DE102021207211B4 - Bearing concept for a sensor for detecting the surroundings of a vehicle - Google Patents

Abstract

The invention relates to a vehicle arrangement for capturing an image of the surroundings of a vehicle, comprising at least one vehicle component and a sensor (1) which is designed to capture the image of the surroundings, a mechanical bearing arrangement which can be pivoted about at least two axes depending on the movement of the vehicle component being provided, which is arranged on the vehicle component and in which the sensor (1) is arranged and which decouples the sensor (1) from at least one pitching and/or rolling movement of the vehicle component during operation of the vehicle, so that the orientation of the sensor (1) Movement of the vehicle component is almost maintained during operation of the vehicle.

Description

The invention relates to a vehicle arrangement for capturing an image of the surroundings of a vehicle, comprising at least one vehicle component and a sensor which is designed to capture the image of the surroundings. The invention also relates to a vehicle.

Driver assistance systems perceive and evaluate the surroundings of the vehicle on the basis of signals from environment sensors such as radar, lidar and/or ultrasonic receivers, as well as cameras and other image sensors. These driver assistance systems allow less stressful and more comfortable driving, parking and maneuvering of the motor vehicle. Such driver assistance systems are, for example, lane keeping systems, parking assistants or an ACC system (Adaptive Cruise Control), which supports the driver, for example, in maintaining a safe distance from the motor vehicle in front.

Many such environment sensors are therefore installed in vehicles to record and extract vehicles ahead and their trajectories.

In particular, the autonomous operation of vehicles requires more and more sophisticated functions based on a high-end hardware and software infrastructure including various types of environment sensors. Therefore, such commercial vehicles are equipped with an increasing number of sensor units in order to capture more and more details of the environment around the vehicle. In autonomous vehicles, the Field of View (FoV) describes the field of view of the sensors for detecting the surroundings.

It is customary to permanently mount such environment sensors for environment detection on a vehicle component, in particular on the chassis, as a result of which the field of vision changes dynamically according to the rolling and pitching movements of the vehicle, which can lead to functional impairments in the environment perception and significantly influence the perception results of the environment sensors.

This can lead to discrepancies in the sensor data, which lead to errors, for example when measuring a distance to a vehicle in front. The field of view can also be shortened or increased while driving as a result of vehicle pitching movements during braking and acceleration processes, as a result of which the detection of objects at a certain distance is restricted or tracking of objects that have already been detected is prevented.

the DE 101 31 196 A1 discloses a device for detecting objects, persons or the like, in particular in the vicinity of a vehicle.

An image pickup device and a method for producing this device is from US 2005/0041965 A1 known.

the DE 20 2015 104 758 U1 discloses an alignment and stabilization device for mounting an optical device on a floor of an air, land or water vehicle.

It is therefore an object of the invention to specify a mechanical integration concept that is improved to this effect, which implements reliable detection of the surroundings by sensors. Furthermore, it is an object to specify a vehicle.

The object is solved by a vehicle arrangement having the features of claim 1. The object is also solved by a vehicle having the features of claim 13.

Advantageous developments, which can be used individually or in combination with one another, are specified in the dependent claims and in the description.

The object is achieved by a vehicle arrangement for capturing an image of the surroundings of a vehicle, comprising at least one vehicle component and a sensor which is designed to capture the image of the surroundings.
whereby
a mechanical bearing arrangement, which can be pivoted about at least two axes depending on the movement of the vehicle component, is provided, which is arranged on the vehicle component and in which the sensor is arranged and which, during operation of the vehicle, protects the sensor from at least one pitching and/or rolling movement of the Vehicle component decoupled so that the orientation of the sensor is almost maintained when the vehicle component moves during operation of the vehicle.

A mechanical bearing arrangement that can be pivoted about three axes as a function of the movement of the vehicle component is preferably provided. A sensor primarily includes an image sensor or a camera, as well as a sensor array or lidar/radar sensor.

The vehicle component can be any component of the vehicle, such as a cab, frame, chassis, etc.

The orientation describes the geometric relationships between the object and the image and thus reflects the orientation of the sensor to the environment. Due to the decoupling, the orientation of the sensor can be almost maintained. This means that a trajectory of the field of view remains almost constant, regardless of, for example, pitching and rolling movements.

The vehicle arrangement according to the invention makes it possible to react mechanically and in real time to dynamic changes in the vehicle.

In this way, an unfavorable alignment of the sensor can be compensated. The vehicle arrangement according to the invention partially avoids deviations in the sensor data/sensor signals caused by vehicle movement.

The vehicle arrangement according to the invention can be used in particular for a driver assistance system.

The bearing arrangement comprises a first cascade, the sensor being arranged in the first cascade or being designed as a first cascade, and the first cascade having two opposite, outwardly pointing first bearing journals along a first bearing axis, the bearing arrangement also having a concentric , comprises an outer second cascade mounted around the first cascade, the second cascade having two opposite, outwardly pointing second trunnions along a second bearing axis, the first two trunnions being rotatably mounted on the second cascade, and the bearing arrangement further comprising a comprises an outer support element, wherein the second cascade is arranged in the support element, wherein the second bearing journals are rotatably mounted on the support element and wherein the first and second bearing axes are substantially orthogonal to one another. Further preferably, the first bearing axis of the first cascade is formed along a roll axis of the vehicle and the second bearing axis of the second cascade is formed along a yaw axis of the vehicle.

In this case, the first and second bearing journals are preferably located on the same level, i.e. at the same height.

Due to the first cascade and the second cascade, the sensor can move accordingly along the two axes, here for example the roll axis and the yaw axis. The axes can also be interchanged, for example, or a pitch axis can be used instead of the roll axis.

This arrangement enables the sensor to be easily decoupled from, for example, the rolling and yawing of the vehicle.

In particular, the first cascade and the second cascade are mounted as close to one another as possible, with the first bearing journals of the first cascade being rotatably mounted in the second cascade, for example by means of a bush.

The carrier element is designed as an outer third cascade, the third cascade being mounted concentrically around the second cascade, and the third cascade having two opposing, outwardly pointing third bearing pins along a third bearing axis, and the third cascade in a carrier is arranged, and wherein the two bearing pins of the third cascade are pivotably mounted on the carrier and wherein the third bearing axis is substantially orthogonal to the bearing axis of the first cascade and the bearing axis of the second cascade. The third bearing axis of the third cascade is preferably formed along a pitch axis of the vehicle.

The third cascade and the second cascade are preferably of identical design, apart from the diameter.

In particular, the second cascade and the third cascade are mounted as close as possible to one another, the second bearing journals of the second cascade being rotatably mounted in the third cascade, for example by means of a bush.

This enables the sensor to be decoupled from pitching, rolling and yawing of the vehicle. The decoupling is independent of an electrical element/control and is possible in real time. In this way, unfavorable alignments of the field of view of a sensor can be avoided.

In a further refinement, the first cascade, the second cascade and the third cascade are each designed as a cardan ring or in the form of a ring.

This allows the cascades to be stored particularly close to one another, with the bearing journals of the second cascade being rotatably mounted in the third gimbal, for example by means of a bushing, and the bearing journals of the first cascade being rotatably mounted in the second gimbal, for example by means of a bushing.

The sensor can have an annular circumference or be arranged, for example, in such a first cardan ring.

Furthermore, in a further embodiment, the carrier is arranged on the vehicle component or connected to it. In particular, this vehicle component, the chassis and the sensor, is designed to record the external environment.

In a further embodiment, an electrical actuator device is provided, the electrical actuator device being operatively connected to the mounting arrangement, and the electrical actuator device being designed to set a desired orientation of the sensor by the mounting arrangement. As a result, the field of view can be corrected by the electrical actuator device for different events. The actuator device can be an electrical actuator or multiple electrical actuators.

With the additional adjustment, e.g. with a motor and an actuator device, the field of view of the sensor can be corrected or a desired orientation can be set. For example, when driving uphill/downhill or during dynamic braking and acceleration processes, an undesirable orientation and consequently an undesirable view can occur. The integrated actuator can thus set the trajectory of the field of view in a desired orientation.

The field of view can thus be aligned/readjusted as desired by means of an additionally attached actuator device.

In a further embodiment, the electrical actuator device is designed as a concentric, electrically pivotable first cascade, which is arranged between the sensor and the second cascade.

This allows a simple adjustment of the storage arrangement.

The actuator device can be embodied as electromagnetic actuators, which are arranged at least in or on a bearing journal of the first cascade and/or at least in or on a bearing journal of the second cascade and/or at least in or on a bearing journal of the third cascade, for separate adjustment of the Sensor to the first bearing axis of the first cascade, the second bearing axis of the second cascade and the third bearing axis of the third cascade. As a result, each of the axes can be precisely rotated by a specific angle and the sensor can thus be aligned with high precision.

Alternatively, the bearing arrangement can be designed as a pendulum-like bearing with a pendulum, the sensor being arranged on the pendulum and a pendulum carrier also being provided which is arranged on the vehicle component and the pendulum being freely mounted in the pendulum carrier. As a result, the sensor for detecting the area around the vehicle can also be mechanically decoupled from the movement of the chassis.

This mounting arrangement allows the trajectory of the field of view to remain almost constant, for example, also independently of, for example, pitching and rolling movements.

In a further configuration, an electrical actuator device can be provided, the electrical actuator device being operatively connected to the bearing arrangement, and the electrical actuator device being designed to set a desired orientation of the sensor using the pendulum.

Furthermore, the bearing arrangement can also be designed as a self-aligning ball bearing.

In a further refinement, a detection unit can be provided which is designed to determine a desired orientation from a current orientation of the vehicle and to transmit this to the electrical actuator device.

In this case, the recognition unit can, for example, determine the current orientation based on the surroundings images; a desired orientation can also be generated using the surroundings images.

Furthermore, several sensors can be provided, for example, which can be adjusted using the electrical actuator device, with a detection unit also being provided, which is designed to determine a desired orientation for each sensor from the recorded surroundings images of the sensors and transmit this to the electrical actuator device for adjustment of the respective sensor. Sensors can thus also be adjusted in such a way that they result in a better overall picture of the surroundings. An excessively large or no overlapping area when composing an image using multiple sensors can thus be avoided.

Furthermore, the object is achieved by a vehicle with a vehicle arrangement as described above. As a result, a (partially) autonomously driving vehicle can reliably recognize its surroundings independently of pitching, rolling or yawing movements and thus ensure safe autonomous or semi-autonomous operation.

• 1: ein Fahrzeug mit einer Fahrzeuganordnung gemäß dem Stand der Technik, und
• 2: eine erste Ausgestaltung einer erfindungsgemäßen Fahrzeuganordnung, und
• 3: ein Fahrzeug mit einem erfindungsgemäßen Fahrzeuganordnung,
• 4: eine zweite Ausgestaltung einer erfindungsgemäßen Fahrzeuganordnung, und
• 5: eine dritte Ausgestaltung einer erfindungsgemäßen Fahrzeuganordnung.

Further properties and advantages of the present invention emerge from the following description with reference to the enclosed figures. It shows schematically:

• 1 : a vehicle having a vehicle arrangement according to the prior art, and
• 2 : a first embodiment of a vehicle arrangement according to the invention, and
• 3 : a vehicle with a vehicle arrangement according to the invention,
• 4 : a second embodiment of a vehicle arrangement according to the invention, and
• 5 : a third embodiment of a vehicle arrangement according to the invention.

1 FIG. 1 shows a truck with a sensor 101 according to the prior art. This truck can, for example, be operated semi-autonomously or fully autonomously.

The truck has a sensor 101 which is arranged on a chassis 100 (chassis) via a carrier (not shown), for example. The surroundings can be recorded as a surroundings image via the sensor 101 . In particular, the sensor 101 is designed as a camera for this purpose. However, it can also be in the form of a radar or lidar sensor, for example.

It can also be a sensor array or multiple sensors.

The sensor 101 partially detects the surroundings. In vehicles, the field of view (FoV) describes the field of view 102 of the sensor 101 for detecting the surroundings. The field of view 102 describes the field of view of the sensor 101 during normal driving.

It is customary to mount such sensors 101 permanently on the chassis 100 for detecting the surroundings. However, if the vehicle performs a pitching movement, the field of view 102 changes into a first field of view 103 and a second field of view 104 due to the fixed mounting according to the pitching movements of the vehicle. Rolling or yaw movements also lead to dynamically changed fields of view. This can lead to functional impairments in the perception of the surroundings and significantly influence the perception results of the surroundings sensors.

The changed fields of view 103, 104 lead to deviations in the sensor data, which lead to errors, for example when measuring a distance to a vehicle driving ahead. The field of view can also be shortened or increased while driving as a result of a vehicle pitching movement during braking and acceleration processes, as a result of which the detection of objects at a certain distance is restricted or tracking of the objects already detected is prevented.

2 shows a vehicle arrangement according to the invention with a pivotable mounting arrangement and with a sensor 1 for a vehicle. The vehicle drives along an X-axis (direction of travel).

In this case, the sensor 1 has a peripheral side which is designed as a first cascade 2, here for example as a cardan ring ( 2 , Left). The first cascade 2 has two opposite, outwardly pointing first bearing journals 3 along a first bearing axis. In this case, the bearing axis of the first cascade 2 is formed along the x-axis, ie along a roll axis (arrow).

It is also possible to position the two trunnions 3 of the first cascade 2 along, for example, the pitch axis or yaw axis.

Alternatively, the sensor 1 can also be arranged in a separate first cascade 2 .

A second cascade 4 is arranged concentrically around the first cascade 2, 2 , middle.

This second cascade 4 has two opposite, outwardly pointing bearing journals 5 along a second bearing axis, the bearing journals 5 of the second cascade 4 being arranged at the same level as the bearing journals 3 of the first cascade 2 . The bearing axis of the second cascade 2 is formed along the y-axis (arrow), ie along a yaw axis of the vehicle.

The two bearing pins 3 of the first cascade 2 are rotatably mounted on the inside of the second cascade 4, for example rotatable in a bushing or the like.

Furthermore, the storage arrangement has a third cascade 6, 2 , to the right. The third cascade 6 is mounted/arranged concentrically around the second cascade 4 .

This third cascade 6 has two outwardly pointing bearing journals 7 along a third bearing axis, the two bearing journals 7 of the third cascade 6 being arranged at the same level as the bearing journals 3 of the first cascade 2 . The bearing axis of the third cascade 6 is formed along the z-axis, ie along a pitch axis of the vehicle.

The two bearing journals 5 of the second cascade 4 are rotatably mounted on the inside of the third cascade 6, for example rotatable in a bushing or the like.

Furthermore, the storage arrangement has a carrier (not shown) in which the third cascade 6 is arranged. The two bearing journals 7 of the third cascade 6 are rotatably mounted on the inside of the carrier, for example rotatable in a bushing or the like.

This results in a simple, mechanically rotatable, three-axis mounting arrangement, which partially decouples the sensor 1 from the chassis movements of the vehicle.

The orientation of the sensor 1 can be maintained as a result of the decoupling. This means that regardless of pitch, yaw, and roll, the trajectory of the field of view remains nearly constant.

As a result, incorrect alignment of the sensor 1 can be compensated. It is possible to compensate for deviations in the sensor data/sensor signals caused by the movement.

3 shows a further embodiment of a vehicle arrangement according to the invention.

This has an electrical actuator device, which is designed here as a concentrically designed, electrically pivotable ring 8 . The concentrically designed, electrically pivotable ring 8 is arranged as the first cascade 2 between the sensor 1 and the second cascade 4 . The two outwardly pointing bearing journals 3 of the first cascade 2 are directed along the roll axis.

The second cascade 4 with bearing journals 5 is provided concentrically around the ring 8, the two opposing, outwardly pointing bearing journals 5 of the second cascade 4 being directed along the yaw axis.

The third cascade 6 with two opposite, outwardly pointing bearing pins 7 is also mounted/arranged concentrically around the second cascade 4 . The two outward-pointing bearing journals 7 of the third cascade 6 are directed along the pitch axis.

In this way, for example, an active adjustment around the z-axis (pitching movement) and/or the y-axis (rolling movement) can be made possible, so that free positioning around the z-axis or y-axis is possible.

The concentric, electrically pivotable ring 8 makes it possible to set the sensor 1 in a desired orientation (arrow 13).

Alternatively, the electrical actuator device can be embodied as electromagnetic actuators which are mounted at least in or on one of the first bearing journals 3 of the first cascade 2 and/or in or on one of the second bearing journals 5 of the second cascade 4 and/or in or on one of the third Bearing pins 7 of the third cascade 6 are arranged for separate adjustment of the sensor 1 about the pitch, roll and yaw axes.

The field of view can be aligned/adjusted using the additionally attached actuators.

The additional adjustment, e.g. with a motor, serves to correct the field of view of the sensor 1 or to set a desired orientation.

4 shows a vehicle here truck driving uphill. The vehicle has a constant first field of vision 9 . A desired orientation can now be set by the additional pivotable and electrically adjustable ring 8 , so that a desired second field of view 10 is set. This is also the case with dynamic braking and acceleration processes.

Thus, the sensor 1 (or the mounting arrangement) reacts to dynamic changes in the vehicle and the integrated electrical actuator device designed as an electrically pivotable ring 8 can set the trajector of the visual field 10 in a desired orientation.

As a result, an adapted field of view 10 can be generated at any time in an autonomously driving vehicle, from which objects such as vehicles, pedestrians and their trajectories as well as other parameters necessary for safe operation can be reliably extracted/determined.

Furthermore, a detection unit 11 can be provided, which is designed to determine a desired orientation from a current orientation of the vehicle and to transmit this to the electric actuator device, for example to the electrically pivotable ring 8 for setting the ring 8 .

This transmission can be done wirelessly, for example. This allows the desired orientation to be achieved.

5 shows a further embodiment of a vehicle arrangement according to the invention with a bearing arrangement designed as a pendulum device/pendulum-like bearing. The vehicle arrangement has a sensor 1 . The sensor 1 is arranged on a pendulum 12 which is mounted freely in a pendulum support 14 . through the pen del 12, the sensor 1 is partially decoupled from the movements of the chassis or the vehicle. The trajectory of the field of view also remains almost constant, regardless of pitch, yaw and roll movements.

In order to be able to correct the field of view of the vehicle/sensor 1 in the event of different events, an electrical actuator device can also be provided, the electrical actuator device being designed to set a desired orientation of the sensor 1 using the pendulum 12 .

In this case, the electrical actuator device can, for example, also be designed as an electrically pivotable element 15 around the sensor 1, for example for adjusting the sensor 1 about the pitch axis.

Furthermore, the bearing arrangement can also be designed as a self-aligning ball bearing (not shown).

Reference List

100

chassis

101

sensor

102

field of view

103

first changed field of view

104

second altered field of view

1

sensor

2

first cascade

3

first journals of the first cascade

4

second cascade

5

second journal of the second cascade

6

third cascade

7

third journal of the third cascade

8th

pivoting ring

9

first field of view

10

second field of view

11

recognition unit

12

pendulum

13

arrows

14

pendulum beam

15

pivoting element

Claims (13)

Vehicle arrangement for capturing an image of the surroundings of a vehicle, comprising at least one vehicle component and a sensor (1) which is designed to capture the image of the surroundings, a mechanical bearing arrangement which can be pivoted about at least two axes depending on the movement of the vehicle component being provided and which is on the vehicle component is arranged and in which the sensor (1) is arranged and which decouples the sensor (1) from at least one pitching and/or rolling movement of the vehicle component during operation of the vehicle, so that the orientation of the sensor (1) during movement of the vehicle component is almost maintained during operation of the vehicle, the bearing arrangement comprising a first cascade (2), the sensor (1) being arranged in the first cascade (2) or being designed as a first cascade (2), and the first cascade (2) two opposed, outwardly facing first bearing journals (3) along a first ply axis, the bearing arrangement further comprising an outer second cascade (4) mounted concentrically around the first cascade (2), the second cascade (4) having two opposite, outward-pointing second bearing journals (5) along a second bearing axis , wherein the first two bearing journals (3) are rotatably mounted on the second cascade (4) and the bearing arrangement comprises an outer carrier element, the second cascade (4) being arranged in the carrier element, and the bearing journals (5) of the second cascade (4) are rotatably mounted on the carrier element, and wherein the bearing axes of the first cascade (2) and second cascade (4) are essentially orthogonal to one another, characterized in that the carrier element is designed as an outer third cascade (6), wherein the third cascade (6) is mounted concentrically around the second cascade (4), and wherein the third cascade (6) has two opposite, outwardly pointing third bearing zap fen (7) along a third bearing axis, and wherein the third cascade (6) is arranged in a carrier, and wherein the two bearing pins (7) of the third cascade (6) are pivotably mounted on the carrier and the third bearing axis is essentially is orthogonal to the first bearing axis and the second bearing axis. vehicle arrangement claim 1 , characterized in that the first bearing axis of the first cascade is formed along a roll axis of the vehicle and the second bearing axis of the second cascade (4) is formed along a yaw axis of the vehicle. vehicle arrangement claim 1 , characterized in that the third bearing axis of the third cascade (6) is formed along a pitch axis of the vehicle. vehicle arrangement claim 1 or 3 , characterized in that both the first cascade (2), the second cascade (4) and the third cascade (6) are each designed as a cardan ring or ring-shaped. Vehicle arrangement according to one of the preceding Claims 1 , 3 or 4 , characterized in that the carrier is arranged on the vehicle component or is connected to it. Vehicle arrangement according to one of the preceding Claims 1 until 5 , characterized in that an electrical actuator device is provided, wherein the electrical actuator device is operatively connected to the storage arrangement, and wherein the electrical actuator device for setting a desired orientation of the sensor (1) is formed by the storage arrangement. vehicle arrangement claim 6 , characterized in that the electrical actuator device is designed as a concentrically designed, electrically pivotable first cascade (2) which is arranged between the sensor (1) and the second cascade (4). vehicle arrangement claim 6 , characterized in that the actuator device is designed as an electromagnetic actuator which is connected at least to the bearing axis of the first cascade (2) and/or to the second cascade (4) and/or to the third cascade (6), for separate adjustment of the sensor (1) around the first bearing axis of the first cascade (2), and/or the second bearing axis of the second cascade (4) and/or the third bearing axis of the third cascade (6). vehicle arrangement claim 1 , characterized in that the bearing arrangement is designed as a pendulum-like bearing with a pendulum (12) and the sensor (1) is arranged on the pendulum (12), and a pendulum support (14) is also provided, which is arranged on the vehicle component and wherein the pendulum (12) is freely mounted in the pendulum support (14). vehicle arrangement claim 9 , characterized in that an electrical actuator device is provided, wherein the electrical actuator device is operatively connected to the bearing arrangement, and wherein the electrical actuator device is designed to set a desired orientation of the sensor (1) using the pendulum (12). Vehicle arrangement according to one of the preceding Claims 6 until 8th or 10 , characterized in that a detection unit (11) is provided, which is designed to determine a desired orientation from a current orientation of the vehicle and to transmit this to the electrical actuator device. vehicle arrangement claim 11 , characterized in that several sensors are provided, which can be adjusted using the electrical actuator device and a detection unit (11) is provided, which is designed to determine a desired orientation for each sensor from the captured images of the surroundings and this to the electrical To transmit actuator device for setting the respective sensor. Vehicle with a vehicle arrangement according to one of the preceding claims.

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