阅读说明：本技术 Tof传感器的系统、评估装置和感知系统 (System, evaluation device and perception system of TOF sensor ) 是由 约尔格·安格迈尔 于 2019-09-10 设计创作，主要内容包括：本发明涉及TOF传感器的系统、评估装置和感知系统,该系统由第一TOF传感器(10)和第二TOF传感器(20)构成,第一TOF传感器布置为：第一TOF传感器(10)的第一视域(11)检测客舱门(3)周围的区域,以便检测对乘客门(3)的阻挡,并且对处于客舱(2)中的乘客(4)计数,第二TOF传感器布置为：第二TOF传感器(20)的第二视域(21)检测处于客舱(2)中的乘客(4),以便检测乘客(4)的位置、活动和/或身体姿势,并且对处于客舱(2)中的乘客(4)计数。(The invention relates to a system, an evaluation device and a perception system of TOF sensors, the system being constituted by a first TOF sensor (10) and a second TOF sensor (20), the first TOF sensor being arranged to: a first field of view (11) of a first TOF sensor (10) detects an area around the passenger compartment door (3) in order to detect blocking of the passenger door (3) and to count passengers (4) present in the passenger compartment (2), the second TOF sensor being arranged to: the second field of view (21) of the second TOF sensor (20) detects passengers (4) present in the passenger cabin (2) in order to detect the position, activity and/or body posture of the passengers (4) and to count the passengers (4) present in the passenger cabin (2).)

1. System for detecting TOF sensors of a passenger cabin (2) of a passenger transport vehicle (1), the system comprising:

-a first TOF sensor (10) arranged such that a first field of view (11) of the first TOF sensor (10) detects an area around the passenger compartment door (3) in order to detect blocking of the passenger compartment door (3) and count passengers (4) present in the passenger compartment (2), and

-a second TOF sensor (20) arranged such that a second field of view (21) of the second TOF sensor (20) detects passengers (4) present in the passenger cabin (2) in order to detect positions, activities and/or body postures of the passengers (4) and to count the passengers (4) present in the passenger cabin (2).

2. The system according to claim 1, wherein the first TOF sensor (10) is arranged such that the first field of view (11)

Detecting at least one passenger (4) entering the passenger transport means (1) and being in the region of the passenger door (3), and/or

-detecting at least one finger, foot and/or shoe of a passenger (4) in the area of the passenger door (3) when the passenger (4) is outside and/or inside the passenger transport means (1).

3. The system of claim 1 or 2, wherein the reference is made

A coordinate system having

○ in the middle of the rear axle (5) of the passenger transport means (1);

○ along the longitudinal axis (L) of the passenger transport means (1) in the direction of the front axle (6) of the passenger transport means (1);

○ perpendicular to the x-axis, a y-axis directed away from the passenger door (3) along a transverse axis (Q) of the passenger vehicle (1),

○ are directed away from the floor (7) of the passenger transport means (1) perpendicular to the x-axis and the y-axis, respectively,

the first TOF sensor (10) is arranged at

○ x ═ 1.000 to x ═ 1.100, preferably x ═ 1.044;

○ y-0.600 to y-0.200, preferably y-0.460, and

○ z 1.700 to z 2.000, preferably z 1.900, and

the second TOF sensor (20) is arranged at

○ x ═ 0.800 to x ═ 0.200, preferably x ═ 0.575;

○ y-0.800 to y-0.400, preferably y-0.630, and

○ z 1.800 to z 2.150, preferably z 2.077.

4. The system of any one of the preceding claims,

-arranging the first TOF sensor (10) such that

○ the first roll angle (12) of the first TOF sensor (10) is in the range of 10 DEG to 18 DEG, preferably 14 DEG,

○ the first TOF sensor (10) has a first pitch angle (13) in the range of 50 DEG to 60 DEG, preferably 56 DEG, and

○ the first yaw angle (14) of the first TOF sensor (10) is in the range of 6 DEG to 14 DEG, preferably 11 DEG, and

the second TOF sensor (20) is arranged to,

○ the second roll angle (22) of the second TOF sensor (20) is in the range of 10 DEG to 18 DEG, preferably 14 DEG,

○ the second TOF sensor (20) has a second pitch angle (23) in the range of 50 DEG to 60 DEG, preferably 56 DEG, and

○ the second yaw angle (24) of the second TOF sensor (20) is in the range of-50 DEG to-40 DEG, preferably-43 deg.

5. Evaluation device (30) for sensing a passenger compartment (2) of a passenger means (1), comprising

At least one first interface (31) for obtaining data of a first TOF sensor (10) and a second TOF sensor (20) arranged according to the system according to any one of claims 1 to 4,

wherein the evaluation device (30) is embodied as:

○ identifying in advance the blocking of the passenger door (3) of the passenger transport means (1) by the passenger (4) depending on the data of the first TOF sensor (10) and generating a first signal in order to keep the passenger door (3) open and/or to terminate the blocking of the passenger (4),

○ identifies, depending on the data of the second TOF sensor (20), which position the passenger (4) occupies, in particular whether there are passengers and if necessary how many passengers (4) are sitting, standing, entering or being located in the passenger cabin (2), what body posture the passenger (4) has, and what activity the person (4) performs, and generates a second signal with information about the position, body posture and/or activity of the passenger (4), and

○ determining the number of passengers (4) in the passenger cabin (2) in dependence on data of the first TOF sensor (10) or data of the second TOF sensor (20) or data fusion of the first TOF sensor (10) and the second TOF sensor (20) and generating a third signal with information about the number of passengers (4), and

at least one second interface (32) for

○ provides the first signal to an adjusting device (8) of the passenger door (3) or to a passenger (4) blocking the passenger door (3), and

the second signal and/or the third signal is/are supplied to a control device (9a) of the passenger transport means and/or to a display (9b) for the passenger transport means (1).

6. -a perception system (40) for perceiving obstruction of a passenger door (3) of a passenger conveyance (1), a number of passengers (4) in the passenger conveyance (1) and a position, a body posture and an activity of the passengers (4), the perception system comprising:

a first TOF sensor (10) and a second TOF sensor (20) arranged in accordance with the system according to any one of claims 1 to 4, and

the evaluation device (30) according to claim 5.

Technical Field

The invention relates to a system for detecting TOF sensors of a passenger cabin of a passenger transport vehicle according to claim 1. The invention further relates to an evaluation device for sensing the passenger compartment of a passenger transport means according to claim 5. The invention further relates to a perception system for perceiving obstructions to a passenger door of a passenger transport means, the number of passengers in the passenger transport means and the position, body posture and activities of the passengers according to claim 6.

Background

Vehicles for transporting persons and goods are known from the prior art. Small buses, also referred to as passenger transport vehicles, are people transport vehicles, in particular for the transport of people for short distances, for example in cities, airports or exhibitions.

Important in the automated process are: monitoring of an interior space of a people transportation vehicle. Currently, a bus in short-haul transportation of people is equipped, for example, with a camera in order to monitor the entry area of the bus.

Disclosure of Invention

The invention plays a role here. The aim of the invention is to improve the monitoring of the passenger compartment of a small bus with the smallest possible number of sensors to be used, with regard to sensor technology and monitoring possibilities.

This object is achieved by a system of TOF sensors having the features of claim 1. This object is also achieved by an evaluation device for sensing a passenger compartment of a passenger transport means having the features of claim 5. Furthermore, this object is achieved by a perception system for perceiving obstructions to a passenger door of a passenger transport means, the number of passengers in the passenger transport means and the position, body position and activity of the passengers having the features of claim 6.

The passenger compartment of a passenger transport means is detected with a system of TOF sensors according to the invention. The system consists of a first TOF sensor and a second TOF sensor. The first TOF sensor is arranged to: the first field of view of the first TOF sensor detects an area around the passenger door to detect obstruction of the passenger door and count passengers located in the passenger compartment. The second TOF sensor is arranged to: the second field of view of the second TOF sensor detects passengers located in the passenger cabin in order to detect their position, activity and/or body posture and to count passengers located in the passenger cabin.

Passenger transport means within the scope of the invention are small buses which can be dismantled and installed in general and which can be equipped in particular for short-distance transport of people. Passenger transport means are used for transporting persons for short distances, for example in cities, factories, in research and development institutions, such as universities or institutions of non-university, in airports or exhibitions. The dimensions of the passenger transport means in meters are length, width and height 4.65 x 1.95 x 2.50. The passenger transport vehicle preferably comprises 10 seats and 5 standing positions. The dimensions of the passenger cabin, i.e. the space into and out of the passenger transport means and which remains during transport, in meters, are 3.00 × 1.85 × 2.20 in length, width and height. The weight of the passenger transport means is 2t, for example. The passenger transport means preferably comprise an electric drive system, preferably an electric axle drive with a power of 150kW, and have a battery capacity for a service time of maximally 10 h. The passenger transport means can be operated automatically, preferably up to an automation level SAE level 5, i.e. can be operated fully automatically or autonomously.

The passenger transport means that can be operated automatically include technical equipment, in particular an environmental monitoring system, a supercomputing control unit with artificial intelligence, which can control the passenger transport means for the purpose of completing driver tasks (including longitudinal and transverse guidance) after the activation of the respective automatic travel function, in particular a highly automated or fully automated travel function according to standard SAEJ3016, and an intelligent actuator. Passenger vehicles are especially equipped for SAE classes 3, 4 and 5. Especially during the time of transition to highly/fully automated driving, the invention is used in SAE classes 3 and 4 for subsequent use in SAE class 5.

In SAE classes 3 and 4, in each case, a driver, a so-called safety driver, is also provided, which reacts to a request for intervention, i.e., there is a control override. Passenger vehicles for SAE classes 3 and 4 include a driver's cabin for safe drivers. In SAE level 5, the driver's cabin may be eliminated. The system according to the invention can continue to be used even when cancelled.

The passenger transport means also comprise passenger doors for the entry and exit of persons to be transported, i.e. passengers. The passenger door is preferably arranged laterally between the front axle and the rear axle. The passenger door is designed to be opened and closed automatically as desired by the passenger in order to enter or exit the passenger transport means.

TOF sensors, i.e., Time-Of-Flight sensors, are Time-Of-Flight method sensors. In a TOF sensor, each pixel of the sensor collects incident light and simultaneously measures the time of flight that light requires in order to reach the object from the light source and return to the pixel from the object. Each pixel of the TOF sensor converts light into a current. The pixels are operated with a plurality of switches and memory elements respectively associated with the switches. In the simplest case, each pixel has two switches and two storage elements. The switch is actuated by means of a transmission beam pulse and is opened during the time period of the beam pulse, i.e. the pulse length. In this case, the control signals of the respective switches are each shifted in time by one pulse length.

When the reflected beam pulse impinges on the pixel with a delay, only a part of the beam pulse reaches the first storage element and another part is collected in the second storage element. Therefore, the ratio of the collected light in the first memory element to the collected light in the second memory element varies according to the distance. The distance of the object being ingested is found by reading the pixels and determining the ratio of the signals in the first and second storage elements. The functional principle of a time-of-flight sensor is disclosed for example in WO 2014/195020 a 1.

A Field Of View (FOV) Of a sensor is a space on the object side in which an object can be detected. The field of view includes a horizontal plane, a horizontal field of view, and a vertical plane, a vertical field of view.

Thus, with the system according to the invention it is possible to: the blocking of the passenger door, the number of passengers and the position, activity and body posture of the passengers are detected with only two sensors. TOF sensors have the advantage over other image sensors that they also provide depth information directly with the detected scene, which improves perception. With depth information, individual planes in the field of view can also be shown with TOF sensors.

Advantageously, the first TOF sensor is arranged to: the first field of view detects at least one passenger entering the passenger conveyance and located in the area of the passenger door. Additionally or alternatively, the first TOF sensor is arranged to: the first field of view detects at least one finger, foot, and/or shoe of the passenger in an area of the passenger door when the passenger is located outside and/or inside the passenger conveyance. This is particularly advantageous for this situation, as long as the passenger means await passengers to get on and/or off at the station. For example, the passenger conveyance waits for a passenger to enter the passenger conveyance. The passenger is positioned in front of the entrance area of the passenger transport vehicle. The passenger door is open. For one of the subsequent cases, the passenger transport means should keep the passenger door open and remind the passenger to terminate the blocking of the passenger door:

the passenger enters the passenger transport means and remains standing in the open/closed area of the passenger door.

Passengers stand in front of the entrance area of the passenger door and do not enter the passenger cabin. However, the passenger keeps his fingers in the area of the passenger door.

Passengers stand in front of the entrance area of the passenger door and do not enter the passenger cabin. However, the passenger keeps his feet or shoes in the region of the passenger door.

A plurality of passengers, for example three passengers, pass through the passenger door in synchronism and remain standing in the opening/closing area of the passenger door.

Passengers are located in the vehicle in front of the passenger doors and do not exit the vehicle. However, the passenger keeps his fingers in the area of the passenger door.

The case of one of the states is updated within a time window of 1s accordingly.

The preferred system is described in terms of a coordinate system as a reference system. The origin of coordinates of the coordinate system is located in the middle of the rear axle of the passenger vehicle. The x-axis is arranged along the longitudinal axis of the passenger means in the direction of the front axle of the passenger means, i.e. counting positively in the direction of the front axle and counting negatively in the opposite direction. The y-axis is perpendicular to the x-axis and is oriented away from the passenger door along a transverse axis of the vehicle. The z-axis is arranged perpendicular to the x-axis and the y-axis, respectively, away from the floor of the passenger vehicle. With reference to this coordinate system, the reference point of the first TOF sensor, i.e. the first TOF sensor, is arranged in x-1.000 to x-1.100, preferably x-1.044, y-0.600 to y-0.200, preferably y-0.460 and z-1.700 to z-2.000, preferably z-1.900. The reference points of the second TOF sensor, i.e. the second TOF sensor, are arranged in x-0.800 to x-0.200, preferably x-0.575, y-0.800 to y-0.400, preferably y-0.630 and z-1.800 to z-2.150, preferably z-2.077. The region of the passenger door and the remainder of the passenger cabin are perceived particularly comprehensively by the positional arrangement in a surprising manner. Here, a maximum effective distance of 2m of the first TOF sensor and the second TOF sensor is sufficient.

Particularly preferably, the first TOF sensor is arranged to: the first roll angle of the first TOF sensor lies in the range of 10 ° to 18 °, preferably 14 °, the first pitch angle of the first TOF sensor lies in the range of 50 ° to 60 °, preferably 56 °, and the first yaw angle of the first TOF sensor lies in the range of 6 ° to 14 °, preferably 11 °. The second TOF sensor is arranged to: the second roll angle of the second TOF sensor is in the range of 10 ° to 18 °, preferably 14 °, the second pitch angle of the second TOF sensor is in the range of 50 ° to 60 °, preferably 56 °, and the second yaw angle of the second TOF sensor is in the range of-50 ° to-40 °, preferably-43 °. The region of the passenger door and the remainder of the passenger compartment are perceived particularly comprehensively in a surprising manner by this angular arrangement, in particular in combination with the positional arrangement according to the invention. Here, a horizontal and a vertical field of view of 85 ° each are sufficient.

The evaluation device according to the invention senses the passenger cabin of a passenger means. This means that the evaluation device is implemented as: the environment is interpreted depending on the sensor raw data. The expression "perception" is used in english. The evaluation device comprises at least one first interface. The first interface obtains data for the first TOF sensor and the second TOF sensor. The first TOF sensor and the second TOF sensor are arranged in accordance with the system according to the invention. The evaluation device is implemented as: the blocking of the passenger door by the passenger of the passenger means is previously recognized as a function of the data of the first TOF sensor and a first signal is generated in order to hold the passenger door open and/or to terminate the blocking of the passenger. Furthermore, the evaluation device is also embodied as: the data of the second TOF sensor are used to identify the position that the passenger occupies, in particular whether a passenger and, if necessary, how many passengers are sitting, standing, entering or being located in the passenger cabin, which body position the passenger has, i.e. body posture, and which activities the person carries out, such as listening to music, drinking water, reading a book, etc., and a second signal is generated with information about the position, body position and/or activity of the passenger. Advantageously, the body position, body posture and activity of the passenger are determined by means of artificial intelligence, for example with an artificial neural network that learns body posture. Furthermore, the evaluation device is implemented as: the number of passengers in the passenger cabin is determined in dependence on the data of the first TOF sensor or the data of the second TOF sensor or a combination of the data of the first TOF sensor and the second TOF sensor, and a third signal with information about the number of passengers is generated. Furthermore, the evaluation device comprises at least one second interface. The second interface provides the first signal to an adjustment device of the passenger door or to a passenger blocking the passenger door. In addition, the second interface supplies the second signal and/or the third signal to a control device of the passenger transport means and/or to a display of the passenger transport means.

The evaluation device is a device that processes the arriving information and outputs the results produced by the processing. In particular, the evaluation device is an electronic circuit, such as a central processing unit or a graphics processor. The evaluation device is preferably implemented as a system-on-chip (ECU) of an Electronic Control Unit, i.e. all or at least most of the functions are integrated on one chip. The chip includes, for example, a multi-core processor having a plurality of Central Processing units (CPU in english). The chip also includes a plurality of graphics processors (GPU for short in english). The graphics processor is particularly advantageously adapted for parallel processing of flows. With this structure, the evaluation device is scalable, i.e. the evaluation device can be adapted to different SAE classes.

An interface is a mechanical and/or electrical component between at least two functional units, at which logical variables, such as data, or physical variables, such as electrical signals, are exchanged either only unidirectionally or bidirectionally. The switching can be done analog or digital. The exchange may be done wirelessly or by wire.

Artificial intelligence is a high-level concept for the automation of intelligent behaviors. Intelligent algorithms, such as target-oriented learning, react to new information. An Artificial Neural Network (known in english as intellectual Neural Network) is an intelligent algorithm. The intelligent algorithm is implemented to target-oriented learning to react to new information. Artificial neural networks, for example, learn to classify the body position, body posture and/or activity of the passenger.

The second interface is, for example, an interface to an adjustment motor of the passenger door. By transmitting a first signal (which may be, for example, a current pulse of a determined amplitude and duration) to the adjustment motor, the adjustment motor keeps the passenger door open. Alternatively or additionally, the second interface further conducts the first signal to an acoustic, visual and/or tactile output device which makes the first signal audible, visible and/or perceptible to the user. For example, a display is provided which alerts the passenger to leaving the area of the passenger door.

The second signal is provided by means of a second interface of the control device of the passenger transport means. Within the scope of the invention, the evaluation device is integrated into the control device. The control device controls the longitudinal and/or transverse guidance of the passenger transport means by means of an electromechanical, preferably intelligent, actuator in dependence on the second signal. The driving pattern of the passenger transport means can thus advantageously be adapted to the number of passengers, their position, their posture and their activity in order to provide the passengers with a driving which is as comfortable and accident-free as possible.

The third signal is provided by means of the second interface, for example, to a display of the passenger transport means, which is visible from outside the passenger transport means, in order to inform the waiting passengers of the number of passengers located in the passenger transport means and thus of the number of possible vacant seats or of a full passenger transport means. The number of persons and/or information about the body position, posture and activity of the passenger can also be transmitted to an external control station. In this case, the second interface is preferably implemented as a wireless interface. Thus, the remote operator of the passenger transport means gets information about the passengers in the passenger compartment.

The perception system according to the invention is used for perceiving, i.e. perceiving, obstructions to the passenger door of a passenger transport means, the number of passengers in the passenger transport means and the position, body position and activity of the passengers. The perception system is composed of a first TOF sensor and a second TOF sensor arranged according to the system according to the invention and of an evaluation device according to the invention. The mentioned advantages of the system according to the invention and of the evaluation device according to the invention result.

Drawings

The invention is illustrated by way of example by the following figures and accompanying description. Wherein:

fig. 1 shows a schematic representation of an embodiment of a passenger transport vehicle according to the invention;

fig. 2 shows a side view of an embodiment of a passenger transport vehicle according to the invention;

FIG. 3a shows a top view of an embodiment of an arrangement according to the invention of an embodiment of a first TOF sensor;

FIG. 3b shows a side view of the embodiment of FIG. 3 a;

FIG. 3c shows a perspective view of the embodiment of FIG. 3 a;

FIG. 3d shows a schematic diagram of an embodiment of an angular arrangement of a first TOF sensor;

FIG. 3e shows a schematic view of the field of view of the embodiment of FIG. 3 a;

FIG. 3f shows an actual illustration of the field of view of the embodiment of FIG. 3 a;

FIG. 4a shows a top view of an embodiment of a system according to the present invention of an embodiment of a second TOF sensor;

FIG. 4b shows a side view of the embodiment of FIG. 4 a;

FIG. 4c shows a perspective view of the embodiment of FIG. 4 a;

FIG. 4d shows a schematic diagram of an embodiment of an angular arrangement of a second TOF sensor;

FIG. 4e shows a schematic view of the field of view of the embodiment of FIG. 4 a;

FIG. 4f shows an actual illustration of the field of view of the embodiment of FIG. 4 a; and

fig. 5 shows a diagram of an embodiment of the perception system according to the invention.

In the drawings, like reference numbers indicate identical or functionally similar elements. For the sake of clarity, only the reference numerals relevant for understanding the respective figures are illustrated in the various figures. Here, the reference parts not provided with reference numerals retain their original meaning and function.

Detailed Description

Fig. 1 shows a fragmentary view of a passenger transport means 1 according to the invention. The passenger transport means 1 comprises a passenger cabin 2. The passenger cabin 2 is detected by a first TOF sensor 10, only the first TOF sensor being shown in fig. 1, and a second TOF sensor 20. The first TOF sensor 10 has a first field of view 11. Portions or areas of the first field of view 11 may be covered by objects and therefore not detectable by the first TOF sensor 10. And a second TOF sensor 20. The visible first field of view 11a, i.e. the part of the first field of view 11 that is completely detected by the first TOF sensor 10, detects the area of the passenger door 3. There is a first plane 11b visible in the visible first viewing area 11 a. The corresponding applies to the second TOF sensor 20.

Fig. 2 shows an overview of the passenger transport means 1. The passenger vehicle 1 is also driven by a driver. The driver sits in the cab. The passenger door 3 is opened and closed automatically by means of an adjusting device 8 in the form of an adjusting motor. The passenger 4 sits in the passenger cabin 2. The passengers can also occupy a standing position, i.e. stand on the floor of the vehicle 1. The region of the front axle 6 and the rear axle 5 of the passenger transport means 1 is also shown. Front axle 6 and/or rear axle 5 are electric drive axles. The control device 9a controls the electric motor of the rear axle 5 and the steering of the passenger transport means 1. The cartesian coordinate system has its origin of coordinates in the middle of the rear axle 5. The x axis extends parallel to the longitudinal axis L of the passenger vehicle 1. The y axis extends parallel to the transverse axis Q of the passenger vehicle 1. The z-axis extends pointing away from the floor of the passenger transport means 1. The longitudinal axis L and the transverse axis Q are shown in fig. 3 a.

Fig. 3a to 3c show the arrangement of the first TOF sensor 10 in different figures. The first TOF sensor 10 is arranged relative to the coordinate system shown in fig. 2 in x-1.044, y-0.460 and z-1.90. The first roll angle 12 is 14. The first pitch angle 13 is 56 °. The first yaw angle 14 is 11 °.

The axes defining the first roll angle 12, the first pitch angle 13 and the first yaw angle 14 are shown in fig. 3 d.

In view of detecting the blocking of the passenger door 3 and the number of passengers, the position and angular arrangement surprisingly produces a particularly advantageous first field of view 11 in the horizontal and vertical fields of view of 85 ° respectively and in the maximum effective distance of 2m of the first TOF sensor.

A particularly advantageous first field of view 11 is schematically shown in fig. 3e and as a record of the first TOF sensor 10 in fig. 3 f.

Fig. 4a to 4c show the arrangement of the second TOF sensor 20 in different figures. The second TOF sensor 20 is arranged in x-0.575, y-0.630 and z-2.077 with respect to the coordinate system shown in fig. 2. The second roll angle 22 is 14. The second pitch angle 23 is 56 °. The second yaw angle 24 is-43.

The axes defining the second roll angle 22, the second pitch angle 23 and the second yaw angle 24 are shown in fig. 4 d.

In view of detecting the position, posture and activity of the passenger and the number of passengers, the position and angle arrangement surprisingly yields a particularly advantageous second field of view 21 in the horizontal and vertical fields of view of 85 ° respectively and in the maximum effective distance of 2m of the second TOF sensor.

A particularly advantageous second field of view 21 is schematically shown in fig. 4e and as a record of the second TOF sensor 20 in fig. 4 f.

Fig. 5 shows an embodiment of the perception system 40 according to the invention in a passenger transport means 1. The perception system 40 comprises a system according to the invention of a first TOF sensor 10 and a second TOF sensor 20. Furthermore, the perception system comprises an evaluation device 30.

The evaluation device 30 is for example a computer platform. The evaluation device 30 comprises a first interface 31 to the first TOF sensor 10 and the second TOF sensor 20. The evaluation device 30 obtains raw data of the first TOF sensor 10 and the second TOF sensor 20 via a first interface 31. The raw data are processed by the evaluation device 30, for example according to an algorithm for person identification and classification. Based on the processed raw data, the evaluation device 30 identifies whether the passenger door 3 is blocked by the passenger 4 and outputs a first signal via the second interface 32 to the regulating device 8 in order to keep the passenger door open if necessary. Further, the first signal is provided to the display 9b so as to notify the passenger 4 blocking the passenger door 3 of the area away from the passenger door 3. The detection and adjustment means 8 and the display 9b of the first TOF sensor 10 are coupled to each other. That is, when the first TOF sensor 10 recognizes that the area of the passenger door 3 is empty, the adjusting device 8 closes the passenger door 3 and turns off the display 9 b. The evaluation device 30 furthermore identifies the position, position and activity of the passenger 4 in the passenger cabin 2 from the processed raw data and outputs a corresponding second signal via the second interface 32 to the control device 9a in order to control the passenger transport appliance 1 as a function of the position, position and/or activity of the passenger 4. Furthermore, the evaluation device 30 identifies how many passengers 4 are located in the passenger cabin 2 on the basis of the processed raw data, preferably on the basis of a combination of the raw data of the first TOF sensor 10 and the raw data of the second TOF sensor 20. The number of passengers 4 is provided as a third signal to the display 9b in order to inform the passengers 4 of the number of passengers 4.

Reference numerals

1 passenger transport means

2 passenger cabin

3 passenger door

4 passenger

5 rear axle

6 front axle

7 bottom plate

8 adjusting device

9a control device

9b display

10 first TOF sensor

11 first field of view

11a visible first field of view

11b a first plane visible in a first field of view

12 first roll angle

13 first pitch angle

14 first yaw angle

20 second TOF sensor

21 second field of view

22 second roll angle

23 second pitch angle

24 second yaw angle

30 evaluation device

31 first interface

32 second interface

40 perception system

L longitudinal axis

Transverse axis of Q

x x axle

y y axle

z z axle