DE102012200572A1 - Two-dimensional three-dimensional camera for security system of motor vehicle, has control unit connected with two evaluation units and is configured to generate safety signal and security parameter for object in object list - Google Patents
Two-dimensional three-dimensional camera for security system of motor vehicle, has control unit connected with two evaluation units and is configured to generate safety signal and security parameter for object in object list Download PDFInfo
- Publication number
- DE102012200572A1 DE102012200572A1 DE201210200572 DE102012200572A DE102012200572A1 DE 102012200572 A1 DE102012200572 A1 DE 102012200572A1 DE 201210200572 DE201210200572 DE 201210200572 DE 102012200572 A DE102012200572 A DE 102012200572A DE 102012200572 A1 DE102012200572 A1 DE 102012200572A1
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- dimensional
- object list
- list
- control unit
- camera
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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
- 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
- G01S7/4808—Evaluating distance, position or velocity data
-
- 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
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
-
- 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
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
- G01S17/894—3D imaging with simultaneous measurement of time-of-flight at a 2D array of receiver pixels, e.g. time-of-flight cameras or flash lidar
-
- 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
Abstract
Description
Die Erfindung betrifft eine 2D3D-Kamera für ein Sicherheitssystem für ein Kraftfahrzeug und ein Verfahren zum Betreiben eines solchen Systems nach Gattung der unabhängigen Ansprüche. The invention relates to a 2D3D camera for a safety system for a motor vehicle and a method for operating such a system according to the preamble of the independent claims.
Zur Vermeidung von Unfällen und auch zur Fahrerassistenz sind vorausschauende Systeme, die die Verkehrssituation vor einem Fahrzeug mit Sensoren erfassen bekannt. To avoid accidents and also for driver assistance, forward-looking systems that detect the traffic situation in front of a vehicle with sensors are known.
Die
Mit 3D-Kamera sind vornehmlich Lichtlaufzeitsensor, Lichtlaufzeitkamera oder Lichtlaufzeitkamerasystem angesprochen, insbesondere sollen alle Lichtlaufzeit- bzw. 3D-TOF-Kamerasysteme mit umfasst sein, die eine Laufzeitinformation aus der Phasenverschiebung einer emittierten und empfangenen Strahlung gewinnen. Als Lichtlaufzeit- bzw. 3D-TOF-Kameras sind insbesondere PMD-Kameras mit Photomischdetektoren (PMD) geeignet, wie sie u.a. in den Anmeldungen
Ist es vorgesehen, die Fahrerassistenzsysteme nicht nur zur Warnung des Fahrers heranzuziehen, sondern auch anhand der erfassten Daten Sicherheitsfunktionen, wie beispielsweise eine Notbremsung, einen Airbag, Gurtstraffer etc., auszulösen sind besonderes hohe Sicherheitsanforderungen, wie beispielsweise SiA3, SiA4 bzw. ASIL C bzw. ASIL D zu erfüllen. If it is intended to use the driver assistance systems not only to warn the driver but also to trigger safety functions based on the recorded data, such as emergency braking, an airbag, belt tensioner etc., particularly high safety requirements are required, such as SiA3, SiA4 or ASIL C resp To meet ASIL D.
Aufgabe der Erfindung ist es, insbesondere System zur Kollisionswarnung im Hinblick auf Zuverlässigkeit und Sicherheit zu verbessern. The object of the invention is, in particular, to improve the collision warning system in terms of reliability and safety.
Vorteilhaft ist eine 2D3D-Kamera vorgesehen, mit einem Lichtlaufzeitsensor (
Ebenso vorteilhaft ist ein Verfahren zum Betreiben einer 2D3D-Kamera vorgesehen, bei dem ausgehend von Tiefeninformationen eines Lichtlaufzeitsensors (
Dieses Vorgehen hat den Vorteil, dass die Objektinformationen diversitär und redundant erfasst werden und eine hohe Existenzwahrscheinlichkeit vorliegt, wenn das Objekt in beiden Systemen erkannt wird. This approach has the advantage that the object information is detected diversified and redundant and there is a high probability of existence if the object is detected in both systems.
Nachfolgend wird die Erfindung anhand von Ausführungsbeispielen unter Bezugnahme auf die Zeichnungen näher erläutert. The invention will be explained in more detail by means of embodiments with reference to the drawings.
Es zeigen schematisch: They show schematically:
Bei der nachfolgenden Beschreibung der bevorzugten Ausführungsformen bezeichnen gleiche Bezugszeichen gleiche oder vergleichbare Komponenten. In the following description of the preferred embodiments, like reference characters designate like or similar components.
Das Lichtlaufzeitkamerasystem
Das Messprinzip dieser Anordnung basiert im Wesentlichen darauf, dass ausgehend von der Phasenverschiebung ∆φ des emittierten und empfangenen Lichts die Lichtlaufzeit tL und somit die zurückgelegte Wegstrecke des empfangenen Lichts ermittelt werden kann. Zu diesem Zwecke werden die Lichtquelle
Zusätzlich ist parallel zum Lichtlaufzeitsensor
Diese Anordnung kann vorzugsweise im Automobilbereich als vorausschauendes Sensorssystem eingesetzt werden, wobei in einem Fahrerassistenzsystem anhand der erkannten Objekte beispielsweise Kollisionswarnungen ausgegeben werden können. This arrangement can preferably be used in the automotive sector as a forward-looking sensor system, with collision warnings, for example, being able to be output in a driver assistance system on the basis of the detected objects.
Insbesondere in sicherheitskritischen Situationen, in denen beispielsweise eine bevorstehende Kollision erkannt wird, muss vor einem Auslösen einer Sicherheitseinrichtung, beispielsweise Airbag, Notbremsung etc., sichergestellt sein, dass eine Gefahrensituation vorliegt. In particular in safety-critical situations, in which, for example, an imminent collision is detected, it must be ensured that a dangerous situation exists before triggering a safety device, for example airbag, emergency braking, etc.
Um einen entsprechend hohen Sicherheitslevel zu erreichen wird erfindungsgemäß vorgeschlagen, die von dem Lichtlaufzeitsensor
Die erste Auswerteeinheit
Die zweite Auswerteeinheit
Beiden Auswerteeinheiten
In einer bevorzugten Ausführungsform wird ausgehend von den in der ersten Objektliste aufgeführten Objekten untersucht, ob diese Objekte eine Entsprechung in der zweiten Objektliste aufweisen. In a preferred embodiment, based on the objects listed in the first object list, it is examined whether these objects have a correspondence in the second object list.
Dem Objekt kommt eine hohe Existenzwahrscheinlichkeit zu, wenn es in beiden Listen aufscheint und somit diversitär und redundant erfasst und erkannt wurde. In einem solchen Fall kann das Objekt mit einem Sicherheitssignal bzw. Sicherheitsparameter versehen werden. The object has a high likelihood of existence if it appears in both lists and thus has been detected and recognized diversified and redundant. In such a case, the object can be provided with a safety signal or safety parameter.
Beispielsweise kann das Objekt in mindestens einer der Objektlisten mit einem Sicherheitsparameter gekennzeichnet und über die Kommunikationseinheit
Nachfolgende Sicherheitssysteme können beispielsweise so ausgestaltet sein, dass nur dann sicherheitskritische Funktionen ausgelöst werden, wenn das kritische Objekt mit einem Sicherheitsparameter versehen ist. Subsequent security systems may, for example, be designed such that safety-critical functions are only triggered if the critical object is provided with a security parameter.
In einer weiteren Ausgestaltung kann es vorgesehen sein, dass in Abhängigkeit der ersten Objektliste die Objekterkennung der zweiten Auswerteeinheit
BezugszeichenlisteLIST OF REFERENCE NUMBERS
- 1010
- Sendeeinheit, Beleuchtung Transmitting unit, lighting
- 1212
- Beleuchtungslichtquelle Illumination light source
- 1515
- Strahlformungsoptik Beam shaping optics
- 2020
- Empfangseinheit, TOF-Kamera Receiving unit, TOF camera
- 2222
- Lichtlaufzeitsensor Transit Time Sensor
- 2323
- Lichtlaufzeitpixel, Pixel Light transit time pixels, pixels
- 2525
- Empfangsoptik receiving optics
- 3030
- Modulator modulator
- 4040
- Objekt object
- 5050
- Videosensor video sensor
- 120120
- erste Auswerteeinheit first evaluation unit
- 150150
- zweite Auswerteeinheit second evaluation unit
- 160160
- Kontrolleinheit control unit
- 180180
- Kommunikationseinheit communication unit
ZITATE ENTHALTEN IN DER BESCHREIBUNG QUOTES INCLUDE IN THE DESCRIPTION
Diese Liste der vom Anmelder aufgeführten Dokumente wurde automatisiert erzeugt und ist ausschließlich zur besseren Information des Lesers aufgenommen. Die Liste ist nicht Bestandteil der deutschen Patent- bzw. Gebrauchsmusteranmeldung. Das DPMA übernimmt keinerlei Haftung für etwaige Fehler oder Auslassungen.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.
Zitierte PatentliteraturCited patent literature
- EP 1903536 B1 [0003] EP 1903536 B1 [0003]
- EP 1777747 [0004] EP 1777747 [0004]
- US 6587186 [0004] US 6587186 [0004]
- DE 19704496 [0004, 0015] DE 19704496 [0004, 0015]
Claims (2)
Priority Applications (1)
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DE201210200572 DE102012200572A1 (en) | 2012-01-16 | 2012-01-16 | Two-dimensional three-dimensional camera for security system of motor vehicle, has control unit connected with two evaluation units and is configured to generate safety signal and security parameter for object in object list |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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DE201210200572 DE102012200572A1 (en) | 2012-01-16 | 2012-01-16 | Two-dimensional three-dimensional camera for security system of motor vehicle, has control unit connected with two evaluation units and is configured to generate safety signal and security parameter for object in object list |
Publications (1)
Publication Number | Publication Date |
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DE102012200572A1 true DE102012200572A1 (en) | 2013-07-18 |
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DE201210200572 Pending DE102012200572A1 (en) | 2012-01-16 | 2012-01-16 | Two-dimensional three-dimensional camera for security system of motor vehicle, has control unit connected with two evaluation units and is configured to generate safety signal and security parameter for object in object list |
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Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102018114386A1 (en) | 2017-12-22 | 2019-06-27 | Ifm Electronic Gmbh | Method of generating image metadata for a controller |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE19704496A1 (en) | 1996-09-05 | 1998-03-12 | Rudolf Prof Dr Ing Schwarte | Method and device for determining the phase and / or amplitude information of an electromagnetic wave |
US6587186B2 (en) | 2000-06-06 | 2003-07-01 | Canesta, Inc. | CMOS-compatible three-dimensional image sensing using reduced peak energy |
EP1777747A1 (en) | 2005-10-19 | 2007-04-25 | CSEM Centre Suisse d'Electronique et de Microtechnique SA | Device and method for the demodulation of modulated electromagnetic wave fields |
EP1903536B1 (en) | 2006-09-25 | 2009-07-01 | Robert Bosch Gmbh | Driver assistance system with distance control and collision warning function |
-
2012
- 2012-01-16 DE DE201210200572 patent/DE102012200572A1/en active Pending
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE19704496A1 (en) | 1996-09-05 | 1998-03-12 | Rudolf Prof Dr Ing Schwarte | Method and device for determining the phase and / or amplitude information of an electromagnetic wave |
US6587186B2 (en) | 2000-06-06 | 2003-07-01 | Canesta, Inc. | CMOS-compatible three-dimensional image sensing using reduced peak energy |
EP1777747A1 (en) | 2005-10-19 | 2007-04-25 | CSEM Centre Suisse d'Electronique et de Microtechnique SA | Device and method for the demodulation of modulated electromagnetic wave fields |
EP1903536B1 (en) | 2006-09-25 | 2009-07-01 | Robert Bosch Gmbh | Driver assistance system with distance control and collision warning function |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102018114386A1 (en) | 2017-12-22 | 2019-06-27 | Ifm Electronic Gmbh | Method of generating image metadata for a controller |
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Owner name: PMDTECHNOLOGIES AG, DE Free format text: FORMER OWNER: IFM ELECTRONIC GMBH, 45128 ESSEN, DE |
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Representative=s name: SCHUHMANN, JOERG, DIPL.-PHYS. DR. RER. NAT., DE |
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