WO2024012638A1 - Dispositif de détection, véhicule et procédé de fonctionnement d'un dispositif de détection - Google Patents

Dispositif de détection, véhicule et procédé de fonctionnement d'un dispositif de détection 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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Prior art keywords
sensors
transmission
sensor
sensor device
transmission time
Prior art date
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PCT/DE2023/200120
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German (de)
English (en)
Inventor
Roland Burghardt
Katharina Völkl
Original Assignee
Continental Autonomous Mobility Germany GmbH
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Publication of WO2024012638A1 publication Critical patent/WO2024012638A1/fr

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • 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

L'invention concerne un dispositif de capteur comprenant plusieurs capteurs (3), les capteurs (3) étant chacun conçus pour émettre au moins un signal (11, 12) à différents moments de transmission, les moments de transmission des capteurs (3) étant chacun prédéfinis par une règle de transmission associée au capteur (3) respectif, le dispositif de capteur (2) étant conçu, dans le cas où un temps d'émission de l'un des capteurs (3) coïncide avec un autre temps d'émission d'un autre des capteurs (3), pour ignorer le signal (11, 12) du premier capteur (3) affecté au temps d'émission ou pour l'émettre en fonction d'une mesure modifiant le temps d'émission et/ou une caractéristique du signal.
PCT/DE2023/200120 2022-07-14 2023-06-21 Dispositif de détection, véhicule et procédé de fonctionnement d'un dispositif de détection WO2024012638A1 (fr)

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100182874A1 (en) * 2007-06-28 2010-07-22 Michael Frank Method and device for detection of surroundings
EP2455779A1 (fr) * 2010-11-17 2012-05-23 Robert Bosch GmbH Détermination de la direction à base d'ultrasons d'objets dans un environnement de véhicule
DE102019130373A1 (de) * 2019-11-11 2021-05-12 Valeo Schalter Und Sensoren Gmbh Umfeldüberwachung eines Kraftfahrzeugs

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DE102008045190A1 (de) 2008-08-30 2010-03-04 Valeo Schalter Und Sensoren Gmbh Verfahren zur Steuerung von Sensoren an einem Fahrzeug
DE102015016704A1 (de) 2015-12-22 2017-06-22 Audi Ag Verfahren zum Übertragen von Kommunikationsdaten zwischen einer Vielzahl von Fahrzeugkomponenten eines Kraftfahrzeugs
CN113016153B (zh) 2019-08-30 2023-12-05 百度时代网络技术（北京）有限公司 验证在自动驾驶车辆中使用的传感器的定时

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100182874A1 (en) * 2007-06-28 2010-07-22 Michael Frank Method and device for detection of surroundings
EP2455779A1 (fr) * 2010-11-17 2012-05-23 Robert Bosch GmbH Détermination de la direction à base d'ultrasons d'objets dans un environnement de véhicule
DE102019130373A1 (de) * 2019-11-11 2021-05-12 Valeo Schalter Und Sensoren Gmbh Umfeldüberwachung eines Kraftfahrzeugs

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