WO2001028813A2 - Optoelectronic sensor device for a motor vehicle - Google Patents

Optoelectronic sensor device for a motor vehicle Download PDF

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Publication number
WO2001028813A2
WO2001028813A2 PCT/EP2000/009844 EP0009844W WO0128813A2 WO 2001028813 A2 WO2001028813 A2 WO 2001028813A2 EP 0009844 W EP0009844 W EP 0009844W WO 0128813 A2 WO0128813 A2 WO 0128813A2
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WO
WIPO (PCT)
Prior art keywords
sensor array
sensor device
objective
sensor
lens
Prior art date
Application number
PCT/EP2000/009844
Other languages
German (de)
French (fr)
Other versions
WO2001028813A3 (en
Inventor
Ralf Böbel
Michael Weiss
Original Assignee
Leopold Kostal Gmbh & Co. Kg
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 Leopold Kostal Gmbh & Co. Kg filed Critical Leopold Kostal Gmbh & Co. Kg
Priority to AU28341/01A priority Critical patent/AU2834101A/en
Publication of WO2001028813A2 publication Critical patent/WO2001028813A2/en
Publication of WO2001028813A3 publication Critical patent/WO2001028813A3/en

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
    • G01J1/00—Photometry, e.g. photographic exposure meter
    • G01J1/42—Photometry, e.g. photographic exposure meter using electric radiation detectors
    • G01J1/4228—Photometry, e.g. photographic exposure meter using electric radiation detectors arrangements with two or more detectors, e.g. for sensitivity compensation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
    • G01J1/00—Photometry, e.g. photographic exposure meter
    • G01J1/02—Details
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
    • G01J1/00—Photometry, e.g. photographic exposure meter
    • G01J1/02—Details
    • G01J1/0266—Field-of-view determination; Aiming or pointing of a photometer; Adjusting alignment; Encoding angular position; Size of the measurement area; Position tracking; Photodetection involving different fields of view for a single detector
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
    • G01J1/00—Photometry, e.g. photographic exposure meter
    • G01J1/02—Details
    • G01J1/04—Optical or mechanical part supplementary adjustable parts
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
    • G01J1/00—Photometry, e.g. photographic exposure meter
    • G01J1/02—Details
    • G01J1/04—Optical or mechanical part supplementary adjustable parts
    • G01J1/0403—Mechanical elements; Supports for optical elements; Scanning arrangements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
    • G01J1/00—Photometry, e.g. photographic exposure meter
    • G01J1/02—Details
    • G01J1/04—Optical or mechanical part supplementary adjustable parts
    • G01J1/0407—Optical elements not provided otherwise, e.g. manifolds, windows, holograms, gratings
    • G01J1/0411—Optical elements not provided otherwise, e.g. manifolds, windows, holograms, gratings using focussing or collimating elements, i.e. lenses or mirrors; Aberration correction
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
    • G01J1/00—Photometry, e.g. photographic exposure meter
    • G01J1/02—Details
    • G01J1/04—Optical or mechanical part supplementary adjustable parts
    • G01J1/0407—Optical elements not provided otherwise, e.g. manifolds, windows, holograms, gratings
    • G01J1/0448—Adjustable, e.g. focussing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
    • B60S1/00—Cleaning of vehicles
    • B60S1/02—Cleaning windscreens, windows or optical devices
    • B60S1/04—Wipers or the like, e.g. scrapers
    • B60S1/06—Wipers or the like, e.g. scrapers characterised by the drive
    • B60S1/08—Wipers or the like, e.g. scrapers characterised by the drive electrically driven
    • B60S1/0818—Wipers or the like, e.g. scrapers characterised by the drive electrically driven including control systems responsive to external conditions, e.g. by detection of moisture, dirt or the like
    • B60S1/0822—Wipers or the like, e.g. scrapers characterised by the drive electrically driven including control systems responsive to external conditions, e.g. by detection of moisture, dirt or the like characterized by the arrangement or type of detection means
    • B60S1/0833—Optical rain sensor
    • B60S1/0844—Optical rain sensor including a camera
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera

Definitions

  • Optoelectronic sensor device for a motor vehicle
  • the invention relates to a sensor device for a motor vehicle.
  • the invention relates to an optoelectronic sensor device for a motor vehicle for monitoring a plurality of objects, comprising a sensor array constructed from a large number of optoelectronic transducer elements and an objective directed and focused on an object for imaging the object on the photosensitive surface of the sensor array.
  • Optoelectronic sensor devices are used in motor vehicles for monitoring different objects or objects, with actuators in the motor vehicle being controlled or regulated as a function of certain detected changes.
  • Such a sensor device mentioned at the outset is known from DE 197 04 818 A1.
  • This sensor device is used to monitor the surroundings in front of the vehicle, for example to detect tunnel entrances and exits by means of contrast detection, so that the lighting of the motor vehicle can be controlled in accordance with the detected situation.
  • the monitored object is therefore the area in front of the motor vehicle.
  • This previously known sensor device comprises a lens designed as a converging lens, which is focused on the surroundings of the motor vehicle and thus on infinity.
  • the lens is behind the windshield of a motor vehicle;
  • An optoelectronic sensor array is arranged parallel to the objective plane in the beam path behind the objective, on which the vehicle environment to be evaluated is imaged by the objective.
  • the image plane of the sensor array and the objective plane are arranged at right angles to the optical axis of the imaging system.
  • the sensor array is connected to an evaluation unit.
  • the sensor device In addition to imaging and monitoring the environment in front of the motor vehicle, the sensor device also serves as a rain sensor to detect drops of water on the windshield.
  • the sensor device is assigned a lighting unit with which the windshield is illuminated from the inside. If there are raindrops on the windshield, some of the light rays emitted by the lighting device are reflected in the beam path aimed at imaging the motor vehicle environment of the lens, so that the intensity distribution when the windshield is illuminated on the inside differs from the intensity distribution detected by the sensor array when it is unlit windshield. For this reason, the inside of the windshield is pulsed.
  • This previously known sensor device thus serves to monitor two objects: the environment in front of the vehicle, for example for lighting control and for monitoring a section of the windshield for controlling the windshield wiper and washer system.
  • This sensor device uses a predictive sensor system and uses it unchanged in order to be able to indirectly monitor a second object in a clocked manner.
  • the primary orientation of the sensor device for monitoring the area in front of the vehicle has the disadvantage that a raindrop detection can be faulty.
  • the disadvantages lie, in particular, in the fact that background-induced scattered radiation can influence the intensity distribution being evaluated without being noticed, so that a wiper control which does not correspond to the actual degree of wetting is possible.
  • a rain sensor for a motor vehicle has become known from EP 0 832 798 A2, in which a transparent film designed in the manner of a matt screen is glued onto the detected windshield cutout to suppress background-related scattered radiation. With this sensor device, only drops adhering to the windshield can be depicted sharply. However, this sensor device is not suitable for monitoring different objects, such as the surroundings in front of the motor vehicle, since the film prevents the surroundings from being imaged. For an additional forward-looking sensor system, a second sensor device would have to be assigned to the motor vehicle.
  • the invention is therefore based on the object of developing a generic sensor device mentioned at the outset in such a way that it equivalently different objects, for example the environment in front of the vehicle and a windshield cutout while avoiding the disadvantages shown in relation to the known prior art suitable is.
  • the lens is mounted for a predetermined amount of movement on a curved path between at least two positions, so that after a pivoting movement of the lens from a first position intended for monitoring a first object into a second position for monitoring position of a second object, the distance of the objective to the photosensitive surface of the sensor array and the spatial position of the objective plane to the image plane of the sensor array formed by the photosensitive surface of the sensor array is changed to provide different imaging ratios.
  • the sensor device is suitable for changing the imaging ratios of two different objects to be monitored, for example the area in front of the vehicle and a windshield section, in order to provide the respectively best imaging ratios of the objects to be monitored.
  • the surroundings in front of the vehicle can be focused in one position of the lens and the windshield or a section of the windshield can be focused in a second position.
  • the change in the distance between the objective plane and the image plane formed by the photosensitive surface of the sensor array takes these requirements into account. Increasing this distance results in focusing objects that are increasingly closer, such as the windshield.
  • the viewing angle of the lens changes on the one hand, so that different sections can be monitored. Due to the associated change in the spatial position of the lens plane to that of the image plane there is also an inclination of the focused plane, which is particularly suitable for use of the sensor device according to the invention in one of its positions as a rain sensor.
  • the possibility of focusing the windshield with the sensor device according to the invention permits sharp imaging of drops on the windshield, the background in front of the vehicle lying outside the depth of field of the image and thus being disregarded when evaluating the windshield image.
  • a rain sensor there is an immediate and direct drop detection, so that the risk of incorrect evaluations compared to previously known rain sensors is significantly reduced.
  • the lens can be pivoted in such a way that, in its position focused on the windshield, the image plane of the sensor array and the lens plane define a common line of intersection which lies in the plane of the windshield.
  • the plane of the depth of field lies in the plane of the windshield, so that objects which are only very small in this case are no longer sharply imaged by a depth of field area that is provided only very slightly.
  • Such a rain sensor can be influenced to a much lesser extent by background-related interference.
  • a particularly expedient evaluation method for evaluating the individual transducer elements of the sensor array when using the sensor device as a rain sensor is described in WO 99/2618 by the applicant, which method is also part of this description by reference.
  • the lens is arranged on a rotatably mounted swivel arm which is actuated by an actuating device in order to be able to pivot the lens in one or the other direction about the pivot point of the swivel arm.
  • the sensor array is expediently constructed two-dimensionally, the sensor array being readable row by row and column.
  • the option of selectively reading out the sensor array can be used to reduce the computing effort required for evaluation if only the entire sensor array for imaging one object, for example the environment in front of the vehicle, and for evaluating another object, for example a detected windshield section, are used of the sensor array are required.
  • FIG. Shows a schematic illustration of a sensor device 1 for a motor vehicle, which is located behind a windshield 2 inside the motor vehicle is arranged facing the front.
  • the sensor device 1 is located at the foot of an interior rearview mirror.
  • the sensor device 1 essentially consists of an optoelectronic sensor array 3, constructed from a large number of individual transducer elements in a two-dimensional arrangement, which is connected to an evaluation unit in a manner not shown, and an objective 4.
  • the objective 4 consists of the illustrated embodiment from a converging lens 5, which is held in an annular frame 6.
  • the mount 6 is part of a swivel arm 7, which is pivotably mounted at a point above the lens 4.
  • the pivot axis is identified in the figure by the reference number 8.
  • the swivel arm 7 also continues below the lens 4.
  • an actuating device 9 which is fixedly supported at one end, engages. With this actuating device 9, the swivel arm 7 and thus the lens 4 can be pivoted in accordance with the arrow shown in the figure from a first position, shown in the figure with a solid line, to a second position, shown in the figure with a dashed line.
  • the distance between the plane of the sensor array 3 and the plane of the objective 4 increases, so that in the second position of the objective 4 the sensor device 1 is focused on a closer object compared to its focusing in the first position.
  • the image plane represented by the sensor array 3 is arranged slightly inclined to the lens plane.
  • the focus of the sensor device 1 in this position is anticipatedly set to infinity.
  • the distance between the lens plane and the image plane is, for example, 15 mm.
  • the optical axis OAi is aligned horizontally. In this forward-looking position of the sensor device 1, this can be useful, for example, for a contrast detection, a distance detection or also further monitoring.
  • the sensor device 1 is also used to monitor a windshield cutout with regard to wetting or soiling in order to control the windshield wiper and washer system.
  • the actuating device 9 is actuated to pivot the swivel arm 7 and thus to move the objective 4 on a curved path.
  • This second position of the sensor array 1 is characterized in the exemplary embodiment shown in that the image plane and the objective plane form a common line of intersection which lies in the plane of the windshield 2.
  • the plane focused by the lens 4 lies in the plane of the windshield 2, so that the objects adhering to the windshield 2 in the windshield cutout can be sharply imaged.
  • the distance between the image plane and the lens plane has increased by 2 mm in the exemplary embodiment shown, so that the total distance from the image plane to the lens plane is now 17 mm.
  • the optical axis OA 2 of the second position of the sensor device 1 is raised upward by approximately 10 ° with respect to the optical axis OAi.
  • the arrangement of the image plane, objective plane and windshield plane in the form described in the second position is advantageous since a special depth of field is not necessary for detecting the objects adhering to the windshield, so that the entire background is imaged out of focus and thus object detection cannot adversely affect the windshield.
  • Different drives can be provided as the actuating device, for example a stepper motor, a voice coil or a piezo actuator.
  • the sensor array 1 switches between the two positions in a predetermined cycle in order to be able to monitor the one and the other object.
  • both the sensor array with respect to the inclination of its image plane and the lens with respect to its distance from the sensor array and with respect to its inclination can be changed by the actuating device, as shown in the figure.
  • the sensor device 1 according to the invention is one that is particularly well adapted to the requirement for monitoring two different objects by changing the imaging ratios.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Spectroscopy & Molecular Physics (AREA)
  • Photometry And Measurement Of Optical Pulse Characteristics (AREA)
  • Measurement Of Optical Distance (AREA)

Abstract

The invention relates to an optoelectronic sensor device (1) for a motor vehicle for monitoring a plurality of objects. Said sensor device comprises a sensor array (3) composed of a plurality of optoelectronic transducers and an objective (4) directed to and focused on an object that images said object onto the photosensitive surface of the sensor array (3). According to the invention, the objective (4) is supported on a curved trajectory on which it can be displaced by a predetermined value of displacement between at least two positions. Once the objective (4) is swiveled from a first position for monitoring a first object to a second position for monitoring a second object, the distance of the objective (4) to the photosensitive surface of the sensor array (3) and the orientation in space of the objective plane to the image plane of the sensor array (3) formed by the photosensitive surface of the sensor array (3) is changed to allow for different imaging conditions.

Description

Optoelektronische Sensoreinrichtung für ein Kraftfahrzeug Optoelectronic sensor device for a motor vehicle
Die Erfindung bezieht sich auf eine Sensoreinrichtung für ein Kraftfahrzeug. Insbesondere betrifft die Erfindung eine optoelektronische Sensoreinrichtung für ein Kraftfahrzeug zum Überwachen von mehreren Ob- jekten umfassend ein aus einer Vielzahl optoelektronischer Wandlerelemente aufgebautes Sensorarray und ein auf ein Objekt gerichtetes und fokussiertes Objektiv angeordnet zum Abbilden des Objektes auf der photosensitiven Oberfläche des Sensorarrays.The invention relates to a sensor device for a motor vehicle. In particular, the invention relates to an optoelectronic sensor device for a motor vehicle for monitoring a plurality of objects, comprising a sensor array constructed from a large number of optoelectronic transducer elements and an objective directed and focused on an object for imaging the object on the photosensitive surface of the sensor array.
Optoelektronische Sensoreinrichtungen werden in Kraftfahrzeugen zum Überwachen unterschiedlicher Objekte bzw. Gegenstände eingesetzt, wobei in Abhängigkeit von bestimmten delektierten Änderungen eine Steuerung oder Regelung von im Kraftfahrzeug befindlichen Aktoren erfolgt. Eine solche, eingangs genannte Sensoreinrichtung ist aus der DE 197 04 818 A1 bekannt. Diese Sensoreinrichtung dient zum Überwachen der vor dem Fahrzeug befindlichen Umgebung, um beispielsweise über eine Kontrasterkennung Tunnelein- und -ausfahrten zu erkennen, damit entsprechend der detektierten Situation die Beleuchtung des Kraftfahrzeuges angesteuert werden kann. Das überwachte Objekt ist somit die vor dem Kraftfahrzeug befindliche Umgebung.Optoelectronic sensor devices are used in motor vehicles for monitoring different objects or objects, with actuators in the motor vehicle being controlled or regulated as a function of certain detected changes. Such a sensor device mentioned at the outset is known from DE 197 04 818 A1. This sensor device is used to monitor the surroundings in front of the vehicle, for example to detect tunnel entrances and exits by means of contrast detection, so that the lighting of the motor vehicle can be controlled in accordance with the detected situation. The monitored object is therefore the area in front of the motor vehicle.
Diese vorbekannte Sensoreinrichtung umfaßt ein als Sammellinse ausgebildetes Objektiv, welches auf die Umgebung des Kraftfahrzeuges und somit auf unendlich fokussiert ist. Das Objektiv befindet sich hinter der Windschutzscheibe eines Kraftfahrzeuges; parallel zur Objektivebene ist im Strahlengang hinter dem Objektiv ein optoelektronisches Sensorarray angeordnet, auf dem die auszuwertende Kraftfahrzeugumgebung durch das Objektiv abgebildet ist. Die Bildebene des Sensorarrays und die Objektivebene sind rechtwinklig zur optischen Achse des Abbildungssystems angeordnet. Zur Auswertung der durch die einzelnen Wandlerelemente des Sensorarrays erfaßten Intensitäten, ist das Sensorarray an eine Auswerteeinheit angeschlossen.This previously known sensor device comprises a lens designed as a converging lens, which is focused on the surroundings of the motor vehicle and thus on infinity. The lens is behind the windshield of a motor vehicle; An optoelectronic sensor array is arranged parallel to the objective plane in the beam path behind the objective, on which the vehicle environment to be evaluated is imaged by the objective. The image plane of the sensor array and the objective plane are arranged at right angles to the optical axis of the imaging system. To evaluate the intensities detected by the individual transducer elements of the sensor array, the sensor array is connected to an evaluation unit.
Die Sensoreinrichtung dient neben einer Abbildung und Überwachung der vor dem Kraftfahrzeug befindlichen Umgebung ebenfalls als Regensensor zum Detektieren von auf der Windschutzscheibe befindlichen Wassertropfen. Zu diesem Zweck ist der Sensoreinrichtung eine Beleuchtungseinheit zugeordnet, mit der die Windschutzscheibe von innen beleuchtet wird. Bei einem Vorhandensein von Regentropfen auf der Windschutz- scheibe wird ein Teil der durch die Beleuchtungseinrichtung emittierten Lichtstrahlen in den zum Abbilden der Kraftfahrzeugumgebung des Objektivs gerichteten Strahlengang reflektiert, so daß die Intensitätsverteilung bei innenseitig beleuchteter Windschutzscheibe unterschiedlich ist zu der von dem Sensorarray erfaßten Intensitätsverteilung bei unbeleuchteter Windschutzscheibe. Aus diesem Grunde wird die Windschutzscheibe innenseitig gepulst beleuchtet.In addition to imaging and monitoring the environment in front of the motor vehicle, the sensor device also serves as a rain sensor to detect drops of water on the windshield. For this purpose, the sensor device is assigned a lighting unit with which the windshield is illuminated from the inside. If there are raindrops on the windshield, some of the light rays emitted by the lighting device are reflected in the beam path aimed at imaging the motor vehicle environment of the lens, so that the intensity distribution when the windshield is illuminated on the inside differs from the intensity distribution detected by the sensor array when it is unlit windshield. For this reason, the inside of the windshield is pulsed.
Diese vorbekannte Sensoreinrichtung dient somit zum Überwachen von zwei Objekten: der vor dem Fahrzeug befindlichen Umgebung, beispiels- weise zur Beleuchtungssteuerung sowie zur Überwachung eines Ausschnittes der Windschutzscheibe zur Steuerung der Scheibenwisch- und -Waschanlage. Diese Sensoreinrichtung setzt eine vorausschauende Sen- sorik ein und nutzt diese unverändert, um getaktet ein zweites Objekt damit indirekt überwachen zu können. Die primäre Ausrichtung der Sen- soreinrichtung zum Überwachen der vor dem Fahrzeug liegenden Umgebung hat zum Nachteil, daß eine Regentropfendetektion fehlerbehaftet sein kann. Die Nachteile liegen insbesondere darin begründet, daß hintergrundbedingte Streustrahlungen unbemerkt die zur Auswertung gelangende Intensitätsverteilung beeinflussen können, so daß eine nicht den tatsächlichen Benetzungsgrad entsprechende Scheibenwischeransteuerung möglich ist.This previously known sensor device thus serves to monitor two objects: the environment in front of the vehicle, for example for lighting control and for monitoring a section of the windshield for controlling the windshield wiper and washer system. This sensor device uses a predictive sensor system and uses it unchanged in order to be able to indirectly monitor a second object in a clocked manner. The primary orientation of the sensor device for monitoring the area in front of the vehicle has the disadvantage that a raindrop detection can be faulty. The disadvantages lie, in particular, in the fact that background-induced scattered radiation can influence the intensity distribution being evaluated without being noticed, so that a wiper control which does not correspond to the actual degree of wetting is possible.
Aus der EP 0 832 798 A2 ist ein Regensensor für ein Kraftfahrzeug bekannt geworden, bei dem zum Unterdrücken hintergrundbedingter Streustrahlungen auf dem erfaßten Windschutzscheibenausschnitt eine nach Art einer Mattscheibe ausgebildete transparente Folie aufgeklebt ist. Mit dieser Sensoreinrichtung sind ausschließlich auf der Windschutzscheibe anhaftende Tropfen scharf abbildbar. Diese Sensoreinrichtung eignet sich jedoch nicht zum Überwachen unterschiedlicher Objekte, wie beispielsweise der vor dem Kraftfahrzeug befindlichen Umgebung, da eine Abbil- dung der Umgebung durch die Folie verhindert ist. Für eine zusätzliche vorausschauende Sensorik müßte eine zweite Sensoreinrichtung dem Kraftfahrzeug zugeordnet sein. Ausgehend von der DE 197 04 818 A1 liegt der Erfindung daher die Aufgabe zugrunde, eine eingangs genannte gattungsgemäße Sensoreinrichtung dergestalt weiterzubilden, daß diese gleichwertig unterschiedliche Objekte, beispielsweise die vor dem Fahrzeug befindliche Umgebung und einen Windschutzscheibenausschnitt unter Vermeidung der zum vorbekannten Stand der Technik aufgezeigten Nachteile geeignet ist.A rain sensor for a motor vehicle has become known from EP 0 832 798 A2, in which a transparent film designed in the manner of a matt screen is glued onto the detected windshield cutout to suppress background-related scattered radiation. With this sensor device, only drops adhering to the windshield can be depicted sharply. However, this sensor device is not suitable for monitoring different objects, such as the surroundings in front of the motor vehicle, since the film prevents the surroundings from being imaged. For an additional forward-looking sensor system, a second sensor device would have to be assigned to the motor vehicle. Starting from DE 197 04 818 A1, the invention is therefore based on the object of developing a generic sensor device mentioned at the outset in such a way that it equivalently different objects, for example the environment in front of the vehicle and a windshield cutout while avoiding the disadvantages shown in relation to the known prior art suitable is.
Diese Aufgabe wird erfindungsgemäß dadurch gelöst, daß das Objektiv über einen vorbestimmten Bewegungsbetrag auf einer gekrümmten Bahn bewegbar zwischen zumindest zwei Stellungen gelagert ist, so daß nach einer Verschwenkbewegung des Objektivs aus einer ersten, zum Überwachen eines ersten Objektes vorgesehenen Stellung in eine zweite, zum Überwachen eines zweiten Objektes vorgesehenen Stellung der Abstand des Objetivs zur photosensitiven Oberfläche des Sensorarrays und die Raumlage der Objektivebene zu der durch die photosensitive Oberfläche des Sensorarrays gebildeten Bildeebene des Sensorarrays zum Bereitstellen unterschiedlicher Abbildungsverhältnisse geändert ist.This object is achieved in that the lens is mounted for a predetermined amount of movement on a curved path between at least two positions, so that after a pivoting movement of the lens from a first position intended for monitoring a first object into a second position for monitoring position of a second object, the distance of the objective to the photosensitive surface of the sensor array and the spatial position of the objective plane to the image plane of the sensor array formed by the photosensitive surface of the sensor array is changed to provide different imaging ratios.
Die erfindungsgemäße Sensoreinrichtung ist geeignet, die Abbildungsver- hältnisse von zwei unterschiedlichen zu überwachenden Objekten, beispielsweise der vor dem Fahrzeug liegenden Umgebung sowie eines Windschutzscheibenausschnittes zu ändern, um die jeweilig besten Abbildungsverhältnisse der zu überwachenden Objekte bereitzustellen. Durch eine Veränderung der Abbildungsverhältnisse kann in der einen Stellung des Objektivs die vor dem Fahrzeug liegende Umgebung fokussiert und in einer zweiten Stellung die Windschutzscheibe bzw. ein Ausschnitt der Windschutzscheibe fokussiert sein. Die Änderung des Abstandes zwischen der Objektivebene und der durch die photosensitive Oberfläche des Sensorarrays gebildeten Bildebene trägt diesen Anforderungen Rech- nung. Eine Vergrößerung dieses Abstandes resultiert in einer Fokussie- rung zunehmend näher liegender Gegenstände, wie beispielsweise der Windschutzscheibe.The sensor device according to the invention is suitable for changing the imaging ratios of two different objects to be monitored, for example the area in front of the vehicle and a windshield section, in order to provide the respectively best imaging ratios of the objects to be monitored. By changing the imaging conditions, the surroundings in front of the vehicle can be focused in one position of the lens and the windshield or a section of the windshield can be focused in a second position. The change in the distance between the objective plane and the image plane formed by the photosensitive surface of the sensor array takes these requirements into account. Increasing this distance results in focusing objects that are increasingly closer, such as the windshield.
Durch Bewegen des Objektivs innerhalb des vorbestimmten Bewegungs- betrages zwischen zwei Stellungen entlang einer gekrümmten Bahn, ändert sich zum einen der Blickwinkel des Objektivs, so daß unterschiedliche Ausschnitte überwacht werden können. Durch die damit einhergehende Änderung der Raumlage der Objektivebene zu derjenigen der Bildebene erfolgt ebenfalls eine Neigung der fokussierten Ebene, was sich insbesondere für einen Einsatz der erfindungsgemäßen Sensoreinrichtung in einer seiner Stellungen als Regensensor eignet.By moving the lens within the predetermined amount of movement between two positions along a curved path, the viewing angle of the lens changes on the one hand, so that different sections can be monitored. Due to the associated change in the spatial position of the lens plane to that of the image plane there is also an inclination of the focused plane, which is particularly suitable for use of the sensor device according to the invention in one of its positions as a rain sensor.
Die Möglichkeit der Fokussierung der Windschutzscheibe mit der erfindungsgemäßen Sensoreinrichtung gestattet eine scharfe Abbildung von auf der Windschutzscheibe befindlichen Tropfen, wobei der vor dem Fahrzeug befindliche Hintergrund außerhalb des Schärfentiefenbereiches der Abbildung liegt und somit bei einer Auswertung des Scheibenbildes unbe- rücksichtigt bleibt. Bei einem solchen Regensensor erfolgt eine unmittelbare und direkte Tropfendetektion, so daß eine Gefahr von Fehlauswertungen gegenüber vorbekannten Regensensoren deutlich reduziert ist.The possibility of focusing the windshield with the sensor device according to the invention permits sharp imaging of drops on the windshield, the background in front of the vehicle lying outside the depth of field of the image and thus being disregarded when evaluating the windshield image. With such a rain sensor, there is an immediate and direct drop detection, so that the risk of incorrect evaluations compared to previously known rain sensors is significantly reduced.
In einer zweckmäßigen Ausgestaltung ist vorgesehen, daß das Objektiv in einer solchen Art und Weise verschwenkbar ist, daß in seiner auf die Windschutzscheibe fokussierten Stellung die Bildebene des Sensorarrays und die Objektivebene eine gemeinsame Schnittgerade definieren, die in der Ebene der Windschutzscheibe liegt. Die Ebene der Schärfentiefe liegt bei einer solchen Abbildungsanordnung in der Ebene der Windschutz- Scheibe, so daß durch einen in diesem Fall nur ganz gering vorgesehenen Schärfentiefenbereich Objekte, die sich bereits mit geringem Abstand hinter der Windschutzscheibe befinden, nicht mehr scharf abgebildet werden. Ein solcher Regensensor ist in weitaus geringerem Maße durch hintergrundbedingte Störeinflüsse beeinflußbar. Ein besonders zweckmäßi- ges Auswerteverfahren zum Auswerten der einzelnen Wandlerelemente des Sensorarrays bei einem Einsatz der Sensoreinrichtung als Regensensor ist in der WO 99/2618 der Anmelderin beschrieben, welches Verfahren hiermit durch Bezugnahme ebenfalls Teil dieser Beschreibung ist.In an expedient embodiment it is provided that the lens can be pivoted in such a way that, in its position focused on the windshield, the image plane of the sensor array and the lens plane define a common line of intersection which lies in the plane of the windshield. In the case of such an imaging arrangement, the plane of the depth of field lies in the plane of the windshield, so that objects which are only very small in this case are no longer sharply imaged by a depth of field area that is provided only very slightly. Such a rain sensor can be influenced to a much lesser extent by background-related interference. A particularly expedient evaluation method for evaluating the individual transducer elements of the sensor array when using the sensor device as a rain sensor is described in WO 99/2618 by the applicant, which method is also part of this description by reference.
Bei den für solche Sensoreinrichtungen üblicherweise im Durchmesser sehr kleinen Linsen genügen bereits Bewegungsbeträge von wenigen Millimetern, um die gewünschte unterschiedliche Abbildung zu erhalten. Zum Erzielen der Bewegung auf der vorbestimmten gekrümmten Bahn des Objektivs kann dieses beispielsweise in einer Kulisse geführt sein. In einer weiteren Ausgestaltung ist vorgesehen, das Objektiv an einem drehbar gelagerten Schwenkarm anzuordnen, an dem eine Betätigungseinrichtung angreift, um das Objektiv um den Drehpunkt des Schwenkarmes in die eine oder in die andere Richtung verschwenken zu können. Das Sensorarray ist zweckmäßigerweise zweidimensional aufgebaut, wobei das Sensorarray zeilen- und spaltenweise auslesbar ist. Die Möglichkeit des selektiven Auslesen des Sensorarrays kann zu einer Reduzierung des zur Auswertung notwendigen Rechenaufwandes eingesetzt werden, wenn zur Abbildung des einen Objektes, beispielsweise der vor dem Fahrzeug liegenden Umgebung das gesamte Sensorarray und zur Auswertung eines anderen Objektes, etwa eines erfaßten Windschutzscheibenausschnittes lediglich einige Spalten des Sensorarrays benötigt werden.With the lenses, which are usually very small in diameter for such sensor devices, movement amounts of a few millimeters are sufficient to obtain the desired different imaging. To achieve the movement on the predetermined curved path of the lens, this can be performed, for example, in a backdrop. In a further embodiment, it is provided that the lens is arranged on a rotatably mounted swivel arm which is actuated by an actuating device in order to be able to pivot the lens in one or the other direction about the pivot point of the swivel arm. The sensor array is expediently constructed two-dimensionally, the sensor array being readable row by row and column. The option of selectively reading out the sensor array can be used to reduce the computing effort required for evaluation if only the entire sensor array for imaging one object, for example the environment in front of the vehicle, and for evaluating another object, for example a detected windshield section, are used of the sensor array are required.
Weitere Vorteile und Ausgestaltungen der Erfindung sind Bestandteil der übrigen Unteransprüche sowie der nachfolgenden Beschreibung eines Ausführungsbeispieles unter Bezugnahme auf die beigefügte Figur 1. Diese Figur zeigt in einer schematischen Darstellung eine Sensoreinrich- tung 1 für ein Kraftfahrzeug, die innerhalb des Kraftfahrzeuges hinter einer Windschutzscheibe 2 nach vorne blickend angeordnet ist. Beispielsweise befindet sich die Sensoreinrichtung 1 im Fuße eines Innenrückspiegels. Die Sensoreinrichtung 1 besteht im wesentlichen aus einem optoelektronischen, aus einer Vielzahl einzelner Wandlerelemente in einer zweidimen- sionalen Anordnung aufgebauten Sensorarray 3, welches in nicht dargestellter Art und Weise an eine Auswerteeinheit angeschlossen ist, und aus einem Objektiv 4. Das Objektiv 4 besteht bei dem dargestellten Ausführungsbeispiel aus einer Sammellinse 5, die in einer ringförmigen Fassung 6 gehalten ist. Die Fassung 6 ist Teil eines Schwenkarmes 7, der in einem Punkt oberhalb des Objektivs 4 schwenkbar angelegt ist. Die Schwenkachse ist in der Figur mit dem Bezugszeichen 8 gekennzeichnet. Der Schwenkarm 7 setzt sich auch unterhalb des Objektivs 4 fort. An dem freien Ende des Schwenkarmes 7 greift eine mit ihrem einen Ende sich ortsfest abstützende Betätigungseinrichtung 9 an. Mit dieser Betätigungsein- richtung 9 kann der Schwenkarm 7 und somit das Objektiv 4 entsprechend dem in der Figur dargestellten Pfeil aus einer ersten, in der Figur mit durchgezogener Strichführung gekennzeichneten Position in eine zweite, in der Figur durch gestrichelte Strichführung gekennzeichnete Position verschwenkt werden. Bei dieser Verschwenkbewegung vergrößert sich der Abstand der Ebene des Sensorarrays 3 zur Ebene des Objektivs 4, so daß in der zweiten Stellung des Objektivs 4 die Sensoreinrichtung 1 auf einen näheren Gegenstand verglichen mit seiner Fokussierung in der ersten Stellung fokussiert ist. In der ersten Stellung der Sensoreinrichtung 1 (durchgezogene Strichführung des Objektivs 4) ist die durch das Sensorarray 3 dargestellte Bildebene geringfügig zur Objektivebene geneigt angeordnet. Die Fokussie- rung der Sensoreinrichtung 1 in dieser Stellung ist vorausschauend auf unendlich eingestellt. Der Abstand zwischen der Objektivebene und der Bildebene beträgt beispielsweise 15 mm. Die optische Achse OAi ist in dieser Stellung horizontal ausgerichtet. In dieser vorausschauenden Stellung der Sensoreinrichtung 1 kann diese beispielsweise einer Kontraster- kennung, einer Abstandsdetektion oder auch weiteren Überwachungen dienlich sein.Further advantages and refinements of the invention form part of the remaining subclaims and the following description of an exemplary embodiment with reference to the attached FIG. 1. This FIG. Shows a schematic illustration of a sensor device 1 for a motor vehicle, which is located behind a windshield 2 inside the motor vehicle is arranged facing the front. For example, the sensor device 1 is located at the foot of an interior rearview mirror. The sensor device 1 essentially consists of an optoelectronic sensor array 3, constructed from a large number of individual transducer elements in a two-dimensional arrangement, which is connected to an evaluation unit in a manner not shown, and an objective 4. The objective 4 consists of the illustrated embodiment from a converging lens 5, which is held in an annular frame 6. The mount 6 is part of a swivel arm 7, which is pivotably mounted at a point above the lens 4. The pivot axis is identified in the figure by the reference number 8. The swivel arm 7 also continues below the lens 4. At the free end of the swivel arm 7, an actuating device 9, which is fixedly supported at one end, engages. With this actuating device 9, the swivel arm 7 and thus the lens 4 can be pivoted in accordance with the arrow shown in the figure from a first position, shown in the figure with a solid line, to a second position, shown in the figure with a dashed line. During this pivoting movement, the distance between the plane of the sensor array 3 and the plane of the objective 4 increases, so that in the second position of the objective 4 the sensor device 1 is focused on a closer object compared to its focusing in the first position. In the first position of the sensor device 1 (solid line of the lens 4), the image plane represented by the sensor array 3 is arranged slightly inclined to the lens plane. The focus of the sensor device 1 in this position is anticipatedly set to infinity. The distance between the lens plane and the image plane is, for example, 15 mm. In this position, the optical axis OAi is aligned horizontally. In this forward-looking position of the sensor device 1, this can be useful, for example, for a contrast detection, a distance detection or also further monitoring.
Die Sensoreinrichtung 1 dient auch zum Überwachen eines Windschutzscheibenausschnittes im Hinblick auf eine Benetzung oder Verschmutzung zum Ansteuern der Scheibenwisch- und -Waschanlage. Zu diesem Zweck wird die Betätigungseinrichtung 9 zum Verschwenken des Schwenkarms 7 und somit zum Bewegen des Objektivs 4 auf einer gekrümmten Bahn betätigt. Diese zweite Stellung des Sensorarrays 1 ist in dem dargestellten Ausführungsbeispiel dadurch gekennzeichnet, daß die Bildebene und die Objektivebene eine gemeinsame Schnittgerade bilden, die in der Ebene der Windschutzscheibe 2 liegt. In dieser Abbildungsanordnung liegt die durch das Objektiv 4 fokussierte Ebene in der Ebene der Windschutzscheibe 2, so daß die in dem Windschutzscheibenausschnitt der Windschutzscheibe 2 auf der Windschutzscheibe 2 anhaftenden Objekte scharf abgebildet werden können. Der Abstand der Bildebene zur Objektivebene hat sich um 2 mm bei dem dargestellten Ausführungsbeispiel vergrößert, so daß nunmehr insgesamt der Abstand von der Bildebene zur Objektivebene 17 mm beträgt. Die optische Achse OA2 der zweiten Stellung der Sensoreinrichtung 1 ist gegenüber der optischen Achse OAi um etwa 10° nach oben angehoben.The sensor device 1 is also used to monitor a windshield cutout with regard to wetting or soiling in order to control the windshield wiper and washer system. For this purpose, the actuating device 9 is actuated to pivot the swivel arm 7 and thus to move the objective 4 on a curved path. This second position of the sensor array 1 is characterized in the exemplary embodiment shown in that the image plane and the objective plane form a common line of intersection which lies in the plane of the windshield 2. In this imaging arrangement, the plane focused by the lens 4 lies in the plane of the windshield 2, so that the objects adhering to the windshield 2 in the windshield cutout can be sharply imaged. The distance between the image plane and the lens plane has increased by 2 mm in the exemplary embodiment shown, so that the total distance from the image plane to the lens plane is now 17 mm. The optical axis OA 2 of the second position of the sensor device 1 is raised upward by approximately 10 ° with respect to the optical axis OAi.
Die Anordnung von Bildebene, Objektivebene und Windschutzscheibenebene in der beschriebenen Form in der zweiten Stellung ist vorteilhaft, da eine besondere Schärfentiefe zur Erfassung der auf der Windschutzschei- be anhaftenden Objekte nicht notwendig ist, so daß der gesamte Hintergrund unscharf abgebildet wird und somit eine Objektdetektion auf der Windschutzscheibe nicht nachteilig beeinflussen kann. Als Betätigungseinrichtung können unterschiedliche Antriebe vorgesehen sein, beispielsweise ein Schrittmotor, eine Schwingspule oder ein Piezo- Aktuator. Im Berieb der Sensoreinrichtung 1 wird durch das Sensorarray 1 in einem vorgegebenen Takt zwischen den beiden Stellungen gewechselt, um mal das eine und mal das andere Objekt überwachen zu können.The arrangement of the image plane, objective plane and windshield plane in the form described in the second position is advantageous since a special depth of field is not necessary for detecting the objects adhering to the windshield, so that the entire background is imaged out of focus and thus object detection cannot adversely affect the windshield. Different drives can be provided as the actuating device, for example a stepper motor, a voice coil or a piezo actuator. When the sensor device 1 is in operation, the sensor array 1 switches between the two positions in a predetermined cycle in order to be able to monitor the one and the other object.
In einer nicht dargestellten Weiterbildung ist vorgesehen, daß durch die Betätigungseinrichtung sowohl das Sensorarray bezüglich der Neigung seiner Bildebene als auch das Objektiv bezüglich seines Abstandes zum Sensorarray sowie bezüglich seiner Neigung, wie in der Figur dargestellt, verändert werden kann.In a development, not shown, it is provided that both the sensor array with respect to the inclination of its image plane and the lens with respect to its distance from the sensor array and with respect to its inclination can be changed by the actuating device, as shown in the figure.
Aus der Beschreibung der Erfindung wird deutlich, daß bei der erfindungsgemäßen Sensoreinrichtung 1 um eine solche handelt, die durch die Änderung der Abbildungsverhältnisse besonders gut an die Anforderung zur Überwachung zweier unterschiedlicher Objekte angepaßt ist. From the description of the invention it is clear that the sensor device 1 according to the invention is one that is particularly well adapted to the requirement for monitoring two different objects by changing the imaging ratios.
Zusammenstellung der BezugszeichenCompilation of the reference symbols
1 Sensoreinrichtung1 sensor device
2 Windschutzscheibe2 windshield
3 Sensorarray3 sensor array
4 Objektiv4 lens
5 Sammellinse5 converging lens
6 Fassung6 version
7 Schwenkarm7 swivel arm
8 Schwenkachse8 swivel axis
9 Betätigungseinrichtung9 actuating device
OAi optische AchseOAi optical axis
OA2 optische Achse OA 2 optical axis

Claims

Patentansprüche claims
1. Optoelektronische Sensoreinrichtung für ein Kraftfahrzeug zum Überwachen von mehreren Objekten umfassend ein aus einer Vielzahl optoelektronischer Wandlerelemente aufgebautes Sensorarray (3) und ein auf ein Objekt gerichtetes und fokussiertes Objektiv (4) angeordnet zum Abbilden des Objektes auf der photosensitiven Oberfläche des Sensorarrays (3), dadurch gekennzeichnet, daß das Objektiv (4) über einen vorbestimmten Bewegungsbetrag auf einer gekrümmten Bahn bewegbar zwischen zumindest zwei Stellungen gelagert ist, so daß nach einer Verschwenkbewegung des Objektivs (4) aus einer ersten, zum Überwachen eines ersten Objektes vorgesehenen Stellung in eine zweite, zum Überwachen ei- nes zweiten Objektes vorgesehenen Stellung der Abstand des Ob- jetivs (4) zur photosensitiven Oberfläche des Sensorarrays (3) und die Raumlage der Objektivebene zu der durch die photosensitive Oberfläche des Sensorarrays (3) gebildeten Bildebene des Sensorarrays (3) zum Bereitstellen unterschiedlicher Abbildungsverhältnis- se geändert ist.1. Optoelectronic sensor device for a motor vehicle for monitoring a plurality of objects, comprising a sensor array (3) constructed from a multiplicity of optoelectronic transducer elements and an objective (4) directed and focused on an object for imaging the object on the photosensitive surface of the sensor array (3) , characterized in that the objective (4) is movably supported on a curved path between at least two positions over a predetermined amount of movement, so that after a pivoting movement of the objective (4) from a first position intended for monitoring a first object into a second , the position of the objective (4) to the photosensitive surface of the sensor array (3) and the spatial position of the objective plane to the image plane of the sensor array (3) formed by the photosensitive surface of the sensor array (3) for monitoring a second object. different to provide the image ratio is changed.
2. Sensoreinrichtung nach Anspruch 1 , dadurch gekennzeichnet, daß das Objektiv (4) in einer Kulisse geführt ist.2. Sensor device according to claim 1, characterized in that the lens (4) is guided in a backdrop.
3. Sensoreinrichtung nach Anspruch 1 , dadurch gekennzeichnet, daß das Objektiv (4) an einem drehbar gelagerten Schwenkarm (7) angeordnet ist.3. Sensor device according to claim 1, characterized in that the lens (4) is arranged on a rotatably mounted swivel arm (7).
4. Sensoreinrichtung nach einem der Ansprüche 1 bis 3, dadurch ge- kennzeichnet, daß das Objektiv (4) in einer ersten Stellung zum4. Sensor device according to one of claims 1 to 3, characterized in that the lens (4) in a first position for
Abbilden der vor dem Fahrzeug befindlichen Umgebung und in einer zweiten Stellung zum Abbilden eines Ausschnittes der geneigten Windschutzscheibe (2) angeordnet ist, in welcher zweiten Stellung die Objektivebene und die Bildebene des Sensorarrays (3) ei- ne gemeinsame Schnittgerade in der Ebene der Windschutzscheibe (2) definieren. Imaging of the environment in front of the vehicle and in a second position for imaging a section of the inclined windshield (2) is arranged, in which second position the objective plane and the image plane of the sensor array (3) a common line of intersection in the plane of the windshield ( 2) define.
5. Sensoreinrichtung nach Anspruch 4, dadurch gekennzeichnet, daß der Neigungswinkelunterschied des Objektivs (4) zwischen seiner ersten und seiner zweiten Stellung etwa 10° beträgt.5. Sensor device according to claim 4, characterized in that the inclination angle difference of the lens (4) between its first and its second position is approximately 10 °.
6. Sensoreinrichtung nach einem der Ansprüche 1 bis 5, dadurch gekennzeichnet, daß die Wandlerelemente des Sensorarrays (3) in einer zweidimensionalen Anordnung zueinander angeordnet sind.6. Sensor device according to one of claims 1 to 5, characterized in that the transducer elements of the sensor array (3) are arranged in a two-dimensional arrangement to one another.
7. Sensoreinrichtung nach Anspruch 6, dadurch gekennzeichnet, daß die Wandlerelemente des Sensorarrays (3) Zeilen- und spaltenweise auslesbar sind. 7. Sensor device according to claim 6, characterized in that the transducer elements of the sensor array (3) can be read in rows and columns.
PCT/EP2000/009844 1999-10-16 2000-10-07 Optoelectronic sensor device for a motor vehicle WO2001028813A2 (en)

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