EP3639053A1 - Dispositif de détection pour un véhicule automatisé - Google Patents

Dispositif de détection pour un véhicule automatisé

Info

Publication number
EP3639053A1
EP3639053A1 EP18719093.9A EP18719093A EP3639053A1 EP 3639053 A1 EP3639053 A1 EP 3639053A1 EP 18719093 A EP18719093 A EP 18719093A EP 3639053 A1 EP3639053 A1 EP 3639053A1
Authority
EP
European Patent Office
Prior art keywords
sensor device
sensor
data
vehicle
automated 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.)
Pending
Application number
EP18719093.9A
Other languages
German (de)
English (en)
Inventor
Oliver Pink
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.)
Robert Bosch GmbH
Original Assignee
Robert Bosch 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 Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP3639053A1 publication Critical patent/EP3639053A1/fr
Pending 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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
    • 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous 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
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar 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
    • 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
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating
    • G01S7/4004—Means for monitoring or calibrating of parts of a radar system
    • G01S7/4026—Antenna boresight
    • 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
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating
    • G01S7/4004—Means for monitoring or calibrating of parts of a radar system
    • G01S7/4026—Antenna boresight
    • G01S7/403—Antenna boresight in azimuth, i.e. in the horizontal plane
    • 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
    • G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters 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
    • G01S7/483—Details of pulse systems
    • G01S7/484—Transmitters
    • 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
    • G01S7/483—Details of pulse systems
    • G01S7/486—Receivers
    • G01S7/4868—Controlling received signal intensity or exposure of sensor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/408—Radar; Laser, e.g. lidar
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/54—Audio sensitive means, e.g. ultrasound
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/06—Direction of travel
    • 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction
    • 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9323—Alternative operation using light 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9324—Alternative operation using ultrasonic 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93271—Sensor installation details in the front of the 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93272—Sensor installation details in the back of the 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93274—Sensor installation details on the side of the 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
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating
    • G01S7/4052—Means for monitoring or calibrating by simulation of echoes
    • G01S7/4082—Means for monitoring or calibrating by simulation of echoes using externally generated reference signals, e.g. via remote reflector or transponder
    • G01S7/4091—Means for monitoring or calibrating by simulation of echoes using externally generated reference signals, e.g. via remote reflector or transponder during normal radar operation

Definitions

  • the invention relates to a sensor device for an automated vehicle.
  • the invention further relates to a method for operating a sensor device for an automated vehicle.
  • the invention further relates to a computer program product.
  • Known environment sensors for driver assistance systems such as e.g. Lidar, video, radar have a limited opening angle. Any increase in this opening angle is often either not possible (due to prescriptions regarding eye safety in lidar, reduced resolution in video, etc.) or associated with additional costs.
  • Today's sensors provide the ability to control a limited range of vision (e.g., by electronic beamforming in radar, variations in scanning in lidar, selection of a portion of video, etc.).
  • An object of the invention is to provide a sensor device for an automated vehicle with improved performance.
  • a sensor device for an automated vehicle comprising:
  • path data can be supplied to the evaluation device via the data interface
  • a detection performance can be increased in this way, and for this case also advantageously less electromagnetic energy is radiated into the environment.
  • the object is achieved with a device for operating a sensor device for an automated vehicle, comprising the steps:
  • An advantageous development of the sensor device provides that the track data are designed as trajectory data.
  • the trajectory data By means of the trajectory data, a defined number of future vehicle positions is defined, such data already being present in automated vehicles. In this way, advantageously only a small additional effort for supplying and processing the trajectory data is required for the sensor device.
  • a further advantageous development of the sensor device is characterized in that at least one driving maneuver performed by a driver of the automated vehicle can be taken into account via the data interface. This is done by a transmission of specific data regarding eg a steering angle, a turn signal operation, a braking maneuver, etc. As a result, a better adapted to the travel way of operation of the sensor device is supported.
  • the sensor device is a lidar sensor, a video sensor, a radar sensor or an ultrasonic sensor.
  • the sensor device is a lidar sensor, a video sensor, a radar sensor or an ultrasonic sensor.
  • the sensor device can be used as a front sensor and / or as a side sensor and / or as a rear sensor of the automated vehicle. In this way, an optimized environment detection behavior of the sensor device can be utilized for the automated vehicle.
  • the various design possibilities of the sensor device can be described e.g. be useful in maneuvering the vehicle at very tight curve radii.
  • the surroundings detection characteristic comprises a travel phase of the vehicle lasting from approx. 5 s to approx. 10 s. In this way, the surroundings detection characteristic of the sensor device only has to adapt to a manageable and sufficient spatial area.
  • Disclosed method features are analogous to corresponding disclosed device features and vice versa. This means in particular that features, technical advantages and proceed in a similar manner from corresponding embodiments, features and advantages of the device and vice versa.
  • Fig. 1 is a schematic representation of an operation of the proposed sensor device
  • FIG. 2 shows a further basic illustration of a mode of operation of the proposed sensor device
  • Fig. 3 is a schematic block diagram of a proposed sensor device.
  • automated motor vehicle is used interchangeably in the meanings partially automated motor vehicle, autonomous motor vehicle and partially autonomous motor vehicle.
  • a central idea of the invention is, in particular, to provide an environment detection characteristic of an environment sensor system of an automated vehicle such that only the area relevant for the currently performed driving maneuver of the vehicle is detected at any time. It takes advantage of the fact that an automated driving function "knows exactly" where the vehicle will be moving in the near future since the driving maneuver is completely planned and transmitted, for example in the form of trajectory data, for example to an actuator of the vehicle.
  • Sensor is easy to calculate and independent of the sensor used. Sensor-specific knowledge is not required when specifying track data in the form of a trajectory. For this reason, the data interface can also be used by third parties in a simple manner; for example, a manufacturer can generate a trajectory for his own driver assistance function and make it available to the sensor.
  • Variant is also given a path, i. a geometric description of an area that the vehicle will be driving through in the near future, with no indication of when the vehicle will be in that area at any given point.
  • a path i. a geometric description of an area that the vehicle will be driving through in the near future, with no indication of when the vehicle will be in that area at any given point.
  • an opening angle of the sensor device can be controlled in this way, but visibility is limited.
  • FIG. 1 shows in four illustrations a schematic, exemplary scenario of a mode of operation of the proposed sensor device 100 for an automated vehicle 200.
  • FIGS. 1 a to 2 d Illustrated in FIGS. 1 a to 2 d is an example of a sensor device which is limited in the transmission energy.
  • the field of vision of the sensor device is narrow and wide (see Figures 1c, 1d: for example in fast straight-ahead driving) or ready and short (see Figures 1a, 1b: for example when cornering at a generally lower speed).
  • the field of view of the sensor device can be pivoted to the left or right.
  • the darkened vehicle 200 is in the current vehicle position, the four brightly marked vehicles represent planned vehicle positions of the vehicle 200 along a planned trajectory for the vehicle 200 that is related to the current vehicle position in e.g. 1, 2, 3 and 4 seconds can be achieved.
  • the visual range FOV represents a sensor visual range of a front sensor of the automated vehicle 200.
  • FIGS. 1 c and 1 d indicate that the automated vehicle 200 changes on a three-lane road from the middle lane to the right lane and then continues to travel on it, e.g. on a highway at high speed. For this reason, the visual range FOV of the sensor device is adjusted to the current plus about four future positions of the vehicle 200.
  • a large detection range (“sighting range”) of the sensor device of about 300m to about 400m allows.With lower speeds, however, the illumination range of the sensor device is reduced and the illumination width increased
  • an eye safety aspect for protecting persons in the vicinity of the vehicle can also be taken into account.
  • an optimized operating behavior of the sensor device with optimized power consumption can be realized in this way.
  • FIG. 2 shows the track data D transmitted to the sensor device 100 of the vehicle 200 based on a video image of the moving vehicle 200 (not shown).
  • These track data D are preferably designed as trajectory data and are indicated in the figure in the form of a wide track.
  • stationary objects can be detected with increased priority. More distant stationary objects, for example on the right side of the image, are less interesting because the vehicle 200 will not move there.
  • the sensor device 100 can concentrate primarily on objects or vehicles in the vicinity of the travel path. In this way, in particular, the vehicle 202 is detected and it is not necessary to consider the preceding vehicle 202 and the right overhauled vehicle 201. As a result, a detection characteristic of the sensor device 100 to the actual lane is optimized.
  • computing time can advantageously be reduced for the sensor device 100, or the available computing time / computing power can be better concentrated on the lane-relevant areas.
  • An efficient operation of the sensor device 100 is advantageously supported this way.
  • a specific driver request also flows into an operating characteristic, e.g. in the form of data of a steering angle impact, a brake maneuver, an operation of a turn signal, etc.
  • the proposed sensor device 100 can also be arranged in the rear region of the vehicle 200 (not shown), as a result of which reverse maneuvers of the vehicle are also designed in an optimized manner.
  • FIG. 3 shows a block diagram of an embodiment of the proposed sensor device 100.
  • a data interface 10 preferably as a software interface, eg in the form of a bus (eg CAN bus, Ethernet, etc.) is formed.
  • the track data D can be transmitted to an evaluation device 20 of the sensor device 100.
  • the infrastructure data D are provided in the automated vehicle 200 by a planning system and are typically used for steering, and / or engine control, and / or braking purposes.
  • the evaluation device 20 determines the future positions of the vehicle 200 and, as a result, transmits an instruction to a control device 30 by means of which an operating characteristic of the sensor device 100 is set in accordance with the track data D.
  • the change in the operating characteristic can be carried out in a manner known per se by a mechanical adjustment of the sensor device and / or a control of the sensor device with suitable electrical signals.
  • the entire area is detected at once.
  • the area in which the vehicle actually moves is of particular relevance. For example, when driving in a left turn only the Wnkel Scheme of about -60 ° to about 0 ° be relevant, when driving straight only the angle range of about -30 ° to about + 30 °, and in a right turn only from approx 0 ° to about 60 °. The area actually covered is thus at no time greater than about 60 °.
  • the operating characteristic of the sensor device 100 can be adapted to the track data, whereby an operating characteristic of the sensor device is advantageously optimized.
  • the proposed sensor device 100 is not bound to a specific technology, so the sensor device 100 may be formed, for example, as a lidar sensor, a video sensor, a radar sensor, an ultrasonic sensor, etc.
  • the sensor device 100 is “distributed.”
  • the evaluation device and / or the control device can be arranged on a separate control device, wherein control signals are transmitted via a further interface to a sensor or to multiple sensors, thus supporting centralized processing with "stupid" sensors.
  • a step 300 delivery of infrastructure data D is performed via at least one data interface 10.
  • an evaluation of the infrastructure data D is carried out by means of an evaluation device 20.
  • control of an environment detection characteristic of the sensor device 100 in dependence on the evaluated infrastructure data D is performed by means of a control device 30.
  • the proposed method can be implemented by means of a running on the sensor devices software program, whereby a simple adaptability of the method is supported.

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Acoustics & Sound (AREA)
  • Traffic Control Systems (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

L'invention concerne un dispositif de détection (100) pour un véhicule (200) automatisé. Le dispositif de détection comporte : au moins une interface de données (10) ; et un système d'analyse (20). Des données relatives à l'itinéraire (D) peuvent être fournies au système d'analyse (20) par l'intermédiaire de l'interface de données (10) ; et une caractéristique de détection de champ environnant du dispositif de détection peut être commandée au moyen des données relatives à l'itinéraire (D).
EP18719093.9A 2017-06-14 2018-04-12 Dispositif de détection pour un véhicule automatisé Pending EP3639053A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
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WO2018228733A1 (fr) 2018-12-20

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