FR3139202B1 - Obstacle detection method and device for a vehicle with a radar sensor - Google Patents

Obstacle detection method and device for a vehicle with a radar sensor Download PDF

Info

Publication number
FR3139202B1
FR3139202B1 FR2208661A FR2208661A FR3139202B1 FR 3139202 B1 FR3139202 B1 FR 3139202B1 FR 2208661 A FR2208661 A FR 2208661A FR 2208661 A FR2208661 A FR 2208661A FR 3139202 B1 FR3139202 B1 FR 3139202B1
Authority
FR
France
Prior art keywords
vehicle
obstacle
radar sensor
detection method
obstacle detection
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.)
Active
Application number
FR2208661A
Other languages
French (fr)
Other versions
FR3139202A1 (en
Inventor
Jean Charles Berreur
Laurent Drouot
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.)
PSA Automobiles SA
Original Assignee
PSA Automobiles SA
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 PSA Automobiles SA filed Critical PSA Automobiles SA
Priority to FR2208661A priority Critical patent/FR3139202B1/en
Priority to PCT/FR2023/051188 priority patent/WO2024047298A1/en
Publication of FR3139202A1 publication Critical patent/FR3139202A1/en
Application granted granted Critical
Publication of FR3139202B1 publication Critical patent/FR3139202B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9314—Parking operations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93272—Sensor installation details in the back of the vehicles

Landscapes

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

Abstract

La présente invention concerne un procédé et un dispositif (4) de détection d’obstacle pour un véhicule (2) comprenant un volet arrière (6). Le procédé comprend : détection d’un obstacle (OB1) dans un cône de scrutation (10) d’un capteur radar (8) tandis que le volet arrière (6) est en position basse (P1) et que le véhicule (2) réalise une manœuvre en marche arrière (MV2) ; estimation d’une position courante de l’obstacle (OB1) relativement à un bord arrière (12) du véhicule tandis que le véhicule (2) poursuit la manœuvre en marche arrière (MV2) causant la sortie hors du cône de scrutation (10) de l’obstacle ; et déclenchement d’une alerte lorsqu’une distance séparant la position courante de l’obstacle (OB1) et le bord arrière (12) est inférieure ou égale à une valeur seuil. Figure pour l’abrégé : Figure 3The present invention relates to a method and a device (4) for detecting obstacles for a vehicle (2) comprising a rear flap (6). The method comprises: detection of an obstacle (OB1) in a scanning cone (10) of a radar sensor (8) while the rear flap (6) is in the low position (P1) and the vehicle (2) performs a reverse maneuver (MV2); estimation of a current position of the obstacle (OB1) relative to a rear edge (12) of the vehicle while the vehicle (2) continues the maneuver in reverse (MV2) causing the exit out of the scanning cone (10) of the obstacle; and triggering an alert when a distance separating the current position of the obstacle (OB1) and the rear edge (12) is less than or equal to a threshold value. Figure for abstract: Figure 3

FR2208661A 2022-08-30 2022-08-30 Obstacle detection method and device for a vehicle with a radar sensor Active FR3139202B1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
FR2208661A FR3139202B1 (en) 2022-08-30 2022-08-30 Obstacle detection method and device for a vehicle with a radar sensor
PCT/FR2023/051188 WO2024047298A1 (en) 2022-08-30 2023-07-27 Obstacle detection method and device for a vehicle with a radar sensor

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR2208661A FR3139202B1 (en) 2022-08-30 2022-08-30 Obstacle detection method and device for a vehicle with a radar sensor
FR2208661 2022-08-30

Publications (2)

Publication Number Publication Date
FR3139202A1 FR3139202A1 (en) 2024-03-01
FR3139202B1 true FR3139202B1 (en) 2024-07-12

Family

ID=84361931

Family Applications (1)

Application Number Title Priority Date Filing Date
FR2208661A Active FR3139202B1 (en) 2022-08-30 2022-08-30 Obstacle detection method and device for a vehicle with a radar sensor

Country Status (2)

Country Link
FR (1) FR3139202B1 (en)
WO (1) WO2024047298A1 (en)

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1415541A (en) 1972-11-30 1975-11-26 Hexachimie 1-amino-methyl-2,2-diarylcyclopropanecarboxamide
DE10346074A1 (en) * 2003-10-04 2005-04-21 Valeo Schalter & Sensoren Gmbh A method and distance detecting device for detecting the projected distance between a distance measuring device and an obstacle
DE102009046158A1 (en) * 2009-10-29 2011-05-05 Robert Bosch Gmbh Method for detecting objects with low height
DE102017125123A1 (en) * 2017-10-26 2019-05-02 Valeo Schalter Und Sensoren Gmbh Obstacle detection device for a vehicle tailgate

Also Published As

Publication number Publication date
FR3139202A1 (en) 2024-03-01
WO2024047298A1 (en) 2024-03-07

Similar Documents

Publication Publication Date Title
CN107144839B (en) Detecting long objects by sensor fusion
US9983306B2 (en) System and method for providing target threat assessment in a collision avoidance system on a vehicle
US9785846B2 (en) Method for quantifying classification confidence of obstructions
KR101534927B1 (en) Apparatus and method for recognizing of vehicle
CN111708016B (en) Vehicle front collision early warning method with integration of millimeter wave radar and laser radar
CN112799098B (en) Radar blind area monitoring method and device, electronic equipment and storage medium
CN107103275B (en) Wheel-based vehicle detection and tracking using radar and vision
US20020057195A1 (en) Method and apparatus for estimating inter-vehicle distance using radar and camera
US20110025548A1 (en) System and method for vehicle sensor fusion
GB2541354A (en) Collision avoidance method, computer program product for said collision avoidance method and collision avoidance system
RU2017120181A (en) BLIND AREA SYSTEMS AND METHODS
KR20130007243A (en) Method and system for warning forward collision using camera
TWI559267B (en) Method of quantifying the reliability of obstacle classification
Fang et al. A real-time visual-based front-mounted vehicle collision warning system
US20220035029A1 (en) Method for evaluating an effect of an object in the surroundings of a transport device on a driving maneuver of the transport device
TW201422473A (en) Collision prevention warning method capable of tracing movable objects and device thereof
CN113788016B (en) Automatic emergency braking control method and system capable of preventing false triggering, server and storage medium
CN112874435B (en) Pedestrian splash-proof reminding system and method for automobile passing through water pit
FR3139202B1 (en) Obstacle detection method and device for a vehicle with a radar sensor
CN111722230B (en) Full-speed-domain blind area monitoring method and system
JP4683910B2 (en) Collision prevention support device
Ogawa et al. TOF-LIDAR signal processing using the CFAR detector
CN113228133A (en) Driving support device
JP6816163B2 (en) A driver assistance system comprising a method of capturing at least one object, a sensor device device, a sensor device and at least one sensor device.
EP3968047A1 (en) Near-object detection using ultrasonic sensors

Legal Events

Date Code Title Description
PLFP Fee payment

Year of fee payment: 2

PLSC Publication of the preliminary search report

Effective date: 20240301

PLFP Fee payment

Year of fee payment: 3