Detection method and a detection apparatus

• US 7,295,298 B2
• Filed: 06/03/2002
• Issued: 11/13/2007
• Est. Priority Date: 06/05/2001
• Status: Active Grant

• Current Assignee: Sick AG (Sick)
• Original Assignee: IBEO Automobile Sensor GmbH (Ibeo Automotive Systems GmbH)
• Inventors: Lages, Ulrich, Willhoeft, Volker
• Primary Examiner(s): Lauchman; Layla G.
• Assistant Examiner(s): TON, TRI T
• Application Number:
  US10/479,448
• Publication Number:
  US 20040175183A1
• Time in Patent Office: 1,989 Days
• Field of Search: 356/219, 356/141.1, 356 301- 315, 356 401- 515, 35613903- 13, 250/221, 250/201.1, 250/208.1, 250/206.1, 250/206.2, 340/426.16, 340/436, 340/903, 340/435
• US Class Current: 356/219
• CPC Class Codes: G01S 17/931 of land vehicles

Abstract

The invention relates to a method for optically sensing the surrounding area of a vehicle using at least one optoelectronic emitting/receiving device that is mounted on the vehicle. According to the method, a monitoring area located in the field of vision of the emitting/receiving device is scanned and, in addition to the monitoring area, a region of particular interest is scanned by using at least one radiation deflecting device, which is located in the field of vision of the emitting/receiving device, however, outside of the monitoring area. The invention also relates to a corresponding sensing device.

Claims

1. A method for optical detection of the environment of a vehicle comprising at least one optoelectronic transmitter/receiver attached to the vehicle, in which

scanning a monitored zone lying in the field of view of the transmitter/receiver,

arranging at least one radiation deflection device in the field of view of the transmitter receiver, but outside the monitored zone,

scanning a region of particular interest in addition to the monitored zone by means of the at least one deflection device;

and

storing information acquired from the scan in a memory of a control and evaluation unit.

2. A method in accordance with claim 1, characterized in that a laser scanner is used as the optoelectronic transmitter/receiver, in particular a laser scanner which measures distances and angles and which provides an angular value related to a pre-determined axis for each distance value in at least one scanning plane.

3. A method in accordance with claim 1, characterized in that a region lying outside the monitored zones is selected as the region of particular interest.

4. A method in accordance with claim 1, characterized in that at least part of the monitored zone is selected as the region of particular interest.

5. A method in accordance with claim 1, characterized in that, when scanning the field of view of the transmitter/receiver, at least part of the field of view, in particular of the monitored zone, is scanned a plurality of times via the deflection device, preferably from different directions.

6. A method in accordance with claim 1, characterized in that, when scanning the field of view of the transmitter/receiver, at least part of the field of view, in particular of the monitored zone, is scanned in a plurality of different scanning planes via the deflection device, preferably from different directions.

7. A method in accordance with claim 1, characterized in that a plurality of deflection devices arranged in series are used.

8. A method in accordance with claim 1, characterized in that the position of the deflection device is changed.

9. A method in accordance with claim 1, characterized in that the relative arrangement of a plurality of deflection devices arranged in series is changed, in particular by tilting at least one deflection device.

10. A method in accordance with claim 1, characterized in that the position of the deflection device is changed, in particular automatically, in dependence on the situation.

11. A method in accordance with claim 1, characterized in that the region of particular interest is displaced in dependence on information acquired by the scan by adjusting the deflection device.

12. A method in accordance with claim 1, characterized in that at least one control signal is produced for the control of a vehicle device in dependence on information acquired by the scanning in particular of the region of particular interest.

13. A method in accordance with claim 1, characterized in that, in particular at relatively low speeds of the vehicle, the ground is preferably scanned via the deflection device in the direction of travel in front of the vehicle.

14. A method in accordance with claim 1, characterized in that, in particular at relatively high speeds of the vehicle, the scanning frequency is increased by means of the deflection device at least with respect to part of the field of view of the transmitter/receiver.

15. A method in accordance with claim 1, characterized in that a scan is carried out in a plurality of scanning planes in the total field of view of the transmitter/receiver.

16. An apparatus for the optical detection of the environment of a vehicle having at least one optoelectronic transmitter/receiver attached to the vehicle in operation by means of which a monitored zone lying in the field of view of the transmitter/receiver can be scanned, and having at least one radiation deflection device which is arranged in the field of view of the transmitter/receiver, but outside the monitored zone, and by means of which a region of particular interest can be scanned in addition to the monitored zone.

17. An apparatus in accordance with claim 16, characterized in that the optoelectronic transmitter/receiver is made as a laser scanner, in particular as a laser scanner which measures distances and angles and which provides an angular value relative to a pre-determined axis for each distance value in at least one scanning plane.

18. An apparatus in accordance with claim 16, characterized in that a plurality of deflection devices are arranged in series.

19. An apparatus in accordance with claim 16, characterized in that the position of the deflection device can be changed.

20. An apparatus in accordance with claim 16, characterized in that the relative arrangement of a plurality of deflection devices arranged in series can be changed, in particular by tilting at least one deflection device.

21. An apparatus in accordance with claim 16, characterized in that the position of the deflection device is changed, in particular automatically, in dependence on the situation.

22. An apparatus in accordance with claim 16, characterized in that the deflection device is arranged at a marginal region of the field of view of the transmitter/receiver, with two deflection devices preferably being provided, each arranged at a marginal region.

23. An apparatus in accordance with claim 16, characterized in that a control and evaluation unit is provided for the evaluation of information acquired by the scan and for the control of at least one vehicle device in dependence on the acquired information.

24. An apparatus in accordance with claim 16, characterized in that a deflection device is provided as the controllable vehicle device.