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
  • 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
• • 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
  • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
  • G01S15/06—Systems determining the position data of a target
  • G01S15/42—Simultaneous measurement of distance and other co-ordinates
• • 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
  • G01S15/87—Combinations of sonar 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
  • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
  • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
  • G01S7/523—Details of pulse systems
  • G01S7/526—Receivers
  • G01S7/527—Extracting wanted echo signals
  • G01S7/5273—Extracting wanted echo signals using digital techniques
• • 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
  • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
  • G01S7/539—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
• • 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
  • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
  • G01S15/06—Systems determining the position data of a target
  • G01S15/08—Systems for measuring distance only
  • G01S15/10—Systems for measuring distance only using transmission of interrupted, pulse-modulated waves
• • 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
  • G01S2015/935—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 the contour, e.g. a trajectory of measurement points, representing the boundary of the parking space

Definitions

• the present invention relates to a method for detecting at least one object in an environmental region of a motor vehicle in which the motor vehicle is moved relative to at least one object and during movement of the motor vehicle relative to the at least one object at a plurality of temporally successive points in time Measuring cycle is performed, with each
• Measurement cycle is transmitted by means of an ultrasonic sensor of the motor vehicle, an ultrasonic signal and a feature is determined which describes a position value, a position of the at least one object and which is determined based on a first received echo of the ultrasound signal, and a presence of a second echo of the ultrasound signal, which within a predetermined amount of time after the first echo is received describes.
• the invention also relates to a
• driver assistance systems which assist the driver in maneuvering the motor vehicle and in particular when parking the motor vehicle in a parking space.
• Driver assistance systems are already known from the prior art, which can detect parking spaces or free parking spaces with the aid of ultrasonic sensors and the driver during the parking process
• the motor vehicle is usually moved past objects that may be formed by parked vehicles.
• a measuring cycle is performed at predetermined times.
• an ultrasonic signal is transmitted with an ultrasonic sensor.
• This ultrasonic signal is reflected by the object and can be received again by the ultrasonic sensor.
• EP 1 643 271 B1 describes a method for classifying
• a signal is transmitted with a distance sensor of the motor vehicle and an echo signal is evaluated and classified.
• Echo signal is carried out in relation to the pulse length and the amplitude of the
• a height of the page boundary can be determined because a high side boundary, such as a wall, usually has a higher pulse width and a higher amplitude than a low one
• Depth limitation of a parking space by means of an ultrasonic sensor known.
• a statement is made whether an object limits the depth of a parking space. If
• the parking space is bounded by a wall, it may be the case that all echo signals are reflected on the wall, which is why the
• This object is achieved by a method by a
• An inventive method is used to detect at least one object in an environmental region of a motor vehicle.
• the motor vehicle is moved relative to at least one object, and during the movement of the motor vehicle relative to the at least one object, in each case one measurement cycle is carried out at a plurality of temporally successive points in time.
• an ultrasonic signal is emitted by means of an ultrasonic sensor of the motor vehicle.
• a characteristic is determined for each measuring cycle.
• the feature includes one
• Position value which describes a position of the at least one object. This position value is determined on the basis of a first received echo of the ultrasound signal. Furthermore, the feature describes the presence of a second echo of an ultrasound signal received within a predetermined time period after the first echo. The respective characteristics are determined by their
• Position value is assigned to a cluster and the characteristics of the cluster are in Dependent on the presence of the second echo as the at least one object associated signals.
• the present invention is based on the finding that the at least one object in the surrounding area of the motor vehicle can be detected more reliably if the features determined during the respective measuring cycles are clustered.
• the clustering of the characteristics of the individual measuring cycles takes place in
• the features associated with the cluster each include the information as to whether a second echo has been received in the particular measurement cycle of the feature. In particular, it is considered whether the second echo was received within a predetermined time period after the first echo.
• the features or a predetermined number of the features may be assigned to the at least one object. In this way it can be reliably determined at which measuring cycles the object was detected. In this way, this can be at least one object
• an area is determined that comprises a predetermined number of features of the cluster, and the predetermined area is signaled as belonging to the object if a sum of the number of present second ones of the features in the predetermined area exceeds a predetermined threshold.
• a window is determined that overlays the features in the cluster.
• a predetermined number of features located in the area or in the window are examined. It can then be determined how many of the features in the area have a second echo. If the number of second echoes of the features in the predetermined range exceeds a threshold value that is, for example, 50%, the predetermined range is signaled as belonging to the object.
• the object can then be classified as an object having a predetermined height.
• the range is determined in such a way that the predetermined number of features are assigned to chronologically successive measuring cycles. In the predetermined range, features are therefore examined for the presence of the second echo, which were determined at chronologically successive measuring cycles and which were assigned to the cluster on the basis of their position values.
• the predetermined area is shifted along the features in the cluster, and it is checked for each position of the predetermined area whether the features of the predetermined area belong to the at least one object.
• the window or area is pushed over the cluster.
• the region can be shifted in such a way that it is displaced in each case by one feature along a predetermined direction along the features in the cluster. After each shift of the area is checked whether the area can be assigned to the at least one object. Thus, it can be easily checked which features in the cluster describe the at least one object and which not.
• the features are preferably entered into a map as a function of their respective position value, and the features are assigned to the cluster on the basis of their position in the map.
• the map may have two orthogonal ones
• These spatial directions can one
• the features that are spatially arranged in a predetermined area can be assigned.
• the features can be interpreted geometrically in a simple manner and thus a decision can be made as to whether the respective features belong to at least one object or not.
• predetermined line are assigned to the cluster.
• This aspect is based on the knowledge that the objects in the surrounding area of the motor vehicle, which for example delimit a parking space, usually have a rectangular shape exhibit.
• objects may include, for example, parked motor vehicles,
• the at least one object can be reliably detected in the surrounding area of the motor vehicle.
• a first group of the features of the cluster is signaled as belonging to a first object depending on the presence of the second echo, and a second group of the features of the cluster different from the first group become one depending on the presence of the second echo second object associated signals.
• the features in the cluster can be split and assigned to different objects.
• features may be associated with a first group that has a second echo.
• Features in which there is no second echo or second echo following the first echo at a predetermined time interval may be assigned to a second group.
• the first group can be assigned to a first object such as a parked motor vehicle and the second group to a curb. In this way, several objects in the surrounding area of the motor vehicle can be reliably detected.
• Preference is given to the first and / or the second object predetermined
• Minimum dimensions specified If the characteristics of the cluster are divided into different groups and thus assigned to different objects, a minimum length can be specified for the respective objects, for example. , When the characteristics are grouped into the groups, it is therefore possible to take into account a length of the objects which are assigned to the respective groups. In this case, the assignment of the features to a group can be omitted, if this group would belong to an object that falls below the minimum length. In this case, the cluster can not be divided. This proves particularly advantageous if parking spaces or free parking spaces are to be detected in the surrounding area of the motor vehicle, which have a predetermined minimum length.
• a position of the motor vehicle during movement of the vehicle is preferred
• Motor vehicle relative to the at least one object continuously determined and the position value of the respective measurement cycle is determined such that it additionally describes the determined position of the motor vehicle when performing the measurement cycle.
• the position of the motor vehicle when moving the motor vehicle on the at least one Object can be determined, for example, using a satellite-based location system.
• the position of the motor vehicle when moving on the at least one object can be determined by means of odometry.
• Position value which is assigned to the respective feature, can also be deposited information that describes the current position of the motor vehicle.
• the respective position value can describe a relative position of the motor vehicle with respect to the at least one object. It can also be provided that the position of the motor vehicle during movement is determined and the measuring cycles are performed at predetermined position values. This position information of the motor vehicle can also be taken into account in the map, in which the individual features are registered and grouped into the cluster.
• the total number of echoes from a predetermined number of measurement cycles to the number of second echoes from the predetermined number of measurement cycles can be related.
• Speed of the motor vehicle during the passage past the at least one object can change. For example, the speed of the motor vehicle
• Ultrasonic signal are received.
• the speed of the motor vehicle is reduced, the total number of echoes increases but the ratio remains the same.
• the speed of the motor vehicle is affected by the determination of the
• Motor vehicle is determined relative to the at least one object continuously and the features the at least one object as a function of the determined
• a height of the at least one object is determined on the basis of the respective second echo of the features. If the second object is present or occurs within a predetermined time duration after the first echo, can It can be assumed that the at least one object in the surrounding area of the motor vehicle has a predetermined height. If the second object is present or follows the first echo within a short time duration, the at least one object may be, for example, a parked vehicle. In the other case, for example, there may be no object in the surrounding area, or there is a relatively low object in that area
• the at least one object can be classified in the surrounding area of the motor vehicle.
• a driving trajectory for moving the motor vehicle is determined in a realistic manner relative to the at least one object.
• the relative position of the at least one object to the motor vehicle can be determined.
• a driving trajectory can be determined, based on which the motor vehicle can be moved past the object. For this purpose, the outer dimensions of the motor vehicle can be taken into account.
• the motor vehicle is determined along the
• the driver can be supported particularly reliable, for example, during a parking operation.
• An inventive driver assistance system is adapted to a
• the driver assistance system may comprise, for example, a control device which is used to carry out the
• inventive method is designed.
• a motor vehicle according to the invention comprises an inventive
• the motor vehicle is designed in particular as a passenger car.
• Embodiment of the present invention the motor vehicle when parking in a parking space bounded by objects in the surrounding area of the motor vehicle;
• FIG. 1 shows a motor vehicle 1 according to an embodiment of the present invention
• the motor vehicle 1 is in the present embodiment as
• the motor vehicle 1 comprises a
• the driver assistance system 2 in turn comprises a
• Control device 3 which may be formed for example by an electronic control unit (ECU) of the motor vehicle 1. Furthermore, this includes
• the sensor device 9 comprises eight
• Ultrasonic sensors 4 In this case, four ultrasonic sensors 4 in a front region 5 of the motor vehicle 1 and four ultrasonic sensors 4 in a rear region 6 of the
• the ultrasonic sensors 4 are designed to detect an object 9, 10 in a surrounding area 7 of the motor vehicle 1 and to determine a distance to the object 9, 10.
• the respective ultrasonic sensors 4 can emit an ultrasonic signal.
• This ultrasound signal can be reflected by an object in the surrounding area 7 of the motor vehicle 1.
• This reflected signal or echo of the ultrasound signal can be detected again by the ultrasound sensor 4. Based on the duration of the ultrasound signal, ie the time difference between the emission of the ultrasound signal and the reception of the echo, a distance between the motor vehicle 1 and the object 9, 10 can be determined.
• the motor vehicle 1 comprises a drive device 8. Die
• Drive device 8 can be used to control a drive train of the motor vehicle 1.
• a drive motor and / or a brake system of the motor vehicle 1 can be controlled.
• a steering of the motor vehicle 1 can be controlled with the drive device 8.
• the control device 3 is connected to the ultrasonic sensors 4 for data transmission. Corresponding data lines are not shown here for the sake of clarity.
• the control device 3 is connected to the drive device 8 for data transmission.
• the driver assistance system 2 can also determine the current position of the motor vehicle 1. For this, the signals of a satellite-based
• Positioning system are taken into account. Furthermore, the current position of the motor vehicle 1 can be determined by means of odometry. For this purpose, for example, the number of wheel revolutions of at least one wheel of the motor vehicle 1 and / or a steering angle of the motor vehicle 1 can be determined. Based on the current position of the motor vehicle 1 and the distance between the
• control device 3 is designed to calculate a driving trajectory 12 of the motor vehicle 1, which is a collision-free movement of the
• Motor vehicle 1 to the object 9, 10 in the surrounding area 7 of the motor vehicle first describes over.
• the outer dimensions of the motor vehicle 1 can be taken into account, for example, in a storage device of
• Control device 3 are deposited.
• the motor vehicle 1 can be moved semi-autonomously along the travel trajectory. In this case, the steering is taken over by the driver assistance system 2.
• the driver continues to press the accelerator pedal and the brake.
• the motor vehicle 1 can also be moved autonomously along the trajectory 12. This controls this
• Fig. 2 shows the motor vehicle 1 when parking in a parking space.
• the motor vehicle 1 is moved past the parking space.
• the direction of travel of the motor vehicle 1 is illustrated by the arrow 1 1.
• the parking space is presently limited by two objects 9.
• the objects 9 are presently formed by parked vehicles.
• the motor vehicle 1 must therefore cross the curb to get along the trajectory 12 in the parking space.
• the challenge is that the driver assistance system 2 has to distinguish in the present case whether it is a high object 9, for example a parked vehicle, or a low object 10, for example the curb.
• the ultrasonic sensors 4 emit an ultrasonic signal.
• the echoes of the ultrasonic signal are received by the ultrasonic sensors 4.
• a feature 14 is determined.
• the feature 14 comprises a position value which is determined on the basis of the first echo of the ultrasound signal. The position value thus describes a relative position between the motor vehicle 1 and the respective object 9, 10.
• the current position of the motor vehicle 1 can be detected while passing the objects 9, 10 and taken into account in the position value .
• the feature 14 describes for each measurement cycle whether a second echo is present or follows the first echo of the ultrasound signal at a predetermined time interval. If the second echo follows the first echo within a predetermined time interval, it can be assumed that the object 9, 10 represents a high object, for example a parked vehicle.
• the individual features 14 are based on their position value in a map
• features 14 of several measurement cycles are combined. This is the case, for example, when the distance from the motor vehicle 1 to the object 9, 10 is determined by means of triangulation. It is then checked whether the features 14 in the map can be grouped into a cluster. For this purpose, it can be checked whether the features 14 are arranged on the basis of their geometric arrangement in the map along a predetermined geometric element. In particular, it can be examined whether the features 14 in the map are arranged along a line. This is based on the knowledge that the objects 9, 10 in the surrounding area 7 of the motor vehicle 1 usually have a substantially rectangular shape. Thus, the outer surface of the object 9, 10 adjacent to the motor vehicle 1, which is detected by the ultrasonic sensors 4, usually describes a line or straight line. By means of a regression line, an edge of the object 9, 10 can be determined in its position.
• the features 14 may include further information.
• an orientation of the motor vehicle 1 or of the ultrasound sensor 4 can be stored during the detection of the object 9, 10. Furthermore, it can be taken into account with which
• Probability the object 9, 10 has been detected.
• the height of the object 9, 10 can be determined based on the second echo.
• a value can be determined which describes a spatial uncertainty.
• the features 14 that can be assigned to a straight line are still being examined. In particular, it is examined whether the features 14 can be assigned to one of the objects 9, 10. This is illustrated in FIG. In the upper portion of FIG. 3, the individual features 14 associated with cluster 13 are shown. The number of received echoes for each of the features 14 or measuring cycles is described in the first line 15. In the second line 16, the number of second echoes is described. It can be seen that at the end of lines 15 and 16, the number of received echoes and the number of second echoes increase. The reason for this is that the motor vehicle 1 has reduced its speed.
• FIG. 3 a diagram is shown in which the position L is plotted on the abscissa.
• a measuring cycle can be carried out every 40 cm, ie a feature 14 can be detected.
• the threshold value S is plotted.
• a region or a window is predetermined, which / a predetermined number of features 14 of the cluster 13 includes. Within the area or the window, it is checked whether the proportion of second echoes in the area exceeds the predetermined threshold value S. In the example shown here, the threshold S is 50%.
• the area or the window is pushed over the individual features 14 of the cluster 13.
• the line 17 describes the result in the case where the area has a length of 2m.
• line 18 shows the result for an area having a width of 60 cm. If the lines 17, 18 or the value 1 assume, it can be assumed that a high object 9 is located in the surrounding area 7 of the motor vehicle 1. On the other hand, if the lines 17, 18 have the value 0, it can be assumed that no object or a low object 10 is located in the surrounding area 7 of the motor vehicle 1. In the present example, which corresponds to the situation according to FIG. 2, the present example, which corresponds to the situation according to FIG. 2, the
• Regions 19 and 21 are assigned to a high object, while the region 20 is assigned to a low object.
• the cluster 13 can thus be divided into three areas 19, 20, 21, wherein each of the areas 19, 20, 21 is assigned to an object 9, 10.
• the local resolution when detecting the objects 9, 10 can be determined. This is shown by way of example in FIG. 4.
• individual narrow objects the
• the cluster 13 can be divided into the areas 22, 23, 24, 25, 26, etc.
• the regions 22, 24 and 26 can be assigned to high objects 9, 10.
• Fig. 5 Furthermore, it may be the case that second echoes are also received by the ultrasonic sensors 4 at a low object, for example a curb. This can be seen in the area indicated by the arrow 32.
• the course of the line 18 in the area indicated by the arrow 32 falsely indicates several areas that would be associated with objects 9, 10. In this case, for example, a curb in several objects 9, 10 are divided. To prevent this, a predetermined minimum dimension for the objects 9, 10 can be specified. Based on this
• Minimum dimension or the minimum length can be decided whether the cluster 13 is divided into individual areas or not. In the event that second echoes are not received, it can be decided that the complete area 27 is assigned to an object, since the area (marked here by the arrow 33) falls below the minimum dimension.
• the area indicated here by the arrow 34 is to be assigned to a single object 9, 10.
• both the regions 28 and the region 29 of the cluster 13 are assigned to an object 9, 10.
• a region 30 of the cluster 13 is assigned to an object 9, 10.

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• Engineering & Computer Science (AREA)
• Radar, Positioning & Navigation (AREA)
• Remote Sensing (AREA)
• Physics & Mathematics (AREA)
• Computer Networks & Wireless Communication (AREA)
• General Physics & Mathematics (AREA)
• Acoustics & Sound (AREA)
• Traffic Control Systems (AREA)
• Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

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• 2014
  • 2014-08-05 DE DE102014111124.9A patent/DE102014111124A1/de active Pending
• 2015
  • 2015-08-04 CN CN201580053992.7A patent/CN107110970B/zh active Active
  • 2015-08-04 EP EP15747790.2A patent/EP3177942A1/de not_active Ceased
  • 2015-08-04 US US15/501,706 patent/US10324182B2/en active Active
  • 2015-08-04 WO PCT/EP2015/067871 patent/WO2016020343A1/de active Application Filing
  • 2015-08-04 JP JP2017506405A patent/JP6608425B2/ja active Active
  • 2015-08-04 KR KR1020177005923A patent/KR101954547B1/ko active IP Right Grant

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