DE112012005261B4 - Clearance information in an occupancy grid as a basis for determining maneuvering space for a vehicle - Google Patents

Clearance information in an occupancy grid as a basis for determining maneuvering space for a vehicle Download PDF

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DE112012005261B4
DE112012005261B4 DE112012005261.7T DE112012005261T DE112012005261B4 DE 112012005261 B4 DE112012005261 B4 DE 112012005261B4 DE 112012005261 T DE112012005261 T DE 112012005261T DE 112012005261 B4 DE112012005261 B4 DE 112012005261B4
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vehicle
occupancy grid
information
radio
area
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DE112012005261A5 (en
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Andree Hohm
Stefan Lüke
Stefan Hegemann
Ralph Grewe
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Continental Autonomous Mobility Germany GmbH
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot 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
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • 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
    • 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
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/0009—Transmission of position information to remote stations
    • G01S5/0072—Transmission between mobile stations, e.g. anti-collision systems
    • 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
    • G01S7/4808—Evaluating distance, position or velocity data
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
    • G08G1/096716—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information does not generate an automatic action on the vehicle control
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
    • G08G1/096791—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is another vehicle
    • 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
    • G01S13/66—Radar-tracking systems; Analogous systems
    • G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
    • G01S13/723—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar by using numerical data
    • 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
    • G01S2013/9316—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles combined with communication equipment with other vehicles or with base stations
    • 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
    • G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction
    • 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
    • G01S2013/9322—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using additional data, e.g. driver condition, road state or weather data
    • 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
    • G01S2013/9323—Alternative operation using light waves
    • 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
    • G01S2013/9324—Alternative operation using ultrasonic waves

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Atmospheric Sciences (AREA)
  • Electromagnetism (AREA)
  • Traffic Control Systems (AREA)

Abstract

Verfahren für ein Fahrerassistenzsystem zur Erkennung von Freirauminformationen umfassend ein Umfelderfassungsystem und Mittel zum funkbasierten Empfang von Information zur Position zumindest eines anderen Fahrzeugs,wobei die Umfeldinformationen, die mit dem Umfelderfasungssystem erfasst werden in ein Belegungsgitter eingetragen werdendadurch gekennzeichnet, dassUmfeldinformationenen, die anhand von funkbasiert empfangene Positionsdaten eines anderen Fahrzeugs gewonnen wird, auch in das Belegungsgitter eingetragen werden und bei funkbasierten Erkennung eines Bereichs, der von zumindest einem Fahrzeug überfahren wird, dieser Bereich als unbelegt im Belegungsgitter gekennzeichnet wird, wobei nur wenn die Erkennung von zumindest einem Fahrzeug in einem Bereich in einem vorgegebenen Zeitraum erfolgt, dieser Bereich als unbelegt im Belegungsgitter gekennzeichnet wird.Method for a driver assistance system for detecting free space information, comprising an environment detection system and means for radio-based reception of information about the position of at least one other vehicle, the environment information that is recorded with the environment detection system being entered into an occupancy grid, characterized in that environment information is based on radio-based position data received of another vehicle can also be entered into the occupancy grid and in the case of radio-based detection of an area that is driven over by at least one vehicle, this area is marked as unoccupied in the occupancy grid, whereby only if the detection of at least one vehicle in an area in one specified period of time, this area is marked as unoccupied in the occupancy grid.

Description

In Fahrerassistenzsystemen werden typischerweise Sensorsysteme wie Radar-, Kamera-, Lidar- und/oder Ultraschallsysteme verwendet um Informationen insbesondere über Objekte, Fahrspur, Fahnbahnrand etc. in einem Fahrzeugumfeld zu gewinnen. Die Umfeldinformationen können z.B. als eine Belegungsinformation über einen definierten Bereich im Umfeld des Fahrzeuges eine Belegungskarte bzw. Belgungsgitter eingetragen werden. Die Belegungsinformation umfasst eine Aussage, ob sich ein Objekt in dem Bereich befindet oder ob der Bereich zu einer Fahrspur gehört oder allgemein, ob ein Bereich überfahrbar oder eingeschränkt überfahrbar oder nicht überfahrbar ist. Eine solche Darstellung erlaubt eine mittelbare Einschätzung des zur Verfügung stehenden Manöverraumes.In driver assistance systems, sensor systems such as radar, camera, lidar and/or ultrasound systems are typically used to obtain information in particular about objects, lanes, edges of the road, etc. in a vehicle environment. The surrounding information can be entered, for example, as occupancy information about a defined area in the area surrounding the vehicle, an occupancy map or occupancy grid. The occupancy information includes a statement as to whether there is an object in the area or whether the area belongs to a traffic lane or generally whether an area can be driven over or can be driven over with restrictions or cannot be driven over. Such a representation allows an indirect assessment of the maneuvering space available.

Fahrzeug-zu-Fahrzeug Kommunikationslösungen, bei denen zwei oder mehr Fahrzeuge beispielsweise Informationen über ihre jeweilige Position und oder weitere Fahrzeugeigenschaften wie Geschwindigkeit oder Bewegungsrichtung oder Beschleunigung oder Fahrzeugbreite oder geplante Route etc. austauschen sind ebenfalls Stand der Technik.Vehicle-to-vehicle communication solutions in which two or more vehicles exchange information about their respective position and/or other vehicle characteristics such as speed or direction of movement or acceleration or vehicle width or planned route etc. are also state of the art.

Die Druckschrift „ Roessler, Bernd; Fuerstenberg, Kay. Sensor based intersection reconstruction for a Cooperative Intersection Safety System, 2009 IEEE 5th International Conference on Intelligent Computer Communication and Processing, ClujNapoca, Romania, 2009, S. 393-399 , doi: 10.1109/ICCP.2009.5284728“ offenbart ein Verfahren zur Kreuzungsrekonstruktion. Der Zweck dieser Kreuzungsrekonstruktion besteht darin, ein Modell der Kreuzung zu erstellen, auf die ein Demonstrationsfahrzeug zufährt, um eine Szenariointerpretation und Risikobewertung der Anwendungsschicht durchzuführen.The pamphlet “ Roessler, Bernd; Fuerstenberg, Kay. Sensor based intersection reconstruction for a Cooperative Intersection Safety System, 2009 IEEE 5th International Conference on Intelligent Computer Communication and Processing, ClujNapoca, Romania, 2009, pp. 393-399 , doi: 10.1109/ICCP.2009.5284728” discloses a method for intersection reconstruction. The purpose of this intersection reconstruction is to create a model of the intersection that a demonstration vehicle is approaching to perform scenario interpretation and risk assessment of the application layer.

Die Druckschrift „ Huang, CL; Fallah, YP; Sengupta, R; Krishnan, H. Adaptive intervehicle communication control for cooperative safety systems. IEEE network. 2010 Jan 22;24(1):6-13 .“ beschreibt die Verwendung eines Übertragungskontrollprotokolls, das die Kommunikationsrate und -leistung auf der Grundlage der Dynamik eines Fahrzeugnetzes und des sicherheitsgerichteten Verfolgungsprozesses anpasst.The pamphlet “ Huang, C.L.; Fallah, YP; Sengupta, R; Krishnan, H. Adaptive intervehicle communication control for cooperative safety systems. IEEE network. 2010 Jan 22;24(1):6-13 .” describes the use of a transmission control protocol that adjusts communication rate and power based on the dynamics of a vehicular network and the safety-focused tracking process.

Die Druckschrift „ Bouzouraa, ME; Hofmann, U. Fusion of occupancy grid mapping and model based object tracking for driver assistance systems using laser and radar sensors. In2010 IEEE Intelligent Vehicles Symposium 2010 Jun 21, S. 294-300 . IEEE.“ offenbart ein neuartiges Umfeldwahrnehmungssystem, das auf der Abbildung eines Belegungsrasters und einer Multi-Objekt-Verfolgung basiert.The pamphlet “ Bouzouraa, ME; Hofmann, U. Fusion of occupancy grid mapping and model based object tracking for driver assistance systems using laser and radar sensors. In2010 IEEE Intelligent Vehicles Symposium 2010 Jun 21, pp. 294-300 . IEEE.” discloses a novel environment perception system based on occupancy grid mapping and multi-object tracking.

Es ist die Aufgabe der hier vorliegenden Erfindung eine verbessertes Verfahren zur Bestimmung des zur Verfügung stehenden Manöverraums für Kraftfahrzeuge anzugeben. Die Aufgabe wird gemäß den Merkmalen der unabhängigen Ansprüche gelöst.It is the object of the present invention to provide an improved method for determining the available maneuvering space for motor vehicles. The task is solved according to the features of the independent claims.

Erfindungsgemäß wird ein Verfahren zur Freiraumerkennung für ein Fahrerassistenzsystem angegeben. Das Fahrerassistenzsystem umfasst ein Sensorsystem zur Umfelderfassung, wobei das Systemsystem als Radar- und/oder Kamera- und/oder Lidar- und/oder Ultraschallsystem ausgestaltet ist. Umfeldinformationen, die mit dem Umfelderfasungssystem erfasst werden, werden in ein Belegungsgitter eingetragen. Die Belegungsinformation umfasst eine Aussage, ob sich ein Objekt in dem Bereich befindet oder ob der Bereich zu einer eigenen oder benachbarten Fahrspur gehört oder allgemein die Information, ob ein Bereich überfahrbar, ggf. eingeschränkt überfahrbar (z.B. Nachbarspur) oder nicht überfahrbar ist. Eine solche Darstellung erlaubt eine mittelbare Einschätzung des zur Verfügung stehenden Manöverraumes für zukünftige Fahrmanöver.According to the invention, a method for detecting free space for a driver assistance system is specified. The driver assistance system includes a sensor system for detecting the surroundings, the system being designed as a radar and/or camera and/or lidar and/or ultrasound system. Environmental information that is recorded with the environmental detection system is entered into an occupancy grid. The occupancy information includes a statement as to whether there is an object in the area or whether the area belongs to its own or neighboring lane or, in general, information as to whether an area can be driven over, possibly with restricted access (e.g. neighboring lane) or cannot be driven over. Such a representation allows an indirect assessment of the maneuvering space available for future driving maneuvers.

Weiterhin umfasst das Fahrerassistenzsystem Mittel zum funkbasierten Empfang von Information zur Position zumindest eines anderen Fahrzeugs, wobei die Umfeldinformationen, die anhand von funkbasiert empfangene Positionsdaten des zumindest einen Fahrzeugs gewonnen werden, auch in das Belegungsgitter eingetragen werden.
In einer bevorzugten Ausgestaltung der Erfindung werden bei einer funkbasierten Erkennung von Bereichen, die von zumindest einem Fahrzeug überfahren werden, diese als unbelegt und damit als überfahrbar im Belegungsgitter gekennzeichnet.Furthermore, the driver assistance system includes means for radio-based reception of information about the position of at least one other vehicle, wherein the surrounding information, which is obtained based on radio-based position data of the at least one vehicle, is also entered into the occupancy grid.
In a preferred embodiment of the invention, when areas that are driven over by at least one vehicle are radio-based, they are marked as unoccupied and thus as passable in the occupancy grid.

Erfindungsgemäß wird nur wenn die Erkennung von zumindest einem Fahrzeug in einem Bereich in einem vorgegebenen Zeitraum erfolgt, dieser Bereich als unbelegt damit als überfahrbar im Belegungsgitter gekennzeichnet. Der vorgegebene Zeitraum hängt z.B. von der Genauigkeit der Positionsbestimmung des zumindest einen anderen Fahrzeugs ab. Da die Genauigkeit der Positionsbestimmung beschränkt ist und die Fehler mit der Zeit zunehmen, führt ein zeitlich unbegrenztes Speichern als „befahrbar“ markierter Zellen zu fehlerhaft gekennzeichneten Zellen.According to the invention, only if the detection of at least one vehicle in an area takes place within a predetermined period of time, this area is marked as unoccupied and therefore can be driven over in the occupancy grid. The specified period of time depends, for example, on the accuracy of the position determination of the at least one other vehicle. Since the accuracy of the position determination is limited and the errors increase over time, storing cells marked as “passable” indefinitely leads to incorrectly marked cells.

In einem weiteren Ausführungsbeispiel kann der vorgebbare Zeitraum von der momentanen Fahrzeug Eigengeschwindigkeit oder der Geschwindigkeit von Umgebungsobjekten dynamisch angepasst werden. Vorzugsweise wird der Zeitraum bei einer höheren Fahrzeuggeschwindigkeit länger gewählt als bei einer niedrigeren Geschwindigkeit. Vorzugsweise wird die Relation je höher die Geschwindigkeit eines Umgebungsobjekts desto kürzer der Zeitraum. In einer weiteren Ausgestaltung der Erfindung wird eine Breite von zumindest einem anderen Fahrzeugs ebenfalls per Funk empfangen und zusammen mit der Position des anderen Fahrzeugs wird der vom anderen Fahrzeug überfahrene Bereich bestimmt. Diese Information wird im Belegungsgitter hinterlegt.In a further exemplary embodiment, the predeterminable period of time can be dynamically adjusted based on the current vehicle speed or the speed of surrounding objects. Preferably the period is at one higher vehicle speed is selected longer than at a lower speed. Preferably, the higher the speed of an environmental object, the shorter the period of time. In a further embodiment of the invention, a width of at least one other vehicle is also received by radio and, together with the position of the other vehicle, the area traveled over by the other vehicle is determined. This information is stored in the occupancy grid.

In einer bevorzugten Ausgestaltung der Erfindung wird die Umfeldinformation, die anhand von funkbasiert empfangene Positionsdaten anderer Fahrzeuge gewonnen wird, In einer weiteren Ausgestaltung der Erfindung wird eine Breite von zumindest einem anderen Fahrzeugs ebenfalls per Funk empfangen und zusammen mit der Position des anderen Fahrzeugs wird der vom anderen Fahrzeug überfahrene Bereich bestimmt. Diese Information wird im Belegungsgitter hinterlegt.In a preferred embodiment of the invention, the surrounding information, which is obtained on the basis of radio-based position data from other vehicles. In a further embodiment of the invention, a width of at least one other vehicle is also received by radio and, together with the position of the other vehicle, the width from the Area passed by another vehicle is determined. This information is stored in the occupancy grid.

In einer bevorzugten Ausgestaltung der Erfindung betrifft die Umfeldinformation, die anhand von funkbasiert empfangene Positionsdaten anderer Fahrzeuge gewonnen wird, ein Fahrzeug außerhalb des Erfassungsbereichs des Umfelderfassungssystems.In a preferred embodiment of the invention, the surroundings information, which is obtained using radio-based position data from other vehicles, relates to a vehicle outside the detection range of the surroundings detection system.

Ausführungsbeispiel der ErfindungEmbodiment of the invention

Über eine Fahrzeug-zu-Fahrzeug Kommunikation ist es möglich, die Position eines Fahrzeuges im Umfeld eines EGO-Fahrzeuges zu erfassen und über einen Zeitraum zu verfolgen, so dass sich eine Objektspur ergibt. Die hier vorliegende Erfindung nutzt diese Eingangsdaten, um die entsprechenden Positionen auf einem Belegungsgitter zu adaptieren. Bei Anwendung eines Belegungsgitters, welches beispielsweise die Zellenzustände „belegt“ bzw. „unbelegt“ unterscheidet, kann der von einem oder mehreren Objekten in einem bestimmten Zeitraum überfahrene Bereich als „unbelegt“ gekennzeichnet werden. Diese Situation ist beispielhaft in 1 dargestellt.Using vehicle-to-vehicle communication, it is possible to record the position of a vehicle in the vicinity of an EGO vehicle and track it over a period of time, so that an object track is created. The present invention uses this input data to adapt the corresponding positions on an occupancy grid. When using an occupancy grid, which, for example, distinguishes between the cell states “occupied” and “unoccupied”, the area passed over by one or more objects in a certain period of time can be marked as “unoccupied”. This situation is exemplary 1 shown.

Die Breite der Objektspur, in der realen Entsprechung die Breite des beobachteten Objekts, wird dabei ebenfalls in einer bevorzugten Ausgestaltung über den Fahrzeug-zu-Fahrzeug Kommunikationskanal empfangen. Als Resultat dieses Ansatzes liegen Bereiche in der Belegungsgitterrepräsentation vor, die als Manöverraum gespeichert und beispielsweise für die Berechnung potentieller Ausweichtrajektorien vor statischen Hindernissen genutzt werden können.The width of the object track, in the real equivalent the width of the observed object, is also received in a preferred embodiment via the vehicle-to-vehicle communication channel. As a result of this approach, there are areas in the occupancy grid representation that can be saved as maneuvering space and used, for example, to calculate potential avoidance trajectories in front of static obstacles.

Neben der Einbindung der durch die Fahrzeug-zu-Fahrzeug Kommunikation gelieferten Informationen in eine objektabstrakte Umfeldrepräsentation wird durch die dargestelle Vorgehensweise auch die Nutzung dieser Daten für dichte Umfeldrepräsentationen wie Belegungsgitter ermöglicht.In addition to integrating the information provided by vehicle-to-vehicle communication into an object-abstract environment representation, the approach presented also enables the use of this data for dense environment representations such as occupancy grids.

Die hier vorgestellte Erfindung ermöglicht die Eintragung von Freirauminformationen in ein Belegungsgitter in Distanzbereichen, die nur durch die verfügbare Fahrzeug-zu-Fahrzeug Kommunikation beschränkt ist. Deren Leistungsfähigkeiten liegen typischerweise signifikant über denen von Strahlsensoren wie Radar-, Lidar- oder Kamerasensoren.The invention presented here enables the entry of free space information into an occupancy grid in distance ranges that are only limited by the available vehicle-to-vehicle communication. Their performance capabilities are typically significantly higher than those of beam sensors such as radar, lidar or camera sensors.

Ein weiterer Vorteil gegenüber Radar-, Lidar- oder Kamerasensorik findet sich bei der Erfassung von Freiflächeninformationen im Fernbereich, da diese Daten durch die hier behandelte Methodik eine hohe Verlässlichkeit und Genauigkeit besitzen, während Strahlsensorkonzepte hier üblicherweise Nachteile bezüglich der Ortsauflösung in großen Distanzen aufweisen.Another advantage over radar, lidar or camera sensors can be found in the acquisition of open space information in the long range, as this data has a high level of reliability and accuracy thanks to the methodology discussed here, while beam sensor concepts usually have disadvantages in terms of spatial resolution at large distances.

Claims (5)

Verfahren für ein Fahrerassistenzsystem zur Erkennung von Freirauminformationen umfassend ein Umfelderfassungsystem und Mittel zum funkbasierten Empfang von Information zur Position zumindest eines anderen Fahrzeugs, wobei die Umfeldinformationen, die mit dem Umfelderfasungssystem erfasst werden in ein Belegungsgitter eingetragen werden dadurch gekennzeichnet, dass Umfeldinformationenen, die anhand von funkbasiert empfangene Positionsdaten eines anderen Fahrzeugs gewonnen wird, auch in das Belegungsgitter eingetragen werden und bei funkbasierten Erkennung eines Bereichs, der von zumindest einem Fahrzeug überfahren wird, dieser Bereich als unbelegt im Belegungsgitter gekennzeichnet wird, wobei nur wenn die Erkennung von zumindest einem Fahrzeug in einem Bereich in einem vorgegebenen Zeitraum erfolgt, dieser Bereich als unbelegt im Belegungsgitter gekennzeichnet wird.Method for a driver assistance system for detecting free space information, comprising an environment detection system and means for radio-based reception of information about the position of at least one other vehicle, the environment information that is recorded with the environment detection system being entered into an occupancy grid, characterized in that environment information that is based on radio received position data of another vehicle is also entered into the occupancy grid and in the case of radio-based detection of an area that is being driven over by at least one vehicle, this area is marked as unoccupied in the occupancy grid, only if the detection of at least one vehicle in an area occurs within a specified period of time, this area is marked as unoccupied in the occupancy grid. Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass der vorgebbare Zeitraum abhängig von der momentanen FahrzeugEigengeschwindigkeit oder der Geschwindigkeit von Umgebungsobjekten dynamisch angepasst wird.Procedure according to Claim 1 , characterized in that the predeterminable period of time is dynamically adjusted depending on the current vehicle speed or the speed of surrounding objects. Verfahren nach einem der vorherigen Ansprüche, dadurch gekennzeichnet, dass eine Breite des zumindest einen anderen Fahrzeugs ebenfalls per Funk empfangen wird und mit der Position des anderen Fahrzeugs der vom anderen Fahrzeug überfahrene Bereich bestimmt und diese Information im Belegungsgitter hinterlegt wird.Method according to one of the preceding claims, characterized in that a width of the at least one other vehicle is also received by radio and the area traveled over by the other vehicle is determined with the position of the other vehicle and this information is stored in the occupancy grid. Verfahren nach einem der vorherigen Ansprüche, dadurch gekennzeichnet, dass die Umfeldinformation, die anhand von funkbasiert empfangene Positionsdaten anderer Fahrzeuge gewonnen wird, ein Fahrzeug außerhalb des Erfassungsbereichs des Umfelderfassungssystems betrifft.Method according to one of the preceding claims, characterized in that the environment Formation, which is obtained based on radio-based position data received from other vehicles, concerns a vehicle outside the detection range of the environment detection system. Fahrerassistenzsystem umfassend ein Umfelderfassungsystem und Mittel zum funkbasierten Empfang von Information zur Position zumindest eines anderen Fahrzeugs und eine Datenverarbeitungseinheit mit Speichermittel, auf dem ein Verfahren nach einem der vorherigen Ansprüche hinterlegt ist.Driver assistance system comprising an environment detection system and means for radio-based reception of information about the position of at least one other vehicle and a data processing unit with storage means on which a method according to one of the preceding claims is stored.
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