A LIDAR sensor assembly for a motor vehicle, a method for operating a LIDAR sensor, a motor vehicle and a method for operating a motor vehicle

Abstract

A lidar sensor assembly (12) for a motor vehicle (10), comprising at least one lidar sensor device (14) for detecting an environment (16) of the motor vehicle (10) and comprising at least one mounting device (18) for mounting the said lidar sensor device (14) on an outer side (19) of the motor vehicle (10), wherein the lidar sensor device (14) is to be mounted on the outer side (19) of the motor vehicle (10) via the mounting device (18) in a rail-guided, translationally movable manner. The lidar sensor device preferably moveable via the mounting device longitudinally and / or laterally relative to the vehicle and preferably in a circuit. The device preferably including a second lidar sensor device mounted in the same manner. The system preferably including at least one electronic computing device arranged to calibrate the lidar sensor device.

Description

[0001] The present invention relates to the field of automobiles. More specifically, the present invention relates to a lidar sensor assembly for a motor vehicle. Furthermore, the present invention relates to a corresponding method for operating the lidar sensor assembly, a corresponding motor vehicle and a corresponding method for operating the motor vehicle. BACKGROUND INFORMATION

[0002] Lidar (light detection and ranging) is one of the primary sensors for perception of autonomous vehicles. Lidar is currently used in various areas, including but not limited to localization, mapping, and perception. Lidar works by sending out a beam, which is reflected back by different objects within its range and passively received by the sensor. Each of these returns creates a point in space with an associated value for distance, position, and intensity. This is done multiple times per second, with most lidar sensors having several different units within them sending out pulses of light, each forming a “ring”, when all the points from a specific period are combined, a point cloud in a single frame may be created.

[0003] Sensor setups, such as the lidar sensor, in robotic applications such as autonomous vehicles may be a trade-off. More sensors may provide a higher redundancy, but also may result in higher costs and higher computing requirements. Depending on a driving state of the vehicle, the requirements towards the sensor setup may vary strongly. For example, highway driving focuses on a far forward perception, parking needs surround perception. For starting up the vehicle or a system of the vehicle, respectively, checking the very nearfield surroundings as well may be required. A sensor setup that addresses all requirements may be very costly, and for each driving state only a subset of the sensors may be actually used. This inefficiency needs to be addressed. Sensors may be the biggest or at least a very big cost factor when producing automated vehicles. Therefore, finding a more efficient solution, would make this business case more attractive. SUMMARY OF THE INVENTION

[0004] It is an object of the present invention to provide a lidar sensor assembly, a corresponding method for operating a lidar sensor assembly, a corresponding motor vehicle, as well as a corresponding method for operating a motor vehicle by which surroundings of the motor vehicle can be detected precisely in a particularly effortless manner.

[0005] This object is solved by a lidar sensor assembly for a motor vehicle, a corresponding method for operating a lidar sensor assembly, a corresponding motor vehicle, as well as a corresponding method for operating a motor vehicle according to the independent claims. Advantageous embodiments are presented in the dependent claims.

[0006] One aspect of the invention relates to a lidar sensor assembly for a motor vehicle. Preferably, the motor vehicle is designed as a passenger car.

[0007] The lidar sensor assembly comprises at least one lidar sensor device for detecting an environment of the motor vehicle. In other words, the environment of the motor vehicle may be detected or is detected by the lidar sensor device. The environment of the motor vehicle may be understood as the surroundings of the motor vehicle. The lidar sensor device is capable of detecting the environment of the motor vehicle. This means that the lidar sensor device is capable of sensing the environment.

[0008] The lidar sensor assembly comprises at least one mounting device for mounting the said lidar sensor device on an outer side of the motor vehicle. In other words, the mounting device is capable of the said lidar sensor device on the outer side the motor vehicle. This means that the lidar sensor device is to be mounted on the outer side of the motor vehicle via the said mounting device. In particular, the lidar sensor device is mounted on the outer side of the motor vehicle via the said mounting device. The outer side of the motor vehicle may be understood as an outside of the motor vehicle or as an exterior of the motor vehicle. Preferably, the outer side of the motor vehicle comprises at least one outer surface of the motor vehicle. “Mounting” may be understood as attaching or fixing.

[0009] In particular, to detect surroundings of the motor vehicle, precisely in a particularly effortless manner, the lidar sensor device is to be mounted, in particular directly, on the outer side of the motor vehicle via the mounting device in a rail-guided, translationally movable manner. This mean that the lidar sensor device is to be mounted on the outer side of the motor vehicle via the mounting device so as to be translationally moveable in a rail-guided manner. In other words, the mounting device comprises at least a first mounting element and at least one second mounting element, which is designed as a rail, wherein the lidar sensor device is mounted via the first mounting element on the second mounting element in a translationally moveable manner. In particular, the lidar sensor device is mounted on the outer side of the vehicle via the mounting device in the rail-guided, translationally movable manner. In particular, the lidar sensor device is mounted via the first mounting element on the second mounting element, by which the lidar sensor device may be attached to the outer side of the motor vehicle.

[0010] Therefore, the lidar sensor device is designed as a translationally rail-guided moveable sensor. In other words, a mounting position of the lidar sensor device on the outer side of the motor vehicle is translationally movable. This means that the said mounting position is adjustable, in particular rail-guided.

[0011] Sensors may be an essential cost factor, when producing motor vehicles, in particular automated motor vehicles. The use of the lidar sensor assembly may allow to reduce a number of required sensors, in particular lidar sensors, drastically due to the translationally rail-guided movement of the lidar sensor device. Therefore, production costs of the motor vehicle may be reduced. This may make a business case of automated vehicles much more attractive.

[0012] According to an embodiment, the lidar sensor device is to be mounted to be moveable via the mounting device in a vehicle longitudinal direction and / or in a vehicle lateral direction.

[0013] In another embodiment, the lidar sensor device is moveable in a circuit, in particular a closed circuit, via the mounting device.

[0014] In another embodiment, the lidar sensor assembly comprises at least one electrical motor and at least one electronic computing device for controlling the electrical motor to move the lidar sensor device as a function of a driving state, in particular of a current and / or a detected driving state, of the motor vehicle.

[0015] In another embodiment, the lidar sensor assembly comprises at least one electronic computing device for calibrating the lidar sensor device, wherein the electronic computing device is capable of carrying out the calibration on the basis of initial parameters which are to be dynamically adapted during calibration.

[0016] In another embodiment, the lidar sensor assembly comprises at least one second lidar sensor device for detecting an environment of the motor vehicle, wherein the said second lidar sensor device is to be mounted on the outer side of the motor vehicle via the mounting device in a rail-guided, translationally movable manner.

[0017] In another embodiment, a distance between the said lidar sensor devices is different in different driving states of the motor vehicle.

[0018] Another aspect of the invention relates to a method for operating a lidar sensor assembly according to the first aspect of the invention. This aspect may be referred to as second aspect of the invention.

[0019] Another aspect of the invention relates to a motor vehicle comprising a lidar sensor assembly according to the first aspect of the invention. This aspect may be referred to as third aspect of the invention.

[0020] Another aspect of the invention relates to a method for operating a motor vehicle according to the third aspect of the invention. This aspect may be referred to as forth aspect of the invention.

[0021] Advantageous embodiments of the method for operating the lidar sensor assembly, the motor vehicle and the method for operating the motor vehicle are to be regarded as advantageous embodiments of the lidar sensor assembly and vice versa.

[0022] Further advantages, features, and details of the invention derive from the following description of preferred embodiments as well as from the drawings. The features and feature combinations previously mentioned in the description as well as the features and feature combinations mentioned in the following description of the figures and / or shown in the figures alone can be employed not only in the respectively indicated combination but also in any other combination or taken alone without leaving the scope of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The novel features and characteristic of the disclosure are set forth in the appended claims. The accompanying drawings, which are incorporated in and constitute a part of this disclosure, illustrate exemplary embodiments and together with the description, serve to explain the disclosed principles. The same numbers are used throughout the figures to reference like features and components. Some embodiments of system and / or methods in accordance with embodiments of the present subject matter are now described below, by way of example only, and with reference to the accompanying figures.

[0024] The drawings show in:

[0025] Fig. 1 a schematic view of an embodiment of a motor vehicle comprising an embodiment of a lidar sensor assembly; and

[0026] Fig. 2 a schematic illustration of an embodiment for operating a lidar sensor assembly.

[0027] In the figures the same elements or elements having the same function are indicated by the same reference signs. DETAILED DESCRIPTION

[0028] In the present document, the word "exemplary" is used herein to mean "serving as an example, instance, or illustration". Any embodiment or implementation of the present subject matter described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments.

[0029] While the disclosure is susceptible to various modifications and alternative forms, specific embodiments thereof have been shown by way of example in the drawing and will be described in detail below. It should be understood, however, that it is not intended to limit the disclosure to the particular forms disclosed, but on the contrary, the disclosure is to cover all modifications, equivalents, and alternatives falling within the scope of the disclosure.

[0030] The terms “comprises”, “comprising”, or any other variations thereof, are intended to cover a non-exclusive inclusion so that a setup, device or method that comprises a list of components or steps does not include only those components or steps but may include other components or steps not expressly listed or inherent to such setup or device or method. In other words, one or more elements in a system or apparatus preceded by “comprises” or “comprise” does not or do not, without more constraints, preclude the existence of other elements or additional elements in the system or method.

[0031] In the following detailed description of the embodiment of the disclosure, reference is made to the accompanying drawing that forms part hereof, and in which is shown by way of illustration a specific embodiment in which the disclosure may be practiced. This embodiment is described in sufficient detail to enable those skilled in the art to practice the disclosure, and it is to be understood that other embodiments may be utilized and that changes may be made without departing from the scope of the present disclosure. The following description is, therefore, not to be taken in a limiting sense.

[0032] Fig. 1 shows a schematic view according to an embodiment of a motor vehicle 10. The motor vehicle 10 comprises at least one lidar sensor assembly 12.

[0033] The lidar sensor assembly 12 comprises at least one lidar sensor device 14 for detecting an environment 16 of the motor vehicle 10. The motor vehicle 10, in particular the lidar sensor assembly 12, comprises at least one mounting device 18 for mounting the said lidar sensor device 14 on an outer side of the motor vehicle 10, for example on a body component 20 of the motor vehicle 10. This means that the lidar sensor device 14 is to be mounted or is mounted on the body component 20 via the said mounting device 18. For example, the body component 20 is a vehicle roof or at least a part of the vehicle roof of the motor vehicle 10. In order to detect the surroundings of the motor vehicle 10 precisely in a particularly effortless manner, the lidar sensor device 14 is to be mounted or is mounted on the outer side 19 of the motor vehicle 10 via the mounting device 18 in a rail-guided and translationally movable manner. Therefore, the mounting device 18 comprises at least one rail 22. The rail 22 is illustrated in Fig. 1. The rail 22 may be referred to as mounting rail. For example, the mounting device 18 comprises at least a, in particular, moveable, rig, on which the lidar sensor device 14 is mounted or is to be mounted. For example, the rig is mounted on the rail 22, in particular relatively moveable to the rail 22. The translationally movable manner may be understood as a translationally movable manner relative to the body component 20 and / or the rail 22.

[0034] In an embodiment, the lidar sensor assembly 12 comprises at least one second lidar sensor device 24 for detecting the environment 16 of the motor vehicle 10. In other words, the second lidar sensor device 24 is designed for sensing the environment 16 of the motor vehicle 10. The mounting device 18 is preferably designed for mounting the second lidar sensor device 24 on the outer side 19 of the motor vehicle 10. The second lidar sensor device 24 is to be mounted or is mounted on the outer side 19 of the motor vehicle 10, in particular at the body component 20, via the mounting device 18 in a rail-guided and translationally movable manner, in particular relative to the body component 20 and / or the rail 22. This idea is inspired by the human, who can drive with only two cameras. Both can be orientated freely, for example view over shoulder, to capture blind spots. For example, both lidar sensor devices 14, 24 are mounted on the moveable rig. The lidar sensor devices 14, 24 may be moved along the rail 22, in particular to a desired position. Therefore, a number of lidar sensors of the motor vehicle 10 may be reduced. Due to the fact that a lidar sensor may be by far the most expensive one of the sensors of the motor vehicle 10, productional cost of the motor vehicle 10 may be reduced.

[0035] In an embodiment, the lidar sensor device 14, which may be referred to as first lidar sensor device 14, is to be mounted or is mounted moveable via the mounting device 18 in a vehicle longitudinal direction 26 and / or in a vehicle lateral direction 28. In other words, the rail 22 extends in the vehicle longitudinal direction 26 and / or in the vehicle lateral direction 28. Preferably, the second lidar sensor device 24 is to be mounted moveable via the mounting device 18 in the vehicle longitudinal direction 26 and / or in the vehicle lateral direction 28. The vehicle lateral direction 28 may be referred to as vehicle with direction.

[0036] Preferably, the first lidar sensor device 14 and / or the second lidar sensor device 24 is moveable in a, in particular closed, circuit 30 via the mounting device 18. This means that the rail 22 is designed as a closed circuit or as a closed track, respectively. Therefore, wide areas of the outer side 19 of the motor vehicle 10 can be achieved by the lidar sensor devices 14, 24. Preferably, the lidar sensor assembly 12 is mounted on the rail 22 that goes around the full motor vehicle 10. The electrical motor 32 may maneuver the first and / or the second lidar sensor device 14, 24 to the desired position on the rail 22. This way, a field of view can be chosen based on an adjustable sensor position of the first and / or second lidar sensor device 14, 24.

[0037] In another embodiment, the lidar sensor assembly 12 comprises at least one electrical motor 32 for moving the first and / or the lidar sensor device 14, 24, in particular along the rail 22. Moreover, the lidar sensor assembly 12 comprises at least one electronic computing device 34 for controlling the electrical motor 32 to move the first and / or the second lidar sensor device 14, 24 as a function of a driving state of the motor vehicle 10. This means that the first and / or second lidar sensor device 14, 24 may be moved, in particular along the rail 22, according to the driving state of the motor vehicle 10. In other words, the electronic computing device 34, which also may be referred to as system, includes an intelligent logic that arranges the first and / or second lidar sensor device 14, 24 according to the driving state of the motor vehicle 10. This way, only a small amount of sensors is needed to cover the important field of view for a specific driving state with sufficient redundancy. For example, for driving fast on a highway, at least one of the lidar sensor devices 14, 24 is forward orientated. For example, for parking and low speed maneuvering, the lidar sensor devices 14, 24 are arranged, in particular equidistantly, around the motor vehicle 10. If an object in the surroundings of the motor vehicle 10 needs additional confirmation from one of the lidar sensor devices 14, 24, preferably the other one of the lidar sensor devices 14, 24 is moved, in particular along the rail 22, to capture a desired field of view.

[0038] In an embodiment, a distance between the lidar sensor devices 14, 24 is different in different driving states of the motor vehicle 10. In other words, the said distance is a function of the driving state of the motor vehicle 10.

[0039] The electronic computing device 34 may be understood as a data processing device, which comprises processing circuitry. Therefore, the electronic computing device 34 may be referred to as a computing unit. The electronic computing device 34 may, in particular, process data to perform computing operations. This may also include operations to perform indexed accesses to a data structure.

[0040] In particular, the electronic computing device 34 may include one or more computers, one or more microcontrollers, and / or one or more integrated circuits, for example, one or more application-specific integrated circuits, ASIC, one or more field-programmable gate arrays, FPGA, and / or one or more systems on a chip, SoC. The electronic computing device 34 may also include one or more processors, for example one or more microprocessors, one or more central processing units, CPU, one or more graphics processing units, GPU, and / or one or more signal processors, in particular one or more digital signal processors, DSP. The electronic computing device 34 may also include a physical or a virtual cluster of computers or other of said units.

[0041] In various embodiments, the electronic computing device 34 includes one or more hardware and / or software interfaces and / or one or more memory units.

[0042] A memory unit may be implemented as a volatile data memory, for example a dynamic random access memory, DRAM, or a static random access memory, SRAM, or as a non-volatile data memory, for example a read-only memory, ROM, a programmable read-only memory, PROM, an erasable programmable read-only memory, EPROM, an electrically erasable programmable read-only memory, EEPROM, a flash memory or flash EEPROM, a ferroelectric random access memory, FRAM, a magnetoresistive random access memory, MRAM, or a phase-change random access memory, PCRAM.

[0043] In another embodiment, the electronic computing device 34 is capable of calibrating the first and / or the second lidar sensor device 14, 24, in particular as a function of its current position, wherein the electronic computing device 34 is capable of carrying out the calibration on the basis of initial parameters which are to be dynamically adapted during calibration. This means that the calibration may be carried out by the electronic computing device 34 on the basis of initial parameters which are adapted dynamically by the electronic computing device 34 during the calibration. The initial parameters may be understood as extrinsic calibration parameters. It may be crucial that the lidar sensor devices 14, 24, in particular the rig and the sensor mount, is rigid, if the desired position of the lidar sensor devices 14, 24 is reached to have precise extrinsic calibration parameters. The extrinsic parameters may be provided by the moveable rig and refined by a dynamic only calibration.

[0044] One important use case may be starting up the lidar sensor assembly 12 or the system, respectively. During driving, temporal integration may help to cover blind spots. For instance, for starting up, a full nearfield environment needs to be perceived to confirm clearance. A lidar in a fixed mount can only cover a certain field of view, usually less than 180 degrees. By using the lidar sensor assembly 12, in particular the moveable rig, the lidar sensor devices 14, 24 may capture all fields of view around the vehicle within a few seconds.

[0045] Fig. 2 shows a schematic illustration of a method for operating the lidar sensor assembly 12. Preferably, the first and / or the second lidar sensor device 14, 24 is moved in a rail-guided and translationally movable manner, in particular by the electrical motor 32. The method may be carried out by the electronic computing device 34, which may be designed as an intelligent sensor positioning module. Perception and fusion 36 of the lidar sensor devices 14, 24, an environment model 38, a behavior planner 40. and a vehicle abstraction layer 42 are illustrated in Fig. 2. This may be carried out by the electronic computing device 34. The behavior planner 40 may be referred to as planned action. The vehicle abstraction layer 42 may consider a current vehicle state, in particular current vehicle driving state, and / or sensor mounting positions of the lidar sensor devices 14, 24. For example, the electronic computing device 34 may determine target mount positions for the lidar sensor devices 14, 24, in particular by computing. For example, the electrical motor 32 is controlled by the electronic computing device 34 to move the lidar sensor devices 14, 24 to these target mounting positions.

[0046] It is of course possible that the lidar sensor assembly 12 comprises any number of said lidar sensor devices 14, 24. In other words, a number n of lidar sensor devices. To illustrate this, the nth lidar sensor device is shown in Fig. 2, which may be referred to as sensor n 44. Reference Signs 10 12 14 16 18 19 20 22 24 26 28 30 32 34 36 38 40 42 44 motor vehicle lidar sensor assembly first lidar sensor device environment mounting device outer side body component rail second lidar sensor device vehicle longitudinal direction vehicle lateral direction circuit electrical motor electronic computing device perception and fusion environment module behavior planner vehicle abstraction layer sensor n

Claims

1. A lidar sensor assembly (12) for a motor vehicle (10), comprising at least one lidar sensor device (14) for detecting an environment (16) of the motor vehicle (10) and comprising at least one mounting device (18) for mounting the said lidar sensor device (14) on an outer side (19) of the motor vehicle (10), characterized in thatthe lidar sensor device (14) is to be mounted on the outer side (19) of the motor vehicle (10) via the mounting device (18) in a rail-guided, translationally movable manner.

2. The lidar sensor assembly (12) according to claim 1, characterized in thatthe lidar sensor device (14) is to be mounted to be moveable via the mounting device (18) in a vehicle longitudinal direction (26) and / or in a vehicle lateral direction (28).

3. The lidar sensor assembly (12) according to claim 1 or 2, characterized in thatthe lidar sensor device (12) is moveable in a circuit (30) via the mounting device (18).

4. The lidar sensor assembly (12) according to any one of claims 1 to 3, characterized in thatthe lidar sensor assembly (12) comprises at least one electrical motor (32) and at least one electronic computing device (34) for controlling the electrical motor (32) tomove the lidar sensor device (14) as a function of a driving state of the motor vehicle (10).

5. The lidar sensor assembly (12) according to any one of claims 1 to 4, characterized in thatthe lidar sensor assembly (12) comprises at least one electronic computing device (34) for calibrating the lidar sensor device (14), wherein the electronic computing device (34) is capable of carrying out the calibration on the basis of initial parameters which are to be dynamically adapted during calibration.

6. The lidar sensor assembly (12) according to any one of claims 1 to 5, characterized in thatthe lidar sensor assembly (12) comprises at least one second lidar sensor device (24) for detecting the environment (16) of the motor vehicle (10), wherein the said second lidar sensor device (24) is to be mounted on the outer side (19) of the motor vehicle (10) via the mounting device (18) in a rail-guided, translationally movable manner.

7. The lidar sensor assembly (12) according to claim 6, characterized in thata distance between the said lidar sensor devices (14, 24) is different in different driving states of the motor vehicle (10).

8. A method for operating the lidar sensor assembly (12) according to any one of claims 1 to 7.

9. A motor vehicle (10) comprising at least the lidar sensor assembly (12) according to any one of claims 1 to 7.

10. A method for operating the motor vehicle (10) according to claim 9.

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