Sensor device, headlight, process and control unit

Abstract

A headlight (500) for a motor vehicle, wherein the headlight (500) comprises a sensor device (100) which is at least partially integrated into the headlight (500) for the motor vehicle, a housing (102), a light module (502) for emitting visible light, and a transparent cover (108), wherein a light distribution emitted by the light module (502) passes through the transparent cover (108), and the sensor device (100) comprises a light-sensitive receiver (104) arranged in the housing (102) and / or a light-emitting transmitter (106) arranged in the housing (102), wherein at least the receiver (104) and / or at least the transmitter (106) receives and / or emits light which passes through the transparent cover (108) which closes a light-transmitting opening of the housing (102), wherein at least one correction device (110) is provided which is set up for this purposeto compensate for a beam path-altering influence of the cover plate (108), wherein the at least one correction device (110) comprises a control unit (504) which provides a first compensation function (606) that operates the transmitter (106) such that the light rays emitted by the transmitter (106) compensate for the beam path-altering influence of the cover plate (108), and the control unit (504) provides a second compensation function (704) that provides sensor signals received by the receiver (104) such that the beam path-altering influence of the cover plate (108) is compensated.

Description

[0001] The invention relates to a sensor device for a motor vehicle, a headlight for a motor vehicle, a method for operating a sensor device and a control unit for a sensor device.

[0002] Vehicle headlights are currently not equipped with sensors for driver assistance systems. Their functionality is usually limited to lighting systems or modules for generating light distribution or ensuring signaling functions.

[0003] German patent application DE 10 2018 206 341 A1 discloses a LIDAR system which has a curved protective glass, wherein the LIDAR system has a compensation element which is designed to compensate for a refraction of light caused by the protective glass.

[0004] The publication DE 10 2017 218 722 A1 discloses an environment detection system for detecting the environment of a vehicle.

[0005] Copy EP 2 781 898 A1 discloses a motor vehicle sensor device with a sensor for converting light into electrical signals.

[0006] Document DE 10 2017 109 679 A1 discloses a device and a method for generating an output light emission and a headlight.

[0007] Sensors for detecting the vehicle's surroundings, on the other hand, are usually located behind flat surfaces.

[0008] Therefore, the purpose of the invention is to integrate sensor devices into the motor vehicle.

[0009] The problem underlying the invention is solved by a sensor device for a motor vehicle according to claim 1, by a headlight for a motor vehicle according to a dependent claim, by a method for operating a sensor device according to a dependent claim, and by a control unit for a sensor device according to a dependent claim. Advantageous embodiments are specified in the dependent claims and are further described below.

[0010] A first aspect of this description relates to a headlight for a motor vehicle, wherein the headlight comprises a sensor device which is at least partially integrated into the headlight, a housing, a light module for emitting visible light, and a transparent cover lens, wherein a light distribution emitted by the light module passes through the transparent cover lens, and the sensor device comprises a light-sensitive receiver and / or a light-emitting transmitter arranged in the housing, wherein at least the receiver and / or at least the transmitter receives and / or emits light which passes through the transparent cover lens which closes a light-transmitting opening of the housing, wherein at least one correction device is provided which is configured to compensate for a beam path-altering influence of the cover lens.The at least one correction device comprises a control unit that provides a first compensation function which operates the transmitter in such a way that the light rays emitted by the transmitter compensate for the beam-path-altering influence of the cover plate, and the control unit provides a second compensation function which provides sensor signals received by the receiver in such a way that the beam-path-altering influence of the cover plate is compensated. Advantageously, the sensor device can be integrated into the headlight, for example, in the form of a lidar module. The cover plate or intermediate plate no longer needs to be planar. Rather, the correction device ensures that the transmitting and receiving paths are correctly compensated.

[0011] Design specifications that reflect the overall impression of the vehicle determine the design of headlights and sensor systems in vehicle construction. Consequently, the associated lenses are usually curved and follow a curved surface. The provided correction mechanism enables a sensor system that offers design freedom while simultaneously ensuring high sensor sensitivity. Furthermore, perspective distortion is achieved, for example, through a coordinate transformation tailored to the known beam path, particularly the path through the lens. This coordinate transformation corrects the light projected into the area in front of the vehicle, transforming it into the correct coordinates representing that area.This means that the light distribution emitted by the sensor device is suitable for supporting autonomous or semi-autonomous driving functions after it has been sensed. Furthermore, a perspective distortion is achieved, for example, through a coordinate transformation tailored to the previously known beam path, particularly the path through the cover lens. This coordinate transformation converts the reflected LiDAR light into the correct coordinates representing the area in front of the vehicle. The data is then suitable for use in autonomous or semi-autonomous driving functions of the vehicle.

[0012] A sensor device is provided that corrects the optical effects of a cover plate on the actual sensor, such as a LiDAR system. Due to the 3D geometry of the cover plate, a beam misalignment occurs in both the emitting and receiving paths. This means that, for example, a circular beam cone is no longer detected as a circle at the receiver, but distorted, for example, as an ellipse. Since the expected distortion depends on the geometric shape of the cover plate, this is corrected in the transmitting or receiving channel. This allows, for example, obstacles or driving situations to be detected correctly and reliably.

[0013] An advantageous example is characterized in that the at least one correction device comprises a section of the cover disk facing the transmitter with a compensation geometry.

[0014] The light distribution emitted by the transmitter is advantageously corrected by the provided section. This only slightly increases the manufacturing costs for the cover plate. In particular, additional mounting measures for another correction element are eliminated. Further correction elements may also be unnecessary.

[0015] This optical correction has the advantage that rays which would otherwise just miss the detector are still directed towards the detector.

[0016] An advantageous example is characterized in that the at least one correction device comprises a section of the cover plate facing the receiver with a compensation geometry.

[0017] The light distribution reaching the receiver is advantageously corrected by the provided section. This only slightly increases the manufacturing costs for the cover plate. In particular, additional fastening measures for another corrective element are eliminated. Further corrective elements may also be unnecessary.

[0018] An advantageous example is characterized in that the at least one correction device comprises a compensation optic arranged between the transmitter and the cover disk.

[0019] Advantageously, the path of the light distribution is altered before it hits the cover plate. This allows the geometry of the cover plate to be pre-compensated.

[0020] An advantageous example is characterized in that the at least one correction device comprises a compensation optic arranged between the receiver and the cover plate.

[0021] The path of the light distribution is advantageously altered when the light passes through the cover plate. This compensates for the geometry of the cover plate.

[0022] An advantageous example is characterized by the fact that the transmitter is a LiDAR transmitter for emitting invisible LiDAR light.

[0023] An advantageous example is characterized by the fact that the receiver is a LiDAR receiver for receiving non-visible LiDAR light.

[0024] A second aspect of this description relates to a method for operating a headlight for a motor vehicle, wherein the headlight comprises a sensor device that is at least partially integrated into the headlight for the motor vehicle, a housing, a light module for emitting visible light, and a transparent cover lens, wherein a light distribution emitted by the light module passes through the transparent cover lens, and the sensor device comprises a light-sensitive receiver and / or a light-emitting transmitter arranged in the housing, wherein at least the receiver and / or at least the transmitter receives and / or emits LiDAR light that passes through the transparent cover lens which closes a light-transmitting opening of the housing, wherein at least one correction device compensates for a beam path-changing influence of the cover lens.wherein at least one correction device comprises a control unit which provides a first compensation function which operates the transmitter in such a way that the light rays emitted by the transmitter compensate for the beam-path-changing influence of the cover plate, and the control unit provides a second compensation function which provides sensor signals received by the receiver in such a way that the beam-path-changing influence of the cover plate is compensated.

[0025] A third aspect of this description concerns a control unit for a headlight, which is set up to carry out the procedure according to the second aspect.

[0026] The drawing shows: Fig. 1 to 4 each represent a sensor device in schematic form; Fig. 5 a headlight for a motor vehicle; Fig. 6. A schematic block diagram for operating a transmitter of the sensor device; and Fig. 7 A schematic block diagram for operating a receiver of the sensor device.

[0027] Fig. Figure 1 shows a sensor device 100 for a motor vehicle in schematic form. The sensor device 100 comprises a light-sensitive receiver 104 arranged in a housing 102 and / or a light-emitting transmitter 106 arranged in the housing 102. At least the receiver 104 and / or at least the transmitter 106 receive or transmit LiDAR light, which passes through a transparent cover plate 108 that closes a light-transmitting opening in the housing 102.

[0028] Transmitter 106, for example, is a LiDAR transmitter for emitting, in particular, invisible LiDAR light. Receiver 104, for example, is a LiDAR receiver for receiving, in particular, invisible LiDAR light.

[0029] At least one correction device 110 is provided, which is designed to compensate for a disruptive influence that alters the beam path, for example, caused by the cover plate 108 or other elements in the beam path. The beam path is altered by the design-defined curvature of the cover plate 108 in such a way that the correction device 110 must compensate for this effect in order to generate a signal representing the vehicle's foreground.

[0030] The correction device 110 is therefore, for example, an optical element which is either designed separately or which is integrated into the element causing the optical disturbance. In the latter case, the optically disturbing element and the correction device 110 form a single unit.

[0031] In an alternative or additional example, the correction device 110 is implemented as software and corrects the received optical signal after reception and / or the transmitted optical signal before transmission. The signal evaluation is performed electronically, for example, and the software correction can be implemented before this signal evaluation.

[0032] For example, an uncorrected transmitter is used. The light is reflected by an object and strikes the receiver. Due to the optical effect of the cover plate, a beam displacement occurs, for instance. Since the optical effect of the cover plate is known, the position of the measuring point is corrected accordingly. Thus, it is possible that the correction device 110 comprises both software for correction and optical elements, which are integrated, in particular, into the optically interfering element, for correcting or compensating the influence that alters the beam path.

[0033] In the example shown, the sensor device 100 includes both the receiver 104 and the transmitter 106, i.e., a receive path and a transmit path.

[0034] In one example, the sensor device 100 includes only the receiver 104 and no transmitter, i.e., only the receiving path.

[0035] In one example, the sensor device 100 includes only the transmitter 106 and no receiver, i.e., only the transmission path.

[0036] The last two examples concern configurations in which the individual sensor devices 100 work together as a stand-alone module with other sensor devices arranged on the vehicle, which can be useful, for example, from the perspective of the beam angle and reception angle.

[0037] Fig. Figure 2 shows a schematic example of the sensor device 100. The sensor device 100 comprises at least one correction device 110 in the form of a section 206 of the cover plate 108 facing the transmitter 106, with a concave compensation geometry. Furthermore, a section 204 of the cover plate 108 facing the receiver 104, also with a concave compensation geometry, is provided. Naturally, the sensor device 100 can comprise only the receive or transmit path.

[0038] Fig. Figure 3 shows a schematic example of the sensor device 100. The correction device 110 comprises a compensation optic 306 arranged between the transmitter 106 and the cover plate 108. The correction device 110 further comprises a compensation optic 304 arranged between the receiver 104 and the cover plate 108. Naturally, the sensor device 100 can comprise only the receive or transmit path.

[0039] Fig. Figure 4 shows a schematic example of the sensor device 100. The correction device 110 comprises the compensation optics 304 and 306 as well as sections 204 and 206. Naturally, the sensor device 100 can comprise only the receive or transmit path.

[0040] Fig. Figure 5 shows a headlight 500 for a motor vehicle. The sensor unit 100 is integrated into the headlight 500. The headlight 500 includes a light module 502 for emitting light visible to the driver of the motor vehicle, for example, in the form of a low beam or high beam distribution. Of course, other lighting functions can also be integrated into the headlight 500.

[0041] The light distribution emitted directly from the light module 502 passes through a section 510 of the transparent cover plate 108 and is emitted by the headlight as a beam distribution 512 encompassing visible light of a low beam and / or high beam function.

[0042] The headlight 500 is associated with a control unit 504, which operates at least the sensor device 100. For this purpose, the control unit 504 comprises non-volatile memory on which a computer program is stored, and a processor. When the computer program is executed on the processor, the procedure steps described in this description are carried out.

[0043] The control unit 504 generates a signal 526 to operate the transmitter 106. Based on the signal 526, the transmitter 106 generates a light distribution that strikes the cover plate 108 and, if applicable, other optically effective elements located between the cover plate 108 and the transmitter 106. Depending on the light distribution generated by the transmitter 106, the cover plate 108 emits a light distribution along an axis 536 into the area in front of the vehicle.

[0044] The control unit 504 receives a signal 524 from the receiver 104 of the sensor device 100 in response to the light distribution emitted into the area in front of the vehicle. The reflected light distribution strikes the cover plate 108 along an axis 534. Axes 534 and 536 represent, for example, axes of symmetry of the respective optical system in terms of the receiving channel and the transmitting channel, respectively.

[0045] Fig. Figure 6 shows a schematic block diagram for operating the transmitter 106 of the sensor device. The control unit 504 provides a compensation function 606 that operates the transmitter 106 in such a way that the light rays emitted by the transmitter 106 compensate for the beam path-altering influence of the cover plate 108.

[0046] For example, a block 602 provides a stream of individual images representing the desired light distribution to be emitted from the cover plate. For each individual image, the compensation function 606 performs a predefined coordinate transformation by determining transformed individual images based on the received individual images and a predefined transformation parameter 610.

[0047] Fig.Figure 7 shows a schematic block diagram for operating the receiver 104 of the sensor device. The control unit 504 provides a compensation function 704 that corrects the individual images of an image stream received by the receiver 104 in such a way that the beam path-changing influence of the cover plate is compensated.

[0048] Receiver 104 provides the image stream of received individual images. For each individual image, the compensation function 704 performs a predetermined coordinate transformation by determining compensated individual images depending on individual images originating from receiver 104 and on predetermined transformation parameters 710.

[0049] The compensated individual images are then provided to a driving function 720, which, depending on the individual images representing the vehicle's foreground, provides, for example, assistance functions, semi- or fully autonomous driving functions for the vehicle.

[0050] The transformation parameters 610 and 710 are determined a priori, i.e. in the application or by simulation, whereby the entire path between the outer surface of the cover disk and the transmitter 106 or receiver 104 is represented by the respective transformation parameters.

Claims

[1] A headlight (500) for a motor vehicle, wherein the headlight (500) comprises a sensor device (100) which is at least partially integrated into the headlight (500) for the motor vehicle, a housing (102), a light module (502) for emitting visible light, and a transparent cover (108), wherein a light distribution emitted by the light module (502) passes through the transparent cover (108), and the sensor device (100) comprises a light-sensitive receiver (104) arranged in the housing (102) and / or a light-emitting transmitter (106) arranged in the housing (102), wherein at least the receiver (104) and / or at least the transmitter (106) receives and / or emits light which passes through the transparent cover (108) which closes a light-transmitting opening of the housing (102), wherein at least one correction device (110) is provided is which is set up for this purpose,to compensate for a beam path-altering influence of the cover plate (108), wherein the at least one correction device (110) comprises a control unit (504) which provides a first compensation function (606) that operates the transmitter (106) in such a way that the light rays emitted by the transmitter (106) compensate for the beam path-altering influence of the cover plate (108), and the control unit (504) provides a second compensation function (704) that provides sensor signals received by the receiver (104) in such a way that the beam path-altering influence of the cover plate (108) is compensated. [2] The headlight (500) according to claim 1, wherein the at least one correction device (110) comprises a section (206) of the cover plate (108) facing the transmitter (106) with a compensation geometry. [3] The headlight (500) according to claim 1 or 2, wherein the at least one correction device (110) comprises a section (204) of the cover plate (108) facing the receiver (104) with a compensation geometry. [4] The headlight (500) according to one of the preceding claims, wherein the at least one correction device (110) comprises a compensation optic (306) arranged between the transmitter (106) and the cover plate (108). [5] The headlight (500) according to one of the preceding claims, wherein the at least one correction device (110) comprises a compensation optic (304) arranged between the receiver (104) and the cover plate (108). [6] The headlight (500) according to one of the preceding claims, wherein the transmitter (106) is a LiDAR transmitter for emitting LiDAR light. [7] The headlight (500) according to one of the preceding claims, wherein the receiver (104) is a LiDAR receiver for receiving LiDAR light.[8] A method for operating a headlight (500) for a motor vehicle, wherein the headlight (500) comprises a sensor device (100) which is at least partially integrated into the headlight (500) for the motor vehicle, a housing (102), a light module (502) for emitting visible light, and a transparent cover (108), wherein a light distribution emitted by the light module (502) passes through the transparent cover (108), and the sensor device (100) comprises a light-sensitive receiver (104) arranged in the housing (102) and / or a light-emitting transmitter (106) arranged in the housing (102), wherein at least the receiver (104) and / or at least the transmitter (106) receives and / or emits light which passes through the transparent cover (108) which closes a light-transmitting opening of the housing (102),wherein at least one correction device (110) compensates for a beam path-changing influence of the cover plate (108), wherein the at least one correction device (110) comprises a control unit (504) which, by means of a first compensation function (606), operates the transmitter (106) such that the light rays emitted by the transmitter (106) compensate for the beam path-changing influence of the cover plate (108), and the control unit (504), by means of a second compensation function (704), provides the sensor signals received by the receiver (104) such that the beam path-changing influence of the cover plate (108) is compensated. [9] The method according to claim 8, wherein the method for operating the headlight (500) is designed according to any one of claims 2 to 7. [10] A control unit (504) for a headlight (500) which is configured to carry out the method according to claim 8 or 9.

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