Sensor equipment equipped with ultrasonic transceivers and optical transceiver devices

Abstract

The present invention relates to a sensor installation (20, 21) for a vehicle (10) comprising an ultrasonic transceiver (100) designed to emit ultrasonic waves and receive reflected ultrasonic waves, and an optical transceiver device (101) designed to emit light and receive reflected light.

Description

Technical Field

[0001] The present invention relates to a sensor facility equipped with an ultrasonic transceiver and an optical transceiver device, and a method for measuring the surrounding environment of a vehicle. Furthermore, the present invention relates to a computer program product.

Background Art

[0002] Vehicles, particularly automobiles, are equipped with ultrasonic transceivers. The ultrasonic transceiver transmits an ultrasonic transmission signal to the surrounding environment of the automobile and receives an ultrasonic reception signal from the surrounding environment of the vehicle. The distance to an object in the surrounding environment of the automobile is determined by the signal propagation time between the transmission of the ultrasonic transmission signal and the arrival of the ultrasonic echo in the ultrasonic reception signal due to the reflection of the ultrasonic transmission signal by an object in the surrounding environment of the vehicle. When a plurality of ultrasonic transceivers are used, the actual position of the reflection point can be determined by trilateration or the like.

[0003] Particularly for autonomous driving, such as automatic parking and automatic start, it is necessary to reliably detect small or thin obstacles such as pillars and horizontal bars. In particular, obstacles very close to the ultrasonic transceiver must also be detected reliably. Many conventional ultrasonic transceivers, in principle, cannot detect obstacles at a short distance, for example, less than 20 cm from the ultrasonic transceiver. In such an ultrasonic transceiver, a film is used to generate the ultrasonic transmission signal and to receive the ultrasonic reception signal reflected by an obstacle. To generate the ultrasonic transmission signal, the film is usually vibrated by exciting it using a piezoelectric element. After the excitation ends, the film continues to vibrate. While the film is vibrating or continuing to vibrate, the ultrasonic transceiver cannot sense, or can hardly sense, the reflected ultrasonic reception signal. The closer the obstacle is to the ultrasonic transceiver, the shorter the flight time from the transmission of the ultrasonic transmission signal to the reception of the reflected ultrasonic reception signal. If a reflection reaches the ultrasonic transceiver while the film is vibrating or continuing to vibrate, the obstacle is not detected.

[0004] An ultrasonic sensor having a damping element positioned in the housing to reduce membrane vibration is known from EP 3012654 A1. The damping element reduces membrane vibration, thereby enabling better detection of obstacles at close range.

[0005] A reverse warning system having an ultrasonic sensor is known from DE 102013226499 A1. The reverse warning system comprises an ultrasonic sensor configured to detect information about the area behind the vehicle, and a capacitive sensor configured to detect information about the area behind the vehicle at a distance or less than a predetermined distance. The capacitive sensor can be configured to detect an obstacle located behind the vehicle even if the ultrasonic sensor does not detect an obstacle located behind the vehicle.

[0006] A sensor setup for detecting labels on a carrier material is known from DE 102007046769 A1. The sensor setup comprises an optical sensor and an ultrasonic sensor for detecting labels. Both the optical sensor and the ultrasonic sensor operate according to transmit measurements. That is, the transmitter and receiver of one optical sensor, and the ultrasonic transmitter and ultrasonic receiver of the other ultrasonic sensor, are respectively positioned on either side of the detection plane through which the carrier material with the label is guided to the device. [Overview of the project]

[0007] Given this background, one objective of the present invention is to further improve sensor equipment having an ultrasonic transceiver, and to measure the surrounding environment of an automobile at short distances using ultrasound.

[0008] Therefore, a sensor system for vehicles is proposed, comprising an ultrasonic transceiver configured to emit ultrasonic waves and receive reflected ultrasonic waves, and an optical transceiver device configured to emit light and receive reflected light.

[0009] By combining an ultrasonic transceiver and an optical transceiver device, the optical transceiver device can detect short distances that are not detected or are not detected well by the ultrasonic transceiver. The short distances for the ultrasonic transceiver include, depending on the ultrasonic transceiver and its operation, distances up to 5 cm, 10 cm, or 15 cm from the ultrasonic transceiver. The optical transceiver device can detect distances up to 20 cm, 15 cm, 10 cm, or 5 cm, depending on the optical transceiver device and its operation.

[0010] In this example, the optical transceiver device can operate as a type of optical switch. The optical transceiver device emits light, which can be reflected from nearby surfaces. A portion of the reflected light is received by the optical transceiver device. If a set value is exceeded, an obstacle is detected. The area covered by the optical transceiver device can be set by selecting a threshold and making assumptions about reflection, such as the reflectivity of the surface, the shape of the object, or the scattering of light by obstacles that normally occur in the light used. In this type of operation, the optical transceiver device or the optical transceiver device evaluation device only provides information about the presence or absence of obstacles. This information can be further processed and linked, for example, with data from other sensors stored in the vehicle or a map of the vehicle's surrounding environment.

[0011] In particular, with regard to automatic starting, falsely detected obstacles pose a lower risk than obstacles that are not falsely detected; therefore, the proposed sensor equipment can be used to reduce risks during autonomous driving.

[0012] Sensor equipment comprising ultrasonic transceivers and optical transceiver devices can be pre-assembled as an assembly. The sensor equipment may include a housing, a microprocessor such as an ASIC, memory, and / or electrical connections. The sensor equipment is specifically designed to be installed in a vehicle trim component, such as a bumper, front apron, or rear apron, with at least a portion exposed. The sensor equipment may be positioned in a corresponding recess or passage opening in the trim component. Such sensor equipment is partially visible when installed as intended in the vehicle. Through the visible area in the installed state, the ultrasonic transceiver can emit and receive ultrasonic waves, and the optical transceiver device can emit and receive reflected light through this visible area. In this case, neither the ultrasonic waves nor the light are affected by interference during propagation. At least a portion of the ultrasonic transceiver and optical transceiver devices may be housed in a common housing.

[0013] According to one embodiment, the ultrasonic transceiver and optical transceiver apparatus are connected to each other in such a way that they form a pre-assembled unit and / or cannot be disassembled without destruction. In particular, the ultrasonic transceiver and optical transceiver apparatus are housed in a (preferably common) housing.

[0014] Sensor equipment in which ultrasonic transceivers and optical transceivers are connected to each other, resulting in a stable assembly for installation, is useful for installation on vehicles.

[0015] Vehicles, such as automobiles, are subjected to the influence of the surrounding environment while in operation, such as vibration, heat, cold, rain, humidity, sunlight, and wind. In sensor equipment, ultrasonic transceivers and optical transceiver devices may, or may be partially, housed in a protective housing (particularly a common one) for this purpose, and may be connected to each other and / or to the housing by means of, for example, embedding, burying, bonding, or welding, so that they cannot be disassembled without destruction. In this way, the sensor equipment can be protected from the influence of the surrounding environment.

[0016] According to one embodiment, the optical transceiver device comprises a light-emitting diode or laser, particularly for infrared light, visible light, or ultraviolet light.

[0017] Various inexpensive optical transmitters are available for use in optical transceiver devices. In this example, semiconductor-based light-emitting diodes and lasers can be used in particular. Light-emitting diodes are less efficient at focusing and typically have lower output than lasers, but they are easier to handle. The usable wavelength range is outside the visible wavelength range and / or wavelength ranges where there is little interfering ambient light. Particularly in the near-infrared region, specifically in the wavelength range of 780 nm to 1000 nm, optical transmitters can be inexpensively realized using semiconductor components, especially photodiodes and phototransistors.

[0018] According to one embodiment, the optical transceiver device includes a photodiode or a phototransistor.

[0019] A photodiode or phototransistor is used as an optical receiver capable of receiving light emitted by an optical transmitter and reflected from an object. A phototransistor is more sensitive than a photodiode because it also functions as an amplifier. Photodiodes are often faster than phototransistors. Both photodiodes and phototransistors are inexpensive components based on semiconductors that receive wavelengths between 780 nm and 1000 nm. When using a phototransistor, light reflected from nearby surfaces can reach the phototransistor, and the obstacle detection threshold can be directly set using a comparator circuit.

[0020] According to one embodiment, the optical transceiver device comprises two infrared light-emitting diodes and two phototransistors or photodiodes.

[0021] The optical transceiver device can be designed redundantly using two or more infrared light-emitting diodes and two or more phototransistors or photodiodes. This prevents failure of an individual optical transmitter or receiver from causing failure or degradation of the sensor equipment. The optical transceiver device can operate even if the dirt does not completely cover the optical transmitter or receiver. Functions such as dirt detection can also be implemented using multiple optical transmitters and receivers.

[0022] According to one embodiment, the sensor equipment includes a separation ring for separating the vibrations of the ultrasonic transceiver of the sensor equipment from the housing device.

[0023] Ultrasonic transceivers typically convert electrical vibrations into mechanical vibrations using a piezoelectric element that excites a membrane. The vibration of the membrane generates an ultrasonic transmission signal. To convert as much power as possible into an ultrasonic transmission signal, mechanical vibrations should not be transmitted to the component in which the ultrasonic transceiver is located. To minimize this transmission, the ultrasonic transceiver or the assembly incorporating the ultrasonic transceiver can be placed in or connected to a component via a separation ring. Therefore, for example, the ultrasonic transceiver can be housed in a housing along with its electronic components, and this housing and / or the ultrasonic transceiver can be placed in a bumper using a separation ring.

[0024] According to one embodiment, the separation ring is configured to conduct transmitted and / or reflected light to an optical transceiver device.

[0025] In many applications, ultrasonic transceivers should be integrated into the vehicle in an aesthetically pleasing and aerodynamically compatible manner, for example, on the bumper, front apron, or rear apron, and a separation ring is used to separate them from the vehicle or the bumper, front apron, or rear apron. If this separation ring can be used for the transmitted and / or reflected light of the optical transceiver device, the proposed sensor equipment can be used with little to no modification to the exterior area of ​​the vehicle.

[0026] According to one embodiment, the separation ring transmits emitted light and / or reflected light, particularly infrared light.

[0027] One possibility for configuring a separation ring for conducting transmitted or reflected light to an optical transceiver device is represented by a coupling ring material that transmits emitted or reflected light, particularly infrared light. If the optical transceiver device uses infrared light, it is also possible to use, for example, a material that does not transmit visible light but transmits infrared light.

[0028] According to one embodiment, the separation ring comprises an optical fiber for conducting the emitted light and / or the reflected light.

[0029] The optical fiber can be used, for example, for better light separation or light collection, and / or for beam formation of the emitted light or the reflected light in order to conduct the light to the separation ring.

[0030] According to one embodiment, a bumper, a front apron, or a rear apron comprises one or more sensor devices.

[0031] According to one embodiment, a vehicle comprises one or more sensor devices and / or a bumper, a front apron, or a rear apron having one or more sensor devices.

[0032] For use in a driver assistance system such as a parking system, by attaching the sensor device to a point of the vehicle in front of or behind the direction of travel, the sensor device can detect obstacles in this area. Accordingly, one or more sensor devices can be arranged on a bumper, a front apron, or a rear apron of a vehicle, particularly an automobile.

[0033] Furthermore, a method for measuring the surrounding environment of a vehicle, particularly using the above-mentioned sensor device, is proposed, comprising: a) transmitting and receiving an ultrasonic signal; b) transmitting and receiving an optical signal; c) evaluating the received ultrasonic signal with respect to obstacles in the surrounding environment of the vehicle; and d) evaluating the received optical signal with respect to obstacles in the surrounding environment of the vehicle.

[0034] The surrounding environment is measured using the transmission and reception of ultrasonic signals, as well as the evaluation of the received ultrasonic signals regarding obstacles in the vehicle's surrounding environment. The distance to obstacles is determined by time-of-flight measurement, and if multiple ultrasonic transceivers are present, the location of obstacles can be determined by trilateration. Since ultrasonic transceivers typically cannot detect obstacles at close range (below the minimum distance), short-range detection is supplemented using optical measurements. For this purpose, optical signals are transmitted and received. These received optical signals are evaluated with respect to reflected light that may originate from obstacles located close to the ultrasonic transceiver.

[0035] According to one embodiment, the received ultrasonic signal is evaluated with respect to obstacles located more than 5 cm, preferably more than 10 cm, from the transmitting ultrasonic transceiver, and / or the received optical signal is evaluated with respect to obstacles located up to 20 cm, preferably up to 15 cm, from the transmitting optical transceiver device.

[0036] Ultrasonic transceivers typically cannot detect obstacles at close range. Close range refers to a distance at which obstacles cannot be detected, and depending on the design, may include 5 cm, 10 cm, or 15 cm. Obstacles within this close range are detected by the received optical signal. For this purpose, the received optical signal is evaluated with respect to obstacles at close ranges of up to 20 cm, 15 cm, 10 cm, or 5 cm. The location and orientation of obstacles can be determined by trilateration using multiple ultrasonic transceivers. Often, it is sufficient to simply establish the presence of obstacles in the evaluation of the optical signal. This enables a cost-effective system for transmitting and receiving optical signals, and for evaluating transmitted and received optical signals. When the evaluation of the optical signal is limited to close ranges, particularly those undetectable by ultrasonic transceivers, the evaluation of the optical signal can be simply supplemented with information on whether obstacles exist, especially at close ranges undetectable by ultrasonic transceivers.

[0037] In one embodiment, the automatic start process is permitted to be deactivated only if, with respect to the intended direction of movement, the evaluated ultrasonic signal and the evaluated optical signal indicate that there are no obstacles within the intended distance of movement.

[0038] In autonomous driving in particular, minimizing risk or reducing redundancy in various sensor systems is crucial. Especially in the case of a stationary vehicle, the surrounding environment can change abruptly, for example, due to a pedestrian at close range, such as when a pedestrian steps behind the stationary vehicle. For example, when the vehicle is switched off and therefore the ultrasonic transceiver is switched off, the surrounding environment of the vehicle that cannot be detected using the ultrasonic transceiver may change. If an obstacle (which can no longer be detected by the ultrasonic transceiver) is already located close to the ultrasonic transceiver when the vehicle is switched on, the obstacle will no longer be detected by the ultrasonic transceiver. If deactivation is only permitted when both the ultrasonic and optical signals indicate that there are no obstacles, the risk of undetected obstacles at close range can be reduced.

[0039] In one embodiment, contamination of the sensor equipment is established using at least two infrared diodes and at least two phototransistors or photodiodes in the sensor equipment.

[0040] If multiple optical transmitters and receivers are provided, for example, two infrared diodes and two phototransistors, and for example, the first phototransistor does not receive a reflected signal but the second phototransistor receives a reflected signal that exceeds a threshold, then it can be concluded that the optical path to the first phototransistor is blocked, for example, by mud. This is especially true when the two optical receivers are placed adjacent to each other at a distance of less than 30 mm. For example, if optical transmitters, which are the first and second infrared diodes, transmit alternately and the reflected signals reaching the optical receivers differ in intensity by more than a threshold, then it can be concluded that the optical path from the infrared diode producing the weaker reflected signal to the reflective object is blocked, for example, by mud. This is true when the two optical transmitters are placed adjacent to each other at a distance of less than 30 mm.

[0041] Further proposed computer program products include commands that cause a computer to perform the above-described method when the computer executes the program.

[0042] Computer program products, such as computer program means, may be provided or supplied as storage media such as memory cards, USB sticks, CD-ROMs, DVDs, or in the form of files downloadable from a server on a network. This can be done, for example, by transmitting a corresponding file containing the computer program product or computer program means over a wireless communication network.

[0043] The embodiments and features described for the proposed apparatus are also applicable to the proposed method, and vice versa.

[0044] The exemplary embodiments of the present invention also include features or combinations of embodiments not expressly mentioned above or below. Those skilled in the art will, in this case, add individual embodiments as improvements or additions to each basic embodiment of the invention.

[0045] Further advantageous configurations and aspects of the present invention are the subject of the dependent claims and the exemplary embodiments of the present invention described below. The present invention will be described in more detail below with reference to the accompanying drawings based on preferred embodiments. [Brief explanation of the drawing]

[0046] [Figure 1] Figure 1 shows a schematic top view of a vehicle equipped with sensor equipment and an obstacle. [Figure 2] Figure 2 shows the reflection of ultrasonic waves at the sensor equipment and obstacles. [Figure 3] Figure 3 shows the sensor equipment, the reflection of ultrasonic waves from nearby obstacles, and how distant objects are blocked. [Figure 4] Figure 4 shows the sensor equipment, the reflection of ultrasonic waves from nearby obstacles, how distant objects are blocked, and the illumination of obstacles using light. [Figure 5] Figure 5 schematically shows a cross-section of a sensor system with an ultrasonic transceiver and an optical transceiver device on the front apron. [Figure 6] Figure 6 schematically shows a top view of a sensor system with an ultrasonic transceiver and an optical transceiver device on the front apron. [Figure 7] Figure 7 shows a flowchart illustrating a method for measuring the surrounding environment of a vehicle. [Modes for carrying out the invention]

[0047] In drawings, identical or functionally identical elements are given the same reference numeral unless otherwise specified.

[0048] Figure 1 shows an exemplary vehicle, i.e., an automobile 10, having multiple sensor units 20, 21 equipped with ultrasonic transceivers. The multiple sensor units 20, 21 are located on the front apron 60 and rear apron of the automobile 10 (neither of which are directly visible in the top view of Figure 1). In the schematic diagram, the sensor units 20, 21 are shown superimposed for better visibility. In many automobiles 10, the sensor units 20, 21 are realized as flat surfaces and are therefore positioned so as not to protrude from the front apron or rear apron, or protrude only minimally, or are recessed relative to them.

[0049] The ultrasonic transceivers of the sensor equipment 20, 21 are implemented with a cup-shaped membrane. The cup-shaped membrane is terminated flush with the outside of the vehicle and can be painted in the color of the automobile 10. The flat surface of the membrane is mounted on the surface of the front apron 60 or the rear apron. The sensor equipment 20, 21 is often only recognizable by a silicone separator that appears as a circle between the front apron or the rear apron and the sensor equipment 20, 21.

[0050] The ultrasonic wave spread 30 of the transmitted ultrasonic waves from the ultrasonic transceiver of the sensor equipment 21 is shown. The ultrasonic transceiver of the sensor equipment 21 emits ultrasonic waves into the surrounding environment 40 of the automobile 10. The ultrasonic transceiver of the sensor equipment 21 emits its maximum output perpendicular to the surface of the membrane attached to the plane of the front apron. In the horizontal plane, the emitted ultrasonic waves have an open angle with a directional characteristic of approximately 120°. In the vertical plane, the open angle is approximately 60°.

[0051] The emitted ultrasonic waves may be reflected by the obstacle 50. The distance from the ultrasonic transceiver of the equipment 21 to the obstacle 50 can be calculated from a combination of the flight time of the emitted ultrasonic waves to the obstacle and the flight time of the reflected ultrasonic waves returning to the ultrasonic transceiver of the sensor equipment 21. When ultrasonic transceivers of multiple sensor equipment 20 and 21 are used, the position of the obstacle 50 can be determined from various flight times using a known trilateration method.

[0052] Figure 2 schematically shows the reflection of ultrasound at the sensor equipment 20 and the obstacle 50. Ultrasound is transmitted as pulses or pulse sequences. Ultrasound has directional properties and propagates at an open angle of approximately 120° in the horizontal plane of the automobile 10. The propagation of transmitted ultrasound 30 is shown by a solid arc in Figure 2. When the transmitted ultrasound hits the obstacle 50, a portion of the ultrasound that hits the obstacle 50 may be reflected. The propagation of the reflected ultrasound 70 is shown by a dotted arc in Figure 2. A portion of the reflected ultrasound hits the ultrasonic transceiver of the sensor equipment 21. The distance from the ultrasonic transceiver of the sensor equipment 21 to the obstacle can be calculated from the flight time of the round-trip pulse or pulse sequence from the ultrasonic transceiver of the sensor equipment to the obstacle 50.

[0053] Figure 3 shows the reflection of ultrasound from the sensor equipment 21 and nearby obstacles, and how more distant objects are blocked. As the obstacle 50 in Figure 2 approaches the ultrasonic transceiver of the sensor equipment 21, the flight time of the round-trip pulse or pulse sequence from the ultrasonic transceiver of the sensor equipment 21 to the obstacle decreases. If reflected ultrasound reaches the ultrasonic transceiver while these ultrasounds are still being emitted as pulses or pulse sequences, or immediately after emission, the ultrasonic transceiver becomes "blind" (undetectable) to the reflected ultrasound. In this case, the obstacle 50 can no longer be detected. If the obstacle 50 is offset laterally, as shown by the dotted line in Figure 3, the flight time is longer, and it can be detected even at the same distance from the front apron 60. In many ultrasonic transceivers, a distance of at least 10 cm from the ultrasonic transceiver is required to detect the obstacle 50. This is because, in this case, the flight time of the ultrasound transmitted in the form of pulses or pulse sequences is sufficiently long that the membrane is no longer excited and stops vibrating, so that the reflected ultrasound can be received and the reflection by the obstacle 50 can be detected.

[0054] In the case of an obstacle 50 located near the front of the ultrasonic sensor of the sensor equipment 21, there is an additional risk that a very large obstacle 80 behind the obstacle 50 may be blocked. Because the obstacle 50 reflects or scatters the incident ultrasonic waves, those ultrasonic waves may not reach the object 80, or may only reach it in an attenuated form.

[0055] Figure 4 shows the sensor equipment 21, the reflection of ultrasound from a nearby obstacle (the corresponding ultrasonic transceiver of sensor equipment 21 is not shown in Figure 4), how a more distant object is blocked, and the illumination of the obstacle by light. When light is emitted and the reflected light is received by sensor equipment 21 having an optical transceiver device (not shown in Figure 4), this can be used as additional information about whether the obstacle is located in front of sensor equipment 21. In the exemplary embodiment of Figure 4, the propagation of light is shown based on two optical cones. Two infrared diodes emit light at a wavelength of 850 nm. When the emitted light strikes the obstacle 50, some of the light is reflected. The reflected light can be received by two phototransistors. A comparator circuit is used to define a threshold for the phototransistors. If the threshold is exceeded, the obstacle can be detected. In this way, an additional safety is obtained in that obstacles in the vicinity of the ultrasonic transceiver of sensor equipment 21 are not overlooked. An optical transceiver device using infrared diodes and phototransistors can be implemented cost-effectively. Integrating an ultrasonic transceiver into a conventional ultrasonic sensor, rather than an optical transceiver device, is often easily achievable because existing electronic devices 140, such as ICs, ASICs, microprocessors, and memory, can also be used. In many cases, so-called GPIOs (General Purpose Input / Output) are provided on the ultrasonic sensor IC, which can be used for signal processing of the ultrasonic transceiver device, such as connecting to a phototransistor and measuring the voltage of the phototransistor generated by the received reflected light.

[0056] Figure 5 schematically shows a cross-section of a sensor system 21 having an ultrasonic transceiver 100 and an optical transceiver device 101 on a front apron 60. The ultrasonic transceiver 100 and the optical transceiver device 101 are preferably incorporated into a common housing 105. The membrane 110 of the ultrasonic transceiver 100 is positioned in or partially within the housing 105. The membrane 110 is cup-shaped and has a flat area introduced into the plane of the front apron 60 and a cylindrical area having a greater material thickness. Through the cylindrical area, the membrane 110 is connected to the housing 105. The connection is established by an embedding composition 120. Alternatively, the membrane 110 may be connected to the housing 105 by, for example, bonding, extrusion, or embedding. Because the membrane 110 is connected to the housing 105 by the embedding composition 120, water does not enter the housing. The membrane is manufactured from a metal, particularly aluminum. The piezoelectric element 130 is placed inside the film 110 and is thus protected.

[0057] The film 110 and the piezoelectric element 130 are part of the ultrasonic transceiver 100. Electronic equipment 140 of the ultrasonic transceiver 100, which has a microprocessor with memory, is used to generate pulses or pulse sequences having a carrier frequency using the piezoelectric element 130. The pulses or pulse sequences are transmitted using the film 110. Electronic equipment 140 of the ultrasonic transceiver 100 is also used to evaluate the ultrasound striking the film 110, particularly in the form of reflected pulses or pulse sequences.

[0058] Furthermore, the infrared light-emitting diode 150 and the phototransistor 160 are embedded in the embedding composition 120. The infrared light-emitting diode 150 and the phototransistor 160 are part of the optical transceiver device 101. The electronics 170 of the optical transceiver device 101, which has a microprocessor with memory, is used to transmit optical signals using the infrared light-emitting diode 150 and to receive and evaluate optical signals using the phototransistor 160. The infrared light-emitting diode 150 and the phototransistor 160 are also firmly connected to the housing 105 via the embedding composition 120. In the housing 105, the light-emitting diode 150 and the phototransistor 160 are connected to the electronics 170 of the optical transceiver device via wires or conductor tracks. The common electronics 140 and 170 are available for use with the ultrasonic transceiver 100 and the optical transceiver device 101.

[0059] The housing 105 has a connector 180, for example, a plug connector. The connector 108 is for supplying electrical energy to the optical transceiver device 101 and the ultrasonic transceiver 100, and for transmitting data from and to the optical transceiver device 101 and the ultrasonic transceiver 100, and from, for example, the control unit of the automobile 10. The housing 105 is positioned on the front apron 60 using a separation ring 190. The separation ring 190 is extruded from the membrane 110 and the embedding composition 120. Alternatively, the separation ring 190 may be inserted, embedded, or bonded. The separation ring 190 reduces the transmission of vibrations of the membrane 110 to the front apron 60, either directly or through the housing 105.

[0060] The optical fiber 200 is introduced into the separation ring 190, for example, by being embedded. The light from the infrared light-emitting diode 150 can reach the outside of the front apron 60 and can also be emitted into the surrounding environment 40 of the vehicle 10 via the optical fiber. The reverse is also true, and the reflected light can reach the phototransistor 160 from the surrounding environment 40 of the vehicle 10.

[0061] Figure 6 schematically shows a top view of a sensor system 21, which has an ultrasonic transceiver and an optical transceiver device on the front apron 60, as seen from the surrounding environment 40 of the automobile 10. The separation ring 190 transmits the light from the infrared light-emitting diode 150, so the sensor system 21 does not require a waveguide 200. This is because the light emitted and received by the optical transceiver device passes through the separation ring 190. The outer circumference of the separation ring 190 is approximately 30 mm. The sensor system 21 can be installed in an installation space that is also available for conventional ultrasonic sensors. This is because the separation ring 190 surrounding the membrane 110 is used to emit light from the optical transceiver device and to receive reflected light. Due to the compact configuration of the sensor system 21, the optical transceiver device can effectively cover the short distance in front of the ultrasonic transceiver.

[0062] In Figure 6, the sensor equipment 21 for the optical transceiver device comprises two infrared light-emitting diodes 150 and two phototransistors 160. The detection range of the optical transceiver device is determined by the use of the two infrared light-emitting diodes 150 and the two phototransistors 160, and the system can be implemented redundantly. For example, by arranging the infrared light-emitting diodes 150 in a horizontal plane, a wider detection area can be obtained in the horizontal plane. By arranging them vertically, good detection of obstacles in the vertical direction at close range is achieved. Even if there is no reflection of light emitted due to contamination of the infrared light-emitting diodes 150 or phototransistors 160, this can be compensated for by the other pair of infrared light-emitting diodes 150 and phototransistors 160.

[0063] For example, in evaluating the optical signal received by a pair of infrared light-emitting diodes 150 and phototransistors 160 located close to each other, as shown in the upper pair in Figure 6, if a strong reflection occurs due to a strong received optical signal, or if no reflection occurs in a second pair located close to each other, as shown in the lower pair in Figure 6, then it can be concluded that there is dirt in the area of ​​the sensor equipment 21, and this is obstructing the upper pair of infrared light-emitting diodes 150 and phototransistors 160 of the sensor equipment 21.

[0064] Figure 7 shows a flowchart illustrating a method for measuring the surrounding environment 40 of the vehicle 10, which can be carried out using the sensor devices 20 and 21 described above.

[0065] In step S1, an ultrasonic signal is transmitted and received using an ultrasonic transceiver. The ultrasonic transceiver has a film 110 for this purpose. The film 110 can be excited using a piezoelectric element 130 and can generate ultrasonic waves. The piezoelectric element 130 and the film 110 can be excited using the electronic equipment 140 of the ultrasonic transceiver. This transmits an ultrasonic signal. When the transmitted ultrasonic signal hits an obstacle 50, some of it may be reflected. When the reflected ultrasonic signal hits the film 110 again, they are received by the ultrasonic transceiver.

[0066] In step S2, an optical signal is transmitted and received using an optical transceiver device. Step S2 may be performed in parallel with or alternately before or after step S1. The light-emitting diode 150 is turned on using the electronic equipment 170 of the optical transceiver device, and an optical signal is transmitted using the light-emitting diode. When the transmitted optical signal hits the obstacle 50, some of it may be reflected. When the reflected optical signal hits the phototransistor 160 or photodiode of the optical transceiver device, they may be received by the optical transceiver device.

[0067] In step S3, the received ultrasonic signal is evaluated for an obstacle 50 in the surrounding environment 40 of the vehicle 10. For this purpose, a search is performed for the peak of the received ultrasonic signal corresponding to the reflection from the obstacle 50. The distance to the obstacle 50 is calculated from the ultrasonic signal to the obstacle 50 and the flight time until it returns to the ultrasonic transceiver. If multiple ultrasonic transceivers are used, the location of the obstacle can also be determined by trilateration. However, if the obstacle 50 is too close to the ultrasonic transceiver, the ultrasonic signal cannot be received if the reflected signal reaches the membrane 110 while the membrane is still excited for ultrasonic transmission or is still vibrating from excitation. In this case, the obstacle is not detected.

[0068] In step S4, the received optical signal is evaluated for obstacles 50 in the surrounding environment of the vehicle 10. Step S4 may be performed in parallel with or alternately before or after step S3. In this case, the brightness of the received optical signal is compared with a threshold. If the brightness value exceeds the threshold, an obstacle is detected. For evaluation, an optical signal with a wavelength that is as naturally absent as possible, or not present at all, in the surrounding environment 40 of the vehicle 10, such as near-infrared light, is used. The threshold is selected so that only obstacles 50 that are too close to the ultrasonic transceiver and therefore not detected by the ultrasonic transceiver are detected. For example, the threshold may be defined experimentally to detect as many frequently occurring or particularly noteworthy obstacles 50, such as pedestrians, as possible. The electronic equipment 170 only allows the optical transceiver device to deactivate if no obstacles are detected. Only when the electronic equipment of the optical transceiver device and the electronic equipment 140 of the ultrasonic transceiver are deactivated is the deactivation of the automated driving operation permitted, and for example, the automated parking entry or exit process is started.

[0069] 10. Automobiles 20, 21 Sensor equipment 30. Propagation of Ultrasound 40. The surrounding environment of a vehicle 50 Obstacles 60 Front Apron 70. Propagation of reflected ultrasound 80 Object 90 light cone 100 Ultrasonic Transceivers 101 High-priced transceiver equipment 105 Housing 110 membrane 120 Composition for embedding 130 Piezoelectric element 140 Ultrasonic Transceiver Electronic Equipment 150 Infrared Light Emitting Diodes 160 phototransistors 170 Electronic equipment for optical transceiver devices 180 Connection part 190 Separation Ring 200 optical fibers S1 Ultrasonic signal transmission and reception step S2 Transmitting and receiving optical signals S3 Evaluation step of the received ultrasonic signal S4 Evaluation step of the received optical signal

Claims

1. Sensor equipment (20, 21) for a vehicle (10), An ultrasonic transceiver (100) configured to emit ultrasonic waves and receive reflected ultrasonic waves, An optical transceiver device (101) configured to emit light and receive reflected light, The system includes a separation ring (190) for separating the vibrations of the ultrasonic transceiver (100) of the sensor equipment (20, 21) from the device (60) housing the sensor equipment (20, 21), The separation ring (190) is a sensor device (20, 21) for a vehicle (10) that transmits the light emitted from the optical transceiver device (101) and transmits the reflected light back to the optical transceiver device (101).

2. The sensor equipment (20, 21) according to claim 1, wherein the ultrasonic transceiver (100) and the optical transceiver device (101) are arranged in a housing (105).

3. The sensor equipment (20, 21) according to claim 1, wherein the optical transceiver device (101) comprises a light-emitting diode (150) or laser for infrared light, visible light, or ultraviolet light.

4. The sensor equipment (20, 21) according to claim 1, wherein the optical transceiver device (101) comprises a photodiode or phototransistor (160).

5. The sensor equipment (20, 21) according to claim 1, wherein the optical transceiver device (101) comprises two infrared light-emitting diodes (150) and two phototransistors (160) or photodiodes.

6. A device (60) which is a bumper, front apron, or rear apron equipped with the sensor equipment (20, 21) described in claim 1.

7. A vehicle (10) comprising a sensor device (20, 21) according to any one of claims 1 to 5, and / or a device (60) which is a bumper, front apron, or rear apron according to claim 6.

8. A method for measuring the surrounding environment (40) of a vehicle (10) using sensor equipment (20, 21) according to any one of claims 1 to 5, a) The steps of transmitting and receiving ultrasonic signals, b) The steps of transmitting and receiving optical signals, c) A step of evaluating the received ultrasonic signal with respect to obstacles in the surrounding environment (40) of the vehicle (10), d) A method comprising the step of evaluating the received optical signal with respect to obstacles in the surrounding environment (40) of the vehicle (10).

9. The method according to claim 8, wherein the received ultrasonic signal is evaluated with respect to an obstacle (50) at a distance of at least 5 cm from the transmitting ultrasonic transceiver (100), and / or the received optical signal is evaluated with respect to an obstacle at a distance of less than 20 cm from the transmitting optical transceiver device (101).

10. The method according to claim 8, wherein the automatic start process is permitted to be deactivated only if, with respect to the intended direction of movement, the evaluated ultrasonic signal and the evaluated optical signal are determined to be free of obstacles within the intended distance of movement.

11. A computer program comprising a command that causes the computer to perform the method described in claim 8 when the computer executes the program.

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