EP3374791A1 - Détection latérale de rail de sécurité par un capteur de distance dans le véhicule - Google Patents

Détection latérale de rail de sécurité par un capteur de distance dans le véhicule

Info

Publication number
EP3374791A1
EP3374791A1 EP16784521.3A EP16784521A EP3374791A1 EP 3374791 A1 EP3374791 A1 EP 3374791A1 EP 16784521 A EP16784521 A EP 16784521A EP 3374791 A1 EP3374791 A1 EP 3374791A1
Authority
EP
European Patent Office
Prior art keywords
motor vehicle
distance
sensor
control device
time
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Withdrawn
Application number
EP16784521.3A
Other languages
German (de)
English (en)
Inventor
Dheeraj SUDHAKAR
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.)
Valeo Schalter und Sensoren GmbH
Original Assignee
Valeo Schalter und Sensoren 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 Valeo Schalter und Sensoren GmbH filed Critical Valeo Schalter und Sensoren GmbH
Publication of EP3374791A1 publication Critical patent/EP3374791A1/fr
Withdrawn legal-status Critical Current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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • G01S7/415—Identification of targets based on measurements of movement associated with the target
    • 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
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
    • G06F16/29—Geographical information databases
    • 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
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • 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
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G01S13/862—Combination of radar systems with 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
    • 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
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G01S13/865—Combination of radar systems with lidar 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
    • G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction
    • 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
    • G01S2013/9323—Alternative operation using light 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
    • 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
    • G01S2013/9324—Alternative operation using ultrasonic 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
    • 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
    • G01S2013/93274—Sensor installation details on the side 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
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours

Definitions

  • the present invention relates to a method for detecting an environmental region of a motor vehicle, wherein, while the motor vehicle is being moved relative to an object in the surrounding area, by means of a control device of one
  • the present invention a control device for a motor vehicle. Furthermore, the present invention relates to a driver assistance system with a distance sensor and such a control device. Finally, the present invention relates to a motor vehicle with such a driver assistance system.
  • the driver assistance system usually includes a plurality of distance sensors, which may be arranged distributed to the motor vehicle, for example.
  • Distance sensors can emit, for example, a transmission signal, which then from an object or an obstacle in the surrounding area of the
  • Such distance sensors may be, for example, ultrasonic sensors, laser scanners, lidar sensors or radar sensors. Furthermore, it is known from the prior art to use cameras to detect objects in the surrounding area of the motor vehicle.
  • the interest is directed in the present case in particular to radar sensors for motor vehicles.
  • These radar sensors are operated, for example, at a frequency of about 24 GHz or about 79 GHz.
  • the radar sensors generally serve to detect an object in an environmental region of the motor vehicle.
  • the radar sensors may be part of different driver assistance systems that assist the driver in driving the motor vehicle.
  • Radar sensors on the one hand measure the distance between the object and the motor vehicle.
  • the radar sensors also measure the relative speed to the object.
  • the radar sensors also measure one so-called target angle, ie an angle between an imaginary connecting line to the object and a reference line, such as the vehicle longitudinal axis.
  • Radar sensors are usually placed behind the bumper, for example in the respective corners of the bumper.
  • the radar sensor For detecting the target object, the radar sensor emits a transmission signal in the form of an electromagnetic wave. This transmission signal is then reflected at the object to be detected and is again received by the radar sensor as an echo.
  • the interest is in particular the so-called frequency modulation continuous wave radar sensors, which are also referred to as Frequency Modulated Continuous Wave Radar or as FMCW radar.
  • the transmission signal usually comprises a sequence of frequency-modulated
  • Chipsignals which are sent out in turn.
  • the reflected transmission signal is first mixed down into the baseband and then scanned by means of an analog-to-digital converter. Thus, a series of samples may be provided. These samples of the
  • Receive signal are then by means of an electronic computing device
  • This computing device which includes, for example, a digital signal processor, is integrated in particular in the radar sensor.
  • a relatively wide azimuthal angular range is detected, which may be for example 150 °.
  • Radar sensor thus has a relatively large azimuthal detection angle, so that the field of view or the detection range of the radar sensor in the azimuth direction
  • This azimuthal detection area can be subdivided into smaller partial areas, which are irradiated in sequence by means of the radar sensor.
  • the main lobe of the transmitting antenna is pivoted electronically in the azimuth direction, for example according to the phase array principle.
  • DE 10 2004 046 873 A1 describes a radar sensor and an associated method for distance and speed control of a motor vehicle.
  • a temporal change of a reflection point of the radar radiation is determined on the object and a classification of the detected object as a function of the time change of the reflection point determined.
  • This object classification is advantageously also used again for more accurate object position prediction.
  • the change in the reflection point over a predetermined period of time is detected. This makes it possible to close by object migrations that are temporally variable, the size of the object can.
  • DE 10 2012 224 499 A1 describes a method for recognizing a space of a sidereal strip using an ultrasonic wave sensor, a radar and an imaging device. With the method, in particular fixed objects, such as crash barriers, and moving objects under
  • Using a Doppler effect of the radar can be identified. For example, it can be checked if a distance between a fixed object and the
  • Vehicle is constant for a preset time or longer.
  • the fixed object can then be determined as a guardrail.
  • An inventive method is used to detect an environmental area of a motor vehicle.
  • the motor vehicle is being moved relative to an object in the surrounding area, by means of a control device of FIG.
  • Distance sensor each receive sensor data at predetermined times and classifies the object by means of the control device based on the received sensor data as a static or as a moving object. Furthermore, by means of
  • Control means for each of the predetermined time points determines a distance value, which is a distance between the distance sensor and at least one
  • a profile of the distance values as a function of time is compared with a predetermined reference profile.
  • At least one distance sensor is used to detect the objects. It can also be provided that a plurality of distance sensors are used, which are arranged distributed, for example, on the motor vehicle.
  • the distance sensors can, for example, a corresponding Send sensor signal, which of the at least one object in the
  • the distance sensor may be, for example, an ultrasonic sensor, a laser scanner, a lidar sensor or the like.
  • the distance sensor is a radar sensor which emits electromagnetic radiation as the transmission signal.
  • the distance sensor is connected to the control device for data transmission.
  • the control device can by a
  • a digital signal processor, a microprocessor or the like may be formed.
  • the control device is formed by an electronic control unit of the motor vehicle. From the distance sensor, the sensor data describing the object in the surrounding area is transmitted to the control device. The control device can then evaluate the sensor data and classify the object accordingly. In particular, the object can be classified as a static, ie, non-moving, object or as a moving object.
  • the distance sensor continuously or at predetermined times provides the sensor data and the control device determines a distance value for each of the predetermined times on the basis of the sensor data.
  • the predetermined times may be associated with respective measurement cycles of the distance sensor.
  • the control device thus determines, for each of the predetermined times, a distance value which in each case describes the distance between the distance sensor and a predetermined reflection point on the object.
  • a predetermined reflection point on the object in
  • the reflection point in particular describes a predetermined point or area on an outer side of the object on which the transmission signal of the distance sensor is reflected.
  • a plurality of reflection points can be detected. These reflection points describe an outer surface of the object facing the distance sensor.
  • Motor vehicle is arranged, which moves relative to the object to be determined.
  • the individual distance values determined for the predetermined times are now plotted as a function of time.
  • a time profile of the distance values as a function of time is determined and compared with a predetermined reference profile, which is stored, for example, in a memory of the control device.
  • the object Based on the comparison of the time course of the distance values with the Reference History, the object can be classified as static or as a dynamic object. Thus, a classification of the object can be done with little computational effort.
  • the object is classified as a static object, if the course of the
  • the predetermined reflection point of the object is arranged in front of the motor vehicle, in particular in the direction of travel of the motor vehicle. In this case, when the object is static, ie, does not move, and the motor vehicle is moved relative to the object, the distance between the distance sensor and the predetermined one decreases
  • the distance between the distance sensor and the reflection point increases again. This is reflected in the time course of the distance values as a function of time. Here are usually first a falling course, then a minimum and then a rising course to recognize. Thus, based on the comparison of the course of the distance values as a function of time with the reference course, a static object in the surrounding area of the motor vehicle can be detected in a simple manner.
  • the object is classified as a static object to which the motor vehicle is moved substantially in parallel.
  • the course of the distance values as a function of time is initially decreasing and then increasing when the object to which the motor vehicle is relatively moved is static.
  • the course of the distance values as a function of time results in a parabolic shape.
  • the object is classified as a guard rail if the course of the distance values as a function of time is parabolic.
  • the guardrail is arranged substantially parallel to a direction of travel of the motor vehicle.
  • the predetermined reflection point on the guardrail can be tracked as a function of time.
  • results for the distance values as a function of time a parabolic curve.
  • the reflection properties of the guardrail can be taken into account.
  • Radar sensor is formed, the sensor data, which then describe the electromagnetic radiation reflected from the guardrail, signal amplitudes other than an object that is not made of a metallic material. For example, it can be distinguished by the evaluation of the sensor data, whether the object, a guardrail, which is made of metal, or a wall, which is made for example of concrete or wood, is. Thus, it can be reliably determined that the object detected by the radar sensor is a guardrail.
  • odometry data can be taken into account in addition to the sensor data for classifying the object.
  • the data from sensors can be taken into account, which describe the current speed of the motor vehicle and / or a number of revolutions of at least one wheel of the motor vehicle.
  • the current speed of the motor vehicle and / or a number of revolutions of at least one wheel of the motor vehicle.
  • Steering angle of the motor vehicle are determined based on the data of a steering angle sensor.
  • the course of the distance values as a function of time depends on the current vehicle speed and / or the current direction of travel of the vehicle
  • Vehicle speed and / or the current direction of travel the course of the distance values as a function of time can be verified and thus the object can be classified more reliable.
  • a distance between the motor vehicle and the object is determined on the basis of a minimum of the distance values.
  • the course of the distance values as a function of time has a minimum when the
  • a digital environment map describing the surrounding area is updated on the basis of the classification of the object.
  • a digital environment map describing the surrounding area can be provided with the control device.
  • the objects can be registered, which are detected with the at least one distance sensor.
  • the digital environment map is constantly updated. For example, objects that are no longer in the environment of the
  • Motor vehicle are arranged to be deleted from the digital environment map. If the object is reliably detected as a static object, it can reliably be determined that the motor vehicle has been moved past this static object and thus can not threaten a collision with the object. Thus, a
  • a control device for a motor vehicle is designed to carry out a method according to the invention.
  • the control device can
  • Control device a corresponding program can be brought to expiration in order to perform the inventive method and its developments.
  • a driver assistance system comprises a distance sensor, in particular a radar sensor, and the control device according to the invention. It can also be provided that the driver assistance system comprises a plurality of distance sensors or radar sensors distributed to the
  • the driver assistance system can be designed, for example, for blind spot monitoring, collision warning or the like.
  • the driver assistance system can also be designed as a lane change assistant.
  • the driver assistance system is preferably designed to output control signals for at least semi-autonomous maneuvering of the motor vehicle.
  • the object With the control device, the object can be located and classified in the surrounding area of the motor vehicle. Thus, for example, it can be determined whether a collision with the object threatens. If a collision threatens the object, the control device
  • a motor vehicle according to the invention comprises an inventive
  • the motor vehicle is designed in particular as a passenger car.
  • FIG. 1 is a schematic representation of a motor vehicle according to a
  • Embodiment of the present invention which comprises a driver assistance system with a plurality of radar sensors; the motor vehicle being moved relative to an object; 3 shows the motor vehicle and the object at three different points in time, wherein in each case a distance value is determined which describes the distance between the radar sensor and a reflection point of the object; and
  • Fig. 1 shows a motor vehicle 1 according to an embodiment of the present invention in a plan view.
  • the motor vehicle 1 is formed in the present embodiment as a passenger car.
  • the motor vehicle 1 comprises a
  • Driver assistance system 2 which may be designed, for example, as Abstandsregeltempomat, blind spot assistant, lane departure warning and / or lane change assistant.
  • the driver assistance system 2 comprises at least one distance sensor 3, with which at least one object 8 (see FIG. 2) can be detected in a surrounding area 4 of the motor vehicle 1.
  • Driver assistance system 2 four distance sensors 3, which are each designed as radar sensors. With the radar sensors, a transmission signal in the form of
  • the reflected electromagnetic radiation returns as echo signal back to the respective distance sensor 3 or radar sensor.
  • a distance between the distance sensor 3 and the object 8 can be determined.
  • two radar sensors are arranged in a front region 5 and two radar sensors are arranged in a rear region 6 of the motor vehicle 1.
  • the distance sensors 3 and the radar sensors can be arranged, for example, concealed behind a bumper of the motor vehicle 1.
  • an azimuthal angular range ⁇ can be detected in the horizontal direction, which can lie in a range between 150 ° and 180 °. This azimuthal angular range ⁇ is shown by way of example for the rear right distance sensor 3.
  • the radar sensors can detect objects 8 up to a distance of 80 to 100 m.
  • the driver assistance system 2 comprises a control device 7, for example, by a computer, a digital signal processor, a Microprocessor or the like may be formed.
  • the control device 7 can be formed in particular by an electronic control unit of the motor vehicle 1.
  • the control device 7 is connected to the distance sensors 3 for data transmission. Corresponding data lines are not shown here for the sake of clarity.
  • the sensor data which are detected with the distance sensors 3 and describe the surrounding area 4, can be transmitted from the distance sensors 3 to the control device 7.
  • the control device 7 can then evaluate the sensor data accordingly.
  • the control device 7 can receive data from sensors which describe the current speed and / or the current steering angle of the motor vehicle 1.
  • FIG. 2 shows the motor vehicle 1 according to FIG. 1 which is moved relative to an object 8 which is located in the surrounding area 4.
  • the object 8 is a stationary object, in particular a guardrail.
  • the motor vehicle 1 is moved substantially parallel to the object 8 or the guardrail.
  • the arrow 9 describes the current direction of travel and / or the current speed of the motor vehicle 1.
  • the object 8 and the guardrail can be detected.
  • predetermined reflection points R1, R2, R3, R4 can be detected on the object 8 or tracked as a function of time.
  • the reflection points R1, R2, R3, R4 can be recognized, for example, in the evaluation of the sensor signals as individual points which are arranged along a line.
  • Reflection points R1, R2, R3, R4 can be provided for example by means of the control device 7, a so-called tracking function, by means of which the
  • Reflection points R1, R2, R3, R4 can be tracked or tracked as a function of time.
  • control device 7 can also be a digital
  • FIG. 3 shows the detection of the object 8 with one of the distance sensors at three different times T1, T2 and T3.
  • the times T1, T2 and T3 can be assigned to respective measuring cycles, for which objects 8 in the surrounding area 4 are detected by the distance sensor 3.
  • the first reflection point on the object or the guardrail is detected at the three predetermined times T1, T2 and T3.
  • the Motor vehicle 1 along the arrow 9 substantially parallel to the object. 8
  • the distance sensor 3 which is arranged at the bottom right on the motor vehicle 1, thus moves toward the first reflection point R1. Based on the sensor data provided with the distance sensor 3, the controller 7 may determine a first distance value a1 describing the distance between the distance sensor 3 and the reflection point R1 at the time T1.
  • the detection of the object 8 is shown at a time T2 following the time T1.
  • the reflection point R1 is on a perpendicular to the longitudinal axis of the motor vehicle 1, which passes through the distance sensor 3.
  • the distance sensor 3 and the reflection point R1 have the smallest distance from each other. This is through the
  • FIG. 3 shows the detection of the object 8 at a time T3 which follows the time T2 in time.
  • the motor vehicle 1 was further moved along the direction of the arrow 9.
  • the reflection point R1 is already behind the distance sensor 3.
  • the distance value a3 which is determined with the control device 7 on the basis of the sensor data, describes the distance between the distance sensor 3 and the reflection point R1.
  • the distance values a1, a2 and a3 which were determined in the measuring cycles according to FIG. 3 are indicated in the present case. It can be seen here that the course 10 initially drops in a first area 11. In a second area 12, which is assigned to the second distance value a2, the course has a minimum. In a third region 13 results in an increasing course.
  • the course 10 of the distance values a is essentially parabolic as a function of the time t. This results from the fact that the distance sensor 3 is first moved to the reflection point R1, and then removed from it again.
  • This course 10 is typical for stationary objects 8, in particular guardrails, to which the motor vehicle 1 im
  • This profile 10 can be compared with the control device 7 with a predetermined reference profile, which is stored for example in a memory unit of the control device 7.
  • the object 8 can be classified as a static object, in particular as a guardrail, in a simple manner.

Landscapes

  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • Theoretical Computer Science (AREA)
  • Databases & Information Systems (AREA)
  • Data Mining & Analysis (AREA)
  • General Engineering & Computer Science (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Traffic Control Systems (AREA)
  • Health & Medical Sciences (AREA)
  • Business, Economics & Management (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Game Theory and Decision Science (AREA)
  • Medical Informatics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Automation & Control Theory (AREA)

Abstract

L'invention concerne un procédé permettant de détecter un espace environnant (4) d'un véhicule automobile (1), selon lequel, durant alors que le véhicule automobile (1) se déplace par rapport à un objet (8) dans l'espace environnement (4), des données de capteurs sont reçues, au moyen d'un dispositif de commande (7), par un capteur de distance (3) à des instants prédéfinis (T1, T2, T3) et, à l'aide des données de capteur reçues, l'objet (8) est classé au moyen du dispositif de commande (7) en tant qu'objet statique ou en tant qu'objet mobile (8). Au moyen du dispositif de commande (7), une valeur de distance (a1, a2, a3) est déterminée pour chacun des instants prédéfinis (T1, T2, T3) à l'aide des données de capteur, laquelle valeur décrit une distance entre le capteur de distance (3) et au moins un point de réflexion (R1, R2, R3, R4) prédéfini de l'objet (8) et une courbe (10) des valeurs de distance (a1, a2, a3) en fonction du temps (t) est comparée à une courbe de référence prédéfinie pour réaliser la classification de l'objet (8).
EP16784521.3A 2015-11-13 2016-10-21 Détection latérale de rail de sécurité par un capteur de distance dans le véhicule Withdrawn EP3374791A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015119658.1A DE102015119658A1 (de) 2015-11-13 2015-11-13 Verfahren zum Erfassen eines Umgebungsbereichs eines Kraftfahrzeugs mit Objektklassifizierung, Steuereinrichtung, Fahrerassistenzsystem sowie Kraftfahrzeug
PCT/EP2016/075344 WO2017080787A1 (fr) 2015-11-13 2016-10-21 Détection latérale de rail de sécurité par un capteur de distance dans le véhicule

Publications (1)

Publication Number Publication Date
EP3374791A1 true EP3374791A1 (fr) 2018-09-19

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EP16784521.3A Withdrawn EP3374791A1 (fr) 2015-11-13 2016-10-21 Détection latérale de rail de sécurité par un capteur de distance dans le véhicule

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Country Link
US (1) US11435442B2 (fr)
EP (1) EP3374791A1 (fr)
JP (1) JP6668472B2 (fr)
KR (1) KR102172071B1 (fr)
DE (1) DE102015119658A1 (fr)
WO (1) WO2017080787A1 (fr)

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DE102016202112A1 (de) * 2016-02-12 2017-08-17 Robert Bosch Gmbh Radarsensor für Fahrerassistenzsysteme in Kraftfahrzeugen
ITUA20163205A1 (it) * 2016-05-06 2017-11-06 Cnh Ind Italia Spa Metodo e sistema per la mappatura di un luogo di lavoro.
DE102017214022A1 (de) * 2017-08-11 2019-02-14 Audi Ag Verfahren zur Ermittlung von die Eigenbewegung eines Kraftfahrzeugs beschreibenden Egodaten und Kraftfahrzeug
DE102021121406A1 (de) * 2021-08-18 2023-02-23 Bayerische Motoren Werke Aktiengesellschaft Verfahren und Lokalisierungseinrichtung zur Lokalisierung eines Kraftfahrzeugs und Kraftfahrzeug

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JP3656301B2 (ja) 1995-12-28 2005-06-08 株式会社デンソー 車両用障害物警報装置
DE10243508A1 (de) 2002-09-19 2004-04-01 Robert Bosch Gmbh Verfahren und Anordnung zum vorbeugenden Schutz von Fahrzeuginsassen bei gefährlichen Situationen
JP4298577B2 (ja) * 2004-05-06 2009-07-22 三菱電機株式会社 車両用警報装置
DE102004046873A1 (de) 2004-09-28 2006-04-13 Robert Bosch Gmbh Radarsensor und Verfahren zur Abstands- und Geschwindigkeitsregelung
DE102005059902A1 (de) * 2005-12-15 2007-06-28 Robert Bosch Gmbh Verfahren zur Sensorzustandserfassung sowie Abstandsmessvorrichtung und Einparkassistenzsystem
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JP4386083B2 (ja) 2007-02-27 2009-12-16 トヨタ自動車株式会社 駐車支援装置
DE102008043394A1 (de) 2008-11-03 2010-05-06 Robert Bosch Gmbh Verfahren zur Detektion von Peaküberlagerungen in einem diskreten Spektrum eines Ortungssignals
JP5618744B2 (ja) * 2010-05-26 2014-11-05 三菱電機株式会社 道路形状推定装置及びコンピュータプログラム及び道路形状推定方法
JP5538655B2 (ja) * 2011-03-25 2014-07-02 三菱電機株式会社 車載レーダ装置
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JP6182987B2 (ja) * 2012-07-06 2017-08-23 株式会社Ｓｏｋｅｎ 並走車検出装置
KR101927155B1 (ko) 2012-10-19 2018-12-10 현대자동차 주식회사 도로 갓길의 공간 인지 방법 및 시스템
JP5494845B1 (ja) * 2013-01-17 2014-05-21 株式会社デンソーアイティーラボラトリ 情報提供システム
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JP6552167B2 (ja) * 2014-07-16 2019-07-31 株式会社デンソー 車載レーダ装置および報知システム

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Publication number Publication date
US20180321377A1 (en) 2018-11-08
JP2019500683A (ja) 2019-01-10
US11435442B2 (en) 2022-09-06
WO2017080787A1 (fr) 2017-05-18
KR20180069019A (ko) 2018-06-22
KR102172071B1 (ko) 2020-10-30
JP6668472B2 (ja) 2020-03-18
DE102015119658A1 (de) 2017-05-18

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