EP1352375B1 - Verfahren und vorrichtung zur schätzung von bewegungsparametern von zielen - Google Patents

Verfahren und vorrichtung zur schätzung von bewegungsparametern von zielen Download PDF

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Publication number
EP1352375B1
EP1352375B1 EP01991684A EP01991684A EP1352375B1 EP 1352375 B1 EP1352375 B1 EP 1352375B1 EP 01991684 A EP01991684 A EP 01991684A EP 01991684 A EP01991684 A EP 01991684A EP 1352375 B1 EP1352375 B1 EP 1352375B1
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EP
European Patent Office
Prior art keywords
target object
relative
velocity
acceleration
measurement
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.)
Expired - Lifetime
Application number
EP01991684A
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German (de)
English (en)
French (fr)
Other versions
EP1352375A1 (de
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
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Robert Bosch GmbH
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Publication of EP1352375A1 publication Critical patent/EP1352375A1/de
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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
    • G08G1/161—Decentralised systems, e.g. inter-vehicle communication

Definitions

  • the invention further relates to a device for outputting parameter values that relate to the relative kinematic behavior of an object, in particular a first vehicle, and a target object, in particular a second vehicle, wherein based on the parameter values, a statement can be made as to whether the object and the target object is expected to collide.
  • the device comprises: a sensor system which is arranged on the object, wherein the sensor system is, inter alia, provided to transmit and receive signals to readings r i , v r, i for the target distance r and / or for the to detect relative radial velocity v r of the target object, and means for evaluating the measured values r i , v r, i recorded 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 an area to be monitored. It is known to determine the radial component of the relative radial acceleration a r of the second vehicle from these measured values by differentiation of the radial speed.
  • the radial velocity by evaluating the Doppler frequency or by differentiating the distance.
  • the normal components of the distance, the speed and the acceleration perpendicular to the front area of the motor vehicle are calculated from the measured values of a plurality of spatially distributed sensors by triangulation. For triangulation so several spatially distributed transmitting or receiving units or sensors are required, which causes a high hardware cost.
  • Another problem occurring in the prior art is that even when using multiple sensors under certain circumstances, only one sensor receives a usable signal for an evaluation. Since in this case the triangulation is not feasible, for example, an imminent collision can not be detected.
  • an alarm system for a driver, by means of a radar or laser measuring device, the relative speed of the vehicle to objects and the distance to the objects and from this the relative acceleration determined the detected object to own vehicle. Furthermore, a Speed sensor designed to determine your own speed as well a detection of the road condition. The determined values become a safe following distance calculated and compared with a current distance. This will be an expected Collision time calculated to the driver by means of a linear light indicator represents the risk of collision with the detected object.
  • a vehicle distance computing device which by means of a laser distance measuring device Emits light signals and receives again and out of the measured transit time of these light signals the distance and the current azimuth angle the optical scanner determines the position of the object with respect to of the sensor can be calculated.
  • the object positions obtained are compared to earlier ones Object positions compared and hereby carried out an object tracking, from which a relative velocity of the object is computable by the number of reflections and the strength of the laser reflections are taken into account.
  • step c) of the inventive method based on the received from only one receiver Signals is feasible, that is, no triangulation is performed, the hardware cost can be reduced and even if only one sensor is one for one appropriate evaluation receives usable signal Safe predictions can be made.
  • the parameter values preferably relate to one or more of the following: relative acceleration a of the target, relative radial acceleration a r of the target, relative velocity v of the target, relative radial velocity v r of the target, Offset ⁇ y between the object and the target object, the angle ⁇ between the vectors of the relative velocity v of the target object and the relative radial velocity 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 estimated from the present measurements and the parameter values for other parameters are determined from the estimated parameter values.
  • a vector p [a, v 0 , ⁇ 0 ] may have. It is provided that a is the relative acceleration of the target object, v 0 is the relative initial velocity of the target object in the first measurement and ⁇ 0 is the angle between the relative velocity vectors v of the target object and the relative radial velocity 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 parameter values for the in the vector p contained parameters are estimated over a standard, as will be explained later.
  • the parameters r 0 , v 0 , a, t and ⁇ 0 correspond to the parameters of the first embodiment.
  • the parameters r 0 , v 0 , a, t and ⁇ 0 correspond to the parameters of the first embodiment.
  • a standard Q ( p ) is defined as follows.
  • the parameter values for those in the vector p are preferably estimated based on the measured values.
  • the parameter values for the vector p estimated parameters are estimated from the times t i and the measured values r i for the target distances and / or the measured values v r, i for the relative radial speed of the target object via an optimization method by setting the minimum of the norm Q ( p ) is determined.
  • the relative acceleration a of the target object is constant and / or that the acceleration vector a is parallel to the velocity vector v is. Accordingly, a linear course of the relative velocity v of the target object is then assumed.
  • the offset .DELTA.y between the object and the target object via the relationship ⁇ y r 0 sin ( ⁇ 0 ) be determined.
  • the instantaneous angle ⁇ (t) between the relative velocity vectors v of the target object and the relative radial velocity 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 be determined.
  • the amount of relative instantaneous radial velocity of the target object may be calculated from the estimated parameter values of the vector in the vector p contained parameters about the relationship
  • t 1 is the time point with the smallest target distance in point P.
  • the error measure e ( p ) is provided to make 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 ) allows, for example, the definition of thresholds, which can be adapted to the respective application. If these threshold values are exceeded or fallen short of, then, for example, the parameter values for individual parameters can be classified as invalid.
  • FIG. 1 shows an object in the form of a first vehicle total provided with the reference numeral 10.
  • a sensor 11 is arranged at the first Vehicle 10.
  • the Normal to the front of the first motor vehicle 10th is denoted by 13.
  • a target object in the form of a second Vehicle is generally denoted by the reference numeral 12 Mistake.
  • FIG. 1 shows the case of a passage, that is, there is no collision.
  • the front of the first vehicle 10 normal Component is marked with x. Between the vectors r and x an angle ⁇ is included. If the second vehicle 12 is at the point P is the Offset between the first vehicle 10 and the second Vehicle 12 ⁇ y, the initial distance between the point P and the second vehicle 12 through the vector z is marked.
  • Offset ⁇ y Based on the offset ⁇ y can either pass by or an impending collision can be detected.
  • the Offset ⁇ y in this case is in the horizontal plane (Azimuth) assumed. It is useful with a small opening angle in the vertical direction (elevation) to eat. For example, if you want the height of the Target object, that is the offset in the vertical direction, determine, so is a small opening angle in Azimuth suitable.
  • the measurement of the offset also in a horizontal or vertical plane arbitrarily inclined plane with correspondingly flat antenna diagram possible. Measure the offset in two orthogonal planes (e.g., elevation and Azimuth), the target coordinates r are the target coordinates clearly determined in the monitored room.
  • the vectors v r and a r indicate the relative radial velocity and the relative radial acceleration of the second vehicle 12, respectively.
  • the vectors v and a indicate the relative velocity and relative acceleration of the second vehicle 12, wherein an angle ⁇ is included between the vectors v r and v and a r and a, respectively.
  • the direction perpendicular to the radial components of tangential components of the relative radial velocity v r respectively of the relative radial acceleration a r of the second vehicle are V t or a t specified, wherein by the vectors v t and a t or v and a of the point P defined.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar Systems Or Details Thereof (AREA)
EP01991684A 2001-01-08 2001-12-22 Verfahren und vorrichtung zur schätzung von bewegungsparametern von zielen Expired - Lifetime EP1352375B1 (de)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE10100413A DE10100413A1 (de) 2001-01-08 2001-01-08 Verfahren und Vorrichtung zur Schätzung von Bewegungsparametern von Zielen
DE10100413 2001-01-08
PCT/DE2001/004912 WO2002054369A1 (de) 2001-01-08 2001-12-22 Verfahren und vorrichtung zur schätzung von bewegungsparametern von zielen

Publications (2)

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

Family

ID=7669893

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Application Number Title Priority Date Filing Date
EP01991684A Expired - Lifetime EP1352375B1 (de) 2001-01-08 2001-12-22 Verfahren und vorrichtung zur schätzung von bewegungsparametern von zielen

Country Status (6)

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

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 (en) * 2014-12-12 2016-06-12 Atlantic Inertial Systems Limited (HSC) Collision detection system
DE102017204496A1 (de) * 2017-03-17 2018-09-20 Robert Bosch Gmbh Verfahren und Radarvorrichtung zum Ermitteln von radialer relativer Beschleunigung mindestens eines Zieles
DE102017204495A1 (de) * 2017-03-17 2018-09-20 Robert Bosch Gmbh Verfahren und Vorrichtung zum Ermitteln von transversalen Relativgeschwindigkeitskomponenten von Radarzielen
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

Family Cites Families (7)

* 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

Also Published As

Publication number Publication date
ES2248411T3 (es) 2006-03-16
JP4044844B2 (ja) 2008-02-06
US20030163280A1 (en) 2003-08-28
JP2004517420A (ja) 2004-06-10
DE10100413A1 (de) 2002-07-11
EP1352375A1 (de) 2003-10-15
US6785631B2 (en) 2004-08-31
DE50107229D1 (de) 2005-09-29
WO2002054369A1 (de) 2002-07-11

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