DE102013019803A1 - Method for determining an object height from radar data - Google Patents
Method for determining an object height from radar data Download PDFInfo
- Publication number
- DE102013019803A1 DE102013019803A1 DE102013019803.8A DE102013019803A DE102013019803A1 DE 102013019803 A1 DE102013019803 A1 DE 102013019803A1 DE 102013019803 A DE102013019803 A DE 102013019803A DE 102013019803 A1 DE102013019803 A1 DE 102013019803A1
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- Germany
- Prior art keywords
- radar device
- determined
- radar
- height
- distance
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- 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.)
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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
- 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
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
-
- 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
- G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
- G01S13/34—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
- G01S13/343—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal using sawtooth modulation
-
- 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
- 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
- G01S13/46—Indirect determination of position data
- G01S2013/462—Indirect determination of position data using multipath signals
-
- 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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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
Die Erfindung betrifft ein Verfahren zur Bestimmung einer Objekthöhe aus mittels einer an einem Fahrzeug (2) angeordneten Radarvorrichtung (1) ermittelten Radardaten, wobei eine zeitliche Veränderung einer Entfernung des Objekts (O1, O2) zu der Radarvorrichtung (1) ermittelt und eine Intensitätsmodulation eines von der Radarvorrichtung (1) empfangenen Echosignals (S) durchgeführt wird. Erfindungsgemäß werden zusätzlich in Abhängigkeit eines Höhenwinkels (α) einer optischen Achse (OA) der Radarvorrichtung (1) Reflexionen des Objekts (O1, O2) unterhalb und/oder oberhalb der Radarvorrichtung (1) befindlicher Flächen (F), insbesondere Boden- und/oder Deckenreflexionen, ermittelt, wobei anhand der ermittelten Entfernung und der Intensitätsmodulation die Objekthöhe über einer unterhalb der Radarvorrichtung (1) befindlichen Fläche (F) und/oder eine lichte Höhe zu einer oberhalb der Radarvorrichtung (1) befindlichen Fläche ermittelt werden bzw. wird.The invention relates to a method for determining an object height from radar data determined by means of a radar device (1) arranged on a vehicle (2), wherein a change over time of a distance of the object (O1, O2) to the radar device (1) and an intensity modulation of a from the radar device (1) received echo signal (S) is performed. According to the invention, reflections of the object (O1, O2) underneath and / or above the radar device (1) located surfaces (F), in particular soil and / or in dependence of an elevation angle (α) of an optical axis (OA) of the radar device (1) or Ceiling reflections, determined based on the determined distance and the intensity modulation, the object height above a below the radar device (1) located surface (F) and / or a clear height to an above the radar device (1) surface is or will be determined.
Description
Die Erfindung betrifft ein Verfahren zur Bestimmung einer Objekthöhe aus mittels einer an einem Fahrzeug angeordneten Radarvorrichtung ermittelten Radardaten, wobei eine zeitliche Veränderung einer Entfernung des Objekts zu der Radarvorrichtung ermittelt und eine Intensitätsmodulation eines von der Radarvorrichtung empfangenen Echosignals durchgeführt wird.The invention relates to a method for determining an object height from radar data determined by means of a radar device arranged on a vehicle, wherein a temporal change of a distance of the object to the radar device is determined and an intensity modulation of an echo signal received by the radar device is performed.
Aus der
Weiterhin ist aus der
Der Erfindung liegt die Aufgabe zu Grunde, ein gegenüber dem Stand der Technik verbessertes Verfahren zur Bestimmung einer Objekthöhe aus Radardaten anzugeben.The invention is based on the object to provide a comparison with the prior art improved method for determining an object height of radar data.
Die Aufgabe wird erfindungsgemäß mit einem Verfahren gelöst, welches die im Anspruch 1 angegebenen Merkmale aufweist.The object is achieved by a method having the features specified in
Vorteilhafte Ausgestaltungen der Erfindung sind Gegenstand der Unteransprüche.Advantageous embodiments of the invention are the subject of the dependent claims.
In einem Verfahren zur Bestimmung einer Objekthöhe aus mittels einer an einem Fahrzeug angeordneten Radarvorrichtung ermittelten Radardaten wird eine zeitliche Veränderung einer Entfernung des Objekts zu der Radarvorrichtung ermittelt und eine Intensitätsmodulation eines von der Radarvorrichtung empfangenen Echosignals durchgeführt.In a method for determining an object height from radar data determined by means of a radar device arranged on a vehicle, a temporal change of a distance of the object to the radar device is determined and an intensity modulation of an echo signal received by the radar device is performed.
Erfindungsgemäß werden zusätzlich in Abhängigkeit eines Höhenwinkels einer optischen Achse der Radarvorrichtung Reflexionen des Objekts unterhalb und/oder oberhalb der Radarvorrichtung befindlicher Flächen, insbesondere Boden- und/oder Deckenreflexionen, ermittelt, wobei anhand der ermittelten Entfernung und der Intensitätsmodulation die Objekthöhe über einer unterhalb der Radarvorrichtung befindlichen Fläche und/oder eine lichte Höhe zu einer oberhalb der Radarvorrichtung befindlichen Fläche ermittelt werden bzw. wird.According to the invention, depending on an elevation angle of an optical axis of the radar device, reflections of the object below and / or above the radar device are determined, in particular ground and / or ceiling reflections, the object height being above the radar device based on the determined distance and the intensity modulation located surface and / or a clear height to a surface located above the radar device are determined or will.
Somit ist eine besonders genaue, schnelle und zuverlässige Höhenbestimmung von Objekten möglich. Daraus folgend ist es möglich, dass in Abhängigkeit der ermittelten Objekthöhe und/oder lichten Höhe betriebene Fahrerassistenzvorrichtungen, wie beispielsweise ein Bremsassistent, schneller erkennen, ob ein Eingreifen in eine Quer- und Längstrajektorie des Fahrzeugs, wie beispielsweise durch eine Notbremsung, erforderlich ist.Thus, a particularly accurate, fast and reliable height determination of objects is possible. As a result, it is possible for driver assistance devices operated, depending on the determined object height and / or clear height, for example a brake assistant, to detect whether intervention in a transverse and longitudinal trajectory of the vehicle, for example by emergency braking, is required.
Ausführungsbeispiele der Erfindung werden im Folgenden anhand von Zeichnungen näher erläutert.Embodiments of the invention are explained in more detail below with reference to drawings.
Dabei zeigen:Showing:
Einander entsprechende Teile sind in allen Figuren mit den gleichen Bezugszeichen versehen.Corresponding parts are provided in all figures with the same reference numerals.
In
Die Radarvorrichtung
Bei allgemein bekannten Verfahren werden mittels Radarvorrichtungen
Wie in
Bewegt sich somit der Radarsensor
In
Zur Bestimmung dieser Objekthöhe aus mittels der am Fahrzeug
Hierbei erfolgt die Bestimmung der Objekthöhe mittels eines so genannten Beamforming-Verfahrens, wobei die Bestimmung eines Zielwerts des Höhenwinkels α anhand der ermittelten Objekthöhe erfolgt. Dabei wird in Abhängigkeit einer Eigengeschwindigkeit der Radarvorrichtung
Die Bestimmung des Höhenwinkels α, auch als Elevationswinkel bezeichnet, ist in
Dabei ergibt sich ein dem Höhenwinkel α entsprechender Auftreff- oder Objektwinkel Φ gemäß
In den
Die Bodenreflexion des Objekts O1 wird verwendet, um aus dem zeitlichen Verlauf der Überlagerung von direkter und reflektierter Welle auf die Höhe des Objekts O1 zu schließen. Blickt die Radarvorrichtung
Blickt die Radarvorrichtung
Gemäß einem ersten Kriterium variiert die Höhenschätzung stark zwischen den beiden Blickrichtungen, wobei beide Auswertungen berücksichtigt werden. Hierbei kann ein Schwellwert definiert werden, ab dem ein Objekt O1 als unterfahrbar klassifiziert wird.According to a first criterion, the height estimate varies greatly between the two directions of view, with both evaluations being taken into account. Here, a threshold value can be defined, from which an object O1 is classified as accessible.
Gemäß einem zweiten Kriterium weist das Objekt O1 bei Auswertung mit der in Elevation blickenden Radarvorrichtung
Alternativ oder zusätzlich ist das beschriebene Verfahren analog in umgekehrter Weise auch zur Klassifizierung von überfahrbaren Objekten anwendbar.Alternatively or additionally, the described method is analogously applicable in the reverse manner also for the classification of drive-over objects.
BezugszeichenlisteLIST OF REFERENCE NUMBERS
- 11
- Radarvorrichtungradar device
- 1.1, 1.21.1, 1.2
- Sendeantennetransmitting antenna
- 1.3 bis 1.61.3 to 1.6
- Empfangsantennereceiving antenna
- 22
- Fahrzeugvehicle
- AA
- Antennenarrayantenna array
- ff
- Frequenzfrequency
- FF
- Flächearea
- OAOA
- optische Achseoptical axis
- O1, O2O1, O2
- Objektobject
- O1'O1 '
- Geisterobjektghosts object
- R1 bis R4R1 to R4
- Ramperamp
- SS
- Echosignalecho signal
- tt
- ZeitTime
- TT
- Rampendauerramp time
- vv
- Geschwindigkeitspeed
- WFWF
- Wellenfrontwavefront
- yy
- Richtungdirection
- xx
- Richtungdirection
- αα
- Höhenwinkelelevation angle
- Δl.DELTA.l
- WellenlängendifferenzWavelength difference
- ΦΦ
- Auftreff- und ObjektwinkelImpact and object angles
ZITATE ENTHALTEN IN DER BESCHREIBUNG QUOTES 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 of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.
Zitierte PatentliteraturCited patent literature
- DE 102009032114 A1 [0002] DE 102009032114 A1 [0002]
- DE 102010007415 A1 [0003] DE 102010007415 A1 [0003]
Claims (3)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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DE102013019803.8A DE102013019803A1 (en) | 2013-11-27 | 2013-11-27 | Method for determining an object height from radar data |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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DE102013019803.8A DE102013019803A1 (en) | 2013-11-27 | 2013-11-27 | Method for determining an object height from radar data |
Publications (1)
Publication Number | Publication Date |
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DE102013019803A1 true DE102013019803A1 (en) | 2015-05-28 |
Family
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DE102013019803.8A Withdrawn DE102013019803A1 (en) | 2013-11-27 | 2013-11-27 | Method for determining an object height from radar data |
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Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102015012589A1 (en) | 2015-09-29 | 2016-03-03 | Daimler Ag | Method for radar-based determination of a height of an object |
DE102016207463A1 (en) | 2016-04-29 | 2017-11-02 | Robert Bosch Gmbh | Method and device for operating at least one vehicle with respect to at least one passable object in the vicinity of the at least one vehicle |
WO2019166614A1 (en) * | 2018-03-02 | 2019-09-06 | Jenoptik Robot Gmbh | Method and device for estimating the height of a reflector of a vehicle |
WO2019179756A1 (en) * | 2018-03-21 | 2019-09-26 | Robert Bosch Gmbh | Method for determining a standing height of field crops |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102009032114A1 (en) | 2008-07-02 | 2010-01-07 | Adc Automotive Distance Control Systems Gmbh | Radar system for detecting the surroundings of a motor vehicle with means for detecting over or under traversable reflection points |
DE102010007415A1 (en) | 2010-02-10 | 2010-09-30 | Daimler Ag | Radar signal processing method for evaluating object height of object, involves deriving information about object height of object from characteristics of intensity modulation over quotient of radar height and distance of object by surface |
-
2013
- 2013-11-27 DE DE102013019803.8A patent/DE102013019803A1/en not_active Withdrawn
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102009032114A1 (en) | 2008-07-02 | 2010-01-07 | Adc Automotive Distance Control Systems Gmbh | Radar system for detecting the surroundings of a motor vehicle with means for detecting over or under traversable reflection points |
DE102010007415A1 (en) | 2010-02-10 | 2010-09-30 | Daimler Ag | Radar signal processing method for evaluating object height of object, involves deriving information about object height of object from characteristics of intensity modulation over quotient of radar height and distance of object by surface |
Cited By (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102015012589A1 (en) | 2015-09-29 | 2016-03-03 | Daimler Ag | Method for radar-based determination of a height of an object |
DE102016207463A1 (en) | 2016-04-29 | 2017-11-02 | Robert Bosch Gmbh | Method and device for operating at least one vehicle with respect to at least one passable object in the vicinity of the at least one vehicle |
US10889271B2 (en) | 2016-04-29 | 2021-01-12 | Robert Bosch Gmbh | Method and device for a motor vehicle for comparing surrounding area map data to surrounding area sensor data to determine the passability of a road object |
WO2019166614A1 (en) * | 2018-03-02 | 2019-09-06 | Jenoptik Robot Gmbh | Method and device for estimating the height of a reflector of a vehicle |
US11828841B2 (en) | 2018-03-02 | 2023-11-28 | Jenoptik Robot Gmbh | Method and device for estimating the height of a reflector of a vehicle |
WO2019179756A1 (en) * | 2018-03-21 | 2019-09-26 | Robert Bosch Gmbh | Method for determining a standing height of field crops |
CN111867351A (en) * | 2018-03-21 | 2020-10-30 | 罗伯特·博世有限公司 | Method for determining the height of survival of a crop |
US20210055099A1 (en) * | 2018-03-21 | 2021-02-25 | Robert Bosch Gmbh | Method for ascertaining a plant height of field crops |
CN111867351B (en) * | 2018-03-21 | 2023-02-21 | 罗伯特·博世有限公司 | Method for determining the height of survival of a crop |
US11874367B2 (en) * | 2018-03-21 | 2024-01-16 | Robert Bosch Gmbh | Method for ascertaining a plant height of field crops |
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Owner name: AUTOLIV DEVELOPMENT AB, SE Free format text: FORMER OWNER: DAIMLER AG, 70327 STUTTGART, DE Owner name: VEONEER SWEDEN AB, SE Free format text: FORMER OWNER: DAIMLER AG, 70327 STUTTGART, DE |
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Owner name: VEONEER SWEDEN AB, SE Free format text: FORMER OWNER: AUTOLIV DEVELOPMENT AB, VARGARDA, SE |
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Representative=s name: MUELLER VERWEYEN PATENTANWAELTE PARTNERSCHAFT , DE |
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