CN116324490A - 在机动车辆周围环境中表征物体的方法 - Google Patents

在机动车辆周围环境中表征物体的方法 Download PDF

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Publication number
CN116324490A
CN116324490A CN202180066070.5A CN202180066070A CN116324490A CN 116324490 A CN116324490 A CN 116324490A CN 202180066070 A CN202180066070 A CN 202180066070A CN 116324490 A CN116324490 A CN 116324490A
Authority
CN
China
Prior art keywords
amplitude
motor vehicle
determined
echo
ultrasonic sensor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202180066070.5A
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English (en)
Chinese (zh)
Inventor
A·凯库德
R·亚当斯
S·哈瓦特米
N·格拉茨
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Continental Zhixing Germany Co ltd
Original Assignee
Continental Zhixing Germany Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Continental Zhixing Germany Co ltd filed Critical Continental Zhixing Germany Co ltd
Publication of CN116324490A publication Critical patent/CN116324490A/zh
Pending legal-status Critical Current

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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
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/539—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/06—Automatic manoeuvring for parking
    • 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
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/168—Driving aids for parking, e.g. acoustic or visual feedback on parking space
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/54—Audio sensitive means, e.g. ultrasound
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/20—Static objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/60—Traversable objects, e.g. speed bumps or curbs
    • 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
    • G01S2015/932—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Acoustics & Sound (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
CN202180066070.5A 2020-09-30 2021-09-22 在机动车辆周围环境中表征物体的方法 Pending CN116324490A (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102020212381.0A DE102020212381A1 (de) 2020-09-30 2020-09-30 Verfahren zur Charakterisierung eines Objekts in einer Umgebung eines Kraftfahrzeugs
DE102020212381.0 2020-09-30
PCT/DE2021/200125 WO2022068999A1 (de) 2020-09-30 2021-09-22 Verfahren zur charakterisierung eines objekts in einer umgebung eines kraftfahrzeugs

Publications (1)

Publication Number Publication Date
CN116324490A true CN116324490A (zh) 2023-06-23

Family

ID=78080108

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202180066070.5A Pending CN116324490A (zh) 2020-09-30 2021-09-22 在机动车辆周围环境中表征物体的方法

Country Status (6)

Country Link
US (1) US20240004066A1 (https=)
EP (1) EP4222527B1 (https=)
JP (1) JP7602024B2 (https=)
CN (1) CN116324490A (https=)
DE (1) DE102020212381A1 (https=)
WO (1) WO2022068999A1 (https=)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102021210082B3 (de) 2021-09-13 2023-02-09 Continental Autonomous Mobility Germany GmbH Verfahren zur Charakterisierung eines Objekts in einer Umgebung eines Kraftfahrzeugs
DE102021214203A1 (de) * 2021-12-13 2023-06-15 Robert Bosch Gesellschaft mit beschränkter Haftung System zur Erfassung von wenigstens einem Objekt in einer Umgebung eines Fahrzeugs sowie Fahrzeug mit solch einem System
DE102022206021A1 (de) 2022-06-14 2023-12-14 Continental Autonomous Mobility Germany GmbH Verfahren zum Ermitteln einer eine Objekthöhe beschreibenden Objektinformation

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102005044050A1 (de) * 2005-09-15 2007-03-22 Hella Kgaa Hueck & Co. Verfahren zur Parklückenbestimmung für Kraftfahrzeuge
US20080111733A1 (en) * 2006-11-15 2008-05-15 M/A-Com, Inc. Method and Apparatus For Discriminating With Respect to Low Elevation Target Objects
CN106796292A (zh) * 2014-10-15 2017-05-31 法雷奥开关和传感器有限责任公司 用于检测在机动车辆的周围区域中的至少一个对象的方法、驾驶员辅助系统和机动车辆
DE102018102786A1 (de) * 2018-02-08 2019-08-08 Valeo Schalter Und Sensoren Gmbh Verfahren zum Erfassen eines Objekts in einem Umgebungsbereich eines Kraftfahrzeugs mit Abschätzung der Höhe des Objekts anhand von Echoanteilen eines Empfangssignals, Recheneinrichtung, Ultraschallsensor sowie Fahrerassistenzsystem
DE102018103414A1 (de) * 2018-02-15 2019-08-22 Valeo Schalter Und Sensoren Gmbh Verfahren zur Charakterisierung eines Objekts in einem Umgebungsbereich eines Kraftfahrzeugs mit Höhenschätzung anhand einer seitlichen Ableitung eines Empfangssignals eines Ultraschallsensors, Recheneinrichtung sowie Ultraschallsensorvorrichtung
DE102018103560A1 (de) * 2018-02-16 2019-08-22 Valeo Schalter Und Sensoren Gmbh Verfahren zur Charakterisierung eines Objekts in einem Umgebungsbereich eines Kraftfahrzeugs durch Vergleich eines Empfangssignals eines Abstandssensors mit einer vorbestimmten Kurve, Sensorvorrichtung sowie Fahrerassistenzsystem

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4156469B2 (ja) * 2003-08-14 2008-09-24 富士フイルム株式会社 エッジ検出装置および方法、プロファイル判定装置および方法並びにプログラム
DE102004047479A1 (de) 2004-09-30 2006-04-13 Robert Bosch Gmbh Verfahren und Vorrichtung zum Klassifizieren von Seitenbegrenzungen einer Parklücke für ein Einparkassistenzsystem
DE102007042220A1 (de) 2007-09-05 2009-03-12 Robert Bosch Gmbh Objektklassifizierungsverfahren, Einparkhilfeverfahren und Einparkhilfesystem
JP6289338B2 (ja) * 2014-10-22 2018-03-07 株式会社デンソー 物体検知装置、車両制御装置
JP6599075B2 (ja) * 2017-09-22 2019-10-30 三菱電機株式会社 障害物検出装置
DE102018218007A1 (de) 2018-10-22 2020-04-23 Robert Bosch Gmbh Verfahren zur Bestimmung einer Höhe eines Objektes, Umfelderfassungssystem sowie Fahrzeug mit einem Umfelderfassungssystem

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102005044050A1 (de) * 2005-09-15 2007-03-22 Hella Kgaa Hueck & Co. Verfahren zur Parklückenbestimmung für Kraftfahrzeuge
US20080111733A1 (en) * 2006-11-15 2008-05-15 M/A-Com, Inc. Method and Apparatus For Discriminating With Respect to Low Elevation Target Objects
CN106796292A (zh) * 2014-10-15 2017-05-31 法雷奥开关和传感器有限责任公司 用于检测在机动车辆的周围区域中的至少一个对象的方法、驾驶员辅助系统和机动车辆
DE102018102786A1 (de) * 2018-02-08 2019-08-08 Valeo Schalter Und Sensoren Gmbh Verfahren zum Erfassen eines Objekts in einem Umgebungsbereich eines Kraftfahrzeugs mit Abschätzung der Höhe des Objekts anhand von Echoanteilen eines Empfangssignals, Recheneinrichtung, Ultraschallsensor sowie Fahrerassistenzsystem
DE102018103414A1 (de) * 2018-02-15 2019-08-22 Valeo Schalter Und Sensoren Gmbh Verfahren zur Charakterisierung eines Objekts in einem Umgebungsbereich eines Kraftfahrzeugs mit Höhenschätzung anhand einer seitlichen Ableitung eines Empfangssignals eines Ultraschallsensors, Recheneinrichtung sowie Ultraschallsensorvorrichtung
DE102018103560A1 (de) * 2018-02-16 2019-08-22 Valeo Schalter Und Sensoren Gmbh Verfahren zur Charakterisierung eines Objekts in einem Umgebungsbereich eines Kraftfahrzeugs durch Vergleich eines Empfangssignals eines Abstandssensors mit einer vorbestimmten Kurve, Sensorvorrichtung sowie Fahrerassistenzsystem

Also Published As

Publication number Publication date
DE102020212381A1 (de) 2022-03-31
JP2023541147A (ja) 2023-09-28
US20240004066A1 (en) 2024-01-04
EP4222527B1 (de) 2026-04-15
JP7602024B2 (ja) 2024-12-17
EP4222527A1 (de) 2023-08-09
WO2022068999A1 (de) 2022-04-07

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