EP1456689A1 - Procede d'identification d'obstacles pour une automobile, avec au moins trois detecteurs de distance pour detecter l'extension laterale d'un objet - Google Patents

Procede d'identification d'obstacles pour une automobile, avec au moins trois detecteurs de distance pour detecter l'extension laterale d'un objet

Info

Publication number
EP1456689A1
EP1456689A1 EP02804559A EP02804559A EP1456689A1 EP 1456689 A1 EP1456689 A1 EP 1456689A1 EP 02804559 A EP02804559 A EP 02804559A EP 02804559 A EP02804559 A EP 02804559A EP 1456689 A1 EP1456689 A1 EP 1456689A1
Authority
EP
European Patent Office
Prior art keywords
distance
coefficients
objects
spatial
detecting
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
EP02804559A
Other languages
German (de)
English (en)
Inventor
Uwe Zimmermann
Achim Pruksch
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 EP1456689A1 publication Critical patent/EP1456689A1/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
    • G01S13/88—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
    • 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
    • G01S13/878—Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector
    • 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
    • G01S2013/9321—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
    • G01S2013/9325—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles for inter-vehicle distance regulation, e.g. navigating in platoons

Definitions

  • the present invention relates to a method and a system for detecting at least one object, in particular for detecting its specific parameters, such as the relative position of the object or the relative speed of the object.
  • Conventional methods and systems for determining the position of objects using distance-resolving sensors are essentially based on the model of point-shaped target objects; The distance lists of two or more distance-resolving 24 gigahertz individual sensors are used as input variables.
  • An object detection system is known from the publication DE 42 42 700 A1 known with microwave radar sensor, by which the detection of objects in front of a vehicle, in particular also at a greater distance, is made possible.
  • This radar sensor contributes to a vehicle safety system in which information about the distance and the relative speed of the vehicle to the vehicles in front is continuously processed in a predetermined angular range.
  • Light beam with variable transmission angle and an angle-resolving optical receiver are available.
  • the emitted light beam is modulated here in such a way that the position of the object within the angular range of the emitted light beam can also be determined up to a certain distance from the phase difference between the transmitted light beam and the received light beam.
  • Document DE 196 22 777 A1 discloses a sensor system for automatically determining the relative position between two objects.
  • This conventional sensor system consists of one
  • 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 transit time measurement.
  • Radar, lidar or ultrasonic sensors are proposed as possible sensors.
  • the angle-dependent sensor consists of a geometric 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.
  • To determine a relative position to the object the distance to the object and the angle to the object is determined using the angle-resolving sensor.
  • the relative position to the object is known on the basis of the distance and the angle to the object.
  • the use of two sensors is proposed, which, according to the
  • Triangulation principle determine the angle to the object.
  • a method and a device for object detection with at least two distance-resolving sensors attached to a motor vehicle are known, the detection areas of which overlap at least partially.
  • Means are available to determine relative positions of possible detected objects with respect to the sensors in the overlap area according to the triangulation principle; possible illusory objects, which arise from the object determination, can by dynamic
  • Object observations can be determined.
  • an object detector can be a radar sensor, which in a first operating mode has a relatively large detection range with a relatively small angle detection range and in a second
  • Operating mode has a relatively short detection range with an enlarged angle detection range.
  • the object of the present invention is to further develop a method and a system of the type mentioned at the outset in such a way that the objects to be detected are spatially dimensioned, in particular with regard to their lateral extent , can be classified.
  • the effect that multiple reflection centers can be detected in real measurement objects and consequently it is not ensured that each sensor detects the same reflection center is used in that a classification of the objects with regard to their objects is used in sensor systems with at least three distance-resolving sensors spatial dimensioning, in particular with regard to their lateral extent, is carried out.
  • short-term measurement failures are preferably intercepted by a tracking algorithm, so that not every sensor unit necessarily has to deliver a distance value.
  • three support points are sufficient, and here too, brief measurement interruptions are preferably intercepted by a tracking algorithm.
  • the concept of the present invention is also based on the assumption and experience that the radar beams are mainly reflected in the direction of the surface normal, whereby existing 24 gigahertz sensors can advantageously be used according to the invention.
  • both the method and the system can be extended, for example, to spatially extended objects arranged obliquely relative to the sensor system. Orientations of spatially extended objects relative to the sensor system and thus, in principle, trajectories of potential collision objects can thus be determined, which is relevant, among other things, for estimating the impact angle in pre-crash applications.
  • the present invention further relates to a device for adaptively regulating the distance and / or the driving speed of a means of transportation in relation to at least one object, operating according to a method of the type set out above and / or having at least one system of the type set out above.
  • Such a device for adaptive control of the distance and / or Vehicle speed can regulate a previously set distance and / or a previously set vehicle speed to at least one reference point, in particular to at least one reference object, such as to a vehicle in front or to objects and / or objects located in the direction of travel, without intervention by the driver of the means of transportation , This is done with due consideration of the environment of the means of transportation and, if necessary, other parameters, such as weather and visibility conditions.
  • Such a device is also referred to as an adaptive cruise control system (ACC system).
  • ACC system adaptive cruise control system
  • the ACC system has to be flexible enough to react appropriately to all driving situations. This, in turn, is ensured by means of the object detection sensor system according to the present invention, which delivers the measurement data required for the control according to the method in every driving situation.
  • the present invention relates to the use of a method of the type set out above and / or at least one system of the type set out above and / or at least one
  • a sensor system determines whether there is a possible collision with the detected object, for example with another
  • parking assistance systems equipped with at least three short-range distance sensors, which preferably have ultrasonic sensors), blind spot detection or a
  • Stop & Go system as an extension to an existing device for automatically regulating the driving speed, such as an ACC system.
  • FIGS. 1A to 5 Further refinements, features and advantages of the present invention are explained in more detail below with reference to the exemplary embodiments illustrated by FIGS. 1A to 5.
  • 1A is a model schematic view of a first traffic situation in which an object to be detected is located in the
  • the width of the travel tube is limited by dashed lines
  • FIG. 1B shows a pattern assigned to the first traffic situation from FIG. 1A in the distance lists of three sensor units;
  • 2A is a model schematic view of a second
  • FIG. 2B shows a pattern assigned to the second traffic situation from FIG. 2A in the distance lists of three sensor units, the minimum distances in the cluster being marked by two arrows;
  • FIG. 2C the model coefficients assigned to the second traffic situation from FIG. 2A for three different object positions (position in each case in the center of gravity of the segments) corresponding to three different symmetrical arrangements of two point-shaped objects, the sensor zero point being at (0; 0);
  • 3A is a model schematic view of a third
  • 3B shows a pattern assigned to the third traffic situation from FIG. 3A in the distance lists of three sensor units
  • FIG. 3C assigned to the third traffic situation from FIG. 3A Model coefficients for three different object positions (position in each case in the center of gravity of the segments) in the case of an object that is extended in a plane perpendicular to the x-axis, the sensor zero point being at (0; 0);
  • FIG. 4 shows a schematic illustration of a first exemplary embodiment of the method according to the present invention in the form of a flowchart
  • Fig. 5 is a schematic representation of a second
  • Embodiment of the method according to the present invention in the form of a flow chart.
  • FIGS. 1A to 5 Identical or similar configurations, elements or features are provided with identical reference numerals in FIGS. 1A to 5.
  • the three sensor units 10, 12, 14 are each arranged at a distance e from one another. Furthermore, typical distance distributions are shown in FIGS. 1A, 2A and 3A
  • Models for evaluating patterns in the distance lists 20, 22, 24 of the three sensor units 10, 12, 14 for typical arrangements of the punctiform objects 210 (see FIGS. 1A and 1B) or 220, 222 (see FIGS. 2A and 2B) and of the extended object 230 (see FIGS. 3A and 3B) are formed in front of the sensor system 10, 12, 14.
  • Model coefficients can be decided in particular by correlation whether it is
  • the distance lists 20 or 22 or 24 of the three sensor units 10 or 12 or 14 are read in in a first method step [a.1].
  • the first distance list 20 relates to the first
  • Method step [d.1] are filtered for falling below defined lower threshold values and for exceeding defined upper threshold values.
  • an extensive object 230 is distinguished by correlating the coefficients a, b, c with the model coefficients obtained from model data.
  • the calculation of the position and the relative speed of the respective objects 210 (cf. FIGS. 1A, 1 B and 1C), 220, 222 (cf. FIGS. 2A, 2B and 2C) and 230 (cf. 3A, 3B and 3C) from the filtered coefficients a, b, c and from their time derivatives.
  • the classification takes place only on the basis of the model assumptions for punctiform objects.
  • Method step [g.2] a recalculation of the model parabola coefficients for ideally punctiform objects at these positions. From the deviations of the tracked parabola coefficients a, b, c from the recalculated model parabola coefficients, a measure can be generated in a second eighth method step [h.2] in the second exemplary embodiment of the present method according to FIG describes and thus allows conclusions to be drawn about the extent of the object.
  • the first six method steps [a.2], [b.2], [c.2], [d.2], [e. 2], [f.2] the first six process steps [a.1], [b.1], [c.1], [d.1], [e.1], [f.1] in the flowchart of correspond to the first exemplary embodiment according to FIG. 4, wherein in the fifth method step [e.2] according to FIG. 5 naturally only between - a punctiform individual object 210 and - Symmetrically arranged point objects 220, 222 can be distinguished.
  • the dimension figure formed in accordance with the second exemplary embodiment in FIG. 5 must be suitably filtered.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention vise à mettre au point un procédé et un système (100) permettant de détecter au moins un objet (210 ; 220 ; 222, ; 230), notamment d'en détecter les paramètres spécifiques, tels que par exemple la position relative dudit objet (210 ; 220 ; 22 ; 230), de sorte que les objets à détecter (210 ; 220 ; 222 ; 230) puissent être classifiés, en termes de dimensionnement spatial et en particulier en termes d'extension latérale. A cet effet, il est prévu de détecter l'extension spatiale et notamment l'extension latérale de l'objet (210 ; 220 ; 222 ; 230) à l'aide d'au moins trois unités de détection (10 ; 12 ; 14) à résolution de distance, disposées notamment sur un moyen de déplacement.
EP02804559A 2001-12-07 2002-10-22 Procede d'identification d'obstacles pour une automobile, avec au moins trois detecteurs de distance pour detecter l'extension laterale d'un objet Ceased EP1456689A1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE10160299 2001-12-07
DE10160299A DE10160299A1 (de) 2001-12-07 2001-12-07 Verfahren und System zum Detektieren mindestens eines Objekts
PCT/DE2002/003973 WO2003050562A1 (fr) 2001-12-07 2002-10-22 Procede d'identification d'obstacles pour une automobile, avec au moins trois detecteurs de distance pour detecter l'extension laterale d'un objet

Publications (1)

Publication Number Publication Date
EP1456689A1 true EP1456689A1 (fr) 2004-09-15

Family

ID=7708478

Family Applications (1)

Application Number Title Priority Date Filing Date
EP02804559A Ceased EP1456689A1 (fr) 2001-12-07 2002-10-22 Procede d'identification d'obstacles pour une automobile, avec au moins trois detecteurs de distance pour detecter l'extension laterale d'un objet

Country Status (5)

Country Link
US (1) US6947841B2 (fr)
EP (1) EP1456689A1 (fr)
JP (1) JP4404633B2 (fr)
DE (1) DE10160299A1 (fr)
WO (1) WO2003050562A1 (fr)

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DE102004026638B4 (de) * 2004-04-08 2007-03-29 Daimlerchrysler Ag Verfahren zum Steuern von Insassenrückhaltemitteln in einem Fahrzeug
US20070255498A1 (en) * 2006-04-28 2007-11-01 Caterpillar Inc. Systems and methods for determining threshold warning distances for collision avoidance
US7830243B2 (en) * 2007-02-02 2010-11-09 Chrysler Group Llc Dual mode vehicle blind spot system
US20080218381A1 (en) * 2007-03-05 2008-09-11 Buckley Stephen J Occupant exit alert system
DE102007054821A1 (de) 2007-11-16 2009-05-20 Robert Bosch Gmbh Verfahren zur Schätzung der Breite von Radarobjekten
DE102007058242A1 (de) * 2007-12-04 2009-06-10 Robert Bosch Gmbh Verfahren zur Messung von Querbewegungen in einem Fahrerassistenzsystem
US20100152972A1 (en) * 2008-12-15 2010-06-17 Joe Charles Attard Parallel park assist
DE102010052304A1 (de) * 2010-11-23 2012-05-24 Valeo Schalter Und Sensoren Gmbh Verfahren und Vorrichtung zum Unterstützen eines Fahrers eines Kraftfahrzeugs beim Ausparken aus einer Parklücke und Kraftfahrzeug
JP6930171B2 (ja) * 2017-03-29 2021-09-01 株式会社アイシン 駐車補助装置、及び、駐車支援システム
US11774583B2 (en) 2021-02-26 2023-10-03 Waymo Llc Methods and systems for filtering vehicle self-reflections in radar

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Also Published As

Publication number Publication date
JP4404633B2 (ja) 2010-01-27
US20040117115A1 (en) 2004-06-17
DE10160299A1 (de) 2003-06-18
US6947841B2 (en) 2005-09-20
JP2005512095A (ja) 2005-04-28
WO2003050562A1 (fr) 2003-06-19

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