WO2004104623A1 - Parking aid comprising suppression of ground echoes or interfering echoes by means of an adaptive adjustment of the reception characteristics - Google Patents

Parking aid comprising suppression of ground echoes or interfering echoes by means of an adaptive adjustment of the reception characteristics Download PDF

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Publication number
WO2004104623A1
WO2004104623A1 PCT/EP2004/050708 EP2004050708W WO2004104623A1 WO 2004104623 A1 WO2004104623 A1 WO 2004104623A1 EP 2004050708 W EP2004050708 W EP 2004050708W WO 2004104623 A1 WO2004104623 A1 WO 2004104623A1
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WIPO (PCT)
Prior art keywords
detection
parameters
acquisition
detecting
predetermined
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PCT/EP2004/050708
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German (de)
French (fr)
Inventor
Christian Danz
Bjoern Herder
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Robert Bosch Gmbh
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Publication of WO2004104623A1 publication Critical patent/WO2004104623A1/en

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/28—Details of pulse systems
    • G01S7/285—Receivers
    • G01S7/292—Extracting wanted echo-signals
    • G01S7/2923—Extracting wanted echo-signals based on data belonging to a number of consecutive radar periods
    • G01S7/2925—Extracting wanted echo-signals based on data belonging to a number of consecutive radar periods by using shape of radiation pattern
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating
    • G01S7/4004—Means for monitoring or calibrating of parts of a radar system
    • G01S7/4026—Antenna boresight
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9314—Parking operations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93274—Sensor installation details on the side of the vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/52004—Means for monitoring or calibrating

Definitions

  • the present invention relates to a method and a device for detecting an object with adaptive adaptation of detection properties of a detection device, and in particular to a method and a device for measuring a parking space with adaptive adaptation of the sensor sensitivity of ultrasonic sensors in a motor vehicle.
  • automatic parking space measurement systems are being developed as a comfort display in a motor vehicle.
  • Such an automatic parking space measurement system is used for the electronic measurement of a parking space length between two parked vehicles.
  • sensors detect a first parked vehicle, then the length of the parking space and then a second parking space.
  • Sensors can be used to identify the vehicles or the parking space
  • Vehicle which detect the presence or the distance of objects without contact with the help of ultrasound, radar or light waves.
  • Information made available to a driver of the vehicle is e.g. the length of the parking space or an indication of whether and with how much space his vehicle is in the measured
  • the Detection properties of the sensors are further improved.
  • the method according to the invention for detecting an object with adaptive adaptation of detection properties with the features of claim 1 and the device according to the invention for detecting an object with adaptive adaptation of detection properties with the features of claim 8 have the advantage over the known solution approach, that the detection area of a detection device used is optimally used. As a result, the detection range is increased with favorable boundary conditions, such as an unloaded vehicle and a level floor without gravel, and under adverse boundary conditions, such as a fully laden vehicle and gravel, the detection reliability is increased without interference signals.
  • the idea on which the present invention is based essentially consists in changing the sensitivity parameters of a detection device used in order to avoid the detection of interference signals.
  • a method for capturing an object becomes adaptive
  • Adaptation of detection properties is provided with the steps of: setting first predetermined detection parameters of a detection device at the start of a detection process; Adapting the detection parameters of the detection device in the case of stochastically occurring detection signals until the stochastically occurring detection signals are no longer detected or second predetermined detection parameters are set; and performing a detection process with the possibly adjusted detection parameters of the detection device.
  • a distance near the ground preferably in the range up to a height of 1.5 m, is determined in the detection process. This has the advantage that, for example, parked vehicles can be reliably detected in this area.
  • the adaptation of the detection parameters of the detection device starts at a first predetermined sensitivity wedge, in particular a maximum spatial detection area, and is adapted to a lower sensitivity, in particular a spatially smaller detection area.
  • the adaptation of the sensitivity of the detection device is varied according to a predetermined parameter characteristic. This has the advantage of quick adaptability by means of a stored one
  • the length of a parking space or the distance to objects of a motor vehicle is determined during the detection process. This advantageously provides for the application of the parking space measurement.
  • the detection device uses ultrasound or radar, transmit / receive devices for detecting the object, the radiation area of which is preferably reduced by reducing the sensitivity. Easily manageable and robust sensor means can thus be provided, and above all the radiation area can advantageously be reduced in order to avoid interference data.
  • such a detection process takes place when a vehicle is parked autonomously or semi-autonomously. This has the advantage of using the method according to the invention even in the case of an automatic, independent parking process.
  • FIG. 1 shows a schematic top view of a vehicle to explain an embodiment of the present invention
  • Figure 2-5 is a schematic front view for explaining the operation of an embodiment of the present invention
  • Figure 6 is a schematic flow diagram to explain the operation of a
  • FIG. 1 shows a vehicle 10 which has various sensor devices 11, 12 and 13.
  • the first sensor means 11 are provided in the front corner areas of the vehicle 10 and their detection areas primarily point perpendicular to the side flank of the vehicle 10. These sensors 11 are used for parking space measurement for the front measurement.
  • sensors 12 for parking space measurement for the rear measurement are likewise provided in the corner areas, which sensors are aligned in accordance with the front sensors 11.
  • the sensor devices 11, 1 and 13 of the vehicle 10 are coupled to a control device 15 via a coupling device 14, preferably by cable.
  • the transmit and receive signals of the sensor devices 11, 12, 13 are processed and generated in the control device 15.
  • the control unit 15 is preferably also coupled to a central data device lo, preferably a C ⁇ N bus present in the vehicle 10, for data exchange.
  • FIG. 2 shows a vehicle 10 in front view, which has sensors 11, 12 for parking space measurement to the side of vehicle 10.
  • the detection device 11, 12, ie the sensors, have a maximum predetermined detection area 17. Obstacles are detected in this detection area 17, and according to FIG. 2 there are no objects.
  • objects in the form of rolling chippings 18 are present in the maximum predetermined detection area 17.
  • This roll split 18 causes stochastic detection signals, i.e. no constant detection signal like with a large reflecting object.
  • the control device 15 according to FIG. 1 then reduces the sensitivity of the detection device 11, 12 and thus provides, for example, a reduced detection area 19 or a reduced reception gain until no more sporadic detection signals occur or a predetermined minimum detection area 19 is reached.
  • Such a reduced detection area 19 is shown in FIG. 4 after an adjustment by the control device 15.
  • Figure 5 shows an example of a measurement process of an object 20, i.e. an obstacle that causes a constant detection signal.
  • an object 20 i.e. an obstacle that causes a constant detection signal.
  • the object 20 is nevertheless reliably recognized or included in the measurement.
  • the driver of a vehicle wants to park, he activates the parking space measurement function.
  • the system then goes into the parking space measurement mode according to FIG. 2.
  • stochastic detection signals appear when the basic characteristic curve setting of the detection parameters, which is selected to be very sensitive, small obstacles, such as, for example, chippings, are assumed which cause such slorrals.
  • the control device 15 in the vehicle 10 then reduces the sensitivity, preferably the size of the detection area 17, 19 by adapting the detection device characteristic curve parameters according to FIG. 4.
  • Real obstacles 20, for example in a parking space are also reduced with the reduced detection area 19 due to the changed characteristic parameter still recognized according to Figure 5.
  • the parameters of the detection device are initially set to a high, i.e. if necessary set maximum sensitivity. If disturbance data such as sporadic detection signals, detected due to roll chippings or the like, the sensitivity is adjusted by adjusting the parameters of the detection device, e.g. on the basis of a stored parameter characteristic curve, then reduced within certain limits until stochastic interference data are no longer detected, or until a predetermined minimum spatial
  • the interference data are recorded by evaluating the signals supplied by the detection device.
  • the disturbance data have the characteristic property of appearing stochastically and not delivering a constant detection signal. Consequently, if such sporadic detection signals are detected, the characteristic curve parameters of the detection device are adjusted. The parameters defined in this way apply to this corresponding parking space measurement process. For a next process of this kind, the originally set high sensitivity is again provided. The check for the presence of disturbance data always runs parallel to the actual measurement function.
  • FIG. 6 shows a schematic flow diagram to illustrate the previously described method according to the present invention.
  • Any detection process starts with first predetermined detection parameters (S30).
  • a query is then made as to whether, in the case of the first predetermined acquisition parameters, the acquisition device detects stochastic acquisition signals, so-called clutter. If so, the detection parameters are adjusted (S50), preferably the spatial detection area of the detection device is reduced. If no stochastic detection signals occur, the detection process is carried out with the first predetermined detection parameters (S70). If the acquisition parameters have been adjusted in step S50, a query is made as to whether the adjusted acquisition parameters correspond to second predetermined acquisition parameters (S60). If so, the acquisition process is carried out with the adjusted acquisition parameters (S70).
  • step S 40 If no, there is again a query as to whether stochastic detection signals occur in step S 40. In this way, the procedure of the closed system can be exemplified.
  • the present invention has been described above on the basis of a preferred exemplary embodiment, it is not restricted to this but can be modified in a variety of ways.
  • the functionality according to the present invention is also applicable to other systems determined by object detection devices, such as, for example, a parking pilot system and or to the semi-autonomous / autonomous, i.e. semi / fully automatic, parking of a vehicle possible.
  • object detection devices such as, for example, a parking pilot system and or to the semi-autonomous / autonomous, i.e. semi / fully automatic, parking of a vehicle possible.
  • the positions of the detection devices according to FIGS. 1 to 5 can be seen as examples.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention relates to a method for detecting an object by adaptively adjusting detection characteristics of a detection unit. Said method comprises the following steps: first predetermined detection parameters of the detection unit (11, 12, 13) are set at the beginning of a detection process; the detection parameters of the detection unit (11, 12, 13) are adjusted in the event of stochastically occurring detection signals until said stochastically occurring detection signals are no longer detected or second predetermined detection parameters are set; and a detection process is carried out with the optionally adjusted detection parameters of the detection unit (11, 12, 13). The invention also relates to a device for detecting an object by adaptively adjusting detection characteristics of a detection unit.

Description

EINPARKHILFE MIT UNTERDRÜCKUNG VON BODEN- ODER STÖRECHOS MIT HILFE EINER ADAPTIVEN ANPASSUNG DER EMPFANGSCHARAKTERISTIKPARKING AID WITH SUPPLEMENT OF GROUND OR INTERFERENCE CHARGES WITH THE ADAPTIVE ADAPTATION OF RECEPTION CHARACTERISTICS
1010
STAND DER TECHNIKSTATE OF THE ART
Die vorliegende Erfindung betrifft ein Verfahren und eine Vorrichtung zur Erfassung ei- 15 nes Objektes unter adaptiver Anpassung von Erfassungseigenschaften einer Erfassungseinrichtung, und insbesondere ein Verfahren und eine Vorrichtung zur Vermessung einer Parklücke unter adaptiver Anpassung der Sensorempfindlichkeit von Ultraschallsensoren in einem Kraftfahrzeug.The present invention relates to a method and a device for detecting an object with adaptive adaptation of detection properties of a detection device, and in particular to a method and a device for measuring a parking space with adaptive adaptation of the sensor sensitivity of ultrasonic sensors in a motor vehicle.
20 Als Komfortausstaliung in einem Kraftfahrzeug sind heutzutage automatische Parklücken-Vermessungssysteme in der Entwicklung. Ein solches automatisches Parklücken- Vermessungssyslem dient der elektronischen Vermessung einer Parklückenlänge zwischen zwei parkenden Fahrzeugen. Dabei erfassen Sensoren bei der Vorbeifahrt ein erstes parkendes Fahrzeug, dann die Länge der Parklücke und nachfolgend ein zweites parken-20 Nowadays, automatic parking space measurement systems are being developed as a comfort display in a motor vehicle. Such an automatic parking space measurement system is used for the electronic measurement of a parking space length between two parked vehicles. When driving past, sensors detect a first parked vehicle, then the length of the parking space and then a second parking space.
25 des Fahrzeug. Zur Erkennung der Fahrzeuge bzw. der Parklücke können Sensoren am25 of the vehicle. Sensors can be used to identify the vehicles or the parking space
Fahrzeug eingesetzt werden, welche mit Hilfe von Ultraschall-, Radar- oder Lichtwellen die Gegenwart bzw. den Abstand von Objekten berührungslos detektieren. Eine einem Fahrer des Fahrzeugs dabei zur Verfügung gestellte Information ist z.B. die Länge der Parklücke oder eine Anzeige, ob und mit wieviel Platz sein Fahrzeug in die vermesseneVehicle are used, which detect the presence or the distance of objects without contact with the help of ultrasound, radar or light waves. Information made available to a driver of the vehicle is e.g. the length of the parking space or an indication of whether and with how much space his vehicle is in the measured
30 Parklücke passt.30 parking spaces fit.
Bei diesen gegenwärtig in der Entwicklung befindlichen Parklücken- Vermessungssystemen sind die Empfindlichkeitsparameter der eingesetzten Ultraschall- Sensoren fest eingestellt. Dabei werden die für die Applikation der Parklückenvermes-With these parking space measurement systems, which are currently under development, the sensitivity parameters of the ultrasonic sensors used are fixed. The parking spaces measured for the application
35 sung seitlich ausgerichteten Sensoren in einem Stoßfänger mit derart unempfindlich eingestellten Parametern für die Kennlinienempfindlichkeit der Sensoren betrieben, dass die Funktion des Vermessungssystems im schlechtesten Fall (beispielsweise Split auf der Fahrbahn, volle Beladung des Fahrzeugs, usw.) gewährleistet ist. Dadurch kann nicht der gesamte Empfindlichkeitsbereich des Sensors zur Erfassung von Objekten optimal ausge-35 side-aligned sensors in a bumper with such insensitive parameters for the sensitivity of the sensors that the function of the measurement system is guaranteed in the worst case (e.g. split on the road, full load of the vehicle, etc.). As a result, the entire sensitivity range of the sensor for detecting objects cannot be optimally
40 nutzt werden. Für den zukünftigen Einsatz, beispielsweise von Ultraschall-Sensoren, für die Applikation der Parklückenvermessung und weiterer neuer Funktionen müssen die Erfassungseigenschaften der Sensoren, wie die Erfassungssicherheit und die Erfassungsreichweite, weiter verbessert werden.40 can be used. For future use, for example of ultrasonic sensors, for the application of parking space measurement and other new functions, the Detection properties of the sensors, such as the detection reliability and the detection range, are further improved.
Problematisch beim Einstellen einer sehr hohen Empfindlichkeit eines Sensors ist jedoch, dass bei voller Beladung des Fahrzeugs oder bei vorhandenem Rollsplitt Bodenechos delektiert werden, welche bei der Applikation der Parklückenvermessung zu einer Fehlinformation führen können.The problem with setting a very high sensitivity of a sensor, however, is that when the vehicle is fully loaded or if there is roll chippings, ground echoes are detected, which can lead to incorrect information when the parking space measurement is applied.
VORTEILE DER ERFINDUNGADVANTAGES OF THE INVENTION
Das erfindungsgemäße Verfahren zur Erfassung eines Objektes unter adaptiver Anpassung von Erfassungseigenschaften mit den Merkmalen des Anspruchs 1 und die erfϊn- dungsgemäße Vorrichtung zur Erfassung eines Objektes unter adaptiver Anpassung von Erfassungseigenschaflen mit den Merkmalen des Anspruchs 8 weisen gegenüber dem be- kannten Lösungsansatz den Vorteil auf, dass der Erfassungsbereich einer eingesetzten Erfassungseinrichtung optimal ausgenutzt wird. Dadurch wird bei günstigen Randbedingungen, wie einem unbeladenen Fahrzeug und einem ebenen Boden ohne Rollsplitt, die Erfassungsreichweile vergrößert und unter widrigen Randbedingungen, wie einem voll- beladenen Fahrzeug und Rollsplitt, die Erfassungssicherheit ohne Störsignale gesteigert.The method according to the invention for detecting an object with adaptive adaptation of detection properties with the features of claim 1 and the device according to the invention for detecting an object with adaptive adaptation of detection properties with the features of claim 8 have the advantage over the known solution approach, that the detection area of a detection device used is optimally used. As a result, the detection range is increased with favorable boundary conditions, such as an unloaded vehicle and a level floor without gravel, and under adverse boundary conditions, such as a fully laden vehicle and gravel, the detection reliability is increased without interference signals.
Die der vorliegenden Erfindung zugrunde hegende Idee besteht im wesentlichen darin, dass die Empfindlichkeitsparameiers einer eingesetzten Erfassungseinrichtung zur Vermeidung der Erfassung von Störsignalen verändert werden. Mit anderen Worten wird ein Verfahren zur Erfassung eines Objektes unter adaptiverThe idea on which the present invention is based essentially consists in changing the sensitivity parameters of a detection device used in order to avoid the detection of interference signals. In other words, a method for capturing an object becomes adaptive
Anpassung von Erfassungseigenschaften mit den Schritten bereitgestellt: Einstellen von ersten vorbestimmten Erfassungsparametern einer Erfassungseinrichlung zu Beginn eines Erfassungsvorgangs; Anpassen der Erfassungsparameter der Erfassungseinrichtung bei stochastisch auftretenden Erfassungssignalen, bis die stochastisch auftretenden Erfas- sungssignale nicht mehr detektiert werden oder zweite vorbestimmte Erfassungsparameter eingestellt sind; und Durchführen eines Erfassungsvorgangs mit den gegebenenfalls angepassten Erfassungsparametern der Erfassungseinrichlung.Adaptation of detection properties is provided with the steps of: setting first predetermined detection parameters of a detection device at the start of a detection process; Adapting the detection parameters of the detection device in the case of stochastically occurring detection signals until the stochastically occurring detection signals are no longer detected or second predetermined detection parameters are set; and performing a detection process with the possibly adjusted detection parameters of the detection device.
In den Unteransprüchen finden sich vorteilhafte Weiterbildungen und Verbesserungen des im Anspruch 1 angegebenen Erfassungsverfahrens und der im Anspruch 8 angegebenen Erfassungsvorrichtung. Gemäß einer bevorzugten Weiterbildung wird bei dem Erfassungsvorgang eine Strecke in Bodennähe, vorzugsweise im Bereich bis zu einer Höhe von 1 ,5 m, ermittelt. Dies hat den Vorteil, daß beispielsweise parkende Fahrzeuge in diesem Bereich sicher detektiert werden können.Advantageous developments and improvements of the detection method specified in claim 1 and the detection device specified in claim 8 are found in the subclaims. According to a preferred development, a distance near the ground, preferably in the range up to a height of 1.5 m, is determined in the detection process. This has the advantage that, for example, parked vehicles can be reliably detected in this area.
Gemäß einer weiteren bevorzugten Weiterbildung startet die Anpassung der Erfassungsparameier der Erfassungseinrichtung bei einer ersten vorbestimmlen Empfindlichkeil, insbesondere einem maximalen räumlichen Erfassungsbereich, und wird zu einer geringeren Empfindlichkeit, insbesondere einem räumlich kleineren Erfassungsbereich, ange- passl . Somit wird eine einfache Adaption an äußere Randbedingungen vorteilhaft ermöglicht.According to a further preferred development, the adaptation of the detection parameters of the detection device starts at a first predetermined sensitivity wedge, in particular a maximum spatial detection area, and is adapted to a lower sensitivity, in particular a spatially smaller detection area. A simple adaptation to external boundary conditions is thus advantageously made possible.
Gemäß einer weiteren bevorzugten Weiterbildung wird die Anpassung der Empfindlichkeit der Erfassungseinrichtung entsprechend einer vorbestimmten Parameterkennlinie va- riiert. Dies birgt den Vorteil einer schnellen Anpassbarkeit mittels einer abgespeichertenAccording to a further preferred development, the adaptation of the sensitivity of the detection device is varied according to a predetermined parameter characteristic. This has the advantage of quick adaptability by means of a stored one
Parameterkennlinie.Parameters characteristic.
Gemäß einer weiteren bevorzugten Weilerbildung wird beim Erfassungsvorgang die Länge einer Parklücke oder der Abstand zu Objekten eines Kraftfahrzeugs ermittelt. Dadurch wird auf vorteilhafte Weise die Applikation der Parklückenvermessung vorgesehen.According to a further preferred hamlet formation, the length of a parking space or the distance to objects of a motor vehicle is determined during the detection process. This advantageously provides for the application of the parking space measurement.
Gemäß einer weiteren bevorzugten Weiterbildung setzt die Erfassungseinrichtung Ultraschall- oder Radar-, Sende-ZEmpfangseinrichtungen zur Erfassung des Objektes ein, deren Λbstrahlbereich vorzugsweise durch die Herabsetzung der Empfindlichkeit reduziert wird. Somit können gut handhabbare und robuste Sensormittel vorgesehen werden, wobei vor allem der Λbstrahlbereich zur Vermeidung von Stördaten vorteilhaft verkleinert werden kann.According to a further preferred development, the detection device uses ultrasound or radar, transmit / receive devices for detecting the object, the radiation area of which is preferably reduced by reducing the sensitivity. Easily manageable and robust sensor means can thus be provided, and above all the radiation area can advantageously be reduced in order to avoid interference data.
Gemäß einer weiteren bevorzugten Weiterbildung erfolgt ein solcher Erfassungsvorgang beim autonomen oder semi-autonomen Einparken eines Fahrzeugs. Dies birgt den Vorteil des Einsatzes des erfindungsgemäßen Verfahrens auch bei einem automatischen, selbständigen Einparkvorgang.According to a further preferred development, such a detection process takes place when a vehicle is parked autonomously or semi-autonomously. This has the advantage of using the method according to the invention even in the case of an automatic, independent parking process.
ZEICHNUNGENDRAWINGS
Ein Λusführungsbeispiel der Erfindung ist in den Zeichnungen dargestellt und in der nachfolgenden Beschreibung näher erläutert. Es zeigen:An exemplary embodiment of the invention is illustrated in the drawings and explained in more detail in the description below. Show it:
Figur 1 eine schematische Draufsicht eines Fahrzeugs zur Erläuterung einer Λusfüh- rungsform der vorliegenden Erfindung;FIG. 1 shows a schematic top view of a vehicle to explain an embodiment of the present invention;
Figur 2-5 eine schemalische Frontansicht zur Erläuterung der Funktionsweise einer Λus- führungsfoπn der vorliegenden ErfindungFigure 2-5 is a schematic front view for explaining the operation of an embodiment of the present invention
Figur 6 ein schematisches Ablaufdiagramm zur Erläuterung der Funktionsweise einerFigure 6 is a schematic flow diagram to explain the operation of a
Λusführungsfoπn der vorliegenden Erfindung.Λusführungsfoπn of the present invention.
BESCHREIBUNG DES AUSFÜHRUNGSBEISPIELSDESCRIPTION OF THE EMBODIMENT
In den Figuren bezeichnen gleiche Bezugszeichen gleiche oder funktionsgleiche Bestandteile.In the figures, identical reference symbols designate identical or functionally identical components.
In Figur 1 ist ein Fahrzeug 10 dargestellt, welches verschiedene Sensoreinrichtungen 11, 12 und 13 aufweist. Die ersten Sensormittel 11 sind in den vorderen Eckbereichen des Fahrzeugs 10 vorgesehen und ihre Erfassungsbereiche weisen in erster Linie jeweils senkrecht zur Seitenflanke des Fahrzeugs 10. Diese Sensoren 11 dienen zur Parklückenvermessung für die Front-Messung. Am Heck des Fahrzeugs 10 sind in den Eckbereichen ebenfalls Sensoren 12 zur Parklückenvermessung für die Heck-Messung vorgesehen, welche entsprechend den Frontsensoren 11 ausgerichtet sind. Darüber hinaus sind vor- zugsweise Abstandssensoren 13 am Fahrzeug 10 vorhanden, welche zur bekannten Abstandserfassung in oder entgegengesetzt zur Fahrtrichtung vorgesehen sind. Die Sensor- einrichlungen 11, 1 und 13 des Fahrzeugs 10 sind über eine Kopplungseinrichtung 14, vorzugsweise kabelgebunden, mit einem Steuergerät 15 gekoppelt. In der Steuereinrichtung 15 werden die Sende- und Empfangssignale der Sensoreinrichlungen 11, 12, 13 ver- arbeilet und generiert. Vorzugsweise ist das Steuergerät 15 darüber hinaus mit einer zentralen Dateneinrichtung lö, vorzugsweise einem im Fahrzeug 10 vorhandenen CΛN-Bus, zum Datenaustausch gekoppelt.FIG. 1 shows a vehicle 10 which has various sensor devices 11, 12 and 13. The first sensor means 11 are provided in the front corner areas of the vehicle 10 and their detection areas primarily point perpendicular to the side flank of the vehicle 10. These sensors 11 are used for parking space measurement for the front measurement. At the rear of the vehicle 10, sensors 12 for parking space measurement for the rear measurement are likewise provided in the corner areas, which sensors are aligned in accordance with the front sensors 11. In addition, there are preferably distance sensors 13 on the vehicle 10, which are provided for the known distance detection in or opposite to the direction of travel. The sensor devices 11, 1 and 13 of the vehicle 10 are coupled to a control device 15 via a coupling device 14, preferably by cable. The transmit and receive signals of the sensor devices 11, 12, 13 are processed and generated in the control device 15. The control unit 15 is preferably also coupled to a central data device lo, preferably a CΛN bus present in the vehicle 10, for data exchange.
Die Funktion der vorliegenden Erfindung wird nachfolgend mit Bezug auf die Figuren 2 bis 5 näher erläutert. In Figur 2 ist ein Fahrzeug 10 in Frontansicht dargestellt, welches Sensoren 11, 12 zur Parklückenvermessung seitlich zum Fahrzeug 10 aufweist. Die Erfassungseinrichtung 11, 12, d.h. die Sensoren, weisen einen maximalen vorbest nmten Erfassungsbereich 17 auf. In diesem Erfassungsbereich 17 werden Hindernisse delektiert, wobei gemäß Figur 2 kei- ne Objekte vorliegen.The function of the present invention is explained in more detail below with reference to FIGS. 2 to 5. FIG. 2 shows a vehicle 10 in front view, which has sensors 11, 12 for parking space measurement to the side of vehicle 10. The detection device 11, 12, ie the sensors, have a maximum predetermined detection area 17. Obstacles are detected in this detection area 17, and according to FIG. 2 there are no objects.
Gemäß Figur 3 liegen im maximalen vorbestimmten Erfassungsbereich 17 am Boden Objekte in Form von Rollsplitt 18 vor. Dieser Rollsplitt 18 verursacht stochastische Erfassungssignale, d.h. kein konstantes Erfassungssignal wie etwa bei einem großen reflek- tierenden Objekt. Gerade wenn das Fahrzeug 10 voll beladen ist und über keine Niveauregulierung verfügt, treten solche sporadischen bzw. stochastischen Erfassungssignale aufgrund von Rollsplitt oder auch Kieselsteinen auf. Das Steuergerät 15 gemäß Figur 1 reduziert daraufhin die Empfindlichkeit der Erfassungseinrichtung 11, 12 und sieht somit beispielsweise einen verkleinerten Erfassungsbereich 19 oder eine reduzierte Empfangs- Verstärkung vor, bis keine sporadischen Erfassungssignale mehr auftreten oder ein vorbestimmter minimaler Erfassungsbereich 19 erreicht ist.According to FIG. 3, objects in the form of rolling chippings 18 are present in the maximum predetermined detection area 17. This roll split 18 causes stochastic detection signals, i.e. no constant detection signal like with a large reflecting object. Especially when the vehicle 10 is fully loaded and has no level control, such sporadic or stochastic detection signals occur due to stone chips or pebbles. The control device 15 according to FIG. 1 then reduces the sensitivity of the detection device 11, 12 and thus provides, for example, a reduced detection area 19 or a reduced reception gain until no more sporadic detection signals occur or a predetermined minimum detection area 19 is reached.
In Figur 4 ist ein solcher reduzierter Erfassungsbereich 19 nach einer Anpassung durch das Steuergerät 15 dargestellt.Such a reduced detection area 19 is shown in FIG. 4 after an adjustment by the control device 15.
Figur 5 zeigt exemplarisch einen Vermessungsvorgang eines Objekts 20, d.h. eines Hindernisses, welches ein konstantes Erfassungssignal verursacht. Trotz der herabgesetzten Empfindlichkeit und der damit einhergehenden Reduktion des Erfassungsbereichs 19 aufgrund der stochastischen Stördaten bei nicht reduziertem Erfassungsbereich 17 verur- sachenden Kieselsteine bzw. Rollsplitt 18 wird das Objekt 20 dennoch sicher erkannt bzw. in die Vermessung miteinbezogen.Figure 5 shows an example of a measurement process of an object 20, i.e. an obstacle that causes a constant detection signal. Despite the reduced sensitivity and the associated reduction in the detection area 19 due to the stochastic interference data in the case of a non-reduced detection area 17 causing pebbles or chippings 18, the object 20 is nevertheless reliably recognized or included in the measurement.
Wenn der Fahrer eines Fahrzeugs einparken möchte, so aktiviert er die Parklücken- Vermessungsfunktion. Das System geht daraufhin in den Parklücken- Vermessungsmodus gemäß Figur 2. Treten nun bei der Grund-Kennlinieneinstellung der Erfassungsparameter, welche sehr empfindlich gewählt ist, stochastische Erfassungssignale auf, wird von kleinen Hindernissen, wie beispielsweise Rollsplitt, ausgegangen, welche solche Slördalen verursachen. Daraufhin reduziert die Steuereinrichtung 15 im Fahrzeug 10 die Empfindlichkeit, vorzugsweise die Größe des Erfassungsbereichs 17, 19, durch Anpassen von Er- fassungseinrichtungs- Kennlinienparamelern gemäß Figur 4. Talsächliche Hindernisse 20, z.B. in einer Parklücke, werden auch mit dem verkleinerten Erfassungsbereich 19 aufgrund der veränderten Kennlinienparameler trotzdem noch gemäß Figur 5 erkannt. Für den Einsatz bieten sich als Sensormitlel 11, 12, 13 insbesondere Ultraschall- oder Radarsensoren bzw. -detekloren zur Messung an.If the driver of a vehicle wants to park, he activates the parking space measurement function. The system then goes into the parking space measurement mode according to FIG. 2. If stochastic detection signals appear when the basic characteristic curve setting of the detection parameters, which is selected to be very sensitive, small obstacles, such as, for example, chippings, are assumed which cause such slorrals. The control device 15 in the vehicle 10 then reduces the sensitivity, preferably the size of the detection area 17, 19 by adapting the detection device characteristic curve parameters according to FIG. 4. Real obstacles 20, for example in a parking space, are also reduced with the reduced detection area 19 due to the changed characteristic parameter still recognized according to Figure 5. For use as sensor means 11, 12, 13, in particular ultrasound or radar sensors or detectors for measurement.
Gemäß der vorliegenden Erfindung werden also zunächst die Parameter der Erfassungs- einrichtung zu Beginn einer Messung auf eine hohe, d.h. gegebenenfalls maximale Empfindlichkeit eingestellt. Werden daraufhin Stördaten, wie z.B. sporadische Erfassungssignale, aufgrund von Rollsplitt oder ähnlichem delektiert, wird die Empfindlichkeit über die Anpassung der Parameter der Erfassungseinrichtung, z.B. anhand einer abgespeicherten Paramelerkennlinie, dann in bestimmten Grenzen so lange verringert, bis keine stochasti- sehen Stördaten mehr delektiert werden, oder bis ein vorbestimmter minimaler räumlicherAccording to the present invention, the parameters of the detection device are initially set to a high, i.e. if necessary set maximum sensitivity. If disturbance data such as sporadic detection signals, detected due to roll chippings or the like, the sensitivity is adjusted by adjusting the parameters of the detection device, e.g. on the basis of a stored parameter characteristic curve, then reduced within certain limits until stochastic interference data are no longer detected, or until a predetermined minimum spatial
Erfassungsbereich erreicht ist. Die Erfassung der Stördaten erfolgt durch die Auswertung der von der Erfassungseinrichtung gelieferten Signale. Die Stördaten haben die charakteristische Eigenschaft, stochastisch aufzutreten und kein konstantes Erfassungssignal zu liefern. Werden folglich solche sporadisch auftretenden Erfassungssignale erfasst- erfolgt eine Anpassung der Kennlinienparameter der Erfassungseinrichtung. Die auf diese Weise festgelegten Parameter gelten für diesen entsprechenden Parklücken- Vermessungsvorgang. Für einen nächsten Vorgang dieser Art wird zunächst wieder die ursprünglich eingestellte hohe Empfindlichkeit vorgesehen. Die Überprüfung auf Vorhandensein von Stördaten läuft immer parallel zur eigentlichen Vermessungsfunktion mit.Detection area is reached. The interference data are recorded by evaluating the signals supplied by the detection device. The disturbance data have the characteristic property of appearing stochastically and not delivering a constant detection signal. Consequently, if such sporadic detection signals are detected, the characteristic curve parameters of the detection device are adjusted. The parameters defined in this way apply to this corresponding parking space measurement process. For a next process of this kind, the originally set high sensitivity is again provided. The check for the presence of disturbance data always runs parallel to the actual measurement function.
In Figur 6 ist ein schematisches Λblaufdiagramm zur Verdeutlichung des vorangehend beschriebenen Verfahrens gemäß der vorliegenden Erfindung dargestellt. Jeglicher Erfassungsvorgang beginnt mit ersten vorbestimmten Erfassungsparametern (S30). Dann erfolgt eine Abfrage, ob bei den ersten vorbestimmten Erfassungsparametern die Erfas- sungseinrichtung stochastische Erfassungssignale, sogenannter Clutter, detektiert. Wenn dem so ist, werden die Erfassungsparameter angepasst (S50), vorzugsweise der räumliche Erfassungsbereich der Erfassungseinrichtung verkleinert. Treten keine stochastischen Erfassungssignale auf, so erfolgt der Erfassungsvorgang mit den ersten vorbestimmten Erfassungsparametern (S70). Sind die Erfassungsparameier in Schritt S50 angepasst wor- den, so erfolgt eine Abfrage, ob die angepassten Erfassungsparameter zweiten vorbestimmten Erfassungsparametern entsprechen (S60). Wenn ja wird der Erfassungsvorgang mit den angepassten Erfassungsparametem durchgeführt (S70). Wenn nein erfolgt wiederum eine Abfrage, ob stochastische Erfassungssignale auftreten in Schritt S 40. Auf diese Weise lässt sich beispielhaft die Vorgehensweise des geschlossenen Systems darle- gen. Obwohl die vorliegende Erfindung vorstehend anhand eines bevorzugten Ausführungsbeispiels beschrieben wurde, ist sie darauf nicht beschränkt, sondern auf vielfältige Weise modifizierbar.FIG. 6 shows a schematic flow diagram to illustrate the previously described method according to the present invention. Any detection process starts with first predetermined detection parameters (S30). A query is then made as to whether, in the case of the first predetermined acquisition parameters, the acquisition device detects stochastic acquisition signals, so-called clutter. If so, the detection parameters are adjusted (S50), preferably the spatial detection area of the detection device is reduced. If no stochastic detection signals occur, the detection process is carried out with the first predetermined detection parameters (S70). If the acquisition parameters have been adjusted in step S50, a query is made as to whether the adjusted acquisition parameters correspond to second predetermined acquisition parameters (S60). If so, the acquisition process is carried out with the adjusted acquisition parameters (S70). If no, there is again a query as to whether stochastic detection signals occur in step S 40. In this way, the procedure of the closed system can be exemplified. Although the present invention has been described above on the basis of a preferred exemplary embodiment, it is not restricted to this but can be modified in a variety of ways.
Obwohl mit Bezug auf ein Parklücken- Vermessungssyslem beschrieben, isl die Funktionalität gemäß der vorliegenden Erfindung auch bei anderen von Objekterfassungseinrichtungen bestimmten Systemen, wie beispielsweise einem Parkpilot-System und oder beim semi-autonomen/autonomen, d.h. halb-/vollautomatischen, Einparken eines Fahrzeugs möglich. Darüber hinaus sind die Positionen der Erfassungseinrichtungen gemäß den Figuren 1 bis 5 beispielhaft anzusehen. Although described with reference to a parking space measurement system, the functionality according to the present invention is also applicable to other systems determined by object detection devices, such as, for example, a parking pilot system and or to the semi-autonomous / autonomous, i.e. semi / fully automatic, parking of a vehicle possible. In addition, the positions of the detection devices according to FIGS. 1 to 5 can be seen as examples.

Claims

PATENTANSPRÜCHE
1. Verfahren zur Erfassung eines Objektes unter adaptiver Anpassung von Erfassungseigenschaften einer Erfassungseinrichtung mit den Schritten:1. Method for detecting an object with adaptive adaptation of detection properties of a detection device with the steps:
Einstellen von ersten vorbeslimmten Erfassungsparameiern der ErfassungseinrichlungSetting of the first pre-determined acquisition parameters of the acquisition device
(11, 12, 13) zu Beginn eines Erfassungsvorgangs;(11, 12, 13) at the start of a detection process;
Anpassen der Erfassungsparameter der Erfassungseinrichtung (11, 12, 13) bei stochastisch auftretenden Erfassungssignalen, bis die stochastisch auftretenden Erfassungs- Signale nicht mehr delektiert werden oder zweite vorbestimmte Erfassungsparameier eingestellt sind; undAdapting the detection parameters of the detection device (11, 12, 13) in the case of stochastically occurring detection signals until the stochastically occurring detection signals are no longer detected or second predetermined detection parameters are set; and
Durchfuhren eines Erfassungsvorgangs mit den gegebenenfalls angepassten Erfassungsparametem der Erfassungseinrichtung (11, 12, 13).Carrying out a detection process with the detection parameters of the detection device (11, 12, 13) which may have been adapted.
2. Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass bei dem Erfassungsvorgang eine Strecke in Bodennähe, vorzugsweise im Bereich bis zu einer Höhe von 1,5 m, ermittelt wird.2. The method according to claim 1, characterized in that a distance near the ground, preferably in the range up to a height of 1.5 m, is determined in the detection process.
3. Verfahren nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass die Anpassung der Erfassungsparameter der Erfassungseinrichtung (11, 12, 13) bei einer ersten vorbeslimmten Empfindlichkeit, insbesondere einem maximalen räumlichen Erfassungsbereich, startet und zu einer geringeren Empfindlichkeit, insbesondere einem räumlich kleineren Erfassungsbereich, angepasst wird.3. The method according to claim 1 or 2, characterized in that the adaptation of the detection parameters of the detection device (11, 12, 13) starts at a first predetermined sensitivity, in particular a maximum spatial detection area, and to a lower sensitivity, in particular a spatially smaller detection area , is adjusted.
4. Verfahren nach einem der vorangehenden Ansprüche, dadurch gekennzeichnet, dass die Anpassung der Erfassungsparameier der Erfassungseinrichtung (11, 12, 13) entsprechend einer vorbestimmten Parameter-Kennlinie variiert wird. 4. The method according to any one of the preceding claims, characterized in that the adaptation of the acquisition parameters of the acquisition device (11, 12, 13) is varied in accordance with a predetermined parameter characteristic curve.
5. Verfahren nach einem der vorangehenden Ansprüche, dadurch gekennzeichnet, dass beim Erfassungsvorgang die Länge einer Parklücke oder der Abstand zu Objekten von einem Kraftfahrzeug (10) aus ermittelt wird.5. The method according to any one of the preceding claims, characterized in that the length of a parking space or the distance to objects from a motor vehicle (10) is determined during the detection process.
6. Verfahren nach einem der vorangehenden Ansprüche, dadurch gekennzeichnet, dass die Erfassungseinrichtung (11, 12, 13) Ultraschall- oder Radar- Sende-/ Empfangseinrichtungen zur Erfassung des Objektes oder einer Strecke einsetzt, deren räumlicher Abslrahlbereich (1 , 19) vorzugsweise durch die Herabsetzung der Empfindlichkeil reduziert wird.6. The method according to any one of the preceding claims, characterized in that the detection device (11, 12, 13) uses ultrasound or radar transmitting / receiving devices for detecting the object or a route, the spatial Ablrahlbereich (1, 19) preferably by the reduction in sensitivity wedge is reduced.
7. Verfahren nach einem der vorangehenden Ansprüche, dadurch gekennzeichnet, dass beim autonomen oder semi-autonomen Einparken eines Kraftfahrzeugs (10) ein solcher Erfassungsvorgang erfolgt.7. The method according to any one of the preceding claims, characterized in that such a detection process takes place during autonomous or semi-autonomous parking of a motor vehicle (10).
8. Vorrichtung zur Erfassung eines Objektes unter adaptiver Anpassung von Erfassungseigenschaften einer Erfassungseinrichtung mit:8. Device for detecting an object with adaptive adaptation of detection properties of a detection device with:
der Erfassungseinrichlung (11, 12, 13) zum Erfassen des Objektes;the detection device (11, 12, 13) for detecting the object;
einem Steuergerät (15) zum Einstellen von Erfassungsparametern der Erfassungseinrichtung (11 , 12, 13) und zum Anpassen der Erfassungsparameter der Erfassungseinrichtung (11, 12, 13) bei stochastisch auftretenden Erfassungssignalen, bis die stochastisch auftretenden Erfassungssignale nicht mehr deleklierbar sind oder zweite vorbestimmte Erfassungsparameter eingestellt sind.a control unit (15) for setting acquisition parameters of the acquisition device (11, 12, 13) and for adapting the acquisition parameters of the acquisition device (11, 12, 13) in the case of stochastically occurring acquisition signals until the stochastically occurring acquisition signals are no longer detectable or second predetermined acquisition parameters are set.
9. Vorrichtung nach Anspruch 8, dadurch gekennzeichnet, dass das Steuergerät (15) mit einer zentralen Dateneinrichtung (16) in einem Fahrzeug (10), vorzugsweise einem CAN-Bus, verbunden ist.9. The device according to claim 8, characterized in that the control device (15) is connected to a central data device (16) in a vehicle (10), preferably a CAN bus.
10. Vorrichtung nach Anspruch 8 oder 9, dadurch gekennzeichnet, 10. The device according to claim 8 or 9, characterized in that
PCT/EP2004/050708 2003-05-26 2004-05-05 Parking aid comprising suppression of ground echoes or interfering echoes by means of an adaptive adjustment of the reception characteristics WO2004104623A1 (en)

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