EP3818511A1 - Procédé pour la classification de l'importance d'un objet - Google Patents

Procédé pour la classification de l'importance d'un objet

Info

Publication number
EP3818511A1
EP3818511A1 EP19734331.2A EP19734331A EP3818511A1 EP 3818511 A1 EP3818511 A1 EP 3818511A1 EP 19734331 A EP19734331 A EP 19734331A EP 3818511 A1 EP3818511 A1 EP 3818511A1
Authority
EP
European Patent Office
Prior art keywords
motor vehicle
collide
measured
environment sensor
calculated
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.)
Pending
Application number
EP19734331.2A
Other languages
German (de)
English (en)
Inventor
Marcus Steffen Reiher
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.)
Robert Bosch GmbH
Original Assignee
Robert Bosch 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 Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP3818511A1 publication Critical patent/EP3818511A1/fr
Pending legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees

Definitions

  • the invention relates to a method for classifying a relevance of an object.
  • the invention further relates to a device which is set up to carry out all steps of the method for classifying a relevance of an object.
  • the invention further relates to a computer program.
  • the invention further relates to a machine-readable storage medium.
  • the classification of the relevance of the stationary vehicle environment represents a challenge for certain types of environment sensors (e.g. radar) at the current state of the art.
  • the aim of the classification mentioned is to differentiate between functionally relevant elements of the stationary one
  • Vehicle environment e.g. parked vehicles
  • a regulation e.g.
  • Braking should take place from the irrelevant objects, e.g.
  • the challenge with the classification under consideration is, in particular, the sufficiently high suppression of false positive relevance messages, while at the same time the performance of relevant objects is undiminished.
  • complex classification approaches are usually pursued in a high-dimensional feature space, with the individual
  • the object underlying the invention is to be seen in providing a concept for efficiently classifying a relevance of an object, which concept encompasses an environment of an environment sensor
  • Motor vehicle is in a collision with the motor vehicle.
  • a method for classifying a relevance of an object which is located in an environment of a motor vehicle comprising an environment sensor, with regard to a collision with the
  • a device which is set up to carry out all steps of the method according to the first aspect.
  • a computer program is provided which comprises instructions which, when the computer program is executed by a computer, cause the computer to carry out a method according to the first aspect.
  • a machine-readable storage medium on which the computer program according to the third aspect is stored.
  • the invention is based on the knowledge that the above object can be achieved in that dimensions of the motor vehicle and measured values are used to classify the relevance of the object and can be measured simply, efficiently and precisely using a conventional environment sensor.
  • These measured values are the radial distance of the object relative to the environment sensor, the radial relative speed of the object relative to the environment sensor, that is to say relative to the motor vehicle, insofar as the environment sensor is encompassed by or arranged on the motor vehicle.
  • the classification of a relevance of an object is carried out using the measured airspeed of the motor vehicle, such airspeed also being able to be measured simply, efficiently and precisely.
  • this has the technical advantage that the relevance of the object can be classified using values that are easy to obtain, in the present case the measurement signals and the dimension signals (the dimensions of the motor vehicle are known quantities).
  • the concept according to the invention is advantageously particularly robust compared to the prior art mentioned above. Furthermore, the concept according to the invention has the technical advantage that the radial distance and the radial relative speed can already be measured with a simply constructed and inexpensive environmental sensor.
  • the technical advantage is brought about that a concept for efficiently classifying a relevance of an object is provided, which concept encompasses an environment of an environment sensor
  • Motor vehicle is in a collision with the motor vehicle.
  • the environment sensor is set up to provide a radial distance between the object and its radial relative speed
  • the environment sensor is designed for a transit time measurement.
  • the environment sensor is designed to carry out a runtime measurement.
  • the environment sensor can also be referred to as a transit time measurement sensor.
  • the environment sensor is, for example, a radar sensor, a lidar sensor or an ultrasonic sensor.
  • the environment sensor is a video sensor.
  • the calculation of whether the motor vehicle can collide with the object is a calculation of a
  • Uncertainty location value includes the threshold value, so that the result depends on the comparison. This has the technical advantage, for example, that the calculation as to whether the motor vehicle can collide with the object can be carried out efficiently.
  • the comparison enables a simple yes / no statement as to whether the motor vehicle can collide with the object.
  • Motor vehicle can collide with the object based on at least one of the following assumptions: the object is a stationary object, a time derivative of a yaw rate y of the motor vehicle is zero, a time derivative of a pitch rate f of the motor vehicle is zero.
  • the assumption that the object is a stationary object is particularly uncritical if the measured radial speed at the measured location of the object agrees with the speed of the motor vehicle with sufficient accuracy. For example, within a fault tolerance of less than or less than or equal to 10%, for example less than or less than or equal to 5%, for example less than or less than or equal to 1%, based on the speed of the motor vehicle.
  • derivations of the yaw rate and pitch rate of the motor vehicle are determined by one or more electronic stability programs of the motor vehicle, for example determined with sufficient accuracy.
  • the assumption of the assumptions can also be checked particularly easily.
  • this has the technical advantage that when using at least one of these assumptions, the calculation can be carried out using analytically solvable equations.
  • This has the technical advantage, for example, that the calculation as to whether the motor vehicle can collide with the object can be carried out efficiently.
  • taking into account the position of the environment sensor on the motor vehicle enables a more precise statement as to whether the motor vehicle can collide with the object.
  • Motor vehicle can collide with the object, is carried out based on all assumptions, the dimensions of the motor vehicle comprising a width B and a height H, the position of the environment sensor being predetermined by a height h above the ground and a distance b off-center to a longitudinal axis of the motor vehicle, the uncertainty location value according to
  • the uncertainty location value is less than or less than or equal to the threshold value, and the result is calculated that the motor vehicle cannot collide with the object, and if the uncertainty location value is greater than the threshold value, the result is calculated that the motor vehicle can collide with the object.
  • Uncertainty is, the circle having a center which is located at a radial distance from the installation location of the environment sensor.
  • the measurement signals are a transverse offset dy of the object measured by means of the environment sensor
  • the dimensions of the motor vehicle comprising a height H, the position of the environment sensor being predetermined by a height h above the ground, the
  • Uncertainty location value is calculated according to, where the
  • Threshold is calculated according to cnax (h 2 , (// - h) 2 ), where if the
  • Uncertainty location value is less than or less than or equal to the threshold value than
  • Result is calculated that the motor vehicle cannot collide with the object, and if the uncertainty location value is greater than the threshold value, the result is calculated that the motor vehicle can collide with the object.
  • the measurement signals represent a measured elevation offset with an error value, the measured elevation offset being corrected based on the measured elevation offset and the uncertainty location value.
  • the environment sensor is set up to map an environment or an environment of the motor vehicle.
  • an x, y, z coordinate system is defined as follows: the x axis of the coordinate system runs parallel to the longitudinal axis of the motor vehicle, the y axis of the coordinate system runs transverse to the motor vehicle, the z axis of the coordinate system runs perpendicular to the x and y-axis, the center of the coordinate system lies at the center of the
  • the radial relative speed v r of the object therefore corresponds to the scalar product from the relative position p of the object in Cartesian
  • Coordinates (dx, dy, dz, coordinate origin at the location of the sensor) and the relative speed v r of this object in the same coordinate system (vx, vy, vz), normalized to the Cartesian (radial) distance d r of the object dx refers to the longitudinal offset of the Object dy designated
  • the transverse placement of the object dz hereinafter denotes the elevation placement of the object.
  • the object is a stationary object. This assumption is justified, for example, for object speeds that are negligibly small relative to the motor vehicle speed.
  • the object is a stationary object.
  • the relative speed v r in the longitudinal direction (vx) thus corresponds to the negative own speed v ego of the motor vehicle
  • the other two speed components (vy, vz) result approximately from the negative rotation rates of the motor vehicle about its vertical axis (yaw rate, cp) and about its transverse axis (Pitch rate, w), which is obtained by multiplying by radial distance d r from an angular velocity to a Cartesian
  • D 2 here denotes the uncertainty site value described above or below.
  • the required measurement variables can already be determined using inexpensive radar sensors of minimal size, since no complex antenna structures are required to determine the angle of incidence of the reflected signals.
  • the value of the relative speed is independent of a possible twisting or misalignment of the environment sensor, which further increases the robustness.
  • Elevation tray dz lie in an area that corresponds to the dimensions of the
  • the environment sensor in addition to the radial distance d r and the radial relative speed v r itself
  • the above approximation can be used to estimate the (absolute) elevation offset
  • the circle of uncertainty in the space from the above example now degrades to two possible point-like locations of the object.
  • the uncertainty location value is calculated as follows:
  • the threshold is calculated as follows:
  • the result is calculated that the motor vehicle cannot collide with the object. If the uncertainty location value is greater than the threshold value, the result is calculated that the motor vehicle can collide with the object.
  • the absolute elevation offset is estimated directly.
  • a refined estimate of the relevance of the stationary object in question can be made
  • the method described can always be used the estimate of this elevation can be significantly improved, since the quantities required for this are often available with greater accuracy than the direct measurement of the elevation via the antenna structure of the radar sensor allows.
  • the method according to the first aspect is carried out or carried out by means of the device according to the second aspect.
  • the invention is based on preferred
  • FIG. 1 shows a flowchart of a method for classifying a relevance of an object
  • FIG. 2 shows a device which is set up to carry out a method for classifying a relevance of an object
  • Fig. 4 is a motor vehicle.
  • FIG. 1 shows a flowchart of a method for classifying a relevance of an object which is in an environment of a
  • the a radial distance d r of the object relative to the environment sensor measured by means of the environment sensor, a represent radial relative speed v r of the object relative to the surroundings sensor measured by the environment sensor and a measured own speed V ego of the motor vehicle,
  • FIG. 2 shows a device 201 that is set up, all steps of a
  • device 201 is configured, that shown in FIG. 1
  • the device 201 comprises an input 203 for receiving
  • the device 201 comprises a processor 205 for calculating whether the motor vehicle can collide with the object, based on the received measurement signals and based on the received dimension signals.
  • the device 201 further comprises an output 207 for outputting a result signal, which represents a result of calculating whether the motor vehicle can collide with the object, in order to classify the relevance of the object with regard to a collision with the motor vehicle.
  • a plurality of processors are provided for calculating whether the motor vehicle can collide with the object.
  • FIG. 3 shows a machine-readable storage medium 303 on which a
  • Computer program 303 is stored, the computer program 303 comprising commands which, when the computer program is executed by a computer, for example by the device 201 of FIG. 2, cause the latter to carry out all steps of a method for classifying a relevance of an object, for example all steps of the 1 shown in FIG.
  • FIG. 4 shows a motor vehicle 401.
  • the motor vehicle 401 comprises an environment sensor 403.
  • the environment sensor 403 is, for example, a radar sensor or a lidar sensor.
  • the motor vehicle 401 further comprises the device 201 according to FIG. 2.
  • the environment sensor 403 detects, for example, an environment of the motor vehicle. When an object is detected in the detected environment, the vehicle
  • Environment sensor 403 a radial distance of the object from the environment sensor 403 and a radial relative speed of the object relative to the environment sensor, that is to say the motor vehicle 401, insofar as the environment sensor 403 is arranged on the motor vehicle 401.
  • Measurement signals corresponding to this measurement are sent to the input 203 of the device 201.
  • the input 203 receives these measurement signals and receives further measurement signals that represent a measured airspeed of the motor vehicle 401. These measurement signals and the others
  • Measurement signals are therefore measurement signals which are received by processor 205 and which determine the radial distance d r of the object relative to the environment sensor 403 measured by the environment sensor 403, and a radial relative speed v r of the object relative to the environment measured by the environment sensor 403 Environment sensor 403 and a measured airspeed v ego des
  • the processor 205 calculates whether the motor vehicle can collide with the object.
  • the processor 205 generates one resulting from the calculation
  • Result signal which is output via the output 207.
  • the result signal is sent to a controller 405 of the
  • the control device 405 is designed according to one embodiment, based on the output result signal, a cross and / or
  • a concept for efficiently classifying a relevance of an object, which is located in the surroundings of a motor vehicle comprising an environment sensor, with regard to a collision with the motor vehicle is provided.
  • the concept according to the invention is based, inter alia, not on a temporal filtering of measured variables or hypotheses for the formation of objects, but rather in particular directly on basic measured variables of an environment sensor, which guarantees a high degree of general applicability and robustness.
  • the basic parameters used i.e. the measured radial distance and the measured radial distance
  • Relative speed can already be provided in an advantageous manner by a very cheaply designed environment sensor.

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention concerne un procédé pour la classification de l'importance d'un objet, lequel se trouve dans un environnement d'un véhicule à moteur comprenant un détecteur environnemental, en ce qui concerne une collision avec le véhicule à moteur, comprenant les étapes suivantes : la réception de signaux de mesure, qui représentent une distance radiale dr de l'objet par rapport au détecteur environnemental mesurée au moyen du détecteur environnemental, une vitesse relative radiale vr de l'objet par rapport au détecteur environnemental mesurée au moyen du détecteur environnemental et une vitesse propre vego mesurée du véhicule à moteur, la réception de signaux de dimensions qui représentent les dimensions du véhicule à moteur, le calcul si le véhicule à moteur peut entrer en collision avec l'objet, sur la base des signaux de mesure reçus et sur la base des signaux de dimensions reçus, la sortie d'un signal de résultat, lequel représente un résultat du calcul si le véhicule à moteur peut entrer en collision avec l'objet, pour classifier l'importance de l'objet en ce qui concerne une collision avec le véhicule à moteur. L'invention concerne en outre un dispositif, un programme informatique ainsi qu'un support de stockage lisible par machine.
EP19734331.2A 2018-07-07 2019-06-24 Procédé pour la classification de l'importance d'un objet Pending EP3818511A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102018211240.1A DE102018211240A1 (de) 2018-07-07 2018-07-07 Verfahren zum Klassifizieren einer Relevanz eines Objekts
PCT/EP2019/066586 WO2020011516A1 (fr) 2018-07-07 2019-06-24 Procédé pour la classification de l'importance d'un objet

Publications (1)

Publication Number Publication Date
EP3818511A1 true EP3818511A1 (fr) 2021-05-12

Family

ID=67107411

Family Applications (1)

Application Number Title Priority Date Filing Date
EP19734331.2A Pending EP3818511A1 (fr) 2018-07-07 2019-06-24 Procédé pour la classification de l'importance d'un objet

Country Status (5)

Country Link
US (1) US11386786B2 (fr)
EP (1) EP3818511A1 (fr)
CN (1) CN112368758B (fr)
DE (1) DE102018211240A1 (fr)
WO (1) WO2020011516A1 (fr)

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Also Published As

Publication number Publication date
DE102018211240A1 (de) 2020-01-09
WO2020011516A1 (fr) 2020-01-16
CN112368758A (zh) 2021-02-12
CN112368758B (zh) 2023-10-03
US20210192953A1 (en) 2021-06-24
US11386786B2 (en) 2022-07-12

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Effective date: 20240311