CN101180552B - 装有距离监控系统的汽车 - Google Patents

装有距离监控系统的汽车 Download PDF

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CN101180552B
CN101180552B CN2006800109794A CN200680010979A CN101180552B CN 101180552 B CN101180552 B CN 101180552B CN 2006800109794 A CN2006800109794 A CN 2006800109794A CN 200680010979 A CN200680010979 A CN 200680010979A CN 101180552 B CN101180552 B CN 101180552B
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CN101180552A (zh
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马丁·劳费尔
罗伯特·鲁夫特纳
克里斯蒂安·施密特
蒂姆·维斯
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Magna Donnelly GmbH and Co KG
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    • C07—ORGANIC CHEMISTRY
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    • 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
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    • 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
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    • G—PHYSICS
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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
    • G01S2015/932—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations
    • G01S2015/933—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations for measuring the dimensions of the parking space when driving past
    • G01S2015/935—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations for measuring the dimensions of the parking space when driving past for measuring the contour, e.g. a trajectory of measurement points, representing the boundary of the parking space

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Abstract

本发明涉及一种装有距离监控系统的汽车(01)，该距离监控系统设有至少一个距离传感器(08)，以测定汽车(01)和周围物体(02，03，05)之间的距离。距离传感器(08)设置于汽车(01)至少一个侧边的中部，尤其适合安装于外部后视镜(06，07)上或安装于外部后视镜(06，07)中。

Description

装有距离监控系统的汽车
技术领域
本发明涉及一种装有距离监控系统的汽车。
背景技术
现今的汽车中通常都装有各种距离监控系统，以辅助停车。通过距离传感器记录的测量值经过转换后，可以以图像形式显示在汽车内安装的显示器上。其他现有的距离监控系统可以高速测定汽车之间的距离，以相应调整汽车的速度。
在现有的距离监控系统中，距离传感器一般采用安装于缓冲器中的超声传感器。将距离传感器安装于缓冲器中可以降低安装的高度，但同时也相应地会导致超声传感器的地面反射。地面反射可以使得测量信号失真，并导致错误的信号评估。地面反射还会进一步限制距离传感器的传送和接收范围，使得现有距离监控系统的检测范围非常有限。
发明内容
因此，根据现有技术的现状，本发明的目的在于提供一种具有新型距离监控系统的汽车。本发明的另一个目的在于提供一种实施前述距离监控系统的新方法。
本发明的发明目的是通过本发明具体实施方式部分提供的汽车和方法来实现的。
本发明的其他发明目的是通过本发明具体实施方式部分提供的各个优选实施方式来实现的。
本发明的汽车距离监控系统是基于将距离传感器设置于汽车至少一个侧边的中部，而不是将距离传感器设置于汽车的头部或尾部。将距离传感器设置于汽车的一侧可以获得新的距离监控检测特性，并开启新的应用领域，尤其适合通过简单的方法来检测汽车的侧向停车空间。
事实上，距离传感器也可以安装在汽车侧边的任何位置。如果距离传感器安装在外部后视镜中或后视镜上，则可以非常简单、经济地将距离传感器安装在汽车的侧边。如此，距离传感器可以受到外部后视镜壳体的特别保护。此外，将距离传感器装入外部后视镜中也不会影响汽车的视觉形象。最好可以在汽车两个侧边的外部后视镜中分别装设一个距离传感器，以分别在汽车的两侧进行测量。
事实上，距离传感器可以具有任意类型的检测特性。根据本发明的一个优选实施方式，距离传感器可以测定分别位于不同预定测量面上的物体到距离传感器的距离，也可以测定分别位于近似成一个测量面的测量部上的物体到距离传感器的距离。换句话说，距离传感器具有类似于二维测量特性的测量特性，以分别对周围三维环境的准截面进行测量。这有效地简化了测量数据的评估，因为物体到汽车的距离来自于物体到二维测量面上的距离传感器之间的距离。为了检测三维物体，汽车相对于物体运动，并在彼此间隔的测量面上进行连续测量。通过结合不同测量面上的测量数据，可以算出已测量的物体相对于汽车的形状和距离。相关的处理算法已为医学工程，如计算机辅助X线断层摄影术所揭示。
至于测量面或测量部相对于汽车的排列，测量面或测量部可以自距离传感器垂直向上和/或垂直向下延伸，测量面或测量部最好可以垂直于汽车的纵轴延伸。
位于汽车侧边的距离传感器可以为一个超声传感器，最好可以为一个图像传感器，例如照相机。当距离传感器为图像传感器时，可以通过评估图像数据来确定周围物体的距离，最好可以通过装有适当图像处理软件的电子图像处理装置来确定周围物体的距离。
为了可以更有效地安装外部后视镜，除了距离传感器之外，图像处理装置也可以装入外部后视镜中。
如果可以将图像处理系统中预设的图像和来自图像传感器的图像数据进行比较，则可以获得非常可靠的测量结果，可以在已记录的图像中检测用于确定停车空间的颜色标示或路缘石，因而获得可以获得二维的停车界限。当汽车行驶时，汽车环境的图像可以被记录，汽车行驶的距离可以被记载。已记录的图像随后通过图像处理运算被评估，汽车周围物体的图像被逐个追踪。根据上述物体追踪，可以确定物体相对于汽车的运动矢量，通过将这些运动矢量和地面上物体的运动矢量进行比较，可以确定物体的位置和大小。
除了汽车侧边上的距离传感器之外，距离监控系统还可以在汽车的头部和/或尾部另外设置距离传感器。
根据用于操作距离监控系统的方法的第一种变更，当寻找适当停车区域时，距离传感器的测量数据可以用于检测汽车的侧向停车空间。
在这方面，测量的数据最好是获自汽车低速行驶时成一定间隔的测量面或测量部。通过相应的图像数据处理，可以根据各个测量面或测量部的测量数据获得汽车周围三维物体的形状和分布，相关的图像处理运算已在计算机辅助X线断层摄影术等技术领域被揭示。
除了本发明方法的第一种变更之外，侧向距离传感器的测量数据还可以用于确定汽车车门打开的最大角度，尤其是当汽车处于静止状态时。这可以防止汽车车门打开时，可能对侧向停靠的汽车的车门边缘和涂漆面造成的损伤。
为了防止对车门边缘的损伤，可以发出一个预警信号。例如，当汽车车门被打开并接近最大允许的打开角度时，汽车喇叭就发出一个预警信号。打开车门的使用者因此可以警觉到如果再进一步打开汽车车门，汽车车门的外边缘就会和周围的物体相碰撞。
作为在打开车门时对使用者进行预警的一种变更，汽车还可以设置一个可以限制车门运动的执行机构。例如，执行机构可以包括一个位于车门铰链中的机电刹车，机电刹车可以根据侧向距离传感器的测量数据来控制，当汽车车门被打开并接近最大的允许打开角度时，车门的运动自动停止，即车门的运动被限制在一个允许的角度。
附图说明
下面结合附图，对本发明的一个具体实施方式进行详细说明，其中：
图1所示为行驶中的汽车寻找停车空间时的俯视示意图。
图2为图1所示中间位置的汽车的正面示意图。
具体实施方式
图1所示为行驶中的汽车01在寻找停车空间时的俯视示意图，由一个路缘石05来界定两辆汽车02和03之间的侧向停车空间04。
汽车01设有一个距离监控系统，以测量由汽车02的头部、汽车03的尾部和路缘石05界定的侧向停车空间04的大小，汽车01的距离监控系统的两个距离传感器08安装在左右两个外部后视镜06和07中。
图1所示俯视图显示了安装于右外部后视镜07中的距离传感器08的测量范围09，图中所示的距离传感器08具有类似于二维测量特性的测量特性。也就是说，距离传感器08分别以很小的孔径角测量汽车01和位于一个测量部中的物体之间的距离。由于测量部的孔径角很小，该测量部大致形成一个测量面。
图2所示为汽车01的一个正面示意图，其中示意性地显示了测量范围09。由于距离传感器08设置在外部后视镜07中，距离传感器08和地面之间间距较大，因此不良的地面反射得到有效防止。

Claims (10)

1.一种装有距离监控系统的汽车(01)，该距离监控系统设有至少一个距离传感器(08)，其中所述距离传感器(08)为图像传感器，以测定汽车(01)和周围物体(02，03，05)之间的距离，其特征在于：所述距离传感器(08)设置于汽车(01)的外部后视镜(06，07)上，或设置于汽车(01)的外部后视镜(06，07)中，所述距离传感器(08)仅测定位于一个预定测量面上的物体到距离传感器(08)的距离，或测定位于一个近似成测量面的一个测量部(09)上的物体到距离传感器(08)的距离，所述测量面或测量部(09)自距离传感器(08)垂直向上和/或垂直向下延伸，来自图像传感器(08)的图像数据另外经过一个电子图像处理装置通过将来自图像传感器(08)的图像数据和所述图像处理装置中预设的图像进行比较而被处理和/或达到要求。
2.根据权利要求1所述的汽车(01)，其特征在于：所述汽车(01)的左外部后视镜(06)和右外部后视镜(07)分别装有一个距离传感器(08)。
3.根据权利要求1或2所述的汽车(01)，其特征在于：所述测量面或测量部(09)自距离传感器(08)垂直于汽车(01)的纵轴延伸。
4.根据权利要求1所述的汽车(01)，其特征在于：所述图像处理装置设置于外部后视镜(06，07)上或设置于外部后视镜(06，07)中。
5.根据权利要求1所述的汽车(01)，其特征在于：除了所述距离传感器(08)之外，汽车(01)的尾部和/或头部也分别设置至少一个距离传感器(08)。
6.一种用于权利要求1至5任一项所述的汽车(01)的操作距离监控系统的方法，其特征在于：从所述距离传感器(08)的测量数据中获得一个侧向停车空间的大小和/或排列。
7.根据权利要求6所述的方法，其特征在于：当汽车(01)低速行驶时，所述距离传感器(08)记录彼此间隔排列的测量面或测量部(09)上的测量数据，汽车(01)环境中的物体(02，03，05)的形状和排列来自于测量数据。
8.一种用于权利要求1至5任一项所述的汽车(01)的操作距离监控系统的方法，其特征在于：当汽车(01)处于静止状态时，所述汽车(01)车门的最大允许打开角度取决于距离传感器(08)的测量数据。
9.根据权利要求8所述的方法，其特征在于：当所述汽车(01)的车门打开并接近最大允许打开角度时，会产生一个预警信号。
10.根据权利要求8或9所述的方法，其特征在于：当所述汽车(01)的车门打开并接近最大允许打开角度时，车门的运动受到一个执行机构的限制。
CN2006800109794A 2005-04-04 2006-03-29 装有距离监控系统的汽车 Active CN101180552B (zh)

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WO2006105763A3 (de) 2006-12-21
US8077024B2 (en) 2011-12-13
DE102005015463A1 (de) 2006-11-09
WO2006105763A2 (de) 2006-10-12
EP1882195A2 (de) 2008-01-30
US20080266069A1 (en) 2008-10-30
DE102005015463B4 (de) 2007-02-15

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