DE102012021885A1 - Lens arrangement for environment detection system of motor vehicle, has two representation areas that are detected or represented different from one another, and two lenses for geometrical arrangement - Google Patents

Abstract

The lens arrangement has two representation areas that are detected or represented different from one another, and two lenses (1.0.1,1.0.2) for a geometrical arrangement. Two optical axes diverged from each other in the direction require no significant minimum distance to each other in the area of an environment detection system. The lenses of the lens arrangement are made in a single piece manner. An independent claim is included for a method for operating a lens arrangement for an environment detection system.

Description

The invention relates to a lens arrangement for an environment detection system with this a "stereo image" (a picture with distance information, or a spatial image) can be generated, and an associated method and a thus equipped driver assistance system and / or motor vehicle (motor vehicle).

So that optical image acquisition systems, in particular driver assistance systems with optical acquisition systems, can capture / display spatial images, it is necessary to add distance information in addition to the actual image information. Therefore, modern systems often use a stereo lens in which two single lenses / two single lenses are spaced (horizontally) from each other. In this case, the lenses / objectives must have a certain minimum distance from one another in order to be able to generate a "spatial image" therefrom by means of data fusion.

From the Scriptures DE 10 2004 061 998 A1 a stereo camera for a motor vehicle is known, wherein the stereo camera has a first camera and a second camera, which together act as a stereo camera [0001].

From the Scriptures DE 10 2010 023 591 A1 is a stereo camera system known to determine the distance of a vehicle to an object can. As is further apparent from the document, the term stereo camera is to be understood as an arrangement of two cameras, the two cameras being arranged offset from one another at a predetermined distance [0002].

As can be further deduced from the various technical articles of well-known automotive suppliers listed below, the common feature of any stereo camera (s) is that two individual lenses / single lenses / individual cameras are arranged at a distance from one another. As the technical articles further show, all solutions have in common that the distance between the two single lenses / single lenses / single cameras extends in the horizontal plane (there is a gap in the horizontal plane).

Article from the "Automotive Industry" from 31.10.2012 (Vogel Business Media): Article name: "Stereo camera system makes vehicles see spatially". This article describes a stereo camera system from automotive supplier Bosch. As the article further shows, spatial vision is made possible by using a stereo camera as in humans with two spaced eyes. As can be seen from the associated figure, the stereo camera is realized in such a way that two cameras are arranged horizontally spaced, or are installed in the vehicle as a system so behind the windshield.

Article from the "Automotive Industry" from 13.06.2012 (Vogel Business Media): Article name: "With laser and radar against accidents". This specialist article describes a stereo camera system from the automotive suppliers Bosch and Continental that enable three-dimensional vision. As the article further shows, the companies Bosch and Continental are researching stereo cameras that, like humans, can see three-dimensionally with their two eyes and thus measure distances.

Specialist article from the "Automotive Industry" from 23.03.2012 (Vogel Business Media): Item description: "Highly automated driving tested". This article describes a system / research project by the automotive supplier Continental, which enables highly automated driving. As the article further shows, near-field technologies for environment detection were used. As an example for the environment detection, a stereo camera is listed, by means of which the size and distance of obstacles can be measured.

Article from the "Automotive Industry" from 09.08.2011 (Vogel Business Media): Article name: "IAA in the sign of technical trends". This article describes innovative products from the automotive supplier Continental. Among other things, a stereo camera for environment detection is described here. As the article goes on to say, the stereo camera has two "eyes" so that, unlike a monocamera, it can measure the distance and size of potential obstacles.

Press release from the automotive supplier Continental from 04.05.2011:
Source: Internet - accessed on 01.11.2012:
http://www.contionline.com/generator/www/com/de/continental/presseportal/themen/pressemitteilungen/3_automotive_group/chassis_safety/press_releases/pr_20110504_stereokamera_de.html
Product name: "With the second camera you can see better - the stereo camera". This news release describes a stereo camera consisting of two high-resolution CMOS monocameras, with the two high-resolution CMOS monocameras installed approximately 20 centimeters apart in a housing behind the windshield. The image accompanying the press release shows a realization in which the two high-resolution CMOS Monocameras are arranged horizontally spaced in a common housing construction.

A major disadvantage of such previously indicated solutions can be considered that the two image-capturing single lenses / single lenses / the two monocameras must be matched very closely to each other, and further that certain circuit components must be present double in the overall system. The adjustment / adjustment of the individual lenses / single lenses / the two mono cameras to each other, usually in the production of the master system / overall system, or the environment detection system, which ultimately the two single lenses / single lenses / the two mono cameras as system components.

That the adjustment / adjustment of the single lenses / single lenses / the two mono cameras to each other is required and not quite trivial, can be indirectly from the font DE 10 2009 001 742 A1 Derive because even the entire system, or the environment detection system is to adjust in a complex manner to the vehicle.

Another disadvantage of the solutions outlined above in such solutions can be considered that these (because of the required minimum distance of the two individual lenses / single lenses / the two monocameras of about 20 centimeters to each other) from the space-volume requirement a considerable Claim space, or in terms of miniaturization thus systemic limits are set. This is especially very disadvantageous because the space in the upper part of the windshield (the so-called roof node, where the environment detection systems are typically placed) is very cramped.

Based on this prior art, the invention is therefore based on the object with a simplified manufacturing effort and / or lower circuit complexity and / or a low / a smaller space requirement to form an environment detection system / a driver assistance system, which makes it possible to generate "spatial images" or to spatially detect the environment, or to enable an environment detection system / a motor vehicle assistance system, by means of which the size and distance of obstacles / objects relative to the assistance system-containing vehicle / obstacles / objects with respect to the assistance system-containing motor vehicle can be measured (in other words : how far an obstacle is away from the motor vehicle).

This object is achieved in that a lens arrangement according to the preamble of claims 1, 6 and 7 also have its characterizing features, or a method according to the preamble of claim 8 also has its characterizing features.

To make this possible, an environment detection system (as fully appreciated / discussed in the art) must be capable of spatially sensing / spatially sensing the environment.

By the term "to see spatially" / "to generate spatial images" is to be understood in the light of the invention the property as they are known from stereo cameras, or as they are described in the above acknowledged prior art.

It should also be noted at this point that the term "lens arrangement" is to be understood as the most general form with regard to the arrangement of lenses, this term also including an arrangement of lenses (which contain lenses), as well as the arrangement of monocameras (which in turn Lenses or lenses included) are to be understood.

• – eine Anordnung von mindestens zwei Linsen, und/oder
• – eine Anordnung von mindestens zwei Objektiven, und/oder
• – eine Anordnung von mindestens zwei Mono-Kameras, und/oder
• – eine Anordnung mit mindestens zwei in der Richtung voneinander abweichenden optischen Achsen.

In other words, the term "lens arrangement" is to be understood in the light of the invention as a generic term, and includes / is almost synonymous with

• An arrangement of at least two lenses, and / or
• - An arrangement of at least two lenses, and / or
• An arrangement of at least two mono cameras, and / or
• - An arrangement with at least two deviating in the direction of the optical axes.

The invention is based on the finding (as explained in more detail below) that, for the geometric arrangement of the at least two lenses of the lens arrangement, and / or the at least two optical axes deviating in the direction, in the region of the environmental detection system (at the location at this the lens arrangement or lens / n constructively placed / arranged on the environment detection system / are) no significant minimum distance from each other is required.

The term "no appreciable minimum distance" is to be understood in the light of the invention that no distance of about 20 centimeters (as described in the prior art) is required. Rather, the required minimum distance in the present invention, for example, determined by the fact that two lenses (two lenses / two monocameras) not simultaneously on one the same geometric point can be, but even if you, for example, still as close as possible to each other, just results in a small distance. As "not worth mentioning" is z. B. to view a distance less than five inches. Alternatively, for example, a distance less than three, or less than two, or less than one centimeter is to be regarded as "not appreciable".

As a decisive point / clou of the invention is to be considered / to provide that the lens arrangement has at least two deviating in the direction of the optical axes, and / or at least two in the direction of divergent detection areas map / can.

Ideally, these at least two lenses / two lenses / two monocameras, and / or the at least two non-directional optical axes of the lens array in the horizontal plane have no offset / no distance to each other.

Ideally, these at least two resulting optical axes have a spatial / vertical slight distance (height difference) to each other so that the two lenses / lenses can project the images to be captured onto two adjacent image receiver chip areas. Furthermore, these two receiver chip areas / ideally are subareas of an overall single receiver chip, so that an adjustment of the chip areas relative to each other is unnecessary / is not necessary.

As a further advantageous embodiment is a realization to call, in which the at least two lenses of the lens assembly are integrally formed / manufactured / executed, since then during assembly (when installed on the circuit board, or in the system) an adjustment / adjustment of the individual lenses to each other is eliminated, and in addition to the automatically resulting precision of the lens assembly, also in the product manufacturing process steps can be omitted, or the application / the overall system / driver assistance system is thus cheaper.

• – weniger Schaltungskomponenten erforderlich sind, beispielsweise nur noch ein Bild-Empfänger-Chip, dessen Fläche auf zwei Teilflächen aufgeteilt wird,
• – eine aufwendige Justierung der bisherigen Linsen/Objektive/Monokameras zueinander entfällt,
• – der Bauraum keinen Mindestabstand bezüglich der beiden Linsen/Objektive/Monokameras erfordert.

As an advantage here can be considered (since only one lens assembly is required) that

• - Less circuit components are required, for example, only one image-receiver chip whose area is divided into two sub-areas,
• A costly adjustment of the previous lenses / lenses / monocameras to each other is eliminated,
• - The space requires no minimum distance with respect to the two lenses / lenses / Monocameras.

• a) die mindestens zwei Linsen der Linsenanordnung,
• b) (hinsichtlich der optischen Achse) rechtwinklig zu einer gemeinsamen im wesentlichen vertikalen Achse ausgerichtet, wobei
• c) die mindestens zwei Linsen der Linsenanordnung vertikal übereinander angeordnet sind, sodass
• d) eine gemeinsame im wesentlichem vertikale Achse durch die mindestens zwei Linsen der Linsenanordnung verläuft.

As already described above, are

• a) the at least two lenses of the lens arrangement,
• b) (with respect to the optical axis) oriented at right angles to a common substantially vertical axis, wherein
• c) the at least two lenses of the lens arrangement are arranged vertically one above the other, so that
• d) a common substantially vertical axis through the at least two lenses of the lens array extends.

A precisely vertical axis is structurally difficult to achieve, as a result of the system is often required by the horizontal / horizontal deviating optical axis, which is usually slightly downward from the vehicle, in order to better capture the road area.

• a) die mindestens zwei in der Richtung voneinander abweichenden optischen Achsen der Linsenanordnung,
• b) einem vorgegebenen Winkel und/oder vorgebaren Winkel zueinander auf, wobei
• c) die mindestens zwei in der Richtung voneinander abweichenden optischen Achsen der Linsenanordnung,
• d) eine gemeinsame, im Wesentlichen vertikal verlaufende Achse schneiden.

As already described above, hint

• a) the at least two deviating optical axes of the lens arrangement,
• b) a predetermined angle and / or vorgebaren angle to each other, wherein
• c) the at least two deviating optical axes of the lens array,
• d) intersect a common, substantially vertical axis.

As an alternative solution, a lens arrangement is also conceivable in which the at least two deviating in the direction of the optical axes of the lens assembly are generated by the optical axis of a single lens is cyclically aligned depending on the desired axis.

As will be discussed in more detail in the following examples, the lens arrangement is preferably designed such that the captured "images" are projected onto a common image receiver chip which is divided into at least two subareas. In other words, each lens projects onto a defined subarea.

• a) die Linsenanordnung mindestens zwei Linsen aufweist, wobei
• b) die mindestens zwei Linsen der Linsenanordnung einstückig ausgeführt sind, und
• c) die mindestens zwei in der Richtung voneinander abweichenden optischen Achsen einen vorgegebenen Winkel und/oder vorgebaren Winkel zueinander aufweisen.

The lens arrangement according to the invention in a specific embodiment can also be described in a brief and concise characterization in such a way that

• a) the lens arrangement comprises at least two lenses, wherein
• b) the at least two lenses of the lens arrangement are made in one piece, and
• c) the at least two deviating in the direction of the optical axes have a predetermined angle and / or vorgebaren angle to each other.

• a) der Abstand zu einem Hindernis und/oder einem Objekt derart bestimmt wird, indem der Objekt-Versatz auf den beiden Empfänger-Chip-Bereichen ermittelt wird, und
• b) der ermittelte Objekt-Versatz durch den Sinus des Winkels der zwei in der Richtung voneinander abweichenden optischen Achsen geteilt wird.

For the operation / use of the lens arrangement according to the invention, a method for the lens arrangement for an environment detection system is used, which is designed, or which makes it possible to spatially detect the environment to be detected in order to determine the distance to obstacles and / or objects to be able to. The distance to obstacles and / or objects is determined by trigonometry, where

• a) the distance to an obstacle and / or an object is determined such that the object offset is determined on the two receiver chip areas, and
• b) the determined object offset is divided by the sine of the angle of the two deviating optical axes in the direction.

Furthermore, the scope of the present invention, or the lens assembly according to the invention also extends to a driver assistance system, which is provided / equipped with a lens arrangement on which the invention is based.

In addition, it should be noted that the scope of the present invention, or the lens arrangement according to the invention also extends to a motor vehicle (motor vehicle), which contains a driver assistance system, which in turn provided / equipped with a lens arrangement on which the invention is based.

Further advantages and possible applications of the present invention will become apparent from the following description in conjunction with the embodiment illustrated in the figures, wherein combinations of the foregoing description features, with combinations of the character features, are included within the scope of protection.

The invention is explained below with examples, wherein the 3 1 shows an embodiment which is aligned with the description (wording) on the horizontal plane (which have at least two optical axes deviating in the direction, an angular deviation in the horizontal plane / line of sight), but the principle does not apply to this plane must be limited. Of course, solutions are possible, in this the entire lens assembly with receiver chip to an angle (radially to the vehicle direction of travel), such. B. are rotated by 90 degrees, as well as any x-any angle. These solutions are included in the equivalent scope without being further described.

In the description, in the claims, in the abstract and in the appended drawings, the terms and associated reference numerals used in the list of reference numerals recited below are used.

The invention will now be described below with reference to an embodiment with the aid of 1 to 4 explained in more detail. Hereinafter, for functionally identical and / or identical elements may be denoted by the same reference numerals.

Show it:

1 : A representation of theoretical considerations.

2 : Lens arrangement according to the invention sketchy in the side view.

3 / 5 : A principle representation of the lens arrangement - arranged in the vehicle.

4 : A representation of a motor vehicle, with an acting in the direction of travel environment detection system / environment detection system, designed as a driver assistance system.

The 1 shows, or the sub-figures 1a to 1e show a representation of theoretical considerations.

Starting from the solutions (for example, always spaced lenses with about 20 cm) of the well-known automotive suppliers, it seems obvious that the professional world of a solution such as this invention is proposed, obviously a prejudice counter, which is why with the 1 , or its sub-figures 1a to 1e , The theoretical foundations are shown in detail / vividly, according to the physical laws of the solution of the invention builds.

The solution is based on simple physical laws, as in the sub-figures 1a to 1e is shown pictorially. Since, as in the acknowledged prior art, and partly as a comparison of spatial vision in humans is used in the description in part, the term "eyes" is used, this term "eye" representatively as a substitute for a lens or a lens , or a monocamera is to watch. The term "seeing" is representative of an image / capture scene to map / project this on a camera chip / receiver chip.

Looking at the part figures 1a to 1e , so it is relatively easy to see that there are different possibilities for generating 2 single snapshots, whereby it is ultimately almost irrelevant, at least in static scenes, how the two single snapshots come about. For highly dynamic scenes, of course, the time factor must be considered accordingly. The ideal case here is that the at least two individual recordings of the at least two object recordings take place at the same time. (Object = obstacle in traffic).

The 1a shows a spatial vision with two spaced eyes ( 1:01 . 1:02 ), or with two spaced lenses, which an object ( 2 ) to capture. This example corresponds to the spatial vision, as happens in humans with two eyes. This example also corresponds to spatial vision, as in a stereo camera with two spaced lenses according to the prior art.

The 1b shows a spatial vision with only one eye ( 1.0.1 ), or with only one objective, which with an overlapping spatial movement at the times t1 and t2 (t1 not equal t2, since sequential object detection / image scanning) an object ( 2 ) to capture. By combining / merging the two "images" acquired at time t1 and t2 by means of "data fusion", a spatial vision (in the case of a static object) arises, comparable to the example of FIG 1a in that, as a result of the displacement of the eye / objective, the second eye / objective required for spatial vision is simulated or simulated.

The 1c shows a spatial vision with only one eye ( 1.0.1 ), or with only one lens, in which the object ( 2 ) is subject to a spatial movement and is detected at the times t1 and t2 (t1 not equal to t2, since sequential object detection / image scanning). Analogous to 1 b, the same situation arises, since it is ultimately irrelevant whether the eye ( 1.0.1 ) / Lens to the object ( 2 ) or, conversely, the object ( 2 ) to the eye ( 1.0.1 ) / Lens is moved.

The 1d shows a spatial vision with only one eye ( 1.0.1 ), or with only one lens, in which the lens / eye ( 1.0.1 ) of alternating rotational movement (back & forth) with a defined angle (α) ( 1.0.3 ) and at times t1 and t2 (t1 not equal to t2, since sequential object detection / image scanning) subjects the object ( 2 ) is detected. As can be further seen from this illustration, the object "wanders" ( 2 ) in the detection area, or analogously to this on the (projected image) image-receiver chip area ( 1.3 . 1.3.1 ).

The "walking" of the object ( 2 ) in the detection area is quite easy to explain with the human visual field. For example, consider a marker / object ( 2 ) and turns the head to the left, the marker appears ("wanders") in the right field of view / in the right detection area (ie the marker is perceived right in the detection area). If, on the other hand, you turn the head to the left, the marker appears ("wanders") in the left field of view / in the left detection area (ie the marker is perceived to the left in the detection area). The result of the "migration" is ultimately an offset of the object ( 2 ) in the detection area or on the image-receiver chip area ( 1.3 ).

The 1e shows (in plan view) a spatial vision with two (non-spaced in the horizontal plane) eyes ( 1.0.1 . 1.0.2 ), or with two (non-spaced in the horizontal plane) lenses ( 1.0.1 . 1.0.2 ), where the lenses ( 1.0.1 . 1.0.2 ), or the lens arrangement ( 1.0 ) is designed in an innovative way such that it is realized in one piece, but two different optical axes ( 1.1.0 . 1.2.0 ), wherein the optical axes ( 1.1.0 . 1.2.0 ) to each other, a predetermined angle ( 1.0.3 ) to each other. Ideally, the object detection takes place at the same time (t1 = t2) with the lens arrangement ( 1.0 ) with the two (in the horizontal plane) non-spaced lenses ( 1.0.1 . 1.0.2 ), as well as with a given angle ( 1.0.3 ) arranged to each other optical axes ( 1.1.0 . 1.2.0 ).

Analogous to 1d , the object ( 2 ) with an offset (offset since no rotational movement, a rotational movement makes the object "wander") by means of the two image receiver chip areas ( 1.3.1 . 1.3.2 ), the resulting offset of the object ( 2 ) in the two coverage areas ( 1.3.1 . 1.3.2 ) analogous to 1d to explain.

As an advantage in the solution according to 1d is to be considered that in the overall system ( 9 ) the Lenses ( 1.0.1 . 1.0.2 ) / Lenses ( 1.0.1 . 1.0.2 ) do not have to perform any rotational movement, but the two lenses ( 1.0.1 . 1.0.2 ) of the lens arrangement ( 1.0 ) can be made in one piece, as well as fixed in / against a housing of an application system ( 9 ) / Driver assistance system ( 9 ) can be fixed.

The 2 shows the lens arrangement according to the invention ( 1.0 sketchy in the side view, and in section A-B as a plan view, analogous to 1a to 1e , which are also shown in plan view. As can be clearly seen from the illustration, the lens arrangement ( 1.0 ) in one piece, and has two vertically stacked lenses ( 1.0.1 . 1.0.2 ), the two lenses ( 1.0.1 . 1.0.2 ) optical axes ( 1.1.0 . 1.2.0 ), which differ from each other, or a constructive angle ( 1.0.3 ) to each other. Furthermore, the indicated "beam path" ( 1.4 ) of the lenses ( 1.0.1 . 1.0.2 ), which images to be captured on two image receiver chip areas ( 1.3.1 . 1.3.2 ), so that a "picture difference evaluation" of the two image receiver chip areas ( 1.3.1 . 1.3.2 ) can be done to each other. As can also be seen from the illustration, the two lenses ( 1.0.1 . 1.0.2 ) in the one-piece lens arrangement ( 1.0 ) arranged vertically one above the other, wherein these on a common "vertical" axis ( 4 ) lie. This common axis ( 4 ) is substantially / approximately at a 90 degree angle to the horizontal plane (symbolized in the drawing) in which the optical axes ( 1.1.0 . 1.2.0 ) of the lens arrangement ( 1.0 ) Act.

An exactly vertical axis ( 4 ) is structurally difficult to achieve because systemic often a deviating from the horizontal / horizontal optical axis / n ( 1.1.0 . 1.2.0 ) is / are required, which as a rule from the vehicle ( 10 ) is slightly downwards in order to better capture the road area. The reference numerals in parentheses in the section of 2 serve to facilitate understanding, to relate to the 1a to 1e display.

The 3 shows the inventive lens arrangement ( 1.0 ), in a non-illustrated environment detection system ( 9 ), which in a vehicle ( 10 ) (mentally) is mounted.

Like from the 3 can be seen, are in front of the vehicle ( 10 ) in the direction of travel ( 10.1 ), two symbolically represented areas of coverage ( 1.1.1 . 1.2.1 ), which with the environment detection system ( 9 ), or its inventive lens arrangement ( 1.0 ) can be recorded in order to 1.1.1 . 1.2.1 ) obstacles / objects ( 2 ) and to react to the situation accordingly.

Like from the 3 it can be seen further, the lens arrangement ( 1.0 ) two in different directed optical axes ( 1.1.0 . 1.2.0 ), which, viewed in the plane, has a predetermined angle (α) (in production or during operation) ( 1.0.3 ) to each other.

Like from the 3 further, the two coverage areas ( 1.1.1 . 1.2.1 ), or the / the objects therein ( 2 ) by means of the application underlying lens arrangement ( 1.0 ) on the two image receiver chip surfaces ( 1.3.1 . 1.3.2 ), or there as objects ( 2 ' ) (evaluable / for further processing) shown.

The in the 1e . 2 and 3 represented image receiver chip areas ( 1.3.1 . 1.3.2 ) can consist of two separate image receiver chips ( 1.3 ), but ideally these two image receiver chip areas ( 1.3.1 . 1.3.2 ) / Subareas ( 1.3.1 . 1.3.2 ), Components of an overall single-image receiver chip ( 1.3 ), so that an adjustment of the image receiver chip areas ( 1.3.1 . 1.3.2 ) to each other deleted / is not required. Thus, a complete system ( 9 ), which has few manufacturing tolerances, since neither the image receiver chip areas ( 1.3.1 . 1.3.2 ) to each other, nor the individual lenses ( 1.0.1 . 1.0.2 ) to each other, in the overall system ( 9 ) must be adjusted.

Like from the 3 can be seen further, with the changing distance × (3) of the object ( 2 ) to the lens arrangement according to the invention ( 1.0 ), symbolically represented / considered, a relative "wandering" of the object ( 2 ' ) at the image receiver chip areas ( 1.3.1 . 1.3.2 ) are generated to each other, since the value y in the detection areas shown ( 1.1.1 . 1.1.2 ), with the distance × ( 3 ) linear / proportional with changes.

From this "migration" (y · k), or this offset (y · k), the distance × (m) can be determined by means of simple mathematical / mathematical calculation. 3 ) of the object ( 2 ) to the lens arrangement according to the invention ( 1.0 ), or ultimately to the vehicle ( 10 ) very easily. Distance × (3) = y / sin (α)

The quantity y is the resulting offset, which arises when an object ( 2 ) from a common point ( 1.0 ), with two different viewing directions ( 1.1.0 . 1.2.0 ) (optical axes ( 1.1.0 . 1.2.0 )), since then the object ( 2 ) in a viewing area ( 1.2 .1) of the two viewing areas ( 1.1.1 . 1.2.1 ) of the "consideration" ( 1.0 ) virtually "wanders". This "hike" is done on the two image receiver chip areas ( 1.3.1 . 1.3.2 ) is mapped as "offset (y · k), where k (for linear imaging ratios) is a constant determined by the design.

On the other hand, the imaging conditions are subject to a non-linear relationship, for example a distortion in the edge region of the image-receiver chip regions (FIG. 1.3.1 . 1.3.2 ), these conditions must be considered as an additional correction factor at k.

Like from the 3 can be seen further, the object scanning is performed by the two lenses ( 1.0.1 . 1.0.2 ) at the time t1 and t2, wherein in this type of lens arrangement according to the invention ( 1.0 ) ideally the time t1 is equal to t2 (a synchronous object scan is performed by means of two partial images).

As an alternative solution, a lens arrangement ( 1.0 ) conceivable, in this the second optical axis ( 1.2.0 ) is generated by, as in 2c shown, the first (one) optical axis ( 1.1.0 ) is alternately cyclically subjected to a rotational movement, or for generating a "stereo image" the optical axis ( 1.1.0 ) of the lens is alternately deflected differently in order to generate a "spatial image" from the individual snapshots that can be determined thereby.

Based on the deflection angle (α) ( 1.0.3 ) and the resulting "migration of the object" ( 2 ' ) within the scope ( 1.3 . 1.3.1 ), can be determined by simple calculation of the object distance, as above, or at 1d , has already been explained in more detail.

The measurement accuracy with respect to the distance determination essentially depends on the resolution accuracy or on the pixel number of the image receiver chip areas (FIG. 1.3 . 1.3.1 . 1.3.2 ).

• – Torsionsspiegel/elektrooptisches Medium ( DE 10 2011 010 012 A1 )
• – Piezo-Aktuator zur Ablenkung

The deflection of the optical axis ( 1.1.0 ), can be accomplished relatively easily, for example by means of

• Torsion mirror / electro-optical medium ( DE 10 2011 010 012 A1 )
• - Piezo actuator for diversion

4 shows a representation of a passenger car ( 10 ) with a roadway monitoring system ( 9 ). The vehicle ( 10 ) has in the front area, preferably at the front roof node, an optical roadway monitoring system ( 9 ), which as shown with its scanning beams ( 1.4.1 ) the detection areas in front of the vehicle ( 1.1.1 . 1.2.1 ) to detect any obstacles, such as stationary, moving or oncoming vehicles in the road course. (Note: from the 4 is no differentiation of the two differing coverage areas ( 1.1.1 . 1.2.1 ) can be seen).

Finally, it should be noted that the terms according to the list of reference numerals, if several terms are behind a digit sequence, are to be understood as equivalent words, or in the light of the invention mutatis mutandis, the same "object" describe, or mutatis mutandis, the same meaning / "function" to have. Example: Detection area ( 1.1.1 . 1.1.2 ) is analogously synonymous as display area ( 1.1.1 . 1.1.2 ), or imaging area ( 1.1.1 . 1.1.2 ).

It should also be noted that the term "receiver chip" is synonymous with "image receiver chip", or "receiver chip area" is synonymous with "image receiver chip area", or ... ,

It should also be noted that in the figures, as well as in the description, the representation of the receiver chip areas "subsequent" signal processing units for image processing or data fusion / image processing algorithms has been omitted for reasons of clarity, or from the state the technique is considered to be ice-rich known.

• – „zwei optische Achsen”, eine erste optische Achse (1.1.0) und eine zweite optische Achse (1.2.0) zu verstehen sind, bzw.
• – „zwei Erfassungsbereiche”, ein erster Erfassungsbereich (1.1.1) und ein zweiter Erfassungsbereich (1.2.1) zu verstehen sind, bzw.
• – „zwei Darstellungsbereiche”, ein erster Darstellungsbereich (1.1.1) und ein zweiter Darstellungsbereich (1.2.1) zu verstehen sind, bzw.
• – „zwei Abbildungsbereiche”, ein erster Abbildungsbereich (1.1.1) und ein zweiter Abbildungsbereich (1.2.1) zu verstehen sind, bzw.
• – „zwei Bild-Empfänger-Chip-Bereiche”, ein erster Bild-Empfänger-Chip-Bereich (1.3.1) und ein zweiter Bild-Empfänger-Chip-Bereich (1.3.2) zu verstehen sind, bzw.
• – „zwei Linsen”, eine erste Linse (1.0.1) und eine zweite Linse (1.0.2) zu verstehen sind.

It should also be noted that in the description / application with the expression

• "Two optical axes", a first optical axis ( 1.1.0 ) and a second optical axis ( 1.2.0 ), or
• - "two coverage areas", a first coverage area ( 1.1.1 ) and a second coverage area ( 1.2.1 ), or
• - "two display areas", a first display area ( 1.1.1 ) and a second display area ( 1.2.1 ), or
• "Two imaging areas", a first imaging area ( 1.1.1 ) and a second imaging area ( 1.2.1 ), or
• "Two image receiver chip areas", a first image receiver chip area ( 1.3.1 ) and a second image receiver chip area ( 1.3.2 ), or
• - "two lenses", a first lens ( 1.0.1 ) and a second lens ( 1.0.2 ) are to be understood.

The term environment detection system is equivalent to an environment detection system.

The 5 shows identical to 3 the inventive lens arrangement ( 1.0 ), in a non-illustrated environment detection system ( 9 ), which in a vehicle ( 10 ) (mentally) is mounted. However, with additional descriptive text, to facilitate the capture of the 3 / 5 ,

LIST OF REFERENCE NUMBERS

1.0

lens assembly

1.0.1

First Lens / (First "Eye")

1.0.2

Second lens / (second "eye")

1.0.3

Preset angle (α) / predeterminable angle (α)

1.1.0

First Optical Axis (# 1)

1.1.1

First detection area (No. 1)

1.1.1

First display area (No. 1)

1.1.1

First image area (# 1)

1.2.0

Second Optical Axis (# 2)

1.2.1

Second coverage (# 2)

1.2.1

Second display area (number 2)

1.2.1

Second image area (# 2)

1.3

Image receiver chip area / receiver chip area

1.3

Image receiver chip / receiver chip

1.3.1

First image receiver chip area (# 1)

1.3.2

Second Image Receiver Chip Area (# 2)

1.4

Beam path of the lenses

1.4.1

"Scanning"

2

Object / obstacle

3

Distance × ("vehicle" ( 10 ), or the lens arrangement ( 1.0 ) to the object ( 2 ))

4

Axis, substantially vertical / substantially vertical axis

5

right angle / right angle

6

Intersection / optical axes ( 1.1.0 . 1.2.0 ) intersect with axis ( 4 )

9

Environment detection system, designed as a driver assistance system

10

vehicle

10.1

Driving direction of the vehicle

t1

Time 1

t2

Time 2

y

Object offset / offset

k

Constant, which is determined by the structural design

k

Correction factor if the images on the receiver chip areas are subject to distortion

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 102004061998 A1 [0003]
• DE 102010023591 A1 [0004]
• DE 102009001742 A1 [0012]
• DE 102011010012 A1 [0072]

Cited non-patent literature

• http://www.contionline.com/generator/www/com/en/continental/presseportal/themen/pressreleases/3_automotive_group/chassis_safety/press_releases/pr_20110504_stereocamera_en.html [0010]

Claims (10)

Lens arrangement (1.0) for an environment detection system ( 9 ), in order to spatially detect and / or image the environment to be detected, wherein the lens arrangement ( 1.0 ) at least two optical axes which deviate in the direction ( 1.1.0 . 1.2.0 ), characterized in that the lens arrangement ( 1.0 ) at least two different representation areas ( 1.1.1 . 1.2.1 ) and / or image, and that for the geometric arrangement a) of the at least two lenses of the lens arrangement ( 1.0 ), and / or b) the at least two deviating in the direction of optical axes ( 1.1.0 . 1.2.0 ), in the area of the environment detection system ( 9 ) no significant minimum distance from each other is required. Lens arrangement ( 1.0 ) for an environment detection system ( 9 ) according to claim 1, characterized in that a) the at least two lenses ( 1.0.1 . 1.0.2 ) of the lens arrangement ( 9 ), b) at right angles ( 5 ) to a common substantially vertical axis ( 4 ), wherein c) the at least two lenses ( 1.0.1 . 1.0.2 ) of the lens arrangement ( 1.0 ) are arranged one above the other, and d) the common substantially vertical axis ( 4 ) through the at least two lenses ( 1.0.1 . 1.0.2 ) of the lens arrangement ( 1.0 ) runs. Lens arrangement ( 1.0 ) for an environment detection system ( 9 ) according to one of claims 1 and 2, characterized in that the at least two lenses ( 1.0.1 . 1.0.2 ) of the lens arrangement ( 1.0 ) are made in one piece. Lens arrangement ( 1.0 ) for an environment detection system ( 9 ) according to claim 1, characterized in that a) at least two deviating in the direction of optical axes ( 1.1.0 . 1.2.0 ) of the lens arrangement ( 1.0 ), b) a predetermined angle ( 1.0.3 ) and / or predeterminable angle ( 1.0.3 ), wherein c) the at least two deviating in the direction of optical axes ( 1.1.0 . 1.2.0 ) of the lens arrangement ( 1.0 ), d) a common, substantially vertical axis ( 4 ) to cut ( 6 ). Lens arrangement ( 1.0 ) for an environment detection system ( 9 ) according to one of claims 1 and 4, characterized in that the at least two deviating in the direction of optical axes ( 1.1.0 . 1.2.0 ) of the lens arrangement ( 1.0 ) are generated by the optical axis ( 1.x.0 ) of a single lens ( 1.0.x ) cyclically to the desired axis ( 1.1.0 . 1.2.0 ) is aligned. Lens arrangement ( 1.0 ) for an environment detection system ( 9 ), in order to spatially detect and / or image the environment to be detected, wherein the lens arrangement ( 1.0 ) at least two optical axes which deviate in the direction ( 1.1.0 . 1.2.0 ), characterized in that a) the lens arrangement ( 1.0 ) at least two lenses ( 1.0.1 . 1.0.2 ), wherein b) the at least two lenses ( 1.0.1 . 1.0.2 ) of the lens arrangement ( 1.0 ) are made in one piece, and c) the at least two deviating in the direction of optical axes ( 1.1.0 . 1.2.0 ) a predetermined angle (α) ( 1.0.3 ) and / or predeterminable angle (α) ( 1.0.3 ) Have angles to each other. Lens arrangement ( 1.0 ) for an environment detection system ( 9 ), in order to spatially detect and / or image the environment to be detected, wherein the lens arrangement ( 1.0 ) at least two optical axes which deviate in the direction ( 1.1.0 . 1.2.0 ), characterized in that the lens arrangement ( 1.0 ) on a common image receiver chip ( 1.3 ) in at least two image receiver chip subareas ( 1.3.1 . 1.3.2 ) is divided. Method for a lens arrangement ( 1.0 ) for an environment detection system ( 9 ), which is designed to spatially detect the environment to be detected in order to prevent the distance to obstacles ( 2 ) and / or objects ( 2 ), wherein a) the lens arrangement ( 1.0 ) at least two different representation areas ( 1.1.1 . 1.2.1 ) and b) the lens arrangement ( 1.0 ) at least two optical axes which deviate in the direction ( 1.1.0 . 1.2.0 ), characterized in that the distance to obstacles ( 2 ) and / or objects ( 2 ) is determined by trigonometry, where c) the distance ( 3 ) to an obstacle ( 2 ) and / or an object ( 2 ) is determined such that the object offset (y) on the two receiver chip areas ( 1.3.1 . 1.3.2 ), and d) the determined object offset (y) is determined by the sine of the angle ( 1.0.3 ) of the two deviating optical axes ( 1.1.0 . 1.2.0 ) is shared. Environment detection system ( 9 ), designed as a driver assistance system ( 9 ) provided with a lens arrangement ( 9 ) according to one of claims 1 to 7. Motor vehicle (motor vehicle) ( 10 ) provided with a driver assistance system ( 9 ) according to claim 9.

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