Sensor unit for vehicle and vehicle having such sensor unit

Abstract

The invention relates to a sensor unit (10) for a vehicle (100), in particular for an autonomous or partially autonomous vehicle, comprising an environment sensor (20) for detecting environment data (22) of the vehicle and being connectable to a vehicle processing unit (105). The sensor unit comprises a data storage unit (30) and an internal processing unit (40), wherein the internal processing unit (40) is configured to determine a possible interruption of the connection between the sensor unit and the vehicle processing unit at a certain point in time, to detect environment data (22) by means of the environment sensor (20), and to store the detected environment data (22) in the data storage unit (30) as a function of the possible interruption of the connection. The invention further relates to a vehicle (100) comprising a sensor unit according to the invention and a processing unit (105), wherein the sensor unit is connected to the vehicle processing unit.

Description

Background Art

[0001] The invention relates to a sensor unit for a vehicle, in particular for an autonomous or partially autonomous vehicle, wherein the sensor unit comprises an environment sensor for detecting data of the vehicle's environment and wherein the sensor unit can be connected to a processing unit of the vehicle.

[0002] Such sensor units are already known to those skilled in the art, wherein environmental data are typically detected by means of environmental sensors and transmitted to a processing unit of the vehicle. The processing unit can then, for example, control driving functions or warn the vehicle operator of danger based on the environmental data.

[0003] Autonomous or partially autonomous vehicles merely control the vehicle or assist the vehicle operator in controlling it. For this purpose, a central controller, for example, uses environmental data from corresponding sensor units to detect, for example, the course of the road, other road users, or obstacles, and can react accordingly. The vehicle can then react, for example, by acting on its actuators, such as steering and / or braking. Summary of the Invention

[0004] The invention relates to a sensor unit for a vehicle, in particular for an autonomous or partially autonomous vehicle, wherein the sensor unit comprises an environment sensor for detecting data of the vehicle's environment and wherein the sensor unit can be connected to a processing unit of the vehicle.

[0005] One aspect of the present invention is that the sensor unit has a data storage unit and a processing unit, wherein the processing unit is configured to: determine a possible connection interruption between the sensor unit and the processing unit of the vehicle at a point in time, to detect environmental data with the aid of the environmental sensor, and to store the detected environmental data in the data storage unit based on the possible connection interruption.

[0006] A sensor unit for a vehicle is understood to mean a sensor unit which can be arranged in or on the vehicle and can be connected accordingly to a processing unit of the vehicle.

[0007] The vehicle can be, in particular, a motor vehicle, such as a passenger car or a truck. The vehicle can be, in particular, configured to be autonomous or partially autonomous.

[0008] Here, the environmental sensor for detecting the vehicle's environmental data can include, for example, an ultrasonic sensor, an optical imaging sensor, a radar sensor, a lidar sensor, and / or a position determination sensor. In particular, a plurality of different such sensors can also be integrated into the environmental sensor.

[0009] Environmental data are understood to be measured values detected in the surroundings of the vehicle at a certain point in time or during a certain period of time. Based on these environmental data, the surroundings of the vehicle can be inferred, for example, whether there are obstacles or other road users in the vicinity of the vehicle.

[0010] In this case, a connection between a sensor unit and a processing unit of a vehicle is understood to be a data connection, so that in particular environmental data detected by means of environmental sensors can be transmitted to the processing unit of the vehicle, and thus a communication connection exists between the two units.

[0011] In particular, the connection can be designed as a wired connection. Alternatively, however, the connection can also be wireless, for example by equipping the sensor unit and the processing unit with a wireless LAN unit and / or a Zigbee unit and / or a Bluetooth unit and / or a LoRa (Low Energy Wide Area Network) unit and / or a mobile radio unit.

[0012] A connection interruption is understood here to mean that data exchange between the vehicle's sensor unit and processing unit is no longer possible. A possible connection interruption is understood to mean a connection interruption that exists with a corresponding probability and is therefore only possible. A possible connection interruption may, for example, result from a vehicle accident. Alternatively, a technical error may cause such a connection interruption. Alternatively, electromagnetic interference may also cause a connection interruption. The internal processing unit can check for such a possible connection interruption, for example, by sending a ping from the sensor unit to the processing unit. If no response is received from the processing unit within a certain period of time after the ping is sent, the internal processing unit can assume that a connection interruption has occurred.

[0013] The processing unit of the vehicle can be designed as a central control unit, for example, and can control the vehicle accordingly based on the received environmental data.

[0014] The internal processing unit of the sensor unit may be, for example, a single chip microcomputer, an ASIC, or a neuromorphic computing unit.

[0015] A data storage unit is understood to be, in particular, an electrical storage medium, such as a read-only memory (ROM) or a random access memory.

[0016] The data storage unit may also be integrated into the internal processing unit of the sensor unit.

[0017] Advantageously, in the event of a possible disconnection of the connection between the sensor unit and the processing unit of the vehicle, the environmental data detected by means of the environmental sensors are securely stored in the data storage unit and are not lost. Thus, even in the event of a possible disconnection of the connection, the corresponding stored environmental data can still be evaluated.

[0018] Thus, for example, as soon as a connection is established again, the environmental data can be passed to the processing unit for evaluation. This evaluation can then, for example, evaluate the now received environmental data by overclocking the processing unit in order to fill in the corresponding gaps in the information collection.

[0019] Alternatively or additionally, the evaluation unit can also read out stored environmental data, for example, in order to be able to reprocess them externally.

[0020] Furthermore, it is also conceivable that, in the event of a certain possible connection interruption, in addition to storing the surroundings data in the data storage unit, an attempt is made to further transmit the surroundings data to the processing unit of the vehicle.

[0021] Furthermore, the stored environmental data can subsequently be merged with environmental data from other sensor units in order to obtain an overall picture of the vehicle's surroundings.

[0022] In one embodiment of the sensor unit according to the invention, it is provided that the internal processing unit is designed to receive movement data of the vehicle and to determine the presence of a possible connection interruption based on the movement data.

[0023] The motion data of a vehicle are understood to be measured values describing the motion of the vehicle at a certain point in time or during a certain period of time. Here, motion is understood to be, for example, acceleration or braking, speed or rotation of the vehicle.

[0024] Advantageously, the motion data can, for example, provide inferences about a possible accident involving the vehicle. Such an accident could, in particular, result in a disconnection of the connection between the vehicle's sensor unit and the processing unit. In this case, the stored environmental data can then, for example, provide conclusions about the course of the accident.

[0025] According to one embodiment of the sensor unit according to the invention, it is provided that the sensor unit has a motion sensor for detecting motion data of the vehicle, and the internal processing unit is designed to receive the motion data from the motion sensor.

[0026] The advantage here is that this represents a simple and reliable possibility for detecting movement data of the vehicle.

[0027] According to one embodiment of the sensor unit according to the invention, it is provided that the motion sensor has an acceleration sensor and / or a rotational speed sensor.

[0028] An advantage here is that a corresponding possible accident of the vehicle can be detected particularly easily and reliably with the aid of the motion sensor and / or the rotational speed sensor.

[0029] According to one embodiment of the sensor unit according to the invention, the internal processing unit is designed to store movement data in addition to the surroundings data in the data storage unit.

[0030] The advantage here is that in the subsequent evaluation, not only the environmental data but also the associated movement data can be used, which in turn simplifies the reconstruction of a possible accident, for example.

[0031] According to one embodiment of the system according to the invention, the internal processing unit is configured to receive movement data of the vehicle from a processing unit of the vehicle and / or other units of the vehicle.

[0032] Other units of the vehicle can be understood as airbag sensors, for example, which themselves already have corresponding motion sensors for detecting the motion data of the vehicle. Here, the motion data can be either directly from the other units or transmitted to the sensor unit via the processing unit.

[0033] Advantageously, either the sensor unit does not require its own motion sensor, making its production simpler and more cost-effective, or the internal processing unit can compare the motion data of the motion sensor with the motion data received externally and perform a corresponding plausibility check.

[0034] According to one embodiment of the system according to the invention, the internal processing unit is designed to compare the movement data with a predetermined threshold value and to determine that a possible connection interruption exists if at least one value of the movement data is greater than the threshold value.

[0035] The threshold value can be selected in such a way that the value of the movement data exceeds the threshold value only in extreme cases, for example in the event of a vehicle accident.

[0036] The advantage here is that this provides a simple possibility of determining a possible accident of the vehicle and the accompanying possible disconnection of the connection between the sensor unit and the processing unit of the vehicle.

[0037] According to one embodiment of the system according to the invention, the internal processing unit is configured to receive a signal from a processing unit of the vehicle and / or from another unit of the vehicle, wherein the signal contains information about a possible connection interruption, and wherein the internal processing unit is configured to determine the presence of a possible connection interruption based on the signal.

[0038] For example, the signal may contain only the information whether a connection interruption is possible or whether an accident may have already occurred.

[0039] The advantage here is that the determination of the presence of a possible connection interruption based on this signal is simpler for the internal processing unit and can also be carried out more quickly.

[0040] According to one embodiment of the system according to the invention, the sensor unit has an energy storage unit, in particular a capacitor and / or a battery.

[0041] The energy storage unit is provided in particular for supplying electrical components of the sensor unit with electrical energy. The sensor unit can in particular be provided for using the energy storage unit only in the event of a possible connection interruption.

[0042] This is advantageous in that the sensor unit's energy supply can be maintained even in the event of a possible accident or other voltage supply outage. The sensor unit is typically connected to the vehicle's electrical circuit, through which the vehicle's various electrical components are supplied with electrical energy. However, in the event of an accident or electromagnetic interference, this circuit may be disconnected, and the sensor unit may therefore not be supplied with electrical energy at all, or only occasionally.

[0043] According to one embodiment of the system according to the invention, it is provided that the sensor unit is connectable to a first current circuit of the vehicle and additionally to a second current circuit of the vehicle.

[0044] It is advantageous here that if the first current circuit is disconnected due to a vehicle accident and / or due to electromagnetic interference, the sensor unit can nevertheless still be supplied with electrical energy by means of the second current circuit.

[0045] According to one embodiment of the system according to the invention, the internal processing unit is designed to detect environmental data for a predetermined duration after a point in time of a possible connection interruption and to store the data in the data storage unit.

[0046] In this case, it is advantageous to store, in particular, environmental data detected after a possible connection interruption in the data storage unit. These data may be particularly important for reconstructing the course of the accident.

[0047] According to one embodiment of the system according to the invention, the internal processing unit is designed to store the detected environmental data in each case with a time stamp.

[0048] The advantage here is that these data can be correctly evaluated in the subsequent evaluation of the surroundings data.

[0049] As long as there is a connection between the sensor unit and the processing unit, for example, the time stamps can be synchronized globally in the vehicle.

[0050] The present invention furthermore relates to a vehicle, which is in particular designed to be autonomous or partially autonomous, wherein the vehicle has a sensor unit and a processing unit according to the invention, and wherein the sensor unit is connected to the processing unit of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 An exemplary embodiment of a sensor unit according to the invention arranged in a vehicle is shown. DETAILED DESCRIPTION

[0052] Figure 1 An exemplary embodiment of a sensor unit according to the invention arranged in a vehicle is shown.

[0053] Shown is a vehicle 100. Such a vehicle 100 may be, in particular, a motor vehicle which is, in particular, designed to be autonomous or partially autonomous.

[0054] Vehicle 100 has a processing unit 105 and a sensor unit 10. Processing unit 105 may be designed, for example, as a central control unit of vehicle 100, which controls, for example, autonomous or partially autonomous driving functions of vehicle 100.

[0055] Sensor unit 10 has an environment sensor 20 for detecting environment data 22 of vehicle 100. Environment sensor 20 may be designed, for example, as an ultrasonic sensor, an optical imaging sensor, a radar sensor, a lidar sensor, and / or a position determination sensor.

[0056] Furthermore, the sensor unit 10 has an internal processing unit 40, which is provided for detecting environmental data 22 by means of the environmental sensor 20. The internal processing unit 40 can be designed, for example, as a microcontroller, an application-specific integrated circuit, or a neuromorphic sensor processing unit.

[0057] Furthermore, the sensor unit 10 is connected to a processing unit 105 of the vehicle 100 .

[0058] This connection allows environmental data 22 to be transmitted from the environmental sensor 20 to the processing unit 105 via the internal processing unit 40. However, it is also conceivable to transmit the environmental data 22 directly from the environmental sensor 20 to the processing unit 105, but this is not shown in the figure. Here, the connection is designed as a wired connection, but it can also be wireless as an alternative or in addition. In the case of a wireless connection, the sensor unit 10 and the processing unit 105 can each have, for example, a communication unit (not shown) that enables data exchange.

[0059] Furthermore, the internal processing unit 40 is configured to determine a possible connection interruption between the sensor unit 10 and the processing unit 105 of the vehicle 100 at a point in time and to store the detected environment data 22 in the data storage unit 30 of the sensor unit 10 depending on the possible connection interruption.

[0060] The internal processing unit 40 is particularly designed to detect the environmental data 22 for a predetermined duration after a possible connection interruption and store them in the data storage unit 30. It is also conceivable to periodically buffer the environmental data in a ring memory before the connection is interrupted.

[0061] The internal processing unit 40 is further configured to store the detected environmental data 22 in the data storage unit 30 , respectively with a time stamp.

[0062] The internal processing unit 40 is configured in particular to receive movement data 52 of the vehicle 100 and to determine the presence of a possible connection interruption based on the movement data 52. For this purpose, the sensor unit 10 may, for example, have a movement sensor 50 that is connected to the internal processing unit 40 in such a way that the internal processing unit can detect the movement data 52 using the movement sensor 50. The movement sensor 50 may, for example, have an acceleration sensor and / or a rotational speed sensor.

[0063] Furthermore, the internal processing unit 40 can be configured to compare the movement data 52 with a predefined threshold value and to determine that a connection interruption may be present if at least one value of the movement data 52 is greater than the threshold value.

[0064] Alternatively or additionally, however, the internal processing unit 40 may also be configured to receive movement data 52 of the vehicle 100 from the processing unit 105 and / or from other units 107 of the vehicle 100. The other units 107 of the vehicle 100 may be, for example, airbag sensors and / or ESP sensors, which themselves are equipped with corresponding movement sensors (not shown).

[0065] Optionally, the internal processing unit 40 is furthermore configured to store movement data 52 in addition to the environmental data 22 in the data storage unit 30 .

[0066] Furthermore, the internal processing unit 40 may be configured to receive a signal 120 from the processing unit 105 of the vehicle 100 and / or from another unit 107 of the vehicle 100, wherein the signal 120 contains information about a possible interruption of the connection. The internal processing unit 40 may be configured to determine the presence of a possible interruption of the connection based on the received signal 120. If, for example, the motion data 52 can then be evaluated by the processing unit 105 of the vehicle 100 or by another unit 107 of the vehicle 100, the processing unit or other unit then transmits the result of the evaluation to the internal processing unit 40 in the form of the signal 120.

[0067] Optionally, sensor unit 10 also has a dedicated energy storage unit 60 , which in particular has a capacitor and / or a battery.

[0068] Alternatively or additionally, sensor unit 10 is connected to first current circuit 111 of vehicle 100 and additionally to second current circuit 112 of vehicle 100 .

Claims

1. A sensor unit (10) for a vehicle (100), the sensor unit being for an autonomous or partially autonomous vehicle, wherein: The sensor unit (10) has an environment sensor (20) for detecting environment data (22) of the vehicle (100), wherein the sensor unit (10) is connectable to a processing unit (105) of the vehicle (100). It is characterized by: The sensor unit (10) has a data storage unit (30) and an internal processing unit (40), wherein the internal processing unit (40) is configured to determine a possible interruption of the connection between the sensor unit (10) and the processing unit (105) of the vehicle (100) at a time point, to detect the environmental data (22) by means of the environmental sensor (20), and to store the detected environmental data (22) in the data storage unit (30) as a function of the possible interruption of the connection. Wherein, the internal processing unit (40) is configured as: transmitting environmental data (22) to the processing unit (105) when no possible interruption of the connection between the sensor unit (10) and the processing unit (105) is detected, wherein the processing unit (105) of the vehicle (100) is configured as a central controller and controls autonomous or partially autonomous driving functions of the vehicle (100) based on the received environmental data (22), In the case where it is determined that there is a possible connection interruption, the environment data (22) detected after the possible connection interruption is stored in the data storage unit (30), As soon as the connection is established again, the environmental data (22) stored in the data storage unit (30) are passed to the processing unit (105) for evaluation in order to fill the corresponding gap in the information collection.

2. The sensor unit (10) according to claim 1, characterized in that The internal processing unit (40) is configured to receive movement data (52) of the vehicle (100) and to determine the possible connection interruption based on the movement data (52).

3. The sensor unit (10) according to claim 2, characterized in that The sensor unit (10) has a motion sensor (50) for detecting motion data (52) of the vehicle, and the internal processing unit (40) is configured to receive the motion data (52) from the motion sensor (50).

4. The sensor unit (10) according to claim 3, characterized in that The motion sensor (50) comprises an acceleration sensor and / or a rotational speed sensor.

5. The sensor unit (10) according to claim 3 or 4, characterized in that The internal processing unit (40) is configured to store the movement data (52) in addition to the environmental data (22) in the data storage unit (30).

6. The sensor unit (10) according to any one of claims 2 to 4, characterized in that The internal processing unit (40) is configured to receive movement data (52) of the vehicle (100) from the processing unit (105) of the vehicle (100) and / or other units (107) of the vehicle (100).

7. The sensor unit (10) according to any one of claims 2 to 4, characterized in that The internal processing unit (40) is configured to compare the movement data (52) with a predetermined threshold value and to determine that a possible connection interruption exists if at least one value of the movement data (52) is greater than the threshold value.

8. The sensor unit (10) according to any one of claims 1 to 4, characterized in that The internal processing unit (40) is configured to receive a signal (120) from the processing unit (105) of the vehicle (100) and / or from another unit (107) of the vehicle (100), wherein the signal (120) contains information about a possible connection interruption, and wherein the internal processing unit (40) is configured to determine the possible connection interruption based on the signal (120).

9. The sensor unit (10) according to any one of claims 1 to 4, characterized in that The sensor unit (10) has an energy storage unit (60).

10. The sensor unit (10) according to any one of claims 1 to 4, characterized in that The sensor unit (10) is connectable to a first current circuit (111) of the vehicle (100) and additionally to a second current circuit (112) of the vehicle (100).

11. The sensor unit (10) according to any one of claims 1 to 4, characterized in that The internal processing unit (40) is configured to detect environmental data (22) for a predetermined duration after the point in time of the possible connection interruption and to store the environmental data (22) in the data storage unit (30).

12. The sensor unit (10) according to any one of claims 1 to 4, characterized in that The internal processing unit (40) is configured to store the detected environmental data (22) in each case with a time stamp.

13. The sensor unit (10) according to claim 9, characterized in that The energy storage unit comprises a capacitor and / or a battery.

14. A vehicle (100) configured to be autonomous or partially autonomous, wherein: The vehicle (100) comprises a sensor unit (10) and a processing unit (105) according to any one of claims 1 to 13, wherein the sensor unit (10) is connected to the processing unit (105) of the vehicle (100).

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