CN102679942A - 用于借助组合的声学和电磁广角传感装置确定车道表面性质的方法和装置 - Google Patents

用于借助组合的声学和电磁广角传感装置确定车道表面性质的方法和装置 Download PDF

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CN102679942A
CN102679942A CN2012100587505A CN201210058750A CN102679942A CN 102679942 A CN102679942 A CN 102679942A CN 2012100587505 A CN2012100587505 A CN 2012100587505A CN 201210058750 A CN201210058750 A CN 201210058750A CN 102679942 A CN102679942 A CN 102679942A
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A·牛伯特
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Abstract

本发明涉及一种用于测量车道(4)的性质的装置，该声学测量装置声学测量装置(6，8)和电磁测量装置(14，16)，声学测量装置用于由声学测量装置(6，8)发射的声波(10)和被车道(4)反射的声波(12)的幅值比和/或相位比来确定至少一个声学反射系数(13)，电磁测量装置用于由电磁测量装置(14，16)发射的电磁波(18)和被车道(4)反射的电磁波(20)的幅值比和/或相位比来确定至少一个电磁反射系数(22)。该装置设置用于基于至少一个声学反射系数(13)和至少一个电磁反射系数(22)来确定所述车道(4)的性质(26)。

Description

用于借助组合的声学和电磁广角传感装置确定车道表面性质的方法和装置
技术领域
本发明涉及一种用于测量车道性质的装置、一种安全和/或驾驶员辅助系统、一种车辆和一种用于测量车道性质的方法。 
背景技术
在由驾驶员预先给定的车道上行驶期间即便在道路状况不良的情况下，安全和驾驶员辅助系统仍保持车辆。这些系统以已知方式响应于与车轮接触的、例如借助于加速度传感器测量到的转矩和力，由此确定与车辆的给定车道的偏差并且必要时将车辆又引导回到该给定车道上。 
为了改善安全和驾驶员辅助系统的调节特性已建议确定车道的表面性质，由此安全和驾驶员辅助系统能够预防性地干预车辆的行驶性能。例如可以通过探测车辆车轮前面的薄冰层来减小车轮处的加速度并由此确保行驶稳定性。 
为了测量车道的表面特性，已知的是检查预见性的雷达传感器的反散射。DE102006032735A1公开了测量垂直于车道入射的雷达波的反射幅值和反射相位并由此推导出车道的表面特性。 
然而，所有这些系统借助于主动式传感器仅有条件地确定车道表面的特性，这是因为通过这些系统测量的参数和由此提供的边界条件至今对于明确地描述车道表面是不够的，因而会出现关于车道性质的多义性。 
发明内容
根据本发明的用于测量车道性质的装置的优点在于，该装置能够更可靠地确定车道的性质。该装置包括声学测量装置，该声学测量装置用于由声学测量装置发射的声波和被车道反射的声波的幅值比和/或相位比来确定至少一个声学反射系数。声学测量装置允许确定车道的机械-弹性特性， 例如车道的弹性及其表面特性。这样能够表述车道材料的特征。因此，例如能通过沥青较软和较光滑的特性来区分沥青车道和混凝土或鹅卵石车道。根据本发明的装置还包括电磁测量装置，该电磁测量装置用于由第二测量装置发射的电磁波和被车道反射的电磁波的幅值比和/或相位比来确定至少一个电磁反射系数。通过电磁测量装置除了确定机械-弹性特性外还能确定车道的介电特性，并因此能得出关于车道表面的进一步结论。湿的鹅卵石(Kopfsteinpflaster)由于水的较大的相对介电常数导致电磁测量装置结果不同于例如受一定固体污染过的干的鹅卵石。根据本发明，该装置设置成基于至少一个声学反射系数和至少一个电磁反射系数来确定车道的性质，因为通过声学和电磁测量装置的协同作用显著限制用于确定车道表面特性的必要参数空间，这致使明显降低在确定其性质时的多义性的危害。因此，测量结果更为可靠。 
从属权利要求示出本发明优选的改进设计。 
在本发明的进一步改进设计中，声学测量装置和电磁测量装置设置成基于波在车道上的不同入射角来分别确定至少两个声学反射系数和电磁反射系数。由对声波和电磁波的反散射的角相关性的分析将另一边界条件引入测量方法中，这进一步限制描述车道表面性质的可能的参数空间并更可靠地正确确定车道的性质。例如仅用垂直入射角的方法此时可能遭受多义性。 
在本发明的另一实施方式中，电磁波是雷达波和/或声波是超声波。能用低价和占空间小的信号发生器来容易地产生这种波。 
在本发明的另一有利的构造中，电磁测量装置具有第一传感器和与远离第一传感器设置的第二传感器。在此，第一传感器设置用于接收由第二传感器发射的电磁波，而第二传感器设置用于接收由第一传感器发射的电磁波。这样，能容易地实现上述角相关性。 
此外，这样能确定电磁反射系数的空间变化，这又允许得到关于车道性质的更可靠的结论。 
在一种改进方式中，两个传感器是广角传感器，因而它们能以较大的彼此间距设置在车辆上。这允许将多个传感器安置在车辆上，并用一个唯一的发射的电磁波来研究具有不同入射角的多个被反射的波。 
在本发明的改进方式中，装置设置用于根据入射角由声学或电磁反射系数的极限值确定车道的性质。视地面而定，例如能根据佐普利兹(Zoeppritz)方程来确定的声学反射系数在一定角度下具有最大值或最小值。对于例如能根据菲涅耳(Fresnel)方程来确定的电磁反射系数亦如此，即便对于电磁反射系数来说最大值和最小值表现得不那么明显。 
在本发明的附加的改进方式中，该装置设置用于根据电磁反射系数的符号/正负号(Vorzeichen)来确定车道上两层的顺序。由此，例如能确定车道是湿的还是干的。 
根据本发明的装置优选地以千兆赫范围内的频率发射电磁波。 
本发明还给出用于车辆的具有根据本发明的装置的安全和/或驾驶员辅助系统。安装系统和/或驾驶员辅助系统中的根据本发明的装置允许主动调节车的行驶性能并确保更可靠的行驶。 
本发明还给出具有根据本发明的安全和/或驾驶员辅助系统的车辆，其中该车辆具有至少一个前轮和至少一个后轮，且该装置如此设置在车辆上，即装置适于确定车辆的前轮前面的车道的性质。这样，在碰到前轮之前就能确定车道特性并在必要时采取用于调节车辆的行驶性能的适当措施，例如限制车辆车轮上的转矩。 
本发明还给出用于测量车道性质的方法，该方法具有如下步骤：将声波发射到车道上；接收被车道反射的声波；由发射的声波和被所述车道反射的声波的幅值比和/或相位比来确定至少一个声学反射系数；将电磁波发射到车道上；接收被车道反射的电磁波；由发射的电磁波和被车道反射的电磁波的幅值比和/或相位比来确定至少一个电磁反射系数；以及基于至少一个声学反射系数和至少一个电磁反射系数来确定车道的性质。 
在优选的实施方式中，以相对于车道表面的第一角度发射声波和电磁波。该方法在此具有如下步骤：以相对于车道表面的、与第一角度不同的第二角度将另一声波发射到车道上；接收被车道反射的另一声波；由发射的另一声波和被所述车道反射的另一声波的幅值比和/或相位比来确定另一声学反射系数；以相对于车道表面的第二角度将另一电磁波发射到车道上；接收被车道反射的另一电磁波；由发射的另一电磁波和被车道反射的另一电磁波的幅值比和/或相位比来确定另一电磁反射系数；以及基于所有 确定的声学反射系数和电磁反射系数来确定车道的性质。 
附图说明
下面参照附图详细描述本发明的实施例。在附图中： 
图1是根据本发明的装置的示意图；以及 
图2是用在车辆上的根据本发明的装置的示意图。 
具体实施方式
如图1中所示，根据本发明的用于测量车道4的性质的装置2具有声学测量装置6，该声学测量装置优选地包括超声波发送器6和超声波传感器8。超声波发送器6发送超声波10作为声波，该超声波被车道4反射并作为被反射的超声波12被超声波传感器8接收。于是，超声波传感器8由发射的超声波10和被反射的超声波12的幅值比和/或相位比来确定声学反射系数13。此外，根据本发明的装置2具有电磁测量装置，该电磁测量装置优选地包括雷达发送器14和雷达传感器16。雷达发送器14发送雷达波18作为电磁波，该雷达波被车道4反射并作为被反射的雷达波20被雷达传感器16接收。于是，雷达传感器16由发射的雷达波18和被反射的雷达波20的幅值比和/或相位比来确定电磁反射系数22。 
在分析处理装置24内设置有用于基于声学反射系数13和电磁反射系数22来确定车道4的性质26的根据本发明的装置2。优选地如下来确定：超声波传感器8和雷达传感器16分别确定两个不同的声学反射系数13或电磁反射系数22，其中超声波10和雷达波18为此以各自不同的入射角发射到车道4上。例如在图2中根据设置在车辆28正面下部处的十四对超声波发送器6和超声波传感器8示出相应的方法。为了清楚起见，十四对超声波发送器6和超声波传感器8中的仅四对设有附图标记。为了清楚起见，在发射的超声波10、超声波在车道4上的入射角23以及被反射的超声波12中分别仅一个设有附图标记。在声学测量装置运行时，第一对中的超声波发送器6发射超声波10，该超声波随后被其它对中的超声波传感器8接收。这样，能够在一个唯一测量步骤中确定用于十三个不同的入射到车道4上的入射角23的声学反射系数，因而来自一系列入射角23的波10、12的 不同路径被同时覆盖。以同样方式用雷达发送器14和雷达传感器16测量电磁反射系数22。在用第一对中的超声波发送器6和其它对中的超声波传感器8或用第一对中的雷达发送器14和其它对中的雷达传感器16来测量之后，下一对即第二对中的超声波发送器6或雷达发送器14发射超声波10或雷达波，这些波然后被余下各对中的超声波传感器8或雷达传感器16所接收并被分析处理。重复该方法直至每对中的超声波发送器6或雷达发送器14已发射一次超声波10或雷达波。由此不仅确定声学或电磁反射系数13、22的角相关性还确定空间变化的可比性，这又允许得到对车道表面的性质更可靠的结论。 
然后，分析处理装置24根据车道4上的入射角23由声学或电磁反射系数13、22的极限值确定车道4的性质26。 
在本发明的优选设计中，雷达传感装置的基本思想因此扩展到由雷达发送器14和雷达传感器16构成的多个传感器单元的使用。如图2中根据超声波传感器单元6、8所示，这些传感器单元能以平行于和垂直于行驶方向成排地设置在车辆28上。通过这种实施方式，能够更好地表述车道4的表面的特征，这是因为通过分析声波和电磁波12、20的反散射的角相关性明显限制描述车道表面的性质26的可能的参数空间。 
本发明将用于确定车道的性质的电磁测量与声学测量结合，以增加分析处理测量结果时的边界条件并避免测量结果中的多义性。 

Claims (11)

1.一种用于测量车道(4)的性质的装置，所述装置包括：
声学测量装置(6，8)，其用于由所述声学测量装置(6，8)发射的声波(10)和被所述车道(4)反射的声波(12)的幅值比和/或相位比来确定至少一个声学反射系数(13)；以及
电磁测量装置(14，16)，其用于由所述电磁测量装置(14，16)发射的电磁波(18)和被所述车道(4)反射的电磁波(20)的幅值比和/或相位比来确定至少一个电磁反射系数(22)，
其中，所述装置(2)设置用于基于所述至少一个声学反射系数(13)和所述至少一个电磁反射系数(22)来确定所述车道(4)的性质(26)。
2.如权利要求1所述的装置，其特征在于，所述声学和电磁测量装置(6，8，14，16)设置用于基于所述波在所述车道上的不同入射角(23)来确定至少两个声学和电磁反射系数(13，22)。
3.如权利要求2所述的装置，其特征在于，所述装置设置用于根据所述入射角(23)由所述声学和电磁反射系数(13，22)的极限值来确定所述车道(4)的性质(26)。
4.如以上权利要求中任一项所述的装置，其特征在于，所述电磁波(18，20)是雷达波和/或所述声波(10，12)是超声波。
5.如以上权利要求中任一项所述的装置，其特征在于，
所述电磁测量装置(14，16)具有第一传感器和远离所述第一传感器设置的第二传感器，
所述第一传感器设置用于接收由所述第二传感器发射的电磁波(20)，并且
所述第二传感器设置用于接收由所述第一传感器发射的电磁波(20)。
6.如权利要求5所述的装置，其特征在于，所述第一和第二传感器是广角传感器。
7.如以上权利要求中任一项所述的装置，其特征在于，所述装置设置用于根据所述电磁反射系数(20)的符号来确定所述车道(4)上两个层的顺序。
8.一种用于车辆(28)的安全和/或驾驶员辅助系统，其具有根据以上权利要求中任一项所述的装置。
9.一种具有根据权利要求8所述的安全和/或驾驶员辅助系统的车辆，其中，所述车辆(28)具有至少一个前轮和至少一个后轮，并且所述装置(2)设置在所述车辆(28)上，使得所述装置适合用于确定在所述车辆(28)的前轮前面的车道(4)的性质(26)。
10.一种用于测量车道(4)的性质(26)的方法，该方法包括如下步骤：
将声波(10)发射到所述车道(4)上；
接收被所述车道(4)反射的声波(12)；
由发射的声波(10)和被所述车道(4)反射的声波(12)的幅值比和/或相位比来确定至少一个声学反射系数(13)；
将电磁波(18)发射到所述车道(4)上；
接收被所述车道(4)反射的电磁波(20)；
由发射的电磁波(18)和被所述车道(4)反射的电磁波(20)的幅值比和/或相位比来确定至少一个电磁反射系数(22)；和
基于所述至少一个声学反射系数(13)和所述至少一个电磁反射系数(22)来确定所述车道(4)的性质(26)。
11.如权利要求10所述的方法，其特征在于，以相对于所述车道(4)的表面的第一角度实现所述声波和电磁波(10，22)的发射，并且所述方法包括如下步骤：
以相对于所述车道(4)的表面的、与所述第一角度不同的第二角度将另一声波(10)发射到所述车道(4)上；
接收被所述车道(4)反射的所述另一声波(12)；
由发射的另一声波(10)和被所述车道(4)反射的另一声波(12)的幅值比和/或相位比来确定另一声学反射系数(13)；
以相对于所述车道(4)的表面的所述第二角度将另一电磁波(18)发射到所述车道(4)上；
接收被所述车道(4)反射的所述另一电磁波(20)；
由发射的另一电磁波(18)和被所述车道(4)反射的另一电磁波(20)的幅值比和/或相位比来确定另一电磁反射系数(22)；和
基于所有确定的声学和电磁反射系数(13，22)来确定所述车道(4)的性质(26)。
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