Detection unit for a vehicle

Abstract

The present invention relates to a detection unit (10) for a vehicle (100), comprising a first projection unit (12) having a first field of view (14), a first camera unit (16) having a third field of view (18), wherein the first field of view (14) and the third field of view (18) at least partially overlap, wherein the first projection unit (12) and the first camera unit (16) are arranged in a predetermined alignment (20) with respect to one another, wherein the first projection unit (12) is configured to emit a first beam (22) with substantially a predetermined orientation, wherein the first beam (22) defines a first plane (28) by means of a first ray (24) and a second ray (26), wherein the first camera unit (16) is configured to capture a second beam (30) based on a reflection of the first beam (22), wherein the second beam (30) defines a second plane (36) by means of a third ray (32) and a fourth ray (34), wherein the detection unit (10) is configured to determine a first line of intersection (38) between the first plane (28) and the second plane (36) on the basis of a first point of intersection (40) between the first ray (22) and the third ray (32) and a second point of intersection (42) between the second ray (26) and the fourth ray (34) and on the basis of the predetermined alignment (20).

Description

[0001] Description

[0002] title

[0003] Detection unit for a vehicle

[0004] State of the art

[0005] The present invention relates to a detection unit for a vehicle as well as a vehicle and a method for detecting an object.

[0006] Currently, there are a multitude of different solutions for object detection in vehicles. Due to the increasing number of objects to be detected in vehicles and the increased demands of autonomous ferry operations, the need for innovative and robust object detection methods is continuously growing.

[0007] The constant weight reduction in vehicle construction is aimed at reducing fuel consumption, and increasing competition is creating cost pressure, so that cheaper and more efficient components for vehicles are in greater demand.

[0008] DE 2015 105 376 U1 shows a 3D camera for taking three-dimensional images.

[0009] Disclosure of the invention

[0010] The detection unit according to the invention for a vehicle with the features of claim 1 has the advantage over the known ones that a three-dimensional measurement can be carried out without a stereo camera, namely with just a projector and a mono camera. By successfully carrying out a 3D measurement using a simple camera, synchronization of two cameras is no longer necessary. Furthermore, the required processing capacity of image elements with one camera is significantly reduced compared to two cameras. More preferably, there is also no need to calculate epipolar images or disparity maps. Thus, both the energy consumption and the computing requirements can be significantly reduced. This is achieved according to the invention in that the detection unit for a vehicle has a first projection unit and a first camera unit. The first projection unit has a first field of view.The first camera unit has a third viewing area. Furthermore, the first viewing area and the third viewing area at least partially overlap, with the first projection unit and the first camera unit being arranged in a predetermined orientation relative to one another.Furthermore, the first projection unit is configured to emit a first beam of rays with substantially a predetermined orientation, wherein the first beam of rays defines a first plane by means of a first beam and a second beam, wherein the first camera unit is configured to capture a second beam of rays based on a reflection of the first beam of rays, wherein the second beam of rays defines a second plane by means of a third beam and a fourth beam, wherein the detection unit is configured to determine a first intersection line between the first plane and the second plane based on a first intersection point between the first beam and the third beam at a second intersection point between the second beam and the third beam and based on the predetermined orientation.

[0011] In other words, the camera unit can capture a reflection of the first beam of rays from the projection unit in order to be able to determine an intersection line with which the position of a plane in space can be determined, since the first intersection point and the second intersection point lie on the respective plane based on their reflection. Preferably, a coordinate system is used, such as that in accordance with DIN 70000. The projection unit can be, for example, a laser projection unit, an infrared projection unit, or the like. The camera unit can be configured to capture a plurality of images, in particular color images, in order to be able to capture the second beam of rays. Further preferably, the camera unit is configured to capture a first image element in which the second beam of rays and the first beam of rays can be imaged.

[0012] The subclaims describe preferred developments of the invention. Preferably, the substantially predetermined orientation of the first beam is an angle value between the first beam and the second beam, based on a source of the first beam and the second beam.

[0013] An advantage of this embodiment is that the first intersection line can be accurately determined using the predetermined angle value and the known predetermined alignment between the first projection unit and the first camera unit.

[0014] Further preferably, the detection unit is configured to determine the substantially predetermined orientation of the first beam based on a first angle between the projection axis and the first beam and based on a second angle between the projection axis and the second beam.

[0015] An advantage of this embodiment is that a reference such as a projection axis can be used, in particular for a plurality of projection units as well as camera units.

[0016] Further preferably, the detection unit has a second projection unit with a second viewing area, wherein the first viewing area, the second viewing area and the third viewing area at least partially overlap, wherein the first projection unit is configured to emit the first beam with a first depth, wherein the second projection unit is configured to emit a third beam with a second depth, wherein the first depth and the second depth differ, wherein the third beam defines a third plane by means of a fifth beam and a sixth beam, wherein the first camera unit is configured to detect the second beam and a fourth beam based on a reflection of the third beam, wherein the fourth beam defines a fourth plane by means of a seventh beam and an eighth beam,The detection unit is configured to determine a further intersection line between the third plane and the fourth plane based on a third intersection point between the fifth beam and the seventh beam and a fourth intersection point between the sixth beam and the eighth beam, and based on the predetermined alignment. An advantage of this embodiment is that, using the first beam with a first depth, near-field information from the environment can be determined, while far-field information can be determined using the second depth and the third beam. Thus, the number of components required to monitor a relatively large area can be reduced. Thus, in particular, a first plane can be determined at a first depth and a further plane at a second depth.

[0017] Further preferably, the first projection unit is configured to adapt the first beam based on the first depth.

[0018] An advantage of this embodiment is that, based on the respective application scenario, the first beam of rays can be specifically adapted so that it is clearly visible to the camera unit depending on the first depth.

[0019] Further preferably, the second projection unit is configured to adapt the third beam based on the second depth.

[0020] An advantage of this embodiment is that the distance between two rays of the third beam can be adjusted based on the second depth, so that both the first beam and the third beam or the second and fourth beams are clearly visible to the camera unit.

[0021] Further preferably, the first projection unit is configured to form, in particular emit, the beam at a first frequency, wherein the second projection unit is configured to form the third beam at a second frequency, wherein the first frequency and the second frequency differ sufficiently.

[0022] An advantage of this embodiment is that, due to the different frequencies, the camera unit can only capture the beams of the first projection unit and the beams of the second projection unit, respectively, so that, in particular, there can be no overlap between the two projection units or the first and third beam bundles. Preferably, the first projection unit is configured to adapt the formation, in particular the emission, of the first beam bundle based on a predetermined pattern.

[0023] An advantage of this embodiment is that eye safety can be improved, as it is possible to switch between high-intensity and intense pulses, which are visible to the camera but not to the human eye. Eye safety can also be further improved by fanning out the emitted radiation by the two projectors. In particular, the predetermined pattern can be adapted based on the driving situation of an autonomously operated vehicle, such as the density, wavelength, or camera sensitivity.

[0024] Preferably, the detection unit is configured to determine an optical path of the first beam and the second beam by means of the first beam and the second beam.

[0025] An advantage of this embodiment is that, based on the optical path, objects between the projection units and the camera unit can be taken into account, such as windshields or the like. The optical path can, in particular, be a path of the light or radiation between the projection unit and the camera unit, through which the light passes, such as windshields, sensor disks, or the like, especially before it reaches the camera unit.

[0026] Further preferably, the detection unit is configured to detect at least one artifact along the optical path which the projection unit, the first camera unit and / or an element which influences the optical path, wherein the first camera unit is configured to output at least one artifact signal which is configured to remove the artifact.

[0027] An advantage of this embodiment is that an artifact, such as raindrops on the windshield or the like, can be determined based on a comparison between an optical path at a first point in time and an optical path at a second point in time. As soon as the artifact, such as raindrops or the like, has been detected, a corresponding artifact signal is generated by the detection unit, which is configured, for example, to actuate a windshield wiper in order to remove the artifact from the optical path. Further preferably, the artifacts or contamination can be taken into account on the projection unit as well as on the camera unit or any other element located along the optical path.

[0028] Further preferably, the first camera unit is configured to detect an activity element when the first camera unit detects the second beam, wherein the activity element is configured to enable at least partially autonomous operation of the vehicle.

[0029] An advantage of this embodiment is that the autonomous operation of a vehicle can only be activated once the camera unit has verified that the beams emitted by the projection units have been detected in an image captured by the camera unit. This makes it possible to verify whether, for example, a camera system is functioning properly.

[0030] Further preferably, the first camera unit is configured to determine quality elements based on an imaging quality of the first beam and the second beam, wherein the quality element is configured to determine a confidence level that can be used, in particular used, to adjust the at least partially autonomous operation of the vehicle.

[0031] An advantage of this embodiment is that a degree of autonomous operation can be set depending on the detection quality of the beams, since, for example, the quality of the recording capability of the first camera unit is not sufficient to ensure safe autonomous operation of the vehicle. For example, in darkness, rain, or similar conditions, the detection quality of the beams in the first image element may be limited, so that safe autonomous operation of the vehicle can no longer be guaranteed. Furthermore, the first projection unit is preferably configured to adapt the first beam based on an intensity function.

[0032] An advantage of this embodiment is that the recording accuracy of three-dimensional information in image elements recorded by the camera unit can be improved by using different beam intensities. For example, the intensity of the first beam and / or the second beam can be varied over time using a function such as a trigonometric function, in order to ensure increased recording capacity. Further preferably, by analyzing the image elements that the camera unit can record and the first and second beams, different properties of the image element, such as the sharpness of the image, the modulated transfer function, or the like of the emitted projection pattern, can be determined in order to detect artifacts or contamination as well as inaccuracies.

[0033] Further preferably, the detection unit is configured to determine a position of a plane in a three-dimensional space in relation to the detection unit by means of the first cutting line.

[0034] An advantage of this embodiment is that, by means of the position of the plane in three-dimensional space, for example, an object can be determined for the detection unit with regard to its orientation in the same three-dimensional space.

[0035] A further aspect of the invention relates to a vehicle having a detection unit as described above and below.

[0036] The present invention further relates to a method for detecting an object by means of a detection unit, in particular of a vehicle, wherein the detection unit has a first projection unit with a first viewing area and a first camera unit with a third viewing area, wherein the first projection unit and the first camera unit are arranged in a predetermined orientation to one another and the first viewing area and the third viewing area at least partially overlap, wherein the method comprises the following steps: emitting a first beam of rays with a predetermined orientation by means of the first projection unit, wherein the first beam of rays defines a first plane by means of a first beam and a second beam;

[0037] Capturing a second beam of rays by means of the first camera unit, wherein the second beam of rays is based on a reflection of the first beam of rays, wherein the second beam of rays defines a second plane by means of a third beam and a fourth beam; and determining a first intersection line between the first plane and the second plane based on a first intersection point between the first beam and the third beam, a second intersection point between the second beam and the fourth beam, and the predetermined orientation in order to detect the object, in particular to determine a three-dimensional orientation of the object in space.

[0038] Short description of the drawings

[0039] Embodiments of the invention are described in detail below with reference to the accompanying drawings. In the drawing:

[0040] Figures 1 and 2 show a detection unit according to an embodiment

[0041] Figure 3 is a flow chart illustrating the operation of the detection unit according to an embodiment

[0042] Figures 4 and 5 show a detection unit according to an embodiment

[0043] Figure 6 is a diagram illustrating the operation of the detection unit according to an embodiment

[0044] Figures 7a to 8 show a detection unit according to an embodiment

[0045] Figure 9 shows a vehicle according to an embodiment

[0046] Embodiments of the invention Preferably, all identical components, elements and / or units in all figures are provided with the same reference numerals.

[0047] Figure 1 shows a detection unit according to one embodiment. The detection unit 10 for a vehicle 100 has a first projection unit 12 and a first camera unit 16. The first projection unit 12 with a first viewing area 14 and the first camera unit 16 with a third viewing area 18 are arranged in a predetermined orientation 20 relative to one another. Furthermore, the first viewing area 14 and the third viewing area 18 at least partially overlap.In addition, the first projection unit 12 is configured to emit a first beam of rays 22 with substantially a predetermined orientation, wherein the first beam of rays 22 defines a first plane 28 by means of a first beam 24 and a second beam 26, wherein the first camera unit 16 is configured to capture a second beam of rays 30 which is based on a reflection of the first beam of rays 22, wherein the second beam of rays 30 defines a second plane 36 by means of a third beam 32 and a fourth beam 34, wherein the detection unit 10 is configured to determine a first intersection line 38 between the first plane 28 and the second plane 36 based on a first intersection point 40 between the first beam 22 and the third beam 32 and a second intersection point 42 between the second beam 26 and the fourth beam 34 and based on the predetermined orientation 20.

[0048] Figure 2 shows a detection unit 10 according to one embodiment. As can be seen in Figure 2, the first projection unit 12 is preferably configured to emit a first beam 22 having a first ray 24 and a second ray 26. Thus, a first plane 28 can be defined by the first beam 22. The first beam 22 preferably strikes an object, by which the first beam 22 is reflected, thus creating the second beam 30. The second beam 30 preferably has a third ray 32 and a fourth ray 34. A second plane 36 is preferably defined by the third ray 32 and the fourth ray 34. Furthermore, the camera unit 16 can capture the second beam 30. Based on the emitted first beam 22 and the received or recorded second beam 30, a first intersection line 38 can be determined.The first intersection line 38 is preferably based on a first intersection point 40 and a second intersection point 42. The first intersection point 40 is preferably determined based on an intersection point between the first ray 22 and the third ray 32. More preferably, the second intersection point 42 is determined based on an intersection point between the second ray 26 and the fourth ray 34. Based on the predetermined alignment 20 between the projection unit 12 and the camera unit 16, the first intersection line 38 can be determined based on the first beam 22 and the second beam 30. More preferably, the substantially predetermined orientation of the first beam 22 can be an angular value between the first beam 24 and the second beam 26 based on a source, in particular the first projection unit 12, of the first beam 24 and the second beam 26.Further preferably, the detection unit 16 is configured to determine the substantially predetermined orientation of the first beam 22 based on a first angle between a projection axis 44 and the first beam 24 and based on a second angle between the projection axis 44 and the second beam 26.

[0049] Figure 3 shows a flow chart 300 to illustrate the functioning of the detection unit 10 according to one embodiment. In step 302, a system calibration of the detection unit 10 preferably takes place so that the position and orientation of the projection unit relative to the camera unit is known. In step 304, the projection unit 12 preferably generates the first beam 22. In the third step 306, the angle between the first light beam 24 and the second light beam 26 is preferably determined. In the fourth step 308, the camera unit 16 can detect the second beam 30. In the fifth step 310, the first beam 22 and the second beam 30 are preferably converted from two-dimensional data into a three-dimensional coordinate system. In the sixth step 312, an angle between the first plane 28 and the second plane 36 is preferably determined.In the seventh step 314, the first intersection line 38 is preferably determined based on the first plane 28 and the second plane 36. In the eighth step 316, a 3D point cloud can be created from all detected objects in a space, particularly based on a plurality of beams and planes.

[0050] Figure 4 shows a detection unit 10 according to an embodiment. As in the

[0051] As shown in Figure 4, the detection unit 10 preferably comprises a first projection unit 12 with a first field of view 14 and a camera unit 16 with a third field of view 18. As shown in Figure 4, the first field of view 14 and the third field of view 18 overlap. Furthermore, Figure 4 shows the first beam bundle 22 of the projection unit 12, which shows the first beam 24 and the second beam 26 for forming the first plane 28. More preferably, the first beam bundle 22 can also comprise a plurality of beams 27. The first camera unit 16 can detect the second beam bundle 30 in its third field of view 18.

[0052] Figure 5 shows an embodiment of the detection unit 10. The detection unit 10 is preferably arranged in a vehicle 100. The detection unit 10 has a first projection unit 12 with a first viewing area 14 and a first camera unit 16 with a third viewing area 18. The first projection unit 12 and the first camera unit 16 are preferably arranged in a predetermined alignment 20 to one another in the detection unit 10. Further preferably, the projection unit 12 is configured to emit a first beam of rays 22 at a first depth 51. Further preferably, the detection unit 10 has a second projection unit 46 with a second viewing area 48. The first viewing area 14, the second viewing area 48, and the third viewing area 18 preferably overlap. Further preferably, the second projection unit 46 is configured to emit a third beam of rays 50 at a depth 52.

[0053] The first camera unit 16 is preferably configured to capture the second beam 30, which is based on the first beam 22, and a fourth beam 60, which is based on the third beam 50. Further preferably, the detection unit 10 is configured to determine a first intersection line 38 between the first plane 28 and the second plane 36, based on a first intersection point 40 between the first beam 22 and the third beam 32 and a second intersection point 42 between the second beam 26 and the fourth beam 34, and based on the predetermined orientation.Further preferably, the detection unit 10 is configured to determine a further intersection line 68 between the third plane 58 and the fourth plane 66, based on a third intersection point 70 between the fifth beam 34 and the seventh beam 62 and a fourth intersection point 72 between the sixth beam 56 and the eighth beam 64 and based on the predetermined orientation 20.

[0054] Preferably, the detection unit 10 can be configured to determine the substantially predetermined orientation of the first beam 22 based on a first angle between a projection axis 44 and the first beam 24 and based on a second angle between the projection axis 44 and the second beam 26. As shown in Figure 5, the detection unit 10 is preferably configured to emit a plurality of depths with respective beams in order to be able to detect objects.

[0055] Figure 6 shows a diagram 400 to illustrate the functioning of the detection unit 10 according to one embodiment. The diagram 400 preferably has a time axis 408. Furthermore, the diagram 400 preferably shows the different time periods at which the respective beams are emitted or detected. The first beam 22 is preferably emitted by the projection unit 12 at a first time 402. The third beam 50 is preferably emitted at a second time 404, in particular thus at a different frequency than the first beam 22. The camera unit 16 is preferably configured to record 406 image elements that comprise the second beam 30 and / or the fourth beam 60.

[0056] Figure 7a shows an embodiment of the detection unit 10. Figure 7a shows the first beam bundle 22, which can be formed from a predetermined pattern 500. The predetermined pattern 500 can have a plurality of different beams 504.

[0057] Figure 7b shows an embodiment of the detection unit 10. Figure 7b shows a different predetermined pattern 502 of the first beam 22 compared to Figure 7a. Depending on the respective individual scenarios, the plurality of beams 504 of the predetermined pattern 502 can be adapted. Figure 8 shows a detection unit 10 according to an embodiment. The detection unit 10 preferably has a first projection unit 12, a first camera unit 16, and a second projection unit 46. Figure 9 shows a vehicle 100 according to an embodiment. The vehicle

[0058] 100, as described above and below, preferably comprises a detection unit 10, as described above and below.

Claims

Claims 1. A detection unit (10) for a vehicle (100), comprising a first projection unit (12) with a first viewing area (14), a first camera unit (16) with a third viewing area (18), wherein the first viewing area (14) and the third viewing area (18) at least partially overlap, wherein the first projection unit (12) and the first camera unit (16) are arranged in a predetermined alignment (20) with respect to one another, wherein the first projection unit (12) is configured to emit a first beam (22) with a substantially predetermined orientation, wherein the first beam (22) defines a first plane (28) by means of a first beam (24) and a second beam (26), wherein the first camera unit (16) is configured to detect a second beam (30) based on a reflection of the first beam (22),wherein the second beam (30) defines a second plane (36) by means of a third beam (32) and a fourth beam (34), wherein the detection unit, (10) is configured to determine a first intersection line (38) between the first plane (28) and the second plane (36) based on a first intersection point (40) between the first ray (22) and the third ray (32) and a second intersection point (42) between the second ray (26) and the fourth ray (34) and based on the predetermined orientation (20).

2. Detection unit (10) according to claim 1, wherein the substantially predetermined orientation of the first beam (22) is an angle value between the first beam (24) and the second beam (26) based on a source of the first beam (24) and the second beam (26).

3. Detection unit (10) according to claim 2, wherein the detection unit (10) is configured to determine the substantially predetermined orientation of the first beam (22) based on a first angle between a projection axis (44) and the first beam (24) and based on a second angle between the projection axis (44) and the second beam (26).

4. Detection unit (10) according to one of the preceding claims, further comprising a second projection unit (46) with a second viewing area (48), wherein the first viewing area (14), the second viewing area (48) and the third viewing area (18) at least partially overlap, wherein the first projection unit (12) is configured to emit the first beam (22) with a first depth (51), wherein the second projection unit (46) is configured to emit a third beam (50) with a second depth (52), wherein the first depth (51) and the second depth (52) differ, wherein the third beam (50) defines a third plane (58) by means of a fifth beam (54) and a sixth beam (56), wherein the first camera unit (16) is configured to capture the second beam (30) and a fourth beam (60) which is based on a reflection of the third beam (30) is based,wherein the fourth beam (60) defines a fourth plane (66) by means of a seventh beam (20) and an eighth beam (64), wherein the detection unit, (10) is configured to determine a further intersection line (68) between the third plane (58) and the fourth plane (66) based on a third intersection point (70) between the fifth ray (34) and the seventh ray (62) and a fourth intersection point (72) between the sixth ray (56) and the eighth ray (64) and based on the predetermined orientation (20).

5. Detection unit (10) according to claim 4, wherein the first projection unit (12) is configured to adapt the first beam (22) based on the first depth (51).

6. Detection unit (10) according to one of claims 4 to 5, wherein the second projection unit (46) is configured to adapt the third beam (56) based on the second depth (52).

7. Detection unit (10) according to one of claims 4 to 6, wherein the first projection unit (12) is configured to form, in particular to emit, the first beam (22) at a first frequency, wherein the second projection unit (46) is configured to form the third beam (32) at a second frequency, wherein the first frequency and the second frequency differ sufficiently.

8. Detection unit (10) according to one of the preceding claims, wherein the first projection unit (12) is configured to adapt a formation, in particular the emission, of the first beam (22) based on a predetermined pattern.

9. Detection unit (10) according to one of the preceding claims, wherein the detection unit (10) is configured to determine an optical path of the first beam (22) and the second beam (36) by means of the first beam (22) and the second beam (36).

10. Detection unit (10) according to claim 9, wherein the detection unit (10) is configured to determine at least one artifact along the optical path which the first projection unit (12), the first camera unit (16) and / or an element which influences the optical path, wherein the first camera unit (16) is configured to output at least one artifact signal which is configured to remove the artifact.

11. Detection unit (10) according to one of the preceding claims, wherein the first camera unit (16) is configured to detect an activity element when the first camera unit (16) detects the second beam (30), wherein the activity element is configured to enable at least partially autonomous operation of the vehicle (100).

12. Detection unit (10) according to claim 11, wherein the first camera unit (16) is configured to determine quality elements of an imaging quality of the first beam (22) and the second beam (30), wherein the quality element is configured to determine a confidence level that can be used to adjust the at least partially autonomous operation of the vehicle (100).

13. Detection unit (10) according to one of the preceding claims, wherein the first projection unit (12) is configured to adapt the first beam (22) based on an intensity function.

14. Detection unit (10) according to one of the preceding claims, wherein the detection unit (10) is configured to determine a position of a plane in a three-dimensional space in relation to the detection unit (10) by means of the first cutting line (38).

15. Vehicle (100) comprising a detection unit (10) according to one of the preceding claims.

16. A method for detecting an object by means of a detection unit (10), in particular of a vehicle (100), wherein the detection unit (10) has a first projection unit (12) with a first viewing area (14) and a first camera unit (16) with a third viewing area (18), wherein the first projection unit (12) and the first camera unit (16) are arranged in a predetermined orientation (20) to one another and the first viewing area (14) and the third viewing area (18) at least partially overlap, the method comprising the following steps: - emitting a first beam (22) with a predetermined orientation by means of the first projection unit (12), wherein the first beam (22) defines a first plane (28) by means of a first beam (24) and a second beam (26); - detecting a second beam (30) by means of the first camera unit (16), wherein the second beam (30) is based on a reflection of the first beam (22), wherein the second beam (30) defines a second plane (36) by means of a third beam (32) and a fourth beam (34); and - Determining a first intersection line (38) between the first plane (28) and the second plane (36) based on a first intersection point (40) between the first beam (22) and the third beam (32), a second intersection point (42) between the second beam (26) and the fourth beam (34) and on the predetermined orientation (20) to detect the object.

Images