DE112017000199A5 - Verfahren und Vorrichtung zur Reichweitenbestimmung eines Sensors für ein Kraftfahrzeug - Google Patents
Verfahren und Vorrichtung zur Reichweitenbestimmung eines Sensors für ein Kraftfahrzeug Download PDFInfo
- Publication number
- DE112017000199A5 DE112017000199A5 DE112017000199.4T DE112017000199T DE112017000199A5 DE 112017000199 A5 DE112017000199 A5 DE 112017000199A5 DE 112017000199 T DE112017000199 T DE 112017000199T DE 112017000199 A5 DE112017000199 A5 DE 112017000199A5
- Authority
- DE
- Germany
- Prior art keywords
- sensor
- determining
- range
- motor vehicle
- vehicle
- 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
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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
-
- 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
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
- G01S7/4039—Means for monitoring or calibrating of parts of a radar system of sensor or antenna obstruction, e.g. dirt- or ice-coating
-
- 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
- G01S13/865—Combination of radar systems with lidar 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
- 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
- G01S13/88—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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details 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
- G01S7/411—Identification of targets based on measurements of radar reflectivity
- G01S7/412—Identification of targets based on measurements of radar reflectivity based on a comparison between measured values and known or stored values
-
- 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
-
- 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
- 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
-
- 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
- G01S2013/9322—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
- G01S2013/9329—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles cooperating with reflectors or transponders
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Navigation (AREA)
- Traffic Control Systems (AREA)
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102016201250.9A DE102016201250A1 (de) | 2016-01-28 | 2016-01-28 | Verfahren und Vorrichtung zur Reichweitenbestimmung eines Sensors für ein Kraftfahrzeug |
DE102016201250.9 | 2016-01-28 | ||
PCT/DE2017/200003 WO2017129185A1 (de) | 2016-01-28 | 2017-01-17 | Verfahren und vorrichtung zur reichweitenbestimmung eines sensors für ein kraftfahrzeug |
Publications (1)
Publication Number | Publication Date |
---|---|
DE112017000199A5 true DE112017000199A5 (de) | 2018-08-02 |
Family
ID=58108377
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE102016201250.9A Withdrawn DE102016201250A1 (de) | 2016-01-28 | 2016-01-28 | Verfahren und Vorrichtung zur Reichweitenbestimmung eines Sensors für ein Kraftfahrzeug |
DE112017000199.4T Pending DE112017000199A5 (de) | 2016-01-28 | 2017-01-17 | Verfahren und Vorrichtung zur Reichweitenbestimmung eines Sensors für ein Kraftfahrzeug |
Family Applications Before (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE102016201250.9A Withdrawn DE102016201250A1 (de) | 2016-01-28 | 2016-01-28 | Verfahren und Vorrichtung zur Reichweitenbestimmung eines Sensors für ein Kraftfahrzeug |
Country Status (5)
Country | Link |
---|---|
US (1) | US10823821B2 (de) |
EP (1) | EP3408685A1 (de) |
CN (1) | CN108603938B (de) |
DE (2) | DE102016201250A1 (de) |
WO (1) | WO2017129185A1 (de) |
Families Citing this family (17)
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DE102015208228A1 (de) * | 2015-05-05 | 2016-11-10 | Bayerische Motoren Werke Aktiengesellschaft | Diagnoseverfahren für einen Sichtsensor eines Fahrzeugs und Fahrzeug mit einem Sichtsensor |
EP3454079B1 (de) * | 2017-09-12 | 2023-11-01 | Aptiv Technologies Limited | Verfahren zur bestimmung der angemessenheit eines radarziels als ein positionsorientierungspunkt |
US11220272B2 (en) * | 2017-11-13 | 2022-01-11 | Mitsubishi Electric Corporation | Failure detection apparatus, failure detection method, and computer readable medium |
DE102018003784A1 (de) | 2018-05-09 | 2018-11-29 | Daimler Ag | Verfahren zur Bestimmung einer Reichweite eines Umgebungssensors für ein Fahrzeug |
DE102018212249A1 (de) * | 2018-07-24 | 2020-01-30 | Audi Ag | Verfahren, System und elektronische Recheneinrichtung zum Überprüfen von Sensoreinrichtungen von Fahrzeugen, insbesondere von Kraftfahrzeugen |
DE102018214831A1 (de) * | 2018-08-31 | 2020-03-05 | Conti Temic Microelectronic Gmbh | Verfahren zur Erkennung einer Degradation eines abstandsmessenden Systems |
DE102018127059A1 (de) * | 2018-10-30 | 2020-04-30 | Daimler Ag | Verfahren zur Überprüfung mindestens eines Umfelderfassungssensors eines Fahrzeugs |
JP2020184129A (ja) * | 2019-05-06 | 2020-11-12 | ロベルト・ボッシュ・ゲゼルシャフト・ミト・ベシュレンクテル・ハフツングRobert Bosch Gmbh | 異常診断装置 |
DE102019113831A1 (de) * | 2019-05-23 | 2020-11-26 | Bayerische Motoren Werke Aktiengesellschaft | Verfahren, Vorrichtung und Fortbewegungsmittel zur Bestimmung einer Position des Fortbewegungsmittels |
JP7349318B2 (ja) * | 2019-10-18 | 2023-09-22 | 株式会社日立製作所 | センサ性能評価システム及び方法、並びに、自動運転システム |
DE102019130037B4 (de) * | 2019-11-07 | 2022-09-29 | Mercedes-Benz Group AG | Verfahren zum Betrieb mindestens eines Umfelderfassungssensors eines Fahrzeugs |
US11417110B2 (en) * | 2020-09-09 | 2022-08-16 | Waymo Llc | Annotated surfel maps |
US11561552B2 (en) * | 2020-09-15 | 2023-01-24 | Waymo Llc | Detecting environment changes using surfel data |
DE102020128877B3 (de) | 2020-11-03 | 2022-03-10 | Daimler Ag | Verfahren zur Ermittlung einer Änderung einer Reichweite eines Lidarsensors |
DE102021102199A1 (de) * | 2021-02-01 | 2022-08-04 | Bayerische Motoren Werke Aktiengesellschaft | Verfahren und vorrichtung zur bestimmung einer erfassungsreichweite eines sensors eines kraftfahrzeugs |
DE102021105344A1 (de) | 2021-03-05 | 2022-09-08 | Bayerische Motoren Werke Aktiengesellschaft | Verfahren zum Überprüfen einer Funktionsfähigkeit eines Abstandssensors eines Fahrzeugs im Betrieb des Fahrzeugs sowie Recheneinrichtung |
CN116520298A (zh) * | 2023-06-12 | 2023-08-01 | 北京百度网讯科技有限公司 | 激光雷达性能测试方法、装置、电子设备及可读存储介质 |
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US7202776B2 (en) * | 1997-10-22 | 2007-04-10 | Intelligent Technologies International, Inc. | Method and system for detecting objects external to a vehicle |
DE102004062275A1 (de) * | 2004-12-23 | 2006-07-13 | Aglaia Gmbh | Verfahren und Vorrichtung zum Ermitteln eines Kalibrierparameters einer Stereokamera |
US7395156B2 (en) * | 2005-06-23 | 2008-07-01 | Raytheon Company | System and method for geo-registration with global positioning and inertial navigation |
DE102006007788A1 (de) * | 2006-02-20 | 2007-08-30 | Siemens Ag | Verfahren zur rechnergestützten Überwachung des Betriebs eines einen vorgegebenen Streckenverlauf fahrenden Fahrzeugs, insbesondere eines spurgebundenen Schienenfahrzeugs |
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DE102010049091A1 (de) * | 2010-10-21 | 2012-04-26 | Gm Global Technology Operations Llc (N.D.Ges.D. Staates Delaware) | Verfahren zum Betreiben zumindest eines Sensors eines Fahrzeugs und Fahrzeug mit zumindest einem Sensor |
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US9581466B2 (en) * | 2011-11-11 | 2017-02-28 | Qualcomm Incorporated | Sensor auto-calibration |
DE102011056050A1 (de) | 2011-12-05 | 2013-06-06 | Continental Teves Ag & Co. Ohg | Einstellung von Entfernungstoren eines Umfeldsensors in Abhängigkeit von Umfeldinformationen |
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DE102012215533A1 (de) * | 2012-08-31 | 2014-03-06 | Siemens Aktiengesellschaft | Positionsbestimmung eines Schienenfahrzeugs |
JP5870908B2 (ja) * | 2012-12-11 | 2016-03-01 | 株式会社デンソー | 車両の衝突判定装置 |
DE102012025064A1 (de) * | 2012-12-19 | 2014-06-26 | Valeo Schalter Und Sensoren Gmbh | Verfahren zum Aufrechterhalten eines Warnsignals in einem Kraftfahrzeug aufgrund der Präsenz eines Zielobjekts in einem Warnbereich, insbesondere einem Totwinkelbereich, entsprechendes Fahrerassistenzsystem und Kraftfahrzeug |
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EP2793041A1 (de) * | 2013-04-15 | 2014-10-22 | Nederlandse Organisatie voor toegepast -natuurwetenschappelijk onderzoek TNO | Gesicherte Fahrzeugabsolutlokalisierung |
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EP3127403B8 (de) * | 2014-04-04 | 2019-04-10 | Signify Holding B.V. | System und verfahren zur unterstützung von autonomen fahrzeugen über umgebungswahrnehmung sowie sensorkalibrierung und überprüfung |
US20150362587A1 (en) * | 2014-06-17 | 2015-12-17 | Microsoft Corporation | Lidar sensor calibration using surface pattern detection |
KR20160002178A (ko) * | 2014-06-30 | 2016-01-07 | 현대자동차주식회사 | 자차 위치 인식 장치 및 방법 |
CN106662638B (zh) * | 2014-08-15 | 2019-06-25 | 罗伯特·博世有限公司 | 汽车雷达对准 |
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DE102014223363B4 (de) * | 2014-11-17 | 2021-04-29 | Volkswagen Aktiengesellschaft | Verfahren und Vorrichtung zur Lokalisation eines Kraftfahrzeugs in einer ortsfesten Referenzkarte |
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DE102015208228A1 (de) * | 2015-05-05 | 2016-11-10 | Bayerische Motoren Werke Aktiengesellschaft | Diagnoseverfahren für einen Sichtsensor eines Fahrzeugs und Fahrzeug mit einem Sichtsensor |
JP6055120B2 (ja) * | 2015-10-30 | 2016-12-27 | 株式会社小松製作所 | 作業機械の制御システム、作業機械、作業機械の管理システム、作業機械の制御方法及びプログラム |
-
2016
- 2016-01-28 DE DE102016201250.9A patent/DE102016201250A1/de not_active Withdrawn
-
2017
- 2017-01-17 CN CN201780007971.0A patent/CN108603938B/zh active Active
- 2017-01-17 US US16/073,078 patent/US10823821B2/en active Active
- 2017-01-17 DE DE112017000199.4T patent/DE112017000199A5/de active Pending
- 2017-01-17 WO PCT/DE2017/200003 patent/WO2017129185A1/de active Application Filing
- 2017-01-17 EP EP17706669.3A patent/EP3408685A1/de not_active Withdrawn
Also Published As
Publication number | Publication date |
---|---|
US10823821B2 (en) | 2020-11-03 |
DE102016201250A1 (de) | 2017-08-03 |
CN108603938B (zh) | 2023-08-22 |
WO2017129185A1 (de) | 2017-08-03 |
CN108603938A (zh) | 2018-09-28 |
EP3408685A1 (de) | 2018-12-05 |
US20190339361A1 (en) | 2019-11-07 |
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