detects illuminance through the illuminance detection unit according to the intensity of the reception signal detected by the light detection unit; and
The above control unit includes a step of controlling a bandwidth regulator to adjust the bandwidth according to the illuminance detected by the illuminance detection unit,
The bandwidth adjuster comprises an optical filter arranged between a light receiving reflector and the light detection unit to cause incident light of the adjusted bandwidth to be incident on the light detection unit; and a bandwidth adjustment unit that adjusts the bandwidth of the optical filter by adjusting the position of the optical filter.
In the step of detecting illuminance through the illuminance detection unit, if the intensity of the reception signal detected by the light detection unit is less than the first reference value, the control unit detects the illuminance through the illuminance detection unit,
A lidar sensing method, characterized in that in the step of controlling the bandwidth regulator to adjust the bandwidth, the control unit adjusts the initial setting value of the optical filter according to the illuminance detected by the illuminance detection unit or adjusts the position of the optical filter to reduce the bandwidth.
delete delete In the step of controlling the bandwidth regulator to adjust the bandwidth in the 8th paragraph,
A lidar sensing method, characterized in that the control unit adjusts the initial setting value of the optical filter when the illuminance detected by the illuminance detection unit is lower than or equal to a preset second reference value.
In the step of controlling the bandwidth regulator to adjust the bandwidth in the 8th paragraph,
A lidar sensing method, characterized in that the control unit reduces the bandwidth of the optical filter when the illuminance detected by the illuminance detection unit exceeds a preset second reference value.

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