Vehicle equipped with a lidar sensor

Abstract

The invention relates to a vehicle (1) with a lidar sensor (5) positioned behind a windshield (7) of the vehicle (1) in the vehicle interior (3), wherein the radiation (9) emitted by the lidar sensor (5) passes through a transparent surface of the windshield (7). In a vehicle with a lidar sensor, the range of the lidar sensor can be increased without endangering persons in or around the vehicle.To prevent the lidar sensor (5), which emits radiation (9) with a radiation power above a predetermined eye safety threshold, is provided with a capsulation (13) encompassing the lidar sensor (5) and sealing against the windshield (7) to protect against escaping radiation. This capsulation (13) can be monitored by a monitoring unit (17) for a malfunction, in particular a mechanical destruction of the windshield (7) and / or capsulation (13). The monitoring unit (17) is coupled to monitoring electronics (19) controlling the lidar sensor (5) for the purpose of detecting a malfunction.

Description

[0001] The invention relates to a vehicle with a lidar sensor that is positioned behind a windshield of the vehicle in the vehicle interior, wherein the radiation emitted by the lidar sensor passes through a transparent surface of the windshield.

[0002] German patent DE 10 2022 112 923 A1 discloses a motor vehicle in which a lidar sensor is arranged inside the vehicle behind a viewing area of ​​the windshield. This viewing area of ​​the windshield is cleaned by a windshield cleaning system and kept clear of dirt. Since the transmit and receive beams of the lidar sensor pass through the windshield, the beam power is attenuated, resulting in a loss of range for the lidar sensor.

[0003] The object of the invention is to provide a vehicle with a lidar sensor in which the range of the lidar sensor can be increased without posing a danger to persons inside or outside the vehicle.

[0004] The invention is defined by the features of the independent claims. Advantageous further developments and embodiments are the subject of the dependent claims. Further features, applications, and advantages of the invention will become apparent from the following description and the explanation of exemplary embodiments of the invention illustrated in the figures.

[0005] The problem is solved by the subject matter of claim 1.

[0006] In the vehicle described above, which has a lidar sensor positioned behind the windshield inside the vehicle, and where the radiation emitted by the lidar sensor passes through a transparent area of ​​the windshield, the lidar sensor, which emits radiation with a power output above a predetermined eye safety threshold, is protected against escaping radiation by an encapsulation that surrounds the lidar sensor and seals against the windshield. This encapsulation can be monitored for malfunctions, particularly mechanical damage to the windshield and / or the encapsulation, by a monitoring unit. The monitoring unit is coupled to monitoring electronics that control the lidar sensor to detect malfunctions. The encapsulation surrounding the lidar sensor enables an improvement in range by increasing the lidar sensor's power output.Simultaneously, safety mechanisms prevent any risk to people inside and outside the vehicle, particularly to their eyes, from the high-powered laser beam. Eye safety is enhanced by monitoring the encapsulation or windshield for damage or malfunctions. Upon detection of a fault, the laser power can be immediately reduced or the lidar sensor completely deactivated. The eye safety threshold is set so that, up to this threshold, there is no danger to anyone looking directly into the lidar laser beam.

[0007] In one embodiment, the monitoring unit for detecting damage to the encapsulation monitors the connection between a mounting plate, which is arranged flat on the windshield, and the lidar sensor and / or the encapsulation. Since the encapsulation is attached to the mounting plate either alone or together with the lidar sensor, any gaps, such as a gap to the windshield, leaks in the encapsulation, or damage to it from which the sensor beam can escape, are reliably detected. This ensures that hazardous situations are reliably detected.

[0008] In a further embodiment, a heating element is arranged in the windshield as a monitoring unit. This element is connected to monitoring electronics that detect changes in the heating element's resistance in order to detect damage to the encapsulation caused by a windshield breakage. In the event of such a breakage, the lidar sensor is deactivated.

[0009] In a further alternative or additional embodiment, the monitoring unit is designed as a near-field communication unit for detecting damage to the encapsulation caused by a break in the connection between the mounting plate and the lidar sensor and / or the encapsulation itself. Using this space-saving near-field communication unit, the encapsulation's detachment from the windshield can be wirelessly detected by determining its position.

[0010] In a further embodiment, the near-field communication unit comprises an NFC chip attached to the mounting plate and a query device positioned on the lidar sensor for cyclically querying the information transmitted by the NFC chip. Such a near-field communication unit requires very little installation space and is therefore particularly suitable for mounting in the transparent area of ​​the windshield.

[0011] In a further alternative or additional embodiment, the monitoring unit is designed as a magnetic field communication unit for detecting a disconnection between the mounting plate and the lidar sensor and / or the encapsulation. This magnetic field communication unit also provides a wireless measurement option for the distance between the windshield and the encapsulation.

[0012] In another embodiment, the magnetic field communication unit comprises a magnet and a magnetic field detector, wherein the magnet is located on the mounting plate and the magnetic field detector is located on the lidar sensor, or the magnet is located on the lidar sensor and the magnetic field detector on the windshield. The arrangement of the components of the magnetic field communication unit behind the windshield can be determined based on the specific positioning of the lidar sensor.

[0013] In another embodiment, the monitoring unit interrupts a heating circuit of the heating conductor or a data flow to a data storage device located in the monitoring electronics to indicate damage to the encapsulation. This always results in the lidar sensor being switched off.

[0014] In a further embodiment, a power / data line for controlling and powering the lidar sensor is arranged as a monitoring unit on the mounting plate or on a stray light shield positioned in front of the lidar sensor in the beam path. An interruption of this line detects a malfunction in the encapsulation. The stray light shield prevents external light from reaching the lidar sensor, which would otherwise lead to an inaccurate determination of the object's location. If the power or data supply to the lidar sensor is damaged, the sensor is automatically switched off.

[0015] In another embodiment, the power / data line is configured as a plug connection, at least between the mounting plate and the lidar sensor, or between the lens hood and the lidar sensor. This not only simplifies the installation of the individual components in the vehicle, but also allows for easy deactivation of the lidar sensor at any time.

[0016] In a further alternative or additional embodiment, the monitoring electronics are configured to detect a malfunction by determining the reflection of laser beams emitted by the lidar sensor from the encapsulation and windshield, and preferably comparing this reflection with a reference value for one or more operating states. As soon as a predetermined deviation from the reference value is detected, the lidar is not operated above the eye safety threshold. The reference value is determined in a state where the encapsulation and windshield are undamaged. The determination and storage of the reference value preferably takes place during the initial assembly of the vehicle, i.e., of the windshield, encapsulation, and lidar. In addition to intensity, the reference value preferably includes a characteristic pattern of the reflected laser beams.As soon as a predefined deviation in intensity and / or the characteristic reflection pattern is detected compared to the reference value, damage to the windshield and / or the encapsulation is assumed, and the lidar is not operated above the eye safety threshold. At each vehicle start, the lidar sensor is first powered up within a power range that is within the eye safety range, and the intensity of the reflected laser beam image is compared to reference values. If a predefined deviation from the reference values ​​is detected, the lidar power is not increased further; if no deviation is detected, the lidar power is increased beyond the eye safety range.

[0017] By coating the windshield with, for example, an anti-reflective coating or a mirror coating and / or a coating of the encapsulation, reflected radiation can be increased and a characteristic reflection pattern can be created, so that even the smallest damage can be detected by deviations from the reference value.

[0018] Further advantages, features, and details will become apparent from the following description, in which at least one embodiment is described in detail. The described features can, individually or in any meaningful combination, constitute the subject matter of the invention, optionally also independently of the claims, and can, in particular, also be the subject matter of one or more separate applications.

[0019] This shows: Fig. 1 a schematic representation of the vehicle according to the invention, Fig. 2 a first embodiment in a detailed view of the vehicle according to the invention, Fig. 3 a second embodiment in a detailed view of the vehicle according to the invention, Fig. 4 a third embodiment in a detailed view of the vehicle according to the invention.

[0020] In Fig. Figure 1 shows a schematic representation of the vehicle 1 according to the invention, in whose interior 3 a lidar sensor 5 is arranged directly behind the windshield 7. The area around the vehicle 1 is detected using the radiation 9 emitted by the lidar sensor 5. The data acquired by the lidar sensor 5 are made available to vehicle control systems (not shown) for driver assistance or for autonomous control of the vehicle 1.

[0021] The lidar sensor 5 is attached to a mounting plate 11, which is mounted across the surface of the windshield 7. An enclosure 13 completely surrounds the lidar sensor 5 and seals against the windshield 7, preventing the radiation 9 emitted by the lidar sensor 5 from entering the vehicle interior 3. A light baffle 15 is positioned between the mounting plate 11 and the lidar sensor 5 to prevent external light from reaching the lidar sensor 5.

[0022] Due to this design, the lidar sensor 5 is operated with a radiation power that is higher than a predefined eye safety threshold. A monitoring unit 17, located within the encapsulation 13, monitors for the occurrence of malfunctions, such as mechanical damage to the windshield 7 or the encapsulation 13. If such a malfunction occurs, the monitoring unit 17 sends a signal to monitoring electronics 19 that control the lidar sensor 5, which either reduces the radiation power of the lidar sensor 5 or deactivates the lidar sensor 5.

[0023] The monitoring unit 17 consists of two wirelessly communicating components, as described in the Fig. 2 and Fig. 3 are shown. Fig. In section 2, the monitoring unit is configured as a near-field communication unit 21. To detect damage to the encapsulation 13 caused by a mechanical disconnection between the mounting plate 11 and the lidar sensor 5 and / or the encapsulation 13, an NFC chip 21a is attached to the mounting plate 11, while a query device 21b is positioned on the lidar sensor 5. The query device 21b continuously sends a query signal to the NFC chip 21a. If the distance between the mounting plate 11 and the lidar sensor 5 changes, the response signal received by the query device 21b from the NFC chip 21a also changes. This indicates that the encapsulation 13 has detached from the mounting plate 11 and that radiation may be escaping from the encapsulation 13 into the vehicle interior 3. The near-field communication unit 21 then sends a corresponding signal to the monitoring electronics 19, which deactivates the lidar sensor 5.

[0024] To monitor for a break in the windshield 7, a heating conductor 23 is embedded in the area of ​​the windshield 7 where the lidar sensor 5 is located. This heating conductor is electrically coupled to the monitoring electronics 19. In the event of a break in the windshield, the resistance of the heating conductor 23 changes, which is detected by the monitoring electronics 19 and leads to the deactivation of the lidar sensor 5.

[0025] According to Fig. 3. The monitoring unit comprises a magnetic field communication unit 25 to detect the disconnection of a connection between the mounting plate 11 and the lidar sensor 5 and / or the encapsulation 13. The magnetic field communication unit 25 has a magnet 25a, which is attached to the mounting plate 11, while a magnetic field detector 25b is positioned on the lidar sensor 5. However, it is also possible to attach the magnet 25a to or within the lidar sensor 5 and the magnetic field detector 25b to the windshield 7. Disconnection of the connection between the mounting plate 11 and the lidar sensor and / or the encapsulation 13 also results in a change in the distance between the magnet 25a and the magnetic field detector 25b, which leads to a displacement of the magnetic field of the magnet 25a, which is detected. In this embodiment as well, as in connection with Fig. As described in section 2, the heating conductor 23 is inserted into the windshield 7 to reliably detect a windshield breakage.

[0026] The signal which the monitoring unit 17 transmits to the monitoring electronics 19 to indicate the destruction of the encapsulation 13 consists of the interruption of the heating circuit of the heating conductor 23 or the interruption of a data flow to a data storage device 27 arranged in the monitoring electronics 19.

[0027] In Fig. 4 The stray light shield 15, arranged on the mounting plate 11 and the lidar sensor 5, is used as a monitoring unit. This shield includes a power and data line 29 for controlling and powering the lidar sensor 5. If this power and data line 29 is interrupted, a fault in the encapsulation 13 is inferred. For simplified assembly, the power and data line 29 is connected to the lidar sensor 5 via a plug connector 31.

[0028] In one embodiment (not shown), laser beams reflected from the disc and the encapsulation are detected by the lidar sensor in a predetermined operating state. The intensity and image of the reflected radiation are compared in the monitoring electronics with a reference value, which includes, for example, intensity and a characteristic image. If deviations from the reference value stored in the monitoring electronics occur, the lidar power is not increased above a threshold, so that any radiation leakage caused by damage to the disc or encapsulation poses no danger to persons. QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] DE 10 2022 112 923 A1

[0002]

Claims

[1] Vehicle (1) with a lidar sensor (5) positioned behind a windshield (7) of the vehicle (1) in the vehicle interior (3), wherein the radiation (9) emitted by the lidar sensor (5) passes through a transparent surface of the windshield (7), characterized by , that the lidar sensor (5) emitting radiation (9) with a radiation power above a specified eye safety threshold is provided with a capsulation (13) encompassing the lidar sensor (5) and sealing against the windshield (7) to protect against escaping radiation, which can be monitored by a monitoring unit (17) for a disturbance, in particular a mechanical destruction of the windshield (7) and / or capsulation (13), wherein the monitoring unit (17) is coupled with monitoring electronics (19) controlling the lidar sensor (5) for the detection of a disturbance. [2] Vehicle according to claim 1, characterized by, that the monitoring unit (17) monitors the connection of a mounting plate (13) arranged flat on the windscreen (7) with the lidar sensor (5) and / or the encapsulation (13) for the detection of a destruction of the encapsulation (13). [3] Vehicle according to claim 1 or 2, characterized by , that a heating conductor (23) is arranged in the windshield (7) as a monitoring unit (17), which is connected to the monitoring electronics (19) that detect a change in the resistance of the heating conductor (23) in order to detect a destruction of the encapsulation (13) by a break in the windshield. [4] Vehicle according to claim 1 or 2, characterized by , that the monitoring unit (17) is designed as a near field communication unit (21) for detecting a destruction of the encapsulation (13) by breaking a connection between the mounting plate (11) and the lidar sensor (5) and / or the encapsulation (13). [5] Vehicle according to claim 4, characterized by, that the near field communication unit (21) comprises an NFC chip (21a) attached to the mounting plate (11) and a query device (21b) positioned on the lidar sensor (5) for cyclically querying the information sent by the NFC chip (21a). [6] Vehicle according to claim 1 or 2, characterized by , that the monitoring unit (17) is designed as a magnetic field communication unit (25) for detecting a loosening of the connection between the mounting plate (11) and the lidar sensor (5) and / or the encapsulation (13). [7] Vehicle according to claim 6, characterized by , that the magnetic field communication unit (25) comprises a magnet (25a) and a magnetic field detector (25b), wherein the magnet (25a) is associated with the mounting plate (11) and the magnetic field detector (25b) with the lidar sensor (5) or the magnet (25a) with the lidar sensor (5) and the magnetic field detector (25b) with the windscreen (7). [8] Vehicle according to any of the preceding claims, characterized by, that the monitoring unit (17) interrupts a heating circuit of the heating conductor (23) or a data flow to a data storage device (27) arranged in the monitoring electronics (19) to indicate a destruction of the encapsulation (13). [9] Vehicle according to claim 1 or 2, characterized by , that a power / data line (29) for controlling and supplying energy to the lidar sensor (5) is arranged as a monitoring unit (17) on the mounting plate (11) or on a stray light shield (15) positioned in front of the lidar sensor (5) in the beam path, and that an interruption of this line detects a disturbance of the encapsulation (13). [10] Vehicle according to claim 9, characterized by , that the power / data line (29) is formed at least between the mounting plate (11) and the lidar sensor (5) or the stray light aperture (15) and the lidar sensor (5) as a plug connection (31). [11] Vehicle according to any one of claims 1 to 10, characterized by, that monitoring electronics (19) is set up to detect a disturbance by determining a reflection of laser rays emitted by the lidar sensor at the encapsulation (13) and windscreen (7) and comparing it with a reference value, wherein, as soon as a predetermined deviation from the reference value is detected, the lidar is not operated above the eye safety threshold. [12] Vehicle according to claim 11, characterized by , that the comparison with the reference value is carried out with a lidar sensor performance below the eye safety threshold. [13] Vehicle according to claim 11 or 12, characterized by , that the windscreen (7) has a partial coating and / or the encapsulation (13) has reflective or absorbing layers to increase reflections or to produce a characteristic reflection pattern.

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