EP3977161A1 - Procédé et système d'assistance au conducteur pour la classification d'objets dans l'environnement d'un véhicule - Google Patents

Procédé et système d'assistance au conducteur pour la classification d'objets dans l'environnement d'un véhicule

Info

Publication number
EP3977161A1
EP3977161A1 EP20723340.4A EP20723340A EP3977161A1 EP 3977161 A1 EP3977161 A1 EP 3977161A1 EP 20723340 A EP20723340 A EP 20723340A EP 3977161 A1 EP3977161 A1 EP 3977161A1
Authority
EP
European Patent Office
Prior art keywords
ultrasonic
objects
hypothesis
classification
driver assistance
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
EP20723340.4A
Other languages
German (de)
English (en)
Inventor
Michael Tchorzewski
Werner Urban
Michael Schumann
Tom Reimann
Juergen Schmidt
Jianda Wang
Lena Bendfeld
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 EP3977161A1 publication Critical patent/EP3977161A1/fr
Pending 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
    • G01S15/88—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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/04—Traffic conditions
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B17/00—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations
    • G01B17/02—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations for measuring thickness
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/06—Systems determining the position data of a target
    • G01S15/46—Indirect determination of position data
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/50—Systems of measurement, based on relative movement of the target
    • G01S15/52—Discriminating between fixed and moving objects or between objects moving at different speeds
    • 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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/539—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N20/00—Machine learning
    • G06N20/20—Ensemble learning
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/146—Display means
    • 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
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/54—Audio sensitive means, e.g. ultrasound
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/20—Static objects
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • 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
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/06—Systems determining the position data of a target
    • G01S15/46—Indirect determination of position data
    • G01S2015/465—Indirect determination of position data by Trilateration, i.e. two transducers determine separately the distance to a target, whereby with the knowledge of the baseline length, i.e. the distance between the transducers, the position data of the target is determined
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/523—Details of pulse systems
    • G01S7/526—Receivers
    • G01S7/527—Extracting wanted echo signals

Definitions

  • the invention relates to a method for classifying objects in the vicinity of a vehicle using ultrasonic sensors which emit ultrasonic pulses and receive ultrasonic echoes reflected from objects again, with at least two ultrasonic sensors with at least partially overlapping fields of view distances between the respective ultrasonic sensor and objects reflecting ultrasonic pulses in the environment can be determined and to differentiate between extended objects and point objects a position determination of the
  • Another aspect of the invention relates to a driver assistance system which is set up to carry out the method.
  • Modern vehicles are equipped with a variety of driver assistance systems that the driver of the vehicle when running
  • Driver assistance systems known, which warn the driver of dangers in the area.
  • the driver assistance systems require precise data about the surroundings of the vehicle and in particular about objects that are in the surroundings of the vehicle.
  • Ultrasound-based object localization methods are often used, in which two or more ultrasonic sensors are used.
  • Ultrasonic sensors each send out ultrasonic pulses and receive ultrasonic echoes reflected from objects in the vicinity.
  • the distance between a reflecting object and the respective sensor can be determined from the transit time of the ultrasonic pulses until the corresponding ultrasonic echo is received and the known speed of sound. Is located an object in the field of view of more than one ultrasonic sensor, so the distance to the object can be determined by more than one ultrasonic sensor, the exact position of the reflecting object relative to the sensors or to the vehicle can also be determined using lateration algorithms.
  • curbs, thresholds or manhole covers Due to the ever-increasing fields of vision and sensitivities of the sensors, objects on the floor such as curbs, thresholds or manhole covers can also be increasingly recognized.
  • driver assistance systems it is important to be able to differentiate between collision-relevant objects, such as posts, walls or traffic signs, and objects that cannot be driven over, such as curbs, thresholds or manhole covers that are not relevant for a collision.
  • Object hypothesis a stability of the position of the object represented by the object hypothesis, the amplitude of the ultrasonic echoes assigned to the object hypothesis and a probability for the ultrasonic sensors to receive an ultrasonic echo from the object, which is represented by the object hypothesis, takes place as classification parameters.
  • a Point-shaped object is understood to mean an object which, viewed in a plane parallel to the ground, appears essentially point-shaped, that is to say has only a small extent, such as in the case of a post or a traffic sign. Furthermore, as point-like objects
  • edges of houses for example edges of houses, corners of vehicles, corners of
  • ultrasonic pulses are continuously transmitted and ultrasonic echoes reflected from objects are accordingly continuously received again.
  • ultrasonic sensors for example two to five ultrasonic sensors, are preferably arranged as a group, for example on a bumper of a vehicle.
  • the distances between the reflecting objects in the vicinity of the vehicle and the respective ultrasonic sensor are then determined. Will one ultrasonic echo from several ultrasonic sensors
  • the object reflecting the ultrasonic pulses is located in the overlapping field of view of the two ultrasonic sensors.
  • the relative position of the reflecting object can be determined relative to the vehicle or relative to the ultrasonic sensors.
  • two ultrasonic sensors that receive echoes from the object are sufficient.
  • the method provides for the creation of object hypotheses.
  • the object hypothesis includes all the distances determined by means of the ultrasonic sensors and other measured values such as the registered amplitude of the ultrasonic echoes
  • each object hypothesis represents an object of
  • measured values obtained consecutively in time that is to say distance values determined in succession
  • distance values determined in succession can be assigned to one and the same object hypothesis if lateration shows that the position of the respective object reflecting the ultrasound corresponds to that of the one
  • Object hypothesis assigned position matches or is in the vicinity.
  • the update rate of the object hypothesis a stability of the position of the from the Object hypothesis represented object, the amplitude of the ultrasonic echoes assigned to the object hypothesis and a probability for the
  • Ultrasonic sensors to receive an echo from the object passing through
  • the probability of an ultrasonic sensor to receive an ultrasonic echo for the object represented by the object hypothesis is preferred, based on the position of the object relative to the field of view of the respective ultrasonic sensor, a determined extent of the object and / or a detection threshold of the
  • the position of the object relative to the field of view of the ultrasonic sensor has a great influence on the
  • Detection probability since the amplitude of the emitted ultrasonic signal on the one hand decreases with distance and on the other hand drops steadily towards the edge of the field of view or towards the edge of the sound cone emitted by the ultrasonic sensor. For example, if the object is exactly in the
  • the amplitude of the ultrasound hitting the object is usually at a maximum, whereas the amplitude decreases the further the object moves away from the center of the field of view. Furthermore, the extent of the object has a great influence on how large the amplitude of the reflected
  • Ultrasonic echoes that are caused by the floor or the subsurface should not be classified as ultrasonic echoes from an object.
  • An ultrasonic echo is classified as an ultrasonic echo reflected from an object only if its amplitude is above the specified threshold value.
  • Detection threshold is lowered and vice versa in a noisy environment with a lot of interfering signals and great noise and / or a high number of
  • an algorithm can be used for adapting the detection threshold, which determines the detection threshold regulates in such a way that a constant false alarm rate is achieved (CA FR).
  • a further criterion is preferably provided, the amplitude of the
  • the change in amplitude can be monitored to determine whether the object continues to be detected or is out of the field of view of the
  • Ultrasonic sensors disappears. Such "submerging" of the object under the field of view of an ultrasonic sensor is an indicator that it is a low object.
  • the analysis of the amplitude in the course of the approach of the object to the ultrasonic sensor can in particular also include a normalization of the amplitudes taking into account an expansion of the object represented by the object hypothesis and / or the probability of a detection.
  • the stability of the position of the object represented by the object hypothesis is preferably taken into account as a criterion for the classification of the height of a point-shaped object.
  • low objects such as the corner of a curb, which appear as a point-shaped object
  • there is no well-defined reflection point for the incident ultrasound so that the specific position of the point-shaped object appears to move when the object approaches the vehicle or the respective ultrasonic sensor.
  • this apparent wandering can mean that a distinction between extended objects and point objects is made more difficult by this apparent wandering of the position. This can be taken into account by classifying it as an object as a point-like object or
  • the extended object is assigned a confidence value, this confidence value preferably being taken into account as a classification parameter for the height classification.
  • a greater uncertainty in the classification indicates a low object and low uncertainties or a high confidence value indicates a high point-shaped object.
  • the update rate of the object hypothesis is preferably used as a classification parameter for the height classification. This makes use of the fact that, depending on the nature of the object, the probability that it will be detected by more than one of the ultrasonic sensors at the same time is greater or less. In the case of extensive objects, it is usually guaranteed that the object is
  • the probability that the object will be recognized by more than one ultrasonic sensor at the same time, i.e. that an ultrasonic echo reflected from this point-like object is picked up by at least two ultrasonic sensors, is correspondingly lower.
  • a corresponding object hypothesis for a point-shaped object can be updated less frequently. If the point-like object is a tall object, direct sound reflection is usually possible, so that the probability that at least two
  • Ultrasonic sensors simultaneously pick up an echo of this high point-like object higher than with a low point-like object.
  • the update rate of an object hypothesis thus indicates a low one
  • An object hypothesis is preferably always updated when a further ultrasonic echo is added to this object hypothesis. This usually happens whenever a successful lateration can be carried out, i.e. the ultrasonic echo of the object represented by the object hypothesis is received by at least two ultrasonic sensors, for which the position can then be determined by lateration and assigned to an object hypothesis.
  • Carrying out the height classification of the punctiform objects with the cited classification parameters can in particular be carried out using a statistical evaluation method or a machine learning method.
  • weighting factors and links between the classification parameters are created based on a training data set.
  • a training data set contains, for a situation in which a known object is present, in addition to the classification as a point-shaped high object
  • a suitable machine learning method here is so-called random forest method, in which a large number of decision trees are created using the training data set. If you then use it with unknown data, the results become more complete
  • Another aspect of the invention relates to a driver assistance system comprising at least two ultrasonic sensors with at least partially overlapping ones
  • the driver assistance system is designed and / or set up to carry out one of the methods described herein.
  • driver assistance system Since the driver assistance system is designed and / or set up to execute one of the methods, features described in the context of one of the methods apply correspondingly to the driver assistance system and vice versa, features described in the context of one of the driver assistance systems apply conversely to the methods.
  • the driver assistance system is set up accordingly to use the at least two ultrasonic sensors to detect objects in the vicinity of a vehicle and to classify them into extensive and point-like objects and, if a point-like object is present, this one
  • the driver assistance system is preferably set up to provide various assistance functions using the determined data about objects in the vicinity of the vehicle.
  • the driver assistance system preferably comprises a display function and a safety function.
  • the display function a distance to a collision-relevant object in the vicinity of the vehicle is shown, for example, on a display, acoustically or via illuminated displays.
  • the safety function it is preferably provided that when a
  • Dangerous situation an intervention is made in a driving function.
  • Such an intervention in a driving function can be, for example, braking intervention or steering intervention.
  • a dangerous situation exists in particular when it is recognized that a collision with an object that cannot be driven over is imminent.
  • Embodiment provided, for the display function and the security function, each different weightings of the classification parameters in the Implementation of the height classification of the point objects to be used.
  • weightings of the classification parameters be as follows
  • driver assistance systems includes driver assistance systems described.
  • the method proposed according to the invention enables the height classification for objects which appear point-like for distance sensors.
  • a reliable height classification and, in particular, a reliable classification into objects that can be driven over and objects that cannot be driven over is decisive for the reliable functioning of many driver assistance systems.
  • the driver assistance systems should not trigger a warning or even a braking intervention for flat objects that can be driven over, such as curbs, thresholds or manhole covers, whereas collision-relevant objects such as posts, walls, traffic signs or the edges of other objects such as house corners or vehicle corners must be reliably detected.
  • Collisions are relevant and low objects which can be driven over and do not require a reaction from a driver assistance system, in particular the number of false warnings or even the number of false system reactions, although no collision-relevant object is present, is reduced, so that the acceptance of the
  • a higher rate can be accepted at which a low object which can be driven over is incorrectly classified as a high object, that is to say as a Object that cannot be driven over is classified as in the case of driver assistance systems which have a safety function and can, for example, perform a braking intervention.
  • FIG. 1 shows a vehicle with a driver assistance system according to the invention in a view from the side
  • Figure 2 fields of view of several ultrasonic sensors at the installation height of the sensors in a view from above and
  • FIG. 3 shows the fields of view of the ultrasonic sensors at floor level in a view from above.
  • FIG. 1 shows a vehicle 1, which is located on a road 22, in a view from the side.
  • the vehicle 1 comprises a driver assistance system 100 with an ultrasonic sensor 10 and a control device 20.
  • the driver assistance system 100 also has a display device 28 connected to the control unit 20.
  • the control unit 20 is also set up to carry out a braking intervention. This is shown in the illustration of FIG. 1 by connecting the control device 20 to a pedal 29.
  • the ultrasonic sensor 10 visible in FIG. 1 is mounted on the vehicle 1 at an installation height h on the rear of the vehicle 1.
  • the ultrasonic sensor 10 has a field of view 30 within which the ultrasonic sensor 10 is able to detect objects such as
  • Traffic sign 26 or a threshold 24 can be seen.
  • Ultrasonic sensor 10 can no longer be recognized, since this further threshold 24 ‘is outside the field of view 30 of the ultrasonic sensor 10. A
  • Height classification of the threshold 24 can be recognized when the vehicle 1 approaches the threshold 24 through a change in the amplitude or a change in the detection behavior. If the vehicle 1 drives slowly backwards in the direction of the threshold 24, this will leave the field of view 30 of the ultrasonic sensor 10 at a certain point, which can be recognized by a sharp drop in the amplitude of a corresponding ultrasonic echo. The point in time or the distance of the threshold 24 from the vehicle 1 at the point in time at which it can no longer be detected by the ultrasonic sensor 10 can then be used to draw conclusions about the height of the threshold 24. If the threshold 24 were to be a tall object, similar to that
  • the field of view 30 of the ultrasonic sensor 10 cannot be left when approaching. Leaving the field of view 30 in this way when approaching is only possible for low objects that can generally be driven over.
  • a reliable classification of the traffic sign 26 as a tall object is due to the comparatively small area, which ultrasound of the
  • Ultrasonic sensor 10 can reflect, and thus due to the comparatively small amplitudes of the received ultrasonic echoes not only possible on the basis of the amplitude. Further criteria must therefore be used.
  • an update rate of an object hypothesis representing the object, the amplitude of the ultrasonic echoes, the stability of the position determination of the object and the probability for the ultrasonic sensors 10 to receive an ultrasonic echo from the object are used as classification parameters.
  • FIG. 2 schematically shows the rear of the vehicle 1 on which four ultrasonic sensors 10 are mounted in the example shown in FIG.
  • FIG. 2 schematically shows the fields of view assigned to the ultrasonic sensors 11 to 14 at installation height 31 to 34 of the ultrasonic sensors 10, see FIG. 1.
  • FIGS. 2 and 3 show that the fields of vision at installation height 31 to 34 are larger than the corresponding fields of vision at floor level 41 to 44 and that in particular areas in which the fields of vision 31 to 34, 41 to 44 of at least two Ultrasonic sensors 10 overlap, in the case of viewing at installation height h, they are significantly larger than at floor level.
  • Object hypothesis has been created, this is updated accordingly with a higher probability if it is a high object than if it is a low object.
  • an update rate of an object hypothesis can be used as a criterion for performing an altitude classification.
  • the probability of being able to recognize an object is higher if it is in the center of one or more fields of view 31 to 34 and 41 to 44 than if the same object is located at the edge of fields of view 31 to 34 and 41 to 44. Accordingly, it is preferred when classifying the
  • the detection probability which is given by the relative position of the object at the fields of view 31 to 34 and 41 to 44.

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  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Acoustics & Sound (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Mathematical Physics (AREA)
  • Software Systems (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Computing Systems (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Medical Informatics (AREA)
  • Human Computer Interaction (AREA)
  • Data Mining & Analysis (AREA)
  • General Engineering & Computer Science (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention concerne un procédé de classification d'objets dans l'environnement d'un véhicule (1) en utilisant des capteurs à ultrasons (10) qui émettent des impulsions ultrasonores et reçoivent de nouveau des échos ultrasonores réfléchis par les objets. Les écarts entre le capteur à ultrasons (10) respectif et les objets réfléchissant des impulsions ultrasonores dans l'environnement sont déterminés par le biais d'au moins deux capteurs à ultrasons (10) dont les champs de vision (30) se chevauchent au moins partiellement, et afin de distinguer les objets étendus des objets ponctuels, une détermination de la position des objets réfléchissants est effectuée au moyen de la trilatération et de l'affectation des échos ultrasonores reçus à des hypothèses d'objets. De plus, selon l'invention, une classification en hauteur d'un objet ponctuel représenté par une hypothèse d'objet est effectuée en se basant, comme paramètres de classification, sur une fréquence de mise à jour de l'hypothèse d'objet, une stabilité de la position de l'objet représenté par l'hypothèse d'objet, l'amplitude des échos ultrasonores associés à l'hypothèse d'objet et une probabilité pour les capteurs à ultrasons (10) d'obtenir un écho ultrasonore de l'objet qui est représenté par l'hypothèse d'objet. Un autre aspect de l'invention concerne un système d'assistance au conducteur (100) qui est conçu pour mettre en œuvre le procédé.
EP20723340.4A 2019-05-26 2020-04-29 Procédé et système d'assistance au conducteur pour la classification d'objets dans l'environnement d'un véhicule Pending EP3977161A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102019207688.2A DE102019207688A1 (de) 2019-05-26 2019-05-26 Verfahren und Fahrerassistenzsystem zur Klassifizierung von Objekten in der Umgebung eines Fahrzeugs
PCT/EP2020/061910 WO2020239351A1 (fr) 2019-05-26 2020-04-29 Procédé et système d'assistance au conducteur pour la classification d'objets dans l'environnement d'un véhicule

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EP3977161A1 true EP3977161A1 (fr) 2022-04-06

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US (1) US20220244379A1 (fr)
EP (1) EP3977161A1 (fr)
CN (1) CN114207469A (fr)
DE (1) DE102019207688A1 (fr)
WO (1) WO2020239351A1 (fr)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102019215393A1 (de) * 2019-10-08 2021-04-08 Robert Bosch Gmbh Verfahren und eine Vorrichtung zur Klassifizierung eines Objektes, insbesondere im Umfeld eines Kraftfahrzeugs
DE102022200750A1 (de) 2022-01-24 2023-07-27 Robert Bosch Gesellschaft mit beschränkter Haftung Ultraschallsendeempfangsanordnung zur Detektion und Lokalisierung eines Umgebungsobjektes
JP2024035280A (ja) * 2022-09-02 2024-03-14 フォルシアクラリオン・エレクトロニクス株式会社 物体検出装置

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102005038524A1 (de) * 2005-08-02 2007-02-15 Valeo Schalter Und Sensoren Gmbh Verfahren zur Ermittlung der Tiefenbegrenzung einer Parklücke mittels Ultraschallsensoren und System hierzu
DE102007061235A1 (de) * 2007-12-19 2009-06-25 Robert Bosch Gmbh Verfahren zur Klassifizierung von Abstandsdaten und korrespondierende Abstandsmessvorrichtung
JP2009151649A (ja) * 2007-12-21 2009-07-09 Mitsubishi Fuso Truck & Bus Corp 車両用警報装置
DE102009046158A1 (de) * 2009-10-29 2011-05-05 Robert Bosch Gmbh Verfahren zur Erkennung von Objekten mit geringer Höhe
DE102013021837A1 (de) * 2013-12-21 2015-06-25 Valeo Schalter Und Sensoren Gmbh Verfahren zum Klassifizieren eines Objekts, Sensoreinrichtung und Kraftfahrzeug
JP6484000B2 (ja) * 2014-10-22 2019-03-13 株式会社デンソー 物体検知装置
DE102015209878B3 (de) * 2015-05-29 2016-02-18 Robert Bosch Gmbh Verfahren und Vorrichtung zur Erfassung von Objekten im Umfeld eines Fahrzeugs
EP3326002A1 (fr) * 2015-07-17 2018-05-30 Jaguar Land Rover Limited Capteur acoustique destiné à être utilisé dans un véhicule
DE102015117379A1 (de) * 2015-10-13 2017-04-13 Valeo Schalter Und Sensoren Gmbh Verfahren zum Erfassen eines dynamischen Objekts in einem Umgebungsbereich eines Kraftfahrzeugs auf Basis von Informationen einer kraftfahrzeugseitigen Ultraschalldetektionseinrichtung, Fahrerassistenzsystem und Kraftfahrzeug
DE102016218093A1 (de) * 2016-09-21 2018-03-22 Robert Bosch Gmbh Betriebsverfahren für ein Ultraschallsensorsystem, Steuereinrichtung, Ultraschallsensorsystem und Fahrzeug
US20190079526A1 (en) * 2017-09-08 2019-03-14 Uber Technologies, Inc. Orientation Determination in Object Detection and Tracking for Autonomous Vehicles

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CN114207469A (zh) 2022-03-18
WO2020239351A1 (fr) 2020-12-03
US20220244379A1 (en) 2022-08-04

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