Apparatus and method for environmental detection of a vehicle

Abstract

The invention relates to a device for environmental detection of a vehicle (F), comprising: an illumination unit (1) for emitting light pulses (11, 12) into an environment (8); an optical detection unit (2) for detecting the environment (8); an evaluation unit (4) for evaluating detection signals (19) recorded by the optical detection unit (2); wherein the illumination unit (1) is designed such that at least two light pulses (11, 12) are emitted periodically, the illumination areas of the light pulses (11, 12) having mutually complementary light patterns (13, 14); the optical detection unit (2) is controlled such that it detects the illumination areas illuminated by the light pulses (11, 12) as detection images (19) in synchronization with the emission of the light pulses (11, 12). The invention also relates to a method for environmental detection of a vehicle (F).

Description

Technical Field

[0001] The present invention relates to an apparatus for environmental detection of a vehicle, comprising: an illumination unit for emitting light pulses into the environment; an optical detection unit for detecting the environment; and an analysis and processing unit for analyzing and processing the detection signals recorded by the optical detection unit.

[0002] The present invention also relates to a method for environmental detection of a vehicle, wherein light pulses are emitted over the environment of the vehicle and the environment is optically detected, and the detected image of the environment is analyzed and processed to provide sensor data. Background Technology

[0003] A device for environmental detection of a vehicle is known from document DE 10 2009 007 408 A1. This device includes an illumination unit for emitting light pulses and an optical detection unit for detecting light pulses reflected from objects in the environment. The optical detection unit is configured as a 3D camera. The detection signal from the optical detection unit is analyzed and processed in an analysis and processing unit, which calculates the distance to the object and thus the object's interval based on the transit time of the light pulse detected by the optical detection unit. The thus obtained analysis and processing signal can be used, for example, for parking assistance, automatic parking, parking space measurement, door opening warning, etc. The known illumination unit is therefore located in areas such as the vehicle's exterior rearview mirrors, the rear area, and / or the front area. For example, the illumination unit can be integrated into the vehicle's existing headlights or lamps.

[0004] An apparatus for environmental detection of a vehicle is known from document DE 10 2017 109 550 A1, the apparatus comprising a lidar sensor integrated into the vehicle's side mirrors. The presence or interval of objects in the environment can be determined based on the transit time of the emitted and reflected light pulses.

[0005] Because environmental monitoring is becoming increasingly important, especially in autonomous vehicles, it is desirable to have additional redundancy or an improved database for environmental monitoring. Summary of the Invention

[0006] Therefore, the object of the present invention is to provide an apparatus and method for environmental detection of vehicles in such a way that environmental detection of vehicles is ensured in a space-saving and installation-space-saving manner.

[0007] To solve the aforementioned task, the present invention is characterized in that the illumination unit is configured such that at least two light pulses are periodically emitted, wherein the illumination surfaces of the light pulses have complementary light patterns; and the optical detection unit is driven in such a way that the optical detection unit detects the illumination surfaces illuminated by the light pulses as a detection image in sync with the emission of the light pulses.

[0008] A particular advantage of this invention is that by emitting at least two light pulses—each with different light patterns and complementary directions—mutually canceling sensor light can be emitted, resulting in a uniform light spot emitted into the area in front of the vehicle without intensity differences. The light pulses therefore do not interfere with the vehicle's environment. An optical receiving unit can enter a detection state (a brief on-state) synchronously with the emission of the light pulses, and an image can be created in the area in front of the vehicle by the light pulses and analyzed in the analysis and processing unit. The obtained analysis and processing signal can then be used to support additional environmental sensors or, under specific environmental conditions, such as in heavy fog. Preferably, exactly two different light pulses are emitted, wherein the first light pattern of the first light pulse is complementary to the second light pattern of the second light pulse. The second light pulse thus cancels out the first light pulse.

[0009] The illumination unit preferably has imaging characteristics, such as a lens, so that, based on a light source composed of multiple matrix-arranged elements, it generates an emitted illumination surface with a first light pattern in the case of a first light pulse, illuminating a first sub-region but not a second sub-region in the first light pattern. A second light pulse has a second light pattern with the same size illumination surface, wherein the first sub-region is not illuminated but the second sub-region is illuminated. Alternatively, a matrix array of micromirrors or liquid crystal elements can be used instead of the light source elements to drive each sub-region.

[0010] According to a preferred embodiment of the invention, the light pattern comprises a predetermined illumination surface imaged onto a region in front of the vehicle, said illumination surface being composed of multiple illumination segments and non-illumination segments. The non-illumination segments of the illumination surface have an illumination intensity close to zero. The illumination segments of the illumination surface have an illumination intensity exceeding a predetermined threshold. This threshold depends on the environmental parameters to be detected. The geometrical variation of the illumination and non-illumination segments of the emitted light pulse relative to the received light pulse determines the persuasiveness of the analyzed and processed signal.

[0011] According to an improved embodiment of the invention, the illuminated and non-illuminated surfaces of the light pattern are configured as strips. Preferably, multiple strips are arranged side by side, with illuminated and non-illuminated strips alternating. Advantageously, changes in environmental parameters can be obtained in a simple and safe manner.

[0012] According to a preferred embodiment of the invention, the illumination unit is configured as a headlamp having a light source and an optical unit, by means of which a predetermined light distribution, such as a near-beam distribution, can be generated. Sensor light formed by a first light pulse and a second light pulse is thus combined with useful light generated by the light distribution. The sensor light is emitted at a pulse frequency greater than a predetermined threshold (flash fusion frequency), so that the light pattern of the sensor light or the light pulse is imperceptible to the human eye. Preferably, the threshold frequency is greater than 60 Hz. Advantageously, in the driving control of the headlamp according to the invention, the headlamp can be used not only to generate a light distribution (useful light) but also to generate light pulses (sensor light). Because the light pulses form complementary illumination surfaces, interference with the imaging of the useful light pattern is prevented. The superposition of the two complementary light patterns produces a uniform illumination surface.

[0013] According to a preferred embodiment of the invention, the illumination unit is driven such that the time interval between emitting complementary light pulses is significantly shorter than the time interval between emitting useful light for generating the light distribution. The pulse frequency of the light pulses is therefore significantly greater than the pulse repetition frequency of the light pulses. The pulse ratio (Pulsgrad) can be, for example, 10%.

[0014] According to an alternative embodiment of the invention, the first light pattern and the second light pattern each constitute a light distribution pattern, thereby enabling the imaging of a predetermined light distribution of the headlight by superimposing the first light pulse and the second light pulse. Here, the first and second light pulses are emitted continuously at a pulse frequency. Continuous light is not present here. In this embodiment, sensor light and useful light are emitted simultaneously.

[0015] To solve the aforementioned task, the present invention is characterized by periodically emitting light patterns of different complementary configurations at pulse frequencies, wherein each illuminated segment of one light pulse covers each unilluminated segment of another light pulse, and the pulse frequency is chosen so widely that the alternation between illuminated and unilluminated segments is imperceptible to the human eye between emitted light pulses; a detection image of the environment is detected synchronously with the emission of the light pulses, thereby generating an analysis and processing signal by comparing the first light pattern detected by the first light pulse with the first light pattern emitted by the same light pulse, the analysis and processing signal representing changes in the environment.

[0016] According to the method of the present invention, the same number of first light pulses and second light pulses are periodically emitted, wherein the first light pulses emit an illumination surface having a first light pattern, and the second light pulses emit an illumination surface having a second light pattern complementary to the first light pattern. The complementary nature of the first and second light patterns results in the first and second light patterns, composed of different illumination and non-illumination segments, being imperceptible to the human eye in the area in front of the vehicle, because the first and second light patterns superimpose to form a uniform illumination surface. Since the pulse frequency is greater than a threshold frequency, the alternation of the light patterns is imperceptible to the human eye. Therefore, only a uniform illumination surface is imaged.

[0017] According to an improved embodiment of the invention, at least one pair of a first light pulse and a second light pulse is emitted during the duration of a pulse repetition cycle. Continuous light having multiple illumination segments is emitted before and after the emission of the pair of the first and second light pulses, these illumination segments being used to generate the light distribution of the headlight. During the duration of the pulse repetition cycle, sensor light is generated on the one hand by means of the light pulse, and useful light is generated by driving and controlling light-emitting elements (light source matrix, micromirror element matrix, liquid crystal element matrix). The headlight thus has a dual function. On the one hand, the headlight is used to generate sensor light, by means of which sensor data for detecting the vehicle environment can be collected; and on the other hand, it is used to generate useful light, by means of which a predetermined light distribution can be generated.

[0018] According to an alternative embodiment of the invention, the light-emitting element and / or optical imaging element of the illumination unit are thus driven so that only light pulses with complementary light patterns are emitted. The desired light distribution is generated through the superposition of these light patterns. Advantageously, this achieves simultaneous driving of both useful light and sensor light, thereby reducing driving costs. Attached Figure Description

[0019] The embodiments of the present invention are further explained below with reference to the accompanying drawings. Wherein:

[0020] Figure 1 An environmental monitoring device according to a first embodiment is shown; and

[0021] Figure 2 An environmental monitoring device according to a second embodiment is shown. Detailed Implementation

[0022] The device for environmental detection of vehicle F according to the present invention basically includes an illumination unit 1, an optical detection unit 2, an analysis and processing unit 3, and a drive and control unit 4.

[0023] The lighting unit 1 is preferably configured as a headlight and is disposed in the front area of ​​the vehicle F. The lighting unit 1 is preferably configured as a high-resolution headlight, comprising a plurality of matrix-arranged light sources 4 (LED light sources) and lenses 6 for imaging the light emitted from each light source 5. Alternatively, the lighting unit 1 may also be configured as a single light source and a micromirror device comprising a plurality of individually switchable micro-optical elements, or a liquid crystal device comprising a plurality of individually controllable liquid crystal elements. The lighting unit 1 can be driven by a control unit 4, which, for example, turns each light source 4 (light-emitting element) on and off, thereby imaging or generating a predetermined light distribution 7 in the environment of the vehicle F, i.e., in the front area 8 of the vehicle.

[0024] The optical detection unit 2 is configured as a camera, such as a monochrome camera or an RGB camera or the like, which is capable of detecting an image of the environment of the vehicle F or an image of the area 8 in front of the vehicle. The optical detection unit 2 is aligned with the environment of the vehicle F in such a way that the optical detection unit can detect the light distribution 7 of the illumination unit 1 imaged in the area 8 in front of the vehicle.

[0025] According to Figure 1 In a first embodiment of the present invention, the illumination unit 1 is driven by the control unit 4 such that the illumination unit emits useful light 9 on one hand and sensor light 10 on the other. The sensor light 10 is formed by a plurality of light pulses having complementary light patterns. In this embodiment, the sensor light 10 is formed by a first light pulse 11 and a second light pulse 12 preferably emitted directly after the first light pulse, wherein the first light pulse 11 forms an illumination surface having a first light pattern 13, and the second light pulse 12 forms an illumination surface having a light pattern 14 that is complementary to the first light pattern. The first light pattern 13 and the second light pattern 14 each have a strip-shaped illumination segment 15 (in Figure 1 (white stripes in the middle) and strip-shaped non-illuminated sections 16 (in Figure 1 (The black bar in the middle).

[0026] The first light pulse 11, for example, has a non-illuminated surface 16 on the left side 17 of the illuminated surface it forms, with an illuminated segment 15 and another non-illuminated segment 16 alternately adjacent to the right side 18, up to the right side 18, where an illuminated segment 15 is provided. The second light pattern 14 of the second light pulse 12 has an illuminated surface complementary to or negative to the first light pattern 13, which begins with an illuminated segment 15 on the left side 17 and alternately is adjacent to a non-illuminated segment 16 and an illuminated segment 15 towards the right side 18. The right side 18 is defined by the non-illuminated segment 16. If the two light pulses 13, 14 or the illuminated surfaces formed by the two light pulses are superimposed, a uniform illuminated surface is thus generated because the illuminated segment 15 of the first light pattern 13 locally overlaps with the non-illuminated segment 16 of the second light pattern 14, or the non-illuminated segment 16 of the first light pattern 13 overlaps with the illuminated segment 15 of the second light pattern 14.

[0027] If the pulse frequency f P The first light pulse 11 and the second light pulse 12 are emitted, wherein the pulse frequency f P If the threshold frequency is greater than at least 60 Hz, then the first light pattern 13 and the second light pattern 14, with different illuminated sections 15 and non-illuminated sections 16, are imperceptible to the human eye. Preferably, the threshold frequency is in the range of 100 Hz or 1000 Hz.

[0028] Alternatively, if complementarity is ensured, more than two optical pulses can be sent.

[0029] With pulse repetition frequency f PF A first optical pulse 11 and a second optical pulse 12 are emitted, thereby emitting useful light 9 in time between a pair of the first optical pulse 11 and the second optical pulse 12. The pulse repetition period duration T is therefore significantly greater than the pulse duration t. P Through pulse duration t P The pulse ratio, calculated as twice the ratio of the pulse repetition period duration T, is therefore less than 20%, preferably less than 10%, and especially less than 5%.

[0030] According to the present invention, the same lighting device is driven to generate useful light 9 and sensor light 10. For this purpose, the drive control unit 4 has a drive control mechanism that generates a sensor drive control signal A1 on the one hand and a headlight drive control signal A2 on the other hand, by means of which multiple light sources 5 are turned on or off.

[0031] Light pulses 11 and 12 cause minimal illumination of the light distribution 7 generated by the useful light 9.

[0032] In order for the light pulses 11 and 12 to be detected only by the optical detection unit 2 rather than by the useful light 9, the emission of the light pulses 11 and 12 is synchronized, that is, at a pulse frequency f. P Drive and control the optical detection unit 2, so that the optical detection unit 2 controls the pulse duration t of the first optical pulse 11 and / or the second optical pulse 12. P During this period, only the detection image 19 is recorded. The receiving frequency f of the optical detection unit 2 is... E Therefore, the pulse frequency f, which is greater than or equal to that of light pulses 11 and 12, is... P If the optical detection unit 2 records, for example, a detection image 19 with a light pattern (an illuminated surface in the area 8 in front of the vehicle), where the light pattern replaces the straight strip-shaped illuminated sections 15 and 16 with at least partially curved illuminated sections 20 and curved unilluminated sections 21, then the detection image 19, used as a detection signal, can be analyzed and processed in the analysis and processing unit 3 to indicate that lane inclination exists in the area 8 in front of the vehicle. The resulting analysis and processing signal 22 can, for example, be transmitted to the adjustment mechanism 23, by means of which the driving mechanism is driven to compensate for vehicle unevenness.

[0033] Alternatively, the detected image 19 can also be used for road depth elimination or for passenger distance measurement.

[0034] According to Figure 2 In an alternative embodiment of the invention, the illumination unit 1 can also be driven by the control unit 4 to emit useful light 9 and sensor light 10 almost simultaneously. The light emitted by the illumination unit 1 consists only of multiple light pulses 11, 12, preferably multiple pairs of light pulses 11, 12, which include complementary light patterns 24 and 25, superimposed to form a desired light distribution 7. The pulse frequency f is preferably constant. P The light pulses 11 and 12 are emitted. (As from...) Figure 2As can be seen, assuming two light pulses 11 and 12 with different light patterns 24 and 25, the superposition of the first light pulse 11 and the second light pulse 12 results in a predetermined light distribution 7. For this purpose, the first light pattern 24 of the first light pulse 11 has horizontal non-illuminated segments 16, which spatially overlap with the illuminated segments 15 of the second light pattern 25. Furthermore, the illuminated segments 15 of the first light pattern 24 overlap with the non-illuminated segments 16 of the second light pattern 25. The light distribution 7 assumed in this case with asymmetrical light / dark boundaries 26 therefore has horizontal strip-shaped light segments 15 and horizontal strip-shaped non-illuminated segments 16, which are arranged alternately in the vertical direction. In this case, each light pattern 24, 25 has two illuminated segments 15 and two non-illuminated segments 16. Only the upper right segment of the light distribution 7—in which a 15° slope 27 of the light distribution 7 extends—is defined as the illuminated segment 27, in which the first light pattern 13 and the second light pattern 14 produce the same illumination intensity. This portion 28 of the light distribution 7 may therefore not contribute to the detection of image 19, which is detected by camera 2.

[0035] In the embodiment of the present invention, the camera 2 can continuously detect or record the detection image 19, thereby detecting rapid geometric changes in the illuminated section 15 and the non-illuminated section 16 of the detection image 19.

[0036] The receiving frequency f of optical unit 2 E —The optical unit is switched on and off at the receiving frequency—therefore corresponding to the pulse frequency f of the emitted light pulses 11, 12. P Camera 2 is synchronized with the emission of light pulses 11 and 12, that is, for example, at synchronization time t. syn Record detection image 19, which in this example is consistent with light pulse 11.

[0037] According to an alternative embodiment not shown, more than two light pulses may be emitted, each having a complementary light pattern. If necessary, the light pattern may also be formed by a single illuminated segment and a single unilluminated segment. The more illuminated segments 15 and unilluminated segments 16 the light patterns 13 and 14 have, the greater the resolution of the sensor data provided by the detected image 19, which is then analyzed and processed in the analysis and processing unit.

[0038] Alternatively, the light patterns can have arbitrary geometric shapes and / or representations of symbols and / or objects, whose variations as a result of environmental changes can be analyzed and processed. Essentially, through the complementary superposition of light patterns, the light patterns are invisible and / or unrecognizable to the human eye. The optical receiving unit 2 can be said to function as a decoding unit for decoding the light patterns.

[0039] Alternatively, light patterns can be formed using holograms, in which complementary holograms are pulsed onto the environment.

[0040] Preferably, the optical receiving unit 2 is configured such that it can spatially detect and / or distinguish the environment or the area in front of the vehicle, or a portion thereof. The camera is preferably configured as a monochrome or color camera, and preferably includes a CMOS sensor.

[0041] List of reference numerals

[0042] 1 lighting unit

[0043] 2 Optical Detection Unit

[0044] 3 Analysis and Processing Unit

[0045] 4 drive control units

[0046] 5 light sources

[0047] 6 lenses

[0048] 7 Light Distribution

[0049] 8. Area in front of the vehicle

[0050] 9 Useful light

[0051] 10 sensor light

[0052] 11 First light pulse

[0053] 12 Second light pulse

[0054] 13 First Light Pattern

[0055] 14 Second light pattern

[0056] 15 lighting sections

[0057] 16 non-lighting sections

[0058] 17 Left side

[0059] 18 Right side

[0060] 19 Detection Images

[0061] 20 curved lighting sections

[0062] 21. Arc-shaped non-illuminated section

[0063] 22. Signal Analysis and Processing

[0064] 23 Adjustment Mechanism

[0065] 24 First Light Pattern

[0066] 25 Second Light Pattern

[0067] 26 Bright / Dark Boundaries

[0068] 27 lighting sections

[0069] F vehicle

[0070] A1 sensor drive signal

[0071] A2 Headlight Drive Signal

[0072] f P pulse frequency

[0073] f PF Pulse repetition frequency

[0074] T-pulse repetition cycle duration

[0075] t P Pulse duration

[0076] f E Receive frequency

Claims

1. An apparatus for environmental detection of a vehicle (F), the apparatus comprising: The lighting unit (1) is used to successively emit light pulses into the environment (8); Optical detection unit (2) is used to detect the environment (8); Analysis and processing unit (4) is used to analyze and process the detection signal (19) recorded by optical detection unit (2); Its features are, The illumination unit (1) is configured to periodically emit at least two of the successively emitted light pulses, wherein the at least two light pulses have complementary light patterns. The optical detection unit (2) is driven so that it enters the detection state synchronously with the emission of the at least two light pulses, and the optical detection unit detects the illumination surface illuminated by the at least two light pulses as the detection image (19). The at least two light pulses include a first light pulse and a second light pulse, wherein the first light pulse (11) has a first light pattern (13) having a plurality of alternately arranged illuminated segments (15) and non-illuminated segments (16), and the second light pulse (12) has a second light pattern (14) having a plurality of alternately arranged illuminated segments (15) and non-illuminated segments (16), and The first light pattern and the second light pattern are designed to be complementary, such that the illuminated portion of the first light pulse overlaps with the non-illuminated portion of the second light pulse, and the non-illuminated portion of the first light pulse overlaps with the illuminated portion of the second light pulse.

2. The apparatus according to claim 1, characterized in that, The lighting section (15) and the non-lighting section (16) are arranged in a strip shape, wherein the non-lighting section (16) is provided between two adjacent lighting sections (15).

3. The apparatus according to claim 1 or 2, characterized in that, The lighting section (15) and the non-lighting section (16) are configured to be the same size.

4. The apparatus according to claim 1 or 2, characterized in that, The illuminated section (15) and the non-illuminated section (16) are each formed as a straight line.

5. The apparatus according to claim 1 or 2, characterized in that, The lighting unit (1) is configured as a headlight having a plurality of individually controllable light-emitting elements (5), which can be controlled to generate a predetermined light distribution (7) in the area (8) in front of the vehicle; and the lighting unit (1) can be controlled to generate a first light pulse (11) and a second light pulse (12) at a pulse frequency (f) greater than a threshold frequency. P The light pulse (11) is emitted, wherein the threshold frequency is such that the illuminated section (15) and the non-illuminated section (16) generated by the first light pulse (11) and the second light pulse (12) are imperceptible.

6. The apparatus according to claim 5, characterized in that, The threshold frequency is greater than 60 Hz.

7. The apparatus according to claim 5, characterized in that, The threshold frequency is greater than 100 Hz.

8. The apparatus according to claim 5, characterized in that, The lighting unit (1) can be driven so that it operates at a frequency less than the pulse frequency (f P The pulse repetition frequency (f) PF A first light pulse (11) and a second light pulse (12) are emitted, wherein a predetermined light distribution (7) is emitted between the first light pulse (11) and the second light pulse (12) that generate multiple complementary light patterns.

9. The apparatus according to claim 5, characterized in that, The first light pattern (13) and the second light pattern (14) form a pair of light pulses with complementary first light pattern (13) and second light pattern (14) at a pulse repetition frequency (f PF The complementary first and second light patterns are emitted, wherein the pulse repetition frequency (f) is... PF ) less than the pulse frequency (f P ).

10. The apparatus according to claim 9, characterized in that, The pulse repetition frequency (f) PF ) less than the pulse frequency (f P 20% of ).

11. The apparatus according to claim 1 or 2, characterized in that, The light-emitting element (4) of the illumination unit (1) can be driven to continuously emit at least two light pulses having a first light pattern and a second light pattern that are complementary to each other, each including at least one illumination section (15) and at least one non-illumination section (16), wherein a predetermined light distribution (7) is imaged by superposition of the first light pattern and the second light pattern.

12. A method for environmental detection of a vehicle (F), wherein, The method includes: The lighting unit successively emits light pulses into the environment (8) of the vehicle (F), and The environment is optically detected by an optical detection unit (8). The detected images (19) of the environment (8) are analyzed and processed to provide sensor data. Its features are, At least two light pulses are periodically emitted from a series of successively emitted light pulses, wherein the at least two light pulses have complementary light patterns. The optical detection unit is brought into the detection state synchronously with the emission of the at least two light pulses, so that the optical detection unit detects the illumination surface illuminated by the at least two light pulses as a detection image (19). The at least two light pulses include a first light pulse and a second light pulse, wherein the first light pulse (11) has a first light pattern (13) having a plurality of alternately arranged illuminated segments (15) and non-illuminated segments (16), and the second light pulse (12) has a second light pattern (14) having a plurality of alternately arranged illuminated segments (15) and non-illuminated segments (16), and The first light pattern and the second light pattern are designed to be complementary, such that the illuminated portion of the first light pulse overlaps with the non-illuminated portion of the second light pulse, and the non-illuminated portion of the first light pulse overlaps with the illuminated portion of the second light pulse.

13. The method according to claim 12, characterized in that, During the duration of the pulse repetition period (T), on the one hand, light pulses with complementary light patterns are emitted as sensor light (10), and on the other hand, light used to generate light distribution (7) is emitted as useful light (9).

14. The method according to claim 12 or 13, characterized in that, The illumination unit (1) is driven so that the pulse ratio, which is the ratio of the duration of the light pulse with complementary light patterns to the total duration of the light pulse and the light emitted to generate the light distribution (7), is less than 10%.

15. The method according to claim 12 or 13, characterized in that, The lighting unit (1) is driven and controlled so that the light is emitted at a pulse frequency (f P It emits only light pulses containing complementary light patterns with multiple illuminating segments (15) and multiple non-illuminating segments (16), wherein a predetermined light distribution (7) is generated by superposition of the light pulses.

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