EP4189423A1 - Procédé de fonctionnement d'un dispositif de détection, dispositif de détection et véhicule comportant au moins un dispositif de détection - Google Patents

Procédé de fonctionnement d'un dispositif de détection, dispositif de détection et véhicule comportant au moins un dispositif de détection

Info

Publication number
EP4189423A1
EP4189423A1 EP21748572.1A EP21748572A EP4189423A1 EP 4189423 A1 EP4189423 A1 EP 4189423A1 EP 21748572 A EP21748572 A EP 21748572A EP 4189423 A1 EP4189423 A1 EP 4189423A1
Authority
EP
European Patent Office
Prior art keywords
transmission
detection device
operating situation
signals
monitoring area
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP21748572.1A
Other languages
German (de)
English (en)
Inventor
Thorsten BEUTH
Jonas KRAUSE
Christoph Parl
Oleg Loginenko
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 EP4189423A1 publication Critical patent/EP4189423A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • 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
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G01S17/894—3D imaging with simultaneous measurement of time-of-flight at a 2D array of receiver pixels, e.g. time-of-flight cameras or flash lidar
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
    • G01S7/4815—Constructional features, e.g. arrangements of optical elements of transmitters alone using multiple 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
    • G01S7/484—Transmitters

Definitions

  • the invention relates to a method for operating a detection device for monitoring at least one monitoring area using electromagnetic signals, in which electromagnetic transmission signals are generated with at least one transmission device and sent to the at least one monitoring area, with a transmission power of the at least one transmission device depending on an operating situation of the detection device is adapted, with at least one receiving device at least a part of reflected transmission signals, which come from the at least one monitored area, is received as reception signals, and at least one item of information about the at least one monitored area is determined from at least part of the received signals.
  • the invention relates to a detection device for monitoring at least one monitoring area by means of electromagnetic signals, with at least one transmission device with which electromagnetic transmission signals can be generated and sent into the at least one monitoring area, with at least one receiving device with which at least a part of reflected transmission signals, which come from the at least one monitoring area can be received as received signals, and with at least one control and evaluation device with which a transmission power of the at least one transmission device can be adjusted depending on an operating situation of the detection device and with which from at least some of the received signals at least one piece of information about the at least one monitoring area can be determined.
  • the invention also relates to a vehicle with at least one driver assistance system and with at least one detection device for monitoring at least one monitoring area by means of electromagnetic signals, the at least one detection device having at least one transmitting device, with which eKtromagnetic transmission signals can be generated and sent into the at least one monitoring area, at least one receiving device, with which at least a part of reflected transmission signals, which come from the at least one monitoring area, can be received as received signals, and at least one controller and evaluation device with which a transmission power of the at least one transmission device can be adjusted depending on an operating situation of the detection device and with which at least one piece of information about the at least one monitoring area can be determined from at least some of the received signals.
  • DE 102016015406 A1 discloses a sensor device for a motor vehicle for actively detecting the surroundings.
  • the sensor device comprises a sensor unit and a control unit, by means of which a transmission power of the sensor unit can be dynamically adjusted as a function of an environmental condition.
  • the transmission power of the sensor unit is adjusted as a function of a structural condition external to the vehicle, which limits an effective range of the sensor device.
  • the invention is based on the object of designing a method, a detection device and a vehicle of the type mentioned at the outset, in which the adaptation of a transmission power of a transmission device can be further improved.
  • this object is achieved in the method in that at least two transmission elements of at least one transmission device are controlled separately, at least at times, depending on an operating situation of the detection device in such a way that the total transmission power of the at least one transmission device is adapted overall to the requirements of the operating situation over at least one measurement cycle will.
  • the at least one transmission device comprises at least two broadcast items.
  • the two transmission elements can be controlled separately from each other, at least at times. By correspondingly activating a transmission element, it emits a corresponding individual electromagnetic signal.
  • the totality of the individual electromagnetic signals of the correspondingly controlled transmission elements of the at least one transmission device forms the corresponding electromagnetic transmission signal with which the monitoring area is monitored.
  • the total transmission power of the at least one transmission device is made up of the individual transmission powers of the transmission elements that are controlled in each case. By varying the control of the transmission elements, the total transmission power is changed accordingly over at least one measurement cycle of the at least one transmission device.
  • the transmission elements are controlled in such a way that the total transmission power is adapted overall to the requirements of the operating situation over at least one measurement cycle of the at least one transmission device.
  • a measurement cycle can consist of a large number of measurement sequences, in particular several hundred measurement sequences.
  • the transmission elements can be controlled simultaneously according to a transmission pattern, which is dependent on the operating situation of the detection device. When controlled according to the transmission pattern, individual transmission elements can also remain inactive.
  • a reduced total transmission power over at least one measurement cycle can be achieved by varying transmission patterns within the measurement cycle or by a constant transmission pattern within the measurement cycle.
  • the total transmission power can be reduced over at least one measurement cycle to a level that is sufficient in the present operating situation to enable the detection device to function.
  • heat generation by the at least one transmission device can be reduced.
  • the service life of the components of the at least one transmission device can be extended.
  • an energy requirement when operating the detection device can be reduced.
  • At least one transmission device can advantageously have a plurality of transmission have elements.
  • the transmission elements can be arranged as a matrix, line or in other ways.
  • a transmission device can advantageously have at least one laser matrix with a plurality of transmission elements in the form of lasers, in particular diode lasers.
  • the detection device can work according to a light transit time method, in particular a light pulse transit time method.
  • Optical detection devices working according to the light pulse propagation time method can be designed and referred to as time-of-flight (TOF), light detection and ranging systems (LiDAR), laser detection and ranging systems (LaDAR) or the like .
  • TOF time-of-flight
  • LiDAR light detection and ranging systems
  • LaDAR laser detection and ranging systems
  • a transit time from the transmission of a transmission signal, in particular a light pulse, with the at least one transmission device and the reception of the corresponding reflected transmission signal, i.e. the reception signal, is measured with the at least one reception device and a distance between the detection device and a detected object is determined from this .
  • the detection device can advantageously be designed as a scanning system.
  • a monitoring area can be scanned with transmission signals, ie scanned.
  • the directions of propagation of the corresponding transmission signals, in particular transmission beams can be swiveled over the surveillance area.
  • At least a deflection device, in particular a scanning device, a deflection mirror device or the like, can be used here.
  • the detection device can be designed as a so-called flash system, in particular as a flash LiDAR. Transmission signals can be expanded in such a way that they simultaneously illuminate a larger part of the surveillance area or the entire surveillance area.
  • the detection device can advantageously be designed as a laser-based distance measuring system.
  • the laser-based distance measuring system can be a light source.
  • the transmission device can have at least one laser, in particular a diode laser. With the at least one laser, in particular, pulsed transmission rays can be transmitted as transmission signals.
  • the laser can be used to emit transmission signals in wavelength ranges that are visible or invisible to the human eye.
  • at least one receiving device can A detector designed for the wavelength of the emitted light, in particular a point sensor, line sensor or area sensor, in particular an (avalanche) photodiode, a photodiode line, a CCD sensor, an active pixel sensor, in particular a CMOS sensor or the like.
  • the laser-based distance measurement system can advantageously be a laser scanner. With a laser scanner, a monitoring area can be scanned with a particularly pulsed laser beam.
  • the detection device can also be configured as a radar system.
  • the invention can be used in a vehicle, particularly a motor vehicle.
  • the invention can advantageously be used in a land vehicle, in particular a passenger car, a truck, a bus, a motorcycle or the like, an aircraft and/or a watercraft.
  • the invention can also be used in vehicles that can be operated autonomously or at least partially autonomously.
  • the invention is not limited to vehicles. It can also be used in stationary operation.
  • the detection device can advantageously be connected to at least one electronic control device of a vehicle, in particular a driver assistance system and/or chassis control and/or a driver information device and/or a parking assistance system and/or gesture recognition or the like, or be part of such.
  • a vehicle in particular a driver assistance system and/or chassis control and/or a driver information device and/or a parking assistance system and/or gesture recognition or the like, or be part of such.
  • the vehicle can be operated au tonomously or semi-autonomously.
  • other functions of the vehicle in particular chassis control, the driver information device, the parking assistance system, gesture recognition or the like, can also be integrated.
  • the detection device can be used to detect stationary or moving objects, in particular vehicles, people, animals, plants, obstacles, bumps in the road, in particular potholes or stones, road boundaries, traffic signs, open spaces, in particular parking spaces, precipitation or the like.
  • At least one transmission The status of at least one transmission device which is characterized by aurcn cne activation of the at least two transmission elements, can be varied depending on an operating situation of the detection device.
  • the at least one transmission state By varying the at least one transmission state, the total transmission power can be adjusted accordingly over at least one measurement cycle of the at least one transmission device.
  • the at least one transmission state of the at least one transmission device is characterized by the activation of the at least two transmission elements.
  • the corresponding at least one transmission state of the at least one transmission device can be varied overall by the corresponding separate activation of the at least two transmission elements.
  • At least one transmission state can advantageously be characterized by a temporal transmission pattern of at least one of the transmission elements.
  • the total transmission power can be adjusted over at least one measurement cycle of the at least one transmission device.
  • At least one transmission time of at least one transmission element and/or at least one transmission frequency of at least one transmission element and/or at least one transmission pattern of the at least two transmission elements can be adapted depending on the operating situation. In this way, the total transmission power can be adjusted more flexibly over at least one measurement cycle using different methods or a combination of different methods.
  • At least one chronological transmission profile of at least one transmission element can be controlled as a function of the operating situation.
  • the total transmission power can be adjusted over at least one measurement cycle through simpler control.
  • the corresponding individual signals can advantageously be transmitted at regular intervals with at least one transmission element.
  • isolated individual signals can be omitted from at least one transmission element.
  • a measurement cycle can advantageously individual or any number of be exposed to individual signals.
  • the at least two transmission elements can advantageously be activated by activation signals.
  • the at least two transmission elements can each be activated with the control signals.
  • integration times of detectors of at least one receiving device can be activated with the control signals.
  • a sensitivity of the at least one receiving device can be adapted to the total transmission power over at least one measurement cycle of the at least one transmitting device.
  • the overall performance of the detection device can be improved or at least maintained over at least one measurement cycle with a reduced total transmission power.
  • At least one transmission frequency of at least one transmission element can be adjusted depending on the operating situation. With a high transmission frequency, a higher transmission power per unit of time is realized than with a low transmission frequency. In this way, the total transmission power can be adjusted accordingly over at least one measurement cycle of the at least one transmission device.
  • At least one transmission pattern of the at least two transmission elements can be controlled depending on the operating situation.
  • a transmission pattern can be implemented by appropriately separate activation of the at least two transmission elements.
  • some transmission elements in a transmission sequence can be active and others can be inactive.
  • four different transmission patterns can be implemented in particular, namely both transmission elements are active at the same time, both transmission elements are inactive at the same time, a first transmission element is active while a second transmission element is inactive, and the second transmission element is active while the first transmission element is inactive. If more than two transmission elements are used, more transmission patterns can be implemented accordingly.
  • the transmission elements can be controlled so that if a reduced total transmission power over at least one measurement cycle the operating situation is sufficient, those transmission elements which are in the center of the arrangement of the transmission elements are not activated.
  • the central transmission elements are exposed to greater heat development than transmission elements at the edge. By deactivating the central transmission elements accordingly, they can be protected accordingly.
  • the extent of the reduction in the total transmission power can be specified over at least one measurement cycle according to the operating situation.
  • the corresponding measures for reducing the total transmission power can be specified over at least one measurement cycle, in particular in a memory.
  • At least two transmission elements of the at least one transmission device can be controlled in a manner specified for the operating situation.
  • a control pattern for the at least two transmission elements can be specified for each specific internal operating situation. In this way, a control effort can be reduced.
  • an operating situation of the detection device can be characterized by an external situation and/or an operating situation can be characterized by an internal operating function of the detection device.
  • An operating situation of the detection device can advantageously be characterized by an external situation.
  • the total transmission power can be adjusted over at least one measurement cycle of the at least one transmission device as a function of an environmental situation.
  • An external situation within the meaning of the invention is a situation in which the detection device, possibly a vehicle with the detection device, is located.
  • An external situation can be characterized by circumstances outside the detection device, in particular outside the vehicle.
  • An external situation can be caused by corresponding conditions in the environment, especially in the monitoring tion area, the detection device can be characterized.
  • An external situation in which a reduced total transmission power can suffice for at least one measurement cycle can exist in particular if there is an object in the surveillance area that limits the range of the detection device by covering parts of the surveillance area behind it and thus for the Detection device does not make visible.
  • the transmission power can be reduced in such a way that the range of the detection device is limited to the distance of the corresponding object from the detection device.
  • the total transmission power can be reduced over at least one measurement cycle and thus the range of the detection device can be reduced when a vehicle with the detection device is in a traffic jam.
  • a traffic jam a range that is reduced compared to normal operation when the vehicle is moving is sufficient. Accordingly, the total transmission power can be reduced over at least one measurement cycle of the at least one transmission device.
  • An internal operating function can be characterized in particular by an operating mode of the detection device.
  • Such internal operating functions can be specified or set manually or automatically.
  • the internal operating function can be specified or set as a function of an operating mode of the vehicle.
  • the operating mode of the vehicle can be specified or regulated/controlled in particular in or with a driver assistance system.
  • the detection device can be brought into a near-field operating mode in which the monitoring area is only monitored in the near-field. In this way, the range of the detection device in the near-field operating mode can be correspondingly reduced by reducing the total transmission power.
  • the detection device can be used in a vehicle The vehicle can be placed in near-field operation mode when the vehicle is being driven in an area. In a garage, a comparatively short range for the detection device is sufficient, so that the total transmission power can be correspondingly reduced over at least one measurement cycle.
  • the operating mode of the vehicle and/or the detection device can advantageously be brought into a parking mode automatically or manually.
  • parking mode the vehicle can be parked autonomously or at least partially autonomously.
  • parking mode only monitoring of the monitoring area in the near field is required. In this way, the range of the detection device in parking mode can be reduced in comparison to normal operation of the vehicle by a corresponding reduction in the total transmission power over at least one measurement cycle.
  • the total transmission power can be adapted to a required range of the at least one detection device in the operating situation over at least one measurement cycle of the at least one transmission device. In this way, the total transmission power can be reduced over at least one measurement cycle in operating situations in which a lower range is sufficient.
  • the total transmission power over at least one measurement cycle can advantageously be set in such a way that the range of the detection device is sufficient for monitoring a region of interest.
  • At least one transmission signal can advantageously be attenuated. Alternatively or additionally, at least one transmission signal can be omitted in a measurement cycle. In this way, the total transmission power can be reduced over at least one measurement cycle and adapted to the required range.
  • the total transmission power can be reduced over at least one measurement cycle by not activating individual transmission elements.
  • At least a part of the transmission elements in the event of an activation Send tion with a respective maximum transmission power.
  • the control of the individual transmission elements can be simplified.
  • the number of measurement cycles and/or the signal strength can be reduced in operating situations in which the range of the detection device is limited anyway.
  • At least one reception operating state of at least one receiving device can be adjusted as a function of an operating situation of the detection device.
  • the at least one receiving device can also be adapted to the operating situation.
  • a reduced overall transmission power can be compensated for at least one measurement cycle on the receiver side.
  • An integration time of at least one detector of the at least one receiving device can advantageously be varied.
  • the integration time can be correspondingly lengthened. This has a positive effect on the signal-to-noise ratio on the receiver side.
  • the total transmission power over at least one measurement cycle if there is an internal operating situation in which a range of the detection device is sufficient, which is reduced compared to normal operation of the at least one detection device, to a predetermined value for the internal operating situation be reduced.
  • the total transmission power can be set directly over at least one measurement cycle, in particular on the basis of an operating mode of the detection device, without additional measurements being required.
  • the method if an external operating situation is detected by means of at least one measurement with the at least one detection device, in which a range of the detection device can be reduced compared to normal operation, starting from the results of the at least one Measure the total transmit power over at least one Measuring cycle of the at least one corresponding designation can be reduced. In this way, the total transmission power can be adjusted accordingly over at least one measurement cycle based on the results of previous measurements with the detection device.
  • the range of the detection device can be adjusted to the distance between the detection device and the detected object.
  • the total transmission power over at least one measurement cycle of the at least one transmission device can be reduced by appropriately controlling the at least two transmission elements in such a way that the detection device achieves the required lower range.
  • normal operation within the meaning of the invention can be understood as the operating situation of the detection device in which the monitored area is not limited by objects or the like.
  • the range of the detection device is set to monitor areas of interest that are correspondingly far away.
  • the maximum possible range of the detection device can advantageously be preset depending on its intended use.
  • At least two transmission elements can be controlled separately depending on an operating situation of the detection device.
  • the total transmission power can be continuously adapted to changing operating situations over at least one measurement cycle.
  • the detection device in particular a control and/or evaluation device, can have a control device with which the total transmission power can be regulated over at least one measurement cycle of the at least one transmission device.
  • the control device can be implemented using software and/or hardware.
  • the regulation can be adapted to an expected long-term load due to the development of heat on the part of the at least one transmitting device. In this way, a heat build-up load can be further reduced.
  • the object is achieved according to the invention with the detection device in that at least one transmission device has at least two transmission elements, which can be controlled separately depending on an operating situation of the detection device in such a way that the total transmission power over at least one measurement cycle of the at least one transmission device as a whole meets the requirements can be adapted to the operating situation.
  • the object is achieved according to the invention in the vehicle in that at least one transmission device of at least one detection device has at least two transmission elements, which can be controlled separately depending on an operating situation of the detection device in such a way that the total transmission power over at least one measurement cycle of the at least one transmission device is transmitted to the Requirements of the operating situation can be adjusted.
  • FIG. 1 shows a vehicle with a driver assistance system and with an optical detection device with which a monitoring area in front of the vehicle can be monitored in the direction of travel;
  • FIG. 2 shows a functional diagram of the detection device of the vehicle from FIG. 1;
  • FIG. 3 shows a front view of a light source of a transmission device of the detection device from FIGS. 1 and 2, with transmission elements arranged in a matrix;
  • FIG. 4 respective temperature profiles through the light source from FIG. 3 at maximum total transmission power over a measurement cycle of the light source and at reduced total transmission power over a measurement cycle;
  • FIG. 5 shows a time profile of a control signal for a transmission element of the light source from FIG. 3 according to a first example
  • FIG. 6 shows a time profile of a control signal for a transmission element of the light source from FIG. 3 according to a second example
  • FIG. 7 shows a time profile of a control signal for a transmission element of the light source from FIG. 3 according to a third example
  • FIG. 8 total transmission power over a measurement cycle of the light source from FIG. 3 over the directional angle cp at maximum total transmission power over a measurement cycle, at the top in the figure, and at two different reduced total transmission powers over a measurement cycle, in the middle and at the bottom;
  • FIG. 9 shows a flow chart of a method for operating the detection device of the vehicle from FIGS. 1 and 2, in which the total transmission power is adapted to operating situations of the detection device over a measurement cycle.
  • a motor vehicle 10 in the form of a passenger car is shown schematically in FIG.
  • Motor vehicle 10 has an optical detection device 12 and a driver assistance system 14.
  • the detection device 12 is arranged, for example, in a front bumper of the motor vehicle 10 and directed into a monitoring area 18 in the direction of travel 16 in front of the motor vehicle 10 .
  • the detection device 12 can also be arranged at a different point on the motor vehicle 10, also aligned differently.
  • Several detection devices 12 with different orientations can also be provided, so that correspondingly different monitoring areas can be monitored.
  • the monitoring area 18 can be monitored for objects 20 with the detection device 12 .
  • Figure 2 shows a functional representation of motor vehicle 10 with detection device 12 and driver assistance system 14.
  • the detection device 12 can be used to detect stationary or moving objects 20, for example vehicles, people, animals, plants, debris, bumps in the road, for example potholes or stones, road boundaries, traffic signs, open spaces, in particular parking spaces, precipitation or the like.
  • the detection device 12 is a so-called LiDAR system 12. With the LiDAR system 12, distances 22 to objects 20 can be determined, for example, by measuring the transit time of transmitted signals 32 and received signals 34.
  • the detection device 12 has a transmitting device 24 , a receiving device 26 and a control and evaluation device 28 .
  • the transmission device 24 includes a light source 30, which is shown in the front view in FIG.
  • the light source 30 can be used to generate electromagnetic transmission signals 32 in the form of laser pulses, for example, and to send them to the monitoring area 18 .
  • a signal deflection device (not shown in the figures), for example with at least one deflection mirror or the like, can optionally be provided between the light source 30 and the monitoring area 18 .
  • the transmission signals 32 can be directed into the monitored area 18 and, if necessary, their direction can be changed.
  • optical ments for example optical lenses or lens arrangements, can be provided with which the shape and/or direction of the transmission signals 32 can be changed.
  • the transmission signals 32 can be reflected on the object 20.
  • the transmitted signals 32 reflected in the direction of the receiving device 26 of the detection device 12 can be received as received signals 34 by the receiving device 26 .
  • Receiving device 26 can have at least one detector designed for the wavelength of received signals 34, for example at least one point sensor, at least one line sensor and/or at least one area sensor, in particular at least one (avalanche) photodiode, at least one photodiode line, at least one CCD sensor , At least one active pixel sensor, for example a CMOS sensor or the like.
  • at least one detector designed for the wavelength of received signals 34, for example at least one point sensor, at least one line sensor and/or at least one area sensor, in particular at least one (avalanche) photodiode, at least one photodiode line, at least one CCD sensor , At least one active pixel sensor, for example a CMOS sensor or the like.
  • the electromagnetic reception signals 34 can be converted into electrical signals with the reception device 26 .
  • the electrical signals can be transmitted to the control and evaluation device 28 .
  • information about the monitoring area 18, for example a distance 22, a direction and/or a speed of the detected object 20 relative to the detection device 12, or relative to the motor vehicle 10, are determined.
  • the information about the monitoring area 18 can be transmitted to the driver assistance system 14 via a corresponding signal connection.
  • Operating functions of the motor vehicle 10 can be influenced with the driver assistance system 14 on the basis of the information about the monitoring area 18 .
  • the motor vehicle 10 can be operated autonomously or partially autonomously on the basis of the information about the monitoring area 18 .
  • the driver assistance system 14 it can be determined from the information about the monitoring area 18 whether the motor vehicle 10 is in a specific operating situation, for example in a traffic jam or in a garage or in a normal driving situation oetinaet. Such operating situations can be referred to as external operating situations since they relate to an environmental situation.
  • the control and evaluation device 28 is also configured with means with which the detection device 18 can be controlled and regulated.
  • the control and evaluation device 28 and the driver assistance system 14 are each implemented using software and hardware.
  • the light source 30 of the transmission device 24 is implemented as a laser matrix. It includes, for example, 9 transmission elements 36 in the form of diode lasers. As shown in FIG. 3, the transmission elements 36 are arranged in a 3 ⁇ 3 matrix. The transmission elements 36 are numbered consecutively in FIG. 3 with the digits 1 to 9 for better differentiation.
  • an alternative light source can also be implemented in the form of a line, a so-called array, or a different arrangement of transmission elements.
  • the transmission elements 36 can be controlled separately from one another.
  • a respective control signal 38 can be output, for example with the control and evaluation device 28.
  • control signals 38 are, for example, square-wave signals with a large number of square-wave pulses that follow one another in time.
  • control signal 38a in FIG. 5 rectangular pulses are generated continuously at constant time intervals.
  • control signal 38b from FIG. 6 a pause of the duration of two square-wave pulses is inserted after two square-wave pulses that follow one another in immediate succession.
  • drive signal 38c from FIG Rectangular pulses inserted.
  • some of the transmission elements 36 can also be driven together in groups, for example with a common drive signal 38, with the individual groups being able to be driven separately from one another.
  • the element 36 driven by the drive signal 38 is activated to emit an element transmission signal.
  • a measurement sequence can be initiated with or simultaneously with each square-wave pulse, in which the monitoring area 18 is checked.
  • the transmission elements 36 can be controlled separately via the respective drive signals 38 in such a way that they emit respective element transmission signals at the same time.
  • the element transmission signals add up to form a common transmission signal 32 which is transmitted into the monitoring area 18 .
  • the transmission elements 36 can each emit element transmission signals with their individual maximum transmission power 40 when activated with a corresponding square-wave pulse of the corresponding activation signal 38 .
  • a total transmission power 40 of the light source 30 can be reduced over a measurement cycle.
  • a measurement cycle consists of a large number of measurement sequences, for example several hundred measurement sequences.
  • heat development in the light source 30 can be reduced accordingly.
  • the total transmission power 40 can be reduced over a measurement cycle by a transmission state of the light source 30, which by the separate control of the transmission elements 36 is characterized, is varied, among other things, either the signal course of the transmission elements 36 and / or the transmission frequency of the transmission elements 36 can be controlled separately from each other. In this way, a transmission pattern that is generated by activating the corresponding transmission elements 36 can be controlled overall.
  • the same reduced total transmission power 40 can be achieved over a measurement cycle by varying different transmission patterns within the measurement cycle or by a corresponding transmission pattern that remains the same within the measurement cycle.
  • the total transmission power 40a of the light source 30 is shown as an example over the directional angle cp for the case that all transmission elements 36 of the light source 30 are each activated with maximum transmission power.
  • the direction angle cp indicates the direction, for example in relation to a main transmission axis of the transmission device 24 .
  • the direction angle cp can be the azimuth.
  • a reduced total transmission power 40b is shown in the middle of FIG. 8 and an even further reduced total transmission power 40c is shown at the bottom over the directional angle cp.
  • FIG. 4 shows the course of the temperature along the light source 30 in a sectional plane IV-IV from FIG. 3 by way of example.
  • the continuous curve at the top of FIG. 4 shows the temperature curve in the event that all transmission elements 36 are activated at the same time, that is to say transmission is carried out with maximum total transmission power 40 over a measurement cycle.
  • the dashed curve at the bottom of FIG. 4 shows the temperature curve in the case that not all transmission elements 36, ie with a reduced total transmission power 40, are transmitted over a measurement cycle.
  • the transmitting elements 36 with the numbers 1, 3, 7 and 9 at the corners of the light source 30 can be controlled, for example with control signals 38 corresponding to the control signal 38a shown in FIG.
  • the transmission elements 36 with the numbers 2, 4, 6 and 8 can be driven with drive signals 38 corresponding to the drive signal 38b shown in FIG.
  • the transmitting element 36 with the number 5 in the center of the light source 30 can be controlled with the drive signal 38c from FIG. gur 7 can be controlled.
  • the light source 30 and the transmission elements 36 can be controlled depending on the operating situation of the detection device 12 in such a way that the total transmission power 40 is adapted to the overall requirements of the corresponding operating situation over a measurement cycle of the transmission device 24 . If there is an operating situation in which the detection device 12 can be operated with a reduced range, the total transmission power 40 of the light source 30 can be reduced over a measurement cycle by appropriately controlling the transmission elements 36 . By reducing the total transmission power 40 over a measurement cycle, heat development at the light source 30 is reduced and the load on the light source 30 is reduced overall. In this way, the service life of the light source 30 and there with the detection device 12 can be extended overall.
  • the operating situations in which the detection device 12 can be operated with a reduced range can be external operating situations and/or internal operating situations.
  • An external operating situation is characterized, for example, by the situation in the area surrounding motor vehicle 10, ie in the area surrounding detection device 12.
  • the presence of such external operating situations can be determined from information about the monitored area 18 which is obtained from measurements using the detection device 12 .
  • the actual range of the detection device 12 is reduced by the external circumstances, for example to the distance 22 of the object 20 limited.
  • the range that can basically be achieved with the detection device 12 can be reduced, since it cannot be used anyway.
  • a correspondingly reduced total transmission power 40 over one measurement cycle is sufficient to achieve this reduced range.
  • the total transmission power 40 over a Measuring cycle can be reduced by appropriately controlling the bendeeiemente.
  • Another external operating situation in which a reduced range of the detection device 12 is sufficient can be the case, for example, when the vehicle 10 is in a traffic jam.
  • the presence of a traffic jam situation can be determined from the information about the monitored area 18 which can be obtained from measurements with the detection device 12 .
  • the total transmission power 40 of the light source 30 can be reduced over a measurement cycle by appropriately activating the transmission elements 36 .
  • An internal operating situation can be characterized, for example, by an operating state, for example an operating mode, of motor vehicle 10 and/or detection direction 12 .
  • Internal operating situations are realized by appropriate settings or controls within the functional control of motor vehicle 10 and/or detection device 12, and not, like external operating situations, by external circumstances.
  • an internal operating situation in which a reduced range of detection device 12 is sufficient can exist when motor vehicle 10 and/or detection device 12 is in parking mode.
  • a parking mode can, for example, be activated manually by a driver or automatically using the driver assistance system 14 .
  • parking mode the region of interest is reduced to the immediate vicinity of a parking space.
  • FIG. 9 shows a method 42 for operating the detection device 12 as a flowchart.
  • the method 42 can, for example, be carried out with appropriate software and/or hardware means with the control and evaluation device 28 in conjunction with the driver assistance system 14 who the.
  • a query 44 it is checked whether an internal operating situation in which the detection ion device 12 can be operated with a reduced range, for example a parking mode.
  • an internal operating situation is present, in an internal activation phase 46, for example, a predetermined activation pattern for the transmitting elements 36 for the existing internal operating situation, for example the parking mode, is taken from a storage medium.
  • the transmission elements 36 are driven in accordance with the specified activation pattern, so that the transmission signals 32 are sent with a corresponding transmission pattern that is sufficient for the reduced range.
  • the monitoring area 18 is examined for objects 20 with the transmission signals 32 . If the transmitted signals 32 are reflected by the object 20 that is present, information about the monitoring area 18 , for example the distance 22 of the detected object 20 from the detection device 12 , is determined from the corresponding received signals 34 .
  • a transmission phase 50 the information determined in the measurement sequence 48 about the monitoring area 18 is transmitted to the driver assistance system 14.
  • the driver assistance system 14 is used to park, for example.
  • the required range of detection device 12 is determined in a range determination phase 52 from previous measurement cycles with detection device 12 .
  • the required range is the range that is sufficient to cover a currently interesting region (region of interest) of the surveillance area 18 .
  • the required range includes distances from detection device 12, which during normal driving of motor vehicle 10, for example, on a freeway higher speed, for safety reasons, the required range does not amount to normal operation of motor vehicle 10 in the range of, for example, 100 m.
  • the required range is determined in the range determination phase 52 from the distance 22 of the object 20 determined in the previous measurements.
  • the required ranges determined from a plurality of measurement sequences 48 with the corresponding range determination phase 52 and adapted to the external operating situation can be filtered, in particular averaged.
  • a control pattern for the transmitting elements 36 is determined for the present external operating situation. For example, a corresponding activation pattern for the required range can be taken from a list, which can be stored in a corresponding storage medium.
  • the method 42 is continued with the measurement sequence 48 in accordance with the control pattern determined in the external control phase 56 for the transmission elements 36 .
  • the method 42 can be executed cyclically, automatically or on demand. In this case, measurement cycles with a large number of measurement sequences 48 are carried out.

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

Abstract

L'invention concerne un procédé de fonctionnement d'un dispositif de détection (12) pour surveiller au moins une région de surveillance (18) à l'aide de signaux de transmission électromagnétiques (32, 34). L'invention concerne également un dispositif de détection (12) et un véhicule (10) comprenant au moins un dispositif de détection (12). Dans le procédé, des signaux de transmission électromagnétiques (32) sont générés par au moins un dispositif de transmission (24) et transmis dans ladite au moins une zone de surveillance (18). La puissance de transmission dudit au moins un dispositif de transmission (24) est adaptée sur la base d'une situation de fonctionnement du dispositif de détection (12). Au moins une partie des signaux de transmission réfléchis (32) provenant de ladite au moins une zone de surveillance (18) est reçue par au moins un dispositif de réception (26) en tant que signaux reçus (34), et au moins une information (22) sur ladite au moins une zone de surveillance (18) est déterminée à partir d'au moins une partie des signaux reçus (34). Au moins deux éléments de transmission dudit au moins un dispositif de transmission (24) sont actionnés de manière chronologiquement séparée sur la base de l'état de fonctionnement du dispositif de détection (12) de telle sorte que la puissance de transmission totale (40) est adaptée en totalité aux exigences de l'état de fonctionnement sur un cycle de mesure dudit au moins un dispositif de transmission (24).
EP21748572.1A 2020-07-27 2021-07-21 Procédé de fonctionnement d'un dispositif de détection, dispositif de détection et véhicule comportant au moins un dispositif de détection Withdrawn EP4189423A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102020119720.9A DE102020119720A1 (de) 2020-07-27 2020-07-27 Verfahren zum Betreiben einer Detektionsvorrichtung, Detektionsvorrichtung und Fahrzeug mit wenigstens einer Detektionsvorrichtung
PCT/EP2021/070333 WO2022023132A1 (fr) 2020-07-27 2021-07-21 Procédé de fonctionnement d'un dispositif de détection, dispositif de détection et véhicule comportant au moins un dispositif de détection

Publications (1)

Publication Number Publication Date
EP4189423A1 true EP4189423A1 (fr) 2023-06-07

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EP21748572.1A Withdrawn EP4189423A1 (fr) 2020-07-27 2021-07-21 Procédé de fonctionnement d'un dispositif de détection, dispositif de détection et véhicule comportant au moins un dispositif de détection

Country Status (3)

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EP (1) EP4189423A1 (fr)
DE (1) DE102020119720A1 (fr)
WO (1) WO2022023132A1 (fr)

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102004017720A1 (de) 2004-04-10 2005-10-27 Robert Bosch Gmbh Radarsensor
DE102013002650A1 (de) 2013-02-15 2014-08-21 Volkswagen Aktiengesellschaft Bestimmung einer Entfernungsinformation für ein Fahrzeug
EP3223034B1 (fr) * 2016-03-16 2022-07-20 Ricoh Company, Ltd. Appareil de détection d'objet et appareil mobile
DE102016015406A1 (de) 2016-12-22 2017-07-06 Daimler Ag Sensoreinrichtung für ein Kraftfahrzeug zur aktiven Umgebungserfassung und Verfahren zum Steuern einer aktiven Sensoreinrichtung
WO2019171727A1 (fr) * 2018-03-08 2019-09-12 パナソニックＩｐマネジメント株式会社 Radar laser

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WO2022023132A1 (fr) 2022-02-03

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