Sensor arrangement for a vehicle, vehicle and aircraft

Abstract

The invention relates to a sensor arrangement for a vehicle (1) having at least one sensor (2, 7) which continuously detects signals at least while the vehicle (1) is in operation, wherein at least one control unit of the vehicle (1) and / or a central computer unit connected to the vehicle (1) for data purposes is or is designed to evaluate and / or process the detected signals, characterized in that the at least one sensor (2, 7) has at least one locking component which, for authorized non-destructive fastening and removal, corresponds to a locking device (3) present at least on the vehicle side. The invention further relates to a vehicle (1) and an aircraft (5) having such a sensor arrangement.

Description

[0001] The invention relates to a sensor arrangement for a vehicle with at least one sensor.

[0002] DE 10 2019 212 829 A1 discloses a method for training an artificial neural network to detect abnormal behavior of road users. The method comprises the following steps: - Determining first data about a first road user by a test vehicle sensor unit arranged on a test vehicle, - Determining second data about the first road user by an external sensor unit, wherein the external sensor unit is arranged stationary in the area of ​​a road or on an aircraft, - training the artificial neural network with the first data and with the second data, respectively, as input of the artificial neural network and with a predetermined measure related to the behavior of the first road user for classifying the road user as normal or abnormal behavior as the predetermined output of the artificial neural network, and - storing the trained artificial neural network in a storage unit for later execution in the vehicle, wherein the stored trained artificial neural network is designed to be executed with first data about a second road user currently detected by a vehicle sensor unit of a vehicle as the only input of the artificial neural network.

[0003] Furthermore, a sensor arrangement is known from US 2005 / 0 236 212 A1. The sensor arrangement has a housing with an outer surface and an inner surface that define an inner cavity. The housing includes a tab projecting outward from the outer surface and an opening open toward the outer surface. The tab includes an extension element that deforms upon mounting of the housing to a vehicle structure due to an insertion force exerted on the tab. A sensor component that generates a signal representing a vehicle characteristic is arranged in the cavity. A fastening element for attachment to the vehicle structure is received in the opening.

[0004] DE 102017 009 967 A1 describes a sensor module for autonomous driving of a vehicle. The sensor module has a modular design, whereby - an interface for an external storage element with local map information, - a radio interface, - an optical detection unit, - a positioning unit and - an electrical energy storage device with a charging unit is provided.

[0005] The positioning unit, the interface, the radio interface, the optical detection unit and the electrical energy storage unit are connected to an integrated processing unit.

[0006] DE 10 2021 205 804 A1 describes a method for monitoring a sensor in a vehicle, in which first data from the sensor are compared with second data provided by another data source and a function of the sensor is evaluated on the basis of this comparison.

[0007] The invention is based on the object of specifying a sensor arrangement for a vehicle, a vehicle and an aircraft.

[0008] The object is achieved according to the invention by a sensor arrangement having the features specified in claim 1, by a vehicle having the features specified in claim 8, and by an aircraft having the features specified in claim 9.

[0009] Advantageous embodiments of the invention are the subject of the subclaims.

[0010] The sensor arrangement according to the invention for a vehicle comprises at least one sensor that continuously detects signals at least while the vehicle is in operation. At least one control unit of the vehicle and / or a central computer unit connected to the vehicle for data purposes is configured to evaluate and / or process the detected signals. The at least one sensor comprises at least one locking component that corresponds to a locking device present at least on the vehicle side for authorized, non-destructive attachment and removal.

[0011] Using a sensor arrangement designed in this way, it is possible to remove the at least one sensor from the vehicle without causing any damage, in order to use this at least one sensor elsewhere, largely detached from the vehicle. This means that the range and application area of ​​the at least one sensor are not limited by its installation location. By effectively separating the at least one sensor from the vehicle so that it can be used elsewhere, cost savings can be achieved, as it is no longer necessary to maintain multiple sensors of this type.

[0012] Furthermore, maintenance, repair and replacement of the at least one sensor are considerably simplified by means of such a sensor arrangement, since the at least one sensor can be dismantled without great effort.

[0013] The locking device is designed to release the at least one sensor for non-destructive removal after a driver input in the vehicle. This means that the release for removal of the at least one sensor is linked to a driver input or corresponding authorization, and the at least one sensor can only be removed after authorization has been granted, in particular by a driver or workshop personnel. Thus, the at least one sensor is protected against unauthorized removal, in particular against theft.

[0014] One embodiment of the sensor arrangement provides that the locking device has at least one electromagnetically positionable locking pin arranged on the vehicle, which, in a locking position, projects into a recess in a sensor housing of the at least one sensor. The at least one locking pin is operatively connected to at least one spring element. The at least one spring element exerts a predetermined spring force on the locking pin in the locking position, and the at least one locking pin is thus held and locked in the recess. Because the at least one locking pin is arranged in the recess in the locking position, the sensor is held relatively securely in its installation location and can therefore only be removed from the vehicle without authorization using brute force.

[0015] In one embodiment, after the driver input has been received, an electromagnet of the locking device is energized and generates a magnetic field for positioning the at least one ferromagnetic locking pin into a release position outside the recess. This makes it possible to remove the sensor from its installation location without causing damage, to use it for other purposes, and later to reattach it to the vehicle, so that a function based on signals detected by the at least one sensor, in particular a vehicle assistance system, can be executed without restriction.

[0016] In one possible embodiment, the locking device is designed to automatically release a plug connection between the vehicle and the sensor upon removal of the at least one sensor. For example, the plug connection is designed such that it is automatically disconnected upon removal of the sensor, particularly in a predetermined direction. This plug connection is then reestablished upon placement of the at least one sensor in its installation location, particularly in the opposite direction to its removal, so that the sensor's functionality can be substantially ensured after this plug connection is reestablished.

[0017] In a further embodiment, the at least one sensor is connected to the control unit of the vehicle and / or the central computer unit via a radio-based data connection, so that, in particular after the at least one sensor has been removed from its installation location, the detected signals of the at least one sensor, in particular as long as the radio-based data connection exists, are still transmitted to the control unit and / or the central computer unit for evaluation and / or processing.

[0018] In one embodiment, the at least one sensor has a memory unit for storing detected data and / or a power supply unit for autonomously supplying the at least one sensor with electrical energy for a predetermined period of time. The memory unit can be used to store the detected signals, particularly when there is no data connection between the at least one sensor and the control unit and / or the central computer unit, so that they can be read out later by the control unit and / or the central computer unit. The detected signals are therefore not lost but are stored on the sensor side.

[0019] By means of the energy supply unit, the electrical energy supply of the at least one sensor, in particular in mobile use without the vehicle, can be ensured to the greatest extent possible at least for the specified period of time.

[0020] In a further embodiment, the at least one sensor is designed as a camera and / or as an inertial measuring unit, wherein the correspondingly designed at least one sensor can be removed from its installation location and reinstalled by means of the locking device in a non-destructive and comparatively simple manner upon successful authorization.

[0021] Furthermore, the invention relates to a vehicle with a sensor arrangement which has at least one sensor which continuously detects signals at least when the vehicle is in driving operation, wherein at least one control unit of the vehicle and / or a central computer unit connected to the vehicle for data purposes is or is designed to evaluate and / or process the detected signals and the at least one sensor has at least one locking component which corresponds to a locking device present at least on the vehicle side for authorized non-destructive fastening and removal.

[0022] Furthermore, the invention relates to an unmanned aerial vehicle with a sensor arrangement, wherein according to the invention a holder with at least one locking device is provided, wherein the locking device for fastening the at least one sensor to the holder corresponds to the locking component of the at least one sensor.

[0023] Embodiments of the invention are explained in more detail below with reference to drawings.

[0024] Showing: Fig. 1 schematically shows a section of a vehicle with a sensor arranged in the front area, Fig. 2 schematically shows a sectional view of a locking device with a corresponding locking component of the sensor in a locking position, Fig. 3 schematically shows a sectional view of the locking device with the locking component in a release position, Fig. 4 schematically shows an unmanned aerial vehicle with a mount and two sensors attached to it, as well as a vehicle and Fig. 5 schematically shows a person with two sensors.

[0025] Corresponding parts are provided with the same reference numerals in all figures.

[0026] Fig. 1 shows a section of a vehicle 1 with a sensor 2, which is a camera 2.1, arranged in the front area at an installation location V. Alternatively or additionally, the sensor 2 can be designed, for example, as an ultrasound-based sensor, a radar-based sensor, and / or an inertial measuring unit.

[0027] It is generally known that a vehicle 1 has a plurality of assistance systems, in particular driver assistance systems. These assistance systems typically have a plurality of sensors 2 that continuously detect signals while the vehicle 1 is driving. These signals are used, for example, to detect the surroundings of the vehicle 1 and objects located therein. Thus, information relevant to driving operation is obtained, evaluated, and processed.

[0028] The sensors 2 are permanently installed in or on the vehicle 1, with the respective installation location V depending on where the respective sensor 2 is most useful, i.e., from where the signals can be optimally captured for processing. Thus, the respective use of the sensors 2 is optimized for its specific function and is little to not at all suitable for alternative use. Furthermore, the range and area of ​​application of the sensors 2 may be limited by the respective installation location V.

[0029] In order to be able to use the sensor 2, in particular the camera 2.1, also in other ways, separately from the vehicle 1, a sensor arrangement for a vehicle 1 is described below.

[0030] In particular, use of the sensor 2 separately from the vehicle 1 is realized by enabling non-destructive separation of a mounting, a data connection and a power supply of the sensor 2 with respect to the vehicle 1.

[0031] For this purpose, a locking device 3 is provided, which is in the Fig. 2 and Fig. 3 is shown in more detail. The locking device 3 is in Fig. 2 in a locking position and in Fig. 3 shown in a release position.

[0032] The locking device 3 comprises a locking pin 3.1 arranged on the vehicle side and electromagnetically positionable, which, in the locked position, projects into a locking component, in particular a recess A in a sensor housing of the sensor 2. This holds the sensor 2 and protects it against unauthorized theft. Furthermore, the locking device 3 comprises two spring elements 3.2, in particular coil springs, which press the locking pin 3.1 into the recess A by means of their spring force, i.e., preload. This means that the spring elements 3.2 exert a predetermined spring force on the locking pin 3.1 in the locked position, and the locking pin 3.1 is thus held and locked in the recess A of the sensor 2.

[0033] To use the sensor 2, in particular the camera 2.1, in a mobile manner without the vehicle 1, an electromagnet 3.3 of the locking device 3 is energized, thus generating a magnetic field. The magnetic field acts on the locking pin 3.1, which is pulled out of the recess A by magnetic force. This tensions the spring elements 3.2.

[0034] In order to position the locking pin 3.1 in such a way that the locking device 3, i.e. the locking pin 3.1, assumes the release position, a driver input in the vehicle 1 or another authorization, for example from a workshop personnel, is required. For example, a Fig. 5, the driver F of the vehicle 1, shown as an example, can release the unlocking to remove the sensor 2 from its comparatively easily accessible installation location V by confirming on a so-called head unit of the vehicle 1. Once this driver input has been made, the electromagnet 3.3 is energized and the locking pin 3.1 is positioned outside the recess A. The sensor 2 can then be removed in the direction of arrow R from the installation location V and thus from the vehicle 1. When the sensor 2 is removed, a plug connection between the sensor 2 and a cable 4 is automatically released, the sensor 2 being connected to the vehicle 1 via the cable 4 in terms of signaling and / or power supply.

[0035] A particularly signal-technical connection of the sensor 2, if it is spatially separated from the vehicle 1, with a control unit of the vehicle 1 (not shown in detail) can be made by means of a Fig. 4. For example, a local radio network, such as WLAN, or another standardized radio connection FV can be used for this purpose. However, a function of sensor 2 can only be used in the immediate vicinity of vehicle 1.

[0036] Alternatively or additionally, sensor 2.1 can be signal-coupled via a mobile radio connection to the vehicle's control unit and / or a central computer unit (not shown in detail), which is particularly connected to vehicle 1 for data purposes. In a next step, communication between sensor 2 and vehicle 1 and / or the central computer unit can take place via a so-called chip-to-cloud architecture.

[0037] In one embodiment, sensor 2 has a storage unit for storing detected signals, in particular data, so that the detected signals can be stored whenever there is no communication connection between sensor 2 and vehicle 1 and / or the central computer unit. If a communication connection then re-establishes itself, in particular between sensor 2 and vehicle 1, for example because sensor 2 is again arranged at its installation location V on or in vehicle 1, the detected and stored data are transmitted to vehicle 1 and / or the central computer unit.

[0038] With regard to supplying sensor 2 with electrical energy, sensor 2 has a power supply unit (not shown in detail), which can be designed as an accumulator, battery, capacitor, etc. The power supply unit is designed such that sensor 2 can be independently supplied with electrical energy for a predetermined period of time. Alternatively or additionally, vehicle 1 can ensure the supply of sensor 2 with electrical energy.

[0039] A possible use of the sensor 2 removed from the vehicle, in particular the camera 2.1, is to mount the sensor 2 on an unmanned aircraft 5, in particular on a drone, as in Fig. 4. For example, the aircraft 5 can be controlled from the vehicle 1, with a radio connection FV between the aircraft 5 and the vehicle 1 being established for this purpose.

[0040] For fastening the sensor 2 to the aircraft 5, the latter has a holder 6 which comprises such a locking device 3 as described above and thus corresponds to the locking component of the sensor 2, that is to say to the recess A.

[0041] In particular, the holder 6 of the aircraft 5 has a plurality of receiving units H1 to H4, wherein the respective receiving unit H1 to H4 comprises a locking device 3 for fastening a sensor 2.

[0042] According to the Fig. In the embodiment shown in Figure 4, two recording units H1, H2 are oriented horizontally, in particular forward and backward in the direction of flight, whereas two further recording units H3, H4 are oriented downward, i.e., toward the ground. A sensor 2, in particular a camera 2.1, is arranged in a first recording unit H1, and a further sensor 7, in particular a further camera 7.1, is arranged in a third recording unit H3 of the mount 6 of the aircraft 5.

[0043] By means of the sensors 2, 7, for example, a range, a viewing angle and also an area of ​​operation of the aircraft 5 can be extended.

[0044] In particular, if a bird's-eye view is to be captured, the two downward-facing recording units H3, H4 of the mount 6 are used. Direction-independent components, i.e., sensors 2, 7, such as an inertial measurement unit, a satellite navigation system, a power supply unit, and / or a computing unit, etc., can be mounted anywhere on the mount 6. Lighting and, if appropriate, a vehicle battery as a power supply unit from the vehicle 1 can also be installed on the mount 6 of the aircraft 5.The aircraft 5 then has all the elements to determine its position, ensure the energy supply, optimize a position and orientation by means of the inertial measurement unit, illuminate a location, record data from a perspective of the aircraft 5 using environmental sensors, process the recorded data with the computing unit and send the processed data to the vehicle 1 via the radio connection FV.

[0045] In one embodiment, the mount 6 is coupled to the aircraft 5 via a ball joint 8 so that an orientation of the mount 6 can be changed according to specified requirements.

[0046] The respective sensor 2, 7 is connected to the aircraft 5 in the same way as in or on the vehicle 1. The aircraft 5, the vehicle 1, and the sensors 2, 7 thus form a functional overall system. The aircraft 5 can communicate with the vehicle 1 via the radio link FV. The technology of the aircraft 5 is thus reduced to the aircraft 5 and its control system, with a complex sensor system being provided by the vehicle 1. This overall system can be expanded modularly.

[0047] The aircraft 5 used can therefore be reduced in terms of components to such an extent that the aircraft 5 has, in particular, rotors, elevators and rudder, corresponding control electronics and the holder 6 with the locking devices 3 for the sensors 2, 7 and other functional elements mentioned above.

[0048] According to one possible embodiment, sensors 2, 7 based on ultrasound, radar, lidar of a distance control system and / or a parking system of the vehicle 1 as well as a camera 2.1, 7.1 for traffic sign recognition are coupled to the aircraft 5 via the mount 6 in order to, for example, record a current characteristic of a landscape in terrain without roads and to be able to suggest a relatively safe route through the terrain to a driver F of the vehicle 1, which is coupled to the aircraft 5 via the radio connection FV, and to provide the vehicle 1 with real-time data of an environment as part of a navigation.

[0049] In a further embodiment, at least one sensor 2, 7 of the vehicle 1 can be mounted on an electric scooter (not shown in detail) after authorized removal from the vehicle 1. In particular, the respective sensor 2, 7 can be used for an assistance system of the electric scooter, so that, for example, an impending collision with a road user and / or a risk of falling due to an impassable or relatively difficult surface, for example, with potholes and / or curbs, can be detected. The sensors 2, 7 can be supplied with electrical energy by a rechargeable battery of the electric scooter.A connection between sensors 2, 7 and components of the electric scooter is made by means of a holder 6 with a plurality of receiving units H1 to H4, each with a locking device 3, wherein connectivity, if necessary, can be made via a smartphone and / or a smartwatch of a user of the electric scooter.

[0050] Furthermore, it can be provided to use vehicle-mounted sensors 2, 7 and functional elements for monitoring, for example, a house. For this purpose, a holder 6 with a plurality of receiving units H1 to H4, each with a locking device 3, is arranged, in particular fastened, in a stationary manner to an object to be monitored. For example, the holder 6 for monitoring the house is fastened to a house wall or to another suitable position, for example to a garage or a tool shed. For example, the holder 6 can be movably fastened by means of a ball joint 8. The sensors 2, 7 and the functional elements can be supplied with electrical energy via a cable.

[0051] Using appropriately configured sensors 2, 7 authorized by the vehicle 1, an environment, for example, a house, can be monitored day and night. Using a computing component and a software application for process detection with fusion of the data acquired by the sensors 2, 7, this data is evaluated, and in particular, moving objects, such as people, animals, vehicles 1, and aircraft 5, are detected.If a movement has been detected with a probability exceeding a predefined threshold and / or it can be deduced by behavioral analysis that suspicious activities with a probability greater than a predefined threshold have been carried out based on the recorded data, for example a break-in or prying open a window, the recorded data is recorded, transmitted to the central computer unit and transmitted to an application program on a smartphone, for example of a driver F of the vehicle 1, whose sensors 2, 7 are used, a lighting unit held by the holder 6 is activated. This allows the view of the camera 2.1 and / or the additional camera 7.1 to be optimized at night, so that it can be predicted where the object is moving, and the holder 6 with the sensors 2, 7 can be tracked if necessary using a controllable spherical element 8.This makes it possible to track the moving object for as long as possible and send the processed data to the smartphone of driver F or another authorized person. Depending on the specified threshold, a warning can be issued, at least on the smartphone.

[0052] In a Fig. In the embodiment shown in Figure 5, the driver F or another person runs a terrain route S which is not visible from the vehicle 1. The driver F wears a camera 2.1 as sensor 2 on glasses 9 and a further sensor 7, in particular an inertial measuring unit and optionally a power supply unit, on the shoe 10. The driver F can thus run the terrain route S on foot, in particular the best possible route to be traveled. The further sensor 7, in particular the inertial measuring unit and / or the satellite navigation system, cyclically records a current position of the driver F, for example every 100 ms. At the start and end of this recording, a gesture is defined, for example a figure 8, which is performed by the driver F and can be recognized by the further sensor 7 or the camera 2.1.A distance measure is, for example, a squared distance compared to a training gesture that is smaller than another specified threshold.

[0053] Because the additional sensor 7 is attached to the shoe 10 of the driver F, data can also be recorded with respect to a height, so that a trajectory can be recorded with comparatively high accuracy. In particular, a value is only ever recorded when the foot's impact on the ground has been sensed by the additional sensor 7. An impact is detected if a probability is greater than a predetermined first additional threshold value. The sensors 2, 7 store the recorded values, in particular data, in their respective memory units while the off-road section S is traveled and transmit them to the vehicle 1, in particular via the radio connection FV.

[0054] The trajectory is then transmitted to the satellite navigation system of vehicle 1 and output optically. Since the driver F carries the camera 2.1, as shown in Fig. 5, a geometric and imaging survey of the terrain section S can already be carried out during the run, which is then transmitted to the vehicle 1 together with the trajectory. In this way, it can be ensured that the vehicle 1 also has a priori knowledge of a terrain feature that cannot be seen, for example a hilltop, so that this data can be processed for an assistance system of the vehicle 1 if necessary and, for example, a localization and creation of a digital map can be carried out simultaneously.

[0055] Using a sensor arrangement designed in this way, it is possible to remove, in particular, authorized accessible sensors 2, 7 from or within the vehicle 1 without causing any damage and to use them for other applications, as described above by way of example. Since these are the sensors 2, 7 typically located on the vehicle, an existing signal line of the assistance system can be used with a so-called perception prediction planning action. List of reference symbols 1 vehicle 2 sensors 2.1 Camera 3 Locking device 3.1 Locking pin 3.2 Spring element 3.3 Electromagnet 4 cables 5 aircraft 6 Bracket 7 additional sensors 7.1 additional camera 8 ball joint 9 glasses 10 shoes A recess F Driver FV radio connection H1 to H4 recording unit R Arrow direction S cross-country course V Installation location

Claims

[1] Sensor arrangement for a vehicle (1) with at least one sensor (2, 7) which continuously detects signals at least during driving of the vehicle (1), wherein - at least one control unit of the vehicle (1) and / or a central computer unit connected to the vehicle (1) for data purposes is or are designed to evaluate and / or process the detected signals, - the at least one sensor (2, 7) has at least one locking component which corresponds to a locking device (3) present at least on the vehicle side for authorized non-destructive fastening and removal, and - the locking device (3) is designed to release the at least one sensor (2, 7) for non-destructive removal after a driver input in the vehicle (1). [2] Sensor arrangement according to claim 1, characterized byin that the locking device (3) has at least one electromagnetically positionable locking pin (3.1) arranged on the vehicle side, which in a locking position projects into a recess (A) of a sensor housing of the at least one sensor (2, 7), wherein the locking pin (3.1) is operatively connected to at least one spring element (3.2), wherein the at least one spring element (3.2), which in the locking position exerts a predetermined spring force on the locking pin (3.1), and the at least one locking pin (3.1) is thus held and locked in the recess (A). [3] Sensor arrangement according to claim 2, characterized by that after the driver input has been made, an electromagnet (3.3) of the locking device (3) is energized and generates a magnetic field for positioning the at least one ferromagnetic locking pin (3.1) in a release position outside the recess (A). [4] Sensor arrangement according to claim 2 or 3, characterized by that the locking device (3) is designed to automatically release a plug connection between the vehicle (1) and the sensor (2, 7) when the at least one sensor (2, 7) is removed. [5] Sensor arrangement according to one of the preceding claims, characterized by that the at least one sensor (2, 7) is connected to the control unit of the vehicle (1) and / or the central computer unit via a radio-based data connection. [6] Sensor arrangement according to one of the preceding claims, characterized by that the at least one sensor (2, 7) has a memory unit for storing detected data and / or a power supply unit for supplying the at least one sensor (2, 7) with electrical energy for a predetermined period of time. [7] Sensor arrangement according to one of the preceding claims, characterized bythat the at least one sensor (2, 7) is designed as a camera (2.1, 7.1) and / or as an inertial measuring unit. [8] Vehicle (1) with a sensor arrangement which is designed according to one of the preceding claims. [9] Aircraft (5) with a sensor arrangement which is designed according to one of claims 1 to 7, wherein a holder (6) with at least one locking device (3) is provided on the aircraft (5), wherein the locking device (3) for fastening the at least one sensor (2, 7) to the holder (6) corresponds to the locking component of the at least one sensor (2, 7).

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