CN113009472A - Method and system for determining the position and/or the velocity of at least one object - Google Patents
Method and system for determining the position and/or the velocity of at least one object Download PDFInfo
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- 238000005259 measurement Methods 0.000 claims abstract description 173
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- 238000011156 evaluation Methods 0.000 claims description 7
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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
- 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
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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
- 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
- G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
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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
- 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
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
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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
- 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
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
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Abstract
The invention realizes a method for position determination and/or velocity determination of at least one object (1a, 1b, …, 1n) from existing distance measurements and/or existing relative velocity measurements, the method comprising: reading (S1) an existing distance measurement and/or an existing relative velocity measurement, determining (S2a) a position of at least one object from the existing distance measurement and/or determining (S2b) a velocity of at least one object from the existing relative velocity measurement, determining (S3) a distance measurement and/or a relative velocity measurement to be expected, forming (S4a) a distance residual between the existing distance measurement and the expected distance measurement and/or forming (S4b) a relative velocity residual, determining (S5a) a position correction and/or determining (S5b) a velocity correction, determining (S6) a corrected position and/or corrected velocity.
Description
Technical Field
The invention relates to a method for determining a position and/or a velocity of at least one object and to a system for determining a position and/or a velocity of at least one object.
Background
The driver assistance system can be provided for determining the distance (absland) to a motor vehicle traveling ahead by means of radar technology. In this way, the driver assistance system may comprise, for example, an adaptive speed assistance, which is able to adjust the speed of the motor vehicle to a predetermined value and in this case to maintain a predetermined distance from the motor vehicle driving ahead. In general, in order to determine the distance to a motor vehicle driving ahead, a radar sensor may be provided, wherein a radar signal may be reflected at the object and may be received again, and the distance may be determined on the basis of the transmitted and received signals. For this purpose, in particular, modulated continuous wave Radar (FMCW-Radar, frequency modulated continuous wave Radar) can be used.
DE102013008953a1 describes a system with two radar sensors, wherein a first radar sensor emits a first radar signal, which is received by a second radar sensor after reflection at an object, and the second radar sensor emits a second radar signal, which is received by the first radar sensor after reflection at the object. In this way, the sum of the distances between the radar sensor and the object, which may also be referred to as bistatic distance, may be determined.
Disclosure of Invention
The invention relates to a method for determining the position and/or velocity of at least one object, and to a system for determining the position and/or velocity of at least one object.
THE ADVANTAGES OF THE PRESENT INVENTION
The invention is based on the idea of specifying a method for increasing the accuracy of a position determination and/or a speed determination of at least one object and a system for increasing the accuracy of a position determination and/or a speed determination of at least one object, wherein a measuring device already provides a distance and/or a relative speed of at least one object.
According to the invention, in a method for determining the position and/or the speed of at least one object from an existing distance measurement and/or an existing relative speed measurement: reading an existing distance measurement and/or an existing relative speed measurement of the at least one object from a measuring device, which carries out the distance measurement and/or the relative speed measurement for the at least one object by means of at least two measuring units, respectively; in the case of a known position of the measuring unit, the position of the at least one object is determined from the existing distance measurement and/or the speed of the at least one object is determined from the existing relative speed measurement; determining a distance measurement and/or a relative speed measurement of the object from the respective measuring unit to be expected for the determined object position and/or the determined object speed based on the known position of the measuring unit; forming a distance residual between the existing distance measurement and the expected distance measurement, and/or forming a relative velocity residual between the existing relative velocity measurement and the expected relative velocity measurement; determining a position correction from the determined position and from the distance residuals and/or determining a velocity correction from the determined velocity and from the relative velocity residuals; a corrected position and/or a corrected velocity is determined.
Thus, a measurement or an estimation of a distance value and/or a relative velocity value of the at least one object with respect to the at least two measuring units may advantageously be received from the measuring device. These measurements can be based on the object distance of the monostatic and, if necessary, also of the bistatic, and on the relative object speed of the monostatic and, if necessary, also of the bistatic. For more than two measuring units, the measurement can always be based on pairs of measuring units. Here, the measurement can also be carried out in such a way: bistatic measurements can always be made for one pair (Paar) and monostatic measurements can always be made for each of the measurement units individually. However, a pair may also be denoted as transmitter and receiver, wherein for bistatic measurements this may denote two different measurement units, and for monostatic measurements this may also denote one unit in one of the measurement units. The measuring device can transmit the measurement results to an evaluation device or a control device. This can be done actively when the measurement has just been completed, or can result from a measurement that has already been made before, and has been stored locally in the evaluation device or in the central control unit. Advantageously, a mathematical relationship between the actual position pk and the (actual) velocity vk of the object k (on the one hand) and the measured relative velocities sn, k, m (on the other hand) can be utilized, wherein the measured relative velocities can be observed by the pair of measuring units (n, m). In this way, the actual position and velocity of one or all of the detected objects can be determined from the distance and relative velocity, or at least an improved approximation thereof.
Object position determination may also be performed for a plurality of or all objects to be detected. In this way, it is possible for an object to estimate its position and velocity with a plurality of measuring units, thus improving the value of the position and velocity in such a way that the position and velocity can be simultaneously ascertained and compared from the data of a plurality of measuring units. Such an improved value can then be derived from the mathematical relationship of the improved distance value and the relative velocity value for each measuring unit, which is denoted here as distance value and relative velocity value to be expected.
The relative velocity can be a velocity in the direction of the line of sight of the measuring unit to the object, wherein then, in the case of a measuring unit pair, the velocity component of the object along the bisector of the angle between the measuring units can be taken into account as the relative velocity.
The distance measurement to be expected and the relative velocity measurement to be expected in this case involve the following back calculation of the distance value and the relative velocity value from the position and the velocity of the object (zur ü ckermittetln): the analysis processing device accurately finds the found position and speed according to the distance value and the relative speed value. The distance values and relative velocity values may differ from existing distance values and relative velocity values because they are only estimated and are only correct to a certain extent.
The accuracy of the position and velocity can be improved taking into account both the distance and relative velocity measurements, advantageously better than with only pure distance measurements. In this case, all existing pairs of measuring units can be used for increasing the accuracy, which results in an increased accuracy of the distance and speed to the object.
The measured distances and relative velocities can therefore advantageously be reprocessed by means of this method, as a result of which an increase in the accuracy of the position estimation of the object can be achieved, and additionally the velocity of the object can be determined, an increase in the robustness of the position and velocity estimation can be achieved and the probability of large deviations of the estimated values is reduced in this case. The latter can be achieved by:considering a plurality of measured variables, e.g. pairs of measuring cells: (
). Furthermore, the following plausibility can also be checked better with a higher number of measurements: whether the measurement result is correct, i.e. whether the network is in a functional security state.
The measurements of the measuring device can be carried out in a plurality of measuring units, wherein the number of measuring unit pairs, and thus the number Nbi of bistatic measurements, can increase with the number N of measuring units, depending on Nbi ═ N · (N-1)/2.
For example, for 4 sensors, 6 pairs of Nbi and 6 possible bistatic measurements are obtained.
The number of measurements taken on a single basis may in this case be equal to the number N of sensors. Thus, at N >3, the number of bistatic measurements exceeds the number of monostatic measurements, wherein this can be increased disproportionately as the number of measuring devices increases, as an advantage.
As such, about N + Nbi ═ N · (N +1)/2 measurements can be performed as a whole, and these measurements are taken into account in other processing.
The signals of all measuring devices or only a subset thereof can be taken into account in the method, in particular in the following cases: due to the arrangement of the measuring devices it may be assumed that the field of view of some measuring devices may overlap, while the field of view of other measuring devices do not overlap. For this purpose, it may be expedient to reduce the system of equations formed by the signals of the different measuring units in such a way that: measurements of bistatic pairs that do not have overlapping fields of view are not considered to save computational overhead and prevent erroneous measurements.
According to a preferred embodiment of the method, the measuring device always carries out distance measurements and/or relative speed measurements for only one measuring unit pair of the at least two measuring units.
According to a preferred embodiment of the method, the existing distance measurement and/or the existing relative speed measurement are performed by a plurality of pairs of measuring units.
According to a preferred embodiment of the method, the position and/or the velocity of the at least one object is determined from an existing distance measurement and/or from an existing relative velocity measurement on the basis of a mathematical relationship between the object and the distance of the respective measuring unit of the at least one pair.
According to a preferred embodiment of the method, the following steps are repeated a plurality of times: determining a distance measurement and/or a relative speed measurement to be expected; forming a distance residual error; a position correction or a velocity correction is found.
According to a preferred embodiment of the method, the following steps are repeated a plurality of times until the change in the distance residual and/or the relative velocity residual from the previous repetition is less than a predetermined minimum value: determining a distance measurement and/or a relative speed measurement to be expected; forming a distance residual error; a position correction or a velocity correction is found.
According to a preferred embodiment of the method, the determined components of the distance residual and/or the relative velocity residual are weighted in a determined manner.
According to a preferred embodiment of the method, the method is carried out on a network of radar sensors, lidar sensors and/or ultrasonic sensors.
According to the invention, a system for position determination and/or velocity determination of at least one object from an existing distance measurement and/or an existing relative velocity measurement comprises: a measuring device having at least two measuring units, which are provided for generating an existing distance measurement and/or an existing relative speed measurement of at least one object, wherein the distance measurement and/or the relative speed measurement are carried out for the at least one object by means of the at least two measuring units, respectively; an evaluation device which is provided for reading an existing distance measurement and/or an existing relative speed measurement of the at least one object from the measuring device, the position of the at least one object being determined from the existing distance measurement and/or the speed of the at least one object being determined from the existing relative speed measurement, given the position of the measuring unit; determining a distance measurement and/or a relative speed measurement of the object from the respective measuring unit to be expected for the determined object position and/or the determined object speed based on the known position of the measuring unit; forming a distance residual between the existing distance measurement and the expected distance measurement, and/or forming a relative velocity residual between the existing relative velocity measurement and the expected relative velocity measurement; a position correction is determined from the determined position and from the distance residual, and/or a velocity correction is determined from the determined velocity and from the relative velocity residual, and a corrected position and/or a corrected velocity is determined.
According to a preferred embodiment of the system, the measuring device comprises 2 measuring units, by means of which bistatic distances between the object and the measuring units can be determined in each case in pairs.
According to a preferred embodiment of the system, the system comprises a network of radar sensors, LIDAR sensors and/or ultrasonic sensors and/or the system is connected to such a network for data exchange.
The system can also be characterized by combining the features mentioned in the method and their advantages and vice versa.
Further features and advantages of embodiments of the present invention result from the following description with reference to the drawings.
Drawings
The invention is explained in detail below on the basis of embodiments illustrated in the schematic drawings.
The figures show:
FIG. 1 shows a schematic illustration of a system for improving accuracy of position determination and/or velocity determination of at least one object from scanning of the at least one object according to an embodiment of the invention;
FIG. 2a shows a schematic illustration of an arrangement of radar sensors in a system according to an embodiment of the invention;
fig. 2b shows a schematic illustration of an arrangement of radar sensors in a system according to another embodiment of the invention;
FIG. 3 shows a schematic illustration of the determination of position and velocity by a method according to an embodiment of the invention;
fig. 4 shows a block diagram of method steps of a method according to an embodiment of the invention.
In the drawings, like reference numbers indicate identical or functionally identical elements.
Detailed Description
Fig. 1 shows a schematic illustration of a system for improving the accuracy of a position determination and/or a velocity determination of at least one object from a scan of the at least one object according to an embodiment of the invention.
The system 10 for determining the position and/or the speed of at least one object (1a, 1b, …, 1n) from an existing distance measurement and/or an existing relative speed measurement comprises a measuring device M having at least two measuring units ME1, ME2 for scanning at least one object (1a, 1b, …, 1n) and/or a total number n > -2 measuring units, wherein the measuring units can be configured to emit measuring signals in each case at the same time. These signals may have, for example, a predetermined frequency offset (freqenzversatz) from one another and may receive measurement signals of at least one other measurement unit which are reflected at least one object (k, 1a, 1b, …, 1 n). Furthermore, the system 10 comprises an evaluation device AE, which is provided to: (nx (n-1))/2 bistatic distances to the at least one object (1, 1a, 1b, …, 1n) or monostatic distances to the at least one object are determined from the reflected measurement signals (RS1, RS2, …, Rsn), wherein a frequency offset from at least one other measurement unit can be determined at the first measurement unit.
Here, each measuring unit (R1, R2, …, R4) may comprise transmitting means (T1, T2, …, T4) and receiving means (E1, E2, …, E4) for measuring signals. The measuring units can then be connected in the network via interfaces ST to the evaluation unit AE.
The evaluation device AE is provided for: reading an existing distance measurement and/or an existing relative speed measurement of at least one object (1a, 1b, …, 1n) from a measuring device (M); in the case of a known position of the measuring unit (ME1, ME2), the position of the at least one object is determined from an existing distance measurement and/or the speed of the at least one object is determined from an existing relative speed measurement; for an ascertained object position and/or ascertained object speed based on the known position of the measuring unit (ME1, ME2), ascertaining a distance measurement and/or a relative speed measurement of the object to be expected from the respective measuring unit (ME1, ME 2); forming a distance residual between the existing distance measurement and the expected distance measurement, and/or forming a relative velocity residual between the existing relative velocity measurement and the expected relative velocity measurement; determining a position correction from the determined position and from the distance residuals and/or determining a velocity correction from the determined velocity and from the relative velocity residuals; a corrected position and/or a corrected speed are determined.
Fig. 2a shows a schematic illustration of an arrangement of radar sensors in a system according to an embodiment of the invention.
Fig. 2a shows a top view of an arrangement of, for example, eight radar sensors (measuring units) R1, R2, …, R8 in, for example, a vehicle F. These radar sensors can be arranged in the edge region of the vehicle and cover the entire periphery of the vehicle (Umfang). In this way, the fields of view of at least two adjacent radar sensors may overlap.
Fig. 2b shows a schematic illustration of an arrangement of radar sensors in a system according to another embodiment of the invention.
Fig. 2b shows a top view of an arrangement of, for example, six radar sensors (measuring units) R1, R2, …, R6, for example in a system with a round outer side. The field of view SB of at least two adjacent radar sensors can advantageously overlap, and bistatic as well as monostatic distance and velocity determination of the objects 1, 1a, …, 1n can be achieved. As such, the fields of view of the first and second radar sensors R1 and R2 may have an overlap OL12, for example, and similarly, an overlap OL16 of the first and sixth radar sensors R6 may be created, as well as other overlap regions OL56 (fifth and sixth sensors), or OL45 (fifth and fourth sensors), or others. The sensors may for example be arranged equidistantly around the outside.
FIG. 3 shows a schematic illustration of the determination of position and velocity by the method of an embodiment of the invention.
Shown in position pkOf an object 1 having an actual velocity vk. The mathematical relationship between distance, position, relative velocity and velocity is detailed below, taking as an example the case of bistatic measurements, i.e. pm ≠ pn. The monostatic case can be realized by setting pm ═ pn. The method can therefore be applied both to purely monostatic and to purely bistatic measurements in the described manner, and also to a combination of monostatic and bistatic measurements. In bistatic measurements, an object at position pk with actual speed vk derives a measured distance by means of two measuring units at points pn and pm
rn,k,m＝|pk-pn|+|pk-pm|
The other positions with the same distance are located on an ellipse e around the foci pm and pn. The observed (existing) bistatic relative velocity sn, k, m corresponds to the component of the velocity vk which is perpendicular to the tangent tg of the ellipse e passing through the point pk.
By means of sn, k, m ═ vk · bn, k, m,0, sn, k, m, i.e. the scalar product of vk and the unit vector bn, k, m,0 results, which unit vector shows the direction of the mentioned vertical direction away from the measuring cell.
The perpendicular advantageously represents the angle bisector wh of the distances dn, k pk-pn and dm, k pk-pm.
Thus is provided with
bn, k, m,0 ═ bn, k, m/| bn, k, m |, where bn, k, m ═ dn, k/| dn, k | + dm, k/| dm, k |.
This yields a correlation of the (existing) measured relative velocity sn, k, m with the position pk of the object and with the velocity vk of the object. Since a higher speed accuracy can be achieved than a distance accuracy by means of the determination method, in particular by means of a radar sensor, a more accurate position determination can be achieved by using a speed measurement than in the case of a pure distance measurement alone.
Fig. 4 shows a block diagram of method steps of a method according to an embodiment of the invention.
In a method for determining a position and/or a velocity of at least one object from an existing distance measurement and/or an existing relative velocity measurement: reading S1 an existing distance measurement and/or an existing relative speed measurement of the at least one object from a measuring device, which carries out the distance measurement and/or the relative speed measurement for the at least one object by means of at least two measuring units, respectively; in the case of a known position of the measuring unit, the position of the at least one object is determined S2a from the existing distance measurement and/or the velocity of the at least one object is determined S2b from the existing relative velocity measurement; for the determined object position and/or the determined object velocity based on the known position of the measuring unit, determining S3 a distance measurement and/or a relative velocity measurement of the object to be expected from the respective measuring unit; forming S4a a distance residual between the existing distance measurement and the expected distance measurement, and/or forming S4b a relative velocity residual between the existing relative velocity measurement and the expected relative velocity measurement; determining S5a a position correction from the determined position and from the distance residual, and/or determining S5b a velocity correction from the determined velocity and from the relative velocity residual; a corrected position and/or a corrected velocity is determined S6.
Here, the detailed steps according to the schematic diagram (Bildschema) can be performed as described below.
The method may be performed in six steps, of which steps B, C and D may be performed multiple times, where iterations may be used to improve accuracy.
In a first step I, measurements can be carried out by means of a suitable measuring device, wherein measured values of distance and relative speed can be collected (erheben) for each object k (1, 1a, …, 1n), wherein measurements of monostatic and/or bistatic can be involved. When using a plurality of measuring units, a plurality of measured distances r can be derivedn,k,mAnd relative velocity sn,k,mThey may relate to one sensor pair (m, n) and one object k, respectively. Taking N-3 measurement units as an example, one vector with a measured distance R and one vector with a measured relative velocity S can be obtained, where
In a second step II, the mathematical relationship between position, velocity and distance and relative velocity can be used after reading S1, and a preliminary estimate of the position and velocity of the object or objects is/are made in sub-step a. In this case, the measured values of a plurality of measuring units can be used to determine the components of the position vector and the velocity vector, and therefore an overdetermined system of equations can advantageously be created for one object or for each object. By solving the system of equations, an estimate of the position and velocity values of the respective object is then obtained, which estimate takes into account the data of the plurality of measurement cells.
In other words, from the known mathematical relationship between the observed distance and relative velocity of the object (on the one hand) and the position and velocity of the object (on the other hand), a preliminary estimate pk ═ p (p) of the position of the object may be obtained (S2a)k,x；pk,y；pk,z)T。
The above mathematical relationship may be defined as follows:
herein, p ismAnd pnIs the position of the measuring unit
rn,k,m＝rn,k+rm,k＝|dn,k|+|dm,k|
Thus, the bisector of the angle between the two measuring units and through the object k is
By means of normalized bisectors of the angle, e.g. as the norm of I2
Only partial information can be used here, for example only a single-base distance measurement (this can be the direct distance between the object and the measuring unit) can be traced back, in order to be able to uniquely solve the system of equations resulting therefrom with three unknowns and three equations, for example.
From the knowledge of the position and, for example, a subset of the relative speed measurements (for example, three monostatic measurements), a solution (S2b) can be solved again for the preliminary determination of the speed vk ═ (v ═ b)k,x,vk,y,vk,z)TThe system of equations of (1). The preliminary estimates may also be expressed herein as p ^ k and v ^ k, and include different degrees of accuracy for the values of position and velocity.
In a third step III, the distance and relative velocity measurements can be recalculated from the current estimates of the values of pk and vk and the known sensor positions
And
which may be derived mathematically.
In a fourth step B, for R (R)i,ki) And S (S)i,ki) The value R ^ (R ^) can be obtainedi,ki) And S ^ (S ^ S)i,ki) Deviations from the originally present values, i ═ 1-n, for example for three measuring units, which are taken as residual errors to form Z
In a fifth step C, from the found residual Z and the existing estimates of pk and vk, an improvement or correction (update) of the estimates Δ pk (S5a) and Δ vk (S5b), respectively, can be determined. The updating may result from the sensitivity of the components of the residual to changes (from the correction) in the estimated position and velocity of the object, wherein different components may be observed and may be expressed/observed by a plurality or all of the measurement units. The sensitivities mentioned can be obtained either analytically by derivation beforehand or numerically at the run time of the program by slightly changing the estimated value (numerisch). The sensitivity by derivation can be determined here by the mathematical relationships mentioned in step II (analytically or numerically).
In a sixth step D, the previously derived updated values Δ pk and Δ vk can be used to generate new, improved (corrected) estimates pk (new) and vk (new) with higher accuracy, wherein
pk(New)＝pk+Δpk；vk(New)＝vk+Δvk
In other words, this provides a statement as to how the estimates of R and S must be improved, so the position and velocity that can be ascertained thereby can be corrected in terms of its accuracy to the extent that it is improved by the update.
The iteration of steps three through six iteratively improves the estimate and approaches the actual position and velocity of the object. The repetition may be interrupted, for example, after a fixed number of iterations, or when the residual no longer decreases with an intensity that exceeds the characteristic range (no longer significantly), which may indicate that the estimate is no longer improved.
Preferably, 1 to 10 iterations are possible. For this method, an algorithm such as the Gauss-Newton algorithm or the Marquardt-Levenberg algorithm can be advantageously used.
Using a plurality of measuring units and taking into account a plurality of measurement data of the respective object, an optimal balance between a plurality of or all measured distance values and relative velocity values can be achieved. Thereby, the influence of individual errors of the individual measurement units on the position estimation and the velocity estimation may be smaller.
Furthermore, different weights may be set and used for different components of the residual, which weights can reflect the expected accuracy of the measurement. In this way, it is ensured that those measurements with typically higher accuracy can also have a stronger influence on the finally determined position and velocity, so that the estimate can advantageously be improved. In this case, in the case of a network of measuring units, in particular radar sensors, for example: the measurement of relative velocity may typically achieve different accuracy than distance measurements, and bistatic measurements may typically achieve different accuracy than monostatic measurements. Here too: measurement signals with larger amplitudes may be more robust and accurate than measurement signals with smaller amplitudes.
The method makes it possible to observe a moving radar target, which is observed, for example, once at rest and once in motion.
Although the present invention has been fully described above by means of preferred embodiments, it is not limited thereto but can be modified in various ways.
Claims (11)
1. A method for position determination and/or velocity determination of at least one object (1a, 1b, …, 1n) from existing distance measurements and/or existing relative velocity measurements, the method comprising the steps of:
reading (S1) the existing distance measurement and/or the existing relative speed measurement of the at least one object (1a, 1b, …, 1n) from a measuring device (M) which carries out a distance measurement and/or a relative speed measurement for the at least one object (1a, 1b, …, 1n) by means of at least two measuring units (ME1, ME2), respectively;
-finding (S2a) the position of the at least one object from the existing distance measurement and/or finding (S2b) the velocity of the at least one object from the existing relative velocity measurement, knowing the position of the measuring unit (ME1, ME 2);
for an ascertained object position and/or ascertained object speed based on the known position of the measuring unit (ME1, ME2), ascertaining (S3) a distance measurement and/or a relative speed measurement of the object from the respective measuring unit (ME1, ME2) to be expected;
forming (S4a) a distance residual between the existing distance measurement and the expected distance measurement, and/or forming (S4b) a relative velocity residual between the existing relative velocity measurement and the expected relative velocity measurement;
determining (S5a) a position correction from the determined position and from the distance residual, and/or determining (S5b) a velocity correction from the determined velocity and from the relative velocity residual;
a corrected position and/or a corrected speed is determined (S6).
2. Method according to claim 1, wherein the measuring device (ME) always carries out the distance measurement and/or the relative speed measurement only for one measuring cell pair (ME1, ME2) of at least two measuring cells (ME1, ME2), respectively.
3. Method according to claim 1 or 2, wherein the existing distance measurements and/or existing relative velocity measurements are performed by a plurality of measurement unit pairs.
4. Method according to any one of claims 1 to 3, the position and/or velocity of the at least one object being derived from the existing distance measurements and/or from the existing relative velocity measurements based on a mathematical relationship of the object to the distance of each measuring unit in at least one pair.
5. The method according to any one of claims 1 to 4, wherein the steps S3 to S6 are repeated a plurality of times.
6. The method of claim 5, wherein steps S3-S6 are repeated until a change of the distance residual and/or the relative velocity residual from a previous repetition is less than a predetermined minimum value.
7. Method according to any one of claims 1 to 6, wherein the determined components of the distance residual and/or the relative velocity residual are weighted deterministically.
8. The method according to any one of claims 1 to 7, performed on a network consisting of radar sensors, lidar sensors and/or ultrasonic sensors.
9. A system (10) for position determination and/or velocity determination of at least one object (1a, 1b, …, 1n) from existing distance measurements and/or existing relative velocity measurements, the system comprising:
a measuring device (M) having at least two measuring units (ME1, ME2) which are provided for generating the current distance measurement and/or the current relative speed measurement of the at least one object (1a, 1b, …, 1n), wherein the distance measurement and/or the relative speed measurement are carried out for the at least one object (1a, 1b, …, 1n) by means of the at least two measuring units (ME1, ME2), respectively;
an evaluation device (AE) which is provided for reading the existing distance measurement and/or the existing relative speed measurement of the at least one object (1a, 1b, …, 1n) from the measuring device (M),
-in case the position of the measuring unit (ME1, ME2) is known, the position of the at least one object is found from the existing distance measurement and/or the velocity of the at least one object is found from the existing relative velocity measurement;
for an ascertained object position and/or an ascertained object velocity based on the known position of the measuring unit (ME1, ME2), ascertaining a distance measurement and/or a relative velocity measurement to be expected of the object with the respective measuring unit (ME1, ME 2);
forming a distance residual between the existing distance measurement and the expected distance measurement, and/or forming a relative velocity residual between the existing relative velocity measurement and the expected relative velocity measurement;
determining a position correction from the determined position and from the distance residual, and/or determining a velocity correction from the determined velocity and from the relative velocity residual,
a corrected position and/or a corrected speed are determined.
10. A system (10) as claimed in claim 9, wherein the measuring device (M) comprises n > -2 measuring cells (ME1, ME2) by means of which bistatic distances between the object and the measuring cells can be determined in each case in pairs.
11. A system (10) according to claim 9 or 10, comprising a network of radar sensors, LIDAR sensors and/or ultrasonic sensors, and/or connected to such a network for data exchange.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102019220210.1A DE102019220210A1 (en) | 2019-12-19 | 2019-12-19 | Method for determining the position and / or determining the speed of at least one object and system for determining the position and / or determining the speed of at least one object |
| DE102019220210.1 | 2019-12-19 |
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|---|---|
| CN113009472A true CN113009472A (en) | 2021-06-22 |
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| CN202011532976.5A Pending CN113009472A (en) | 2019-12-19 | 2020-12-21 | Method and system for determining the position and/or the velocity of at least one object |
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| DE (1) | DE102019220210A1 (en) |
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| DE102021116499A1 (en) | 2021-06-25 | 2022-12-29 | Ifm Electronic Gmbh | Time-of-flight camera system with high light sensitivity |
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2019
- 2019-12-19 DE DE102019220210.1A patent/DE102019220210A1/en active Pending
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