Sensor device for an ego vehicle, driver assistance device and vehicle with such a sensor device

Abstract

Sensor device (2) for an Ego vehicle comprising a first sensor device (4) for detecting a forward external area of ​​the Ego vehicle (1), a second sensor device (5) for detecting at least a partial area of ​​a passenger compartment of the Ego vehicle (1), a sensor housing (6) in which the first and the second sensor device (4, 5) are arranged at least section by section, characterized by the fact that the second sensor device (5) is designed as a TOF camera device.

Description

[0001] The invention relates to a sensor device for an ego vehicle according to the preamble of claim 1. Furthermore, the invention relates to a driver assistance device and a vehicle with such a sensor device.

[0002] Advanced driver assistance systems often use imaging sensors such as radar or lidar sensors, or cameras, to perceive the vehicle's surroundings. These sensors are typically mounted on the vehicle's windshield to capture the area in front of the vehicle. For example, WO 2016 / 166 093 A1 discloses a longitudinal driver assistance system in a motor vehicle for controlling or regulating speed, incorporating a detection system for recognizing events ahead.

[0003] Furthermore, occupant cameras are known to be used primarily for detecting a driver's attention or fatigue. For example, US 2016 / 0 224 852 A1 describes an occupant camera system for monitoring a driver's gaze, whereby the occupant camera system issues an alarm if the driver is not looking forward.

[0004] A disadvantage of such occupant cameras is their placement in the frontal field of view, which the driver may perceive as a distraction and which may also give the driver the unpleasant feeling of being observed.

[0005] Another disadvantage is the space required for the numerous exterior and interior sensors. While it is known to detect both the exterior and interior areas of a vehicle with a single camera, DE 10 2011 105 247 B4, for example, shows such a camera. However, this camera captures information from the area behind the vehicle, whereas driver assistance systems and autonomous vehicles require, in particular, the area in front of the vehicle. Furthermore, the detection range of a single sensor system is comparatively limited compared to two sensor systems.

[0006] A sensor device according to the preamble of claim 1 is known from publication JP 2006 - 193 057 A.

[0007] Furthermore, the publications DE 199 21 488 A1 and JP 2008 - 118 482 A reveal further state of the art.

[0008] The invention is based on the objective of presenting an optically inconspicuous, efficient sensor device that enables the detection of at least areas of both the exterior and interior of the vehicle.

[0009] This problem is solved by a sensor device with the features of claim 1, by a driver assistance device with the features of claim 6, and by a vehicle with the features of claim 9. Advantageous or preferred embodiments of the invention are set forth in the dependent claims, the following description, and the figures.

[0010] A sensor device for an ego-vehicle is proposed. The sensor device comprises a first sensor unit for detecting an area in front of the ego-vehicle. Preferably, the first sensor unit is a sensor unit to be mounted behind a windshield of the ego-vehicle and directed in the direction of travel. The area in front is an environmental region located in front of the ego-vehicle in the direction of travel.

[0011] Furthermore, the sensor device for detecting at least a partial area of ​​the passenger compartment of the ego vehicle, in particular for detecting the driver of the ego vehicle, comprises a second sensor device. Preferably, the second sensor device is a camera directed towards the driver. Thus, the second sensor device is in particular a sensor device directed against the direction of travel.

[0012] According to the invention, the sensor device comprises a sensor housing in which the first and second sensor units are arranged, at least partially or completely. In other words, the first and second sensor units are preferably arranged within the sensor housing, and thus, in particular, integrated into the sensor housing. In this context, the term "sensor housing" refers specifically to a holding device, wherein the first and second sensor units are jointly held by the holding device and are preferably attachable or mounted on or in the area of ​​the windshield of the ego vehicle. In other words, the first and second camera units are coupled to each other, at least via the sensor housing, and in particular, permanently connected to each other.

[0013] Integrating the first and second sensor units into a single sensor housing results in a compact design for discreet and uncluttered placement in the passenger compartment. A further advantage compared to a decentralized distribution of the sensor units is the reduction in assembly steps, as only one sensor housing now needs to be installed in the passenger compartment. Consequently, a sensor device that is simple to manufacture and less prone to malfunctions has been implemented.

[0014] For the integration of the first and second sensor devices, the sensor housing includes, for example, an access opening that can be closed by a cover. Preferably, the sensor housing is made of a metal, such as cast aluminum, to achieve better heat dissipation of the heat generated within the sensor housing compared to plastic.

[0015] For example, the sensor housing comprises exactly one recording interior in which the first and second sensor devices are arranged, wherein the first and second sensor devices are arranged in the recording interior in such a way that they have at least partially opposite detection areas, in particular the viewing directions of the sensor devices are turned away from each other.

[0016] In terms of design, it is preferred that the sensor housing has a longitudinal axis, the first sensor device has a first optical axis, and the second sensor device has a second optical axis, wherein the longitudinal axis and the first optical axis are arranged parallel or concentrically to each other. The longitudinal axis is, in particular, a longitudinal axis that is aligned with, or is aligned to, the direction of travel of the ego vehicle, so that the first sensor device is also aligned with the direction of travel. Furthermore, it is preferred that, viewed in a horizontal plane, the first and second optical axes are arranged at an angle to each other with an interior angle of at least 20 degrees and / or at most 70 degrees.The angled arrangement of the optical axes enables both the detection of the area ahead by the first sensor device and the detection of the desired part of the passenger compartment, namely in particular the seating area of ​​the driver, by the second sensor device.

[0017] Furthermore, the first and second sensor devices are arranged, for example, at a lateral distance from each other, in particular along a transverse axis of the sensor housing.

[0018] According to a further preferred embodiment, the first and second sensor devices share a common circuit board and are, in particular, electrically connected to this common circuit board. Particularly preferably, the first and second sensor devices are each configured as a camera device with at least one image sensor and at least one lens, wherein the image sensors of the camera devices are preferably mounted on the same side of the circuit board. As an exemplary alternative, the image sensors can be mounted on opposite sides of the circuit board. Furthermore, it is conceivable, for example, that the image sensors of the first and second camera devices are electrically connected to the circuit board via bond wires.

[0019] Preferably, the first and second sensor devices include a common electrical interface for power supply and / or for signal input and output. The electrical interface is configured, for example, as a cable, a spring contact, a contact pad, and / or pins.

[0020] For example, the first sensor device comprises or is configured as a lidar sensor, radar sensor, and / or ultrasonic sensor. However, it is particularly preferred that the first sensor device comprises or is configured as a camera sensor. The camera sensor can be configured as a monocular or stereo camera. Furthermore, it is possible that the camera sensor can be configured as a smart camera or, alternatively, as a satellite camera.

[0021] The second sensor device is a time-of-flight (TOF) camera. A TOF camera is, in particular, a 3D camera system that measures distances using the time-of-flight (TOF) method. Specifically, the TOF camera is designed to illuminate a scene using a light pulse, measuring the time it takes for the light to travel to the object and back for each pixel. This time is directly proportional to the distance. The TOF camera thus provides the distance to the object depicted at each pixel. Advantageously, the TOF camera enables three-dimensional capture of an occupant and, consequently, the recording of poses and gestures. To emit the light pulse, the sensor device preferably includes a light source that is directed towards the area of ​​the passenger compartment to be captured.

[0022] As an alternative, the second sensor could also be designed as a stereo camera. This second sensor could be a smart camera or, alternatively, a satellite camera.

[0023] A further aspect of the invention relates to a driver assistance device with a sensor device according to the preceding description. The driver assistance device is particularly designed to support the driver in driving the vehicle based on environmental data acquired by means of the sensor device, specifically by the first and / or second sensor unit. The driver assistance device is, for example, a lane keeping, lane guidance, traffic jam, emergency braking, and / or parking assistance device, and / or a driver assistance device for fatigue detection.

[0024] According to a preferred embodiment, the driver assistance device comprises at least or exactly one evaluation unit, wherein the at least or exactly one evaluation unit is arranged in the sensor housing, e.g., on the common or a separate circuit board. For example, the at least one evaluation unit is designed as an ECU (electronic control unit).

[0025] Preferably, the second sensor device is configured as an occupant camera for capturing the driver of the ego-vehicle, wherein the at least or exactly one evaluation unit is configured to recognize a gesture and / or pose of the driver from the image data captured by the occupant camera, and wherein the at least or exactly one evaluation unit is configured to evaluate the driver's state of attention based on the recognized gesture and / or pose. The state of attention is understood to mean, for example, a state of fatigue, or alternatively or optionally, whether the driver's gaze is directed towards a critical traffic situation, such as the end of a traffic jam, detected by the first sensor device and evaluated by the evaluation unit, in order to warn the driver or intervene in the vehicle dynamics, if necessary.Thus, the evaluation unit is preferably designed to evaluate a traffic scenario (area of ​​interest) relevant to the driver and to warn the driver if the driver's detected gaze direction is turned away from the evaluated critical traffic scenario.

[0026] Another aspect of the invention relates to a vehicle with the sensor device according to the preceding description. In particular, the sensor device is arranged on the inside of the windshield, e.g., in the area of ​​a rearview mirror of the vehicle. Specifically, the first sensor device is directed towards the vehicle's exterior area in front, and the second sensor device is directed towards the driver's seat of the vehicle. The vehicle can be either right-hand or left-hand drive.

[0027] Further features, advantages, and effects of the invention will become apparent from the following description of preferred embodiments of the invention. These include: Fig. 1 in a top view an ego vehicle with a sensor device as a first embodiment; Fig. 2 in a three-dimensional representation the sensor device Fig. 1 with a first and a second sensor device; Fig. 3 in a top view the sensor device Fig. 1 with the first and a second sensor device; Fig. 4 in a top view the sensor device as a second embodiment.

[0028] Corresponding parts are identified by the same reference numerals in all figures. It is particularly important to note that the embodiments shown in the figures are for illustrative purposes only and should not be considered limiting.

[0029] Fig. Figure 1 shows a bird's-eye view of an ego vehicle 1 with a sensor device 2, which is arranged in a passenger compartment at an upper end area of ​​the windshield 3 of the ego vehicle 1.

[0030] The sensor device 2 comprises a first sensor unit 4 for detecting an area in front of the ego vehicle 1. In this embodiment, the first sensor unit 4 is a first camera unit 4 configured to capture at least one image of the area in front of the ego vehicle 1. For example, the first camera unit 4 is focused on the area in front of the windshield. Thus, the first camera unit 4 is, in particular, a camera unit directed in the direction of travel. Here, the camera unit 4 is configured as a monocular camera and therefore comprises optics for projecting light and an image sensor for detecting the light projected by the optics. As an alternative example, the camera unit 4 can be configured as a stereo camera.

[0031] Furthermore, the sensor device 2 comprises a second sensor device 5 for detecting at least a partial area of ​​the passenger compartment of the Ego vehicle 1. The second sensor device 5 is a second camera device 5, which is configured to capture at least a partial image of the passenger compartment. Thus, the second camera device 5 is, in particular, a camera device 5 facing away from the direction of travel for detecting an occupant. In this embodiment, the detected partial area is the area of ​​a driver's seat for detecting a driver of the Ego vehicle 1. Consequently, the viewing directions of the first and second sensor devices 4, 5 are arranged opposite to each other.

[0032] The second camera device 5 is a TOF camera device 5. For example, the TOF camera device 5 includes a light source for implementing the previously described time-of-flight method, which can be arranged on the sensor housing 6 to emit the light pulse and can be directed towards the area to be detected (not shown in the figures).

[0033] The sensor device 1 comprises a sensor housing 6 in which the first and second sensor units 4, 5 are arranged at least partially, in other words, in particular integrated into the sensor housing 6. In this embodiment, the sensor units 4, 5 are fixedly connected to the sensor housing 6, in other words, in particular fixed in the sensor housing 6.

[0034] In this embodiment, the sensor housing 6 comprises a first opening through which the optics of the first camera device 4 protrude, and a second opening through which the optics of the second camera device 5 protrude. For example, the camera devices 4 and 5 are held by the openings. However, it can also be provided, for example, that the camera devices 4 and 5 are arranged completely within the sensor housing 6 and that the optics look through the openings.

[0035] In Fig. 2 is the sensor device 1 in a schematic, three-dimensional and in Fig. Figure 3 is shown in a schematic, two-dimensional top view. The sensor housing 6 comprises a longitudinal axis L, the first sensor device 4 a first optical axis A1, and the second sensor device 5 a second optical axis A2. The longitudinal axis L and the first optical axis A1 are in Fig. 2 concentric, in Fig. The three optical axes are arranged parallel to each other. Viewed in a horizontal plane E, the first and second optical axes A1, A2 are angled relative to each other with an interior angle Alpha of less than 90 degrees. Consequently, the optics of the first sensor unit 4 face the direction of the vehicle, while the optics of the second sensor unit 5 face obliquely towards the driver of the ego vehicle 1. In this way, the detection of the frontal, forward-facing exterior area is achieved, as is the detection of the driver of the ego vehicle 1. The oblique viewing direction towards the driver is noteworthy, as it was previously assumed that a frontal orientation towards the occupant was a prerequisite for the correct evaluation of gestures and poses.

[0036] The first and second sensor devices 4, 5 comprise, for example, a common circuit board 7, as shown in Fig. Figure 2 is a highly simplified representation. For example, it is intended that the image sensors of the first and second sensor units 4, 5 are arranged directly on the circuit board 7. As an alternative example, the circuit board 7 is arranged at an angle to the image sensors of the sensor units 4, 5 and electrically connected to the image sensors via bond wires.

[0037] The first sensor device 4 is, for example, part of a driver assistance device or can be connected to it, wherein an evaluation device of the driver assistance device is designed in particular for object recognition, e.g. for the recognition of other road users, traffic signs and / or lanes from the image data provided by the camera device 4.

[0038] For example, the second sensor device 5 is part of a driver assistance device or can be connected to it, wherein a further evaluation device of the driver assistance device is specifically designed to recognize a pose or gesture, in particular the head orientation, hand position, arm position, and direction of gaze of the driver, from the image data captured by the second camera device 5. For example, the evaluation device is designed to determine the driver's state of attention from the captured pose or gesture. For example, the evaluation device is arranged on the circuit board 6.

[0039] At the in Fig. The Ego vehicle 1 shown in Figure 1 is a left-hand drive vehicle. Of course, it is equally possible that it is a right-hand drive vehicle, in which case the second sensor device 5 would have to be arranged axially symmetrically to the longitudinal axis L of the sensor device 1 to detect the driver.

[0040] Fig. Figure 4 shows a second embodiment of the sensor device 1, which, in comparison to the Fig. 1 comprises a third sensor device 8. The third sensor device 8 is designed to detect a further sub-area of ​​the passenger compartment of the Ego vehicle 1, in this embodiment the passenger's seat area. Detecting the passenger has the advantage that poses or gestures, in particular reactions of the passenger, can also be evaluated, which may indicate a traffic scenario relevant to the driver assistance device. Compared to a single occupant camera, which could detect both occupants using a wide-angle lens of at least 120 degrees, distortion in the images associated with the wide-angle lens can be avoided here, thus achieving improved evaluation of the occupants' gestures and poses.

[0041] For example, the second and third sensor devices 5, 8 are aligned with each other such that different, non-overlapping areas of the passenger compartment, specifically the driver's seat area and the passenger's seat area, are detected. For example, the second optical axis A2 and a third optical axis A3 of the third sensor device 8 are arranged axially symmetrically to the longitudinal axis L. For example, the second and third optical axes A2, A3 are arranged at an angle to each other at an internal angle Beta of at least 30 degrees and / or at most 100 degrees.

[0042] The in the Fig. 3 and Fig. The optical axes A1, A2, A3 of the second or third sensor device shown in Figure 4 each run parallel to the horizontal plane E. However, it is also possible for at least one of the optical axes A1, A2, A3 to be arranged at an angle to the horizontal plane E. This can be particularly advantageous for the second or third camera device 5, 8, in order to be able to detect, for example, hand movements in a lower area of ​​the vehicle 1 in the case of a smaller vertical opening angle of the optics.

[0043] In the Fig. 2 and Fig. In the 4 illustrated embodiments, the sensor device 2 comprises a common electrical interface 9 for power supply and / or for input and output of signals from the first, second and optionally additionally the third sensor device 4, 5, 8. Reference symbol list 1 Ego vehicle 2 Sensor device 3 Windscreen 4 First sensor setup 5 Second sensor device 6 Sensor housings 7 printed circuit board 8 Third sensor device 9 Electrical interface L Longitudinal axis of the sensor device A1 First optical axis A2 Second optical axis A3 Third optical axis Alpha interior angle between first and second optical axis Beta interior angle between the second and third optical axes

Claims

[1] Sensor device (2) for an Ego vehicle comprising a first sensor device (4) for detecting a forward external area of ​​the Ego vehicle (1), a second sensor device (5) for detecting at least a partial area of ​​a passenger compartment of the Ego vehicle (1), a sensor housing (6) in which the first and the second sensor device (4, 5) are arranged at least section by section, characterized by , that the second sensor device (5) is designed as a TOF camera device. [2] Sensor device (2) according to claim 1, characterized by, that the sensor housing (6) has a longitudinal axis (L), the first sensor device (4) has a first optical axis (A1) and the second sensor device (5) has a second optical axis (A2), wherein the longitudinal axis (L) and the first optical axis (A1) are arranged parallel to or concentric with each other, wherein in a horizontal plane (E) the first and the second optical axis (A1, A2) are arranged at an angle to each other with an interior angle (Alpha) of at least 20 degrees and / or at most 70 degrees. [3] Sensor device (2) according to one of the preceding claims, characterized by , that the first and second sensor devices (4, 5) have a common circuit board (7). [4] Sensor device (2) according to one of the preceding claims, characterized by , that the first and second sensor devices (4, 5) have a common electrical interface (9) for power supply and / or for input and output of signals. [5] Sensor device (2) according to one of the preceding claims, characterized by , that the first sensor device (4) is configured as a lidar sensor, radar sensor, camera sensor and / or as an ultrasonic sensor device. [6] Driver assistance device with a sensor device (2) according to one of the preceding claims, characterized by that the driver assistance device is designed to assist the driver in driving the vehicle based on environmental data obtained by means of the sensor device (2). [7] Driver assistance device according to claim 6, characterized by that the driver assistance device comprises at least or exactly one evaluation unit, wherein the at least or exactly one evaluation unit is arranged in the sensor housing (6) of the sensor device (2). [8] Driver assistance device according to claim 7, characterized by, that the second sensor device (5) is configured as an occupant camera for detecting a driver of the ego vehicle (1), wherein the evaluation device is configured to recognize a gesture and / or pose of the driver from the image data captured by the occupant camera, and wherein the evaluation device is configured to evaluate a state of attention of the driver based on the recognized gesture and / or pose. [9] Vehicle (1) with a sensor device (2) according to any one of the preceding claims 1 to 5, characterized by , that the sensor device (2) is arranged on the inside of a windshield (3) of the vehicle (1).

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