Sensor arrangement, motor vehicle and procedure
The sensor arrangement with a jointed carrier and mounting system addresses the inflexibility of existing systems by allowing adjustable detection ranges and redundancy, ensuring reliable operation in diverse driving conditions.
Patent Information
- Authority / Receiving Office
- DE · DE
- Patent Type
- Applications
- Current Assignee / Owner
- AUMOVIO AUTONOMOUS MOBILITY GERMANY GMBH
- Filing Date
- 2024-12-18
- Publication Date
- 2026-06-18
Smart Images
Figure 00000000_0000_ABST
Abstract
Description
[0001] A sensor arrangement for a motor vehicle is specified, in particular a so-called sensor pod. Furthermore, a motor vehicle is specified, in particular a motor vehicle, that has a sensor arrangement described herein. Finally, a method for operating a sensor arrangement is specified, in particular a method for operating a sensor arrangement described herein.
[0002] Motor vehicles, such as trucks, have sensors to enable autonomous driving, for example.
[0003] It is desirable to specify a sensor arrangement for a motor vehicle that enables reliable operation. It is also desirable to specify a motor vehicle with such a sensor arrangement that enables reliable operation. Furthermore, it is desirable to specify a method for operating a sensor arrangement that enables reliable operation.
[0004] The disclosure relates to a sensor arrangement for a motor vehicle. The disclosure also relates to a motor vehicle, for example, a truck and / or a bus. Furthermore, the disclosure relates to a method for operating a sensor arrangement, in particular for operating a sensor arrangement described herein according to one of the described embodiments.
[0005] According to one embodiment, the sensor arrangement comprises a sensor carrier. The sensor arrangement includes a plurality of sensors. Each of the plurality of sensors is attached to the sensor carrier. The plurality of sensors includes at least one camera, one radar, and one lidar. The sensors of the plurality of sensors can be any combination of camera, radar, and lidar. For example, the plurality of sensors includes at least one camera, at least one radar, and at least one lidar. Other sensor types are also possible, such as ultrasonic sensors. The sensors of the plurality of sensors are configured and designed to acquire information about the vehicle's surroundings, for example, information used for autonomous driving. For this purpose, the sensors are, for example, connected to the vehicle's control system via a signal transmission system.For example, the sensors are designed and equipped to detect obstacles, lanes, other motor vehicles, people, animals, and / or other elements in the vicinity of the motor vehicle.
[0006] The sensor assembly includes a mounting for attaching the sensor carrier to the motor vehicle. For example, the mounting can be achieved by means of screws, bolts, welding, clamps, or other fastening methods to connect it to the motor vehicle, in particular to the vehicle body.
[0007] The sensor assembly includes a joint. The joint connects the sensor carrier and the mounting. Specifically, the sensor carrier and the mounting are fixed to each other by means of the joint. The joint allows for a defined relative movement between the sensor carrier and the mounting. It is also possible for the joint to be locked in a specific operating state, thus preventing the relative movement between the sensor carrier and the mounting.
[0008] The relative orientation of the sensor carrier and its mounting can be changed to modify the detection range of multiple sensors. For example, in a first operating state, the sensors on the vehicle are arranged to monitor a specific detection range. In a second operating state, the orientation of the sensor carrier and its mounting relative to each other is changed. Thus, the sensors are positioned differently relative to the vehicle than in the first operating state. Consequently, a different detection range can be monitored by the sensors in the second operating state than in the first. The mounting can be rigidly fixed to the vehicle. The change in the detection range is made possible by the joint. This joint allows the sensor carrier to be moved to alter the detection range.
[0009] For example, it is possible to adjust the detection range to a specific area around the vehicle, as desired and / or legally required in a particular operating state. It is also possible to adapt the detection range to other sensors in the vehicle. For instance, if other sensors are not functioning as expected and not providing the required data, the detection range of the sensor array can be adjusted so that this missing data can be provided by the sensor array.
[0010] According to one embodiment, the joint includes a tilting joint for tilting the sensor carrier relative to the mounting about a first axis of the sensor carrier. The first axis is, for example, parallel or nearly parallel to a longitudinal axis of the vehicle when the sensor assembly is mounted. For example, the sensor assembly extends from the mounting along a second axis longer than along the first axis. For example, the joint is arranged along the second axis between the sensor carrier and the mounting. The first axis is, for example, aligned with the main direction of travel of the vehicle. Tilting the sensor carrier about the first axis thus allows it to tilt both upwards and downwards.
[0011] Alternatively or additionally, the joint features a swivel joint for rotating the sensor carrier relative to its mounting about the second axis of the sensor carrier. The sensor carrier can, for example, be pivoted about the second axis to change the detection range.
[0012] Any combination of different joints is possible, or a single joint that allows relative movement in various directions. Thus, for example, the sensor carrier can be tilted and rotated relative to its mounting. A ball joint is one example of a suitable design for this purpose.
[0013] According to one embodiment, the joint is designed for a stepwise change in the relative orientation. Alternatively or additionally, the joint is designed for a continuous change in the relative orientation. For example, the joint has a plurality of discrete, predefined positions of the sensor carrier and the mounting relative to each other. A continuous change enables, for example, a continuous, slow relative movement of the sensor carrier relative to the mounting, thus allowing scanning of different detection areas during operation.
[0014] According to one embodiment, the motor vehicle is equipped for assisted and / or automated driving. In particular, the motor vehicle is a so-called autonomous vehicle. The motor vehicle has a sensor arrangement according to one of the embodiments described herein. The sensor arrangement is mounted to the vehicle body, allowing the orientation of the sensor carrier relative to the body to be changed. Thus, during operation of the motor vehicle, for example while driving, it is possible to change and adjust the detection range of the sensor arrangement relative to the vehicle. This makes it possible, for example, to monitor different areas around the vehicle using the sensor arrangement.Thus, for example, the sensor arrangement allows monitoring in one detection range for faster driving and another for slower driving. Furthermore, it is possible to create redundancy for other vehicle sensors.
[0015] According to one embodiment, the motor vehicle has a further sensor arrangement. The further sensor arrangement and the sensor arrangement can be of the same design and thus have the same type of sensors. It is also possible that the sensor arrangement and the further sensor arrangement have different sensors. In particular, the sensor arrangement and the further sensor arrangement are each designed to be positioned laterally on the motor vehicle. The sensor arrangement is, for example, located on a first longitudinal side of the vehicle. The further sensor arrangement is, for example, located on a second longitudinal side of the vehicle opposite it. Thus, the sensor arrangement and the further sensor arrangement are positioned to monitor a detection area to the side of the motor vehicle and behind the motor vehicle.
[0016] According to one embodiment, in a first operating mode, the sensor arrangement has a first orientation of the sensor carrier for a first detection range in the far range. In a second operating mode, the sensor arrangement has a second orientation of the sensor carrier for a second detection range in the near range. The near range is located closer to the vehicle than the far range. For example, the second operating mode is used when the vehicle is traveling at low speeds, such as during maneuvering. The first operating mode is used, for example, during faster travel, such as on a highway. It is possible that the near-range detection range is also monitored by other sensors of the vehicle.If these sensors fail and / or do not provide reliable data, it is possible to use the sensor array and / or the additional sensor array that are actually used for the far range for the near range in order to replace the failed sensors.
[0017] The sensor array is mounted on a motor vehicle. The method involves changing the orientation of the sensor carrier relative to the vehicle body. This alters the detection range of the majority of sensors in the array. For example, the orientation is changed depending on the vehicle's operating mode. It is possible, for instance, to move the orientation back and forth between several predefined orientations. Thus, it is possible to adapt the detection range to the current operating mode of the vehicle.
[0018] According to one embodiment, the method includes detecting a failure of a near-field sensor of the vehicle. The orientation of the sensor carrier is changed in response to the detected failure, so that the detection range of the majority of sensors lies in the immediate vicinity of the vehicle. Thus, it is possible to monitor a detection range using the sensor device that would otherwise be monitored by the failed near-field sensor.
[0019] The sensor arrangement, the vehicle, and the process enable flexible use of the sensors. This makes it possible, for example, to eliminate the need for sensors that would otherwise be required on the vehicle. Alternatively or additionally, sensor redundancy can be implemented. The advantages and characteristics of the sensor arrangement also apply to the vehicle and the process, and vice versa.
[0020] Further advantages, features, and developments will emerge from the following examples, explained in conjunction with the figures. Identical, similar, or equivalent elements can be designated with the same reference symbols.
[0021] They show: Fig. 1 and Fig. 2 each a schematic representation of a motor vehicle with two sensor arrangements according to an exemplary embodiment, Fig. 3 and Fig. 4 each a schematic representation of a motor vehicle with a sensor arrangement according to an exemplary embodiment, Fig. 5 a schematic representation of a sensor arrangement according to an exemplary embodiment, and Fig. 6 a flowchart of a process according to an exemplary embodiment.
[0022] Fig. 1 and Fig. Figure 2 shows a motor vehicle 100 with two sensor arrangements 200 according to an exemplary embodiment. The sensor arrangements 200 are each configured, for example, as also shown below in conjunction with Fig. 5 explained.
[0023] The motor vehicle 100 is, for example, a truck or a bus. It is also possible that the motor vehicle 100 is a passenger car. The motor vehicle 100 has a main direction of travel. One front of the motor vehicle 100 faces in the direction of the main direction of travel. The motor vehicle 100 has a first side 102 and a second side 103, which run along the main direction of travel and are arranged opposite each other. The first side 102 and the second side 103 can each also be referred to as the longitudinal sides of the vehicle. The first side 102 and the second side 103 extend along a longitudinal direction of travel.
[0024] The motor vehicle 100 has a body 101. The body 101 can also be referred to as the load-bearing chassis. One of the sensor arrangements 200 is coupled to the body 101 on the first side 102 of the vehicle, in particular attached to it. The second sensor arrangement 200 is coupled to the body 101 on the second longitudinal side 103 of the vehicle, in particular attached to it.
[0025] The motor vehicle 100 has additional sensors, in particular, for example, a near-field sensor 104 or a plurality of near-field sensors 104, which are designed separately from the sensor arrangements 200. It is also possible to omit the near-field sensors 104.
[0026] The sensor arrangements 200 are, in particular, identical and corresponding to one another. Therefore, the following discussion focuses primarily on one of the sensor arrangements 200, although the description also applies to the other sensor arrangement 200.
[0027] The sensor arrangement 200 is in particular a so-called sensor pod which has a plurality of sensors 210, 220, 230, as shown in Fig. Figure 5 illustrates this. Sensor 210, for example, is a camera. Sensor 220, for example, is a radar. Sensor 230, for example, is a lidar. Other types of sensors and any combination of these sensors 210, 220, 230 are possible. It is also possible to have more than three sensors 210, 220, 230 or fewer than three sensors 210, 220, 230.
[0028] The sensor arrangement 200 is designed to have a detection range 301, 302 ( Fig. 3 and Fig. 4) to monitor. The information provided by the sensor 200 via the detection range 301, 302 is used, for example, by a control unit of the vehicle 100, which in particular includes a processor and memory units, for assisted and / or automated driving operation of the vehicle 100. The vehicle 100 is thus, for example, an autonomously driving truck. For example, the vehicle 100 corresponds to a Level 4 vehicle or a higher level according to SAE J3016. Lower levels than Level 4 vehicles are also possible for the vehicle 100.
[0029] One of the sensor arrangements 200 is thus intended to monitor a detection area 301, 302 on the first side of the vehicle 102. The other of the sensor arrangements 200 is thus intended to monitor a detection area 301, 302 on the second side of the vehicle 103.
[0030] As can be seen from the difference between the Fig. 1 and Fig. 2 as well as Fig. 3 and Fig. 4, it is possible to change the relative orientation of the sensor arrangement 200 or at least of the sensors 210, 220, 230 relative to the body 101. For example, it is possible to orient the sensors 210, 220, 230 about a first axis 204 ( Fig. 5) to tilt. The first axis 204 runs in the same direction as the main direction of travel of the motor vehicle 100 and, for example, in the same direction as the longitudinal extent of the vehicle sides 102, 103. For example, an electric motor (not explicitly shown) is provided which drives the change of orientation.
[0031] Alternatively or additionally, it is possible to move the sensors 210, 220, 230 about differently oriented axes, for example about a second axis 205, as shown schematically in the Fig. 3 and Fig. 4 shown. The second axis 205 ( Fig. 5) is, for example, oriented perpendicular to the first axis 204. It is also possible that the sensors 210, 220, 230 can only be pivoted about a single axis 204, 205, whereby this single axis 204, 205 can be arbitrarily oriented relative to the vehicle 100. It is also possible to arrange the sensors 210, 220, 230 so that they can be pivoted arbitrarily relative to the body 101, for example by means of a swivel joint.
[0032] In a first operating mode ( Fig. 1 and Fig. 3), which corresponds, for example, to a main operating mode of the sensor arrangement 200, the sensor arrangement 200 is designed and configured to determine and provide information about the detection range 301 in a remote area. In a second operating mode ( Fig. 2 and Fig. 4) The sensor device 202 is designed and configured to determine and provide information about a second detection area 302 in a short-range area. In particular, the long-range detection area 301 is located further away from the motor vehicle 101 than the short-range detection area 302. For example, the detection area 301 is positioned further back with respect to the operational orientation of the motor vehicle 100 than the second detection area 302. It is also possible to orient the two different detection areas 301, 302 differently relative to each other, for example, once next to the motor vehicle 100 and once in front of the motor vehicle 100, or to the side of the motor vehicle 100, once closer to and once further away from the motor vehicle 100.
[0033] In the first operating mode, sensors 210, 220, and 230 are oriented differently relative to the body 101 than in the second operating mode. This makes it possible to monitor the different detection areas 301 and 302 in the different operating modes using sensors 210, 220, and 230.
[0034] For example, the sensor arrangement 200 is used in the first operating mode, which is the usual one, for the more distant detection range 301 in the far range. The second operating mode of the sensor arrangement 200 is, for example, predetermined depending on the operating mode of the motor vehicle 100. If the motor vehicle 100 is, for example, maneuvering slowly, the second operating mode of the sensor arrangement 200 is used according to Fig. 2 or Fig. 4 is used to provide better coverage of the immediate surroundings of the vehicle 100 in the nearer detection range 302. This improved coverage of the nearer detection range 302 is possible with the same sensor arrangement 200 that is also used for the more distant detection range 301. Thus, additional sensors are avoided.
[0035] It is also possible to use the second operating mode of the sensor arrangement alternatively or additionally if other sensors, for example the near-field sensors 104, fail. In the second operating mode, the sensor arrangement 200 is then used to provide information that would otherwise be provided by the near-field sensor 104.
[0036] It is also possible for the sensor array 200 to be continuously moved back and forth between the two operating modes, for example by means of a slow rotation. This makes it possible, for example, to monitor both the long-range detection area 301 and the short-range detection area 302.
[0037] As in Fig. As shown in Figure 5, the sensor assembly 200 has a sensor carrier 201. The sensor assembly 200 has a mounting 203 by means of which the sensor assembly 200 can be attached to the body 101. A joint 202 is provided between the sensor carrier 201 and the mounting 203.
[0038] The joint 202 is, for example, a pivot joint and / or a ball joint. The joint 202 allows relative movement between the sensor carrier 201 and the mounting 203 about the first axis 204 and / or about the second axis 205 and / or about further axes.
[0039] The sensors 210, 220, 230 of the sensor assembly 200 are attached to the sensor carrier 201. Specifically, the position of each sensor 210, 220, 230 on the sensor carrier 201 is predetermined for use in the sensor assembly 200, where the sensor carrier 201 is oriented differently relative to the body 101 in the various operating modes of the sensor assembly 202. For example, the arrangement of the sensors 210, 220, 230 on the sensor carrier 201 differs from the arrangement in a conventional sensor pod, where the sensors are rigidly and immovably arranged relative to the body 101.
[0040] For example, the electric motor (not explicitly shown) is provided to change the relative orientation between the sensor carrier 201 and the mounting 203. The electric motor is arranged, for example, to pivot the sensor carrier 201 relative to the mounting 203.
[0041] Fig.Figure 6 shows a flowchart of a method for operating the sensor arrangement 200 according to an exemplary embodiment.
[0042] In step 401, a desired operating mode for the sensor arrangement 200 is determined. For example, the desired operating mode is determined depending on an operating mode of the vehicle 100. Alternatively or additionally, the desired operating mode is determined, for example, depending on a functionality of a sensor system of the vehicle 100, such as a functionality of the near-field sensors 104.
[0043] In step 402, the orientation of sensors 210, 220, 230 relative to the body 101 is changed, for example by changing the orientation of the sensor carrier 301 relative to the body 101. In particular, the orientation is changed depending on the desired operating mode determined in step 401.
[0044] In step 403, which can occur simultaneously with step 402, the detection range of sensors 210, 220, and 230 is changed. Specifically, the detection range is modified depending on changes in orientation. In step 403, the detection range is changed to enable the operating mode determined in step 401.
[0045] For example, in step 401, it is determined that the vehicle's near-field sensor 104 has failed. Alternatively or additionally, a slow maneuvering of the vehicle 100 is detected, during which information about the near range is required, which is conventionally provided by the near-field sensor 101. In order to provide this information despite the failure of the near-field sensor 104, the orientation of sensors 210, 220, and 230, which by default are directed, for example, at the far-range detection area 301, is changed so that they are directed at the near-range detection area 302.
[0046] It is also possible that the sensor arrangement 200 is not located on one of the vehicle sides 102, 103, but rather at the front, for example, in the middle above the windshield.
[0047] The sensor arrangement 200, as shown in the various examples, allows for variable adjustment of the detection range 301, 302. Therefore, the sensor arrangement 200 can be used for a wide variety of operating modes of the vehicle 100; in particular, it is possible to use long-range sensors even for short-range maneuvers such as slow shunting. This makes it possible, for example, to reduce the number of sensors on the vehicle 100 and thus also to save costs. Reference sign 100 motor vehicles 101 Bodywork 102 first vehicle page 103 second side of vehicle 104 Near-field sensor 200 sensor arrangement 201 sensor carriers 202 joint 203 Fastening 204 first axle 205 second axle 210, 220, 230 Sensor 301 Detection range, long range 302 Detection range, near range 401, 402, 403 Procedural steps
Claims
Sensor arrangement (200) for a motor vehicle (100), wherein the sensor arrangement (200) comprises: - a sensor carrier (201), - a plurality of sensors (210, 220, 230) attached to the sensor carrier (201), wherein the plurality of sensors (210, 220, 230) comprises at least one consisting of a camera (210), a radar (220) and a lidar (230), - a mounting (203) for attaching the sensor carrier (201) to the motor vehicle (100), - a joint (202) coupling the sensor carrier (201) and the mounting (203) to each other, wherein a relative orientation of the sensor carrier (201) and the mounting (203) to each other is changeable in order to change a detection range (301, 302) of the plurality of sensors (210, 220, 230). Sensor arrangement according to claim 1, wherein the joint (202) has a tilting joint for tilting the sensor carrier (201) relative to the mounting (203) about a first axis (204) of the sensor carrier (201). Sensor arrangement according to claim 1 or 2, wherein the joint (202) has a pivot joint for rotation of the sensor carrier (201) relative to the mounting (203) about a second axis (205) of the sensor carrier (201). Sensor arrangement according to one of claims 1 to 3, wherein the joint (202) is designed for a stepwise change of the relative orientation. Sensor arrangement according to one of claims 1 to 3, wherein the joint (202) is designed for a continuous change of the relative orientation. Motor vehicle (100), comprising: - a sensor arrangement (200) according to one of claims 1 to 5, wherein the attachment (203) is attached to a body (101) of the motor vehicle (100) so that the orientation of the sensor carrier (201) relative to the body (101) can be changed. Motor vehicle according to claim 6, comprising a further sensor arrangement (200) according to one of claims 1 to 5, wherein the sensor arrangement (200) is arranged on a first longitudinal side (102) of the vehicle and the further sensor arrangement (200) is arranged on an opposite second longitudinal side (103) of the vehicle. Motor vehicle according to claim 6 or 7, wherein the sensor arrangement (200) in a first operating mode has a first orientation of the sensor carrier (201) for a first detection area (301) in the far range and in a second operating mode has a second orientation of the sensor carrier (201) for a second detection area (302) in the near range, wherein the near range is arranged closer to the motor vehicle (100) than the far range. Method for operating a sensor arrangement (200) according to one of claims 1 to 5, which is attached to a motor vehicle (100), the method comprising: changing an orientation of the sensor carrier (201) relative to a body (101) of the motor vehicle (100), and thereby changing a detection range (301, 302) of the plurality of sensors (210, 220, 230). Method according to claim 9, comprising: - Determining a failure of a near-field sensor (104) of the motor vehicle (100), - Changing the orientation in response to the determined failure to a detection area (302) of the plurality of sensors (210, 220, 230) in the near area of the motor vehicle (100).