EP3289382A1 - Capteur laser destiné à un véhicule automobile et muni d'un miroir parabolique, système d'aide à la conduite, et véhicule automobile - Google Patents

Capteur laser destiné à un véhicule automobile et muni d'un miroir parabolique, système d'aide à la conduite, et véhicule automobile

Info

Publication number
EP3289382A1
EP3289382A1 EP16719369.7A EP16719369A EP3289382A1 EP 3289382 A1 EP3289382 A1 EP 3289382A1 EP 16719369 A EP16719369 A EP 16719369A EP 3289382 A1 EP3289382 A1 EP 3289382A1
Authority
EP
European Patent Office
Prior art keywords
laser sensor
transmission signal
motor vehicle
reflected
parabolic mirror
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP16719369.7A
Other languages
German (de)
English (en)
Inventor
Lin Lin
Peter Horvath
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Valeo Schalter und Sensoren GmbH
Original Assignee
Valeo Schalter und Sensoren GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Valeo Schalter und Sensoren GmbH filed Critical Valeo Schalter und Sensoren GmbH
Publication of EP3289382A1 publication Critical patent/EP3289382A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/42—Simultaneous measurement of distance and other co-ordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4816—Constructional features, e.g. arrangements of optical elements of receivers alone
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning

Definitions

  • the present invention relates to a laser sensor for a motor vehicle with a transmitting device for transmitting a transmission signal in the form of optical radiation, with a deflection device for deflecting the transmission signal, wherein the
  • Deflecting means comprises a micromirror, and with a receiving device for receiving the at least one object in a surrounding region of the
  • the invention also relates to a
  • the present invention relates to a motor vehicle having such a driver assistance system.
  • laser sensors for motor vehicles.
  • Such laser sensors can be designed, for example, as lidar sensors (lidar - light detection and ranging) or as laser scanners.
  • Such laser sensors are attached, for example, to motor vehicles in order to control the environment or the surrounding area of the vehicle during the journey or during operation of the motor vehicle
  • the laser sensor is in particular a scanning optical measuring device by means of which objects or obstacles in the surrounding area of the motor vehicle can be detected. For example, a distance between the motor vehicle and the object can be measured by the light pulse transit time method with the laser scanner.
  • the laser sensor usually comprises a transmitting device which has, for example, a laser diode or a laser with which an optical transmission signal can be transmitted.
  • the laser sensor comprises a corresponding deflection device with which the transmission signal can be deflected.
  • the laser sensor comprises a
  • Receiving device having, for example, at least one photodiode, by means of which the reflected from the object transmission signal can be received.
  • laser sensors are known from the prior art, whose
  • Deflection device has a micromirror or a so-called MEMS mirror (MEMS - Micro Electro Mechanical System or microsystem).
  • MEMS Micro Electro Mechanical System
  • the focal point of the transmission signal reflected by the object can travel in accordance with the angle of the transmitted transmission signal.
  • receiving devices which comprise an array of photodiodes.
  • DE 101 60 019 A1 describes a device for aligning the transmission and reception channels of a spatial lidar.
  • the device makes it possible to estimate the deviation of the laser, transmitting and receiving channels of a lidar and in particular the centering of the receiving channel to the backward laser beam.
  • receiver means may comprise a telescope with a parabolic-type concave mirror oriented in a target direction, the focal axis of the mirror and the target direction being parallel as defined by the elements of the transmission channel.
  • EP 2 221 683 A1 describes a lidar device with a
  • a light source that provides light beam transmission pulses, a scanning fan array that directs the light beam transmission pulses at any given beam angle over a certain angular range, and a detection system that directs them
  • a parabolic reflector can be provided, at the focal point of which a lidar unit is arranged and aligned in such a way that the light beam transmission pulses emanating from the scanning fan arrangement coincide in the center line of this angular range with the parabolic axis of the reflector.
  • An inventive laser sensor for a motor vehicle comprises a transmitting device for emitting a transmission signal in the form of optical radiation. Furthermore, the laser sensor comprises a deflection device for deflecting the transmission signal, wherein the
  • Deflection device comprises a micromirror. Furthermore, the laser sensor comprises a Receiving means for receiving the from at least one object in one
  • the laser sensor Surrounding area of the motor vehicle reflected transmission signal. Furthermore, the laser sensor has a parabolic mirror, which is arranged in a beam path of the at least one object reflected transmission signal between the at least one object and the receiving device and which is adapted to deflect the reflected from the at least one object transmission signal to the receiving device.
  • the laser sensor is intended for use in a motor vehicle.
  • the laser sensor can be a motor vehicle fastening device for attaching the laser sensor to the
  • the laser sensor can be designed in particular as a lidar sensor or as a laser scanner. With the laser sensor, objects in the
  • a distance between the motor vehicle and the object can be determined by means of the laser sensor.
  • a transmission signal in the form of optical radiation or laser radiation is emitted.
  • This emitted transmission signal is then reflected by at least one object in the surrounding area of the motor vehicle and returns to the receiving device of the sensor.
  • the transmitted transmission signal is deflected by a deflector. It can also be provided that the transmission signal is transmitted in the form of laser pulses.
  • the transmission signals can be transmitted within a predetermined detection range or angle range.
  • the deflection device comprises a micromirror or a so-called MEMS mirror.
  • This micromirror can with the help of a microtechnical
  • the micromirror for example, a
  • the micromirror can have a corresponding actuator, for example an electrostatic, a piezoelectric, a thermal microactuator or
  • the transmission signal reflected by the at least one object first encounters a parabolic mirror before impinging on the receiving device.
  • the parabolic mirror is therefore in the beam path of the reflected from the object
  • Receiving device are deflected out.
  • the change of the focal point described above can be at least partially compensated become.
  • Receiving device possible to reliably receive the transmitted signal reflected from the object and thus to detect the object in the surrounding area of the motor vehicle.
  • the parabolic mirror is designed and / or arranged such that the transmission signal reflected by the at least one object passes through a focal point of the parabolic mirror.
  • the parabolic mirror may have such a curvature that the transmission signal reflected by the object passes through the focal point of the parabolic mirror.
  • the parabolic mirror can be arranged within the laser sensor such that the transmission signal reflected by the at least one object passes through the focal point of the parabolic mirror. It can thus be achieved that the transmission signal reflected by the object can be directed in the direction of the detection device, even when the focus point is displaced.
  • the parabolic mirror is designed and / or arranged such that each of a plurality of objects in the
  • the transmitted transmission signal can be reflected by a plurality of objects in the surrounding area of the motor vehicle. It may also be the case that chronologically consecutive and possibly in
  • the parabolic mirror is configured and / or arranged such that all these transmission signals reflected by the objects essentially run through the focal point. It can thus be achieved that the transmitted signals reflected by the objects can be reliably detected even for different angular ranges or scan ranges. This can further be achieved that the objects can be reliably detected in the entire detection area or in the area of the laser sensor.
  • the parabolic mirror in each case deflects the transmitted signals reflected by the plurality of objects in such a way that they extend substantially parallel from the parabolic mirror in the direction of the receiving device.
  • the Parabolic mirror is particularly designed so that a spherical wave, which is generated with a point source, which is arranged in the focal point, as a flat
  • Wave propagation is reflected as a collimated beam along an axis.
  • a lens is arranged in a beam path of the transmission signal reflected by the at least one object and deflected by the parabolic mirror.
  • the transmitted signals deflected by the parabolic mirror, which run substantially parallel, can be bundled with a corresponding lens.
  • the receiving device comprises at least one avalanche photodiode.
  • an avalanche photodiode may also be referred to as a lagoon photodiode.
  • These avalanche photodiodes utilize the internal photoelectric effect to create carriers and the avalanche effect for internal amplification.
  • the transmission signal reflected from the object can be reliably detected.
  • the avalanche photodiodes utilize the internal photoelectric effect to create carriers and the avalanche effect for internal amplification.
  • the transmission signal reflected from the object can be reliably detected.
  • the avalanche photodiode may also be referred to as a lagoon photodiode.
  • Detection device a single avalanche photodiode.
  • the deflection device comprises a mirror element, which is pivotable about an axis.
  • the mirror element is mounted pivotable about only a single axis.
  • a low cost baffle can be provided.
  • the laser sensor comprises a collimator, which in the beam path of the transmission signal between the transmitting device and the
  • the collimator is used in particular for generating a parallel beam path.
  • the collimator is used in particular for generating a parallel beam path.
  • Transmitter signal are bundled a parallel light beam, which then on the Deflection meets. With the deflection device or the micromirror, this parallel light beam can then be deflected. It can thus be achieved that parallel light bundles or the transmission signal can be reliably deflected by the deflection device or the micromirror, and thus can be transmitted within the detection area to the objects in the surrounding area.
  • An inventive driver assistance system for a motor vehicle comprises a laser sensor according to the invention. For example, a distance between the motor vehicle and an object or obstacle in the surrounding area of the motor vehicle can be detected with the laser sensor.
  • the driver assistance system can be designed, for example, as a proximity control or the like.
  • a motor vehicle according to the invention comprises an inventive
  • the motor vehicle is designed in particular as a passenger car.
  • Showing: 1 shows a motor vehicle according to an embodiment of the present invention
  • Invention having a driver assistance system with a laser sensor
  • Fig. 2 is a schematic representation of a transmitting device and a
  • Fig. 3 is a schematic representation of the laser sensor
  • Deflection device a parabolic mirror and a receiving device comprises.
  • FIG. 1 shows a motor vehicle 1 according to an embodiment of the present invention
  • the motor vehicle 1 is in the present embodiment as
  • the motor vehicle 1 comprises a
  • Driver assistance system 2 With the driver assistance system 2, for example, an object 3, which is located in a surrounding area 4 of the motor vehicle 1, are detected. In particular, a distance between the motor vehicle 1 and the object 3 can be determined by means of the driver assistance system 2.
  • the driver assistance system 2 comprises a laser sensor 5.
  • the laser sensor 5 may be designed as a lidar sensor or as a laser scanner.
  • the laser sensor 5 comprises a transmitting unit 6, with which a transmission signal 8 in the form of an optical signal or in the form of laser light can be emitted.
  • the transmitting unit 6 may comprise, for example, a laser diode. With the transmission unit 6, the transmission signals 8 within a predetermined detection range E or within a predetermined
  • Angular range are emitted.
  • the transmission signals 8 can be transmitted in a predetermined horizontal angle range.
  • the laser sensor 5 comprises a receiving unit 7, which may for example comprise a photodiode 11 (see FIG. 2). With the receiving device 7, the reflected from the object 3 transmission signal 8 can be received as a received signal 9. Furthermore, the laser sensor 5 may include a computing unit, for example may be formed by a microcontroller or a digital signal processor.
  • the driver assistance system 2 further comprises a control device 10, which may be formed for example by an electronic control unit of the motor vehicle 1. The control device 10 is connected to the laser sensor 5 for data transmission. The data transmission can take place via a data bus of the motor vehicle 1.
  • Fig. 2 shows a schematic representation of the transmitting device 6 and a
  • the laser diode 1 1 includes. With the laser diode 1 1, the laser diode 1 1, the laser diode 1 1, the laser diode 1 1, the
  • Transmission signal 8 are emitted in the form of a laser beam.
  • a collimator 12 is provided, with which the transmitted transmission signal 8 in a in
  • Substantially parallel beam can be converted. This parallel
  • the deflector 13 is formed as a micromirror or MEMS mirror.
  • the deflection device 13 comprises a mirror surface, not shown here, which can be pivoted, for example, with a corresponding actuator.
  • Mirror element about an axis, in particular the horizontal axis, to be pivoted. This is illustrated by way of example by the arrow 14.
  • Different time points transmit signals in the detection area E and the surrounding area 4 of the motor vehicle 1 are emitted.
  • the first transmission signal 8a which strikes an object 3a can be emitted.
  • the second transmission signal 8b At a later time, the second transmission signal 8b
  • the angles ⁇ between the direction of the first transmission signal 8a and the direction of the second transmission signal 8b and an angle ⁇ between the direction of the second transmission signal 8b and a direction of the third transmission signal 8c may each be 72.5 °.
  • FIG. 3 shows a schematic representation of the laser sensor 5.
  • the deflection device 13 is shown, with which the transmission signals 8a, 8b and 8c are emitted which strike the objects 3a, 3b and 3c , From the first object 3a, the first transmission signal 8a becomes the first one
  • Received signal 9a reflected. From the second object 3b, the second transmission signal 8b as a second received signal 9b reflected. Finally, the third transmission signal 8c is reflected by the third object 3c as the third reception signal 9c.
  • the laser sensor 5 further comprises a parabolic mirror 16.
  • the parabolic mirror 16 is arranged or shaped such that the first received signal 9a, the second received signal 9b and the third received signal 9c all run through a focal point 15 of the parabolic mirror 16.
  • Parabolic mirror 16 deflected receive signals 9a, 9b, 9c are substantially parallel in the direction of the receiving device 7. The essentially parallel
  • Displacement of a focal point in the direction of the receiving device 7 and the at least one avalanche photodiode 18 are directed.
  • the lens 17 the light beams can also be bundled.
  • the detection device 7 can be designed to save space especially.
  • the detection device 7 may have only a single avalanche diode 18.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

L'invention concerne un capteur laser (5) destiné à un véhicule automobile (1), comportant un dispositif de détection (6) servant à émettre un signal d'émission (8) sous la forme d'un rayonnement optique, un dispositif de déviation (13) servant à dévier le signal d'émission (8, 8a, 8b, 8c), le dispositif de déviation (13) comprenant un micro-miroir, et un dispositif de réception (7) servant à recevoir le signal d'émission (9, 9a, 9b, 9c) réfléchi par au moins un objet (3, 3a, 3b, 3c) dans une zone (4) dans les environs du véhicule automobile (1). Le capteur laser (5) présente un miroir parabolique (16) qui est agencé dans un chemin optique du signal d'émission (9, 9a, 9b, 9c) réfléchi par le ou les objets (3, 3a, 3b, 3c) entre le ou les objets (3, 3a, 3b, 3c) et le dispositif de réception (7), et qui est conçu pour dévier en direction du dispositif de réception le signal d'émission (9, 9a, 9b, 9c) réfléchi par le ou les objets (3, 3a, 3b, 3c).
EP16719369.7A 2015-04-29 2016-04-22 Capteur laser destiné à un véhicule automobile et muni d'un miroir parabolique, système d'aide à la conduite, et véhicule automobile Withdrawn EP3289382A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015106595.9A DE102015106595A1 (de) 2015-04-29 2015-04-29 Lasersensor für ein Kraftfahrzeug mit Parabolspiegel, Fahrerassistenzsystem sowie Kraftfahrzeug
PCT/EP2016/059093 WO2016173954A1 (fr) 2015-04-29 2016-04-22 Capteur laser destiné à un véhicule automobile et muni d'un miroir parabolique, système d'aide à la conduite, et véhicule automobile

Publications (1)

Publication Number Publication Date
EP3289382A1 true EP3289382A1 (fr) 2018-03-07

Family

ID=55860832

Family Applications (1)

Application Number Title Priority Date Filing Date
EP16719369.7A Withdrawn EP3289382A1 (fr) 2015-04-29 2016-04-22 Capteur laser destiné à un véhicule automobile et muni d'un miroir parabolique, système d'aide à la conduite, et véhicule automobile

Country Status (3)

Country Link
EP (1) EP3289382A1 (fr)
DE (1) DE102015106595A1 (fr)
WO (1) WO2016173954A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102017104104A1 (de) * 2017-02-28 2018-08-30 Valeo Schalter Und Sensoren Gmbh Optisches Element für eine Sendeeinrichtung einer optischen Erfassungsvorrichtung, Sendeeinrichtung, optische Erfassungsvorrichtung, Kraftfahrzeug sowie Verfahren
KR20210046466A (ko) 2019-10-18 2021-04-28 현대자동차주식회사 액정 기반 광 편향기 및 이를 이용한 광 스캐너

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001208846A (ja) * 2000-01-28 2001-08-03 Mitsubishi Electric Corp 車両周辺監視装置
FR2818386B1 (fr) 2000-12-14 2004-06-04 Cit Alcatel Dispositif pour l'alignement des voies d'emission et de reception d'un lidar spatial et lidar equipe d'un tel dispositif
JP2003090759A (ja) * 2001-09-20 2003-03-28 Denso Corp 光検出装置及び距離測定装置
EP1792775B1 (fr) * 2005-12-02 2018-03-07 Volkswagen Aktiengesellschaft Véhicule et capteur pour détecter des obstacles dans le voisinage du véhicule
JP2007279017A (ja) * 2006-03-15 2007-10-25 Omron Corp レーダ装置
EP2221683A1 (fr) 2009-02-19 2010-08-25 Siemens Aktiengesellschaft Procédé et dispositif de réalisation d'une fonction de diagnostic

Also Published As

Publication number Publication date
DE102015106595A1 (de) 2016-11-03
WO2016173954A1 (fr) 2016-11-03

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