EP3387463A1 - Procédé de détection d'un dysfonctionnement d'un dispositif de balayage laser, dispositif de balayage laser et véhicule à moteur - Google Patents

Procédé de détection d'un dysfonctionnement d'un dispositif de balayage laser, dispositif de balayage laser et véhicule à moteur

Info

Publication number
EP3387463A1
EP3387463A1 EP16802100.4A EP16802100A EP3387463A1 EP 3387463 A1 EP3387463 A1 EP 3387463A1 EP 16802100 A EP16802100 A EP 16802100A EP 3387463 A1 EP3387463 A1 EP 3387463A1
Authority
EP
European Patent Office
Prior art keywords
laser scanner
intensity value
laser beam
laser
motor vehicle
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.)
Ceased
Application number
EP16802100.4A
Other languages
German (de)
English (en)
Inventor
Stefan Schneider
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 EP3387463A1 publication Critical patent/EP3387463A1/fr
Ceased 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
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
    • 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
    • G01S7/497—Means for monitoring or calibrating
    • 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
    • G01S7/497—Means for monitoring or calibrating
    • G01S2007/4975—Means for monitoring or calibrating of sensor obstruction by, e.g. dirt- or ice-coating, e.g. by reflection measurement on front-screen

Definitions

  • the invention relates to a method for detecting a functional impairment of a laser scanner of a motor vehicle.
  • a laser beam of the laser scanner is emitted through a protective screen of the laser scanner into a surrounding area of the motor vehicle.
  • the invention also relates to a laser scanner for a motor vehicle as well as a motor vehicle with a laser scanner.
  • EP 1 378 763 B1 shows a
  • Laser scanning device with a transmitting unit which has a pulse laser for emitting a light beam in a region to be monitored, with a
  • a light deflection unit for directing the light beam emitted by the pulsed laser into the area to be monitored, having a receiving unit for receiving light pulses which are reflected by an object located in the area to be monitored, and having a front panel permeable to the light beam, which transmits the transmission , Receiving and light deflection unit from the environment of
  • Laser scanning device separates.
  • an optical element is provided to branch off a partial beam from the light beam emerging from the laser scanning device.
  • a photodetector is used to measure the intensity of the diverted sub-beam.
  • a functional impairment of a laser scanner of a motor vehicle is detected. It is a laser beam of the laser scanner by one, in particular in the frequency range of the laser beam at least
  • An essential idea of the invention is to be seen in that an echo of the emitted and at the protective disc at least partially reflected
  • Laser beam is received by a receiving unit of the laser scanner with an intensity value, and the functional impairment of the laser scanner is detected if the intensity value is different to a reference intensity value.
  • the functional impairment of the laser scanner can be detected without a separate optical element arranged in the region of the windshield. So it will not be
  • the backscatter of the laser beam which partially arises on the protective pane is used in order to detect the functional impairment of the laser scanner or to confirm the functionality of the laser scanner.
  • the backscattering of the protective pane or the echo of the emitted and at least partially reflected on the protective glass laser beam usually occurs undesirable and is now used in the inventive method to detect the functional impairment.
  • the protective screen may be formed, for example, as a cover or as part of a housing of the laser scanner.
  • the protection disk prevents particles from entering the interior of the housing of the laser scanner from outside the housing of the laser scanner. As a result, components inside the laser scanner can be protected against soiling or damage, for example.
  • the laser scanner is preferably provided with a receiving unit with several
  • Surrounding area can be sent out and there may be multiple echoes of the emitted laser beam are received and processed.
  • One of these echoes is then, for example, the echo of the portion of the laser beam reflected on the protective pane. Based on the intensity of the echo of the laser beam at least reflected on the protective disk can then be detected whether the function of the laser scanner is impaired. For this purpose, the intensity value with the
  • the echo based on its transit time from a transmitting unit of the laser scanner, which emits the laser beam to the
  • Protective lens and back to a receiving unit of the laser scanner is assigned as the reflected by the protective screen echo.
  • the echo of further echoes of the emitted laser beam can be distinguished by the duration of the
  • Laser beam is used between the transmitting unit via the protective screen to the receiving unit. The distance traveled by the laser beam between the
  • Transmitting unit and the receiving unit via the protective screen is known in particular. It is therefore advantageous that the echo based on its running time can be assigned to the echo reflected by the protective pane more simply and effectively.
  • a deposition of particles on the protective pane is recognized as the functional impairment if the intensity value is greater than the reference intensity value.
  • the deposition of particles on the protective pane leads in particular to the fact that the laser beam emitted by the transmitting unit is reflected more strongly on the protective pane than would be the case with a deposit-free protective pane. For this reason, the intensity value increases in particular if the deposition of the particles is present on the protective screen.
  • the deposition of the particles is present in particular on an outer side, the surrounding area facing side, the protective disk.
  • the deposit can also be present on an inner side of the protective pane and be recognized there.
  • the protective screen is preferably as a separation between the surrounding area and the inner
  • the deposition of the particles is detected in a first region of the protective pane, if one
  • Deflection mirror of the laser scanner is aligned in a first position, and the deposition of the particles is detected in a second region of the protective screen, if the deflection mirror is aligned in a different position from the first position second position.
  • the laser beam of the laser scanner is in each case emitted to another location in the surrounding area.
  • the laser beam is also radiated through different regions of the protective pane.
  • Protective disc can be determined by which the laser beam is currently passing. For this area then the deposition of the particles can be detected. It is therefore advantageous that the deposition of the particles is not only detected, but can also be assigned locally on the protective screen.
  • the laser beam is reflected at least after the emission at a deflecting mirror of the laser scanner, and is recognized as the functional impairment of the deflecting mirrors as misting, in particular with moisture, if the intensity value is smaller than the reference intensity value. If, for example, the deflecting mirror is fogged with moisture, this leads to the fact that the laser beam diffuse or undirected on the
  • the laser beam after reflection on the deflection mirror has a lower intensity value than would be the case with a non-fogged deflection mirror. If, for example, the laser beam now reaches the protective screen after the deflecting mirror and is partially reflected there, the first echo also has a smaller intensity value due to the fact that a smaller intensity has already arrived from the deflecting mirror than if the deflecting mirror were fog-free. It is advantageous that by the intensity value, a conclusion on the type of
  • the receiving unit is therefore preferably characterized by at least two
  • the laser scanner can provide a distance to the object in the surrounding area by the at least further echo, while with the same laser beam used for measuring the distance of the object in the surrounding area, the intensity value can also be determined
  • Reference intensity value is compared and gives information about the functionality of the laser scanner.
  • the reference intensity value is initially specified.
  • the reference intensity value may already be present during production or delivery of the laser scanner.
  • the reference intensity value can be provided.
  • the reference intensity value can be preset easily and at any time.
  • Reference intensity value during operation of the laser scanner is adjusted at predetermined intervals.
  • the reference intensity value can be adapted to empirical values relating to the functional impairment.
  • the reference intensity value can also be adjusted, for example, according to whether the functional impairment of the laser scanner is output with a high or a low probability value for the correctness of the detection of the false impairment. By adjusting the reference intensity value during operation of the laser scanner, the functional impairment of the laser scanner can thus be detected in a variety of accuracy levels.
  • the adjustment of the reference intensity value is carried out on the basis of a plurality of intensity values obtained during operation of the laser scanner by echoes from the protective screen.
  • the intensity value can be adjusted on the basis of empirical values. That's the way it works
  • the protective disk is subjected to a certain aging process, by which the reference intensity value of an adjustment needs, otherwise the deposition of the particles would be detected, although they are not present is. It is advantageous that, by adjusting the reference intensity value as a function of the intensity values obtained, detection of the functional impairment is made possible effectively and precisely over the entire service life of the laser scanner.
  • a value difference of the intensity value to the reference intensity value is determined, and a probability of the
  • Functional impairment of the laser scanner is determined depending on the difference. For example, a small difference in value may indicate that the functional impairment of the laser scanner is detected incorrectly, or at least that the functional impairment of the laser scanner is not serious. A large difference in value, for example, can indicate a high level of security and thus with high probability the error-free detection of the functional impairment.
  • the invention also relates to a laser scanner for a motor vehicle, in particular a motor vehicle fastening element, a protective screen, a transmitting unit, a receiving unit and an evaluation unit.
  • the laser scanner is designed to carry out a method according to the invention.
  • the laser scanner is attached to the motor vehicle.
  • the protective pane is preferably part of a housing of the laser scanner and serves to delimit an interior space of the housing from an outside area of the housing or a surrounding area of the motor vehicle.
  • Receiving unit is received.
  • the laser scanner has a movable
  • Deflection mirror comprises, through which a means of the transmitting unit in a
  • Ambient region of the motor vehicle emitted laser beam is deflected.
  • the deflected laser beam then, for example, several objects in the
  • the deflecting mirror deflects the laser beam effectively and precisely, so that a distance to a respective object in the surrounding area can be accurately determined.
  • the laser scanner with at least two
  • Receive channels in particular the receiving unit, for receiving at least two echoes of a laser beam emitted into an environmental region of the motor vehicle are formed.
  • the receiving unit has, in particular, the at least two receiving channels, and it is thereby possible to determine a distance to an object in the surrounding area with the same laser beam, which also provides an echo from the protective pane.
  • the laser scanner can in turn be designed with fewer components than if several receiving units were provided in the laser scanner.
  • the invention also relates to a motor vehicle with an inventive
  • Embodiments and their advantages apply correspondingly to the laser scanner according to the invention and to the motor vehicle according to the invention.
  • FIG. 1 is a schematic plan view of an embodiment of a motor vehicle according to the invention with a laser scanner;
  • Fig. 2 is a schematic representation of the motor vehicle and a in a
  • FIG. 3 shows a schematic representation of the laser scanner with a transmitting unit, a receiving unit, a deflecting mirror and a protective screen;
  • Fig. 4 is a schematic representation of a plurality of laser beams and the
  • Fig. 5 is a schematic representation analogous to FIG. 4 and a deposit of
  • Fig. 6 is a schematic representation analogous to FIG. 4 and a fogged
  • a motor vehicle 1 with a laser scanner 2 is shown schematically.
  • the laser scanner 2 is arranged on a front 3 of the motor vehicle 1.
  • the arrangement of the laser scanner 2 on the motor vehicle 1 is manifold possible, but preferably so that an environmental region 4 of the motor vehicle 1 can be detected at least partially.
  • the laser scanner 2 has a housing 5 and a protective pane 6.
  • a transmitting unit 8 In an interior 7 of the housing 5 are a transmitting unit 8, a receiving unit 9, a
  • a laser beam 12 is emitted through the deflecting mirror 1 1 and through the protective screen 6 into the surrounding area 4.
  • Deflection mirror 1 1 is movable to deflect the laser beam and to radiate to various locations in the surrounding area 4.
  • the evaluation unit 10 can, as shown in FIG. 1, be arranged in the housing 5 of the laser scanner 2 or else be present as a separate unit outside the housing 5.
  • the protective screen 6 may be part of the housing 5, for example. Through the protective plate 6, the penetration of unwanted particles in the interior 7 of the housing 5 is prevented.
  • the protective disk 6 is at least semitransparent in the frequency range of the laser beam 12. This means that the laser beam 12 can at least partially pass through the protective pane 6.
  • Fig. 2 shows the motor vehicle 1 with the laser scanner 2 on a roadway 13.
  • the object 14 is formed as shown in FIG. 2 as another motor vehicle.
  • the object 14 is located in the surrounding area 4 of the motor vehicle 1.
  • Raindrops 15 are present between the motor vehicle 1 and the object 14.
  • the laser scanner 2 sends by means of the transmitting unit 8, the laser beam 12 in the
  • the laser beam 12 Surrounding area 4 to the object 14 from.
  • the laser beam 12 is at least partially reflected by a first echo 16 on the protective pane 6. Furthermore, the laser beam 12 is at least partially reflected after passing through the protective screen with a second echo 17 to the raindrop 15 and then the laser beam 12 is reflected by a third echo 18 at the object 14.
  • the echoes 16, 17, 18 are received by the receiving unit 9.
  • the first echo 16 has a first intensity value 19
  • the second echo 17 has a second intensity value 20
  • the third echo 18 has a third intensity value 21.
  • the intensity values 19, 20, 21 are determined in particular at the respective time at which the echoes 16, 17, 18 are received by the receiving unit 9.
  • FIG. 3 shows the laser scanner 2.
  • the laser beam 12 is emitted to the object 14 in the surrounding area 4 by means of the transmitting unit 8.
  • the laser beam 12 is reflected at the object 14 and received as the third echo 18 from the receiving unit 9.
  • the laser beam 12 is irradiated both during the emission and during reception through the protective pane 6.
  • the laser beam 12 is deflected both during transmission and when receiving via the deflection mirror 1 1.
  • the sensor disc 6 has no separate reference target or optical element in order to deflect the laser beam 12 at least partially or to split off part of the laser beam 12.
  • Fig. 4 shows the laser scanner 2 without functional impairment. There is no deposition of particles on the protective pane 6. A plurality of laser beams 22 are emitted into the surrounding area 4. Each laser beam 12 of the plurality of
  • Laser beams 22 is emitted with a different position of the deflecting mirror 1 1 in the surrounding area 4. So is the deflection mirror 1 1 according to the
  • Embodiment at least in a first position 23 and in a second position 24 before. Due to the different positions 23, 24, the respective laser beam 12 of the plurality of laser beams 22 is irradiated in different areas of the protective pane 6. Thus, the laser beam 12 during the first position 23 of the
  • Deflection mirror 1 1 through a first region 25 of the protective pane 6 is irradiated through, while the laser beam 12 is irradiated with the deflecting mirror 1 1 in the second position 24 through a second region 26 of the protective pane 6 therethrough. It thus occurs both in the first region 25 to the first echo 16 and on renewed transmission of the laser beam 12 in the second region 26 of the protective screen 6 to the first echo 16.
  • the emission of the laser beam 12 leads to the third echo 18 at the object 14th and the retransmission of the laser beam 12 again to the third echo 18 at another location of the object 14.
  • the protective pane 6 in the at least two areas 25, 26.
  • the first echo 16 lies away from the protective pane 6 before.
  • the first intensity value 19 of the first echo 16 is also present for the first region 25, and after re-emitting the laser beam 12, the first intensity value 19 is at a different value or with the same value for the first echo 16 in the second region 26 of the protective pane 6 before.
  • FIG. 5 shows the laser scanner 2 with the dirt in the first area 25
  • the second region 26 has no deposit of particles 27.
  • the first intensity value 19 of the first echo 16 on the protective pane 6 within the first area 25 is correspondingly higher than the first one
  • Intensity value 19 of the first echo 16 within the second region 26 the laser beam 12 can pass through the protective plate 6 with more photons than is the case in the first region 25.
  • the first echo is 16 with respect to the first intensity value 19 in the first region 25 stronger than the first echo 16 in the second region 26.
  • the first intensity value 19 of the first echo 16 in the first region 25 is different from a reference intensity value. Based on the reference intensity value, the deposition of the particles 27 on the protective pane 6 can now be detected.
  • the first intensity values 19 thus enable a description of the laser scanner 2 with respect to its functional impairment or its
  • FIG. 6 shows the laser scanner 2 in which the first intensity value 19 in the first area 25 and in the second area 26 is smaller than the reference intensity value.
  • Receiving unit 9 received as this at a deflecting mirror 1 1 without the
  • Humidity 28 would be the case.
  • An indication of the deposition of moisture 28 on the deflecting mirror 1 1 gives on the one hand, the lower first intensity value 19 in
  • one embodiment of the method proceeds as follows. From the transmitting unit 8, the laser beam 12 is emitted to the deflection mirror 1 1. The deflecting mirror 1 1 reflects the laser beam 12 to the protective screen 6. At the
  • Shield 6 becomes a part of the laser beam 12 as the first echo 16 to the
  • Receiving unit 9 is reflected and the first intensity value 19 of the first echo 16 is determined.
  • the first intensity value 19 of the first echo 16 is then compared with the reference intensity value. If the first intensity value 19 is greater than the reference intensity value, the deposition of the particles 27 on the protective pane 6 is assumed. If the first intensity value 19 is smaller than that
  • Reference intensity value is from the fitting of the deflecting mirror 1 1 with the
  • Moisture 28 is assumed.
  • the deflection mirror 1 1 of the first position 23 is placed in the second position 24 and the laser beam 12 is emitted by means of the transmitting unit 8 again in the surrounding area 4.
  • the laser beam 12 is emitted again, it no longer passes through the protective screen 6 in the first area 25 but in the second area 26.
  • the first echo 16 is also generated in the second area 26 instead of in the first area 25.
  • the second region 26 can also be examined for the deposition of the particles 27.
  • the further echoes 17, 18 of the laser beam 12 from the surrounding area 4 are nevertheless received by the receiving unit 9 and
  • the first echo 16 is generated due to the reflection of the laser beam 12 at the interface between air from the interior 7 of the housing 5 and the inside of the protective screen 6.
  • the interface lies in particular between two non-absorbing media with different speeds of propagation of the laser beam 12.
  • the two non-absorbing media in the present case are the protective disk 6 and the air in the interior 7 of the housing 5.
  • the propagation speed of the laser beam 12 is different within the protective disk 6

Landscapes

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

Abstract

L'invention concerne un procédé de détection d'un dysfonctionnement d'un dispositif de balayage laser (2) d'un véhicule à moteur (1), selon lequel un faisceau laser (12) du dispositif de balayage laser (2) est émis à travers une vitre de protection (6) du dispositif de balayage laser (2), dans une zone périphérique (4) du véhicule à moteur (1). Un écho (16) du faisceau laser (12) émis et réfléchi au moins partiellement sur la vitre de protection (6) est reçu par une unité de réception (9) du dispositif de balayage laser (2) avec une valeur d'intensité (19), et le dysfonctionnement du dispositif de balayage laser (2) est détecté si la valeur d'intensité (19) est différente d'une valeur d'intensité de référence.
EP16802100.4A 2015-12-09 2016-11-30 Procédé de détection d'un dysfonctionnement d'un dispositif de balayage laser, dispositif de balayage laser et véhicule à moteur Ceased EP3387463A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015121415.6A DE102015121415A1 (de) 2015-12-09 2015-12-09 Verfahren zum Erkennen einer Funktionsbeeinträchtigung eines Laserscanners, Laserscanner und Kraftfahrzeug
PCT/EP2016/079241 WO2017097654A1 (fr) 2015-12-09 2016-11-30 Procédé de détection d'un dysfonctionnement d'un dispositif de balayage laser, dispositif de balayage laser et véhicule à moteur

Publications (1)

Publication Number Publication Date
EP3387463A1 true EP3387463A1 (fr) 2018-10-17

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP16802100.4A Ceased EP3387463A1 (fr) 2015-12-09 2016-11-30 Procédé de détection d'un dysfonctionnement d'un dispositif de balayage laser, dispositif de balayage laser et véhicule à moteur

Country Status (7)

Country Link
US (1) US11567181B2 (fr)
EP (1) EP3387463A1 (fr)
JP (1) JP6682635B2 (fr)
KR (1) KR102122142B1 (fr)
CN (1) CN108474852B (fr)
DE (1) DE102015121415A1 (fr)
WO (1) WO2017097654A1 (fr)

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Publication number Publication date
US11567181B2 (en) 2023-01-31
KR102122142B1 (ko) 2020-06-11
CN108474852A (zh) 2018-08-31
CN108474852B (zh) 2022-04-08
JP6682635B2 (ja) 2020-04-15
WO2017097654A1 (fr) 2017-06-15
KR20180091069A (ko) 2018-08-14
US20190064330A1 (en) 2019-02-28
JP2018536866A (ja) 2018-12-13
DE102015121415A1 (de) 2017-06-14

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