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

Abstract

Sensor device, vehicle, and method for operating a sensor device A sensor device comprising a plurality of sensors (3), wherein each sensor (3) is configured to transmit at least one signal (11, 12) at various transmission times, the transmission times of the sensors (3) being set respectively according to transmission rules assigned to each of the sensors (3), and the sensor device (2) is configured to omit the signal (11, 12) of one of the sensors (3) assigned to the transmission time when the transmission time of one of the sensors (3) and the further transmission time of a further sensor (3) among the sensors (3) coincide, or is configured to transmit in response to measures for changing the transmission time and / or the signal quality. The sensor device is characterized by this.

Description

Technical Field

[0001] The present invention relates to a sensor device including a plurality of sensors, each sensor being configured to transmit at least one signal at various transmission times, and the transmission times of the sensors being set respectively according to transmission rules assigned to each sensor. The present invention also relates to a method for operating a sensor device including a vehicle and a plurality of sensors.

Background Art

[0002] A sensor device including a plurality of sensors can be used, for example, in the automotive field. For example, a sensor device including a plurality of ultrasonic sensors is used for measuring the distance between a vehicle and an object in the vehicle surrounding environment. Using such a sensor device, for example, systems for automatic parking, collision avoidance or automatic braking and / or further types of driving assistance systems can be implemented.

[0003] In each of the driving assistance systems to be implemented, in order to achieve sufficient coverage of the vehicle surrounding environment, generally, a sensor device including a plurality of sensors, for example, a sensor device including six or more ultrasonic sensors for each bumper of the vehicle, is used. Thereby, it becomes possible to detect the vehicle surrounding environment in front of, behind, and, if necessary, also on the side of the vehicle.

[0004] In an ultrasonic sensor, typically, individual ultrasonic pulses are transmitted and the echoes generated by the signals reflected from an object are awaited, and these echoes are assigned to the transmitted signal or uniquely to each sensor. In order to increase the transmission frequency of the sensor, particularly when using a plurality of sensors of the same structure and the detection areas at least partially overlap, for each individual sensor, for example, via a certain code, continuously, the transmission time points can be set at intervals characteristic of each sensor. As a result, without waiting for the echoes, the sensors can transmit their respective signals as pulse trains without interfering with each other. Based on the characteristic intervals between the transmission time points of the signals, the received echoes can be assigned to each sensor.

[0005] In such a method, two or more of the sensors may transmit signals simultaneously. Due to the high energy consumption during transmission, in such cases, a high power or high supply current may be output from the energy supply source of the sensor to the sensor, and undesirable results may occur.

Summary of the Invention

Problems to be Solved by the Invention

[0006] Therefore, the problem of the present invention is, in particular, to identify an improved sensor device that avoids the occurrence of such current spikes.

Means for Solving the Problems

[0007] To solve this problem, in a sensor device of the type described at the beginning, according to the present invention, when the transmission time point of one of the sensors coincides with the further transmission time point of a further sensor among the sensors, the sensor device is configured to omit the signal of this one sensor assigned to the transmission time point, or is configured to transmit in response to measures to change the transmission time point and / or the signal quality.

[0008] Here, the coincidence of the transmission time means that the transmission time coincides with the same time point, or is within a predetermined time interval that causes at least a partial overlap of the transmission time points occurring at the transmission time due to the transmission of the signal. Therefore, when the signals transmitted at the transmission time points are at least partially temporally overlapped, the transmission time points coincide.

[0009] If the transmission time point of a sensor coincides with the transmission time point of a further sensor and it can be predicted that both sensors transmit signals at the same transmission time point, at least one sensor can either omit its signal instead or transmit it according to measures to change the transmission time point and / or signal quality. If the signal is interrupted, a further sensor can, for example, transmit its signal as normal.

[0010] When adjusting the transmission time point and / or signal quality of at least one sensor according to the provided measures, a further sensor can also, for example, adjust its signal in the same way according to the measures if the transmission rules of the sensor are known to the further sensor. Alternatively, the signal of the further sensor can also be transmitted at the transmission time point as normal, that is, without making changes by the measures.

[0011] By omitting the signal, since the sensor does not require energy to generate the signal, the occurrence of current spikes in the power supply device or the supply line of the sensor can be avoided. Also, by changing the transmission time point and / or signal quality, the required energy of the sensor at the original transmission time point can be reduced, so the occurrence of current spikes can be avoided as well.

[0012] Avoiding current spikes in the power supply device and the supply line has the advantage that the energy supply to the sensor needs to be adjusted to a lower maximum output current. A particularly advantageous aspect of the present invention is that the buffer required for supplying voltage to the sensor only needs to meet much lower requirements, and thus, less installation space is required and it can be implemented at a lower cost. In this way, advantageously, the robustness of the sensor device or the robustness of the operation of the sensor device can be improved.

[0013] Also, adverse effects caused by current spikes, such as a decrease in the supply voltage, can be avoided. Thereby, for example, the occurrence of insufficient voltage supply that may cause, for example, multiple sensors to shift to the sleep mode or the reset mode due to simultaneous transmission of multiple sensors can be prevented.

[0014] In addition, in avoiding current spikes, there is also the advantage that the generation of an electromagnetic field induced by the flow of current and, in some cases, affecting additional devices is only slight, so the obstacles related to the electromagnetic compatibility of the sensor device are reduced.

[0015] By the method according to the present invention, advantageously, in a sensor device where the transmission times at which the sensors transmit their signals are each determined according to transmission rules individually assigned to the sensors, simultaneous transmission of multiple sensors can also be prevented. As a result, in particular, in a sensor device where individual sensors operate at least substantially autonomously according to the transmission rules stored in the sensors, an excessive load on the current supply or voltage supply to the sensors can be reduced. In this way, advantageously, the need for a complex synchronization process and / or central control of the sensors or the need for central determination requirements for each transmission time of the sensors can be avoided.

[0016] According to the present invention, the measures can be configured to include shifting the transmission time by a predetermined time interval and / or reducing the transmission power of the signal by a predetermined factor.

[0017] As a measure, for example, it can be configured to shift the transmission time point by a predetermined time interval. In this case, the sensor transmits the signal not at the original transmission time point, but particularly at an alternative transmission time point shifted into the future by a predetermined time interval. Thereby, at least one additional sensor that also transmits at the same transmission time point transmits alone, so that the load on the energy supply can be reduced. At the shifted transmission time point, particularly, since at least one sensor transmits alone, an excessive load on the power supply does not occur even at the shifted transmission time point. Also, particularly, a time interval different from the transmission time point defined by the transmission rule can be set.

[0018] Additionally or alternatively, as a measure, the transmission power of the signal transmitted at the transmission time point can also be reduced. Thereby, particularly, the required energy of the sensor for transmitting the signal can also be reduced, so that overall, the load on the energy supply at the transmission time point can be reduced. When taking the measure of reducing the transmission power by a predetermined coefficient, particularly, since an additional sensor can also take the corresponding measure, overall, the required energy does not increase even at the transmission time point when at least one sensor and an additional sensor transmit simultaneously. The transmission power can be reduced, for example, by transmitting a signal having a smaller signal amplitude.

[0019] In a preferred embodiment of the present invention, the transmission rules assigned to each sensor are stored in each sensor, at least one of the sensors stores at least one additional transmission rule of at least one additional sensor among the sensors, and at least one sensor can be configured to calculate the coincidence between one of their transmission time points and at least one additional transmission time point described by at least one additional transmission rule.

[0020] Here, at least a transmission rule is stored in each of the sensors, and the transmission rule defines the transmission time point for this sensor. One or more additional transmission rules can be stored in a part of the sensors of the sensor device. Alternatively, at least one additional transmission rule can be stored in all of the sensors. It is also possible to store the transmission rules of all the sensors of the sensor device in each sensor.

[0021] Each individual sensor can be provided with, for example, a computing device in order to calculate the transmission time point based on one or more transmission rules. Also, each of the sensors can be provided with, for example, a storage device in which the transmission rule and, if necessary, one or more additional transmission rules are stored. The transmission rule can be assigned to the sensor, for example, by the control device of the sensor device during the initialization of the sensor device.

[0022] Alternatively, according to the present invention, the sensor device includes a control device, the transmission rules assigned to each sensor are stored in the control device, and the control device is configured to calculate the coincidence between the transmission time point of one of the sensors and at least one additional transmission time point of at least one additional sensor among the sensors, and to control the sensors so as to omit the signal at the transmission time point and / or to transmit the signal according to measures for changing the transmission time point and / or the signal quality.

[0023] In particular, when the sensor transmits the signal at the transmission time point according to the measure for changing the signal quality, the control device can also control at least one additional sensor to transmit the signal according to the above measure for changing the signal quality or one measure for changing the signal quality. In this case, the signal of one additional sensor or the signals of a plurality of additional sensors can be changed according to the same measure, particularly, the transmission power reduced by the same coefficient. Here, this coefficient can be selected so that the total transmission power of all the signals transmitted at the transmission time point corresponds to the transmission power of each individual unchanged signal.

[0024] According to the present invention, the transmission rules can each include a table having a plurality of transmission time intervals, in particular as a stochastically generated code, and the sensor device can be configured to calculate the transmission time based on the transmission time interval and the synchronization signal.

[0025] The transmission rules can be transmitted to each individual sensor, for example, by the control device of the sensor device, during initialization. At this time, different transmission rules can be transmitted to each sensor. Alternatively, the transmission rules assigned to the sensors can also be generated and stored in the control device during the initialization of the sensor device.

[0026] Since the transmission rules can each be configured, for example, as a table having a plurality of transmission time intervals, the sensor or the control device can determine each transmission time based on a predetermined transmission time interval. In the case of the transmission rules stored in the sensor, in particular, the control device of the sensor device can set a synchronization signal, and the synchronization signal represents a start point for calculating the transmission time and / or a periodically updated reference signal for synchronizing each transmission period. When the transmission rules are stored in the control device, the control device can calculate the transmission time of the sensor using, for example, a synchronization signal generated inside the control device or generated externally and transmitted to the control device.

[0027] According to the present invention, the sensor can be configured to be connected to a common power supply device that supplies power to the sensor.

[0028] Here, the power supply device can be implemented, in particular, in the above control device of the sensor device or in one of the control devices of the sensor device. In this case, the control device can supply power to individual sensors or can include a power supply device for supplying power to the sensors. Here, the central power supply of the sensors can be advantageously implemented with particularly little effort or compactly by avoiding simultaneous transmissions or by reducing current spikes during simultaneous transmissions of multiple signals. Thereby, it becomes easy to integrate the power supplies for all sensors into the control device of the sensor device.

[0029] According to the present invention, the sensors can be configured to be connected to the control device via separate connections respectively, or the sensors and the control device can be connected to each other in a common parallel circuit.

[0030] The sensors can be connected to the control device via separate connections respectively. Such point-to-point connections can each include a separate line for energy supply and / or a separate line for data transmission between the sensor and the control device. Also, energy supply and data transmission can be performed via a common line.

[0031] Alternatively, the sensors and the control device can also be connected to each other in a parallel circuit, at least with respect to their energy supply. In this case, in particular, by connecting the power supply device of the control device in parallel with the sensors, a supply voltage can be applied commonly to the sensors.

[0032] In a preferred embodiment of the present invention, the sensors can be configured as ultrasonic sensors. Also, other configurations of the sensors, for example, as radar sensors, lidar sensors, etc. are conceivable.

[0033] According to the present invention, the sensor device can be configured as a distance measurement device, a liquid level measurement device, and / or an anti-theft alarm system. Here, the configuration of the sensor device can be achieved by configuring the control device of the sensor device to perform distance measurement, liquid level measurement, and / or theft detection based on the echo or measurement value detected by the sensor.

[0034] The vehicle according to the present invention can be configured to include at least one sensor device according to the present invention. Here, the sensor device can be configured, for example, for distance measurement, and can include a plurality of sensors arranged along the periphery of the vehicle or a part of the periphery, for example, along the bumper of the vehicle. Additionally or alternatively, the vehicle can also include a sensor device configured as a liquid level measurement device and / or an anti-theft alarm system.

[0035] Therefore, all the advantageous points and details described above regarding the sensor device according to the present invention are also applicable to the vehicle according to the present invention, and vice versa.

[0036] A method for operating a sensor device including a plurality of sensors according to the present invention is such that each sensor transmits at least one signal at various transmission times, and the transmission times of the sensors are each set according to a transmission rule assigned to each sensor. When the transmission time of one sensor among the sensors coincides with the further transmission time of a further sensor among the sensors, the signal of this one sensor assigned to the transmission time is omitted, or configured to transmit according to measures for changing the transmission time and / or the signal quality.

[0037] According to the present invention, the measures include shifting the transmission time by a predetermined time interval and / or reducing the transmission power by a predetermined coefficient, and the sensor can be configured to transmit the signal according to the measures using the shifted transmission time and / or the reduced transmission power.

[0038] According to the present invention, in a first preferred embodiment of the method, the transmission rules assigned to each sensor are stored in each sensor, and at least one of the sensors stores at least one further transmission rule of at least one further sensor among the sensors, and at least one sensor is configured to calculate the coincidence between one transmission time among its transmission times and at least one further transmission time described by at least one further transmission rule.

[0039] According to the present invention, in a second preferred embodiment of the method, the sensor device includes a control device, the transmission rules assigned to each sensor are stored in the control device, and the control device calculates the coincidence between the transmission time of one of the sensors and at least one further transmission time of at least one further sensor among the sensors, and controls the sensor so as to omit the signal at the transmission time and / or transmit the signal in accordance with measures to change the transmission time and / or the signal quality.

[0040] Therefore, all the advantageous points and details described above regarding the sensor device according to the present invention and / or the vehicle according to the present invention are also applicable to the method according to the present invention, and vice versa.

[0041] Further advantageous points and configurations of the present invention can be obtained from the embodiment examples and the drawings described below.

Brief Description of the Drawings

[0042]

Figure 1

Figure 2

Figure 3

Embodiments for Carrying Out the Invention

[0043] FIG. 1 shows an exemplary embodiment of a vehicle 1. The vehicle 1 includes a sensor device 2 having a plurality of sensors 3 configured as ultrasonic sensors. The sensor device 2 also includes a control device 4 connected to the sensors 3. In a first exemplary embodiment of the sensor device 2, each sensor 3 is connected to the control device 4 via a separate connection 5. Through the separate connection 5, energy transmission, that is, power supply, from the control device 4 to each individual sensor 3 can be performed. Also, data exchange between the sensor 3 and the control device 4 can be performed through each of the separate connections 5.

[0044] The sensors 3 are arranged in a partial area on the outer periphery of the vehicle 1, in this case, on the front bumper of the vehicle 1. The sensor device 2 can include additional sensors 3 arranged in other partial areas around the vehicle 1, for example, to also detect the vehicle surrounding environment behind and / or to the side of the vehicle 1. In this case, the sensor device 2 can be configured as a distance detection device that can determine the distance between the vehicle 1 and further objects in the vehicle surrounding environment. Accordingly, the control device 4 of the sensor device 2 is configured to determine the distance to further objects based on the measurement data of the sensors 3 and / or to create a surrounding environment map that describes the relative arrangement of a plurality of objects and the vehicle 1 with respect to the vehicle 1.

[0045] FIG. 2 shows a second exemplary embodiment of the sensor device 2. In this exemplary embodiment, the sensors 3 are connected by a parallel circuit 6. Since the parallel circuit 6 of the sensors 3 is further connected to a power supply device 7 configured as part of the control device 4, power can be supplied to the sensors 3 via the parallel circuit 6. Data transmission between the sensors 3 under the control device 4 can be performed, for example, via an additional data communication connection 8.

[0046] In both exemplary embodiments of the sensor device 2, the sensors 3 are each configured to transmit at least one signal at various transmission times. The transmission times of the sensors 3 are each set according to the transmission rules assigned to each of the sensors 3. When the transmission time of one of the sensors 3 in the sensor device 2 coincides with the further transmission time of a further sensor 3 among the sensors 3, the sensor device 2 is configured to omit the signal of the sensor 3 assigned to the transmission time, or to transmit according to measures to change the transmission time and / or the signal quality, i.e., the signal characteristics.

[0047] The transmission rules describing the respective transmission times of the sensors 3 can each include, for example, a table having a plurality of transmission time intervals. The transmission rules can be generated, for example, as probabilistic codes. The transmission rules of the sensors 3 can be stored in the individual sensors 3 or in the control device 4 respectively.

[0048] When the transmission rules are stored in each of the sensors 3, in order to avoid simultaneous transmission of signals via a plurality of the sensors 3 among the sensors 3, at least one further transmission rule of a further sensor 3 among the sensors 3 is stored in one or more of the sensors 3 among the sensors 3. In this way, for at least some of the sensors 3, in addition to the unique transmission time, the transmission times of one or more other sensors 3 of the sensor device 2 can also be notified. In this case, the sensor 3 can calculate the coincidence of the two transmission times according to the transmission rule assigned to this sensor 3 and the further transmission rule describing the transmission times of the further sensors 3. Therefore, the sensor 3 can calculate when one of its transmission times coincides with the transmission time of a further sensor 3 among the sensors 3.

[0049] Since Sensor 3 requires high energy to generate signals when transmitting those signals, i.e., at each transmission time point, the power supply of Sensor 3, for example, the power supply device 7 incorporated in the control device 4 may become overloaded. That is, voltage compensation measures and / or a configuration of a higher-power power supply device 7 may be required. Also, the current spikes generated thereby may be undesirable in terms of the electromagnetic compatibility of the sensor device 2.

[0050] The sensor 3 that calculates the coincidence between that transmission time point and at least one further transmission time point described by at least one further transmission rule can omit the signal assigned to the transmission time point, or can transmit in response to measures that change the transmission time point and / or the signal quality.

[0051] Alternatively, each transmission rule can be stored in the control device 4, and it is conceivable that the control device 4 controls each individual sensor 3 to transmit a signal at the corresponding transmission time point. Therefore, when two or more transmission time points coincide, the control device 4 can control one or more of the sensors to omit each of their signals and / or change each of those signals in response to measures that change the transmission time point and / or the signal quality.

[0052] Here, the measures can include shifting the transmission time point of one of the sensors 3 by a predetermined time interval and / or reducing the signal power or signal amplitude of the signal by a predetermined coefficient. In particular, the reduction of the transmission power can be performed for both Sensor 3 and at least one further sensor 3, that is, for all sensors 3 whose transmission time points coincide.

[0053] The coefficient for reducing the transmission power can be calculated according to the number of matching transmission times, and thus according to the number of signals scheduled for simultaneous transmission. For example, in the case of two signals scheduled for transmission at the same transmission time, the signal amplitude can be reduced for each of the two signals so that only half of the transmission power is used for transmission. In this way, the required energy or required power of sensor 3 remains the same at the common transmission time. Generally, in the case of n signals scheduled for transmission at the same transmission time, the transmission power can be reduced by a factor of 1 / n for each. In this regard, if the transmission rule is stored in the control device 4, it can be set by the control device 4, or it can be calculated based on the transmission rule stored in the sensor by each individual sensor.

[0054] Figure 3 schematically shows two Figures 9 and 10. Here, Figure 9 shows signal 11 transmitted by the first sensor among sensors 3, and Figure 10 shows signal 12 transmitted by the second sensor among sensors 3. The horizontal axis represents time t, and the vertical axis represents the transmission power P1 or P2 of signal 11 or 12, respectively.

[0055] Signals 11 and 12 are transmitted at different transmission times. The transmission times are obtained, for example, from the time intervals stored as transmission rules, and the transmission times are selected to be at least partially different for each individual sensor 3 so that the individual sensors 3 transmit those signals in a characteristic pattern with respect to time.

[0056] In this case, the transmission times can be generated continuously at a fixed time, for example, in response to a synchronization signal transmitted from the control device 4 to the sensor 3, for example, based on a time interval. By assigning a characteristic pattern of signal transmission, the received signal or the echo derived from the signal can be assigned to each individual sensor 3.

[0057] In the example shown in Figure 3, the transmission time t of the first sensor 1,i and the transmission time t of the second sensor 2,iIt is clear that they match. Here, as a measure, the transmission power of both signals is reduced by a factor of 0.5, so overall, at the transmission time point t 1,i or t 2,i the required energy is constant.

[0058] Additionally or alternatively, as schematically shown by the dashed line for the signal 11 of the first sensor 3, the transmission time point of one of the signals can be shifted by a time interval Δt i only.

[0059] As an alternative to shifting the transmission time point and / or taking measures to change the transmission time point and / or signal quality, it is also possible to omit the signal 11 of the first sensor 3 or the signal 12 of the second sensor 3 at the transmission time point t 1,i or t 2,i The measures to be taken can be stored in each of the individual sensors 3 and / or the control device 4 as measure information, similar to the transmission rules.

[0060] In both embodiments of the sensor device 2, the sensor 3 can be connected to a power supply device configured separately from the control device 4. Also, the sensor device 2 can be used for a device of a type different from a vehicle and / or the sensor device 2 can be configured as a liquid level measurement and / or anti-theft alarm system. The functions of the sensor device 2 can be implemented by a control device 4 that evaluates the measurement data or echoes of the signals received by the sensor 3 accordingly, respectively.

[0061] As an alternative to configuring the sensor 3 as an ultrasonic sensor, the sensor 3 can also be configured as another type of sensor, for example, a radar sensor or a lidar sensor.

Claims

1. A sensor device comprising a plurality of sensors (3), each of the sensors (3) being configured to transmit at least one signal (11, 12) at various transmission times, the transmission times of the sensors (3) being set respectively according to transmission rules assigned to each of the sensors (3). In the sensor device, when the transmission time of one of the sensors (3) among the sensors (3) coincides with the further transmission time of a further sensor (3) among the sensors (3), the sensor device (2) is configured to omit the signal (11, 12) of the one sensor (3) assigned to the transmission time, or is configured to transmit in response to measures for changing the transmission time and / or signal quality. A sensor device characterized by this.

2. The sensor device according to claim 1, characterized in that the measures include shifting the transmission time by a predetermined time interval and / or reducing the transmission power of the signal (11, 12) by a predetermined coefficient.

3. The transmission rules assigned to each of the sensors (3) are stored in each of the sensors (3), and at least one further transmission rule of a further sensor (3) among the sensors (3) is stored in at least one of the sensors (3). The sensor device according to claim 1 or 2, characterized in that the at least one sensor (3) is configured to calculate the coincidence between one of their transmission times and at least one further transmission time described by the at least one further transmission rule.

4. The sensor device (2) includes a control device (4), the transmission rules assigned to each of the sensors (3) are stored in the control device (4), and the control device (4) is configured to calculate a coincidence between a transmission time point of one of the sensors (3) and at least one further transmission time point of at least one further sensor (3) among the sensors (3), and is configured to control the sensor (3) to omit the signals (11, 12) at the transmission time point and / or to transmit the signals (11, 12) in response to measures for changing the transmission time point and / or the signal quality. The sensor device according to claim 1 or 2, characterized in that.

5. The transmission rules each include a table having a plurality of transmission time intervals, particularly as probabilistically generated codes, and the sensor device (2) is configured to calculate the transmission time point according to the transmission time intervals and a synchronization signal. The sensor device according to any one of claims 1 to 4, characterized in that.

6. The sensor (3) is connected to a common power supply device (7) that supplies power to the sensor (3). The sensor device according to any one of claims 1 to 5, characterized in that.

7. The sensor (3) is configured as an ultrasonic sensor. The sensor device according to any one of claims 1 to 6, characterized in that.

8. The sensor device (2) is configured as a distance measurement, liquid level measurement, and / or anti-theft alarm system. The sensor device according to any one of claims 1 to 7, characterized in that.

9. A vehicle comprising the sensor device (2) according to any one of at least one of claims 1 to 8.

10. A method for operating a sensor device (2) comprising a plurality of sensors (3), wherein the sensors (3) each transmit at least one signal (11, 12) at various transmission times, the transmission times of the sensors (3) being each set according to a transmission rule assigned to each of the sensors (3), and when the transmission time of one of the sensors (3) coincides with the further transmission time of a further sensor (3) among the sensors (3), omitting the signal (11, 12) of the one sensor (3) assigned to the transmission time, or transmitting according to measures for changing the transmission time and / or signal quality.

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