WO2020058079A1 - Procédé de pliage automatique d'un dispositif de détection de véhicule en cas de non-utilisation par un actionneur - Google Patents

Procédé de pliage automatique d'un dispositif de détection de véhicule en cas de non-utilisation par un actionneur Download PDF

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Publication number
WO2020058079A1
WO2020058079A1 PCT/EP2019/074350 EP2019074350W WO2020058079A1 WO 2020058079 A1 WO2020058079 A1 WO 2020058079A1 EP 2019074350 W EP2019074350 W EP 2019074350W WO 2020058079 A1 WO2020058079 A1 WO 2020058079A1
Authority
WO
WIPO (PCT)
Prior art keywords
sensor device
motor vehicle
actuator
pivoted
vehicle
Prior art date
Application number
PCT/EP2019/074350
Other languages
German (de)
English (en)
Inventor
Rachid Khlifi
Original Assignee
Audi Ag
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 Audi Ag filed Critical Audi Ag
Publication of WO2020058079A1 publication Critical patent/WO2020058079A1/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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/027—Constructional details of housings, e.g. form, type, material or ruggedness
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9323—Alternative operation using light waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9324—Alternative operation using ultrasonic waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93271—Sensor installation details in the front of the vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
    • G01S7/4813—Housing arrangements

Definitions

  • the invention relates to a method for operating a motor vehicle, comprising a sensor device for detecting at least a partial area of the vehicle surroundings, the sensor device being arranged in an installation position on the motor vehicle and by an actuator between a detection position in which at least the partial area of the vehicle surroundings can be detected by the sensor device, and a pivoted position in which the sensor device is covered, at least in regions, can be pivoted.
  • the invention further relates to a motor vehicle.
  • Modern motor vehicles frequently use environment sensors to collect sensor data relating to the environment of the motor vehicle, which can then be evaluated by correspondingly connected vehicle systems.
  • This can be driver assistance systems, safety systems and the like, for example.
  • ultrasonic sensors, lidar sensors, cameras, laser scanners and / or radar sensors can be used as environment sensors.
  • radar sensors in motor vehicles are increasing more and more.
  • Sensor data from radar sensors can be used, for example, in applications such as parking aids, blind spot monitoring, pre-crash sensing and / or stop-and-go functions.
  • the radar sensors can be placed in the bumpers of a motor vehicle behind a plastic cover of the bumper.
  • the radar sensors have a separate housing and are attached to the bumpers.
  • a radar sensor generally comprises a high-frequency part and a low-frequency part, the high-frequency part generating high-frequency radar signals in the range from approximately 10 to 80 gigahertz.
  • the radar signals are transmitted and received via an antenna arrangement of the radar sensor.
  • the high-frequency received radar signals are converted and mixed down to a low frequency, the low-frequency radar signals being processed in the low-frequency part of the radar sensor.
  • radar sensors make a not insignificant contribution due to their reliability and robustness.
  • Radar sensors installed in particular as front radar sensors on a front of a motor vehicle are increasingly being used for an increasing number of functions.
  • the radar sensor may be possible for the radar sensor to provide environment data for a large number of driver assistance functions, in particular safety functions and / or functions in the field of autonomous driving.
  • the radar sensor can for example be in a funnel-shaped opening installed in order to avoid that the pendulum impact hits or adjusts the sensor.
  • the sensor arranged in the funnel-shaped opening in the front area of the vehicle can interfere with the design of the motor vehicle.
  • the provision of a large, funnel-shaped opening can also have a negative effect on the pedestrian protection zones required in the front area of the vehicle.
  • a foldable radar distance sensor is known from DE 10 2014 213 704 A1.
  • the radar sensor can be moved from an operating position to a second position by means of positioning means.
  • the radar sensor is moved when the area of the air inlet covered by the radar sensor in the front region of the motor vehicle is required in order to cool a drive of the motor vehicle.
  • the available cooling surface can be enlarged by folding or swiveling the radar sensor.
  • DE 199 34 197 A1 describes a device for adjusting at least one sensor that is adjustably mounted on a vehicle. If the sensor position deviates from a target value, the sensor alignment can be adjusted automatically. Thus, the radar sensor of the vehicle can be automatically aligned in the event of a deviation of the sensor position from the target value caused by an accident.
  • DE 103 49 755 B3 describes a sensor of a motor vehicle which can be rotated about a transverse axis of the motor vehicle in order to be able to detect different lateral areas of the motor vehicle.
  • the invention is based on the object of specifying a method which protects a radar sensor arranged on a motor vehicle from damage.
  • a method of the type mentioned at the outset provides for the actuator to be actuated to move the sensor device from the detection position into the pivoted position as a function of protective information describing the need for protection of the sensor device.
  • the sensor device can be moved into the pivoted position when a need for protection is found, where it is covered at least in certain areas, so that damage caused by an external influence, such as a pendulum impact as part of a test or a parking slip or the like during operation of the motor vehicle is prevented or at least made more difficult.
  • the advantage of the solution according to the invention is that the sensor does not have to be protected from all circumstances in the detection position, since if the sensor device is in need of protection, the sensor device is pivoted into a pivoted position. Furthermore, the protection of the sensor device can thereby improve, since in the pivoted position a functionality of the sensor device, that is to say a further detection of the vehicle surroundings, is not absolutely necessary.
  • a sensor device which is arranged on one side of a carrier element, the carrier element by the actuator by one by the carrier element extending axis of rotation is pivoted.
  • the axis of rotation can extend, for example in relation to the motor vehicle, in a horizontal or a vertical direction through the carrier element.
  • the sensor device is pivoted through 180 °.
  • a sensor device which is arranged in the detection position on the outside of the motor vehicle, is thus directed toward an interior of the motor vehicle after pivoting the support element of the sensor device.
  • the back of the carrier element can advantageously have the structure, the color and / or the shape of the body of the motor vehicle surrounding the sensor device.
  • a cooler grille can be arranged on the rear side of the carrier element, which, when the sensor device is pivoted into the pivoted position, fits into a cooler grill of the motor vehicle that is present in the vicinity of the sensor device.
  • an optically appealing exterior of the motor vehicle can advantageously be produced when the sensor device is wasted in the pivoted position. This is particularly useful when there is a need for protection over a longer period of time, for example when a motor vehicle is parked.
  • the sensor device can also be protected against collisions with third-party vehicles which result from a movement of the third-party vehicle.
  • the protective information is dependent on at least one object generated by the sensor device In the partial area of the vehicle environment which is recorded by the sensor device, descriptive environment information is generated. Since the sensor device serves to detect a partial area of the motor vehicle environment, which is in any case in the part of the motor vehicle environment in front of the sensor device, it is possible for the protective information to be generated as a function of an environment information generated by the sensor device itself.
  • the protective information describes a need for protection of the sensor device if the environment information describes at least one object which will come into contact with the installation position of the sensor device during the continued operation of the motor vehicle.
  • the determination as to whether an object described by the environment information will come into contact with the installation position of the sensor device can be carried out, for example, by a computing device which evaluates the data generated by the sensor device.
  • a computing device which evaluates the data generated by the sensor device. This can be a computing device of the sensor device or a computing device of the motor vehicle that communicates with the sensor device.
  • the protective information is generated as a function of an operating parameter of the motor vehicle, the protective information describing a need for protection if the operating parameter describes a current or future non-use of the sensor device. This makes it possible to pivot the sensor device into the pivoted position if it can be seen from an operating parameter of the motor vehicle that the sensor device is currently or in the future, in particular currently and for a certain period of time in the future, not required.
  • a standstill in particular a parking state of the motor vehicle is described.
  • the sensor device is pivoted into the pivoted position when the vehicle is stationary, in order to avoid undesired damage to the sensor device during the standstill.
  • a prolonged standstill such as when the motor vehicle is parked and the motor vehicle is not being moved for a long period of time, this can help to prevent undesired damage to the sensor device.
  • a radar device in particular a radar device arranged on the front of the motor vehicle, is used as the sensor device.
  • the radar device can in particular comprise at least one long-range radar sensor, in which, because of the high range requirement, an arrangement behind a bumper due to the partial attenuation of the emitted radiation by the bumper material may not always be desired.
  • the pivoting of the sensor device when there is a need for protection offers the advantage that the arrangement of the sensor device behind a body component can be dispensed with and thus losses in the range of the sensor device can be avoided.
  • At least one electric motor is used as the actuator.
  • the electric motor can be controlled, for example, by a computing device of the sensor device and / or by a computing device of the motor vehicle if the need for protection of the sensor device has been determined by at least one of the computing devices.
  • a reset criterion to be monitored after the pivot position has been assumed, the sensor device being moved from the pivot position into the detection position by the actuator or another actuator when the reset criterion is met.
  • the reset criterion can be monitored, for example by a computing device of the sensor device and / or by a computing device of the motor vehicle.
  • the reset criterion can be met, for example, when a period of time has elapsed, which, in particular if the sensor device has been moved into the pivoted position due to the impending collision with a foreign object, when the sensor device is to be moved back into the detection position . This can take place, for example, a few seconds after the calculated collision time.
  • the reset criterion is met when the motor vehicle is started, which can therefore be interpreted as the end of a parking process.
  • a motor vehicle that it has a sensor device for detecting at least a partial area of the vehicle surroundings, the sensor device being arranged in an installation position on the motor vehicle and by an actuator between a detection position in which at least the partial area of the vehicle surroundings is detectable by the sensor device, and a pivoted position in which the sensor device is covered, at least in regions, is pivotable, the motor vehicle comprising a computing device which is designed to carry out the method according to the invention.
  • Fig. 1 is a schematic side view of an inventive
  • FIG. 2 is a front view of a motor vehicle according to the invention
  • FIG. 3 shows a schematic illustration of a sensor device in the detection position
  • FIG. 4 shows a schematic illustration of a sensor device in the pivoted position
  • FIG. 5 shows a flow chart of a method according to the invention
  • Fig. 6 is a front view of a motor vehicle according to the prior art
  • the motor vehicle 1 comprises a sensor device 2 for detecting at least a partial area of a vehicle surroundings of the motor vehicle 1, the sensor device 2 being arranged in an installation position on a vehicle front 3 of the motor vehicle 1. Furthermore, the motor vehicle 1 comprises an actuator 4 designed as an electric motor, with which the sensor device 2, as will be described below with reference to FIGS. 2 to 4, between a detection position in which at least the partial area of the vehicle surroundings is direction 2 is detectable, and a pivoted position in which the sensor device 2 is covered at least in regions, can be pivoted.
  • the motor vehicle 1 according to the invention further comprises a computing device 5, which is designed to evaluate ambient data generated by the sensor device and to control the actuator 4. Furthermore, the computing device 5 is designed to record one or more operating parameters of the motor vehicle 1.
  • FIG. 6 shows a front view of a motor vehicle according to the prior art.
  • a radiator grille ter 6 arranged in the lower area of the vehicle front 3 in the lower area of the vehicle front 3 in the lower area of the vehicle front 3 in the lower area of the radiator grille 6 .
  • a funnel 7 In the center of the radiator grille 6 is a funnel 7, on the wall surface 8 of which is lowered towards the vehicle interior, a sensor device 2 is arranged.
  • the arrangement of the sensor device 2 within the funnel 7 can at least partially protect it from a collision with a foreign object due to the lowering.
  • FIG. 2 shows a schematic representation of a front 3 of a motor vehicle 1 according to the invention.
  • the sensor device 2 is arranged on a carrier element 9 with respect to the vehicle transverse axis centrally within the radiator grille 6.
  • the actuator 4 of the motor vehicle 1 can pivot the carrier element 9 about an axis of rotation 10 running in the horizontal direction through the carrier element.
  • the sensor device can be pivoted from the detection position shown in FIGS. 2 and 3, in which at least a partial area of the vehicle surroundings can be detected by the sensor device, into the pivoted position shown in FIG. 4.
  • the carrier element 9 and thus the sensor device 2 arranged on the carrier element 9 can be rotated by the actuator 4, for example by 180 ° through the dashed axis 10, so that instead of the sensor device 2 now faces the back of the carrier element 9 shown in FIG. 4 to the outside.
  • the actuator 4 for example by 180 ° through the dashed axis 10
  • the grille structure 12 of the radiator grille 6 is continued on the underside of the carrier element 9. From the pivoted position shown in FIG. 4, the detection position of the sensor device 2 shown in FIG.
  • step S1 the sensor device is in the detection position. Protection information is continuously evaluated by the computing device 5 of the motor vehicle 1. If this protection information describes a need for protection of the sensor device 2, in the subsequent step S2 the actuator 4 is controlled by the computing device 5 of the motor vehicle 1 in order to move the sensor device 2 from the detection position to the pivoted position.
  • the sensor device 2 may be in need of protection if at least one object is described by the evaluation generated by the sensor device 2 and describing at least one object in the partial area of the vehicle environment detected by the sensor device 2, which object is described in the further operation of the Motor vehicle 1 will come into contact with the installation position of the sensor device 2.
  • an operating parameter of the motor vehicle 1 describes a sensor device 2 that is currently or will not be used in the future.
  • a sensor device 2 that is not currently or in the future may be present, for example, if the operating parameter describes a standstill, in particular a parked state of the motor vehicle 1.
  • the actuation of the actuator 4 pivots the sensor device 2 from the detection position into the pivoted position.
  • step S3 the sensor device 2 is in the pivoted position.
  • a reset criterion is continuously checked, which specifies whether the sensor device 2 is to be returned from the pivoted position to the detection position. This can be the case, for example, if after the collision with a foreign object a certain period of time, for example a few seconds, has passed and / or if an operating parameter of the motor vehicle 1 describes that a current non-use state of the sensor device 2 is ended and / or that a future use state of the sensor device 2 will occur. This can be the case, for example, when a previously parked motor vehicle 1 is put into operation again. For example, the state of an ignition of the motor vehicle and / or the activation of a driving mode can be used as the operating parameter.
  • the sensor device 2 can be a radar sensor device, for example. Furthermore, it is conceivable that the sensor device 2 is a lidar sensor, an optical sensor, in particular a camera, or an ultrasonic sensor.

Landscapes

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

Abstract

L'invention concerne un procédé de fonctionnement d'un véhicule automobile (1) comprenant un dispositif de détection (2) destiné à détecter au moins une zone de l'environnement du véhicule. Le dispositif de détection (2) est disposé dans une position d'installation sur le véhicule automobile (1) et peut pivoter par le biais d'un actionneur (4) entre une position de détection, dans laquelle au moins la zone de l'environnement du véhicule peut être détectée par le dispositif de détection (2), et une position pivotée dans laquelle le dispositif de détection (2) est au moins partiellement recouvert. Pour déplacer le dispositif de détection (2), l'actionneur (4) est commandé de la position de détection à la position pivotée en fonction d'informations de protection décrivant le besoin de protection du dispositif de détection (2).
PCT/EP2019/074350 2018-09-18 2019-09-12 Procédé de pliage automatique d'un dispositif de détection de véhicule en cas de non-utilisation par un actionneur WO2020058079A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102018215860.6 2018-09-18
DE102018215860.6A DE102018215860A1 (de) 2018-09-18 2018-09-18 Verfahren zum Betrieb eines Kraftfahrzeugs und Kraftfahrzeug

Publications (1)

Publication Number Publication Date
WO2020058079A1 true WO2020058079A1 (fr) 2020-03-26

Family

ID=67982053

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2019/074350 WO2020058079A1 (fr) 2018-09-18 2019-09-12 Procédé de pliage automatique d'un dispositif de détection de véhicule en cas de non-utilisation par un actionneur

Country Status (2)

Country Link
DE (1) DE102018215860A1 (fr)
WO (1) WO2020058079A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3118908A1 (fr) * 2021-01-21 2022-07-22 Valeo Systemes Thermiques Dispositif de régulation d’un flux d’air d’un véhicule automobile
DE102021118334A1 (de) 2021-07-15 2023-01-19 Audi Aktiengesellschaft Fahrzeug und Verfahren zum Betrieb eines solchen

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19934197A1 (de) 1999-07-21 2001-01-25 Volkswagen Ag Automatische Justiervorrichtung für einen an einem Fahrzeug angebrachten Sensor
DE10349755B3 (de) 2003-10-24 2005-01-27 Adam Opel Ag Sensor an einem Kraftfahrzeug
DE102014213704A1 (de) 2014-07-15 2016-01-21 Bayerische Motoren Werke Aktiengesellschaft Klappbarer Radarabstandssensor zur Verbesserung der Motorkühlung
WO2016073873A1 (fr) * 2014-11-07 2016-05-12 Huf North America Automotive Parts Mfg. Corp. Système de fermeture à puissance amplifiée à charge progressive
WO2017177205A1 (fr) * 2016-04-08 2017-10-12 Faraday & Future Inc. Capteur mobile destiné à une conduite autonome

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Publication number Priority date Publication date Assignee Title
US8635938B2 (en) * 2011-05-25 2014-01-28 Raytheon Company Retractable rotary turret
US9849842B1 (en) * 2016-08-11 2017-12-26 GM Global Technology Operations LLC Resettable tranceiver bracket
DE102017104987A1 (de) * 2017-03-09 2018-09-13 Connaught Electronics Ltd. Zusätzlicher manueller Antrieb für eine automatisch verstellbare Kameraeinheit

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19934197A1 (de) 1999-07-21 2001-01-25 Volkswagen Ag Automatische Justiervorrichtung für einen an einem Fahrzeug angebrachten Sensor
DE10349755B3 (de) 2003-10-24 2005-01-27 Adam Opel Ag Sensor an einem Kraftfahrzeug
DE102014213704A1 (de) 2014-07-15 2016-01-21 Bayerische Motoren Werke Aktiengesellschaft Klappbarer Radarabstandssensor zur Verbesserung der Motorkühlung
WO2016073873A1 (fr) * 2014-11-07 2016-05-12 Huf North America Automotive Parts Mfg. Corp. Système de fermeture à puissance amplifiée à charge progressive
WO2017177205A1 (fr) * 2016-04-08 2017-10-12 Faraday & Future Inc. Capteur mobile destiné à une conduite autonome

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