DE102018202200B4 - Sensor device for detecting the surroundings of a vehicle - Google Patents

Abstract

Sensor device for detecting the surroundings of a vehicle, comprising: - a sensor carrier (2, 12) to which a first sensor (3, 4, 5, 13, 15,16) is attached, which generates and transmits sensor signals on the basis of received beams of a first type of radiation to which a second sensor (3, 4, 5, 13, 15, 16) is also attached, which generates sensor signals on the basis of received beams of a second type of radiation, - a drive (7, 14), by means of which the sensor carrier (2, 12) is movable and- a housing (21) which at least partially encloses the sensor carrier (2, 12) and the sensors (3, 4, 5, 13, 15, 16), wherein in the housing (21) there is an interface (22) is provided and wherein the movement of the sensor carrier (2, 12) can be controlled in such a way that either only one of the sensors (3, 4, 5, 13, 15, 16) or only a predetermined group of sensors (3, 4, 5, 13, 15, 16) can receive rays passing through the interface (22).

Description

The invention relates to a sensor device for detecting the surroundings of a vehicle, which includes a number of sensors, and a correspondingly equipped vehicle, in particular a motor vehicle.

A large number of sensors are provided in today's motor vehicles such as passenger cars, motorcycles, buses and trucks, which record conditions on and around the vehicle for a wide variety of purposes such as control tasks, displays, etc. For example, ultrasonic sensors integrated in the front and rear bumpers of a vehicle can automatically detect obstacles in the immediate vicinity of the vehicle up to a few decimeters or meters in order to make parking easier for the vehicle driver. Such a parking sensor typically consists of a transmitter that emits ultrasound away from the vehicle and a receiver that receives the ultrasound radiation reflected back from any objects in the vicinity of the vehicle. With regard to the distance of the vehicle from an obstacle, an optical and/or acoustic signaling can thus take place, in particular if this falls below one or more predetermined minimum values.

With a driver assistance system, which works on the basis of radar radiation emitted by the vehicle and reflected back from the vehicle's surroundings, objects located further away can also be detected. Such systems can be used, for example, to measure the distance and/or the difference in speed from a vehicle driving ahead while driving. By means of the distance or speed difference value, a speed-controlled distance control (automatic cruise control, ACC) can then take place, for example, by means of which the vehicle automatically maintains a speed-dependent setpoint distance.

Optical cameras, in particular based on CCD sensors, are used, for example, for high-beam assistants, by means of which oncoming vehicles are recognized at night and, on this basis, switching between low beam and high beam is performed automatically. Cameras can also be used for lane keeping devices or lane departure warning devices. Infrared-sensitive cameras, for example, are used to better recognize pedestrians and game, for example, especially at night.

From the DE 10 2009 002 626 A1 and the WO 2010/042483 A1 Sensor devices for vehicles are known in which several sensors, each of which detects beams of different types, are accommodated in a common housing.

From the DE 10 2014 219 567 A1 it is known to combine beam paths from several projectors by means of beam splitters in order to display a 3D image in a head-up display by image overlay.

From the WO 01/80550 A2 discloses a panoramic camera that includes a multispectral line sensor, which in turn has sensor elements that are sensitive to different light wavelengths (red, green, blue) and is mounted on a rotatable carrier.

From the DE 10 2016 200 835 A1 There is known a peripheral information detecting device for a vehicle, which includes a device body on which sensors each including a detecting portion that detects peripheral information are mounted. For example, the sensors may include a millimeter wave radar, a laser radar, an optical camera, or the like.

In the DE 3900667 A1 describes a motor vehicle in which a periscope can be extended outwards through the roof surface in order to improve the driver's view. For this purpose, a monitor is also provided in the vehicle, via which a video image generated by the periscope can be viewed from the driver's seat.

It is the object of the invention to provide means with which a number of sensors for detecting the surroundings can be accommodated in a relatively small space on a vehicle.

This object is achieved by the invention specified in the independent patent claims. Advantageous embodiments of the invention are specified in the dependent claims.

A sensor device according to the invention for detecting the surroundings of a vehicle includes a sensor carrier, to which a first sensor is attached, which generates sensor signals on the basis of received beams of a first type of radiation. A second sensor, which generates sensor signals based on received beams of a second type of radiation, is also attached to the sensor carrier. The sensor device also includes a drive, by means of which the sensor carrier can be moved.

The sensor carrier is mounted in particular in such a way that it can be moved linearly and/or in rotation by means of the drive. The sensor device can also have an interface through which can pass through at least one of the types of radiation in whole or in part.

Within the scope of the invention, one or more further sensors can be provided, each of which generates sensor signals on the basis of received beams of a further type of radiation or of a type of radiation which is the same as the other types of radiation.

A type of radiation within the meaning of the present invention can be, for example, electromagnetic radar radiation, in particular in the millimeter or centimeter wavelength range. It can also be infrared radiation or visible light. The frequencies of the first and second types of radiation can accordingly differ from one another. The electromagnetic radiation can be generated in particular by a laser.

A type of radiation within the meaning of the present invention can also be, for example, ultrasonic radiation.

The sensor device also includes, in particular, a housing which at least partially, in particular completely, encloses the sensor carrier and the sensors. The housing can in particular have a first area with a first element which is impenetrable for the first, second and/or possibly further type of radiation, and a second area with a second element which is penetrable for the first, second and possibly further type of radiation is. As a result, the second area can act in particular as a radiation interface to the vehicle environment if the sensor device is attached to the vehicle and is arranged in particular in or behind a body part of the vehicle. When installed on the vehicle, the second element can in particular also form a mechanical interface between the sensor device and the vehicle environment, for example the surface of a transparent plastic plate.

In particular, the interface can form a window in the housing. The movement of the sensor carrier can be controlled in such a way that, optionally, only one of the sensors or only a predetermined group of sensors can receive rays which pass through the interface. The window can be an opening.

Provision can also be made for the sensor device to be mounted in a vehicle on a body part, for example behind a bumper, and for an opening or interface to be provided in the bumper. The sensor or sensors can then be moved in a targeted manner towards this opening or interface in order to be able to detect the vehicle surroundings through the body part.

The invention can advantageously be used for so-called autonomous driving, in which the vehicle carries out its longitudinal and lateral guidance fully automatically. The area around the vehicle is recorded as completely as possible using a number of sensors. Using the invention, the sensors can be integrated into the vehicle in such a space-saving manner that the surroundings can be detected redundantly using as many different sensor principles as possible (e.g. optical, electromagnetic or acoustic).

According to the invention, it was recognized that sensors (e.g. parking sensors) are sometimes not required in all driving situations or only specifically in one driving situation (e.g. parking maneuvers, country roads, highway pilots, city traffic) and that these sensors can therefore be integrated with one another in such a way that they can be used interchangeably or two specific sensors are not ready to measure at the same time.

With the invention, it was also recognized that due to a large number of sensors, a large number of interfaces to the environment are created or required, at which beams that are emitted and/or received by vehicle sensors. In this case, the interfaces are attached in particular to vehicle parts and in particular are integrated into body parts. The respective sensor beams typically pass through the interface, for example through a radome for electromagnetic radar beams or through a light-transparent interface.

With the invention it can be achieved that a single common interface can be used for several sensors. The interface is made of plastic, for example, in particular acrylic glass, so that it has a high level of transparency, for example, both for radar beams and for light beams. It can, for example, also consist of suitable glass in order to be permeable to light rays and infrared radiation. With a sensor device according to the invention, a high integration density of sensors can be achieved, so that in a relatively small space of the vehicle or on a relatively small part of the vehicle surface, a larger number of sensors than conventional sensor devices can be used for detecting the surroundings of the vehicle. The use of an interface on the outer surface of the vehicle for a plurality of sensors also advantageously facilitates the integration of a large number of sensors into the vehicle design.

The interface can also be an opening through which radiation can pass completely unhindered. This is particularly advantageous for ultrasonic radiation. In a sensor arrangement in which, in addition to ultrasonic radiation, there is also a Radar, a lidar or a camera is provided as sensors, these can be housed individually, in groups or all together in a common intermediate housing, which in turn has or represents a suitable interface analogous to the interface otherwise described in this document.

According to an advantageous exemplary embodiment of the invention, the sensor carrier and/or at least functional elements of the sensors are movably mounted along at least two axes. The movement of the sensors can thus take place along one or more axes and/or directions, in particular perpendicular to one another, and can be controlled accordingly. In this way it can also be achieved that a respective functional element of a sensor such as a radon, an ultrasonic radiation surface or an optically transparent window is temporarily brought into a position through which one of its surfaces can be flush with the outer surface of the vehicle, for example in a bumper. is integrated into a front apron or into a side mirror of the vehicle.

In order to ensure the availability of the sensors, their interfaces (or their surfaces) facing the vehicle environment must be cleaned if they are dirty. This can be done with water sprayed at the interface with high-pressure nozzles and/or with a wiping device. By integrating a plurality of sensors according to the invention to the effect that they use a common interface of this type, it can be achieved that corresponding cleaning material is saved because only one interface instead of several interfaces has to be cleaned. As a result, the reservoir for cleaning water in the vehicle, for example, can be made smaller, thereby saving space (construction space) and weight for storage and transport. In addition, with a sensor device according to the invention, in which several sensor elements are integrated, it can be advantageously achieved that the number of electrical connections and, if necessary, plug connections for the power supply and/or data connections between the sensor elements and electronic control units (ECU) of the vehicle can be reduced. As a result, the number and/or the overall length of electrical lines and hoses for cleaning agents in the vehicle and thus the weight and energy consumption of the vehicle can also be advantageously reduced. A synergy effect can also be achieved with the invention in the event that sensor interfaces need to be heated in order to free them, for example, from snow or ice, because only one heating device is required for a number of sensors. This also saves heating energy and thus keeps the overall energy consumption of the vehicle low.

If a sensor fails, for example due to external damage, or the sensor availability is impaired by external influences (e.g. weather, lighting conditions, etc.), it can be replaced relatively easily on the sensor carrier in order to ensure full sensor availability again.

In a preferred exemplary embodiment of the invention, the sensor device comprises an optical system which has at least one lens. Objects in the surroundings of the vehicle can be imaged on a camera by means of the lens.

In particular, the lidar or ladar beams are intended to be in the infrared wavelength range, i.e. in the range from around 780 nanometers to 1 millimeter, while the camera takes standard visual images of the vehicle’s surroundings, i.e. in the wavelength range from around 380 to 780 nm nanometers.

• 1 eine linear bewegliche Sensorvorrichtung und
• 2 eine rotatorisch bewegliche Sensorvorrichtung.

Further exemplary embodiments of the invention are explained in more detail below with reference to figures. Show it:

• 1 a linearly movable sensor device and
• 2 a rotationally movable sensor device.

In the 1 The sensor device 1 shown for detecting the surroundings of a vehicle has a carrier plate 2 on which a radar 3, an ultrasonic sensor 4 and an optical camera 5 are mounted as sensors.

The sensor device 1 is mounted in a motor vehicle, not shown, in the area of the front bumper 25, which has an opening 6 serving as a sensor interface. The carrier plate 2 together with the sensors 3, 4, 5 can be displaced linearly along the axis A by means of a drive designed as an electric motor 7 and suitable further drive elements, not shown here, such as a gearwheel and a toothed rack. A controller 8 can be controlled in such a way that either the radar 3, the ultrasonic sensor 4 or the camera 5 enters the area of an interface 6 of the bumper 25 in such a way that it detects radiation passing through the interface 6 in direction B from the Vehicle surroundings 9 can detect, or for example the camera 5 can record an image of the vehicle surroundings 9 .

Radar 3, ultrasonic sensor 4 and/or camera 5 can each have functional elements such as a radon, an ultrasonic radiation surface or a glass or plastic window, which can each also serve as a mechanical interface between the respective sensors and the vehicle environment. In order to be able to temporarily integrate the outer surfaces of such interfaces as flush as possible into the outer surface of bumper 25, it can be provided that the respective sensors 3, 4, 5 or their functional elements can be displaced on the carrier plate 2 along an axis in or opposite to direction B are stored and a corresponding further drive (eg linear motor) is provided, which can also be controlled via the controller 8. The sensors 3, 4, 5 or their functional elements can then be brought into a first position (measuring position) by the drive in the opening or interface 6 of the bumper 25 in order to carry out the sensor function and into a second position (rest position) in which they release the opening or interface 6 for one of the other sensors or its functional element.

In 2 a rotationally movable sensor device 10 is shown, in which a circular plate is provided as the carrier plate 12, which is rotatably mounted about the axis 11 in direction C. In this exemplary embodiment, a radar 13 , a camera 15 and a lidar 16 are arranged on the carrier plate 12 . The support plate 12 is enclosed by a housing 21, which has a transparent interface 22 that is permeable to radar, lidar and light beams and that is fitted into an opening 17 in a vehicle front apron 19 with such a precise fit that it is flush with the outside surface of the front apron 19 is The drive of the carrier plate 12 for the rotational movement can take place directly by means of a shaft driven by an electric motor 14 . The controller 18 can be controlled in such a way that either the radar 13, the camera 15 or the lidar 16 reaches the area of the interface 22 of the housing 21 and thus also the opening 17 in such a way that it passes through the opening 17 in direction D can detect emerging radiation from the vehicle environment 24, respectively, for example, with the lidar 16, the distance and the difference in speed to a vehicle driving ahead can be detected.

Claims (5)

Sensor device for detecting the surroundings of a vehicle, comprising: - a sensor carrier (2, 12) on which a first sensor (3, 4, 5, 13, 15, 16) is attached, which generates sensor signals on the basis of received beams of a first type of radiation and on which a second sensor (3, 4, 5, 13, 15,16) which generates sensor signals based on received beams of a second type of radiation, - A drive (7, 14) by means of which the sensor carrier (2, 12) can be moved and - A housing (21) which at least partially encloses the sensor carrier (2, 12) and the sensors (3, 4, 5, 13, 15, 16), an interface (22) being provided in the housing (21) and wherein the movement of the sensor carrier (2, 12) can be controlled in such a way that only one of the sensors (3, 4, 5, 13, 15, 16) or only a predetermined group of sensors (3, 4, 5, 13, 15 ,16) can receive rays passing through the interface (22). sensor device claim 1 , wherein the sensor carrier (2, 12) is mounted in such a way that it can be moved linearly and/or rotationally with the drive (7, 14). sensor device claim 1 or 2 , characterized in that the sensor carrier (2, 12) and/or at least functional elements of the sensors (3, 4, 5, 13, 15, 16) are movably mounted along at least two axes (A, 11). Vehicle, comprising a sensor device (1, 10) according to one of the preceding claims: Vehicle, comprising a sensor device (1, 10) for detecting the surroundings of the vehicle, wherein the sensor device (1, 10) comprises: - a sensor carrier (2, 12) on which a first sensor (3, 4, 5, 13, 15, 16) is attached, which generates sensor signals on the basis of received beams of a first type of radiation and on which a second sensor (3, 4, 5, 13, 15,16) which generates sensor signals on the basis of received beams of a second type of radiation and - A drive (7, 14) by means of which the sensor carrier (2, 12) can be moved; and wherein the sensor device (1, 10) is provided in the area of a body part (19, 25) of the vehicle, wherein the body part (19, 25) has an interface (6, 17) and wherein the movement of the sensor carrier (2, 12) can be controlled in such a way that either only one of the sensors (3, 4, 5, 13, 15,16) or only a predetermined group of sensors (3, 4, 5, 13, 15,16) can receive rays that pass through the Interface (6, 17) pass through.

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