DE102017109150A1 - Method for checking an optoelectronic detection device of a motor vehicle and optoelectronic detection device - Google Patents

Method for checking an optoelectronic detection device of a motor vehicle and optoelectronic detection device

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Publication number
DE102017109150A1
DE102017109150A1 DE102017109150.5A DE102017109150A DE102017109150A1 DE 102017109150 A1 DE102017109150 A1 DE 102017109150A1 DE 102017109150 A DE102017109150 A DE 102017109150A DE 102017109150 A1 DE102017109150 A1 DE 102017109150A1
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DE
Germany
Prior art keywords
detection device
backscatter signal
processing
motor vehicle
artificial
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
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DE102017109150.5A
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German (de)
Inventor
Özgür Püskül
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Valeo Schalter und Sensoren GmbH
Original Assignee
Valeo Schalter und Sensoren GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by Valeo Schalter und Sensoren GmbH filed Critical Valeo Schalter und Sensoren GmbH
Priority to DE102017109150.5A priority Critical patent/DE102017109150A1/en
Publication of DE102017109150A1 publication Critical patent/DE102017109150A1/en
Application status is Withdrawn legal-status Critical

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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S17/00Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/74Systems using reradiation of electromagnetic waves other than radio waves, e.g. IFF, i.e. identification of friend or foe
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S17/00Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88Lidar systems specially adapted for specific applications
    • G01S17/93Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S7/00Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/497Means for monitoring or calibrating

Abstract

The invention relates to a method for checking an optoelectronic detection device (2) of a motor vehicle (1), comprising a) generating an artificial backscatter signal which simulates a backscatter signal, as in the case of an error-free detection device (2) from a predefined object (2). 9) in an environment (4) of the motor vehicle (1) is caused by a diagnostic pulse generator (15) of the detection device (2); b) feeding the artificial backscatter signal into at least one measuring channel (5a, 5b, 5c) of the detection device (2) by the diagnostic pulse generator (15); c) processing the injected artificial backscatter signal in a measuring chain (6) associated with the measuring channel (5a, 5b, 5c); and d) comparing a result of the processing with a reference result stored in the detection device (2) for the given object (9) in order to detect interference sources or defective components of the optoelectronic detection device (2) with little effort.

Description

  • The invention relates to a method for checking an optoelectronic detection device of a motor vehicle. It also relates to an optoelectronic detection device for a motor vehicle, comprising a diagnostic pulse generator for generating an artificial backscatter signal and for feeding the artificial backscatter signal into at least one measuring channel of the detection device, with a measuring chain associated with the measuring channel for processing the injected artificial backscattering signal. Signal, and with a computing unit for comparing a processing result of the measuring chain with a stored reference result.
  • Opto-electronic detection devices, such as scanning lidar sensor devices (light detection and ranging devices, optical distance and / or velocity measurement devices) emit light pulses and receive a corresponding reflected light component which causes or triggers an electrical backscatter signal in the detection device. From the duration of the light pulses or the backscatter signals can be calculated according to the time-of-flight principle, a distance to an object in the vicinity of the detection device. The electrical backscatter signal is usually quantized, that is converted into a binary signal, the signal, for example, to the one value, 1 is set if the magnitude of the analog signal is above a threshold and set to another value, for example 0, if the magnitude is less than the threshold. Furthermore, the quantized backscatter signal is sampled, ie sampled in time. One or more distance compensations are also generally carried out, that is to say, for example, error-corrected time stamps of the quantized and sampled signal are corrected. These processing steps are typically carried out in a measuring chain through a series of processing units of the measuring chain. During execution, disturbances can occur which can lead to deterministic false detection or even to erroneous object formation.
  • One way to identify sources of interference and / or defective components of the measuring chain, the so-called triple-modular redundancy approach, however, each of which requires three times the hardware resource for checking a defective component or a source of interference.
  • In the EP 2 927 711 B1 In this context, a laser scanner is described which has a test light transmitter in order to check a light receiver of the laser scanner. For this purpose, an additional light source generates a variable test signal, which passes directly or via deflecting unit to the light receiver.
  • The invention has for its object to detect interference sources or defective components of an optoelectronic detection device with little effort.
  • This object is solved by the subject matters of the independent claims. Advantageous embodiments will become apparent from the dependent claims, the description and the figure.
  • The invention relates to a method for checking an optoelectronic detection device of a motor vehicle with a series of method steps. A method step is generating an artificial backscatter signal, which simulates a backscatter signal, as in error-free detection device in a (in particular different from a diagnostic mode) normal operation mode of the detection device of a predetermined object, ie an object with a predetermined shape and / or at a predetermined distance from the motor vehicle, is caused in an environment of the motor vehicle, by a diagnostic pulse generator of the detection device. The diagnostic pulse generator can be or include an electronic component. The backscatter signal is an electrical signal and thus no optical signal. The backscatter signal may include a plurality of signal components for a plurality of respective measurement channels. For example, the backscatter signal may have a sequence of pulses with a predetermined time interval from one another, that is to say a predetermined temporal relation to one another for the different measurement channels or in different measurement channels. Another method step is feeding the artificial backscatter signal into at least one measurement channel, preferably several, for example 16, measurement channels of the detection device by the diagnostic pulse generator. A measuring channel can be understood here for example in the sense of a respective detection channel. A further step involves processing the injected artificial backscatter signal in a measuring chain associated with the measuring channel or the measuring channels with one or more electronic components or electronic components.
  • Finally, as a further method step, a comparison of a result of the processing with a reference result stored in the detection device for the given object takes place, for example by a computing unit of the detection device.
  • The verification of the proper processing in the respective measuring channel thus takes place by feeding the artificially generated backscatter signal into the measuring channel. Thus, the entire measuring chain, which is traversed by a signal fed into the measuring channel, is verified or checked. The backscatter signal may thus comprise diagnostic pulses generated by the diagnostic pulse generator, which are fed into a signal processing path of the detection device behind or after a respective detector, for example a photodetector. These diagnostic pulses then form a backscatter signal of a light component reflected on an object, which, for example, has covered a defined distance. Thus, at the end of the reception path, a distance value can be determined from the diagnosis pulse and compared with a corresponding expected value for the determined distance value.
  • This has the advantage that the measuring chain as a whole and thus the constituent components of the measuring chain can be checked with very little hardware expenditure, since, if the processing result or the result of the processing deviates from the stored reference result, ie from a corresponding expected value, to a faulty component can be closed.
  • In an advantageous embodiment, it is provided that the detection device is placed in a diagnostic mode before feeding, in which no detection of objects in the environment and / or no monitoring of the environment takes place by the detection device.
  • This has the advantage that the result of the processing is not falsified by the backscatter signals normally detected or detectable in a normal operating mode, so that an error in the detection device or in the measuring chain is not erroneously assumed or assumed in the checking.
  • In this case, provision may be made in particular for a sensor unit, for example a detector, of the detection device whose signal is fed into the measuring channel in a normal operating mode of the detection device to be deactivated in the diagnostic mode and / or a scanning area of a scanning unit of the detection device to be detected from a detection area of the detection device, for example, from the environment of the motor vehicle, is put out or directed. In particular, the detection area can be placed in a dead area or blind spot area of the detection device, for example a dead-eye area within the detection device.
  • This has the advantage that it is ensured that no unwanted signals are introduced into the measuring chain, which falsify the checking. The said steps have proved to be particularly advantageous here, since the diagnosis or the checking is separated temporally and / or spatially from the detection in normal operation of the detection device and thus an interaction of checking and measuring or detecting as intended is prevented.
  • In an advantageous embodiment, it is provided that the result of the machining and the reference result include a calculated distance between an object in an environment of the motor vehicle and the motor vehicle or the detection device. Alternatively or additionally, the result of the processing and the reference result can also include, for example, an intensity distribution.
  • This has the advantage that the parameter to which it mainly arrives in an optoelectronic detection device, namely the removal of a detected object from the motor vehicle, is checked and thus decisive errors in the detection device can be revealed for this essential function of the detection device.
  • In further advantageous embodiments, it may be provided that the processing comprises a quantification and / or a temporal sampling and / or a compensation of a time offset of the backscatter signal. Quantification can be understood here to be a binary digitization of an analog signal which is based on a threshold value. For example, an analog signal with 1 be digitized if it is greater than the predetermined threshold, and digitized with 0, if it is less than the threshold value. The time sampling can also be understood here in the sense of sampling or described as such. The compensating of the time offset can be understood here as a distance compensation or a signal propagation time compensation as may occur, for example, due to erroneous timestamps of the backscatter signal.
  • This has the advantage that the verification of the detection device is particularly accurate and reliable, since the said steps of quantifying, temporal scanning and compensating the time offset are particularly error prone, and thus just checking these steps in the detection device is advantageous.
  • The invention also relates to an optoelectronic detection device for a motor vehicle, with a diagnostic pulse generator for generating an artificial backscatter signal and for feeding the artificial backscatter signal into at least one measurement channel of the detection device, with a measuring channel associated with the measuring chain for processing the injected artificial backscatter signal and with a computing unit for comparing a processing result of the measuring chain with a stored reference result. It is important that the artificial backscatter signal simulates a backscatter signal, as is caused by a predetermined object in an environment of the motor vehicle of the detection device in error-free detection device.
  • In an advantageous embodiment, it is provided that the optoelectronic detection device comprises or is a lidar sensor device, that is to say a light detection and ranging device, a device for optical distance and / or speed detection.
  • Advantages and advantageous embodiments of the detection device correspond to advantages and advantageous embodiments of the method for checking the optoelectronic detection device and vice versa.
  • The invention also relates to a motor vehicle having such an optoelectronic detection device.
  • The features and combinations of features mentioned above in the description, as well as the features and feature combinations mentioned below in the description of the figures and / or shown alone in the figures, can be used not only in the respectively indicated combination but also in other combinations without the scope of the invention leave. Thus, embodiments of the invention are to be regarded as encompassed and disclosed, which are not explicitly shown and explained in the figures, but which emerge and can be produced by separated combinations of features from the embodiments explained. Embodiments and combinations of features are also to be regarded as disclosed, which thus do not have all the features of an originally formulated independent claim. Moreover, embodiments and combinations of features, in particular by the embodiments set out above, are to be regarded as disclosed, which go beyond or deviate from the combinations of features set out in the back references of the claims.
  • Embodiments of the invention will be explained in more detail with reference to a schematic drawing. The single figure shows a motor vehicle with an exemplary embodiment of an optoelectronic detection device.
  • In the single figure is the motor vehicle 1 with an opto-electronic detection device 2 which is presently embodied as a lidar sensor device. In the present case, the optoelectronic detection device 2 a sensor unit 3 on, with which an environment 4 of the motor vehicle 1 with a scanning light 10 sampled and based on one on an object 9 reflected and from the sensor unit 3 detected light component 11 a scanning light 10 a corresponding backscatter signal is generated. This backscatter signal is transmitted over several measurement channels 5a . 5b . 5c in the example shown three, but preferably in particular 16 Measuring channels, in a measuring chain 6 fed, where it, or an information signal derived from the backscatter signal, for example, a distance signal for the object 9 , is subjected to a series of processing steps, then via a computing unit 7 with an interface 8th For example, to other systems of the motor vehicle 1 to be provided.
  • The measuring chain 6 in the present case comprises a transducer unit 12 which has, for example, an input buffer for a differential signal (IBUFDS, Input Buffer Differential Signal). In the converter unit 12 In the present case, a quantization of the signal via the measurement channels takes place 5a to 5c received backscatter signal, so digitizing the corresponding backscatter signal into a binary digital signal. The backscatter signal can here comprise a plurality of signal components assigned to each of the measurement channels. The measuring chain 6 also includes a sampling or sampling unit 13 in which the quantized backscatter signal is sampled or sampled. The corresponding samples or samples can be provided with a time stamp. Finally, the measuring chain includes 6 in the present case also a compensation unit 14 , a so-called scan point generator, in which one or more distance compensations are performed for the sampled backscatter signal, for example to correct errored timestamps. This compensated backscatter signal then becomes the arithmetic unit 7 provided, which from this for the object 9 For example, you can calculate a distance.
  • In the illustration shown, the signal flow is drawn in dashed lines in a normal operating mode. In addition, however, the illustrated optoelectronic detection device can be 2 present case in a diagnostic mode. In this plays a diagnostic pulse generator 15 , which is also part of the opto-electronic detection device 2 is, an essential role. From this first an artificial backscatter signal is generated, which simulates a backscatter signal, as in error-free detection device 2 from a given object 9 in the neighborhood 4 of the motor vehicle 1 is caused. This artificial backscatter signal is in at least one, in this case several, here so the three measurement channels 5a to 5c fed and in the measuring channels 5a to 5c associated measuring chain 6 processed. As in the normal operating mode, the usual backscatter signal will now be the artificial backscatter signal in the diagnostic unit in the converter unit 12 quantized in the scanning unit 13 sampled and in the compensation unit 14 with respect to a time offset of the backscatter signal compensated. After passing through the measuring chain 6 The processed artificial backscatter signal is then in the arithmetic unit 7 with a stored in the detection device reference result for the given object 9 compared. The arithmetic unit can also partially or completely part of the measuring chain 6 be. Thus, for example, a distance calculated by the measuring chain from the artificial backscatter signal can be compared with a distance stored for the artificial backscatter signal. From a deviation follows here that at least one of the components of the measuring chain 6 is faulty.
  • 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
    • EP 2927711 B1 [0004]

Claims (10)

  1. Method for checking an optoelectronic detection device (2) of a motor vehicle (1), comprising the method steps a) generating an artificial backscatter signal, which simulates a backscatter signal, as in error-free detection device (2) by a predetermined object (9) in an environment (4) of the motor vehicle (1) is caused by a diagnostic pulse generator (15) the detection device (2); b) feeding the artificial backscatter signal into at least one measuring channel (5a, 5b, 5c) of the detection device (2) by the diagnostic pulse generator (15); c) processing the injected artificial backscatter signal in a measurement chain (6) associated with the measurement channel (5a, 5b, 5c); and d) comparing a result of the processing with a stored in the detection device (2) reference result for the given object (9).
  2. Method according to Claim 1 , characterized in that the detection device (2) is put into a diagnostic mode before feeding according to method step b), in which no detection of objects (9) in the environment (4) takes place by the detection device (2).
  3. Method according to Claim 2 , characterized in that in the diagnostic mode, a sensor unit (3) of the detection device (2) whose signal is fed in a normal operating mode of the detection device (2) in the measuring channel (5a, 5b, 5c), is deactivated and / or Scanning region of a scanning unit of the detection device (2) is placed out of a detection range of the detection device (2), in particular in a dead zone is put into it.
  4. Method according to one of the preceding claims, characterized in that the result of the processing and the reference result comprise a distance.
  5. Method according to one of the preceding claims, characterized in that the processing according to method step c) comprises quantifying the backscatter signal.
  6. Method according to one of the preceding claims, characterized in that the processing according to method step c) comprises a temporal scanning of the backscatter signal.
  7. Method according to one of the preceding claims, characterized in that the processing according to method step c) comprises compensating for a time offset of the backscatter signal.
  8. Optoelectronic detection device (2) for a motor vehicle (1), comprising a diagnostic pulse generator (15) for generating an artificial backscatter signal and for feeding the artificial backscatter signal into at least one measurement channel (5a, 5b, 5c) of the detection device ( 2); - a measurement channel (5a, 5b, 5c) associated with the measuring channel (6) for processing the injected artificial backscatter signal; - A computing unit (7) for comparing a processing result of the measuring chain (6) with a stored reference result; characterized in that the artificial backscatter signal simulates a backscatter signal, as in error-free detection device (2) by a predetermined object (9) in an environment (4) of the detection device (2) is caused.
  9. Optoelectronic detection device (2) according to Claim 8 , characterized in that the optoelectronic detection device (2) comprises a lidar sensor device.
  10. Motor vehicle (1) with an optoelectronic detection device (2) according to Claim 8 or 9 ,
DE102017109150.5A 2017-04-28 2017-04-28 Method for checking an optoelectronic detection device of a motor vehicle and optoelectronic detection device Withdrawn DE102017109150A1 (en)

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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19518978A1 (en) * 1994-05-26 1995-11-30 Mitsubishi Electric Corp Obstacle detection system for motor vehicles
EP2927711A1 (en) * 2014-04-04 2015-10-07 Sick Ag Laser scanner and method for the reliable detection of objects

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19518978A1 (en) * 1994-05-26 1995-11-30 Mitsubishi Electric Corp Obstacle detection system for motor vehicles
EP2927711A1 (en) * 2014-04-04 2015-10-07 Sick Ag Laser scanner and method for the reliable detection of objects
EP2927711B1 (en) 2014-04-04 2016-03-30 Sick Ag Laser scanner and method for the reliable detection of objects

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