Sensor device for a motor vehicle, method for operating a sensor device and motor vehicle

Abstract

The invention relates to a sensor device (2) for a motor vehicle (1), comprising a sensor element (3) having a field of view, which is configured to acquire sensor data that characterizes the environment of the sensor device (2) in the field of view, a housing (9) having an opening (10) which defines a cavity (14), wherein the opening (10) and the cavity (14) at least partially cover the field of view of the sensor element (3) into the environment, a closure device (11) which is held on the housing (9) and by means of which a passage cross-section (13) of the opening (10) can be adjusted, and an overpressure device (17) by means of which air can be introduced into the cavity (14), whereby an overpressure in the cavity (14) can be set by adjusting the passage cross-section (13) of the opening (10) and a volume flow of air introduced into the cavity (14).

Description

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

[0002] From DE 10 2021 212 322 A1, a vehicle sensor system is known with at least one sensor device having a sensor protection element. The protection element is arranged in front of the sensor protection element, extending from the sensor device towards a field of view of the sensor device, and is intended to provide additional protection for the sensor device. The protection element has at least one cladding element that partially conceals the sensor device from its surroundings.

[0003] Furthermore, a device designed for detecting the surroundings of a vehicle is known from DE 10 2017 221 515 A1. The device has a sensor with at least one transmitting and / or receiving window. Additionally, the device has at least one cover designed to cover the transmitting and / or receiving window of the sensor. The cover is designed as a disc. The device has a drive mechanism designed to generate a rotational movement of the disc in a main plane of rotation parallel to the transmitting and / or receiving window of the sensor.

[0004] Furthermore, DE 10 2013 006 686 A1 discloses a motor vehicle which includes at least one sensor for acquiring environmental information, which emits and / or receives signals. The sensor is housed in a rotatable casing, to which a wiper is assigned that cleans the outside of the casing when it is rotated.

[0005] The object of the present invention is to provide a solution which enables particularly good, maintenance-free protection of a sensor element against contamination, both in an active and inactive state of the sensor element.

[0006] This problem is solved according to the invention by the subject matter of the independent claims. Further possible embodiments of the invention are disclosed in the dependent claims, the description, and the figures. Features, advantages, and possible embodiments set forth in the description for one of the subject matter of the independent claims are to be regarded, at least analogously, as features, advantages, and possible embodiments of the respective subject matter of the other independent claims, as well as of any possible combination of the subject matter of the independent claims, optionally in conjunction with one or more of the dependent claims.

[0007] The invention relates to a sensor device for a motor vehicle, in particular a passenger car. The sensor device comprises at least one sensor element, which can also be referred to as a detector. A sensor element is a technical component that can qualitatively or quantitatively detect physical properties characterizing its environment, such as heat, temperature, humidity, pressure, or brightness. These quantities are detected by means of physical effects and converted into a further processable electrical signal. The sensor element is configured to acquire sensor data that characterizes the environment of the sensor device within a field of view of the sensor element. The field of view is understood to be the area within the detection angle of the sensor element, within which sensor data characterizing the environment can be acquired and recorded.The sensor element is in particular an optical sensor, such as a camera device, or a radar or a LIDAR or an ultrasonic sensor.

[0008] The sensor device further comprises a housing with an opening. The housing defines a cavity, the opening and the cavity at least partially obscuring the sensor element's field of view of the surroundings. This means that the sensor element can detect the surroundings of the sensor device, in particular the surroundings of the vehicle, through the cavity and through the opening of the housing.

[0009] Furthermore, the sensor device includes a shutter mechanism, which is attached to or integrated with the housing and allows the opening's cross-sectional area to be adjusted. This shutter mechanism allows the opening to be partially covered, at least partially closed, or completely opened, depending on the desired cross-sectional area. Specifically, the cross-sectional area is selected to be large enough for the sensor device to capture sensor data characterizing its surroundings through the opening.The sensor assembly further includes an overpressure device by which air can be introduced into the cavity. By adjusting the cross-sectional area of ​​the opening and the volume flow of air introduced into the cavity, an overpressure can be set within the cavity. Setting this overpressure effectively limits, and in particular prevents, the ingress of dirt particles into the cavity through the opening. Consequently, the adhesion of dirt particles within the cavity in the sensor element's field of view, especially on a surface of the sensor element, is effectively prevented. As a result, the sensor element can acquire sensor data with exceptional reliability, and the risk of data being unavailable due to contamination of the field of view is significantly reduced.

[0010] In a possible further development of the invention, the sensor device includes a sensor protection disc that limits the cavity towards the sensor element and covers the sensor element's field of view towards the opening. By adjusting the overpressure in the cavity, the risk of dirt particles adhering to the sensor protection disc can be minimized. As a result, the sensor protection disc remains exceptionally clean at all times, ensuring that the sensor element can continuously acquire sensor data. The sensor protection disc also provides excellent protection for the sensor element against damage and contamination, such as dust.

[0011] In this context, it may be particularly suitable for the sensor protective cover to be designed to rotate around its central axis relative to the housing during vehicle operation. The central axis of the sensor protective cover runs, at least substantially, parallel to one of the directions of the sensor element's field of view. Rotating the sensor protective cover during operation effectively prevents contaminant particles from accumulating on it. Furthermore, centrifugal forces acting upon any contaminant particles that do accumulate on the sensor protective cover can fling them off.

[0012] In an alternative embodiment of the invention, the sensor element comprises an image sensor and a camera lens that covers the image sensor towards the cavity. The camera lens is configured to rotate about its central axis relative to the housing during operation of the vehicle. This means that, in this embodiment, no sensor protective screen is provided covering the sensor element towards the cavity; instead, the camera lens itself partially defines the cavity. By rotating the camera lens about its central axis, which runs at least substantially parallel to the direction of the sensor element's field of view, the risk of contaminant particles adhering to the camera lens is significantly reduced.Furthermore, rotating the camera lens during operation can cause dirt particles that have accumulated on the lens to be flung off by centrifugal forces acting on these particles. This significantly reduces the risk of the camera lens becoming directly contaminated.

[0013] In a further possible embodiment of the invention, the shutter device is a central shutter. The central shutter comprises several blades grouped concentrically around a central axis, which can, for example, be the optical axis of the sensor element, particularly in an embodiment of the sensor element as a camera device. These blades can be moved synchronously away from or towards the central axis to adjust the extent of the opening. By moving the blades synchronously towards the central axis, the opening is reduced from the outside in. By moving the blades synchronously away from the central axis, the opening is increased from the inside out.In particular, due to the design of the locking mechanism as a central shutter, the opening cross-section is always arranged such that the center point of the opening cross-section lies on the axis relative to which the shutter blades move synchronously during opening and closing. It is possible for the central axis of the central shutter to coincide with the central axis of the sensor element's field of view. By designing the locking mechanism as a central shutter, it can be ensured that the opening cross-section is at least substantially circular at all times.

[0014] In a further possible embodiment of the invention, the sensor device comprises at least one air nozzle, which is directed towards the sensor element and configured to provide an airflow in the cavity in the direction of the sensor element. By means of the at least one air nozzle, a burst of air can thus be blown towards the sensor element, thereby preventing dirt particles from adhering to the sensor element or to the sensor protection disc covering the sensor element, or blowing them away from the sensor element or the sensor protection disc. The air nozzle can thus be used to clean the sensor element or the sensor protection disc by blowing away dirt particles, or to protect it from the accumulation of dirt particles.

[0015] In a further possible embodiment of the invention, the sensor device comprises at least one liquid spray device configured to provide a liquid jet directed towards the sensor element within the cavity. The liquid jet can, in particular, comprise water and / or a cleaning agent and / or a cleaning emulsion. For example, the liquid spray device can have a nozzle by means of which a directed liquid jet can be ejected towards the sensor element. Contaminants can be washed away from the sensor element or from the sensor protective cover covering the sensor element by means of this liquid jet. This allows the sensor element or the sensor protective cover, in particular the camera lens, to be cleaned of contaminants by means of the liquid jet.The liquid spray device thus enables particularly easy and reliable removal of contaminants that have already accumulated on the sensor protective disc or the sensor element. In this design, a drain opening can be integrated into a lower area of ​​the housing, which contains the overpressure chamber in the form of a cavity, through which the liquid can drain away.

[0016] It may also be provided that the sensor protection disc, or the sensor element itself – if it is not covered by the sensor protection disc towards the cavity – in particular the camera lens, has a functional coating by means of which the adhesion of contaminants can be prevented or at least made more difficult. For example, the functional coating can have a water-repellent, micro- and / or nanostructured surface which has particularly good self-cleaning properties.

[0017] The invention further relates to a method for operating a sensor device for a motor vehicle, as already described in connection with the sensor device according to the invention. In this method, the cross-sectional area of ​​the opening and the volume flow of air guided in the cavity are adjusted to set a predetermined overpressure. Thus, at least during operation of the motor vehicle, the overpressure in the cavity is adjusted relative to the surroundings of the sensor device, particularly the surroundings of the motor vehicle, in order to prevent dirt particles from entering the cavity. This provides particularly good protection for the sensor element and the sensor protective cover over the sensor element against the adhesion of dirt particles.The overpressure created in the cavity reliably prevents dirt particles from penetrating the cavity in the first place.

[0018] In a possible further development of the invention, the opening's cross-section is provided for at least temporarily while the vehicle is activated. By allowing the cross-section to be opened at least temporarily while the vehicle is activated, sensor data can be acquired through the cross-section by means of the sensor element. Furthermore, the method provides that, while the vehicle is deactivated, the opening's cross-section is completely closed by means of the closing device. This prevents dirt particles from entering the cavity when the vehicle is deactivated.In particular, if the overpressure in the cavity is not set during the deactivated state, it can be ensured that, despite the absence of overpressure in the cavity, neither dust, water, nor other dirt particles can penetrate the cavity due to the complete sealing of the opening by the sealing device, and thus contaminate the sensor protective lens or the sensor element. It can be provided that the opening is closed, at least briefly, during operation of the vehicle, for example, at least during a period for which it has been determined that no sensor data is to be acquired by the sensor element. It can therefore be provided that the opening is only open when the sensor element is to acquire sensor data characterizing the environment.As a result, the risk of dirt penetrating the cavity can be kept particularly low.

[0019] The invention further relates to a motor vehicle with a sensor device as already described in connection with the sensor device according to the invention. The motor vehicle is in particular a car, especially a passenger car. In particular, if the sensor element is designed to detect the surroundings of the motor vehicle, then the sensor device is arranged on an exterior surface of the motor vehicle such that its field of view is directed towards the surroundings of the motor vehicle. Due to the arrangement of the sensor device on the exterior surface of the motor vehicle, the sensor device may be particularly exposed to contamination.By designing the sensor device in such a way that the overpressure in the cavity can be adjusted at least during operation of the motor vehicle, a particularly high availability of the sensor element can be achieved, since the risk of dirt adhering to the sensor protective glass or to the sensor element itself is kept particularly low.

[0020] Further features of the invention may become apparent from the following description of the figures and from the drawings. The features and combinations of features mentioned above in the description, as well as the features and combinations of features shown below in the description of the figures and / or in the figures themselves, can be used not only in the combinations specified, but also in other combinations or individually, without departing from the scope of the invention.

[0021] The drawing shows in: Fig. 1 a schematic perspective view of a motor vehicle with a sensor device; Fig. 2 a schematic sectional view of the sensor device; and Fig. 3 A schematic front view of the sensor device.

[0022] Identical or functionally equivalent elements are marked with the same reference symbols in the figures.

[0023] The drawing shows in Fig. 1. A motor vehicle 1, which includes at least one sensor device 2. The sensor device 2 is in Fig. 1 schematically marked with a box. In particular, it is provided that the motor vehicle 1 comprises several sensor devices 2. The sensor device 2 is arranged on the outside of the motor vehicle 1. The sensor device 2 is in Fig. Figure 2 shows a schematic sectional view. In this case, the sensor device 2 comprises a sensor element 3, which in turn comprises an image sensor 4 and a camera lens 5. The sensor element 3 is therefore an optical sensor configured to acquire sensor data that characterizes the environment of the sensor device 2, in particular the motor vehicle 1, within the field of view of the sensor device 2.

[0024] The sensor element 3 further comprises a sensor housing 7, which encloses the image sensor 4. The camera lens 5 is arranged to cover a sensor opening 8 of the sensor housing 7. The sensor assembly 2 further comprises a housing 9 with an opening 10. In addition, the sensor assembly 2 includes a shutter assembly 11, which is designed as a central shutter and is arranged in Fig. 3 can be particularly well seen in a front view of the sensor device 2. The shutter device 11 comprises several lamellae 12 by means of which a transmission cross-section 13 of the opening 10 can be adjusted. This transmission cross-section 13 limits a detection area 6 of the sensor element 3, which is defined by the field of view. Since the sensor element 3 is an optical sensor, sensor data characterizing the environment of the sensor device 2 can be acquired by means of the image sensor 4. Light entering a cavity 14 of the housing 9 through the transmission cross-section 13 strikes the camera lens 5 and is focused – and thus bundled – onto the image sensor 4 by the camera lens 5. The path of the light beam before it strikes the camera lens 5 thus passes through the unobstructed transmission cross-section 13 of the opening 10 and through the cavity 14.

[0025] In this case, a sensor protection disc 15 is additionally arranged in the beam path. The sensor protection disc 15, the cavity 14, and the opening 10 are thus arranged to overlap the field of view of the sensor element 3 into the surroundings. The sensor protection disc 15 is designed to rotate relative to the housing 9 about a central axis 16. This effectively prevents contaminants that have entered the cavity 14 through the opening 10 from adhering to a surface of the sensor protection disc 15, or, if contaminants do adhere, they can be effectively dislodged by the centrifugal forces acting on them as a result of the rotating sensor protection disc.In particular, if the sensor device 2 is designed without the sensor protective screen 15, the camera lens 5 can be designed such that it rotates around its central axis relative to the sensor housing 5 and / or relative to the housing 9 during operation of the motor vehicle 1.

[0026] To effectively prevent the ingress of contaminants into the cavity 14, a pressure relief device 17, schematically represented by a box, is used to introduce compressed air into the cavity 14 via at least one, and preferably several, pneumatic openings 18. This, in combination with the adjustable flow cross-section 13, allows for the creation of an overpressure within the cavity 14. By setting this overpressure, the risk of ambient air flowing into the cavity 14 through the flow cross-section 13 is effectively prevented. This minimizes the risk of contaminants being carried into the cavity 14 by air flowing through the flow cross-section 13. The overpressure in the cavity 14 allows the air 19 to flow out centrally.Cavity 14 can also be referred to as a hyperbaric chamber.

[0027] The housing has nine additional openings 20. At least one of these additional openings 20 can serve as an air nozzle, by means of which a directed airflow or air blast can be directed onto the sensor protection element 15 to blow away contaminants from a surface of the sensor protection element 15. This at least one opening 20 can therefore be an air nozzle by means of which the airflow flowing towards the sensor element 3 can be provided in the cavity 14 to blow away contaminants from the beam path of the sensor element 3. The air blast can, in particular, be a high-pressure blast, by means of which the sensor protection device 15, or, if no sensor protection device 15 is present, the camera lens 5, can be cleaned.

[0028] At least one of the openings 20 can be used to provide a liquid jet in the cavity 14. The sensor device 2 may include a liquid spray device configured to provide a liquid jet directed towards the sensor element 3 in the cavity 14. In this case, the liquid spray device may be configured to direct the liquid jet towards the sensor protection element 15, thereby cleaning the sensor protection element 15 of contaminants by means of the liquid jet.

[0029] The described invention is based on the understanding that, to enable at least partially automated, and in particular highly automated, driving with a motor vehicle 1, it is crucial to ensure a high availability of the necessary sensors. Optical sensors, especially camera systems, are used to sensing the vehicle's surroundings. Due to their necessary placement in the vehicle's exterior, particularly at the front, rear, or sides, these sensors are especially susceptible to contamination. Camera lenses therefore often need to be cleaned of adhering objects as required. Known cleaning systems have a very high water consumption and are only partially capable of cleaning, in particular, dried-on contaminants from the camera lens.Since optical sensors are unavailable during cleaning, resulting in downtime, the cleaning process must be kept particularly short, which presents a technical challenge. Examples of contaminants include aerosols, dust, water droplets, insects, liquids (especially salt water), tree resin, and condensation.

[0030] Contaminants can be heavily dried or encrusted, for example, due to long periods of vehicle inactivity. Sensor systems are often unprotected when inactive, further complicating cleaning. A cleaning system with high washer water consumption requires a large-capacity water tank and increases the vehicle's weight, resulting in a reduced range. Frequent cleaning intervals lead to high washer water consumption. Wash water and dirt can contaminate the vehicle's exterior, including its bodywork, and thus continuously pollute both the vehicle and the environment during autonomous operation. Contaminants can dry and become extremely stubborn, making them difficult or impossible to remove. This is particularly relevant in the context of... Fig.The sensor device 2 described above can prevent or at least reduce contamination of the camera lens 5 or the sensor protection screen 15 to such an extent that the use of washing water for cleaning can be dispensed with.

[0031] When the vehicle 1 is inactive, closing the central locking mechanism prevents contaminants from reaching and soiling the sensor element 3 or the sensor protection disc 15. The central locking mechanism itself does not require cleaning because the relative movement of the locking plates 12 relative to each other during opening of the central locking mechanism results in a self-cleaning effect. This cleaning process can be enhanced by repeatedly opening and closing the central locking mechanism.

[0032] While the vehicle 1 is active, the sensor device 2 can be operated in four different stages. In the first stage, an airflow is injected into the cavity 14, creating an overpressure within the cavity 14. This overpressure can be regulated both by the volume flow of the airflow and by the opening width of the passage cross-section 13. If the vehicle 1 is moving in environments with an increased risk of contamination, reducing the passage cross-section 13 by means of the central closure can decrease both the statistical probability of contaminants entering the cavity 14 and, at the same time, actively counteract the ingress of contaminants into the cavity 14 by increasing the overpressure in the cavity 14 and the associated increased volume flow of air 19 flowing out of the cavity 14 into the surrounding environment through the passage cross-section 13.The increased risk of pollution in the environment in which the vehicle 1 is located can be determined by means of the sensor element 3 and / or by means of other sensors of the vehicle 1, such as a rain / light / humidity sensor.

[0033] In the second stage, if contaminants penetrate as far as the camera lens 5 or the sensor protection disc 15, their adhesion is prevented by a rapid rotation of the sensor protection disc 15 or the camera lens 5 itself, provided the camera lens 5 is not protected by the sensor protection disc 15. Additionally, the camera lens 5 and / or the sensor protection disc 15 can have a functional surface that minimizes the likelihood of contaminants adhering to it.

[0034] In the third stage, it is provided that if, despite stages 1 and 2, contaminants have adhered to the lens 5 or to the sensor protection disc 15, the contaminant is removed as soon as possible after adhesion by a targeted burst of compressed air directed towards the sensor element 3 and thus striking the sensor protection disc 15 or the camera lens 5.

[0035] In the fourth stage, when the sensor device 2 is equipped with the liquid spray device, the camera lens 5 or the sensor protective glass 15 can be cleaned using washing water. By briefly closing the central locking mechanism – and thus completely closing the opening 10 – and utilizing suitable drainage channels in the housing 9 for the washing water, contamination of the outer shell of the vehicle 1 and the environment can be particularly effectively prevented.

[0036] The adhesion of contaminants to the camera lens 5 or to the sensor protection disc 15 can be determined by image evaluation of images recorded by means of the image sensor 4 and / or by means of a sensor separate from the sensor element 3.

[0037] The central shutter is thus used to prevent dirt from entering the camera lens 5 or the sensor protection disc 15 during operation. Furthermore, the central shutter is used to prevent dirt from entering the camera lens 5 or the sensor protection disc 15 when the sensor element 3 or the vehicle 1 is not in operation, or when the vehicle 1 is parked. The central shutter can be used to shield the cavity 14 behind it from contamination. The shutter opening size of the central shutter can be adaptively selected depending on the respective environmental conditions, thereby minimizing the probability of contamination of the sensor protection disc 15 or the camera lens 5. This adaptive nature of the shutter opening size under different environmental conditions allows the risk of contamination to be kept particularly low.The central shutter can also be used to influence the pressurization of the cavity 14. This involves a combination of compressed air pressure and the opening width of the central shutter. Furthermore, the central shutter can be used to influence the depth of field of the sensor element 3. In addition, the central shutter can be used to prevent wash water from entering the vicinity of the sensor device 2, the outer skin of the vehicle 1, or the environment. Due to the scissor-like principle of the central shutter, its own movement allows it to clean itself from contamination. To prevent the adhesion of contaminants, the rotating sensor protective disc 15 can be used, or the camera lens 5 can be designed to rotate.A combined application of air pressure, central shutter, rotating camera lens 5 or sensor protection disc 15, non-stick functional surfaces of the camera lens 5 or the sensor protection disc 15, and, if necessary, washing water can be used to prevent dirt from adhering to the field of view of the sensor element 3 or to clean and thus remove dirt from the field of view of the sensor element 3. The central shutter can have a positive influence on the depth of field and thus on the sensing quality of the sensor element 3.

[0038] Instead of the rotary central shutter, a lamellar shutter or a linear shutter can be used as a locking device.

[0039] The described invention prevents the camera lens 5 or the sensor protection screen 15 from becoming dirty and – should such dirt nevertheless occur – enables the cleaning of the camera lens 5 or the sensor protection screen 15 without the use of washing water. Should washing water nevertheless be necessary, the described sensor device 2 prevents the body of the motor vehicle 1 in the immediate vicinity of the sensor device 2 from being contaminated by running washing water or dirt.

[0040] Overall, the invention demonstrates how a system for the efficient protection and cleaning of optical sensors can be implemented in autonomously or semi-autonomously or semi-automatically operating systems. Reference symbol list 1 motor vehicle 2 Sensor device 3 Sensor element 4 image sensors 5 camera lens 6. Detection area 7 Sensor housings 8 Sensor opening 9 cases 10 Opening 11 Locking device 12 slats 13 Cross-sectional area 14 Cavity 15 Sensor protection screen 16 Central axis 17 Overpressure device 18 Pneumatic opening 19 air 20 Opening 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 2021 212 322 A1

[0002] DE 10 2017 221 515 A1

[0003] DE 10 2013 006 686 A1

[0004]

Claims

Sensor device (2) for a motor vehicle (1), comprising: - a sensor element (3) having a field of view, which is configured to acquire sensor data that characterizes the environment of the sensor device (2) in the field of view; - a housing (9) having an opening (10), which defines a cavity (14), wherein the opening (10) and the cavity (14) at least partially cover the field of view of the sensor element (3) into the environment; - a closure device (11) which is held on the housing (9) and by means of which a passage cross-section (13) of the opening (10) can be adjusted; and - an overpressure device (17) by means of which air can be introduced into the cavity (14), whereby an overpressure in the cavity (14) can be set by adjusting the passage cross-section (13) of the opening (10) and a volume flow of air introduced into the cavity (14). Sensor device (2) according to claim 1, with a sensor protection screen (15) which limits the cavity (14) towards the sensor element (3) and covers the field of view of the sensor element (3) towards the opening (10). Sensor device (2) according to claim 2, wherein the sensor protection disc (15) is configured to be rotated about its central axis (16) relative to the housing (9) during operation of the motor vehicle (1). Sensor device (2) according to claim 1, wherein the sensor element (3) comprises an image sensor (4) and a camera lens (5) covering the image sensor (4) towards the cavity (14), wherein the camera lens (5) is configured to be rotated about its central axis relative to the housing (9) during operation of the motor vehicle (1). Sensor device (2) according to one of the preceding claims, wherein the locking device (11) is a central locking device. Sensor device (2) according to one of the preceding claims, comprising at least one air nozzle which is directed towards the sensor element (3) and is configured to provide an airflow in the cavity (14) in the direction of the sensor element (3). Sensor device (2) according to one of the preceding claims, comprising at least one liquid spray device which is configured to provide a liquid jet directed towards the sensor element (3) in the cavity (14). Method for operating a sensor device (2) for a motor vehicle (1) according to one of the preceding claims, in which the passage cross-section (13) of the opening (10) and a volume flow of air led into the cavity (14) are adjusted to set a predetermined overpressure in the cavity (14). Method according to claim 8, wherein at least temporarily while the motor vehicle (1) is activated, the passage cross-section (13) of the opening (10) is released, and wherein while the motor vehicle (1) is deactivated, the passage cross-section (13) of the opening (10) is completely closed by means of the closing device (11). Motor vehicle (1) with a sensor device (2) according to one of claims 1 to 7 .

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