DE102006020391B4 - Method and device for the detection and identification of objects with low height extension - Google Patents
Method and device for the detection and identification of objects with low height extension Download PDFInfo
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- 238000001514 detection method Methods 0.000 title claims abstract description 21
- 238000000034 method Methods 0.000 title claims abstract description 10
- 230000005670 electromagnetic radiation Effects 0.000 claims abstract description 14
- 230000005855 radiation Effects 0.000 claims abstract description 10
- 238000011156 evaluation Methods 0.000 claims abstract description 7
- 238000012545 processing Methods 0.000 claims description 8
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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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/87—Combinations of systems using electromagnetic waves other than radio waves
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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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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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
- G01S2013/9327—Sensor installation details
- G01S2013/93271—Sensor installation details in the front of the vehicles
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- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Automation & Control Theory (AREA)
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Abstract
Verfahren zur Detektion und Identifikation von Objekten (7) mit geringer Höhenausdehnung auf einer in Fahrtrichtung (3) vor einem Fahrzeug (1) befindlichen Fahrbahn (2), bei welchem durch Aussenden elektromagnetischer Strahlung in Fahrtrichtung (3) vor das Fahrzeug (1) ein Bereich der sich dort befindlichen Fahrbahn (2) ausgeleuchtet wird, bei welchem Teile der aus diesem Bereich reflektierten elektromagnetischen Strahlung empfangen und einer Auswertung hinsichtlich dort detektierbarer Objekte (7) unterzogen wird, und bei welchem bei Detektion eines Objekts (7) ein hieraus resultierendes Gefährdungspotential in Bezug auf den Fahrbetrieb abgeleitet wird, um dementsprechend auf ein Fahrerassistenzsystem einzuwirken, dadurch gekennzeichnet, dass die reflektierte elektromagnetische Strahlung aus wenigstens zwei in Bezug zur Fahrbahnoberfläche unterschiedlich geneigten Winkeln oder Winkelbereichen (5, 6, 9) ausgewertet wird, dass ein Objekt (7) als Objekt mit geringer Höhenausdehnung identifiziert wird, wenn es in der reflektierten Strahlung aus einem zur Fahrbahnoberfläche steileren Winkel oder Winkelbereich (6, 9) detektiert wird...Method for detecting and identifying objects (7) with a small height extension on a roadway (2) in front of a vehicle (1) in the direction of travel (3), in which by emitting electromagnetic radiation in the direction of travel (3) in front of the vehicle (1) Area of the lane (2) located there is lit, in which parts of the electromagnetic radiation reflected from this area is received and subjected to an evaluation for there detectable objects (7), and in which upon detection of an object (7) resulting in a potential hazard is derived with respect to the driving operation, in order accordingly to act on a driver assistance system, characterized in that the reflected electromagnetic radiation from at least two with respect to the road surface differently inclined angles or angular ranges (5, 6, 9) is evaluated that an object (7 ) as an object with low height extension id is detected when it is detected in the reflected radiation from a steeper to the road surface angle or angular range (6, 9) ...
Description
Die Erfindung betrifft ein Verfahren und eine Vorrichtung zur Detektion und Identifikation von Objekten mit geringer Höhenausdehnung nach dem Oberbegriff der Patentansprüche 1 und 4.The invention relates to a method and a device for the detection and identification of objects with low height extension according to the preamble of claims 1 and 4.
Zur Erhöhung der Sicherheit werden moderne Kraftfahrzeuge zunehmend mit Hinderniserkennungseinrichtungen versehen, welche Objekte im dem Fahrzeug vorausliegenden Fahrweg erkennen und hiervor den Fahrzeugführer warnen bzw. diesbezüglich aktiv regelnd in die Fahrzeugdynamik eingreifen.To increase safety, modern motor vehicles are increasingly being provided with obstacle detection devices which detect objects in the roadway ahead of the vehicle and hereby warn the driver or in this regard actively intervene in the vehicle dynamics.
So wird beispielsweise in der
In der deutschen Offenlegungsschrift
Demgegenüber zeigt die deutsche Offenlegungsschrift
Aus der deutschen Offenlegungsschrift
Aufgabe der Erfindung ist es deshalb ein Verfahren und eine für die Durchführung des Verfahrens geeignete Vorrichtung zu finden, mittels welcher durch einfache Signalverarbeitung, insbesondere in Verbindung mit kostengünstigen Sensoren, eine Identifikation von unbeachtlichen Objekten mit geringer Höhenausdehnung im Fahrweg eines Kraftfahrzeuges möglich ist.The object of the invention is therefore to find a method and a device suitable for carrying out the method, by means of which by simple signal processing, in particular in conjunction with inexpensive sensors, an identification of irrelevant objects with low height extension in the travel of a motor vehicle is possible.
Die Aufgabe wird durch ein Verfahren und eine Vorrichtung mit den Merkmalen der Patentansprüche 1 und 4 gelöst. Vorteilhafte Ausgestaltungen und Weiterbildungen der Erfindung sind in den Unteransprüchen beschrieben.The object is achieved by a method and an apparatus having the features of claims 1 and 4. Advantageous embodiments and further developments of the invention are described in the subclaims.
Zur Detektion und Identifikation von Objekten mit geringer Höhenausdehnung auf einer in Fahrtrichtung vor einem Fahrzeug befindlichen Fahrbahn, wird mittels wenigstens eines Senders elektromagnetische Strahlung in Fahrtrichtung vor das Fahrzeug ausgesandt. Hierbei wird ein Bereich der sich dort befindlichen Fahrbahn ausgeleuchtet. Aus diesem Fahrbahnbereich werden sodann mittels wenigstens eines Empfängers Teile der von diesem Bereich reflektierten elektromagnetischen Strahlung empfangen und einer Auswertung hinsichtlich dort detektierbarer Objekte unterzogen. Hierbei wird bei der Detektion eines Objekts ein hierdurch gegebenes Gefährdungspotential in Bezug auf den Fahrbetrieb abgeleitet, um dementsprechend auf ein Fahrerassistenzsystem einzuwirken. For the detection and identification of objects with a small height extension on a roadway in front of a vehicle in the direction of travel, electromagnetic radiation is emitted in the direction of travel in front of the vehicle by means of at least one transmitter. In this case, an area of the roadway located there is illuminated. From this roadway area, parts of the electromagnetic radiation reflected by this area are then received by means of at least one receiver and subjected to an evaluation with respect to objects that can be detected there. In this case, upon detection of an object, a danger potential given in relation to the driving operation is derived in order to act accordingly on a driver assistance system.
In erfinderischer Weise wird die reflektierte elektromagnetische Strahlung aus wenigstens zwei in Bezug zur Fahrbahnoberfläche unterschiedlich geneigten Winkeln oder Winkelbereichen ausgewertet. Ausgehend von dieser Auswertung wird dann ein Objekt als Objekt mit geringer Höhenausdehnung identifiziert, wenn es in der reflektierten Strahlung aus einem zur Fahrbahnoberfläche steileren Winkel oder Winkelbereich detektiert wird, während es gleichzeitig in der reflektierten Strahlung aus einem bezüglich der Fahrbahnoberfläche flacheren Winkel oder Winkelbereich nicht detektiert wurde. Wird einem Objekt derart eine geringe Höhenausdehnung zugeschrieben, so wird ihm kein beachtliches Gefährdungspotential beigemessen, so dass kein Einwirken auf ein Fahrerassistenzsystem erfolgt.In an inventive manner, the reflected electromagnetic radiation is evaluated from at least two angles or angular ranges inclined differently with respect to the road surface. On the basis of this evaluation, an object is then identified as an object with a small height extent if it is detected in the reflected radiation from a steeper angle or angular range to the road surface, while it does not detect simultaneously in the reflected radiation from a flatter angle or angular range with respect to the road surface has been. If such an object is attributed a small height expansion, then it is not given a considerable hazard potential, so that no action is taken on a driver assistance system.
In besonders vorteilhafter Weise macht sich die Erfindung die Tatsache zu Nutze, dass bei den für den Fahrbetrieb unbeachtlichen Objekten mit geringer Höhenausdehnung (beispielsweise Getränkebecher oder -dosen oder Papiertüten) eine genaue Kenntnis über deren Abmessung nicht von Interesse ist. So wird gewinnbringend eine Identifikation möglich welche auf aufwendige Signalverarbeitung oder hochauflösende Radarsensorik verzichten kann.In a particularly advantageous manner, the invention takes advantage of the fact that in the irrelevant to the driving objects with low height expansion (for example, beverage cups or jars or paper bags) accurate knowledge of their dimensions is not of interest. Thus, an identification is possible profitable which can do without complex signal processing or high-resolution radar sensor.
Während sich die Erfindung selbstverständlich auch mittels der gezielten Auswertung unterschiedlich ausgerichteter Empfangszweige eines hochauflösenden Radarsystems realisieren lässt, eignet sie vor allem für die gemeinsame Verwendung mit einer Mehrzahl von Radargeräten mit relativ breitem Empfangsbereich, welche in Bezug auf die Fahrbahnoberfläche unter einem anderen Winkel am Fahrzeug ausgerichtet sind.While the invention can of course also be realized by means of the targeted evaluation of differently aligned reception branches of a high-resolution radar system, it is particularly suitable for common use with a plurality of radars with a relatively wide reception range, which are aligned with respect to the road surface at a different angle on the vehicle are.
Dabei kann es sich bei den mehreren Radarsystemen beispielsweise um mehrere Millimeterwellenradare oder mehrere Laserradare (Lidar) handeln oder aber auch aus einer Mischung aus beiden Arten von Systemen. Dabei ist eine Kombination unterschiedlicher Radarsysteme völlig unproblematisch, da erfindungsgemäß nicht sensor-spezifische Eigenschaften der Reflektionssignale ausgewertet werden, sondern im Wesentlichen nur eine Test auf des Vorhandenseins von Reflektionssignalen als solcher stattfindet.The multiple radar systems may be, for example, several millimeter-wave radars or several laser radars (lidar) or else a mixture of both types of systems. In this case, a combination of different radar systems is completely unproblematic since, according to the invention, sensor-specific properties of the reflection signals are not evaluated, but essentially only a test for the presence of reflection signals takes place as such.
In besonders gewinnbringender Weise steht die erfindungsgemäße Vorrichtung mit wenigstens einem Fahrerassistenzsystem in Verbindung mittels welchem die Fahrdynamik Einfluss genommen werden kann und/oder Warnsignalgeber aktivieren werden können. So könnte beispielsweise bei Detektion und Identifikation eines im Fahrweg befindlichen beachtlichen Objekts ein Notbremssystem oder ein System zur Unfallfolgenminderung („Pre-Safe”) aktiviert werden. Auch ist es sehr wohl denkbar, das der Fahrzeugführer oder im Umfeld des Fahrzeugs befindliche Personen durch akustische, optische oder haptische Warnsignalgeber vor einem beachtlichen Objekt im Fahrweg des Fahrzeuges gewarnt werden.In a particularly profitable manner, the device according to the invention is associated with at least one driver assistance system by means of which the driving dynamics can be influenced and / or warning signal transmitters can be activated. Thus, for example, an emergency braking system or a system for reducing the consequences of accidents ("pre-safe") could be activated when detecting and identifying a considerable object in the driveway. It is also very conceivable that the driver or in the vicinity of the vehicle people are warned by aural, optical or haptic warning signal from a considerable object in the track of the vehicle.
Nachfolgend wird die Erfindung anhand von Figuren im Detail erläutert. Dabei zeigtThe invention will be explained in detail with reference to figures. It shows
Die
Die
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DE102006020391A DE102006020391B4 (en) | 2006-04-28 | 2006-04-28 | Method and device for the detection and identification of objects with low height extension |
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Families Citing this family (11)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2009031053A (en) * | 2007-07-25 | 2009-02-12 | Fujitsu Ten Ltd | Device for detecting forward obstacle |
EP2242674B1 (en) | 2008-02-20 | 2012-12-12 | Continental Teves AG & Co. oHG | Method and assistance system for detecting objects in the surrounding area of a vehicle |
DE102008014689B4 (en) * | 2008-03-18 | 2018-02-08 | Adc Automotive Distance Control Systems Gmbh | Driver assistance system |
DE102008034634A1 (en) | 2008-07-25 | 2009-12-24 | Daimler Ag | Safety system for activating e.g. passenger protection system, in motor vehicle, has control device increasing minimum triggering level of protection system if detection device detects traversable obstacle |
DE102010054078A1 (en) * | 2010-05-05 | 2011-11-10 | Volkswagen Ag | Laser sensor for driver assistance system for detecting surrounding of car, has transmission unit with laser diodes generating laser beams, where scanning of laser beams takes place in plane around angular distance |
DE102011077333A1 (en) * | 2011-06-10 | 2012-12-27 | Robert Bosch Gmbh | Driver assistance system with object detection |
US9446711B2 (en) | 2012-05-09 | 2016-09-20 | Toyota Jidosha Kabushiki Kaisha | Driving assist device |
DE102013225778A1 (en) | 2013-12-12 | 2015-06-18 | Robert Bosch Gmbh | Method and device for the transverse guidance of a motor vehicle, in particular for evasion support |
JP6528447B2 (en) | 2014-02-25 | 2019-06-12 | 株式会社リコー | Disparity calculation system and distance measuring device |
DE102014014892A1 (en) * | 2014-10-13 | 2016-04-14 | Rheinmetall Air Defence Ag | Radar device for the detection of unmanned, slow and low flying flying objects |
CN115985122A (en) * | 2022-10-31 | 2023-04-18 | 内蒙古智能煤炭有限责任公司 | Unmanned system sensing method |
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DE10052691A1 (en) * | 1999-10-26 | 2001-06-07 | Honda Motor Co Ltd | Object detection device sends out electric waves and receives reflections of electric waves to determine if object is along course traversed by vehicle and if object will hinder movement of vehicle |
DE10151594C1 (en) * | 2001-10-18 | 2002-11-14 | Adc Automotive Dist Control | Scene evaluation method for automobile distance control system comprises recognition of relevant range values of 2-dimensional range matrix for object detection |
DE10351915A1 (en) * | 2003-11-07 | 2005-06-09 | Volkswagen Ag | Monitoring device for a vehicle for detecting obstacles in front or behind it has a sensor device for which a monitoring surface of variable area can be defined dependent on the vehicle configuration |
DE102004021561A1 (en) * | 2004-05-03 | 2005-12-08 | Daimlerchrysler Ag | Object recognition system for a motor vehicle |
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Patent Citations (4)
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DE10052691A1 (en) * | 1999-10-26 | 2001-06-07 | Honda Motor Co Ltd | Object detection device sends out electric waves and receives reflections of electric waves to determine if object is along course traversed by vehicle and if object will hinder movement of vehicle |
DE10151594C1 (en) * | 2001-10-18 | 2002-11-14 | Adc Automotive Dist Control | Scene evaluation method for automobile distance control system comprises recognition of relevant range values of 2-dimensional range matrix for object detection |
DE10351915A1 (en) * | 2003-11-07 | 2005-06-09 | Volkswagen Ag | Monitoring device for a vehicle for detecting obstacles in front or behind it has a sensor device for which a monitoring surface of variable area can be defined dependent on the vehicle configuration |
DE102004021561A1 (en) * | 2004-05-03 | 2005-12-08 | Daimlerchrysler Ag | Object recognition system for a motor vehicle |
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