Abstract: A method for detecting defocusing of a LiDAR sensor. The method includes: emitting primary light as a laser line into a field of view of the LiDAR sensor to scan the field of view; receiving secondary light reflected and/or scattered in the field of view by an object using a matrix-shaped detector unit, the detector unit including a first receiving area and a second receiving area which differs from the first receiving area; determining a distance between the LiDAR sensor and an object based on secondary light received in the first receiving area; and ascertaining information about an extent of defocusing based on secondary light received in the second receiving area. The first receiving area is determined by calibrating the matrix-shaped detector unit. The first receiving area and the second receiving area are activated separately from one another to receive secondary light.

Abstract: A method for detecting a defocusing of a LIDAR sensor. The method includes: emitting primary light as a laser line into a field of view of the LIDAR sensor using a laser emitter unit of a transmitting unit of the LIDAR sensor for scanning the field of view; receiving, using a matrix-shaped detector unit of a receiving unit, secondary light reflected and/or scattered by an object in the field of view, wherein the detector unit has a first reception area and a second reception area different from the first reception area; determining, using evaluation unit, a distance between the LIDAR sensor and an object in the field of view of the LIDAR sensor based on secondary light received in the first reception area, and ascertaining, by means of an evaluation unit, information about an extent of the defocusing based on the secondary light received in the second reception area.

Abstract: A method for determining the maximum range of a LiDAR sensor. The method includes: providing a LiDAR point cloud using a LiDAR sensor, which images an environment of the LiDAR sensor at a certain point in time within a predefined field of view of the LiDAR sensor in a three-dimensional manner; identifying at least two different point sets within the LiDAR point cloud, each imaging an area in the environment that was identified as belonging to a predefined environment object; calculating the particular areas that are imaged by the point sets in each case, and dividing the number of LiDAR points imaging these areas by the individually imaged corresponding areas to obtain at least two different point densities; calculating a quotient from the point densities, and using this quotient to ascertain the maximum range of the LiDAR sensor, for which a previously stored regression curve is used.

Abstract: A method for range determination for a LIDAR sensor. The method includes: receiving measured values of a LIDAR sensor organized in a point cloud, and each including pieces of directional information and radial distance information relative to the LIDAR sensor and representing a laser beam reflected from the particular direction and at the particular radial distance; assigning the measured values based on the pieces of directional and radial distance information to areas of interest of a field of view; ascertaining a maximum distance range as an area of interest including a maximum radial distance to the LIDAR sensor and a point distribution of measured values of the area of interest, which includes a variance which reaches or exceeds a predetermined limiting value; and providing a value of the radial distance of the maximum distance range to the LIDAR sensor as the maximum range of the LIDAR sensor.