CN100504438C - 一种探测汽车周围目标的方法和装置 - Google Patents

一种探测汽车周围目标的方法和装置 Download PDF

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CN100504438C
CN100504438C CNB2004800138251A CN200480013825A CN100504438C CN 100504438 C CN100504438 C CN 100504438C CN B2004800138251 A CNB2004800138251 A CN B2004800138251A CN 200480013825 A CN200480013825 A CN 200480013825A CN 100504438 C CN100504438 C CN 100504438C
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C·丹茨
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    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
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    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
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    • 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
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    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
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    • B60T2201/10—Automatic or semi-automatic parking aid systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
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    • B60T2210/34—Blind spots
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    • 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
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    • 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
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    • G01S2013/9315—Monitoring blind spots
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    • G01—MEASURING; TESTING
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    • 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
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    • G01S2013/9317—Driving backwards
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    • 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
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    • 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
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Abstract

本发明的目的在于提供探测汽车(10)死角(14)中目标(12)的方法和装置，由此需要较短的测量时间并在与死角(14)中目标(12)可能出现碰撞时缩短为司机报警的响应时间。通过将测量信号的信号频率和/或信号宽度根据事先获得的汽车(10)与目标(12)之间的距离(d)调节，根据本发明，采样频率随着汽车(10)和目标(12)之间的距离(d)减小成比例增加。由此实现是更快速探测最近的目标，即有可能引起碰撞的目标并由此足够早地产生碰撞警报。在此测量信号的信号频率优选调节为与所获得的汽车(10)和目标(12)之间的距离(d)呈反比变化。

Description

一种探测汽车周围目标的方法和装置
技术领域
本发明涉及一种用于探测汽车周围目标的方法和装置.
背景技术
已经公知一种探测汽车周围目标的装置，即所谓的盲点探测系统(BSD系统)，它特别探测汽车死角.它通常用于电子识别汽车周围的司机只能通过向一侧转头观察到的目标.由于眼前出现的道路交通的干扰在许多情况下司机不可能转头(侧视).特别是在多车道的道路上，如果其它汽车(目标)以较小的速度差超过并由此进入汽车的右侧或左侧的死角的时间较长时，通过BSD系统给汽车司机发出信号.通过给司机提供这样的信息减小由于疏视其它汽车换道引起的事故危险。
为了识别其它汽车(目标)或估计碰撞情况，根据现有技术在汽车上使用了传感器，它借助超声波、雷达或光波无接触地探测目标的存在性并可以测量出汽车相对于目标的距离.
US 5,583,495公开了一种探测汽车死角目标的装置.借助一信号发生器在规定的角度内产生相应的超声波。在可能的目标上反射或散射的超声波借助超声波接收装置接收并放大.通过该超声波信号、汽车的速度以及汽车的转向角计算目标和自己的汽车之间可能的碰撞时间点。另外，US 5,583,495公开的装置还具有与司机通信的装置，它在与处于死角的目标可能发生碰撞时发出警报或以其它适合的方式给司机发出信息。
这种公知的基于超声波的BSD系统的缺点特别是响应时间长.由于声波的传播速度较小(相对于雷达波或光波而言)，超声波BSD系统的测量时间比可比较的雷达或光波BSD系统要长.由于测量时间较长，系统的响应时间较长，由此，在与死角中的目标可能发生碰撞时，给司机相应的报警较晚.使用更快速的雷达传感器或光波传感器又会显著增加成本.
发明内容
本发明的目的在于提供探测汽车周围目标的方法和装置，由此缩短探测时间并在与汽车周围目标可能出现碰撞时缩短为司机报警所需的响应时间.由此可以使用特别是成本低的超声波传感器.
本发明目的通过一种探测汽车周围目标的方法和一种探测汽车周围特别是汽车死角目标的装置实现.该方法，通过以下步骤实现：
- 以预定的信号频率和信号宽度发射测量信号；
- 在发射测量信号后在预定的时间间隔内接收在目标上反射的和/或散射的测量信号；
- 由测量信号计算汽车与处于汽车周围的目标之间的距离；
采样的频率根据所获得的汽车与目标之间的距离调节.
该装置包括：一以预定的信号频率和信号宽度发射测量信号的设备；一在发射测量信号后在预定的时间间隔内接收在目标上反射的和/或散射的测量信号的设备；一评估接收到的测量信号的设备；该装置具有控制测量信号的采样的频率的设备，该设备与评估接收到的测量信号的设备以及发射测量信号的设备连接。
本发明主要优点特别在于，相对于传统的BSD系统，本发明构成的BSD系统的响应时间较快.通过将信号频率和/或信号宽度根据之前获得的汽车与目标之间的距离进行调节，根据本发明可以实现，采样的频率随着汽车和目标之间的距离减小成比例增加.由此实现更快速探测最近的目标即需要探测的有可能引起碰撞的目标并由此足够早地产生碰撞警报.在此测量信号的信号频率优选调节为与汽车和目标之间探测距离呈反比变化.由此特别实现了超声波BSD系统，它具有足够快的响应时间.由于使用了超声波传感器具有明显的成本优势.
通过本发明的方法，目标被所谓的“测量技术跟踪”.在此，首先在相对大的距离(3m)测量监控汽车的周围情况。如果在该距离内探测到可能要发生碰撞的目标，信号频率并由此采样的频率根据目标向汽车的接近而增加，由此，根据本发明的方法一方面确保了可以从足够的距离(例如3m)探测目标；另一方面保证了在较小距离(小于3m)更精确更快速判断目标的特性，因为采样的频率高(信号频率高)，目标距离可以在时间上更好地反映出来.
借助相对于汽车位置的较好且及时的对目标特性的认识以及其它数据例如汽车速度和转向角和/或横摆角，能以足够的准确性和速度推得可能的碰撞时间点.特别是，在情况改变时如司机转向或在突然出现急速靠近的目标时，可以给司机迅速地发生碰撞警报.
本发明探测汽车周围目标的装置带有：
- 一以预定的信号频率和信号宽度发射测量信号的设备；
- 一在发射测量信号之后在预定的时间间隔内接收在目标上反射的和/或散射的测量信号的设备；
- 一评估接收到的测量信号的设备；
根据本发明，该装置具有控制测量信号的采样的频率的设备，该设备与评估接收到的测量信号的设备以及发射测量信号的设备连接.
附图说明
下面参照附图进一步描述本发明的实施例.其中：
图1示出了针对汽车死角的超声波传感器探测区域的示意图；
图2a、b、c示出了处于汽车死角区城中的目标接近情况的示意图；
图2d示出了采样的频率根据获得的汽车和目标之间的距离增加的示意图.
具体实施方式
本发明的方法和装置可以用于探测汽车整个周围的目标.特别适合于监控汽车司机不能直接看到的周围区域.可能在汽车周围出现即使借助汽车反光镜司机也不能看到的区域即所谓的“死角”.监控汽车的这些区域是特别所希望的.下面以监控死角为例描述本发明.
图1示出了用于探测汽车10死角14中目标12的超声波传感器16探测区域18的示意图.为了清楚起见，在图1中只示出了汽车10的左侧死角14.其超声波传感器16设置在汽车10的左后侧.为了进一步降低成本，本发明可以采用已安装在一些轿车中的现有的超声波泊车引航系统的超声波传感器.在此，泊车引航系统的超声波传感器在速度小于15km/h时被激活，在停车时给司机以支持.但在速度大于15km/h的范围内也可以使用超声波传感器，探测附近的目标12，该目标正处于在汽车10旁边超车过程中，也即处于死角14内.由此，特别是节省了其它传感器的使用.目前所使用的超声波传感器的作用长度约为2.5-3m.因此，可以确保探测到在死角内靠近的目标.
图2a、b和c示出了至少局部处于死角14中的目标12靠近汽车10的情况.其中目标12在图2a中已经处于超声波传感器16的探测区域18内。在此，汽车10与目标12之间的距离用d表示.由于汽车10与目标12之间的距离d缩小，根据本发明其采样的频率，也称作用于计算距离的测量信号的信号频率，增加.图2d示意性地示出了采样的频率随着距离d的缩小而增加的示意图.随着目标12相对于汽车10的距离的缩小，如图2a所示，信号频率即采样的频率增加.这样，在确定的时间间隔内形成目标12相对于汽车10距离d的相应多个测量值.其意义在于，时间点t7和t8的测量值表示对图2a距离的测量.随着距离d的缩小，根据发明采样的频率增加.由此，在确定的时间间隔内可以计算得到目标12相对于汽车10距离d的多个测量值.随着距离d的缩小，超声波从超声波传感器16到目标以及返回的运行时间减小.其意义在于，时间点t9和t10的测量值表示对图2b距离的测量.其中时间间隔[t9，t10]小于时间间隔[t7，t8].在图2c中进一步靠近时，采样的频率进一步增加。
在此时间点t11和t12的测量值其意义在于表示对图2c距离的测量.其中时间间隔[t11，t12]又小于时间间隔[t9，t10].
如果根据探测到的数据即将出现碰撞安全极限，给司机报警.
本发明不局限于所述实施例.更确切地说，在不超出本发明范围情况下，可以通过对上述的方案和特征进行组合和修改而实现其它实施方案.

Claims (12)

1.一种探测汽车周围目标的方法，通过以下步骤实现：
-以预定的信号频率和信号宽度发射测量信号；
-在发射测量信号后在预定的时间间隔内接收在目标上反射的和/或散射的测量信号；
-由测量信号计算汽车与处于汽车周围的目标之间的距离；
其特征在于：采样的频率根据所获得的汽车(10)与目标(12)之间的距离调节。
2.如权利要求1的方法，其特征在于：所述采样的频率与所获得的汽车(10)和目标(12)之间的距离(d)呈反比调节.
3.如上述权利要求之一的方法，其特征在于：监控汽车的死角(14)。
4.如上述权利要求1的方法，其特征在于：为了获得汽车(10)与处于汽车(10)周围的目标(12)可能的碰撞时间点，处理汽车(10)至少一个转向角传感器的信号。
5.如上述权利要求1的方法，其特征在于：通过汽车(10)的车载电脑来处理汽车(10)至少一个转向角传感器和/或至少一个横摆角传感器的测量信号和/或信号。
6.如上述权利要求1的方法，其特征在于：所述测量信号是超声波信号。
7.如上述权利要求6的方法，其特征在于：所述测量信号借助泊车引航系统的超声波传感器(16)发射和接收.
8.一种探测汽车周围特别是汽车死角目标的装置，包括：
-一以预定的信号频率和信号宽度发射测量信号的设备；
-一在发射测量信号后在预定的时间间隔内接收在目标上反射的和/或散射的测量信号的设备；
-一评估接收到的测量信号的设备；
其特征在于：该装置具有控制测量信号的采样的频率的设备，该设备与评估接收到的测量信号的设备以及发射测量信号的设备连接。
9.如权利要求8的装置，其特征在于：发射测量信号的设备和接收测量信号的设备至少具有一个超声波传感器(16).
10.如权利要求9的装置，其特征在于：发射测量信号的设备和接收测量信号的设备具有向左和向右指向的汽车后泊车引航超声波传感器.
11.如权利要求8的装置，其特征在于：评估接收到的测量信号的设备和/或拉制测量信号的采样的频率的设备是汽车的车载电脑.
12.如权利要求8的装置，其特征在于：评估接收到的测量信号的设备与至少一个转向角传感器和/或至少一个横摆角传感器连接.
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