EP1103004A1 - Systeme de detection d'objet - Google Patents

Systeme de detection d'objet

Info

Publication number
EP1103004A1
EP1103004A1 EP00943634A EP00943634A EP1103004A1 EP 1103004 A1 EP1103004 A1 EP 1103004A1 EP 00943634 A EP00943634 A EP 00943634A EP 00943634 A EP00943634 A EP 00943634A EP 1103004 A1 EP1103004 A1 EP 1103004A1
Authority
EP
European Patent Office
Prior art keywords
detection
range
detection system
motor vehicle
object detection
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Withdrawn
Application number
EP00943634A
Other languages
German (de)
English (en)
Inventor
Hermann Winner
Werner Uhler
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Priority claimed from DE19934670A external-priority patent/DE19934670B4/de
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP1103004A1 publication Critical patent/EP1103004A1/fr
Withdrawn legal-status Critical Current

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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/497—Means for monitoring or calibrating
    • G01S7/4972—Alignment of sensor
    • 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
    • G01S13/862—Combination of radar systems with sonar 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
    • G01S13/865—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
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • 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
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar 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
    • G01S13/88—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
    • G01S2013/9321—Velocity regulation, e.g. cruise control
    • 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
    • G01S2013/9327—Sensor installation details
    • G01S2013/93271—Sensor installation details in the front of the vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/497—Means for monitoring or calibrating

Definitions

  • the present invention relates to an object detection system.
  • a system can, for example, within the framework of an adaptive vehicle speed and / or distance control
  • Such a regulation can regulate a previously set driving speed and / or a previously set distance to a vehicle in front or to objects and / or objects located in the direction of travel without intervention by the driver. This takes place with appropriate consideration of the environment of the motor vehicle and, if appropriate, further parameters such as the weather and visibility conditions.
  • Such a regulation is also referred to as an adaptive cruise control system (ACC system).
  • ACC system adaptive cruise control system
  • the ACC system must be flexible enough, especially in view of the increasing traffic density of today, to react appropriately to all driving situations. This in turn requires an appropriate object detection sensor system in order to obtain the control necessary in every driving situation
  • the radar system essentially includes a light-emitting unit for emitting light towards a target object and a light-receiving unit for capturing the light that has been reflected from the target object.
  • the light receiving unit includes a condenser lens arranged to capture the reflected light, and a photosensitive member arranged at a position offset from a focal point of the condenser lens by a preselected distance into an imaging space therefrom to be exposed to the light traveling from the condenser lens to ensure a narrower detection area for a distant target and a wider detection area for a nearby target.
  • a first and a second light-sensitive element are arranged at corresponding positions in an imaging space of a first and a second condenser lens.
  • Such an optical radar system based on light emission and light absorption is also referred to below as a LIDAR sensor (Light Detection And Ranging).
  • the radar device has a rotating polygon mirror with a plurality of mirror surfaces inclined at different angles.
  • a semiconductor laser diode and a collimator lens are arranged over the polygon mirror.
  • An infrared pulse beam emitted from the laser diode is reflected by a reflection mirror located at an upper position in front of the polygon mirror so as to reflect the pulse beam obliquely downward toward the rotating polygon mirror so that the pulse beam reflects as a transmission beam that progresses to a measuring range in a front direction.
  • a light receiving device receives the transmitted beam, which returns from an object that is within the measuring range.
  • a two-dimensional scanning in the front direction is possible, with the rotation of the polygon mirror allowing horizontal swiveling of the pulse beam and vertical swiveling of the pulse beam through the polygon mirror surfaces inclined at different angles.
  • a calculation circuit determines a distance, an angle, and a relative speed to a detected vehicle in front.
  • Such a light-based radar device is also referred to below as a LIDAR sensor.
  • FMCW radar sensor for a vehicle for the detection of objects known.
  • high-frequency microwave beams (in the range from approx. 76 to 77 GHz) are generated via antenna feeds, which are designed both for sending and receiving a corresponding echo signal. emitted.
  • the beams are concentrated in the send and receive direction by dielectric stem radiators in the beam path and focused by a dielectric lens.
  • the millimeter waves are generated by means of a Gunn oscillator that is controlled by a stabilization network that contains a linearization network with a frequency controller.
  • the millimeter waves generated in this way are routed via lines to ratracer rings connected in parallel in order to be radiated from there via the antenna feeds.
  • the millimeter waves reflected by a possible target object are sent via the antenna feeds, the ratracering rings and ring mixers for further signal processing.
  • Part of the energy of the Gunn oscillator is branched off and mixed down via the ring mixers.
  • signal processing has a separate evaluation which contains, among other things, an amplifier, a low-pass filter, a downstream evaluation filter and an A / D converter.
  • the signals obtained after the A / D conversion are evaluated by means of a Fast Fourier transform.
  • a correspondingly designed FMCW radar sensor has a range of approximately 150 m and is preferably used for the detection of one or more objects in a vehicle.
  • Such an FMCW radar sensor is also referred to below as an ACC radar sensor (Adaptive Cruise Control) or simply an ACC sensor.
  • the obstacle detection device determines the distance between an obstacle and a vehicle by means of two distance measuring sensors, and comprises an impact angle calculation device, in which one A large number of positions of the obstacle are calculated by triangulation on the basis of the distance information already provided by the two distance measuring sensors.
  • an impact angle formed between the obstacle and the vehicle is determined from the location of the obstacle, which is calculated using the calculated plurality of positions of the obstacle.
  • the two distance measuring sensors used are attached to the left and right of the front part of a motor vehicle and are designed as radar sensors. The decisive one
  • Distance measuring range of the sensors lies in the range below one meter.
  • Such an obstacle detection device is also referred to below as a pre-crash sensor or as a short-range radar.
  • a multi-sensor object detection system is known from US Pat. No. 5,872,536 which determines the instantaneous distance, the relative speed, the collision angle and the point of impact of a colliding object.
  • the system consists of a plurality of signal transmitters which monitor a predetermined area within a certain angular range. Each signal transmitter emits a modulated carrier wave and receives the corresponding modulated carrier wave reflected by an object. Using the Doppler effect, the distance of the object to each individual signal transmitter is determined from the reflected signals on the basis of the amplitudes of the harmonic components of the reflected signal. The instantaneous relative speed to the object is determined on the basis of the frequencies of the harmonic components of the reflected signal.
  • An impact determination unit uses the distance and relative speed data to determine whether a collision will occur and if so, where the impact point will be and at what angle the collision will occur.
  • a preferred exemplary embodiment provides for the use of two signal transmitters which operate in a frequency range of 5.8 GHz.
  • the maximum range of the sensor system is 3 meters, which results in a particularly sensitive area up to a range of approx. 1.5 meters.
  • Such a sensor system is also referred to below as a pre-crash sensor or as a short-range radar.
  • Imaging and imaging device for imaging objects in a predetermined area is equipped outside the automobile.
  • the distance determination system is provided with a stereoscopic optical system and contains a stereoscopic one
  • Image processing device for processing the images taken by the optical system to calculate three-dimensional distance data.
  • the system is able to detect a possible obstacle and the shape of the road in a distance range between 2 m and 100 m, provided the system is located in the upper area behind the windshield.
  • the stereoscopic optical system contains cameras in which imaging solid-state elements such as CCD (Charge Coupled Device) are used. A total of four CCD cameras are present in the system, two being arranged for the observation of short distances and two for the observation of large distances.
  • CCD Charge Coupled Device
  • Such a distance determination device is also referred to below as a stereoscopic camera.
  • An image cell for an image pickup chip is known from DE 42 09 536 C2.
  • a large number of the image cells are arranged in the form of a two-dimensional array.
  • An evaluation logic is provided, which is used for mapping high input signal dynamics is designed for high output signal dynamics.
  • the light-sensitive element of the image cell consists of two MOS transistors with which the compression of the input signal dynamics and the amplification of the output signal can be regulated.
  • Such an image sensor can be used in particular in the visible spectral range.
  • Such an arrangement of image cells is also referred to below as a CMOS camera.
  • the sensor system consists of a combination of an angle-independent sensor and an angle-dependent sensor.
  • the sensor which does not resolve the angle and is therefore independent of the angle, is designed as a sensor which evaluates the distance to an object via a running time measurement.
  • RADAR, LIDAR or ultrasonic sensors are proposed as possible sensors.
  • the angle-dependent sensor consists of a geometric one
  • Arrangement of optoelectronic transmitters and receivers which are arranged in the form of light barriers.
  • the sensors which both cover a common detection area, are arranged in close spatial proximity.
  • the distance to the object is determined by means of the angle-independent sensor and the angle to the object is determined by means of the angle-resolving sensor. Based on the distance and the angle to the object, the relative position to the object is known.
  • the use of two sensors is proposed, which together determine the angle to the object according to the triangulation principle.
  • DE 41 10 132 AI discloses a vehicle distance control device which controls the throttle actuator of a vehicle, the brake actuator of the vehicle and an alarm device in the vehicle by means of a control unit.
  • the control unit receives, among other things, the input data
  • the two range finders are designed as optical range finders, which emit light onto an object and detect the light reflected from the object. Types are provided that work on the runtime or the triangulation principle.
  • the two range finders are located on the two outer sides at the front of the vehicle and monitor the lane ahead for those that cut in from adjacent lanes
  • the tracking range finder has a pair of optical lenses arranged parallel to one another and image sensors arranged correspondingly behind the lenses.
  • the lane tracking range finder is used to observe another vehicle traveling ahead in its own lane and to select this for the vehicle distance control.
  • the alarm device is activated if one of the two range finders detects that a vehicle is being reeved during controlled operation. This font therefore represents a combination of
  • LIDAR sensors with a stereoscopic camera with a stereoscopic camera.
  • AI describes an obstacle detection system for motor vehicles which, in addition to the distance to an obstacle, can also determine its width and height.
  • the distance to an object in front of the motor vehicle and the width of the object are determined by a laser radar distance measuring unit. Based on the one supplied by the laser radar range finder In the case of an optical imaging unit, which consists of a vertically arranged stereo video camera device, a corresponding window is selected for imaging. Knowing the distance information previously determined, it is within the scope of
  • Image evaluation possible to determine the size and thus the height of the detected object.
  • an error occurs either in the laser radar distance measuring unit or in the stereo video camera unit, at least the information relating to the distance to the object or obstacle can also be determined.
  • This document therefore represents a combination of a LIDAR sensor with a stereoscopic camera.
  • Object detection system consists of a combination of at least three object detectors, each having a different detection range and / or a different detection range. This has the advantage that the optimal object detector for this area can be used for each individual detection area. With this measure, objects can be detected particularly reliably and precisely.
  • the detection areas In the case of an object detection system which is used in particular for a system for adaptive vehicle speed control (ACC system) in a motor vehicle, it is advantageous for the detection areas to be significant in Direction of travel are in front of the motor vehicle, the detection areas overlapping. It is particularly advantageous if the maximum detection range of the object detector with the largest detection range is at least in the range of 100 m and the
  • Detection range of the object detector begins with the smallest detection range in the range below 1 m. It is also advantageous that the detection area of the object detector with the greatest detection range is at least in parts of the detection area
  • Has detection width which enables detection of objects in lanes adjacent to one's own motor vehicle.
  • the detection area of the object detector with the smallest detection range it is advantageous if it has a detection width that corresponds at least to the width of one's own motor vehicle. This ensures that the required detection width is monitored in each detection area.
  • the object detectors operate according to at least two different technical concepts. At least one of the following is advantageously used as the technical concept:
  • Object detection based on acoustic signals in particular ultrasound.
  • Object detection based on electromagnetic microwave radiation in particular FMCW radar and / or pulse radar.
  • Object detection based on image evaluation in particular stereoscopic camera and / or CMOS camera.
  • Object detection based on focused light, in particular LIDAR sensor A particularly advantageous embodiment results if exactly three detection areas are distinguished.
  • an object detector based on electromagnetic microwave radiation is used in the first detection area, while an object detector based on optical radiation and / or an image evaluation is used in the second detection area.
  • An object detector based on electromagnetic microwave radiation is in turn used in the third detection area.
  • Object detector arrangement combines the advantages of the individual object detector types in a very special way. With this arrangement it is advantageous that the first object detector has a detection range of approx. 0.5 m to approx. 7 m.
  • the second object detector has one
  • Detection range of approx. 2 m to approx. 40 m and the third object detector a detection range of more than approx. 40 m.
  • the first two detection areas overlap by approximately 5 m in a particularly advantageous manner.
  • the second and third detection areas also overlap.
  • the overlap of the detection areas which arises in this way can be used to use the measured values originating from these areas for separate evaluations. These separate evaluations can be, for example, a common tracking of the detected objects in the overlap area and / or a function monitoring of the object detectors and / or a plausibility check of the measurement data.
  • the object detectors are used for at least one other application.
  • This can be a parking aid, a pre-crash detection, a start monitoring, a road surface or Status detection, traffic sign recognition, visibility detection or visibility determination, adaptive light distribution, one
  • Headlight height adjustment or a weather detection or a rain sensor This has the advantage that other additional sensors can be omitted for these applications.
  • This adaptive vehicle speed control which is extended by the “stand-and-drive functionality” (stop & go), is a preferred one
  • FIG. 1 shows a motor vehicle which is equipped with the object detection system according to the invention.
  • Figure 2 shows the same vehicle with the object detection system, but with objects detected by way of example.
  • FIG. 3 shows a possible arrangement of the individual object detectors in the front area of the motor vehicle.
  • FIG. 4 shows a motor vehicle which is equipped with a further embodiment of the object detection system according to the invention.
  • FIG. 5 shows a motor vehicle which is equipped with a further embodiment of the object detection system according to the invention.
  • Figure 1 shows a multi-lane road 1, on the
  • the motor vehicle 2 drives.
  • the motor vehicle 2 is equipped with the object detection system according to the invention.
  • the object detection system presented in the context of this exemplary embodiment consists of a combination of three object detectors, each having a different detection area, the detection areas partially overlapping.
  • the detection areas lying in front of the motor vehicle in the direction of travel are designated by the reference numerals 3, 4 and 5.
  • the overlaps between the areas 3 and 4 and between the areas 4 and 5 can be clearly seen. It can also be clearly seen that each of the detection areas 3, 4 and 5 has at least one detection width which corresponds to the width of the motor vehicle 2.
  • the detection areas 4 and 5 detect the lanes adjacent to the own motor vehicle 2 in certain areas. It is also easy to see that all three detection areas 3, 4 and 5 have different angular expansions.
  • the first detection area 3 thus has the greatest widening of the angle and is therefore able to provide a wide detection cover immediately in front of the vehicle 2.
  • the Object detector of this first detection area 3 has a detection range which begins immediately in front of the motor vehicle and extends approximately 7 m in the direction of travel.
  • the object detector used in this area can be, for example, a so-called short-range radar based on electromagnetic microwave radiation, as has been described in the context of the assessment of the prior art. In particular, if the short-range radar is to have a large detection range immediately in front of motor vehicle 2, it may be necessary to attach more than one short-range radar to the front of motor vehicle 2.
  • this object detector can be used for further applications such as, for example, parking aid, pre-crash detection or start-up monitoring.
  • the second detection area 4 shown in this exemplary embodiment can be, for example, an object detector based on optical radiation and / or an image evaluation.
  • a possible object detector based on optical radiation or laser radiation can be a LIDAR sensor, as has been described in the context of the assessment of the prior art.
  • This LIDAR sensor which covers a detection range of approx. 2 m to 40 m, has a particularly sharp lateral and vertical detection of the objects to be detected in this area. This is due to the highly focused light beam from such a system.
  • Such a LIDAR sensor also has the advantage that it can be used, for example, for visibility detection or for weather detection or as a rain sensor. A prerequisite for the possibility of visibility detection is that the LIDAR sensor has a spectral measurement of the reflected light beam can make.
  • a stereoscopic camera and / or a CMOS camera can also be used for this area, as described in the context of the assessment of the prior art
  • Object classification a lane detection can be carried out.
  • a detected object stored in the memory can be provided, for example, with the attribute “in its own lane” or “not in its own lane”, which offers advantages in the further treatment / evaluation of the object data.
  • Such a camera can, for example, also be used to detect
  • Traffic signs as visibility sensors, for adaptive light distribution (ALV) or in combination or instead of with a pitch angle sensor for headlight range control /
  • Headlight height adjustment can be used.
  • the proposed detectors for this second detection area 4 are influenced to a greater or lesser extent by external influences such as fog, rain or snow, since they are dependent on the optical range of vision.
  • an object detector which does not have this dependency, is particularly suitable for the third detection area 5, since the effects from external influences increase sharply as the distance from one's own motor vehicle 2 increases.
  • a radar sensor such as that used by adaptive sensors, can be used for this purpose
  • Adaptive Cruise Control Vehicle speed controls such as Adaptive Cruise Control (ACC) are known and as described in the context of the assessment of the prior art.
  • This ACC radar sensor has a detection area, which has a range of up to 150 m and at least in parts of the detection area a detection width of up to three lanes and wider.
  • the detection width of an ACC radar system depends on the distance and generally widens in a fan shape starting from the ACC radar sensor.
  • Such an ACC radar system usually operates in a frequency range of approximately 77 GHz.
  • the transition area between the detection areas 4 and 5 is approximately 40 m.
  • overlaps are also possible which have a larger and / or smaller overlap area of the individual detection areas.
  • a corresponding exemplary embodiment is described in the context of the explanation relating to FIG. 4. It is therefore shown in FIG.
  • Object detection system shown that covers a detection area with a length of up to 150 m and a width of up to three lanes and wider by the combination of three object detectors according to the invention.
  • FIG. 2 again shows a multi-lane road 1, a motor vehicle 2 with an object detection system according to the invention, and a first detection area 3, a second detection area 4 and a third detection area 5.
  • FIG. 2 shows three possible target objects 6, 7 and 8, in this exemplary embodiment as motor vehicles, compared to FIG.
  • the object detection system is able to detect a wide variety of stationary and / or moving targets. In inner-city traffic, for example, these can also be pedestrians and / or cyclists who cross or enter street 1 in front of motor vehicle 2.
  • motor vehicle 6 is detected by first detection area 3 and by second detection area 4.
  • the second motor vehicle 7 is detected by the detection areas 4 and 5, while the motor vehicle 8 is only detected by the detection area 5.
  • Object detection system can be determined that the motor vehicle 8 is in a lane adjacent to the own lane of the motor vehicle 2. This can be done, for example, when using a stereoscopic camera system and / or a CMOS camera by detecting a lane up to approx. 50 m and then extrapolating the lane. It would also be possible to recognize the lane edge based on the data from the ACC radar sensor to determine the lanes. It would also be possible to project one's own travel tube, which, in addition to the data from the object detectors, evaluates, for example, a rotation rate sensor and other supporting sensors. This projected own driving tube then generally corresponds to the own lane ahead.
  • the motor vehicle 8 would thus have no influence on the regulation of the own motor vehicle 2 and the motor vehicle 2 would continue its journey unimpeded.
  • ACC adaptive vehicle speed control
  • the object detection system would determine that this motor vehicle 7 is in its own lane ahead.
  • a system for adaptive vehicle speed control ACC
  • the system for adaptive vehicle speed control ACC
  • the automatic control of the adaptive vehicle speed controller ACC
  • the own motor vehicle 2 would automatically be accelerated to the desired speed preset by the driver. This last operating case corresponds to the cruise control function.
  • Motor vehicle 2 initiate measures that prepare motor vehicle 2 for the impending crash. This can be, for example, tightening the seat belts and / or preparing to deploy the airbag.
  • Detection security Since measurement misfires can occur in an object detector under certain circumstances, but it is less likely that two object detectors have a measurement misfire at the same time, the detection reliability can thus be increased by the redundant data from two object detectors. Another advantage of joint tracking is the faster and safer handover of an observed target from one
  • Detection area in the next detection area when evaluating the data of the object detectors. It is also possible to monitor the function of the object detectors on the basis of these measured values and / or to check the plausibility of the measured data itself. It can be checked to what extent the measured data of the different object detectors match and a possible misalignment and / or failure and / or contamination of the object detection system can be determined. If necessary, the measurement data can be used for an adjustment and / or calibration of an object detector.
  • the invention can be implemented in any suitable system for adaptive vehicle speed control such as the stop-and-go functionality.
  • Object detection system are preferably used.
  • the system must be able to continuously regulate the speed between the standstill and the maximum speed of the motor vehicle.
  • Extended adaptive vehicle speed control (Stop & Go system) is a further development that today's systems generally do not offer. Rather, today's systems are automatically deactivated, for example, in a speed range below 30 kilometers per hour.
  • the extended Stop & Go functionality requires the system to react to stationary objects, the quick reaction to vehicles that cut into your lane in heavy traffic and the option of automatic speed reduction right up to the complete stop of your own vehicle.
  • Another possible functionality of a stop-and-go system is the "conditional go".
  • the driver of a vehicle that is standing still receives a message that a vehicle standing in front of him has started. for example by means of an operating lever or a voice input such as "Go”), the vehicle can start automatically.
  • Figure 3 shows a possible arrangement of the individual
  • Object detectors of the object detection system A road 9 is shown on which a motor vehicle 10 is moving in the direction of travel 11.
  • the object detectors used in this exemplary embodiment are a short-range radar 12, a LIDAR sensor 13, a stereoscopic camera and / or a CMOS camera 14 and an ACC radar sensor 15.
  • the short-range radar 12 is in this exemplary embodiment from a two-part sensor system in order to have the full detection range even at short distances in front of one's own motor vehicle 10.
  • the stereoscopic camera 14 can be attached, for example, at a high position in the interior of the motor vehicle, for example behind the inner rear view mirror.
  • an object detector is used for the detection area 16, which also delivers measured values of sufficient accuracy even at these short distances, this increased redundancy of the detection areas compared to FIG. 1 offers all the advantages mentioned in the previous description.
  • FIG. 5 shows a motor vehicle 2 which is equipped with a further embodiment of the object detection system according to the invention.
  • a motor vehicle 2 moves on a multi-lane road 1.
  • the motor vehicle 2 is equipped with an object detection system according to the invention.
  • the detection areas 3 and 4 are identical to the detection areas 3 and 4 shown in FIGS. 1 and 4.
  • the detection area 17 of the object detector with the greatest detection range is different in this embodiment. It can be clearly seen that the detection area 17 has the same maximum
  • Detection range as the detection area 5 of Figure 1 and the detection area 16 of Figure 4 has.
  • the detection area 17 does not start at such a short distance in front of the motor vehicle 2 as the detection area 16 according to FIG. 4. This has the consequence that the detection area 17 overlaps with the detection area 4 and partially protrudes into the detection area 3.
  • any overlap possibilities of the different detection areas lie within the scope of the object detection system according to the invention. It is also within the scope of the object detection system according to the invention that the number of detection areas can be reduced or increased. This The selection is left to the person skilled in the art in accordance with the specific requirements for the respective object detection system. Any combination of different object detectors within a detection range is also possible. Here too, the appropriate selection is left to the expert.
  • both in the embodiment according to FIG. 1 (detection areas 3, 4 and 5), in that according to FIG. 4 (detection areas 3, 4 and 16) and in that according to FIG. 5 (detection areas 3, 4 and 17) is the entire detection area of the object detection system designed so that the relevant areas / parts of the lanes adjacent to your own lane are observed at any distance from your own motor vehicle.
  • the detection area of an object detector is to be understood as the detection area of the physical detection area of an object detector that can be meaningfully evaluated in terms of measurement technology. Purely physically, the limits of the detection areas of the described object detectors cannot be delimited as sharply as is shown in the figures. By contrast, the detection areas that can be used for evaluation in terms of measurement technology can be delimited by suitable measures in the hardware and / or software of the object detection system according to the invention in the manner as shown by way of example in the exemplary embodiments.

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  • 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)
  • Radar Systems Or Details Thereof (AREA)
  • Traffic Control Systems (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

La présente invention concerne un système de détection d'objet, notamment pour un véhicule automobile. Ce système est composé d'une combinaison d'au moins trois détecteurs d'objet présentant chacun une zone de détection et/ou une portée de détection différentes.
EP00943634A 1999-05-26 2000-05-25 Systeme de detection d'objet Withdrawn EP1103004A1 (fr)

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Application Number Priority Date Filing Date Title
DE19923920 1999-05-26
DE19923920 1999-05-26
DE19934670 1999-07-23
DE19934670A DE19934670B4 (de) 1999-05-26 1999-07-23 Objektdetektionssystem
PCT/DE2000/001667 WO2000073818A1 (fr) 1999-05-26 2000-05-25 Systeme de detection d'objet

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