EP1352375A1 - Procede et dispositif pour evaluer des parametres de mouvement de cibles - Google Patents

Procede et dispositif pour evaluer des parametres de mouvement de cibles

Info

Publication number
EP1352375A1
EP1352375A1 EP01991684A EP01991684A EP1352375A1 EP 1352375 A1 EP1352375 A1 EP 1352375A1 EP 01991684 A EP01991684 A EP 01991684A EP 01991684 A EP01991684 A EP 01991684A EP 1352375 A1 EP1352375 A1 EP 1352375A1
Authority
EP
European Patent Office
Prior art keywords
target object
relative
target
acceleration
speed
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.)
Granted
Application number
EP01991684A
Other languages
German (de)
English (en)
Other versions
EP1352375B1 (fr
Inventor
Siegbert Steinlechner
Michael Schlick
Juergen Hoetzel
Thomas Brosche
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
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP1352375A1 publication Critical patent/EP1352375A1/fr
Application granted granted Critical
Publication of EP1352375B1 publication Critical patent/EP1352375B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/161—Decentralised systems, e.g. inter-vehicle communication

Definitions

  • the present invention relates to a method for specifying parameter values which relate to the relative kinematic behavior of an object, in particular a first vehicle, and a target object, in particular a second vehicle, it being possible to use the parameter values to make a statement as to whether the object and the target object is likely to collide.
  • the process comprises the following steps:
  • the invention further relates to a device for outputting parameter values which determine the relative kinematic see behavior of an object, in particular a first vehicle, and a target object, in particular a second vehicle, wherein a statement can be made based on the parameter values as to whether the object and the target object are likely to collide.
  • the device has: a sensor system which is arranged on the object, the sensor system being provided to transmit and receive signals in order to obtain measured values ri, r , ⁇ for the target object distance r and / or for the relative radial speed v r des Detect target object, and means for evaluating the measured values r 1, v r , i detected by the sensor system and for outputting the parameter values.
  • sensors are used, for example optical sensors, capacitive sensors, ultrasonic sensors or radar sensors, with which the distance r between the vehicles and / or the relative radial speed v r of the second vehicle are measured within a range to be monitored. It is known from these measurements to determine the radial component of the relative radial acceleration a r of the second vehicle by differentiation of the radial speed.
  • the radial speed by evaluating the Doppler frequency or by differentiating the distance.
  • the normal components of the distance, the speed and the acceleration, which are perpendicular to the front area of the motor vehicle are calculated from the measured values of several spatially distributed sensors by triangulation.
  • several spatially distributed transmitting or receiving units or sensors are required, which causes a high level of hardware expenditure.
  • Another problem encountered in the prior art is that even if several sensors are used, only one sensor may receive a signal that can be used for an evaluation. Since the triangulation cannot be carried out in this case, an upcoming collision, for example, cannot be detected.
  • step c) of the method according to the invention can be carried out on the basis of the signals received by only one receiver, that is to say that no triangulation is carried out, the hardware expenditure can be reduced and even if only one sensor receives a signal that can be used for a corresponding evaluation , reliable predictions can be made.
  • the means carry out the evaluation on the basis of the signals received by only one of the receivers assigned to the sensor system.
  • the parameter values preferably relate to one or more of the following parameters: the relative acceleration a of the target object, the relative radial acceleration a r of the target object, the relative speed v of the target object, the relative radial speed v r of the target object , the offset ⁇ y between the object and the target object, the angle ⁇ between the vectors of the relative speed v of the target object and the relative radial speed v r of the target object or between the vectors of the relative acceleration a of the target object and the relative radial acceleration a r of the target object.
  • the parameter values for some of these parameters are preferably estimated on the basis of the present measured values, and the parameter values for further parameters are determined on the basis of the estimated parameter values.
  • a vector p is preferably provided which contains at least some of the parameters sought, this vector p having the shape
  • hv 0 , ⁇ 0 may have. It is provided that a is the relative acceleration of the target object, vo is the relative initial speed of the target object in the first measurement in the first measurement and ⁇ 0 is the angle between the vectors of the relative speed v of the target object and the relative radial speed v r of the target object or the angle between the vectors of the relative acceleration a of the target object and the relative radial acceleration a r of the target object in the first measurement.
  • the times ti can, but need not, be equidistant. For example, measured values could also be recorded at equidistant target distances.
  • target object distances r ⁇ are measured at different times ti, and that the target object distance r is related to:
  • r 0 is the target distance in the first measurement
  • o is the relative initial speed of the target in the first measurement in the first measurement
  • a is the relative acceleration of the target
  • t is time
  • ⁇ 0 is the angle between the Vectors of the relative speed v of the target object and the relative radial speed v r des Target object or the angle between the vectors of the relative acceleration a of the target object and the relative radial acceleration a r of the target object in the first measurement.
  • the parameter values for the parameters contained in the vector p can be estimated using a standard, as will be explained in more detail later.
  • the estimation can also be carried out using the values ti, ri 2 after squaring the given equation.
  • the parameters r 0 , v 0 , a, t and ⁇ 0 correspond to the parameters of the first embodiment.
  • a third embodiment of the invention provides that target object distances ri and relative radial velocities v r , i are measured at different times ti, and that the relative radial velocity v r of the target object is related via:
  • a standard Q (p) is preferably defined as follows in connection with the first embodiment:
  • a standard Q (p) is preferably defined as follows in connection with the second embodiment:
  • a standard Q (p) is preferably defined as follows in connection with the third embodiment:
  • the parameter values for the parameters contained in the vector p are preferably estimated on the basis of the measured values.
  • the parameter values for the . Parameters contained in the vector p can be estimated by means of the times ti and the measured values ri for the target object distances and / or the measured values v r .i for the relative radial speed of the target object using an optimization method by determining the minimum of the standard Q (p) ,
  • the relative acceleration a of the target object is constant and / or that the acceleration vector a is parallel to the speed vector v. Accordingly, a linear course of the relative speed v of the target object is then assumed.
  • the relative acceleration a 0 m / s 2 if the relative speed v is greater than a predetermined limit value and that the relative acceleration a ⁇ 0 m / s2 if the relative speed v is less than is the predetermined limit.
  • the offset ⁇ y between the object and the target object can be determined via the relationship
  • the instantaneous kel ⁇ (t) between the vectors of the relative speed v of the target object and the relative radial speed v r of the target object or between the vectors of the relative acceleration a of the target object and the relative radial acceleration a r of the target object via the relationship
  • the amount of the relative instantaneous radial speed of the target object can also be determined from the estimated parameter values of the parameters contained in the vector p via the relationship
  • the point in time ti of a possible collision can be determined from the estimated parameter values of the parameters contained in the vector p via the relationship
  • i is the point in time with the smallest target distance at point P.
  • the error measure e (p) is intended to provide an error estimate for the estimated parameter values and / or for the parameter values derived from the estimated parameter values.
  • the error measure e (p) enables, for example, the definition of threshold values that can be adapted to the respective application. If these threshold values are exceeded or fallen below, for example, the parameter values for individual parameters can then be classified as invalid.
  • Figure 1 is a geometric representation of the object and the target object.
  • FIG. 1 an object in the form of a first vehicle is provided overall with the reference number 10.
  • a sensor system 11 is arranged on the first vehicle 10.
  • the normal to the front area of the first motor vehicle 10 is designated by 13.
  • a target object in the form of a second vehicle is provided overall with reference number 12.
  • FIG. 1 shows the case of a drive past, that is, there is no collision.
  • the distance between the first vehicle 10 and the second vehicle 12 is identified by a vector r
  • the component normal to the front region of the first vehicle 10 is identified by x.
  • An angle ⁇ is included between the vectors r and x.
  • the offset between the first vehicle 10 and the second vehicle 12 is ⁇ y, the initial distance between the point P and the second vehicle 12 being identified by the vector z.
  • the offset ⁇ y On the basis of the offset ⁇ y, either a drive past or an impending collision can be detected.
  • the offset ⁇ y is assumed in the horizontal plane (azimuth). It is advisable to measure with a small opening angle in the vertical direction (elevation). For example, if you want to determine the height of the target object, i.e. the offset in the vertical direction, a small opening angle in the azimuth is suitable.
  • the measurement of the offset is also in a plane inclined to the horizontal or vertical plane with a correspondingly flat antenna. possible diagram. If you measure the offset in two orthogonal planes (e.g. elevation and azimuth), the target coordinates in the monitored space are clearly determined with the target object distance r.
  • FIG. 2 The initial position of the first vehicle 10 and the second vehicle 12 corresponds to that of FIG. 1.
  • the vector arrows show the kinematic behavior of the second vehicle 12.
  • both the first vehicle 10 and the second generally move Vehicle 12 or the target object is not formed by a second vehicle but by a fixed target object. Therefore, as in the preceding, we speak of relative quantities.
  • the vectors v r and a r indicate the relative radial speed and the relative radial acceleration of the second vehicle 12.
  • the vectors v and a indicate the relative speed and the relative acceleration of the second vehicle 12, an angle ⁇ being included between the vectors v r and v or a r and a.
  • the tangential components of the relative radial speed v r or the relative radial acceleration a r of the second vehicle, which are perpendicular to the radial components, are indicated by v t or a t , the point P being defined by the vectors v t and a t or v and a becomes.

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

La présente invention concerne un procédé pour donner des valeurs de paramètre qui concernent le comportement cinématique relatif d'un objet (10), notamment d'un premier véhicule (10), et d'un objet cible (12), notamment d'un second véhicule (12). Ce procédé permet de prévoir si l'objet (10) et l'objet cible (12) vont entrer en collision, à l'aide desdites valeurs de paramètre. Ce procédé consiste a) à équiper l'objet (10) de capteurs (11), qui émettent et reçoivent des signaux, afin de détecter des valeurs de mesure ri, vr,i pour l'éloignement r de l'objet cible et/ou pour la vitesse radiale relative vr entre l'objet (10) et l'objet cible (12), b) à détecter des valeurs de mesure ri, vr,i, puis c) à analyser les valeurs de mesure ri, vr,i détectées et à donner les valeurs de paramètre. Selon cette invention, l'étape c) peut être mise en oeuvre sur la base des signaux reçus par un récepteur. La présente invention concerne également un dispositif permettant de fournir des valeurs de paramètre.
EP01991684A 2001-01-08 2001-12-22 Procede et dispositif pour evaluer des parametres de mouvement de cibles Expired - Lifetime EP1352375B1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE10100413 2001-01-08
DE10100413A DE10100413A1 (de) 2001-01-08 2001-01-08 Verfahren und Vorrichtung zur Schätzung von Bewegungsparametern von Zielen
PCT/DE2001/004912 WO2002054369A1 (fr) 2001-01-08 2001-12-22 Procede et dispositif pour evaluer des parametres de mouvement de cibles

Publications (2)

Publication Number Publication Date
EP1352375A1 true EP1352375A1 (fr) 2003-10-15
EP1352375B1 EP1352375B1 (fr) 2005-08-24

Family

ID=7669893

Family Applications (1)

Application Number Title Priority Date Filing Date
EP01991684A Expired - Lifetime EP1352375B1 (fr) 2001-01-08 2001-12-22 Procede et dispositif pour evaluer des parametres de mouvement de cibles

Country Status (6)

Country Link
US (1) US6785631B2 (fr)
EP (1) EP1352375B1 (fr)
JP (1) JP4044844B2 (fr)
DE (2) DE10100413A1 (fr)
ES (1) ES2248411T3 (fr)
WO (1) WO2002054369A1 (fr)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102007047716A1 (de) * 2007-10-05 2009-04-09 Robert Bosch Gmbh Sensoreinrichtung zur kapazitiven Abstandsermittlung
DE102007058242A1 (de) * 2007-12-04 2009-06-10 Robert Bosch Gmbh Verfahren zur Messung von Querbewegungen in einem Fahrerassistenzsystem
CA2910296A1 (fr) * 2014-12-12 2016-06-12 Atlantic Inertial Systems Limited (HSC) Systeme de detection de collision
DE102017204495A1 (de) * 2017-03-17 2018-09-20 Robert Bosch Gmbh Verfahren und Vorrichtung zum Ermitteln von transversalen Relativgeschwindigkeitskomponenten von Radarzielen
DE102017204496A1 (de) 2017-03-17 2018-09-20 Robert Bosch Gmbh Verfahren und Radarvorrichtung zum Ermitteln von radialer relativer Beschleunigung mindestens eines Zieles
US20190187267A1 (en) * 2017-12-20 2019-06-20 Nxp B.V. True velocity vector estimation
DE102018211240A1 (de) * 2018-07-07 2020-01-09 Robert Bosch Gmbh Verfahren zum Klassifizieren einer Relevanz eines Objekts

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5983161A (en) * 1993-08-11 1999-11-09 Lemelson; Jerome H. GPS vehicle collision avoidance warning and control system and method
JP3186401B2 (ja) * 1994-02-10 2001-07-11 三菱電機株式会社 車両用距離データ処理装置
JPH08124100A (ja) 1994-10-28 1996-05-17 Nikon Corp 車間距離監視装置
US6014601A (en) * 1997-01-07 2000-01-11 J. Martin Gustafson Driver alert system
DE19749086C1 (de) * 1997-11-06 1999-08-12 Daimler Chrysler Ag Vorrichtung zur Ermittlung fahrspurverlaufsindikativer Daten
JP3381778B2 (ja) 1998-08-05 2003-03-04 三菱自動車工業株式会社 車両の走行制御方法
DE19910590A1 (de) 1999-03-10 2000-09-14 Volkswagen Ag Verfahren und Vorrichtung zur Abstandsregelung für ein Fahrzeug

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See references of WO02054369A1 *

Also Published As

Publication number Publication date
WO2002054369A1 (fr) 2002-07-11
JP2004517420A (ja) 2004-06-10
DE10100413A1 (de) 2002-07-11
JP4044844B2 (ja) 2008-02-06
US20030163280A1 (en) 2003-08-28
DE50107229D1 (de) 2005-09-29
US6785631B2 (en) 2004-08-31
EP1352375B1 (fr) 2005-08-24
ES2248411T3 (es) 2006-03-16

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