WO2024012638A1 - Sensor device, vehicle and method for operating a sensor device - Google Patents

Sensor device, vehicle and method for operating a sensor device Download PDF

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Publication number
WO2024012638A1
WO2024012638A1 PCT/DE2023/200120 DE2023200120W WO2024012638A1 WO 2024012638 A1 WO2024012638 A1 WO 2024012638A1 DE 2023200120 W DE2023200120 W DE 2023200120W WO 2024012638 A1 WO2024012638 A1 WO 2024012638A1
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WO
WIPO (PCT)
Prior art keywords
sensors
transmission
sensor
sensor device
transmission time
Prior art date
Application number
PCT/DE2023/200120
Other languages
German (de)
French (fr)
Inventor
Roland Burghardt
Katharina Völkl
Original Assignee
Continental Autonomous Mobility Germany GmbH
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Publication date
Application filed by Continental Autonomous Mobility Germany GmbH filed Critical Continental Autonomous Mobility Germany GmbH
Publication of WO2024012638A1 publication Critical patent/WO2024012638A1/en

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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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/483—Details of pulse systems
    • G01S7/484—Transmitters
    • 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
    • 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
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/06—Systems determining the position data of a target
    • G01S15/08—Systems for measuring distance only
    • G01S15/10—Systems for measuring distance only using transmission of interrupted, pulse-modulated waves
    • G01S15/102—Systems for measuring distance only using transmission of interrupted, pulse-modulated waves using transmission of pulses having some particular characteristics
    • 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
    • G01S7/0235—Avoidance by time multiplex
    • 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
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/523—Details of pulse systems
    • G01S7/524—Transmitters
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
    • G01F23/00—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm
    • G01F23/22—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water
    • G01F23/28—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water by measuring the variations of parameters of electromagnetic or acoustic waves applied directly to the liquid or fluent solid material
    • G01F23/296—Acoustic waves
    • G01F23/2968—Transducers specially adapted for acoustic level indicators
    • 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
    • G01S13/886—Radar or analogous systems specially adapted for specific applications for alarm 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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/52004—Means for monitoring or calibrating
    • G01S2007/52007—Means for monitoring or calibrating involving adjustment of transmitted power
    • 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

Definitions

  • the invention relates to a sensor device comprising a plurality of sensors, the sensors each being designed to emit at least one signal at different transmission times, the transmission times of the sensors each being predetermined by a transmission specification assigned to the respective sensor.
  • the invention further relates to a vehicle and a method for operating a sensor device comprising several sensors.
  • Sensor devices with multiple sensors can be used, for example, in the automotive sector, where, for example, sensor devices comprising several ultrasonic sensors are used to measure the distance between a vehicle and objects in the vehicle's surroundings.
  • sensor devices for example, systems for automatic parking, collision avoidance or automatic braking and/or other types of driver assistance systems can be implemented.
  • sensor devices with several sensors are usually used, for example with six or more ultrasonic sensors per bumper of the vehicle. This makes it possible to record the vehicle environment in front of, behind and, if necessary, also next to the vehicle.
  • ultrasonic sensors With ultrasonic sensors, individual ultrasonic pulses are usually emitted, and the echo generated by the signal reflected on an object is then waited for in order to clearly assign the echoes to the emitted signals or the respective sensors.
  • the individual sensors can, for example, be sent continuously via a specific code and at intervals that are characteristic of the respective sensor Sending times can be specified. This allows the sensors to each send out their signals as a pulse train, without waiting for the echoes and without the sensors interfering with each other. The characteristic intervals between the transmission times of the signals then allow received echoes to be assigned to the respective sensors.
  • the invention is therefore based on the object of specifying an improved sensor device which, in particular, avoids the occurrence of such current peaks.
  • the sensor device is designed to omit the signal of the first sensor assigned to the transmission time when a transmission time of one of the sensors coincides with a further transmission time of another of the sensors or depending on it to send a measure that changes the transmission time and/or a signal quality.
  • the coincidence of the transmission times is understood to mean the fall of the transmission times at the same time or in a predetermined time interval, which causes an at least partial overlap of the transmission duration resulting from the transmission of the signal at the transmission time.
  • the transmission times therefore coincide if the signals emitted at the transmission times at least partially overlap in time.
  • the at least A sensor instead omits its signal or sends it depending on the measure that changes the transmission time and/or the signal quality. If the signal is suspended, the additional sensor can, for example, send out its signal normally.
  • the further sensor If the transmission time for the at least one sensor and/or the signal quality are adjusted in accordance with the intended measure, it is possible for the further sensor to also adapt its signal in accordance with the measure if, for example, the transmission specification of the sensor is known to it. Alternatively, it is possible for the signal from the further sensor to be transmitted in a normal manner at the time of transmission, i.e. H. without being changed by any measure.
  • the senor does not require any energy to generate the signal, so that the occurrence of a current peak in a power supply device or on a supply line of the sensors can be avoided.
  • the energy requirement of the sensors at the original transmission time can also be reduced, so that the occurrence of current peaks can also be avoided.
  • Avoiding current peaks in the power supply device and on the supply list has the advantage that the energy supply to the sensors must be adjusted to a lower, maximum current that can be drawn.
  • a particular advantage of the invention is that the necessary buffering of a power supply to the sensors must meet much lower demands and therefore requires less installation space and can be carried out more cost-effectively. The robustness of the sensor device or the robustness of the operation of the sensor device can thus advantageously be improved.
  • Avoiding current peaks also has the advantage that less impairment occurs in relation to the electromagnetic compatibility of the sensor device, since electromagnetic fields induced by the current flow and possibly influencing other devices only occur to a lesser extent.
  • the method according to the invention advantageously makes it possible to prevent simultaneous transmission of several sensors even in sensor devices in which the transmission times at which the sensors send out their signals are each determined in accordance with a transmission rule individually assigned to the sensors. Consequently, excessive loads on a current or voltage supply to the sensors can be reduced, particularly in sensor devices in which the individual sensors work at least essentially autonomously in accordance with a transmission specification stored in the sensors. Complicated synchronization procedures and/or the need for central control of the sensors or for a central, deterministic specification of the respective transmission times of the sensors can thus advantageously be avoided.
  • the measure includes a shift in the transmission time by a predetermined time interval and/or a reduction in the transmission power of the signal by a predetermined factor.
  • a shift in the transmission time by a predetermined time interval can be provided.
  • the sensor does not send out the signal at the actual transmission time, but in particular at an alternative transmission time that is postponed into the future by the specified time interval.
  • This causes the at least one further sensor, which also transmits at the transmission time, to transmit alone and thus the load on an energy supply can be reduced.
  • the at least one sensor in particular transmits alone, so that Even at the postponed transmission time, there will be no excessive loads on the power supply.
  • a time interval can be specified for this purpose, which differs from the transmission times defined by the transmission regulations.
  • the transmission power for the signal to be transmitted at the transmission time can also be reduced as a measure.
  • the energy requirement of the sensor for sending the signal can be reduced, so that overall the load on the energy supply at the time of transmission can be reduced.
  • the further sensor can in particular also take a corresponding measure, so that overall, despite the simultaneous transmission of the at least one sensor and the further sensor, there is no increased energy requirement at the time of transmission.
  • the transmission power can be reduced, for example, by sending the signal with a smaller signal amplitude.
  • the transmission instructions assigned to the respective sensors are stored in the respective sensors, with at least one further transmission instruction from another of the sensors being stored in at least one of the sensors, the at least one sensor being set up to to determine the coincidence of one of its transmission times with at least one further transmission time described by the at least one further transmission regulation.
  • At least the transmission specification is stored in each of the sensors, which defines the transmission times for this sensor. It is possible that one or more further transmission regulations are stored in some of the sensors of the sensor device. Alternatively, it is possible for at least one further transmission specification to be stored in all of the sensors. It is also possible for the transmission regulations of all sensors of the sensor device to be stored in the sensors.
  • the individual sensors can each comprise, for example, a computing unit to determine the transmission times from the one or more transmission regulations.
  • each of the sensors can also have a storage unit in which, for example, the transmission instructions and, if applicable, one or more further transmission instructions are stored.
  • the transmission instructions can be assigned to the sensors, for example, by a control device of the sensor device when the sensor device is initialized.
  • the sensor device comprises a control device, the transmission regulations assigned to the respective sensors being stored in the control device, the control device being set up to ensure that a transmission time of one of the sensors coincides with at least one further transmission time of at least one more of the sensors to determine and to control the sensor to omit the signal at the transmission time and / or to send the signal depending on a measure that changes the transmission time and / or the signal quality.
  • the control device can also control the at least one further sensor to send out its signal depending on the measure or a measure that changes the signal quality.
  • the signal of the further sensor or the signals of the further sensors can be changed according to the same measure, in particular a transmission power reduced by the same factor.
  • the factor can be chosen such that the total transmission line of all signals emitted at the time of transmission corresponds to the transmission power of a single, unchanged signal.
  • the transmission regulations each include a table with several transmission time intervals, in particular as a stochastically generated code, the sensor device being set up to do this To determine transmission times depending on the transmission time intervals and a synchronization signal.
  • the transmission instructions can be transmitted to the individual sensors, for example by a control device of the sensor device during initialization.
  • a different transmission instruction can be transmitted to each of the sensors.
  • the transmission instructions assigned to the sensors can be generated and stored in the control device when the sensor device is initialized.
  • the transmission regulations can, for example, each be designed as a table with several transmission time intervals, so that the sensors or the control device can determine the respective transmission times based on the predetermined transmission time intervals.
  • a synchronization signal can be specified, in particular by the control device of the sensor device, which represents a starting point for determining the transmission times and/or a periodically updated reference signal for synchronizing the respective transmission cycles. If the transmission regulations are stored in the control device, then the control device can, for example, use a synchronization signal generated internally in the control device or an externally generated and transmitted to the control device to determine the transmission times for the sensors.
  • the sensors are connected to a common power supply device, which provides a power supply for the sensors.
  • the power supply device can in particular be implemented in the or a control device of the sensor device.
  • the control device can provide a power supply for the individual sensors or contain a power supply device for supplying the sensors.
  • a central power supply for the sensors can be advantageously implemented because this by avoiding simultaneous transmission or by reducing current peaks while simultaneously transmitting several signals, it can be implemented in a particularly low-cost and compact manner. This advantageously facilitates the integration of a power supply for all sensors into a control device of the sensor device.
  • the sensors are each connected to the control device via a separate connection or that the sensors and the control device are connected in a common parallel connection.
  • the sensors are each separately connected to the control device via a connection.
  • a point-to-point connection can each include a separate line for power supply and/or a separate line for data transmission between the sensor and the control device. It is also possible for the energy supply and data transmission to take place via a common line.
  • the sensors and the control device may be connected in parallel, at least in relation to their energy supply.
  • a power supply device of the control device can be connected in parallel to the sensors so that a supply voltage can be applied to them together.
  • the sensors are designed as ultrasonic sensors.
  • Other versions of the sensors for example as radar sensors, as lidar sensors or similar, are also possible.
  • the sensor device can be designed for distance measurement, level measurement and/or as an anti-theft alarm system.
  • the design of the sensor device can be achieved in that a control device of the sensor device is used to carry out a Distance measurement, a level measurement and / or for detecting theft based on echoes or measured values detected by the sensors.
  • a vehicle according to the invention can comprise at least one sensor device according to the invention.
  • the sensor device can, for example, be designed for distance measurement and include a plurality of sensors arranged along the circumference of the motor vehicle or along a portion of the circumference, for example a bumper of the motor vehicle. Additionally or alternatively, the motor vehicle can also have a sensor device designed for level measurement and/or as an anti-theft alarm system.
  • the sensors each send out at least one signal at different transmission times, the transmission times of the sensors each being predetermined by a transmission specification assigned to the respective sensor, whereby if a transmission time coincides, one of the Sensors with a further transmission time of another of the sensors, the signal of the first sensor assigned to the transmission time is omitted or is sent out depending on a measure that changes the transmission time and / or a signal quality.
  • the measure includes a shift in the transmission time by a predetermined time interval and/or a reduction in a transmission power by a predetermined factor, with the sensor emitting the signal depending on the measure with a shifted transmission time and/or a reduced transmission power.
  • the transmission instructions assigned to the respective sensors are stored in the respective sensors, with at least one further transmission instruction from another of the sensors being stored in at least one of the sensors, the at least one sensor causing the coincidence one of its transmission times is determined with at least one further transmission time described by the at least one further transmission regulation.
  • the sensor device comprises a control device, the transmission regulations assigned to the respective sensors being stored in the control device, the control device determining the coincidence of a transmission time of one of the sensors with at least one further transmission time of at least one more the sensors are determined and the sensor is controlled to omit the signal at the time of transmission and/or to send the signal depending on a measure that changes the time of transmission and/or the quality of the signal.
  • FIG. 1 shows an exemplary embodiment of a vehicle according to the invention comprising a first exemplary embodiment of a sensor device according to the invention
  • Fig. 2 shows a second embodiment of an inventive
  • Sensor device and 3 shows two diagrams, each of which represents the transmission of a signal at different transmission times, to explain an exemplary embodiment of a method according to the invention.
  • the vehicle 1 includes a sensor device 2, which has several sensors 3 designed as ultrasonic sensors. Furthermore, the sensor device 2 includes a control device 4, which is connected to the sensors 3. In the first exemplary embodiment of the sensor device 2, each sensor 3 is connected to the control device 4 via a separate connection 5. An energy transfer or a power supply from the control device 4 to the individual sensors 3 can take place via the separate connections 5. Furthermore, data can be exchanged between the sensors 3 and the control device 4 via each of the separate connections 5.
  • the sensors 3 are arranged in a portion of the outer circumference of the vehicle 1, in the present case on the front bumper of the vehicle 1. It is possible for the sensor device 2 to include further sensors 3, which are arranged on other partial areas of the circumference of the vehicle 1, for example to detect a vehicle environment behind the vehicle 1 and/or next to the vehicle 1.
  • the sensor device 2 can be designed as a distance detection device, which can determine the distance between the vehicle 1 and other objects in the surroundings of the vehicle 1.
  • the control device 4 of the sensor device 2 is designed to determine distances to further objects from the measurement data of the sensors 3 and/or to create an environment map which describes several objects and their relative arrangement to the vehicle 1.
  • FIG. 1 A second exemplary embodiment of a sensor device 2 is shown in FIG.
  • the sensors 3 are connected in a parallel circuit 6.
  • the parallel circuit 6 of the sensors 3 is further connected to a power supply device 7, which is designed as part of the control device 4, so that the sensors 3 can be supplied with power via the parallel circuit 6.
  • the transmission of data between the sensors 3 under control device 4 can take place, for example, via an additional data communication connection 8.
  • the sensors 3 are each designed to emit at least one signal at different transmission times.
  • the transmission times of the sensors 3 are each specified by a transmission specification assigned to the respective sensor 3.
  • the sensor device 2 is designed, if a transmission time of one of the sensors 3 coincides with a further transmission time of another of the sensors 3, to omit the signal of the sensor 3 assigned to the transmission time or, depending on a transmission time and / or a signal quality or a signal property to send out a changing measure.
  • the transmission regulations describing the respective transmission times of the sensors 3 can, for example, each comprise a table with several transmission time intervals.
  • the transmission instructions can, for example, have been generated as a stochastic code.
  • the transmission instructions for the sensors 3 can be stored in the individual sensors 3 or in the control device 4.
  • At least one further transmission instruction from another of the sensors 3 is stored in one or more of the sensors 3 in order to avoid the simultaneous transmission of signals via several of the sensors 3.
  • at least some of the sensors 3 can also be made aware of the transmission times of one or more other sensors 3 of the sensor device 2.
  • the coincidence of two transmission times can be determined by the sensor 3 depending on the transmission specification assigned to it and the further transmission specification which describes the transmission times of the further sensor 3.
  • the sensor 3 can therefore determine when one of its transmission times coincides with the transmission time of another of the sensors 3.
  • a power supply of the sensors 3, for example the power supply device 7 integrated into the control device 4, can be overloaded or voltage compensation measures and / or a design of the power supply device 7 for a higher power may be required. Furthermore, the current peaks generated thereby may be undesirable with regard to the electromagnetic compatibility of the sensor device 2.
  • a sensor 3 which determines the coincidence of one of its transmission times with at least one further transmission time described by the at least one further transmission regulation, can omit the signal assigned to the transmission time or send it depending on a measure that changes the transmission time and / or a signal quality.
  • the respective transmission regulations it is possible for the respective transmission regulations to be stored in the control device 4, with the control device 4 controlling the individual sensors 3 at the corresponding transmission times to send out a signal. Accordingly, when two or more transmission times coincide, the control device 4 can control one or more of the sensors to omit their respective signal and/or to change their respective signal depending on the measure that changes the transmission time and/or the signal quality.
  • the measure can include a shift in the transmission time for one of the sensors 3 by a predetermined time interval and/or a reduction in the signal power or the signal amplitude of the signal by a predetermined factor.
  • the reduction in transmission power it is possible for the reduction in transmission power to be implemented both for the sensor 3 and for the at least one further sensor 3, i.e. for all sensors 3 whose transmission times coincide.
  • the factor by which the transmission power is reduced depends on the number of coincident transmission times and thus on the number intended for simultaneous transmission Signals are determined. For example, for two signals that are to be transmitted at the same time, the signal amplitude can be reduced in such a way that only half the transmission power is used for transmission for the two signals. The energy requirement or the power requirement of the sensors 3 therefore remains the same at the common transmission time.
  • the transmission power can be reduced by a factor of 1/n. This can either be specified by the control device 4 if the transmission regulations are stored in the control device 4, or can be determined individually by each of the sensors based on the transmission regulations stored in the sensor.
  • FIG. 9 shows the signals 11 emitted by a first of the sensors 3 and the diagram 10 shows the signals 12 emitted by a second of the sensors 3, with the time t on the abscissa and the transmission powers Pi or P2 of the signals 11 on the ordinate or 12 are shown.
  • the signals 11, 12 are each sent out at different transmission times.
  • the transmission times result, for example, from the time intervals stored as transmission instructions, which are at least partially selected differently for the individual sensors 3, so that the individual sensors 3 send their signals in a characteristic pattern in terms of time.
  • the transmission times can be generated, for example, from the time intervals depending on a synchronization signal, which is continuously transmitted at certain times, for example from the control device 4 to the sensors 3. Assigning a characteristic pattern of signal emission allows the assignment of received signals, or echoes resulting from the signals, to the individual sensors 3.
  • the transmission times ti of the first sensor and t2,s of the second sensor coincide.
  • the measure is a reduction in the transmission power of both signals by a factor of 0.5 made so that the overall energy requirement at the time of transmission tu or t2,i remains constant.
  • the transmission time of one of the signals can be shifted by a time interval Ati, as is shown schematically in dashed lines for the signal 11 of the first sensor 3.
  • the signal 11 of the first sensor 3 or the signal 12 of the second sensor 3 at the transmission time tu or t2,s can also be omitted.
  • the measures to be carried out can be stored as measure information in the individual sensors 3 and/or in the control device 4, analogous to the transmission regulations.
  • the sensors 3 it is possible for the sensors 3 to be connected to a power supply device that is designed separately from the control device 4. Furthermore, it is possible that the sensor device 2 is used in a different type of device than a vehicle and/or that the sensor device 2 is designed for level measurement and/or as an anti-theft alarm system.
  • the respective function of the sensor device 2 can be implemented, for example, by the control device 4, which appropriately evaluates the measurement data or echoes of the signals received from the sensors 3.
  • the sensors 3 As an alternative to designing the sensors 3 as ultrasonic sensors, it is also possible to design the sensors 3 as a different type of sensor, for example as radar sensors or as lidar sensors.

Abstract

The invention relates to a sensor device comprising a plurality of sensors (3), the sensors (3) each being designed to emit at least one signal (11, 12) at various transmission times, the transmission times of the sensors (3) each being predefined by a transmission rule associated with the respective sensor (3), the sensor device (2) being designed, in the event that a transmission time of one of the sensors (3) coincides with a further transmission time of a further of the sensors (3), to skip the signal (11, 12) of the first sensor (3) assigned to the transmission time or to emit it in dependence on a measure changing the transmission time and/or a signal characteristic.

Description

Beschreibung Description
Sensoreinrichtung, Fahrzeug und Verfahren zum Betrieb einer Sensoreinrichtung Sensor device, vehicle and method for operating a sensor device
Die Erfindung betrifft eine Sensoreinrichtung umfassend mehrere Sensoren, wobei die Sensoren jeweils dazu ausgebildet sind, wenigstens ein Signal zu verschiedenen Sendezeitpunkten auszusenden, wobei die Sendezeitpunkte der Sensoren jeweils durch eine dem jeweiligen Sensor zugeordnete Sendevorschrift vorgegeben sind. Weiterhin betrifft die Erfindung ein Fahrzeug sowie ein Verfahren zum Betrieb einer mehrere Sensoren umfassenden Sensoreinrichtung. The invention relates to a sensor device comprising a plurality of sensors, the sensors each being designed to emit at least one signal at different transmission times, the transmission times of the sensors each being predetermined by a transmission specification assigned to the respective sensor. The invention further relates to a vehicle and a method for operating a sensor device comprising several sensors.
Sensoreinrichtungen mit mehreren Sensoren können zum Beispiel im Automobilbereich eingesetzt werden, wo beispielsweise mehrere Ultraschallsensoren umfassende Sensoreinrichtungen zur Abstandsmessung zwischen einem Fahrzeug und Objekten in der Fahrzeugumgebung eingesetzt werden. Mittels derartiger Sensoreinrichtungen können zum Beispiel Systeme zum automatischen Einparken, zur Kollisionsvermeidung bzw. zum automatischen Bremsen und/oder weitere Arten von Fahrerassistenzsystemen umgesetzt werden.Sensor devices with multiple sensors can be used, for example, in the automotive sector, where, for example, sensor devices comprising several ultrasonic sensors are used to measure the distance between a vehicle and objects in the vehicle's surroundings. Using such sensor devices, for example, systems for automatic parking, collision avoidance or automatic braking and/or other types of driver assistance systems can be implemented.
Um für das jeweilig umzusetzende Fahrerassistenzsystem eine ausreichende Abdeckung der Fahrzeugumgebung zu erreichen, werden in der Regel Sensoreinrichtungen mit mehreren Sensoren eingesetzt, beispielsweise mit sechs oder mehr Ultraschallsensoren pro Stoßstange des Fahrzeugs. Dies erlaubt es das Fahrzeugumfeld vor, hinter und gegebenenfalls auch neben dem Fahrzeug zu erfassen. In order to achieve sufficient coverage of the vehicle surroundings for the driver assistance system to be implemented, sensor devices with several sensors are usually used, for example with six or more ultrasonic sensors per bumper of the vehicle. This makes it possible to record the vehicle environment in front of, behind and, if necessary, also next to the vehicle.
Bei Ultraschallsensoren werden üblicherweise einzelne Ultraschallimpulse ausgesendet, wobei anschließend auf das Echo, welches von dem an einem Objekt reflektierten Signal erzeugt wird, gewartet wird, um die Echos eindeutig den ausgesendeten Signalen bzw. den jeweiligen Sensoren zuzuordnen. Um die Sendefrequenz der Sensoren insbesondere bei einer Mehrzahl von baugleichen Sensoren und zumindest teilweise überlappenden Erfassungsbereichen zu erhöhen, können den einzelnen Sensoren zum Beispiel über einen bestimmten Code kontinuierlich und in für den jeweiligen Sensor charakteristischen Intervallen Sendezeitpunkte vorgegeben werden. Dies ermöglicht es, dass die Sensoren ihre Signale jeweils als eine Impulsfolge aussenden können, ohne dass auf die Echos gewartet wird und ohne dass sich die Sensoren gegenseitig stören. Die charakteristischen Intervalle zwischen den Sendezeitpunkten der Signale erlauben es anschließend, empfangene Echos den jeweiligen Sensoren zuzuordnen. With ultrasonic sensors, individual ultrasonic pulses are usually emitted, and the echo generated by the signal reflected on an object is then waited for in order to clearly assign the echoes to the emitted signals or the respective sensors. In order to increase the transmission frequency of the sensors, particularly in the case of a plurality of identical sensors and at least partially overlapping detection areas, the individual sensors can, for example, be sent continuously via a specific code and at intervals that are characteristic of the respective sensor Sending times can be specified. This allows the sensors to each send out their signals as a pulse train, without waiting for the echoes and without the sensors interfering with each other. The characteristic intervals between the transmission times of the signals then allow received echoes to be assigned to the respective sensors.
Bei einem solchen Verfahren kann es vorkommen, dass zwei oder mehr der Sensoren gleichzeitig ein Signal aussenden. Aufgrund des hohen Energieverbrauchs während des Sendens können in einem solchen Fall aus einer Energieversorgung der Sensoren eine hohe Leistung bzw. ein hoher Versorgungsstrom für die Sensoren entnommen werden, was unerwünschte Folgen haben kann. With such a method, it can happen that two or more of the sensors emit a signal at the same time. Due to the high energy consumption during transmission, in such a case a high power or a high supply current for the sensors can be drawn from an energy supply to the sensors, which can have undesirable consequences.
Der Erfindung liegt daher die Aufgabe zugrunde, eine verbesserte Sensoreinrichtung anzugeben, die insbesondere das Auftreten derartiger Stromspitzen vermeidet. The invention is therefore based on the object of specifying an improved sensor device which, in particular, avoids the occurrence of such current peaks.
Zur Lösung dieser Aufgabe ist bei einer Sensoreinrichtung der eingangs genannten Art erfindungsgemäß vorgesehen, dass die Sensoreinrichtung dazu ausgebildet ist, bei einem Zusammenfallen eines Sendezeitpunkts eines der Sensoren mit einem weiteren Sendezeitpunkt eines weiteren der Sensoren das dem Sendezeitpunkt zugeordnete Signal des ersten Sensors auszulassen oder in Abhängigkeit einer den Sendezeitpunkt und/oder eine Signalbeschaffenheit verändernden Maßnahme auszusenden. To solve this problem, in a sensor device of the type mentioned at the outset, it is provided according to the invention that the sensor device is designed to omit the signal of the first sensor assigned to the transmission time when a transmission time of one of the sensors coincides with a further transmission time of another of the sensors or depending on it to send a measure that changes the transmission time and/or a signal quality.
Unter dem Zusammenfallen der Sendezeitpunkte ist dabei das Fallen der Sendezeitpunkte auf denselben Zeitpunkt oder in ein vorgegebenes Zeitintervall, welches ein zumindest teilweises Überlappen der sich durch das Senden des Signals zum Sendezeitpunkt ergebenen Sendedauer bewirkt, zu verstehen. Die Sendezeitpunkte fallen also zusammen, wenn die an den Sendezeitpunkten ausgesendeten Signale zeitlich zumindest teilweise überlappen. The coincidence of the transmission times is understood to mean the fall of the transmission times at the same time or in a predetermined time interval, which causes an at least partial overlap of the transmission duration resulting from the transmission of the signal at the transmission time. The transmission times therefore coincide if the signals emitted at the transmission times at least partially overlap in time.
Wenn der Sendezeitpunkt des Sensors mit dem Sendezeitpunkt eines weiteren Sensors zusammenfällt und somit absehbar ist, dass die beiden Sensoren an demselben Sendezeitpunkt ein Signal aussenden würden, kann der wenigstens eine Sensor sein Signal stattdessen auslassen oder in Abhängigkeit der den Sendezeitpunkt und/oder die Signalbeschaffenheit verändernden Maßnahme aussenden. Wenn das Signal ausgesetzt wird, kann der weitere Sensor beispielsweise sein Signal normal aussenden. If the transmission time of the sensor coincides with the transmission time of another sensor and it is therefore foreseeable that the two sensors would send out a signal at the same transmission time, the at least A sensor instead omits its signal or sends it depending on the measure that changes the transmission time and/or the signal quality. If the signal is suspended, the additional sensor can, for example, send out its signal normally.
Wenn der Sendezeitpunkt für den wenigstens einen Sensor und/oder die Signalbeschaffenheit gemäß der vorgesehenen Maßnahme angepasst werden, ist es möglich, dass auch der weitere Sensor, wenn diesem beispielsweise die Sendevorschrift des Sensors bekannt ist, sein Signal ebenfalls gemäß der Maßnahme anpasst. Alternativ ist es möglich, dass das Signal des weiteren Sensors zu dem Sendezeitpunkt in normaler Weise, d. h. ohne Veränderung durch eine Maßnahme, ausgesendet wird. If the transmission time for the at least one sensor and/or the signal quality are adjusted in accordance with the intended measure, it is possible for the further sensor to also adapt its signal in accordance with the measure if, for example, the transmission specification of the sensor is known to it. Alternatively, it is possible for the signal from the further sensor to be transmitted in a normal manner at the time of transmission, i.e. H. without being changed by any measure.
Durch das Auslassen des Signals benötigt der Sensor keine Energie zum Generieren des Signals, sodass das Auftreten einer Stromspitze in einer Stromversorgungseinrichtung bzw. auf einer Versorgungsleitung der Sensoren vermieden werden kann. Auch durch das Verändern des Sendezeitpunkts und/oder einer Signalbeschaffenheit kann der Energiebedarf der Sensoren an dem ursprünglichen Sendezeitpunkt reduziert werden, sodass ebenfalls das Auftreten von Stromspitzen vermieden werden kann. By omitting the signal, the sensor does not require any energy to generate the signal, so that the occurrence of a current peak in a power supply device or on a supply line of the sensors can be avoided. By changing the transmission time and/or a signal quality, the energy requirement of the sensors at the original transmission time can also be reduced, so that the occurrence of current peaks can also be avoided.
Das Vermeiden von Stromspitzen in der Stromversorgungseinrichtung und auf der Versorgungslistung hat den Vorteil, dass eine Energieversorgung der Sensoren auf einen geringeren, maximal zu entnehmenden Strom angepasst werden muss. Ein besonderer Vorteil der Erfindung liegt darin, dass die nötige Pufferung einer Spannungsversorgung der Sensoren viel geringeren Ansprüchen genügen muss und somit weniger Bauraum benötigt und kostengünstiger ausgeführt werden kann. Vorteilhaft kann somit die Robustheit der Sensoreinrichtung bzw. die Robustheit des Betriebs der Sensoreinrichtung verbessert werden. Avoiding current peaks in the power supply device and on the supply list has the advantage that the energy supply to the sensors must be adjusted to a lower, maximum current that can be drawn. A particular advantage of the invention is that the necessary buffering of a power supply to the sensors must meet much lower demands and therefore requires less installation space and can be carried out more cost-effectively. The robustness of the sensor device or the robustness of the operation of the sensor device can thus advantageously be improved.
Weiterhin können negative Effekte von Stromspitzen, beispielsweise ein Zusammenbrechen einer Versorgungsspannung, vermieden werden. Dies kann zum Beispiel verhindern, dass bei gleichzeitigem Senden mehrerer Sensoren eine unzureichende Spannungsversorgung auftritt, welche beispielsweise dazu führen kann, dass die Sensoren in einen Ruhe- oder Resetmodus versetzt werden. Furthermore, negative effects of current peaks, for example a collapse of a supply voltage, can be avoided. This can, for example, prevent multiple sensors from being sent at the same time Insufficient voltage supply occurs, which can, for example, result in the sensors being put into sleep or reset mode.
Das Vermeiden von Stromspitzen hat weiterhin den Vorteil, dass geringere Beeinträchtigungen in Bezug zur elektromagnetischen Verträglichkeit der Sensoreinrichtung auftreten, da auch durch den Stromfluss induzierte, gegebenenfalls weitere Geräte beeinflussende, elektromagnetische Felder nur in geringerem Maße auftreten. Avoiding current peaks also has the advantage that less impairment occurs in relation to the electromagnetic compatibility of the sensor device, since electromagnetic fields induced by the current flow and possibly influencing other devices only occur to a lesser extent.
Das erfindungsgemäße Verfahren ermöglicht vorteilhaft, dass gleichzeitige Senden mehrerer Sensoren auch in Sensoreinrichtungen zu unterbinden, bei welchen die Sendezeitpunkte, an denen die Sensoren ihre Signale aussenden, jeweils gemäß einer den Sensoren individuell zugeordneten Sendevorschrift bestimmt werden. Folglich können insbesondere bei Sensoreinrichtungen, bei denen die einzelnen Sensoren zumindest im Wesentlichen autark gemäß einer in den Sensoren hinterlegten Sendevorschrift arbeiten, übermäßige Belastungen einer Strom- bzw. Spannungsversorgung der Sensoren reduziert werden. Vorteilhaft können somit komplizierte Synchronisierungsverfahren und/oder der Bedarf an einer zentralen Ansteuerung der Sensoren bzw. an einer zentralen, deterministischen Vorgabe der jeweiligen Sendezeitpunkte der Sensoren vermieden werden. The method according to the invention advantageously makes it possible to prevent simultaneous transmission of several sensors even in sensor devices in which the transmission times at which the sensors send out their signals are each determined in accordance with a transmission rule individually assigned to the sensors. Consequently, excessive loads on a current or voltage supply to the sensors can be reduced, particularly in sensor devices in which the individual sensors work at least essentially autonomously in accordance with a transmission specification stored in the sensors. Complicated synchronization procedures and/or the need for central control of the sensors or for a central, deterministic specification of the respective transmission times of the sensors can thus advantageously be avoided.
Erfindungsgemäß kann vorgesehen sein, dass die Maßnahme eine Verschiebung des Sendezeitpunkts um ein vorgegebenes Zeitintervall und/oder eine Verringerung einer Sendeleistung des Signals um einen vorgegebenen Faktor umfasst. According to the invention, it can be provided that the measure includes a shift in the transmission time by a predetermined time interval and/or a reduction in the transmission power of the signal by a predetermined factor.
Als Maßnahme kann beispielsweise eine Verschiebung des Sendezeitpunkts um ein vorgegebenes Zeitintervall vorgesehen sein. Dabei sendet der Sensor das Signal nicht zum eigentlichen Sendezeitpunkt aus, sondern insbesondere zu einem um das vorgegebene Zeitintervall in die Zukunft verschobenen, alternativen Sendezeitpunkt. Dies bewirkt, dass der wenigstens eine weitere Sensor, welcher ebenfalls an dem Sendezeitpunkt sendet, allein sendet und somit die Belastungen einer Energieversorgung reduziert werden können. Zu dem verschobenen Sendezeitpunkt sendet insbesondere der wenigstens eine Sensor allein, sodass auch zu dem verschobenen Sendezeitpunkt keine übermäßigen Belastungen in der Stromversorgung auftreten. Dazu kann insbesondere ein Zeitintervall vorgegeben werden, welches sich von den durch die Sendevorschriften definierten Sendezeitpunkten unterscheidet. As a measure, for example, a shift in the transmission time by a predetermined time interval can be provided. The sensor does not send out the signal at the actual transmission time, but in particular at an alternative transmission time that is postponed into the future by the specified time interval. This causes the at least one further sensor, which also transmits at the transmission time, to transmit alone and thus the load on an energy supply can be reduced. At the postponed transmission time, the at least one sensor in particular transmits alone, so that Even at the postponed transmission time, there will be no excessive loads on the power supply. In particular, a time interval can be specified for this purpose, which differs from the transmission times defined by the transmission regulations.
Zusätzlich oder alternativ dazu kann auch als Maßnahme die Sendeleistung für das an dem Sendezeitpunkt auszusendende Signal reduziert werden. Dadurch kann insbesondere auch der Energiebedarf des Sensors für das Aussenden des Signals reduziert werden, sodass insgesamt die Belastung der Energieversorgung zu dem Sendezeitpunkt reduziert werden kann. Bei der Verwendung einer Maßnahme, welche die Reduktion der Sendeleistung um einen vorgegebenen Faktor vorsieht, kann insbesondere auch der weitere Sensor eine entsprechende Maßnahme ergreifen, sodass insgesamt trotz des gleichzeitigen Sendens des wenigstens einen Sensors und des weiteren Sensors zum Sendezeitpunkt kein erhöhter Energiebedarf besteht. Die Sendeleistung kann zum Beispiel dadurch verringert werden, dass das Signal mit einer kleineren Signalamplitude ausgesendet wird. Additionally or alternatively, the transmission power for the signal to be transmitted at the transmission time can also be reduced as a measure. In this way, in particular, the energy requirement of the sensor for sending the signal can be reduced, so that overall the load on the energy supply at the time of transmission can be reduced. When using a measure that provides for the reduction of the transmission power by a predetermined factor, the further sensor can in particular also take a corresponding measure, so that overall, despite the simultaneous transmission of the at least one sensor and the further sensor, there is no increased energy requirement at the time of transmission. The transmission power can be reduced, for example, by sending the signal with a smaller signal amplitude.
In einer bevorzugten Ausgestaltung der Erfindung kann vorgesehen sein, dass die den jeweiligen Sensoren zugeordneten Sendevorschriften in den jeweiligen Sensoren hinterlegt sind, wobei in wenigstens einem der Sensoren wenigstens eine weitere Sendevorschrift eines weiteren der Sensoren hinterlegt ist, wobei der wenigstens eine Sensor dazu eingerichtet ist, das Zusammenfallen eines seiner Sendezeitpunkte mit wenigstens einem durch die wenigstens eine weitere Sendevorschrift beschriebenen, weiteren Sendezeitpunkt zu ermitteln. In a preferred embodiment of the invention, it can be provided that the transmission instructions assigned to the respective sensors are stored in the respective sensors, with at least one further transmission instruction from another of the sensors being stored in at least one of the sensors, the at least one sensor being set up to to determine the coincidence of one of its transmission times with at least one further transmission time described by the at least one further transmission regulation.
In jedem der Sensoren ist dabei zumindest die Sendevorschrift hinterlegt, welche für diesen Sensor die Sendezeitpunkte definiert. Es ist möglich, dass in einem Teil der Sensoren der Sensoreinrichtung eine oder mehrere weitere Sendevorschriften hinterlegt sind. Alternativ ist es möglich, dass in allen der Sensoren wenigstens eine weitere Sendevorschrift hinterlegt ist. Es ist auch möglich, dass in den Sensoren jeweils die Sendevorschriften aller Sensoren der Sensoreinrichtung hinterlegt sind. Die einzelnen Sensoren können zur Ermittlung der Sendezeitpunkte aus den ein oder mehreren Sendevorschriften zum Beispiel jeweils eine Recheneinheit umfassen. Weiterhin kann jeder der Sensoren auch eine Speichereinheit aufweisen, in der beispielsweise die Sendevorschrift sowie gegebenenfalls die ein oder mehreren weiteren Sendevorschriften hinterlegt sind. Die Sendevorschriften können den Sensoren zum Beispiel von einer Steuereinrichtung der Sensoreinrichtung bei einer Initialisierung der Sensoreinrichtung zugewiesen werden. At least the transmission specification is stored in each of the sensors, which defines the transmission times for this sensor. It is possible that one or more further transmission regulations are stored in some of the sensors of the sensor device. Alternatively, it is possible for at least one further transmission specification to be stored in all of the sensors. It is also possible for the transmission regulations of all sensors of the sensor device to be stored in the sensors. The individual sensors can each comprise, for example, a computing unit to determine the transmission times from the one or more transmission regulations. Furthermore, each of the sensors can also have a storage unit in which, for example, the transmission instructions and, if applicable, one or more further transmission instructions are stored. The transmission instructions can be assigned to the sensors, for example, by a control device of the sensor device when the sensor device is initialized.
Alternativ kann erfindungsgemäß vorgesehen sein, dass die Sensoreinrichtung eine Steuereinrichtung umfasst, wobei die den jeweiligen Sensoren zugeordneten Sendevorschriften in der Steuereinrichtung hinterlegt sind, wobei die Steuereinrichtung dazu eingerichtet ist, das Zusammenfallen eines Sendezeitpunkts eines der Sensoren mit wenigstens einem weiteren Sendezeitpunkt wenigstens eines weiteren der Sensoren zu ermitteln und den Sensor zum Auslassen des Signals an dem Sendezeitpunkt und/oder zum Senden des Signals in Abhängigkeit einer den Sendezeitpunkt und/oder die Signalbeschaffenheit verändernden Maßnahme anzusteuern. Alternatively, it can be provided according to the invention that the sensor device comprises a control device, the transmission regulations assigned to the respective sensors being stored in the control device, the control device being set up to ensure that a transmission time of one of the sensors coincides with at least one further transmission time of at least one more of the sensors to determine and to control the sensor to omit the signal at the transmission time and / or to send the signal depending on a measure that changes the transmission time and / or the signal quality.
Insbesondere, wenn der Sensor das Signal an dem Sendezeitpunkt in Abhängigkeit einer die Signalbeschaffenheit verändernden Maßnahme aussendet, kann die Steuereinrichtung auch den wenigstens einen weiteren Sensor zum Aussenden seines Signals in Abhängigkeit der oder einer die Signalbeschaffenheit verändernden Maßnahme ansteuern. Dabei können das Signal des weiteren Sensors bzw. die Signale der weiteren Sensoren gemäß derselben Maßnahme, insbesondere einer um denselben Faktor reduzierten Sendeleistung, verändert werden. Der Faktor kann dabei derart gewählt werden, dass die Gesamt-Sendeleitung aller an dem Sendezeitpunkt ausgesendeten Signale der Sendeleistung eines einzelnen, nicht veränderten Signals entspricht. In particular, if the sensor sends out the signal at the time of transmission depending on a measure that changes the signal quality, the control device can also control the at least one further sensor to send out its signal depending on the measure or a measure that changes the signal quality. The signal of the further sensor or the signals of the further sensors can be changed according to the same measure, in particular a transmission power reduced by the same factor. The factor can be chosen such that the total transmission line of all signals emitted at the time of transmission corresponds to the transmission power of a single, unchanged signal.
Erfindungsgemäß kann vorgesehen sein, dass die Sendevorschriften jeweils eine Tabelle mit mehreren Sendezeitintervallen, insbesondere als einen stochastisch erzeugten Code, umfassen, wobei die Sensoreinrichtung dazu eingerichtet ist, die Sendezeitpunkte in Abhängigkeit der Sendezeitintervalle und eines Synchronisationssignals zu ermitteln. According to the invention, it can be provided that the transmission regulations each include a table with several transmission time intervals, in particular as a stochastically generated code, the sensor device being set up to do this To determine transmission times depending on the transmission time intervals and a synchronization signal.
Die Sendevorschriften können an die einzelnen Sensoren beispielsweise von einer Steuereinrichtung der Sensoreinrichtung bei einer Initialisierung übertragen werden. Dabei kann jedem der Sensoren eine unterschiedliche Sendevorschrift übermittelt werden. Alternativ können die den Sensoren zugeordneten Sendevorschriften bei einer Initialisierung der Sensoreinrichtung in der Steuereinrichtung erzeugt und gespeichert werden. The transmission instructions can be transmitted to the individual sensors, for example by a control device of the sensor device during initialization. A different transmission instruction can be transmitted to each of the sensors. Alternatively, the transmission instructions assigned to the sensors can be generated and stored in the control device when the sensor device is initialized.
Die Sendevorschriften können zum Beispiel jeweils als eine Tabelle mit mehreren Sendezeitintervallen ausgeführt sein, sodass die Sensoren oder die Steuereinrichtung die jeweiligen Sendezeitpunkte anhand der vorgegebenen Sendezeitintervalle ermitteln können. Bei in den Sensoren hinterlegten Sendevorschriften kann, insbesondere von der Steuereinrichtung der Sensoreinrichtung, ein Synchronisationssignals vorgegeben werden, welches einen Startpunkt zur Ermittlung der Sendezeitpunkte und/oder ein periodisch aktualisiertes Referenzsignal zur Synchronisierung der jeweiligen Sendetakte darstellt. Wenn die Sendevorschriften in der Steuereinrichtung hinterlegt sind, dann kann die Steuereinrichtung zum Beispiel ein in der Steuereinrichtung intern erzeugtes oder ein extern erzeugtes und an die Steuereinrichtung übermitteltes Synchronisationssignal zur Ermittlung der Sendezeitpunkte für die Sensoren verwenden. The transmission regulations can, for example, each be designed as a table with several transmission time intervals, so that the sensors or the control device can determine the respective transmission times based on the predetermined transmission time intervals. In the case of transmission instructions stored in the sensors, a synchronization signal can be specified, in particular by the control device of the sensor device, which represents a starting point for determining the transmission times and/or a periodically updated reference signal for synchronizing the respective transmission cycles. If the transmission regulations are stored in the control device, then the control device can, for example, use a synchronization signal generated internally in the control device or an externally generated and transmitted to the control device to determine the transmission times for the sensors.
Erfindungsgemäß kann vorgesehen sein, dass die Sensoren mit einer gemeinsamen Stromversorgungseinrichtung, welche eine Stromversorgung der Sensoren bereitstellt, verbunden sind. According to the invention, it can be provided that the sensors are connected to a common power supply device, which provides a power supply for the sensors.
Die Stromversorgungseinrichtung kann dabei insbesondere in der oder einer Steuereinrichtung der Sensoreinrichtung realisiert sein. Die Steuereinrichtung kann dabei eine Stromversorgung für die einzelnen Sensoren bereitstellen bzw. eine Stromversorgungseinrichtung für die Versorgung der Sensoren enthalten. Eine zentrale Stromversorgung der Sensoren ist dabei vorteilhaft umsetzbar, da diese durch das Vermeiden des gleichzeitigen Aussenden bzw. durch das Reduzieren von Stromspitzen bei gleichzeitigem Aussenden von mehreren Signalen besonders aufwandsarm bzw. kompakt realisiert werden kann. Dies erleichtert vorteilhaft die Integration einer Stromversorgung für alle Sensoren in eine Steuereinrichtung der Sensoreinrichtung. The power supply device can in particular be implemented in the or a control device of the sensor device. The control device can provide a power supply for the individual sensors or contain a power supply device for supplying the sensors. A central power supply for the sensors can be advantageously implemented because this by avoiding simultaneous transmission or by reducing current peaks while simultaneously transmitting several signals, it can be implemented in a particularly low-cost and compact manner. This advantageously facilitates the integration of a power supply for all sensors into a control device of the sensor device.
Erfindungsgemäß kann vorgesehen sein, dass die Sensoren jeweils über eine separate Verbindung mit der Steuereinrichtung verbunden sind oder dass die Sensoren und die Steuereinrichtung in einer gemeinsamen Parallelschaltung verbunden sind. According to the invention, it can be provided that the sensors are each connected to the control device via a separate connection or that the sensors and the control device are connected in a common parallel connection.
Es ist möglich, dass die Sensoren jeweils separat über eine Verbindung mit der Steuereinrichtung verbunden sind. Eine solche Punkt-zu-Punkt-Verbindung kann jeweils eine separate Leitung zur Energieversorgung und/oder eine separate Leitung zur Datenübertragung zwischen dem Sensor und der Steuereinrichtung umfassen. Es ist auch möglich, dass die Energieversorgung und die Datenübertragung über eine gemeinsame Leitung erfolgt. It is possible that the sensors are each separately connected to the control device via a connection. Such a point-to-point connection can each include a separate line for power supply and/or a separate line for data transmission between the sensor and the control device. It is also possible for the energy supply and data transmission to take place via a common line.
Alternativ ist es möglich, dass die Sensoren und die Steuereinrichtung zumindest in Bezug zu ihrer Energieversorgung in einer Parallelschaltung verschaltet sind.Alternatively, it is possible for the sensors and the control device to be connected in parallel, at least in relation to their energy supply.
Insbesondere kann dabei eine Stromversorgungseinrichtung der Steuereinrichtung parallel zu den Sensoren geschaltet werden, sodass diese gemeinsam mit einer Versorgungsspannung beaufschlagt werden können. In particular, a power supply device of the control device can be connected in parallel to the sensors so that a supply voltage can be applied to them together.
In einer bevorzugten Ausgestaltung der Erfindung kann vorgesehen sein, dass die Sensoren als Ultraschallsensoren ausgeführt sind. Auch andere Ausführungen der Sensoren, beispielsweise als Radarsensoren, als Lidarsensoren oder Ähnliches, sind möglich. In a preferred embodiment of the invention it can be provided that the sensors are designed as ultrasonic sensors. Other versions of the sensors, for example as radar sensors, as lidar sensors or similar, are also possible.
Die Sensoreinrichtung kann erfindungsgemäß zur Abstandmessung, zur Füllstandmessung und/oder als Diebstahlwarnanlage ausgebildet sein. Die Ausbildung der Sensoreinrichtung kann dabei jeweils dadurch erreicht werden, dass eine Steuereinrichtung der Sensoreinrichtung zur Durchführung einer Abstandmessung, einer Füllstandmessung und/oder zur Detektion eines Diebstahls auf Grundlage von durch den Sensoren erfassten Echos bzw. Messwerten eingerichtet ist. According to the invention, the sensor device can be designed for distance measurement, level measurement and/or as an anti-theft alarm system. The design of the sensor device can be achieved in that a control device of the sensor device is used to carry out a Distance measurement, a level measurement and / or for detecting theft based on echoes or measured values detected by the sensors.
Für ein erfindungsgemäßes Fahrzeug ist vorgesehen, dass es wenigstens eine erfindungsgemäße Sensoreinrichtung umfasst. Die Sensoreinrichtung kann dabei beispielsweise zur Abstandmessung ausgebildet sein und mehrere entlang des Umfangs des Kraftfahrzeugs bzw. entlang eines Teilabschnitts des Umfangs, beispielsweise einer Stoßstange des Kraftfahrzeugs, angeordnete Sensoren umfassen. Zusätzlich oder alternativ dazu kann das Kraftfahrzeug auch eine zur Füllstandmessung und/oder als Diebstahlwarnanlage ausgebildete Sensoreinrichtung aufweisen. It is intended for a vehicle according to the invention to comprise at least one sensor device according to the invention. The sensor device can, for example, be designed for distance measurement and include a plurality of sensors arranged along the circumference of the motor vehicle or along a portion of the circumference, for example a bumper of the motor vehicle. Additionally or alternatively, the motor vehicle can also have a sensor device designed for level measurement and/or as an anti-theft alarm system.
Sämtliche vorangehend in Bezug zu der erfindungsgemäßen Sensoreinrichtung beschriebenen Vorteile und Einzelheiten gelten entsprechend auch für das erfindungsgemäße Fahrzeug und umgekehrt. All of the advantages and details described above in relation to the sensor device according to the invention also apply accordingly to the vehicle according to the invention and vice versa.
Für ein erfindungsgemäßes Verfahren zum Betrieb einer mehrere Sensoren umfassenden Sensoreinrichtung ist vorgesehen, dass die Sensoren jeweils wenigstens ein Signal zu verschiedenen Sendezeitpunkten auszusenden, wobei die Sendezeitpunkte der Sensoren jeweils durch eine dem jeweiligen Sensor zugeordnete Sendevorschrift vorgegeben sind, wobei bei einem Zusammenfallen eines Sendezeitpunkts eines der Sensoren mit einem weiteren Sendezeitpunkt eines weiteren der Sensoren das dem Sendezeitpunkt zugeordnete Signal des ersten Sensors ausgelassen oder in Abhängigkeit einer den Sendezeitpunkt und/oder eine Signalbeschaffenheit verändernden Maßnahme ausgesendet wird. For a method according to the invention for operating a sensor device comprising several sensors, it is provided that the sensors each send out at least one signal at different transmission times, the transmission times of the sensors each being predetermined by a transmission specification assigned to the respective sensor, whereby if a transmission time coincides, one of the Sensors with a further transmission time of another of the sensors, the signal of the first sensor assigned to the transmission time is omitted or is sent out depending on a measure that changes the transmission time and / or a signal quality.
Erfindungsgemäß kann vorgesehen sein, dass die Maßnahme eine Verschiebung des Sendezeitpunkts um ein vorgegebenes Zeitintervall und/oder eine Verringerung einer Sendeleistung um einen vorgegebenen Faktor umfasst, wobei der Sensor das Signal in Abhängigkeit der Maßnahme mit einem verschobenen Sendezeitpunkt und/oder einer verringerten Sendeleistung aussendet. In einer ersten bevorzugten Ausgestaltung des Verfahrens kann erfindungsgemäß vorgesehen sein, dass die den jeweiligen Sensoren zugeordneten Sendevorschriften in den jeweiligen Sensoren hinterlegt sind, wobei in wenigstens einem der Sensoren wenigstens eine weitere Sendevorschrift eines weiteren der Sensoren hinterlegt ist, wobei der wenigstens eine Sensor das Zusammenfallen eines seiner Sendezeitpunkte mit wenigstens einem durch die wenigstens eine weitere Sendevorschrift beschriebenen, weiteren Sendezeitpunkt ermittelt. According to the invention, it can be provided that the measure includes a shift in the transmission time by a predetermined time interval and/or a reduction in a transmission power by a predetermined factor, with the sensor emitting the signal depending on the measure with a shifted transmission time and/or a reduced transmission power. In a first preferred embodiment of the method, it can be provided according to the invention that the transmission instructions assigned to the respective sensors are stored in the respective sensors, with at least one further transmission instruction from another of the sensors being stored in at least one of the sensors, the at least one sensor causing the coincidence one of its transmission times is determined with at least one further transmission time described by the at least one further transmission regulation.
In einer zweiten bevorzugten Ausgestaltung des Verfahrens kann erfindungsgemäß vorgesehen sein, dass die Sensoreinrichtung eine Steuereinrichtung umfasst, wobei die den jeweiligen Sensoren zugeordneten Sendevorschriften in der Steuereinrichtung hinterlegt sind, wobei die Steuereinrichtung das Zusammenfallen eines Sendezeitpunkts eines der Sensoren mit wenigstens einem weiteren Sendezeitpunkt wenigstens eines weiteren der Sensoren ermittelt und den Sensor zum Auslassen des Signals an dem Sendezeitpunkt und/oder zum Senden des Signals in Abhängigkeit einer den Sendezeitpunkt und/oder die Signalbeschaffenheit verändernden Maßnahme ansteuert. In a second preferred embodiment of the method, it can be provided according to the invention that the sensor device comprises a control device, the transmission regulations assigned to the respective sensors being stored in the control device, the control device determining the coincidence of a transmission time of one of the sensors with at least one further transmission time of at least one more the sensors are determined and the sensor is controlled to omit the signal at the time of transmission and/or to send the signal depending on a measure that changes the time of transmission and/or the quality of the signal.
Sämtliche vorangehend in Bezug zu der erfindungsgemäßen Sensoreinrichtung und/oder dem erfindungsgemäßen Fahrzeug beschriebenen Vorteile und Einzelheiten gelten entsprechend auch für das erfindungsgemäße Verfahren und umgekehrt. All advantages and details described above in relation to the sensor device according to the invention and/or the vehicle according to the invention also apply accordingly to the method according to the invention and vice versa.
Weitere Vorteile und Ausgestaltungen der Erfindung ergeben sich aus den im Folgenden beschriebenen Ausführungsbeispielen sowie anhand der Zeichnungen. Diese sind schematische Darstellungen und zeigen: Further advantages and refinements of the invention result from the exemplary embodiments described below and from the drawings. These are schematic representations and show:
Fig. 1 ein Ausführungsbeispiel eines erfindungsgemäßen Fahrzeugs umfassend ein erstes Ausführungsbeispiel einer erfindungsgemäßen Sensoreinrichtung, 1 shows an exemplary embodiment of a vehicle according to the invention comprising a first exemplary embodiment of a sensor device according to the invention,
Fig. 2 ein zweites Ausführungsbeispiel einer erfindungsgemäßenFig. 2 shows a second embodiment of an inventive
Sensoreinrichtung und Fig. 3 zwei Diagramme, welche jeweils das Aussenden eines Signals zu verschiedenen Sendezeitpunkten darstellen, zur Erläuterung eines Ausführungsbeispiels eines erfindungsgemäßen Verfahrens. Sensor device and 3 shows two diagrams, each of which represents the transmission of a signal at different transmission times, to explain an exemplary embodiment of a method according to the invention.
In Fig. 1 ist ein Ausführungsbeispiel eines Fahrzeugs 1 dargestellt. Das Fahrzeug 1 umfasst eine Sensoreinrichtung 2, welche mehrere als Ultraschallsensoren ausgebildete Sensoren 3 aufweist. Weiterhin umfasst die Sensoreinrichtung 2 eine Steuereinrichtung 4, welche mit den Sensoren 3 verbunden ist. In dem ersten Ausführungsbeispiel der Sensoreinrichtung 2 ist dabei jeder Sensor 3 über eine separate Verbindung 5 mit der Steuereinrichtung 4 verbunden. Über die separaten Verbindungen 5 kann jeweils eine Energieübertragung bzw. eine Stromversorgung von der Steuereinrichtung 4 zu den einzelnen Sensoren 3 erfolgen. Ferner kann über jede der separaten Verbindungen 5 auch ein Datenaustausch zwischen den Sensoren 3 und der Steuereinrichtung 4 vorgenommen werden. An exemplary embodiment of a vehicle 1 is shown in FIG. The vehicle 1 includes a sensor device 2, which has several sensors 3 designed as ultrasonic sensors. Furthermore, the sensor device 2 includes a control device 4, which is connected to the sensors 3. In the first exemplary embodiment of the sensor device 2, each sensor 3 is connected to the control device 4 via a separate connection 5. An energy transfer or a power supply from the control device 4 to the individual sensors 3 can take place via the separate connections 5. Furthermore, data can be exchanged between the sensors 3 and the control device 4 via each of the separate connections 5.
Die Sensoren 3 sind in einem Teilbereich des äußeren Umfangs des Fahrzeugs 1 , vorliegend an der vorderen Stoßstange des Fahrzeugs 1 , angeordnet. Es ist möglich, dass die Sensoreinrichtung 2 weitere Sensoren 3 umfasst, welche an anderen Teilbereichen des Umfangs des Fahrzeugs 1 angeordnet sind, um beispielsweise ein Fahrzeugumfeld auch hinter dem Fahrzeug 1 und/oder neben dem Fahrzeug 1 zu erfassen. Die Sensoreinrichtung 2 kann vorliegend als eine Abstandserfassungseinrichtung ausgebildet sein, welche den Abstand zwischen dem Fahrzeug 1 und weiteren Objekten in der Umgebung des Fahrzeugs 1 bestimmen kann. Entsprechend ist die Steuereinrichtung 4 der Sensoreinrichtung 2 dazu ausgebildet, aus den Messdaten der Sensoren 3 Abstände zu weiteren Objekten zu ermitteln und/oder eine Umfeldkarte, welche mehrere Objekte sowie deren relative Anordnung zu dem Fahrzeug 1 beschreibt, zu erstellen. The sensors 3 are arranged in a portion of the outer circumference of the vehicle 1, in the present case on the front bumper of the vehicle 1. It is possible for the sensor device 2 to include further sensors 3, which are arranged on other partial areas of the circumference of the vehicle 1, for example to detect a vehicle environment behind the vehicle 1 and/or next to the vehicle 1. In the present case, the sensor device 2 can be designed as a distance detection device, which can determine the distance between the vehicle 1 and other objects in the surroundings of the vehicle 1. Accordingly, the control device 4 of the sensor device 2 is designed to determine distances to further objects from the measurement data of the sensors 3 and/or to create an environment map which describes several objects and their relative arrangement to the vehicle 1.
In Fig. 2 ist ein zweites Ausführungsbeispiel einer Sensoreinrichtung 2 dargestellt. In diesem Ausführungsbeispiel sind die Sensoren 3 in einer Parallelschaltung 6 verschaltet. Die Parallelschaltung 6 der Sensoren 3 ist ferner mit einer Stromversorgungseinrichtung 7, welche als Teil der Steuereinrichtung 4 ausgeführt ist, verbunden, sodass die Sensoren 3 über die Parallelschaltung 6 mit Strom versorgt werden können. Die Übertragung der Daten zwischen den Sensoren 3 unter Steuereinrichtung 4 kann beispielsweise über eine zusätzliche Datenkommunikationsverbindung 8 erfolgen. A second exemplary embodiment of a sensor device 2 is shown in FIG. In this exemplary embodiment, the sensors 3 are connected in a parallel circuit 6. The parallel circuit 6 of the sensors 3 is further connected to a power supply device 7, which is designed as part of the control device 4, so that the sensors 3 can be supplied with power via the parallel circuit 6. The transmission of data between the sensors 3 under control device 4 can take place, for example, via an additional data communication connection 8.
In beiden Ausführungsbeispielen der Sensoreinrichtung 2 sind die Sensoren 3 jeweils dazu ausgebildet, wenigstens ein Signal zu verschiedenen Sendezeitpunkten auszusenden. Die Sendezeitpunkte der Sensoren 3 werden jeweils durch eine dem jeweiligen Sensor 3 zugeordnete Sendevorschrift vorgegeben. Die Sensoreinrichtung 2 ist dazu ausgebildet, bei einem Zusammenfallen eines Sendezeitpunkts eines der Sensoren 3 mit einem weiteren Sendezeitpunkt eines weiteren der Sensoren 3, das dem Sendezeitpunkt zugeordnete Signal des Sensors 3 auszulassen oder in Abhängigkeit einer den Sendezeitpunkt und/oder eine Signalbeschaffenheit bzw. eine Signaleigenschaft verändernden Maßnahme auszusenden. In both exemplary embodiments of the sensor device 2, the sensors 3 are each designed to emit at least one signal at different transmission times. The transmission times of the sensors 3 are each specified by a transmission specification assigned to the respective sensor 3. The sensor device 2 is designed, if a transmission time of one of the sensors 3 coincides with a further transmission time of another of the sensors 3, to omit the signal of the sensor 3 assigned to the transmission time or, depending on a transmission time and / or a signal quality or a signal property to send out a changing measure.
Die die jeweiligen Sendezeitpunkte der Sensoren 3 beschreibenden Sendevorschriften können beispielsweise jeweils eine Tabelle mit mehreren Sendezeitintervallen umfassen. Die Sendevorschriften können beispielsweise als ein stochastischer Code erzeugt worden sein. Die Sendevorschriften für die Sensoren 3 können jeweils in den einzelnen Sensoren 3 oder in der Steuereinrichtung 4 hinterlegt sein. The transmission regulations describing the respective transmission times of the sensors 3 can, for example, each comprise a table with several transmission time intervals. The transmission instructions can, for example, have been generated as a stochastic code. The transmission instructions for the sensors 3 can be stored in the individual sensors 3 or in the control device 4.
Wenn die Sendevorschriften in den jeweiligen Sensoren 3 hinterlegt sind, ist zum Vermeiden des gleichzeitigen Aussendens von Signalen über mehrere der Sensoren 3 in einem oder mehreren der Sensoren 3 jeweils wenigstens eine weitere Sendevorschrift eines weiteren der Sensoren 3 hinterlegt. Somit kann zumindest einem Teil der Sensoren 3 neben den eigenen Sendezeitpunkten auch die Sendezeitpunkte eines oder mehrerer anderer Sensoren 3 der Sensoreinrichtung 2 bekannt gemacht werden. Dabei kann durch den Sensor 3 in Abhängigkeit der ihm zugewiesenen Sendevorschrift sowie der weiteren Sendevorschrift, welche die Sendezeitpunkte des weiteren Sensors 3 beschreibt, das Zusammenfallen von zwei Sendezeitpunkten ermittelt werden. Der Sensor 3 kann also ermitteln, wann einer seiner Sendezeitpunkte mit dem Sendezeitpunkt eines weiteren der Sensoren 3 zusammenfällt. Da die Sensoren 3 beim Aussenden ihrer Signale, d. h. zum jeweiligen Sendezeitpunkt, einen erhöhten Energiebedarf zum Erzeugen des Signals aufweisen, kann eine Stromversorgung der Sensoren 3, beispielsweise die in die Steuereinrichtung 4 integrierte Stromversorgungseinrichtung 7, überlastet werden bzw. es können Spannungskompensationsmaßnahmen und/oder eine Auslegung der Stromversorgungseinrichtung 7 auf eine höhere Leistung erforderlich werden. Ferner können die dadurch erzeugten Stromspitzen hinsichtlich einer elektromagnetischen Verträglichkeit der Sensoreinrichtung 2 unerwünscht sein.If the transmission instructions are stored in the respective sensors 3, at least one further transmission instruction from another of the sensors 3 is stored in one or more of the sensors 3 in order to avoid the simultaneous transmission of signals via several of the sensors 3. In addition to their own transmission times, at least some of the sensors 3 can also be made aware of the transmission times of one or more other sensors 3 of the sensor device 2. The coincidence of two transmission times can be determined by the sensor 3 depending on the transmission specification assigned to it and the further transmission specification which describes the transmission times of the further sensor 3. The sensor 3 can therefore determine when one of its transmission times coincides with the transmission time of another of the sensors 3. Since the sensors 3 have an increased energy requirement to generate the signal when sending their signals, ie at the respective transmission time, a power supply of the sensors 3, for example the power supply device 7 integrated into the control device 4, can be overloaded or voltage compensation measures and / or a design of the power supply device 7 for a higher power may be required. Furthermore, the current peaks generated thereby may be undesirable with regard to the electromagnetic compatibility of the sensor device 2.
Ein Sensor 3, welcher das Zusammenfallen eines seiner Sendezeitpunkte mit wenigstens einem durch die wenigstens eine weitere Sendevorschrift beschriebenen, weiteren Sendezeitpunkts ermittelt, kann das dem Sendezeitpunkt zugeordnete Signal auslassen oder in Abhängigkeit einer den Sendezeitpunkt und/oder eine Signalbeschaffenheit verändernden Maßnahme aussenden. A sensor 3, which determines the coincidence of one of its transmission times with at least one further transmission time described by the at least one further transmission regulation, can omit the signal assigned to the transmission time or send it depending on a measure that changes the transmission time and / or a signal quality.
Alternativ ist es möglich, dass die jeweiligen Sendevorschriften in der Steuereinrichtung 4 hinterlegt sind, wobei die Steuereinrichtung 4 die einzelnen Sensoren 3 zu den entsprechenden Sendezeitpunkten zum Aussenden eines Signals ansteuert. Entsprechend kann die Steuereinrichtung 4 bei dem Zusammenfallen von zwei oder mehr Sendezeitpunkten einen oder mehrere der Sensoren zum Auslassen ihres jeweiligen Signals und/oder zum Verändern ihres jeweiligen Signals in Abhängigkeit der den Sendezeitpunkt und/oder die Signalbeschaffenheit verändernden Maßnahme ansteuern. Alternatively, it is possible for the respective transmission regulations to be stored in the control device 4, with the control device 4 controlling the individual sensors 3 at the corresponding transmission times to send out a signal. Accordingly, when two or more transmission times coincide, the control device 4 can control one or more of the sensors to omit their respective signal and/or to change their respective signal depending on the measure that changes the transmission time and/or the signal quality.
Die Maßnahme kann dabei eine Verschiebung des Sendezeitpunkts für einen der Sensoren 3 um ein vorgegebenes Zeitintervall und/oder eine Verringerung der Signalleistung bzw. der Signalamplitude des Signals um einen vorgegebenen Faktor umfassen. Insbesondere ist es möglich, dass die Verringerung der Sendeleistung sowohl für den Sensor 3 als auch für den wenigstens einen weiteren Sensor 3, also für alle Sensoren 3, deren Sendezeitpunkte zusammenfallen, umgesetzt wird. The measure can include a shift in the transmission time for one of the sensors 3 by a predetermined time interval and/or a reduction in the signal power or the signal amplitude of the signal by a predetermined factor. In particular, it is possible for the reduction in transmission power to be implemented both for the sensor 3 and for the at least one further sensor 3, i.e. for all sensors 3 whose transmission times coincide.
Es ist möglich, dass der Faktor, um den die Sendeleistung reduziert wird, in Abhängigkeit der Anzahl der zusammenfallenden Sendezeitpunkte und somit in Abhängigkeit der Anzahl der für ein gleichzeitiges Aussenden vorgesehenen Signale ermittelt wird. Beispielsweise kann bei zwei Signalen, welche zu demselben Sendezeitpunkt ausgesendet werden sollen, jeweils die Signalamplitude derart reduziert werden, dass für die beiden Signale jeweils nur die halbe Sendeleistung zum Aussenden verwendet wird. Somit bleibt der Energiebedarf bzw. der Strombedarf der Sensoren 3 an dem gemeinsamen Sendezeitpunkt gleich. It is possible that the factor by which the transmission power is reduced depends on the number of coincident transmission times and thus on the number intended for simultaneous transmission Signals are determined. For example, for two signals that are to be transmitted at the same time, the signal amplitude can be reduced in such a way that only half the transmission power is used for transmission for the two signals. The energy requirement or the power requirement of the sensors 3 therefore remains the same at the common transmission time.
Allgemein kann bei n Signalen, welche zu demselben Sendezeitpunkt ausgesendet werden sollen, eine Reduktion der Sendeleistung jeweils um einen Faktor 1/n erfolgen. Dies kann entweder von der Steuereinrichtung 4 vorgegeben werden, wenn die Sendevorschriften in der Steuereinrichtung 4 hinterlegt sind, oder individuell von jedem der Sensoren auf Grundlage der im Sensor hinterlegten Sendevorschriften ermittelt werden. In general, for n signals that are to be transmitted at the same time, the transmission power can be reduced by a factor of 1/n. This can either be specified by the control device 4 if the transmission regulations are stored in the control device 4, or can be determined individually by each of the sensors based on the transmission regulations stored in the sensor.
In Fig. 3 sind schematisch zwei Diagramme 9,10 dargestellt. Dabei zeigt das Diagramm 9 die von einem ersten der Sensoren 3 ausgesendeten Signale 11 und das Diagramm 10 die von einem zweiten der Sensoren 3 ausgesendeten Signale 12, wobei auf der Abszisse die Zeit t und auf der Ordinate die Sendeleistungen Pi bzw. P2 der Signale 11 bzw. 12 dargestellt sind. Two diagrams 9, 10 are shown schematically in FIG. The diagram 9 shows the signals 11 emitted by a first of the sensors 3 and the diagram 10 shows the signals 12 emitted by a second of the sensors 3, with the time t on the abscissa and the transmission powers Pi or P2 of the signals 11 on the ordinate or 12 are shown.
Die Signale 11 , 12 werden jeweils zu unterschiedlichen Sendezeitpunkten ausgesendet. Die Sendezeitpunkte ergeben sich beispielsweise aus denen als Sendevorschrift hinterlegten Zeitintervallen, welche insbesondere für die einzelnen Sensoren 3 zumindest teilweise unterschiedlich gewählt werden, sodass die einzelnen Sensoren 3 ihre Signale zeitlich gesehen in einem charakteristischen Muster aussenden. The signals 11, 12 are each sent out at different transmission times. The transmission times result, for example, from the time intervals stored as transmission instructions, which are at least partially selected differently for the individual sensors 3, so that the individual sensors 3 send their signals in a characteristic pattern in terms of time.
Die Sendezeitpunkte können dabei beispielsweise aus den Zeitintervallen in Abhängigkeit eines Synchronisationssignals erzeugt werden, welches fortlaufend zu bestimmten Zeitpunkten zum Beispiel von der Steuereinrichtung 4 an die Sensoren 3 übertragen wird. Das Zuweisen eines charakteristischen Musters der Signalaussendung erlaubt die Zuordnung von empfangenen Signalen, bzw. von auf die Signale zurückgehenden Echos, zu den einzelnen Sensoren 3. The transmission times can be generated, for example, from the time intervals depending on a synchronization signal, which is continuously transmitted at certain times, for example from the control device 4 to the sensors 3. Assigning a characteristic pattern of signal emission allows the assignment of received signals, or echoes resulting from the signals, to the individual sensors 3.
Ersichtlich fallen in dem in Figur 3 dargestellten Beispiel die Sendezeitpunkte ti des ersten Sensors und t2,s des zweiten Sensors zusammen. Als Maßnahme wird dabei eine Reduktion der Sendeleistung beider Signale um einen Faktor 0.5 vorgenommen, sodass insgesamt der Energiebedarf zum Sendezeitpunkt tu bzw. t2,i konstant bleibt. As can be seen, in the example shown in FIG. 3, the transmission times ti of the first sensor and t2,s of the second sensor coincide. The measure is a reduction in the transmission power of both signals by a factor of 0.5 made so that the overall energy requirement at the time of transmission tu or t2,i remains constant.
Zusätzlich oder alternativ dazu ist es möglich, dass der Sendezeitpunkt eines der Signale um ein Zeitintervall Ati verschoben wird, so wie es schematisch für das Signal 11 des ersten Sensors 3 gestrichelt dargestellt ist. Additionally or alternatively, it is possible for the transmission time of one of the signals to be shifted by a time interval Ati, as is shown schematically in dashed lines for the signal 11 of the first sensor 3.
Alternativ zu dem Verschieben des Sendezeitpunkts und/oder zum Ergreifen einer den Sendezeitpunkt und/oder die Signalbeschaffenheit verändernden Maßnahme kann auch das Signal 11 des ersten Sensors 3 oder das Signal 12 des zweiten Sensors 3 zum Sendezeitpunkt tu bzw. t2,s ausgelassen werden. Die jeweils durchzuführenden Maßnahmen können analog zu den Sendevorschriften in den einzelnen Sensoren 3 und/oder in der Steuereinrichtung 4 als Maßnahmeninformationen hinterlegt sein. As an alternative to shifting the transmission time and/or taking a measure that changes the transmission time and/or the signal quality, the signal 11 of the first sensor 3 or the signal 12 of the second sensor 3 at the transmission time tu or t2,s can also be omitted. The measures to be carried out can be stored as measure information in the individual sensors 3 and/or in the control device 4, analogous to the transmission regulations.
In beiden Ausführungsbeispielen der Sensoreinrichtung 2 ist es möglich, dass die Sensoren 3 mit einer separat zu dem Steuergerät 4 ausgeführten Stromversorgungseinrichtung verbunden sind. Weiterhin ist es möglich, dass die Sensoreinrichtung 2 in einer anderen Art von Vorrichtung als einem Fahrzeug eingesetzt wird und/oder dass die Sensoreinrichtung 2 zur Füllstandmessung und/oder als Diebstahlwarnanlage ausgebildet ist. Die jeweilige Funktion der Sensoreinrichtung 2 kann zum Beispiel durch die Steuereinrichtung 4 umgesetzt werden, welche die von den Sensoren 3 empfangen Messdaten bzw. Echos der Signale entsprechend auswertet. In both exemplary embodiments of the sensor device 2, it is possible for the sensors 3 to be connected to a power supply device that is designed separately from the control device 4. Furthermore, it is possible that the sensor device 2 is used in a different type of device than a vehicle and/or that the sensor device 2 is designed for level measurement and/or as an anti-theft alarm system. The respective function of the sensor device 2 can be implemented, for example, by the control device 4, which appropriately evaluates the measurement data or echoes of the signals received from the sensors 3.
Alternativ zu einer Ausführung der Sensoren 3 als Ultraschallsensoren ist auch eine Ausführung der Sensoren 3 als ein anderer Typ von Sensor, beispielsweise als Radarsensoren oder als Lidarsensoren, möglich. As an alternative to designing the sensors 3 as ultrasonic sensors, it is also possible to design the sensors 3 as a different type of sensor, for example as radar sensors or as lidar sensors.

Claims

Patentansprüche Patent claims
1 . Sensoreinrichtung umfassend mehrere Sensoren (3), wobei die Sensoren (3) jeweils dazu ausgebildet sind, wenigstens ein Signal (11 , 12) zu verschiedenen Sendezeitpunkten auszusenden, wobei die Sendezeitpunkte der Sensoren (3) jeweils durch eine dem jeweiligen Sensor (3) zugeordnete Sendevorschrift vorgegeben sind, dadurch gekennzeichnet, dass die Sensoreinrichtung (2) dazu ausgebildet ist, bei einem Zusammenfallen eines Sendezeitpunkts eines der Sensoren (3) mit einem weiteren Sendezeitpunkt eines weiteren der Sensoren (3) das dem Sendezeitpunkt zugeordnete Signal (11 , 12) des ersten Sensors (3) auszulassen oder in Abhängigkeit einer den Sendezeitpunkt und/oder eine Signalbeschaffenheit verändernden Maßnahme auszusenden. 1 . Sensor device comprising a plurality of sensors (3), the sensors (3) each being designed to emit at least one signal (11, 12) at different transmission times, the transmission times of the sensors (3) each being assigned to the respective sensor (3). Transmission specification are specified, characterized in that the sensor device (2) is designed to, if a transmission time of one of the sensors (3) coincides with a further transmission time of another of the sensors (3), the signal (11, 12) assigned to the transmission time of the omit the first sensor (3) or send it depending on a measure that changes the transmission time and / or a signal quality.
2. Sensoreinrichtung nach Anspruch 1 , dadurch gekennzeichnet, dass die Maßnahme eine Verschiebung des Sendezeitpunkts um ein vorgegebenes Zeitintervall und/oder eine Verringerung einer Sendeleistung des Signals (11 , 12) um einen vorgegebenen Faktor umfasst. 2. Sensor device according to claim 1, characterized in that the measure comprises a shift in the transmission time by a predetermined time interval and / or a reduction in a transmission power of the signal (11, 12) by a predetermined factor.
3. Sensoreinrichtung nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass die den jeweiligen Sensoren (3) zugeordneten Sendevorschriften in den jeweiligen Sensoren (3) hinterlegt sind, wobei in wenigstens einem der Sensoren (3) wenigstens eine weitere Sendevorschrift eines weiteren der Sensoren (3) hinterlegt ist, wobei der wenigstens eine Sensor (3) dazu eingerichtet ist, das Zusammenfallen eines seiner Sendezeitpunkte mit wenigstens einem durch die wenigstens eine weitere Sendevorschrift beschriebenen, weiteren Sendezeitpunkt zu ermitteln. 3. Sensor device according to claim 1 or 2, characterized in that the transmission instructions assigned to the respective sensors (3) are stored in the respective sensors (3), with at least one further transmission instruction from another of the sensors (3) being in at least one of the sensors (3). 3) is stored, wherein the at least one sensor (3) is set up to determine the coincidence of one of its transmission times with at least one further transmission time described by the at least one further transmission regulation.
4. Sensoreinrichtung nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass die Sensoreinrichtung (2) eine Steuereinrichtung (4) umfasst, wobei die den jeweiligen Sensoren (3) zugeordneten Sendevorschriften in der Steuereinrichtung (4) hinterlegt sind, wobei die Steuereinrichtung (4) dazu eingerichtet ist, das Zusammenfallen eines Sendezeitpunkts eines der Sensoren (3) mit wenigstens einem weiteren Sendezeitpunkt wenigstens eines weiteren der Sensoren (3) zu ermitteln und den Sensor (3) zum Auslassen des Signals (11 , 12) an dem Sendezeitpunkt und/oder zum Senden des Signals (11 , 12) in Abhängigkeit einer den Sendezeitpunkt und/oder die Signalbeschaffenheit verändernden Maßnahme anzusteuern. 4. Sensor device according to claim 1 or 2, characterized in that the sensor device (2) comprises a control device (4), wherein the Transmission regulations assigned to each sensor (3) are stored in the control device (4), the control device (4) being set up to coincide with the coincidence of a transmission time of one of the sensors (3) with at least one further transmission time of at least one more of the sensors (3). determine and control the sensor (3) to omit the signal (11, 12) at the transmission time and / or to send the signal (11, 12) depending on a measure that changes the transmission time and / or the signal quality.
5. Sensoreinrichtung nach einem der vorangehenden Ansprüche, dadurch gekennzeichnet, dass die Sendevorschriften jeweils eine Tabelle mit mehreren Sendezeitintervallen, insbesondere als einen stochastisch erzeugten Code, umfassen, wobei die Sensoreinrichtung (2) dazu eingerichtet ist, die Sendezeitpunkte in Abhängigkeit der Sendezeitintervalle und eines Synchronisationssignals zu ermitteln. 5. Sensor device according to one of the preceding claims, characterized in that the transmission regulations each include a table with several transmission time intervals, in particular as a stochastically generated code, the sensor device (2) being set up to determine the transmission times depending on the transmission time intervals and a synchronization signal to determine.
6. Sensoreinrichtung nach einem der vorangehenden Ansprüche, dadurch gekennzeichnet, dass die Sensoren (3) mit einer gemeinsamen Stromversorgungseinrichtung (7), welche eine Stromversorgung der Sensoren (3) bereitstellt, verbunden sind. 6. Sensor device according to one of the preceding claims, characterized in that the sensors (3) are connected to a common power supply device (7), which provides a power supply for the sensors (3).
7. Sensoreinrichtung nach einem der vorangehenden Ansprüche, dadurch gekennzeichnet, dass die Sensoren (3) als Ultraschallsensoren ausgeführt sind. 7. Sensor device according to one of the preceding claims, characterized in that the sensors (3) are designed as ultrasonic sensors.
8. Sensoreinrichtung nach einem der vorangehenden Ansprüche, dadurch gekennzeichnet, dass die Sensoreinrichtung (2) zur Abstandmessung, zur Füllstandmessung und/oder als Diebstahlwarnanlage ausgebildet ist. 8. Sensor device according to one of the preceding claims, characterized in that the sensor device (2) is designed for distance measurement, for level measurement and / or as an anti-theft alarm system.
9. Fahrzeug umfassend wenigstens eine Sensoreinrichtung (2) nach einem der vorangehenden Ansprüche. 9. Vehicle comprising at least one sensor device (2) according to one of the preceding claims.
10. Verfahren zum Betrieb einer mehrere Sensoren (3) umfassenden Sensoreinrichtung (2), wobei die Sensoren (3) jeweils wenigstens ein Signal (11 , 12) zu verschiedenen Sendezeitpunkten auszusenden, wobei die Sendezeitpunkte der Sensoren (3) jeweils durch eine dem jeweiligen Sensor (3) zugeordnete Sendevorschrift vorgegeben sind, wobei bei einem Zusammenfallen eines Sendezeitpunkts eines der Sensoren (3) mit einem weiteren Sendezeitpunkt eines weiteren der Sensoren (3) das dem Sendezeitpunkt zugeordnete Signal (11 , 12) des ersten Sensors (3) ausgelassen oder in Abhängigkeit einer den Sendezeitpunkt und/oder eine Signalbeschaffenheit verändernden Maßnahme ausgesendet wird. 10. Method for operating a sensor device (2) comprising several sensors (3), the sensors (3) each transmitting at least one signal (11, 12) at different transmission times, the transmission times of the sensors (3) each being predetermined by a transmission specification assigned to the respective sensor (3), whereby if a transmission time of one of the sensors (3) coincides with a further transmission time of another of the sensors (3), the signal (11, 12) of the first sensor (3) assigned to the transmission time is omitted or is sent out depending on a measure that changes the transmission time and / or a signal quality.
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