Sensor system for recognizing protruding or exposed objects in the surroundings of a vehicle

Patent metadata

Field	Value
Publication number	US-10043394-B2
Application number	US-201615208722-A
Country	US
Kind code	B2
Filing date	Jul 13, 2016
Priority date	Jul 21, 2015
Publication date	Aug 7, 2018
Grant date	Aug 7, 2018

Abstract

A sensor system for a vehicle for recognizing adjacent vehicles, situated in an adjacent lane, with protruding or exposed objects, is described which includes a first lateral LIDAR sensor. The first lateral LIDAR sensor is tilted about a first transverse axis with respect to the horizontal, so that the first detection range, with its front portion in the travel direction, detects a first upper spatial area laterally ahead of the vehicle, at a height above the installed position of the first lateral LIDAR sensor. The second lateral LIDAR sensor is tilted opposite to the tilt direction of the first LIDAR sensor about a second transverse axis with respect to the horizontal, so that the second detection range, with its rear portion in the travel direction, detects a second upper spatial area laterally behind the vehicle, at a height above the installed position of the second LIDAR sensor.

First claim

What is claimed is:

1. A sensor system for a vehicle for recognizing adjacent vehicles situated in an adjacent lane with protruding or exposed objects, the system comprising:
a first lateral LIDAR sensor situated on a first side of the vehicle, the first lateral LIDAR sensor having a first detection range which covers first lateral surroundings of the vehicle;
a second lateral LIDAR sensor situated on the first side of the vehicle, the second lateral LIDAR sensor having a second detection range which covers second lateral surroundings of the vehicle; and
a control device for evaluating signals of the first and second lateral LIDAR sensors, the first lateral LIDAR sensor being tilted about a first transverse axis with respect to the horizontal, so that the first detection range, with its front portion in a travel direction of the vehicle, detects a first upper spatial area laterally ahead of the vehicle, at a predefined height above an installed position of the first lateral LIDAR sensor, and the second lateral LIDAR sensor being tilted opposite to the tilt direction of the first LIDAR sensor about a second transverse axis with respect to the horizontal, so that the second detection range, with a rear portion in the travel direction, detects a second upper spatial area laterally behind the vehicle, at a predefined height above the installed position of the second LIDAR sensor.

2. The sensor system as recited in claim 1 , wherein the first lateral LIDAR sensor is situated in a front vehicle section, while the second lateral LIDAR sensor is situated in a rear vehicle section.

3. The sensor system as recited in claim 1 , wherein the control device is designed for assessing an area directly ahead of or behind an adjacent vehicle situated in an adjacent lane or an area between two sections of an adjacent vehicle situated in the adjacent lane, as traversable when neither the first lateral LIDAR sensor nor the second lateral LIDAR sensor recognizes an object.

4. The sensor system as recited in claim 1 , wherein the control device is designed for assessing one of: i) an area directly ahead of or behind an adjacent vehicle situated in an adjacent lane, or ii) an area between two sections of an adjacent vehicle situated in the adjacent lane, as untraversable due to an obstacle which cannot be underridden at least one of:
i) when the first lateral LIDAR sensor recognizes an object while the second lateral LIDAR sensor at the same time does not recognize an object,
ii) when the first lateral LIDAR sensor does not recognize an object while the second lateral LIDAR sensor at the same time recognizes an object, and
iii) when each of the first lateral LIDAR sensor and the second lateral LIDAR sensor recognizes an object.

5. The sensor system as recited in claim 1 , further comprising:
a front sensor device for detecting front surroundings of the vehicle, the front sensor device being situated in such a way that the front sensor device detects a spatial area below the first upper spatial area covered by the first lateral LIDAR sensor;
wherein the control device is designed for assessing one of: i) an area directly behind an adjacent vehicle situated in an adjacent lane, or ii) an area between two sections of an adjacent vehicle situated in the adjacent lane, as untraversable due to an obstacle which cannot be underridden at least one of:
i) when the first lateral LIDAR sensor does not recognize an object while the front sensor device recognizes an object,
ii) when the first lateral LIDAR sensor recognizes an object while the front sensor device does not recognize an object, and
iii) when the first lateral LIDAR sensor recognizes an object and the front sensor device at the same time recognizes an object.

6. The sensor system as recited in claim 1 , further comprising:
a rear sensor device for detecting rear surroundings of the vehicle, the rear sensor device being situated in such a way that it detects a spatial area below the second upper spatial area covered by the second lateral LIDAR sensor;
wherein the control device is designed for assessing one of: i) an area directly ahead of an adjacent vehicle situated in an adjacent lane, or an area between two sections of an adjacent vehicle situated in the adjacent lane, as untraversable due to an obstacle which cannot be underridden at least one of:
i) when the second lateral LIDAR sensor does not recognize an object while the rear sensor device recognizes an object,
ii) when the second lateral LIDAR sensor recognizes an object while the rear sensor device does not recognize an object, and
iii) when both the second lateral LIDAR sensor and the rear sensor device recognize an object.

7. The sensor system as recited in claim 6 , wherein the rear sensor device is designed an additional LIDAR sensor.

8. The sensor system as recited in claim 5 , wherein the front device is one of a video sensor or an ultrasonic sensor.

9. The sensor system as recited in claim 1 , further comprising:
a third lateral LIDAR sensor situated in a mirror image with respect to the first lateral LIDAR sensor; and
a fourth lateral LIDAR sensor situated in a mirror image with respect to the second LIDAR sensor;
wherein the third and fourth lateral LIDAR sensors are are provided on a second side of the vehicle opposite from the first side.

10. A vehicle which includes a sensor system for recognizing adjacent vehicles situated in an adjacent lane with protruding or exposed objects, the sensor system comprising:
a first lateral LIDAR sensor situated on a first side of the vehicle, the first lateral LIDAR sensor having a first detection range which covers first lateral surroundings of the vehicle;
a second lateral LIDAR sensor situated on the first side of the vehicle, the second lateral LIDAR sensor having a second detection range which covers second lateral surroundings of the vehicle; and
a control device for evaluating signals of the first and second lateral LIDAR sensors, the first lateral LIDAR sensor being tilted about a first transverse axis with respect to the horizontal, so that the first detection range, with its front portion in a travel direction of the vehicle, detects a first upper spatial area laterally ahead of the vehicle, at a predefined height above an installed position of the first lateral LIDAR sensor, and the second lateral LIDAR sensor being tilted opposite to the tilt direction of the first LIDAR sensor about a second transverse axis with respect to the horizontal, so that the second detection range, with a rear portion in the travel direction, detects a second upper spatial area laterally behind the vehicle, at a predefined height above the installed position of the second LIDAR sensor.

11. A method for recognizing adjacent vehicles, situated in an adjacent lane, with protruding or exposed objects, the method comprising:
scanning a first upper spatial area laterally ahead of the vehicle at a predefined height above an installed position of a first lateral LIDAR sensor with the aid of the first LIDAR sensor which is situated on one side of the vehicle, tilted about a first transverse axis with respect to the horizontal;
scanning a second upper spatial area laterally behind the vehicle at a predefined height above an installed position of a second lateral LIDAR sensor with the aid of the second LIDAR sensor which is situated on the one side of the vehicle, tilted about a second transverse axis with respect to the horizontal; and
assessing the traversability of one of: i) an area directly ahead of or behind the adjacent vehicle situated in the adjacent lane, or ii) an area between two sections of an adjacent vehicle situated in the adjacent lane, based on m

Assignees

• Bosch Gmbh Robert

Inventors

• Pink Oliver
• Buettner Axel
• Maucher Dominik
• Feyerabend Achim
• Schroeder Christoph

Classifications

• G01S2013/93271

  in the front of the vehicles · CPC title

• G01S2013/93274

  on the side of the vehicles · CPC title

• G01S2013/93272

  in the back of the vehicles · CPC title

• G01S17/931

  of land vehicles · CPC title

• G08G1/167 Primary

  Driving aids for lane monitoring, lane changing, e.g. blind spot detection · CPC title