DE102007037178B4 - Method and system for evaluating at least one environment sensor of a vehicle for recognizing at least one object - Google Patents

Method and system for evaluating at least one environment sensor of a vehicle for recognizing at least one object Download PDF

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Publication number
DE102007037178B4
DE102007037178B4 DE102007037178A DE102007037178A DE102007037178B4 DE 102007037178 B4 DE102007037178 B4 DE 102007037178B4 DE 102007037178 A DE102007037178 A DE 102007037178A DE 102007037178 A DE102007037178 A DE 102007037178A DE 102007037178 B4 DE102007037178 B4 DE 102007037178B4
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vehicle
transmitter
transponder
base
units
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DE102007037178A1 (en
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Lars Dr. Mesow
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Audi AG
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Audi AG
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Classifications

    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S7/00Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/497Means for monitoring or calibrating
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S7/00Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40Means for monitoring or calibrating
    • G01S7/4004Means for monitoring or calibrating of parts of a radar system
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S13/00Systems 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
    • G01S13/88Radar or analogous systems specially adapted for specific applications
    • G01S13/93Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S17/00Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88Lidar systems specially adapted for specific applications
    • G01S17/93Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S13/00Systems 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
    • G01S13/88Radar or analogous systems specially adapted for specific applications
    • G01S13/93Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9316Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles combined with communication equipment with other vehicles or with base stations
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S13/00Systems 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
    • G01S13/88Radar or analogous systems specially adapted for specific applications
    • G01S13/93Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9329Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles cooperating with reflectors or transponders

Abstract

Method for evaluating at least one environmental sensor of a vehicle (12) for recognizing at least one object (14) comprising the following steps:
a) providing a radio positioning system comprising a plurality of transceiver units (BS, TP);
b) definition of a measuring field by at least three transmitter / receiver units (BS, TP);
c) equipping the vehicle (12) with at least one transmitter / receiver unit (BS; TP);
d) providing the at least one object (14) with at least one transmitter / receiver unit (BS, TP);
e) calculating at least one of the position, velocity or orientation of the vehicle (12) and the at least one object from the signals received in a transceiver unit (BS; TP);
f) from the at least one result of step e): calculating at least one of the variables distance, relative speed or angle of the vehicle (12) to the at least one object (14); and
g) comparing the at least one result of step g) with at least one corresponding value provided by the environmental sensor,
characterized by the following further steps: ...

Description

  • The The present invention relates to a method for evaluating at least an environmental sensor of a vehicle for detecting at least one object comprising the steps of providing a radio positioning system, having a plurality of transmitter / receiver units, the definition of a Measuring field by at least three transmitter / receiver units, the equipment the vehicle with at least one transmitter / receiver unit, the equipment the at least one object having at least one transmitter / receiver unit, calculating at least one of position, velocity or orientation of the vehicle and the at least one object from those in a transceiver unit received signals, wherein from the at least one result of the Calculation step at least one of the parameters distance, relative speed or angle of the vehicle to the at least one object calculated and the result of the latter step with at least compared to a corresponding value supplied by the environment sensor becomes. It also concerns a corresponding system for evaluating at least one environment sensor a vehicle for recognizing at least one object.
  • there In principle, the present invention relates to the problem of environment sensors, such as radar, video, PMD and the like, all in one Vehicle are attached to evaluate. This includes, among other things, the investigation the measurement accuracy, d. H. how exactly does the environmental sensor provide distances and Speeds of objects or at which distance becomes Object recognized as such, how stably it is tracked, etc. This is a reference is necessary, which allows a comparison of the measured values.
  • Out The prior art is known, as a reference sensor, a laser scanner to use that temporarily is built on the sensor vehicle. As shown in practice However, this approach is very troublesome, d. H. the ones from Sensor to be detected objects are not or only partially recognized. moreover are the limits regarding maximum distance of the objects to be detected and the accuracy the determined distances, Angles and speeds for the intended use is not sufficient.
  • A other known possibility is to use GPS positioning. there are for the simplest scenario, d. H. Sensor vehicle and a to be detected Object, at least two such devices needed. Each extension by one Object in the test scenario requires another GPS device, its price at the desired Accuracy in size arrangement from 25,000 euros. Another disadvantage is that the data of all objects and the sensor vehicle Offline, d. H. to the measurement recording, consuming need to be assembled to make an evaluation. Finally exists a great disadvantage in the limited Availability from GPS. So there are times of day with bad satellite constellation, which does not allow to accurately grasp the respective position. These constellations are unpredictable and unfortunately dive only sporadically.
  • From the GB 2 213 339 A For example, such a GPS-using method is known for evaluating at least one environment sensor in which a monitoring station, for example a ship, an aircraft, a mobile station positioned on land or a fixed station as well as a target to be monitored, in particular a moving target, respectively equipped with a Global Positioning System (GPS). To check, calibrate and adjust sensors and monitoring equipment based on other principles, the target transmits its GPS-detected position to the monitoring station. The monitoring station calculates the relative position with respect to distance and orientation of the target to the monitoring station.
  • The The object of the present invention is therefore a method and a system for evaluating at least one environmental sensor of a vehicle to provide for recognizing at least one object that is favorable at high accuracy can be realized and unrestricted temporally available is
  • These Task is solved by a method having the features of claim 1 and by a system having the features of claim 7.
  • The present invention is based on the finding that this object can be achieved by using a radio positioning system, as it is offered for example by the company Symeo GmbH, Munich. For the details of this technology reference is made to the homepage of Symeo GmbH, which can be viewed on the Internet at www.symeo.de. Three different functional principles are possible:
    Functional Principle LPR-A: Here fixed transponders TP are used at known positions as reference marks for the position determination of a base station BS. The base station BS transmits a signal which is received, processed and reflected back by all transponders TP. The signal propagation occurs, as with all electromagnetic waves, at the speed of light. The echo from the transponders is encoded so that it is clearly assigned to a transponder can be. From the transit time of the signal from the base station to the transponder and back, the direct removal of these components can be determined. If at least three distances to different transponders are known, then the base station can unambiguously determine its position.
  • principle of operation LPR-B: Here fixed base stations BS transmit at known positions in each case a radio signal to a specific transponder TP. This generates a return signal to the respective requesting base station BS, which consists of the sum of the signal propagation times determines their distance to the transponder TP. Over a simple WLAN connection the Base stations their information to a central evaluation unit send, which can thus determine the locations of all transponders.
  • According to one further functional principle, only base stations BS are used, in this embodiment according to Symeo denoted by "units" become. On the one hand, these define the measuring field and on the other hand at least attached to the vehicle and the at least one object.
  • there a first unit sends out a known frequency response. A second unit sends a response signal after a fixed time delay. Farther is in the first unit a comparison signal after the same, fixed delay generated. By comparing the time difference between the two Signals in unit one results in the runtime t. The distance d between units then determine according to d = c · t. Will these steps be for repeated units, leaves in turn, the position of the sensor vehicle and the at least one Determine object. The great The advantage of this functional principle is that all units are simultaneously know the positions of the other units. That is, the mobile unit in the sensor vehicle also delivers to your own position that of the at least one object also provided with a unit. This is eliminated the above mentioned in the functional principle LPR-B wireless connection.
  • In an embodiment is the frequency range 5,725 to 5,875 GHz, the transmission power 0,025 W, the component range maximum 250 m and the measurement accuracy +/- 4 cm. The measuring frequency is typically between 1 and 30 Hz, can but even higher lie, and the power supply can be 12 to 24 VDC or 230 VAC amount, so that an evaluation or an application in a vehicle readily possible is.
  • The Measured values are not affected by environmental influences such as dirt, dust, steam, Rain or snow influences. The components are fully suitable for the permanent use indoors and outdoors.
  • A corresponding local position measuring system, which is constructed according to the functional principle LPR-A, is also known from the DE 103 36 084 A1 ,
  • Another local position measuring system is known from the WO 2005/098465 A2 ,
  • to Realization of a method according to the invention Accordingly, a radio positioning system is provided, which is a Variety of transmitter / receiver units wherein a measuring field is defined by at least three Transmitter / receiver units. A vehicle is equipped with at least one transmitter / receiver unit equipped as well as the at least one object.
  • Subsequently, will at least one of the sizes position, Speed or orientation of the vehicle and the at least calculates an object from the received signals. From the at least a result will follow at least one of the sizes distance, relative speed or angle of the vehicle to the at least calculates an object. This at least one result is then with at least one corresponding value provided by the environment sensor compared.
  • One inventive system Accordingly, has a radio positioning system that a variety of transmitter / receiver units comprising a measuring field through at least three transmitter / receiver units is defined, wherein the vehicle at least one transmitter / receiver unit wherein the at least one object is also at least a transmitter / receiver unit having. The system further comprises a computing device, which is designed to at least one of the sizes position, speed or orientation of the vehicle and the at least one object from the received signals and from at least one these results at least one of the sizes distance, relative speed or angle of the vehicle to the at least one object. Finally includes it is a comparison device which is designed, at least one the sizes provided by the computing device distance, relative speed or angle of the vehicle to the at least an object with at least one corresponding from the environment sensor supplied Value to compare.
  • A method according to the invention or a system according to the invention represents a highly accurate reference system for detecting objects to evaluate field sensors. Unlike GPS / DGPS, it is fully available in time. The measuring field can easily be expanded by adding additional base stations or transponders, the price per piece of which is on the order of only 1,500 EUR. Likewise, the number of objects in the measuring field can be almost fully extended by adding further transponders.
  • at a preferred embodiment Base stations are the first type of transceiver units used and transponder as a second type of transmitter / receiver units, wherein each base station is adapted to transmit a base signal and receive transponder signals, each transponder being designed is to send base signals and transmit transponder signals, wherein in step b) the measuring field through at least three base stations is defined, in step c) the vehicle and in step d) the at least one object equipped with at least one transponder becomes.
  • According to one another preferred embodiment Base stations are the first type of transceiver units used and transponder as a second type of transmitter / receiver units, wherein each base station is adapted to transmit a base signal and receive transponder signals, each transponder being designed is to receive base signals and send out transponder signals, wherein in step b) the measuring field by at least three transponders is defined, in step c) the vehicle and in step d) the at least one object equipped with at least one base station becomes.
  • Especially however, an embodiment is preferred which only uses base stations as transmitter / receiver units, the according to Symeo then called units, with each base station designed is to send a base signal and receive base signals, wherein in step b) the measuring field through at least three base stations is defined, in step c) the vehicle and in step d) the at least one object equipped with at least one base station becomes. This variant offers the advantage that all base stations at the same time know the positions of the other base stations. With others Words deliver the mobile, vehicle-mounted base station at the same time to their own position the one with a base station provided objects. This is eliminated the wireless transmission, thereby a particularly cost-effective and realize a faster setup.
  • at a particularly preferred embodiment the steps of calculating at least one of the sizes distance, relative speed or angle of the vehicle to the at least an object and the comparing step performed in the sensor vehicle. To is in a system according to the invention, which is based on the functional principle according to LPR-B, the transponder in the sensor vehicle designed such that it simultaneously and in Real time over an Ethernet interface the positions of all with a transponder supplies equipped objects in the measuring field. This is the position data all objects to be considered quasi simultaneously without additional effort in the sensor vehicle available. Thereby can the reference data supplied by a system according to the invention, recorded synchronously to the data of the environmental sensor to be evaluated and evaluated.
  • Prefers the update rate of the system is about 30 Hz, which is about 33 ms and therefore significantly lower than in GPS systems.
  • The with reference to a method according to the invention presented preferred embodiments and their advantages apply, as far as applicable, also for the system according to the invention and vice versa.
  • Further advantageous embodiments emerge from the dependent claims.
  • in the Below is now an embodiment of a system according to the invention under Reference to the attached Drawing closer described in a schematic representation of an inventive system for evaluating at least one environmental sensor of a vehicle for detection represents at least one object.
  • According to 1 is a measuring field 10 defined by six base stations BS. A sensor vehicle 12 is just like a pedestrian dummy 14 each equipped with at least one transponder TP. With 16 is the field of view of the to be evaluated, in the sensor vehicle 12 arranged environmental sensor 18 indicated. The arrow 20 indicates the direction of movement of the sensor vehicle 12 , the arrow 22 the direction of movement of the pedestrian dumbbell 14 at. The double arrow 24 indicates the reference data determined by means of the present system, ie in particular distance, speed and angle to the pedestrian dummy 14 then with the through the environment sensor 18 detected data can be compared.
  • For this purpose, the system according to the invention provides the data of all other transponders TP in each transponder TP, ie in the sensor vehicle 12 lies the own position and the position of the pedestrian dumbbell 14 in front. In the present case, the transponder TP, in the sensor vehicle 12 is mounted, two antennas, to the position of the vehicle longitudinal axis gegenü above the measurement coordinate system defined by base stations BS. As a result, in addition to the position and speed of the sensor vehicle 12 additionally its orientation or its angle in the measurement coordinate system to the pedestrian dummy 14 be specified.
  • Using simple geometric calculations, these data can be used to determine the distance, the relative speed and the angle of the sensor vehicle 12 to the pedestrian dummy 14 be determined. At the same time these are exactly the data that the environment sensor to be evaluated 18 supplies. The data calculated by a system according to the invention are thus to be interpreted as environment sensor data from the perspective of a black box.
  • The data, ie distance, velocity and angle, of the reference system are everywhere within the measurement field 10 available. This also makes it possible to investigate when the environment sensor 18 the target object, for example the pedestrian dummy 14 , detected and when not due to a limited field of view.
  • Thus, a comparison of the data supplied by a system according to the invention and the data provided by an environment sensor to be evaluated 18 delivered. The result is a statement about the quality and accuracy of the data of the environment sensor to be evaluated 18 make.
  • In addition, it should be noted that instead of an object 14 , as in 1 shown a variety of objects in the measuring field 10 can be arranged. Furthermore, according to the functional principle LPR-A, the in 1 illustrated base stations BS by transponder TP, and the in 1 transponder TP to be replaced by base stations BS.
  • Finally, according to another functional principle, both the in 1 represented base stations BS and the illustrated transponder TP represented by base stations BS. Now, if a first base station BS emits a known frequency response and a second base station BS transmits a response signal after a fixed time delay, if a comparison signal is formed in the first base station BS after a long, fixed delay by comparing the time difference in the first Base station BS the time t and from the distance between the two base stations BS are determined. If this procedure is repeated with reference to further base stations BS, the current position of the base stations BS can be determined therefrom.

Claims (7)

  1. Method for evaluating at least one environment sensor of a vehicle ( 12 ) for recognizing at least one object ( 14 ) comprising the steps of: a) providing a radio positioning system having a plurality of transceiver units (BS, TP); b) definition of a measuring field by at least three transmitter / receiver units (BS, TP); c) equipping the vehicle ( 12 ) with at least one transmitter / receiver unit (BS, TP); d) providing the at least one object ( 14 ) with at least one transmitter / receiver unit (BS, TP); e) calculating at least one of the position, velocity or orientation of the vehicle ( 12 ) and the at least one object from the signals received in a transceiver unit (BS; TP); f) from the at least one result of step e): calculating at least one of the parameters distance, relative speed or angle of the vehicle ( 12 ) to the at least one object ( 14 ); and g) comparing the at least one result of step g) with at least one corresponding value supplied by the surroundings sensor, characterized by the following further steps: h) stationary arrangement of the at least three transmitter / receiver units (BS, TP) for defining the measuring field; and i) equipping the vehicle ( 12 ) arranged at least one transmitter / receiver unit (BS; TP) with two antennas.
  2. Method according to claim 1, characterized in that base stations (BS) are used as first type of transceiver units (BS; TP) and transponders (TP) as second type of transceiver units (BS; TP), wherein each base station (BS) is designed to transmit a base signal and to receive transponder signals (TP), each transponder (TP) being designed to receive base signals and transmit transponder signals (TP), wherein in step b) the measurement field is passed through at least three base stations (TP). BS), in step c) the vehicle ( 12 ) and in step d) the at least one object ( 14 ) is equipped with at least one transponder (TP).
  3. Method according to claim 1, characterized in that base stations (BS) are used as first type of transceiver units (BS; TP) and transponders (TP) as second type of transceiver units (BS; TP), wherein each base station (BS) is adapted to transmit a base signal and to receive transponder signals (TP), each transponder (TP) being arranged to receive base signals and transponder signals (TP), wherein in step b) the measuring field is defined by at least three transponders (TP), in step c) the vehicle ( 12 ) and in step d) the at least one object ( 14 ) is equipped with at least one base station (BS).
  4. Method according to Claim 1, characterized in that only base stations (BS) are used as transceiver units (BS; TP), each base station (BS) being designed to transmit a base signal and to receive base signals, wherein in step b) the measuring field is defined by at least three base stations (BS), in step c) the vehicle ( 12 ) and in step d) the at least one object ( 14 ) is equipped with at least one base station (BS).
  5. Method according to one of the preceding claims, characterized in that the steps f) and / or g) in the vehicle ( 12 ) be performed.
  6. Method according to one of the preceding claims, characterized characterized in that the base stations and the transponders (TP) operated at an update rate of 10 to 100 Hz, in particular 30 Hz become.
  7. System for evaluating at least one environment sensor of a vehicle ( 12 ) for recognizing at least one object ( 14 ) comprising: - a radio positioning system having a plurality of transceiver units (BS; TP), a measurement field being defined by at least three transceiver units (BS; TP), the vehicle ( 12 ) at least one transmitter / receiver unit (BS, TP), wherein the at least one object ( 14 ) has at least one transmitter / receiver unit (BS, TP); A calculation device that is designed to at least one of the variables position, speed or orientation of the vehicle ( 12 ) and the at least one object ( 14 ) from the signals received in at least one transceiver unit (BS; TP) and from at least one of these results at least one of the parameters distance, relative speed or angle of the vehicle ( 12 ) to the at least one object ( 14 ); and a comparison device which is designed to provide at least one of the variables distance, relative speed or angle of the vehicle provided by the calculation device ( 12 ) to the at least one object ( 14 ) with at least one corresponding value supplied by the surroundings sensor, characterized in that the at least three transmitter / receiver units (BS; TP) are arranged stationary for defining the measuring field, and that the in-vehicle ( 12 ) has at least one transmitter / receiver unit (BS; TP) two antennas.
DE102007037178A 2007-08-07 2007-08-07 Method and system for evaluating at least one environment sensor of a vehicle for recognizing at least one object Active DE102007037178B4 (en)

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DE102010043854B4 (en) * 2010-11-12 2016-01-14 Deere & Company Control arrangement for controlling the transfer of agricultural crop from a harvester to a transport vehicle
DE102015208228A1 (en) * 2015-05-05 2016-11-10 Bayerische Motoren Werke Aktiengesellschaft Diagnostic method for a visual sensor of a vehicle and vehicle with a visual sensor

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2213339A (en) * 1987-12-02 1989-08-09 Secr Defence Relative position determination
DE10336084A1 (en) * 2003-08-06 2005-03-10 Siemens Ag Local position measuring system
WO2005098465A2 (en) * 2004-04-07 2005-10-20 Symeo Gmbh Method for synchronising clock pulse devices

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2213339A (en) * 1987-12-02 1989-08-09 Secr Defence Relative position determination
DE10336084A1 (en) * 2003-08-06 2005-03-10 Siemens Ag Local position measuring system
WO2005098465A2 (en) * 2004-04-07 2005-10-20 Symeo Gmbh Method for synchronising clock pulse devices

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