DE10302052A1 - Arrangement for monitoring vehicle surroundings, especially for driver assistance system, has sensors for detecting objects and position relative to vehicle operating according to different principles - Google Patents
Arrangement for monitoring vehicle surroundings, especially for driver assistance system, has sensors for detecting objects and position relative to vehicle operating according to different principles Download PDFInfo
- Publication number
- DE10302052A1 DE10302052A1 DE10302052A DE10302052A DE10302052A1 DE 10302052 A1 DE10302052 A1 DE 10302052A1 DE 10302052 A DE10302052 A DE 10302052A DE 10302052 A DE10302052 A DE 10302052A DE 10302052 A1 DE10302052 A1 DE 10302052A1
- Authority
- DE
- Germany
- Prior art keywords
- sensors
- vehicle
- arrangement
- monitoring
- sensor
- 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- Withdrawn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
- 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
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/867—Combination of radar systems with cameras
-
- 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
- G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/161—Decentralised systems, e.g. inter-vehicle communication
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/08—Lane monitoring; Lane Keeping Systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/08—Lane monitoring; Lane Keeping Systems
- B60T2201/089—Lane monitoring; Lane Keeping Systems using optical 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
- 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
- G01S2013/9315—Monitoring blind spots
-
- 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
- G01S2013/93274—Sensor installation details on the side of the vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Traffic Control Systems (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
Description
Die Erfindung betrifft eine Vorrichtung zum Überwachen der Umgebung eines Kraftfahrzeugs, insbesondere im Rahmen eines Fahrerassistenzsystems, und ein Verfahren zum Überwachen der Umgebung eines Kraftfahrzeugs mit Hilfe einer solchen Vorrichtung.The invention relates to a device to monitor the environment of a motor vehicle, in particular in the context of a Driver assistance system, and a method for monitoring the environment of a vehicle Motor vehicle using such a device.
Zum frühzeitigen Erkennen von Gefahrensituationen und zum Vermeiden von Kollisionen werden in der Praxis Warnsysteme eingesetzt, mit denen Objekte in der Fahrzeugumgebung automatisch detektiert werden können und auch deren Entfernung und Geschwindigkeit relativ zum detektierenden Fahrzeug automatisch bestimmt werden können. Auf der Basis dieser Informationen werden dann ebenfalls automatisch situationsbezogene Warnmeldungen für den Fahrer ausgegeben. So sind beispielsweise Tote-Winkel-Detektions(TWD)-Systeme bekannt, mit denen Objekte im toten Winkel eines Fahrzeugs automatisch erfasst werden, die der Fahrer ohne entsprechende Warnmeldung nur durch seitliches Drehen des Kopfes wahrnehmen könnte. Derartige TWD-Systeme sind insbesondere dann von Nutzen, wenn ein anderes Fahrzeug mit geringer Differenzgeschwindigkeit überholt und dabei länger als einen Augenblick in den toten Winkel rechts oder links des eigenen Fahrzeugs eintaucht. Dadurch kann die Unfallgefahr durch Übersehen anderer Fahrzeuge beispielsweise beim Spurwechsel auf mehrspurigen Schnellstraßen verringert werden.For early detection of dangerous situations and in practice, warning systems are used to avoid collisions used with which objects in the vehicle environment automatically can be detected and also their distance and speed relative to the detecting vehicle can be determined automatically. On the basis of this information, then also automatically situation-related warning messages for the driver. So for example, blind spot detection (TWD) systems are known, with which objects in the blind spot of a vehicle are automatically detected that the driver can only get through without a corresponding warning message could notice lateral turning of the head. Such TWD systems are particularly useful if you have another vehicle low differential speed overhauled and longer than one Moment in the blind spot to the right or left of your own vehicle dips. This can reduce the risk of accidents by overlooking other vehicles reduced when changing lanes on multi-lane expressways, for example become.
Die bekannten Warnsysteme umfassen in der Regel einen oder mehrere Radarsensoren. Anhand des Verlaufs der Messwerte wird das Vorhandensein von Objekten im Überwachungsbereich geschätzt. Eine zuverlässige Klassifizierung des detektierten Objekts ist damit allerdings nicht möglich, so dass das Warnsystem nicht unterscheiden kann, ob es sich bei dem Objekt um einen Pkw, einen Lkw, einen Fahrradfahrer, einen Fußgänger oder beispielsweise eine Leitplanke handelt. Bei den bekannten TWD-Systemen kommt hinzu, dass sehr kurze Fahrzeuge, wie z.B. Motorradfahrer, die längere Zeit mit gleicher Geschwindigkeit neben dem eigenen Fahrzeug herfahren oder seitlich einscheren, nicht zuverlässig detektiert werden können. Auch die vollständige Abdeckung des Tote-Winkel-Bereichs mit Hilfe von Radarsensoren erweist sich als problematisch. Außerdem können widrige Umweltbedingungen die Verfügbarkeit einschränken, beispielsweise wenn die Radarsensoren mit Schneematsch oder feuchtem Schmutz bedeckt sind.The known warning systems include usually one or more radar sensors. Based on the course the measured values will indicate the presence of objects in the surveillance area estimated. A reliable one However, this does not classify the detected object possible, so that the warning system can’t tell if it’s at the object around a car, a truck, a cyclist, a pedestrian or for example a guardrail. With the well-known TWD systems in addition, very short vehicles, such as Motorcyclist the longer one Drive time at the same speed next to your own vehicle or reeving from the side, cannot be reliably detected. Also the complete Coverage of the blind spot area with the help of radar sensors proves themselves as problematic. Moreover can adverse environmental conditions restrict availability, for example if the radar sensors are covered with slush or damp dirt are.
Vorteile der ErfindungAdvantages of invention
Mit der vorliegenden Erfindung werden Maßnahmen vorgeschlagen, mit denen sich die Zuverlässigkeit von Systemen zur Überwachung der Fahrzeugumgebung steigern lässt.With the present invention activities proposed to improve the reliability of surveillance systems the vehicle environment can be increased.
Die erfindungsgemäße Vorrichtung zum Überwachen der Umgebung eines Kraftfahrzeugs ist mit mindestens zwei Sensoren zum Erfassen von Objekten und deren Position in Bezug auf das Fahrzeug ausgestattet. Diese beiden Sensoren arbeiten nach unterschiedlichen physikalischen Messprinzipien. Außerdem sind die beiden Sensoren so am Fahrzeug angeordnet, dass sich die Erfassungsbereiche der beiden Sensoren zumindest teilweise überlappen.The monitoring device according to the invention the environment of a motor vehicle with at least two sensors for detecting objects and their position in relation to the vehicle fitted. These two sensors work according to different physical measurement principles. In addition, the two sensors arranged on the vehicle so that the detection areas of the overlap the two sensors at least partially.
Erfindungsgemäß ist erkannt worden, dass sich durch Kombination mehrerer Sensoren, deren räumliche Erfassungsbereiche sich überlappen, eine Redundanz der Messergebnisse und damit eine größere Detektionssicherheit erzielen lässt. Durch die gemeinsame Auswertung der Messdaten unterschiedlicher Sensoren kann die Auflösung und Zuverlässigkeit der Detektion im Überlappungsbereich verbessert werden, so dass auch kleinere Objekte, wie z.B. Fahrradfahrer oder Motorradfahrer, detektiert werden können. Entsprechend der Anzahl der Sensoren erhöht sich auch die Verfügbarkeit bzw. Ausfallsicherheit des Systems. Der Ausfall eines Sen sors oder die vorübergehende „Blindheit" eines Sensors führt nicht zum Totalausfall des Systems. Dieser Effekt kann noch dadurch verstärkt werden, dass Sensoren miteinander kombiniert werden, bei denen sich Umwelteinflüsse, wie Lichtverhältnisse und Witterung, unterschiedlich auf die Detektionsleistung der einzelnen Sensoren auswirken.According to the invention, it has been recognized that by combining several sensors, their spatial detection areas overlap redundancy of the measurement results and thus greater detection reliability can be achieved. By jointly evaluating the measurement data from different Sensors can do the resolution and reliability detection in the overlap area improved so that even smaller objects such as Cyclists or Motorcyclists, can be detected. According to the number of the sensors increased also the availability or system reliability. The failure of a sensor or the temporary "blindness" of a sensor does not lead to total system failure. This effect can be reinforced by the fact that Sensors are combined with one another, where environmental influences such as Lighting conditions and Weather, depending on the detection performance of each Impact sensors.
Die Ausfallsicherheit des Systems kann außerdem noch dadurch erhöht werden, dass die beiden Sensoren an unterschiedlichen Einbauorten am Kraftfahrzeug positioniert sind. Durch diese Maßnahme lässt sich die Wahrscheinlichkeit für einen gleichzeitigen Ausfall beider Sensoren, beispielsweise durch widrige Umwelteinflüsse oder Beschädigungen, einfach verringern.System resilience can also still increased thereby that the two sensors are in different locations are positioned on the motor vehicle. This measure can the probability of a simultaneous failure of both sensors, for example due to adverse environmental influences or damage, just decrease.
Wie bereits voranstehend erörtert, gibt es verschiedene Möglichkeiten, die Lehre der vorliegenden Erfindung in vorteilhafter Weise auszugestalten und weiterzubilden. Dazu wird einerseits auf die dem Patentanspruch 1 nachgeordneten Patentansprüche und andererseits auf die nachfolgende Beschreibung zweier Ausführungsbeispiele der Erfindung anhand der Zeichnungen verwiesen.As discussed above, there are there are different ways the teaching of the present invention in an advantageous manner and further education. This is done on the one hand on the claim 1 subordinate claims and on the other hand to the following description of two exemplary embodiments the invention with reference to the drawings.
Beschreibung der Ausführungsbeispieledescription of the embodiments
Die beiden in den
Beide TWD-Systeme umfassen neben
den Radarsensoren
Der Bereich des toten Winkels ist
in beiden Figuren mit einer gestrichelten Linie umrissen und mit
Die gemeinsame Auswertung der Messdaten
des Radarsensors
Claims (5)
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10302052A DE10302052A1 (en) | 2003-01-21 | 2003-01-21 | Arrangement for monitoring vehicle surroundings, especially for driver assistance system, has sensors for detecting objects and position relative to vehicle operating according to different principles |
PCT/DE2003/003745 WO2004067308A1 (en) | 2003-01-21 | 2003-11-12 | Device and method for monitoring the surroundings of a motor vehicle |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10302052A DE10302052A1 (en) | 2003-01-21 | 2003-01-21 | Arrangement for monitoring vehicle surroundings, especially for driver assistance system, has sensors for detecting objects and position relative to vehicle operating according to different principles |
Publications (1)
Publication Number | Publication Date |
---|---|
DE10302052A1 true DE10302052A1 (en) | 2004-07-29 |
Family
ID=32602799
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE10302052A Withdrawn DE10302052A1 (en) | 2003-01-21 | 2003-01-21 | Arrangement for monitoring vehicle surroundings, especially for driver assistance system, has sensors for detecting objects and position relative to vehicle operating according to different principles |
Country Status (2)
Country | Link |
---|---|
DE (1) | DE10302052A1 (en) |
WO (1) | WO2004067308A1 (en) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102008012644A1 (en) | 2008-03-05 | 2009-09-10 | Robert Bosch Gmbh | Longitudinal guidance assistant with side assistance function for motor vehicles |
WO2013081998A1 (en) * | 2011-11-28 | 2013-06-06 | Robert Bosch Gmbh | Camera-assisted blind spot detection |
DE102012215014A1 (en) * | 2012-08-23 | 2014-02-27 | Robert Bosch Gmbh | Method for monitoring blind angle of vehicle, involves detecting surrounding laterally adjacent to vehicle, where objects in detected surrounding and differential speeds of objects to vehicle are determined |
DE102013205147A1 (en) * | 2013-03-22 | 2014-05-15 | Robert Bosch Gmbh | Method for monitoring lateral region of vehicle i.e. passenger car, involves alerting warning signal to driver to stop vehicle based on recognition of moving objects, and adjusting delay time for warning signal based on dynamic variable |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102004036580A1 (en) * | 2004-07-28 | 2006-03-16 | Robert Bosch Gmbh | Method and device for object detection in a vehicle |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE19622777A1 (en) * | 1996-06-07 | 1997-12-11 | Bosch Gmbh Robert | Sensor system for automatic relative position control |
DE19702688A1 (en) * | 1997-01-25 | 1998-07-30 | Itt Mfg Enterprises Inc | Hybrid system for distance measurement in road vehicles |
EP0913751B1 (en) * | 1997-11-03 | 2003-09-03 | Volkswagen Aktiengesellschaft | Autonomous vehicle and guiding method for an autonomous vehicle |
JP4308381B2 (en) * | 1999-09-29 | 2009-08-05 | 富士通テン株式会社 | Perimeter monitoring sensor |
GB0115433D0 (en) * | 2001-06-23 | 2001-08-15 | Lucas Industries Ltd | An object location system for a road vehicle |
-
2003
- 2003-01-21 DE DE10302052A patent/DE10302052A1/en not_active Withdrawn
- 2003-11-12 WO PCT/DE2003/003745 patent/WO2004067308A1/en active Application Filing
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102008012644A1 (en) | 2008-03-05 | 2009-09-10 | Robert Bosch Gmbh | Longitudinal guidance assistant with side assistance function for motor vehicles |
WO2013081998A1 (en) * | 2011-11-28 | 2013-06-06 | Robert Bosch Gmbh | Camera-assisted blind spot detection |
US9586525B2 (en) | 2011-11-28 | 2017-03-07 | Robert Bosch Gmbh | Camera-assisted blind spot detection |
DE102012215014A1 (en) * | 2012-08-23 | 2014-02-27 | Robert Bosch Gmbh | Method for monitoring blind angle of vehicle, involves detecting surrounding laterally adjacent to vehicle, where objects in detected surrounding and differential speeds of objects to vehicle are determined |
DE102013205147A1 (en) * | 2013-03-22 | 2014-05-15 | Robert Bosch Gmbh | Method for monitoring lateral region of vehicle i.e. passenger car, involves alerting warning signal to driver to stop vehicle based on recognition of moving objects, and adjusting delay time for warning signal based on dynamic variable |
Also Published As
Publication number | Publication date |
---|---|
WO2004067308A1 (en) | 2004-08-12 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
EP3109096B1 (en) | Display apparatus for vehicles, in particular for commercial vehicles | |
EP2051875B1 (en) | Device for detecting a moving object | |
DE69604196T2 (en) | ROAD MONITORING DEVICE | |
DE10336638A1 (en) | Apparatus for classifying at least one object in a vehicle environment | |
EP1612082A1 (en) | Lane-changing assistant for motor vehicle | |
EP1475765A2 (en) | Apparatus for determining the possibility of a passage for a vehicle | |
DE102011079003A1 (en) | Method for e.g. recognition of posts in opening portion of driver door of car, involves producing warning signal in case of presence of recognized obstruction in portions, where signal remains for given period even after vehicle is stopped | |
DE102005039895A1 (en) | Lane Departure Warning and / or Lane Keeping System | |
WO2008028568A1 (en) | Driver assistance system with object detection facility | |
DE102015004476A1 (en) | A control system and method for assisting safe shattering of automobiles after an overtaking operation | |
DE102008003936A1 (en) | Warning indication displaying device for aiding e.g. van driver, has light display device provided as bar displays, where one of bar displays is provided for representation of relative speed of detected objects | |
DE102019201947A1 (en) | Method and device for warning against the opening of motor vehicle doors | |
DE102017214969A1 (en) | Method and device for wrong-way warning of a vehicle after an accident and / or a safety-critical driving situation, in particular after an interim standstill of the vehicle | |
DE10321904A1 (en) | Motor vehicle parking assistance system has approach sensors, steering angle sensor and a path traveled sensor linked to an evaluating computer unit | |
DE102013222846A1 (en) | Method and device for detecting the possibility of passing through a vehicle | |
EP1652161B1 (en) | Device for classifying at least one object in the vicinity of a vehicle | |
DE102005004511A1 (en) | Driver warning and driving dynamics intervention method, involves including driving direction assigned to lane with position-dependant reaction, while leaving lane and changing to neighboring lane | |
EP1028387B2 (en) | Device for recognizing the environment, in particuliar for recognising traffic road signs | |
WO2002095445A1 (en) | Warning system and method for monitoring a blind angle for a vehicle | |
DE102015010535A1 (en) | Camera-based environmental detection for commercial vehicles | |
DE102015224349A1 (en) | Hazardous area light | |
DE102004042107A1 (en) | Mirror arrangement for a vehicle comprises a mirror pane having a display region with thin antireflection light-permeable strips and a light indicating unit | |
EP2176837B2 (en) | Transmission apparatus and method for transmitting a present position of a vehicle to an evaluation centre | |
DE10234611A1 (en) | Motor vehicle surroundings monitoring method, in which at least one directional microphone is used to capture the surrounding noise level which is then used as an additional information source for the vehicle monitoring system | |
DE10302052A1 (en) | Arrangement for monitoring vehicle surroundings, especially for driver assistance system, has sensors for detecting objects and position relative to vehicle operating according to different principles |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
8139 | Disposal/non-payment of the annual fee |