DE102011056050A1 - Setting of distance sensors of an environment sensor depending on environment information - Google Patents

Setting of distance sensors of an environment sensor depending on environment information Download PDF

Info

Publication number
DE102011056050A1
DE102011056050A1 DE102011056050A DE102011056050A DE102011056050A1 DE 102011056050 A1 DE102011056050 A1 DE 102011056050A1 DE 102011056050 A DE102011056050 A DE 102011056050A DE 102011056050 A DE102011056050 A DE 102011056050A DE 102011056050 A1 DE102011056050 A1 DE 102011056050A1
Authority
DE
Germany
Prior art keywords
range
vehicle
gates
environment
current
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Withdrawn
Application number
DE102011056050A
Other languages
German (de)
Inventor
Ulrich Stählin
Andree Hohm
Matthias Komar
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Continental Teves AG and Co OHG
Original Assignee
Continental Teves AG and Co OHG
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Continental Teves AG and Co OHG filed Critical Continental Teves AG and Co OHG
Priority to DE102011056050A priority Critical patent/DE102011056050A1/en
Priority to DE112012003891.6T priority patent/DE112012003891A5/en
Priority to PCT/DE2012/100340 priority patent/WO2013083118A1/en
Publication of DE102011056050A1 publication Critical patent/DE102011056050A1/en
Withdrawn legal-status Critical Current

Links

Images

Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/09626—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages where the origin of the information is within the own vehicle, e.g. a local storage device, digital map
    • 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
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/08—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
    • 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
    • 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
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target 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
    • 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
    • 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
    • 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
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/497—Means for monitoring or calibrating
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
    • G08G1/096716—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information does not generate an automatic action on the vehicle control
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
    • G08G1/096775—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a central station
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
    • G08G1/096791—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is another vehicle
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2400/00—Special features of vehicle units
    • B60Y2400/30—Sensors
    • B60Y2400/301—Sensors for position or displacement
    • B60Y2400/3017—Radars
    • 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
    • G01S2013/9316—Radar 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
    • 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
    • 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
    • G01S2013/9322—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using additional data, e.g. driver condition, road state or weather data

Abstract

Verfahren für die die Optimierung von Reichweite und Auflösung eines Sensorsystems für ein Umfelderfassungsystem für ein Kraftfahrzeug, das für die Prozessierung von Umfelddaten Entfernungstore vorsieht. Die Anzahl und/oder die Breite von Entfernungstoren ist variabel und wird in Abhängigkeit von elektronischen Karten oder von per Funk übertragenen Daten an das aktuelle Fahrzeugumfeld angepasst.Method for the optimization of range and resolution of a sensor system for an environment detection system for a motor vehicle, which provides for the processing of environmental data removal gates. The number and / or the width of range gates is variable and is adapted to the current vehicle environment depending on electronic maps or radio transmitted data.

Description

In Kraftfahrzeugen gewinnen Fahrerassistenzsysteme, die den Fahrer beim Führen eines Fahrzeugs unterstützen, immer mehr Bedeutung. Fahrerassistenzsysteme umfassen i.d.R. zumindest einen Umfelderfassungssensor. Aktive Systeme wie z.B. ein LIDAR oder RADAR-Sensor emittierten elektromagnetische Strahlung in das Fahrzeugumfeld, die von Umgebungsobjekten zu einem Empfänger zurückreflektiert wird. Anhand bekannter Verfahren wie einer Pulslaufzeitmessung oder Frequenz- oder Amplitudenmodulierter Strahlung (z.B. FMCW-Radar) kann der Abstand zu Umgebungsobjekten bestimmt werden. Zur Prozessierung der Daten werden sogenannte Entfernungstore definiert, die je ein vorgegebenes Abstandsintervall mit einem Start- und Endpunkt und definierter Breite bezeichnen. Die Empfangssignale werden je einem Entfernungstor, also einem definierten Entfernungsbereich zugeordnet. Die Entfernungstore bestimmen die Reichweite und Auflösung des Sensorsystems. Die Anzahl der Entfernungstore und deren Breite wird in Abhängigkeit von der Reichweite des Umfelderfassungssensors und den Hardware Gegebenheiten wie zur Verfügung stehender Speicher, Arbeitsspeicher, Prozessorgeschwindigkeit etc. festgelegt. Diese Festlegung erfolgt i.d.R. bei der Applikation eines Sensorsystems an ein Fahrzeugmodell. In motor vehicles, driver assistance systems, which assist the driver in driving a vehicle, are becoming increasingly important. Driver assistance systems include i.d.R. at least one environment detection sensor. Active systems such as a LIDAR or RADAR sensor emits electromagnetic radiation into the vehicle environment that is reflected back from environmental objects to a receiver. By known methods such as pulse transit time measurement or frequency or amplitude modulated radiation (e.g., FMCW radar), the distance to surrounding objects can be determined. To process the data, so-called distance gates are defined, each of which designates a predetermined interval with a start and end point and a defined width. The received signals are each assigned to a distance gate, that is to say to a defined distance range. The distance gates determine the range and resolution of the sensor system. The number of range gates and their width is determined depending on the range of the environment detection sensor and the hardware conditions such as available memory, memory, processor speed, etc. This determination is made i.d.R. in the application of a sensor system to a vehicle model.

Es ist nun die Aufgabe der hier vorliegenden Erfindung die Reichweite und Auflösung eines Sensorsystems zu optimieren. Diese Aufgabe wird gelöst mit den Merkmalen der unabhängigen Ansprüche. Erfindungsgemäß wird die Optimierung von Reichweite und Auflösung eines Sensorsystems für ein Umfelderfassungssystem für ein Kraftfahrzeug, das für die Prozessierung von Umfelddaten Entfernungstore vorsieht, dadurch erreicht, dass das Sensorsystem über eine variabel einstellbare Anzahl und/oder Breite von Entfernungstoren verfügt und in Abhängigkeit von elektronischen Karten – die im Fahrzeug hinterlegt sein können oder per Funk übertragen werden- oder von per Funk übertragenen Daten den/die Parameter Anzahl und/oder Breite von Entfernungstoren an das aktuelle Fahrzeugumfeld angepasst wird. Insbesondere wird auch die Verstärkung eines nachgeschalteten AD Wandlers an die genannten Parameter angepasst. Die Anzahl und Breite der Entfernungstore bestimmen die Reichweite und Auflösung des Sensorsystems. Die Auflösung wird direkt durch die Breite der Entfernungstore bestimmt. Ein Datenverarbeitungssystem des Sensorsystems kann i.d.R. nur eine vorgegebene Datenmenge, die von der Anzahl der Entfernungstore abhängt verarbeiten. It is now the object of the present invention to optimize the range and resolution of a sensor system. This object is achieved with the features of the independent claims. According to the invention, the optimization of range and resolution of a sensor system for an environment detection system for a motor vehicle, which provides for the processing of environmental data removal goals, achieved in that the sensor system has a variably adjustable number and / or width of range gates and in dependence on electronic cards - which may be stored in the vehicle or transmitted by radio - or data transmitted by radio, the / parameters of the number and / or width of range gates is adapted to the current vehicle environment. In particular, the gain of a downstream AD converter is adapted to the mentioned parameters. The number and width of the range gates determine the range and resolution of the sensor system. The resolution is determined directly by the width of the range gates. A data processing system of the sensor system may i.d.R. only process a given amount of data, which depends on the number of range gates.

Durch diese Adaption der Entfernungstore an die jeweilige Fahr- und Umfeldsituation kann im grundsätzlichen Zielkonflikt zwischen Reichweite und Auflösung eine optimale Einstellung gewählt werden, die für Fahrerassistenzfunktionen Vorteile bringt, ohne die Gesamtleistung des Sensors ändern zu müssen. By adapting the range gates to the respective driving and surrounding situation, an optimal setting can be selected in the fundamental conflict of objectives between range and resolution, which offers advantages for driver assistance functions without having to change the overall performance of the sensor.

In einer bevorzugten Ausgestaltung der Erfindung wird anhand von elektronischen Karteninformationen eine maximal mögliche Detektionsreichweite für das Umfelderfassungssystem ermittelt. In einer positiven Ausgestaltung der Erfindung werden Karteninformationen zu einer aktuelle Fahrzeugumgebung an das Fahrzeug übermittelt. In einer Ausgestaltung der Erfindung wird dabei der zu einem mit hoher Wahrscheinlichkeit gefahrene Pfad gehörende Kartenausschnitt und eine beliebige bzw. vorher definierte Anzahl an weiteren möglichen Ausschnitten übermittelt. Der wahrscheinliche Pfad bzw. die weiteren möglichen Pfade werden bis zu einer vorgegebenen Fahrdistanz übermittelt. Entlang dieses Pfads werden zusätzlich zum Verlauf des Pfads weitere, für das Umfelderfassungssystem wichtige Parameter pfadgebunden übermittelt. In einer bevorzugten Form der Erfindung werden hierfür Kartendaten verwendet, die nach dem Standard des ADASIS Forums übermittelt wurden, z.B. nach ADASISv2 oder ADASISlite. Diese Form der Kartendatenübermittlung wird auch eHorizon genannt und beinhaltet die aktuelle Umgebung um das Fahrzeug. In einer bevorzugten Ausgestaltung der Erfindung bleibt die Anzahl der Entfernungstore konstant und die Breite der Entfernungstore wird anhand der aktuell bestimmten Reichweite des Sensorsystems berechnet. In a preferred embodiment of the invention, a maximum possible detection range for the surroundings detection system is determined on the basis of electronic map information. In a positive embodiment of the invention, map information about a current vehicle environment is transmitted to the vehicle. In one embodiment of the invention, the map section belonging to a path traveled with a high probability and an arbitrary or previously defined number of further possible sections are transmitted. The probable path or the further possible paths are transmitted up to a predetermined driving distance. Along this path, in addition to the course of the path, further parameters which are important for the surroundings detection system are transmitted path-bound. In a preferred form of the invention, map data transmitted according to the standard of the ADASIS Forum, e.g. after ADASISv2 or ADASISlite. This form of map data transmission is also called eHorizon and includes the current environment around the vehicle. In a preferred embodiment of the invention, the number of range gates remains constant and the width of the range gates is calculated on the basis of the currently determined range of the sensor system.

In einer positiven Ausgestaltung der Erfindung wird zumindest anhand einer der folgenden Informationen über die aktuell befahrene Fahrspur auf die aktuelle Reichweite des Sensorsystems geschlossen: Fahrbahnkrümmung, Spurbreite, Höhenunterschiede, Topologie, Bebauung, Bewaldung, Umzäunungen, Randmarkierungen, Randbebauung, Schilder, geplante Richtungsänderung, Schranken, Tore, Straßentyp, Anfahrt auf eine Ampel, Baustellen, Parkhaus oder Parkplatz. Wird für die aktuelle Fahrspur z.B. eine scharfe Kurve vorausgesagt, wird die Reichweite des Sensors auf die Distanz bis zur Kurve oder kurz darüber hinaus eingestellt. Bei der Anfahrt auf eine Ampel besteht eine erhöhte Wahrscheinlichkeit, dass das vorausfahrende Fahrzeug bei einem Wechsel der Ampelphase abrupt abbremst, so dass in dieser Situation eine schnelle Aktualisierung der Umgebungsdaten, also ein schnelles Abtasten der Szene mit wenigen Entfernungstoren vorteilhaft ist. Alternativ kann die Breite der Entfernungstore in einem Bereich bis zur Ampel gering gewählt werden, um eine Relativgeschwindigkeit zu einem anderen Fahrzeug mit hoher Genauigkeit zu messen. In Wäldern kann die Reichweite auf die Straßenabdeckung beschränkt werden, wohingegen in flachem Terrain die Entfernungstore so eingestellt werden können, dass auch Straßenzüge abgedeckt werden, die das Fahrzeug nur dann erreichen kann, wenn es vorher unabgedeckte Straßenzüge befahren hat, also z.B. abgebogen ist. In a positive embodiment of the invention, at least based on one of the following information about the current driving lane on the current range of the sensor system includes: road curvature, track width, height differences, topology, development, forestation, fencing, edge markers, edge development, signs, planned change in direction, barriers , Gates, street type, access to a traffic light, construction sites, car park or parking. Used for the current lane, e.g. predicted a sharp turn, the range of the sensor is set to the distance to the curve or just beyond. When approaching a traffic light there is an increased likelihood that the vehicle ahead abruptly decelerates when changing the traffic light phase, so that in this situation a rapid update of the environmental data, ie a quick scanning of the scene with a few range gates is advantageous. Alternatively, the width of the range gates in an area up to the traffic light can be made small to measure a relative speed to another vehicle with high accuracy. In forests, the range can be limited to the road coverage, whereas in shallow terrain the range gates can be adjusted to cover even roadways that the vehicle can only reach if it has previously driven uncovered streets, e.g. is bent.

In einer weiteren positiven Ausgestaltung der Erfindung anhand von Fahrzeug-zu-Fahrzeug Kommunikation, Satellitenradio, MW- bzw. UKW-Radio oder Mobilfunk Informationen über eine aktuelle oder zukünftige Fahrspur übermittelt werden und anhand dieser Informationen eine maximal mögliche Detektionsreichweite für das Umfelderfassungssystem ermittelt. Dabei können die Daten beispielsweise über die Protokolle RDS-TMC bzw. TPEG übertragen werden; es sind jedoch auch andere Übertragungsprotokolle verwendbar. In a further advantageous embodiment of the invention vehicle-to-vehicle communication, satellite radio, MW or FM radio or mobile radio information about a current or future lane are transmitted and determined based on this information a maximum detection range for the detection system. The data can be transmitted via the RDS-TMC or TPEG protocols, for example; however, other transmission protocols are also usable.

In einer bevorzugten Ausgestaltung der Erfindung wird zumindest anhand einer der folgenden Informationen über die aktuell befahrene Fahrspur auf die aktuelle Reichweite des Sensorsystems geschlossen: Kurve, Spurverengung, Höhenunterschiede, geplante Richtungsänderung, Schranken Tore, Straßentyp, Parkhaus, Parkplatz, Stau, Anfahrt auf eine Ampel oder Baustelle. Beispiele für die Auswahl von Anzahl und/oder Breite der Entfernungstore für diese Umfeldsituationen wurden bereits weiter oben angegeben und sind ohne weiteres auf die hier vorliegenden Ausgestaltung der Erfindung übertragbar. In a preferred embodiment of the invention, at least based on one of the following information on the current driving lane on the current range of the sensor system is closed: curve, lane narrowing, height differences, planned change in direction, gates gates, road type, parking garage, parking, traffic jam, approach to a traffic light or construction site. Examples for the selection of the number and / or width of the range gates for these environment situations have already been given above and are readily applicable to the present embodiment of the invention.

In einer weiteren Ausgestaltung der Erfindung wird zudem abhängig von der Eigengeschwindigkeit des Fahrzeugs eine maximal mögliche Detektionsreichweite für das Umfelderfassungssystem ermittelt. Bei geringen Geschwindigkeiten ist eine geringe Reichweite ausreichend, wohingegen bei hohen Geschwindigkeiten eine größere Reichweite erforderlich ist. In a further embodiment of the invention, a maximum possible detection range for the surroundings detection system is additionally determined as a function of the intrinsic speed of the vehicle. At low speeds, a short range is sufficient, whereas at high speeds, a longer range is required.

In 1 sind exemplarisch N Entfernungstore dargestellt. X bezeichnet den Abstand zum Fahrzeug. Die Reichweite R des Sensorssystems und die Breite B eines Entfernungstors sind ebenfalls dargestellt. In 1 exemplary N distance gates are shown. X denotes the distance to the vehicle. The range R of the sensor system and the width B of a range gate are also shown.

Claims (8)

Verfahren für die die Optimierung von Reichweite und Auflösung eines Sensorsystems für ein Umfelderfassungsystem für ein Kraftfahrzeug, das für die Prozessierung von Umfelddaten Entfernungstore vorsieht, dadurch gekennzeichnet, dass die Anzahl und/oder die Breite von Entfernungstoren variabel ist und in Abhängigkeit von elektronischen Karten und/oder von per Funk übertragenen Daten an das aktuelle Fahrzeugumfeld angepasst wird. Method for optimizing the range and resolution of a sensor system for an environment detection system for a motor vehicle, which provides for the processing of environmental data removal gates, characterized in that the number and / or the width of range gates is variable and depending on electronic cards and / or adapted by radio data to the current vehicle environment. Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass anhand von elektronischen Karteninformationen eine maximal mögliche Detektionsreichweite für das Umfelderfassungssystem ermittelt wird. A method according to claim 1, characterized in that based on electronic map information, a maximum possible detection range for the surroundings detection system is determined. Verfahren nach Anspruch 2, dadurch gekennzeichnet, dass zumindest anhand einer der folgenden Informationen über die aktuell befahrene Fahrspur auf die aktuelle Reichweite des Sensorsystems geschlossen wird: Fahrbahnkrümmung, Kurve, Spurbreite, Spurverengung, Höhenunterschiede, Topologie, Bebauung, Bewaldung, Umzäunungen, Randmarkierungen, Randbebauung, Schilder, geplante Richtungsänderung, Schranken, Tore, Straßentyp, Anfahrt auf eine Ampel, Baustellen, Parkhaus oder Parkplatz. A method according to claim 2, characterized in that at least on the basis of one of the following information about the current driving lane on the current range of the sensor system is concluded: road curvature, curve, track width, lane narrowing, height differences, topology, development, forest cover, fencing, edge markings, edge development , Signs, planned changes of direction, barriers, gates, road type, access to a traffic light, construction sites, car park or parking. Verfahren nach Anspruch 1 dadurch gekennzeichnet, dass anhand von Fahrzeug-zu-Fahrzeug Kommunikation oder Satellitenradio oder MW- bzw. UKW-Radio oder Mobilfunk Informationen über eine aktuelle oder zukünftige Fahrspur übermittelt werden und anhand dieser Informationen eine maximal mögliche Detektionsreichweite für das Umfelderfassungssystem ermittelt wird. A method according to claim 1, characterized in that on the basis of vehicle-to-vehicle communication or satellite radio or MW or FM radio or mobile information about a current or future lane are transmitted and based on this information, a maximum detection range is determined for the surroundings detection system , Verfahren nach Anspruch 4, dadurch gekennzeichnet, dass zumindest anhand einer der folgenden Informationen über die aktuell befahrene Fahrspur auf die aktuelle Reichweite des Sensorsystems geschlossen wird: Fahrbahnkrümmung, Spurbreite, Höhenunterschiede, Topologie, Bebauung, Bewaldung, Umzäunungen, Randmarkierungen, Randbebauung, Schilder, geplante Richtungsänderung, Schranken, Tore, Straßentyp, Anfahrt auf eine Ampel, Baustellen, Parkhaus oder Parkplatz A method according to claim 4, characterized in that at least on the basis of one of the following information about the current driving lane on the current range of the sensor system is concluded: road curvature, track width, height differences, topology, development, forestation, fencing, edge markers, edge development, signs, planned Change of direction, barriers, gates, street type, access to a traffic light, construction sites, parking garage or parking lot Verfahren nach einem der vorherigen Ansprüche dadurch gekennzeichnet, dass zudem abhängig von der Eigengeschwindigkeit des Fahrzeugs eine maximal mögliche Detektionsreichweite für das Umfelderfassungssystem ermittelt wird. Method according to one of the preceding claims, characterized in that, in addition, a maximum possible detection range for the surroundings detection system is determined as a function of the intrinsic speed of the vehicle. Vorrichtung umfassend i) ein Umfelderfassungsystem mit anpassbaren Entfernungstoren für ein Fahrzeug und ii) Mittel zur Positionsbestimmung eines Fahrzeugs und eine elektronische Umgebungskarte und/oder Mittel zum Empfang von Funkdaten die von anderen Fahrzeugen oder von Mobilfunkdaten ii) eine Datenspeichereinheit auf der ein Verfahren nach einem der vorherigen Ansprüche hinterlegt ist, iii) ein Prozessor zur Durchführung eines Verfahrens nach einem der vorherigen Ansprüche dadurch gekennzeichnet, dass die Anzahl und/oder die Breite von Entfernungstoren variabel ist und in Abhängigkeit von Informationen, die durch die in ii) genannten Mittel übermittelt werden, angepasst wird. Device comprising i) an environment detection system with adjustable range gates for a vehicle and ii) means for determining the position of a vehicle and an electronic environment map and / or means for receiving radio data from other vehicles or mobile data ii) a data storage unit on which a method according to one of the preceding claims is stored, iii) a processor for carrying out a method according to one of the preceding claims characterized in that the number and / or width of range gates is variable and is adjusted in response to information conveyed by the means referred to in (ii). Vorrichtung nach Anspruch 7 dadurch gekennzeichnet, dass Mittel zur Bestimmung einer Eigenfahrzeuggeschwindigkeit vorgesehen sind und die Eigengeschwindigkeit dem Prozessor nach iii) zugeführt werden. Apparatus according to claim 7, characterized in that means are provided for determining an own vehicle speed and the Airspeed be supplied to the processor according to iii).
DE102011056050A 2011-12-05 2011-12-05 Setting of distance sensors of an environment sensor depending on environment information Withdrawn DE102011056050A1 (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
DE102011056050A DE102011056050A1 (en) 2011-12-05 2011-12-05 Setting of distance sensors of an environment sensor depending on environment information
DE112012003891.6T DE112012003891A5 (en) 2011-12-05 2012-11-07 Setting of distance sensors of an environment sensor depending on environment information
PCT/DE2012/100340 WO2013083118A1 (en) 2011-12-05 2012-11-07 Adjustment of distance gates of a surroundings sensor on the basis of surroundings information

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102011056050A DE102011056050A1 (en) 2011-12-05 2011-12-05 Setting of distance sensors of an environment sensor depending on environment information

Publications (1)

Publication Number Publication Date
DE102011056050A1 true DE102011056050A1 (en) 2013-06-06

Family

ID=47504534

Family Applications (2)

Application Number Title Priority Date Filing Date
DE102011056050A Withdrawn DE102011056050A1 (en) 2011-12-05 2011-12-05 Setting of distance sensors of an environment sensor depending on environment information
DE112012003891.6T Pending DE112012003891A5 (en) 2011-12-05 2012-11-07 Setting of distance sensors of an environment sensor depending on environment information

Family Applications After (1)

Application Number Title Priority Date Filing Date
DE112012003891.6T Pending DE112012003891A5 (en) 2011-12-05 2012-11-07 Setting of distance sensors of an environment sensor depending on environment information

Country Status (2)

Country Link
DE (2) DE102011056050A1 (en)
WO (1) WO2013083118A1 (en)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2016198522A1 (en) * 2015-06-10 2016-12-15 Valeo Schalter Und Sensoren Gmbh Driver assistance system for a motor vehicle, motor vehicle and method
WO2017129185A1 (en) * 2016-01-28 2017-08-03 Conti Temic Microelectronic Gmbh Method and device for determining the range of a sensor for a motor vehicle
EP3252502A1 (en) * 2016-05-30 2017-12-06 Valeo Schalter und Sensoren GmbH Method for detecting an incline in a roadway of a motor vehicle, driver assistance system and motor vehicle
WO2018192897A1 (en) * 2017-04-19 2018-10-25 Valeo Schalter Und Sensoren Gmbh Traveling-situation-dependent distance determination for a motor vehicle lidar sensor apparatus
WO2018203974A1 (en) * 2017-05-02 2018-11-08 Qualcomm Incorporated Dynamic sensor operation and data processing based on motion information

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11173906B2 (en) * 2017-02-03 2021-11-16 Honda Motor Co., Ltd. Vehicle control system, vehicle control method, and storage medium
US11099264B2 (en) * 2017-09-20 2021-08-24 Motional Ad Llc Variable range and frame-rate radar operation for automated vehicle

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10053061A1 (en) * 2000-10-26 2002-05-08 Dornier Gmbh Method for adaptive target processing in a motor vehicle radar
DE102005051539A1 (en) * 2004-10-29 2006-09-21 Continental Teves Ag & Co. Ohg Method for increasing the driving safety and / or the comfort of a motor vehicle
DE102005022677A1 (en) * 2005-05-17 2006-11-23 Robert Bosch Gmbh 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
DE102010046836A1 (en) * 2010-03-29 2011-09-29 Mitsubishi Electric Corp. Vehicle radar device

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3645177B2 (en) * 2000-11-29 2005-05-11 三菱電機株式会社 Vehicle periphery monitoring device
DE102004032118B4 (en) * 2004-07-01 2006-09-21 Daimlerchrysler Ag Object recognition method for vehicles

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10053061A1 (en) * 2000-10-26 2002-05-08 Dornier Gmbh Method for adaptive target processing in a motor vehicle radar
DE102005051539A1 (en) * 2004-10-29 2006-09-21 Continental Teves Ag & Co. Ohg Method for increasing the driving safety and / or the comfort of a motor vehicle
DE102005022677A1 (en) * 2005-05-17 2006-11-23 Robert Bosch Gmbh 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
DE102010046836A1 (en) * 2010-03-29 2011-09-29 Mitsubishi Electric Corp. Vehicle radar device

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2016198522A1 (en) * 2015-06-10 2016-12-15 Valeo Schalter Und Sensoren Gmbh Driver assistance system for a motor vehicle, motor vehicle and method
WO2017129185A1 (en) * 2016-01-28 2017-08-03 Conti Temic Microelectronic Gmbh Method and device for determining the range of a sensor for a motor vehicle
US10823821B2 (en) 2016-01-28 2020-11-03 Conti Temic Microelectronic Gmbh Method and device for determining the range of a sensor for a motor vehicle
EP3252502A1 (en) * 2016-05-30 2017-12-06 Valeo Schalter und Sensoren GmbH Method for detecting an incline in a roadway of a motor vehicle, driver assistance system and motor vehicle
WO2018192897A1 (en) * 2017-04-19 2018-10-25 Valeo Schalter Und Sensoren Gmbh Traveling-situation-dependent distance determination for a motor vehicle lidar sensor apparatus
WO2018203974A1 (en) * 2017-05-02 2018-11-08 Qualcomm Incorporated Dynamic sensor operation and data processing based on motion information
US11074463B2 (en) 2017-05-02 2021-07-27 Qualcomm Incorporated Dynamic sensor operation and data processing based on motion information

Also Published As

Publication number Publication date
WO2013083118A1 (en) 2013-06-13
DE112012003891A5 (en) 2014-05-22

Similar Documents

Publication Publication Date Title
EP3542237B1 (en) Autonomous control of a motor vehicle on the basis of lane data; motor vehicle
EP2082388B1 (en) Method and apparatus for identifying concealed objects in road traffic
DE102011056050A1 (en) Setting of distance sensors of an environment sensor depending on environment information
EP1183552B1 (en) System for detecting an object
DE102015202367A1 (en) AUTONOMIC CONTROL IN A SEALED VEHICLE ENVIRONMENT
DE102019218001A1 (en) DEVICE, SYSTEM AND METHOD FOR PREVENTING COLLISION
DE102018101106A1 (en) REDUCING AND PREVENTING COLLISIONS
EP2460337B1 (en) Method and device for the communication with another vehicle or with an infrastructure device
EP1697763A1 (en) Radar sensor and method for operating the same
DE102015203343A1 (en) CONTROL OF SEMI-AUTOMATIC MODE
DE102013222586A1 (en) Method for avoiding a collision of a motor vehicle with a wrong-moving vehicle and control and detection device for a motor vehicle to avoid a collision of the motor vehicle with a wrong-driving vehicle
DE102012104786A1 (en) Tracking enhancement using object vehicle information for lane centering / attitude
WO2006007943A1 (en) Method for operating a driving system of a motor vehicle, and driving system for carrying out said method
EP3495840A1 (en) Method and device for locating a vehicle
EP2676857A2 (en) Method and apparatus for generating a control parameter for a gap assistance system of a vehicle
DE102016217645A1 (en) A method for providing information about a probable driving intention of a vehicle
DE102018115265A1 (en) METHOD AND DEVICE FOR OBJECT SURFACE ESTIMATION BY REFLECTION DELAYING
DE102019110772A1 (en) METHOD AND DEVICE FOR OVERLAYING AND MULTI-TRAFFIC NOISE REDUCTION IN A LIDAR SYSTEM
DE112018004330T5 (en) WHEEL OPERATION WITH VARIABLE DISTANCE AND REPEAT RATE FOR AN AUTOMATED VEHICLE
WO2019233777A1 (en) Driving assistance system
DE102021111144A1 (en) TRACK-BASED VEHICLE CONTROL
DE102018214971A1 (en) Method for creating a map of the surroundings of a vehicle
EP3151035A1 (en) Method for operating radar sensors in a motor vehicle and motor vehicle
EP3410145B1 (en) Method for calibrating a radar sensor of a motor vehicle during a movement of the motor vehicle, radar sensor, driver assistance system and motor vehicle
DE102007007540A1 (en) Object detecting and tracking device for motor vehicle, has object tracking device determining position of detected objects based on position of objects relative to reference vehicle in spatial relation to geometry of lane

Legal Events

Date Code Title Description
R163 Identified publications notified
R118 Application deemed withdrawn due to claim for domestic priority
R118 Application deemed withdrawn due to claim for domestic priority

Effective date: 20140412