DE102021200760A1 - Mounting device for an environment detection sensor of a road vehicle that can be operated automatically, control unit for such a mounting device and computer-implemented method for regulating and/or controlling such a mounting device - Google Patents

Abstract

Mounting device (1) for an environment detection sensor (S1) of a road vehicle (2) that can be operated automatically, comprising a cardanic suspension (10) comprising at least two axes of rotation (X, Y) for suspending the environment detection sensor (S1), first actuators (M1), which are operatively connected are arranged with the axes of rotation (X, Y), for regulating and/or controlling an angular position of the environment detection sensor (S1), and a supporting part (11), in which the cardanic suspension (10) is arranged, at least one second actuator (M2) which is arranged in operative connection with the supporting part (11) for regulating and/or controlling a position and/or a movement of the environment detection sensor (S1), and a mounting part (12) on which the second actuator (M2) can be arranged, for mounting the support part (11) on the road vehicle, wherein in the mounted state the second actuator (M2) controls the position and/or movement of the surroundings detection sensor (S1) along a yaw axis (2) of the road vehicle (2) regulates and/or controls.

Description

The invention relates to a mounting device for an environment detection sensor of a road vehicle that can be operated automatically, a control device for such a mounting device and a computer-implemented method for regulating and/or controlling such a mounting device.

Surroundings detection sensors, for example based on camera, radar, lidar and/or sound technologies, are positioned on vehicles that can be operated automatically and are influenced by movements of the vehicle, for example vibrations caused by driving, for example camera shake. Stabilization systems are known which compensate for these effects, for example gimbals.

the U.S. 8,844,896 B2 discloses a linear bearing helicopter camera gimbal. the U.S. 9,927,682 B2 discloses how a camera gimbal on an unmanned aerial vehicle can be better controlled. the U.S. 4,498,038 A discloses a stabilization system for isolating a load from vibrations of a support structure including a servo controlled drive for rotating the load. the U.S. 8,179,078 B2 discloses a hand-held and vehicle-mountable stabilization system including rotary actuators to rotate the system to a specified angular position.

Gimbals allow only rotational movement.

The problem is that in ground-bound vehicles, for example road vehicles, when driving on a ground, environment detection sensors are moved vertically in a translatory manner due to vertical vibrations of the vehicle. These movements cannot be compensated with a cardanic suspension. A possible solution to at least reduce the vertical movement is to arrange the environment detection sensor above the center of gravity of the vehicle.

In videography, the vertical movement is compensated by additional masses and springs, for example in a tripod. The application of this concept in road vehicles that can be operated automatically is problematic, however, because even small movements relative to a body of the vehicle can have major effects on the perceptions of the environment detection sensors.

The object of the invention was how the installation of a surroundings detection sensor on a road vehicle can be stabilized against vehicle movements in an improved manner.

The objects of claims 1, 4 and 5 each solve this problem.

• • eine kardanische Aufhängung umfassend
  • ◯ wenigstens zwei Drehachsen zum Aufhängen des Umfelderfassungssensors,
  • ◯ erste Aktuatoren, die in Wirkverbindung mit den Drehachsen angeordnet sind, zum Regeln und/oder Steuern einer Winkellage des Umfelderfassungssensors, und
  • ◯ einem Tragteil, in dem die kardanische Aufhängung angeordnet ist,
• • wenigstens einen zweiten Aktuator, der in Wirkverbindung mit dem Tragteil angeordnet ist, zum Regeln und/oder Steuern einer Position und/oder einer Bewegung des Umfelderfassungssensors, und
• • ein Montageteil, an das der zweite Aktuator anordbar ist, zum Montieren des Tragteils an dem Straßenfahrzeug, wobei im montierten Zustand der zweite Aktuator die Position und/oder Bewegung des Umfelderfassungssensors entlang einer Gierachse des Straßenfahrzeugs regelt und/oder steuert.

According to one aspect, the invention provides a mounting device for a surroundings detection sensor of a road vehicle that can be operated automatically. The mounting device includes

• • comprising a gimbal
  • ◯ at least two rotary axes for hanging the environment detection sensor,
  • ◯ first actuators, which are arranged in operative connection with the axes of rotation, for regulating and/or controlling an angular position of the environment detection sensor, and
  • ◯ a supporting part in which the cardanic suspension is arranged,
• • at least one second actuator, which is arranged in operative connection with the carrying part, for regulating and/or controlling a position and/or a movement of the environment detection sensor, and
• • a mounting part on which the second actuator can be arranged, for mounting the support part on the road vehicle, with the second actuator regulating and/or controlling the position and/or movement of the environment detection sensor along a yaw axis of the road vehicle in the mounted state.

• • mit ersten und wenigstens einem zweiten Aktuator der Halterungsvorrichtung und Sensoren zur Bestimmung der Position und/oder Orientierung der ersten Aktuatoren und/oder des zweiten Aktuators Signal übertragend verbunden ist,
• • Signale der ersten und des zweiten Aktuators und der Sensoren regelbasiert auswertet und
• • basierend auf der Auswertung die ersten und den zweiten Aktuator für eine Entkopplung einer Position und/oder Orientierung eines in der Halterungsvorrichtung aufgehangenen Umfelderfassungssensors von Bewegungen des Straßenfahrzeugs und/oder für eine Änderung der Position und/oder Orientierung des Umfelderfassungssensors ansteuert.

According to a further aspect, the invention provides a control device for a mounting device according to the invention. The control unit includes a control device that

• • is connected in a signal-transmitting manner to first and at least one second actuator of the mounting device and sensors for determining the position and/or orientation of the first actuators and/or the second actuator,
• • Evaluates signals from the first and the second actuator and the sensors based on rules and
• • based on the evaluation, controls the first and the second actuator for decoupling a position and/or orientation of a surroundings detection sensor suspended in the mounting device from movements of the road vehicle and/or for changing the position and/or orientation of the surroundings detection sensor.

• • Einlesen von Signalen von ersten und wenigstens einem zweiten Aktuator der Halterungsvorrichtung und Sensoren zur Bestimmung der Position und/oder Orientierung der ersten Aktuatoren und/oder des zweiten Aktuators,
• • Auswerten der Signale in Abhängigkeit einer Fahrsituation,
• • Bestimmen von Regelungs- und/oder Steuerungssignalen für eine Entkopplung einer Position und/oder Orientierung des Umfelderfassungssensors von der Fahrsituation und/oder für eine Änderung der Position und/oder Orientierung des Umfelderfassungssensors und
• • Ansteuern der ersten und des zweiten Aktuators mit den Regelungs- und/oder Steuerungssignalen.

According to a further aspect, the invention provides a computer-implemented method for regulating and/or controlling an environment detection sensor suspended in a mounting device according to the invention. The procedure includes the steps

• • Reading in signals from the first and at least one second actuator of the mounting device and sensors to determine the position and/or orientation of the first actuators and/or the second actuator,
• • Evaluation of the signals depending on a driving situation,
• • determining regulation and/or control signals for decoupling a position and/or orientation of the surroundings detection sensor from the driving situation and/or for changing the position and/or orientation of the surroundings detection sensor and
• • Controlling the first and the second actuator with the regulation and/or control signals.

Advantageous refinements of the invention result from the definitions, the dependent claims, the drawings and the description of preferred exemplary embodiments.

The inventive gimbal includes support and/or stabilization systems that support and/or stabilize an object with axes of rotation. For example, the gimbal is a gimbal known in the art. The supporting part is a mounting frame, bearing or suspension of the gimbal.

According to one aspect of the invention, the two axes of rotation are each offset by 90 degrees from one another. For example, the mounting device comprises a frame comprising a first ring and a second ring, which are rotatably mounted in one another in the outer support part.

The first actuators regulate and/or control, for example, at least rolling and/or yaw movements of the suspended surroundings detection sensor. Thus, the gimbal is an electronically stabilized suspension. According to one aspect of the invention, the first actuators are stepper motors or servomotors.

According to one aspect of the invention, a surroundings detection sensor based on optical technology, for example an imaging sensor, for example a camera sensor, is suspended in the mounting device according to the invention.

According to a further aspect of the invention, the second actuator is a linear motor. According to a further aspect of the invention, the second actuator comprises passive spring-damper elements for controlling the position and/or movement of the environment detection sensor along the yaw axis of the road vehicle or for supporting the linear motor. According to a further aspect of the invention, the mounting device comprises a first second actuator, a second of the second actuators that controls the position and/or movement of the environment detection sensor along the pitch axis, and/or a third of the second actuators that controls the position and/or movement of the environment detection sensor controls along the roll axis.

The actuators decouple a position and/or an orientation of the environment detection sensor from movements of the road vehicle, including vibrations, for example vibrations along the yaw axis, caused by driving surfaces. This increases the accuracy of the environment detection and environment perception, even when driving with poor road conditions, such as loose surfaces, poorly maintained roads, potholes or cobblestones.

Furthermore, the position and/or orientation of the environment detection sensor on the assembly part can be actively changed by means of the second actuator depending on specific driving situations.

According to one aspect of the invention, the position and/or orientation of the environment detection sensor is changed by a combination of the available actuators with or without interacting regulation and/or control. For example, according to one aspect of the invention, a pitching movement of the first of the second actuators is compensated for by appropriate regulation and/or control of the second of the second actuators. In a further embodiment, a pitching movement of the second actuator is compensated for by the first actuators without interacting regulation.

For example, surroundings detection sensors with a narrow field of view can thus be used in relatively more situations. For example, long-distance radars can track the movement of the road vehicle when cornering. With the mounting device according to the invention, lidar sensors with a restricted vertical field of view can also be used in hilly surroundings.

Furthermore, due to the increased range of movement for the surroundings detection sensor by means of the mounting device, the surroundings detection sungssensor be reoriented to increase redundancy for another environment detection sensor or to provide a fallback layer.

A further advantage of the mounting device according to the invention is that a surroundings detection sensor suspended according to the invention is exposed to relatively few mechanical loads. As a result, functions of the surroundings detection sensor are maintained longer and the surroundings detection sensor can be used longer without repairs or replacements.

The mounting part includes, for example, a mounting plate on which the support part can be placed, and screw connections with which the support part can be fastened to the mounting plate and the mounting plate to structural parts of a road vehicle chassis or to an outer skin of the road vehicle.

When used with the road vehicle, the mounting device can be arranged, for example, in front areas, rear areas, corner areas and/or side areas of the road vehicle.

A road vehicle that can be operated automatically includes hardware components, for example environment detection sensors, for example imaging sensors such as cameras, radiation sensors such as radar and/or lidar, microphones, odor sensors, inertial measuring units, position sensors, for example based on navigation satellite systems such as NAVSTAR GPS, Galileo, Glonast or Baidu, control units, actuators , drive and chassis components, and software components, such as software for evaluating raw data from the environment detection sensors, for determining environment models, algorithms for predicting driving situations or for planning a trajectory or mission. An automation level is determined by the SAE J3016 standard, for example. The invention relates to SAE J3016 Level 2 to 5 systems. The vehicle is, for example, a car, truck, bus, people mover, transport system or a robot.

The control device of the control device includes, for example, a microcontroller, at least one central and/or graphics processor unit, integrated circuits, memory modules in which routines and/or rules for controlling the actuators are stored, and input and output signal modules.

According to one aspect of the invention, the control device is designed to cooperatively regulate and/or control the first actuators and the second actuators. For example, the control device is designed to compensate for a pitching movement of the first of the second actuators by appropriate regulation and/or control of the second of the second actuators.

According to one aspect of the invention, the control device is an electronic control device that is embedded in an on-board network of the road vehicle.

The steps of the method are carried out by a data processing device, for example an integrated circuit, a computer or a control unit according to the invention. The instructions of the computer program according to the invention include machine instructions, source text or object code written in assembly language, an object-oriented programming language, for example C++, or in a procedural programming language, for example C. The computer program is entirely or partially on an integrated circuit or in a remote system comprising a cloud executed.

According to one aspect of the invention, the method step of determining regulation and/or control signals for decoupling a position and/or orientation of the surroundings detection sensor from the driving situation and/or for changing the position and/or orientation of the surroundings detection sensor comprises an interacting regulation and/or or controlling the first actuators and the second actuators. For example, a pitching motion of the first of the second actuators is compensated for by appropriate regulation and/or control of the second of the second actuators.

According to a further aspect, the invention provides a data carrier, preferably a non-volatile data carrier, on which the computer program according to the invention is stored. For example, the vehicle has a data carrier input, for example a USB or SD card slot, into which the data carrier, for example a USB stick or an SD card, can be inserted.

According to a further aspect, the mounting device includes sensors for determining the position and/or orientation of the first actuators and/or the second actuator. As a result, the actuators are electronically controlled and a position offset between the mounting device and the body of the road vehicle is obtained. In this way, movements can be better compensated for in comparison to mechanical elements. According to one aspect of the invention, these sensors include attitude sensors, acceleration sensors and/or gyroscopic sensors.

According to a further aspect, the mounting device comprises a housing which protects at least the cardanic suspension against impacts, foreign particles and/or weather influences, for example against dust, impacting dirt particles, rainwater, snow or water jets. The mounting device thus has the protection required for an automotive application. According to a further aspect of the invention, the mounting device and/or the housing comprises hardened materials to increase the protective effect.

According to a further aspect, the mounting device comprises locking elements to mechanically fix the mounting device in a basic position, and the method according to the invention includes a step to move the mounting device into a basic position and fix it in this, for example by means of the locking elements.

The invention also relates to a calibration method. According to one aspect of the invention, the calibration data are made available to the control device of the control unit. According to one aspect of the control device and/or the method according to the invention, the calibration data are fused with the signals of the first and second actuators and/or the sensors to determine the position and/or orientation.

• 1 ein Ausführungsbeispiel eines Straßenfahrzeuges mit einem Ausführungsbeispiel erfindungsgemäßer Halterungsvorrichtungen,
• 2 eine Ausschnittsvergrößerung von 1,
• 3 eine Draufsicht auf ein Ausführungsbeispiel einer erfindungsgemäßen Halterungsvorrichtung,
• 4 ein Frontansicht des Ausführungsbeispiels aus 3 montiert an ein Straßenfahrzeug, und
• 5 eine schematische Darstellung eines Ausführungsbeispiels eines erfindungsgemäßen Verfahrens.

The invention is illustrated in the following exemplary embodiments. Show it:

• 1 an embodiment of a road vehicle with an embodiment of mounting devices according to the invention,
• 2 an enlargement of a detail 1 ,
• 3 a plan view of an embodiment of a mounting device according to the invention,
• 4 a front view of the embodiment 3 mounted on a road vehicle, and
• 5 a schematic representation of an embodiment of a method according to the invention.

In the figures, the same reference symbols denote the same or functionally similar reference parts. For the sake of clarity, only the relevant reference parts are highlighted in the individual figures.

The road vehicle 2 in 1 is, for example, an automated or autonomously driving passenger transport vehicle, for example a local public transport passenger shuttle. Environment detection sensors S1 are arranged in a front area F and a rear area R of the chassis by means of the mounting device 1 according to the invention. In these areas, vibrations of road vehicle 2 along yaw axis Z in certain driving situations are transmitted particularly effectively to movements of environment detection sensors S1, since environment detection sensors S1 are arranged relatively far away from the center of gravity of road vehicle 2 in these areas. The mounting device according to the invention decouples a movement of the environment detection sensors S1 from movements of the road vehicle 2, particularly in these areas.

2 is an enlargement of the front area F of the road vehicle 2, on which the environment detection sensor S1, for example a camera, is mounted. Surroundings detection sensor S1 is suspended in a cardanic suspension 10 . Movements around the axes of rotation of the cardanic suspension are each indicated with a first, in 1 not shown, actuators M1 electronically regulated and / or controlled, for example via a controlled system comprising P, I and D controllers and / or combinations of these controllers. The movements around the axes of rotation and/or the actions of the actuators M1 are controlled by means of sensors S2 which are integrated, for example, in the first actuators M1.

The cardanic suspension is mounted on or in a support part 11 . The support part 11 is, for example, a mounting frame or a holder of the gimbal 10. The support part 11 is mounted on the front area F by means of a mounting part 12, for example in the form of support rods or actuator rods of a second actuator M2. The carrying part 11 and thus the environment detection sensor S1 can be moved along the yaw axis Z by means of the second actuator M2, for example a linear motor. The yaw axis Z corresponds to the vertical axis. The second actuator M2 is arranged between the supporting part 11 and the mounting part 12 in operative connection with the supporting part 11. The actions of the second actuator M2 and the movements of the supporting part 11 along the yaw axis Z are controlled by means of sensors S3. The sensors S3 are integrated in the second actuator M2.

In one embodiment of the invention, the second actuator M2 is supported by a spring element D, for example a passive damper.

In 3 For example, a camera is suspended in a cardanic suspension 10 as an environment detection sensor S1 of a road vehicle 2 . A first axis of rotation X of the gimbal is, for example, a pitch axis, ie an axis about which pitch movements, in English called schen pitch, are executed. A second axis of rotation Y of the gimbal 10 is, for example, a roll axis, that is to say an axis about which rolling movements are carried out. The axes of rotation X, Y are mounted by means of pivot bearings 13. Movements about the axes of rotation X, Y are each electronically regulated and/or controlled with first actuators M1, for example via a controlled system comprising P, I and D controllers and/or combinations of these controllers. The movements around the axes of rotation and/or the actions of the actuators M1 are controlled by means of sensors S2.

The gimbal 10 is mounted in a support member 11 . The support part 11 is, for example, a mounting frame or a mount for the cardanic suspension. The carrying part 11 is mounted on the road vehicle 2 by means of a mounting part 12, for example on an outer skin of the road vehicle 2. The carrying part 11 and thus the surroundings detection sensor S1 can be moved along a yaw axis Z by means of a second actuator M2, for example a linear motor. The yaw axis Z corresponds to the vertical axis. The second actuator M2 is arranged between the supporting part 11 and the mounting part 12 in operative connection with the supporting part 11. The actions of the second actuator M2 and the movements of the supporting part 11 along the yaw axis Z are controlled by means of sensors S3.

4 shows the mounting device 1 3 in a front view. In 4 the holding device is mounted on a roof of the road vehicle 2, for example. The road vehicle 2 is a car, for example.

In a first in 5 In the method step V1 shown schematically, signals from the first and the second actuator M1, M2 and the sensors S2, S3 are read. In a method step V2, these signals are evaluated as a function of a driving situation. For this purpose, the signals that are read in are merged with calibration data of the environment detection sensor S1 and the mounting device 1 . The driving situation is determined, for example, from signals from environment detection sensor S1 and/or other environment detection sensors and/or from signals from an on-board network of road vehicle 2, for example a CAN bus. The evaluation is rule-based and forward-looking. For example, a control signal for the second actuator M2 is generated when it is detected, for example with a camera, that a future road section has a pothole, and the second actuator M2 is controlled with this signal when the pothole is driven over in order to cause an impact on the environment detection sensor to balance S1. In a third method step V3, the regulation and/or control signals for decoupling a position and/or orientation of the surroundings detection sensor S1 from the driving situation are determined. In a fourth method step V4, the regulation and/or control signals for a change in the position and/or orientation of the environment detection sensor S1 are determined, in one embodiment of the invention for a cooperative regulation of the first actuators M1 and the second actuator M2. In a fifth method step V5, the first and the second actuators M1, M2 are controlled with the regulation and/or control signals.

Reference List

1

mounting device

2

road vehicle

f

front area

R

rear area

D

spring element

S1

Environment detection sensor

S2

sensor

S3

sensor

M1

first actuator

M2

second actuator

X

axis of rotation

Y

axis of rotation

Z

yaw axis

10

gimbal suspension

11

supporting part

12

assembly part

13

pivot bearing

V1-V5

process steps

QUOTES INCLUDED IN DESCRIPTION

This list of documents cited by the applicant was generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Patent Literature Cited

• US8844896B2 [0003]
• US 9927682 B2 [0003]
• US4498038A [0003]
• US8179078B2 [0003]

Claims (5)

Holding device (1) for an environment detection sensor (S1) of a road vehicle (2) that can be operated automatically • comprising a gimbal (10). ◯ at least two axes of rotation (X, Y) for hanging the environment detection sensor (S1), ◯ first actuators (M1), which are arranged in operative connection with the axes of rotation (X, Y), for regulating and/or controlling an angular position of the environment detection sensor (S1), and ◯ a supporting part (11) in which the cardanic suspension (10) is arranged, • at least one second actuator (M2), which is arranged in operative connection with the supporting part (11), for regulating and/or controlling a position and/or a movement of the environment detection sensor (S1), and • a mounting part (12), on which the second actuator (M2) can be arranged, for mounting the supporting part (11) on the road vehicle, with the second actuator (M2) controlling the position and/or movement of the surroundings detection sensor (S1) in the mounted state regulates and/or controls along a yaw axis (Z) of the road vehicle (2). Mounting device (1) after claim 1 , The position and/or orientation of the environment detection sensor (S1) being changeable by a combination of the available actuators (M1, M2) with or without interacting regulation and/or control. Mounting device (1) after claim 1 or 2 comprising sensors (S2, S3) for determining the position and/or orientation of the first actuators (M1) and/or the second actuator (M2). Control unit for a mounting device (1) according to one of Claims 1 until 3 comprising a control device which • with first and at least one second actuator (M1, M2) of the mounting device and sensors (S2, S3) for determining the position and/or orientation of the first actuators (M1) and/or the second actuator (M2) Signal is connected transmitting, • signals of the first and the second actuator (M1, M2) and the sensors (S2, S3) rule-based evaluates and • based on the evaluation, the first and the second actuator (M1, M2) for a decoupling of a position and/or controls the orientation of an environment detection sensor (S1) suspended in the mounting device (1) from movements of the road vehicle (2) and/or for a change in the position and/or orientation of the environment detection sensor (S1). Computer-implemented method for regulating and/or controlling in a mounting device (1) according to one of Claims 1 until 3 suspended environment detection sensor (S1) comprising the steps of • reading in signals from the first and at least one second actuator (M1, M2) of the mounting device (1) and sensors (S2, S3) to determine the position and/or orientation of the first actuators (M1) and/or the second actuator (M2) (V1), • evaluating the signals depending on a driving situation (V2), • determining regulation and/or control signals for decoupling a position and/or orientation of the environment detection sensor (S1) from the Driving situation (V3) and / or for a change in the position and / or orientation of the environment detection sensor (S1) (V4) and • driving the first and second actuators (M1, M2) with the regulation and / or control signals (V5).

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