WO2016169914A1 - Procédé permettant de faire fonctionner un capteur opto-électronique pour un véhicule comprenant une adaptation de l'émission des signaux d'émission, capteur opto-électronique, système d'assistance au conducteur et véhicule automobile - Google Patents

Procédé permettant de faire fonctionner un capteur opto-électronique pour un véhicule comprenant une adaptation de l'émission des signaux d'émission, capteur opto-électronique, système d'assistance au conducteur et véhicule automobile Download PDF

Info

Publication number
WO2016169914A1
WO2016169914A1 PCT/EP2016/058610 EP2016058610W WO2016169914A1 WO 2016169914 A1 WO2016169914 A1 WO 2016169914A1 EP 2016058610 W EP2016058610 W EP 2016058610W WO 2016169914 A1 WO2016169914 A1 WO 2016169914A1
Authority
WO
WIPO (PCT)
Prior art keywords
optoelectronic sensor
transmission
signals
motor vehicle
transmission signals
Prior art date
Application number
PCT/EP2016/058610
Other languages
German (de)
English (en)
Inventor
Jochen Schenk
Frank SELBMANN
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 WO2016169914A1 publication Critical patent/WO2016169914A1/fr

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/42—Simultaneous measurement of distance and other co-ordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/483—Details of pulse systems

Definitions

  • the present invention relates to a method for operating an optoelectronic sensor for a motor vehicle, in which during a first measuring cycle at least one series of measurements is performed, in which by means of a transmitting unit of the
  • Optoelectronic sensor within a predetermined angular range a predetermined number of transmission signal is emitted and the reflected from an object transmission signals are received by means of a receiving unit of the optoelectronic sensor as received signals.
  • the invention also relates to an optoelectronic sensor for a motor vehicle.
  • the present invention relates to a driver assistance system and a motor vehicle.
  • optoelectronic sensors for motor vehicles.
  • Such optoelectronic sensors can be designed, for example, as lidar sensors (Lidar - Light Detection and Ranging) or as laser scanners.
  • Such optoelectronic sensors are mounted, for example, on motor vehicles in order to detect the environment of the motor vehicle while driving or during operation of the motor vehicle.
  • the optoelectronic sensor is in particular a scanning optical measuring device, by means of which objects or obstacles in an environmental region of the
  • Motor vehicle can be detected.
  • the optoelectronic sensor a distance between the motor vehicle and an object after
  • the optoelectronic sensor usually comprises a transmitting unit which has, for example, a laser diode with which an optical transmission signal can be transmitted.
  • the optoelectronic sensor comprises a corresponding receiving unit, which has, for example, at least one photodiode, by means of which the transmission signal reflected by the object can become a received signal.
  • the sensor signals are emitted in a predetermined angular range.
  • the optoelectronic sensor has a deflection device, for example a rotating mirror.
  • the transmission signals can be transmitted as light pulses.
  • the optoelectronic sensor within the predetermined angular range to a fixed angular resolution, which may be, for example, 0.25 °.
  • corresponding measuring cycles can be carried out for the detection of objects or obstacles with the optoelectronic sensor.
  • Measurement series or scans are performed in which the transmitting unit in each case emits transmission signals within a predetermined horizontal angle range. Due to the predetermined angular resolution of the optoelectronic sensor, only very few measuring points or received signals are obtained from distant objects. Even with very weakly reflective objects, the number of received received signals is relatively low. This brings disadvantages in particular when the objects detected by the optoelectronic sensor are to be classified.
  • US 2009/0273770 A1 describes a lidar system for a motor vehicle.
  • the transmission signals that are emitted by a laser are automatically adjusted to prevent damage to the eyes of a human being. For example, when an object is detected, the distance between the motor vehicle and the object is determined. If the distance falls below a predetermined threshold value, the transmission power of the laser is automatically reduced. It can also be provided that the laser amplitude, the repetition frequency or the optical intensity is adjusted.
  • This object is achieved by a method by a
  • An inventive method is used to operate an optoelectronic sensor for a motor vehicle.
  • at least one measurement series is performed during a first measurement cycle, in which a predetermined number of transmission signals are transmitted within a predetermined angular range by means of a transmission unit of the optoelectronic sensor and the transmission signals reflected by an object be received by means of a receiving unit of the optoelectronic sensor as received signals.
  • a residence area for the object within the predetermined angular range is determined by means of the optoelectronic sensor on the basis of the received signals received by the receiving unit during the first measuring cycle.
  • the optoelectronic sensor is for use on a motor vehicle.
  • the optoelectronic sensor can be designed in particular as a lidar sensor or as a laser scanner. With the optoelectronic sensor can objects in one
  • a distance between the motor vehicle and the object can be determined by means of the optoelectronic sensor.
  • the optoelectronic sensor is used to generate chronologically successive measuring cycles
  • At least one series of measurements is carried out during a first measuring cycle.
  • Measurement series carried out.
  • a predetermined number of transmission signals are transmitted within a predetermined angular range by means of the transmission unit.
  • the transmission signals are transmitted with the transmission unit within a predetermined horizontal angle range.
  • the transmission signals are emitted in particular as laser pulses or light pulses.
  • the laser light is deflected along the predetermined angular range with the aid of a corresponding deflection device, for example with the aid of a rotating mirror.
  • transmit signals are emitted.
  • These transmission signals are reflected by the object and then arrive again as received signals to a receiving unit of the optoelectronic sensor.
  • one or more echoes can be received as received signals from a transmitted transmission signal.
  • the receiving unit may for example comprise a corresponding photodiode.
  • Location area defines a range within the predetermined angular range in which an object is located or in which a high
  • the transmission of the transmission signals within of the occupied area adapted or changed.
  • the transmission signals or the transmission of the transmission signals are adapted so that more information about the object can be obtained within the location area compared to the first measurement cycle in the second measurement cycle.
  • the transmission of the transmission signals can be dynamically adjusted based on the information obtained during the first measurement cycle.
  • a number of the transmission signals which are transmitted in the location area are increased.
  • the number of transmission signals transmitted in the location area can be increased as compared with the area of the angle area other than the location area.
  • an emission rate or a pulse rate of the transmission unit or the laser diode can be increased for the location area.
  • the control of the deflection can be adjusted.
  • a rotating mirror which serves as a deflector, can be operated at a lower rotational speed.
  • more transmit signals are emitted in the direction of the object within the location area. This can be obtained from the object more scan points or received signals.
  • the object can be detected more reliably.
  • Transmission signals in the second measuring cycle a first and at least a second
  • Measurement series carried out, wherein a beginning of the transmission of the predetermined number of transmission signals in the at least one second measurement series compared to the first measurement series is carried out with a predetermined time offset.
  • the pulse times can be offset in succession in successive measurement series or scans.
  • a first number of transmission signals and in the case of the at least one second measurement series a second number of transmission signals different from the first number are transmitted.
  • the first option for adjusting the transmission of the transmission signals was called increasing the number of transmission signals.
  • the time shift of the Transmission of the transmission signals in successive measurement series called.
  • the first and second options are combined.
  • the number of transmission signals can be increased in each of the measurement series compared to the first measurement cycle.
  • Transmit signals are emitted in the temporally successive measurement series with a temporal offset to each other.
  • first option and the second option in successive measurement series alternately or according to a
  • Random distribution are performed. Thus, it can be achieved that the object or obstacle can be detected more reliably.
  • a distance between the optoelectronic sensor and the object is determined and the adjustment is performed if the determined distance exceeds a predetermined minimum distance.
  • the adaptation of the transmission signals can be activated, for example, only if the object has a minimum distance to the motor vehicle and no further object in the vicinity is to be expected in this area. In this way, the optoelectronic sensor can be operated safely and reliably.
  • a movement of the object is determined by means of the optoelectronic sensor on the basis of the received signals, and the location area is determined on the basis of the determined movement of the object. For example, a current position of the object can be determined for each measurement cycle or for each measurement series on the basis of the received signals. Based on the positions, a
  • Relative movement of the object are determined to the motor vehicle. For example, in particular a direction of movement and / or a speed of movement of the object can be determined. This information can now be used to adjust the accommodation area accordingly.
  • a number of the transmission signals in the second measuring cycle is reduced in comparison to the first measuring cycle in a region of the angular range which is different from the location region.
  • the number of transmission signals for the location area can be increased and reduced in the remaining area.
  • Transmitting signals in the residence area and in the area of residence different range in the second measurement cycle can be adjusted so that by transmitting a predetermined transmission power is exceeded. In other words, so that the overall performance is not exceeded, additional laser pulses can be saved at a suitable location.
  • the residence area is preferably predetermined within a horizontal and / or a vertical angle range. For example, it may be provided that transmission signals are transmitted along a horizontal angle range during a measurement series. In a further measurement series, the transmission signals can then be transmitted in a further horizontal angle range, which is vertically offset in comparison to that of the preceding series of measurements.
  • the residence area can be specified either for horizontal or for vertical angle ranges. It can also be provided that the residence area is specified for both horizontal and vertical angle ranges.
  • a corresponding arithmetic unit can be provided with which a classification of the object is carried out on the basis of the received received signals.
  • the arithmetic unit can be part of the optoelectronic sensor, for example.
  • the arithmetic unit is part of a driver assistance system or part of the motor vehicle. The arithmetic unit, for example, by an electronic
  • Control unit be formed.
  • the arithmetic unit can perform a corresponding comparison of the received received signals with differential received signals.
  • the object can be classified as a motor vehicle, two-wheeler, pedestrian or the like.
  • An inventive optoelectronic sensor for a motor vehicle is for
  • the optoelectronic sensor can be designed in particular as a lidar sensor or as a laser scanner.
  • the optoelectronic sensor may have a transmitting unit for transmitting the transmitting signals and a receiving unit for receiving the receiving signals.
  • the optoelectronic sensor can have a corresponding deflection unit, for example a rotating mirror, with which the transmission signals within the
  • the optoelectronic sensor have a corresponding arithmetic unit, by means of which the transmission of the transmission signals can be controlled.
  • Resident area are determined by the received signals.
  • a driver assistance system comprises an optoelectronic sensor according to the invention. For example, a distance to an object or obstacle in an environmental region of the motor vehicle can be detected with the optoelectronic sensor.
  • a motor vehicle according to the invention comprises an inventive
  • the motor vehicle is designed in particular as a passenger car.
  • Embodiments and their advantages apply correspondingly to the optoelectronic sensor according to the invention, the driver assistance system according to the invention and the motor vehicle according to the invention.
  • FIG. 1 A motor vehicle according to an embodiment of the present invention, which is a driver assistance system with a
  • FIGS. 2 to 6 are tabular representations which describe a transmission of transmission signals of the optoelectronic sensor during a measurement cycle
  • FIG. 7 shows a surrounding area of the motor vehicle
  • FIGS. 8 and 9 are diagrams spatially describing measurement signals of the optoelectronic sensor.
  • FIG. 1 shows a motor vehicle 1 according to an embodiment of the present invention
  • the motor vehicle 1 is in the present embodiment as
  • the motor vehicle 1 comprises a
  • Driver assistance system 2 With the driver assistance system 2, for example, an object 3, which is located in a surrounding area 4 of the motor vehicle 1, are detected. In particular, a distance between the motor vehicle 1 and the object 3 can be determined by means of the driver assistance system 2.
  • the driver assistance system 2 comprises an optoelectronic sensor 5.
  • the optoelectronic sensor 5 may be designed as a lidar sensor.
  • the optoelectronic sensor 5 is designed as a laser scanner.
  • Sensor 5 comprises a transmitting unit 6, with which a transmission signal 8 in the form of an optical signal or in the form of laser light can be emitted.
  • Transmitting unit 6 may comprise, for example, a laser diode. With the transmission unit 6, the transmission signals 8 within a predetermined angular range 12th
  • the transmission signal 8 can be transmitted in a predetermined horizontal angle range.
  • the optoelectronic sensor 5 or the transmitting unit 6 further comprises a not shown here
  • Deflection device such as a rotating mirror with which the transmission signals 8 can be deflected within the angular range 12.
  • a plurality of measurement series 14 can be performed become. In this case, a predetermined vertical section in the surrounding area 4 can be examined for each measurement series 14.
  • the optoelectronic sensor 5 comprises a receiving unit 7, which may comprise, for example, a photodiode.
  • the receiving unit 7 With the receiving unit 7, the reflected from the object 3 transmission signal 8 can be received as a received signal 9.
  • the optoelectronic sensor 5 comprises a computing unit 10, which may be formed for example by a microcontroller or a digital signal processor.
  • the transmitting unit 6 can be driven to transmit the transmission signal 8.
  • the arithmetic unit 10 can evaluate the receive signals 9 received by the receiving unit 7.
  • Driver assistance system 2 further comprises a control device 1 1, which may be formed for example by an electronic control unit of the motor vehicle 1.
  • FIGS. 2 to 6 each show in tabular view the sending of the
  • FIG. 2 shows a first measurement cycle M1. In this case, individual angular positions 13 within the angular range 12 are shown in the first line. The single ones
  • angular positions 13 show a section of the angular range 12 and extend between -72.50 ° and -72.0 ° in the range of 0.05 °.
  • the selected section of the angle range 12 is chosen here purely by way of example. Even the steps of 0.05 ° are chosen as examples. It may also be provided that the successive steps are not the same. The successive steps could also be 0.04 °, 0.06 °, 0.04 ° and so on.
  • the individual angular positions 13 are assigned in particular to horizontal angular ranges.
  • the individual lines of the table describe respective measurement series 14 which are carried out with the optoelectronic sensor 5 during the measurement cycle M1, M2.
  • the individual areas, which are marked with a plus sign, describe the angular positions 13 at which a transmission signal 8 is transmitted.
  • the remaining areas, which are marked with a minus sign, describe the angular ranges 13 at which no transmission signal 8 is transmitted.
  • the table shows a column 15, in which the measurement series 14 are marked, in which an object 3 was detected.
  • the measurement series 14, in which an object 3 was detected, are marked with an x.
  • the measurement series 14, in which no object 3 was detected are marked with a minus sign.
  • FIG. 2 shows, by way of example, the first measuring cycle M1 in which, within the
  • Measurement series 14 which are marked with B to F, an object 3 detected. By means of the arithmetic unit 10, these measurement series 1 are assigned to a location area 16.
  • the residence area 16 describes the area within the angle range 12 in which the object 3 is or in which an elevated
  • the residence area 16 is assigned to individual measurement series 14. It can also be provided that the residence area is assigned to individual angular areas 13.
  • FIGS 3 to 6 also show in tabular view the sending of the
  • the second measuring cycles M2 follow in time on the first measuring cycle M1.
  • the transmission of the transmission signals 8 in the measurement series 14, which are assigned to the location area 16, is adapted.
  • FIG. 3 shows a first option for modifying the transmission of the transmission signals 8 in the location area 16.
  • the measurement series which are identified by A, G and H
  • the measurement series B to F instead of the measurement series B to F, the measurement series B2 to F2 are performed. In this case, the number of transmission signals 8 transmitted per measurement series 14 is increased. In the present example, the transmission signals 8 are output at angular intervals of 0.10 °. Thus, it can be achieved that the object 3 can be detected more accurately.
  • the measurement series B3 to F3 are compared with the first measurement cycle M1.
  • a beginning of the respective transmission of the sequence of transmission signals 8 in successive measurement series 14 is shifted by 0.05 ° in each case.
  • the value of 0.05 ° represents a possible variant.
  • this allows a more accurate detection of the object 3.
  • FIGS. 5 and 6 describe further variants of varying the transmission of the transmission signals 8 in the second measuring cycle M2.
  • the first option ie the increase of the number of transmission signals 8, and the second option, as or temporal offset of the transmission between consecutive measurement series 14, are combined.
  • the first and the second option can take place in successive measurement series 14 alternately or according to a random distribution.
  • Fig. 5 shows an example in which the first and the second option combined.
  • the measurement series B4 to F4 are performed.
  • the first and second options for the measurement series 14 are determined based on a random distribution.
  • the measurement series B5 to F5 are performed instead of the measurement series B to F.
  • FIG. 7 shows the surrounding area 4 of the motor vehicle 1, in which a further motor vehicle is located as the object 3 on a road in the direction of travel in front of the motor vehicle 1.
  • the object 3 may for example be a motor vehicle which is relatively far away from the motor vehicle 1 and also has a low reflectivity with respect to the transmission signal 8.
  • the object 3 may be a black motor vehicle.
  • two guide posts 17 are located in the surrounding area 4 of the motor vehicle 1.
  • FIG. 8 shows measuring signals 18 which were determined by the arithmetic unit 10 on the basis of the received signals 9 during the first measuring cycle M1.
  • the measurement signals 18 are plotted with respect to two spatial directions R1 and R2.
  • R1 may be the horizontal direction with respect to the motor vehicle 1
  • R2 may be the vertical direction with respect to the motor vehicle 1.
  • the measurement signals 18 are assigned to a first region 19 of the object 3 or the motor vehicle.
  • the measurement signals 18 in the second regions 20 are assigned to the guide post 17.
  • Fig. 9 shows the measurement signals 19 at a second measurement cycle M2, which was carried out according to one of the previously described methods. It can be seen here that in the first region 19, the number of measuring signals 18 has doubled. Thus, for example, a classification of the object 3 can be performed more accurately.
  • the classification can, for example, with the control device 1 1
  • the object 3 can be classified as a motor vehicle in the second measurement cycle M2. If only the measurement signals 18 of the first measurement cycle M1 according to FIG. 8 are available, there is a risk that the object

Abstract

L'invention concerne un procédé pour faire fonctionner un capteur opto-électronique (5) pour un véhicule automobile (1), selon lequel on réalise lors d'un premier cycle de mesures (M1) au moins une série de mesures (14) lors de laquelle un nombre prédéterminé de signaux d'émission (8) est émis au moyen d'une unité d'émission (6) du capteur opto-électronique (5) dans les limites d'un intervalle angulaire prédéterminé (12) et les signaux d'émission réfléchis par un objet (3) sont reçus au moyen d'une unité de réception (7) du capteur opto-électronique (5) en tant que signaux de réception (9), une plage de séjour (16) pour l'objet (3) dans les limites de l'intervalle angulaire prédéterminé (12) étant déterminée au moyen du capteur opto-électronique (5) à l'aide des signaux de réception (9) reçus par l'unité de réception (7) pendant le premier cycle de mesures (M1), et l'émission des signaux d'émission (8) à l'intérieur de la plage de séjour (16) étant modifiée lors d'un deuxième cycle de mesures (M2) consécutif.
PCT/EP2016/058610 2015-04-22 2016-04-19 Procédé permettant de faire fonctionner un capteur opto-électronique pour un véhicule comprenant une adaptation de l'émission des signaux d'émission, capteur opto-électronique, système d'assistance au conducteur et véhicule automobile WO2016169914A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015106140.6A DE102015106140A1 (de) 2015-04-22 2015-04-22 Verfahren zum Betreiben eines optoelektronischen Sensors für ein Kraftfahrzeug mit Anpassung des Aussendens der Sendesignale, optoelektronischer Sensor, Fahrerassistenzsystem sowie Kraftfahrzeug
DE102015106140.6 2015-04-22

Publications (1)

Publication Number Publication Date
WO2016169914A1 true WO2016169914A1 (fr) 2016-10-27

Family

ID=55759598

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2016/058610 WO2016169914A1 (fr) 2015-04-22 2016-04-19 Procédé permettant de faire fonctionner un capteur opto-électronique pour un véhicule comprenant une adaptation de l'émission des signaux d'émission, capteur opto-électronique, système d'assistance au conducteur et véhicule automobile

Country Status (2)

Country Link
DE (1) DE102015106140A1 (fr)
WO (1) WO2016169914A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108120983A (zh) * 2016-11-30 2018-06-05 三星电子株式会社 用于提供三维信息的车辆雷达装置
WO2018197225A1 (fr) * 2017-04-25 2018-11-01 Robert Bosch Gmbh Commande d'une source de lumière dirigée

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102018128807A1 (de) 2018-11-16 2020-05-20 Valeo Schalter Und Sensoren Gmbh Verfahren zur Ansteuerung einer Sendeeinrichtung eines optoelektronischen Sensors eines Fahrzeugs mit Verwendung eines künstlichen neuronalen Netzes, Recheneinrichtung sowie optoelektronischer Sensor
KR20210065259A (ko) * 2019-11-26 2021-06-04 삼성전자주식회사 레이더 장치 및 그 동작 방법

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5638164A (en) * 1994-08-09 1997-06-10 Development Authority, Rafael State of Israel--Ministry of Defense Armament Apparatus and method for laser imaging
DE19948398A1 (de) * 1999-05-28 2000-12-21 Mitsubishi Electric Corp Abtast-Abstandsmessgerät
US20050057741A1 (en) * 2003-09-15 2005-03-17 Deere & Company, A Delaware Corporation Optical range finder with directed attention
US20090273770A1 (en) 2008-04-30 2009-11-05 Honeywell International Inc. Systems and methods for safe laser imaging, detection and ranging (lidar) operation
DE102010005993A1 (de) * 2010-01-27 2011-07-28 Deutsches Zentrum für Luft- und Raumfahrt e.V., 51147 Laserscanner-Einrichtung und Verfahren zur dreidimensionalen berührungslosen Umgebungserfassung mit einer Laserscanner-Einrichtung

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5743390B2 (ja) * 2009-09-15 2015-07-01 本田技研工業株式会社 測距装置、及び測距方法
DE202011110290U1 (de) * 2011-07-18 2013-04-30 Sick Ag Optoelektronischer Sensor
CN104620129A (zh) * 2012-09-14 2015-05-13 法罗技术股份有限公司 具有角扫描速度的动态调整的激光扫描仪
DE202013101039U1 (de) * 2013-03-11 2014-03-12 Sick Ag Optoelektronischer Sensor zur Entfernungsmessung

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5638164A (en) * 1994-08-09 1997-06-10 Development Authority, Rafael State of Israel--Ministry of Defense Armament Apparatus and method for laser imaging
DE19948398A1 (de) * 1999-05-28 2000-12-21 Mitsubishi Electric Corp Abtast-Abstandsmessgerät
US20050057741A1 (en) * 2003-09-15 2005-03-17 Deere & Company, A Delaware Corporation Optical range finder with directed attention
US20090273770A1 (en) 2008-04-30 2009-11-05 Honeywell International Inc. Systems and methods for safe laser imaging, detection and ranging (lidar) operation
DE102010005993A1 (de) * 2010-01-27 2011-07-28 Deutsches Zentrum für Luft- und Raumfahrt e.V., 51147 Laserscanner-Einrichtung und Verfahren zur dreidimensionalen berührungslosen Umgebungserfassung mit einer Laserscanner-Einrichtung

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108120983A (zh) * 2016-11-30 2018-06-05 三星电子株式会社 用于提供三维信息的车辆雷达装置
CN108120983B (zh) * 2016-11-30 2023-09-19 三星电子株式会社 用于提供三维信息的车辆雷达装置
WO2018197225A1 (fr) * 2017-04-25 2018-11-01 Robert Bosch Gmbh Commande d'une source de lumière dirigée
CN110573909A (zh) * 2017-04-25 2019-12-13 罗伯特·博世有限公司 定向光源的控制
US11332064B2 (en) 2017-04-25 2022-05-17 Robert Bosch Gmbh Control of a directed light source

Also Published As

Publication number Publication date
DE102015106140A1 (de) 2016-10-27

Similar Documents

Publication Publication Date Title
EP3168641B1 (fr) Procede et dispositif de mesure de distance optique
EP1664838B1 (fr) Procede et programme informatique pour detecter le contour d'un obstacle dans l'environnement d'un vehicule
WO2002099458A1 (fr) Procede et dispositif d'acquisition
DE102015109160A1 (de) Fahrerassistenzsystem für ein Kraftfahrzeug, Kraftfahrzeug sowie Verfahren
WO2016169914A1 (fr) Procédé permettant de faire fonctionner un capteur opto-électronique pour un véhicule comprenant une adaptation de l'émission des signaux d'émission, capteur opto-électronique, système d'assistance au conducteur et véhicule automobile
EP3311196A1 (fr) Manoeuvre d'un attelage comportant un véhicule automobile et une remorque
EP2184616A2 (fr) Procédé et dispositif destinés à la commande d'une source de rayonnement
DE102005005959A1 (de) Vorrichtung und Verfahren zum Steuern einer Sicherheitsvorrichtung eines Fahrzeugs
EP2306217B1 (fr) Détermination d'un environnement
DE102005045302B4 (de) Verfahren zum Betrieb eines Abstandssensors
EP1762861B1 (fr) Procédé et dispositif de mesure de créneaux de stationnement d'un vehicule automobile
WO2018177978A1 (fr) Procédé de détection d'un objet dans une zone environnante d'un véhicule automobile avec classification de l'objet, dispositif de détection à ultrasons et véhicule automobile
EP1966631B1 (fr) Dispositif pour la detection d'un objet
EP3542181B1 (fr) Procédé de fonctionnement d'un capteur optoélectronique d'un véhicule automobile avec commande variable d'une source lumineuse, capteur optoélectronique, système d'assistance à la conduite et véhicule automobile
WO2018060309A1 (fr) Dispositif de détection pour un véhicule automobile, système d'aide à la conduite, véhicule automobile et procédé associé
EP3289382A1 (fr) Capteur laser destiné à un véhicule automobile et muni d'un miroir parabolique, système d'aide à la conduite, et véhicule automobile
EP3885787A1 (fr) Acquisition de données de mesure de distance
DE102018126497A1 (de) Verfahren zur Überprüfung einer Reichweite einer optischen Detektionsvorrichtung und optische Detektionsvorrichtung
DE102017127127A1 (de) Verfahren zum Erzeugen einer Fahrtrajektorie eines Fahrzeugs
EP2287630B1 (fr) Dispositif de saisie optoélectronique
EP0860714A1 (fr) Procédé et système de détection de la distance d'un obstacle pour véhicule
WO2022058155A1 (fr) Procédé destiné à la détection d'objets et dispositif de détection
DE102016213983A1 (de) Steuer- und Auswerteeinheit, LiDAR-System, Arbeitsvorrichtung und Verfahren zum Steuern
DE102019127859A1 (de) Positionsbestimmung eines Objekts mittels Ultraschall
EP2466328A1 (fr) Scanner laser et procédé de détection à résolution spatiale de l'environnement d'un véhicule à l'aide d'un scanner laser

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 16717151

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 16717151

Country of ref document: EP

Kind code of ref document: A1