Measuring system for scanning the surroundings, method for operating a measuring system of this kind, and vehicle

Abstract

The invention relates to a measuring system (10) for scanning the surroundings, comprising: an optical sensor system (12) for scanning the surroundings by means of optical signals (LTX, RTX), wherein the optical sensor system has a deflection device (20) for the optical signals (LTX, LRX), and wherein the deflection device (20) has a rotary body and a radar sensor (14) which is located on the rotary body in such a way that the surroundings can be scanned in a first direction (28) by the radar sensor (14) due to a rotation of the rotary body. The invention also relates to method for operating the measuring system (10) and to a vehicle (100) comprising the measuring system (10).

Description

[0001] MEASURING SYSTEM FOR ENVIRONMENTAL DETECTION, METHOD FOR OPERATING SUCH A MEASURING SYSTEM AND VEHICLE

[0002] Technical area

[0003] The application relates to a measuring system for environmental detection and a method for operating such a measuring system. Environmental detection systems are used, for example, in vehicles. Such measuring systems can be based on electromagnetic waves.

[0004] background

[0005] Modern vehicles (cars, vans, trucks, motorcycles, etc.) are equipped with a multitude of measuring systems, also called sensors, whose data is used to provide driver information and / or to driver assistance systems. These measuring systems record the vehicle's surroundings and other road users. Based on the recorded data, a model of the vehicle's environment can be created, and changes in this environment can be responded to.

[0006] Measurement systems are constantly being developed for various functions, e.g., for the acquisition of environmental information in the near and far range of vehicles, such as passenger cars or commercial vehicles. Measurement systems can also serve as sensor systems for driver assistance systems, particularly assistance systems for autonomous or semi-autonomous vehicle control. They can be used, in particular, to detect obstacles and / or other road users in the front, rear, or blind spot area of ​​a vehicle. Measurement systems can be based on various sensor principles, such as radar, ultrasound, and optics.

[0007] An important optical sensor principle for measurement systems for environmental detection, e.g., of vehicles, is LIDAR technology (Light Detection and Ranging). A LIDAR sensor has an optical transmitter unit and an optical receiver unit. The transmitter unit can emit an optical transmission signal, which can be continuous or pulsed. The optical transmission signal can also be modulated. In a LIDAR sensor, electromagnetic waves in the form of laser beams in the ultraviolet, visible, or infrared range can be used. The receiver unit can receive the light after it has been reflected from an object in a surveillance area in the vicinity of the LIDAR sensor. The optical reception signal can be evaluated using the optical transmission signal, e.g., using a time-of-flight method, and the spatial position and distance of the object from which the reflection occurred can be determined.In addition, the determination of a relative velocity is possible. Reflection or reflected light is understood here to mean any light that is returned and should, in particular, also include light that is returned by scattering or absorption-emission.

[0008] Another important sensor principle for environmental detection is radar technology, which is based on electromagnetic waves, e.g., in the microwave range. A radar sensor has a transmitter unit for a radar transmit signal and a receiver unit for a radar receive signal. The receiver unit can receive the radar signal after it has been reflected off an object in a monitoring area in the vicinity of the radar sensor. The radar receive signal can be evaluated using the radar transmit signal, and information about the object on which the reflection occurred can be determined. Radar sensors can also be used in vehicles for blind spot detection and can be installed, for example, in side mirrors for this purpose.

[0009] US 2018 / 0149742 A1 describes a sensor unit mounted on the roof of a vehicle and containing both radar and lidar sensors. The sensor unit can rotate so that both the radar and lidar sensors are rotated so that both the radar and lidar sensors detect the surroundings across the entire horizontal plane for the duration of one rotation.

[0010] Overview

[0011] A measuring system for environmental detection comprises an optical sensor system for environmental detection and a radar sensor for environmental detection. The optical sensor system is designed for environmental detection using optical signals, wherein the optical sensor system has a deflection device for the optical signals. The deflection device has a rotating body. The radar sensor is arranged on the rotating body such that, by rotating the rotating body, the environment can be scanned by the radar sensor in a first direction for environmental detection. The rotating body can also be referred to as a rotor, for example.

[0012] The optical signals can, in particular, comprise optical transmission signals and / or optical reception signals. The optical sensor system can comprise an optical transmission unit with a light source for transmitting the optical reception signals and an optical reception unit with a reception sensor for receiving the optical reception signals. The radar sensor can comprise a transmission unit for transmitting radar transmission signals and a reception unit for receiving radar reception signals.

[0013] Such a measurement system has the advantage that the radar sensor can utilize the rotational movement of the deflection device to scan the surroundings. This allows for a simpler design of the radar sensor itself. For example, a separate deflection device for the radar sensor can be omitted for scanning in the first direction.

[0014] The radar sensor can rotate together with the rotating body. This can create a cooling effect on the radar sensor due to the airflow. This can eliminate the need for additional cooling measures on the radar sensor, potentially resulting in cost savings.

[0015] In one embodiment, the deflection device has a rotating mirror device with at least one mirror surface, wherein the at least one mirror surface can be connected to the rotating body and in particular can be attached thereto. The at least one mirror surface can have essentially reflective properties with respect to the wavelength of the optical sensor system and can be at least partially transparent to the wavelengths of the radar sensor. The at least one mirror surface can also be designed as a selective bandpass filter and / or be based on a very thin metal layer. Due to the rotary movement of the rotating body, the optical signals of the optical sensor system are deflected in their direction for the purpose of detecting the environment. The deflection can relate to optical transmission signals and / or optical reception signals.

[0016] The optical sensor system may in particular comprise a lidar sensor, which operates, for example, with optical signals that include laser light.

[0017] In one embodiment, the deflection device is arranged in the optical transmission path and / or in the optical reception path of the optical sensor system. The optical transmission path is the path traveled by the optical transmission light after being emitted by the light source on its way into the environment until it is reflected, for example, by an object. The optical reception path is the path traveled by the optical reception light after being reflected, for example, by an object, before being received by the reception sensor.

[0018] In one embodiment, the rotating body allows the optical sensor system to scan the surroundings, particularly in the first direction, for environmental detection. The rotating body's rotating body gradually deflects the optical transmission signals of the optical sensor system in their angular direction for the purpose of detecting the surroundings. As a result, the optical transmission signals are gradually incident on objects in the surroundings, for example, with a small offset that depends on the deflection by the deflection device. The scanning process can also be referred to as scanning.

[0019] In one embodiment of the measuring system, the radar sensor is arranged on the rotating body such that its scanning of the environment precedes the scanning of the environment by the optical sensor system in the first direction. Precedence in this context means that, in conjunction with the rotating body's rotational movement, radar transmission beams impinge on points or areas at certain angles of the environment before the optical transmission beams. This makes it possible to incorporate insights gained from the environmental detection by the radar sensor into the environmental detection by the optical sensor system.

[0020] In one embodiment of the measuring system, at least one parameter of the optical sensor system depends on the environmental detection by the radar sensor. For example, if a detected impairment of the optical environmental detection by the radar sensor is detected, the strength of the emitted optical signal can be increased.

[0021] In one embodiment of the measuring system, the transmission characteristic of the radar transmission signal runs transversely, in particular perpendicularly, to the at least one mirror surface of the rotating mirror device. This allows the radar transmission signal to scan the surroundings, for example, in the same direction as the optical transmission signal.

[0022] In one embodiment, the transmission characteristic of the radar transmission signal has two main directions, each of which runs transversely, in particular perpendicularly, to the at least one mirror surface. This could, for example, apply to a radar sensor that has two "main lobes" in the characteristic of its transmission signal. These two main lobes could, for example, be directed in opposite directions.

[0023] In one embodiment, the transmission characteristic of the radar transmission signal is wider in a second direction transverse, in particular perpendicular, to the first direction than in the first direction. This could, for example, apply to a radar sensor that has a broadened transmission signal characteristic. The broadening can, in particular, affect the direction transverse, e.g., perpendicular, to the scanning direction. For a horizontal scanning direction, this can mean a broadening in the vertical direction.

[0024] In one embodiment, the radar sensor has a further deflection device for the radar transmission signal, by means of which the surroundings can be scanned in a third direction by the radar sensor. The scanning in the third direction is effected by the further deflection device for the radar sensor. The further deflection device can comprise, for example, a phased array, by means of which the radar transmission signal can be deflected in the third direction such that, for example, the vertical direction is scanned by the radar sensor in addition to the horizontal direction. In this case, the third direction can correspond in particular to the vertical direction.

[0025] In one embodiment of the measuring system, an additional radar sensor is arranged on the rotating body in such a way that the rotating body's rotational movement allows the additional radar sensor to scan the surroundings. This makes it possible to use the rotating body to scan the surroundings for additional radar sensors.

[0026] In one method for operating the described measuring system, the environment is scanned by the radar sensor for environmental detection. In particular, the rotating body of the deflection device of the optical sensor system is used to allow the radar transmission beams emitted by the radar sensor to scan the environment. The scanning is performed by the rotating movement of the rotating body.

[0027] In one embodiment of the method, the environment is scanned by the optical sensor system for environmental detection. In particular, mirror surfaces attached to the rotating body of the deflection device of the optical sensor system are used to deflect the optical transmission beams emitted by the optical transmission unit, thus enabling a scanning of the environment. The scanning is performed by the rotating movement of the rotating body.

[0028] In one embodiment of the method, the scanning of the environment by the radar sensor precedes the scanning of the environment by the optical sensor system. This allows at least one parameter of the optical sensor system to be adjusted depending on the scanning by the radar sensor. This can, for example, relate to the strength of the optical transmission signal if, for example, the radar sensor, which is moving ahead with its transmission beam, detects a blockage in the transmission path of the optical transmission signal.

[0029] A vehicle can incorporate the described measurement system. The measurement system can be used to detect the environment in the vehicle and exchange information with control and regulation systems located within the vehicle. Depending on the information obtained by the measurement system, actuators in the vehicle can be controlled, thus enabling autonomous and / or semi-autonomous driving functions, for example.

[0030] By attaching the radar sensor to the deflection device of the optical sensor system, it may be possible to eliminate the need for additional radar sensors, for example, on the vehicle. This can contribute to further space and cost savings.

[0031] Fiauren list

[0032] In the following, embodiments of this application are further explained and described with reference to the figures.

[0033] Fig. 1 schematically shows an embodiment of a measuring system for environmental detection,

[0034] Fig. 2 schematically shows another embodiment of a measuring system for environmental detection,

[0035] Fig. 3 shows a schematic example of a scanning grid of the measuring system,

[0036] Fig. 4 schematically shows another example of a scanning grid of the measuring system,

[0037] Fig. 5 schematic side view of a vehicle with measuring system,

[0038] Fig. 6 schematically shows a top view of the vehicle with measuring system and

[0039] Fig. 7 schematically shows a flow diagram of an embodiment of a method for operating the measuring system.

[0040] The same reference numerals are used throughout the figures to refer to identical or similar elements. Representations in the figures may not be to scale.

[0041] Flower description

[0042] Figure 1 schematically shows a measuring system 10, which can be used, for example, for environmental detection in a vehicle 100.

[0043] The measuring system 10 has an optical sensor system 12, which can comprise a lidar system, for example. The optical sensor system 12 emits an optical transmission signal LTX for environmental detection via an optical transmission unit. The optical sensor system 12 further has an optical reception unit designed to receive an optical reception signal LRX. By evaluating the optical transmission signal LTX and the optical reception signal LRX, information about the environment of the measuring system 10 can be determined. The evaluation of the optical transmission signal LTX and the optical reception signal LRX can take place, for example, in a control unit, which can have memory and a computing unit. The control unit can be arranged, for example, in the optical sensor system 12 and / or at another location in the measuring system 10.

[0044] The optical sensor system 12 is designed to detect the surroundings of the measuring system 10 by scanning. During scanning, the optical transmission signal LTX is guided over the surroundings by a stepwise angle change in a scanning direction in the first direction 28. Reflections from objects in the surroundings, for example, reach a receiving sensor of the optical sensor system 12 as an optical reception signal LRX and can be evaluated together with the optical transmission signal LTX.

[0045] The scanning of the environment is performed by deflecting the optical transmission signal LTX by an optical deflection device 20, which has a rotating body mounted for rotation about at least one axis. The optical deflection device can, for example, be implemented by optical elements such as at least one lens and / or at least one prism. An optical phase array can also be used as the deflection device 20.

[0046] In the embodiment shown in Figure 1, the deflection device 20 comprises a rotating mirror arrangement. The rotating mirror arrangement has two mirror surfaces 24. The optical transmission signal LTX can be deflected at the mirror surfaces 24 for environmental detection and scanning. Reflected light in the form of the optical reception signal LRX can also be deflected by the mirror surfaces 24 and guided to a reception sensor of a reception device of the optical sensor system 12. The rotating mirror device is rotatably mounted about an axis. In the illustrated embodiment, the rotating mirror device can rotate about its axis in a first direction 28. Embodiments are also conceivable in which the rotating mirror device executes a pivoting movement.

[0047] The measuring system 10 further comprises a radar sensor 14. The radar sensor detects the surroundings of the measuring system 10 by transmitting a radar transmission signal RTX and receiving a radar reception signal RRX. The characteristic 16 of the radar transmission signal RTX depends on the antenna design of the radar sensor 14. The wavelengths of radar signals can, for example, be in the microwave range. The radar transmission signals RTX transmitted by a radar transmission unit can, for example, be reflected by objects in the surroundings of the measuring system 10 and received again as radar reception signals RRX by a reception unit of the radar sensor 14. By evaluating the radar transmission signal RTX and the radar reception signals RRX, information about the surroundings can be determined. In particular, objects in the surroundings can be determined, possibly together with other properties of the objects.

[0048] The radar transmission signal RTX and the radar reception signal RRX can be evaluated, for example, in a control unit. The control unit can be located in the radar sensor 14. The control unit can also be located elsewhere in the measuring system 10. It is also possible to perform the evaluation of the radar transmission signal RTX, the radar reception signal RRX, the optical transmission signal LTX, and the optical reception signal LRX jointly in a control unit. This can then be located, for example, in the optical sensor system 12 and / or in the radar sensor 14 and / or at another location in the measuring system 10.

[0049] The rotating mirror system 20 has a mounting device 22 on which the mirror surfaces 24 and the radar sensor 14 are arranged. The mounting device 22 can form the rotating body of the deflection device 20. The radar sensor 14 is arranged on the mounting device 22 such that it rotates together with the mirrors 24 around the axis of the deflection device 20 in the direction of rotation 28.

[0050] In the illustrated embodiment, the measuring system 10 has a casing 26 that partially surrounds the deflection device 20. The casing 26 has the function of protecting the measuring system 10 from environmental influences. In the illustrated example, the casing 26 is, for example, opaque to light. The casing 26 therefore has an opening through which the optical transmission signal LTX is transmitted and the optical reception signal LRX is received. In the example illustrated in Figure 1, the radar transmission signal RTX is also transmitted through the opening, and the radar reception signal RRX is received through the opening. Figure 2 shows a further embodiment of the measuring system 10. The optical sensor system 12, which is also a component of the measuring system 10 illustrated in Figure 2, is not illustrated in Figure 2.

[0051] The radar sensor 14 shown in Figure 2 has transmission characteristics 16 of the radar transmission signal RTX that radiate in two directions. In the example shown, the two transmission characteristics 16 are arranged so that they radiate in opposite directions. This is possible, for example, by using one antenna design for each direction. Alternatively or additionally, it is possible to use an antenna design with a dipole radiation pattern.

[0052] The casing 26 can, in particular, be designed such that radar beams are reflected by it. In this way, one of the transmission characteristics 16 can radiate directly toward the surroundings, while the other transmission characteristic 16 can be reflected by the casing 26 and also contribute to the detection of the surroundings by the radar sensor 14.

[0053] In the embodiment of Figure 2, the deflection device 20 is also designed as a rotational play system with the mirror surfaces 24. The deflection device 20 has the rotating body, which has the holding device 22. The deflection device 20 is mounted rotatably about its axis. In the example shown, the deflection device 20 can rotate in the first direction 28, the direction of rotation. Since the radar sensor 14 is arranged on the deflection device 20 such that it executes the rotational movement together with the deflection device 20, its radar transmission signal RTX also executes a rotational movement and, through this rotational movement, scans the surroundings of the measuring system 10.

[0054] In the illustrated example, it is also possible for the deflection device 20 to pivot about its axis. Accordingly, the radar transmission signal RTX would scan the surroundings in a pivoting manner. By deflecting the optical transmission signals at the mirrors 24, the surroundings can also be scanned by the optical sensor system 12 (not shown in Figure 2). In the illustrated example, the scanning of the surroundings by the radar sensor 14 and the optical sensor system 12 takes place in the same first direction 28.

[0055] In exemplary embodiments, the transmission characteristic 16 of the radar sensor 14 can be arranged in the direction of rotation 28 such that the scanning of the radar sensor 14 leads the scanning of the optical sensor system 12. In this case, the radar sensor 14 can then be used to determine whether something is blocking the optical propagation path of the optical transmission signal LTX and / or the optical reception signal LRX. This can then be responded to, for example, by changing a parameter of the optical sensor system 12. Changing the parameter can, for example, mean increasing the transmission power of the optical sensor system 12. In the case of a lidar sensor, this can mean that a transmission laser of the lidar sensor emits at higher power.

[0056] Figure 3 shows an example of a possible scan 32 by the optical sensor system 12. The horizontal plane H is shown for a vehicle 100 having a measuring system 10 in which the deflection device 20 is mounted rotatably about the axis perpendicular to the horizontal plane H. During the scan, the lines of the scan 32 thus migrate stepwise with an angular offset in the direction of rotation 28 of the deflection device 20. The height 30 of the vertical V of the scan 32 of the optical sensor system 12 can be achieved, for example, by optically expanding the optical transmission signal LTX. This results in the illustrated linear scan patterns 32 of the surroundings of the vehicle 100.

[0057] The scan 34 by the radar sensor 14 is superimposed on the scan 32 by the optical sensor system 12. In the example shown, a circle 34 shows the scan at the current time. Further circles show the scan at later times. It can be seen that the scan by the radar sensor 14 initially scans a height 30 in the vertical V from top to bottom. Due to the rotary movement 28 of the deflection device 20, on which the radar sensor 14 is mounted, a vertical area next to the previously scanned area is then scanned step by step by the circles shown in dashed lines. Here, too, scanning is carried out step by step from top to bottom over a height 30. The circle shown with a solid line shows the current scan 34, while the circles shown with a dashed line indicate previous scan areas.

[0058] It can be seen that the same area of ​​the environment can be scanned by the described measuring system 10 using the described method by the optical sensor system 12 and the radar sensor 14. It is possible to install the two sensors compactly in the measuring system 10, optionally requiring only one rotating body.

[0059] Figure 4 shows another example of a scanning pattern for measuring system 10. As in Figure 3, the scanning 32 by the optical sensor system 12 is represented by the lines, which scan the scanning area step by step in the direction of rotation 28. At the same time, the surroundings of the measuring system 10 are scanned by the radar sensor 14. In the example shown, the transmission characteristic 16 of the radar transmission signal RTX is expanded in the vertical direction V, so that it reaches a height of 30 in the example shown. This enables a simultaneous scanning 36 of the vertical at a height of 30 by the radar sensor 14. The current scanning 36 by the radar sensor 14 is represented by solid lines. Circles represented by dashed lines indicate a previous scanning area of ​​the radar sensor 14.It can be seen that the scanning 36 of the radar sensor 14 also moves in the direction of rotation 28 of the rotating body of the deflection device 20, thus carrying out the scanning 36.

[0060] In the examples shown in Figures 3 and 4, the rotation and thus the scanning 34, 36 in the direction of rotation 28 occurs in the horizontal H. The optical scanning 32 by the optical sensor system 12 in the vertical V is performed by an optical transmission signal LTX expanded in the vertical V. In Figure 4, the radar transmission signal RTX is also expanded in the vertical V. In the example of Figure 3, however, the radar sensor 14 also scans stepwise in the vertical direction V.

[0061] Figure 5 schematically shows the vehicle 100 with the measuring system 10 in a side view. In the example shown, the measuring system 10 is arranged in a front area of ​​the vehicle 100. The height 30 at which the scanning of the surroundings can take place by the radar sensor 14 and / or the optical sensor system 12 is indicated schematically.

[0062] Also shown schematically are the optical transmission signal LTX, the radar transmission signal RTX, the optical reception signal LRX and the radar reception signal RRX. The axis of the deflection device 20, around which the deflection device 20 rotates, runs in the image plane here. The direction of rotation 28 runs perpendicular to the image plane in the example shown. The scanning direction 28, also called the scanning direction, runs in the direction of rotation 28 along the horizontal direction in front of the vehicle 100. The scanning 32, 34 in the vertical V can be carried out, as described with reference to Figure 3 or 4, by widening the transmission signals LTX, RTX and / or in addition to the scanning 32, 34 in the horizontal H, a stepwise scanning 36 of the surroundings can also be carried out in the vertical V. Both the optical sensor system 12 and the radar sensor 14 can optionally also scan stepwise in the vertical direction V.

[0063] Figure 6 shows a schematic top view of the vehicle 100 from Figure 5. The first direction 28 is shown, which corresponds to the direction of rotation 28 of the deflection device 20 of the measuring system 10.

[0064] As shown in Figure 6, the first direction 28 runs horizontally in front of the vehicle 100. Figure 6 also shows the radar transmission signal RTX and the radar reception signal RRX. It can be seen that the radar transmission signal RTX leads the optical transmission signal LTX. This makes it possible to incorporate results from the environmental detection by the radar sensor 14 into the environmental detection by the optical sensor system 12. For example, parameters of the optical sensor system 12 can be adjusted depending on the previous, leading, environmental detection by the radar sensor 14. For example, if an object is detected by the radar sensor 14 in the vicinity of the vehicle 100, the transmission power during transmission for the trailing optical transmission signal LTX can be increased.

[0065] Figure 7 schematically shows a flow diagram of an embodiment of the method for operating the measuring system 10. In step S1, the surroundings are detected by the radar sensor 14. In step S2, it is determined from the surroundings detected by the radar sensor 14 in step S1 whether there are objects in the surroundings that influence, in particular impair, the detection of the surroundings by the optical sensor system 12. Parameters of the optical sensor system 12 can then be adjusted accordingly in step S3. If the optical sensor system 12 detects an impairment of the detection of the surroundings, for example, the transmission power of a laser of a lidar system can be increased, thus increasing the probability of detection by the lidar system.

Claims

CLAIMS 1. Measuring system (10) for environmental detection, comprising: an optical sensor system (12) for environmental detection by means of optical signals, wherein the optical sensor system has a deflection device (20) for the optical signals (LTX, LRX) and wherein the deflection device (20) has a rotating body, a radar sensor (14) which is arranged on the rotating body in such a way that the environment can be scanned by the radar sensor (14) in a first direction (28) by a rotary movement of the rotating body.

2. Measuring system according to claim 1, wherein the deflection device (20) comprises a rotating mirror device with at least one mirror surface.

3. Measuring system according to claim 1 or 2, wherein the optical sensor system (12) comprises a lidar sensor (12).

4. Measuring system according to one of the preceding claims, wherein the deflection device (20) is arranged in the optical transmission path and / or in the optical reception path of the optical sensor system (12).

5. Measuring system according to one of the preceding claims, wherein the environment can be scanned by the optical sensor system (12), in particular in the first direction (28), due to the rotational movement of the rotating body.

6. Measuring system according to claim 5, wherein the radar sensor (14) is arranged on the rotating body such that its scanning (34, 36) of the environment precedes the scanning (32) of the environment by the optical sensor system (12) in the first direction (28).

7. Measuring system according to one of the preceding claims, wherein at least one parameter of the optical sensor system (12) depends on the environmental detection by the radar sensor (14).

8. Measuring system according to one of the preceding claims, wherein the transmission characteristic of the radar transmission signal (RTX) runs transversely, in particular perpendicularly, to the at least one mirror surface of the rotating mirror device.

9. Measuring system according to claim 8, wherein the transmission characteristic of the radar transmission signal (RTX) has two main directions, each of which runs transversely, in particular perpendicularly, to the at least one mirror surface.

10. Measuring system according to one of the preceding claims, wherein the transmission characteristic of the radar transmission signal (RTX) is wider in a second direction (30) transverse, in particular perpendicular, to the first direction than in the first direction (28).

11. Measuring system according to one of claims 1 to 9, wherein the radar sensor (14) has a further deflection device for the radar transmission signal (RTX), by means of which the environment can be scanned in a third direction (30) by the radar sensor (14).

12. Measuring system according to one of the preceding claims, wherein a further radar sensor is arranged on the rotating body in such a way that the surroundings can be scanned by the further radar sensor due to the rotational movement of the rotating body.

13. A method for operating a measuring system (10) according to one of the preceding claims, comprising: Scanning the environment with the radar sensor (14).

14. The method according to claim 13, comprising: Scanning the environment through the optical sensor system (12).

15. The method of claim 14, wherein the scanning (34, 36) by the radar sensor precedes the scanning (32) by the optical sensor system (12).

16. The method according to claim 14 or 15, comprising: Adjusting at least one parameter of the optical sensor system (12) depending on the scanning (34, 36) by the radar sensor 17. Vehicle (100) with a measuring system (10) according to one of the claims 1 to 12.

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