DE10344299A1 - Klassifizierung der in einer Umgebung eines Kraftfahrzeugs befindlichen Objekte - Google Patents

Klassifizierung der in einer Umgebung eines Kraftfahrzeugs befindlichen Objekte Download PDF

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Publication number
DE10344299A1
DE10344299A1 DE10344299A DE10344299A DE10344299A1 DE 10344299 A1 DE10344299 A1 DE 10344299A1 DE 10344299 A DE10344299 A DE 10344299A DE 10344299 A DE10344299 A DE 10344299A DE 10344299 A1 DE10344299 A1 DE 10344299A1
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DE
Germany
Prior art keywords
vehicle
further processing
assistance system
vicinity
driver assistance
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Granted
Application number
DE10344299A
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English (en)
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DE10344299B4 (de
Inventor
Marc-Michael Meinecke
Hermann Rohling
Frank Kruse
Florian Foelster
Malte Ahrholdt
Dan Oprisan
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Volkswagen AG
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Volkswagen AG
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Publication date
Application filed by Volkswagen AG filed Critical Volkswagen AG
Priority to DE10344299.5A priority Critical patent/DE10344299B4/de
Publication of DE10344299A1 publication Critical patent/DE10344299A1/de
Application granted granted Critical
Publication of DE10344299B4 publication Critical patent/DE10344299B4/de
Anticipated expiration legal-status Critical
Expired - Fee Related 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
    • G01S7/411Identification of targets based on measurements of radar reflectivity
    • 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
    • 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
    • G01S2013/466Indirect determination of position data by Trilateration, i.e. two antennas or two sensors determine separately the distance to a target, whereby with the knowledge of the baseline length, i.e. the distance between the antennas or sensors, the position data of the target is determined
    • 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
    • G01S2013/9325Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles for inter-vehicle distance regulation, e.g. navigating in platoons
    • 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
    • G01S2013/9327Sensor installation details
    • G01S2013/93275Sensor installation details in the bumper area
    • 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
    • G01S7/417Details 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 involving the use of neural networks

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Traffic Control Systems (AREA)

Abstract

Ein Verfahren zur Klassifikation von in einer Umgebung eines Kraftfahrzeuges befindlichen Objekten weist die folgenden Schritte auf: DOLLAR A - Aussenden von Radarsignalen in einen zu überwachenden Umgebungsbereich des Kraftfahrzeugs, DOLLAR A - Empfangen rückgestreuter Radarechos der ausgesandten Radarsignale, DOLLAR A - Detektion mindestens eines Ziels, DOLLAR A - Extraktion zielspezifischer Merkmale aus den Radarechos, DOLLAR A - Übergabe der extrahierten Merkmale an einen Klassifikator und DOLLAR A - Klassifikation des detektierten Ziels aus den extrahierten Merkmalen.
DE10344299.5A 2003-09-23 2003-09-23 Klassifizierung der in einer Umgebung eines Kraftfahrzeugs befindlichen Objekte Expired - Fee Related DE10344299B4 (de)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE10344299.5A DE10344299B4 (de) 2003-09-23 2003-09-23 Klassifizierung der in einer Umgebung eines Kraftfahrzeugs befindlichen Objekte

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE10344299.5A DE10344299B4 (de) 2003-09-23 2003-09-23 Klassifizierung der in einer Umgebung eines Kraftfahrzeugs befindlichen Objekte

Publications (2)

Publication Number Publication Date
DE10344299A1 true DE10344299A1 (de) 2005-04-21
DE10344299B4 DE10344299B4 (de) 2016-08-04

Family

ID=34353069

Family Applications (1)

Application Number Title Priority Date Filing Date
DE10344299.5A Expired - Fee Related DE10344299B4 (de) 2003-09-23 2003-09-23 Klassifizierung der in einer Umgebung eines Kraftfahrzeugs befindlichen Objekte

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Country Link
DE (1) DE10344299B4 (de)

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2006114292A1 (de) * 2005-04-28 2006-11-02 Bayerische Motoren Werke Aktiengesellschaft Fahrerassistenzsystem zur ausgabe zumindest einer information
WO2006120057A1 (de) * 2005-05-09 2006-11-16 Robert Bosch Gmbh VERFAHREN UND VORRICHTUNG ZUR ERKENNUNG DER OBERFLÄCHENBESCHAFFENHEIT VON OBJEKTEN DES STRAßENVERKEHRS ODER PERSONEN
DE102012004396A1 (de) * 2012-03-03 2013-09-05 Volkswagen Aktiengesellschaft Verfahren und Vorrichtung zum Erfassen von Objekten in einer Umgebung eines Fahrzeugs
CN104199007A (zh) * 2014-09-09 2014-12-10 西安电子科技大学 基于最近邻一类分类器的雷达分布式地面目标鉴别方法
WO2016016161A1 (de) * 2014-07-29 2016-02-04 Valeo Schalter Und Sensoren Gmbh Verfahren zum klassifizieren eines objektes in einem umgebungsbereich eines kraftfahrzeugs, fahrerassistenzsystem und kraftfahrzeug
WO2016156099A1 (de) * 2015-03-31 2016-10-06 Valeo Schalter Und Sensoren Gmbh Verfahren zum verarbeiten von informationen in einer sensoreinrichtung eines kraftfahrzeugs in einer tendenzanalyse, verfahren zum erzeugen einer umgebungsbereichskarte, computerprogrammprodukt, verarbeitungseinrichtung und kraftfahrzeug
DE102019215393A1 (de) * 2019-10-08 2021-04-08 Robert Bosch Gmbh Verfahren und eine Vorrichtung zur Klassifizierung eines Objektes, insbesondere im Umfeld eines Kraftfahrzeugs
EP3882654A1 (de) * 2020-03-20 2021-09-22 Aptiv Technologies Limited Objektklassifizierung aus nicht bearbeiteten radardaten
DE102006035207B4 (de) 2006-07-29 2022-06-09 Volkswagen Ag Fahrzeug-Objekterfassungsvorrichtung
DE102006049626B4 (de) 2006-10-20 2023-02-23 Volkswagen Ag Verfahren zur Bestimmung der Position und der geometrischen Ausdehnung eines Objekts im Umfeld eines Kraftfahrzeugs
DE102022117706A1 (de) 2022-07-15 2024-01-18 Bayerische Motoren Werke Aktiengesellschaft Verfahren und Assistenzsystem zur radarbasierten Größeneinstufung von Objekten und entsprechend eingerichtetes Kraftfahrzeug

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Publication number Priority date Publication date Assignee Title
DE19649618A1 (de) * 1996-11-29 1998-06-04 Alsthom Cge Alcatel Verfahren und Vorrichtung zur automatischen Klassifikation von Objekten
DE19754220A1 (de) * 1997-05-17 1998-11-19 Bosch Gmbh Robert Verfahren und Vorrichtung zur Erkennung einer bevorstehenden oder möglichen Kollision
EP1094336A2 (de) * 1999-10-19 2001-04-25 Honda Giken Kogyo Kabushiki Kaisha Objekterkennungsgerät
US6377205B1 (en) * 1997-11-21 2002-04-23 Celsiustech Electronics A.B. Method and device for classifying overhead objects
DE10110038A1 (de) * 2001-03-02 2002-09-19 Daimler Chrysler Ag Verfahren zur autonomen Adaption eines Klassifikators
EP1329740A2 (de) * 2002-01-17 2003-07-23 The Ohio State University Radargerät zur Hinderniswarnung für Fahrzeuge

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19649618A1 (de) * 1996-11-29 1998-06-04 Alsthom Cge Alcatel Verfahren und Vorrichtung zur automatischen Klassifikation von Objekten
DE19754220A1 (de) * 1997-05-17 1998-11-19 Bosch Gmbh Robert Verfahren und Vorrichtung zur Erkennung einer bevorstehenden oder möglichen Kollision
US6377205B1 (en) * 1997-11-21 2002-04-23 Celsiustech Electronics A.B. Method and device for classifying overhead objects
EP1094336A2 (de) * 1999-10-19 2001-04-25 Honda Giken Kogyo Kabushiki Kaisha Objekterkennungsgerät
DE10110038A1 (de) * 2001-03-02 2002-09-19 Daimler Chrysler Ag Verfahren zur autonomen Adaption eines Klassifikators
EP1329740A2 (de) * 2002-01-17 2003-07-23 The Ohio State University Radargerät zur Hinderniswarnung für Fahrzeuge

Non-Patent Citations (1)

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Title
GAVRILA,Dariu M., et.al.: A multi-sensor approach for the protection of vulnerable traffic participants - the PROTECTOR project. In: IEEE Instrumentation and Measurement Technology Conference, May 2001, S.2044-2048 *

Cited By (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2006114292A1 (de) * 2005-04-28 2006-11-02 Bayerische Motoren Werke Aktiengesellschaft Fahrerassistenzsystem zur ausgabe zumindest einer information
US8232873B2 (en) 2005-04-28 2012-07-31 Bayerische Motoren Werke Aktiengesellschaft Driver assistance system and method for outputting at least one piece of information
WO2006120057A1 (de) * 2005-05-09 2006-11-16 Robert Bosch Gmbh VERFAHREN UND VORRICHTUNG ZUR ERKENNUNG DER OBERFLÄCHENBESCHAFFENHEIT VON OBJEKTEN DES STRAßENVERKEHRS ODER PERSONEN
US8432770B2 (en) 2005-05-09 2013-04-30 Robert Bosch Gmbh Method and device for detecting the surface character of objects in road traffic or of persons
DE102006035207B4 (de) 2006-07-29 2022-06-09 Volkswagen Ag Fahrzeug-Objekterfassungsvorrichtung
DE102006049626B4 (de) 2006-10-20 2023-02-23 Volkswagen Ag Verfahren zur Bestimmung der Position und der geometrischen Ausdehnung eines Objekts im Umfeld eines Kraftfahrzeugs
DE102012004396A1 (de) * 2012-03-03 2013-09-05 Volkswagen Aktiengesellschaft Verfahren und Vorrichtung zum Erfassen von Objekten in einer Umgebung eines Fahrzeugs
US9488725B2 (en) 2012-03-03 2016-11-08 Volkswagen Aktiengesellschaft Method and device for detecting objects in the surroundings of a vehicle
WO2016016161A1 (de) * 2014-07-29 2016-02-04 Valeo Schalter Und Sensoren Gmbh Verfahren zum klassifizieren eines objektes in einem umgebungsbereich eines kraftfahrzeugs, fahrerassistenzsystem und kraftfahrzeug
DE102014110667A1 (de) * 2014-07-29 2016-02-04 Valeo Schalter Und Sensoren Gmbh Vefahren zum Klassifizieren eines Objektes in einem Umgebungsbereich eines Kraftfahrzeugs, Fahrerassistenzsystem und Kraftfahrzeug
US10481244B2 (en) 2014-07-29 2019-11-19 Valeo Schalter Und Sensoren Gmbh Method for classifying an object in an area surrounding a motor vehicle, driver assistance system and motor vehicle
KR20170039242A (ko) * 2014-07-29 2017-04-10 발레오 샬터 운트 센소렌 게엠베아 자동차의 주위 영역 내의 물체를 분류하기 위한 방법, 운전자 보조 시스템 및 자동차
KR101954005B1 (ko) * 2014-07-29 2019-03-04 발레오 샬터 운트 센소렌 게엠베아 자동차의 주위 영역 내의 물체를 분류하기 위한 방법, 운전자 보조 시스템 및 자동차
CN104199007A (zh) * 2014-09-09 2014-12-10 西安电子科技大学 基于最近邻一类分类器的雷达分布式地面目标鉴别方法
CN104199007B (zh) * 2014-09-09 2016-10-12 西安电子科技大学 基于最近邻一类分类器的雷达分布式地面目标鉴别方法
WO2016156099A1 (de) * 2015-03-31 2016-10-06 Valeo Schalter Und Sensoren Gmbh Verfahren zum verarbeiten von informationen in einer sensoreinrichtung eines kraftfahrzeugs in einer tendenzanalyse, verfahren zum erzeugen einer umgebungsbereichskarte, computerprogrammprodukt, verarbeitungseinrichtung und kraftfahrzeug
DE102019215393A1 (de) * 2019-10-08 2021-04-08 Robert Bosch Gmbh Verfahren und eine Vorrichtung zur Klassifizierung eines Objektes, insbesondere im Umfeld eines Kraftfahrzeugs
EP3882654A1 (de) * 2020-03-20 2021-09-22 Aptiv Technologies Limited Objektklassifizierung aus nicht bearbeiteten radardaten
US11415670B2 (en) 2020-03-20 2022-08-16 Aptiv Technologies Limited Object classification using low-level radar data
DE102022117706A1 (de) 2022-07-15 2024-01-18 Bayerische Motoren Werke Aktiengesellschaft Verfahren und Assistenzsystem zur radarbasierten Größeneinstufung von Objekten und entsprechend eingerichtetes Kraftfahrzeug

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