EP4078230A2 - Procédé pour détecter au moins un usager de la route - Google Patents

Procédé pour détecter au moins un usager de la route

Info

Publication number
EP4078230A2
EP4078230A2 EP20829905.7A EP20829905A EP4078230A2 EP 4078230 A2 EP4078230 A2 EP 4078230A2 EP 20829905 A EP20829905 A EP 20829905A EP 4078230 A2 EP4078230 A2 EP 4078230A2
Authority
EP
European Patent Office
Prior art keywords
determined
road user
radar
detected
optical image
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
EP20829905.7A
Other languages
German (de)
English (en)
Inventor
Michael Lehning
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.)
SMS Smart Microwave Sensors GmbH
Original Assignee
SMS Smart Microwave Sensors 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 SMS Smart Microwave Sensors GmbH filed Critical SMS Smart Microwave Sensors GmbH
Publication of EP4078230A2 publication Critical patent/EP4078230A2/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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/91—Radar or analogous systems specially adapted for specific applications for traffic control
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/42—Simultaneous measurement of distance and other co-ordinates
    • G01S13/44—Monopulse radar, i.e. simultaneous lobing
    • G01S13/4454—Monopulse radar, i.e. simultaneous lobing phase comparisons monopulse, i.e. comparing the echo signals received by an interferometric antenna arrangement
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • G01S13/583—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets
    • G01S13/584—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets adapted for simultaneous range and velocity measurements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/66—Radar-tracking systems; Analogous systems
    • G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
    • G01S13/723—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar by using numerical data
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G01S13/867—Combination of radar systems with cameras
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/35—Details of non-pulse systems
    • G01S7/352—Receivers
    • G01S7/356—Receivers involving particularities of FFT processing
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/35—Details of non-pulse systems
    • G01S7/352—Receivers
    • G01S7/358—Receivers using I/Q processing
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating
    • G01S7/4004—Means for monitoring or calibrating of parts of a radar system
    • G01S7/4026—Antenna boresight
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • G01S7/411—Identification of targets based on measurements of radar reflectivity
    • G01S7/412—Identification of targets based on measurements of radar reflectivity based on a comparison between measured values and known or stored values
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • G01S7/415—Identification of targets based on measurements of movement associated with the target
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/08—Systems for measuring distance only
    • G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
    • G01S13/34—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
    • G01S13/343—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal using sawtooth modulation

Definitions

  • the invention relates to a method for detecting at least one road user on a road. Such methods have been known from the prior art for a long time and in different embodiments. Devices and sensors for performing such methods have also been described in the prior art.
  • Different sensors have been used for years to record road users. This applies, for example, to the use of optical cameras in the form of mono cameras or stereo cameras.
  • a camera delivers a very good one Resolution with respect to the transverse direction in which a road user is with respect to the camera. It consequently provides a good angular resolution in the azimuth direction and elevation direction, which are also referred to as lateral direction and height direction.
  • the distance to an object cannot be inferred from individual optical images provided by a single camera, unless the size of at least a partial area of an object, for example a license plate of a road user, is known and from the optical image determine is.
  • the speed of an object cannot be determined from a single optical image.
  • Stereo cameras can provide information about the distance of an object if the offset between the two individual cameras that make up the stereo camera is known.
  • the speed cannot be resolved in this sensor arrangement either.
  • cameras usually detect visible light and therefore do not work or only function to a very limited extent in darkness, fog, rain and snow. However, this is necessary for equipping vehicles for autonomous driving, for example, since such vehicles should also drive autonomously at night.
  • Laser scanners are also used for traffic monitoring. However, they have a low spatial resolution which, even due to recent developments such as the use of solid state lasers and / or frequency modulation, does not come close to the resolution of camera systems. By using wavelengths on the order of magnitude of visible light, for example in the near infrared, the same reflection problems arise as with camera systems, for example on shiny and optically reflective surfaces. In addition, the range and performance are limited due to the safety regulations that apply to lasers. Further disadvantages are the low spatial resolution, sensitivity to contamination and, in the case of frequency-modulated laser scanners, the high technical and financial outlay.
  • Radar sensors are often used in the prior art to detect road users. Radar radiation is transmitted by means of a radar transmitter of the radar sensor, reflected by the respective road user and then walked detected by a radar receiver of the radar sensor. If the radar radiation is transmitted, for example, in the form of frequency ramps, the distance or the distance of the road user from the radar sensor and the radial speed, i.e. the speed component of the road user that is directed towards the sensor or away from the sensor, can be derived from the detected radar radiation, to be determined. Such a method is known from DE 10 2017 105 783, in which different frequency ramps are transmitted and so-called range Doppler matrices are calculated from the detected received signals that correspond to the detected radar radiation.
  • Radar sensors have the disadvantage that they only offer poor angular resolution. This disadvantage is counteracted with different approaches.
  • the angular resolution of a radar sensor can be significantly improved if several radar receivers arranged at fixed and known distances from one another and / o the several radar transmitters arranged at fixed and known distances from one another are used and form the radar sensor. Even then, however, the resolution cannot be compared with that of an optical sensor, for example a camera.
  • the invention is therefore based on the object of specifying a method with which the disadvantages of the prior art can be eliminated and the road user can be better detected.
  • the invention solves the problem posed by a method for detecting at least one road user on a traffic route by means of a radar sensor and an optical detector in which - Radar radiation from at least one radar transmitter of the radar sensor sends out and is reflected by at least one road user,
  • the reflected radar radiation is detected by means of at least one radar receiver of the radar sensor
  • the detected radar radiation is evaluated in such a way that at least one distance and a radial speed of the at least one road user is determined relative to the radar sensor,
  • An optical image of the at least one road user is detected by means of the optical detector's rule
  • the optical image is evaluated, at least one parameter of the at least one road user being determined both from the detected radar radiation and from the optical image.
  • the method combines the advantages of a radar sensor with the advantages of an optical detector, for example a mono camera or a stereo camera.
  • the radar radiation is emitted by the at least one radar transmitter, reflected by the road user and detected as reflected radar radiation by the radar receiver. This corresponds to the mode of operation of a radar sensor from the prior art.
  • the optical detector used in the method detects an optical image. It can also detect visible light, infrared radiation or UV radiation. The detected radiation can have different wavelengths or be monochromatic. The optimal choice depends on the requirements of the application. This optical image, which is detected by the optical detector's rule, is evaluated, it being possible to use all evaluation methods that are known from the prior art. Of course, additional evaluations can also be carried out.
  • At least one parameter of the at least one road user is determined by both measurement principles - that is, twice - namely once when evaluating the detected radar radiation and once when evaluating the optical image.
  • This double determination ensures that the parameters that are determined when evaluating the detected radar radiation and the parameters that are determined when evaluating the optical image can be assigned to a single road user, provided they belong to this one road user.
  • the most varied of parameters can be used as parameters of the road user.
  • the at least one parameter which is determined both from the detected radar radiation and from the optical image, preferably contains a direction in which the road user is located. Even if the resolution of the two measurement methods used is significantly different with regard to this parameter, certain parameters, such as this spatial direction, which were determined with the two different sensors and methods, can be assigned to a single road user.
  • This parameter which is determined both from the optical image and from the detected radar radiation, can also be referred to as a bridge parameter, as it enables the parameters of the different detection modes to be combined and assigned to the correct road user. In this way, it is possible to combine the parameters that can only be determined by one of the two sensor arrangements, assign them to the same road user and thus supplement and expand knowledge about the road user. Parameters that can be determined by both sensor arrangements, ie the radar sensor and the optical detector, can be checked and compared, checked for plausibility and thus given with lower error tolerances.
  • At least one detection matrix is preferably determined from the detected radar radiation, from which the distance of the at least one road user from the radar sensor and / or the radial speed of the road user with respect to the radar sensor is determined.
  • the use of range Doppler matrices is known from the prior art.
  • the radar radiation is preferably sent out in the form of frequency ramps or encoded in some other way.
  • the reflected radar radiation emitted by the Radar receiver of the radar sensor is detected, is then mixed with the transmitted signal and sent to the evaluation.
  • Different Fast Fourier Transformations (FFT) correlations or other methods are carried out so that at the end a matrix can be obtained with the spectral weight, i.e. the detected energy, at certain values for the distance and the Doppler frequency and thus the radial velocity is included.
  • FFT Fast Fourier Transformations
  • the radar sensor preferably has several radar transmitters and / or several radar receivers, so that several combinations of transmitter and receiver can be formed.
  • a range-Doppler matrix can be created for each of these combinations. These can be combined in the form of a digital beam forming process ("Digital Beam Forming") in such a way that different directions, preferably both in the azimuth direction and in the elevation direction, are recorded. The angular resolution can be improved in this way by cleverly combining the various range-Doppler matrices. This produces the same effect as with a pivotable sensor arrangement and / or pivotable radar sensors.
  • several detection matrices in particular several range Doppler matrices, are determined which contain information about road users in different directions, in particular azimuth angle ranges. The detected radar radiation is used to determine information about the direction in which the at least one road user is located relative to the radar sensor.
  • a spatial direction in which the at least one road user is located relative to the optical detector is preferably determined from the optical image. This has long been known from the prior art and can be achieved, for example, by multiplying individual, directory-corrected pixels of the optical detector, for example a CMOS camera, by the inverse camera matrix. In this way, each pixel can be assigned a precise spatial direction and an angular range from which the electromagnetic radiation that the pixel has detected originates. If the spatial direction is determined both from the optical image and from the detected radar radiation, it is suitable as a bridge parameter in order to combine the measured values and parameters that were determined with the different sensor types and processes and to assign them to a road user.
  • the detected radar radiation and / or the optical image of the at least one road user is advantageously detected and evaluated at different times.
  • an optical flow can be determined. This means that certain objects or parts of objects, for example the road user or his license plate, can be identified on the various optical images and thus tracked. From this, for example, a speed, a direction of movement, a distance and / or a size of the object, in particular of the at least one road user, can be determined. It is advantageous if other parameters are used in the evaluation of the optical images and the optical flux which were preferably determined from the evaluation of the detected radar radiation.
  • At least one parameter is preferably taken into account that was determined in at least one previous evaluation of the optical image.
  • at least one parameter is taken into account which was determined in at least one previous evaluation of the detected radar radiation.
  • parameters can also be used that were determined during the evaluation of the same variable. In this way, for example, traffic participants can be recorded and tracked who are not visible to the respective sensor for the entire measurement time. For example, if a car approaches an intersection, it is initially visible to the sensor arrangement until it has to stop behind a larger vehicle, for example a truck, or is covered by it.
  • these parameters can be used to actively search for the car in later evaluations, using the known values, for example for distance, position and / or orientation of the car. The same applies, for example, to cars that are still visible to the sensor, but have to stop at a traffic light, for example.
  • the speed of the vehicle is reduced to 0 m / s, so that, in particular when evaluating the detected radar radiation, no other fixed objects such as traffic signs, more distinctive speed can be determined.
  • the parameters of earlier evaluations can be used so that the respective road user can be recognized as soon as he starts again and has a radial speed again.
  • a speed of the at least one road user and / or a direction in which the at least one road user is relatively is determined at least also from the optical flow, preferably in combination with the radial speed, which is particularly preferably determined from the detected radar radiation to the optical detector is located.
  • the radial speed which is particularly preferably determined from the detected radar radiation to the optical detector is located.
  • the sensor arrangement can, for example, monitor the part of the traffic route that lies in front of the motor vehicle on which it is positioned. The method described here is carried out to accurately determine the relative movement of other vehicles.
  • This method can also be used to determine one's own speed relative to stationary components and objects.
  • autonomous driving it is important to recognize whether or not the vehicle that is equipped with the sensor arrangement is on a collision course with a preceding vehicle that has a lower speed. For this purpose it is not sufficient to determine the radial speed; rather, a possibly small component of the relative speed between the two vehicles must also be determined which does not point towards or away from one of the vehicles. This is the only way to determine whether, for example, a lane change is necessary or whether the two vehicles can drive past each other.
  • a component of the at least one road user is recognized in the detected optical image, the dimensions of which is known in at least one spatial direction, preferably in two spatial directions perpendicular to one another, so that a distance of the at least one road user can be obtained from the detected optical image from the optical detector and / o- the one size of the at least one road user can be determined, particularly preferred is determined.
  • One such component is, for example, the number plate, which is standardized in size in many countries. There may be two or three different versions of a license plate, but their dimensions are very different and known.
  • the distance of the object in this case the component of the at least one road user, can be inferred.
  • the distance can be determined both when evaluating the optical image and when evaluating the detected radar radiation, so that it can be used as a bridge parameter.
  • a distance between the radar sensor and the optical detector and / or an orientation of the radar sensor relative to the optical detector is preferably determined from the detected radar radiation and the optical image. This can be done in different ways. As a rule, this works when an object, an object or part of an object or an object is recognized both during the evaluation of the detected radar radiation and during the evaluation of the optical image.
  • the orientation of the object or object relative to the radar sensor and relative to the optical detector is particularly preferably detected. If the size, shape or orientation of the object is known, the different angles of view that the radar sensor and the optical detector have on the object or the object can affect the positioning, i.e. in particular the distance and / or orientation, of the two sensors be closed to each other.
  • the distance and / or the orientation of the two sensors to one another is known. Nevertheless, it makes sense to determine the distance and / or the orientation from the detected radar radiation and the optical image in order to then compare it, for example, with the known target data. In this way, malfunctions of the sensor arrangement can be detected, which are caused, for example, by a displacement or a movement of the optical detector and / or the radar sensor relative to the respective other detector or sensor.
  • an extent of the at least one road user is preferably determined in the azimuth direction and / or in the elevation direction.
  • the distance of the at least one road user from the radar sensor is preferably determined, where the location and / or size and / or orientation of the road user is determined from the extent and the distance. This is particularly advantageous when movements of the road user are to be predicted or anticipated. If the exact location and orientation of a road user is known, movements in a number of directions are ruled out. A car, for example, can only move forwards or backwards and, if necessary, take a curve. A sideways movement is usually impossible due to the design of the car. If the orientation of the car is known, certain movements can be excluded from the outset, since the traffic participant is not able to carry out these movements due to his technical nature.
  • an orientation of the at least one road user is preferably determined, from which a complete speed and / or a complete direction of movement of the at least one road user is determined with the radial speed and the distance of the at least one road user.
  • a complete speed and a complete direction of movement contain not only a single movement component, for example the radial speed or the movement towards the sensor, but also all other components of the respective vector quantity.
  • the at least one road user is advantageously classified on the basis of parameters, at least one of which was determined during the evaluation of the detected radar radiation and at least one during the evaluation of the optical image.
  • the invention also solves the problem posed by a device for detecting at least one road user on a traffic route, which has at least one radar sensor with at least one radar transmitter and at least one radar receiver, at least one optical detector and an electrical controller that is set up to perform a method described here.
  • the at least one radar transmitter preferably has several transmitting antennas and / or the at least one radar receiver has several receiving antennas.
  • FIG. 4 shows the schematic arrangement of several radar receivers
  • FIG. 5 shows the schematic representation of several detection matrices, in particular range Doppler matrices,
  • FIG. 6 shows a further step in the evaluation of the direction-dependent detection matrices
  • FIG. 9 shows the schematic representation of the determination of range Doppler matrices for different spatial directions.
  • FIGS. 1 to 3 schematically show steps for determining a detection matrix, in particular a range-Doppler matrix.
  • the radar radiation emitted is preferably emitted in the form of frequency ramps, which are referred to as “ramp”.
  • the terms “sample 0”, “sample 1” etc. which designate the columns of the matrix shown, store the respectively received or detected radar radiation as complex amplitude values.
  • the different columns consequently relate to different points in time, which are preferably equidistant, at which the detected radar radiation is read out. This happens several times for a large number of frequency ramps transmitted one after the other.
  • the respective measured values are entered in the various lines, with each line representing a frequency ramp curve.
  • the detected radar radiation is mixed with the transmitted radar radiation.
  • This mixed radiation is transferred to the matrix shown in FIG. 1 and fed to the evaluation. From the frequency offset between the transmitted radar radiation and the detected radar radiation, which is essentially defined by the time span required by the radar radiation to get from the radar transmitter to the road user and back to the radar receiver, a conclusion can be drawn about the Reach the distance of the road user from the radar sensor.
  • a first Fourier transformation is carried out in the exemplary embodiment shown, the Fourier transformation being carried out for each row of the matrix in FIG.
  • the measured values are consequently transferred to a Fourier transformation within each individual frequency ramp.
  • the result is the matrix shown schematically in FIG. 2, in which the columns are now defined by different radial distances from the radar sensor.
  • a second Fourier transformation is carried out which, however, is now carried out not via the entries in a row but via the entries in a column of the matrix.
  • This is the so-called Doppler transformation, which is carried out via a so-called “range gate”, that is, a column of the matrix shown in FIG.
  • the result is Dopplerfrequen that can be converted into radial velocities, that is, velocities that lead towards or away from the radar sensor.
  • the range-Doppler matrix shown in FIG. 3 is produced in this way.
  • FIG. 4 schematically shows an embodiment of a radar receiver which can be part of a radar sensor. It has a plurality of receiving antennas 2, which are arranged equidistant from one another at a distance d. An equidistant one Arrangement is advantageous, but not absolutely necessary.
  • the arrows 4 represent radar radiation which, in the exemplary embodiment shown, was reflected by a road user. An angle other than 90 ° is included between the extension direction in which the receiving antennas 2 are arranged next to one another and the direction of the arrows 4 from which the reflected radar radiation strikes the receiving antennas 2. Wavefronts of plane waves of the radar radiation are shown schematically by the dashed lines 6. As a result of the angle, in the exemplary embodiment shown, the reflected radar radiation first hits the receiving antennas 2 arranged furthest to the right and only at later times on the receiving antennas 2 arranged further to the left.
  • the detected radar radiation can be mixed with the emitted radiation for each of the receiving antennas 2 and fed to the evaluation.
  • a large number of range Doppler matrices are created.
  • a separate range-Doppler matrix can be calculated for each desired spatial direction by feeding the complex amplitude values phase-corrected for the respective desired spatial direction to the evaluation method.
  • This process is called digital beam forming (DBF).
  • DBF digital beam forming
  • a range Doppler matrix can be calculated for any spatial direction.
  • An example of range Doppler matrices calculated in this way for different spatial directions is shown schematically in FIG.
  • Each of the hatched squares represents a range-doubler matrix 8 which was calculated according to the method in FIG.
  • FIG. 6 shows schematically that the nine range Doppler matrices 8 shown in FIG. 5 are combined. This is of course also possible with more or less range Doppler matrices 8.
  • a depth image 10 can be determined. This includes not only the radial distance of a road user from the radar sensor and his Radialge speed with respect to the radar sensor, but also in particular angle information about the azimuth direction and possibly the elevation direction. The direction in which an angular resolution can be achieved depends in particular on how the pattern arrangement of the receiving antennas 2 is constructed.
  • FIG. 7 shows schematically different road users who can be distinguished by a classification.
  • a truck 12, a motor vehicle 14, a motorcycle 16, a cyclist 18 and a pedestrian 20 are shown.
  • These different road users can be distinguished from one another on the basis of the parameters to be determined. This applies to speeds as well as spreading cross-sections, dimensions and behavior on the respective traffic route.
  • Figure 8 shows schematically and by way of example the truck 12 with various parameters. It has a height 22, a width 24 and a length 26, which represent some of the parameters to be determined. In addition, he moves forward along the speed arrow 28 and has an orientation and direction that can also be referred to as a pose.
  • the dimensions of height 22, width 24 and length 26 can be determined, for example, from the optical image that was recorded by means of the at least one optical detector. This is particularly the case when elements that are also recorded in the optical image are known, such as buildings, signs, dimensions of elements shown or other sizes of the objects shown. In this case, the dimensions of the road user contained in the optical image can be related to the known dimensions of a further illustrated object, so that an estimation of the dimensions is possible.
  • the width 24 of the truck 12 can be determined via the distance between different points of the road user depicted in the optical image, for example the two exterior mirrors of a truck 12, if it is known how far the truck 12 is from the radar sensor. This information can be determined from the range Doppler matrix 8 or in some other way from the detected and evaluated radar beams.
  • a complete whereabouts of the road user, in particular the truck 12 shown, can also be determined solely from the evaluated optical image, provided the road geometry, in particular the course, the number of lanes and other structural conditions of the traffic route are known.
  • the location can at least be estimated by only evaluating the optical image.
  • a better result is also achieved with these parameters if these data determined from the optical image are combined with distance data determined from the evaluation of the detected radar radiation.
  • radar tracking in which a road user is tracked over a period of time and his movement is tracked by evaluating a plurality, in particular many, detection matrices created one after the other, the distance and the change in the distance of the road user can be determined particularly easily to determine the radar sensor.
  • the actual whereabouts of the road user can be determined very precisely.
  • This can also be determined, for example, by means of image recognition software when evaluating the optical image.
  • the combination with the information ascertained from the detected radar radiation improves the quality of the specific parameter in this case as well and also makes it possible to compare and check the ascertained values. If, for example, the orientation of a road user determined from the optical image, for example the truck 12 shown, does not match the speed determined from the detected radar radiation and in particular the direction of this speed, this indicates an incorrect evaluation of the data.
  • the full speed i.e. the determination of the speed as a vector variable with direction and magnitude
  • FIG. 9 schematically shows the way to calculate range-Doppler matrices 8 for different spatial directions.
  • different antennas 2 are used, of which only two are shown for the sake of clarity.
  • the received measurement signals are initially used in a conventional manner in order to determine a range-Doppler matrix 8 in each case.
  • the radar radiation reflected by a road user reaches the various receiving antennas 2 at different times, as is shown schematically in FIG. This is how they differ individual entries of the range doubler matrices generated separately for each receiving antenna 2 also in phase Q.
  • a range-Doppler matrix 8 is to be calculated for a specific spatial direction, the individual range-Doppler matrices 8 are added up in a summer 30. A separate summer 30 is shown for each desired spatial direction.
  • the individual range Doppler matrices are previously subjected to a phase shifter 32 which is individually determined for the desired spatial direction.
  • the phase Q of each individual matrix element of the range Doppler matrices 8 to be summed is changed by means of this phase shifter 32 within the scope of the digital Strahlfor mung in order to achieve the desired spatial direction.

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Traffic Control Systems (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

L'invention concerne un procédé pour détecter au moins un usager de la route sur une voie de circulation au moyen d'un détecteur radar et d'un détecteur optique, le procédé comprenant les étapes suivantes : un rayonnement radar est émis par au moins un émetteur radar du détecteur radar et réfléchi par l'au moins un usager de la route ; le rayonnement radar réfléchi est détecté au moyen d'au moins un récepteur radar du détecteur radar ; le rayonnement radar détecté est évalué de telle sorte qu'au moins une distance et une vitesse radiale de l'au moins un usager de la route par rapport au détecteur radar sont déterminées ; une image optique de l'au moins un usager de la route est détectée au moyen du détecteur optique ; et l'image optique est évaluée, au moins un paramètre de l'au moins un usager de la route étant déterminé aussi bien à partir du rayonnement radar détecté qu'à partir de l'image optique.
EP20829905.7A 2019-12-18 2020-12-16 Procédé pour détecter au moins un usager de la route Pending EP4078230A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102019134985.0A DE102019134985B4 (de) 2019-12-18 2019-12-18 Verfahren zum Erfassen wenigstens eines Verkehrsteilnehmers
PCT/EP2020/086540 WO2021122828A2 (fr) 2019-12-18 2020-12-16 Procédé pour détecter au moins un usager de la route

Publications (1)

Publication Number Publication Date
EP4078230A2 true EP4078230A2 (fr) 2022-10-26

Family

ID=74095834

Family Applications (1)

Application Number Title Priority Date Filing Date
EP20829905.7A Pending EP4078230A2 (fr) 2019-12-18 2020-12-16 Procédé pour détecter au moins un usager de la route

Country Status (7)

Country Link
US (1) US20230008876A1 (fr)
EP (1) EP4078230A2 (fr)
JP (1) JP2023519061A (fr)
KR (1) KR20220110543A (fr)
CN (1) CN114829972A (fr)
DE (1) DE102019134985B4 (fr)
WO (1) WO2021122828A2 (fr)

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102012008350A1 (de) 2012-04-19 2013-10-24 S.M.S Smart Microwave Sensors Gmbh Verfahren und Vorrichtung zur Abstimmung von Abstand und Radialgeschwindigkeit eines Objekts mittels Radarsignalen
DE102013206707A1 (de) 2013-04-15 2014-10-16 Robert Bosch Gmbh Verfahren zur Überprüfung eines Umfelderfassungssystems eines Fahrzeugs
EP3252501B1 (fr) 2016-06-03 2022-06-08 Veoneer Sweden AB Détection d'objet amélioré et estimation de l'état de mouvement pour un système de détection d'environnement de véhicule
DE102017105783B4 (de) 2017-03-17 2020-06-10 S.M.S Smart Microwave Sensors Gmbh Verfahren zum Bestimmen eines Abstandes und einer Geschwindigkeit eines Objektes
DE102018205879A1 (de) 2018-04-18 2019-10-24 Volkswagen Aktiengesellschaft Verfahren, Vorrichtung und computerlesbares Speichermedium mit Instruktionen zur Verarbeitung von Sensordaten

Also Published As

Publication number Publication date
JP2023519061A (ja) 2023-05-10
DE102019134985A1 (de) 2021-06-24
WO2021122828A3 (fr) 2021-08-12
US20230008876A1 (en) 2023-01-12
WO2021122828A2 (fr) 2021-06-24
KR20220110543A (ko) 2022-08-08
CN114829972A (zh) 2022-07-29
DE102019134985B4 (de) 2022-06-09

Similar Documents

Publication Publication Date Title
EP1557692B1 (fr) Procédé de détection des emplacements dangereux et/ou des chantiers de construction marqués à proximité des routes
EP1557691B1 (fr) Procédé de détection des marquages sur une chaussée
EP3485290B1 (fr) Procédé et système de balayage d'un produit
EP1797450B1 (fr) Capteur radar et procede de regulation de l'espacement et de la vitesse
EP1557694B1 (fr) Procédé de classement d'objets
DE102011117554A1 (de) Fahrumgebungserfassungsvorrichtung
DE102014223363A1 (de) Verfahren und Vorrichtung zur Lokalisation eines Kraftfahrzeugs in einer ortsfesten Referenzkarte
DE102010012811B4 (de) Verfahren zur Messung von Geschwindigkeiten und Zuordnung der gemessenen Geschwindigkeiten zu angemessenen Fahrzeugen durch Erfassen und Zusammenführen von Objekt-Trackingdaten und Bild-Trackingdaten
DE102011081740A1 (de) Fahrumgebung-Erkennungseinrichtung und Fahrumgebung-Erkennungsverfahren
EP2046619B1 (fr) Système d'assistance au conducteur
DE102009006113A1 (de) Vorrichtung und Verfahren zur Sensorfusion mit dynamischen Objekten
DE102018115265A1 (de) Verfahren und vorrichtung zur objektoberflächenschätzung mittels reflexionsverzögerungs-aufspreizung
DE102018115372A1 (de) Verfahren und vorrichtung zur parallelen beleuchtung durch ein vcsel-array
EP2804014B1 (fr) Dispositif et procédé destinés à la détermination d'une caractéristique de véhicule
DE102018118528A1 (de) Verfahren und Vorrichtung zur Segment-übergreifenden Erfassung in einem Lidar-System
DE102018118142A1 (de) Vorrichtung zum erhöhen des sichtfeldes für lidar-detektoren und -beleuchter
DE102018118679A1 (de) Verfahren und vorrichtung zur parallelen aufnahme in ein lidar-array
DE102011077333A1 (de) Fahrerassistenzsystem mit Objektdetektion
DE102018123170A1 (de) Verfahren und vorrichtung zur frameratenerhöhung in lidar-arrays
DE102013112671A1 (de) Objekttyp-Bestimmungsvorrichtung
DE102011005970A1 (de) Verfahren und Vorrichtung zum Schätzen einer Straßenform
WO2020127245A1 (fr) Détermination de l'orientation spatiale d'objets par radar ou à l'aide d'un rayonnement d'interrogation électromagnétique
WO2017080787A1 (fr) Détection latérale de rail de sécurité par un capteur de distance dans le véhicule
DE102020105192B4 (de) Verfahren zum Detektieren bewegter Objekte in einer Fahrzeugumgebung und Kraftfahrzeug
DE102020106680A1 (de) System und verfahren zum steuern des betriebs einer vorrichtung mit einem lenkbaren optischen sensor und einer lenkbaren radareinheit

Legal Events

Date Code Title Description
STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: UNKNOWN

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE

PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20220629

AK Designated contracting states

Kind code of ref document: A2

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

DAV Request for validation of the european patent (deleted)
DAX Request for extension of the european patent (deleted)
P01 Opt-out of the competence of the unified patent court (upc) registered

Effective date: 20230525