EP1606653A1 - Method and device for detecting an object in a motor vehicle environment - Google Patents
Method and device for detecting an object in a motor vehicle environmentInfo
- Publication number
- EP1606653A1 EP1606653A1 EP04706618A EP04706618A EP1606653A1 EP 1606653 A1 EP1606653 A1 EP 1606653A1 EP 04706618 A EP04706618 A EP 04706618A EP 04706618 A EP04706618 A EP 04706618A EP 1606653 A1 EP1606653 A1 EP 1606653A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- angles
- reflection signals
- motor vehicle
- angle
- 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.)
- Withdrawn
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
- G01S7/4802—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
Definitions
- the invention relates to a method and a device for detecting an object in the surroundings of a motor vehicle with a detection means scanning the surroundings in predetermined angular steps.
- a device for recognizing objects while driving a motor vehicle with a scanning detection means, in particular a laser, is known, objects moving relative to the vehicle being classified with regard to object size, reflectance, speed and acceleration.
- An associative identification of the object for example as a passenger car, as a truck, as a motorcycle, as a bicycle or as a pedestrian, is carried out from a sub-combination of these evaluation variables.
- DE 195 03 960 AI describes an object detection device for vehicles with a laser for emitting light and a light receiving device for receiving the light reflected from an object (laser scanner).
- the pulsed laser scans an environment with a predetermined number of steps, for example with a number of 100 steps, the distance and the speed of the object being determined in computing devices.
- An obstacle identification device identifies the detected object on the basis of a distribution pattern of the received light intensity.
- a disadvantage of the known radar devices is considered by the applicant that the resolution of the laser scanners used in the operating mode is in many cases not sufficient to be able to determine the extent of an object to be detected with certainty.
- the invention is based on the object of specifying an improved method for detecting an object in the surroundings of a motor vehicle with a detection means which scans the surroundings in predetermined angular steps.
- a device for performing the method is to be specified.
- the first-mentioned object is achieved by a method for detecting an object in the vicinity of a motor vehicle with the features of patent claim 1.
- the angle steps in the angular range between the adjacent angles ⁇ i-1 and ⁇ i + 1 are dependent on the signal propagation times ti-1, ti and ti + 1 of the reflection signals sensed at the angles ⁇ i-1, ⁇ i and ⁇ i + 1.
- a detection means which scans the surroundings in predetermined angular steps ⁇ i + l- ⁇ i is used to detect the object in the surroundings of a motor vehicle. With many assistance and safety functions in the vehicle, it is essential to know the exact dimensions of the objects in the area.
- the method ensures a very precise determination of the dimensions of an object, for example a road user, where by assigning them to classes such as pedestrians, two-wheelers, passenger cars and trucks, for example. Each of these classes is characterized by a specific acceleration behavior and movement patterns in road traffic.
- the method enables a targeted and safe reaction to a current traffic situation.
- the predefined threshold value for the absolute transit time difference is selected such that distinctive object features (for example lamps or a grille in a vehicle) lead to measurable transit time differences between adjacent reflection signals which are below the predefined threshold value for the absolute transit time difference.
- Absolute transit time differences between the signal transit times ti and ti-1 or ti and ti + 1 of neighboring reflection signals above the predetermined threshold value are a clear indication of conspicuous geometric changes, which can be assigned in particular object limitations (for example the front right corner of the vehicle).
- object boundaries can be determined much more precisely. The method, namely the insertion of additional angles ⁇ iz to be sensed, is continued until a reliable detection of the size and a classification of the object is ensured.
- the scanning in the sense of “scanning” is carried out essentially horizontally, vertically and / or at a predetermined angle of inclination.
- a vertical or at a predetermined angle of inclination for example, the presence and the position of an edge or curb can be recognized. This can prevent a collision with the curb or be carried out in a tire-friendly manner.
- the position and orientation of the curb can also be used to select a desired vehicle position in a parking space.
- knowledge of the location of a curb can be used to find vacant parking spaces are used, which are not given or limited by two vehicles, but are in front of, behind or next to a single vehicle and are otherwise limited by curbs.
- the second object is achieved by a device for detecting an object in the vicinity of a motor vehicle with the features of patent claim 9.
- the angles ⁇ i to be scanned are individually adjustable with the device.
- This provides an inexpensive sensor system for detecting an object in the vicinity of a motor vehicle with one or a very limited number of measuring beams, which is compact and can be positioned in many places in the vehicle due to a small installation depth.
- An object 1 shown in a detail in the figure is in the vicinity of a motor vehicle (not further illustrated) with a detection means for scanning the object in predetermined angular steps for detecting the object 1.
- the number of angular steps depends on the required resolution accuracy.
- the object 1 has a corner 4 and a balancing 5 in a surface profile 2.
- corner 4 could, for example, be a front lateral boundary and balancing 5 could be a headlight.
- Object 1 can be mobile road users or fixedly positioned devices for road traffic. For example, pedestrians, two-wheelers, passenger cars and trucks can be considered as mobile road users.
- street signs and road markings, for example curbs should be mentioned as permanently positioned devices.
- the scanning is essentially horizontal, i.e. parallel to a road surface.
- the emitted beam of the sensor belonging to the reflection signal 6 to 13 is shown in the figure as the reflection signal 6 to 13.
- the reflection signals 6 to 13, which are detected by the scanning detection means at the angles ⁇ 6, ⁇ 7 to ⁇ l3, are shown as parallel rays.
- the reflection signals 7, 8, 9, 11 are reflected by a flat surface 14 of the surface profile 2 of the object 1 facing the vehicle.
- the flat surface 14 of the object 1 takes up most of the view of the object 1 facing the motor vehicle and detectable by the laser of the motor vehicle.
- the angular steps in the angular range between adjacent angles ⁇ 6 to ⁇ ll are dependent on the signal propagation times t6 to tll of the sensed reflection signals 6 to 11 refined. If the absolute transit time difference between the signal transit times t6 to tll of two respectively adjacent reflection signals 6 to 11 exceeds a predetermined threshold value, at least one additional angle ⁇ l2 to be sensed is inserted in the angular range between these respectively adjacent reflection signals 6 to 11.
- a threshold value of the path difference for the reflection signals 6 to 13 corresponds to the predetermined threshold value of the absolute transit time difference, since the reflection signals 6 to 13 each propagate at the speed of light.
- the path difference is entered in the figure as a path difference window 15 relative to the reflection signals 7, 8, 9 and 11.
- the path difference window 15 which is the same size for all reflection signals 6 to 13, was not entered in the figure for the reflection signals 6, 10, 12 and 13.
- the threshold value of the absolute transit time difference and, accordingly, the path difference window 15 is chosen to be so large that if there is a deviation in the path difference between two adjacent reflection signals 6 to 13 that is larger than the path difference window 15, it can be assumed that not both reflection signals belong to object 1 , The procedure is described in detail below.
- the reflection signals 7 to 11 are reflected by the object 1 and detected by the scanning detection means of the motor vehicle, during which the reflection signal 6 does not hit the object 1 and passes it laterally.
- the dimensions of the object 1, in the case of a horizontal scanning, the width, of the object 1 are not recorded precisely enough to be able to classify the object 1 uniquely.
- a specific driving behavior of the motor vehicle in response to the presence of the object 1 cannot generally be estimated or derived from the results of the first scan.
- the signal propagation times t6 to tll of the reflection signals 6 to 11 are evaluated for a second scanning run of the object 1.
- the absolute transit time difference of their signal transit times t6 to tll is calculated and compared with the predetermined threshold value for the absolute transit time difference.
- the absolute transit time difference of immediately adjacent reflection signals 6 to 11 can be larger or smaller than the predetermined threshold value for the absolute transit time difference.
- the path difference between two immediately adjacent reflection signals 6 to 11 it lies within the corresponding path difference window 15 for an absolute transit time difference smaller than the predetermined threshold value.
- the adjacent reflection signals 6 and 7 have an absolute transit time difference which is greater than the predetermined threshold value for the absolute transit time difference.
- At least one further reflection signal 12 (for differentiation as a dashed arrow) is used in the angular range between the angles ⁇ 6 and ⁇ 7 at which the reflection signals 6 and 7 are received shown) generated at an angle ⁇ l2.
- the angular range between the angles ⁇ 6 and ⁇ 7 is thereby scanned during the second scanning run with a greater resolution than during the first scanning run, in order to determine the limitation of the object 1 more precisely.
- several angles to be sensed can also be inserted into the angular range for the second scanning run.
- the additional angle ⁇ l2 to be sensed can be determined in an interval nesting method, for example by halving the angular range between the angles ⁇ 6 and ⁇ 7, or in an iteration method with a suitable weighting.
- the reflection signal 12 is also reflected by the object 1 and defines the delimitation of the object 1 much better than the reflection signal 7.
- the method is continued. For each pair of immediately adjacent reflection signals 6 to 12, the absolute transit time difference of their signal transit times t6 to tl2 is in turn calculated and with the predetermined threshold value for the absolute transit time difference compared. The reflection signals 6 and 12 have an absolute transit time difference which is greater than the predetermined threshold value for the absolute transit time difference.
- a reflection signal 13 (shown as a dotted arrow for distinction) is generated at an angle ⁇ l3 in the angular range between the reflection signals 6 and 12. The reflection signal 13 is not reflected by the object 1.
- the method for detecting the object 1 in the vicinity of the motor vehicle can be continued until a reliable detection of the object 1 is ensured by a sufficiently precise determination of the dimensions.
- the scanning is carried out horizontally. However, it can also take place vertically or at a predetermined angle of inclination.
- a vertical scan in addition to the height of the object 1, the presence and the height of curbs can be detected as a road boundary. Curbs have two sharp edges (one edge at street level and one at sidewalk level) and one curb wall perpendicular to the street surface. As a result, curbs, both in their position and in their height, can be detected very well using the method according to the invention.
Abstract
Description
Claims
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10312611 | 2003-03-21 | ||
DE10312611A DE10312611A1 (en) | 2003-03-21 | 2003-03-21 | Method and device for detecting an object in the environment of a motor vehicle |
PCT/EP2004/000844 WO2004083892A1 (en) | 2003-03-21 | 2004-01-30 | Method and device for detecting an object in a motor vehicle environment |
Publications (1)
Publication Number | Publication Date |
---|---|
EP1606653A1 true EP1606653A1 (en) | 2005-12-21 |
Family
ID=32921053
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP04706618A Withdrawn EP1606653A1 (en) | 2003-03-21 | 2004-01-30 | Method and device for detecting an object in a motor vehicle environment |
Country Status (5)
Country | Link |
---|---|
US (1) | US7432490B2 (en) |
EP (1) | EP1606653A1 (en) |
JP (1) | JP2006520890A (en) |
DE (1) | DE10312611A1 (en) |
WO (1) | WO2004083892A1 (en) |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE10312611A1 (en) * | 2003-03-21 | 2004-09-30 | Daimlerchrysler Ag | Method and device for detecting an object in the environment of a motor vehicle |
JP2008076228A (en) * | 2006-09-21 | 2008-04-03 | Denso Corp | Vehicle periphery monitoring device |
JP2010057067A (en) | 2008-08-29 | 2010-03-11 | Sony Corp | Image pickup apparatus and image processing apparatus |
DE102008044073A1 (en) * | 2008-11-26 | 2010-05-27 | Robert Bosch Gmbh | Control device for parking assistance |
DE102010001922A1 (en) * | 2010-02-15 | 2011-08-18 | Robert Bosch GmbH, 70469 | Method and device for parking a motor vehicle |
WO2019064062A1 (en) * | 2017-09-26 | 2019-04-04 | Innoviz Technologies Ltd. | Lidar systems and methods |
Family Cites Families (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH07225276A (en) | 1994-02-10 | 1995-08-22 | Mitsubishi Electric Corp | Optical radar apparatus for vehicle |
US5988862A (en) * | 1996-04-24 | 1999-11-23 | Cyra Technologies, Inc. | Integrated system for quickly and accurately imaging and modeling three dimensional objects |
US6804380B1 (en) | 2000-05-18 | 2004-10-12 | Leica Geosystems Hds, Inc. | System and method for acquiring tie-point location information on a structure |
DE10116277A1 (en) | 2001-03-31 | 2002-10-02 | Volkswagen Ag | Identification and classification of objects within the path of a vehicle so that a driver can be warned and or a logic unit can take automatic control of a vehicle to minimize death, injuries and damage according to a logic unit |
WO2002103385A1 (en) | 2001-06-15 | 2002-12-27 | Ibeo Automobile Sensor Gmbh | Method for preparing image information |
ITTO20030197A1 (en) * | 2003-03-14 | 2004-09-15 | Fiat Ricerche | ELECTRO-OPTICAL DEVICE ACTIVE FOR THE DETECTION OF |
DE10312611A1 (en) * | 2003-03-21 | 2004-09-30 | Daimlerchrysler Ag | Method and device for detecting an object in the environment of a motor vehicle |
-
2003
- 2003-03-21 DE DE10312611A patent/DE10312611A1/en not_active Withdrawn
-
2004
- 2004-01-30 WO PCT/EP2004/000844 patent/WO2004083892A1/en not_active Application Discontinuation
- 2004-01-30 EP EP04706618A patent/EP1606653A1/en not_active Withdrawn
- 2004-01-30 JP JP2006504404A patent/JP2006520890A/en not_active Withdrawn
- 2004-01-30 US US10/550,057 patent/US7432490B2/en not_active Expired - Fee Related
Non-Patent Citations (1)
Title |
---|
See references of WO2004083892A1 * |
Also Published As
Publication number | Publication date |
---|---|
DE10312611A1 (en) | 2004-09-30 |
US7432490B2 (en) | 2008-10-07 |
WO2004083892A1 (en) | 2004-09-30 |
JP2006520890A (en) | 2006-09-14 |
US20070252075A1 (en) | 2007-11-01 |
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Legal Events
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PUAI | Public reference made under article 153(3) epc to a published international application that has entered the european phase |
Free format text: ORIGINAL CODE: 0009012 |
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17P | Request for examination filed |
Effective date: 20050913 |
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AK | Designated contracting states |
Kind code of ref document: A1 Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IT LI LU MC NL PT RO SE SI SK TR |
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AX | Request for extension of the european patent |
Extension state: AL LT LV MK |
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DAX | Request for extension of the european patent (deleted) | ||
RBV | Designated contracting states (corrected) |
Designated state(s): DE FR GB IT |
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RAP1 | Party data changed (applicant data changed or rights of an application transferred) |
Owner name: DAIMLERCHRYSLER AG |
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RAP1 | Party data changed (applicant data changed or rights of an application transferred) |
Owner name: DAIMLER AG |
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STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: THE APPLICATION IS DEEMED TO BE WITHDRAWN |
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18D | Application deemed to be withdrawn |
Effective date: 20070801 |