EP1373927A1 - Plate-forme de capteurs radar - Google Patents

Plate-forme de capteurs radar

Info

Publication number
EP1373927A1
EP1373927A1 EP02729800A EP02729800A EP1373927A1 EP 1373927 A1 EP1373927 A1 EP 1373927A1 EP 02729800 A EP02729800 A EP 02729800A EP 02729800 A EP02729800 A EP 02729800A EP 1373927 A1 EP1373927 A1 EP 1373927A1
Authority
EP
European Patent Office
Prior art keywords
parking space
radar sensor
sensor platform
vehicle
processor
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.)
Ceased
Application number
EP02729800A
Other languages
German (de)
English (en)
Inventor
Bernhard Mattes
Rainer Moritz
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 EP1373927A1 publication Critical patent/EP1373927A1/fr
Ceased 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
    • 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
    • G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/10—Automatic or semi-automatic parking aid 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
    • G01S13/88—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
    • G01S2013/9314—Parking operations
    • 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
    • G01S2013/9315—Monitoring blind spots
    • 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
    • G01S2013/9317—Driving backwards
    • 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
    • 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
    • G01S2013/93272—Sensor installation details in the back 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
    • 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
    • G01S2013/93275—Sensor installation details in the bumper area
    • 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
    • G01S2015/932—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations
    • G01S2015/933—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations for measuring the dimensions of the parking space when driving past
    • G01S2015/936—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations for measuring the dimensions of the parking space when driving past for measuring parking spaces extending transverse or diagonal to the driving direction, i.e. not parallel to the driving direction

Definitions

  • the invention is based on a radar sensor platform according to the type of the independent claim.
  • the radar sensor platform according to the invention with the features of the independent claim has the advantage that the minimum width of a parking bay or parking space is measured precisely. This measurement result is displayed digitally to the driver. This advantageously eliminates subjective width estimation errors from parking spaces. Acoustic and / or visual warning signals can inform a driver instead of a direct display whether the parking space is for him suitable is. The intensity of the warning may increase as parking spaces become narrower.
  • the horizontal opening angle which is used for the parking space width measurement, is at least 170 p . This ensures that an exact measurement of the parking space is made possible.
  • a vehicle-specific threshold value for the parking space in width can be stored in the memory, which can be connected to the processor, and this threshold value with the measured width of the parking space, the output by means of the acoustic and / or optical output certainly.
  • the measured parking space width is shown on a display, so that a driver can use this information directly.
  • This can advantageously be expanded by also displaying the gaps next to the vehicle.
  • the acoustic and optical outputs are controlled by the processor in such a way that centered parking is possible. This can be expanded by ensuring that optimal use of the parking space is ensured by specifying distances to be observed from the neighboring vehicles.
  • the radar sensor platform at least in the front or in the vehicle The rear of the vehicle is installed, so that the radar sensor platform works optimally.
  • FIG. 1 schematically shows a parking situation
  • FIG. 2 shows a block diagram of the radar sensor platform according to the invention
  • FIG. 3 shows a flow diagram of a method according to the invention.
  • a radar sensor platform which is used for measuring the distance of a parking space from a vehicle.
  • four radar sensors are used here, the outer radar sensors in particular being used to increase the horizontal opening angle to at least 170 °. This is particularly advantageous for measuring the parking spaces.
  • the radar sensor used here works at a frequency of 24 gigahertz, which is particularly suitable for short-range selection, since this frequency has a high level of attenuation in the atmosphere. These radar sensors are therefore also referred to as short range radar sensors.
  • the vertical opening angle of these radar sensors is here, as is usually the case, 20 °. Usually, for example for the pre-crash sensor technology uses a horizontal opening angle of 140 °.
  • FIG. 1 shows schematically a parking situation.
  • a driver of a vehicle which has four radar sensors 6 on the front of the vehicle, wants to park and has chosen the parking space 2 for this purpose.
  • Parking space 2 is located between the parked vehicles 3 and 4.
  • the radar sensors 6 are oriented such that they cover a horizontal opening angle of 170 °, which is indicated by the dashed lines.
  • the dashed lines are delimited by an arc that defines the range of the radar sensors.
  • a processor in the vehicle 1 Based on the measurement of the radar sensors 6, a processor in the vehicle 1 recognizes that the parking space 2 is too narrow. Therefore, the vehicle 1 cannot park here. Valuable time is saved and a parking attempt that may result in damage is not initiated at all.
  • the opening angle which is normally 140 ° for the pre-crash sensor system, can be increased to 170 ° in particular by means of an electronic setting.
  • FIG. 2 shows a block diagram of the radar sensor platform according to the invention with connected devices.
  • a radar sensor platform 27 has four radar sensors 6, to which control modules 7, 8, 9 and 10 are connected. These control modules 7, 8, 9 and 10 provide both electrical and electromechanical control.
  • the electromechanical control applies in particular to changing the horizontal opening angle.
  • the electrical control includes the provision of the microwave len, which are required for radar sensing, and also the reception of the microwaves reflected by the obstacle.
  • the control modules 7, 8, 9 and 10 are connected to a first, second, third and fourth data input / output of a processor 11 via respective data inputs / outputs.
  • a bus connection is also possible here.
  • the processor 11 is connected via a fifth data input / output to a memory 12, which is used for the temporary storage of results, but also as a permanent memory for threshold values.
  • the processor 11 is connected via a first data output to a control 13 which is connected to an input of a display 14.
  • the processor 11 is connected via a second data output to an audio control 15, which is connected to an input of a loudspeaker 16.
  • the control 13 ensures that data coming from the processor 11 are correspondingly shown on a display 14.
  • the audio control 15 converts the signals from the processor into analog audio signals, amplifies them and then uses the
  • Loudspeaker 16 for acoustic reproduction The processor 11 is connected via a data input to a signal processing unit 28, to which an input device 29 / " is in turn connected.
  • the input device 29 is / in the passenger compartment of the vehicle 1 and via this input device 29 a driver indicates that he is measuring a parking space This is then forwarded to the processor 11 via the signal processing 28.
  • buttons or a voice control can serve as the input device 29.
  • the processor 11 controls the radar sensors 6 via the controls 7, 8, 9 and 10, in order to possibly adjust the horizon when parking space is measured. len opening angle of the radar sensors 6 to increase.
  • the processor 11 outputs signals to the driver via the display 14 and the loudspeaker 16.
  • the pulse radar method is used here as the measuring principle. However, a Doppler method is also possible. The pulse radar method measures the time that has elapsed between a transmitted pulse and its return after a reflection on the object. The distance to the object can then be determined from this. More than four radar sensors 6 are also possible, which may improve the resolution. If the processor 11 has determined the parking space which the radar sensors 6 have measured, the processor 11 can use this to determine the distance to the vehicles 3 and 4. This results in a width of the parking space that is smaller than the vehicle width of the vehicle 1 that the
  • Processor 11 recognizes by a comparison with a vehicle-specific threshold value stored in the memory 12, then the driver is warned via the loudspeaker 16 and the display 14 that parking is not possible here. However, if the parking space is wide enough, the driver can use the input device 29 to choose to park in the center. The processor 11 then helps him by measuring with the radar sensors 6 and output via the loudspeaker 16 and the display 14 by the processor 11 using appropriate optical and acoustic signals
  • Driver indicates that he always stays in the middle between vehicles 3 and 4. This creates a control loop in which the driver is the signal box and the radar sensor platform is the measuring unit.
  • FIG. 3 shows a flow diagram of the method according to the invention.
  • a driver switches on the parking space width measurement with the input device 29.
  • the processor 11 sets the radar sensors 6 to a wider horizontal opening angle of 170 °, and the processor 11 loads the algorithm for parking space measurement.
  • This algorithm is located in the memory 12.
  • the corresponding vehicle-specific threshold values which indicate the parking space into which the vehicle 1 can still park.
  • the distances are measured by the radar sensors 6 and the evaluation of the radar sensor signals by the processor 11. The distances in the parking space are then known.
  • step 20 the width of the parking space is then determined.
  • this width is compared with the minimum width for parking with the vehicle 1 with the vehicle-specific threshold value. If the width is greater than this threshold value, then method step 23 continues with the display that the vehicle 1 can be parked in the parking space 2. This also includes minimum distances of, for example, 0.5 meters to vehicles 3 and 4 parked to the side. However, if the parking space is too narrow, then it is indicated in method step 22 that the parking space 2 is not for the
  • Parking with vehicle 1 is suitable. It is possible to enter a number that allows the driver to still try to park if the vehicle fits and the side distances to vehicles 3 and 4 decrease below half a meter.
  • method step 24 when parking is indicated as possible in method step 21, a query is made as to whether the driver wishes to have centered parking. He then inputs this using the input device 29, with the driver then in method step 25 using the loudspeaker 16 and the display 14 is helped to park centered in the parking space. If the driver does not want centered parking, then this function is not used in method step 26. The driver is then warned when parking by minimal distances to vehicles 3 and 4.

Abstract

L'invention concerne une plate-forme de capteurs radar destinée à la mesure de distances dans un véhicule, comportant au moins quatre radars. Selon l'invention, un utilisateur effectue une requête de mesure de largeur de la place de parking au moyen d'un dispositif d'entrée. Les quatre capteurs radar augmentent ensuite leur angle d'ouverture horizontal et les moyens d'émission acoustiques et/ou optiques émettent un signal en fonction de la mesure de largeur de la place de parking. Ledit signal est par exemple la largeur de la place de parking ou un signal d'alarme. L'angle d'ouverture horizontal destiné à la mesure de la place de parking est d'au moins 170°. Les écarts latéraux du véhicule dans la place de parking peuvent également être indiqués. Lesdits auxiliaires acoustiques et optiques permettent par ailleurs un stationnement centré. La plate-forme de capteurs radar selon l'invention est de préférence intégrée au côté avant et/ou arrière du véhicule.
EP02729800A 2001-03-20 2002-03-16 Plate-forme de capteurs radar Ceased EP1373927A1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE10113323A DE10113323C2 (de) 2001-03-20 2001-03-20 Radarsensorplattform
DE10113323 2001-03-20
PCT/DE2002/000971 WO2002075354A1 (fr) 2001-03-20 2002-03-16 Plate-forme de capteurs radar

Publications (1)

Publication Number Publication Date
EP1373927A1 true EP1373927A1 (fr) 2004-01-02

Family

ID=7678112

Family Applications (1)

Application Number Title Priority Date Filing Date
EP02729800A Ceased EP1373927A1 (fr) 2001-03-20 2002-03-16 Plate-forme de capteurs radar

Country Status (5)

Country Link
US (1) US7095361B2 (fr)
EP (1) EP1373927A1 (fr)
JP (1) JP2004518983A (fr)
DE (1) DE10113323C2 (fr)
WO (1) WO2002075354A1 (fr)

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DE10113323C2 (de) 2003-04-03
US7095361B2 (en) 2006-08-22
US20030160717A1 (en) 2003-08-28
JP2004518983A (ja) 2004-06-24
DE10113323A1 (de) 2002-10-02
WO2002075354A1 (fr) 2002-09-26

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