Method for calibrating an optical sensor system, and optical sensor system

Abstract

The application relates to a method for calibrating an optical sensor system (10) for a vehicle (20), wherein the optical sensor system (10) is provided for detecting the surroundings of the vehicle (20) during operation, wherein the calibration method comprises: the sensor system (10) detects a high-contrast pattern (30) in a detection region (22) during a calibration time period, the sensor system (10) and the pattern (30) carry out a relative movement with respect to one another during the calibration time period, which relative movement is detected by the sensor system (10) as a movement of the pattern (30), and at least one first parameter with respect to the detection region (22) is determined on the basis of the detected movement of the pattern (30). The application further relates to a use of the at least one first parameter for masking the second sub-region (28) during operation of the sensor system (10), and to an optical sensor system (10) for detecting the surroundings for a vehicle (20).

Description

[0001] METHOD FOR CALIBRATING AN OPTICAL SENSOR SYSTEM

[0002] AND OPTICAL SENSOR SYSTEM

[0003] Technical area

[0004] The application relates to a method for calibrating an optical sensor system, e.g., a lidar system, and the use of parameters determined by such a method. The application further relates to an optical sensor system and a vehicle with such an optical sensor system.

[0005] background

[0006] Sensor systems for environmental detection can be based on wireless signals such as electromagnetic waves or sound. Accordingly, sound-based ultrasonic sensors and electromagnetic wave-based sensors such as camera sensors, radar sensors, or lidar sensors are known.

[0007] Lidar technology (Lidar stands for Light Detection and Ranging) is an important sensor principle for environmental detection. It is based on optical electromagnetic waves and is used in active optical sensor systems. A Lidar system has an optical transmitter and an optical receiver. The transmitter can emit optical signals, which can be pulsed. In a Lidar system, laser beams in the ultraviolet, visible, or infrared range can be used as optical signals. The receiver can receive the transmitted optical signal after it has been reflected by an object in a detection area in the vicinity of the Lidar system. The received optical signal can be processed by a processing unit of the Lidar system using the transmitted optical signal, e.g. using a time-of-flight method.Time-of-Flight (TOF) can be evaluated, and the spatial position and distance of the objects at which the reflection occurred can be determined. Furthermore, a relative speed can be determined. Reflection or reflected light is understood here to mean any light that is returned and should, in particular, also include light that is returned by scattering or absorption / emission.

[0008] The optical signals reflected in the detection area can be detected by the receiving device via receiving sensors. The receiving sensors of lidar systems can have multiple receiving elements, called pixels, for optical-to-electrical conversion. The pixels can be configured to receive optical signals from different receiving angles.

[0009] US20200201351A1 describes a method for determining the reflections generated by the vehicle itself during operation of a sensor system of an autonomously driving vehicle. The reflections generated by the vehicle itself are determined by evaluating the distances of the reflections.

[0010] US10841496B2 describes a sensor system in which a calibration of a lidar-to-camera transformation is performed using a checkerboard pattern.

[0011] Overview

[0012] An optical sensor system is designed for use in a vehicle. During operation, the optical sensor system detects the vehicle's surroundings within a detection zone. A method for calibrating the optical sensor system comprises:

[0013] • The sensor system detects a high-contrast pattern in the detection area during a calibration period.

[0014] • The sensor system and the sample perform a relative movement to each other during the calibration period, which is detected by the sensor system as movement of the sample.

[0015] • Depending on the detected movement of the pattern, at least a first parameter for the detection area is determined.

[0016] The optical sensor system for environmental detection for the vehicle is designed to detect a high-contrast pattern within a detection range of the sensor system during a calibration period. During the calibration period, the sensor system and the pattern move relative to one another, which can be detected by the sensor system as a movement of the pattern. The sensor system further comprises a computing unit designed to determine at least one first parameter relating to the detection range depending on the detected movement of the pattern.

[0017] The optical sensor system is designed to receive and evaluate optical signals. It is installed, for example, in a vehicle and can generate sensor data during operation, which is then further processed in the vehicle. Calibration of the optical sensor system is provided during a calibration period.

[0018] The pattern can include stripes, checkered patterns, or even irregular patterns. The pattern can be created, for example, by covering the floor with flat elements of different colors.

[0019] The first parameter determined may depend, in particular, on where within the detection range the vehicle itself is detected and where the vehicle's surroundings are. The calibration procedure described is therefore carried out, for example, with the optical sensor system while it is installed in the vehicle.

[0020] The optical sensor system detects the environment by receiving optical signals, for example, from an optical receiving device of the optical sensor system. During operation, the sensor system detects the vehicle's surroundings, and the detected environmental data is further processed as sensor data within the vehicle, e.g., for the purposes of autonomous or semi-autonomous driving. For such purposes, it can be important to have gained knowledge through calibration about where within the detection range the vehicle itself is detected and where the environment is. For further processing in the vehicle, the sensor data from the environment is generally important. Areas that do not provide data from the environment of interest, e.g., because they come from the vehicle itself, can then be hidden or masked out.Calibrating the optical sensor system is advantageous because, due to tolerances, it may be the case that, when the sensor system is installed in the vehicle, part of the vehicle, for example, blocks the sensor system's field of view. The calibration process can cover different vehicle types with different geometries and different colors. Calibration makes it possible to solve the potentially complex task of determining where in the detection area the vehicle itself is detected and where the surroundings are detected. Calibration can also cover situations where the detection area differs - even if only slightly - from vehicle to vehicle, e.g. due to installation tolerances. Calibration makes it possible to adjust the detection in the detection area to the actual conditions and to determine the first parameter through which the conditions can be taken into account.

[0021] In one embodiment of the method, the pattern is detected in a first sub-area of ​​the detection range during the calibration period. The first sub-area can be selected such that, depending on the installation situation of the sensor system in the vehicle, it is arranged where the sensor system is likely to detect the vehicle in which it is installed. For a sensor system arranged in the area of ​​the roof of the vehicle, this can be, for example, the area of ​​the bonnet. In other areas, this can be, for example, the side mirrors or similar. The first sub-area can therefore be selected such that it covers in particular that part of the detection range in which it is expected that the vehicle itself, rather than the pattern, will be detected. The calibration process can therefore be made more efficient and faster.

[0022] In one embodiment of the method, the high-contrast pattern has highly reflective areas and weakly reflective areas. Highly reflective areas can have predominant colors with many light components and can be, for example, light gray or white. Weakly reflective areas can have predominant colors with many dark components and can be, for example, dark gray or black. The elements used to cover the floor to create the pattern can, for example, have the aforementioned colors with the aforementioned contrasts.

[0023] In one embodiment of the method, the sensor system comprises a pixel-based receiving sensor. The optical receiving device of the sensor system can comprise the receiving sensor with a plurality of receiving pixels for receiving the optical signal. The receiving sensor can in particular comprise an array of receiving pixels for receiving the optical signal. Using the receiving pixels, the receiving sensor converts the optical signal into an electrical sensor signal. For this purpose, the respective receiving pixel can comprise, for example, photosensitive elements, e.g., photosensitive semiconductor elements such as photodiodes, avalanche photodiodes (APDs), or SPADs (single photon avalanche diodes). In particular, a pixel-based evaluation of the electrical sensor signal can be provided. The pixel-based evaluation comprises the evaluation of the respective electrical sensor signal of the respective receiving pixel.An evaluation based on a group of receive pixels can also be provided. The evaluation of the group of receive pixels includes the evaluation of the respective electrical sensor signals of the respective receive pixels of the group. The contrasting areas of the pattern are at least partially detected by more than two of the pixels of the receive sensor. This can ensure that the pattern is coarse enough for the contrast to be clearly visible. This then allows those areas that do not contribute to the areas of interest in the detection area to be precisely identified. These pixels can be identified and masked out, or permanently masked out if necessary.

[0024] In one embodiment of the method, a second sub-area of ​​the detection area is extracted using the detected movement of the pattern, wherein the at least one first parameter comprises information about the second sub-area. In one embodiment of the sensor system, the computing unit is configured to extract the second sub-area of ​​the detection area using the detected movement of the pattern, wherein the at least one first parameter comprises information about the second sub-area. The extracted second sub-area can, for example, relate to the sub-area from which optical signals are received that were reflected by the vehicle itself.

[0025] The second sub-area can be detected during the calibration period depending on whether, at least in some areas, no moving pattern was detected within it during the calibration period. In this case, the optical sensor system's view of the pattern, for example, attached to the ground, was obscured, for example, by the vehicle itself.

[0026] In one embodiment of the method, the at least one first parameter comprises information about those pixels intended for detecting the second partial area. This allows the first parameter to include, for example, information about those pixels of the receiving sensor that receive reflections from the host vehicle and can therefore be masked out during subsequent evaluation.

[0027] In one embodiment of the method, optical signals from the optical sensor system are deflected by at least one optical deflection device. The deflection device is variable and can, for example, comprise a mechanical mirror system with, for example, rotating mirrors. The at least one first parameter depends on the deflection device. This allows the calibration to additionally take into account the conditions of the optical deflection device, e.g., of individual mirrors thereof, their position or installation orientation, and / or tolerances in their position or installation orientation. This allows the at least one first parameter and the associated masking in mechanical mirror systems such as rotating mirror systems to be sorted and applied according to mirror sides in order to optimally determine and adjust the area to be masked.

[0028] In one embodiment of the method, the optical sensor system has an active optical sensor system which has an optical transmission device. This can in particular be a lidar system. The active optical sensor system is configured to transmit and receive optical signals, as well as to evaluate them. In one embodiment of the method, the pattern is passively recorded during the calibration period. The data recorded during the calibration period can in particular be saved as gray images. The second sub-area can in particular be extracted using the gray images. Even with active optical sensor systems, it can be advantageous to carry out the calibration method with passive exposure. With passive exposure, the detection area with the pattern is illuminated by the ambient light that is already present.Additional illumination of the detection area by optical signals emitted by the optical transmitter device can then be dispensed with.

[0029] The first parameter determined using the described method can be used to mask the second sub-area during operation of the sensor system. The described calibration method determines the at least one first parameter during the calibration period. The at least one first parameter thus determined is then used during operation of the sensor system in the vehicle to mask the determined second sub-area of ​​the detection range. This makes the evaluation more efficient and faster, as the amount of data to be evaluated can be reduced.

[0030] During operation of the sensor system, a margin area can be masked out in addition to the second sub-area. The margin area, for example, adjoins the second sub-area and the width of the margin area can correspond to a predefined number of pixels on the receiving sensor. The margin area serves as a buffer that can be used to mitigate temperature drifts or drifts due to aging.

[0031] The sensor system can be configured to determine relative speeds for points in the detection range during operation and, depending on the relative speeds, to determine at least one second parameter for the detection range. The second parameter can, for example, group points with the same relative speeds and contain relative speeds for sub-areas of the detection range.

[0032] In this case, the second sub-area of ​​the detection range can be extracted using the relative speeds between the sensor system and the points in the detection range, wherein the at least one second parameter contains information about the second sub-area. The second sub-area can be extracted in particular depending on the fact that the relative speed between the sensor system and the points in the detection range of zero was recorded in it. The relative speed of zero is particularly relevant here, since points with a relative speed of zero may possibly belong to the vehicle in which the sensor system is installed. The second parameter can therefore contain information about which points, for example, have a relative speed of zero. In particular, points with a relative speed of zero can be assigned to the second sub-area.

[0033] In embodiments, the sensor system is configured to detect a further high-contrast pattern in the detection area during operation, wherein the sensor system and the further pattern execute a relative movement to one another, which is detected by the sensor system as a movement of the further pattern. The sensor system is further configured to determine at least one third parameter relating to the detection area depending on the detected movement of the further pattern. The third determined parameter can depend, in particular, on where the vehicle itself is detected within the detection area and where the vehicle's surroundings are.

[0034] The sensor system can be designed to detect the further pattern in the first sub-area of ​​the detection range. The first sub-area can be selected such that, depending on the installation situation of the sensor system in the vehicle, it is arranged where the sensor system is likely to detect the vehicle in which it is installed. For a sensor system arranged in the area of ​​the roof of the vehicle, this can be, for example, the area of ​​the bonnet. In other areas, this can be, for example, the side mirrors or similar. The first sub-area can therefore be selected such that it covers in particular that part of the detection range in which it is expected that the vehicle itself, and not the further pattern, will be detected. The determination of the third parameter can therefore be made more efficient and faster.In one embodiment, the sensor system is configured to extract the second sub-area of ​​the detection area using the detected movement of the further pattern, wherein the at least one third parameter comprises information about the second sub-area. The extracted second sub-area can, for example, relate to the sub-area from which optical signals are received that were reflected by the vehicle itself.

[0035] The sensor system can be configured to detect the second partial area depending on whether, at least in some areas, no further moving pattern was detected in the second partial area during operation. In this case, the optical sensor system's view of the further pattern, e.g., present on the ground, is obscured, for example, by the vehicle itself.

[0036] The vehicle may have the described optical sensor system, wherein the vehicle may in particular have an active optical sensor system, e.g. a lidar system.

[0037] Fiourenliste

[0038] In the following, embodiments of this application are further explained and described with reference to the figures.

[0039] Fig. 1 schematically shows a vehicle with a detection range of an optical sensor system,

[0040] Fig. 2 schematically shows the detection area,

[0041] Fig. 3 schematically shows the detection area with a pattern,

[0042] Fig. 4 schematically shows the detection range during operation of the sensor system,

[0043] Fig. 5 shows a schematic block diagram of the optical sensor system.

[0044] The same reference numerals are used throughout the figures to refer to identical or similar elements. Representations in the figures may not be to scale.

[0045] Flower description

[0046] Figure 1 schematically shows a vehicle 20 with a detection area 22 of an optical sensor system 10. In the illustrated embodiment, the optical sensor system 10 is arranged in a region of the roof of the vehicle 20. The optical sensor system 10 can be designed in particular as an active optical sensor system 10, e.g., a lidar system.

[0047] If the optical sensor system 10 - as shown in Figure 1 - is arranged in the roof area of ​​the vehicle 20, the edge of the hood 24, for example, can be located in the detection area 22.

[0048] Fig. 2 schematically shows the detection area 22 of the optical sensor system with the edge of the hood 24. The detection area 22 is the area that is detected by a receiving sensor of an optical receiving device 14 of the optical sensor system 10. The optical sensor system 10 can optionally be designed as an active optical sensor system 10 and, in addition to the optical receiving device 14, have an optical transmitting device 12.

[0049] The area of ​​the hood 24 should be masked or hidden as much as possible by the optical sensor system 10, since this area cannot contribute any relevant information about the surroundings of the vehicle 20. Relevant information includes, for example, information that can be further processed by other vehicle systems, for example, for the purposes of autonomous or semi-autonomous driving. This could include, for example, information about obstacles, other road users, or similar.

[0050] Fig. 3 schematically shows the detection area 22 with a high-contrast pattern 30 placed in the detection area 22. Such a setup can be constructed and used, for example, in workshops.

[0051] Using pattern 30, a calibration method for determining a first parameter can be performed. In particular, a second partial area 28 with points to be masked can be identified. Points to be masked can, in particular, relate to partial areas blocked by parts of vehicle 20. The first parameter can, in particular, contain information about second partial area 28 with the points to be masked. The points to be masked can then be masked out later. If optical receiving device 14 has a pixel-based receiving sensor, those pixels that receive optical signals L that were reflected by the vehicle 20 itself can, in particular, be masked out.

[0052] Based on the high-contrast pattern 30 arranged in the background, e.g., on the floor, the second sub-area 28 with the points to be masked can be identified. The pattern 30 comprises, for example, areas 31 that are weakly reflective and are, for example, dark gray or black, and areas 29 that are highly reflective and are, for example, light gray or white. In the example shown, the pattern 30 has stripes. The pattern 30 can also have, for example, chess patterns or irregular patterns. It is advantageous that the average size of some contrasts is greater than two pixels in the field of view of the receiving sensor. This allows the contrast to be identified by the pixels of the receiving sensor.

[0053] If the vehicle 20 now moves over the pattern 30 during a calibration process during the calibration period, the pattern 30 is received by the receiving sensor of the optical receiving device 14 and written as a sequence of images into a memory, e.g., a buffer memory. The captured images can, in particular, be passive images and, in particular, grayscale images. With passive images, reflections of the existing background light are used for capture. The emission of optical signals L by any existing optical transmitting device is omitted. Grayscale images are images for which grayscale values ​​are captured and stored for pixels of the image. The amplitude of the received optical signal corresponds to a grayscale value between black and white. The higher the amplitude, the brighter the corresponding point in the image.

[0054] During the calibration process, the pattern 30 can optionally also be captured specifically in the first sub-area 26 of the detection area 22. Alternatively or additionally, the stored images of the entire detection area can also be evaluated for the pattern 30 only in the first sub-area 26. The first sub-area 26 comprises relevant areas of the detection area where pixels to be masked are likely, e.g., due to the engine hood. The stored images are then examined according to the sequence of recording during the movement between the optical sensor system 10 and the pattern 30 after a so-called background extraction. Everything that changes noticeably in the image sequence is not part of the area to be masked and therefore not part of the second sub-area 28, e.g., the engine hood 24. The areas, e.g.The pixels that do not change noticeably and are therefore recognized as part of the second sub-area 28 are stored. These can then be masked out in the future, particularly during operation of the optical sensor system 10.

[0055] It is also possible not to pass on the recorded information about the pixels of the second sub-area 28 and / or not to evaluate it further, which can save resources.

[0056] In addition to the second subregion 28, pixels surrounding the second subregion 28 can also be selected as a margin region to compensate for temperature drifts or drifts due to aging. In this embodiment, the second subregion 28 can be extended, for example, by a few pixels at the edge.

[0057] If the optical sensor system 10 comprises a lidar system suitable for detecting relative velocities, e.g., an FMCW lidar (FMCW Frequency Modulated Continuous Wave), it is possible to evaluate the relative velocity of the detected points of the image in the first sub-area 26 during operation, e.g., while the vehicle 20 is moving. If the relative velocity is zero or nearly zero, the detected points of the image are points of the second sub-area 28, e.g., the hood 24. A second parameter can contain this information.

[0058] The described calibration process during the calibration period can be supplemented by the described evaluation during operation of the vehicle 20 in order to even better identify the second sub-area 28. Thus, the second parameter can be used to capture and characterize the second sub-area 28 even more precisely.

[0059] Fig. 4 schematically shows the detection area 22 during operation of the sensor system 10. During operation, the sensor system 10 can perform a recalibration process in which another high-contrast pattern 32 is detected in the detection area 22. The additional high-contrast pattern 32 can, for example, comprise the stop marking of a stop sign 34.

[0060] During the recalibration process, the sensor system 10 and the additional pattern 32 also move relative to each other while the vehicle 20 approaches the stop sign 34 with the stop marking. This relative movement is detected by the sensor system 10 as the movement of the additional pattern 32. The captured images are stored. The images can, in particular, be passive images, e.g., grayscale images.

[0061] Depending on the detected movement of the further pattern 32, the sensor system 10 and in particular the computing unit 18 of the sensor system 10 determines at least a third parameter for the detection area 22.

[0062] Using the detected movement of the further pattern 32, the second sub-area 28 of the detection area 22 is extracted, wherein the at least one third parameter contains information about the second sub-area 28. The second sub-area 28 can be recalibrated using the third parameter.

[0063] During the recalibration process, the additional pattern 32 can optionally also be captured specifically in the first sub-area 26 of the detection area 22. Alternatively or additionally, the stored images of the entire detection area can also be evaluated for the additional pattern 32 only in the first sub-area 26. The first sub-area 26 comprises relevant areas of the detection area where pixels to be masked are likely, e.g., due to the hood.

[0064] The stored images are then examined according to the recording sequence during the movement between the optical sensor system 10 and the further pattern 32 after background extraction. Anything that changes noticeably in the image sequence is not part of the second sub-area 28, e.g., the hood. The areas, e.g., the pixels, that do not change noticeably and are therefore recognized as part of the second sub-area 28 are stored. This information can be used to recalibrate the second sub-area 28. During operation of the sensor system 10 while driving in the vehicle 20, the recalibration can be called up again, for example, if a correspondingly suitable marking for recalibration is detected.

[0065] Figure 5 shows a schematic block diagram of an embodiment of the optical sensor system 10. The optical sensor system 10 has the optical transmitting device 12, the optical receiving device 14, a deflection device 16 and a computing unit 18.

[0066] The deflection device 16 has a rotatably mounted mirror. The mirror of the deflection device 16 provides at least one surface for optically deflecting the optical signal L.

[0067] The deflection of the optical signal L thus occurs via the rotating mirror of the deflection device 16. The angular position of the deflection device 16 can be detected via an angle sensor and used in the computing unit 18 to control the reception process in the optical reception device 14. For example, those pixels of the reception sensor assigned to the second partial area 28 can be excluded from further processing by the computing unit. The calibration process determined that they detect, for example, the hood 24 of the host vehicle 20 and can therefore be excluded from the environmental detection. The pixels assigned to the second partial area 28 can be different depending on the angular position of the deflection device 16.By means of the calibration, a further improvement in the assignment of the pixels of the receiving sensor to the second partial area can be achieved, which additionally takes into account the angular position of the deflection device 16 and thus the direction of the received optical signal L.

[0068] When using multiple or multi-sided mirrors in the deflection device 16, the mirror or mirror side used for each pixel can also be taken into account when assigning the pixels to the second sub-area 28. This allows the second sub-area to be adjusted even more precisely using the first parameter.

[0069] The transmitted and received optical signals L are evaluated in the processing unit 18. For example, distance data can be generated using direct or indirect time-of-flight measurements. This evaluation is computationally intensive and time-consuming. It can be omitted for the pixels of the second sub-area 28.

[0070] Reference symbol

[0071] 10 optical sensor system

[0072] 12 optical transmitter

[0073] 14 optical receiving device

[0074] 16 optical deflection device

[0075] 18 computing unit

[0076] 20 vehicles

[0077] 22 Detection range

[0078] 24 rim hood

[0079] 26 first section

[0080] 28 second section

[0081] 29 highly reflective

[0082] 30 patterns

[0083] 31 weakly reflective

[0084] 32 Stop marking

[0085] 34 Stop sign L optical signals

[0086] 0 object

Claims

CLAIMS 1. Method for calibrating an optical sensor system (10) for a vehicle (20), wherein the optical sensor system (10) is provided during operation for detecting the environment of the vehicle (20), wherein the calibration method comprises: the sensor system (10) detects a high-contrast pattern (30) in a detection area (22) during a calibration period, the sensor system (10) and the pattern (30) perform a relative movement to one another during the calibration period, which movement is detected by the sensor system (10) as a movement of the pattern (30), at least one first parameter relating to the detection area (22) is determined as a function of the detected movement of the pattern (30).

2. The method according to claim 1, wherein during the calibration period the pattern (30) is detected in a first partial area (26) of the detection area (22).

3. Method according to claim 1 or 2, wherein the high-contrast pattern (30) has highly reflective areas (29) and weakly reflective areas (31).

4. Method according to one of the preceding claims, wherein the sensor system (10) comprises a pixel-based receiving sensor and the contrasting regions (29, 31) of the pattern (30) are at least partially detected by more than two of the pixels of the receiving sensor.

5. Method according to one of the preceding claims, wherein a second partial area (28) of the detection area (22) is extracted using the detected movement of the pattern (30), wherein the at least one first parameter comprises information about the second partial area (28).

6. The method according to claim 5, wherein in the second partial area (28) during the calibration period, at least in some regions, no moving pattern (30) was detected.

7. The method according to claim 5 or 6, wherein the at least one first parameter comprises information about those pixels which are provided for detecting the second partial area (28).

8. Method according to one of the preceding claims, wherein optical signals (L) of the optical sensor system (10) are deflected by at least one optical deflection device (16) and wherein the deflection device is variable and the at least one first parameter depends on the deflection device (16).

9. Method according to one of the preceding claims, wherein the optical sensor system (10) comprises an active optical sensor system (10) which has an optical transmitting device (12).

10. Method according to one of the preceding claims, wherein the pattern (30) is passively acquired during the calibration period, and data acquired during the calibration period are stored in particular as gray images.

11. The method according to claim 10, wherein the second partial area (28) is extracted using the gray images.

12. Use of the at least one first parameter for masking out the second partial area (28) during operation of the sensor system (10), wherein the at least one first parameter was determined according to a method according to one of the preceding claims.

13. An optical sensor system (10) for environmental detection for a vehicle (20), wherein the sensor system (10) is designed to detect a high-contrast pattern (30) in a detection area (22) of the sensor system (10) during a calibration period, wherein the sensor system (10) and the pattern (30) perform a relative movement to one another during the calibration period, which movement can be detected by the sensor system (10) as a movement of the pattern (30), wherein the sensor system (10) further comprises a computing unit (18) which is designed to determine at least one first parameter relating to the detection area (22) as a function of the detected movement of the pattern (30).

14. Sensor system according to claim 13, wherein the computing unit (18) is designed to extract a second partial area (28) of the detection area using the detected movement of the pattern (30), wherein the at least one first parameter comprises information about the second partial area (28).

15. Sensor system according to claim 14, wherein during operation of the sensor system the second partial area (28) of the detection area (22) is masked out.

16. Sensor system according to claim 15, wherein in addition to the second partial area (28) a margin area is masked out, wherein the margin area adjoins the second partial area (28) and wherein the width of the margin area corresponds to a predeterminable number of pixels on the receiving sensor.

17. Sensor system according to one of claims 13 to 16, wherein the sensor system (10) is designed to determine relative speeds to points in the detection area (22) during operation, and to determine at least one second parameter to the detection area (22) as a function of the relative speeds.

18. Sensor system according to claim 17, wherein the sensor system (10) is designed to extract the second partial area (28) of the detection area (22) using the relative speeds, wherein the at least one second parameter comprises information about the second partial area (28).

19. Sensor system according to claim 18, wherein the relative speed zero was detected in the second partial area (28).

20. Sensor system (10) according to one of claims 13 to 19, wherein the sensor system (10) is designed to detect a further high-contrast pattern (32) in the detection area (22) during operation, wherein the sensor system (10) and the further pattern (32) perform a relative movement to each other, which is detected by the sensor system (10) as a movement of the further pattern (32), to determine at least one third parameter relating to the detection area (22) as a function of the detected movement of the further pattern (32).

21. Sensor system according to claim 20, wherein the sensor system (10) is designed to detect the further pattern (32) in a first partial area (26) of the detection area (22).

22. Sensor system according to claim 20 or 21, wherein the second partial area (28) of the detection area (22) is extracted using the detected movement of the further pattern (32), wherein the at least one third parameter comprises information about the second partial area (28).

23. The sensor system according to claim 22, wherein no further moving pattern (28) was detected at least in some regions of the second partial area (28).

24. The vehicle (20) comprising an optical sensor system (10) according to one of claims 13 to 23.

Images