EP1440331A1 - Dispositif de detection optoelectronique - Google Patents

Dispositif de detection optoelectronique

Info

Publication number
EP1440331A1
EP1440331A1 EP02801874A EP02801874A EP1440331A1 EP 1440331 A1 EP1440331 A1 EP 1440331A1 EP 02801874 A EP02801874 A EP 02801874A EP 02801874 A EP02801874 A EP 02801874A EP 1440331 A1 EP1440331 A1 EP 1440331A1
Authority
EP
European Patent Office
Prior art keywords
detection device
operating parameter
monitoring area
vehicle
radiation
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP02801874A
Other languages
German (de)
English (en)
Inventor
Ulrich Lages
Volker Willhoeft
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Ibeo Automobile Sensor GmbH
Original Assignee
Ibeo Automobile Sensor GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Ibeo Automobile Sensor GmbH filed Critical Ibeo Automobile Sensor GmbH
Publication of EP1440331A1 publication Critical patent/EP1440331A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • 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
    • G01S7/497—Means for monitoring or calibrating
    • 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
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/42—Simultaneous measurement of distance and other co-ordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • 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
    • G01S7/497—Means for monitoring or calibrating
    • G01S2007/4975—Means for monitoring or calibrating of sensor obstruction by, e.g. dirt- or ice-coating, e.g. by reflection measurement on front-screen
    • 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
    • G01S7/4802—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section

Definitions

  • the invention relates to an optoelectronic detection device with at least one transmission unit, which preferably emits pulsed electromagnetic radiation into a monitoring area during operation, at least one receiving unit for receiving radiation reflected from the monitoring area, and an evaluation unit for evaluating the received reflected radiation.
  • the invention also relates to a method for operating such an optoelectronic detection device.
  • Such detection devices are known in principle and are attached to vehicles, for example, in order to recognize and track objects located in the monitoring area during driving, in particular other road users.
  • the object of the invention is to provide an optoelectronic detection device and a method for its operation, with which it is possible is to use the detection device as versatile as possible and to operate it optimally under all operating conditions.
  • an adaptation device is provided with which at least one operating parameter of the detection device can be changed to adapt to the respective operating situation, in particular as a function of predefinable conditions.
  • the optoelectronic detection device has an adaptation device which is able to change the operating state of the detection device in order to adapt the detection device to the respective operating situation.
  • at least one operating parameter of the detection device and thus its configuration is changed.
  • the change in the operating state or the at least one operating parameter of the detection device can take place as a function of predefinable conditions, i.e. conditions can be specified, the fulfillment of which leads to the operating state being changed and the detection device being adapted to the respective operating situation.
  • the adaptation device can be designed as a separate module or integrated into the evaluation unit or a central control unit.
  • the invention makes it possible to specifically adapt the detection device to the respective operating situation.
  • the detection device therefore does not need to remain in a constant operating state during the entire detection operation, but instead can be done by skillfully adapting the operating parameter or parameters correct operating situations, the performance of the detection device is fully exploited and, on the other hand, it is prevented that in certain operating situations the detection device is unnecessarily operated at an excessively high performance level.
  • the optoelectronic detection device comprises a laser scanner, also referred to simply as a sensor below, in particular a laser scanner measuring distances and angles, which scans the monitoring area line by line and / or area in at least one scanning plane and preferably one for each distance value provides an angular value related to a given axis.
  • a laser scanner also referred to simply as a sensor below, in particular a laser scanner measuring distances and angles, which scans the monitoring area line by line and / or area in at least one scanning plane and preferably one for each distance value provides an angular value related to a given axis.
  • the operating state it is possible according to the invention for the operating state to be changed by a user, in vehicle applications, for example, by the vehicle driver.
  • the operating state or the at least one operating parameter of the detection device can be changed automatically.
  • the recording device is automatically adapted to the respective operating situation.
  • the operating parameter be adaptable to the respective environmental situation in the monitoring area, which is detected by evaluating the reflected radiation.
  • the detection device is adapted to the environmental situation as it is "seen” by itself.
  • the detection device itself determines the respective situation to which an adjustment may be necessary is.
  • It is the evaluation unit that provides the adaptation device with the required information about the respective environmental situation.
  • the adaptation device can then decide whether or not the environmental situation "supplied" by the evaluation unit requires an adaptation of the operation of the detection device.
  • only the environmental situation in the monitoring area that is detected by the detection device itself can be used as the basis for a decision as to whether or not the operating state of the detection device should be changed.
  • the operating parameter can be adapted to the driving situation and in particular to at least one driving operating parameter of a vehicle to which the detection device is attached.
  • the basis for a possible adjustment of the operating state of the detection device is consequently here - either in addition to the environmental situation recorded in particular by means of the detection device itself or exclusively - the driving situation and, in particular, the current operating state of the vehicle.
  • the operating parameter of the detection device can be adaptable to the vehicle movement and in particular to the speed and / or the steering angle of the vehicle.
  • the changeable operating parameter can relate both to the hardware of the detection device and to an evaluation algorithm of the evaluation unit, and in particular to an evaluation algorithm used for the detection and / or tracking of objects in the monitoring area.
  • both the hardware and the software can be adapted to the detection device.
  • the transmission power of the transmission unit and in particular the intensity of emitted laser radiation is changed as the operating parameter.
  • the transmission power can be adapted to one's own speed, ie to the speed of the vehicle to which the detection device is attached.
  • the operating state is changed as a function of the vehicle situation forming part of the operating situation.
  • the transmission power of the transmission unit at any time does not exceed a maximum that is permissible within the framework of the applicable safety regulations, ie, for example, legally prescribed eye safety is always guaranteed, regardless of the respective operating situation.
  • the adaptation is preferably carried out in such a way that the transmission power is set to the permissible maximum in certain situations in which, for example, a high visibility is desired due to a high vehicle speed, but in other situations the transmission power is reduced.
  • a reduced transmission power is generally used, which means that the transmission power is below or far below a respective one with regard to eye safety permissible maximum dimension remains and at the same time the transmitter unit is protected, ie the service life of the transmitter unit is increased.
  • the transmission power can be changed depending on the direction.
  • the intensity of the scanning laser beams emitted in different directions can be set individually and independently of one another, particularly flexible operation of the detection device can be realized in this way, for example in regions of the monitoring area where there is a high visibility or Range is desirable, a high transmission power of the scanning beams is selected and used in other regions. one of the monitoring area is working with normal or reduced transmission power.
  • the adaptive setting of the transmission power in particular in the case of laser scanners, can take into account whether applicable safety regulations specify a permissible maximum transmission power per scanning beam or per time unit and / or angular range, i.e. it may be possible to violate some, e.g. to provide scanning beams emitted in a particularly interesting angular region permanently or temporarily with a relatively high transmission power which would be impermissible for the entire angular region of the scanner or for continuous operation.
  • the transmission power can preferably be adapted to the instantaneous and, in particular, to a reduced visibility due to interference and / or to a degree of contamination of the detection device, and can preferably be increased to compensate for a reduction in visibility. Visibility reduction can e.g. caused by disturbances due to environmental influences such as rain, snow, fog and dust. By increasing the transmission power, the impairment of the range of vision can be compensated for and at the same time it can be ensured that the applicable protective regulations are observed and in particular eye safety is guaranteed.
  • This adaptation of the operating state can take place independently of other situation information and in particular independently of further vehicle information such as the vehicle speed.
  • an angular resolution of the detection device is provided as the changeable operating parameter, wherein preferably the speed of a device rotatable for executing a scanning movement of the detection device can be changed.
  • the number of simultaneously operated scanning levels can also be provided according to the invention as a changeable operating parameter. This makes it possible to switch individual scanning or scanning levels on or off depending on the operating situation. For example, in cases where only a relatively short range is required, for example in the case of a detection device attached to a vehicle when the vehicle is stationary at a pedestrian crossing, all scanning levels except one or - for safety reasons - two scanning levels can be switched off.
  • the sampling frequency of the detection device can be provided as a changeable operating parameter.
  • the response time can be minimized, which after the detection of e.g. object moving transversely to the direction of travel, for example to warn the driver or to initiate automatic avoidance and / or braking maneuvers.
  • This adaptation can e.g. Depending on the environment, a higher sampling frequency is selected in the city in which objects moving transverse to the direction of travel are more likely to occur than, for example, on a freeway than in a freeway type environment.
  • its orientation can be provided as a changeable operating parameter of the detection device.
  • the orientation of the detection device can in particular be changed such that subsequently, i.e. after the detection device has been realigned, the monitoring is limited to at least one region of particular interest in the monitoring area.
  • the area actually monitored by the detection device can advantageously be reduced as much as it is for the respective application is required. Any unnecessary monitoring of the entire field of view of the sensor, for example up to 360 ° in a laser scanner, can be avoided in this way.
  • Monitoring can also take place simultaneously in several separate regions of interest that are either dependent on one another in some way - e.g. if several regions of interest lie on the same object, e.g. a truck in front - or - e.g. if several regions of interest on different
  • Objects in the surveillance area for example several vehicles in front, are independent of one another.
  • this can e.g. a partial angular range of the entire, e.g. 360 ° comprehensive field of view of the sensor.
  • Objects possibly entering the recessed area are recognized if they cross at least one of the regions of particular interest that delimit the recessed area.
  • the region of particular interest can move relative to the detection device in the surveillance area.
  • the ability of the detection device to recognize and track moving objects can hereby be exploited.
  • the change in the operating state of the detection device consequently consists in that, for example in vehicle applications, it tracks a vehicle in front and in the process constantly changes its orientation in relation to one's own vehicle, the monitoring or scanning of the Surveillance area is always limited to the region of particular interest formed by the moving object.
  • radiation can be emitted outside the angular range delimited by the boundary, edge or corner points, i.e. in this example, the detection device only tracks the vehicle in front.
  • Such hardware changes or adaptations of the operating state of the detection device can also be implemented accordingly in software, for example, in that the radiation is emitted in the entire monitoring area, the evaluation of the radiation reflected from the entire monitoring area by the evaluation unit or by an evaluation algorithm running in the evaluation unit however only for the or each region of particular interest in the surveillance area.
  • a software-controlled evaluation frequency can also be set according to the invention independently of the sampling frequency determined by the hardware or its setting and, for example, have a low value, so that in this example, evaluation is less frequent than sampling, so that only specific sampling processes can be specifically selected for the evaluation ,
  • At least one separation parameter is provided as the changeable operating parameter, on the basis of which it is decided in an evaluation algorithm of the evaluation unit, which is used to identify and / or track objects in the monitoring area, whether individual measuring points in the surveillance area, especially individual ones, one or more at a time
  • Segments comprising measuring points are regarded as originating from a common or from different objects in the monitoring area.
  • object detection and / or tracking carried out by means of the detection device can be considerably simplified by treating a plurality of individual objects as a single object by appropriate selection of the separation parameter or parameters, although the detection device would be able to identify the individual objects as such recognize and treat separately.
  • "coarser" object detection and / or tracking can be carried out specifically and in particular in certain regions of the surveillance area. when separate treatment of individual objects is not required.
  • the optoelectronic detection device has at least one transmitter unit, with which pulsed electromagnetic radiation is preferably emitted into a monitoring area during operation, at least one receiver unit the radiation reflected from the monitoring area is received, and includes an evaluation unit with which the received reflected radiation is evaluated, at least one operating parameter of the detection device being preferably automatically changed to adapt to the respective operating situation, in particular as a function of predefinable conditions.
  • the operating parameter is changed depending on whether there are one or more individual objects that meet predetermined conditions in the monitoring area.
  • the change in the operating state of the detection device is made dependent on whether one or more objects are present in the monitoring area. It can be provided that the object or objects meet predetermined conditions, so that certain objects that meet the conditions result in an adaptation of the operating state of the detection device, while other objects do not result in a change in the operating state.
  • the operating parameter is changed as a function of whether the overall situation in at least part of the monitoring area fulfills predetermined conditions.
  • This holistic view can concern either the entire surveillance area or only a part of the surveillance area. For example, in the case of a laser scanner which has a viewing range of up to 360 °, the overall situation can only be assessed in a partial angle range which, for example, forms a region of particular interest in the sense explained above.
  • the operating parameter can be adapted to the type of environment.
  • the fact can be taken into account that, at least under certain conditions, different environments in which the detection device is used place different demands on the detection device and different performance features of the detection device can be of different importance depending on the type of environment.
  • the operating parameter of the detection device be adapted to a degree of danger.
  • the resolving power of the detection device and / or an evaluation algorithm of the evaluation unit at least for the part of the surveillance area in which the object or person is detected are changed such that in this area of interest a particularly careful and precise monitoring or scanning takes place.
  • the operation is adapted to a degree of contamination of the detection device in a way that saves ameter. If, for example, contamination of the detection device, for example a radiation exit window or a protective cover surrounding the detection device, is determined, for example by detecting an increased intensity of radiation reflected in the ultra-close range, ie directly from the exit window or the cover, in the detection device, then Adaptation to this operating situation, for example the transmission power of the transmission unit can be increased.
  • the invention consequently realizes a situation-adaptive detection device or a situation-adaptive operation of a detection device, whereby basically all the above-mentioned and explained operating situations to which the detection device can be adapted, as well as operating parameters of the detection device, which are changed to adapt to the respective operating situation can be combined with each other.
  • a vehicle 21 is provided with a detection device according to the invention, which has a sensor attached to the front of the vehicle in the form of a laser scanner 19, an evaluation unit 15 connected to the sensor 19 and an adaptation device 17 connected to the evaluation unit 15 and the sensor 19.
  • the laser scanner 19 has a transmission unit 11, with which pulsed laser beams are emitted into a monitoring area located in front of the vehicle 21 and to the side of the vehicle 21 and comprising, for example, an angular range of 270 ° or 360 °, a predetermined angular distance from one another.
  • a transmission unit 11 with which pulsed laser beams are emitted into a monitoring area located in front of the vehicle 21 and to the side of the vehicle 21 and comprising, for example, an angular range of 270 ° or 360 °, a predetermined angular distance from one another.
  • a receiving unit 13 of the sensor 19 On objects 25, 27, 33 in the monitoring Radiation-reflected radiation is received by a receiving unit 13 of the sensor 19 and evaluated by means of the evaluation unit 15, the distance and the direction of a relevant reflection or measurement point 29 being determined in relation to a predetermined axis for each reflected scanning beam.
  • Such laser scanners are known in principle, so that their operation will not be discussed in more detail below.
  • the resolution of the laser scanner is determined in particular by the transmission frequency with which a laser diode generates the radiation pulses and by the rotational speed of a light deflection device of the transmission unit 11, which is provided in particular in the form of a rotating mirror.
  • the vehicle 21 provided with the sensor 19 travels on the right lane of a country road which has a lane in each direction.
  • a car 25 drives in front of the vehicle 21, while a truck 27 approaches the vehicle 21 on the oncoming lane.
  • the adaptation device 17 which is provided by the evaluation unit 15 with information about the environment, as "seen” by the sensor 19, and which also provides the information with other devices, in particular those can be made available via the driving operation of the vehicle 21.
  • control signals to a control unit (not shown), for example integrated into the evaluation unit 15 for a change in one or more operating parameters on the one hand of the sensor 19, in order to carry out a hardware adaptation, and / or on the other hand an evaluation algorithm running in the evaluation unit 15 in order to implement a software adaptation of the operating state of the detection device.
  • the intensity of the transmitted scanning radiation can vary with the speed of the vehicle 21, ie the transmission power of the transmission unit 11 can be adapted to the vehicle speed.
  • the transmission power can increase with the vehicle speed, but preferably always within the framework of any applicable safety regulations and, in particular, those relating to eye safety, so that any prescribed maximum values are never exceeded. This ensures that the faster the vehicle 21 travels, the greater the visibility or range of the sensor 19.
  • laser beams emitted at high power only at certain angles to the direction of travel are emitted, since a long range is generally only required for the part of the monitoring area located in front of the vehicle in the direction of travel.
  • the angular resolution can be varied depending on the type of environment. For example, when driving on a motorway, a high angular resolution is selected in order to be able to better recognize and / or track distant objects. On the other hand, when driving in a city, sensor 19 can be operated with a lower angular resolution, since objects in the vicinity are increasingly detected in the city, which due to their proximity to sensor 19 are scanned with sufficient resolution even with a smaller number of scanning beams per angular unit can.
  • the angle resolution is set exclusively by the speed of the deflection mirror.
  • the higher angular resolution on the motorway is achieved by a reduced speed of the deflection mirror and thus, so to speak, bought by a lower scanning frequency of the monitoring area, which is not a disadvantage insofar as the probability of suddenly occurring objects moving transversely to the direction of travel is rather unlikely.
  • the lower angular angle achieved by increasing the speed of the deflection mirror The solution is to scan the surveillance area more frequently, so that sudden changes in the surveillance area, which are more likely to occur in the form of objects moving in the direction of travel in the city, are more likely than on an autobahn.
  • the respective type of environment can be identified by means of the detection device itself, for example by a lane recognition, which is integrated in the overall algorithm running in the evaluation unit 15, and / or by suitable heuristics.
  • a so-called separation parameter can be changed as a function of the type of environment in the evaluation algorithm running for object detection and tracking in the evaluation unit 15.
  • the sensor 19 supplies raw data, specifically for each measuring or reflection point 29, its distance and an angle with respect to a predetermined axis. Objects are formed from these raw data points, it having to be decided whether individual measuring points 29 are to be regarded as coming from a common or from different objects in the monitoring area. For example, when driving on a country road, the separation parameter is selected such that the row of trees formed by the trees 33 on the right-hand side of the road is considered as a single object.
  • An independent view of the trees 33 is not necessary here, since a single tree 33 cannot move relative to the other trees 33, but at most the vehicle 21 can, for example due to a driving error, approach the right edge of the road and thus the row of trees as a whole.
  • the measurement points 29 are reflections of people, ie the possibility must be taken into account that one of the objects 33 suddenly detaches itself from a row or group of objects and moves transversely to the direction of travel of the vehicle 21 and on the road.
  • the separation parameter is therefore chosen such that objects 33 can be treated independently of one another in the evaluation algorithm.
  • the separation parameter or parameters can also be changed to adapt to the situation, regardless of the respective environment.
  • a person in a row of trees can e.g. can be recognized as a person by moving relative to the trees 33 and / or showing a different reflection behavior than the trees 33. If a person walking or standing on the roadside is recognized as such, then the separation parameters can be changed such that the person is tracked as a separate object and the trees 33 of the row of trees located in front of and behind the person in the direction of travel are again combined to form one object ,
  • Objects are preferably combined - for example according to the tree series example explained above - by suitable selection of the separation parameter (s) only in connection with pure assistance systems when - for example when using the detection device for distance control on motorways - from the absence of People going out.
  • the scanning frequency and / or the angular resolution of the detection device can be increased at least in the corresponding angular range.
  • the separation parameter (s) can also be adjusted only for certain angular ranges of the entire field of view of the sensor 19.
  • the angular resolution of the sensor 19 can be changed as a function of the type of environment, this also being possible only in a partial angular range of the field of view of the sensor 19. In the figure, this is indicated for the angular range in which the trees 33 are detected on the right edge of the road. If these objects 33 are considered to be a single object anyway in a country-road environment due to a corresponding selection of the separation parameter, then the angular resolution of the laser scanner 19 can be reduced in this area, since it is not necessary to use an object assumed to be immovable high resolution.
  • any environment in which the detection device is used with objects that are not critical be classified in this way, for example with lane boundaries such as individual successive posts or continuous guardrails. It is not necessary to consider the entire roadway boundary as a single object, but it can be treated section by section, for example by always viewing a certain number of posts or a guardrail section having a certain length as one object.
  • specific objects or object groups can be treated in a targeted manner that takes into account their importance for the overall situation and in particular their degree of danger.
  • a further possibility of influencing the object detection depending on the respective type of environment by a suitable choice of separation or other parameters in the evaluation algorithm is shown in the figure in connection with the object 27, which is an oncoming truck.
  • the object 27 which is an oncoming truck.
  • the evaluation algorithm must - at least additionally - take into account the possibility that the measurement points 29 originate from several smaller objects and in particular from persons or two-wheelers who are at risk of moving transversely to the direction of travel of the vehicle 21 and get on the road.
  • the evaluation algorithm is consequently adapted such that different scenarios are taken into account according to their probability.
  • the evaluation algorithm would therefore combine measurement points 29 which are comparatively close to one another in accordance with the choice of the separation parameter (s) in each case to form segments 31 indicated by dashed lines in order to form objects of the "two-wheel” type, for example, whereas too far from other measurement points 29 distant measuring points 29 can be regarded as originating from a separate object, for example a pedestrian.
  • Such a differentiation would either not be carried out by the evaluation algorithm in an environment of the country road or highway type or in such a way that the "individual objects" scenario is assigned a lower probability than the "truck” scenario.
  • Another changeable operating parameter of the detection device is, according to the invention, its orientation, whereby the orientation of the detection device is understood to mean that of the sensor 19 as well as that of the evaluation algorithm in the evaluation unit 15, i.e. Both a hardware alignment and a software alignment can take place.
  • the senor 19 can be operated, if necessary again depending on the respective type of environment, in such a way that the scanning radiation is emitted exclusively in the angular range that is taken into account by the preceding vehicle 25 is taken from its distance.
  • the scanning of the monitoring area is thus only one in the figure hatched region 23 of particular interest between two outer measuring points 29 limited. Areas of particular interest adjacent to region 23 or the entire remaining part of the monitoring area are then either not scanned at all or are scanned with a lower angular resolution.
  • the change in the operating state here consists in the fact that, following the detection of an object 25 of interest in the monitoring area, the sensor 19 “concentrates” exclusively or essentially on this object 25. This can also be done purely in software e.g. This is done by evaluating only the radiation reflected from the angular range corresponding to region 23 of particular interest.
  • a hardware or software filter is implemented to a certain extent, which can also be designed to be adaptive in that the sensor 19 or the region 23 of particular interest tracks the object 25 in question when the latter moves relative to the vehicle 21 of its own.
  • This situation-dependent adaptation of the detection device can also be carried out by not using a region 23 of particular interest covering all or a substantial part of the object 25 of interest, but rather edge, corner or boundary points of the object 25 each having its own region of particular interest establish. This avoids unnecessary measurements between such edge, corner or boundary points of the object 25.
  • the sensitivity of the receiving unit 13 can be provided as a further changeable operating parameter of the detection device. As soon as an object of interest has been recognized as such, the sensitivity of a receiver of the receiving unit 13 can be automatically set as a function of the distance of the object such that a constant percentage of the emitted radiation intensity is always detected on the receiver. In this case, too, preference is given in each case to compliance with any safety regulations that may apply and in particular those relating to eye safety.
  • This sensitivity adjustment can also be direction-selective, whereby the sensitivity of the receiving unit 13 depends on the direction from which the radiation is reflected.
  • This situation-dependent adaptation of the detection device makes it possible to implement particularly reliable object detection and tracking, and in particular to prevent objects that are moving away from the vehicle 21 carrying the detection device from being lost at an early stage.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

L'invention concerne un dispositif de détection optoélectronique, comprenant au moins une unité émettrice (11) qui émet un rayonnement électromagnétique, de préférence pulsé, dans une zone de surveillance en cours de fonctionnement, au moins une unité réceptrice (13) destinée à recevoir le rayonnement réfléchi depuis cette zone de surveillance ainsi qu'une unité d'évaluation (15) conçue pour évaluer le rayonnement réfléchi reçu. Selon cette invention, un dispositif d'adaptation (17) permet de modifier au moins un paramètre de fonctionnement dudit dispositif de détection, de manière à adapter ce dernier à la situation de fonctionnement du moment, en particulier en fonction de conditions prédéterminables. Ladite invention concerne également un procédé de fonctionnement d'un dispositif de détection optoélectronique.
EP02801874A 2001-10-22 2002-09-26 Dispositif de detection optoelectronique Withdrawn EP1440331A1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE10151982 2001-10-22
DE10151982A DE10151982A1 (de) 2001-10-22 2001-10-22 Optoelektronische Erfassungseinrichtung
PCT/EP2002/010836 WO2003036328A1 (fr) 2001-10-22 2002-09-26 Dispositif de detection optoelectronique

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