WO2016116302A1 - Dispositif et procédé de détection d'objets pour un véhicule automobile - Google Patents

Dispositif et procédé de détection d'objets pour un véhicule automobile Download PDF

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Publication number
WO2016116302A1
WO2016116302A1 PCT/EP2016/050283 EP2016050283W WO2016116302A1 WO 2016116302 A1 WO2016116302 A1 WO 2016116302A1 EP 2016050283 W EP2016050283 W EP 2016050283W WO 2016116302 A1 WO2016116302 A1 WO 2016116302A1
Authority
WO
WIPO (PCT)
Prior art keywords
time
light beam
transmitted light
period
duration
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.)
Ceased
Application number
PCT/EP2016/050283
Other languages
German (de)
English (en)
Inventor
Thomas Schuler
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.)
Valeo Schalter und Sensoren GmbH
Original Assignee
Valeo Schalter und Sensoren GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Valeo Schalter und Sensoren GmbH filed Critical Valeo Schalter und Sensoren GmbH
Publication of WO2016116302A1 publication Critical patent/WO2016116302A1/fr
Anticipated expiration legal-status Critical
Ceased 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
    • 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
    • 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
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated 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
    • G01S7/48—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
    • G01S7/486—Receivers
    • G01S7/487—Extracting wanted echo signals, e.g. pulse detection
    • G01S7/4873—Extracting wanted echo signals, e.g. pulse detection by deriving and controlling a threshold value
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning

Definitions

  • the invention relates to a device for detecting objects for a motor vehicle according to the preamble of claim 1 and a method for detecting objects for a motor vehicle according to the preamble of claim 10 and a motor vehicle according to claim 11.
  • object detection devices which are integrated into a motor vehicle and serve to sense the environment of the motor vehicle.
  • the scanning is also called scanning.
  • a transmitted light beam is emitted and the reflected or backscattered light is reflected or scattered back at a point where the transmitted light beam strikes an object.
  • the properties of the reflected or backscattered light change as a result of the reflection, the change being dependent on the object, in particular its surface, as well as the distance of the object and other parameters.
  • Laser-based systems are known under the name “Lidar” ("light detection and ranging”).
  • Laser scanners operate according to the light transit time principle, wherein laser pulses are emitted and the light reflected by a target object in the surroundings of the vehicle is detected.
  • Known laser scanners have an optical
  • Transmitting means for emitting electromagnetic radiation and an optical receiving means for receiving reflected rays With the
  • the received light is also converted into a dependent of the received beams and the received light electrical received signal.
  • the transmitting device is associated with a deflection mirror, which the
  • the deflected emitted laser pulses so that a scan of the entire field of view takes place within a certain scanning angle range. Per scanning angle while a laser pulse is emitted.
  • the reflected beams are received by means of the optical receiver and a corresponding electrical reception signal is provided.
  • Are echoes, or pulses, in the Detected received signal so these are basically due to reflections of the emitted rays to target objects in the area.
  • the time between sending and receiving the echo is proportional to the distance to the object. From the transit time measurement, the distance for the angular step is determined.
  • micromirror so-called "MEMS.”
  • MEMS micromirror
  • the micromirror consists of so-called MEMS technology of small individual elements, each having a reflective surface Field of view of the sensor to be scanned.
  • Micromirror (“MEMS") is disclosed for example in DE 10 2012 025 281 A1.
  • LED sensors which work with the transit time method, which is also called TOF (time of flight).
  • TOF time of flight
  • the environment is illuminated by means of a light pulse, and the sensor measures the time it takes the light to reach the object and back again.
  • the time required is directly proportional to the distance.
  • the principle corresponds to the laser scanning, whereby an entire environment is recorded at once and does not have to be scanned. A micromirror is therefore not necessary.
  • the object is achieved according to the invention by a device, in particular a laser scanner or LED sensor, for detecting objects for a motor vehicle according to claim 1.
  • a device in particular a laser scanner or LED sensor, for detecting objects for a motor vehicle according to claim 1.
  • the object is also achieved by a method for detecting objects for a motor vehicle according to claim 10 and a motor vehicle according to claim 1 1.
  • the invention is for a vehicle and includes for this a method and a
  • the invention has a transmitting device with which at least one transmitted light beam is emitted.
  • the transmitted light beam is in particular a laser beam of a laser or a light pulse of an LED sensor.
  • An LED sensor illuminates the scene to be measured by means of
  • the term transmitted light beam in the following includes a focused beam but also the scattered light emitted by an LED.
  • the transmitting device is set up to transmit the transmitted light beam for a period of time before the transmitted light beam is transmitted again for a next period of time. Furthermore, a receiving device is provided for receiving the light reflected from the surroundings. With the receiving device, moreover, the received light is converted into a received signal.
  • the periods of time during which the transmitted light beam is transmitted can be varied.
  • an evaluation device is provided.
  • the evaluation device is set up to determine a progression of the amplitude of the received signal or of a signal derived therefrom during each time duration.
  • the received signal is formed, in particular, from an electrical signal which corresponds to the received light.
  • the current time duration can be shortened, thereby shortening the entire sweep. For example, thus is one
  • the device corresponds to a laser scanner and comprises a deflecting mirror with which the transmitted light beam is deflected.
  • Deflection mirror is movable, so that the transmitted light beam is deflected in dependence of the movement of the deflection mirror.
  • the deflection mirror can be a micromirror, so-called "MEMS.”
  • a control device serves to move the micromirror.
  • the control device controls the micromirror, which will also be called mirror for short.
  • the mirror is pivotable with the control device at least in a horizontal and a vertical direction.
  • the control device is further configured to move the deflection mirror so that the transmitted light beam can be deflected at different scanning angles, which are also referred to simply as directions.
  • the transmitting device is arranged to emit the transmitted light beam in a first direction for a period of time before the transmitted light beam is emitted in a next direction for a next period of time.
  • At least one time period is defined as a time range between a start time and an end time.
  • the starting time corresponds to the time from which the transmitted light beam is transmitted again after a previous period of time.
  • the end time corresponds to the point in time at which the transmitted light beam is switched off briefly, in order then to be transmitted again in the following period of time.
  • the evaluation device is further configured to determine the end time as the time at which a threshold value is determined by a curve of the amplitude of the
  • Received signal is exceeded or reached. Accordingly, a course of the amplitude in the received signal can be seen, which is exceeded by reaching or reaching the
  • Threshold value is assigned to a useful signal against the noise, so already the next sampling angle can be illuminated and it is therefore determined this time as the end time.
  • the transmitting device is set up to transmit the transmitted light beam pulsed.
  • the receiving device is set up to convert the reflected light of each pulse into a sub-signal and to determine the received signal of one of the time periods from the sub-signals of the respective time duration, in particular by accumulation, ie by adding up the sub-signals of the respective time duration.
  • a plurality of pulsed transmitted light beams are emitted.
  • the reflected light of each pulse is determined as a sub-signal and the sub-signals superimposed, summed.
  • the accumulated sub-signals then yield the received signal whose course of the amplitude is determined.
  • the superimposition advantageously raises random values of
  • the transmitting device is set up to transmit the transmitted light beam at a frequency in the range of 75 kHz to 125 kHz or in the range of 95 kHz to 105 kHz or substantially 100 kHz.
  • This frequency can be generated by transmitting devices without having to use particularly expensive special light sources, while at the same time a complete scanning step can be carried out in a time which is sufficient for further processing.
  • a maximum period of time is defined. Furthermore, the evaluation device is set up to determine the time of reaching the maximum time duration as the end time when reaching the maximum time duration.
  • the time duration is thus limited by a maximum period of time. Accordingly, if the signal-to-noise ratio remains poor, that is to say the course of the amplitude is below a threshold value, the direction or the scanning angle of the transmitted light beam is changed when the maximum time duration has been reached. This prevents the
  • the transmitted light beam does not stay on for an infinitely long time if the signal-to-noise ratio remains poor and a useful signal is not extractable.
  • the maximum time duration is determined as the or at least the duration in which 512, 1024 or 2048 pulsed transmitted light beams are transmitted at the selected transmission frequency of the transmitting device.
  • the maximum duration is thus easily definable with a digital counter.
  • the threshold value is adjustable, whereby an adaptation to changing noise is possible by disturbing light in the environment.
  • the device is arranged to switch off the transmitted light beam for the duration of the setting of the threshold value, to detect noise values in the received signal and to set the threshold value to a value above the maximum noise value. As a result, a useful signal that is received in a next lighting step can be distinguished from the noise.
  • the transmitting device has a laser for generating the transmitted light beam and an adjustable micromirror, in particular a MEMS mirror, in order to move the transmitted light beam in different directions in the
  • a laser is particularly well suited to transmit light beams with well-defined properties, e.g. a defined wavelength, and can produce together with a micro mirror in a small installation space a transmitted light beam and emit it in different directions.
  • the transmitting device has one or more light-emitting diodes (LED) or a laser diode.
  • LED light-emitting diodes
  • the invention comprises a motor vehicle with a device according to one of the embodiments for carrying out the method according to one of the embodiments.
  • Fig. 1 shows an embodiment of the device
  • Fig. 2a to c received with a receiving device received signals.
  • Fig. 1 shows an embodiment of an object detection device 10.
  • Object detection device 10 comprises a transmitting device 12 and a
  • the transmitting device 12 has a light source 16 with which a transmitted light beam 18 is generated.
  • the light source 16 is a laser and transmits the generated transmitted light beam 18 to a micromirror 20.
  • the light source 16 is arranged at a predefined angle to the micromirror 20.
  • the micromirror 20 according to the so-called MEMS technology consists of small individual elements, each of which has a reflective surface.
  • the micromirror 20 is arranged relative to the light source 16 in such a way that the transmitted light beam 18 strikes the micromirror 20 directly, wherein, according to further exemplary embodiments, one or more deflection mirrors are arranged between the light source 16 and the micromirror 20 are arranged so that the transmitted light beam 18 is directed to the micromirror 20 via the deflection mirror.
  • the micromirror 20 is movable about a first axis parallel to the plane of the drawing and about a second axis perpendicular to the plane of the drawing.
  • the transmitted light beam 18 is thus deflected by the micromirror 20 in different directions of the environment. This direction can also be referred to as a scanning angle.
  • a control device 22 serves to move the micromirror 20, which is also called "MEMS" mirror.
  • the control device 22 controls the micromirror 20 so that it can be swiveled in at least one horizontal and one vertical direction.
  • the light source 16 here corresponds to a laser which generates the transmitted light beam 18.
  • the laser here comprises one or more laser diodes.
  • the light source 16 is connected to a control device 22, so that the light source 16 is controlled by the control device 22 and by driving a pulsed transmitted light beam 18 with a frequency, e.g. 100 kHz is sent out.
  • the controller 22 is also configured to turn off the light source.
  • the transmitting device 12 is further arranged to direct the transmitted light beam 18 in each case for a period of time in one direction with the micromirror 20 before the transmitted light beam 18 is directed in the next direction for a next period of time.
  • the control device 22 controls the micromirror 20 after a period of time, so that it moves. After expiration of the next period of time, the micromirror 20 is driven again for the next movement.
  • Object detection device 10 designed as an LED sensor and includes one or more light-emitting diodes (LED) for illuminating the scene to be measured.
  • the scene to be measured is illuminated many times, for example with a number of 512, 1024 or 2048 illuminations.
  • the receiving device 14 has a diode 26, which is a photodiode here. With the diode 26 light 28 is received, which corresponds to the reflected or backscattered by the environment transmitted light beam 18. The received light 28, is connected to the diode 26 and their wiring converted into an electrical signal. The electrical signal is then fed to an evaluation device 30.
  • the electrical signals which are generated from the reflected light 28 of the pulses of the transmitted light beam 18 or the number of illuminations of a period of time are referred to as partial signals and summed up.
  • the accumulated signal then corresponds to a received signal.
  • Evaluation device 30 checks whether the curve of the amplitude in the received signal exceeds a threshold value. If the threshold value is exceeded, the current time is determined as the end time of the current time duration and the totalization is aborted.
  • the control device 22 is connected via a connection with the
  • Evaluation device 30 instructed to deflect the transmitted light beam 18 in the next direction.
  • FIG. 2a shows a received signal 32a corresponding to a single partial signal of a period of time.
  • the received light corresponding to a pulse of a transmission light beam 18 is represented by the reception signal 32a.
  • a threshold 34 is shown. The course of the amplitude of the received signal 32a does not exceed the threshold value 34.
  • the current time is not considered to be the end time, and the micromirror 20 remains in the current position.
  • FIG. 2b shows a later point in time in FIG. 2a.
  • eight partial signals are added up and give the received signal 32b.
  • the course of the amplitudes 36 and 38 to recognize, which stands out against the noise, but this is not yet clearly recognizable as a useful signal.
  • the course of the amplitude 36, 38 of the received signal 32b thus exceeds the
  • Threshold 34 still not.
  • the current time is not considered as the end time and the micromirror 20 remains in the current position.
  • the current time as Considered end time of the time period and the micromirror 20 is now adjusted, so that the transmitted light beam 18 is emitted in the following in a next direction.

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

Abstract

L'invention concerne un dispositif et un procédé de détection d'objets pour un véhicule automobile avec un système d'émission (12) destiné à générer au moyen un rayonnement lumineux d'émission (18). La présente invention concerne en outre un véhicule automobile avec un tel dispositif. L'invention concerne en outre un véhicule automobile avec un tel dispositif. Le rayonnement lumineux d'émission (18) est en outre émis dans l'environnement avec le système d'émission (12). De plus, le système d'émission (12) est agencé pour émettre le rayonnement lumineux d'émission (18) pendant une période avant que le rayonnement lumineux d'émission (18) soit émis pendant une prochaine période. La présente invention concerne en outre un système de réception (14) destiné à la réception de la lumière réfléchie (28) par l'environnement et à la conversion de la lumière reçue (28) en un signal de réception (32). Le dispositif comprend en outre un système d'évaluation (30) avec lequel une courbe des amplitudes (36, 38) du signal de réception (32) ou d'un signal déduit de ce dernier est déterminée durant chaque période et la période respective est variée en fonction de la courbe de l'amplitude (36, 38).
PCT/EP2016/050283 2015-01-22 2016-01-08 Dispositif et procédé de détection d'objets pour un véhicule automobile Ceased WO2016116302A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015100910.2A DE102015100910A1 (de) 2015-01-22 2015-01-22 Vorrichtung und Verfahren zum Erfassen von Objekten für ein Kraftfahrzeug
DE102015100910.2 2015-01-22

Publications (1)

Publication Number Publication Date
WO2016116302A1 true WO2016116302A1 (fr) 2016-07-28

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Application Number Title Priority Date Filing Date
PCT/EP2016/050283 Ceased WO2016116302A1 (fr) 2015-01-22 2016-01-08 Dispositif et procédé de détection d'objets pour un véhicule automobile

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DE (1) DE102015100910A1 (fr)
WO (1) WO2016116302A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US12405381B2 (en) * 2019-11-19 2025-09-02 Samsung Electronics Co., Ltd. LiDAR device and operating method of the same

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102017127129A1 (de) 2017-11-17 2019-05-23 Valeo Schalter Und Sensoren Gmbh System und Verfahren zum Überprüfen von zumindest einer Funktionseigenschaft einer Laserscaneinrichtung für Fahrzeuge
DE102018123257A1 (de) 2018-09-21 2020-03-26 Valeo Schalter Und Sensoren Gmbh System, Bildwand und Verfahren zum Messen einer Signalantwort einer Objekterfassungsvorrichtung mit Laserscaneinrichtung
DE102018127860A1 (de) 2018-11-08 2020-05-14 Valeo Schalter Und Sensoren Gmbh Verfahren und Messsystem zur Ermittlung der Größe der Schwingungsamplitude eines Mikro-Schwingspiegels einer Objekterfassungsvorrichtung
DE102019107115A1 (de) 2019-03-20 2020-09-24 Valeo Schalter Und Sensoren Gmbh LIDAR-Vorrichtung für ein Fahrzeug und Verfahren zum Vergrößern der Erfassungsreichweite einer entsprechenden LIDAR-Vorrichtung
DE102023121110A1 (de) * 2023-08-08 2025-02-13 Ifm Electronic Gmbh Verfahren zum Regeln eines optoelektronischen Sensors

Citations (2)

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Publication number Priority date Publication date Assignee Title
WO1999060419A1 (fr) * 1998-05-19 1999-11-25 Andreas Perger Procede de mesure optique des distances
DE102011056963B3 (de) * 2011-12-23 2012-09-13 Sick Ag Messung von Entfernungen nach dem Signallaufzeitprinzip

Family Cites Families (3)

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Publication number Priority date Publication date Assignee Title
US7640122B2 (en) 2007-11-07 2009-12-29 Institut National D'optique Digital signal processing in optical systems used for ranging applications
US8908159B2 (en) * 2011-05-11 2014-12-09 Leddartech Inc. Multiple-field-of-view scannerless optical rangefinder in high ambient background light
DE102012025281A1 (de) 2012-12-21 2014-06-26 Valeo Schalter Und Sensoren Gmbh Optische Objekterfassungseinrichtung mit einem MEMS und Kraftfahrzeug mit einer solchen Erfassungseinrichtung

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1999060419A1 (fr) * 1998-05-19 1999-11-25 Andreas Perger Procede de mesure optique des distances
DE102011056963B3 (de) * 2011-12-23 2012-09-13 Sick Ag Messung von Entfernungen nach dem Signallaufzeitprinzip

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US12405381B2 (en) * 2019-11-19 2025-09-02 Samsung Electronics Co., Ltd. LiDAR device and operating method of the same

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