DE102019209572A1 - Sensor unit for a vehicle and a vehicle with such a sensor unit - Google Patents

Abstract

The invention relates to a sensor unit (10) for a vehicle (100), in particular for an autonomous or partially autonomous vehicle, the sensor unit (10) having an environment sensor (20) for recording environment data (22) of the vehicle (100), and wherein the sensor unit (10) can be connected to a processing unit (105) of the vehicle (100). One aspect is that the sensor unit (10) has a data storage unit (30) and an internal processing unit (40), the internal processing unit ( 40) is set up to determine a possible break in the connection between the sensor unit (10) and the processing unit (105) of the vehicle (100) at a point in time, to acquire the environment data (22) by means of the environment sensor (20) and depending on the possible interruption of the connection, to store the captured environment data (22) in the data storage unit (30). The invention also relates to a vehicle (100) with a sensor unit according to the invention (10) and with a processing unit (105), the sensor unit (10) being connected to the processing unit (105) of the vehicle (100).

Description

State of the art

The invention is based on a sensor unit for a vehicle, in particular for an autonomous or partially autonomous vehicle, the sensor unit having an environment sensor for capturing environment data of the vehicle, and the sensor unit being connectable to a processing unit of the vehicle.

Such sensor units are already known to the person skilled in the art, with environment data typically being recorded by means of the environment sensor and forwarded to a processing unit of the vehicle. The processing unit can then use the environment data to control driving functions, for example, or warn the vehicle driver of dangers.

An autonomous or semi-autonomous vehicle controls the vehicle alone or supports the driver in controlling the vehicle. For this purpose, for example, a central control device accesses the environment data from corresponding sensor units in order to recognize the course of the road, other road users or obstacles and to be able to react accordingly. A corresponding vehicle can then act, for example, on actuators of the vehicle, such as the steering and / or the brakes, in response.

Disclosure of the invention

The invention is based on a sensor unit for a vehicle, in particular for an autonomous or partially autonomous vehicle, the sensor unit having an environment sensor for capturing environment data of the vehicle, and the sensor unit being connectable to a processing unit of the vehicle.

One aspect of the invention is that the sensor unit has a data storage unit and a processing unit, the processing unit being set up to determine a possible break in the connection between the sensor unit and the processing unit of the vehicle at a point in time when the environment data is recorded using the environment sensor and, depending on the possible disconnection, store the captured environment data in the data storage unit.

A sensor unit for a vehicle is to be understood as meaning that the sensor unit can be arranged in or on the vehicle and can be correspondingly connected to the processing unit of the vehicle.

A vehicle can in particular be a motor vehicle, for example a car or a truck. This vehicle can in particular be designed to be autonomous or partially autonomous.

The environment sensor for capturing the environment data of the vehicle can for example have an ultrasonic sensor, optical imaging sensor, radar sensor, lidar sensor and / or position determination sensor. In particular, several different such sensors can also be integrated in the environment sensor.

Surrounding data is to be understood as meaning measured values which are recorded in the surroundings of the vehicle at a certain point in time or during a certain period of time. This environment data can be used to infer the environment of the vehicle, for example whether there are obstacles or other road users in the vicinity of the vehicle.

A connection between the sensor unit and the processing unit of the vehicle is to be understood here as a data connection, so that in particular the environment data captured by the environment sensor can be transmitted to the processing unit of the vehicle and thus a communication connection is present between these two units.

In particular, the connection can be configured as a wired connection. Alternatively, however, the connection could also be wireless, for example in that the sensor unit and the processing unit are each equipped with a WLAN unit and / or Zigbee unit and / or Bluetooth unit and / or LoRa unit and / or mobile radio unit.

The term disconnection is understood to mean that no data can be exchanged between the sensor unit and the processing unit of the vehicle. A possible connection break is to be understood as a connection break, which is present with a corresponding probability and is therefore only possibly present. A possible disconnection can occur, for example, due to an accident in the vehicle. Alternatively, a technical error can cause the connection to be aborted. Alternatively, electromagnetic interference can lead to the connection being broken. The internal processing unit can check such a possible break in connection, for example, by sending a ping from the sensor unit to the processing unit. Will be within If no response is received from the processing unit within a certain period of time after the ping has been sent, the internal processing unit can assume that the connection may have been aborted.

The processing unit of the vehicle can, for example, be designed as a central control device and control the vehicle accordingly as a function of the received environmental data.
The internal processing unit of the sensor unit can be, for example, a microcontroller, an ASIC or a neuromorphic computing unit.

A data storage unit is to be understood in particular as an electronic storage medium, for example a ROM or RAM.
The data storage unit can also be integrated into the internal processing unit of the sensor unit.

It is advantageous here that in the event of a possible interruption of the connection between the sensor unit and the processing unit of the vehicle, the environment data recorded by means of the environment sensor are securely stored in the data storage unit and are not lost. As a result, the correspondingly stored environment data can still be evaluated despite a possible disconnection.
For example, the environment data can be transmitted to the processing unit for evaluation as soon as a connection is established again. This can then evaluate the surrounding data now received, for example by overclocking the processing unit, in order to close the corresponding gap in the information acquisition.
Alternatively or additionally, for example, an evaluation unit can also read out the stored environmental data in order to be able to further process them externally.
In addition, it is also conceivable that, in the event of a certain, possible connection interruption, in addition to storing the environment data in the data storage unit, an attempt is made to continue to transmit the environment data to the processing unit of the vehicle.
In addition, it is possible to subsequently merge the stored environmental data with environmental data from other sensor units in order to obtain an overall picture of the vehicle's surroundings.

In one embodiment of the sensor unit according to the invention, it is provided that the internal processing unit is set up to receive movement data of the vehicle and to determine the possible disconnection as a function of the movement data.
Movement data of the vehicle are measured values which represent the movement of the vehicle at a certain point in time or during a certain period of time. In this context, a movement can be understood to mean, for example, an acceleration or deceleration, a speed or a rotation of the vehicle.
It is advantageous here that the movement data can for example provide information about a possible accident involving the vehicle. Such an accident can in particular lead to the connection between the sensor unit and the processing unit of the vehicle being interrupted. The environmental data stored in this case can later provide information about the course of the accident, for example.

According to one embodiment of the sensor unit according to the invention, it is provided that the sensor unit has a movement sensor for detecting movement data of the vehicle and the internal processing unit is set up to receive movement data from the movement sensor.
The advantage here is that this represents a simple and reliable way of recording the movement data of the vehicle.

According to one embodiment of the sensor unit according to the invention, it is provided that the movement sensor has an acceleration sensor and / or a rotation rate sensor.
It is advantageous here that a corresponding possible accident involving the vehicle can be detected particularly easily and reliably by means of a movement sensor and / or a rotation rate sensor.

According to one embodiment of the system according to the invention, it is provided that the internal processing unit is set up to store the movement data in addition to the environment data in the data storage unit. It is advantageous here that, in the event of a later evaluation, not only the environment data but also the associated movement data can be accessed. This in turn facilitates the reconstruction of a possible accident, for example.

According to one embodiment of the system according to the invention, it is provided that the internal processing unit is set up to receive movement data of the vehicle from the processing unit of the vehicle and / or a further unit of the vehicle.
An airbag sensor can be understood as a further unit of the vehicle, for example, which itself already has a corresponding movement sensor for detecting movement data of the vehicle. The movement data can here either directly from the further unit or via the processing unit to the sensor unit. The advantage here is that the sensor unit either does not need its own movement sensor, which makes the production of the sensor unit easier and more cost-effective, or that the internal processing unit can compare the movement data of the movement sensor and the movement data received from the outside and check the plausibility accordingly.

According to one embodiment of the system according to the invention, it is provided that the internal processing unit is set up to compare the movement data with a predetermined threshold value and to determine a possible disconnection if at least one value of the movement data is greater than the threshold value.
The threshold value can be selected in such a way that a value of the movement data exceeds the threshold value only in extreme cases, for example in the event of an accident of the vehicle.
It is advantageous here that this represents a simple possibility of determining a possible accident of the vehicle and a possible interruption of the connection between the sensor unit and the processing unit of the vehicle associated therewith.

According to one embodiment of the system according to the invention, it is provided that the internal processing unit is set up to receive a signal from the processing unit of the vehicle and / or from another unit of the vehicle, the signal containing information about a possible disconnection, and the internal processing unit is set up to determine the possible disconnection as a function of the signal.
The signal can, for example, only contain the information as to whether or not a break in the connection is likely or whether or not an accident could have occurred.
It is advantageous here that the determination of a possible disconnection using the signal is simplified for the internal processing unit and can also be implemented more quickly.

According to one embodiment of the system according to the invention, it is provided that the sensor unit has an energy storage unit, which in particular has a capacitor and / or a battery.

The energy storage unit is provided in particular to supply the electronic components of the sensor unit with electrical energy. In particular, the sensor unit can be set up to access this energy storage unit only in the event of a possible disconnection.
It is advantageous here that in the event of a possible accident or any other interruption in the voltage supply, in particular the energy supply to the sensor unit can also be maintained. The sensor unit is usually connected to a circuit of the vehicle via which the various electronic components of the vehicle are supplied with electrical energy. In the event of an accident or an electromagnetic disturbance, however, this circuit can be interrupted and consequently the sensor unit may not be supplied with electrical energy or only sporadically by this circuit.

According to one embodiment of the system according to the invention, it is provided that the sensor unit can be connected to a first circuit of the vehicle and additionally to a second circuit of the vehicle. It is advantageous here that if the first circuit should be interrupted due to an accident of the vehicle and / or due to an electromagnetic interference, the sensor unit can still be supplied with electrical energy by means of the second circuit.

According to one embodiment of the system according to the invention, it is provided that the internal processing unit is set up to record environmental data over a predetermined period of time after the point in time of the possible disconnection and to store them in the data storage unit.
It is advantageous here that, in particular, the environment data which are recorded after a possible connection breakdown are stored in the data storage unit. These data can be particularly relevant for the reconstruction of the course of an accident.

According to one embodiment of the system according to the invention, it is provided that the internal processing unit is set up to store the captured environment data with a time stamp.
The advantage here is that when the environment data is evaluated later, they can be evaluated correctly.
The time stamp can be synchronized globally in the vehicle, for example, as long as the connection between the sensor unit and the processing unit is present.

The invention also relates to a vehicle which is designed in particular to be autonomous or partially autonomous, the vehicle having a sensor unit according to the invention and a processing unit, and the sensor unit being connected to the processing unit of the vehicle.

Figure list

• 1 shows an embodiment of a sensor unit according to the invention, which is arranged in a vehicle.

Description of exemplary embodiments

1 shows an embodiment of a sensor unit according to the invention, which is arranged in a vehicle.
A vehicle is shown 100 . Such a vehicle 100 can in particular be a motor vehicle that is designed in particular to be autonomous or partially autonomous.

The vehicle 100 has a processing unit 105 and a sensor unit 10 on. The processing unit 105 can for example as a central control unit of the vehicle 100 be designed which, for example, the autonomous or semi-autonomous driving functions of the vehicle 100 controls.
The sensor unit 10 has an environment sensor 20th for the acquisition of environmental data 22nd of the vehicle 100 on. The environment sensor 20th can for example be designed as an ultrasonic sensor, optical imaging sensor, radar sensor, lidar sensor and / or position determination sensor.

Furthermore, the sensor unit 10 an internal processing unit 40 which is set up for this, environmental data 22nd by means of the environment sensor 20th capture. The internal processing unit 40 can for example be designed as a microcontroller, ASIC or neuromorphic sensor processing unit.

The sensor unit 10 is also with the processing unit 105 of the vehicle 100 connected.
The environment data 22nd from the environment sensor 20th via the internal processing unit 40 to the processing unit 105 be transmitted. However, it would also be conceivable that the environment data 22nd directly from the environment sensor 20th to the processing unit 105 are transmitted, but this is not shown here graphically. This connection is designed as a wired connection, but could alternatively or additionally also be wireless. With a wireless connection, the sensor unit 10 and the processing unit 105 for example each have a communication unit, not shown, by means of which a data exchange is made possible.

Furthermore is the internal processing unit 40 set up for this, a possible break in the connection between the sensor unit 10 and the processing unit 105 of the vehicle 100 to be determined at a point in time and, depending on the possible disconnection, the captured environment data 22nd into a data storage unit 30th the sensor unit 10 to save.
In particular is the internal processing unit 40 is set up for this purpose, over a predetermined period of time after the point in time of the possible disconnection of the connection 22nd to capture and in the data storage unit 30th to save. A forward-looking, cyclical intermediate storage of the environment data in a ring buffer before the connection is broken is also conceivable.
Furthermore is the internal processing unit 40 set up the captured environmental data 22nd each with a time stamp in the data storage unit 30th to save.

In particular is the internal processing unit 40 set up for this, movement data 52 of the vehicle 100 to receive and depending on the movement data 52 determine the possible disconnection. The sensor unit 10 for example a motion sensor 50 have, which with the internal processing unit 40 is connected in such a way that this is the movement data 52 by means of the motion sensor 50 can capture. The motion sensor 50 can for example have an acceleration sensor and / or a yaw rate sensor.
In addition, the internal processing unit 40 be set up for the transaction data 52 to compare with a predetermined threshold value and to determine a possible disconnection if at least one value of the movement data 52 is greater than the threshold.

Alternatively or additionally, the internal processing unit 40 however, it must also be set up to include movement data 52 of the vehicle 100 from the processing unit 105 and / or from another unit 107 of the vehicle 100 to recieve. The further unit 107 of the vehicle 100 can for example be an airbag sensor and / or ESP sensor, which is itself equipped with a corresponding motion sensor, not shown in the figure.

Optionally, the internal processing unit 40 also be set up to store the movement data 52 in addition to the environment data 22nd in the data storage unit 30th to save.

Furthermore, the internal processing unit 40 also set up a signal 120 from the processing unit 105 of the vehicle 100 and / or from the further unit 107 of the vehicle 100 to receive, taking the signal 120 has information about a possible disconnection. The internal processing unit 40 be set up depending on the received signal 120 determine the possible disconnection. For example, the evaluation of movement data 52 already by the processing unit 105 of the vehicle 100 or by the further unit 107 of the vehicle 100 be done, which then corresponds to the result of this evaluation in the form of the signal 120 to the internal processing unit 40 transmitted.

Optionally, the sensor unit 10 also its own energy storage unit 60 has, which in particular has a capacitor and / or a battery.
Alternatively or additionally, the sensor unit is 10 with a first circuit 111 of the vehicle 100 and additionally with a second circuit 112 of the vehicle 100 connected.

Claims (13)

Sensor unit (10) for a vehicle (100), in particular for an autonomous or semi-autonomous vehicle, the sensor unit (10) having an environment sensor (20) for capturing environment data (22) of the vehicle (100), and the sensor unit (10 ) can be connected to a processing unit (105) of the vehicle (100), characterized in that the sensor unit (10) has a data storage unit (30) and an internal processing unit (40), the internal processing unit (40) being set up for this to determine a possible break in the connection between the sensor unit (10) and the processing unit (105) of the vehicle (100) at a point in time, to record the environment data (22) by means of the environment sensor (20) and, depending on the possible break in the connection, the recorded environment data (22) to be stored in the data storage unit (30). Sensor unit (10) Claim 1 , characterized in that the internal processing unit (40) is set up to receive movement data (52) of the vehicle (100) and to determine the possible disconnection as a function of the movement data (52). Sensor unit (10) Claim 2 , characterized in that the sensor unit (10) has a movement sensor (50) for detecting movement data (52) of the vehicle and the internal processing unit (40) is set up to receive movement data (52) from the movement sensor (50). Sensor unit (10) Claim 3 , characterized in that the motion sensor (50) has an acceleration sensor and / or a rotation rate sensor. Sensor unit (10) according to one of the Claims 3 or 4th , characterized in that the internal processing unit (40) is set up to store the movement data (52) in addition to the environment data (22) in the data storage unit (30). Sensor unit (10) according to one of the Claims 2 to 5 , characterized in that the internal processing unit (40) is set up to transfer movement data (52) of the vehicle (100) from the processing unit (105) of the vehicle (100) and / or a further unit (107) of the vehicle (105) receive. Sensor unit (10) according to one of the Claims 2 to 6th , characterized in that the internal processing unit (40) is set up to compare the movement data (52) with a predetermined threshold value and to determine a possible disconnection if at least one value of the movement data (52) is greater than the threshold value. Sensor unit (10) according to one of the preceding claims, characterized in that the internal processing unit (40) is set up to receive a signal (120) from the processing unit (105) of the vehicle (100) and / or from a further unit (107) of the vehicle (100), the signal (120) having information about a possible disconnection, and wherein the internal processing unit (40) is set up to determine the possible disconnection as a function of the signal (120). Sensor unit (10) according to one of the preceding claims, characterized in that the sensor unit (10) has an energy storage unit (60), which in particular has a capacitor and / or a battery. Sensor unit (10) according to one of the preceding claims, characterized in that the sensor unit (10) can be connected to a first circuit (111) of the vehicle (100) and additionally to a second circuit (112) of the vehicle (100). Sensor unit (10) according to one of the preceding claims, characterized in that the internal processing unit (40) is set up to record environmental data (22) over a predetermined period of time after the point in time of the possible disconnection and to store them in the data storage unit (30) . Sensor unit (10) according to one of the preceding claims, characterized in that the internal processing unit (40) for this is set up to store the captured environment data (22) each with a time stamp. Vehicle (100), which is designed in particular to be autonomous or partially autonomous, the vehicle (100) having a sensor unit (10) according to one of the Claims 1 to 12 and a processing unit (105), and wherein the sensor unit (10) is connected to the processing unit (105) of the vehicle (100).

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