DE102022115973A1 - Sensor module for arrangement on a motor vehicle, roof arrangement for forming a vehicle roof and method for calibrating an environment sensor - Google Patents

Abstract

Sensor module (16) for arrangement on a motor vehicle (100), comprising:a viewing area (18) with a first penetration area (24) and at least one second penetration area (25);at least one environment sensor (20) with at least one transmitting device (22), which is designed to send electromagnetic signals through the first and at least the second penetration area (24, 25) into the vehicle environment; andat least one detection device (23) which is designed to receive electromagnetic signals reflected from the vehicle surroundings in order to thereby detect at least some areas of the vehicle surroundings; anda heating device (28) with at least one heating area (29) which is arranged between the first and the second penetration area (24, 25) on the viewing area (18) or between the first and the second penetration area (24, 25) in the Viewing area (18) is integrated.

Description

The invention relates to a sensor module for arrangement on a motor vehicle with the features of claim 1. The invention further relates to a roof arrangement for forming a vehicle roof with the features of claim 12. The invention also relates to a method for calibrating an environment sensor with the features of claim 15 .

Such a sensor module is known from practice and can be used in a motor vehicle to monitor the vehicle's surroundings. For this purpose, the sensor module includes an environment sensor which sends electromagnetic radiation, for example in the form of laser radiation, in one or more predetermined directions and, in response, receives electromagnetic radiation reflected from the vehicle environment in order to determine a vehicle environment, including the course of the road, traffic situations and the like.

The environment sensor is arranged, for example, in a roof area of the vehicle or in the area of the vehicle bow or front end and looks through a viewing area, which is provided, for example, on a sensor housing and/or on a surface component of the motor vehicle. The viewing area is preferably transparent for wavelengths that are used by the environment sensor to detect the vehicle's surroundings. The viewing area can, for example, be made of a plastic material, e.g. B. polycarbonate or the like.

Roof arrangements, in particular roof modules, are already used extensively in vehicle construction. Roof modules, for example, are prefabricated as separate functional modules and are delivered to the assembly line for assembly of the motor vehicle. The known roof arrangements and/or roof modules form, at least in some areas, a roof skin of the vehicle roof on the outer surface, which prevents moisture or air flow from penetrating into the vehicle interior. The roof skin is formed by one or more surface components, which can be made from a stable material, for example painted sheet metal or painted or solid-colored plastic. The roof module can be part of a rigid vehicle roof or part of an openable roof assembly.

Furthermore, developments in vehicle construction are increasingly aimed at autonomous or semi-autonomous driving vehicles. In order to enable the vehicle controller to control the motor vehicle autonomously or semi-autonomously, a large number of environmental sensors (e.g. lidar sensors, radar sensors, (multi-) cameras, etc. together with other (electrical) components) are used, which, for example, . are integrated into the roof module, record the environment around the motor vehicle and, for example, determine a respective traffic situation from the recorded environmental data. Roof modules that are equipped with a variety of environmental sensors are also known as Roof Sensor Modules (RSM). The known environment sensors send or receive electromagnetic signals, for example laser beams or radar beams, whereby a data model of the vehicle environment can be generated by signal evaluation and used for vehicle control.

In order to enable constant sensor availability, it is preferred that the viewing area is visible even in poor weather conditions, e.g. B. in ice or snow or fog, to which electromagnetic radiation remains permeable. For this purpose, it is preferred if ice or snow or a mist or moisture deposit that has stuck to the outside of the viewing area can be removed. For this purpose, in a known manner, a heating device is provided which comprises heating wires which are arranged on the viewing area or are integrated into the viewing area. Such heating devices are, for example, from DE 10 2018 109 884 A1 as well as the WO2021/032599 A1 known.

One problem caused by known heating devices is that the heating wires used represent an optical disturbance in the field of vision of the surrounding sensor. In the area of the heating wires, no electromagnetic radiation can be sent into the vehicle surroundings because it is absorbed and/or reflected by the heating wires. The portion reflected on the heating wires is unsuitable for reconstructing the vehicle's surroundings and must therefore be removed by the surroundings sensor using complex signal filtering. In addition, due to trigonometric relationships, the heating wires result in shadows in the field of vision of the surrounding sensor, which become larger as the distance from the surrounding sensor increases. The shadows in turn mean that the vehicle surroundings cannot be correctly recorded or reconstructed, which is critical to safety, particularly in autonomous or semi-autonomous driving.

Due to the aforementioned disadvantages and problems, one object of the invention is to propose a further developed sensor module and/or a further developed roof arrangement and/or a method for calibrating an environment sensor, through which the above The problems and disadvantages mentioned can at least be reduced.

The task is solved by a sensor module with the features of independent claim 1. Furthermore, the task is solved by a roof arrangement with at least one such sensor module. The invention is also achieved by a roof arrangement with the features of independent claim 12. In addition, the invention relates to a motor vehicle which comprises at least one roof arrangement according to the invention. The task is also solved by a method for calibrating an environment sensor with the features of claim 15.

Advantageous embodiments of the invention are the subject of the dependent claims. All combinations of at least two features disclosed in the description, the claims and/or the figures also fall within the scope of the invention. It is understood that the statements made regarding the sensor module relate in an equivalent manner to the roof arrangement according to the invention and/or the motor vehicle, without being mentioned separately for this or this. Likewise, all of the features and embodiments disclosed for the sensor module relate to the method according to the invention in an equivalent, although not identical, manner. It is understood in particular that customary linguistic transformations and/or a corresponding replacement of respective terms within the framework of normal linguistic practice, in particular the use of synonyms supported by the generally recognized linguistic literature, are included in the present disclosure content, without being explicitly stated in their respective formulation to be mentioned.

According to the invention, a sensor module is proposed for arrangement on a motor vehicle, comprising: a viewing area with a first penetration area and at least one second penetration area; at least one environment sensor with at least one transmission device which is designed to send electromagnetic signals through the first and at least the second penetration area into the vehicle environment; and a detection device which is designed to receive electromagnetic signals reflected from the vehicle surroundings in order to thereby detect at least some areas of the vehicle surroundings; and a heater with at least one heating area which is arranged between the first and the second penetration areas on the viewing area or which is integrated between the first and the second penetration areas in the viewing area.

According to the invention, a roof arrangement for forming a vehicle roof of a motor vehicle is further proposed, comprising: a surface component which at least partially forms a roof skin of the vehicle roof, which functions as an outer sealing surface; a see-through area with a first penetration area and at least a second penetration area, which is arranged on the surface component or is integrated in it; and at least one sensor module, comprising: at least one environment sensor with a transmitting device which is designed to send electromagnetic signals through the first and at least the second penetration area into the vehicle environment; and a detection device which is designed to receive electromagnetic signals reflected from the vehicle surroundings in order to thereby detect at least some areas of the vehicle surroundings; and a heating device with at least one heating area which is arranged between the first and the second penetration areas on the viewing area or which is integrated into the viewing area between the first and the second penetration areas.

According to the invention, a method for calibrating an environment sensor is further proposed, which comprises the following steps: Providing an environment sensor with a transmitting device which is designed to transmit electromagnetic signals within a predetermined angular range, in particular in a first plane, through a first penetration area of a viewing area into the vehicle environment send, and at least within a predetermined angular range, in particular in a second plane, to send electromagnetic signals through a second penetration area of the viewing area into the vehicle surroundings, the first level intersecting the second level at an adjustable angle, and wherein at least one heating area of a heating device on the viewing area is arranged or integrated into the viewing area; wherein a distance between the first and the second penetration area within the viewing area varies with a mounting distance of the environment sensor to the viewing area and/or with the adjustable angle between the first and the second plane; Adjusting the mounting distance of the environment sensor to the viewing area and / or adjusting the adjustable angle between the first and the second level, such that the at least one heating area is arranged in a particularly transmission-free area between the first and the second penetration area on the viewing area or that the at least one heating area in a particularly transmission-free area between the first and the second penetration area is integrated into the viewing area.

The viewing area is preferably designed as a window or as a panel element through which the at least one environment sensor can look through. Depending on the embodiment of the invention, the viewing area can be part of a housing encompassed by the sensor module and in which the at least one environment sensor is arranged. Alternatively or additionally (and/or), the see-through area can also be included in a surface component of a roof arrangement or another body part of a vehicle body. In this case, the at least one surroundings sensor is aligned with respect to the surface component in such a way that it can look through the viewing area in order to detect the vehicle surroundings. Several environmental sensors can also look through a common viewing area. The at least one environment sensor particularly preferably comprises an optical sensor, in particular a lidar sensor. Lidar sensors, for example, work in a wavelength range of 905 nm or around 1550 nm. The material of the viewing area through which the lidar sensor looks through is preferably transparent for the wavelength range used by the surrounding sensor and therefore depends on the material on the material side Wavelength(s) used by the environment sensor are selected. For example, a black or opaque appearing lidar-transparent polycarbonate is a suitable material.

In the present case, at least one is understood to mean that the sensor module and/or the roof arrangement can include one or more of the components in question.

The heating device preferably comprises a plurality of heating wires which are arranged at a distance from one another on the viewing area or are integrated into the viewing area. The at least one heating area can preferably be arranged and/or attached to the viewing area and/or can also be vapor-deposited onto the viewing area as a metallic coating. In the present case, a heating area is to be understood as meaning a heating element and/or a heating layer and/or a heating coating and/or a conductor track and/or a light strip and/or a light guide and/or a black print and/or a clear area and/or a shading area. The heating area can preferably be supplied with electrical current and stimulated to generate heat by generating an internal resistance. Preferably, under the “heating area” there is an area within the viewing area that cannot be penetrated by the electromagnetic rays and/or only partially and/or in certain areas and/or only with the acceptance of an optical distortion. The at least one heating area can also be vapor deposited. The heating device is designed to provide a de-icing function and/or an anti-fog function for the viewing area. The heating area can be, for example, a heating wire. Alternatively or additionally, the at least one heating area can be printed and/or sprayed on and/or injected and/or vapor deposited and/or coated from the see-through area. The heating area can comprise conductor tracks and/or a heating wire and can preferably be arranged in any geometric pattern and/or any geometric arrangement, for example linearly and/or in an at least partially curved and/or curved path on the viewing area. The at least one heating area can be arranged in or on the viewing area and/or on a sensor housing or otherwise within a field of view of the environment sensor.

The phrase “penetration area” is to be understood as meaning that the at least one environmental sensor does not necessarily send the electromagnetic rays across an area of the viewing area through the viewing area into the vehicle surroundings, but preferably only sends the electromagnetic rays through certain sections or areas of the viewing area. Other areas of the viewing area that are not penetration areas are preferably broadcast-free. This means that no electromagnetic radiation is sent into the vehicle surroundings through such areas. The penetration area preferably runs transversely to a respective transmission direction of the environment sensor. The penetration area preferably runs along a longitudinal extent, in particular along a longitudinal contour of the see-through area. In principle, the first and/or the second penetration area can comprise any geometric shape. The first penetration region and/or the second penetration region is/are at least partially line-shaped and/or at least partially column-shaped and/or matrix-like and/or in a predefined basic geometric shape and/or intersect at least partially at least at an angle. The first and/or the second penetration region can, for example, also be oval and/or round and/or corner-shaped and/or curved and/or oblique. The exemplary line-shaped penetration area preferably comprises a thickness (viewed orthogonally to an optical axis of the environment sensor) which corresponds to the thickness (or the diameter) of the transmitted electromagnetic beams. The exemplary line-shaped penetration The transmission area preferably includes a length along the viewing area, which results from a distance between the transmitting device and the viewing area and a predetermined detection angle or viewing angle of the surroundings sensor. The line-shaped penetration area, for example, preferably comprises a thickness that corresponds to a thickness profile of the viewing area along the longitudinal course of the line-shaped penetration area. The thickness progression can be constant or vary over the longitudinal extent of the viewing area. The penetration area preferably describes the respective area in which the viewing area is penetrated by the electromagnetic rays in order to send them into the vehicle environment. The term “line-shaped” means that the environment sensor sends the electromagnetic rays along a line or a strip through the viewing area. The term “column-shaped” means that the environment sensor sends the electromagnetic rays along a column or a vertical strip through the viewing area. The term “matrix-like” means that the environment sensor sends the electromagnetic beams through the viewing area in segments and/or grids. It goes without saying that the viewing area can also include several penetration areas and, according to the invention, a heating area can be placed between two penetration areas. Particularly preferably, the penetration areas that calibrate the surroundings sensor relative to the viewing area can be selected in their position relative to each other and relative to a respective heating area in such a way that, if possible, all heating wires do not have a disruptive influence on the detection of the vehicle's surroundings.

The inventive arrangement or placement of the at least one heating area relative to the first and at least the second penetration area does not cause any interference signals or shadows in the vehicle surroundings detection for the surroundings sensor, since the at least one heating area is outside the first and at least the second penetration area located. In this way, electromagnetic rays that are sent from the transmitting device into the vehicle surroundings are no longer undesirably reflected on and/or absorbed by the at least one heating area, but can be sent undisturbed through the respective penetration area into the vehicle surroundings. In other words, the heating wires or heating elements or similar of the heating device are laid on or in the viewing area and/or aligned with respect to it in such a way that they run between the signal beams of the sensor and thus do not impair the sensor function. In this case, a geometry of a respective heating area can preferably be optimized in all dimensions in order to have the lowest possible disruptive effect. Alternatively or additionally, the environment sensor can be calibrated in order to optimally and/or trouble-free align its location and/or positioning relative to the at least one heating area. It goes without saying that the at least one heating area according to the invention does not necessarily have to be designed as a continuous conductor track. Alternatively, the at least one heating area can also include individual heating elements, which are arranged in a grid-like manner on the viewing area, for example, or are integrated into the viewing area. The present invention includes at least the following advantages. The detection accuracy of the environment sensor is optimized because no optical disturbances are caused by a heating device. This improves the efficiency or detection accuracy of the environment sensor. The functionality of the surroundings sensor and/or the vehicle intelligence provided thereby is also improved. According to the invention, an improved de-icing and anti-fog function can also be achieved. This creates an area of use for the motor vehicle, e.g. B. expanded with regard to temperature and/or weather. Vehicle safety and/or vehicle protection can also be improved according to the invention.

In a preferred embodiment, the at least one transmitting device is set up to send electromagnetic signals into the vehicle environment within a predetermined angular range, in particular in a first plane, through the first penetration region, which is defined in particular geometrically in sections, and within a predetermined angular range, in particular at least in a second plane, to send electromagnetic signals to send through the second penetration area into the vehicle environment. Preferably, the first plane intersects the second plane at a predetermined angle. Particularly preferably, the first predetermined angular range differs from the second angular range based on the at least one transmitting device. In particular, individual transmission planes intersect within the angular range at one or more predetermined angles. The transmitting device is preferably designed to send the electromagnetic beams into the vehicle environment within a predetermined angular range, in particular determined by the structural design. The angular range preferably corresponds to a viewing angle of the environment sensor, which is preferably viewed horizontally. The environment sensor can, for example, have a viewing angle of up to 360° in a horizon have zontal. The transmitting device is preferably set up to emit the electromagnetic beams in a pulsed and/or clocked manner. The transmitting device is preferably designed to scan the vehicle surroundings within the predetermined angular range and/or within the first plane. The transmitting device is preferably designed to scan or scan the vehicle surroundings within the predetermined angular range and/or within the second plane. The predetermined angular range within the first plane is preferably equal to the predetermined angular range within the at least second plane. The at least one transmitting device is preferably designed to adjust by a predetermined adjustment angle, which particularly preferably corresponds to the intersection angle between the first and the second plane, in order to adjust the electromagnetic beams into the first plane or the at least second plane. The adjustment can be done directly by moving the at least one transmitting device. Alternatively or additionally, the adjustment can also take place via an adjustment device, which can include a mirror, for example. It goes without saying that the transmitting device is preferably designed to transmit the electromagnetic beams in more than two levels. For example, the at least one transmitting device can be designed to send the electromagnetic beams within the first level, to adjust by the predetermined adjustment angle (e.g. 1° to 10°), to send the electromagnetic beams into the second level in order to adjust the predetermined adjustment angle (e.g. 1° to 10°), to send the electromagnetic beams into a third plane, etc. Particularly preferably, the at least one transmitting device is set up to send the electromagnetic beams horizontally over the predetermined angular range and/or deflected (up to 360°), and vertically to transmit the electromagnetic beams within a predetermined number of transmission planes. A detection channel can preferably be assigned to each level in order to be able to uniquely assign the electromagnetic rays that are reflected from the vehicle environment associated with each level and detected by the detection unit to each transmission level. For example, the environment sensor can comprise 16 channels, each of which is assigned to a plane that has an intersection angle of, for example, 2° compared to a respective other plane. In this way, a detection range of 32° can be developed at least in sections in the vertical (viewed with respect to an environment sensor that is calibrated relative to a normal). This is sufficient for obstacle detection in the area of autonomous and/or semi-autonomous driving. In the present case, the term “plane” is not to be understood as dimensionless along one dimension, as is usual. Rather, the surroundings sensor detects the vehicle surroundings within the predetermined angular range or scans this angular range by preferably sending electromagnetic signals in pulses. The respective plane is preferably an imaginary central plane due to the electromagnetic rays emitted by the environment sensor, which are preferably emitted in a wedge shape per plane starting from the transmitting device. The transmitting device is preferably designed to send electromagnetic signals through the first and/or second penetration region into the vehicle surroundings within a spatial angular range in the first and/or in the second plane, which is geometrically defined at least in sections by the at least one heating region. The first and/or second level can, for example, be aligned vertically and/or horizontally and/or comprise a curved and/or curved course.

In a preferred embodiment, the first penetration region is aligned parallel to at least the second penetration region. The penetration areas can preferably be spaced apart from one another or merge into one another. The at least one heating area is preferably arranged in a transmission-free area or in the transition area between the first and the second penetration area. If there are several heating wires, they are preferably aligned parallel and spaced apart from one another.

In a preferred embodiment, the first penetration area has a predetermined distance from the second penetration area and the at least one heating area is arranged on the viewing area within this distance or is integrated in the viewing area. Particularly preferably, the predetermined distance between the first and the second penetration area depends on a geometric position and/or position of the at least one environment sensor and/or the at least one transmitting device from the viewing area. Preferably, the at least one heating area is aligned parallel to the first and/or the second penetration area. In geometric terms, the distance between the first and second penetration areas preferably results from a distance between the transmitting device and the viewing area and the predetermined angle (which preferably corresponds to the adjustment angle) at which the first and second planes intersect.

In a preferred embodiment, the at least one heating area is arranged in a transmission-free area of the viewing area or is integrated into the viewing area in a transmission-free area. The no-transmission area means that no electromagnetic rays are sent through the viewing area in this area. Particularly preferably, a shape and/or size and/or alignment and/or orientation and/or sectional arrangement of the heating area is adapted to specific viewing area conditions. For example, the heating area does not have to be aligned parallel to another heating area and/or must be at the same or a similar distance from an adjacent heating area.

In a preferred embodiment, the first penetration area merges into the second penetration area, preferably without interruption, and the at least one heating area is arranged in the area of this transition on the view-through area or is integrated into the view-through area in the area of this transition. In this embodiment, the first penetration region is therefore not spaced from the second penetration region, but rather adjoins it directly and preferably without interruption. In this embodiment, the adjustment angle of the transmitting device is preferably chosen to be so small that the individual planes only have a small intersection angle relative to one another. This preferably allows an almost uninterrupted detection of the vehicle's surroundings, even in a vertical direction, at least within a maximum possible detection range. Particularly preferably, the first and second penetration areas are not aligned completely parallel to one another (viewed in a transmission direction of the electromagnetic rays through the viewing area), but rather comprise an angle of attack (viewed in the transmission direction of the electromagnetic rays through the viewing area), albeit a minimal one, to one another.

In a preferred embodiment, the at least one heating area is strip-shaped and has a narrow side of the strip, preferably orthogonal or preferably substantially (i.e. ± 10%) orthogonal to an optical axis of the environment sensor and preferably orthogonal or preferably substantially (i.e. ± 10%) orthogonal to one Longitudinal contour of the viewing area arranged on this or integrated into the viewing area. This arrangement makes it possible according to the invention to minimize a contour of the at least one heating area in a sensor field of view, since, if at all, the narrow side of the strip is in the field of view of the sensor. Further geometric optimizations of the at least one heating area are also conceivable. For example, the at least one heating area can be aligned with respect to the first or second plane in such a way that it lies in a plane imaginary parallel to the first plane or the second plane.

In a preferred embodiment, the at least one environment sensor comprises an optical sensor, in particular a lidar sensor, and the transmitting device is designed to emit the electromagnetic signals in the form of, in particular, pulsed laser radiation. Preferably, the emitted laser beam can alternatively or additionally also be emitted by the transmitting device continuously and/or in a variable wavelength and/or wave-shaped and/or sawtooth-shaped and/or triangular-signal-shaped and/or in spatial angular ranges defined in sections. The general functionality of lidar sensors is well known to those skilled in the art from the prior art. The at least one lidar sensor is preferably designed to send laser beams (which are electromagnetic beams) of a predetermined wavelength, for example 905 nanometers or 1050 nanometers, or a predetermined wavelength spectrum into the vehicle environment. The laser beams are at least partially reflected and/or absorbed by objects in the vehicle surroundings. The reflected portion of the laser beams returns to the surroundings sensor and is detected by the detection device. A distance to the location of the scattering in the vehicle environment can preferably be calculated from the light travel time of the signals. This is preferably done via an evaluation device of the environment sensor. In this way, a distance map of the vehicle surroundings can be generated, which preferably includes a distance contour (which changes over time for moving objects) of the vehicle surroundings for each transmission level. In this way, the vehicle surroundings are recorded as a point cloud, whereby a distance can be assigned to each point. Even with a temporal sequence, a distance gradient can be determined for moving objects, through which an object speed and/or an object acceleration (by differentiation) can be determined.

In a preferred embodiment, the lidar sensor is a single-channel lidar sensor and the detection device is designed to receive laser radiation reflected from the vehicle surroundings associated with the laser radiation transmitted within the first level and/or associated with the laser radiation transmitted within the second level. to record laser radiation reflected from the vehicle environment in a single channel and through multiple xen to determine whether the reflected laser radiation belongs to the laser radiation sent in the first level and/or to the laser radiation sent in the second level. In other words, reverse resolution can be achieved by using the multiplexing known from the prior art of signals for reflected laser beams that correspond to laser beams from different transmission levels. Through this re-resolution, the reflected laser beams can be assigned to a respective transmission plane in order to obtain information about a further dimension of an object (in addition to the object distance), for example. For this purpose, in particular the adjustment angle associated with the respective plane (possibly to be determined from a sum of the intersection angles of the previous planes) is included in the evaluation of the reflected laser beams, since this at least in sections (depending on the intersection angle resolution between the planes) provides information about a vertical dimension of a Object from which the laser beams were reflected may include.

In a preferred embodiment, the lidar sensor is a multi-channel lidar sensor and the detection device is designed to detect laser radiation associated with the laser radiation transmitted within the first plane and reflected from the vehicle environment via a first channel and/or to that within the to detect laser radiation associated with the laser radiation sent on the second level and reflected from the vehicle surroundings via at least one second channel in order to determine whether the reflected laser radiation belongs to the laser radiation sent in the first level and / or to the laser radiation sent in the second level.

In a preferred embodiment, the invention relates to a roof arrangement for forming a vehicle roof of a motor vehicle, comprising a surface component which at least partially forms a roof skin of the vehicle roof, which functions as an outer sealing surface, and at least one sensor module according to an embodiment of the invention, wherein the sensor module is a Sensor housing includes, on which the viewing area is arranged or into which the viewing area is integrated.

The sensor module according to the invention can in principle be arranged anywhere on a motor vehicle and/or a roof arrangement and can be designed for different purposes. For example, the sensor module is integrated into a vehicle roof, in particular in a roof module through which the vehicle roof is formed at least in some areas, and is therefore preferably part of a system for autonomous or semi-autonomous driving of the vehicle in question. In this case, the see-through area preferably forms part of an outer skin element, for example a surface component of the vehicle roof. However, it is also conceivable that the sensor module is arranged as a type of dome with a housing on a vehicle roof and/or on a roof arrangement. Likewise, the sensor module, which preferably comprises a housing in which the at least one environment sensor is arranged, can also be arranged in an opening in the roof skin of the motor vehicle so that it can be retracted and extended. In an alternative embodiment, the see-through area is included in an outer skin element of a vehicle front or rear of a vehicle. The sensor module can then also be part of a distance keeping system, a parking assistant and/or another safety device of the vehicle in question.

It is preferred if the roof arrangement comprises a roof module which is attached as a structural unit to a vehicle body. The roof module can form a structural unit in which devices for autonomous or semi-autonomous driving supported by driving assistance systems are integrated, which are attached as a unit to a vehicle bodyshell, for example to a vehicle body and/or a roof frame structure, on the part of a vehicle manufacturer. The longitudinal bars extend essentially along a longitudinal direction of the motor vehicle. The cross bars preferably extend in a vehicle width direction of the motor vehicle, i.e. i.e., transversely, preferably perpendicularly, and essentially horizontally to the direction of travel of the motor vehicle. Preferably, the roof module can be connected to the roof frame structure of a motor vehicle through the roof module frame, for example glued, screwed and/or bolted. Furthermore, the roof module according to the invention can be designed as a pure fixed roof or as a roof including a roof opening system, wherein the roof module can be placed on or inserted into the roof frame structure, which is part of a vehicle body. The roof module can be designed for use in a passenger car or a commercial vehicle. The roof module can preferably be provided as a structural unit in the form of a Roof Sensor Module (RSM), in which the environment sensors and other electrical components are provided for (partially) autonomous driving. It is also conceivable that the roof module includes one or more antenna modules and/or further electrical components. It may also be possible for the roof module to include one or more antenna modules and/or further electrical or electronic components.

The invention particularly preferably relates to a motor vehicle with at least one roof arrangement.

It goes without saying that the embodiments and exemplary embodiments mentioned above and to be explained below can be designed not only individually, but also in any combination with one another, without departing from the scope of the present invention. It is also understood that the embodiments and exemplary embodiments mentioned above and to be explained below relate in an equivalent or at least similar manner to the roof arrangement according to the invention and/or the method according to the invention, without being mentioned separately for this purpose.

• 1 eine schematische Darstellung eines Kraftfahrzeuges mit einer Dachanordnung und einem Ausführungsbeispiel des erfindungsgemäßen Sensormoduls;
• 2 eine erste schematische Seitenansicht eines Ausschnittes einer erfindungsgemäßen Dachanordnung;
• 3 eine zweite schematische Seitenansicht eines Ausschnittes einer erfindungsgemäßen Dachanordnung;
• 4 eine schematische Ansicht eines Ausführungsbeispiels des erfindungsgemäßen Sensormoduls;
• 5 eine schematische Seitenansicht eines Ausführungsbeispiels des erfindungsgemäßen Sensormoduls;
• 6 eine schematische Ansicht eines Ausführungsbeispiels des erfindungsgemäßen Sensormoduls;
• 7 eine schematische Ansicht eines Durchsichtsbereiches mit einem umgebenden Flächenbauteil;
• 8 eine dritte schematische Seitenansicht eines Ausschnittes einer erfindungsgemäßen Dachanordnung;
• 9 eine schematische Seitenansicht eines Ausführungsbeispiels des erfindungsgemäßen Sensormoduls;
• 10 eine seitliche Prinzip-Skizze einer Umfelderfassung durch einen Umfeldsensor;
• 11 eine Draufsicht-von-oben-Prinzip-Skizze einer Umfelderfassung durch einen Umfeldsensor;
• 12 eine Draufsicht-von-oben-Prinzip-Skizze eines durch den Umfeldsensor rekonstruierten Fahrzeugumfeldes;
• 13 eine beispielhafte Darstellung eines Durchsichtsbereiches mit einer Heizeinrichtung und einem Heizbereich;
• 14 eine beispielhafte Darstellung eines Durchsichtsbereiches mit einer Heizeinrichtung und einem Heizbereich; und
• 15 eine beispielhafte Darstellung eines Durchsichtsbereiches mit einer Heizeinrichtung und einem Heizbereich.

Embodiments of the invention are shown schematically in the drawings and are explained below by way of example. Show it:

• 1 a schematic representation of a motor vehicle with a roof arrangement and an embodiment of the sensor module according to the invention;
• 2 a first schematic side view of a section of a roof arrangement according to the invention;
• 3 a second schematic side view of a section of a roof arrangement according to the invention;
• 4 a schematic view of an exemplary embodiment of the sensor module according to the invention;
• 5 a schematic side view of an exemplary embodiment of the sensor module according to the invention;
• 6 a schematic view of an exemplary embodiment of the sensor module according to the invention;
• 7 a schematic view of a see-through area with a surrounding surface component;
• 8th a third schematic side view of a section of a roof arrangement according to the invention;
• 9 a schematic side view of an exemplary embodiment of the sensor module according to the invention;
• 10 a side schematic sketch of an environment detection by an environment sensor;
• 11 a plan view from above principle sketch of an environment detection by an environment sensor;
• 12 a plan view from above principle sketch of a vehicle environment reconstructed by the environment sensor;
• 13 an exemplary representation of a viewing area with a heating device and a heating area;
• 14 an exemplary representation of a viewing area with a heating device and a heating area; and
• 15 an exemplary representation of a viewing area with a heating device and a heating area.

In 1 a motor vehicle 100 is shown. A roof arrangement 09 in the form of a roof module 10 is formed on a vehicle body 102, in particular on a body roof frame 104 of the vehicle body 102. The roof module 10 comprises a surface component 11, which at least partially forms a roof skin of a vehicle roof 12, which functions as an outer sealing surface of the roof module 10. The surface component 11 is, for example, an injection molded part that is made from a plastic material or a glass, in the present case from a polycarbonate material. The surface component 11 can also be made of a metallic material.

The roof module 10 further comprises at least one sensor module 16 according to the invention. The sensor module 16 comprises a see-through area 18, which preferably forms part of a sensor housing 19. The sensor module 16 includes at least one environment sensor 20. The environment sensor 20 is according to 1 arranged in the sensor housing 19.

Alternatively, in particular in an exemplary embodiment of a roof arrangement according to the invention, the environment sensor 20 can also be arranged below the surface component 11. The surface component 11 can preferably include the viewing area 18. The see-through area 18 preferably covers an opening in the surface component 11 and preferably closes this opening in a moisture-tight manner from the vehicle environment. In this case, the viewing area 18 in particular forms a window through which the sensor element 20 looks through (see 2 and 3 ).

The environment sensor 20 in the present case is a lidar sensor. The lidar sensor includes an optical axis 21, which preferably describes a main orientation of the lidar sensor relative to the vehicle surroundings. The environment sensor 20 is set up to send the electromagnetic rays or signals by means of a transmitting device 22 and/or by means of a receiving device 23, and to evaluate them, for example, by an evaluation device in such a way that a Vehicle environment can be reconstructed (see 3 ).

According to the invention, transmitting device 22 is designed to send electromagnetic signals through a first penetration area 24 and at least a second penetration area 25 into the vehicle surroundings (see 4 and 7 ). The detection device 23 is designed to receive electromagnetic signals reflected from the vehicle surroundings in order to thereby detect the vehicle surroundings at least in some areas. Like from the 4 and 7 As can be seen, the viewing area includes more than two penetration areas, although not all of them are marked. The transmitting device 22 sends the electromagnetic radiation in the form of pulsed laser beams through each of the penetration areas 24, 25. The transmitting device 22 is set up to send the electromagnetic signals or beams in the form of laser beams through the first penetration area 24 into the vehicle surroundings within a predetermined angular range in a first plane 26, and within a predetermined angular range α (see 11 and 12 ) in a second level 27 to send the electromagnetic signals in the form of laser beams through the second penetration area 25 into the vehicle surroundings (see 4 ). The first plane 26 intersects the second plane 27 at a predetermined, but preferably adjustable, angle β (see 3 ). In 3 the transmission levels 26, 27 are shown in a side sectional view. In 4 the levels 26, 27 are shown schematically. The transmitting device sends the laser beams into the vehicle surroundings within the plane and thereby preferably completely scans the angular range α, which preferably corresponds to a maximum viewing angle of the surroundings sensor 20. It is also possible for the angular range α to be scanned in predetermined angular interval steps, for example every 0.5°.

According to the invention, the sensor module 16 and/or the roof arrangement 09 comprises a heating device 28 with at least one heating area 29, which is arranged between the first penetration area 24 and the second penetration area 25 on the viewing area 18, or between the first penetration area 24 and the second penetration area 25 in the viewing area 18 is integrated. It is understood that the heating device 28 comprises a plurality of heating wires 29 which are arranged at a distance from one another, see 3 and 7 . According to 6 the sensor module 16 or the sensor housing 19 with the viewing area 18 is inserted through an opening in the surface component 11. On the viewing area 18, the at least one heating area 29 is provided in the form of a plurality of heating elements, each of which is spaced apart from one another. The heating elements are arranged in a grid-like manner on the viewing area. The at least one heating area does not have to be continuous, but can also be divided into individual heating sections or heating elements.

According to the invention, the at least one environment sensor 20 (here a lidar sensor) can be guided through the opening in the surface component 11 using its own lens, which is included, for example, in the viewing area 18, and the environment sensor can in particular be on the inside, for example via the Sensor housing 19 must be mounted on the surface component 11 (see 5 , 6 and 9 ). Alternatively or additionally, the environment sensor 20 can be arranged below the surface component 11 or below a separate outer cover. In this case, the see-through area 18 is preferably included in the surface component 11 or the separate outer cover. According to the invention, the sensor signals can then pass through the viewing area 18 undisturbed by the heating device 28. The at least one heating element 29 can, for example, comprise an electromagnetic element, in particular the heating area 29, which is included in the viewing area 18 or can be arranged on it. In this way, ice and/or fog precipitation on both sides of the viewing area 18 can be minimized and/or removed by the heating device 28.

In one embodiment, the at least one heating area 29 generates heat using wire elements and/or thermistor elements, which in particular run across the viewing area 18. According to the invention, the at least one heating area 29 is arranged on the viewing area 18 and/or integrated in the viewing area in such a way that it is aligned between the sensor signal beams or laser beams and does not interrupt them. Alternatively, the environment sensor 20 itself can be calibrated so that the laser beams are not disturbed by the at least one heating area 29.

The environment sensor 20, in particular a lidar sensor, preferably sends out electromagnetic beams or signals in a specific, in particular sensor-specific pattern in the first level 26 and at least in the second level 27, which are (almost) identical to objects in the environment Way in which the emitted electromagnetic signals are reflected back to the environment sensor 20. Preferably, a position of these reflected laser beams and / or electromagnetic signals in the area in the viewing area 18 is detected in order to ensure transmission-free and/or to define reception-free areas in which the at least one heating area 29 or the de-icing and/or defogging element can be placed. The at least one heating area 29 can preferably be provided on an inside or on an outside of the viewing area 18 or integrated into the viewing area 18, for example embedded or embedded. Particularly preferably, a geometry of the at least one heating area 29 as well as a position and/or position of further collectors and/or connections included in the heating device 28 are provided in areas that are free of transmission and/or reception, i.e. through which no electromagnetic signals are sent and /or received. As a result, interference of the at least one heating area 29 with the electromagnetic signals can be effectively avoided.

The alignment of the at least one heating area 29 relative to the first and second penetration areas 24, 25 is based on 8th and 9 out. In this case, (A) is a cross section through the first plane 26 parallel to a plane normal and the optical axis 21 or a laser beam, with (B) an image or tracking or trace of the laser beam/path on the viewing area 18 , with (C) a geometry and / or positioning of the at least one heating area 29, with (D) the environment sensor and with (E) the surface component 11 is described.

9 also shows a sensor module 16 according to the invention or the environment sensor 20 during a calibration method according to the invention. The method for calibrating the environment sensor 20 includes the following steps: Providing the environment sensor 20 with the transmitting device 22, which is designed to send electromagnetic signals through the first penetration area 24 of the viewing area 18 into the vehicle environment within a predetermined angular range α in the first plane 26 , and at least within a predetermined angular range α in the second plane 27 to send electromagnetic signals through the second penetration region 25 of the viewing area 18 into the vehicle surroundings, the first plane 26 intersecting the second plane 27 at an adjustable angle β, and wherein the at least one Heating area 29 of the heating device 28 is arranged on the viewing area 18 or is integrated into the viewing area 18; wherein a distance between the first and the second penetration area 24, 25 within the viewing area 18 varies with a mounting distance D of the environment sensor 20 to the viewing area 18 and/or with the adjustable angle between the first and the second plane 26, 27; and adjusting the mounting distance D of the environment sensor 18 to the viewing area 18 and/or adjusting the adjustable angle β between the first and the second planes 26, 27, such that the at least one heating area 29 is in a particularly transmission-free area between the first and the second penetration area 24, 25 is arranged on the viewing area 18, or that the at least one heating area 29 is integrated into the viewing area 18 in a particularly transmission-free area between the first and the second penetration area 24, 25. According to 3 Both the mounting distance D and the angle β are varied in order to calibrate the environment sensor 20 according to the invention. The at least one heating area 29 preferably has a geometry of wires and/or lines and/or curves and/or points and/or circles and/or ovals on the inside and/or the outside of the viewing area 18 and/or is in the viewing area 18 integrated. When the at least one heating area 29 is activated, ice and/or snow located on the viewing area 18 melts due to the heat generated above and/or fog precipitate dissolves on the viewing area 18 or is evaporated. The alignment of the sensor beams/paths is therefore preferably calibrated so that they pass through the viewing area 18 in the areas between the at least one heating area in order to eliminate interference between the sensor signals (function) and the de-icing and anti-fog elements.

In 10 the environment sensor 20 is shown schematically as a 4-channel (K1 to K4) environment sensor. The surroundings sensor 20 or the transmitting device 22 sends laser beams into the vehicle surroundings within a respective plane per channel. The transmitting device 22 thus sends out laser beams in four planes, for example. The laser beams sent within the first level 26 do not hit any obstacles in the vehicle environment and are therefore displayed in the evaluation in channel K1 as the maximum distance E1 = E _max to be measured by the environment sensor 20. The laser beams sent within the second level 27 hit an obstacle H1 in the vehicle environment and are therefore displayed in the evaluation in channel K2 as distance E2. The same applies to the two other unspecified transmission levels as well as the obstacles H2 and H3. The surroundings sensor 20 can be set up to scan the vehicle surroundings vertically and/or in a matrix manner. The levels 26, 27 can also be horizontally and/or vertically next to one another and/or overlapping, for example. This is the case, for example, if several environment sensors 20 next to one another and/or one above the other scan and/or scan and/or record the vehicle surroundings at least in sections. Below the “plane” there is preferably a “radiation surface”, comprising a large number of rays emitted next to each other, understood. From a geometric point of view, the (laser) beams themselves preferably have a straight course.

In a top view from above, in which only the first level 26 is displayed due to the overlap (the other transmission levels are below the first level), in 11 Objects H1 to H3 shown from above. In 12 A distance profile 30 of the vehicle surroundings is schematically recorded, in which the distance contours to the respective objects H1 to H3 can be seen. The distance profile 30 is formed from the superposition of the four reflected signals on the four transmission levels and is formed by superimposing the detection signals measured on the channels K1 to K4.

In the 13 until 15 Three exemplary versions of see-through areas 18 are shown. In the present case, the viewing area 18 includes the at least one heating area 29. The heating areas 29 include different courses and are geometrically complex in shape, i.e. have a large number of curves and/or curvatures. The heating areas 29 are, for example, designed like a matrix and are therefore not necessarily shaped continuously. The heating areas 29 can also be flat (see 13 ). The heating areas 29 can also have an oval shape. The viewing area 18 can include a busbar or a busbar or a busbar 32, through which a large number of heating areas 29 can be supplied with electrical energy.

Reference symbol list

09

Roof arrangement

10

Roof module

11

surface component

12

Vehicle roof

16

Sensor module

18

viewing area

19

Sensor housing

20

Environment sensor

21

optical axis

22

Transmitting device

23

Detection device

24

first penetration area

25

second penetration area

26

first level, first transmission level

27

second level, second transmission level

28

Heating device

29

Heating area

30

Distance profile

32

busbar

100

motor vehicle

102

Vehicle body

104

Body roof frame

QUOTES INCLUDED IN THE DESCRIPTION

This list of documents listed by the applicant was 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

• DE 102018109884 A1 [0006]
• WO 2021032599 A1 [0006]

Claims (15)

Sensor module (16) for arrangement on a motor vehicle (100), comprising: a see-through area (18) with a first penetration area (24) and at least one second penetration area (25); at least one environment sensor (20) with at least one transmitting device (22), which is designed to send electromagnetic signals through the first and at least the second penetration area (24, 25) into the vehicle environment; and at least one detection device (23) which is designed to receive electromagnetic signals reflected from the vehicle surroundings in order to thereby detect at least some areas of the vehicle surroundings; and a heating device (28) with at least one heating area (29) which is arranged between the first and the second penetration area (24, 25) on the viewing area (18) or between the first and the second penetration area (24, 25) in the Viewing area (18) is integrated. sensor module Claim 1 , characterized in that the at least one transmitting device (22) is set up to send electromagnetic signals through the first penetration area (24) into the vehicle environment within a predetermined angular range, in particular in a first plane (26), and within a predetermined angular range in particular in a second level (27) to send electromagnetic signals through the second penetration area (25) into the vehicle surroundings, wherein preferably the first level (26) intersects the second level (27) at a predetermined angle β. sensor module Claim 1 or 2 , characterized in that the first penetration area (24) is aligned parallel to the second penetration area (25), and / or that the first penetration area (24) and / or the second penetration area (25) are at least partially line-shaped and / or at least partially column-shaped and/or is/are designed in a matrix-like manner and/or in a predefined basic geometric shape. Sensor module according to one of the preceding claims, characterized in that the first penetration area (24) has a predetermined distance from the second penetration area (25) and the at least one heating area (29) is arranged on the viewing area (18) within this distance or within this distance is integrated in the viewing area (18) and is preferably aligned parallel to the first and/or the second penetration area (24, 25). Sensor module according to one of the preceding claims, characterized in that the at least one heating area (29) is arranged in a transmission-free area of the viewing area (18) or is integrated into the viewing area (18) in a transmission-free area. Sensor module according to one of the Claims 1 until 3 , characterized in that the first penetration area (24) merges into the second penetration area (25) and the at least one heating area (29) is arranged in the area of this transition on the see-through area (18) or integrated into the see-through area (18) in the area of this transition is. Sensor module according to one of the preceding claims, characterized in that the at least one heating area (29) is strip-shaped and has a narrow side of the strip, in particular orthogonal to an optical axis (21) of the environment sensor (20) and preferably orthogonal to a longitudinal contour of the viewing area (18). this is arranged or integrated into the viewing area (18). Sensor module according to one of the preceding claims, characterized in that the at least one environment sensor (20) comprises an optical sensor, in particular a lidar sensor, and the transmitting device (22) is designed to emit the electromagnetic signals in the form of, in particular, pulsed laser radiation. sensor module Claim 2 and 8th , characterized in that the lidar sensor is a single-channel lidar sensor and the detection device (23) is designed to correspond to the laser radiation transmitted within the first plane (26), reflected from the vehicle environment and/or to the laser radiation within to detect laser radiation associated with the second level (27) and reflected from the vehicle surroundings in a single channel, and by multiplexing to determine whether the reflected laser radiation belongs to the laser radiation sent in the first level (26) and/or to that in the second level (27) to determine the transmitted laser radiation. sensor module Claim 2 and 8th , characterized in that the lidar sensor is a multi-channel lidar sensor and the detection device (23) is designed to correspond to the laser radiation sent within the first plane (26) from the vehicle environment to detect reflected laser radiation via a first channel K1 and/or to detect laser radiation associated with the laser radiation transmitted within the second level (27) and reflected from the vehicle environment via at least a second channel K2 in order to determine whether the reflected laser radiation belongs to that in the first Level (26) sent laser radiation and / or to determine the laser radiation sent in the second level (27). Roof arrangement (09) for forming a vehicle roof (12) of a motor vehicle (100), comprising a surface component (11), which at least partially forms a roof skin of the vehicle roof (12), which functions as an outer sealing surface, and at least one sensor module (16) according to one of the preceding claims, wherein the sensor module (16) comprises a sensor housing (19) on which the viewing area (18) is arranged or into which the viewing area (18) is integrated. Roof arrangement (09) for forming a vehicle roof (12) of a motor vehicle (100), comprising: a surface component (11), which at least partially forms a roof skin of the vehicle roof (12), which functions as an outer sealing surface; a see-through area (18) with a first penetration area (24) and at least one second penetration area (25), which is arranged on the surface component (11) or is integrated in it; and at least one sensor module (16), comprising: at least one environment sensor (20) with a transmitting device (22) which is designed to send electromagnetic signals through the first and at least the second penetration area (24, 25) into the vehicle environment; and a detection device (23) which is designed to receive electromagnetic signals reflected from the vehicle surroundings in order to thereby detect at least some areas of the vehicle surroundings; and a heating device (28) with at least one heating area (29) which is arranged between the first and the second penetration area (24, 25) on the viewing area (18) or which is between the first and the second penetration area (24, 25) in the Viewing area (18) is integrated. Roof arrangement according to Claim 11 or 12 , which comprises a roof module (10) which is attached as a structural unit to a vehicle body. Motor vehicle (100) with at least one roof arrangement (09) according to one of Claims 11 until 13 . Method for calibrating an environmental sensor (20), comprising the following steps: - Providing an environment sensor (20) with a transmitting device (22) which is designed to send electromagnetic signals into the vehicle surroundings through a first penetration area (24) of a see-through area (18) within a predetermined angular range in a first plane (26), and at least within a predetermined angular range α in a second plane (27) to send electromagnetic signals through a second penetration area (25) of the viewing area (18) into the vehicle surroundings, the first level (26) the second level (27) under an adjustable Angle β intersects, and at least one heating area (29) of a heating device (28) is arranged on the viewing area (18) or is integrated into the viewing area (18); wherein a distance between the first and the second penetration area (24, 25) within the viewing area (18) corresponds to a mounting distance of the environment sensor (20) to the viewing area (18) and/or to the adjustable angle between the first and the second plane ( 26, 27) varies; - Adjusting the mounting distance of the environment sensor (20) to the viewing area (18) and/or adjusting the adjustable angle between the first and second levels (26, 27), such that the at least one heating area (29) is in an area between first and second penetration areas (24, 25) are arranged on the viewing area (18) or that the at least one heating area (29) is integrated into the viewing area (18) in an area between the first and second penetration areas (24, 25). .

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