Classifications

• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
  • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
  • G01S13/66—Radar-tracking systems; Analogous systems
  • G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
  • G01S13/723—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar by using numerical data
  • G01S13/726—Multiple target tracking
• • 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
  • G01S13/66—Radar-tracking systems; Analogous systems
  • G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
  • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
  • G01S13/88—Radar or analogous systems specially adapted for specific applications
  • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
  • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
  • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
  • G01S13/88—Radar or analogous systems specially adapted for specific applications
  • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
  • G01S13/933—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of aircraft or spacecraft
• • 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
  • G01S13/937—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of marine craft
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
  • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
  • G01S13/88—Radar or analogous systems specially adapted for specific applications
  • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
  • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
  • G01S2013/9322—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using additional data, e.g. driver condition, road state or weather data
• • G—PHYSICS
  • G08—SIGNALLING
  • G08G—TRAFFIC CONTROL SYSTEMS
  • G08G1/00—Traffic control systems for road vehicles
• • G—PHYSICS
  • G08—SIGNALLING
  • G08G—TRAFFIC CONTROL SYSTEMS
  • G08G1/00—Traffic control systems for road vehicles
  • G08G1/16—Anti-collision systems

Definitions

• the invention relates to a device and a method for determining an object kinematics of a moving object, in particular a movable vehicle.
• a radar tracking system builds a trace from measurement points of past sampling cycles
• Track of a moving object.
• Such traces be ⁇ write on the current path of an object, thus allowing the observation of its movement behavior, ie its current position, its speed and its BEWE ⁇ supply direction.
• Radar sensors can not directly measure the Cartesian velocity of an object in heading direction, but measure a relative radial Doppler velocity between the real physical object and the radar sensor.
• Most applications of radar tracking systems are primarily concerned with the Cartesian position, velocity, and sometimes acceleration of an object, which are estimated as states in a tracking filter. If the radar raw measurement data of a radar measurement device is used as the tracking filter measurement data, a highly correlated, non-linear conversion of these raw measurement data into estimated states with Cartesian variables can not be avoided. This in turn leads to complex linearizations and complex calculations by a necessary calculation or
• the complex calculations also increase the response time of the radar tracking system. It is therefore an object of the present invention to provide a device for determining an object kinematics of a moving object, in which the necessary Be ⁇ billing time compared to conventional systems is reduced.
• the invention accordingly provides a device for determining an object kinematics of a moving object with:
• a course calculation filter for calculating an estimated movement direction of the object based on a predicted position of the object and based on the position of the object indicated in radar measurement data of the object;
• a calculation unit for calculating Cartesian velocities of the radar raw measurements as a function of a measured radial velocity and a measured angle, which are indicated in the radar measurement data of the object, and depending on the estimated movement direction of the tracked object calculated by the course calculation filter.
• the latter has a linear tracking filter which iteratively determines a Cartesian position, velocity and / or acceleration of the object as a function of the Cartesian kinematics of the object previously calculated by the calculation unit and the kinematics specified in the radar measurement data of the object.
• this has a JPDA filter that filters in function of the calculated by the linear tracking filter itera ⁇ tive position and the iteratively calculated speed of the object sensorially detected radar measurement data for determining the radar measurement data of the respective object.
• the ter calculated from the linear Trackingfil- position, velocity and / or acceleration of the object are output to an evaluation unit of a driver assistance ⁇ tenzsystems.
• the course calculation filter is a Kalman filter.
• the course calculation filter is a low-pass filter.
• the invention provides a method for determining object kinematics of a moving object having the features specified in claim 7.
• the invention accordingly provides a method for determining object kinematics of a moving object with the steps:
• a Cartesian position, velocity and / or acceleration of the object are calculated iteratively in dependence on the predicted kinematics of the object and the Cartesian radar measurement kinematic which are determined by the motion direction estimate as well as the polar raw kinematic.
• the calculated position, speed and / or acceleration of the object are evaluated by an evaluation unit of a driver assistance system for providing driver assistance functions.
• the invention further provides, in another aspect, a radar tracking system having the features set forth in claim 11. Accordingly, the invention provides a radar tracking system with a device for determining an object kinematics of a mobile object, in particular in the vicinity of the radar tracking system, with:
• a course calculation filter for calculating an estimated movement direction of the object based on a predicted position of the object and based on the position of the object indicated in radar measurement data of the object
• the invention further provides, in another aspect, a driver assistance system for a vehicle having the features specified in claim 12.
• the invention provides a driver assistance system for a vehicle, wherein the driver assistance system has an evaluation unit, which calculated to a device for He ⁇ mediation of an object kinematics of a moving object according to the first aspect of the invention, position, velocity and / or acceleration of an object, in particular ⁇ special evaluates another vehicle in the vehicle environment of the vehicle, for providing driver assistance functions for the driver of the vehicle in real time.
• the movable object is another vehicle located in the vehicle surroundings of the vehicle or another road user, especially a passerby.
• the vehicle is a land vehicle or road ⁇ vehicle, especially cars or trucks.
• the vehicle is an aircraft, in particular ⁇ sondere an aircraft or helicopter.
• the vehicle is a maritime vehicle, in particular special an over-water vehicle or underwater vehicle.
• the invention provides, according to a further aspect, a traffic surveillance system having the features specified in claim 15.
• the invention provides a traffic monitoring system for monitoring an air traffic, a maritime or road transport of objects within a surveil ⁇ monitoring area with at least an opening provided in the monitoring area according to the first aspect of the invention for determining an object kinematics of the present in the surveillance area moving objects.
• Figure 2 is another block diagram depicting ⁇ development of a possible embodiment of the inventive apparatus for detecting an object kinematics of a mobile object; a simple flowchart for illustrating an embodiment of he ⁇ inventive method for determining object kinematics of a movable obj ects; a schematic representation of an on ⁇ application example of the device according to the invention and the inventive method for determining a craki nematics of a moving object;
• Figures 5A, 5B, 5C are schematic diagrams for explaining the operation of erfindungsge ⁇ MAESSEN apparatus of the invention shown and SEN method for determining an object kinematics of a moving object.
• a device 1 according to the invention ⁇ SSE to determine an object kinematics of a movable object in the illustrated embodiment substantially two units, namely a course calculation filter 2 and a calculation unit 3.
• the Kursbe ⁇ billing filter or heading filter 2 is provided for calculating an estimated direction of movement or an estimated course of a moving object.
• the price calculation ⁇ filter 2 calculates the estimated motion direction of the moveable object ⁇ be measured on the basis of a predicted ⁇ positi on of the tracked object and based on the specified in Radarmessda ⁇ th of the object actual or measured position of the object.
• the calculation unit 3 of the device 1 is provided for calculating Cartesian velocities of the radar raw measurements.
• the calculation unit 3 calculates the Cartesian velocities as a function of a measured radial speed of the object and a measured object angle of the object, which are angege ⁇ ben in the radar measurement data of the object, and as a function of the calculated by the Kursberech ⁇ voltage filter 2 estimated motion direction of the object.
• the course calculation filter 2 of the device 1 is a Kalman filter in a preferred embodiment.
• the Kalman filter evaluates a known current state of an object or target object, ie its position, movement ⁇ direction and speed and possibly acceleration, and predicts a new state of the target object at the time of the last made radar measurement. In making this prediction, the Kalman filter also updates an estimate of the resulting error, or one
• the Kalman filter preferably filters a weighted average of this state prediction and the most recent measurement of the particular state, using the known measurement error of Radarmessaku and the own uncertainty due to a target object movement model with ⁇ considered.
• the Kalman filter updates its estimate of uncertainty in state estimation.
• the calculation by the Kalman filter thus takes place essentially in two sub-steps.
• the Kalman filter first generates estimates of the current state variables along with their uncertainties or variance. As soon as the next measurement data is available, these estimates are updated using a weighted average value, with greater emphasis placed on estimates of higher certainty and lesser variance, respectively.
• the calculation is preferably performed recursively in real time, using the currently available measurement data and the previously calculated state and its uncertainty matrix.
• the illustrated in Fig. 1 price calculation ⁇ filter 2 of the device 1 may alternatively be implemented by a low-pass filter.
• the course calculation filter 2 calculates the estimated moving direction of the object. Since only the direction of movement of the object calculates or estimates ge ⁇ is, these calculations can be performed by the rate calculation filter 2 very quickly in real time.
• the calculation unit 3 carries out a calculation of the Cartesian velocities of the radar raw measurements as a function of the estimated movement direction of the object calculated by the course calculation filter 2 and of further measurement data which include the measured radial object velocity and the measured object angle of the object which are present in the current radar measurement data supplied by a Radarmessaku, are indicated.
• 2 shows in a block diagram a possible exporting ⁇ approximately example for a radar tracking system in which the inventive device 1 for determining an object kinematics of a moving object can be used.
• the device 1 comprises a course calculation filter 2 and a calculation unit 3.
• the calculation unit 3 calculates the Cartesian velocities of the raw measurements and delivers them via a line 4 to a linear tracking filter 5 of the radar tracking system.
• the Radartrackingsystem also has in the illustrated embodiment via a
• the linear tracking filter 5 calculates a Cartesian position, speed and acceleration of the object or target object iteratively depending on the calculated by the calculation unit 3 Cartesian speeds of raw measurements associated with JPDA and the object kinematics predicated in a predication unit 11.
• the Cartesian positions of the associated radar measurement data RMD of the relevant object are output by the JPDA filter 6 via the signal lines 7 to the linear tracking filter 5, as shown in FIG.
• the position of the object measured in the radar measurement data RMD is also output by the JPDA filter 6 via the line 8 to the course calculation filter 2 of the device 1, as likewise shown in FIG. Furthermore, the radar data RMD of the object contain the measured object ⁇ radial speed and the measured object angle of the object, which are supplied from the JPDA filter 6 via signal lines 9, the calculating unit 3 of the device. 1
• the JPDA filter 6 is input side with a Radarmessaku and contains all the radar data RMD from various objects in the environment of the radar tracking system. The JPDA filter 6 thus associates obtained radar measurement data RMD with associated movable already tracked objects in the environment.
• the JPDA filter 6 filters depending on the iteratively calculated by the Redizi fürsaku 11 predicted position and the iteratively calculated predicted velocity of the object sensorially detected radar ⁇ measurement data RMD, it receives from the radar measurement unit, or for the detection of radar measurement data of the respective object Target object.
• the upgedate- th of the linear tracking filter 5 kinematics that is, position, velocity and / or acceleration of the object can be output to a downstream evaluation unit of a driver assistance system ⁇ the.
• the calculated object kinematics which include the position, velocity and / or acceleration of the moving object, are in a recursive
• the prediction filter 11 predicts the ⁇ delivered to the linear tracking filter 5 values, the rate calculation filter or HEA 12 is ding filter 2 via a line, the predicted position of the object.
• the JPDA filter 6 receives from the prediction ⁇ tion filter 11, the predicted position and the predicted speed of the object via a line 13. Furthermore receives the linear tracking filter 5 via a line 14, the predicted position, the predicted speed
• the cluster measurements can be assigned to relevant tracked target objects.
• the direction of movement or the course of the target object can be estimated.
• Ba ⁇ sierend on the calculated rate and the calculated movement direction of the Cartesian velocities are calculated by the calculating unit 3 on the basis of the measured radial velocity and object gemes ⁇ Senen object angle.
• the calculated Cartesian velocities are used together with the Cartesian position measurement data RMD of the relevant object as a normal Cartesian Messeingangsda ⁇ th for the linear tracking filter 5, the gear sizes calculated as from ⁇ the upgraded position, the upgraded speed and the upgraded acceleration of the object and the associated standard deviations , Computationally complex non-linear data transformations can thereby be avoided, so that the necessary computing time is reduced.
• the rate calculation filter or Headingfilters 2 it is possible to convert the Radarrohmessoire RMD, that particular area, angular and radial Dopplerge ⁇ speed in measurement data of a Cartesian coordinate system for the linear tracking filter. 5
• the updated data is returned in a recursive calculation loop. This allows a constant comparison with current position measurements and serves for an accurate estimation of a standard deviation of the instantaneous price of the object.
• Figure 3 shows a flow chart illustrating an embodiment of the inventive method for He ⁇ mediation of object kinematics of a moving object.
• an estimated movement direction of the object is calculated on the basis of a predicated position of the tracked object and on the basis of in sensor-recorded radar data RMD specified position of the object.
• a further step S2 are Cartesian VELOCITY ⁇ speeds of the raw measurements as a function of a measured radial speed of the object and a measured object ⁇ angle of the object, which are indicated in the radar measurement data RMD of the object, and calculated according to the calculated estimated motion direction of the object.
• the method of the invention shown in Figure 3 is preferential ⁇ example in real time by an apparatus of a system Radartracking- executed.
• FIG. 4 shows schematically an application example of the device according to the invention and the method according to the invention for determining an object kinematics of a moving object.
• the device 1 according to the invention according to FIG. 1 forms part of a radar tracking system 15, which continuously receives radar measurement data RMD from a radar measuring unit 16.
• the radar measurement ⁇ unit 16 and the radar tracking system 15 are located in the illustrated embodiment, in the body of a vehicle 17.
• This vehicle 17 has a sesas ⁇ sistenzsystem 18.
• the driver assistance system 18 includes an evaluation unit and a data processing unit 19.
• the evaluation unit 19 receives from the radar tracking system 15 continuously output data output from the linear tracking filter 5 of a device 1 included in the radar tracking system 15 for detecting object kinematics of a moving object.
• the linear tracking filter 5 of the device 1 continuously calculated recursively in real time ⁇ a position, a speed and / or a Be ⁇ acceleration of an object in the surroundings of the vehicle 17.
• the evaluation unit 19 of the driver assistance system 18 ⁇ tet emitted by the linear tracking filter 5 data including the position, velocity and / or the Be ⁇ acceleration of one or more objects in the surroundings of the vehicle 17, for providing driver assistance functions for the driver of the vehicle 17 in real time.
• These driver assistance functions include, for example, steering operations in order to avoid collisions with other objects, in particular other vehicles.
• the vehicle 17 travels on a right traveling ⁇ lane of a road at a speed V, with another vehicle object 20-A is as an object ahead of the vehicle 17th Behind the vehicle 17 moves as object B, a second vehicle 20-B in the same direction.
• a third object or vehicle object 20-C is shown in FIG. 4, which passes by the vehicle 17 on the opposite lane.
• the integrated in the Radartrackingsystem 15 of the vehicle 17 device 1 is suitable to determine object kinematics of various moving objects or vehicles in the environment of the vehicle 17 and provide for an evaluation unit 19 of a driver assistance system 18 for further auswer ⁇ tion.
• the objects can, be any road users, such as vehicles or Pas ⁇ esting.
• the road vehicle 17 is preferably a car or truck. Alternatively, it may be in the vehicle 17 and to an aircraft or a sea ⁇ vehicle.
• the objects or target objects may also include vehicles, for example aircraft, sea vehicles or land vehicles. For example, it may be in the aircraft to Passagierj ets or private aircraft to act Hey ⁇ likopter or drones.
• the object kinematics of in the environment of the vehicle 17 located objects can be determined two- or three-dimensional.
• the calculated Cartesian velocities of the object therefore comprise at least two, preferably three, coordinates.
• FIGS. 5A, 5B, 5C serve to explain the mode of operation of the device 1 according to the invention and the method according to the invention for determining an object kinematics of a moving object.
• a ⁇ be of movable target object 20 is moved to a previous direction of motion or to a previous course Kl.
• the measured associated target position ZP is also shown in Figure 5A.
• FIG. 5A shows the lane K2 due to the corrected direction of movement or the corrected course.
• the lane of the object 20 is shown as a solid line.
• the corrected course K2 becomes the previous course Kl 'for the next calculation cycle t2, and is again corrected to a course K2' based on the evaluated radar measurement data of the associated object 20, as shown in Fig.
• the course calculation filter 2 thus determined on the basis of a recent estimate and based on new measurement data continuously a current price of the target object. If the new position of the target object specified in the measurement data is not in the previously estimated heading direction, the course calculation filter or heading filter 2 adapts its estimate to the new measurement data and the previous estimate as well as their variance.
• the course calculation filter 2 is in able to filter out much of the measurement noise (stability) and is also able to quickly adjust its estimate based on the new or recent measurement data (flexibility).
• the course calculation filter 2 may be implemented by a low-pass filter.
• the output data of the course calculation filter 2 may include the estimated direction of movement of the target object 20 and its variance.
• the low-pass filter which serves as a course calculation filter 2 in one possible embodiment, may be implemented in one possible embodiment as follows:
• f (VI, V2) represents a weighting function of the estimated and measured variances VI, V2 of the directions of movement and ⁇ is the estimated direction of movement of the object in the current calculation cycle .
• the inventive method and the inventive Before ⁇ device 1 for determining an object kinematics can also be used for a traffic monitoring system.
• This traffic monitoring system used to monitor an air traffic, a shipping or a road traffic, in which different traffic participants or moving objects 20 move within a monitoring area of the Matterwachungssys ⁇ tems.
• the monitoring system thereby comprises at least one device 1 for the determination of object kinematics of different objects movable within the Matterwachungsge ⁇ bietes, as shown in FIG. 1
• the can Obj ektkinematiken various moving objects are calculated in real time with very low latency or delay time, so that the reaction time of consortiumGermanwachungssys ⁇ tems is low.
• the object kinematics determined by the traffic monitoring system of various moving objects 20 are wirelessly transmitted via a radio interface ⁇ point to the various objects in the surveillance area.
• moving objects 20, such as air or road vehicles constantly informed about the object kinematics and / or and the current course or the current direction of other objects located in his vicinity and can react accordingly, in particular ⁇ special for collision avoidance.

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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)
• Electromagnetism (AREA)
• Ocean & Marine Engineering (AREA)
• Aviation & Aerospace Engineering (AREA)
• Radar Systems Or Details Thereof (AREA)
• Traffic Control Systems (AREA)

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• 2016
  • 2016-04-19 DE DE102016206550.5A patent/DE102016206550A1/de not_active Withdrawn
• 2017
  • 2017-04-18 JP JP2018554527A patent/JP6920342B2/ja active Active
  • 2017-04-18 WO PCT/DE2017/200034 patent/WO2017182041A1/de active Application Filing
  • 2017-04-18 DE DE112017000758.5T patent/DE112017000758A5/de active Pending
  • 2017-04-18 EP EP17723923.3A patent/EP3446147A1/de not_active Withdrawn
  • 2017-04-18 US US16/090,472 patent/US10976426B2/en active Active

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