DE102020006560A1 - Method for detecting a vehicle environment - Google Patents
Method for detecting a vehicle environment Download PDFInfo
- Publication number
- DE102020006560A1 DE102020006560A1 DE102020006560.0A DE102020006560A DE102020006560A1 DE 102020006560 A1 DE102020006560 A1 DE 102020006560A1 DE 102020006560 A DE102020006560 A DE 102020006560A DE 102020006560 A1 DE102020006560 A1 DE 102020006560A1
- Authority
- DE
- Germany
- Prior art keywords
- laser sensor
- pollution
- degree
- sensor
- recorded
- 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- Withdrawn
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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
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/483—Details of pulse systems
- G01S7/486—Receivers
- G01S7/487—Extracting wanted echo signals, e.g. pulse detection
-
- 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
- G01S7/48—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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
- B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
- B60R16/0232—Circuits relating to the driving or the functioning of the vehicle for measuring vehicle parameters and indicating critical, abnormal or dangerous conditions
- B60R16/0234—Circuits relating to the driving or the functioning of the vehicle for measuring vehicle parameters and indicating critical, abnormal or dangerous conditions related to maintenance or repairing of 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
- G01S7/48—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
- G01S2007/4975—Means for monitoring or calibrating of sensor obstruction by, e.g. dirt- or ice-coating, e.g. by reflection measurement on front-screen
Abstract
Die Erfindung betrifft ein Verfahren zur Erfassung einer Fahrzeugumgebung mittels eines Lasersensors, wobei eine optische Störung des Lasersensors bestimmt wird. Erfindungsgemäß werden anhand von mittels des Lasersensors erfassten Daten (D) eine Verschmutzungsart (A) und ein Verschmutzungsgrad (G) ermittelt, wobei zumindest ein einer jeweiligen Verschmutzungsart (A) und einem jeweiligen Verschmutzungsgrad (G) zugeordneter Filter (F1 bis Fn) aus einer Anzahl hinterlegter Filter (F1 bis Fn), welchen jeweils ein Grad (GD) einer Degradation des Lasersensors zugeordnet ist, ausgewählt wird. Mittels des zumindest einen ausgewählten Filters (F1 bis Fn) werden alle in den mittels des Lasersensors erfassten Daten (D) vorhandenen Objekte auf einen nicht verschmutzten Lasersensor umgerechnet.The invention relates to a method for detecting a vehicle environment by means of a laser sensor, wherein an optical disturbance of the laser sensor is determined. According to the invention, a type of pollution (A) and a degree of pollution (G) are determined on the basis of data (D) recorded by means of the laser sensor, at least one filter (F1 to Fn) assigned to a respective type of pollution (A) and a respective degree of pollution (G) from a The number of stored filters (F1 to Fn) to which a degree (GD) of a degradation of the laser sensor is assigned is selected. By means of the at least one selected filter (F1 to Fn), all objects present in the data (D) recorded by means of the laser sensor are converted to a non-soiled laser sensor.
Description
Die Erfindung betrifft ein Verfahren zur Erfassung einer Fahrzeugumgebung gemäß dem Oberbegriff des Anspruchs 1.The invention relates to a method for detecting a vehicle environment according to the preamble of claim 1.
Aus der
Der Erfindung liegt die Aufgabe zu Grunde, ein neuartiges Verfahren zur Erfassung einer Fahrzeugumgebung anzugeben.The invention is based on the object of specifying a novel method for detecting a vehicle environment.
Die Aufgabe wird erfindungsgemäß gelöst durch ein Verfahren, welches die im Anspruch 1 angegebenen Merkmale aufweist.The object is achieved according to the invention by a method which has the features specified in claim 1.
Vorteilhafte Ausgestaltungen der Erfindung sind Gegenstand der Unteransprüche.Advantageous embodiments of the invention are the subject of the subclaims.
In einem Verfahren zur Erfassung einer Fahrzeugumgebung mittels eines Lasersensors wird eine optische Störung des Lasersensors bestimmt.In a method for detecting a vehicle environment by means of a laser sensor, an optical disturbance of the laser sensor is determined.
Erfindungsgemäß werden anhand von mittels des Lasersensors erfassten Daten eine Verschmutzungsart und ein Verschmutzungsgrad ermittelt, wobei zumindest ein einer jeweiligen Verschmutzungsart und einem jeweiligen Verschmutzungsgrad zugeordneter Filter aus einer Anzahl hinterlegter Filter, welchen jeweils ein Grad einer Degradation des Lasersensors zugeordnet ist, ausgewählt wird. Mittels des zumindest einen ausgewählten Filters werden alle in den mittels des Lasersensors erfassten Daten vorhandenen Objekte auf einen nicht verschmutzten Lasersensor umgerechnet.According to the invention, a type of pollution and a degree of pollution are determined on the basis of data recorded by means of the laser sensor, at least one filter assigned to a respective type of pollution and a respective degree of pollution being selected from a number of stored filters to which a degree of degradation of the laser sensor is assigned. By means of the at least one selected filter, all objects present in the data recorded by the laser sensor are converted to a non-soiled laser sensor.
Durch Verschmutzung verringert sich eine Leistungsfähigkeit eines Lasersensors. In dem vorliegenden Verfahren wird ein Wissen über einen Einfluss von verschiedenen Verschmutzungsarten auf eine Datenerfassung des Lasersensors genutzt, um eine Datenqualität zu erhöhen und auch bei schlechten Bedingungen eine ausreichende Leistung des Lidarsensors herzustellen. Somit wird eine Verfügbarkeit des Lasersensors auch bei für den Lasersensor widrigen Umgebungsbedingungen erhöht, wobei Algorithmen, welche auf einen nicht verunreinigten Lasersensor ausgelegt sind, auch bei einer Verschmutzung desselben voll funktionsfähig sind.The performance of a laser sensor is reduced by soiling. In the present method, knowledge about the influence of various types of contamination on data acquisition by the laser sensor is used in order to increase data quality and to produce sufficient performance of the lidar sensor even under poor conditions. The availability of the laser sensor is thus increased even in the case of adverse environmental conditions for the laser sensor, algorithms which are designed for a non-contaminated laser sensor being fully functional even if the same is contaminated.
Ausführungsbeispiele der Erfindung werden im Folgenden anhand einer Zeichnung näher erläutert.Embodiments of the invention are explained in more detail below with reference to a drawing.
Dabei zeigt:
-
1 schematisch einen Ablauf eines Verfahrens zur Erfassung einer Fahrzeugumgebung mittels eines Lasersensors.
-
1 schematically a sequence of a method for detecting a vehicle environment by means of a laser sensor.
In der einzigen
Der Lasersensor ist beispielsweise Bestandteil eines Fahrzeugs, wobei anhand von mittels des Lasersensors erfassten Daten
Um eine solche Verschmutzung zu erkennen und auch bei einer Verschmutzung des Lasersensors eine zuverlässige Umgebungserfassung zu ermöglichen, werden zunächst in einem ersten Schritt S1 anhand von mittels des Lasersensors erfassten Daten
Für den Lasersensor sind verschiedene Filter
Jedem Filter
Beispielsweise ist für jede mögliche Kombination einer Verschmutzungsart
Mittels des zumindest einen ausgewählten Filters
Beispielsweise wird bei dem ausgewählten Filter
Beispielsweise wird bei dem ausgewählten Filter
BezugszeichenlisteList of reference symbols
- AA.
- VerschmutzungsartPollution type
- DD.
- Datumdate
- F1 bis FnF1 to fn
- Filterfilter
- GG
- VerschmutzungsgradDegree of pollution
- GDGD
- GradDegree
- S1 bis S3S1 to S3
- Schrittstep
ZITATE ENTHALTEN IN DER BESCHREIBUNGQUOTES INCLUDED 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 was 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 PatentliteraturPatent literature cited
- DE 202018100323 U1 [0002]DE 202018100323 U1 [0002]
Claims (4)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102020006560.0A DE102020006560A1 (en) | 2020-10-26 | 2020-10-26 | Method for detecting a vehicle environment |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102020006560.0A DE102020006560A1 (en) | 2020-10-26 | 2020-10-26 | Method for detecting a vehicle environment |
Publications (1)
Publication Number | Publication Date |
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DE102020006560A1 true DE102020006560A1 (en) | 2020-12-17 |
Family
ID=73547148
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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DE102020006560.0A Withdrawn DE102020006560A1 (en) | 2020-10-26 | 2020-10-26 | Method for detecting a vehicle environment |
Country Status (1)
Country | Link |
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DE (1) | DE102020006560A1 (en) |
-
2020
- 2020-10-26 DE DE102020006560.0A patent/DE102020006560A1/en not_active Withdrawn
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Legal Events
Date | Code | Title | Description |
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R230 | Request for early publication | ||
R119 | Application deemed withdrawn, or ip right lapsed, due to non-payment of renewal fee |