EP3921669A1 - Dispositif multicapteur d'un véhicule automobile et procédé d'équipement d'un véhicule automobile avec au moins un capteur environnemental - Google Patents

Dispositif multicapteur d'un véhicule automobile et procédé d'équipement d'un véhicule automobile avec au moins un capteur environnemental

Info

Publication number
EP3921669A1
EP3921669A1 EP20703220.2A EP20703220A EP3921669A1 EP 3921669 A1 EP3921669 A1 EP 3921669A1 EP 20703220 A EP20703220 A EP 20703220A EP 3921669 A1 EP3921669 A1 EP 3921669A1
Authority
EP
European Patent Office
Prior art keywords
sensor
carrier
environment
sensors
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
EP20703220.2A
Other languages
German (de)
English (en)
Inventor
Florian Ruch
Christoph Zellner
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.)
MAN Truck and Bus SE
Original Assignee
MAN Truck and Bus SE
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 MAN Truck and Bus SE filed Critical MAN Truck and Bus SE
Publication of EP3921669A1 publication Critical patent/EP3921669A1/fr
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
    • 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
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G01S13/867—Combination of radar systems with cameras
    • 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
    • G01S15/86—Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection
    • 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
    • G01S17/87—Combinations of systems using electromagnetic waves other than radio 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
    • G01S17/88—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
    • G01S7/027—Constructional details of housings, e.g. form, type, material or ruggedness
    • 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
    • G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
    • G01S7/4813—Housing arrangements
    • 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
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/521—Constructional features
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R2011/0001—Arrangements for holding or mounting articles, not otherwise provided for characterised by position
    • B60R2011/0003—Arrangements for holding or mounting articles, not otherwise provided for characterised by position inside the vehicle
    • B60R2011/0026—Windows, e.g. windscreen
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R2011/0001—Arrangements for holding or mounting articles, not otherwise provided for characterised by position
    • B60R2011/004—Arrangements for holding or mounting articles, not otherwise provided for characterised by position outside the vehicle
    • 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
    • G01S2013/93277—Sensor installation details in the lights
    • 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
    • G01S2015/937—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles sensor installation details

Definitions

  • the invention relates to a multi-sensor device for a motor vehicle, in particular a multi-sensor device for equipping a motor vehicle with environment sensors.
  • the invention also relates to a method for equipping a motor vehicle with at least egg nem environment sensor, preferably such a method for adapting the vehicle equipment to a higher level of autonomy, with which the functionality of the driver assistance system is increased.
  • the sensors are usually designed as radar, infrared or ultrasonic sensors that have a transmitter that emits electromagnetic or acoustic waves that are reflected th by objek around the vehicle. The reflected portion of the waves is recorded by a receiver, and the distance to the objects can be determined from the transit time of the reflected waves. Cameras can also be used as environment sensors.
  • motor vehicles are also known that can be operated in an autonomous or partially autonomous driving mode in which the motor vehicle automatically guides both longitudinal and lateral guidance of the motor vehicle with the aid of a driver assistance system.
  • Different levels of autonomy can be classified into six levels, for example according to the SAE J3016 standard, which are referred to below as SAE levels or SAE levels.
  • a method for partially autonomous or autonomous driving of a motor vehicle by means of a driver assistance system is also known from the laid-open specification DE 10 2009 010 006 A1.
  • data of the surroundings of the motor vehicle are determined by means of an environmental sensor system.
  • a driving strategy for semi-autonomous or autonomous driving is then determined from the environment data.
  • increasingly high demands are placed on the environment sensors of the motor vehicle. It is therefore an object of the invention to improve the known approaches for equipping vehicles with an environment sensor system.
  • the object of the invention is in particular to provide an improved approach to be able to equip motor vehicles flexibly, space-efficiently and with little installation effort with multiple environment sensors and / or to assemble and cost-efficiently the sensor equipment for the environment of a vehicle to different requirements to be able to adapt the autonomous driving ability of the motor vehicle.
  • a device of a motor vehicle which comprises a carrier which is designed to accommodate a plurality of environmental sensors and for this purpose has a plurality of sensor holders.
  • the carrier is also referred to below as a multi-sensor carrier.
  • the device further comprises at least two environment sensors, which are mounted on the multi-sensor carrier and which are selected from a group of environment sensors, which includes a radar sensor, a LIDAR sensor, an ultrasonic sensor and a camera.
  • the device is also referred to below as a multi-sensor device.
  • the multi-sensor device which can also be referred to as a connection module for several environment sensors, is therefore designed to accommodate several different types of environment sensors.
  • the multi-sensor device can comprise a radar sensor and a camera, which are held on the multi-sensor carrier.
  • the term “environment sensor” should be understood to mean a sensor which is designed to detect the environment of the motor vehicle to support the driver of a motor vehicle and / or to control safety devices. With the help of an environment sensor, for example, objects in the vicinity of the motor vehicle can be detected and / or the distance to objects, such as other vehicles or obstacles, can be determined.
  • the environment sensor can preferably be a radar sensor, a LIDAR sensor, an ultrasonic sensor or a camera.
  • a particular advantage of the invention is therefore that several environment sensors can and are held on a sensor carrier.
  • the multi-sensor carrier can optionally be equipped with different environment sensors, so that the sensor configuration of the motor vehicle can be adapted flexibly and with little installation effort to different vehicle configurations.
  • the multi-sensor carrier is designed to hold at least four environment sensors, having at least four sensor holders.
  • the multi-sensor carrier can also preferably be designed to hold at least six environment sensors, having at least six sensor holders.
  • different sensor configurations can be implemented by means of a single component, the multi-sensor carrier, in order to e.g. B. to be able to adapt vehicles of the same series to different autonomy levels of the vehicle or development stages of the driver assistance systems. All that has to be done is to change the configuration of the multi-sensor carrier. The space required in the vehicle for mounting the multi-sensor device can remain unchanged.
  • the multi-sensor device can comprise a radar sensor, a camera and two LIDAR sensors which are held on the multi-sensor carrier.
  • This variant can only be used as an example to implement vehicle automation according to SAE level 3.
  • the multi-sensor device according to a further embodiment variant can for example comprise a radar sensor, two cameras and four LIDAR sensors, which are held on the multi-sensor carrier. This variant can only be used as an example for implementing vehicle automation according to SAE level 4.
  • the multi-sensor carrier can be designed in two parts: an inner part having a plurality of sensor holders and an outer part which has fastening points for fastening the device to a vehicle-side assembly position.
  • the inner part is preferably releasably attached to the outer part.
  • a new inner part with adapted brackets could be designed for the multi-sensor carrier due to the two-part structure, while the outer part with the fastening points on the vehicle does not have to be changed.
  • the multi-sensor carrier can be made in one piece.
  • the sensor brackets are arranged distributed in a mounting plane, so that the environment sensors held in the sensor brackets are arranged next to one another in the mounting plane, preferably such that the detection direction of the environment sensors is essentially the same.
  • the field sensors can be arranged distributed next to one another on the sensor holder and all look in the same direction relative to the vehicle in order to detect the surroundings of the vehicle.
  • the multi-sensor carrier can be designed as a rigid component.
  • the multi-sensor carrier can be designed in such a way that the sensor holders are arranged in two planes that are not parallel to one another, preferably planes that run perpendicular to one another, so that at least one sensor can see forward in the direction of travel and another sensor can be installed laterally for this purpose to capture a lateral vehicle environment. To put it simply, it is a multi-sensor carrier that “goes around the corner”.
  • the multi-sensor device has an additional carrier or an additional holder for holding an environment sensor.
  • the additional carrier or the additional holder can be detachably mountable on the multi-sensor carrier in the area of one of the sensor holders.
  • the additional carrier can already be permanently installed on the multi-sensor carrier.
  • the additional carrier or the additional holder is designed to hold an environment sensor that has different dimensions and / or size than an environment sensor that can be held in the sensor holder that is arranged in the area where the additional carrier or the additional holder is installed or mountable .
  • This offers the advantage that the same assembly point of the multi-sensor carrier can optionally be equipped with environment sensors of different dimensions or sizes. This is particularly useful for environment sensors that are not used at the same time become. As a result, the flexibility and the multi-sensor capability can be increased further without having to adapt the basic dimensions of the multi-sensor devices.
  • sensor holders of the multi-sensor carrier in which no environment sensor is held, are covered and / or concealed with a common or each with a separate cover cap.
  • the multi-sensor carrier can have several connection modules for electrical power supply and / or for data communication on its rear side.
  • Each sensor holder has at least one line for power supply, which can be connected to a vehicle-side power source via the connection module for electrical power supply, and a line for data communication, which can be connected to a vehicle-side data processing unit via a connection module for data communication.
  • each sensor holder has at least one line for power supply and at least one line for data supply, with each power and data line being routed via the connection modules.
  • the sensor holders have a cable that is used both for power supply and for data communication (e.g. Power over Ethernet cable or Power over Coax cable).
  • connection module is preferably connected with one or more data cables, but at least with CAN and power.
  • CAN CAN
  • an Ethernet connection can also be provided.
  • connection modules are preferably arranged at a distance from one another.
  • the connection modules can also be referred to as interface modules.
  • a connection module bundles (clusters) preferably a specific connection function for all sensor holders or for the sensors held in the multi-sensor carrier.
  • the sensor mounts are connected to the respective connection modules specified for them.
  • a connection function can be the power supply or a type of data communication (e.g. data bus or CAN-BUS connection).
  • the multi-sensor device can have at least two connection modules for data communication, which are selected from a group that includes a CAN connection module, an Ethernet connection module, a Gi gabit Multimedia Serial Link (GMSL) connection module and flat panel display Includes (FPD) link connection module.
  • the multi-sensor device can furthermore have a connection module for the central power supply of the sensor holders and / or the environment sensors held in the sensor holders.
  • a rear side of the multi-sensor carrier is preferably understood to mean that side which is opposite the side via which the environment sensors detect information about the surroundings when they are held in the sensor holders.
  • connection modules are releasably attached to the rear of the multi-sensor carrier. This has the advantage that connection modules can be exchanged more easily if another connection module is required in a further expansion stage of the multi-sensor device (upward compatibility).
  • the multi-sensor device is equipped with a sensor cleaning device which is designed to clean one or more of the environment sensors held on the multi-sensor carrier with a cleaning fluid.
  • the sensor cleaning device can have a cleaning connection for a supply of cleaning fluid and a cleaning nozzle for one or more sensors, preferably nearby, z. B. adjacent sensors to grasp that is in fluid communication with the cleaning port.
  • the sensor cleaning device can be provided with a pump, further preferably a pump with a compensating tank, for selective control of the cleaning.
  • the pump can be designed to provide an adjustable supply pressure with which cleaning fluid is supplied to an environment sensor to be cleaned.
  • a washing system can be integrated.
  • the multi-sensor device can be integrated into a vehicle lamp.
  • vehicle lights for example headlights
  • installation space within the light that is not otherwise required can be used before geous enough to accommodate environmental sensors in a space-saving manner.
  • the invention also relates to a motor vehicle, preferably a road-bound motor vehicle, with a multi-sensor device as described in this document.
  • the motor vehicle can be a utility vehicle, for example a truck or bus.
  • the motor vehicle can be a motor vehicle that assists or can be driven autonomously according to an autonomy level of at least level 2 according to the SAE J3016 standard.
  • only environment sensors can be held in the multi-sensor carrier of the multi-sensor device, which are used to detect the environment of the vehicle in the context of an autonomous ferry operation of the vehicle.
  • a method for equipping a motor vehicle with at least one environment sensor includes the provision of a multi-sensor carrier which is designed to accommodate several surrounding field sensors, preferably for accommodating several different types of environment sensors, the multi-sensor carrier having several sensor holders.
  • the method further includes determining a configuration and / or expansion stage of the driver assistance system of the vehicle and selecting a combination of environment sensors depending on the specific configuration and / or expansion stage of the driver assistance system and mounting the selected combination of environment sensors in the sensor holders of the multi-sensor Carrier.
  • a particular advantage of the method according to the invention is therefore that the multi-sensor device can be used for various expansion stages of a vehicle assistance system and / or automation level of vehicle automation or autonomous driving ability.
  • the multi-sensor device can have the same dimensions or the same package across different vehicles and can thus be installed in a large number of vehicles. A corresponding installation space is reserved in the so-called package of the vehicle in which the multi-sensor carrier is to be installed.
  • an advantageous embodiment provides that the aforementioned step “Be agreeing a configuration and / or expansion stage of the driver assistance system of the vehicle” the determination of an autonomy level (level), z. B. according to the standard SAE J3016 or according to another classification, comprises from a predetermined selection of autonomy levels, each of the selectable autonomy levels being assigned a predetermined compilation of environment sensors to be mounted in the multi-sensor carrier.
  • the equipping of the multi-sensor carrier with environment sensors and / or the interior of the multi-sensor device can thus be designed differently for different levels of autonomy.
  • the method for equipping motor vehicles of several series or series can be carried out.
  • the multi-sensor device and / or the multi-sensor carrier can be of the same design across series and / or series and / or be provided at the same point on the motor vehicle across series and / or series.
  • a defined installation space is thus provided for environment sensors on the motor vehicle in the same series / across several series.
  • the specific configuration of the multi-sensor device can be designed very differently, since the equipment with environment sensors can be varied in a simple manner as required and adapted to suit the vehicle.
  • the method can also include the step of expanding the functionality of a driver assistance system of the motor vehicle, preferably expanding the functionality of an autonomous driving ability of the motor vehicle.
  • the multi-sensor carrier is equipped with further environment sensors as part of the function expansion or the multi-sensor carrier is replaced by another multi-sensor carrier on which a set of environment sensors with an extended range of functions is mounted.
  • FIG. 1 shows highly schematic views of the multi-sensor carrier and the multi-sensor device in different assembly variants according to embodiments of the invention.
  • FIG. 2 shows schematic representations of a sensor holder with an additional holder in different assembly variants according to an embodiment of the invention
  • FIG. 3 shows a highly schematic view of a rear side of the multi-sensor device according to an embodiment of the invention
  • FIG. 4 shows a front view of a motor vehicle to illustrate various options for arranging the multi-sensor device according to embodiments of the invention
  • FIG. 5 shows a side view of a motor vehicle to illustrate various options for arranging the multi-sensor device according to embodiments of the invention.
  • FIG. 6 shows a flow chart to illustrate the steps of a method for equipping a motor vehicle with at least one environment sensor according to an embodiment of the invention.
  • FIG. 1 schematically shows a multi-sensor carrier 2, which is designed to accommodate a plurality of environmental sensors.
  • the multi-sensor carrier 2 has in particular several sensor holders 3, which are shown by the dashed lines 3.
  • the sensor holders 3 can expediently be designed differently, for example, as they can have a receiving space for receiving an environment sensor, e.g. B. in the form of a cavity into which the environment sensor can be inserted.
  • the attachment of an environment sensor in a holder 3 can be positively and / or non-positively, for example by means of a detachable plug connection, a screw connection or other suitable approaches.
  • the multi-sensor carrier 2 itself can be designed as a rigid component.
  • the multi-sensor carrier 2 only has seven brackets 3 as an example, the Brackets 3 are partly the same and partly different in size in order to be able to accommodate environment sensors of different dimensions and / or modes of operation.
  • the multi-sensor carrier 2 can optionally be designed in two parts, having an inner part 9, which has several sensor mounts 3, which is only shown schematically here by the dashed line, and an outer part 31, the fastening points 32 for fastening the multi-sensor Device 1 at a vehicle-side mounting position (see FIG. 3).
  • the fastening points 32 can have predetermined screwing points in order to fasten the multi-sensor device 1 at the vehicle-side installation position.
  • the inner part 9 is preferably releasably attached to the outer part 31.
  • the view A shows the multi-sensor carrier 2 in an unequipped state, i. H. An environment sensor is not held in any of the sensor holders 3.
  • the view B of Figure 1 shown below shows a variant of the multi-sensor device 1, in which the multi-sensor carrier 2 is equipped with two environment sensors 4, namely with a camera 5 and a radar sensor 6.
  • This could be a simple one Represent the configuration of the multi-sensor device 1 which is provided for an autonomy level according to SAE level 2.
  • the view C of Figure 1 shows a further embodiment of the multi-sensor device 10, in which the multi-sensor carrier 2 is equipped with four environment sensors 4, namely a camera 5, a radar sensor 6 and two LIDAR sensors 7.
  • the view D of FIG. 1 finally shows a further variant of the multi-sensor device 100 in which the multi-sensor carrier 2 is equipped with seven environment sensors 4, namely with two cameras 5, one high-resolution radar sensor 6, and four LI DAR sensors 7.
  • a multi-sensor carrier or a sensor module can be used for different levels or expansion stages of the automation and / or driver assistance system of a vehicle, in which the multi-sensor carrier has different environmental sensors 4 is loaded.
  • Several environmental sensors 4 and sensor types can be installed in the sensor module. With increasing automation, additional sensors that are required for an extended functionality, are simply integrated into the already provided construction space, since the installation space is already seen through the corresponding brackets 3. This also ensures upgradeability.
  • the multi-sensor device has the same package or the same dimensions - regardless of the specific design.
  • the sensor module has the same package across different vehicles and can therefore be installed in the same way in a large number of vehicles.
  • the multi-sensor carrier 2 which fits into the defined installation space, always has the same screw-on points for connection to the vehicle.
  • the interior of the multi-sensor carrier 3, d. H. the area of the multi-sensor carrier, which includes the holders 3 and the fastening points for the environment sensors 4, is preferably the same over different expansion stages in order to reduce the variance.
  • the interior space of various multi-sensor carriers can also be varied for different expansion stages of the multi-sensor device.
  • the two-part design already mentioned above is particularly advantageous for this. Sensors from lower expansion levels can preferably be installed in the same multi-sensor carrier 2 in the same position.
  • FIG. 2 shows schematic representations of a section of the multi-sensor carrier 2, in which, in addition to a first sensor holder 3, an additional holder 23 is also provided in order to optionally attach a first environment sensor 4 of a first size in the first sensor holder 3 or another Environment sensor 24, which has a larger size than this, to be attached by means of additional bracket 23.
  • the view A of FIG. 2 shows the multi-sensor carrier 2 in a state in which no environment sensor is held in one of the two holders 3, 23.
  • the view B of FIG. 2 shows the multi-sensor carrier 2 in a state in which the environment sensor 24 with the larger dimensions is mounted.
  • the holding tion 23 predefined attachment points, for. B. screw points 22b.
  • the environment sensor 24 accordingly has corresponding fastening points 26b, e.g. B.
  • a sensor cleaning device 50 is shown, which can be optionally provided.
  • the cleaning system is used to clean sensors of the multi-sensor carrier 2, or at least some of the sensors, independently of the windows or headlight cleaning system, in order to reduce washing water consumption.
  • the cleaning system is integrated in the multi-sensor carrier 2.
  • the system presented in view B of Figure 2 is shown schematically.
  • a washing water connection 56 serves as an interface, which z. B. by a pump (not shown) from the central wash water tank of the vehicle (not shown) can be supplied. Wash water is collected in the compensation tank 51, which ensures a permanent and trouble-free wash water supply to another pump 52 built into the multi-sensor carrier.
  • the pump 52 can be designed so that it can control all cleaning nozzles 53 simultaneously via a washing water hose 54 or so that it can selectively control cleaning nozzles 53 from individual sensors in order to save washing water.
  • a wiper device 55 can be attached in front of a sensor 4, 5, 6, 7 in order to intensify the cleaning effect of the washing water.
  • the environment sensor 4 with the smaller dimensions is to be held on the multi-sensor carrier 2, it can instead be screwed tightly in the holder 3.
  • the environment sensor 4 has predetermined attachment points 26a which correspond to the attachment points, e.g. B. screw points, 22a of the bracket 3 can be attached NEN, so that the environment sensor 4 is positioned in a predetermined space 21 a, which is behind the space 21 b.
  • the environment sensor 24 is positioned above the installation space and above the holder 3, which are provided for the smaller environment sensor 4.
  • the additional holder could also be designed in such a way that the environment sensor can be held while partially utilizing the space of the smaller environment sensor 4.
  • the additional bracket can also be provided on the multi-sensor carrier 2 in a fixed manner, that is to say it cannot be detached.
  • both holders holder 3 and additional holder 23
  • both holders can already be attached to a sensor carrier inner part 9, as mentioned above.
  • the small sensor 4 can be attached in the holder 3.
  • a larger sensor 24 is to be installed, this can then be installed without changes to the inner part 9, ie the same inner part can be used who the.
  • FIG. 3 shows a rear side 30 of the multi-sensor device 1 according to one embodiment of the invention.
  • connection module 33, 34, 35, 36 where each connection module 33, 34, 35, 36 is connected via lines 38 to all sensor holders 3 and / or environment sensors of the multi-sensor carrier 2, in which also a sensor is currently held or is to be held.
  • a connection module 33 for electrical power supply is provided here.
  • the connection module 33 is connected to the vehicle power supply via the lines 37.
  • One or more electrical circuits can be connected to the multi-sensor device 1. Multiple circuits can be required for redundant power supply.
  • the voltage of the circuits can be the same (e.g. only 12V or only 24V) or different (e.g. 12V and 24V).
  • connection modules 34, 35, 36 are provided for data communication: a CAN-BUS connection module 34, an Ethernet connection module 35 and Flat Panel Display (FPD) link connection module 36.
  • the cabling of the connection modules is again denoted by reference numeral 38 illustrated with the sensor holders 3, so that each environment sensor which is mounted in one of the holders 3 is connected to the connection modules required in each case.
  • the cabling of the connection modules with the vehicle-side data-processing control devices is likewise illustrated accordingly with the reference symbol 37.
  • the connection modules 33, 34, 35, 36 can also be referred to as interface modules.
  • the interface modules are therefore bundled (clustered) in the present example according to type (Power, CAN, Ethernet, FPD-Link, ).
  • bundling (clustering) according to ADAS level can alternatively be provided so that an interface module can be added depending on the ADAS level.
  • connection modules interfaces
  • the number of connections for the power supply and the interfaces for the data communication must be sufficient to support the highest level of expansion, i.e. an expansion stage in which all brackets 3 are equipped with sensors.
  • the cabling 37 can be provided in the vehicle in the maximum expansion stage.
  • the sensors that are to be installed can be wired.
  • the sensors that are also to be installed are wired and furthermore selected further interfaces with suitable ones Cables are provided, e.g. the camera interface has an FPD link connection. Furthermore, there is sufficient space for the laying of the cabling to the control units and the power supply.
  • the interface modules can be permanently or interchangeably integrated in the multi-sensor carrier 2.
  • the latter variant increases the upward compatibility, so that interface modules can also be easily exchanged if necessary.
  • Interface modules for specific expansion stages of the vehicle assistance systems can be installed.
  • FIG. 4 shows a front view
  • FIG. 5 shows a side view of a truck to illustrate various options for arranging the multi-sensor device 1 according to embodiments of the invention.
  • the driver's cab e.g. B. in a Be rich 41 below the roof, on the roof, integrated into the storage compartments, or in the area of a sun visor 42, which is to be adapted accordingly in terms of installation space, in an area in the interior of the vehicle below the storage compartments, in an area below the wind protective window 43, in the exterior mirror 45 or in the chassis front section 44.
  • the following points are particularly advantageous to arrange the multi-sensor device: in the area of the front section and / or the bumper, under the vehicle roof, especially in an area above the windshield under the Vehicle roof.
  • a cutout in the windshield can be advantageous here.
  • FIG. 6 shows a flow chart to illustrate the steps of a method for equipping a motor vehicle with at least one environment sensor using the multi-sensor device described above.
  • the method comprises the provision of a multi-sensor carrier which is designed to accommodate several environment sensors, preferably to accommodate several different types of environment sensors, the multi-sensor carrier having several sensor mounts.
  • the multi-sensor carrier can be carried out as described above.
  • the method further comprises determining a configuration and / or expansion stage of the driver assistance system of the vehicle. According to this step, it is determined what number and type of environment sensors are required in order to detect the desired driver assistance systems with the required ones on the vehicle side To be able to supply environmental data.
  • the level of autonomy to be implemented in accordance with the SAE J3016 standard, by means of which the motor vehicle is autonomous, can be defined, with each of the selectable levels of autonomy being assigned a predetermined set of environment sensors to be mounted in the multi-sensor carrier is.
  • step S30 a combination of environment sensors is selected depending on the specific configuration and / or expansion stage of the driver assistance system and the selected combination of environment sensors is mounted in the sensor holders of the multi-sensor carrier.
  • the equipping of the multi-sensor carrier with environment sensors and / or the interior of the multi-sensor device can thus be designed differently for different levels of autonomy.
  • additional sensors that are required for extended functionality can simply be integrated into the space already provided or into sensor mounts that have not yet been fitted, since the space is in principle already provided for this and the space required for this similar connections.
  • motor vehicles of several construction series or construction series can each be efficiently equipped with adapted configurations of environment sensors in order to adapt the motor vehicles specifically to the respective expansion stages of the driver assistance system, e.g. B. different levels of autonomy, to adapt sen in which they are ordered by the customer or delivered according to the current state of development who should.

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  • Engineering & Computer Science (AREA)
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  • Remote Sensing (AREA)
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  • Computer Networks & Wireless Communication (AREA)
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Abstract

L'invention concerne un dispositif multicapteur pour un véhicule automobile, en particulier un dispositif multicapteur pour l'équipement d'un véhicule automobile avec des capteurs environnementaux. L'invention concerne en outre un procédé d'équipement d'un véhicule automobile avec au moins un capteur environnemental, de préférence un tel procédé d'adaptation de l'équipement de véhicule à une étape d'autonomie, au moyen duquel le véhicule automobile peut être conduit de manière autonome. Le dispositif multicapteur (1 ; 10 ; 100) comprend un support multicapteur (2) qui sert à l'accueil de plusieurs capteurs environnementaux et qui comporte à cet effet plusieurs porte-capteurs (3), et au moins deux capteurs environnementaux (4) qui sont portés sur le support multicapteur (2) et qui sont sélectionnés parmi un groupe de capteurs environnementaux qui comprend un capteur radar (6), un capteur lidar (7), un capteur à ultrasons et une caméra (5).
EP20703220.2A 2019-02-08 2020-02-03 Dispositif multicapteur d'un véhicule automobile et procédé d'équipement d'un véhicule automobile avec au moins un capteur environnemental Pending EP3921669A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102019103145.1A DE102019103145A1 (de) 2019-02-08 2019-02-08 Multi-Sensor-Vorrichtung eines Kraftfahrzeugs und Verfahren zur Ausstattung eines Kraftfahrzeugs mit mindestens einem Umfeldsensor
PCT/EP2020/052568 WO2020161050A1 (fr) 2019-02-08 2020-02-03 Dispositif multicapteur d'un véhicule automobile et procédé d'équipement d'un véhicule automobile avec au moins un capteur environnemental

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EP3921669A1 true EP3921669A1 (fr) 2021-12-15

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EP (1) EP3921669A1 (fr)
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CN112083381B (zh) * 2020-09-15 2024-07-02 苏州映赛智能科技有限公司 一种融合感知硬件系统
US20220388530A1 (en) * 2021-06-07 2022-12-08 Toyota Motor North America, Inc. Transport limitations from malfunctioning sensors
DE102022124886A1 (de) * 2022-09-28 2024-03-28 Valeo Schalter Und Sensoren Gmbh Sensoranordnung mit einem ultraschallsendeempfänger und einer optischen sendeempfangsvorrichtung

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WO2009092279A1 (fr) * 2008-01-08 2009-07-30 Weiwen Yan Alarme inversée multimédia
DE102008060684B4 (de) 2008-03-28 2019-05-23 Volkswagen Ag Verfahren und Vorrichtung zum automatischen Einparken eines Kraftfahrzeugs
EP2340185B1 (fr) * 2008-10-08 2018-07-04 Delphi Technologies, Inc. Capteur radar-caméra intégré
DE102010010571A1 (de) * 2010-03-05 2011-09-08 Conti Temic Microelectronic Gmbh Befestigungsvorrichtung für Sensorgehäuse in einem Kraftfahrzeuginnenraum
US10272850B2 (en) * 2016-07-15 2019-04-30 Ford Global Technologies, Llc Roof mounting for autonomous vehicle sensor assembly
US10196007B2 (en) * 2016-11-16 2019-02-05 GM Global Technology Operations LLC Vehicle sensor mounting systems
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EP3373037B1 (fr) * 2017-03-10 2023-06-28 The Hi-Tech Robotic Systemz Ltd Système d'assistance au conducteur avancé à boîtier unique

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