EP2771873A1 - Modèle d'environnement à base de grille pour un véhicule - Google Patents

Modèle d'environnement à base de grille pour un véhicule

Info

Publication number
EP2771873A1
EP2771873A1 EP12787353.7A EP12787353A EP2771873A1 EP 2771873 A1 EP2771873 A1 EP 2771873A1 EP 12787353 A EP12787353 A EP 12787353A EP 2771873 A1 EP2771873 A1 EP 2771873A1
Authority
EP
European Patent Office
Prior art keywords
grid
vehicle
evaluation
data
control unit
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
EP12787353.7A
Other languages
German (de)
English (en)
Other versions
EP2771873B1 (fr
Inventor
Ralph GREWE
Stefan Hegemann
Andree Hohm
Stefan LÜKE
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.)
Conti Temic Microelectronic GmbH
Continental Teves AG and Co OHG
Original Assignee
Conti Temic Microelectronic GmbH
Continental Teves AG and Co OHG
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 Conti Temic Microelectronic GmbH, Continental Teves AG and Co OHG filed Critical Conti Temic Microelectronic GmbH
Publication of EP2771873A1 publication Critical patent/EP2771873A1/fr
Application granted granted Critical
Publication of EP2771873B1 publication Critical patent/EP2771873B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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
    • G08G1/163—Decentralised systems, e.g. inter-vehicle communication involving continuous checking
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems

Definitions

  • the invention is in the technical field of environmental detection with sensors in a vehicle.
  • the sensor data is prepared in a suitable manner to a
  • Prior art is e.g. a grid-based environment model.
  • the environment of a vehicle is subdivided into cells, and for each cell a feature or several characteristics for the environment description is stored.
  • object-based methods for environment modeling which provide the position data of detected objects, belong to the state of the art.
  • Grid-based methods are that the whole environment of the vehicle is described.
  • the information from sensor data for free and object-occupied and unknown areas is made available instead of only for areas occupied with objects (object-based methods) in the environment model.
  • the explicit modeling of free areas is becoming more important. Since many newer assistance functions, such as an evasion assistant, information about a space that is usable as a maneuver room for the vehicle need.
  • Grid-based methods for the environment description usually require a larger amount of data than object-based methods and thus requires an application in the vehicle larger storage resources and transmission bandwidths.
  • a method for a sensor system for environment detection for a motor vehicle wherein a grid-based environmental model is calculated.
  • a grid-based environment model is based on dividing the environment of a vehicle into cells and storing for each cell a characteristic descriptive of the environment. Storing sensor raw data or storing a classification for each cell as a probability value, eg storing the probability that a cell is occupied or not occupied, requires a high storage capacity, which also requires a bus system with high bandwidth in a transmission from or to a control unit.
  • each grid cell is assigned at least one discrete value (class).
  • the discrete value or the class is a measure of whether an object is at the position that is represented by the grid cell and whether this object is traversable or with what probability the object is traversable.
  • the discretization or classifica- tion of a class is carried out by the evaluation of
  • Environment data containing statements about detected environment objects, and at least one threshold value.
  • the number of thresholds can be defined as desired and influences the number of possible classes. With a threshold value a maximum of two discrete values or classes, with two threshold values a maximum of three discrete values or classes can be limited.
  • a lossless compression method is applied to the discrete values of a grid, in particular prior to transmission via a data transmission system in the vehicle. This includes grid values that were compressed before being transmitted.
  • Compression method applied to the discrete values of a grid, in particular before transmission via a data transmission system in the vehicle.
  • the discrete values of the grid which represent areas further from the vehicle, are more compressed.
  • the discrete values of the grid are compressed more strongly.
  • the rear side of a construction site wall, which is arranged facing away from the vehicle is compressed more strongly than the front side of the construction site wall, which is arranged facing the vehicle.
  • Assignment table is carried out, the assignment table in the memory of the evaluation is deposited.
  • the change of the content of a plurality of grid cells, the Verkdnungstabelle changed. Due to the changed ZuOrdnungsvorschrift a discrete value or a class changed one
  • Assign value range of the environment data the content of all cells can be changed at once, without recalculating the discrete values in each grid cell and to
  • the environment model is transmitted based on discrete values in the grid via a data transmission system in a vehicle to an evaluation or control unit.
  • the data transmission system is preferably a bus system in the vehicle, which connects at least two evaluation or control units.
  • an evaluation unit creates the grid-based environment model and a further evaluation or control unit uses the environment model to control a
  • the invention claimed here comprises a sensor system for object detection for a vehicle having a first computing and evaluation unit on which a method as described above is stored.
  • Data transmission system provided, via the data transmission system, the first is connected to the second evaluation or control unit in a vehicle.
  • the first evaluation or control unit for creating an environment model and the second evaluation or control unit for controlling a driver assistance system is provided.
  • a grid-based environment model is based on dividing the environment of a vehicle into cells and storing for each cell a characteristic descriptive of the environment. Saving sensor raw data or storing a classification for each cell as a probability, eg the probability that a cell is busy or unoccupied, requires a high storage capacity, which also requires a high bandwidth bus system when transferred to or from a controller. Direct application of a compression method to a calculated grid often does not result in high compression. tion factor, since the probabilities of neighboring cells often differ only minimally. By way of example, such a grid is shown on the left in FIG.
  • a use of the environment data, in particular in a vehicle for a driver assistance system usually requires a binary decision, is decided on the basis of a threshold for the probability of whether the cell is occupied and thus not overridden or free for a vehicle and thus overridden for a vehicle , Of importance, therefore, are discrete decision classes, e.g. with a numerical value or similar state the states occupied / free for a grid cell.
  • the creation of the environment model with the calculation of the binary values of the grid cells, or discrete values of the grid cells in the case of more than two decision classes is performed by a first evaluation or control unit and then to a second Ausirel. Transfer control unit.
  • the second evaluation and control unit serves to control driver assistance functions, e.g. the output of a brake, steering, light control or warning signal and the first evaluation and control unit is the evaluation unit of a sensor system for environment detection.
  • driver assistance functions e.g. the output of a brake, steering, light control or warning signal
  • the first evaluation and control unit is the evaluation unit of a sensor system for environment detection.
  • the values of the grid cells are updated at given time intervals. It consists of temporally successive values of the lattice cells in binary
  • a lossy method can be used. This can be used on the one hand for a further reduction of the data rate, but also in order to obtain a constant data rate after the compression, as is usually required for automotive applications. In doing so, areas further from the vehicle are compressed more, since the required accuracy of the environment modeling decreases with the distance to the vehicle (e.g., parking assistance to crossways on highways).
  • features facing the vehicle are particularly relevant, so that alternatively or additionally the features facing away from the vehicle can be compressed more strongly (for example, front / back of a construction site wall). For this purpose, in particular, a tree of four, in which further loss or the vehicle remote areas by limiting the depth of the tree, such lossy compression can be achieved.
  • the difference data for a recalculation can be transmitted in comparison to the previously valid ones.
  • An important point of the invention is thus the application of a threshold value formation before the application of compression methods, because only after the threshold value formation a high spatial and temporal correlation, which enables high compression factors, is present.
  • the assignment of the discrete value based on the environment data using an assignment table is carried out, wherein the
  • Mapping table in the memory of the evaluation unit hineaches is. In the allocation table all, so the thresholds are stored, which allows the assignment to a discrete value.
  • An assignment table is given here by way of example.
  • a problem-adapted discretization eg, logarithmic
  • a further advantage of displaying functions via tables is the easy verifiability of the input and output values, and special cases can also be handled by corresponding entries in the table.

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)
  • Compression, Expansion, Code Conversion, And Decoders (AREA)

Abstract

L'invention concerne un procédé pour un système de capteur destiné à la détection de l'environnement pour un véhicule automobile comprenant une unité d'évaluation, selon lequel un modèle d'environnement à base de grille est calculé et au moins une valeur discrète est associée à chaque cellule de grille. Une discrétisation est exécutée par comparaison des données de l'environnement avec au moins une valeur de seuil. De préférence, au moins une valeur discrète de la grille est transmise à une unité d'évaluation et de commande par l'intermédiaire d'un système de transmission de données dans un véhicule.
EP12787353.7A 2011-10-28 2012-09-20 Modèle d'environnement à base de grille pour un véhicule Active EP2771873B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102011117138 2011-10-28
PCT/DE2012/100292 WO2013060323A1 (fr) 2011-10-28 2012-09-20 Modèle d'environnement à base de grille pour un véhicule

Publications (2)

Publication Number Publication Date
EP2771873A1 true EP2771873A1 (fr) 2014-09-03
EP2771873B1 EP2771873B1 (fr) 2018-04-11

Family

ID=47189655

Family Applications (1)

Application Number Title Priority Date Filing Date
EP12787353.7A Active EP2771873B1 (fr) 2011-10-28 2012-09-20 Modèle d'environnement à base de grille pour un véhicule

Country Status (5)

Country Link
US (1) US20140278049A1 (fr)
EP (1) EP2771873B1 (fr)
DE (1) DE112012003549A5 (fr)
ES (1) ES2669551T3 (fr)
WO (1) WO2013060323A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
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WO2016150728A1 (fr) * 2015-03-24 2016-09-29 Bayerische Motoren Werke Aktiengesellschaft Procédé de fourniture de cartes des obstacles pour véhicules

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DE102013104257A1 (de) 2013-04-26 2014-10-30 Continental Teves Ag & Co. Ohg Gitterbasiertes Umfeldmodell für ein Fahrzeug
DE102013214632A1 (de) 2013-07-26 2015-01-29 Bayerische Motoren Werke Aktiengesellschaft Effizientes Bereitstellen von Belegungsinformationen für das Umfeld eines Fahrzeugs
DE102013214631A1 (de) 2013-07-26 2015-01-29 Bayerische Motoren Werke Aktiengesellschaft Effizientes Bereitstellen von Belegungsinformationen für das Umfeld eines Fahrzeugs
DE102013217488A1 (de) 2013-09-03 2015-03-05 Continental Teves Ag & Co. Ohg Belegungsgitter mit kompakten Gitterebenen
DE102013217491A1 (de) * 2013-09-03 2015-03-05 Continental Teves Ag & Co. Ohg übertragung von Daten eines gitterbasierten Umfeldmodells in einem Fahrzeug
DE102013018315A1 (de) 2013-10-31 2015-04-30 Bayerische Motoren Werke Aktiengesellschaft Umfeldmodell mit adaptivem Gitter
DE102014204430A1 (de) * 2014-03-11 2015-09-17 Conti Temic Microelectronic Gmbh Verfahren und Vorrichtung zur Ermittlung einer Genauigkeit eines zu bewertenden Belegungsgitters für ein Fahrerassistenzsystem
DE102014220687A1 (de) 2014-10-13 2016-04-14 Continental Automotive Gmbh Kommunikationsvorrichtung für ein Fahrzeug und Verfahren zum Kommunizieren
DE102015201747A1 (de) * 2015-02-02 2016-08-04 Continental Teves Ag & Co. Ohg Sensorsystem für ein fahrzeug und verfahren
DE102015201867A1 (de) * 2015-02-03 2016-08-04 Bayerische Motoren Werke Aktiengesellschaft Optimierte Speicherung einer Umfeldkarte im Speicher eines Fahrzeugs
DE102015207978B3 (de) * 2015-04-30 2016-06-23 Bayerische Motoren Werke Aktiengesellschaft Analyse der Belegung von grid-basierten Umfeldkarten eines Fahrzeugs
DE102016211227A1 (de) 2016-06-23 2017-12-28 Conti Temic Microelectronic Gmbh Verfahren und Fahrzeugsteuersystem zum Erzeugen von Abbildungen eines Umfeldmodells und entsprechendes Fahrzeug
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DE102016225066A1 (de) 2016-12-15 2018-06-21 Conti Temic Microelectronic Gmbh Rundumsichtsystem für ein Fahrzeug
EP3442125A1 (fr) * 2017-08-10 2019-02-13 Continental Automotive GmbH Ensemble de réseau de capteurs pour réduire la quantité de données pour véhicules
DE102018217268A1 (de) * 2018-10-10 2020-04-16 Zf Friedrichshafen Ag Vorrichtung und Verfahren zum Ermitteln von Höheninformationen eines Objekts in einer Umgebung eines Fahrzeugs
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WO2016150728A1 (fr) * 2015-03-24 2016-09-29 Bayerische Motoren Werke Aktiengesellschaft Procédé de fourniture de cartes des obstacles pour véhicules

Also Published As

Publication number Publication date
EP2771873B1 (fr) 2018-04-11
DE112012003549A5 (de) 2014-05-08
US20140278049A1 (en) 2014-09-18
WO2013060323A1 (fr) 2013-05-02
ES2669551T3 (es) 2018-05-28

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