JP2021525367A - 車両パラメータを求めるための方法および装置 - Google Patents
車両パラメータを求めるための方法および装置 Download PDFInfo
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- 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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0284—Relative positioning
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- 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
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/02—Systems for determining distance or velocity not using reflection or reradiation using radio waves
- G01S11/06—Systems for determining distance or velocity not using reflection or reradiation using radio waves using intensity measurements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60D—VEHICLE CONNECTIONS
- B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
- B60D1/58—Auxiliary devices
- B60D1/62—Auxiliary devices involving supply lines, electric circuits, or the like
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- 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
- B60W40/10—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 vehicle motion
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B15/00—Measuring arrangements characterised by the use of electromagnetic waves or particle radiation, e.g. by the use of microwaves, X-rays, gamma rays or electrons
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- 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
- G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
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- 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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/14—Determining absolute distances from a plurality of spaced points of known location
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/54—Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
-
- 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
-
- 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
- B60W2420/10—Transducer, e.g. piezoelectric elements
-
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
-
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/22—Articulation angle, e.g. between tractor and trailer
-
- 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
- G01S2013/93274—Sensor installation details on the side of the 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
- G01S2205/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S2205/01—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations 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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0247—Determining attitude
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- Radar, Positioning & Navigation (AREA)
- General Physics & Mathematics (AREA)
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Abstract
Description
e2=a22+d2−(2×a2×d×cosγ) (1)
もしくは
cosγ=(a22+d2−e2)/(2×a2×d) (2)
が成り立つ。
α=β+γ
にしたがってジャックナイフアングルαが計算される。
Claims (14)
- 第1の送受信ユニット(T1,T11)と、第2の送受信ユニット(T2)との間の間隔距離(c,e,r1)を求めるステップであって、前記第1の送受信ユニット(T1,T11)は車両(10)に取り付けられ、前記第2の送受信ユニット(T2)は前記車両(10)に接続されたトレーラー(20)に取り付けられている、ステップと、
前記第1の送受信ユニット(T1,T11)と前記第2の送受信ユニット(T2)との間の前記間隔距離(c,e,r1)を取り入れて、前記トレーラー(20)に関連する少なくとも1つのパラメータを求めるステップと、
を含む、方法。 - 前記第1の送受信ユニット(T1,T11)と前記第2の送受信ユニット(T2)との間の前記間隔距離(c,e,r1)を求める前記ステップは、前記第1の送受信ユニット(T1,T11)と前記第2の送受信ユニット(T2)との間で少なくとも1つの信号を送信するステップを含む、請求項1記載の方法。
- 前記第1の送受信ユニット(T1,T11)と前記第2の送受信ユニット(T2)との間の前記間隔距離(c,e,r1)を求める前記ステップは、
前記第1の送受信ユニット(T1,T11)と前記第2の送受信ユニット(T2)との間で送信される信号の受信電界強度(RSSI)を求めるステップ、および
前記第1の送受信ユニット(T1,T11)と前記第2の送受信ユニット(T2)との間で送信される信号の伝搬時間を求めるステップ
のうちの少なくとも1つを含む、請求項2記載の方法。 - 前記第1の送受信ユニット(T1,T11)と前記第2の送受信ユニット(T2)との間で少なくとも1つの信号を送信する前記ステップは、前記少なくとも1つの信号を少なくとも2つの異なる搬送波周波数に変調するステップを含む、または
それぞれが異なる搬送波周波数を有する少なくとも2つの信号が送信される、
請求項2または3記載の方法。 - 前記トレーラー(20)に関連する少なくとも1つのパラメータを求める前記ステップは、求められた前記間隔距離(c)、前記第1の送受信ユニット(T1)と前記トレーラー(20)の前方縁部との間の距離(a1)、および前記第2の送受信ユニット(T2)と前記第1の送受信ユニット(T1)との間の水平および/または垂直オフセット(b)に基づいて、前記トレーラー(20)の長さ(a2)を求めるステップを含む、請求項1から4までのいずれか1項記載の方法。
- 前記トレーラー(20)に関連する少なくとも1つのパラメータを決定する前記ステップは、求められた前記間隔距離(e)、前記第1の送受信ユニット(T1)と前記トレーラー(20)の旋回点(P1)との間の間隔距離(d)、および前記トレーラー(20)の長さ(a2)に基づいて、前記車両(10)と前記トレーラー(20)との間のジャックナイフアングル(α)を求めるステップを含む、請求項1から5までのいずれか1項記載の方法。
- 前記トレーラー(20)に関連する少なくとも1つのパラメータを求める前記ステップは、さらなる送受信ユニット(T12)と前記第2の送受信ユニット(T2)との間の間隔距離(r2)を求めるステップをさらに含み、前記車両(10)の前記さらなる送受信ユニット(T12)は、前記第1の送受信ユニット(T11)とは異なる位置に取り付けられている、請求項1から6までのいずれか1項記載の方法。
- 前記トレーラー(20)に関連する少なくとも1つのパラメータを求める前記ステップは、前記車両(10)の前記送受信ユニット(T11,T12)と前記トレーラー(20)の前記第2の送受信ユニット(T2)との間の距離(r1,r2)を考慮して、三辺測量法または多辺測量法を用いて前記第2の送受信ユニット(T2)の位置を求めるステップをさらに含む、請求項7記載の方法。
- 前記第2の送受信ユニット(T2)は、無線カメラシステムに統合されている、請求項1から8までのいずれか1項記載の方法。
- 前記方法は、運転者支援システムを制御するための少なくとも1つの特定のパラメータを使用するステップをさらに含む、請求項1から9までのいずれか1項記載の方法。
- 車両(10)に取り付けられるように構成された第1の送受信ユニット(T1,T11)と、
前記車両(10)に接続されたトレーラー(20)に取り付けられるように構成された第2の送受信ユニット(T2)と、
を備える装置であって、
前記装置は、前記第1の送受信ユニット(T1,T11)が前記車両(10)に取り付けられ、前記第2の送受信ユニット(T2)が前記トレーラー(20)に取り付けられている場合に、前記第1の送受信ユニット(T1,T11)と前記第2の送受信ユニット(T2)との間の間隔距離(c,e,r1)を求めるように構成されており、
前記装置は、前記第1の送受信ユニット(T1,T11)と前記第2の送受信ユニット(T2)との間の前記間隔距離(c,e,r1)を取り入れて、前記トレーラー(20)に関連する少なくとも1つのパラメータを求めるようにさらに構成されている、
装置。 - 前記装置は、前記第1の送受信ユニット(T1,T11)が前記車両(10)に取り付けられ、前記第2の送受信ユニット(T2)が前記トレーラー(20)に取り付けられている場合に、前記第1の送受信ユニット(T1,T11)と前記第2の送受信ユニット(T2)との間で少なくとも1つの信号を送信するようにさらに構成されている、請求項11記載の装置。
- 前記装置は、前記第1の送受信ユニット(T1,T11)と前記第2の送受信ユニット(T2)との間で送信される前記信号の受信電界強度(RSSI)を求めるように構成されている、請求項12記載の装置。
- 前記装置は、前記第1の送受信ユニット(T1,T11)と前記第2の送受信ユニット(T2)との間で送信される前記信号の伝搬時間を求めるようにさらに構成されている、請求項12または13記載の装置。
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DE102018208526.9A DE102018208526A1 (de) | 2018-05-29 | 2018-05-29 | Verfahren und Vorrichtung zur Bestimmung von Fahrzeugparametern |
DE102018208526.9 | 2018-05-29 | ||
PCT/EP2019/063204 WO2019228885A1 (de) | 2018-05-29 | 2019-05-22 | Verfahren und vorrichtung zur bestimmung von fahrzeugparametern |
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DE102018206532A1 (de) * | 2018-04-27 | 2019-10-31 | Robert Bosch Gmbh | Verfahren zum Betreiben eines ersten Radarteilsensors und eines zweiten Radarteilsensors und Radarsensorsystem umfassend einen ersten Radarteilsensor und einen zweiten Radarteilsensor |
DE102020202593A1 (de) | 2020-02-28 | 2021-09-02 | Robert Bosch Gesellschaft mit beschränkter Haftung | System und Verfahren zum Betreiben eines Gespanns mit einem Zugfahrzeug und einem Anhänger sowie Computerprogrammprodukt |
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JP2017133933A (ja) * | 2016-01-28 | 2017-08-03 | 株式会社ゼンリンデータコム | 位置管理システム及び位置管理方法 |
JP2017210017A (ja) * | 2016-05-23 | 2017-11-30 | 株式会社Subaru | 車両の後退支援装置 |
WO2018060192A1 (de) * | 2016-09-27 | 2018-04-05 | Jost-Werke Deutschland Gmbh | Vorrichtung zur positionserkennung eines ersten oder zweiten miteinander zu kuppelnden fahrzeugs |
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JP7114746B2 (ja) | 2022-08-08 |
US20210072364A1 (en) | 2021-03-11 |
EP3803440A1 (de) | 2021-04-14 |
WO2019228885A1 (de) | 2019-12-05 |
DE102018208526A1 (de) | 2019-12-05 |
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