EP3857532A1 - Procédé pour évaluer un effet d'un objet dans l'environnement d'un moyen de transport sur une manoeuvre de conduite du moyen de transport - Google Patents

Procédé pour évaluer un effet d'un objet dans l'environnement d'un moyen de transport sur une manoeuvre de conduite du moyen de transport

Info

Publication number
EP3857532A1
EP3857532A1 EP19778906.8A EP19778906A EP3857532A1 EP 3857532 A1 EP3857532 A1 EP 3857532A1 EP 19778906 A EP19778906 A EP 19778906A EP 3857532 A1 EP3857532 A1 EP 3857532A1
Authority
EP
European Patent Office
Prior art keywords
distance
transportation
ultrasonic sensor
transport
evaluation unit
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP19778906.8A
Other languages
German (de)
English (en)
Inventor
Werner Urban
Tom Reimann
Juergen Schmidt
Jianda Wang
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 EP3857532A1 publication Critical patent/EP3857532A1/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Withdrawn legal-status Critical Current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
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/87—Combinations of sonar systems
    • G01S15/876—Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
    • 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
    • G01S15/86—Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection
    • 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
    • G01S7/54—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 with receivers spaced apart
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/06—Automatic manoeuvring for parking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • 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
    • G01S2015/937—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles sensor installation details

Definitions

  • the present invention relates to a method and a device for evaluating an impact of an object in the environment of a
  • Means of transportation on a driving maneuver of the means of transportation and relates in particular to an assessment of the object's ability to be driven under by the means of transportation.
  • Objects in the vicinity of the means of transportation can be reached. Due to the high sensitivity of modern ultrasonic sensors, objects that are not critical or not relevant for the driving means of the means of transportation are frequently detected in the environment of the means of transportation, such as Gantries,
  • Dimension and shape of a surface or a space to be traversed in particular can be determined taking into account the movement of the 3D camera due to the movement of the vehicle.
  • a 3D scene reconstruction can advantageously be carried out from the image data of the 3D camera, for example with the method of the optical flow.
  • DE 102012211034A1 describes a driver assistance system for determining a distance of a vehicle from an obstacle above a vehicle
  • Vehicle for determining a passage height under the obstacle the distance being able to be determined by means of an ultrasonic sensor, which is preferably arranged on the vehicle such that the distance measurement is carried out in the vertical direction.
  • the distance measurement by means of the sensor is based on the echo sounder method by evaluating the transit time of the ultrasound pulse to the obstacle and the echo pulse reflected by the obstacle back to the sensor. This enables the distance to the obstacle to be determined, since the position of the sensor on the vehicle is known.
  • the present invention proposes a method for evaluating an impact of an object in the environment of a
  • the means of transportation can be, for example, a road vehicle (eg shuttle, bus, motorcycle, e-bike, car, transporter, truck) or a watercraft.
  • a first distance between the object and a first position of the means of transportation, or more precisely, a position of the first ultrasonic sensor at the first position of the means of transportation is determined by means of a first ultrasonic sensor of the means of transportation, the first distance on the basis direct echoes of the ultrasound signals emitted by the first ultrasound sensor can be measured.
  • Ultrasonic sensor and also other ultrasonic sensors used for the method according to the invention can be used in this context
  • ultrasonic sensors with larger detection ranges and detection angles and smaller detection ranges and detection angles can be used.
  • the first ultrasonic sensor and possibly further ultrasonic sensors used can preferably be part of an existing driver assistance system of the means of transportation and can be arranged at any suitable positions on the means of transportation.
  • the first ultrasonic sensor and possibly further ultrasonic sensors used can preferably be part of an existing driver assistance system of the means of transportation and can be arranged at any suitable positions on the means of transportation.
  • the first ultrasonic sensor and possibly further ultrasonic sensors used can preferably be part of an existing driver assistance system of the means of transportation and can be arranged at any suitable positions on the means of transportation.
  • the first ultrasonic sensor and possibly further ultrasonic sensors used can preferably be part of an existing driver assistance system of the means of transportation and can be arranged at any suitable positions on the means of transportation.
  • the first ultrasonic sensor and possibly further ultrasonic sensors used can preferably be part of an existing driver assistance system of the means of transportation and can be arranged at any suitable positions on
  • Means of transportation may be arranged so that an environment of the
  • Means of transportation can be monitored in a suitable manner when driving forwards or backwards using the ultrasonic sensors.
  • ultrasonic sensors can be arranged at other positions of the means of transportation, such as on the sides of the means of transportation.
  • Ultrasonic sensor and possibly further ultrasonic sensors by means of a
  • the evaluation unit can be designed, for example, as a processor, digital signal processor, microcontroller, or the like.
  • a Logic for executing the respective method steps according to the invention can be implemented, for example, in the form of a computer program, which can be executed by the evaluation unit.
  • the evaluation unit can preferably comprise an internal and / or external storage unit connected to the evaluation unit in terms of information technology in order, for example, to store data generated and / or received by the evaluation unit.
  • the evaluation unit or the computer program executed by the evaluation unit can be part of an existing driver assistance system or another control device of the means of transportation.
  • a value for the first distance determined by the ultrasonic sensor can be stored in the memory unit using the evaluation unit.
  • information about the first position of the means of transportation at which the first distance is measured can also be stored in the storage unit. This information can be obtained, for example, from an odometer control unit of the means of transportation via the vehicle electrical system
  • the odometry control unit can determine relative changes in position, for example on the basis of an evaluation of rotations of one or more wheels of the
  • the first position can also be determined on the basis of a GPS system of the means of transportation or on the basis of others
  • Position determination procedures (e.g. WLAN location etc.) are carried out.
  • deviating second position of the means of transportation is determined by means of the first ultrasonic sensor.
  • the second distance and the second position can preferably be determined analogously to the determination of the first distance and the first position.
  • a determined value for the second distance and information about the second position can in turn in the
  • Storage unit can be stored.
  • a change between the first distance and the second distance with respect to a distance which is a distance covered between the first Position and the second position of the means of transportation is calculated.
  • the first position and the second position are determined on the basis of odometry data, the one between the two can
  • Positions covered are calculated by subtracting the respective values for the first position and the second position.
  • a change in the first distance and the second distance with respect to the distance covered can be expressed and calculated using the following formula:
  • D2d (d1 - d2) / s, where D2d stands for “Distance to Drive Distance Coefficient” and a quotient according to the invention for evaluating one
  • Means of transportation represents, where d1 and d2 represent the first distance and the second distance, respectively, and where s is the distance traveled
  • Main emission axis or main reception axis of the first ultrasonic sensor (hereinafter also referred to as “sensor axis”) in front of the ultrasonic sensor or the means of transportation, a value for the change between the first distance and the second distance (d1-d2) corresponds to a value for the distance covered Distance.
  • the quotient from these values thus results in a value of 1 and therefore represents a maximum risk of collision with an object arranged at the level of the means of transportation.
  • the further the object is from the sensor axis the smaller a value for a change between the first distance and the second distance with respect to the distance covered between the two measurements for the first distance and the second distance. That is, the further the object is located in the horizontal and / or vertical direction from the sensor axis, the smaller the quotient D2d and the lower the risk of a collision
  • Means of transportation can be classified with the object.
  • the object is dependent on a result of the calculation described above in the third method step when the driving maneuver is carried out
  • the driving maneuver can be, for example, a parking process in a parking garage, objects that are not collision-sensitive, such as a ceiling beam detected by the first ultrasonic sensor, preferably not for issuing a warning message (eg should give an acoustic warning via a sound system of the means of transportation and / or a visual warning on a display of the means of transportation).
  • a warning message eg should give an acoustic warning via a sound system of the means of transportation and / or a visual warning on a display of the means of transportation.
  • the evaluation unit can evaluate collision relevance by comparing the previously determined D2d value for a respective detected object in the environment of the means of transport with a predefined threshold value which can be stored in the storage unit.
  • This predefined threshold value can preferably be a vehicle-specific threshold value, which can be determined taking into account a maximum extent of the means of transportation (height, width and possibly also length) and an arrangement and orientation of the first ultrasonic sensor in relation to the means of transportation.
  • the threshold value is preferably defined with regard to a predefined distance between the first position and the second position, so that all reference values for determining a collision relevance of a respective object are fixed.
  • the measurement of the first distance and the measurement of the second distance to the respective object can preferably be carried out taking into account the predefined distance between the first position and the second position.
  • An evaluation of a collision relevance of a respective object carried out in this way can be transmitted by the evaluation unit according to the invention in the form of collision information to a parking and / or maneuvering assistance system, so that this object can be taken into account or not taken into account by the driver assistance system depending on the assessment.
  • the collision information can also be sent to a control unit for a partially or fully automatic ferry operation of the
  • Means of transportation are transmitted so that this control unit can adapt a driving maneuver currently to be carried out in a suitable manner to the collision information.
  • the method described above presupposes that an object detected by the first ultrasonic sensor in the environment of the means of transportation can be identified as one and the same object between a first distance measurement at the first position and a second distance measurement at the second position, so that the respective measured object Distances can be related.
  • numerous methods are known from the prior art
  • Locomotion means determined based on at least a second ultrasonic sensor and an object localization algorithm.
  • the second ultrasonic sensor can be arranged, for example, in the horizontal direction next to the first ultrasonic sensor in the front area of the means of transportation. Due to an essentially parallel alignment of the first and second ultrasonic sensors in the direction of travel of the means of transportation, potentially collision-relevant objects can usually are detected both by the first ultrasonic sensor and by the second ultrasonic sensor. Furthermore, the second ultrasonic sensor can be arranged, for example, in the horizontal direction next to the first ultrasonic sensor in the front area of the means of transportation. Due to an essentially parallel alignment of the first and second ultrasonic sensors in the direction of travel of the means of transportation, potentially collision-relevant objects can usually are detected both by the first ultrasonic sensor and by the second ultrasonic sensor. Furthermore, the second
  • Ultrasound sensor preferably analogously to the first ultrasound sensor, can be connected to the evaluation unit according to the invention in terms of information technology.
  • the evaluation unit can receive measurement signals from the first ultrasonic sensor and the second ultrasonic sensor in the course of an environment detection at a respective position of the means of transportation. Using a suitable algorithm, the evaluation unit can insert one and the same object into the
  • Evaluation unit also a distance between the first
  • Ultrasound sensor and the second ultrasound sensor is known (e.g. by values stored in the storage unit for the arrangement and alignment of the ultrasound sensors on the means of transportation), this can be done by a
  • a suitable object location algorithm which may be a lateration algorithm, for example, a horizontal one
  • the assessment of the ability to drive under and / or passability of an object by the means of transportation is preferably carried out on the basis of the measurement signals of the first ultrasonic sensor and the second ultrasonic sensor used for the horizontal position determination, which are used for a subsequent evaluation of the ability to drive under and / or passability can be buffered in the storage unit and can be retrieved from there accordingly. In this way, it is not necessary to measure the first distance and the second distance again at the first and second positions.
  • the calculation of the change between the first distance and the second distance with respect to the distance covered is carried out as a function of the falling below a predefined distance by the first distance and / or the second distance.
  • a calculation of the D2d value by the evaluation unit according to the invention for a specific object can be omitted if a determined first and / or second
  • the predefined distance is greater than the predefined distance.
  • the predefined distance can also be stored in the storage unit and correspond to a value that represents a distance of 6 m or 7 m, for example.
  • the predefined distance can also be adjusted depending on a current speed of the means of transportation. In this way, objects can be located further away with respect to the means of transportation are classified by the evaluation unit as not relevant to the collision as long as they are further away than the predefined distance.
  • the means of transportation moves toward the object while covering the distance between the first position and the second position, essentially while maintaining a current direction of travel.
  • Means of transportation can identify one and the same object in the measurement signals of the first distance measurement and the second
  • the control device for autonomous driving can preferably be adapted such that a
  • the result of the calculation comprises information about the ability to drive under and / or passability of the object, taking into account a position of the object with respect to a trajectory and an extension of the
  • Means of transportation This information can be transmitted to the parking and / or maneuvering assistance system by the evaluation unit, so that the parking and / or maneuvering assistance system can issue corresponding warnings for collision-relevant objects in the means of transportation and / or suggest and / or control an adapted trajectory for the means of transportation.
  • An assessment of the passability of an object can also include the case that an object is directly on a through the
  • Means of transportation is arranged and due to a low height (e.g. a curb) through the
  • Means of transportation can be run over. Such information can likewise determined on the basis of the method according to the invention and transmitted to a driver assistance system.
  • the method according to the invention can be supported by the use of additional and / or alternative sensors for environment detection, the detected environment information of which can be included in the assessment of the ability to drive under and / or passability of an object by the means of transportation.
  • sensors for environment detection the detected environment information of which can be included in the assessment of the ability to drive under and / or passability of an object by the means of transportation.
  • information about a changed extent of the means of transportation is taken into account in connection with the method according to the invention.
  • predefined information about a maximum height, width and length, which is adapted to a respective means of transportation, and which is preferably stored in the storage unit, can be changed, for example, by means of a user input
  • Means of transportation to be adjusted can be particularly advantageous if, for example, a height of the means of transportation changes due to the use of a roof rack, or a width, height and length of the means of transportation changes due to the use of a trailer (e.g. a caravan).
  • a height of the means of transportation changes due to the use of a roof rack, or a width, height and length of the means of transportation changes due to the use of a trailer (e.g. a caravan).
  • the evaluation unit can have an adapted predefined threshold value for evaluating a
  • the storage unit can also include a table which holds corresponding predefined threshold values for a plurality of height, width and length combinations for an expansion of the means of transportation.
  • the device comprises an evaluation unit with a
  • the evaluation unit can
  • a logic for executing the respective inventive Method steps can be implemented in the form of a computer program, for example, which is executed by the evaluation unit.
  • the evaluation unit can preferably comprise an internal and / or external storage unit connected to the evaluation unit in terms of information technology in order, for example, to store data generated and / or received by the evaluation unit.
  • the evaluation unit or the computer program executed by the evaluation unit can be part of an existing driver assistance system or a further control device of the
  • the evaluation unit is set up in connection with the data input a first distance between the object and a first position of the means of transportation by means of a first
  • the evaluation unit is set up to calculate a change between the first distance and the second distance with respect to a distance covered by a distance
  • the evaluation unit is additionally set up to take into account or not to take the object into account when carrying out the driving maneuver of the means of transportation depending on a result of the calculation.
  • Figure 1 is a flow diagram illustrating steps of a
  • Figure 2 shows an example of determining a drive-under
  • Figure 3 is a block diagram of a device according to the invention.
  • Figure 1 shows a flow diagram illustrating steps of a
  • step 100 a horizontal position of an object 40 with respect to a current trajectory of the object is determined by means of a first ultrasonic sensor 30 and a second ultrasonic sensor 35 in conjunction with an object localization algorithm
  • Means of transportation 80 determined. The determination is carried out on the basis of an evaluation unit 10 according to the invention, which in this exemplary embodiment is a microcontroller.
  • a first distance d1 between the object 40 and a first position 50 of the means of locomotion 80 is determined on the basis of the measurement signals generated by the first ultrasonic sensor 30 for determining the horizontal position of the object 40.
  • a second distance d2 between the object 40 and a second position 55 of the means of transportation 80 is determined in step 300.
  • a change between the first distance d1 and the second distance d2 is calculated with respect to a distance s which is covered
  • the distance s between the first position 50 and the second position 55 of the means of transportation 80 corresponds.
  • the distance s traveled is based on a signal received by the evaluation unit 10
  • Vehicle odometer control unit 80 is calculated.
  • the object 40 is taken into account or not taken into account when performing a current driving maneuver of the means of transportation 80 depending on a result of the calculation.
  • corresponding information about the object 40 is sent to a parking and
  • FIG. 2 shows an example for determining whether an object 40 can be driven under by a means of transportation 80, the object 40 being at a height h with respect to a first ultrasonic sensor 30 of the means of transportation 80, which prevents the object 40 from being driven under
  • Means of transportation 80 allows.
  • Locomotion means 80 is arranged to be highly sensitive
  • Ultrasonic sensor designed with a detection range of 10 cm to 7 m and a detection angle of up to 85 °.
  • This also includes Transport means 80 an evaluation unit 10, which by means of a
  • Data input 12 is connected to the first ultrasonic sensor 30 in terms of information technology. Because of the relatively high sensitivity and due to the relatively large detection angle of the first ultrasonic sensor 30, the first ultrasonic sensor 30 also detects objects 40 in the vicinity of the
  • Locomotion means 80 detected which are uncritical or not relevant with regard to a passability and / or passability through the means of transportation 80.
  • an algorithm according to the invention is carried out by the evaluation unit 10 in the form of a computer program, which is able to determine these non-critical or irrelevant objects 40 in order for them to be processed in a downstream process by the evaluation unit 10 coupled
  • Driver assistance system 90 not to be taken into account. In this way it is prevented that due to these irrelevant objects 40 by the
  • Driver assistance system 90 unnecessary warnings and / or instructions are issued to a driver of the means of transportation 80 and / or an unnecessary automatic adaptation of a ferry operation (e.g. braking or changing the direction of travel) of the means of transportation 80 is carried out.
  • a ferry operation e.g. braking or changing the direction of travel
  • the evaluation unit 10 receives a first value at a first position 50 of the moving means 80 in motion by the first ultrasonic sensor 30, which represents a measured first distance d1 between the object 40 and a sensor surface of the first ultrasonic sensor 30.
  • the first value is stored by means of the evaluation unit 10 in an external storage unit 20 connected to the evaluation unit. After a predefined distance s (e.g. 50 cm) has been covered by the means of transport 80, the method is analogous to
  • Vehicle 80 again measures the distance between object 40 and vehicle 80 using the first
  • Ultrasonic sensor 30 performed.
  • a second value, determined in this way and received by the evaluation unit 10, for a second distance d2 between the object 40 and the means of transportation 80 is likewise stored in the storage unit 20.
  • the evaluation unit 10 is connected via an on-board network of the means of transportation 80 to an odometry control unit, which the evaluation unit 10 uses a CAN bus system
  • the evaluation unit 10 is able to determine a value over the distance s traveled between the first position 50 and the second position 55 in order to also store this in the storage unit 20.
  • the quotient D2d is compared by the evaluation unit 10 with a predefined threshold value, which represents a vehicle-specific value for underrunability by the means of transportation 80, which is stored in the storage unit 20. In the event that the D2d value is less than or equal to the predefined threshold value, it can be assumed that the object 40 can be driven under. Due to the
  • the ability to drive under the object 40 is not transmitted to the driver assistance system 90 for further processing and thus for a current one
  • FIG. 3 shows a block diagram of a device according to the invention in connection with a means of transportation 80.
  • the device comprises an evaluation unit 10, which in this example is a microcontroller.
  • the microcontroller executes a computer program which is able to carry out the method steps according to the invention.
  • the evaluation unit 10 has a data input 12, via which the evaluation unit 10 is connected to a first ultrasonic sensor 30 and a second ultrasonic sensor 35 in terms of information technology. In this way, the evaluation unit 10 is set up to receive and process signals representing an environment of a means of transportation 80. The received signals and / or
  • the evaluation unit 10 has a data output 14, via which the evaluation unit 10
  • Means of transportation 80 is connected.
  • the evaluation unit 10 is set up to allow objects 40 to pass under the environment of the means of transportation 80 evaluate and only forward information about collision-relevant objects 40 to the driver assistance system 90.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Acoustics & Sound (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Traffic Control Systems (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

La présente invention concerne un procédé pour l'évaluation d'un effet d'un objet (40) dans l'environnement d'un moyen de transport (80) sur une manœuvre de conduite du moyen de transport (80). Le procédé comprend les étapes : de détermination d'une première distance (d1) entre l'objet (40) et une première position (50) du moyen de transport (80) au moyen d'un premier capteur ultrasonore (30) du moyen de transport (80), de détermination d'une deuxième distance (d2) entre l'objet (40) et une deuxième position (55) du moyen de transport (80) différente de la première position (50) au moyen du premier capteur ultrasonore (30) du moyen de transport (80), de calcul d'une modification entre la première distance (d1) et la deuxième distance (d2) par rapport à un trajet (s), lequel correspond à un trajet (s) parcouru entre la première position (50) et la deuxième position (55) du moyen de transport (80), et de prise en compte ou de non-prise en compte de l'objet (40) lors de la mise en œuvre de la manœuvre de conduite du moyen de transport (80) en fonction d'un résultat du calcul.
EP19778906.8A 2018-09-28 2019-09-20 Procédé pour évaluer un effet d'un objet dans l'environnement d'un moyen de transport sur une manoeuvre de conduite du moyen de transport Withdrawn EP3857532A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102018216790.7A DE102018216790A1 (de) 2018-09-28 2018-09-28 Verfahren zur Bewertung einer Auswirkung eines Objektes im Umfeld eines Fortbewegungsmittels auf ein Fahrmanöver des Fortbewegungsmittels
PCT/EP2019/075428 WO2020064576A1 (fr) 2018-09-28 2019-09-20 Procédé pour évaluer un effet d'un objet dans l'environnement d'un moyen de transport sur une manœuvre de conduite du moyen de transport

Publications (1)

Publication Number Publication Date
EP3857532A1 true EP3857532A1 (fr) 2021-08-04

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DE102018216790A1 (de) 2020-04-02
JP2022502642A (ja) 2022-01-11
CN112771591B (zh) 2023-04-11
JP7109661B2 (ja) 2022-07-29
CN112771591A (zh) 2021-05-07
US20220035029A1 (en) 2022-02-03
KR20210063395A (ko) 2021-06-01

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