DE102015104961A1 - Motor vehicle with object detection and object marking - Google Patents

Abstract

The invention relates to a detection device (2) for detecting an object (3) in an environment (4) of a motor vehicle (1), comprising a transmitting device (10) for emitting a laser beam (18) of a laser light source (13) into the environment (4 ), receiving means (11) for receiving the laser beam (22) reflected from the object (3), and computing means (12) adapted to determine a relative position (9) of the object based on the received laser beam (22) (3) with respect to the detection device (2) to determine. The detected object (3) should be marked for a driver of the motor vehicle (1) with few technical means. For this purpose, a light source (15) different from the laser light source (13) is provided. The light source (15) is designed to emit a light beam (36) of light in the visible spectral range into the environment (4). The computing device (12) is designed to activate the light source (15) in dependence on the detected object (3), so that the light beam (36) illuminates the object (3).

Description

The invention relates to a detection device for detecting an object in an environment of a motor vehicle. The detection device is designed as a laser scanner, d. H. a transmitting device emits a laser beam and a receiving device receives the laser beam reflected from the object. A computing device determines a relative position of the object relative to the detection device on the basis of the received laser beam. The invention also includes a motor vehicle with the detection device according to the invention and a method for operating said computing device.

A laser scanner of the type mentioned is for example from the DE 10 2010 047 984 A1 known. It describes how a laser beam of a laser diode is deflected by means of a rotatably mounted mirror in order to pivot the laser beam through a detection area in an environment of the motor vehicle.

It is known from the prior art to recognize objects by means of a laser scanner and to classify them, for example, as lorries, passenger cars or persons. Detected and classified objects can be signaled to a driver assistance system, for example. The driver gets nothing from this. Therefore, it may happen that the laser scanner detects a person in the dark, which is not visible to the driver.

In order to inform the driver, it is known that the detected person at night z. B. highlighted by a head-up display (head-up display) or on a display device in the center console or in the dashboard or marked to alert the driver to the possible danger. However, in the first case this requires the installation of a head-up display. In the latter case, it is necessary for the driver to look at the display device exactly in the moment while the warning is displayed.

From the US 2014/0267415 A1 a display system is known, by means of which a driver a lane course of a lane is displayed. A camera detects lane markings in front of the motor vehicle. A projector then projects light marks onto the roadway, thereby signaling a driver of the recognized roadway course.

The invention is based on the object of making a driver aware of an object that has been detected by a laser scanner of a motor vehicle with simple technical display means.

The object is solved by the subject matters of the independent claims. Advantageous developments of the invention will become apparent from the features of the dependent claims.

The invention comprises a detection device for detecting an object in a vehicle-external environment of a motor vehicle. For example, a person may be detected at the roadside of a road ahead. The device has a transmitting device which is designed to emit a laser beam of a laser light source of the transmitting device into the environment. A receiving device is designed to receive the laser beam reflected by the object. A computing device is designed to determine a relative position of the object relative to the detection device on the basis of the received reflected laser beam. By the transmitting device, the receiving device and the computing device thus a laser scanner is formed.

In order to signal the detected object to a driver, a light source different from the laser light source is provided according to the invention in the detection device. This light source is designed to emit a light beam of light in the visible spectral range in the environment. The computing device is designed to activate the light source as a function of the detected object. As a result, the object is illuminated by the light beam of the light source. In other words, the detection device illuminates a detected object with light from the visible spectral range if the detection device has detected the object. The light source is thus always activated when an object has been detected or detected by the computing device.

The invention provides the advantage that no elaborate display technology is required in the motor vehicle in order to indicate to the driver a possible dangerous situation which may be formed by the object. Instead, the object itself is illuminated or illuminated so that the driver can see or recognize the object. For example, it can be provided that a high beam of the motor vehicle is switched on when the object is detected by the computing device.

By the visible spectral range is meant a wavelength of the light in the range of 400 nm to 750 nm. In particular, a white light is provided as the visible light. This has the advantage that the object appears in its natural colors. The driver can thereby better recognize or classify the object.

The invention also includes further developments, by the characteristics of which provide additional advantages.

A further development makes it possible to concentrate the light beam of the light source on the object without, for example, having to illuminate the entire roadway area. According to this development, the light source for generating the light in the visible spectral range on a laser diode. This has the advantage that the light beam is sharply demarcated. In other words, the light beam may have a predetermined diameter. The diameter is preferably in a value range of 10 cm to 2 m at a distance of 30 m from the motor vehicle.

According to a development, the laser light source of the transmitting device has an infrared light source. In particular, an infrared laser diode is provided. This results in the advantage that the light of the laser light source can not be seen by the driver. This prevents that the driver is distracted by the laser beam of the transmitting device and / or made aware of a wrong object.

A development makes it possible to direct the light beam of the light source targeted to the object. By the development deflecting means are provided and adapted to emit the light beam of the light source in an adjustable radiation in the environment. The computing device is designed to set the emission direction as a function of the determined relative position of the object.

A further development for this purpose makes it possible to provide said deflecting means with particularly low component expenditure. In this development, the deflection means are at least partially provided by an optical element of the transmitting device. It is an optical element designed to also align the laser beam of the transmitter in the environment. In other words, the optical element is used twice, namely on the one hand for pivoting the laser beam of the laser light source and on the other hand for aligning or arranging the visible light beam on the object.

A development uses as the optical element the already described mirror of the transmitting device. In this development, the optical element of the mirror with its rotating device for rotating the mirror. The computing device is designed to activate the light source for illuminating the object whenever a beam path of the light source is directed by the mirror at the object. In other words, the light source is activated in a pulsed or pulse-like manner, namely whenever the mirror is adjusted by the rotating device in such a way that the light beam of the light source illuminates the object, that is to say it is directed onto the object. This refinement has the advantage that only the light source and a switch for switching on and off the light source are necessary for providing the optical marking of the object by means of the light beam.

According to a development, the object is highlighted particularly clearly in the dark. In this development, the computing device is designed to selectively irradiate the object by means of the light beam, so that only the object is illuminated by the light beam. As a result, the object stands out particularly clearly from the environment.

An alternative development for this purpose provides that the computing device is designed to illuminate the object surface by means of the light beam, so that the object and an object surrounding the object environment are illuminated. For example, a light-dark boundary in the object environment to the right and left of the object (from the perspective of the detection device) may be arranged at a distance of 0.5 m to 2 m. The areal lighting results in the advantage that, in addition to the object, the situation in which the object is located can also be recognized. For example, it can be detected whether there is a pedestrian on the roadside or a person with a bicycle that can move faster than a pedestrian.

A further development prevents a false alarm or a false triggering, by which otherwise an insignificant or harmless object would also be marked or illuminated by means of the light beam. In this development, the computing device is designed to perform an object classification for the object and to activate the light source only if the object classification assigns the object to an object class that originates from a predetermined set of at least one predetermined object class. In other words, the object is illuminated only when it is assigned by the object classification of an object class originating from the predetermined set. In this predetermined amount, all those object classes can be collected that describe objects that are to be illuminated. In this way, it is advantageously prevented that a harmless or insignificant object, for example a house on the roadside, is illuminated by the visible light beam of the light source.

According to a further development, said quantity comprises at least one of the following object classes: a person, a construction site, an unknown object on a road ahead, a transverse or transverse vehicle. These are object classes which represent a potential traffic obstruction for the motor vehicle, so that the driver is preferably made aware of the object of these object classes. A further advantageous object classification can be carried out to the effect that an object is illuminated when it is unlit, that has no self-lighting. For this classification empirical values can be provided in an allocation table. For example, according to this classification, a preceding vehicle is illuminated while a transverse or transverse vehicle is unlit from the perspective of the detection device. Even a pedestrian is preferably classified as unlit. The object classification can take place on the basis of a received signal of the receiving device in a manner known per se. To classify the object, an additional sensor or a plurality of additional sensors may be provided. For example, a camera may be provided. With it, in particular, a self-lighting of the object can be detected.

A further development enables the recognition or selection of relevant objects with less technical effort. In this development, the computing device is designed to activate the light source as a function of the determined relative position. In particular, it is provided that the light source is activated only if the object is located in at least one of the following areas: in the driving tube of the motor vehicle; on the roadway or road lane of the motor vehicle; beside the road; closer than a predetermined maximum distance. The driving tube is the surface that is likely to be run over by the motor vehicle as it continues to drive from the vehicle. The maximum distance can be in a range of 20 m to 500 m, in particular 20 m to 300 m.

In addition or as an alternative to checking the relative position itself, a development provides that the computing device is designed to activate the light source as a function of an intrinsic movement of the object. The proper motion is determined on the basis of the determined relative position. In other words, the relative position is determined several times in succession by the computing device and determined therefrom a proper movement of the object. In addition, odometry data of an odometric measurement of the vehicle movement can be taken into account. Based on the intrinsic movement of the object can be determined, for example by the computing device, whether the object is moving towards the lane of the motor vehicle. In other words, a collision course is detected based on the proper motion. In this case, the light source can then be activated to illuminate the object with the visible light.

A further development relates to the problem that several objects in the direction of travel can be arranged in front of the motor vehicle. The development provides that the receiving device is designed to receive a respective reflected laser beam from a plurality of objects. For example, the laser beam can be pivoted in the manner described in a detection range and the current pivot angle can be used to distinguish objects that are detected by the receiving device in different pivot angles from each other. The computing device is designed in this development to irradiate all detected objects by means of the laser light beam. In this case, the described object classification can still select objects. In particular, when using the described, rotatably mounted mirror the lighting of several objects is particularly simple. Furthermore, there is the advantage that all objects can be detected by the driver, d. H. that all objects are marked by means of the light beam.

On the other hand, another development provides that only that object which has the smallest distance to the detection device should be irradiated by means of the light beam. The distance can be determined, for example, on the basis of the determined relative position. This development has the advantage that the most important object and / or most dangerous object is marked by means of the light beam.

The invention also includes a motor vehicle. The motor vehicle according to the invention has an embodiment of the detection device according to the invention. The motor vehicle has the advantage that an object detected by the laser scanner is additionally illuminated with visible light so that a driver can recognize the object when he is looking at the road ahead. It is not necessary to look at a display device in the center console or the dashboard.

The invention also includes a method for operating said computing device in order to detect an object in an environment of the motor vehicle by means of the computing device. The computing device generates a transmission signal for a transmission device for emitting a laser beam of a laser light source into the environment. In other words, the computing device controls the transmitting device. The computing device receives a received signal from a receiving device for signaling the laser beam reflected from the object. The received signal is thus the electronic output signal, the time course of which is dependent on the reception of the reflected laser beam. On the basis of the received signal, the computing device determines in per se known Way a relative position of the object with respect to the motor vehicle. For example, the azimuth angle of the object relative to the motor vehicle can be determined on the basis of the current pivoting angle of the laser beam. On the basis of a modulation pattern and a correlation of the received laser beam with the emitted laser beam, a distance of the object can be determined. The object is thus detected by determining the relative position of the object. In order to signal the detected object to the driver, the computing device generates an activation signal in response to the detected object for activating a light source for illuminating the object with a light beam of light in the visible spectral range. Thus, the driver recognizes in the environment the object that lights up by the light beam.

The invention also includes further developments of the method according to the invention which have features which have already been described in connection with the developments of the detection device according to the invention. Therefore, the corresponding developments of the method according to the invention are not described again here.

In the following an embodiment of the invention is described. Showing:

1 a schematic representation of an embodiment of the motor vehicle according to the invention,

2 a schematic representation of a transmitting device of a detection device of the motor vehicle of 1 and

3 a schematic representation of the motor vehicle of 1 in an environment in which an object is located.

The exemplary embodiment explained below is a preferred embodiment of the invention. In the exemplary embodiment, the described components of the embodiment each represent individual features of the invention that are to be considered independently of one another, which also each independently further develop the invention and thus also individually or in a different combination than the one shown as part of the invention. Furthermore, the described embodiment can also be supplemented by further features of the invention already described.

In the figures, functionally identical elements are each provided with the same reference numerals.

1 shows a motor vehicle 1 , which may be, for example, a motor vehicle, such as a passenger car or truck. The car 1 has a detection device 2 on, through which an object 3 in an environment 4 of the motor vehicle 1 can be detected. This is a detection area 5 the detection device 2 starting from one side 6 of the motor vehicle 1 in the vehicle external environment 4 aligned. The page 6 For example, a vehicle front or a vehicle rear or a left side or a right side of the motor vehicle 1 be. The detection device 2 can with another vehicle component 7 be coupled, which may be, for example, a driver assistance system. The detection device 2 may be configured to receive an object signal 8th to the vehicle component 7 issue. The object signal 8th For example, a relative position 9 of the object 3 with respect to the detection device 2 describe. The relative position 9 is in 1 exemplified by a cross, which, for example, relative coordinates of the object 3 with respect to the detection device 2 can represent.

To detect the object 3 ie to determine the relative position of the object 3 , The detection device has a transmitting device 10 , a receiving device 11 and a computing device 12 on. The transmitting device 10 includes a laser light source 13 and a deflection or deflection 14 ,

The detection device 2 also has a light source 15 on, which may be, for example, a laser diode. By means of the light source 15 Illuminates the detection device 2 the detected or recognized object 3 with visible light.

The detection device 2 is in 2 again shown in more detail. To detect the object 3 controls the detection device 2 the laser light source 13 with a transmission signal 16 at. The transmission signal 16 can do this by the computing device 2 at a control output 17 be generated. Depending on the transmission signal 16 generates the laser light source 13 a laser beam 18 , which by the deflection 14 in the coverage area 5 is redirected and in the coverage area 5 in a swivel motion 19 for example, is pivoted horizontally. By the pivoting movement 19 a radiation angle changes 20 , For example, an azimuth angle of the laser beam 18 , For generating the pivoting movement 19 For example, the deflecting means can be a radiation mirror M1 and a rotating device 21 for performing a rotation R of the emission mirror M1 about an axis of rotation A. The laser beam 18 meets the Emission mirror M1 and is in the environment 4 in the coverage area 5 diverted.

If the laser beam 18 in the coverage area 5 on the object 3 meets, the laser beam as a reflected laser beam 22 to the receiving device 11 reflected. The receiving device 11 For example, it may include an avalanche photodiode (APD). A reception mirror M2 can be the reflected laser beam 22 to the receiving device 11 redirect. The receiving device 11 generated in response to the reflected laser beam 23 a detection signal 24 that by the computing device 12 at a signal input 25 can be received. The current angle of radiation 20 can by a detection device 26 be recorded. It can, for example, an angle encoder 27 the turning device 21 to capture. The angle encoder 27 may be, for example, a coding disc.

Depending on the detection signal 24 and the detection angle 20 can through the computing device 12 the relative position 9 of the object 3 be determined. The computing device 12 for example, a digital map 28 in which the representation of the motor vehicle 1 ie a motor vehicle representation 1' , and accordingly an object representation 3 ' can be registered or stored.

If motor vehicle on a roadway 29 drives or rolls, can additionally track edges 30 . 31 through a corresponding representation 30 ' . 31 ' in the map 28 be registered.

Depending on the determined relative position 9 can through the computing device 2 a switching signal 32 be generated, through which the light source 15 can be activated. In 1 is for a swivel angle range 33 of the radiation angle 20 a waveform 34 the activation signal 32 illustrated. The swivel angle range 33 describes that of the deflection 14 swept angle range of the radiation angle 20 , The history 34 indicates that only in that coverage angle range 35 in which the detected object 3 located, the light source 15 is active, ie a beam of light 36 generated. The light beam 36 the object lights up 3 at. Outside the angle range 35 is the light source 15 deactivated or switched off, ie dark. In other words, by the deflection 14 the beam path 37 the light source 15 together with the beam path of the laser beam 18 pivoted and the light source 15 only activated when the beam path 37 on the object 3 is directed.

3 shows again the motor vehicle of 1 from a perspective view. The car 1 drives over the road 29 , Through the detection device 2 is in front of the motor vehicle 1 , ie in the forward direction 38 in front of the motor vehicle 1 the object 3 for example, on the side of a road 39 detected. It may be, for example, a person or an animal or a construction site. In the manner described, the light beam 36 on the object 3 be aligned. It can be provided that the light beam 36 only then aligned with the object, ie the light source 15 is activated only if a classifier 40 the computing device 12 signals that it is at the object 3 is a predetermined object to be marked.

Generally, therefore, in the detection device 2 additionally provided in the laser scanner, a light source which is adapted to illuminate a portion of the detection range of the laser scanner with perceptible to the human eye light. In this way, a driver of the motor vehicle can be pointed to hazards and objects. Preferably, the laser scanner has deflection means for directing the light generated by the additional light source to the area. The deflecting means may be optical elements of a transmitting device of the laser scanner.

In the laser scanner is z. B. an infrared laser diode. As a further light source, a laser diode for light in the visible range can be installed. If a person / danger point is now detected and classified by the computing device, the visible laser diode can be switched on in one of the subsequent scan passes of the deflection means, so as to mark the person / animal or danger point selectively or areally. The advantage of this is that no additional display technology is needed in the vehicle and the driver any dangerous situations, such. B. a person at night on the roadside, timely. Here, a rotating mirror of the deflection, with which the infrared laser beam of the transmitting diode is deflected to detect an object, also be used, so that no additional mechanism is needed.

Furthermore, the person can be illuminated with the visible laser beam in such a way that the person himself is warned that he is in a danger zone and has been recognized by the vehicle or laser scanner or by the detection device, which means an additional gain in security.

Overall, the example shows how active illumination of detected / classified objects by an additional laser diode (with visible light) can be provided by the invention in the laser scanner.

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 102010047984 A1 [0002]
• US 2014/0267415 A1 [0005]

Claims (15)

Detection device ( 2 ) for detecting an object ( 3 ) in an environment ( 4 ) of a motor vehicle ( 1 ), comprising: - a transmitting device ( 10 ) for emitting a laser beam ( 18 ) a laser light source ( 13 ) in the nearby areas ( 4 ), - a receiving device ( 11 ) for receiving the from the object ( 3 ) reflected laser beam ( 22 ), - a computing device ( 12 ), which is designed on the basis of the received reflected laser beam ( 22 ) a relative position ( 9 ) of the object ( 3 ) with respect to the detection device ( 2 ), characterized in that one of the laser light source ( 13 ) different light source ( 15 ) and the light source ( 15 ) is designed to generate a light beam ( 36 ) of light in the visible spectral region into the environment ( 4 ), and the computing device ( 12 ) is adapted to the light source ( 15 ) in dependence on the detected object ( 3 ), so that the light beam ( 36 ) the object ( 3 ) illuminates. Detection device ( 2 ) according to claim 1, characterized in that the light source ( 15 ) has a laser diode. Detection device ( 2 ) according to one of the preceding claims, characterized in that the light source ( 15 ) is designed to generate the visible light in the spectral range from 400 nm to 750 nm. Detection device ( 2 ) according to one of the preceding claims, characterized in that the laser light source ( 13 ) comprises an infrared light source, in particular an infrared laser diode. Detection device ( 2 ) according to one of the preceding claims, characterized in that deflecting means ( 14 ) and are adapted to control the light beam ( 36 ) of the light source ( 15 ) in an adjustable radiation direction ( 35 ) in the nearby areas ( 4 ), and the computing device ( 12 ) is adapted to the radiation direction ( 35 ) depending on the determined relative position ( 9 ). Detection device ( 2 ) according to claim 5, characterized in that the deflection means ( 14 ) at least partially by an optical element ( 20 . 21 ) of the transmitting device ( 10 ), wherein the optical element ( 20 . 21 ) is adapted to the laser beam ( 18 ) of the transmitting device ( 10 ) in the neighborhood ( 4 ). Detection device ( 2 ) according to claim 6, characterized in that the optical element ( 20 . 21 ) a mirror ( 20 ) with a rotating device ( 21 ) to turn the mirror ( 20 ) and the computing device ( 12 ) is adapted to the light source ( 15 ) for illuminating the object ( 3 ) always activate, if a beam path ( 37 ) of the light source ( 15 ) through the mirror ( 20 ) on the object ( 3 ). Detection device ( 2 ) according to one of the preceding claims, characterized in that the computing device ( 12 ) is adapted to the object ( 3 ) by means of the light beam ( 36 ) at a point, so that only the object ( 3 ) from the light beam ( 36 ) is illuminated. Detection device ( 2 ) according to one of claims 1 to 7, characterized in that the computing device ( 12 ) is adapted to the object ( 3 ) by means of the light beam ( 36 ) to illuminate flat, so that the object ( 3 ) and one to the object ( 3 ) adjacent object environment is illuminated. Detection device ( 2 ) according to one of the preceding claims, characterized in that the computing device ( 12 ) is adapted to the object ( 3 ) an object classification ( 40 ) and the light source ( 15 ) only if the object classification ( 40 ) the object ( 3 ) assigns an object class from a predetermined set of at least one predetermined object class. Detection device ( 2 ) according to claim 10, characterized in that the amount comprises at least one of the following classes of objects: a person, a construction site, an object on a road ahead. Detection device ( 2 ) according to one of the preceding claims, characterized in that the computing device ( 12 ) is adapted to the light source ( 15 ) depending on the determined relative position ( 9 ) and / or in dependence on a determined relative position ( 9 ) determined proper motion of the object ( 3 ) to activate. Detection device ( 2 ) according to one of the preceding claims, characterized in that the receiving device ( 11 ) is adapted to a respective reflected laser beam ( 22 ) of several objects ( 3 ), and the computing device ( 12 ) is designed to: a) all objects ( 3 ) by means of the light beam ( 36 ) or b) the object ( 3 ), which is the shortest distance to the detection device ( 2 ), by means of the light beam ( 36 ). Motor vehicle ( 1 ) with a detection device ( 2 ) according to any one of the preceding claims. Method for operating a computing device ( 12 ) for detecting an object ( 3 ) in an environment ( 4 ) of a motor vehicle ( 1 ), with the steps: - generating a transmission signal ( 16 ) for a transmitting device ( 10 ) for emitting a laser beam ( 18 ) a laser light source ( 13 ) in the nearby areas ( 4 ), - receiving a received signal ( 24 ) from a receiving device ( 11 ) for signaling the object ( 3 ) reflected laser beam ( 22 ), - on the basis of the received signal ( 24 ) Determining a relative position ( 9 ) of the object ( 3 ) with respect to the motor vehicle ( 1 ), characterized in that the computing device ( 1 ) in dependence on the detected object ( 3 ) an activation signal ( 32 ) to activate a light source ( 15 ) for illuminating the object ( 3 ) with a light beam ( 36 ) generated from light in the visible spectral range.

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