TW202538310A - Detection unit for a vehicle - Google Patents

Abstract

The present invention relates to a detection unit (10) for a vehicle (100), having 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) overlap at least partially, wherein the first projection unit (12) and the first camera unit (16) are arranged in a predetermined alignment (20) relative to each other, wherein the first projection unit (12) is designed to emit a first beam (22) having a substantially 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 designed to capture a second beam (30) which 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 ray (32) and a fourth ray (34), wherein the detection unit (10) is designed to ascertain a first intersection line (38) between the first plane (28) and the second plane (36), based on a first point of intersection (40) between the first ray (24) and the third ray (32) and a second point of intersection (42) between the second ray (26) and the fourth ray (34) and based on the predetermined alignment (20).

Description

Detection unit for vehicles

This invention relates to a detection unit for a vehicle, and to a vehicle and a method for detecting objects.

Currently, there are many different solutions for object detection in vehicle areas. Due to the increasing number of objects to be detected in vehicle areas and the higher requirements of autonomous driving operations, the need for innovative and robust methods for object detection is constantly increasing.

The ongoing efforts to reduce vehicle weight aim to lower fuel consumption, and increasingly fierce competition has created cost pressures, meaning there is a growing demand for cost-effective and more efficient vehicle components.

DE 2015 105 376 U1 describes a 3D camera used for recording three-dimensional images.

Compared to known features, the vehicle detection unit according to the present invention, having the features of technical solution 1, has the following advantages: 3D measurement can be performed without a stereo camera; specifically, it only requires a projector and a monocular camera. Successful 3D measurement using a single camera eliminates the need for synchronization between two cameras. Furthermore, the processing power required for the image element in a single camera is significantly reduced compared to two cameras. Even better, it eliminates the need to calculate epipolar images or parallax maps. Therefore, both energy and computational requirements are significantly reduced.

This is achieved according to the present invention because 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 field of view. Furthermore, the first field of view and the third field of view at least partially overlap, wherein the first projection unit and the first camera unit are configured relative to each other in a predetermined alignment. Furthermore, the first projection unit is designed to emit a first beam with a substantial predetermined orientation, wherein the first beam defines a first plane by means of a first ray and a second ray, wherein the first camera unit is designed to capture a second beam based on the reflection of the first beam, wherein the second beam defines a second plane by means of a third ray and a fourth ray, wherein the detection unit is designed to determine a first intersection line between the first plane and the second plane based on a first intersection point between the first ray and the third ray and a second intersection point between the second ray and the fourth ray and based on a predetermined alignment.

In other words, the camera unit can capture the reflection of the first beam from the projection unit, thereby determining the line of intersection. This line of intersection can be used to determine the planar position in space, since the first and second intersection points lie on separate planes based on their reflections. A coordinate system, for example, according to DIN 70000, is preferred here. The projection unit can be, for example, a laser projection unit, an infrared projection unit, or the like. The camera unit can be designed to acquire a large number of images, specifically color images, in order to capture the second beam. More preferably, the camera unit is designed to capture the second beam and a first image element in which the first beam can be imaged.

The appendices to the scope of the patent application present a better development of the invention.

Preferably, the actual predetermined orientation of the first beam is the angle between the first ray and the second ray, which is based on the source of the first ray and the second ray.

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

More preferably, the detection unit is designed to determine the actual predetermined orientation of the first beam based on a first angle between the projection axis and the first light ray and a second angle between the projection axis and the second light ray.

The advantage of this embodiment is that it can use references such as projection axes, specifically for a large number of projection units and camera units.

More preferably, the detection unit has a second projection unit with a second field of view, wherein the first field of view, the second field of view, and the third field of view at least partially overlap, wherein the first projection unit is designed to emit a first beam with a first depth, wherein the second projection unit is designed to emit a third beam with a second depth, the first depth being different from the second depth, wherein the third beam defines a third plane by means of a fifth and a sixth light ray, wherein the first camera unit is designed to capture the second beam and a fourth beam based on the reflection of the third beam, wherein the fourth beam defines a fourth plane by means of a seventh and an eighth light ray, wherein the detection unit is designed to determine another intersection line between the third plane and the fourth plane based on a third intersection point between the fifth and seventh light rays and a fourth intersection point between the sixth and eighth light rays and based on a predetermined alignment.

The advantage of this embodiment is that, in the case of using a first beam with a first depth, near-field information can be determined from the environment, while far-field information can be determined using a second depth and a third beam. This makes it possible to reduce the number of components required to monitor a relatively large area. Specifically, the first plane can therefore be determined at the first depth and the second plane at the second depth.

More preferably, the first projection unit is designed to adjust the first beam based on the first depth.

The advantage of this embodiment is that, depending on the specific application scenario, the first beam can be specifically adjusted according to the first depth to make it easily visible to the camera unit.

Even better, the second projection unit is designed to adjust the third beam based on the second depth.

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

More preferably, the first projection unit is designed to form, specifically, to emit a beam at a first frequency, wherein the second projection unit is designed to form a third beam at a second frequency, wherein the first frequency and the second frequency are sufficiently different.

The advantage of this embodiment is that the camera unit can capture light from the first projection unit or light from the second projection unit due to different frequencies, and therefore specifically, the two projection units or the first beam and the third beam cannot overlap.

Preferably, the first projection unit is designed to adjust the formation of the first beam based on a predetermined pattern, specifically for emission.

The advantage of this embodiment lies in its improved eye safety, as it allows for a trade-off between cost and strong pulses visible to the camera but invisible to the human eye. Even better, eye safety can be further improved by using two projectors to fan out the emitted radiation. Specifically, the predetermined pattern can be adjusted based on the driving conditions of the autonomous vehicle (such as density and wavelength or camera sensitivity).

Preferably, the detection unit is designed to determine the optical paths of the first beam and the second beam by means of the first beam and the second beam.

The advantage of this embodiment is that the objects between the projection unit and the camera unit, such as a windshield or the like, can be considered based on the optical path. In this case, the optical path can be, in particular, the path of light or the radiated path of light (especially before it reaches the camera unit) between the projection unit and the camera unit (such as a windshield, sensor panel, or the like).

More preferably, the detection unit is designed to determine at least one artifact affecting the projection unit, the first camera unit, and/or the element positioned along the optical path, wherein the first camera unit is designed to output at least one artifact signal, the at least one artifact signal being designed to remove the artifact.

The advantage of this embodiment is that artifacts, such as raindrops on a windshield or similar object, can be identified based on a comparison between the optical path at a first time and the optical path at a second time. Once an artifact, such as a raindrop or similar object, is detected, a corresponding artifact signal is generated by the detection unit, which is arranged, for example, to operate the windshield wipers to remove the artifact from the optical path. More preferably, artifacts or contamination on the projection unit and on the camera unit or any other element positioned along the optical path can be considered.

More preferably, the first camera unit is designed to determine the active element when the first camera unit captures the second beam, wherein the active element is designed to enable at least partially autonomous operation of the vehicle.

The advantage of this embodiment is that the vehicle's autonomous operation can be activated only when the camera unit has detected that the beam emitted by the projection unit has been detected in the image acquired by the camera unit. This can be used to check, for example, whether the camera system is operating normally.

More preferably, the first camera unit is designed to determine a quality element based on the imaging quality of the first beam and the second beam, wherein the quality element is designed to determine a level of reliability that can be used, specifically, for setting at least part of the autonomous operation of the vehicle.

The advantage of this embodiment is that the degree of autonomous operation can be set according to the beam capture quality, because, for example, the recording quality of the first camera unit may be insufficient to ensure the safe autonomous operation of the vehicle. For instance, when it is dark, raining, or under similar conditions, the beam capture quality in the first imaging element may be limited, making it impossible to ensure the safe autonomous operation of the vehicle.

More preferably, the first projection unit is designed to adjust the first beam based on an intensity function.

The advantage of this embodiment lies in the fact that the recording accuracy of three-dimensional information in the image elements recorded by the camera unit can be improved by varying the intensity of the light beams. For example, functions such as trigonometric functions can be used to change the intensity of the first and/or second light beams over time, thereby ensuring enhanced recording capability. More preferably, different properties of the image elements, such as image sharpness, modulation transfer function, or similarity of the projected pattern, can be determined by analyzing the image elements that the camera unit can record, as well as the first and second light beams, in order to identify artifacts, contamination, and inaccuracies.

More preferably, the detection unit is designed to determine the attitude of a plane in three-dimensional space relative to the detection unit by means of a first line of intersection.

The advantage of this embodiment is that, due to the orientation of the plane in three-dimensional space, for example, an object relative to the detection unit can be determined relative to its alignment in the same three-dimensional space.

Another aspect of the invention relates to a vehicle having a detection unit as described above and below.

The present invention further relates to a method for detecting an object by means of a detection unit, specifically a vehicle detection unit, wherein the detection unit has a first projection unit having a first field of view and a first camera unit having a third field of view, wherein the first projection unit and the first camera unit are configured relative to each other in a predetermined alignment, and the first field of view and the third field of view at least partially overlap, wherein the method comprises the following steps: - emitting a first beam having a predetermined orientation by means of the first projection unit, wherein the first beam defines a first plane by means of a first light ray and a second light ray; - capturing a second beam by means of the first camera unit, wherein the second beam is based on the reflection of the first beam, wherein the second beam defines a second plane by means of a third light ray and a fourth light ray; and - Based on the first intersection point between the first light ray and the third light ray, the second intersection point between the second light ray and the fourth light ray, and based on a predetermined alignment, the first intersection line between the first plane and the second plane is determined in order to detect the object, specifically to determine the three-dimensional alignment of the object in space.

Preferably, the same components, parts, and/or units in all drawings have the same reference symbols throughout.

Figure 1 illustrates a detection unit according to an 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, having a first field of view 14, and the first camera unit 16, having a third field of view 18, are positioned opposite each other with a predetermined alignment 20. Furthermore, the first field of view 14 and the third field of view 18 at least partially overlap. In addition, the first projection unit 12 is designed to emit a first beam 22 with a substantial predetermined orientation, wherein the first beam 22 defines a first plane 28 by means of a first light ray 24 and a second light ray 26, wherein the first camera unit 16 is designed to capture a second beam 30 based on the reflection of the first beam 22, wherein the second beam 30 defines a second plane 36 by means of a third light ray 32 and a fourth light ray 34, wherein the detection unit 10 is designed to determine the first intersection point 38 between the first plane 28 and the second plane 36 based on the first intersection point 40 between the first light ray 22 and the third light ray 32 and the second intersection point 42 between the second light ray 26 and the fourth light ray 34 and based on a predetermined alignment 20.

Figure 2 illustrates the detection unit 10 according to an embodiment. As can be seen in Figure 2, the first projection unit 12 is preferably designed to emit a first beam 22 having a first light ray 24 and a second light ray 26. Therefore, a first plane 28 can be defined by the first beam 22. The first beam 22 is preferably incident on an object, and the first beam 22 is reflected by the object and thus forms a second beam 30. The second beam 30 preferably has a third light ray 32 and a fourth light ray 34. The third light ray 32 and the fourth light ray 34 preferably define a second plane 36. Furthermore, the camera unit 16 can capture the second beam 30. Based on the emission of the first beam 22 and the reception or recording of the 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 the intersection point between the first light ray 24 and the third light ray 32. More preferably, the second intersection point 42 is determined based on the intersection point between the second light ray 26 and the fourth light 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 actual predetermined orientation of the first beam 22 can be an angle value between the first light ray 24 and the second light ray 26, which is based on the source of the first light ray 24 and the second light ray 26, specifically the first projection unit 12. More preferably, the detection unit 16 is designed to determine the actual predetermined orientation of the first beam 22 based on a first angle between the projection axis 44 and the first light ray 24 and a second angle between the projection axis 44 and the second light ray 26.

Figure 3 shows a flowchart 300 illustrating the operation of the detection unit 10 according to the embodiment. In step 302, the detection unit 10 is preferably calibrated so that the position and orientation of the projection unit relative to the camera unit are known. In step 304, the projection unit 12 preferably generates a first beam 22. In step 306, the angle between the first beam 24 and the second beam 26 is preferably determined. In step 308, the camera unit 16 can capture a second beam 30. In 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 step 312, the angle between the first plane 28 and the second plane 36 is preferably determined. In step 7, 314, the first intersection line 38 is preferably determined based on the first plane 28 and the second plane 36. In step 8, 316, a 3D point cloud of all detected objects in space can be generated, particularly based on a large number of beams and planes.

Figure 4 illustrates a detection unit 10 according to an embodiment. As shown in Figure 4, the detection unit 10 preferably includes a first projection unit 12 having a first field of view 14 and a camera unit 16 having 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, in Figure 4, a first beam 22 from the projection unit 12 is shown, which displays a first light ray 24 and a second light ray 26 for forming a first plane 28. More preferably, the first beam 22 may also include a plurality of light rays 27. The first camera unit 16 can detect a second beam 30 in its third field of view 18.

Figure 5 illustrates an embodiment of the detection unit 10. The detection unit 10 is preferably configured in a vehicle 100. The detection unit 10 has a first projection unit 12 having a first field of view 14 and a first camera unit 16 having a third field of view 18. The first projection unit 12 and the first camera unit 16 are preferably configured opposite each other in the detection unit 10 with a predetermined alignment 20. More preferably, the projection unit 12 is designed to emit a first beam 22 having a first depth 51. More preferably, the detection unit 10 has a second projection unit 46 having a second field of view 48. In this case, the first field of view 14, the second field of view 48, and the third field of view 18 preferably overlap. More preferably, the second projection unit 46 is designed to emit a third beam 50 having a depth 52.

In this case, the first camera unit 16 is preferably designed to capture the second beam 30 based on the first beam 22 and the fourth beam 60 based on the third beam 50. More preferably, the detection unit 10 is designed to determine the first intersection line 38 between the first plane 28 and the second plane 36 based on the first intersection point 40 between the first beam 22 and the third beam 32 and the second intersection point 42 between the second beam 26 and the fourth beam 34, and based on a predetermined alignment. More preferably, the detection unit 10 is designed to determine another intersection line 68 between the third plane 58 and the fourth plane 66 based on the third intersection point 70 between the fifth beam 54 and the seventh beam 62 and the fourth intersection point 72 between the sixth beam 56 and the eighth beam 64, and based on a predetermined alignment 20.

Preferably, the detection unit 10 can be designed to determine the actual predetermined orientation of the first beam 22 based on a first angle between the projection axis 44 and the first light ray 24 and a second angle between the projection axis 44 and the second light ray 26. As shown in Figure 5, the detection unit 10 is preferably designed to emit individual beams of varying depths to detect objects.

Figure 6 illustrates Figure 400 for explaining the operation of the detection unit 10 according to an embodiment. Figure 400 preferably has a time axis 408. Furthermore, Figure 400 preferably shows different time periods for the emission or detection of the individual beams. The first beam 22 is preferably emitted at a first time 402 by means of the projection unit 12. The third beam 50 is preferably emitted at a second time 404, specifically at a different frequency than the first beam 22. The camera unit 16 is preferably designed to record an image element 406 having a second beam 30 and/or a fourth beam 60.

Figure 7a illustrates an embodiment of the detection unit 10. Figure 7a shows a first beam 22, which can be formed by a predetermined pattern 500. The predetermined pattern 500 can have multiple different beams 504.

Figure 7b illustrates an embodiment of the detection unit 10. Compared to Figure 7a, Figure 7b shows different predetermined patterns 502 of the first beam 22. Multiple beams 504 of the predetermined pattern 502 can be adjusted depending on individual circumstances.

Figure 8 shows the 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. As described above and below, the vehicle 100 preferably has a detection unit 10 as described above and below.

10: Detection Unit; 12: First Projection Unit; 14: First Field of View; 16: First Camera Unit; 18: Third Field of View; 20: Pre-alignment; 22: First Beam; 24: First Ray; 26: Second Ray; 27: Ray; 28: First Plane; 30: Second Beam; 32: Third Ray; 34: Fourth Ray; 36: Second Plane; 38: Intersection Point; 40: First Intersection Point; 42: Second Intersection Point; 44: Projection Axis; 46: Second Projection Unit; 48: Second Field of View; 50: Third Beam; 51: First Depth; 52: Depth; 54: Fifth Ray; 56: Sixth Ray; 5 8: Third plane 60: Fourth beam 62: Seventh ray 64: Eighth ray 66: Fourth plane 68: Intersecting line 70: Third intersection point 72: Fourth intersection point 100: Vehicle 300: Flowchart 302: Step 304: Step 306: Third step 308: Fourth step 310: Fifth step 312: Sixth step 314: Seventh step 316: Eighth step 400: Figure 402: First time 404: Second time 406: Image element 408: Time axis 500: Predetermined pattern 502: Predetermined pattern 504: Ray

The following description, with reference to the accompanying drawings, details exemplary embodiments of the invention. In the drawings: [Figure 1] and [Figure 2] show the detection unit according to the embodiment; [Figure 3] shows a flowchart illustrating the operation of the detection unit according to the embodiment; [Figure 4] and [Figure 5] show the detection unit according to the embodiment; [Figure 6] shows a diagram illustrating the operation of the detection unit according to the embodiment; [Figures 7a] to [Figure 8] show the detection unit according to the embodiment; [Figure 9] shows a vehicle according to the embodiment.

10: Detection Unit

12: First Projection Unit

14: First-person view

16: First Camera Unit

18: Third View

20: Pre-order alignment

24: First Ray

26: The Second Ray

28: First Plane

30: Second Beam

32: The Third Ray

34: The Fourth Ray

36: Second Plane

38: Intersection Points

40: First intersection point

42: Second intersection point

Claims (16)

A detection unit (10) for a vehicle (100) having a first projection unit (12) having a first field of view (14) and 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 configured relative to each other with a predetermined alignment (20), wherein the first projection unit (12) is designed to emit a first beam (22) having a substantial predetermined orientation, wherein the first beam (22) defines a first plane by means of a first light ray (24) and a second light ray (26). 28), wherein the first camera unit (16) is designed to capture a second beam (30) based on the 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 designed to determine the first intersection line (38) between the first plane (28) and the second plane (36) based on the first intersection point (40) between the first beam (24) and the third beam (32) and the second intersection point (42) between the second beam (26) and the fourth beam (34) and based on the predetermined alignment (20). As in the detection unit (10) of claim 1, the substantial predetermined orientation of the first beam (22) is the angle value between the first ray (24) and the second ray (26), the angle value being based on the source of the first ray (24) and the second ray (26). The detection unit (10) of claim 2 is designed to determine the actual predetermined orientation of the first beam (22) based on a first angle between the projection axis (44) and the first ray (24) and a second angle between the projection axis (44) and the second ray (26). The detection unit (10) of any of claims 1 to 3 further comprises a second projection unit (46) having a second field of view (48), wherein the first field of view (14), the second field of view (48) and the third field of view (18) at least partially overlap, wherein the first projection unit (12) is designed to emit the first beam (22) having a first depth (51), wherein the second projection unit (46) is designed to emit a third beam (50) having a second depth (52), the first depth (51) being different from the second depth (52), wherein the third beam (50) defines a third plane by means of a fifth ray (54) and a sixth ray (56). 58), wherein the first camera unit (16) is designed to capture the second beam (30) and the fourth beam (60) based on the reflection of the third beam (50), wherein the fourth beam (60) defines a fourth plane (66) by means of the seventh beam (62) and the eighth beam (64), wherein the detection unit (10) is designed to determine the additional intersection line (68) between the third plane (58) and the fourth plane (66) based on the third intersection point (70) between the fifth beam (54) and the seventh beam (62) and the fourth intersection point (72) between the sixth beam (56) and the eighth beam (64) and based on the predetermined alignment (20). The detection unit (10) of claim 4, wherein the first projection unit (12) is designed to adjust the first beam (22) based on the first depth (51). The detection unit (10) of claim 4, wherein the second projection unit (46) is designed to adjust the third beam (50) based on the second depth (52). As in claim 4, the detection unit (10) is designed to form, specifically to emit, the first beam (22) at a first frequency, and the second projection unit (46) is designed to form the third beam (50) at a second frequency, wherein the first frequency and the second frequency are sufficiently different. The detection unit (10) of any of the claims 1 to 3, wherein the first projection unit (12) is designed to adjust the formation of the first beam (22) according to a predetermined pattern, specifically the emission. The detection unit (10) of any one of the claims 1 to 3 is designed to determine the optical paths of the first beam (22) and the second beam (30) by means of the first beam (22) and the second beam (30). The detection unit (10) of claim 9 is designed to determine, along the optical path, at least one artifact affecting the first projection unit (12), the first camera unit (16), and/or an element positioned along the optical path, wherein the first camera unit (16) is designed to output at least one artifact signal, the at least one artifact signal being designed to remove the artifact. The detection unit (10) of any of claims 1 to 3, wherein the first camera unit (16) is designed to determine the active element when the first camera unit (16) captures the second beam (30), wherein the active element is designed to enable at least part of the autonomous operation of the vehicle (100). The detection unit (10) of claim 11, wherein the first camera unit (16) is designed to determine a quality element based on the imaging quality of the first beam (22) and the second beam (30), wherein the quality element is designed to determine the reliability available for setting the at least partially autonomous operation of the vehicle (100). The detection unit (10) of any of the claims 1 to 3, wherein the first projection unit (12) is designed to adjust the first beam (22) based on the intensity function. The detection unit (10) of any one of the requests 1 to 3 is designed to determine the attitude of a plane in three-dimensional space relative to the detection unit (10) by means of the first intersection line (38). A vehicle (100) having a detection unit (10) as described in any of claims 1 to 14. A method for detecting an object by means of a detection unit (10), specifically a vehicle (100), wherein the detection unit (10) has a first projection unit (12) having a first field of view (14) and a first camera unit (16) having a third field of view (18), wherein the first projection unit (12) and the first camera unit (16) are configured relative to each other with a predetermined alignment (20), and the first field of view (14) and the third field of view (18) at least partially overlap, wherein the method comprises the following steps: emitting a first beam (22) having a predetermined orientation by means of the first projection unit (12), wherein the first beam (22) is guided by a first light ray (24) The first plane (28) is defined by the first camera unit (16) and the second light ray (26); the second light ray (30) is captured by the first camera unit (16), wherein the second light ray (30) is based on the reflection of the first light ray (22), wherein the second light ray (30) defines the second plane (36) by the third light ray (32) and the fourth light ray (34); and the first intersection line (38) between the first plane (28) and the second plane (36) is determined based on the first intersection point (40) between the first light ray (24) and the third light ray (32), the second intersection point (42) between the second light ray (26) and the fourth light ray (34) and based on the predetermined alignment (20) in order to detect the object.