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WO2018134152A1 - Dispositif de détection et procédé permettant de faire fonctionner un système de détection d'un véhicule - Google Patents

Dispositif de détection et procédé permettant de faire fonctionner un système de détection d'un véhicule Download PDF

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Publication number
WO2018134152A1
WO2018134152A1 PCT/EP2018/050864 EP2018050864W WO2018134152A1 WO 2018134152 A1 WO2018134152 A1 WO 2018134152A1 EP 2018050864 W EP2018050864 W EP 2018050864W WO 2018134152 A1 WO2018134152 A1 WO 2018134152A1
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WO
WIPO (PCT)
Prior art keywords
mode
sensor
vehicle
operated
sensor system
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/EP2018/050864
Other languages
German (de)
English (en)
Inventor
Marc Landschulze
Christoph Mayser
Andreas Oesterlin
Andreas Pfeiffer
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.)
Bayerische Motoren Werke AG
Original Assignee
Bayerische Motoren Werke AG
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 Bayerische Motoren Werke AG filed Critical Bayerische Motoren Werke AG
Publication of WO2018134152A1 publication Critical patent/WO2018134152A1/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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/42—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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9323—Alternative operation using light waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9324—Alternative operation using ultrasonic waves

Definitions

  • the invention relates to a sensor device for a vehicle and to a method for operating a sensor system of a vehicle.
  • Driver assistance systems access a variety of sensor systems.
  • Examples include ultrasonic sensors of a parking aid system to warn at too small distances during maneuvering and
  • Radar sensors for speed control with spacing. Furthermore, such sensor systems can also contribute to the estimation of the overall situation in which the vehicle is located by being networked with one another and thus forming part of a sensor network.
  • Such a sensor network provides data independent of the driving situation by means of the networked sensors. This happens, for example, even in situations in which the driver does not require any assistance from any driver assistance functions. This may be the case because the driver simply does not need them at this moment, or because the driver assistance function can not be used for the current driving situation.
  • a congestion assistant which, e.g. can only be activated on motorways.
  • a parking function which can only be activated below a defined maximum speed.
  • control units and the sensors are permanently active, they constantly require energy (rated power) to ensure their operation. This is needed, no matter if the sensors are used or not. This energy requirement has a negative effect on the fuel requirement or on the range of the vehicle.
  • the above object is achieved by a sensor device for a vehicle and a method for operating a sensor system of a vehicle.
  • the sensor device for a vehicle includes a sensor system configured to be selectively operated in a first mode or in a second mode, wherein the sensor system comprises a sensor having higher power consumption when operating the sensor system in the first mode than operating in the second mode, and a controller configured to detect at least one vehicle state parameter during operation of the vehicle and to switch the sensor system to the first mode or the second mode based on the vehicle state parameter.
  • the method of operating a sensor system of a vehicle includes detecting at least one vehicle state parameter during operation of the vehicle and switching a sensor system to a first mode or to a second mode based on the vehicle state parameter, the sensor system including a sensor having higher energy consumption when the sensor system is operated in the first mode as if operated in the second mode.
  • a method for operating a vehicle ensures that energy consumption of sensor systems and associated control devices is as low as possible.
  • the sensor is thus controlled in such a way that it consumes less energy in the second mode. Since sensors require a lot of energy, a high energy saving can be achieved.
  • the energy consumption is adjusted to the current situation without any user intervention. There is no loss of security and / or comfort. Also, the user does not have any Restrictions on the driver assistance functions activated by him
  • a sensor system is any system that includes a sensor.
  • the vehicle is in operation when it is ready to drive. This is the case when the vehicle has been started or switched on, that is to say when an electronic system of the vehicle required for driving the vehicle is supplied with voltage.
  • a vehicle state parameter is any parameter that describes a state of the vehicle. This includes all parameters that are detected by the sensor systems and all parameters that are detected by another sensor of the vehicle.
  • a vehicle state parameter can likewise be formed from a combination of individual ones of the aforementioned parameters. For determining the vehicle condition parameter, a plurality of input information, that is to say signals, may therefore be necessary.
  • the first mode may also be referred to as a regular mode of operation.
  • the second mode can also be called energy saving mode.
  • the sensor system is thus switched to the second mode, although the sensor system provides inferior or no results with respect to the sensor data provided by the sensor.
  • poorer results are, for example, sensor data with reduced spatial resolution, reduced temporal resolution or sensor data which relate only to a restricted environment.
  • the sensor system includes a sensor configured to detect a vehicle environment of the vehicle.
  • a sensor configured to detect a vehicle environment of the vehicle.
  • Especially such sensors have a high energy consumption.
  • the switching of such a sensor system into the second mode saves a great deal of energy.
  • Exemplary sensor systems are a camera system, a radar system, a laser scanner system, an ultrasound system, a night vision camera system, or similar surround sensor systems.
  • the at least one sensor system is set up to detect sensor data both in the first and in the second mode, or to provide no sensor data in the second mode. This ensures that necessary sensor data can be recorded at any time. It is thus possible, for example, that safety-relevant information is available at all times. Alternatively, increased energy savings can be achieved.
  • sampling rate a spatial resolution and / or a
  • Transmission power of the sensor system in the first mode is greater than in the second mode. In this way, a lower energy consumption is achieved without having to completely dispense with sensor data of the sensor system.
  • the sensor system comprises at least one camera system, a radar system, a laser scanner system, an ultrasound system, and / or a night vision camera system.
  • Such sensor systems are often characterized in regular operation by a high energy consumption. It is thus advantageous if this energy consumption is reduced, if that
  • Camera system is operated with a relation to the first mode with reduced power, in particular with a reduced image recording frequency, a radar sensor of the radar system with respect to the first mode with reduced power, in particular with a reduced sampling rate, a laser scanner of the laser scanner system with an opposite the first mode is reduced power consumption, a
  • Ultrasonic sensor of the ultrasound system is operated at reduced power, in particular is switched off, and / or a night-vision camera of the night vision camera system is operated with reduced power, in particular is switched off.
  • Circumstances can also be applied to common sensors without subjecting them to a constructive change.
  • Signal processing unit in the first mode is greater than in the second Mode. In this way, an energy requirement of the sensor system is lowered. Thus, a sensor data processing is influenced so that while energy can be saved and still all functions at least
  • the sampling rate, the spatial resolution and / or the transmission power of the sensor system in the first mode is greater than in the second mode.
  • an accumulating volume of data is reduced with additional energy savings.
  • a necessary data processing can be done with reduced computational effort and thus with reduced clock frequency energy-saving, since a processor load decreases. Also will be one
  • the vehicle state parameter describes a speed of the vehicle and / or a position of the vehicle.
  • the sampling rate for example, with high spatial resolution and / or transmit power to detect, to allow precise longitudinal / lateral guidance of the vehicle in confined spaces.
  • the sampling rate it is advantageous if the sampling rate, the
  • Spatial resolution and / or the transmission power of the sensor system in the second mode is selected proportionally or inversely proportional to the speed of the vehicle. Even from a position of the vehicle in the environment can be reliably closed to requirements for the sensor system.
  • control devices are switched to the second mode, that is to say into an energy-saving mode.
  • the further control devices are in particular such control devices, which information from the sensor system relate.
  • Control units are thus not directly associated with the sensor system. This can further increase energy savings.
  • Figure 1 shows an exemplary vehicle with an inventive
  • Figure 2 shows an exemplary vehicle with an inventive
  • FIG. 3 shows a flowchart of the method according to the invention in accordance with an exemplary embodiment of the invention.
  • FIG. 1 shows an exemplary vehicle 100 with a sensor device according to the invention according to a first embodiment of the invention.
  • the sensor device comprises a plurality of sensor systems 10, 20, 30, 40, 50.
  • the sensor device comprises a camera system 10, a radar system 20, a laser scanner system 30, an ultrasound system 40, and a
  • Each of the sensor systems 10, 20, 30, 40, 50 includes in this first
  • Each of the sensor systems 10, 20, 30, 40, 50 further comprises a sensor 12, 22, 32, 42, 52. These are arranged on the vehicle 100 such that they detect a vehicle environment of the vehicle 100.
  • Each of the sensor systems 10, 20, 30, 40, 50 is configured to operate in a first mode and in a second mode.
  • energy consumption of the respective sensor 12, 22, 32, 42, 52 of the sensor system 10, 20, 30, 40, 50 is higher in the first mode than in the second mode.
  • the second mode can thus also be referred to as energy-saving mode.
  • the functionality of the respective sensor system 10, 20, 30, 40, 50 is restricted.
  • the respective sensor system 10, 20, 30, 40, 50 and thus the associated sensor 12, 22, 32, 42, 52 in the simplest case switched off or put into standby mode. In this first
  • the respective sensor systems 10, 20, 30, 40, 50 are configured in both the first mode and in the second mode to detect sensor data.
  • the sensor systems 10, 20, 30, 40, 50 are associated with other vehicle systems to communicate with them. To ensure this communication, the sensor data provided by the sensor systems 10, 20, 30, 40, 50 are in a constant clock or
  • an associated sensor 12, 22, 32, 42, 52 of one of the sensor systems 10, 20, 30, 40, 50 provides the sensor data acquired by the respective sensor systems 10, 20, 30, 40, 50 at a lower update rate than in the first mode, it is advantageous to interpolate sensor data or to send multiple times. This ensures that there is compatibility with the other vehicle systems.
  • the camera system 10 comprises a first control device 11. Furthermore, the camera system 10 includes a camera 12 as an associated sensor.
  • the first control device 1 1 is a digital signal processing unit. On this, a processor is arranged, which executes a software for evaluation of the image data provided by the camera 12.
  • the radar system 20 includes a second control device 21. Furthermore, the radar system 20 includes a radar sensor 22 as an associated sensor.
  • the second control device 21 is a digital signal processing unit. On this, a processor is arranged, which executes a software for evaluation of the sensor data provided by the radar sensor 22.
  • the radar system 20 is, for example, a side radar of the vehicle 100.
  • the laser scanner system 30, also referred to as LIDAR system, comprises a third control device 31. Furthermore, the laser scanner system 30 includes a laser scanner 32 as an associated sensor.
  • the third control device 31 is a digital signal processing unit. On this, a processor is arranged, which executes software for evaluation of the sensor data provided by the laser scanner 32.
  • the ultrasound system 40 comprises a fourth control device 41. Furthermore, the ultrasound system 40 includes an ultrasound sensor 42 as associated Sensor.
  • the fourth control device 41 is a digital one
  • a processor is arranged, which executes software for evaluation of the sensor data provided by the ultrasonic sensor 42.
  • the night vision camera system 50 includes a fifth control device 51.
  • the night vision camera system 50 includes a night vision camera 52 as an associated sensor.
  • the fifth control device 51 is a digital signal processing unit.
  • a processor is arranged, which executes a software for evaluation of the image data provided by the night vision camera 52.
  • the first control device 11 is configured to selectively switch the camera system 10 to the first mode or the second mode based on a vehicle state parameter.
  • a vehicle state parameter for a driving situation of the vehicle 100 is selected.
  • the first control device 1 1 determines whether the vehicle 100 is in a specific traffic situation.
  • the first control device 1 1 accesses a speed sensor of the vehicle 100.
  • Speed sensor is not necessarily a single sensor but can rather include several individual sensors. Furthermore, the attacks
  • Control device to a GPS sensor of a navigation system or another system.
  • a typical movement speed for the current position is determined. For example, if it is determined that the vehicle 100 is on a highway, a typical
  • the first control device 1 1 determines that the vehicle 100 may be in a traffic jam. Based on a statistical evaluation of others
  • Vehicle condition parameters which are suitable for detecting a stay of other vehicles in the vicinity of the vehicle 100 are verified as to whether there is actually a traffic jam. Alternatively or additionally, for the
  • Verification on provided information about an actual traffic situation can be accessed. If there is a traffic jam, the camera system 10 is switched from the first mode to the second mode. In order to determine the speed of the vehicle 100, it is also possible for the first control device 11 to perform a corresponding image evaluation based on the images captured by the camera 12 in order to determine the speed of the vehicle 100
  • Vehicle condition parameters detected by the camera system 10 itself are Vehicle condition parameters detected by the camera system 10 itself.
  • a sampling rate of the camera 12 of the camera system 10 is reduced compared to the first mode.
  • the sampling rate of the camera 12 of the camera system 10 corresponds to a frequency of image acquisition, ie one
  • Imaging frequency the camera system 10 associated camera 12.
  • Camera system 10 is reduced. For example, only a selection of pixels, for example every other pixel, of an image sensor of the camera 12 is used to capture image data. In this way, an energy consumption of the camera system 10 associated camera 12 and thus of the
  • Camera system 12 lowered. At the same time a data volume is reduced, which is to be handled by the first control unit 1 1. Thus, a processor load in the camera system 10 is reduced, thereby reducing the power consumption of the camera
  • Signal processing unit of the camera system 10 in the first mode is greater than in the second mode.
  • a software for evaluating the images is operated with a smaller amount of raw data.
  • parts of the software for evaluating the images are no longer operated in a preselected driving situation.
  • the second control device 21 is configured to selectively switch the radar system 20 to the first mode or the second mode based on a vehicle state parameter.
  • a vehicle state parameter for example, the speed of the vehicle 100 is selected.
  • the first control device 21 accesses the speed sensor and / or further sensors of the vehicle 100. Is one of that Speed sensor output speed value is less than a predetermined threshold, the radar system 20 is switched to the second mode. Is one output from the speed sensor
  • the radar system 20 is switched to the first mode.
  • a sampling rate of the radar sensor 22 of the radar system 20 is reduced from the first mode. The sampling rate is thus lower in the second mode than in the first mode. Thus, the sampling rate of the radar sensor 22 of the radar system 20 becomes small
  • a transmission power of the radar system 20 is reduced compared to the first mode.
  • the transmission power is thus greater in the first mode than in the second mode.
  • a range of the radar system 20 is reduced in the second mode over the first mode, which at the same time results in lower power consumption.
  • Control unit 21 is to cope. Thus, a processor load in the
  • Control unit 21, so the signal processing unit of the radar 20, are reduced.
  • a clock frequency of the signal processing unit of the radar system 20 is greater in the first mode than in the second mode.
  • the third control device 31 is configured to selectively switch the laser scanner system 30 to the first mode or the second mode based on a vehicle state parameter.
  • the vehicle state parameter used again for this is the position of the vehicle 100, which is determined by means of the GPS sensor. For example, it is determined by means of the position of the vehicle 100 whether the vehicle 100 is approaching a motorway ramp. If so, the laser scanner system 30 operates in the first mode. In this way, it is ensured that the laser scanner system 30 is fully operational when the vehicle 100 is approaching the highway and is intended, for example, to provide sensor data for an automated vehicle guidance system. If the vehicle is not in the area of one
  • Laser scanner system 30 is thus larger in the first mode than in the second mode.
  • Laser scanner system 30 is reduced compared to the first mode by a power of the laser of the laser scanner 32 is reduced.
  • the transmission power of the laser scanner system 30 is thus greater in the first mode than in the second mode.
  • the laser scanner system 30 is only operated at 100% power consumption, ie in the first mode, even if the system for automated vehicle guidance can be activated, or activation may be imminent. So for example
  • Navigation data is used as a vehicle state parameter to put the laser scanner system 30 in the first mode, for example for a highway drive. This does not preclude the laser scanner system 30 from being placed in the first mode based on alternative vehicle state parameters.
  • a clock frequency of the signal processing unit of the laser scanner system 30 is greater in the first mode than in the second mode.
  • the fourth controller 41 is configured to selectively switch the ultrasound system 40 to either the first mode or the second mode based on a vehicle condition parameter. As a vehicle state parameter for example, the speed of the vehicle 100 is selected. For this purpose, the fourth control device 41 accesses the speed sensor of the vehicle 100. Is one of the speed sensor
  • the ultrasound system 40 will enter the second mode connected. If the speed value is smaller than a given one
  • the ultrasound system 40 is switched to the first mode. Switching to the first mode or the second mode can optionally be done with a hysteresis. That is, the ultrasound system 40 is switched to the second mode when an upper speed limit is exceeded, and is switched to the first mode when a lower speed limit is exceeded
  • Speed limit is exceeded.
  • the upper speed limit is not equal to the lower speed limit.
  • Lowering power consumption for the second mode reduces a sampling rate of the ultrasound system 40. That is, in the second mode, fewer ultrasonic pulses per unit time are output from the ultrasonic sensor 42 of the ultrasound system 40 than in the first mode.
  • Sampling rate of the ultrasound system 40 is thus greater in the first mode than in the second mode.
  • a transmission power of the ultrasound system 40 is reduced compared to the first mode. The transmission power is thus greater in the first mode than in the second mode. In this way, for example, a sensor of a parking assistance system can be deactivated at high speeds.
  • the fifth control device 51 is adapted to
  • Night vision camera system 50 based on one of the detected
  • Vehicle state parameters to switch either in the first mode or in the second mode As a vehicle state parameter for a brightness value is selected, which is detected by means of an optical sensor of the vehicle 100.
  • the optical sensor is, for example, the camera 12 of the camera system 10. If a brightness value output by the optical sensor is greater than a predefined threshold value, ie if it is bright in the vehicle environment, the night vision camera system 50 is switched to the second mode. If the brightness value is smaller than a predetermined threshold, that is, it is dark in the vehicle environment, the night vision camera system 50 is switched to the first mode. Switching to the first mode or the second mode can also be done with a hysteresis.
  • the night vision camera system 50 is switched to the second mode when an upper brightness limit is exceeded, and is switched to the first mode when a lower brightness limit is exceeded.
  • the upper brightness limit is not equal to the lower brightness limit.
  • the night vision camera 52 or the entire night vision camera system 50 is deactivated, part of the fifth Control device 51 configured to switch night vision camera system 50 to the first mode remains active.
  • the sampling rate of the night vision camera system 50 is reduced, its resolution is reduced and / or a residual light amplifier of the night vision camera 52 is deactivated.
  • an amplifier performance in the night vision camera 52 can be reduced, which is provided, for example, for thermal imaging. This means that a function of the night vision camera system 50 to a
  • Night vision camera system 50 is switched off with sufficient brightness, for example. Due to the fact that, for example, a pedestrian recognition realized by means of a night-vision camera system 50 is not active in daylight anyway, hardly a functional one is for a user
  • driver assistance systems The sensor systems are covered by driver assistance systems. This means that a variety of driver assistance systems on the
  • Sensor systems 10, 20, 30, 40, 50 access.
  • Several driver assistance systems can also access a common sensor system 10, 20, 30, 40, 50.
  • a trailer control unit 60 is shown in FIG.
  • the trailer control unit 60 assists the driver of the vehicle 100 in maneuvering the vehicle 100 when a trailer is attached to the vehicle 100.
  • the trailer control unit 60 accesses the ultrasound system 40.
  • the ultrasonic sensor 42 is attached to a rear of the vehicle 100 and thus capable of detecting a position of a trailer with respect to the vehicle 100. If no trailer is coupled to the vehicle 100, detection of the vehicle surroundings by the ultrasound system 40 may not be necessary or only to a limited extent.
  • the trailer control unit 60 has a sixth control unit 61. Through this, the necessary calculations of a position of a trailer relative to the vehicle 100 are carried out.
  • the sixth control device 61 is adapted to the trailer control unit 60 together with the
  • Ultrasonic system 40 to selectively switch to the first mode or to the second mode based on a vehicle state parameter.
  • a vehicle state parameter is a state parameter for a
  • Towbar 62 selected. Describes this state parameter that the trailer hitch 62 is extended, the trailer control unit 60 and thus, the ultrasound system 40 included therein is switched to the first mode. Describes this state parameter that the trailer hitch 62 is retracted, the trailer control unit 60 is switched to the second mode. This means that the trailer control unit 60 is only 100% active when the command to extend the trailer hitch 62 given by pressing a button and it was also extended to 100%.
  • the trailer control unit 60 is a system that controls and / or controls a condition of the trailer hitch
  • the trailer control unit 60 does not access the ultrasound system 40. Nevertheless, it is advantageous to select the state of the trailer hitch 62 as the vehicle state parameter to switch the ultrasound system 40 to the first or second mode because of this
  • Vehicle state parameter can be indicated whether a field of view of the ultrasound system 40 is free, so the ultrasound system 40 comprises at least one ultrasonic sensor 42 which is arranged at the rear of the vehicle 100.
  • the ultrasound system 40 is also included in other driver assistance systems and is put back into the first mode by the control units of these driver assistance systems if the sensor data of the ultrasound system 40 is needed by them.
  • the sensor device for the vehicle 100 thus comprises, with the first to fifth control devices 1 1, 21, 31, 41, 51, a plurality of control devices which are adapted to operate during operation of the vehicle 100
  • Each of the sensor systems 10, 20, 30, 40, 50 can be switched into the first mode or into the second mode independently of the respective other sensor systems 10, 20, 30, 40, 50.
  • FIG. 2 shows an exemplary vehicle 100 with a sensor device according to the invention according to a second embodiment of the invention.
  • the second embodiment substantially corresponds to the first embodiment, but the first to sixth control devices 1 1, 21, 31, 41, 51, 61 are combined in a central control device 70.
  • the central control device 70 decides which of the sensors 12, 22, 32, 42, 52 and thus which of the sensor systems 10, 20, 30, 40, 50 is switched into the first mode and which of the sensor systems 10, 20, 30, 40, 50 is switched to the second mode. For this purpose, the central control device 70 accesses vehicle state parameters which are detected by sensors of the vehicle 100. In particular, the vehicle condition parameters are compared to a threshold value to decide if a particular one of the
  • Sensor systems 10, 20, 30, 40, 50 is switched to the first mode or in the second mode. This is done with each of the sensor systems 10, 20, 30, 40, 50 optionally using a hysteresis.
  • Vehicle condition parameters can be operated in the first or the second mode.
  • further control devices are switched into the second mode, that is, into an energy-saving mode, together with the respective sensor system. If, for example, the camera system is switched to the second mode, then together with the camera system, a picture reproduction system can also be switched to the second mode.
  • FIG. 3 shows a flow chart of the method according to the invention in accordance with an exemplary embodiment of the invention. This is also carried out by the devices described above.
  • a vehicle state parameter is detected during operation of the vehicle 100. If the first step 200 is completed, a second step 210 is carried out.
  • the second step 210 is the switching of one of the sensor systems 10, 20, 30, 40, 50 in a first mode or in a second mode based on the vehicle state parameter, wherein the
  • Sensor system 10, 20, 30, 40, 50 has a higher power consumption when operated in the first mode, as when operated in the second mode.
  • the first step 200 is executed, so that the method is executed in a loop.
  • Components of the sensor systems 10, 20, 30, 40, 50 Components of the sensor systems 10, 20, 30, 40, 50.
  • sensor systems 10, 20, 30, 40, 50 are operated in the first mode and which are operated in the second mode.
  • a sufficient result for a driver assistance function can already be achieved if some of the sensor systems 10, 20, 30, 40, 50 are operated in the second mode. So can to
  • a range of some or all of the sensor systems 10, 20, 30, 40, 50 can be reduced at low speeds without a restriction of the customer function being noticeable.
  • the radar system 20 is switched to the second mode when the position of the vehicle 100 indicates that the vehicle is in a country where only low-power radar radiation is permitted. If it is detected that the vehicle is in a country where such a restriction does not exist, the radar system 20 is switched to the first mode.
  • each sensor system 10, 20, 30, 40, 50 can be adapted to local requirements.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Acoustics & Sound (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention concerne un dispositif de détection destiné à un véhicule (100) et comprenant : un système de détection (10, 20, 30, 40, 50) qui est conçu pour fonctionner sélectivement dans un premier mode ou dans un second mode, le système de détection (10, 20, 30, 40, 50) comprenant un capteur (12, 22, 32, 42, 52) qui présente une consommation d'énergie plus élevée lorsque le système de détection (10, 20, 30, 40, 50) fonctionne dans le premier mode que lorsqu'il fonctionne dans le second mode ; et un dispositif de commande (11, 21, 31, 41, 51) qui est conçu pour détecter un paramètre d'état du véhicule lorsque le véhicule (100) fonctionne, et pour basculer le système de détection (10, 20, 30, 40, 50) dans le premier mode ou dans le second mode sur la base du paramètre d'état du véhicule. L'invention concerne par ailleurs un procédé associé permettant de faire fonctionner un véhicule (100).
PCT/EP2018/050864 2017-01-18 2018-01-15 Dispositif de détection et procédé permettant de faire fonctionner un système de détection d'un véhicule Ceased WO2018134152A1 (fr)

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DE102017200710.9A DE102017200710B4 (de) 2017-01-18 2017-01-18 Sensorvorrichtung und Verfahren zum Betreiben eines Sensorsystems eines Fahrzeugs
DE102017200710.9 2017-01-18

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CN115700205A (zh) * 2022-11-18 2023-02-07 长城汽车股份有限公司 一种智能驾驶控制系统及车辆
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EP4617137A4 (fr) * 2022-11-30 2025-12-24 Shenzhen Yinwang Intelligent Technology Co Ltd Procédé et appareil de traitement de données, et dispositif de conduite intelligent
DE102023120138A1 (de) 2023-07-28 2025-01-30 Dr. Ing. H.C. F. Porsche Aktiengesellschaft Verfahren zum Betrieb eines Steuergeräts eines Fahrassistenzsystems

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