Rechenvorrichtung für einen Lidar-Sensor zur eindeutigen Detektion von Objekten

Es wird eine Rechenvorrichtung für einen Lidar-Sensor (2) zur eindeutigen Detektion von Objekten (3-5) vorgeschlagen, umfassend zumindest ein Rechenmodul (6), das dazu vorgesehen ist, in Abhängigkeit von Messwerten aus zumindest zwei benachbarten Pixeln (7-12) des Lidar-Sensors (2) des Lidar-Sensors (2) zumindest eine Objekthypothese zu bestimmen und zu validieren, wobei die Messwerte aus den zumindest zwei benachbarten Pixeln (7-12) unter Verwendung unterschiedlicher Modulationssteigungen einer Sendefrequenz des Lidar-Sensors (2) erhalten wurden. The invention relates to a lidar system with a lidar sensor and a computer device. The computer device comprises a computer module which determines and validates at least one object hypothesis according to measurement values from one at least two adjacent pixels (7-12) of the lidar sensor, with the measurement values from the at least two adjacent pixels (7-12) having been obtained using different modulation slopes of a transmission frequency of the lidar sensor. A distance between the lidar sensor and the object, in particular a vehicle, is plotted on the horizontal axis (21) of the diagrams (20). A speed of the object (3) relative to the lidar sensor is plotted on the vertical axis (22) of the diagrams. Solid diagonal lines (23) represent measurement values from the respective pixel (7 -12). Dashed diagonal lines (24) represent measurement values from at least one adjacent pixel (7-12). Points (25) represent validated object hypotheses in at least one adjacent pixel (7-12). Rings (26) represent validated object hypotheses in the respective pixel (7-12). The measurement values from the at least two adjacent pixels (7-12) were obtained using different modulation slopes of the transmission frequency of the lidar sensor. Depending on ambiguous object hypotheses in at least one pixel (7-12), the object hypotheses are eliminated or validated using measurement values from other pixels (7-12). Ambiguous object hypotheses can exist if objects in a pixel are only partially hit by the emitted radiation, in particular due to beam expansion or in the case of partially transparent objects. The ambiguities can be resolved using the measurement values from adjacent pixels in which there are full matches of the objects.