DE102005022677A1 - Sensor apparatus for detecting objects in front of motor vehicle, pivots sensor about vertical axis so that it can optimally detect vehicle's lane when traveling around curve - Google Patents
Sensor apparatus for detecting objects in front of motor vehicle, pivots sensor about vertical axis so that it can optimally detect vehicle's lane when traveling around curve Download PDFInfo
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- DE102005022677A1 DE102005022677A1 DE102005022677A DE102005022677A DE102005022677A1 DE 102005022677 A1 DE102005022677 A1 DE 102005022677A1 DE 102005022677 A DE102005022677 A DE 102005022677A DE 102005022677 A DE102005022677 A DE 102005022677A DE 102005022677 A1 DE102005022677 A1 DE 102005022677A1
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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
- 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
- G01S7/4026—Antenna boresight
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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
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- G01S7/403—Antenna boresight in azimuth, i.e. in the horizontal plane
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- G—PHYSICS
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- 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
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- G01S7/4026—Antenna boresight
- G01S7/4034—Antenna boresight in elevation, i.e. in the vertical plane
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- 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
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/408—Radar; Laser, e.g. lidar
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- 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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/20—Steering systems
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- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/14—Yaw
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- 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/18—Steering angle
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- 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
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- 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
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data
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- 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
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
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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
- G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction
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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
- G01S2013/9321—Velocity regulation, e.g. cruise control
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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
- G01S2013/9323—Alternative operation using light 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
- 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
- G01S2013/93277—Sensor installation details in the lights
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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)
- Traffic Control Systems (AREA)
- Lighting Device Outwards From Vehicle And Optical Signal (AREA)
Abstract
Description
Die vorliegende Erfindung betrifft ein Verfahren und eine Vorrichtung für einen Sensor zur Erfassung von Objekten vor einem Kraftfahrzeug, wobei Mittel zur Erkennung einer Kurvenfahrt vorhanden sind und der Sensor mittels eines Antriebsmittels um eine vertikale Achse drehbar ist und die Antriebsmittel bei einer Kurvenfahrt den Sensor so schwenken, dass der Sensorerfassungsbereich die eigene Fahrspur optimal erfasst.The The present invention relates to a method and an apparatus for one Sensor for detecting objects in front of a motor vehicle, wherein means for detecting cornering are present and the sensor means a drive means is rotatable about a vertical axis and the Drive means when cornering the sensor so pivot that the sensor detection area optimally detects its own traffic lane.
Aus der Veröffentlichung „Adaptive Cruise Control System – Aspects and Development Trends" von Winner, Witte, Uhler und Lichtenberg, veröffentlicht auf der SAE International Congress & Exposition am 26. bis 29.02.1996 in Detroit, ist ein Radarsensor bekannt, der an einem Kraftfahrzeug angebracht ist und Objekte im Vorfeld des Fahrzeugs erfasst und dahingehend bewertet, ob die erkannten Objekte vorherfahrende Fahrzeuge sind oder nicht. Wird ein vorherfahrendes Fahrzeug erkannt, so wird eine Geschwindigkeitsregelung im Sinne einer Abstandskonstantregelung auf das vorherfahrende Objekt durchgeführt sowie bei nicht Erkennen eines vorherfahrenden Fahrzeugs eine Geschwindigkeitsregelung im Sinne einer Geschwindigkeitskonstantregelung auf eine vom Fahrer vorgegebene Sollgeschwindigkeit durchgeführt. Der Radarsensor ist hierbei fest am Fahrzeug angebracht und in seiner horizontalen und vertikalen Ausrichtung lediglich zu Justagezwecken manuell verstellbar. Im Fahrbetrieb verändert sich der Sensorerfassungsbereich in Bezug auf das eigene Fahrzeug jedoch nicht, was insbesondere bei Kurvenfahrten zu dem Problem führt, dass bei einer vorausliegenden Kurve der Sensorerfassungsbereich nicht die eigene Fahrspur optimal erfasst, sondern in Richtung der verlängerten Fahrzeuglängsachse, insbesondere Objekte am Kurvenaussenrand erfasst, wodurch eventuell vorhandene, vorherfahrende Objekte nur schwer erkannt werden können oder während der Kurvenfahrt als Zielobjekt verloren gehen.Out the publication "Adaptive Cruise Control System - Aspects and Development Trends "by Winner, Witte, Uhler and Lichtenberg, published at SAE International Congress & Exposition on 26. to 29.02.1996 in Detroit, a radar sensor is known, the attached to a motor vehicle and objects in the apron of Detected vehicle and assessed whether the detected objects preceding vehicles are or not. Will be a driving ahead Vehicle detected, so is a cruise control in the sense a constant distance control on the preceding object performed and when not recognizing a preceding vehicle, a cruise control in the sense of a speed constant control on one of the driver predetermined target speed performed. The radar sensor is here firmly attached to the vehicle and in its horizontal and vertical Alignment adjustable manually only for adjustment purposes. in the Driving changed the sensor detection area is relative to the own vehicle However, not what, especially when cornering to the problem leads, that at a leading curve, the sensor detection area is not your own lane optimally captured, but in the direction of the extended Vehicle's longitudinal axis, In particular, objects detected on the outer edge of the curve, which may be existing, preceding objects are difficult to detect or while the cornering as a target object get lost.
Kern und Vorteile der ErfindungCore and advantages the invention
Der Kern der vorliegenden Erfindung ist es, eine Sensorvorrichtung und ein Verfahren anzugeben, mittels dem eine Kurvenfahrt oder eine vorausliegende Kurvenfahrt des Fahrzeugs erkennbar ist und der Sensor mittels eines Antriebsmittels um eine vertikale Achse so schwenkbar ist, dass die eigene, vorausberechnete Fahrspur optimal erfasst wird und vorherfahrende Fahrzeuge besser erkannt werden könnnen. Erfindungsgemäß wird dieses durch die Merkmale der unabhängigen Ansprüche gelöst. Vorteilhafte Weiterbildungen und Ausgestaltungen ergeben sich aus den Unteransprüchen.Of the The core of the present invention is a sensor device and to provide a method by means of a cornering or a preceding cornering of the vehicle is recognizable and the sensor by means of a drive means so pivotable about a vertical axis is that your own, precalculated lane optimally recorded and preceding vehicles can be better recognized. According to the invention this by the characteristics of the independent claims solved. Advantageous developments and refinements emerge the dependent claims.
Vorteilhafterweise ist das Antriebsmittel ein Elektromotor, eine elektrischer Piezoaktor, ein hydraulischer Antrieb, ein pneumatischer Antrieb oder eine Kombination hieraus. Insbesondere das Vorsehen eines Elektromotors oder eines elektrischen Piezoaktors erlaubt es, mittels günstiger und leicht ansteuerbaren Stellgliedern die Sensorvorrichtung so zu verdrehen, dass die Strasse stets optimal erfasst wird. Bei Fahrzeugen, bei denen eine hydraulische oder pneumatische Anlage im Fahrzeug bereits vorhanden ist kann vorteilhafter Weise einen hydraulischer Antrieb oder ein pneumatischer Antrieb, beispielsweise in der Form eines hydraulischen oder pneumatischen Zylinders vorgesehen werden, der damit die vorhandene Sensorvorrichtung verschwenkt. Erfindungsgemäß kann es auch vorgesehen sein, dass der Sensorerfassungbereich in Abhängigkeit des Gierwinkels des Fahrzeugs nicht wie eben beschrieben, mittels mechanischen oder elektromechanischen Aktuatoren geschwenkt wird, sondern dass die Sensorvorrichtung als Patchantenne ausgeführt ist, die mittels elektronischer Strahlformung geschwenkt werden kann. Hierzu ist es notwendig, dass die Antenne als Patchantenne mit einer Vielzahl an horizontal nebeneinander angebrachten Einzelantennen ausgeführt ist und die Einzelantennen mit jeweils einem Phasenschieber so angesteuert werden, dass die Richtcharakteristik der Gesamtantenne horizontal geschwenkt werden kann.advantageously, is the drive means an electric motor, an electrical piezoelectric actuator, a hydraulic drive, a pneumatic drive or a combination thereof. In particular, the provision of an electric motor or a electric piezoelectric actuator allows it by means of inexpensive and easily controllable Actuators turn the sensor device so that the road always optimally recorded. In vehicles where a hydraulic or pneumatic system already exists in the vehicle may be more advantageous Way a hydraulic drive or a pneumatic drive, for example in the form of a hydraulic or pneumatic Cylinder are provided, which thus the existing sensor device pivoted. According to the invention it can also be provided that the sensor detection area in dependence the yaw angle of the vehicle not as just described, by means of pivoted mechanical or electromechanical actuators, but that the sensor device is designed as a patch antenna, which can be pivoted by means of electronic beam shaping. For this it is necessary that the antenna as patch antenna with a multiplicity is carried out on horizontally side by side mounted individual antennas and the individual antennas with one phase shifter so controlled be that the directional characteristic of the overall antenna horizontal can be swiveled.
Weiterhin ist es vorteilhaft, dass die Mittel zur Erkennung einer Kurvenfahrt ein Gierratensensor, eine Fahrdynamikregelung, ein Lenkradwinkelsensor, eine Steuereinrichtung zur Berechnung eines Radeinschlagswerts für eine eletrisch angesteuerte Lenkung, ein Navigationssystem, das eine Strassenkrümmungsinformation bereitstellt, ein Bilderfassungssystem, das das Umfeld vor dem Fahrzeug auswertet und eine Fahrspurkrümmungsinformation bereitstellt oder eine Kombination hieraus, ist. Mittels eines Gierratensensors ist es möglich, Drehbewegungen um die Fahrzeughochachse zu erkennen und diese für eine Kurvenfahrt des Fahrzeugs auszuwerten. Besonders vorteilhaft ist die Erkennung einer Kurvenfahrt mittels einer Fahrdynamikregelung (bspw. ESP), bei der nicht nur die Gierbewegung des Fahrzeugs um die Fahrzeughochachse, sondern auch Querbeschleunigungen oder weitere Fahrzeugbeschleunigungswerte ermittelt werden und hieraus die translatorischen und rotatorischen Fahrzeugbewegungen ermittelbar sind. Eine derartige Fahrdynamikregelung wird beispielsweise zur sicheren Kurvendurchfahrt bei Fahrzeugen eingesetzt und ist in den Fahrzeugen sehr weit verbreitet, so dass man keine zusätzliche Sensorik benötigt.Farther It is advantageous that the means for detecting a cornering a yaw rate sensor, a vehicle dynamics control, a steering wheel angle sensor, a control device for calculating a Radeinschlagwerts for an eletric controlled steering, a navigation system, the road curvature information provides an image capture system that evaluates the environment in front of the vehicle and providing lane curvature information or a combination of these is. By means of a yaw rate sensor Is it possible, Rotary movements to recognize the vehicle's vertical axis and this for cornering to evaluate the vehicle. Particularly advantageous is the detection cornering by means of a vehicle dynamics control (eg ESP), not only the yawing motion of the vehicle about the vehicle's vertical axis, but also lateral accelerations or other vehicle acceleration values be determined and from this the translational and rotational Vehicle movements can be determined. Such a vehicle dynamics control is used, for example, to ensure safe passage through the vehicle used and is very widespread in the vehicles, so that you do not have any extra Sensor technology needed.
Das Vorsehen von Kurvenfahrterkennungsmitteln in Form eines Lenkradwinkelsensors ermöglicht es, die Drehbewegungen des Fahrers am Lenkrad zu erfassen und aus dem Ausschlag der Lenkbewegungen sowie der Geschwindigkeit der Lenkbewegung sowohl absichtliche Lenkmanöver als auch unabsichtliche Lenkmanöver in Folge einer Fahrerunaufmerksamkeit zu ermitteln und hieraus auf eine Kurvenfahrt oder auch beispielsweise einen Spurwechsel zu schliessen. Bei Fahrzeugen, die über eine Lenkung verfügen, die mittels elektrischer Signale ansteuerbar sind, ist es ausserdem möglich, den Radeinschlagswert der lenkbaren Räder dahingehend auszuwerten, ob eine Kurvenfahrt vorliegt oder ob es sich hierbei um einen Spurwechsel des Fahrzeugs handelt. Weiterhin ist es vorteilhaft, ein Navigationssystem vorzusehen, das die eigene Fahrzeugposition feststellen kann und bezüglich der momentanen Fahrzeugposition in einer digitalisierten Strassendatenbank nach eventuell vorausbefindlichen Kurven durchsuchen kann und bei Erkennen einer vorausbefindlichen Kurve die Krümmungsinformation beispielsweise in Form des Kurvenkrümmungsradiusses heranzuziehen und hieraus ein Ansteuersignal für das Antriebsmittel zum Schwenken der Sensorvorrichtung abzuleiten. Weiterhin ist es auch möglich, ein Bilderfassungssystem vorzusehen, das das Umfeld vor dem Fahrzeug auswertet und bei dem beispielsweise durch Auswertung der Fahrspurbegrenzungen einen Strassenkrümmungsradius berechnen kann, aus dem die Ansteuersignale für die Antriebsmittel zum Schwenken der Sensorvorrichung um eine vertikale Achse ableitbar sind. Besonders vorteilhaft ist es beispielsweise, Kombinationen vorzusehen, wobei besonders eine Kombination hervorgehoben werden soll, bei der sowohl der momentane Kurvenkrümmungsradius als auch der zukünftige Kurvenkrümmungsradius berücksichtigt wird, beispielsweise durch eine Kombination einer Fahrdynamikregelung und eines vorausschauenden Navigationssystems.The provision of cornering detection means in the form of a steering wheel angle sensor made possible It is light to detect the rotational movements of the driver on the steering wheel and to determine from the rash of the steering movements and the speed of the steering both deliberate steering maneuvers and unintentional steering maneuvers as a result of driver inattention and from this on a cornering or, for example, to close a lane change. In vehicles that have a steering, which are controlled by means of electrical signals, it is also possible to evaluate the Radeinschlagwert the steerable wheels to determine whether there is a cornering or if this is a lane change of the vehicle. Furthermore, it is advantageous to provide a navigation system which can determine its own vehicle position and search for possibly present curves with respect to the current vehicle position in a digitized road database and to use the curvature information, for example in the form of the Kurvenkurümmungsradius in detecting a vorausbefindlichen curve and from this a drive signal for the Derive drive means for pivoting the sensor device. Furthermore, it is also possible to provide an image acquisition system which evaluates the environment in front of the vehicle and in which, for example by evaluating the lane boundaries, a road curvature radius can be calculated from which the drive signals for the drive means for swiveling the sensor device can be derived about a vertical axis. It is particularly advantageous, for example, to provide combinations, with particular emphasis being placed on a combination in which both the instantaneous curve radius of curvature and the future curve radius of curvature are taken into account, for example by a combination of vehicle dynamics control and a predictive navigation system.
Weiterhin ist es vorteilhaft, dass die Sensorvorrichung in einen adaptiven Frontscheinwerfer integriert ist, der bei einer Kurvenfahrt in Gierrichtung geschwenkt wird. Mittlerweile sind Fahrzeugbeleuchtungseinrichtungen bekannt, die bei einem Lenkeinschlag des Fahrzeugs einen Teil der Fahrzeugfrontbeleuchtung derart schwenken können, dass die Fahrbahn in Richtung kurveninnere Richtung ausgeleuchtet wird, um mögliche Hindernisse besser zu erkennen. Wird eine derartige Sensorvorrichtung zur Erfassung von Objekten vor einem Kraftfahrzeug in eine derartige adaptive Frontscheinwerfereinheit integriert, so wird die Sensorvorrichtung bei Erkennen eines Lenkeinschlags mit der Beleuchtungseinrichtung mitgeschwenkt, wodurch sowohl der Sensor zur Erfassung von Objekten als auch die Frontbeleuchtung entsprechend in Richtung Kurveninneres gedreht werden, um den zukünftigen Kursbereich des Fahrzeugs optimal auszuleuchten.Farther it is advantageous that the sensor device in an adaptive Headlight is integrated, which when cornering in yaw direction is pivoted. Meanwhile, vehicle lighting devices known that at a steering angle of the vehicle part of the Vehicle front lighting can pivot so that the road in Direction inside the curve is illuminated to possible obstacles better to recognize. If such a sensor device for detecting of objects in front of a motor vehicle in such an adaptive Headlight unit integrated, so the sensor device upon detection of a steering angle with the illumination device swiveled together, which allows both the sensor to detect objects as well as the front lighting accordingly in the direction of the curve inside be turned to the future Illuminate course range of the vehicle optimally.
Weiterhin ist es vorteilhaft, dass die Sensorvorrichtung ein Radarsensor oder ein Ladarsensor, insbesondere zur adaptiven Abstands- und Geschwindigkeitsregelung des Kraftfahrzeugs ist.Farther it is advantageous that the sensor device is a radar sensor or a Ladarsensor, in particular for adaptive distance and speed control of the motor vehicle.
Vorteilhafter Weise wird zur optimalen Erfassung der eigenen Fahrspur durch den Sensorerfassungsbereich die Überlappungsfläche von Sensorerfassungsbereich und vorausberechneter Fahrspur maximiert. Hierzu wird eine zukünftige oder momentane Kurvenkrümmung der befahrenen Fahrspur herangenommen sowie eine Fahrspurbreite angenommen oder mittels eines Bilderfassungssystems erkannt oder mittels eines Navigationssystems mit digitalisierten Kartendaten abgefragt und der Schwenkwinkel des Sensors ermittelt, bei dem der Sensorerfassungbereich mit der vorausberechneten, eigenen Fahrspur die größte Überlappungsfläche aufweist. Dabei ist es vorteilhaft, dass besonders relevante Bereiche, beispielsweise um ein erkanntes Zielobjekt herum, stärker gewichtet werden können, indem die Überlappungsfläche in Teilflächen zerlegt wird und jede Teilfläche mit einem Wichtungsfaktor gewichtet werden kann, wobei besonders relevante Bereiche hierbei stärker gewichtbar sind als unrelevante Bereiche.Favorable Way is for optimal detection of one's own lane by the Sensor detection area the overlap area of Sensor detection area and predicted lane maximized. This will be a future or momentary curve curvature the traffic lane taken and a lane width accepted or detected by an image capture system or by means of a navigation system with digitized map data queried and determines the tilt angle of the sensor, in which the Sensor detection area with the predicted own lane has the largest overlap area. there It is advantageous that particularly relevant areas, for example around a recognized target object, can be weighted more heavily by the overlapping surface is divided into partial surfaces and every subarea can be weighted with a weighting factor, with particular relevant areas stronger here are weighted as unrelevant areas.
Weiterhin ist es vorteilhaft, dass zur optimalen Erfassung der eigenen Fahrspur durch den Sensorerfassungsbereich die Sensoreinrichtung so geschwenkt wird, dass die Zentralachse des Sensorerfassungsbereichs in einer vorbestimmten Entfernung die vorausberechnete Fahrspurmitte schneidet. Aus der Kenntnis der zu erwartenden Kurvenkrümmung der befahrenen Fahrspur kann eine Fahrspurmitte vorausberechnet werden und ein Schwenkwinkel für die Sensoreinrichtung ermittelt werden, bei dem diese Fahrspurmitte mit der Sensorzentralachse, die mit dem Schwenken des Sensors ebenfalls mitgeschwenkt wird, sich in einer vorbestimmten Entfernung schneiden. Als vorbestimmte Entfernung für den Schnittpunkt können beispielsweise Entfernungswerte zwischen 50 m und 100 m vorbestimmt werden.Farther It is advantageous that for optimum detection of one's own lane pivoted through the sensor detection area, the sensor device so is that the central axis of the sensor detection area in a predetermined distance the predicted lane center intersects. From the knowledge of the expected curve curvature of the traffic lane can be precalculated a lane center and a swivel angle for the Sensor device are determined, in which this lane center with the sensor central axis, with the pivoting of the sensor also is swung, intersect at a predetermined distance. As a predetermined distance for the Intersection can For example, distance values between 50 m and 100 m can be predetermined.
Von besonderer Bedeutung ist die Realisierung des erfindungsgemäßen Verfahrens in der Form eines Steuerelements, das für ein Steuergerät einer adaptiven Abstands- bzw. Geschwindigkeitsregelung eines Kraftfahrzeugs vorgesehen ist. Dabei ist auf dem Steuerelement ein Programm gespeichert, das auf einem Rechengerät, insbesondere auf einem Mikroprozessor oder Signalprozessor ablauffähig und zur Ausführung des erfindungsgemäßen Verfahrens geeignet ist. In diesem Fall wird also die Erfindung durch ein auf dem Steuerelement abgespeichertes Programm realisiert, so dass dieses mit dem Programm versehene Steuerelement in gleicher Weise die Erfindung darstellt wie das Verfahren, zu dessen Ausführung das Programm geeignet ist. Als Steuerelement kann insbesondere ein elektrisches Speichermedium zur Anwendung kommen, beispielsweise ein Read-Only-Memory.Of particular importance is the realization of the method according to the invention in the form of a control element which is provided for a control unit of an adaptive distance or speed control of a motor vehicle. In this case, a program is stored on the control, which is executable on a computing device, in particular on a microprocessor or signal processor and suitable for carrying out the method according to the invention. In this case, therefore, the invention is realized by a program stored on the control program, so that this provided with the program control in the same way is the invention as the method to whose execution the program is suitable. As control In particular, an electrical storage medium may be used, for example a read-only memory.
Weitere Merkmale, Anwendungsmöglichkeiten und Vorteile der Erfindung ergeben sich aus der nachfolgenden Beschreibung von Ausführungsbeispielen der Erfindung, die in den Figuren der Zeichnung dargestellt sind. Dabei bilden alle beschriebenen oder dargestellten Merkmale für sich oder in beliebiger Kombination den Gegenstand der Erfindung, unabhängig von ihrer Zusammenfassung in den Patentansprüchen oder deren Rückbeziehung sowie unabhänigig von ihrer Formulierung bzw. Darstellung in der Beschreibung bzw. in den Zeichnungen.Further Features, applications and advantages of the invention will become apparent from the following description of exemplary embodiments of the invention, which are illustrated in the figures of the drawing. All described or illustrated features form for themselves or in any combination, the subject matter of the invention, regardless of their summary in the claims or their dependency as well as independent from their formulation or presentation in the description or in the drawings.
Zeichnungendrawings
Nachfolgend werden Ausführungsbeispiele der Erfindung anhand von Zeichnungen erläutert. Es zeigenfollowing Be exemplary embodiments of Invention explained with reference to drawings. Show it
Beschreibung von Ausführungsbeispielendescription of exemplary embodiments
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In
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DE102007013992A1 (en) * | 2007-03-23 | 2008-08-28 | Siemens Ag | Control device for drive assistance system for vehicle, has access for receiving position information concerning positions of vehicles and access for receiving track information detected by camera concerning course of carriageway tracks |
DE102009041698A1 (en) * | 2009-09-16 | 2011-04-14 | Audi Ag | Method for the predictive control of an adaptive cornering light and motor vehicle |
DE102010019835A1 (en) * | 2010-05-08 | 2011-11-10 | Audi Ag | Method for the predictive control of an adaptive cornering light and motor vehicle |
DE102011012792B3 (en) * | 2011-03-02 | 2012-07-05 | Audi Ag | Method and device for adjusting a radiation direction of a headlamp and motor vehicles |
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DE102007013992A1 (en) * | 2007-03-23 | 2008-08-28 | Siemens Ag | Control device for drive assistance system for vehicle, has access for receiving position information concerning positions of vehicles and access for receiving track information detected by camera concerning course of carriageway tracks |
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DE102014209796A1 (en) * | 2014-05-22 | 2015-11-26 | Hella Kgaa Hueck & Co. | Method for controlling a cornering light |
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US9802529B2 (en) | 2014-05-22 | 2017-10-31 | Hella Kgaa Hueck & Co. | Method for controlling a cornering light and lighting device |
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