DE102016215509A1 - Mirror target detection in a radar system in a vehicle - Google Patents

Mirror target detection in a radar system in a vehicle

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Publication number
DE102016215509A1
DE102016215509A1 DE102016215509.1A DE102016215509A DE102016215509A1 DE 102016215509 A1 DE102016215509 A1 DE 102016215509A1 DE 102016215509 A DE102016215509 A DE 102016215509A DE 102016215509 A1 DE102016215509 A1 DE 102016215509A1
Authority
DE
Germany
Prior art keywords
object
mirror
mirror surface
vehicle
radar system
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.)
Pending
Application number
DE102016215509.1A
Other languages
German (de)
Inventor
Yang Zhang
Andreas SCHLENSAG
Andreas Kramer
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.)
Conti Temic Microelectronic GmbH
Original Assignee
Conti Temic Microelectronic GmbH
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 Conti Temic Microelectronic GmbH filed Critical Conti Temic Microelectronic GmbH
Priority to DE102016215509.1A priority Critical patent/DE102016215509A1/en
Publication of DE102016215509A1 publication Critical patent/DE102016215509A1/en
Pending legal-status Critical Current

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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
    • G01S7/02Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/41Details 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
    • 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
    • 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
    • G01S13/02Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06Systems determining position data of a target
    • G01S13/46Indirect determination of position data
    • G01S2013/462Indirect determination of position data using multipath signals

Abstract

A method of operating a radar system (2) in a vehicle (1) comprising the steps of: - detecting a mirror surface (13), - determining a minimum distance from an object to the mirror surface, classifying the object as a mirror object when the object and the Vehicle are located on different sides of the mirror surface.

Description

  • The invention relates to a radar system for a vehicle, as well as to a method for detecting mirror targets in this radar system.
  • State of the art
  • Radar systems are increasingly used in vehicles. For example, it is off DE 10 2010 006 214 A1 a radar system is known that can perform emergency braking.
  • In particular, emergency braking places high demands on the reliability of the radar sensor. The initiation of an emergency stop in front of a wrongly recognized object as an obstacle must therefore be prevented.
  • Out DE 10 2012 208 852 A1 For example, a method is known which determines mirror targets from a positional distribution and from directional angles of radar reflection points by means of a model when, for example, there is a guardrail adjacent to the vehicle.
  • Task and solution
  • The object of the present invention is to develop a radar system to the effect that a detection of mirror objects is improved.
  • The object is achieved by a method according to the independent claim, and a radar system according to the independent claim. Further advantageous embodiments of the invention are the subject of the dependent claims.
  • The inventive method for operating a radar system in a vehicle comprises the following steps, detecting a mirror surface, determining a minimum distance from an object to the mirror surface, wherein the object is classified as a mirror object when the object and the vehicle are on different sides of the mirror surface.
  • Advantageously, surfaces are detected as mirror surfaces and then assumed as a straight line representing the mirror surface in the radar image. The mirror surface may be elongated surfaces, such as a guard rail or punctiform surfaces, such as a pillar.
  • Preferably, a position of a real object in extension of the minimum distance across the mirror surface on the side of the vehicle can be assumed. Advantageously, to the mirror object, a real object must be present, which has reflected the wave in real. This real object can only be located on the opposite side of the mirror surface from the mirror object because the radar wave can not penetrate the mirror surface.
  • More preferably, the real object can have the same minimum distance to the mirror surface as the mirror object. Advantageously, such an assumption about the position of the real object is possible. The minimum distance to the mirror surface ensures that both the distance of the mirror object and the distance of the real object at right angles to the mirror surface are determined.
  • In a further embodiment of the invention, the mirror surface can be detected by pattern recognition in a radar image. This advantageously leads to a robust detection of the mirror surface and thus further improves the detection of the mirror object.
  • In a further preferred embodiment of the invention, the mirror surface can be detected by means of a grid filled with stationary clusters by means of a Hough transformation. Advantageously, the special transformation further improves the reliability of the detection of the mirror surface.
  • Preferably, a recognition probability for the mirror surface can be determined and the object can only be classified as a mirror object if the recognition probability has reached a threshold value. Advantageously, it can thus be ensured that an object is classified as a mirror object only when the mirror surface has been detected with sufficient certainty. Erroneous mirror surface detection can then reduce the reliability of classifying objects as mirror objects.
  • According to the invention, a radar system is set up in a vehicle, which carries out a previously described method.
  • figure description
  • 1 shows one with a radar system 2 equipped vehicle 1 , The one with the radar system 2 connected radar sensor 3 sends out a wave, which is on a mirror surface 13 in a mirror point 15 is diverted. The wave 5 spreads from there on and is on a real object 30 reflected. The wave 6 prepares for the mirror surface 13 out and in the mirror 15 back to the radar sensor 3 diverted.
  • The radar system is based on a straight line propagation of the wave 7 . 8th and assumes that the object is at the mirror position 20 located. Due to the assumption of the straight-line Wave propagation calculates the radar system the distance and the speed of the mirror object 20 ,
  • By a pattern recognition in the radar image, for example, leaves a guardrail a known radar signature, the radar system 2 the mirror surface 13 recognize and the mirror point 15 to calculate. The spotting point 15 is located at the intersection of assumed rectilinear wave 7 and mirror surface 13 ,
  • The of the assumed wave 7 . 8th to the mirror target 20 Distance to be traveled from the mirror point 15 is identical to that of the actual shaft 5 . 6 Distance traveled to the real object 30 , The two objects 20 . 30 make up with the mirror point 15 an isosceles triangle formed by the elongated spine surface 13 in two identical, rectangular 10 . 11 Dividing triangles. Because the position of the mirror surface 13 and the mirror object 20 is known, the minimum distance DS of the mirror object can be 20 to the mirror surface 13 to calculate. Since the two minimum distances DS, DR of the objects are identical, the minimum distance DR of the real object results 30 from the mirror surface 13 from the minimum distance DS of the mirror object 20 ,
  • Due to the detection of the mirror surface 13 is the radar system 2 capable of the actual position of the real object 30 to determine and the mirror object 20 to recognize. The real object 30 has the same speed 29 . 39 like the mirror object 20 , Furthermore, the real object is located 30 on the same side of the mirror surface 13 like the vehicle emitting the radar wave 1 while the mirror object 20 on the vehicle 1 opposite side of the mirror surface 13 located.
  • QUOTES INCLUDE IN THE DESCRIPTION
  • 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.
  • Cited patent literature
    • DE 102010006214 A1 [0002]
    • DE 102012208852 A1 [0004]

Claims (7)

  1. Method for operating a radar system ( 2 ) in a vehicle ( 1 ) comprising the steps: - detecting a mirror surface ( 13 ), - determining a minimum distance from an object to the mirror surface, characterized in that the object is classified as a mirror object when the object and the vehicle are on different sides of the mirror surface.
  2. Method according to claim 1, wherein a position of a real object ( 30 ) in extension of the minimum distance (DR) over the mirror surface ( 13 ) on the side of the vehicle ( 1 ) Is accepted.
  3. Method according to claim 2, wherein the real object ( 30 ) the same minimum distance (DR) to the mirror surface ( 13 ) like the mirror object ( 20 ).
  4. Method according to one of the preceding claims, wherein the mirror surface ( 13 ) is detected by pattern recognition in a radar image.
  5. Method according to one of the preceding claims, wherein the mirror surface ( 13 ) is detected by means of a grid filled with stationary clusters by a Hough transformation.
  6. Method according to one of the preceding claims, wherein a detection probability for the mirror surface ( 13 ) and the object first as a mirror object ( 20 ) is classified when the recognition probability reaches a threshold.
  7. Radar system ( 2 ) in a vehicle ( 1 ) arranged to carry out a method according to one of the preceding claims.
DE102016215509.1A 2016-08-18 2016-08-18 Mirror target detection in a radar system in a vehicle Pending DE102016215509A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE102016215509.1A DE102016215509A1 (en) 2016-08-18 2016-08-18 Mirror target detection in a radar system in a vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102016215509.1A DE102016215509A1 (en) 2016-08-18 2016-08-18 Mirror target detection in a radar system in a vehicle

Publications (1)

Publication Number Publication Date
DE102016215509A1 true DE102016215509A1 (en) 2018-02-22

Family

ID=61082486

Family Applications (1)

Application Number Title Priority Date Filing Date
DE102016215509.1A Pending DE102016215509A1 (en) 2016-08-18 2016-08-18 Mirror target detection in a radar system in a vehicle

Country Status (1)

Country Link
DE (1) DE102016215509A1 (en)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10110038A1 (en) * 2001-03-02 2002-09-19 Daimler Chrysler Ag Automatic recognition and tracking of objects in image data in which a training set can be autonomously expanded and the classifier re-trained to recognize new objects and classifications
DE102004036580A1 (en) * 2004-07-28 2006-03-16 Robert Bosch Gmbh Method and device for object detection in a vehicle
JP2006242695A (en) * 2005-03-02 2006-09-14 Denso Corp Onboard radar device
DE102010006214A1 (en) 2010-01-29 2011-08-04 Bayerische Motoren Werke Aktiengesellschaft, 80809 Emergency brake assistant for automatic braking of a vehicle for collision avoidance or collision consequence reduction
DE102012208852A1 (en) 2012-05-25 2013-11-28 Robert Bosch Gmbh Detection of radar objects with a radar sensor of a motor vehicle

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10110038A1 (en) * 2001-03-02 2002-09-19 Daimler Chrysler Ag Automatic recognition and tracking of objects in image data in which a training set can be autonomously expanded and the classifier re-trained to recognize new objects and classifications
DE102004036580A1 (en) * 2004-07-28 2006-03-16 Robert Bosch Gmbh Method and device for object detection in a vehicle
JP2006242695A (en) * 2005-03-02 2006-09-14 Denso Corp Onboard radar device
DE102010006214A1 (en) 2010-01-29 2011-08-04 Bayerische Motoren Werke Aktiengesellschaft, 80809 Emergency brake assistant for automatic braking of a vehicle for collision avoidance or collision consequence reduction
DE102012208852A1 (en) 2012-05-25 2013-11-28 Robert Bosch Gmbh Detection of radar objects with a radar sensor of a motor vehicle

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