DE102017124633A1 - Sxystem and method for detecting an object - Google Patents

Abstract

The present invention relates to an optical object detection system (10) for detecting an object (12) in an interior area and / or a surrounding area (54) of a vehicle (52), the system (10) comprising: an emission unit (14) for emitting Emission light beams (16) into the region (54), the emission unit (14) having a light source (20) and an optical distributor device (22) for distributing the emission light beams into different sections (18) of the region (54), a receiving unit (26 for receiving received light beams (28) from the area (54), wherein the receiving unit (26) comprises a light sensor (30) and an optical collector (32) for collecting the received light beams (28) from different portions (18) of the area (54 ), and electronic evaluation means (36) for detecting the object (12) in the region (54) as a function of the received light beams (28). The optical distributor means (22) comprises a plurality of optical fibers (24) for distributing the emission light beams (16) into the different portions (18) of the region (54) and / or the optical collection means (26) comprises a plurality of optical fibers (34 The present invention further relates to a corresponding method for detecting an object (12) in an interior area and / or a surrounding area (54) of a vehicle (10) for collecting the received light beams (16) from different sections (18) of the area (54). 52) and a corresponding computer program product.

Description

The present invention relates to an object detection optical system for detecting an object in an interior area and / or a surrounding area of a vehicle, the system comprising: (i) an emission unit for emitting emission light rays into the area, the emission unit comprising at least a light source and an optical distribution device for distributing the emission light rays into different portions of the region; (ii) a receiving unit for receiving received light beams from the area, the receiving unit having a light sensor and an optical collector for collecting the received light beams from different portions of the area, and (iii) electronic evaluation means for detecting the object in the area as a function the received light beams.

The present invention further relates to a corresponding method for detecting an object in an interior area and / or an exterior area of a vehicle and a corresponding computer program product.

A lidar sensor system, such as the Valeo SSL sensor system, is a distance measurement system that emits light pulses from one or more emission diode laser diodes at a very high frequency. The photodiode of the receiving unit receives the light reflected by the objects, regardless of whether they are in motion or not. Signal processing allows real-time location determination of the detected object by measuring the time required for the light to travel from the emission unit to a remote object and return to the receiving unit.

The document US Pat. No. 9 618 622 B2 describes an optical object detection system for detecting an object in a surrounding area of a vehicle. The system comprises: (i) an emission unit for emitting emission light beams into the surrounding area, the emission unit having an emitter and a controllable micromirror for distributing the emission light beams into different portions of the surrounding area; (ii) a receiving unit for receiving received light beams from the surrounding area, the receiving unit having a photodiode and the controllable micromirror for collecting the received light beams from different portions of the surrounding area, and (iii) electronic evaluation means for detecting the object in the surrounding area as a function of the received light beams ,

The document US Pat. No. 9,069,059 B2 shows a covert light detection and distance measuring system (lidar) for detecting interfering and blocking external laser, radar, infrared and other types of velocity and position detectors. The lidar system is mounted on a vehicle in many different locations, such as the brake light, grille, door handle, etc. By using a variety of locations on the vehicle to receive and transmit light signals, the lidar system allows transmission of generated light pulses a network of fiber optic cables to the front, back, top and sides of the vehicle.

The present invention has for its object to provide a system and a method for providing easy detection of objects within a vehicle and / or in the surrounding area of a vehicle.

The object is achieved by the independent claims. Advantageous embodiments are specified in the subclaims.

• (i) eine Emissionseinheit zum Emittieren von Emissionslichtstrahlen in den Bereich, wobei die Emissionseinheit mindestens eine Lichtquelle und eine optische Verteilereinrichtung zum Verteilen der Emissionslichtstrahlen in verschiedene Abschnitte des Bereichs aufweist;
• (ii) eine Empfangseinheit zum Empfangen von Empfangslichtstrahlen von dem Bereich, wobei die Empfangseinheit einen Lichtsensor und eine optische Sammeleinrichtung zum Sammeln der Empfangslichtstrahlen von verschiedenen Abschnitten des Bereichs aufweist, und
• (iii) eine elektronische Auswerteeinrichtung zum Erfassen des Objekts in dem Bereich als eine Funktion der Empfangslichtstrahlen. Die optische Verteilereinrichtung weist eine Vielzahl von Lichtleitfasern zum Verteilen der Emissionslichtstrahlen in die verschiedenen Abschnitte des Bereichs auf, und/oder die optische Sammeleinrichtung weist eine Vielzahl von Lichtleitfasern zum Sammeln der Empfangslichtstrahlen von verschiedenen Abschnitten des Bereichs auf. Das optische Objekterfassungssystem ist eine spezielle Art eines Lidar-Systems (Lidar: Light Detection and Ranging) basierend auf der Time-of-Flight- (TOF) Range-Imaging-Technik, nämlich ein Faser-Lidar mit einer Lichtquelle, die (mittels eines Faserbündels) in mehrere Lichtleitfasern verteilt wird, um ein sehr großes Sichtfeld (FOV) zu erhalten. Die Lichtleitfasern ermöglichen es, die Lichtpulse von einer einzelnen Lichtquelle zu verteilen und in eine beliebige mögliche Richtung zu leiten. Die Empfangskanäle der Empfangseinheit sind ebenfalls Lichtleitfasern, die die Empfangslichtstrahlen zum Lichtsensor leiten. Der entsprechende Bereich ist vorzugsweise ein Umgebungsbereich des Fahrzeugs.

According to various aspects of the optical object detection system according to the invention for detecting an object in an interior area and / or a surrounding area of a vehicle, the system has the following components:

• (i) an emission unit for emitting emission light beams into the area, the emission unit having at least one light source and an optical distribution unit for distributing the emission light beams to different portions of the area;
• (ii) a receiving unit for receiving received light beams from the area, the receiving unit having a light sensor and an optical collector for collecting the received light beams from different portions of the area, and
• (iii) an electronic evaluation device for detecting the object in the area as a function of the received light beams. The optical distributor comprises a plurality of optical fibers for distributing the emission light beams into the different portions of the region, and / or the optical collector comprises a plurality of optical fibers for collecting the received light beams from different portions of the region. The optical object detection system is a special type of lidar system (Lidar: Light Detection and Ranging) based on the time-of-flight (TOF) range imaging technique, namely a fiber lidar with a light source that (by means of a Fiber bundle) into multiple optical fibers to obtain a very large field of view (FOV). The optical fibers allow the light pulses to be distributed by a single light source and directed in any possible direction. The receiving channels of the receiving unit are also optical fibers that direct the received light beams to the light sensor. The corresponding area is preferably an ambient area of the vehicle.

1. (a) es ist möglich, ein sehr großes horizontales und vertikales Sichtfeld (FOV) abzudecken, z.B. von 180°bis zu einem das Fahrzeugs voll ständig umschließenden „Kokon“-Sichtfeld,
2. (b) die Sensorgröße und die Sensorkosten des Systems sind niedrig: es werden nur ein Sensor sowie nur eine Lichtquelle, ein Lichtsensor und eine Steuereinheit zur Signalverarbeitung an der gleichen Stelle benötigt,
3. (c) das System kann sehr einfach am Fahrzeug montiert/integriert werden: Der Ausgang der Fasern kann überall im Fahrzeug einfach platziert werden, und
4. (d) das äußere Erscheinungsbild des Systems ist unauffällig: Der sichtbare Teil des Systems, nämlich der Ausgang von Lichtleitfasern, ist sehr klein.

This results in the following advantages over existing solutions:

1. (a) it is possible to cover a very large horizontal and vertical field of view (FOV), eg from 180 ° to a "cocoon" field of view that completely surrounds the vehicle,
2. (b) the sensor size and sensor cost of the system are low: only one sensor, one light source, one light sensor, and one signal processing controller are needed at the same location,
3. (c) the system can be easily mounted / integrated on the vehicle: the output of the fibers can be easily placed anywhere in the vehicle, and
4. (d) the external appearance of the system is inconspicuous: the visible part of the system, namely the output of optical fibers, is very small.

In the context of object detection in the vicinity of a vehicle, at least some of these objects may be considered as obstacles to the vehicle.

According to a preferred embodiment of the invention, the light sensor is a multi-channel light sensor. A multi-channel light sensor may e.g. be realized as a photodiode array.

The optical fibers can form an optocoupler. This is a standard feature that allows a single fiber to be split into multiple fibers with the same energy in each fiber. The optocoupler may be formed, for example, as a 1-to-8 coupler or may have a plurality of one-to-two couplers arranged one behind the other.

According to another preferred embodiment of the invention, the optical fibers of the optical distributor device are divided into N optical fiber groups. The various optical fiber groups are referred to as optical branches. In most cases, the energy distribution of the input light beam is Gaussian. This means that the middle fiber (s) receive more light than the others. To solve this problem, it is important to use a "slice of pie" figure: N fibers / fiber groups are evenly distributed in each piece.

According to a particularly preferred embodiment of the invention, the light source is a laser device, in particular a laser diode, or an LED device. The device is in particular a pulsed laser device or a pulsed light-emitting device (LED).

According to yet another preferred embodiment of the invention, the surrounding area of the vehicle is substantially the complete hemisphere above and / or below the vehicle.

According to a further preferred embodiment of the invention, the surrounding area of the vehicle is subdivided into different sections, in particular an upper strip, a lower strip and an intermediate strip arranged between the upper strip and the lower strip. The electronic evaluation device preferably has different detection methods or detection concepts for the different surrounding areas.

According to various aspects of the corresponding method for detecting an object in an interior area and / or a surrounding area of a vehicle, an emission unit is provided for emitting emission light beams into the area, the emission unit having a light source emitting the emission light beams and an optical distribution unit, which distributes the emission light beams into different portions of the area, a reception unit for receiving reception light beams from the area, the reception unit having an optical collector which collects the reception light beams from different portions of the area, and a light sensor detecting the collected reception light beams electronic evaluation device for detecting the object in the area as a function of the detected received light beams. The optical distribution means distributes the emission light beams into the various portions of the area by means of a plurality of optical fibers, and / or the optical collection means collects the reception light beams from different portions of the area by means of a plurality of optical fibers.

The computer program product of the invention comprises computer executable program code portions having program code instructions configured to execute the aforementioned method.

Further features of the invention will become apparent from the claims, the figures and the description of the figures. All of the features and feature combinations mentioned above in the description as well as the features and feature combinations that are shown in the description of the figures and / or only in the figures alone are usable not only in the respectively specified combination but also in other combinations or alone.

The invention will now be explained in more detail with reference to a preferred embodiment and with reference to the accompanying drawings.

• 1 ein optisches Objekterfassungssystem gemäß einer bevorzugten Ausführungsform der Erfindung;
• 2 ein Beispiel eines Faserbündels mit einem Zweig, der in sieben Zweige aufgeteilt ist;
• 3 einen Bündeleingang, der derart geteilt ist, dass die acht Ausgangszweige die gleiche Energie/Intensität haben;
• 4 den erfassbaren Umgebungsbereich eines Fahrzeugs bei einer sogenannten „Kokon-Erfassung“, bei der sich das Sichtfeld auch unter das Auto (vor oder hinter den Rädern) erstrecken kann; und
• 5 eine Aufteilung des in 4 dargestellten Umgebungsbereichs in einen oberen Streifen, einen mittleren Streifen und einen unteren Streifen.

Show it:

• 1 an optical object detection system according to a preferred embodiment of the invention;
• 2 an example of a fiber bundle with a branch divided into seven branches;
• 3 a trunk input split such that the eight output branches have the same energy / intensity;
• 4 the detectable environment of a vehicle in a so-called "cocoon detection", in which the field of view can also extend under the car (in front of or behind the wheels); and
• 5 a breakdown of in 4 shown surrounding area in an upper strip, a middle strip and a lower strip.

1 shows an optical object detection system 10 to capture an object 12 , The optical object detection system 10 has an emission unit 14 for emitting emission light beams 16 in the environment. The emission unit 14 has a light source 20 and an optical distribution device 22 for distributing the emission light beams into the different sections 18 using a variety of optical fibers 24 on. The optical object detection system 10 also has a receiving unit 26 for receiving received light beams 28 from the environment. The receiving unit 26 has a light sensor 30 and an optical collector 32 for collecting the received light beams 28 of different sections 18 the environment using a variety of optical fibers 34 on. Finally, the optical object detection system 10 Furthermore, an electronic evaluation device 36 to capture the object 12 in the environment as a function of the received light beams 28 on. The electronic evaluation device 36 is controlled by a control unit 38 (ECU: Electronic Control Unit) of the system 10 realized. The light source 20 is a fiber-coupled pulsed laser diode or other laser device 40 , The one with the light source 20 coupled portion of the optical fibers 24 the emission unit 14 is in an optical fiber bundle 42 bundled. The light sensor 30 the receiving unit 26 is a multi-channel light sensor 44 ie a photodiode array. The optical fibers 34 the receiving unit 26 are with the different input channels of the multichannel light sensor 44 coupled.

The laser diode 40 is with the fiberoptic bundle 42 coupled. The fiber bundle 42 contains several fibers 24 in the same cable at one end portion and at the other end portion into a plurality of individual optical fibers 24 divided. Each of these optical fibers 24 emits emission light rays 16 into a single section 18 the environment. The light pulse of the emission light beam 16 gets through the object 12 , which in the example shown is a box, reflects and is transmitted through the corresponding optical fiber 34 the receiving unit 26 receive. The pulse is then passed through an element of the photodiode array (multi-channel light sensor 44 ).

2 shows an example of the fiber bundle 42 , At the end of the bundle section is a bundle connection 46 for connecting the bundle 42 with the light source 20 , At the other end is the bundle 42 divided into a variety of optical fibers used in individual connections 48 end up. In the illustrated optical fiber bundle 42 a bundle branch is divided into seven (N = 7) individual branches, with a branch being a single fiber 24 or a fiber group 50 is.

Mostly the energy distribution of the emission light beam 16 Gaussian. This means that the middle fiber (s) 24 gets more light than the fibers 24 the emission unit 14 , To solve this problem, it is important to use a "pie" illustration: N fibers 24 are evenly distributed in each piece. In the in 3 As shown, there are N / 8 fibers 24 in each output branch.

4 shows a corresponding vehicle 52 and the detectable environment of the vehicle 52 in a so-called "cocoon capture".

The object detection system 10 relates to motor vehicle obstacle detection sensors based on the time-of-flight measurement principle (preferably with infrared light) and in particular sensors with a very large field of view (FOV> 180 °) (horizontal and vertical) or even with a "cocoon" detection, which is completely around the vehicle 52 extends. The system 10 captures objects 12 in a surrounding area 54 of the vehicle 52 that is essentially the full hemisphere over the vehicle 52 is.

The system 10 can be used for object detection in an outdoor area and / or indoors 54 of the vehicle 52 be used. The outside detection is the object detection in the environment of the vehicle 52 For example, the interior detection may be an occupant detection in a passenger compartment of the vehicle.

An interesting application is a full cocoon obstacle detection when the vehicle 12 , eg a car, leaves a parking space (with or without driver):

• - einen oberen Streifen 56: ein blockiertes oder ungeeignet geschlossenes Garagentor (zum Beispiel, wenn das Fahrzeug 12 eine Garage verlässt);
• - einen mittleren Streifen 58: große Hindernisse (zum Beispiel: eine niedrige Mauer, ein Pfahl, ein Kasten ...); und
• - einen unteren Streifen 60: ein Kind oder ein Haustier in einem Bereich unter dem Fahrzeug 12 oder Stoßfänger.

The environment area 54 of the vehicle 52 (Detection area) is preferably in three strip-shaped detection sections 56 . 58 . 60 shared, as in 5 is shown, wherein the electronic evaluation device 36 different detection methods for the different sections of the environment:

• - an upper strip 56 : a locked or improperly closed garage door (for example, when the vehicle 12 leaving a garage);
• - a middle strip 58 : large obstacles (for example: a low wall, a pole, a box ...); and
• - a lower strip 60 : a child or a pet in an area under the vehicle 12 or bumpers.

In general, the system can 10 for object detection in an outdoor area and / or an interior area 54 of the vehicle 52 be used. The outside detection is the object detection in the environment of the vehicle 52 For example, the interior detection may be an occupant detection in a passenger compartment of the vehicle.

The system shown in the figures 10 uses an infrared fiber lidar system with a single light source 20 , which (by means of a fiber bundle 42 ) in several optical fibers 24 split to achieve a very large field of view (FOV) or full cocoon ( 4 ). In fact, the optical fibers make it possible 24 , the light pulses from a single source 20 to divide and guide them wherever they are in the vehicle 12 are desired (emission channel). The receiving channel also has optical fibers 34 on which the reflected light passes through a cell of a photodiode array 44 conduct.

For the emission and the receiving channel, the system points 10 optical fibers 24 . 34 with a large numerical aperture (horizontal and vertical field of view> 60 ° for each of the fibers 24 . 34 ) on. Another way to achieve a large field of view is to place a lens at the end of the optical fibers (for emission and reception). The light source 20 , the photodiode array 44 and the ECU 38 (Signal processing) are all in the same place in the vehicle 12 arranged. This system is concrete 10 comparable to a Valeo SSL sensor with 2 × 16 optical fibers 24 . 34 ,

LIST OF REFERENCE NUMBERS

10

optical object detection system

12

object

14

emission unit

16

Emission light beam

18

section

20

light source

22

optical distribution device

24

optical fiber

26

receiver unit

28

Reception light beam

30

light sensor

32

optical collection device

34

optical fiber

36

evaluation

38

control unit

40

laser device

42

optical fiber bundle

44

Multichannel light sensor

46

trunk connection

48

individual connection

50

Fiber group (branch)

52

vehicle

54

Area (inside and / or outside)

56

upper strip

58

medium stripe

60

lower strip

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 9618622 B2 [0004]
• US 9069059 B2 [0005]

Claims (10)

An optical object detection system (10) for detecting an object (12) in an interior area and / or a surrounding area (54) of a vehicle (52), the system (10) comprising: an emission unit (14) for emitting emission light beams (16) into the region (54), the emission unit (14) having at least one light source (20) and an optical distribution device (22) for distributing the emission light rays into different portions (18) of the region (54); a receiving unit (26) for receiving receiving light beams (28) from the area (54), wherein the receiving unit (26) comprises a light sensor (30) and an optical collecting device (32) for collecting the receiving light beams (28) from different sections (18) the region (54); and electronic evaluation means (36) for detecting the object (12) in the area (54) as a function of the received light beams (28); characterized in that the optical distribution means (22) comprises a plurality of optical fibers (24) for distributing the emission light beams (16) into the different portions (18) of the region (54) and / or the optical collection means (26) comprises a plurality of optical fibers (34) for collecting the received light beams (16) from different portions (18) of the region (54). System after Claim 1 , characterized in that the light sensor (30) is a multi-channel light sensor (44). System after Claim 1 or 2 , characterized in that the optical fibers (24) form an optocoupler. System according to one of Claims 1 to 3 , characterized in that the optical fibers (24) of the optical distributor device (22) are divided into optical fiber groups (50) according to a so-called pie-piece assignment. System according to one of Claims 1 to 4 , characterized in that the light source (20) is a laser device, in particular a laser diode, or an LED device. System according to one of Claims 1 to 5 , characterized in that the surrounding area (54) of the vehicle (52) is substantially the complete hemisphere above and / or below the vehicle (52). System according to one of Claims 1 to 6 characterized in that the surrounding area (54) of the vehicle (52) is divided into different sections (56, 58, 60), in particular an upper strip (56), a lower strip (60) and an intermediate strip ( 56) and the lower strip (60) arranged central strip (58). System after Claim 7 , characterized in that the electronic evaluation device (36) for the different sections (56, 58, 60) of the area (54) has different detection concepts. Method for detecting an object (12) in an interior area and / or a surrounding area (54) of a vehicle (52), comprising: an emission unit (14) for emitting emission light beams (16) into the area (54), wherein the emission unit ( 14) comprises a light source (20) for emitting the emission light beams and an optical distributor (22) for distributing the emission light beams into different portions (18) of the region (54); a receiving unit (26) for receiving received light beams (28) from the area (54), wherein the receiving unit (26) comprises an optical collecting device (32) comprising the receiving light beams (28) from different portions (18) of the area (54). and a light sensor (30) detecting the collected received light beams (28); and electronic evaluation means (36) for detecting the object (12) in the area (54) as a function of the detected received light beams (28); characterized in that the optical distribution device (22) distributes the emission light beams (16) into the different sections (18) of the area (54) by means of a plurality of optical fibers (24) and / or the optical collection device (26) distributes the received light beams (16). from various portions (18) of the region (54) by means of a plurality of optical fibers (34) collects. A computer program product comprising computer executable program code portions having program code instructions configured to retry the method Claim 9 perform.

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