DE102004007553A1 - Detecting device and safety system for a motor vehicle - Google Patents
Detecting device and safety system for a motor vehicle Download PDFInfo
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- DE102004007553A1 DE102004007553A1 DE102004007553A DE102004007553A DE102004007553A1 DE 102004007553 A1 DE102004007553 A1 DE 102004007553A1 DE 102004007553 A DE102004007553 A DE 102004007553A DE 102004007553 A DE102004007553 A DE 102004007553A DE 102004007553 A1 DE102004007553 A1 DE 102004007553A1
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- Prior art keywords
- motor vehicle
- obstacle
- field
- sensor unit
- detection device
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Classifications
-
- 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
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
-
- 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
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/867—Combination of radar systems with cameras
-
- 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
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous 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
- G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
- B60K31/0008—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including means for detecting potential obstacles in vehicle path
-
- 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
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9327—Sensor installation details
- G01S2013/93272—Sensor installation details in the back of the vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electromagnetism (AREA)
- Traffic Control Systems (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
Die Erfindung betrifft eine Erfassungsvorrichtung eines Kraftfahrzeuges zur Erfassung eines Hindernisses in einem Umgebungsbereich des Kraftfahrezeuges mit wenigstens einer ersten Umgebungssensoreinheit. DOLLAR A Erfindungsgemäß wird vorgeschlagen, eine erste Recheneinheit zur Generierung einer ersten Wahrscheinlichkeitsverteilung für das Vorhandensein des Hindernisses in dem mit der ersten Umgebungssensoreinheit erfassten Umgebungsbereich vorzusehen, wobei der Umgebungsbereich in eine vorgegebene Anzahl von Felder aufgeteilt wird und für jedes vorgegebene Feld ein Wahrscheinlichkeitswert als Maß für das Vorhandensein des Hindernisses in dem jeweiligen Feld bestimmt wird.The invention relates to a detection device of a motor vehicle for detecting an obstacle in an environmental region of the motor vehicle with at least one first environment sensor unit. DOLLAR A According to the invention it is proposed to provide a first computing unit for generating a first probability distribution for the presence of the obstacle in the detected with the first environment sensor unit surrounding area, wherein the surrounding area is divided into a predetermined number of fields and for each predetermined field, a probability value as a measure of the presence of the obstacle in the respective field is determined.
Description
Die Erfindung betrifft eine Erfassungsvorrichtung eines Kraftfahrzeuges zur Erfassung eines Hindernisses gemäß dem Oberbegriff des Patentanspruches 1 und ein Sicherheitssystem für einen fahrerlosen Betrieb eines Kraftfahrzeuges gemäß dem Oberbegriff des Patentanspruches 8.The The invention relates to a detection device of a motor vehicle for detecting an obstacle according to the preamble of claim 1 and a security system for a driverless operation of a motor vehicle according to the preamble of claim 8.
Aus
der
Außerdem wird
in der
Des
weiteren ist aus der
Der Erfindung liegt die Aufgabe zugrunde, eine Erfassungsvorrichtung eines Kraftfahrzeuges zur Erfassung eines Hindernisses in einem Umgebungsbereich des Kraftfahrzeuges anzugeben, welche eine gegenüber dem Stand der Technik vereinfachte Funktionalität aufweist. Außerdem soll ein Sicherheitssystem für einen fahrerlosen Betrieb eines Kraftfahrzeuges angegeben werden.Of the Invention is based on the object, a detection device a motor vehicle for detecting an obstacle in a Specify surrounding area of the motor vehicle, which is one opposite the The prior art has simplified functionality. In addition, should a security system for a driverless operation of a motor vehicle can be specified.
Die erstgenannte Aufgabe wird gelöst durch eine Erfassungsvorrichtung eines Kraftfahrzeuges zur Erfassung eines Hindernisses in einem Umgebungsbereich des Kraftfahrzeuges mit den Merkmalen des Patentanspruches 1.The the first task is solved by a detection device of a motor vehicle for detection an obstacle in a surrounding area of the motor vehicle with the features of claim 1.
Erfindungsgemäß ist die erste Recheneinheit zur Generierung der ersten Wahrscheinlichkeitsverteilung für das Vorhandensein des Hindernisses in dem mit der ersten Umgebungssensoreinheit erfassten Umgebungsbereich vorgesehen, wobei der Umgebungsbereich in eine vorgegebene Anzahl von Felder aufgeteilt wird und für jedes vorgegebene Feld ein Wahrscheinlichkeitswert als Maß für das Vorhandensein des Hindernisses in dem jeweiligen Feld bestimmt wird. Die erste Recheneinheit und die erste Umgebungssensoreinheit sind Bestandteil der Erfassungsvorrichtung des Kraftfahrzeuges. Durch Aufteilung des Umgebungsbereiches mittels einer Gitterstruktur in die vorgegebene Anzahl von Felder, welche den vorgegebenen Umgebungsbereich vollständig abdecken, ist eine einfache Erfassung und Lokalisierung des Hindernisses im Umgebungsbereich des Kraftfahrzeuges gewährleistet. Besonders geeignet ist die Erfassungseinrichtung für einen fahrerlosen Betrieb, insbesondere einem Rangierbetrieb. Der Umgebungsbereich umfasst hier in der Regel einen unmittelbaren Vorausbereich des Kraftfahrzeuges mit einer typischen Tiefe von etwa 3 m. Dieser Vorausbereich wird dann beispielsweise in viereckige Felder mit einer Seitenlänge von ca. 0,5 m aufgeteilt. Im Rangierbetrieb werden Kraftfahrzeuge in der Regel mit einer Geschwindigkeit von ungefähr 7 km/h bewegt. Die Praxis hat erwiesen, dass mit der erfindungsgemäßen Erfassungseinrichtung die Geschwindigkeit des Kraftfahrzeuges in etwa verdoppelt werden kann, ohne dass es zu Kollisionen mit einem Hindernis im Umgebungsbereich des Kraftfahrzeuges kommt. Die Erfassungseinrichtung kann bei entsprechender Anordnung auch zur Überwachung eines rückwärtigen Umgebungsbereiches des Kraftfahrzeuges eingesetzt werden.According to the invention, the first arithmetic unit is provided for generating the first probability distribution for the presence of the obstacle in the environmental area detected by the first environmental sensor unit, the environmental area being divided into a predetermined number of fields and for each predetermined field a probability value as a measure for the presence of the obstacle is determined in the respective field. The first computing unit and the first environment sensor unit are part of the detection device of the motor vehicle. By dividing the surrounding area by means of a lattice structure into the predetermined number of fields which completely cover the given surrounding area, a simple detection and localization of the obstacle in the surrounding area of the motor vehicle is ensured. The detection device is particularly suitable for driverless operation, in particular a maneuvering operation. As a rule, the surrounding area here comprises an immediate advance area of the motor vehicle with a typical depth of approximately 3 m. This anticipate rich is then divided, for example, into square fields with a side length of about 0.5 m. In maneuvering vehicles are usually moved at a speed of about 7 km / h. Practice has proven that with the detection device according to the invention, the speed of the motor vehicle can be approximately doubled, without causing collisions with an obstacle in the surrounding area of the motor vehicle. The detection device can also be used with appropriate arrangement for monitoring a rear surrounding area of the motor vehicle.
In einer Ausgestaltung ist eine zweite Umgebungssensoreinheit zur Erfassung des Hindernisses in dem mit der ersten Umgebungssensoreinheit erfassten Umgebungsbereich vorgesehen. Mit einer zweiten Recheneinheit wird eine zweite Wahrscheinlichkeitsverteilung für die Erfassung des Hindernisses mit der zweiten Umgebungssensoreinheit generiert, wobei ebenfalls für jedes vorgegebene Feld des Umgebungsbereiches ein Wahrscheinlichkeitswert als Maß für das Vorhandensein des Hindernisses in dem jeweiligen Feld bestimmt wird. Dabei ist es von Vorteil, eine Fusionsplattform zur Generierung einer dritten Wahrscheinlichkeitsverteilung vorzusehen, welche aus der ersten und der zweiten Wahrscheinlichkeitsverteilung feldweise gebildet wird. Anschließend wird dasjenige Feld der dritten Wahrscheinlichkeitsverteilung mit dem größten Wahrscheinlichkeitswert ermittelt und wenn dieser Wahrscheinlichkeitswert größer als ein vorgegebener Wahrscheinlichkeitsschwellenwert ist, auf das Vorhandensein des Hindernisses im Umgebungsbereich des Kraftfahrzeuges geschlossen. Durch die Erfassung eines Umgebungsbereiches mit wenigstens zwei Umgebungssensoreinheiten kann die Genauigkeit bzw. die Sicherheit des Ergebnisses, d. h. ob ein Hindernis tatsächlich im Umgebungsbereich erfasst wird, verbessert werden. Die vorgegebenen Felder des Umgebungsbereiches weisen eine Nummerierung auf. Zur Bestimmung der dritten Wahrscheinlichkeitsverteilung für ein bestimmtes Feld werden jeweils die Wahrscheinlichkeitswerte der Felder der ersten und der zweiten Wahrscheinlichkeitsverteilung mit derselben Nummer herangezogen, wodurch sich der Begriff „feldweise Bildung" erklärt. Die sogenannte Fusion der Wahrscheinlichkeitswerte kann nach verschiedenen Ansätzen der Wahrscheinlichkeitsrechnung erfolgen.In One embodiment is a second environment sensor unit for detection the obstacle in the detected with the first environment sensor unit Surrounding area provided. With a second arithmetic unit is a second probability distribution for the detection of the obstacle generated with the second environment sensor unit, also for each given field of the surrounding area a probability value as a measure of the presence of the obstacle in the respective field. It is It is beneficial to use a fusion platform to generate a third Probability distribution to provide, which from the first and the second probability distribution formed by field becomes. Subsequently becomes that field of the third probability distribution the largest probability value and if this probability value is greater than is a predetermined probability threshold, to the presence closed the obstacle in the surrounding area of the motor vehicle. By detecting a surrounding area with at least two Environmental sensor units can be accurate or safety of the result, d. H. whether an obstacle is actually in the surrounding area is to be improved. The default fields of the surrounding area have a numbering. To determine the third probability distribution for a particular field will each have the probability values of Fields of the first and second probability distribution with the same number, whereby the term "field by field Education "explains so-called fusion of the probability values can after different approaches the probability calculation.
In einer weiteren Ausgestaltung weist die erste und die zweite Umgebungssensoreinheit verschiedene physikalische Messprinzipien auf, wobei die erste und/oder die zweite Umgebungssensoreinheit jeweils mehrere Sensoren umfassen kann. Durch den Einsatz verschiedener Messprinzipien, insbesondere durch den Einsatz von Radarsensoren und einer Kamera, wird die Erfassungsgenauigkeit weiter gesteigert. Änderungen der Umgebungsbedingungen, beispielsweise eine Veränderung der Witterungsbedingungen, wirken sich dadurch nicht einschränkend auf den Betrieb der Erfassungsvorrichtung aus. Eine Umgebungssensoreinheit kann auch mehrere Sensoren vom gleichen Messprinzip umfassen, beispielsweise können mehrere Radarsensoren in einer Ebene parallel zur Straßenoberfläche an der Vorderseite des Kraftfahrzeuges angeordnet sein, die den Umgebungsbereich überwachen und deren Sensorwerte zur Bildung einer Wahrscheinlichkeitsverteilung verwendet werden.In In a further embodiment, the first and the second environmental sensor unit various physical measuring principles, wherein the first and / or the second environment sensor unit each comprise a plurality of sensors can. Through the use of different measuring principles, in particular through the use of radar sensors and a camera, the detection accuracy becomes further increased. amendments the environmental conditions, such as a change the weather conditions, thereby affecting not restrictive the operation of the detection device. An environment sensor unit may also include multiple sensors of the same measuring principle, for example can several radar sensors in a plane parallel to the road surface at the Be arranged front of the motor vehicle, which monitor the surrounding area and their sensor values to form a probability distribution be used.
Vorzugsweise sind die beiden Umgebungssensoreinheiten dergestalt am Kraftfahrzeug angeordnet, dass sie den Umgebungsbereich aus verschiedenen Neigungswinkeln gegenüber einer Fahrbahnoberfläche erfassen. Hierdurch wird eine räumliche Überwachung des Umgebungsbereiches ermöglicht. Ein Hindernis, welches beispielsweise unter einem Neigungswinkel von 0 Grad (parallel zur Straßenoberfläche) nicht erfasst wird, kann von der unter einem anderen Neigungswinkel angeordneten Umgebungssensoreinheit detektiert werden. Bei diesem Hindernis kann es sich beispielsweise um einen größeren Stein auf der Straße handeln.Preferably the two environmental sensor units are on the motor vehicle arranged that they surround the area from different angles of inclination across from capture a road surface. This will provide a spatial monitoring of the surrounding area. An obstacle, for example, at an angle of inclination of 0 degrees (parallel to the road surface) not can be detected from the arranged at a different angle of inclination Ambient sensor unit can be detected. In this obstacle can For example, it could be a bigger stone on the road.
Die zweitgenannte Aufgabe wird gelöst durch eine Sicherheitssystem für einen fahrerlosen Betrieb eines Kraftfahrzeuges mit den Merkmalen des Patentanspruches 8.The second task is solved through a security system for a driverless operation of a motor vehicle with the features of claim 8.
Das Sicherheitssystem für den fahrerlosen Betrieb des Kraftfahrzeuges umfasst erfindungsgemäß neben der Erfassungsvorrichtung eine im Kraftfahrzeug angeordnete Fahrtverlaufkontrolleinheit, welche eingangsseitig von der Fusionsplattform, welche als erste Eingangsinformation einen Hinweis für das Vorhandensein des Hindernisses im Umgebungsbereich des Kraftfahrzeuges der Fahrtverlaufkontrolleinheit zur Verfügung stellt, und einem Leitrechner des Kraftfahrzeugs, welcher als zweite Eingangsinformation einen gewünschten Fahrtverlauf für das Kraftfahrzeug der Fahrtverlaufkontrolleinheit zur Verfügung stellt, angesteuert wird.The Security system for the driverless operation of the motor vehicle comprises according to the invention in addition the detection device is a drive course control unit arranged in the motor vehicle, which on the input side of the fusion platform, which is the first Input information an indication of the presence of the obstacle in the surrounding area of the motor vehicle of the route control unit to disposal represents, and a host of the motor vehicle, which as the second Input information a desired Course of the journey for the motor vehicle makes available to the route control unit, is controlled.
Weitere vorteilhafte Ausgestaltungen der Erfindung sind in den Unteransprüchen wiedergegeben.Further advantageous embodiments of the invention are given in the dependent claims.
Die Erfindung wird anhand mehrerer Ausführungsbeispiele in den Figuren näher erläutert. Dabei zeigen:The invention will be explained in more detail with reference to several embodiments in the figures. Zei gene:
Gemäß
Der
ersten Umgebungssensoreinheit
Der
Umgebungsbereich
Für jedes
vorgegebene Feld
Die
erste und die zweite Wahrscheinlichkeitsverteilung werden jeweils
in Form eines Datenpaketes über
einen Datenbus, beispielsweise einen CAN-Bus (Controller Area Network),
von den beiden Recheneinheiten
In diesem Ausführungsbeispiel erfolgt die feldweise Bildung der dritten Wahrscheinlichkeitsverteilung nach dem Bayesschen Satz über bedingte Wahrscheinlichkeiten in der Form: In this exemplary embodiment, the field-wise formation of the third probability distribution according to the Bayesian theorem takes place via conditional probabilities in the form:
A
ist die Annahme, dass das entsprechende Feld
Die
erste Umgebungssensoreinheit
Die
beiden Umgebungssensoreinheiten
Die
Fahrtverlaufkontrolleinheit
Die
erfindungsgemäße Erfassungsvorrichtung
Claims (10)
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
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DE102004007553A DE102004007553A1 (en) | 2004-02-17 | 2004-02-17 | Detecting device and safety system for a motor vehicle |
PCT/EP2005/001239 WO2005081200A2 (en) | 2004-02-17 | 2005-02-08 | Detection device for a motor vehicle |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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DE102004007553A DE102004007553A1 (en) | 2004-02-17 | 2004-02-17 | Detecting device and safety system for a motor vehicle |
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DE102004007553A1 true DE102004007553A1 (en) | 2005-09-01 |
Family
ID=34813430
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DE102004007553A Withdrawn DE102004007553A1 (en) | 2004-02-17 | 2004-02-17 | Detecting device and safety system for a motor vehicle |
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WO (1) | WO2005081200A2 (en) |
Cited By (18)
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WO2007028932A1 (en) * | 2005-09-09 | 2007-03-15 | Institut National De Recherche En Informatique Et En Automatique | Vehicle steering aid method and improved related device |
FR2890773A1 (en) * | 2005-09-09 | 2007-03-16 | Inst Nat Rech Inf Automat | Driving assistance method, e.g. for ABS and ACC systems, in which an area in front of a vehicle is discretized as a multiplicity of cells and the vehicle collision probability is determined based on individual cell calculations |
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EP1927866A1 (en) * | 2006-12-01 | 2008-06-04 | Robert Bosch Gmbh | Method for grid-based processing of sensor signals |
WO2008071473A1 (en) * | 2006-12-11 | 2008-06-19 | Robert Bosch Gmbh | Method and device for detecting an obstacle in a region surrounding a motor vehicle, and motor vehicle |
DE102007012458A1 (en) | 2007-03-15 | 2008-09-18 | Robert Bosch Gmbh | Method for object formation |
EP2113437A2 (en) | 2008-04-28 | 2009-11-04 | Robert Bosch GmbH | Method for ascertaining free areas in the vicinity of a motor vehicle in particular the vicinity relevant to driving the vehicle |
DE102008062273A1 (en) * | 2008-12-15 | 2010-06-17 | Volkswagen Ag | Method for supplying information over objects in surrounding of motor vehicle, involves detecting measuring data over objects, evaluating measuring data and supplying surrounding field representation |
WO2010127650A1 (en) * | 2009-05-06 | 2010-11-11 | Conti Temic Microelectronic Gmbh | Method for evaluating sensor data for a motor vehicle |
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WO2007028932A1 (en) * | 2005-09-09 | 2007-03-15 | Institut National De Recherche En Informatique Et En Automatique | Vehicle steering aid method and improved related device |
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WO2005081200A3 (en) | 2005-11-10 |
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