WO2021094234A1 - Surveillance de l'environnement d'un véhicule automobile - Google Patents

Surveillance de l'environnement d'un véhicule automobile Download PDF

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Publication number
WO2021094234A1
WO2021094234A1 PCT/EP2020/081426 EP2020081426W WO2021094234A1 WO 2021094234 A1 WO2021094234 A1 WO 2021094234A1 EP 2020081426 W EP2020081426 W EP 2020081426W WO 2021094234 A1 WO2021094234 A1 WO 2021094234A1
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WO
WIPO (PCT)
Prior art keywords
signal
control unit
unit
sensor device
sensor
Prior art date
Application number
PCT/EP2020/081426
Other languages
German (de)
English (en)
Inventor
Hamid AFRASIABI VAYGHAN
Deepak Joshi
Aydar Zimaliev
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
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Application filed by Valeo Schalter Und Sensoren Gmbh filed Critical Valeo Schalter Und Sensoren Gmbh
Publication of WO2021094234A1 publication Critical patent/WO2021094234A1/fr

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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
    • 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
    • G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/87—Combinations of sonar systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/87—Combinations of systems using electromagnetic waves other than radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/023—Interference mitigation, e.g. reducing or avoiding non-intentional interference with other HF-transmitters, base station transmitters for mobile communication or other radar systems, e.g. using electro-magnetic interference [EMI] reduction techniques

Definitions

  • the present invention relates to a sensor device for monitoring the surroundings of a motor vehicle, the sensor device having a signal generation unit and a first control unit which is set up to control the signal generation unit for generating and emitting a first signal.
  • the invention also relates to a motor vehicle with such a sensor device and a method for monitoring the surroundings of a motor vehicle.
  • Environment sensor systems for use in the automotive sector for example radar systems, lidar systems or ultrasonic sensor systems, can send out different signals in order to scan the surroundings of the motor vehicle or the sensor device and use the different signals to obtain different information or to realize different ranges and so on. It can be disadvantageous if the different signals interfere with one another, since this can lead to falsification of the measurement results.
  • the document EP 341 8768 A1 describes a radar system for a vehicle which has two radar sensor devices which are mounted at different positions of the motor vehicle.
  • the radar sensor devices each have a local clock, which can be synchronized, for example, by means of a master clock of the radar system. Radar signals from the various radar sensor devices are transmitted simultaneously in order to increase the coverage of the area around the vehicle by the radar sensor system.
  • the improved concept is based on the idea of providing a common signal generating unit for transmitting a first and a second signal, the signal generating unit being controlled by different control units for this purpose.
  • One of the control units generates a synchronization signal and transmits it the other control unit, which controls the signal generation unit for generating and transmitting the associated signal as a function of the synchronization signal.
  • a sensor device for monitoring the surroundings of a motor vehicle has a signal generation unit, a first control unit and a second control unit.
  • the first control unit is set up to control the signal generation unit in order to generate and transmit a first signal.
  • the first control unit is coupled to the second control unit and is set up to generate a synchronization signal and to transmit it to the second control unit.
  • the second control unit is set up to control the signal generation unit to generate and transmit a second signal as a function of the synchronization signal, in particular to prevent or reduce interference between the first signal and the second signal.
  • the first and the second signal differ in particular in at least one signal property.
  • the monitoring of the surroundings of the motor vehicle can be understood to mean the generation of data records which depict, for example, scan the surroundings of the sensor device and thus of the motor vehicle.
  • the sensor device in particular the signal generation unit, can generate and emit the first and second signals, in particular as electromagnetic signals or ultrasound signals, and detect reflected portions of the first and second signals that were at least partially reflected, for example, by objects in the environment and generate the data sets or sampling points based on the detected reflected components.
  • the first and second signals in particular as electromagnetic signals or ultrasound signals
  • the first control unit and the second control unit are, in particular, each coupled or connected to the signal generation unit in order to control them for generating and transmitting the first and the second signal, respectively.
  • the signal generation unit can be understood as a common sensor front end of the sensor device.
  • the sensor device cannot can be understood as an arrangement of spatially distributed sensor units that are mounted, for example, at different positions of the motor vehicle.
  • the transmission of the signals corresponds in particular to the transmission of the signals into the environment.
  • the first and the second control unit control the signal generation unit in particular in such a way that it transmits the first signal and the second signal alternately, i.e. with a time delay or at different, disjoint, non-overlapping periods of time, which is made possible in particular by generating the second signal based on the synchronization signal.
  • a first field of view of the sensor device can be covered by the first signal and a second field of view of the sensor device, which at least partially overlaps the first field of view, can be covered by the second signal.
  • the first and the second signal can be generated with different signal properties, for example alternately in order to generate different or more information overall based on the environment monitoring.
  • the first and the second signal can have different maximum ranges, different fields of view, different wavelengths, different duty cycles, different pulse durations or the like.
  • the computing power can be distributed evenly, so that the first and the second control unit are similarly utilized.
  • each of the control units only needs to control the signal generation unit to generate the respective signal, which allows the control units to be programmed in a simplified manner.
  • the first and second signals are electromagnetic signals or ultrasonic signals.
  • the electromagnetic signals can in particular be radar signals, that is to say radio signals, or light signals, that is to say signals from visible, infrared or ultraviolet light.
  • the sensor device is designed as a radar sensor device, in the case of optical signals as an active optical sensor system, for example as a lidar system or laser scanner, in the case of ultrasonic signals as an ultrasonic sensor system.
  • the sensor device has a housing which can be or is mounted in or on the motor vehicle, the signal generation unit, the first control unit and the second control unit being arranged completely within the housing.
  • the second control unit is set up to control the signal generation unit, in particular for generating and transmitting the second signal, depending on the synchronization signal in such a way that the signal generating unit transmits the first signal and the second signal during different, non-overlapping periods of time.
  • first and the second signal are transmitted exclusively during different time periods can in particular be understood to mean that the one amplitude of the first signal can only assume a value other than zero if the amplitude of the second signal is equal to zero and vice versa.
  • the first and the second signal can in particular each be generated periodically. Accordingly, first time periods during which the first signal has an amplitude different from zero and second time periods during which the second signal has an amplitude different from zero, alternate and in particular follow one another without overlap, for example during a pause between the two Periods of time the amplitudes of both signals are equal to zero.
  • the first control unit can, for example, generate first control signals and transmit these to the signal generation unit, which generates and transmits the first signal as a function of the first control signals.
  • the second control unit can, for example, generate second control signals and transmit them to the signal generation unit, which generates and transmits the second signal as a function of the second control signals.
  • the second control signals are generated in particular as a function of the synchronization signal, so that the condition that the amplitudes of the first and second signals are not simultaneously different from zero is fulfilled. This can prevent the first signal from interfering with the second signal.
  • the signal generation unit has a first transmission unit for generating the first signal and a second transmission unit for generating the second signal.
  • the first control unit can control the first transmission unit, for example by means of the first control signals, so that the signal generation unit, in particular the first transmission unit, generates and transmits the first signal.
  • the second control unit can control the second transmission unit, in particular by means of the second control signals, so that the signal generation unit, in particular the second transmission unit, can generate and transmit the second signal.
  • the first control unit is not or not directly connected to the second transmission unit, so that the first control unit cannot control the second transmission unit.
  • the second control unit is not or not directly connected to the first transmission unit, so that the second control unit cannot control the first transmission unit.
  • the first and second transmission units are also configured accordingly.
  • the first and the second transmission unit each contain one or more transmission antennas.
  • the first and the second transmission unit each contain one or more light sources.
  • the first and the second transmitting unit each contain one or more ultrasonic transmitters or ultrasonic transducers.
  • the signal generation unit has a first receiving unit which is set up to receive reflected components of the first signal and to generate a first sensor signal based on the reflected components of the first signal.
  • the signal generation unit has a second receiving unit which is set up to receive reflected components of the second signal and to generate a second sensor signal based on the received reflected components of the second signal.
  • the reflected components of the first and second signals are reflected, for example, from one or more objects in the vicinity.
  • the receiving units can be adapted to the different types of transmitting units.
  • the first receiving unit contains one or more receiving antennas
  • the second receiving unit contains one or more second receiving antennas.
  • the first receiving unit contains one or more first optical detectors
  • the second receiving unit contains one or more second optical detectors.
  • the first contains Receiving unit one or more ultrasonic receivers or transducers
  • the second receiving unit contains one or more second ultrasonic receivers or transducers.
  • the signal generation unit contains a first circuit, in particular an integrated circuit, and a second circuit, in particular an integrated circuit.
  • the first receiving unit is connected to the first circuit in order to transmit the first sensor signal to the first circuit.
  • the first and the second circuit can each be designed, for example, as a monolithic integrated microwave circuit (“monolithic microwave integrated circuit”, MMIC).
  • MMIC monolithic microwave integrated circuit
  • the first receiving unit is coupled to the first control unit in order to transmit first measurement data that are dependent on the first sensor signal to the first control unit.
  • the first circuit is set up to generate the first measurement data based on the first sensor signal and to transmit it to the first control unit.
  • the second receiving unit is coupled to the second control unit in order to transmit second measurement data that are dependent on the second sensor signal to the second control unit.
  • the second circuit is set up to generate the second measurement data based on the second sensor signal and to transmit it to the second control unit.
  • the first and second sensor signals can be analog signals, for example.
  • the measurement data can, for example, be in digital form and / or correspond to digital signals or contain digital signals.
  • the signal generation unit in particular the first circuit, has a first analog-digital converter in order to generate the first measurement data based on the first sensor signal.
  • the signal generation unit, in particular the second circuit has a second analog-digital converter in order to generate the second measurement data based on the second sensor signal.
  • the second control unit is set up to generate an object list as a function of the first sensor signal, in particular based on the first measurement data, and to transmit the object list to the first control unit as a function of the synchronization signal.
  • the fact that the object list is transmitted as a function of the synchronization signal can in particular be understood to mean that a point in time or a period at which the object list is transmitted to the first control unit is determined by means of the second control unit as a function of the synchronization signal.
  • the object list can be transmitted when the first control unit can process or forward it optimally, for example coordinated with the transmission of a further object list from the first control unit to a control unit of the motor vehicle.
  • the further object list can be generated, for example, by means of the second control unit as a function of the second sensor signal, in particular based on the second measurement data.
  • the object list and / or the further object list can each contain information relating to one or more objects in the environment, in particular the presence, the number of the one or more objects and / or their respective distance from the sensor device.
  • the first control unit can be or is connected to a control device of the motor vehicle in order to receive a further synchronization signal from the control device.
  • the first control unit is set up to generate the synchronization signal as a function of the further synchronization signal.
  • the control device can thereby perform a global time control of the sensor device as well as additional sensor devices, of which for example one or more also can be designed according to the improved concept, and / or implement further components of the motor vehicle.
  • only the first control unit can be or is connected to the control device, while the second control unit is not connectable or connected to the control device.
  • the second signal is not generated or is only generated indirectly based on the additional sensor signal based on the additional synchronization signal, in that the synchronization signal is generated as a function of the additional synchronization signal.
  • the sensor device contains the control device and the control device is connected to the first control unit.
  • the first control unit is set up to generate the synchronization signal as a clock signal that changes periodically between a first logic level, for example logic zero, and a second logic level, for example logic one, in particular changes back and forth.
  • the synchronization signal is particularly simple, and the programming of the first control unit is correspondingly simple, since no complex synchronization protocol is required.
  • a motor vehicle which contains a sensor device according to the improved concept.
  • a method for monitoring the surroundings of a motor vehicle, in particular using a sensor device is specified.
  • a signal generation unit of the sensor device is controlled by means of a first control unit, in particular the sensor device, in order to generate and transmit a first signal.
  • a synchronization signal is generated by means of the first control unit, and the signal generation unit is controlled by means of a second control unit, in particular the sensor device, as a function of the synchronization signal, in order to generate a to generate and transmit the second signal, in particular in order to prevent the first signal from interfering with the second signal.
  • the signal generation unit is controlled by the second control unit as a function of the synchronization signal in such a way that the signal generation unit transmits the first signal and the second signal during different time periods, in particular exclusively during different time periods.
  • reflected components of the first signal are received, in particular by means of the signal generating unit, for example by means of a first receiving unit of the signal generating unit.
  • a first sensor signal is generated, in particular by means of the signal generation unit, for example by means of the first receiving unit.
  • Reflected components of the second signal are received, in particular by means of the signal generation unit, for example by means of a second receiving unit of the signal generation unit.
  • a second sensor signal is generated, in particular by means of the signal generation unit, for example by means of the second receiving unit.
  • an object list is generated by means of the second control unit as a function of the first sensor signal, and the object list is sent to the first control unit by means of the second control unit as a function of the synchronization signal.
  • a sensor device according to the improved concept can be set up or programmed to carry out a method according to the improved concept, or the sensor device carries out a method according to the improved concept.
  • a computer program with instructions is specified.
  • the computer program is executed by means of a sensor device according to the improved concept, the commands initiate the sensor device to carry out a method according to the improved concept.
  • a computer-readable storage medium is specified on which a computer program according to the improved concept is stored.
  • FIG. 1 is a block diagram of an exemplary embodiment of a
  • FIG. 2 shows a schematic illustration of a motor vehicle with a further exemplary embodiment of a sensor device according to the improved concept
  • FIG. 3 shows a schematic representation of measuring cycles of a further exemplary embodiment of a sensor device according to the improved concept.
  • 1 shows a block diagram of an exemplary embodiment of a sensor device 2 according to the improved concept.
  • the sensor device 2 is shown as a radar sensor device.
  • the sensor device 2 is designed, for example, as an active optical sensor system, in particular as a lidar system or laser scanner, or as an ultrasonic sensor system.
  • the sensor device 2 has a signal generation unit 3, a first control unit 4, which is coupled to the signal generation unit 3, for example, wirelessly or wired, and a second control unit 5, which is also coupled to the signal generation unit 3, for example, wirelessly or wired.
  • the first and second control units 4, 5 are coupled to one another, that is to say connected by wire or wirelessly.
  • the first and the second control unit 4, 5 are designed in particular to be physically separate from one another.
  • the first control unit 4 can be designed as a first one-chip system (“system-on-a-chip”, SoC) and the second control unit 5 as a second SoC.
  • SoC system-on-a-chip
  • the signal generation unit 3 can, for example, have a first integrated circuit 27, which is coupled to the first control unit 4, and a second integrated circuit 28, which is coupled to the second control unit 5.
  • the integrated circuits 27, 28 can, for example, be designed as respective MMICs.
  • the signal generation unit 3 also has a first transmission unit 9, which contains, for example, one or more first transmission antennas and is connected to the first circuit 27.
  • the signal generation unit 3 also has a second transmission unit 10 which, for example, contains one or more second transmission antennas and is connected to the second circuit 28.
  • the signal generation unit 3 has a first receiving unit 11, which contains, for example, one or more first receiving antennas and is connected to the first integrated circuit 27, as well as a second receiving unit 12, which for example contains one or more second receiving antennas and is connected to the second integrated circuit 28.
  • the signal generation unit 3, in particular the first integrated circuit 27, can have a first analog-digital converter 23, which is connected on the input side to the first receiving unit 11 and on the output side to the first control unit 4.
  • the signal generation unit 3, in particular the second integrated circuit 28 have a second analog-digital converter 24, which is connected on the input side to the second receiving unit 12 and on the output side to the second control unit 5.
  • an external control device 20 which can in particular be an electronic control device of a motor vehicle 1 on or in which the sensor device 2 is mounted.
  • FIG. 2 for example, a schematic representation of a motor vehicle 1 is shown, which has a sensor device 2 according to the improved concept, for example as shown in FIG. 1.
  • the sensor device 2 is mounted, for example, in a first position, for example on a front side of the motor vehicle 1.
  • the control device 20 can be, for example, a central control device or a fusion control device of the motor vehicle 1.
  • the motor vehicle 1 can have a further sensor device 2, which can optionally also be designed according to the improved concept.
  • the further sensor device 2 ‘is mounted or arranged at a second position of the motor vehicle 1 that is different from the first position.
  • an object 21 is also shown in the surroundings of the motor vehicle 1, which is located, for example, in a field of view of the sensor device 2 and / or the further sensor device 2 '.
  • the first control unit receives, for example, a global synchronization signal 22 from the control device 20. Based on the global synchronization signal 22, the first control unit 4 can generate a synchronization signal 8 and transmit it to the second control unit 5.
  • the first control unit 4 can, for example, generate a first control signal 17 based on the global synchronization signal 22 and / or the synchronization signal 8 and transmit it to the signal generation unit 3, in particular the first circuit 27.
  • the first transmission unit 9 generates a first signal 6, for example a first radio signal.
  • the first signal 6 is transmitted by means of the first transmission unit 9, in particular in the vicinity of the motor vehicle 1.
  • the first signal 6 can be at least partially reflected by the object 21, and portions 13 of the first signal 6 can be reflected back in the direction of the sensor device 2 and detected by the first receiving unit 11.
  • the first receiving unit 11 generates an analog first sensor signal 25 based on the detected components 13 and transmits this to the first analog-digital converter 23.
  • the first analog-digital converter 23 generates and transmits first digital measurement data 15 based on the first sensor signal 25 these to the first control unit 4.
  • the first control unit 4 can generate first output data, for example a first object list, based on the first measurement data 15 and transmit it to the control device 20 and / or a bus system (not shown), for example a CAN-BUS, of the motor vehicle 1.
  • first output data for example a first object list
  • a bus system for example a CAN-BUS
  • the second control unit 5 generates a second control signal 18 and transmits it to the signal generation unit 3, in particular to the second integrated circuit 28.
  • the second transmission unit 10 Based on the second control signal 18, the second transmission unit 10 generates a second signal 7, for example a second electromagnetic, in particular Radio signal, and sends it out into the surroundings of the motor vehicle 1.
  • the control signal 18 is generated depending on the synchronization signal 8 in such a way that the second transmission unit 10 generates and transmits the second signal 7 during a period of time at which the first signal 6 is not transmitted, in particular the amplitude of the first signal 6 is zero.
  • the second signal 7 can also be partially reflected by the object 21, for example, and reflected portions 14 of the second signal 7 can be detected by the second receiving unit 12.
  • the second receiving unit 12 generates a second analog sensor signal 26 based on the received reflected components 14 of the second signal 7 and transmits this to the second analog-to-digital converter 24.
  • the second analog-to-digital converter 24 generates digital ones based on the second sensor signal 26 second measurement data 16 and transmits them to the second control unit 5.
  • the second control unit 5 can transmit output data dependent on the second measurement data 16, for example a second object list or the second measurement data 16 itself, depending on the synchronization signal 8 to the first control unit 4.
  • the first control unit 4 can forward the two object lists at the same time.
  • the sensor device 2 is not designed as a radar system but, for example, as a lidar system or as an ultrasonic sensor system.
  • the transmitting and receiving antennas are to be replaced by light sources or optical detectors; in the case of an ultrasonic sensor system, the transmitting and receiving antennas are to be replaced by respective ultrasonic transmitters and receivers or ultrasonic transducers.
  • Fig. 3 are a plurality of, for example three, measurement cycles C1, C2, C3 of an exemplary embodiment of a sensor device 2 according to the improved Concept shown, for example a sensor device as described with reference to FIGS. 1 and 2.
  • the first measurement cycle C1 is subdivided into four first time intervals S11, S12, S13, S14, each of which has a length T, for example, which can be on the order of milliseconds or tenths of a millisecond and in one example is 12.5 ms.
  • the first time intervals S11 to S14 are marked with A and B alternately.
  • A stands for a time interval in which the first signal 6 controlled by the first control unit 4 is generated and transmitted by means of the first transmission unit 9.
  • B stands for a time interval in which the second signal 7 is transmitted and generated by the second control unit 5, controlled by the second transmission unit 10.
  • successive time intervals are marked differently, so that, for example, the first signal 6 is generated during the time interval S11 of the measurement cycle C1, the second signal 7 during the time interval S12, the first signal 6 again during the time interval S13, and again during the time interval S14 second signal 7.
  • the signals 6, 7 are generated during the first measurement cycle C1 by means of the signal generation unit 3 and controlled by the control unit 4, 5 in such a way that they are not transmitted at the same time, so that there is no interference between the first signal 6 and the second signal 7.
  • each of the first time intervals S11, S12, S13, S14 there is a measurement period of length t1, which in one example can be 8 ms.
  • the first and second sensor signals 25, 26 are generated during the measurement periods.
  • the first and second signals 6, 7 can be generated in particular with different signal properties, for example with different ranges or different horizontal or vertical fields of view and / or with different wavelengths.
  • the transmission units 9, 10, in particular the transmission antennas or light sources or ultrasound transmitters can be configured differently.
  • a second measurement cycle C2 is also shown, which follows the first measurement cycle C1 and contains, for example, second time intervals S21, S22, S23, S24, which can also have the duration T.
  • a third measurement cycle C3 is also shown, which follows the second measurement cycle C2 and, for example, has time intervals S31, S32, S33, S34, which also have the duration T, for example.
  • the measurement periods of the second measurement cycle C2 can have a length t2 that differs from the length t1.
  • t2 can be 10 ms.
  • the measurement periods of the third measurement cycle C3 can have a duration of t3, which also deviates from t1 and / or t2.
  • t3 can be equal to 12 ms.
  • the signal properties of the first signal 6 and of the second signal 7 in the various measurement cycles C1, C2, C3 can also be different in each case.
  • the interference of different signals that are generated and transmitted by the same sensor device, in particular the same signal generation unit, can be avoided. This can improve the reliability and accuracy of corresponding measurements.
  • the SoCs can be synchronized with one another and the corresponding control software is time-triggered as a whole.
  • an object list can be supplied by the second control unit to the first control unit in exactly the time window that is best suited for the first control unit to forward it, for example to the bus of the motor vehicle. This leads to a deterministic and predictable data communication between the sensor device and the control unit of the motor vehicle.
  • the second control unit By receiving the synchronization signal, the second control unit “knows” exactly when to trigger the signal generation unit in order to generate the second signal without interference with the first signal.
  • the respective associated control units can also be used for tasks to ensure the functional safety of the circuits in the front end, so that these tasks can also be divided, which leads to increased safety.
  • the improved concept enables legacy software to be taken over with less effort.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Acoustics & Sound (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

L'invention concerne un dispositif de capteur (2) pour surveiller l'environnement d'un véhicule automobile (1), comprenant une unité de génération de signal (3), une première unité de commande (4) et une deuxième unité de commande (5). La première unité de commande (4) est conçue pour activer l'unité de génération de signal (3) pour émettre un premier signal (6), et pour générer un signal de synchronisation (8) et le transmettre à la deuxième unité de commande (5). La deuxième unité de commande (5) est conçue pour activer l'unité de génération de signal (3) pour émettre un deuxième signal (7) en fonction du signal de synchronisation (8).
PCT/EP2020/081426 2019-11-11 2020-11-09 Surveillance de l'environnement d'un véhicule automobile WO2021094234A1 (fr)

Applications Claiming Priority (2)

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DE102019130373.7A DE102019130373A1 (de) 2019-11-11 2019-11-11 Umfeldüberwachung eines Kraftfahrzeugs
DE102019130373.7 2019-11-11

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WO2021094234A1 true WO2021094234A1 (fr) 2021-05-20

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WO (1) WO2021094234A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
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DE102022207189B3 (de) * 2022-07-14 2023-09-28 Continental Autonomous Mobility Germany GmbH Sensoreinrichtung, Fahrzeug und Verfahren zum Betrieb einer Sensoreinrichtung

Citations (6)

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EP2881752A1 (fr) * 2013-12-03 2015-06-10 Nxp B.V. Système radar automobile multipuces, puce de radar pour un tel système et procédé permettant de faire fonctionner un tel système
DE102014107305A1 (de) * 2014-05-23 2015-11-26 Valeo Schalter Und Sensoren Gmbh Parkassistenzvorrichtung für ein Kraftfahrzeug
EP3418768A1 (fr) 2017-06-20 2018-12-26 Veoneer Sweden AB Système de radar de véhicule comprenant deux agencements de capteur radar
EP3425425A1 (fr) * 2016-03-04 2019-01-09 Xiaopeng Yu Système radar de stationnement hors hôte et procédé de commande
DE102018103088A1 (de) * 2018-02-12 2019-08-14 Infineon Technologies Ag Halbleiterchip sowie vorrichtung und verfahren zum ansteuern zumindest eines kanals für ein radarsignal
DE102018105018A1 (de) * 2018-03-05 2019-09-05 Infineon Technologies Ag Radarvorrichtung, Radarsystem und Verfahren zur Erzeugung eines Abtasttaktsignals

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US7876261B1 (en) * 2008-10-28 2011-01-25 Lockheed Martin Corporation Reflected wave clock synchronization
US10061016B2 (en) * 2014-12-29 2018-08-28 Texas Instruments Incorporated Phase noise measurement in a cascaded radar system
DE102017125156A1 (de) * 2017-10-26 2019-05-02 Infineon Technologies Ag Vorrichtung und Verfahren zum Verarbeiten von Radarsignalen

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2881752A1 (fr) * 2013-12-03 2015-06-10 Nxp B.V. Système radar automobile multipuces, puce de radar pour un tel système et procédé permettant de faire fonctionner un tel système
DE102014107305A1 (de) * 2014-05-23 2015-11-26 Valeo Schalter Und Sensoren Gmbh Parkassistenzvorrichtung für ein Kraftfahrzeug
EP3425425A1 (fr) * 2016-03-04 2019-01-09 Xiaopeng Yu Système radar de stationnement hors hôte et procédé de commande
EP3418768A1 (fr) 2017-06-20 2018-12-26 Veoneer Sweden AB Système de radar de véhicule comprenant deux agencements de capteur radar
DE102018103088A1 (de) * 2018-02-12 2019-08-14 Infineon Technologies Ag Halbleiterchip sowie vorrichtung und verfahren zum ansteuern zumindest eines kanals für ein radarsignal
DE102018105018A1 (de) * 2018-03-05 2019-09-05 Infineon Technologies Ag Radarvorrichtung, Radarsystem und Verfahren zur Erzeugung eines Abtasttaktsignals

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