DE102016004334A1 - Sensor device for detecting environmental information and method for operating the same - Google Patents

Abstract

The invention relates to a sensor device (1) having a LIDAR transceiver for acquiring environmental information, comprising a transmitting unit (2) for transmitting laser radiation in an ambient detection angle range (8) to be detected, having a receiving unit (3) for receiving objects (20 31) in the ambient detection angle range (8) reflected laser radiation, as well as with a control and evaluation device (10) for evaluating the returned laser radiation according to a transit time or phase shift method to the position and the distance of these objects (20, 31) relative to the receiver unit ( 3) to determine and signal, wherein the transmitting unit (2) and the receiving unit (3) are arranged immovably. According to the invention, the transmitting unit (2) has a laser (4), a light-diffractive optical element (5) and a light-diffusing optical element (6), wherein the ambient detection angle range (8) is subdivided into a plurality of angular sub-ranges (8a-8e), wherein each angular subarea (8a-8e) is associated with a diffracted single beam (7a-7e), and in that the receiving unit (3) comprises a light-collecting optical element (14, 17, 27, 41-43) corresponding to the objects (20, 31) focused in the ambient detection angle range (8) laser radiation for each individual beam (7a-7e) in a separate pixel (16a-16e) on each of a light-detecting electronic receiving element (12a-12e) in a receiving plane (15) of the receiving unit (3) focused and / or distracts.

Description

The invention relates to a sensor device with a LIDAR transceiver for detecting environmental information, comprising a transmitting unit for transmitting pulsed or electronically modulated laser radiation in a detected by the LIDAR transceiver ambient detection angle range, and a receiving unit for receiving backscattered laser radiation transmitted through the transmitted Laser radiation has arisen and has been reflected by objects in an ambient detection angle range, as well as with a control and evaluation device for evaluating the reflected back from these objects laser radiation according to a transit time or phase shift method to determine the position and distance of these objects relative to the LIDAR transceiver and to signal, and in which all the components of the transmitting unit and the receiving unit for transmitting and receiving laser radiation are arranged immovably. Moreover, the invention relates to a method for operating such a sensor device.

Environmental information sensing devices continue to evolve for various functions, such as sensing environmental information in the near and far range of vehicles and aircraft, collecting environmental data, or in safety engineering to monitor work areas of machinery. In driver assistance systems of passenger cars, commercial vehicles and buses they are used as an aid to driver information and accident prevention in the detection of obstacles or vulnerable road users in the front, rear or blind spot area of the motor vehicle.

Such sensor devices may be based on optical methods such as the LIDAR technique in which a transmitter unit emits one or more pulsed or electronically modulated laser beams in the ultraviolet, visual or infrared wavelength range, and a receiver unit that reflects back from an object by scattering, reflection or absorption emission Detected light temporally, spatially and / or wavelength-selectively. The reflected light from an object is directed to a photosensitive detector, such as a single receiving diode or a diode array, and converted into an electrical received signal in associated electronics. From the time interval between the transmission signal and the received signal, the relative distance and the direction or position can be considered according to a known light pulse transit time method (time-of-flight, TOF) in which the pulse signals are temporally and / or spatially resolved or averaged the detected object to the transmitter are determined. In another known method, a phase shift between the laser beams and the reflected beams for object distance measurement can be evaluated. Imaging LIDAR methods and / or additional cameras also enable shape recognition to make it easier to recognize, for example, pedestrians or cyclists in the vicinity of a vehicle.

Known optical sensor devices for detecting environmental information have a rotatable unit in which a transmitting unit or a transmission unit associated component, such as a single laser diode or a laser line, and a receiving unit or the receiving unit associated component, for example, a 45 ° angle to Rotary axis inclined mirror, arranged coaxially on a rotation axis and by a motor together and synchronously driven. Such a laser scanner allows a Rundumabtastung with a high angular resolution. In most cases, however, the field of view (FOV) of the sensor device is a specific smaller angular range, for example an opening angle of 180 °, which is related to the respective application.

A rotatable scanner unit is usually operated at relatively high speeds and is subject to a corresponding mechanical wear, resulting in a limited maximum service life. A motor drive requires a relatively large space in a sensor housing, consumes electrical energy and is also relatively expensive. These disadvantages can be avoided by LIDAR sensors, which manage without moving components.

The US 6,664,529 B2 shows such a sensor device with a LIDAR transceiver without moving components. The LIDAR transceiver includes a transmitter for emitting a range finding signal and a receiver for receiving that rangefinder signal when reflected from an object. The transmitter has one or more lasers that can emit one or more beams, fans or fields of laser radiation. The receiver has a one-dimensional or two-dimensional array of one or more LIDAR detectors which detect the returning laser radiation. The LIDAR transceiver detects a one-dimensional point or a two-dimensional array of separate distance data signals to objects detected by the LIDAR transceiver. At the same time, a digital camera transmits passive image data signals from the environment in a one-dimensional or two-dimensional focal plane array of detectors. The distance data signals and the image data signals are electronically associated with one another to produce a 3-dimensional representation of the environment.

The US 8,072,581 B1 shows and describes a laser rangefinder system with a so-called Flash LIDAR sensor unit without moving parts. A distance measurement with this system is based on the evaluation of individual images according to the aforementioned TOF method, wherein each individual image is generated by a single laser pulse which illuminates the entire field of view of the sensor. The sensor unit has a transmitter for transmitting laser pulses and a receiver for receiving input light signals which have been reflected thereby and which have been reflected by objects. The transmitter consists of a laser for emitting a laser beam, which is widened by an expansion optics over the field of view of the sensor. The receiver has a sensor and a receiving optics for detecting the reflected light in the field of view.

From the DE 10 2015 101 722 A1 is a LIDAR sensor with a field of view of 180 ° for a vehicle known. The sensor comprises a plurality of Vertical Cavity Surface Emitting Lasers [VCSEL] arrays, each of which is composed of a plurality of VCSELs. The VCSELs are continuous wave lasers. Each of these continuous wave lasers can be controlled with a predefined duty cycle. At each of the VCSEL arrays, a lens is arranged in each case, which receives a laser beam from each VCSEL of the respective array and focuses these laser beams into a beam so that each bundled laser beam emanates from each VCSEL array and a fan of such bundled laser beams is formed which radiates into an ambient detection angle range. The VCSEL arrays are mounted on a semi-circular housing circumferentially in a row. Axially adjacent to the row is a second row of receivers, with each transmitter array each having a receiver associated therewith. To measure the distance of objects in the field of view, the emitted laser beams are amplitude modulated to produce a particular waveform at a particular frequency. The waves reflected by objects have a phase shift detected by the receiver. From the phase shift, the distance to the objects can be determined.

The invention has for its object to present a generic sensor device without moving components for the detection of environmental information that can cover a large horizontal opening angle or detection range and also has a compact design and low production costs. This sensor device should be usable in or by a driver support system of a vehicle. In addition, a method for operating a sensor device according to the invention is to be described.

The invention is based on the recognition that laser scanners for environment detection without moving elements are advantageous compared to laser scanners with rotatable transmitting and receiving units in terms of cost, size and maximum service life and robustness. Such a sensor device can be achieved using pixel-resolving detector techniques, such as those used in digital cameras or other imaging systems, in combination with an optical design. Ideally, the optical assembly should distribute the radiation of a single laser beam source to a desired horizontal aperture angle so that the ambient coverage angle range, unlike rotating scanning scanners, can be fully illuminated entirely. In this case, an angle-resolved distance measurement of objects in the illuminated, ambient detection angle range should be possible. A design with these properties can exploit light diffraction at a multiple slit to create single beams from a laser source which radiate in different directions. The individual beams can be deflected in the further beam path of the structure by means of optics targeted in the ambient detection angle range. The individual beams reflected by objects can be evaluated pixel by pixel by means of photosensitive detectors, such as a sensor line.

The invention is therefore based on a sensor device with a LIDAR transceiver for detecting environmental information, comprising a transmitting unit for transmitting pulsed or electronically modulated laser radiation in an environment detection angle range to be detected by the LIDAR transceiver, and a receiving unit for receiving backscattered laser radiation originated by the transmitted laser radiation and has been reflected by objects in an ambient detection angle range, and with a control and evaluation device for evaluating the laser radiation reflected by these objects according to a transit time or phase shift method in order to determine the position and the distance of these objects relative to the LIDAR Transmitter to identify and signal, and in which all components of the transmitting unit and the Receiving unit for transmitting and receiving laser radiation are arranged immovably.

• – mindestens einen Laser, der mindestens einen gepulsten oder elektronisch modulierten Laserstrahl aussenden kann,
• – mindestens ein lichtbeugendes optisches Element, an dem der mindestens eine Laserstrahl in verschiedene Richtungen gebeugt werden kann, sowie
• – mindestens ein lichtzerstreuendes optisches Element, welches die gebeugte Laserstrahlung so zerstreuen kann, dass der vorgegebene Umgebungserfassungswinkelbereich zeitgleich vollständig oder in Winkelschritten zeitlich nacheinander erfassbar ist, wobei der Umgebungserfassungswinkelbereich in mehrere Winkelteilbereiche unterteilt ist, und bei der jedem Winkelteilbereich ein gebeugter Einzelstrahl zugeordnet ist, welcher diesen Winkelteilbereich erfasst, und dass die Empfangseinheit in Empfangsrichtung hintereinander folgendes umfasst:
• – mindestens ein lichtsammelndes und/oder lichtablenkendes optisches Element, welches die von Objekten in dem Umgebungserfassungswinkelbereich zurückgeworfenen Einzelstrahlen so sammelt und/oder ablenkt, dass jeder zurückgeworfene Einzelstrahl in einen gesonderten Bildpunkt auf einer Empfangsebene der Empfangseinheit fokussiert und/oder ablenkt ist,
• – mindestens ein lichtdetektierendes elektronisches Empfangselement je Bildpunkt, welches in der Empfangsebene angeordnet ist und mittels dem die in dem Bildpunkt erfasste Laserstrahlung in ein elektrisches Objektentfernungsmesssignal umformbar ist, und mittels dem dieses Objektentfernungsmesssignal an die Steuerungs- und Auswerteeinrichtung signalisierbar ist,
• – wobei die Steuerungs- und Auswerteeinrichtung elektronische Mittel aufweist, mittels denen aus den erfassten Objektentfernungsmesssignalen die Lage und den Abstand von in dem Umgebungserfassungswinkelbereich detektierten Objekten relativ zur Empfängereinheit ermittelbar sowie als Umgebungsinformation zur Verfügung stellbar sind.

To achieve the object, the invention provides in this sensor device that the transmitting unit in the emission direction comprises one after the other:

• At least one laser capable of emitting at least one pulsed or electronically modulated laser beam,
• - At least one light-diffractive optical element on which the at least one laser beam can be diffracted in different directions, and
• At least one light-diffusing optical element which can diffuse the diffracted laser radiation such that the predetermined ambient detection angle range can be detected simultaneously in time or in angular increments, wherein the ambient detection angle range is subdivided into a plurality of angular subranges, and wherein each diffracted portion is associated with a diffracted single beam detects this angle subarea, and that the receiving unit in the receive direction successively comprises:
• At least one light-collecting and / or light-deflecting optical element which collects and / or deflects the individual beams reflected by objects in the ambient detection angle range such that each reflected individual beam is focused and / or deflected into a separate pixel on a receiving plane of the receiving unit,
• At least one light-detecting electronic receiving element per pixel, which is arranged in the receiving plane and by means of which the laser radiation detected in the pixel is convertible into an electrical object distance measuring signal, and by means of which this object distance measuring signal can be signaled to the control and evaluation device,
• Wherein the control and evaluation device comprises electronic means by means of which the position and the distance of objects detected in the ambient detection angle range relative to the receiver unit can be determined from the detected object distance measuring signals and also provided as environmental information.

This sensor device accordingly has a transmitting unit and a receiving unit, which are formed without moving elements, and which can detect a relatively large opening angle of the surroundings with a high angular resolution. The sensor device requires relatively few individual components and is therefore designed to be particularly compact, inexpensive and durable.

According to a first embodiment of this sensor device, the transmitting unit can have exactly one laser diode and exactly one light-diffractive optical element, wherein the light-diffractive optical element is arranged downstream of a laser diode in the beam path. Accordingly, the transmitting unit can consist of only one transmitting diode and one optical diffraction element in order to split the laser beam of the transmitting diode into many individual beams.

An alternative embodiment provides that the transmitting unit has a plurality of lasers, which are arranged to form a laser array, that is, with regard to their outlet openings in a surface. Such a laser array can be advantageous if a particularly high beam density is required over the entire range of the coverage of the surroundings. On the other hand, several particularly low-cost lasers with comparatively low power can be used in an array if sufficient space is available in a sensor housing.

According to a further embodiment of the invention, it can be provided that the at least one light-diffractive optical element of the transmitting unit is an optical transmission grating which is effective as a multiple slit. If monochromatic, coherent light falls on a multiple slit, diffraction in m different directions results in sharp main maxima according to the formula sin α _m = ± m λ / g, where α is the angle to the normal of the gap, m is the ordinal number, λ is the wavelength and g is the lattice constant, ie the distance between two gaps N. The sharpness of the main maxima increases with the number of gaps N. Thus, a single laser beam and a diffractive element, in particular a diffraction grating, can be used to divide the radiation of the laser onto a plurality of individual static laser beams. The individual beams generated in this way can be directed via a light-scattering optical element in each case into an associated corridor-like angular section.

The at least one light-diffusing optical element of the transmitting unit may be a concave-convex diverging lens. By means of such a diverging lens, the individual beams can be easily distributed in the ambient detection angle range of the sensor device.

In an alternative embodiment, the at least one light-diffusing optical element of the transmitting unit may be a Fresnel lens. Fresnel lenses, as they are known for example from vehicle headlights, have an annular step structure. This will reduce Thickness, volume and weight compared to conventional lenses. As a result, the size of the sensor device can be further reduced. The poorer imaging quality of the Fresnel lenses is subordinate to the distance measurement of the sensor device.

According to another embodiment of the invention it can be provided that the at least one light-diffusing optical element of the transmitting unit is formed as a transmitting prism array, which forms, for example, a semicircular arrangement of individual prisms. In such a transmission prism array each diffracted single beam is associated with a transmission prism, which deflects this beam targeted in one direction. As a result, the transmitting unit of the sensor device can be easily adapted to any desired opening angle for environmental detection.

The receiving unit is designed to detect each individual beam reflected by objects in the environment by means of an associated receiving element. By means of a light-collecting and / or light-deflecting optical element, the individual beams can be directed targeted and angularly resolved to a receiving plane in which the receiving elements are arranged. This light-collecting and / or light-deflecting optical element may be a simple biconvex converging lens according to another embodiment. Alternatively, a biconcave lens may be provided.

According to another embodiment of the invention it can be provided that the at least one light-collecting and / or light-deflecting optical element of the receiving unit is designed as a receive prism array. Accordingly, the transmitter and / or the receiver can each be formed with prism arrays in order to detect a desired opening angle of the sensor device by means of individual beams. Since the dimensions of the arrangement in the respective prism array are not determined by a lens focal length, the design of the sensor device can be adapted to variable structural requirements.

According to another embodiment of the invention can be provided that the receiving elements of the receiving unit form a line-shaped or planar sensor from which using a working according to the light pulse transit time photomixing camera (PDM) or runtime camera (TOF), a distance signal between the sensor and an object can be read out pixel by pixel directly.

Each angular section is assigned its own receiving element of the receiving unit. The receiving unit can therefore be a time-of-flight-based sensor array, for example a line sensor, as known from PMD cameras. Instead of a line sensor, a planar sensor or a planar sensor matrix may be provided, in which the number of matrix elements coincides with the number of individual beams. From each individual beam reflected by objects, a distance signal to these objects can be determined. This allows an angle-resolved representation of the environment.

Furthermore, in the case of a planar sensor having a plurality of sensor lines, it may be provided that the electronic receiving elements of the respective sensor line are aligned parallel or inclined to a roadway for the vehicle or to an imaginary plane floor surface of the vehicle, such that a road-first parallel detection field region, and / or a second environment detection angle range directed obliquely away from the roadway and / or a third ambient detection angle range directed obliquely towards the roadway are detected.

In addition, it can be provided that the sensor device is installed in a driver support system of a commercial vehicle or passenger car or connected to it via at least one control line and at least one data line.

Furthermore, such a sensor device can be designed to detect and monitor a blind spot area of the utility vehicle or passenger car, wherein the ambient coverage angle range is preferably 90 ° to 270 °, and wherein each angle degree an angular range can be detected by a single beam of laser radiation.

In an advanced driver assistance system (ADAS), such as a future sensor device for early detection of vulnerable road users (VRUD: Vulnerable Road User Detection) based on a LIDAR transceiver for detecting an angular range of the environment, an inventively designed sensor device can be advantageous be used and deliver positionally accurate and high-resolution information for the reliable detection of road users in the blind spot area of the vehicle. From such information, the triggering of warning signals can be derived and, where appropriate, appropriate control measures, such as braking or evasive maneuvers, initiated, thereby contributing to increase traffic safety.

The angular range to be scanned in such a driver assistance system is, for example, between 90 ° and 270 °, but is preferably 180 °. Accordingly, it is particularly advantageous to subdivide the angular range to be detected into 180 angular subregions and in the transmitting unit by means of the arrangement according to the invention 180 To produce individual beams, each angular section is assigned a single beam. This allows a simultaneous scanning of the environment in a field of view with an opening angle of 180 ° with a resolution of 1 °.

The invention also relates to a method for operating the described sensor device. This will be shown at the end of the description.

Finally, the invention also relates to a vehicle, such as a commercial vehicle or a passenger car, with a sensor device for detecting environmental information, which is constructed according to at least one of the device claims.

The invention will be explained in more detail with reference to several embodiments illustrated in the accompanying drawings. In the drawing shows

1 a schematic vertical plan view of a transmitting unit of a sensor device for detecting environmental information with a first light-scattering optical element,

2 a schematic vertical plan view of a light-scattering optical element of a sensor device according to 1 with a second embodiment of the light scattering element,

3 4 is a schematic vertical plan view of a receiving unit of a sensor device for detecting environmental information with a light-collecting optical element in the form of a biconcave lens,

4 1 is a schematic vertical plan view of a second embodiment of a light-collecting optical element in the form of a biconvex lens and a cooperating line sensor, FIG.

5 3 is a schematic vertical plan view of a third embodiment of a light-collecting optical element in the form of a receive prism array,

6 a schematic vertical plan view of a receiving unit of a sensor device for detecting environmental information with a light-collecting optical element in the form of a Fresnel lens,

7 a schematic representation of a line sensor with lined up receiving elements,

8th a schematic representation of a planar sensor, consisting of three juxtaposed line sensors according to 7 .

9 a schematic vertical plan view of a truck with a surrounding detection angle range and an unused angle range, and

10 two passenger vehicles in a schematic side view, one of which is a sensor device with a planar sensor according to 8th having.

Some components of the embodiments described below are identical, so that they are designated by the same reference numerals.

The in the 1 to 10 illustrated sensor device 1 is used to capture environmental information in the area of a vehicle. As the 9 and 10 show, such a vehicle can be a truck 18 or a passenger car 30 be. Such a sensor device 1 can with a driver support system 19 be mechanically and signal technically connected in the vehicle, or a component of the driver assistance system 19 be. In the in 9 shown example is a formed according to the invention sensor device 1 on the right front of the truck 18 from where they have a remote driving angle range 8th of 180 ° and this ambient angle range 8th on the presence of objects 20 , such as the in 9 monitored passenger cars monitored. This object 20 can be in a blind spot area 21 of the truck 18 so that this from the driver of the truck 18 would not be recognizable in his rearview mirror without further action. The rest, driver side angle range 22 of 180 ° is from the sensor device 1 not recorded and thus not monitored.

As 10 One can show with a driver assistance system 19 equipped first passenger car 30 a sensor device 1 for detecting environmental information, wherein the sensor device 1 the environment not only in one to the roadway 32 parallel level but also captured in two other levels, which inclined to the roadway 32 run. This is in connection with the training of the sensors and the 8th such as 10 discussed in more detail.

The sensor device 1 has an unillustrated housing with optical windows, in which a transmitting unit 2 and a receiving unit 3 are arranged coaxially with each other.

As 1 shows, points the transmitting unit 2 a laser diode 4 as a transmitter, which laser pulses 7 emits whose wavelength is, for example, in the infrared range. In the direction of radiation of the laser diode 4 is a transmission optics 9 in the transmitting unit 2 arranged, which is a light-diffractive optical element 5 and a light-diffusing optical element 6 includes. The light-diffractive optical element 5 is formed as a transmission grating, which the incident bundled laser light 7 the laser diode 4 bends according to the principle of a multiple gap. This results in m different directions sharp main maxima according to the formula sin α _m = ± m λ / g, where α is the angle to the normal of the gap, m is the ordinal number, λ is the g wavelength and g is the lattice constant, ie the distance between two gaps N. For example, for an ambient coverage angle range 8th of 180 ° an equal number of m corresponding to the number of degrees of main maxima are generated. In 1 are exemplary five main maxima 7a . 7b . 7c . 7d . 7e shown graphically. Each of these main maxima 7a - 7e thus forms a single beam, which in the direction of radiation on the light-scattering optical element 6 meets. The light-diffusing optical element 6 is formed in this embodiment as a concave-convex lens, which the individual beams 7a - 7e in the ambient detection angle range 8th distributed, so that the entire to be monitored angular range of 180 ° from a transmitting unit 2 is detected. Here is every single beam 7a - 7e a certain angular range 8a - 8e assigned. In addition, a control and evaluation device 10 a driver assistance system 19 a commercial vehicle 18 present, which with the laser diode 4 via a control line 24 is electrically connected and the laser diode 4 to send out laser pulses.

2 shows for the transmitting unit 2 according to 1 an alternatively usable light-scattering optical element 6 ' , which is formed as a transmission prism array. The transmit prism array consists of a plurality of individual transmit prisms 11a . 11b . 11c which are arranged along a circular arc section. In 2 are exemplary three transmit prisms 11a . 11b . 11c shown graphically. Each broadcast prism 11a . 11b . 11c is a single beam 7a ' . 7b ' . 7c ' assigned. The single rays 7a ' . 7b ' . 7c ' be via the broadcast prisms 11a . 11b . 11c in the ambient detection angle range 8th distributed.

As the 3 indicates, the receiving unit 3 a trained according to the invention sensor device 1 for detecting environmental information, a line sensor 12 as a receiver, which from the sent single beams 7a - 7e incurred and objects 20 . 31 in the ambient detection angle range 8th thrown back single rays 13a . 13b . 13c . 13d . 13e receives. The line sensor 12 stands with the control and evaluation device 10 of the driver assistance system 19 via at least one control line 24 and at least one data line 25 in connection.

As the 3 and 7 schematically illustrate, consists of the line sensor 12 from individual, light-detecting electronic receiving elements 12a . 12b . 12c . 12d . 12e that are in a reception level 15 are arranged. Every single beam 13a . 13b . 13c . 13d . 13e is a separate reception element 12a . 12b . 12c . 12d . 12e assigned. The objects 20 . 31 the area thrown back individual beams 13a . 13b . 13c . 13d . 13e generate on the assigned receiving elements 12a . 12b . 12c . 12d . 12e one pixel each 16a . 16b . 16c . 16d . 16e which are detected. In this way, the environment can be scanned in a predetermined angular range and in the control and evaluation 10 a two-dimensional data field for the data of a picture line are generated and filled.

In the receive direction of the line sensor 12 is in the embodiment according to 3 in the receiving unit 3 a receiving optics 23 arranged, which is a light-collecting optical element 14 includes. The light-collecting optical element 14 is formed as a biconcave lens, which in the angle sections 8a . 8b . 8c . 8d . 8e of the environmental detection angle range 8th of objects 20 . 31 the area thrown back individual beams 13a . 13b . 13c . 13d . 13e on the line sensor 12 directs.

4 shows an alternative light-collecting optical element 17 the receiving unit 3 , which is formed as a biconvex lens. This biconvex lens 17 focuses the individual, of objects 20 . 31 in the ambient detection angle range 8th thrown back single rays 13a ' . 13b ' . 13c ' on separate pixels 16a ' . 16b ' . 16c ' the respective receiving elements 12a ' . 12b ' . 12c ' of the line sensor 12 ,

The light-collecting optical element of a receiving unit formed with the features of the invention 3 can according to the in 5 illustrated embodiment as a receive prism array 26 be educated. This consists of several individual receive prisms 41 . 42 . 43 , which are above the ambient detection angle range 8th are arranged at predetermined distances from each other. The distance of the reception prisms 41 . 42 . 43 can be for example 1 °, 5 ° or 10 °. The of an object 20 . 31 reflected single rays 44 . 45 . 46 pass through the respectively assigned reception prisms 41 . 42 . 43 diffracted to associated receiving elements 12a . 12b . 12c a line sensor 12 ,

In the 6 illustrated schematic vertical plan view of a receiving unit 3 a sensor device 1 to capture environmental information is largely identical to the receiving unit 3 according to 3 , In contrast, however, is the light-collecting optical element 27 designed as a Fresnel lens. Such a Fresnel lens is suitable for a small depth to capture a comparatively large ambient angle range with sufficiently good optical imaging properties.

As 8th shows, the receiving unit 3 also a sheet-like sensor 33 which consists of several lines 33a . 33b . 33c is constructed, these individual lines 33a . 33b . 33c may be identical, for example, as the line sensors 12 the one described above 3 . 4 and 7 ,

The line sensor 12 and the sheet-like sensor 33 operate according to the light pulse transit time method (TOF) of a so-called mixed photo detector (PMD). The reception elements 12a . 12b . 12c . 12d . 12e ; 12a ' . 12b ' . 12c ' of the line sensor 12 or the planar sensor 33 convert the detected pixel light pulses of the reflected single rays 13a . 13b . 13c . 13d . 13e ; 13a ' . 13b ' . 13c '; 44 . 45 . 46 directly into electrical runtime signals. In the control and evaluation device 10 which the laser diode 4 synchronously controls and the receiving elements 12a . 12b . 12c . 12d . 12e ; 12a ' . 12b ' . 12c ' read out synchronously, these runtime signals are compared pixelwise or pixel by pixel with an electronic reference signal. This will be for every pixel 16a . 16b . 16c . 16d . 16e ; 16a ' . 16b ' . 16c ' determines an object distance measurement signal. From the acquired Objektentfernungsmesssignalen results in the desired environmental information, wherein the angular resolution of the number of angular sub-ranges 8a . 8b . 8c . 8d . 8e of the environmental detection angle range 8th and the corresponding number of receiving elements 12a . 12b . 12c . 12d . 12e ; 12a ' . 12b ' . 12c ' results.

In 10 are two passenger cars 30 . 31 shown schematically, which on a flat roadway 32 drive. The first passenger car 30 is provided with a sensor device formed according to the features of the invention 1 fitted. With this can also directly in front of the first passenger car 30 driving second passenger cars 31 be detected so that its distance information and the additional information generated therefrom by a driver support system 19 can be used. Because the receiving unit 3 the sensor device 1 of the first passenger car 30 with a sheet-like sensor 33 according to 8th is equipped, this can the environment with a correspondingly increased number of emitted laser beams not only in a parallel to the road 32 aligned first ambient angle range 8th but also in one of the lane 32 tilted second peripheral detection angle range 8th' and one to the roadway 32 inclined third ambient detection angle range 8th'' ,

As can be seen, the inclined second ambient detection angle range 8th' forward and diagonally upwards, away from the road 32 , and the third inclined ambient detection angle range 8th'' points forward and diagonally to the roadway 32 out. The three ambient detection angle range 8th . 8th' . 8th'' are geometrically formed as semicircular planes in space, which in terms of the horizontally oriented first ambient detection angle range 8th well in the vertical plan view according to 9 is recognizable. The three mentioned ambient detection angle ranges 8th . 8th' . 8th'' For example, cover in each case an angular range of 270 °, in particular the entire area lying in the forward direction of travel and the passenger-side area of the vehicle 30 ,

The two inclined ambient detection angle ranges 8th' . 8th'' extend at an angle β of, for example, 10 ° to 30 ° inclined to each other, resulting in the lane-parallel first ambient detection angle range 8th an inclination of 5 ° to 15 ° is present. The three ambient detection angle ranges 8th . 8th' . 8th'' on the one hand consider the desire for a comparatively far and straight forward in the direction of travel directed reconnaissance capability of the sensor device 1 with the first ambient detection angle range 8th and, on the other hand, the desire to be with the third ambient detection angle range 8th'' Also to be able to recognize smaller objects in front of the vehicle quickly and well. Such smaller objects may be, for example, wild animals, such as the size of a small wild boar, a hare, a fox or a dog. With the second obliquely upward second peripheral detection angle range 8th' For example, in Driving direction close to the passenger car 30 existing birds are detected, which are a danger to this. After their detection of such objects can by the driver support system 19 For example, emergency braking of the vehicle are triggered.

• a) Erzeugen eines gepulsten oder elektronisch modulierten Laserstrahls 7,
• b) Beugen des Laserstrahls 7 an mindestens einem lichtbeugenden optischen Element 5 zur Erzeugung einer Mehrzahl von Einzel-Laserstrahlen 7a, 7b, 7c, 7d, 7e; 7a', 7b', 7c',
• c) Zerstreuen der Einzel-Laserstrahlen 7a, 7b, 7c, 7d, 7e; 7a', 7b', 7c' mittels mindestens einem lichtzerstreuenden optischen Element 6, 6'; 11a, 11b, 11c derart, dass ein vorgegebener Umgebungserfassungswinkelbereich 8, 8', 8'' zeitgleich mit den Einzel-Laserstrahlen 7a, 7b, 7c, 7d, 7e; 7a', 7b', 7c' vollständig oder in Winkelschritten zeitlich nacheinander erfasst wird,
• d) Empfangen von Einzel-Laserstrahlen 13a, 13b, 13c, 13d, 13e; 13a', 13b', 13c'; 44, 45, 46, welche von Objekten 20, 31 in dem Umgebungserfassungswinkelbereich 8, 8', 8'' zurückreflektiert wurden mittels mindestens einem lichtsammelnden und/oder lichtablenkenden optischen Element 14, 17, 27, 41, 42, 43 derart, dass für jeden durch einen Einzelstrahl 7a, 7b, 7c, 7d, 7e; 7a', 7b', 7c' erfassten Winkelteilbereich 8a, 8b, 8c, 8d, 8e die in diesen jeweiligen Winkelteilbereich 8a, 8b, 8c, 8d, 8e von Objekten 20, 31 zurückgeworfene Laserstrahlung in einen gesonderten Bildpunkt 16a, 16b, 16c, 16d, 16e; 16a', 16b', 16c' auf einer Empfangsebene 15 der Empfangseinheit 3 fokussiert und/oder ablenkt ist,
• e) Erfassen und Umwandeln der empfangenen und fokussierten und/oder abgelenkten Einzel-Laserstrahlen 13a, 13b, 13c, 13d, 13e; 13a', 13b', 13c'; 44, 45, 46 mittels mindestens einem lichtdetektierenden elektronischen Empfangselement 12a, 12b, 12c, 12d, 12e; 12a', 12b', 12c' je Bildpunkt 16a, 16b, 16c, 16d, 16e; 16a', 16b', 16c', welches in der Empfangsebene 15 angeordnet ist,
• f) Umformen der in dem jeweiligen Empfangselement 12a, 12b, 12c, 12d, 12e; 12a', 12b', 12c' erfassten Laserstrahlung in ein elektrisches Objektentfernungsmesssignal,
• g) Weiterleiten dieses Objektentfernungsmesssignals eine Steuerungs- und Auswerteeinrichtung 10,
• h) Ermitteln von Lage und Abstand von in dem Umgebungserfassungswinkelbereich 8, 8', 8'' detektierten Objekten 20, 31 relativ zur Empfängereinheit 3 durch die Steuerungs- und Auswerteeinrichtung 10 aus den erfassten Objektentfernungsmesssignalen der einzelnen Winkelteilbereiche 8a, 8b, 8c, 8d, 8e.

To operate the presented sensor device according to the invention, at least the following method steps are to be carried out:

• a) generating a pulsed or electronically modulated laser beam 7 .
• b) bending the laser beam 7 on at least one light-diffractive optical element 5 for generating a plurality of individual laser beams 7a . 7b . 7c . 7d . 7e ; 7a ' . 7b ' . 7c ' .
• c) scattering of the individual laser beams 7a . 7b . 7c . 7d . 7e ; 7a ' . 7b ' . 7c ' by means of at least one light-scattering optical element 6 . 6 '; 11a . 11b . 11c such that a predetermined ambient detection angle range 8th . 8th' . 8th'' at the same time as the single laser beams 7a . 7b . 7c . 7d . 7e ; 7a ' . 7b ' . 7c ' is detected completely or in angular steps one after the other,
• d) receiving single laser beams 13a . 13b . 13c . 13d . 13e ; 13a ' . 13b ' . 13c '; 44 . 45 . 46 , which of objects 20 . 31 in the ambient detection angle range 8th . 8th' . 8th'' were reflected back by means of at least one light-collecting and / or light-deflecting optical element 14 . 17 . 27 . 41 . 42 . 43 such that for each by a single beam 7a . 7b . 7c . 7d . 7e ; 7a ' . 7b ' . 7c ' detected angle portion 8a . 8b . 8c . 8d . 8e in this particular angular section 8a . 8b . 8c . 8d . 8e of objects 20 . 31 reflected laser radiation in a separate pixel 16a . 16b . 16c . 16d . 16e ; 16a ' . 16b ' . 16c ' at a reception level 15 the receiving unit 3 focused and / or distracted,
• e) detecting and converting the received and focused and / or deflected single laser beams 13a . 13b . 13c . 13d . 13e ; 13a ' . 13b ' . 13c '; 44 . 45 . 46 by means of at least one light-detecting electronic receiving element 12a . 12b . 12c . 12d . 12e ; 12a ' . 12b ' . 12c ' per pixel 16a . 16b . 16c . 16d . 16e ; 16a ' . 16b ' . 16c ' which is in the reception level 15 is arranged
• f) forming the in the respective receiving element 12a . 12b . 12c . 12d . 12e ; 12a ' . 12b ' . 12c ' detected laser radiation into an electrical object distance measurement signal,
• g) forwarding this object distance measuring signal to a control and evaluation device 10 .
• h) determining position and distance of in the ambient detection angle range 8th . 8th' . 8th'' detected objects 20 . 31 relative to the receiver unit 3 through the control and evaluation device 10 from the acquired Objektentfernungsmesssignalen the individual angular sections 8a . 8b . 8c . 8d . 8e ,

LIST OF REFERENCE NUMBERS

1

sensor device

2

transmission unit

3

receiver unit

4

Laser, laser diode

5

Light diffractive optical element of transmitting unit 2 , Transmission grating

6

Light-diffusing optical element, concave-convex lens

6 '

Light-diffusing optical element, transmission prism array

7

Laser beam, laser pulse, laser light

7a-7e

Single beam, main diffraction maximum

7a'-7c '

Single beam, main diffraction maximum

8th

First ambient detection angle range, not inclined

8th'

Second ambient detection angle range, inclined

8th''

Third ambient detection angle range, inclined

8a-8e

Angle portion

9

transmission optics

10

Control and evaluation device

11a

First transmit prism of the transmit prism array 6 '

11b

Second transmit prism of the transmit prism array 6 '

11c

Third transmit prism of the transmit prism array 6 '

12

line sensor

12a-12e

Receiving element (first embodiment)

12a'-12c '

Receiving element (second embodiment)

13a-13e

Rejected single laser beam (first embodiment)

13a-13c '

Rejected single laser beam (second embodiment)

14

Light-collecting optical element, biconcave lens

15

reception plane

16a-16e

Pixels (first embodiment)

16a'-16c '

Pixels (second embodiment)

17

Light-collecting optical element, biconvex lens

18

Trucks, commercial vehicles

19

Driver support system

20

Object, passenger car

21

Blind Spot area

22

Unused angle range

23

receiving optics

24

control line

25

data line

26

Light collecting optical element of receiving unit 3 , Receive prism array

27

Light collecting optical element of receiving unit 3 , Fresnel lens

30

First passenger car

31

Second passenger car, object

32

roadway

33

Flat-shaped sensor

33a

First line of the planar sensor 33

33b

Second line of the planar sensor 33

33c

Third line of the planar sensor 33

41

First reception prism

42

Second reception prism

43

Third reception prism

44

Thrown back single beam at the first receiving prism 41

45

Thrown back single beam at the second receiving prism 42

46

Thrown back single beam at the third receiving prism 43

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

• US 6664529 B2 [0006]
• US8072581 B1 [0007]
• DE 102015101722 A1 [0008]

Claims (16)

Sensor device ( 1 ) with a LIDAR transceiver for acquiring environmental information, comprising - a transmitting unit ( 2 ) for transmitting pulsed or electronically modulated laser radiation in an environmental detection angle range to be detected by means of the LIDAR transceiver (US Pat. 8th . 8th' . 8th'' ), - and a receiving unit ( 3 ) for receiving backscattered laser radiation produced by the transmitted laser radiation and from objects ( 20 . 31 ) in an ambient detection angle range ( 8th . 8th' . 8th'' ), - and with a control and evaluation device ( 10 ) for evaluating the of these objects ( 20 . 31 ) after a transit time or phase shift method, the position and the distance of these objects ( 20 . 31 ) relative to the LIDAR transceiver and to signal and in which all components of the transmitting unit ( 2 ) as well as the receiving unit ( 3 ) are arranged immovably for transmitting and receiving laser radiation, characterized in that the transmitting unit ( 2 ) in the emission direction in succession comprises: - at least one laser ( 4 ) comprising at least one pulsed or electronically modulated laser beam ( 7 ), - at least one light-diffractive optical element ( 5 ), at which the at least one laser beam ( 7 ) can be diffracted in different directions, and - at least one light-diffusing optical element ( 6 . 6 ' ), which can diffract the diffracted laser radiation so that the predetermined ambient detection angle range ( 8th . 8th' . 8th'' ) can be detected at the same time or in angular steps one after the other at the same time, wherein the ambient detection angle range ( 8th . 8th' . 8th'' ) into a plurality of angle sections ( 8a . 8b . 8c . 8d . 8e ), and at each angle subsection ( 8a . 8b . 8c . 8d . 8e ) a diffracted single beam ( 7a . 7b . 7c . 7d . 7e ; 7a ' . 7b ' . 7c ' ), which assigns this angle subrange ( 8a . 8b . 8c . 8d . 8e ) and that the receiving unit ( 3 ) in succession in the receiving direction comprises: - at least one light-collecting and / or light-deflecting optical element ( 14 . 17 . 27 ; 41 . 42 . 43 ), that of objects ( 20 . 31 ) in the ambient detection angle range ( 8th . 8th' . 8th'' ) returned single beams ( 13a . 13b . 13c . 13d . 13e ; 13a ' . 13b ' . 13c '; 44 . 45 . 46 ) collects and / or distracts so that each reflected individual beam ( 13a . 13b . 13c . 13d . 13e ; 13a ' . 13b ' . 13c '; 44 . 45 . 46 ) into a separate pixel ( 16a . 16b . 16c . 16d . 16e ; 16a ' . 16b ' . 16c ' ) at a reception level ( 15 ) of the receiving unit ( 3 ) is focused and / or deflected, - at least one light-detecting electronic receiving element ( 12a . 12b . 12c . 12d . 12e ; 12a ' . 12b ' . 12c ' ) per pixel ( 16a . 16b . 16c . 16d . 16e ; 16a ' . 16b ' . 16c ' ), which at the receiving level ( 15 ) is arranged and by means of which in the pixel ( 16a . 16b . 16c . 16d . 16e ; 16a ' . 16b ' . 16c ' ) detected laser radiation is convertible into an electrical object distance measurement signal, and by means of which this object distance measurement signal to the control and evaluation device signaled ( 10 ), wherein the control and evaluation device ( 10 ) comprises electronic means, by means of which the position and the distance of the detected object distance measuring signals in the ambient detection angle range ( 8th . 8th' . 8th'' ) detected objects ( 20 . 31 ) relative to the receiver unit ( 3 ) can be determined and as environment information available adjustable. Sensor device according to claim 1, characterized in that the transmitting unit ( 2 ) exactly one laser diode ( 4 ) as well as exactly one light-diffractive optical element ( 5 ), wherein the optical element ( 5 ) of a laser diode ( 4 ) is arranged downstream in the beam path. Sensor device according to claim 1, characterized in that the transmitting unit ( 2 ) has a plurality of lasers arranged in an array. Sensor device according to one of claims 1 to 3, characterized in that the at least one light-diffractive optical element of the transmitting unit ( 2 ) an optical transmission grating ( 5 ), which is effective as a multiple gap. Sensor device according to one of claims 1 to 4, characterized in that the at least one light-diffusing optical element of the transmitting unit ( 2 ) a concave-convex diverging lens ( 6 ). Sensor device according to one of claims 1 to 4, characterized in that the at least one light-diffusing optical element ( 6 ' ) of the transmitting unit ( 2 ) is formed as a transmit prism array. Sensor device according to one of claims 1 to 4, characterized in that the at least one light-diffusing optical element of the transmitting unit ( 2 ) as a Fresnel lens ( 27 ) is trained. Sensor device according to one of claims 1 to 7, characterized in that the at least one light-collecting and / or light-deflecting optical element of the receiving unit ( 3 ) a biconcave lens ( 14 ). Sensor device according to one of claims 1 to 7, characterized in that the at least one light-collecting and / or light-deflecting optical element of the receiving unit ( 3 ) a biconvex convex lens ( 17 ). Sensor device according to one of claims 1 to 7, characterized in that the at least one light-collecting and / or light-deflecting optical element of the receiving unit ( 3 ) as a receive prism array ( 26 ) is trained. Sensor device according to one of claims 1 to 10, characterized in that the receiving elements ( 12a - 12e ; 12a ' - 12c ' ) of the receiving unit ( 3 ) a line-shaped sensor ( 12 ) or a sheet-like sensor ( 33 ) from which, according to the light pulse transit time method of a photonic-camera (PMD) or transit-time camera (TOF), a distance signal between the sensor ( 12 . 33 ) and an object ( 20 . 31 ) pixel-wise directly readable. Sensor device with a planar sensor ( 33 ) According to claim 11, characterized in that the electronic receiving elements ( 12a - 12e ; 12a ' . 12b ' . 12c ' ) of the respective sensor line ( 12 ) parallel or inclined to a roadway for the vehicle ( 30 ) or to an imaginary plane floor surface of the vehicle ( 30 ) in such a way that a lane-parallel first environment detection angle range ( 8th ), and / or obliquely from the roadway ( 32 ) directed second ambient detection angle range ( 8th' ) and / or obliquely to the roadway ( 32 ) directed third ambient detection angle range ( 8th'' ) is detected. Sensor device according to one of claims 1 to 12, characterized in that this in a driver support system ( 19 ) of a commercial vehicle ( 18 ) or a passenger car ( 30 ) or with this via at least one control line ( 24 ) and at least one data line ( 25 ) connected is. Sensor device according to one of claims 1 to 13, characterized in that this for detecting and monitoring a blind spot area ( 21 ) of the commercial vehicle ( 18 ) or a passenger car ( 30 ), wherein the ambient detection angle range ( 8th . 8th' . 8th'' ) Is 90 ° to 270 °, wherein each angular degree is an angular range ( 8a - 8e ) by a single jet ( 7a - 7e ; 7a ' . 7b ' . 7c ' ) of the laser radiation is detectable. Vehicle, such as commercial vehicle ( 18 ) or passenger cars ( 30 ), with a sensor device ( 1 ) for acquiring environmental information constructed according to at least one of the device claims. Method for operating a sensor device ( 1 ) having the features of at least one of the preceding claims, characterized by the following method steps: a) generating a pulsed or electronically modulated laser beam ( 7 ), b) bending the laser beam ( 7 ) on at least one light-diffractive optical element ( 5 ) for generating a plurality of individual laser beams ( 7a . 7b . 7c . 7d . 7e ; 7a ' . 7b ' . 7c ' ), c) scattering of the individual laser beams ( 7a . 7b . 7c . 7d . 7e ; 7a ' . 7b ' . 7c ' ) by means of at least one light-diffusing optical element ( 6 . 6 '; 11a . 11b . 11c ) such that a predetermined ambient detection angle range ( 8th . 8th' . 8th'' ) with the individual laser beams ( 7a . 7b . 7c . 7d . 7e ; 7a ' . 7b ' . 7c ' ) at the same time completely or in angular steps one after the other is detected, d) receiving individual laser beams ( 13a . 13b . 13c . 13d . 13e ; 13a ' . 13b ' . 13c '; 44 . 45 . 46 ), which of objects ( 20 . 31 ) in the ambient detection angle range ( 8th . 8th' . 8th'' ) were reflected back by means of at least one light-collecting and / or light-deflecting optical element ( 14 . 17 . 27 . 41 . 42 . 43 ) such that for each by a single jet ( 7a . 7b . 7c . 7d . 7e ; 7a ' . 7b ' . 7c ' ) detected angular range ( 8a . 8b . 8c . 8d . 8e ) which are in this respective angular range ( 8a . 8b . 8c . 8d . 8e ) of objects ( 20 . 31 ) reflected laser radiation in a separate pixel ( 16a . 16b . 16c . 16d . 16e ; 16a ' . 16b ' . 16c ' ) at a reception level ( 15 ) of the receiving unit ( 3 ) is focused and / or deflected, e) detecting and converting the received and focused and / or deflected single laser beams ( 13a . 13b . 13c . 13d . 13e ; 13a ' . 13b ' . 13c '; 44 . 45 . 46 ) by means of at least one light-detecting electronic receiving element ( 12a . 12b . 12c . 12d . 12e ; 12a ' . 12b ' . 12c ' ) per pixel ( 16a . 16b . 16c . 16d . 16e ; 16a ' . 16b ' . 16c ' ), which at the receiving level ( 15 f) reshaping in the respective receiving element ( 12a . 12b . 12c . 12d . 12e ; 12a ' . 12b ' . 12c ' ) detected laser radiation in an electrical object distance measuring signal, g) forwarding this object distance measuring signal to a control and evaluation device ( 10 h) determining the position and distance in the ambient detection angle range ( 8th . 8th' . 8th'' ) detected objects ( 20 . 31 ) relative to the receiver unit ( 3 ) by the control and evaluation device ( 10 ) from the acquired object distance measuring signals of the individual angular sections ( 8a . 8b . 8c . 8d . 8e ).

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