Method and apparatus for detecting surroundings, and vehicle with such an apparatus

Patent metadata

Field	Value
Publication number	US-11443529-B2
Application number	US-201917252368-A
Country	US
Kind code	B2
Filing date	May 9, 2019
Priority date	Jun 15, 2018
Publication date	Sep 13, 2022
Grant date	Sep 13, 2022

Abstract

A method and apparatus for detecting surroundings around a vehicle may include the step of periodically scanning the surroundings in a first detection region by a laser scanner. The method may also include detecting the surroundings in a second detection region by an optical camera. The first detection region and the second detection region may at least overlap each other. An optical sensor in the camera may be exposed at least twice within one period of the laser scanner. A first exposure time for a first exposure of the at least two exposures of the optical sensor may be chosen and synchronized with the laser scanner so that the first exposure occurs within a first time window, in which the laser scanner scans the first detection region.

First claim

The invention claimed is:

1. A method for detecting surroundings around a vehicle, comprising:
periodically scanning the surroundings in a first detection region by a laser scanner;
detecting the surroundings in a second detection region by an optical camera;
wherein the first detection region and the second detection region at least overlap each other;
wherein an optical sensor in the camera is exposed at least twice within one period of the laser scanner,
wherein a first exposure time for a first exposure of the at least two exposures of the optical sensor is chosen and synchronized with the laser scanner so that the first exposure occurs within a first time window, in which the laser scanner scans the first detection region; and
wherein a second exposure of the at least two exposures for the optical sensor occurs outside of the first time window in a second time window, in which the laser scanner does not scan the first detection region.

2. The method of claim 1 , wherein the first exposure occurs in a middle range of the first time window, including symmetrically with respect to a half of the first time window.

3. The method of claim 1 , wherein a selected second exposure time for the second exposure is greater than the first exposure time for the first exposure.

4. The method of claim 1 , wherein the first exposure time and/or second exposure time is/are adapted to the period of the laser scanner.

5. The method of claim 1 , wherein at least one image taken during the first exposure time of the optical sensor is semantically segmented, wherein the semantic segmentation thus obtained is applied to the data from the laser scanner.

6. An apparatus for detecting surroundings around a vehicle, comprising
a laser scanner configured to periodically scan the surroundings in a first detection region,
an optical camera configured to detect the surroundings in a second detection region, wherein
the first detection region and the second detection region at least overlap each other, and with
a control unit operatively connected to both the laser scanner and the optical camera in order to control the laser scanner and the optical camera, such that
an optical sensor in the camera is exposed at least twice within one period of the laser scanner,
a first exposure time for a first exposure of the at least two exposures of the optical sensor is chosen and synchronized with the laser scanner so that the first exposure occurs within a first time window, in which the laser scanner scans the first detection region, and
wherein a second exposure of the at least two exposures for the optical sensor occurs outside of the first time window in a second time window, in which the laser scanner does not scan the first detection region.

7. The apparatus of claim 6 , wherein the optical camera and the laser scanner are aligned parallel to each other with respect to their main axes.

8. The apparatus of claim 6 , wherein the vehicle is a personal automobile, cargo vehicle, or utility vehicle.

9. The apparatus of claim 6 , wherein said laser scanner has a scanning range that is larger than the first detection region.

10. The apparatus of claim 9 , wherein said laser scanner has a scanning range comprising a full azimuth angle range of 360°.

11. The apparatus of claim 7 , wherein a first main axis of the laser scanner bisects the first detection region.

12. The apparatus of claim 6 , wherein the laser scanner is a light detection and ranging detector.

13. The apparatus of claim 6 , wherein the first detection region is an angle range of 0 degrees to 120 degrees.

Assignees

• Daimler Ag
• Bosch Gmbh Robert

Inventors

• Schaefer Manuel
• Gressmann Markus
• Eggers Helmuth
• Lehner Philipp
• Meinke Martin

Classifications

• G01S17/86 Primary

  Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders · CPC title

• G06V20/584 Primary

  of vehicle lights or traffic lights · CPC title

• G06F18/251

  of input or preprocessed data · CPC title

• H04N23/73

  by influencing the exposure time · CPC title

• G01S17/89

  for mapping or imaging · CPC title