DE102005013146A1 - Location system for detecting animals on blind side of motor vehicle, has blindness recognition device in at least one sensor to evaluate data from another sensor - Google Patents
Location system for detecting animals on blind side of motor vehicle, has blindness recognition device in at least one sensor to evaluate data from another sensor Download PDFInfo
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- DE102005013146A1 DE102005013146A1 DE102005013146A DE102005013146A DE102005013146A1 DE 102005013146 A1 DE102005013146 A1 DE 102005013146A1 DE 102005013146 A DE102005013146 A DE 102005013146A DE 102005013146 A DE102005013146 A DE 102005013146A DE 102005013146 A1 DE102005013146 A1 DE 102005013146A1
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- 201000004569 Blindness Diseases 0.000 title claims abstract description 61
- 241001465754 Metazoa Species 0.000 title 1
- 238000007781 pre-processing Methods 0.000 claims description 5
- 238000001514 detection method Methods 0.000 description 38
- 238000002592 echocardiography Methods 0.000 description 6
- 238000011156 evaluation Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000035945 sensitivity Effects 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000003734 kidney Anatomy 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000001052 transient effect Effects 0.000 description 1
Classifications
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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
- G01S13/88—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
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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
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/862—Combination of radar systems with sonar systems
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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
- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
- G01S7/4039—Means for monitoring or calibrating of parts of a radar system of sensor or antenna obstruction, e.g. dirt- or ice-coating
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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
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/865—Combination of radar systems with lidar systems
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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
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/867—Combination of radar systems with cameras
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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
- G01S13/88—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
- G01S2013/9324—Alternative operation using ultrasonic waves
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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
- G01S13/88—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
- G01S2013/9325—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles for inter-vehicle distance regulation, e.g. navigating in platoons
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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
- G01S13/88—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
- G01S2013/93271—Sensor installation details in the front of the vehicles
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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
- G01S7/4052—Means for monitoring or calibrating by simulation of echoes
- G01S7/4082—Means for monitoring or calibrating by simulation of echoes using externally generated reference signals, e.g. via remote reflector or transponder
- G01S7/4091—Means for monitoring or calibrating by simulation of echoes using externally generated reference signals, e.g. via remote reflector or transponder during normal radar operation
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Radar Systems Or Details Thereof (AREA)
- Traffic Control Systems (AREA)
Abstract
Description
Stand der TechnikState of technology
Die Erfindung betrifft ein Ortungssystem für Kraftfahrzeuge, mit mindestens zwei Sensoren zur Ortung von Objekten im Umfeld des Fahrzeugs.The The invention relates to a positioning system for motor vehicles, with at least Two sensors for locating objects around the vehicle.
Solche Ortungssysteme werden insbesondere in Verbindung mit Fahrerassistenzsystemen eingesetzt. Ein Beispiel eines solchen Assistenzsystems ist ein ACC-System (Adaptive Cruise Control), das eine automatische Abstandsregelung auf ein vorausfahrendes Fahrzeug ermöglicht. Als Sensor ist in diesem Fall zumeist ein Radarsensor (LRR; Long Range Radar) vorgesehen, mit dem Abstände, Relativgeschwindigkeiten und Azimutwinkel von Objekten im Vorfeld des Fahrzeugs gemessen werden können. Im Betrieb kann jedoch die Empfindlichkeit dieses Sensors durch verschiedene Faktoren, insbesondere durch Verschmutzung, Schneebedeckung und dergleichen, beträchtlich herabgesetzt werden, bis hin zur völligen Erblindung des Sensors. Um eine hohe Funktionssicherheit des Systems zu gewährleisten, ist dem Sensor eine Blindheitserkennungseinrichtung zugeordnet. Wenn eine Erblindung des Sensors erkannt wird, so wird das ACC-System abgeschaltet und ein entsprechender Warnhinweis an den Fahrer ausgegeben.Such Positioning systems are used in particular in connection with driver assistance systems. An example of such an assistance system is an ACC system (Adaptive Cruise Control), which has an automatic clearance control on preceding vehicle allows. The sensor used in this case is usually a radar sensor (LRR; Long Range Radar), with the distances, Relative velocities and azimuth angles of objects in advance of the vehicle can be measured. in the However, the sensitivity of this sensor can be varied by operation Factors, in particular pollution, snow cover and like that, considerably be reduced to the point of complete blindness of the sensor. To ensure high reliability of the system is associated with the sensor, a blindness detection device. If a blindness of the sensor is detected, so does the ACC system switched off and issued a warning to the driver.
Zur Blindheitserkennung sind verschiedene Verfahren bekannt. Zum Beispiel können zu diesem Zweck die Radarechos von stehenden Objekten am Fahrbahnrand ausgewertet werden, etwa von Leitplankenpfosten, Verkehrsschilden und dergleichen. Bei Fahrten in sehr strukturarmen Gegenden, in denen keine stehenden Radarziele vorhanden sind, kann die Blindheitserkennungseinrichtung jedoch fälschlich auf eine Erblindung des Sensors schließen, so daß das ACC-System unnötigerweise abgeschaltet wird.to Blindness detection, various methods are known. For example can For this purpose, the radar echoes of stationary objects on the roadside be evaluated, such as guardrail posts, traffic signs and the same. When driving in very structurally poor areas, in where no standing radar targets are present, the blindness detection device but falsely to blindness of the sensor, so that the ACC system is turned off unnecessarily.
Für fortgeschrittene Fahrerassistenzsysteme ist der Einsatz von komplexeren Ortungssystemen mit mehren Sensoren vorgeschlagen worden. Dies gilt beispielsweise für ACC-Systeme mit einem erweiterten Funktionsumfang, etwa mit einer Stop & Go Funktion, die eine Abstandsregelung auch bei sehr niedrigen Geschwindigkeiten erlaubt und es insbesondere auch ermöglicht, daß Fahrzeug automatisch in den Stand zu bremsen, und die gegebenenfalls auch das automatische Wiederanfahren des Fahrzeugs steuert, wenn der Verkehr es erlaubt. Durch die erweiterte Sensorik soll dann insbesondere eine Ortung von Objekten im Nahbereich ermöglicht werden. Geeignet hierfür sind z.B. kurzreichweitige Radarsensoren (SRR; Short Range Radar), Videosensoren, Lidarsensoren, Ultraschallsensoren und dergleichen. Sofern bei solchen komplexeren Ortungssystemen eine Blindheitserkennungseinrichtung für den Radarsensor oder die Radarsensoren vorgesehen ist, so ist die Blindheits erkennungseinrichtung jeweils speziell dem betreffenden Sensor zugeordnet.For advanced Driver assistance systems is the use of more complex positioning systems with Several sensors have been proposed. This applies, for example, to ACC systems with a extended range of functions, such as with a stop & go function, the a distance control even at very low speeds allowed and in particular it also allows the vehicle automatically in the Stand to brake, and possibly also the automatic restart the vehicle controls when traffic permits. By the extended Sensorics should then in particular a localization of objects in the vicinity allows become. Suitable for this are e.g. short-range radar sensors (SRR; Short Range Radar), Video sensors, lidar sensors, ultrasonic sensors and the like. Provided that in such complex location systems, a blindness detection device for the Radar sensor or the radar sensors is provided, then the blindness detection device each specifically assigned to the respective sensor.
Aus
Vorteile der ErfindungAdvantages of invention
Die Erfindung mit den in Anspruch 1 angegebenen Merkmalen ermöglicht es bei Ortungssystemen, die mehrere Sensoren aufweisen, mit einfachen Mitteln eine Blindheitserkennung zu implementieren oder deren Verläßlichkeit zu verbessern.The Invention with the features specified in claim 1 makes it possible in location systems that have multiple sensors, with simple Means to implement blindness detection or its reliability to improve.
Dies wird erfindungsgemäß dadurch erreicht, daß eine Blindheitserkennungseinrichtung für einen der Sensoren dazu ausgebildet ist, Ortungsdaten eines anderen Sensors auszuwerten.This is characterized according to the invention achieved that a Blindness detection device designed for one of the sensors is to evaluate locating data of another sensor.
Wenn sich beispielsweise ein Objekt in der Überlappungszone der Ortungsbereiche der beiden Sensoren befindet, so muß dieses Objekt normalerweise von beiden Sensoren erkannt werden. Wird das Objekt in diesem Fall nur von einem der Sensoren erkannt, so ist dies ein Indiz, das entweder für sich allein oder gegebenenfalls in Kombination mit anderen Indizien, die auf unabhängige Weise von der Blindheitserkennungseinrichtung gewonnen werden, auf eine Erblindung des Sensors schließen läßt.If For example, an object in the overlapping zone of the detection areas of the two sensors, this object must normally be detected by both sensors. Will the object in this case Detected only by one of the sensors, this is an indication that either for themselves alone or, if appropriate, in combination with other indications, the on independent Be obtained from the blindness detection device, on suggests blindness of the sensor.
Vorteilhafte Ausgestaltungen und Weiterbildungen der Erfindung ergeben sich aus den Unteransprüchen.advantageous Refinements and developments of the invention will become apparent the dependent claims.
Besonders vorteilhaft ist die Erfindung in den Fällen, in denen die Blindheitserkennungseinrichtung mehrere unabhängige Kriterien zur Blindheitserkennung überprüft, wobei dann die Auswertung der Ortungsdaten des anderen Sensors ein zusätzliches und überdies sehr aussagekräftiges Entscheidungskriterium bereitstellt.Especially the invention is advantageous in those cases in which the blindness recognition device has several independent Criteria for blindness detection checked, in which case the evaluation the location data of the other sensor an additional and moreover very meaningful Decision criterion provides.
Als "Objekt" werden generell nur solche Radarechos interpretiert, die sich hinreichend deutlich vom Rauschpegel abheben. Der Schwellenwert, den die Signalamplitude dabei mindestens haben muß, ist ein kritischer Parameter. Wird diese Schwelle sehr hoch angesetzt, so werden Ereignisse, die eine Blindheitserkennung ermöglichen, nur relativ selten auftreten, und die Empfindlichkeit der Blindheitserkennung ist entsprechend herabgesetzt. Wählt man dagegen einen sehr niedrigen Schwellenwert, so steigt die Wahrscheinlichkeit, daß ein Objekt, das von einem Sensor erkannt wurde, von dem anderen Sensor aufgrund einer nur vorübergehenden Signalstörung übersehen wird, so daß dann fälschlich auf die Erblindung des Sensors geschlossen wird. Es ist deshalb zweckmäßig, nicht schon bei einem einzelnen Ereignis dieser Art auf eine Erblindung des Sensors zu schließen, sondern vielmehr erst dann, wenn solche Ereignisse mit einer gewissen Häufigkeit auftreten.In general, only "radar echoes" that are sufficiently distinct from the noise level are interpreted as "objects". The threshold that the signal amplitude must at least have is a critical parameter. Will this threshold be very high, events that enable blindness detection are relatively infrequent, and the sensitivity of blindness detection is correspondingly lowered. On the other hand, choosing a very low threshold increases the likelihood that an object detected by one sensor will be missed by the other sensor due to a transient signal disturbance, thus erroneously inferring the sensor's blindness. It is therefore appropriate not to conclude blindness of the sensor in a single event of this kind, but rather only when such events occur with a certain frequency.
Die Häufigkeitsschwelle kann dabei ihrerseits davon abhängig sein, in welchem Ausmaß andere Kriterien für die Blindheitserkennung erfüllt sind. Beispielsweise sind Blindheitserkennungseinrichtungen bekannt, die die Dämpfung der Signalamplitude und/oder die Abnahme der Winkelauflösung auswerten, die durch einen Schmutz- oder Schneebelag auf dem Sensor verursacht wird. Eine Erblindung des Sensors durch Schmutz oder Schnee wird nämlich in der Regel nicht plötzlich auftreten, sondern sich allmählich anbahnen, was an einer stetigen Abnahme der Signalamplitude und der Winkelauflösung zu erkennen ist. Wenn dann die Radarechos schließlich ganz ausbleiben, läßt sich anhand eines einzelnen Sensors noch nicht sicher entscheiden, ob der Sensor erblindet ist oder ob wirklich keine Objekte vorhanden sind. In dieser Situation kann dann die Auswertung der Ortungsdaten eines anderen Sensors das entscheidende Kriterium bilden.The frequency threshold can in turn depend on it be to what extent others Criteria for meets the blindness detection are. For example, blindness recognition devices are known, the damping evaluate the signal amplitude and / or the decrease of the angular resolution, which is caused by a dirt or snow cover on the sensor becomes. A blindness of the sensor by dirt or snow is namely usually not suddenly occur but gradually initiate a steady decrease in the signal amplitude and the angular resolution can be seen. When the radar echoes finally fail completely, they let themselves go using a single sensor yet to decide for sure whether the sensor is blind or no objects are present are. In this situation, then the evaluation of the location data of another sensor are the decisive criterion.
Die Auswertung der Ortungsdaten des anderen Sensors ist im Prinzip nicht auf Objekte beschränkt, die sich im Überlappungsbereich der Sensoren befinden. Wenn beispielsweise ein Kriterium für die Blindheitserkennung darin besteht, daß keine stehenden Objekte am Fahrbahnrand mehr geortet werden, so erlaubt häufig die Auswertung der Daten des anderen Sensors die Entscheidung, ob wirklich eine Erblindung vorliegt oder ob schlicht keine stehenden Objekte vorhanden sind.The Evaluation of the location data of the other sensor is not in principle limited to objects, in the overlap area the sensors are located. For example, if a criterion for blindness detection It is that no standing Objects at the roadside are more localized, so often allows the Evaluation of the data of the other sensor, the decision whether really one Blindness exists or simply if there are no standing objects are.
Die Erfindung ist bei Kombinationen von Sensoren unterschiedlicher Art anwendbar, beispielsweise bei Kombinationen von LRR- und SRR-Radarsensoren, von SRR-Sensoren untereinander, von Radarsensoren und Videosensoren sowie von Radarsensoren mit Ultraschallsensoren. In bestimmten Fällen erweist sich die Kombination von Radarsensoren und Ultraschallsensoren als besonders zweckmäßig. Beispielsweise sind Blindheitserkennungseinrichtungen für Radarsensoren bekannt, bei denen ein Teil des Radarstrahls durch einen Strahlteiler auf die Fahrbahnoberfläche abgelenkt wird, so daß man verstärkt Radarechos von Fahrbahnunebenheiten empfängt. Das Ausbleiben dieser Radarechos stellt dann ein Indiz für eine Erblindung des Senors dar. Auch hier ist jedoch nicht ohne weiteres zu entscheiden, ob wirklich eine Erblindung vorliegt oder ob die Fahrbahnoberfläche so glatt ist, daß sie keine genügend starken Echos erzeugt. Die Auswertung der Daten von Ultraschallsensoren ermöglicht es, zwischen diesen Fällen zu unterscheiden.The Invention is in combinations of sensors of different types applicable, for example in combinations of LRR and SRR radar sensors, SRR sensors among themselves, radar sensors and video sensors as well as radar sensors with ultrasonic sensors. In certain cases proves The combination of radar sensors and ultrasonic sensors as especially useful. For example are blindness detection devices for radar sensors known in which a part of the radar beam through a beam splitter on the road surface is distracted, so that one reinforced Radar echoes of road bumps receives. The absence of these radar echoes then provides an indication for a blindness of the Senors dar. Again, is not without to decide whether there really is a blindness or whether the road surface so smooth is she not enough generates strong echoes. The evaluation of data from ultrasonic sensors allows it, between these cases to distinguish.
Die Erfindung läßt sich mit unterschiedlichen Architekturen des Ortungssystems realisieren. Eine denkbare Architektur besteht darin, daß die Blindheitserkennungseinrichtung in einem Zentralrechner implementiert ist, der die Ortungsdaten der mehreren Sensoren auswertet. Eine alternative Architektur besteht darin, daß die Blindheitserkennungseinrichtung für einen Sensor in eine Auswertungsstufe dieses Sensors integriert ist, in der die Sensordaten einer Vorverarbeitung unterzogen werden. Die Ortungsdaten mindestens einen anderen Sensors werden dann dieser Vorverarbeitungsstufe entweder direkt von dem anderen Sensor oder vom Zentralrechner zugeführt.The Invention can be realize with different architectures of the location system. One conceivable architecture is that the blindness recognition device implemented in a central computer that stores the location data which evaluates several sensors. An alternative architecture exists in that the Blindness detection device for a sensor in an evaluation stage This sensor is integrated in which the sensor data of a preprocessing be subjected. The location data of at least one other sensor are then this preprocessing stage either directly from the another sensor or supplied from the central computer.
Zeichnungdrawing
Ausführungsbeispiele der Erfindung sind in den Zeichnungen dargestellt und in der nachfolgenden Beschreibung näher erläutert.embodiments The invention is illustrated in the drawings and in the following Description closer explained.
Es zeigen:It demonstrate:
In
Diagrammform sind in
Die
verschiedenen Ortungsbereiche
Weiterhin
ist in
In
Die
Blindheitserkennungseinrichtung
Weiterhin
kann die Blindheitserkennungseinrichtung
Eine
Blindheitserkennungseinrichtung
Die
in
Claims (8)
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DE102005013146A DE102005013146A1 (en) | 2005-03-22 | 2005-03-22 | Location system for detecting animals on blind side of motor vehicle, has blindness recognition device in at least one sensor to evaluate data from another sensor |
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Cited By (16)
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EP2081052A1 (en) * | 2008-01-16 | 2009-07-22 | Robert Bosch GmbH | Detection device for a vehicle and relevant detection procedure |
DE102010049091A1 (en) * | 2010-10-21 | 2012-04-26 | Gm Global Technology Operations Llc (N.D.Ges.D. Staates Delaware) | Method for operating at least one sensor of a vehicle and vehicle with at least one sensor |
DE102010056438A1 (en) * | 2010-12-28 | 2012-06-28 | Valeo Schalter Und Sensoren Gmbh | Method for automatic guiding of motor vehicle by driver assistance system of motor vehicle, involves detecting running ahead vehicle by distance sensor of driver assistance system |
US8589116B2 (en) | 2009-12-17 | 2013-11-19 | Robert Bosch Gmbh | Object sensor |
US9121920B2 (en) | 2010-10-21 | 2015-09-01 | GM Global Technology Operations LLC | Method for operating at least one sensor of a vehicle and vehicle having at least one sensor |
DE102014209744A1 (en) * | 2014-05-22 | 2015-12-17 | Robert Bosch Gmbh | Device for detecting the surroundings of a vehicle |
WO2017039862A1 (en) * | 2015-08-31 | 2017-03-09 | Autoliv Asp, Inc. | Apparatus and method for detecting blockage of an automotive radar sensor |
WO2017070127A1 (en) | 2015-10-21 | 2017-04-27 | Google Inc. | Methods and systems for clearing sensor occlusions |
EP3130938A4 (en) * | 2014-04-08 | 2017-06-07 | Panasonic Intellectual Property Management Co., Ltd. | Object detection device and object detection method |
DE102016103203A1 (en) * | 2016-02-24 | 2017-08-24 | Valeo Schalter Und Sensoren Gmbh | Method for detecting a blocked state of a radar sensor, radar sensor device, driver assistance system and motor vehicle |
US10162046B2 (en) | 2016-03-17 | 2018-12-25 | Valeo Radar Systems, Inc. | System and method for detecting blockage in an automotive radar |
US10656245B2 (en) | 2017-09-05 | 2020-05-19 | Valeo Radar Systems, Inc. | Automotive radar sensor blockage detection using adaptive overlapping visibility |
WO2020099223A1 (en) * | 2018-11-15 | 2020-05-22 | Robert Bosch Gmbh | Environmental sensor assembly |
US10794992B2 (en) | 2017-07-18 | 2020-10-06 | Veoneer Us, Inc. | Apparatus and method for detecting and correcting for blockage of an automotive radar sensor |
DE102019208217A1 (en) * | 2019-06-05 | 2020-12-10 | Volkswagen Aktiengesellschaft | Method and device for monitoring a sensor for detecting surroundings |
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2005
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