CN104656096A - Method for detecting objects and/or determining distance between object and transport facility - Google Patents
Method for detecting objects and/or determining distance between object and transport facility Download PDFInfo
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- CN104656096A CN104656096A CN201510059106.3A CN201510059106A CN104656096A CN 104656096 A CN104656096 A CN 104656096A CN 201510059106 A CN201510059106 A CN 201510059106A CN 104656096 A CN104656096 A CN 104656096A
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- 238000000034 method Methods 0.000 title claims abstract description 23
- 238000001514 detection method Methods 0.000 claims abstract description 14
- 230000003287 optical effect Effects 0.000 claims description 135
- 238000005259 measurement Methods 0.000 claims description 21
- 230000005855 radiation Effects 0.000 claims description 17
- 238000007598 dipping method Methods 0.000 claims description 4
- 239000011159 matrix material Substances 0.000 description 13
- 230000006870 function Effects 0.000 description 9
- 230000007704 transition Effects 0.000 description 7
- 230000033001 locomotion Effects 0.000 description 5
- 238000012544 monitoring process Methods 0.000 description 5
- 230000000903 blocking effect Effects 0.000 description 4
- 239000011521 glass Substances 0.000 description 3
- 230000003213 activating effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000004020 luminiscence type Methods 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/42—Simultaneous measurement of distance and other co-ordinates
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
- G01D5/32—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
- G01D5/34—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
- G01D5/342—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells the sensed object being the obturating part
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/78—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using electromagnetic waves other than radio waves
- G01S3/782—Systems for determining direction or deviation from predetermined direction
- G01S3/783—Systems for determining direction or deviation from predetermined direction using amplitude comparison of signals derived from static detectors or detector systems
- G01S3/784—Systems for determining direction or deviation from predetermined direction using amplitude comparison of signals derived from static detectors or detector systems using a mosaic of detectors
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4816—Constructional features, e.g. arrangements of optical elements of receivers alone
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Measurement Of Optical Distance (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention relates to a method for detecting objects (O) and/or determining distance (h) between the object (O) and a transport facility, especially a motor vehicle (10), wherein light is emitted to the object (O) from at least one light transmitter (A-F), the light is detected by at least one light receiver (6), and the at least one light receiver (6) is switched to a detection operation mode to detect the object (O), when the light detected by the at least one light receiver (6) comprises the light transmitted by the at least one light transmitter (A-F) and reflected by the object (O), the object (O) is detected, wherein, in order to determine the distance (h) between the object (O) and the transport facility, especially the motor vehicle (10), the at least one light receiver (6) is switched to a distance measuring operation mode different from the detection operation mode, and the distance (h) between the object (O) and the transport facility, especially the motor vehicle (10), is determined according to information, wherein the information is about how the light transmitted by the at least one light transmitter (A-F) and reflected by the object (O) is detected by the at least one light receiver (6).
Description
Former application for a patent for invention (the applying date: on March 27th, 2013 that to be invention and created name be the application " detected object and/or determine method and the sensing system of spacing "; Application number: divisional application 201310100855.7).
Technical field
The present invention relates to a kind of for detected object and/or the method for determining object and the transport facility spacing especially between motor vehicle.
Background technology
EP 2 314 427 A2 describes the motion detection to object in monitoring room.At this, optical transmitting set is with burst operative mode work or work continuously, wherein, carries out range observation by pulse measuring method.For the optical transmitting set of range observation before not using in motion detection.The layout of (such as 8*8) photodiode is disclosed as optical receiver.
DE 10 2,007 050 094 A1 describes a kind of blocking device for automobile.Optical sensor detects the object near motor vehicle.When having locking right, touching capacitive proximity sensor and can cause lock.
DE 10 2,009 023 594 A1 discloses a kind of method for automatic operation motor vehicle blocking element.At this, only when capacitance type sensor and optical sensor all detect the motion at least partially of predetermined movement characteristic, just automatically operation locking element.
DE 10 2,004 021 505 B3 describe a kind of on operating motor vehicle or within electric device or the equipment of electromechanical assembly, described equipment is by working sensor, and described sensor responds to coming close to or in contact with and is condenser type or optics work.
Summary of the invention
Technical matters to be solved by this invention is, detect near transport facility especially motor vehicle object and/or determine the spacing of transport facility especially between motor vehicle and this object.At this, the quality that object detection and/or spacing are determined should be higher than prior art, and not energization consumption.
This technical matters by the present invention by a kind of for detected object and/or for determining that the method for object and the transport facility spacing especially between motor vehicle solves.In the method, by one or more optical transmitting set utilizing emitted light, and detect light by one or more optical receiver.At this, optical receiver is detected object in detection operational mode.When one of optical receiver detect to be launched by one of optical transmitting set and must light by object reflection time, described object detected.In order to determine transport facility especially motor vehicle or the spacing between optical sensor and object, the distance measurement operational mode that at least one access at least one optical receiver described is different from detecting operational mode.In other words, when the inventive method is only by an optical receiver job, optical receiver access spacing is measured operational mode, and when the inventive method is by multiple optical receiver work, one or more optical receiver access spacing is measured operational mode.Launch according to one of optical transmitting set and the spacing of information determination transport facility especially between motor vehicle and object how detected by least one optical receiver by the light of object reflection.
According to a decision design of the inventive method, at least one optical receiver described comprises multiple photodiode, in order to detected object, activate all photodiodes, to determine whether object to be detected according to the measurement result of these photodiodes be activated, and in order to determine the spacing of transport facility especially between motor vehicle and object, only activate a part of photodiode, so that according to the spacing of measurement result determination transport facility especially between motor vehicle and object of these photodiodes be activated.
In order to determine spacing, such as only have some optical receivers determined with distance measurement run-mode, and in order to detected object, usually all optical receivers are all to detect run-mode, in described detection operational mode, optical transmitting set especially produces stray illumination.All photodiodes can be compared thus in an advantageous manner all in order to detect the optical sensor reduction energy ezpenditure that spacing works.
For this reason, in order to determine described spacing, can make with the following method:
Wherein, launch bright dipping with the radiation angle of presetting towards object by least one optical transmitting set,
Wherein, launched by least one optical transmitting set described and detected with the incident angle preset by least one optical receiver by the light of object reflection, and
Wherein, according to radiation angle, incident angle and the spacing of distance determination transport facility especially between motor vehicle and object between at least one optical transmitting set described and at least one optical receiver described.
Further decision design as stated above, at least one optical transmitting set described comprises multiple optical transmitting set, by each optical transmitting set to correspond respectively to the radiation angle of each optical transmitting set towards object utilizing emitted light, at least one optical receiver described comprises multiple optical receiver, each optical receiver detects light with the incident angle corresponding to each optical receiver, and to be launched by one of optical transmitting set according to detection and by the incident angle of that optical receiver of the light of object reflection, the radiation angle of the optical transmitting set detected by described optical receiver according to that utilizing emitted light described and according to the spacing of distance determination transport facility especially between motor vehicle and object between described optical receiver and described optical transmitting set.
A kind of first sensor system for determining object and the transport facility spacing especially between motor vehicle is also provided within the scope of the invention.At this, described sensing system comprises one or more optical transmitting set, one or more optical receiver and apparatus for evaluating.Optical transmitting set, with the radiation angle utilizing emitted light preset, to irradiate the object near optical sensor thus, and determines the spacing with this object thus.Sent by least one optical transmitting set and detected with the incident angle preset by one of optical receiver by the light of object reflection.Apparatus for evaluating is designed for according to radiation angle, incident angle and with the corresponding light transmitter radiating angle luminescence and the spacing between the distance determination first sensor system (and being therefore transport facility especially motor vehicle) between the corresponding light receiver receiving described light with corresponding incident angle and object.
Other form of implementation about first sensor system can with reference to the description according to the first method of the present invention.
Within the scope of the invention, also provide a kind of for detected object and/or the second sensing system for determining object and sensing system or the transport facility spacing especially between motor vehicle.Described second sensing system also comprises one or more optical transmitting set, one or more optical receiver and apparatus for evaluating.Bright dipping launched by optical transmitting set, and described light is immediately by the object reflection be positioned near the second sensing system.Apparatus for evaluating assesses the measurement result of at least one optical receiver, and described at least one optical receiver detects and to be sent by least one optical transmitting set and by the light of object reflection.Apparatus for evaluating determines whether to detect object and/or the spacing between apparatus for evaluating determination object and the second sensing system according to described assessment.At this, by the measurement result of capacitance type sensor input apparatus for evaluating, therefore the assessment of the measurement result of at least one optical receiver is carried out according to the measurement result of capacitance type sensor.
Other form of implementation about the second sensing system can with reference to the description according to the second method of the present invention.
Within the scope of the invention, also illustrate a kind of for detected object and/or the 3rd sensing system for determining object and sensing system or the transport facility spacing especially between motor vehicle.3rd sensing system comprises again one or more optical transmitting set, one or more optical receiver and apparatus for evaluating.Optical transmitting set sends light, is positioned at optical sensor or the transport facility especially object of certain distance near motor vehicle to irradiate thus.Detected by one or more optical receiver by the light of object reflection.3rd sensing system runs described one or more optical receiver with detected object in detection operational mode.When one of optical receiver detect only by one of optical transmitting set launch and the light of therefore being returned by object reflection time, the 3rd sensor system senses is to object.And when determining the 3rd spacing between sensing system and object, described sensing system is by distance measurement operational modes different from described detection operational mode at least one access at least one optical receiver described.Apparatus for evaluating is according to (one of optical transmitting set launch and how to be detected by one or more optical receiver by the light of the object reflection) spacing between information determination sensing system and object.
Other form of implementation about the 3rd sensing system can with reference to the description according to third method of the present invention.
All three kinds according in sensing system of the present invention, at least one optical receiver described all can comprise multiple photodiode, and described photodiode is arranged as the form of matrix.In addition, at least one optical transmitting set of described three sensing systems can comprise and is multiplely arranged in the right side of matrix and multiple optical transmitting sets in left side.
At this, matrix is interpreted as embarks on journey and optical receiver arrangement form in column, and therefore this matrix has the capable and m row of n, so each optical receiver can set its position by residing line number and columns.Matrix such as can comprise eight row eight and arrange and therefore have 64 photodiodes, wherein, and the usual alinement of photodiode of every row/column.
According to a kind of preferred implementing form, in described distance measurement operational mode, only activate the photodiode be arranged in the colleague mutually (or diagonal line) of matrix.At this, the optical transmitting set of the first half is arranged in the first edge side of described matrix, and the optical transmitting set of the second half is arranged in the second edge side of described matrix.At this, the first edge and the second edge are all perpendicular to the row measuring the photodiode in operational mode in order to measure spacing and access spacing, and the first edge and the second edge opposite.
Cover the optimal orientation of photodiode array according to optical sensor camera lens, in distance measurement operational mode, activate the photodiode being arranged in a line/row or a diagonal line.Also can save untapped photodiode at this, therefore may there is space in matrix.
It is pointed out that the performance that also can comprise above-mentioned three kinds of different sensors systems according to sensing system of the present invention.At this, all exchanges expected are feasible all technically, therefore according to sensing system of the present invention can in conjunction with or have the first and second sensing systems performance, first and the 3rd sensing system performance, second and the 3rd sensing system performance or the performance of first, second, and third sensing system.
Finally, provide a kind of transport facility especially motor vehicle within the scope of the invention, it has according to sensing system of the present invention.
By the present invention, also by using the hardware module with compared with prior art minimal current consumption, in motor vehicle stagnation of movement and operation, especially reduce the total current drain according to sensing system of the present invention.By according to the present invention to identify sensing system close, can by object classification, therefore hand or pin and other object (such as chest or bag) can be distinguished, hence improve body language identification, therefore such as also stance can be read as the hope of enabling.Particularly by using capacitance type sensor can the surrounding environment of obvious detecting sensor better.
By using optical sensor, also some objects can be got rid of according to the motor pattern detected, the motor vehicle such as crossed from the side or the pedestrian passed by from motor vehicle side.In other words, according to the present invention can distinguish whether have want to use the people of motor vehicle near motor vehicle or whether have object for other reasons (especially by accident) near motor vehicle.Only have want to use the people of motor vehicle near motor vehicle time, be just advantageously switched to distance measurement operational mode.
The present invention is particularly useful for (such as car door, renovate) blocking element of operating motor vehicle.Certain the present invention is not limited to this preferred application, because the present invention also can be used on ship, aircraft and rail vehicle transportation instrument.In addition, the present invention also can consider to be used in the field outside telecontrol equipment field, such as, for handling building door.
Accompanying drawing explanation
The present invention is set forth further according to according to the preferred embodiment of the present invention referring to accompanying drawing.In the accompanying drawings:
Fig. 1 illustrates according to the sensing system with optical sensor and capacitance type sensor of the present invention;
Fig. 2 schematically shows the difference in functionality block according to optical sensor of the present invention;
Fig. 3 illustrates according to the optical transmitting set with different radiation angle of the present invention;
Fig. 4 a illustrates according to the optical receiver with different incidence angles of the present invention;
Fig. 4 b illustrates the photodiode being arranged as matrix form according to 64 of the present invention;
Fig. 5 schematically shows how to determine the spacing with object according to the present invention according to radiation angle, incident angle and distance;
Fig. 6 illustrates the state transition graph according to sensing system of the present invention;
Fig. 7 illustrates that, according to motor vehicle of the present invention, it has according to sensing system of the present invention.
Embodiment
Fig. 1 schematically show from top view according to sensing system 20 of the present invention, its central authorities comprise optical sensor 2 and multiple around optical sensor 2 divide into groups arrange capacitance type sensor 1.Described capacitance type sensor has directed integrated capacitive surface (having Reference numeral 1 respectively) respectively.The electric capacity between each surperficial 1 and runway measured by each capacitance type sensor.Optical sensor 2 comprises matrix 5, and described matrix 5 is made up of 64 photodiodes, and this will set forth by Fig. 4 b afterwards further.The right side of optical sensor 2 and left side (see Fig. 1) have three optical transmitting sets (light emitting diode, such as infrarede emitting diode) respectively, and their Reference numeral is A-C or D-F.Optical sensor 2, optical transmitting set A-F and capacitance type sensor 1 are arranged in sensor housing 12 and are upwards hidden by glass 23.In order to be connected with apparatus for evaluating, be provided with connector 22.Optical sensor 2 is visible through glass 23, and capacitive surface 1 can not be seen through glass 23.The length of sensing system (in FIG in left-right direction) is such as 5 to 12cm, and width is such as 1.5 to 4cm.
Figure 2 illustrates the working method of optical sensor (also comprising optical transmitting set at this).Optical transmitting set or transmitter unit 17 launch bright dipping, and described light is modulated and is irradiated in environment 11 by optical frames group in transmission path 18.When there is object O in corresponding position in the light launched, the light of transmitting is reflected by this object O, again arrives the receiving element 16 of sensor unit 14 via RX path 19 by optical frames group 21.The measurement result of receiving element 16 (such as photodiode array) is assessed by the logical circuit 15 of sensor unit 14.At this, transmitter unit 17, logical circuit 15 and conducting electricity with the interface 13 of motor vehicle electrical network is connected.
Especially can by the performance using suitable logical circuit 15 freely to arrange used photodiode 6.
Schematically illustrate in figure 3, optical transmitting set A-F is luminous to determine spacing in what manner.Can find out, each optical transmitting set A-F sends light beam 3 to fix default radiation angle α-γ for each optical transmitting set A-F.
At this, the region in the farther scope of condenser type surveyed area 25 (i.e. the surveyed area of capacitance type sensor 1) coverage distance sensing system is compared in optical detection region 24 (i.e. the surveyed area of optical sensor), the region in a condenser type surveyed area detecting distance sensing system close range.
If radiation angle α-γ is such as not more than 3 °, then can determine spacing relatively accurately.And if radiation angle α-γ is greater than 10 °, then the accuracy of distance measurement reduces, but the size of surveyed area increases.In other words, by selective emission angle α-γ, can the accuracy of spacing measurement and the size of surveyed area.
Show the surveyed area 4 of eight photodiodes 6 (see Fig. 4 b) in fig .4.Can find out, each photodiode only detects the light within the scope of a certain space angle, and each photodiode has the fixing angular range preset, and photodiode detects light in this angular range.
Show in detail already mentioned matrix 5 in fig. 4b.Can find out, photodiode 6 is arranged as eight row 26 8 row 27.At this, those photodiodes that surveyed area 4 illustrates in fig .4 are in identical row, described row horizontal-extending in fig. 4b, are preferably positioned at middle a line (the such as the 4th or fifth line).
Show in detail the spacing h how determined between sensing system and object O in Figure 5.
Optical transmitting set A or B is with fixing default radiation angle α or β utilizing emitted light.Described light by object with determine angle [alpha] ' or β ' reflection and arrive and determine the surveyed area 4 of photodiode 6.Known according to the character (modulation format such as determined) of light, photodiode 6 detects light from which optical transmitting set A or B.Known radiation angle and incident angle thus.Because the distance of each optical transmitting set A or B and each photodiode 6 run in distance measurement operational mode is also known, known two angle α or β and α " or β " of triangle be therefore made up of a P1 (corresponding optical transmitting set A or B), P2 (relevant position of the folded light beam of object O) and P3 (photodiode 6 of detection of reflected light) and limit s' or s " length.Because three angle sums are 180 ° in the triangles, so the 3rd unknown angle α ' or β ' can be determined.The length of another two limit a or b and a' or b' can be determined equally by sine.The spacing h with object O can be determined finally by h=a*sin α or h=b*sin β.
By correspondingly selective emission angle and incident angle, can by the region limits that needs to be monitored by sensing system maximum must in distance (such as 1m).Because the surveyed area of sensing system is mainly subject to used optical frames group 21 (see Fig. 2) impact, so can by changing optical frames group 21 advantageously restriction or expansion surveyed area.Therefore, be designed to according to sensing system 20 of the present invention, make it possible to change optical frames group 21 simply.
Figure 6 illustrates according to state transition graph of the present invention.
Slip car door below for motor vehicle describes according to the state transition graph of sensing system of the present invention.
The original state Z0 being in closedown according to sensing system of the present invention by sensor enters front area monitoring state Z1 by connection process E0, can only realize object detection functions in front area monitoring state by optical sensor.
If slip car door is opened from inside after long-time time-out, then there is the first event E1, sensing system enters the second operational mode BM2 (operational mode during slip car door opening) by this first event.In the second operational mode BM2, obstacle recognition function and body language recognition function (by this function lockable slip car door) are effective.For this reason, some photodiodes with distance measurement run-mode, to determine the spacing between object and motor vehicle.
When make operating personnel recognize slip car door should open longer time rest or corresponding body language (inactive body language) occur, there is second event E2, state transition graph gets back to state Z1 again by this second event.
If front area monitoring function a people detected and the car door that slides is closed, then there is the 3rd event E3, carry out the status transition from state Z1 to the first operational mode BM1 by the 3rd event.In this first operational mode, slip car door is closed, and can open slip car door and breech-block motor-car by body language recognition function or go to lock for motor vehicle.In order to carry out body language identification, some photodiodes are with distance measurement run-mode.
When having a rest, motor vehicle removing lock or carry out corresponding body language (closedown), there is the 4th event E4, state transition graph gets back to state Z1 by the 4th event.
When such as activating slip car door opening function by corresponding body language (opening slip car door), there is the 5th event E5, sensing system is transitioned into state BM2 by described 5th event from state BM1.
When such as activating slip car door blocking function by corresponding body language (closing slip car door), there is the 6th event E6, sensing system gets back to state BM1 by described 6th event from state BM2.
By shown state transition graph, increase for corresponding operational mode BM1, BM2 step by step according to (the having identified) event determined or reduce function especially best, to consume the least possible energy in state Z1.By only periodically (such as every 30ms) activate optical sensor, also current drain can be reduced in front area monitoring state Z1.
Fig. 7 schematically shows according to motor vehicle 10 of the present invention, and it comprises according to sensing system 20 of the present invention.At this, this sensing system 20 comprises apparatus for evaluating 7 and capacitance type sensor 1 and optical sensor 2.
Claims (4)
1. for detected object (O) and/or the method for determining object (O) and the transport facility spacing (h) especially between motor vehicle (10),
Wherein, by least one optical transmitting set (A-F) towards object (O) utilizing emitted light,
Wherein, detect light by least one optical receiver (6),
Wherein, described at least one optical receiver (6) access is detected operational mode with detected object (O),
Wherein, when the light detected by described at least one optical receiver (6) comprise to be launched by described at least one optical transmitting set (A-F) and the light reflected by object (O) time, described object (O) detected,
Wherein, in order to determine the spacing (h) of transport facility especially between motor vehicle (10) and object (O), by distance measurement operational modes different from described detection operational mode at least one access of described at least one optical receiver (6), and
Wherein, according to the spacing (h) between information determination transport facility especially motor vehicle (10) and object (O), described information to be launched about described at least one optical transmitting set (A-F) and how the light reflected by object (O) is detected by described at least one optical receiver (6).
2., by method according to claim 1, it is characterized in that,
At least one optical receiver described comprises multiple photodiode (6),
In order to detected object (O), activate all photodiodes (6), to determine whether object (O) to be detected according to the measurement result of these photodiodes be activated (6), and
In order to determine the spacing (h) of transport facility especially between motor vehicle (10) and object (O), only activate a part of photodiode (6), so that according to the spacing (h) of measurement result determination transport facility especially between motor vehicle (10) and object (O) of these photodiodes be activated (6).
3., by the method described in claim 1 or 2, it is characterized in that, in order to determine described spacing (h), making with the following method:
Wherein, launch bright dipping with the radiation angle (α-γ) of presetting towards object (O) by least one optical transmitting set (A-F),
Wherein, launched by described at least one optical transmitting set (A-F) and the light reflected by object (O) by least one optical receiver (6) with preset incident angle (α ", β ") detect, and
Wherein, according to radiation angle (α-γ), incident angle (α ", β ") and the distance (s' between at least one optical transmitting set described (A-F) and at least one optical receiver described (6); S ") determines the spacing (h) of transport facility especially between motor vehicle (10) and object (O).
4. by method according to claim 3, it is characterized in that, at least one optical transmitting set described comprises multiple optical transmitting set (A-F), by each optical transmitting set (A-F) to correspond respectively to the radiation angle (α-γ) of each optical transmitting set (A-F) towards object (O) utilizing emitted light, at least one optical receiver described comprises multiple optical receiver (6), each optical receiver (6) with correspond to each optical receiver (6) incident angle (α ", β ") detects light, and according to detect to be launched by one of optical transmitting set (A-F) and the incident angle of that optical receiver (6) of the light reflected by object (O) (α ", β "), the radiation angle (α-γ) of the optical transmitting set (A-F) detected by described optical receiver (6) according to that utilizing emitted light described and according to the distance (s' between described optical receiver (6) and described optical transmitting set (A-F), s ") determines the spacing (h) of transport facility especially between motor vehicle (10) and object (O).
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE201210006347 DE102012006347A1 (en) | 2012-03-28 | 2012-03-28 | Method for determining distance between object e.g. person and motor vehicle e.g. car, involves receiving light reflected by object using light receiver at predetermined angle of incidence |
| DE102012006347.4 | 2012-03-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2013101008557A Division CN103364789A (en) | 2012-03-28 | 2013-03-27 | Method and sensor system for detecting target and/or determining space |
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| CN104656096A true CN104656096A (en) | 2015-05-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510059106.3A Pending CN104656096A (en) | 2012-03-28 | 2013-03-27 | Method for detecting objects and/or determining distance between object and transport facility |
| CN201710853865.6A Pending CN107656285A (en) | 2012-03-28 | 2013-03-27 | Detection object and/or the method and sensing system for determining spacing |
| CN2013101008557A Pending CN103364789A (en) | 2012-03-28 | 2013-03-27 | Method and sensor system for detecting target and/or determining space |
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| CN201710853865.6A Pending CN107656285A (en) | 2012-03-28 | 2013-03-27 | Detection object and/or the method and sensing system for determining spacing |
| CN2013101008557A Pending CN103364789A (en) | 2012-03-28 | 2013-03-27 | Method and sensor system for detecting target and/or determining space |
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| DE (1) | DE102012006347A1 (en) |
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| DE102015101268A1 (en) * | 2015-01-29 | 2016-08-04 | Valeo Schalter Und Sensoren Gmbh | Driver assistance system and method for operating such and motor vehicle with it |
| DE102015101266A1 (en) * | 2015-01-29 | 2016-08-04 | Valeo Schalter Und Sensoren Gmbh | Driver assistance system for motor vehicles, method for operating such, uses for it and motor vehicle with it |
| DE102016103028A1 (en) * | 2016-02-22 | 2017-08-24 | Sick Ag | Device for monitoring a surveillance area |
| DE102018122263B4 (en) * | 2018-09-12 | 2021-03-18 | Sick Ag | Autonomous vehicle |
| CN110924121B (en) * | 2019-11-22 | 2021-09-28 | 江苏开创检测技术有限公司 | Detection device of clothing needle detector |
| CN115877396A (en) * | 2021-09-28 | 2023-03-31 | 北京一径科技有限公司 | Laser radar ranging method and laser radar system |
| DE102022123497A1 (en) | 2022-09-14 | 2024-03-14 | Bayerische Motoren Werke Aktiengesellschaft | RADAR SENSOR SYSTEM AND METHOD FOR OPERATING SAME |
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Also Published As
| Publication number | Publication date |
|---|---|
| DE102012006347A1 (en) | 2013-10-02 |
| CN107656285A (en) | 2018-02-02 |
| CN103364789A (en) | 2013-10-23 |
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