DE102009030452A1 - Driver assistance system operating method for vehicle, involves comparing duration of transmitting signals received as cross-echo with given cross echo threshold value, and providing transmitting signals received as cross echo - Google Patents
Driver assistance system operating method for vehicle, involves comparing duration of transmitting signals received as cross-echo with given cross echo threshold value, and providing transmitting signals received as cross echo Download PDFInfo
- Publication number
- DE102009030452A1 DE102009030452A1 DE200910030452 DE102009030452A DE102009030452A1 DE 102009030452 A1 DE102009030452 A1 DE 102009030452A1 DE 200910030452 DE200910030452 DE 200910030452 DE 102009030452 A DE102009030452 A DE 102009030452A DE 102009030452 A1 DE102009030452 A1 DE 102009030452A1
- Authority
- DE
- Germany
- Prior art keywords
- echo
- cross
- vehicle
- transmitting signals
- signals received
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Classifications
-
- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/87—Combinations of sonar systems
-
- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/87—Combinations of sonar systems
- G01S15/876—Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector
- G01S15/878—Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector wherein transceivers are operated, either sequentially or simultaneously, both in bi-static and in mono-static mode, e.g. cross-echo mode
-
- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/08—Systems for measuring distance only
-
- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2015/937—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles sensor installation details
- G01S2015/938—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles sensor installation details in the bumper area
Abstract
Description
Die Erfindung betrifft ein Verfahren zum Betrieb eines Fahrerassistenzsystems eines Fahrzeuges, wobei mittels Sensoreinheiten zumindest ein unmittelbar hinter dem Fahrzeug liegender Umgebungsbereich überwacht wird.The The invention relates to a method for operating a driver assistance system a vehicle, wherein by means of sensor units at least one directly monitored behind the vehicle lying environment becomes.
Aus
der
Darüber
hinaus beschreibt die
Der Erfindung liegt die Aufgabe zugrunde, ein gegenüber dem Stand der Technik verbessertes Verfahren und eine Vorrichtung zum Betrieb eines Fahrerassistenzsystems anzugeben.Of the Invention is based on the object, a relation to the Prior art improved method and apparatus for Specify the operation of a driver assistance system.
Die Aufgabe wird erfindungsgemäß durch die im Anspruch 1 angegebenen Merkmale gelöst. Vorteilhafte Weiterbildungen der Erfindung sind Gegenstand der Unteransprüche.The The object is achieved by the in the claim 1 specified characteristics solved. Advantageous developments The invention are the subject of the dependent claims.
Das erfindungsgemäße Verfahren zum Betrieb eines Fahrerassistenzsystems eines Fahrzeuges sieht vor, dass mittels Sensoreinheiten zumindest ein unmittelbar hinter dem Fahrzeug liegender Umgebungsbereich überwacht wird. Erfindungsgemäß werden einzelne Sensoreinheiten derart betrieben, dass ein von einer Sensoreinheit ausgesendetes Sendesignal sowohl von dieser aussendenden Sensoreinheit als Direktecho als auch von einer zu dieser aussendenden Sensoreinheit benachbarten Sensoreinheit als Kreuzecho empfangen wird, wobei die Laufzeit der als Kreuzecho empfangenen Sendesignale mit einem vorgegebenen Kreuzecho-Schwellwert verglichen werden, wobei nur die als Kreuzecho empfangenen Sendesignale berücksichtigt werden, die kleiner als der vorgegebene Kreuzecho-Schwellwert sind.The inventive method for operating a driver assistance system a vehicle provides that by means of sensor units at least monitored an immediately behind the vehicle lying environment area becomes. According to the invention, individual sensor units operated such that one of a sensor unit emitted Transmission signal from both this sending sensor unit as a direct echo as well as from a sensor unit adjacent to this emitting sensor unit is received as a cross echo, the duration of the as a cross echo received transmission signals with a predetermined cross echo threshold are compared, wherein only the received as a cross-echo transmission signals which are smaller than the predetermined cross-echo threshold value are.
Hierzu ist eine vorgebbare Anzahl von Sensoreinheiten vorzugsweise als Sende- und Empfangseinheit ausgebildet.For this is a predetermined number of sensor units preferably as Transmitter and receiver unit formed.
Anhand des erfindungsgemäßen Verfahrens ist es in Gewinn bringender Weise möglich, ein Hindernis anhand eines als Kreuzecho empfangenen Sendesignals zu detektieren, wobei durch Festlegen des Kreuzecho-Schwellwertes ein zu den einzelnen Erfassungsbereichen nebeneinander angeordneter Sensoreinheiten zusätzlicher Detektionsbereich, insbesondere im Nahbereich des Fahrzeuges zur Erfassung des Hindernisses gebildet ist.Based The process of the invention is in profit way making possible an obstacle on the basis of a Kreuzecho detected transmit signal, wherein by setting the Cross echo threshold on to individual detection areas side by side arranged sensor units additional Detection area, especially in the vicinity of the vehicle for Detection of the obstacle is formed.
Insbesondere ist vorgesehen, dass das erfindungsgemäße Verfahren in vorteilhafter Weise zum vereinfachten Ankuppeln eines Anhängers an das Fahrzeug verwendet wird, wobei sich zumindest eine am Fahrzeug angeordnete Anhängerkupplung zumindest in dem zusätzlichen Detektionsbereich zur Erfassung befindet. Der Ankuppelvorgang kann mittels des erfindungsgemäßen Verfahrens vergleichsweise schnell durchgeführt werden, wobei ein Risiko einer Beschädigung der Anhängevorrichtung und/oder des Fahrzeuges verringert ist.Especially is provided that the inventive method advantageously for simplified coupling of a trailer is used on the vehicle, with at least one on the vehicle arranged trailer hitch at least in the additional Detection area for detection is located. The coupling process can comparatively by means of the method according to the invention be done quickly, taking a risk of damage the hitch and / or the vehicle reduced is.
In besonders vorteilhafter Weise handelt es sich bei den Sensoreinheiten beispielsweise um bereits am Fahrzeug verbaute Sensoreinheiten, wie z. B. Sensoreinheiten einer Einparkhilfe und/oder eines Abstandsregelsystems, die vorzugsweise als Ultraschallsensoren ausgebildet sind.In The sensor units are particularly advantageously for example, sensor units already installed on the vehicle, such as B. sensor units of a parking aid and / or a distance control system, which are preferably designed as ultrasonic sensors.
Ausführungsbeispiele der Erfindung werden anhand von Zeichnungen näher erläutert.embodiments The invention will be explained in more detail with reference to drawings.
Dabei zeigen:there demonstrate:
Einander entsprechende Teile sind in den Figuren mit den gleichen Bezugszeichen versehen.each other corresponding parts are in the figures with the same reference numerals Mistake.
In
Insbesondere dienen die Sensoreinheiten S1 bis S6 einer Überwachung eines unmittelbar hinter dem Fahrzeug liegenden Umgebungsbereiches U, um beispielsweise bei einem Einparkvorgang, Hindernisse bei einer Rückwärtsfahrt des Fahrzeuges zu erfassen. Hierzu sind die Sensoreinheiten S1 bis S6 beispielsweise integrativer Bestandteil eines Fahrerassistenzsystems, beispielsweise einer Einparkhilfe und/oder einer Abstandsregelung.Especially The sensor units S1 to S6 are used for monitoring a region immediately behind the vehicle surrounding area U, for example, during a parking, obstacles in a To detect reversing of the vehicle. For this For example, the sensor units S1 to S6 are an integral part a driver assistance system, for example a parking aid and / or a distance control.
Die
Sensoreinheiten S1 bis S6 senden Sendesignale in Form von Ultraschallimpulsen
aus und eine in
Insbesondere
wird in der Auswerteeinheit
Jede Sensoreinheit S1 bis S6 erfasst anhand des Direktechos Objekte, beispielsweise Hindernisse, in dessen halbkreisförmigen Detektionsbereich.each Sensor unit S1 to S6 detects objects based on the direct echo For example, obstacles in its semicircular Detection range.
In
dem vorliegenden Ausführungsbeispiel gemäß
Weiterhin
ist vorgesehen, dass in der Auswerteeinheit
In
der Auswerteeinheit
Dabei
werden zusätzlich zur Auswertung der Direktechos Kreuzechos
ausgewertet, um vergleichsweise kleine in einem Nahbereich des Heckbereiches
Hierzu ist ein vorgegebener erster Kreuzecho-Schwellwert K1 der zweiten und der dritten Sensoreinheit S2, S3, ein zweiter Kreuzecho-Schwellwert K2 der dritten und der vierten Sensoreinheit S3, S4 und ein dritter Kreuzecho-Schwellwert K3 der vierten und der fünften Sensoreinheit S4, S5 zugeordnet, wodurch in dem Umgebungsbereich U ein definierter Detektionsbereich B gebildet wird.For this is a predetermined first cross-echo threshold K1 of the second and the third sensor unit S2, S3, a second cross-echo threshold value K2 of the third and fourth sensor units S3, S4 and a third Cross echo threshold K3 of the fourth and fifth sensor units S4, S5, whereby in the surrounding area U a defined Detection area B is formed.
Für
das vorliegende Ausführungsbeispiel ist in der Auswerteeinheit
In
dem Heckbereich
In
vorteilhafter Weise sind die Sensoreinheiten S1 bis S6, insbesondere über
die Auswerteeinheit
Wird
in einem mittleren Bereich des Heckbereiches
Handelt
es sich bei dem erfassten Objekt beispielsweise um eine Anhängervorrichtung,
z. B. eine Anhängerdeichsel, wird diese sowie eine am Heckbereich
Im
Detail zeigt die
Die
im Heckbereich
Die
Auswerteeinheit
Zusätzlich
kann vorgesehen sein, dass sowohl für ein in dem Frontbereich
Auch kann vorgesehen sein, dass zumindest bei kritischen Situationen hinsichtlich eines Abstandes des Fahrzeuges zu einem erfassten Objekt, steuernd und/oder regelnd in Funktionen F1 bis Fn, wie beispielsweise Lenk- und/oder Bremsfunktionen des Fahrzeuges eingegriffen wird.Also can be provided that, at least in critical situations with respect to a distance of the vehicle to a detected object, controlling and / or regulating in functions F1 to Fn, such as Steering and / or braking functions of the vehicle is intervened.
Anhand
des erfindungsgemäßen Verfahrens ist es in besonders
vorteilhafter Weise möglich, zumindest den mittleren Bereich
des Heckbereiches
- 11
- Heckbereichrear area
- 22
- Auswerteeinheitevaluation
- 33
- optische Ausgabeeinheitoptical output unit
- 44
- Frontbereichfront area
- BB
- erzeugter Detektionsbereichgenerated detection range
- CC
- CAN-BussystemCAN bus system
- UU
- Umgebungsbereichsurrounding area
- A1, A2A1, A2
- Abstandsanzeigedistance display
- D1, D2D1, D2
- Direktecho-SchwellwertDirect echo threshold
- F1 bis FnF1 to Fn
- Funktionfunction
- K1 bis K3K1 to K3
- Kreuzecho-SchwellwertCross-echo threshold
- S1 bis S6S1 to S6
- Sensoreinheitsensor unit
- S7S7
- optische Sensoreinheitoptical sensor unit
- S8 bis S13S8 to S13
- weitere SensoreinheitenFurther sensor units
ZITATE ENTHALTEN IN DER BESCHREIBUNGQUOTES INCLUDE IN THE DESCRIPTION
Diese Liste der vom Anmelder aufgeführten Dokumente wurde automatisiert erzeugt und ist ausschließlich zur besseren Information des Lesers aufgenommen. Die Liste ist nicht Bestandteil der deutschen Patent- bzw. Gebrauchsmusteranmeldung. Das DPMA übernimmt keinerlei Haftung für etwaige Fehler oder Auslassungen.This list The documents listed by the applicant have been automated generated and is solely for better information recorded by the reader. The list is not part of the German Patent or utility model application. The DPMA takes over no liability for any errors or omissions.
Zitierte PatentliteraturCited patent literature
- - DE 102005052238 A1 [0002] DE 102005052238 A1 [0002]
- - DE 102004008928 A1 [0003] DE 102004008928 A1 [0003]
Claims (4)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE200910030452 DE102009030452A1 (en) | 2009-06-25 | 2009-06-25 | Driver assistance system operating method for vehicle, involves comparing duration of transmitting signals received as cross-echo with given cross echo threshold value, and providing transmitting signals received as cross echo |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE200910030452 DE102009030452A1 (en) | 2009-06-25 | 2009-06-25 | Driver assistance system operating method for vehicle, involves comparing duration of transmitting signals received as cross-echo with given cross echo threshold value, and providing transmitting signals received as cross echo |
Publications (1)
Publication Number | Publication Date |
---|---|
DE102009030452A1 true DE102009030452A1 (en) | 2010-03-25 |
Family
ID=41693959
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE200910030452 Withdrawn DE102009030452A1 (en) | 2009-06-25 | 2009-06-25 | Driver assistance system operating method for vehicle, involves comparing duration of transmitting signals received as cross-echo with given cross echo threshold value, and providing transmitting signals received as cross echo |
Country Status (1)
Country | Link |
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DE (1) | DE102009030452A1 (en) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2354807A3 (en) * | 2010-01-29 | 2014-03-12 | Robert Bosch GmbH | Method for measuring a distance between an object and a motor vehicle |
DE102018202613A1 (en) | 2018-02-21 | 2019-08-22 | Volkswagen Aktiengesellschaft | Method and system for supporting a coupling operation of a motor vehicle to a trailer |
EP3786010A1 (en) | 2019-09-02 | 2021-03-03 | Volkswagen Ag | Collision avoidance when a vehicle approaches a tow bar |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102004008928A1 (en) | 2004-02-24 | 2005-09-08 | Bayerische Motoren Werke Ag | Method for coupling a trailer using a vehicle level control |
DE102005052238A1 (en) | 2005-11-02 | 2007-05-03 | GM Global Technology Operations, Inc., Detroit | Drive assistance system for monitoring the area behind the motor vehicle, has controller and sensor system whereby position of trailer draw bar ascertainable and control instruction are displayable for coupling with sensor system |
-
2009
- 2009-06-25 DE DE200910030452 patent/DE102009030452A1/en not_active Withdrawn
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102004008928A1 (en) | 2004-02-24 | 2005-09-08 | Bayerische Motoren Werke Ag | Method for coupling a trailer using a vehicle level control |
DE102005052238A1 (en) | 2005-11-02 | 2007-05-03 | GM Global Technology Operations, Inc., Detroit | Drive assistance system for monitoring the area behind the motor vehicle, has controller and sensor system whereby position of trailer draw bar ascertainable and control instruction are displayable for coupling with sensor system |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2354807A3 (en) * | 2010-01-29 | 2014-03-12 | Robert Bosch GmbH | Method for measuring a distance between an object and a motor vehicle |
DE102018202613A1 (en) | 2018-02-21 | 2019-08-22 | Volkswagen Aktiengesellschaft | Method and system for supporting a coupling operation of a motor vehicle to a trailer |
EP3530549A1 (en) * | 2018-02-21 | 2019-08-28 | Volkswagen Aktiengesellschaft | Method and system for supporting a coupling process of a motor vehicle to a trailer |
US11427255B2 (en) | 2018-02-21 | 2022-08-30 | Volkswagen Aktiengesellschaft | Method and system for supporting a coupling operation of a transportation vehicle to a trailer |
EP3786010A1 (en) | 2019-09-02 | 2021-03-03 | Volkswagen Ag | Collision avoidance when a vehicle approaches a tow bar |
DE102019213223A1 (en) * | 2019-09-02 | 2021-03-04 | Volkswagen Aktiengesellschaft | Collision avoidance when a vehicle approaches a trailer drawbar |
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Legal Events
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---|---|---|---|
OAV | Applicant agreed to the publication of the unexamined application as to paragraph 31 lit. 2 z1 | ||
R119 | Application deemed withdrawn, or ip right lapsed, due to non-payment of renewal fee | ||
R119 | Application deemed withdrawn, or ip right lapsed, due to non-payment of renewal fee |
Effective date: 20150101 |