JP2021525889A - 検出特性の比に基づく距離センサのミスアライメントの検出方法 - Google Patents
検出特性の比に基づく距離センサのミスアライメントの検出方法 Download PDFInfo
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- JP2021525889A JP2021525889A JP2021500595A JP2021500595A JP2021525889A JP 2021525889 A JP2021525889 A JP 2021525889A JP 2021500595 A JP2021500595 A JP 2021500595A JP 2021500595 A JP2021500595 A JP 2021500595A JP 2021525889 A JP2021525889 A JP 2021525889A
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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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/87—Combinations of sonar systems
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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
- 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
-
- 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
- G01S7/4972—Alignment of sensor
-
- 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
- G01S7/52004—Means for monitoring or calibrating
-
- 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
- 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
- G01S2015/932—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations
- G01S2015/933—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations for measuring the dimensions of the parking space when driving past
- G01S2015/936—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations for measuring the dimensions of the parking space when driving past for measuring parking spaces extending transverse or diagonal to the driving direction, i.e. not parallel to the driving direction
-
- 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
- G01S2015/938—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles sensor installation details in the bumper area
-
- 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
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- 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)
- Acoustics & Sound (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Traffic Control Systems (AREA)
Abstract
Description
Claims (10)
- − 自動車(1)の第1距離センサ(4)の第1センサ信号から第1検出特性を抽出するステップ(S1)と、
− 第2距離センサ(2)の第2センサ信号から第2検出特性を抽出するステップ(S2)であって、前記2つの検出特性は同一タイプである、ステップ(S2)と、
− 前記第2検出特性に対する前記第1検出特性の比(S3)から、前記第1距離センサ(4)のミスアライメントに関するミスアライメント情報を作成するステップ(S4)と、によって自動車の第1距離センサ(4)のミスアライメントを検出するための方法。 - 前記2つの検出特性は、それぞれ、エコー数、特定クラスの検出物体の数、前記各センサ信号の包絡線の形状、または信号ノイズの測定結果であることを特徴とする、請求項1に記載の方法。
- 前記ミスアライメント情報に応じて、前記自動車の安全システムが一時的に停止される(S5)ことを特徴とする、請求項1または2に記載の方法。
- 前記第1検出特性および前記第2検出特性の両方が、平均計算を用いて形成されることを特徴とする、請求項1乃至3のいずれか一項に記載の方法。
- 前記ミスアライメント情報を作成するステップ(S5)は、特定距離を移動した後に行われることを特徴とする、請求項1乃至4のいずれか一項に記載の方法。
- 前記ミスアライメント情報を作成するステップ(S4)において、前記自動車の積載状態に関する情報が、補正を目的として考慮されることを特徴とする、請求項1乃至5のいずれか一項に記載の方法。
- 第1距離センサ(4)のミスアライメントを検出するための装置であって、
− 前記第1距離センサ(4)と、
− 前記第1距離センサ(4)の第1センサ信号から第1検出特性を抽出する(31)ための評価装置(3)と、
− 第2距離センサと、
を有し、
− 前記評価装置(3)は、第2距離センサ(4)の第2センサ信号から第2検出特性を抽出する(S2)ように設計され、前記2つの検出特性は同一タイプであり、
− 前記評価装置(3)は、前記第2検出特性に対する前記第1検出特性の比(S3)から、前記第1距離センサ(4)のミスアライメントに関するミスアライメント情報を作成する(S4)ように設計される、ことを特徴とする、装置。 - 両距離センサ(4)は超音波センサであることを特徴とする、請求項7に記載の装置。
- 請求項7または8に記載の装置を備える自動車であって、
前記2つの距離センサ(4)のうちの一方は前記車両(1)の前部に配置され、他方の距離センサ(4)は前記車両(1)の後部に配置される。 - 請求項7または8に記載の装置を備える自動車(1)であって、
進行方向に対して、前記2つの距離センサ(4)のうちの一方は前記自動車(1)の左側部に配置され、他方の距離センサ(4)は前記自動車(1)の右側部に配置される。
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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PCT/DE2018/100632 WO2020011291A1 (de) | 2018-07-11 | 2018-07-11 | Erkennung einer fehlstellung eines abstandssensors basierend auf einem verhältnis von detektionsmerkmalen |
Publications (2)
Publication Number | Publication Date |
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JP2021525889A true JP2021525889A (ja) | 2021-09-27 |
JP7110473B2 JP7110473B2 (ja) | 2022-08-01 |
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JP2021500595A Active JP7110473B2 (ja) | 2018-07-11 | 2018-07-11 | 検出特性の比に基づく距離センサのミスアライメントの検出方法 |
Country Status (4)
Country | Link |
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EP (1) | EP3821273B1 (ja) |
JP (1) | JP7110473B2 (ja) |
KR (1) | KR102547466B1 (ja) |
WO (1) | WO2020011291A1 (ja) |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2000056020A (ja) * | 1998-08-07 | 2000-02-25 | Honda Motor Co Ltd | 物体検知装置 |
US20090312906A1 (en) * | 2007-01-04 | 2009-12-17 | Continental Automotive Gmbh | Vertical alignment of a lidar sensor |
US20120290169A1 (en) * | 2011-05-10 | 2012-11-15 | GM Global Technology Operations LLC | Novel sensor alignment process and tools for active safety vehicle applications |
DE102015103542A1 (de) * | 2014-03-28 | 2015-10-01 | Gm Global Technology Operations, Llc | System und Verfahren zur Bestimmung und zum Ausgleich einer Fehlausrichtung eines Sensors |
JP2018072236A (ja) * | 2016-11-01 | 2018-05-10 | 株式会社デンソー | 異常検出装置 |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
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DE19650863C1 (de) | 1996-12-07 | 1998-04-16 | Bosch Gmbh Robert | Verfahren und Vorrichtung zur Erkennung einer vertikalen Dejustierung eines Abstandssensors |
DE102009031561A1 (de) | 2009-07-02 | 2011-01-05 | Valeo Schalter Und Sensoren Gmbh | Verfahren zur Erkennung und Korrektur einer Fehlstellung eines Abstandssensors und ein Fahrassistenzsystem für Fahrzeuge |
DE102009060190A1 (de) * | 2009-12-23 | 2011-06-30 | Valeo Schalter und Sensoren GmbH, 74321 | Überflutungserkennungssystem für ein Fahrzeug, Fahrzeug mit einem derartigen Überflutungserkennungssystem, Verwendung eines Parkassistenzsystems als Überflutungserkennungssystem und Verfahren zum Erkennen einer Überflutung eines Fahrzeugs |
KR20160081506A (ko) * | 2014-12-31 | 2016-07-08 | 현대모비스 주식회사 | 차량의 후측방 레이더의 얼라인먼트 보정 시스템 및 그 제어방법 |
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2018
- 2018-07-11 EP EP18746567.9A patent/EP3821273B1/de active Active
- 2018-07-11 KR KR1020217000820A patent/KR102547466B1/ko active IP Right Grant
- 2018-07-11 WO PCT/DE2018/100632 patent/WO2020011291A1/de unknown
- 2018-07-11 JP JP2021500595A patent/JP7110473B2/ja active Active
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2000056020A (ja) * | 1998-08-07 | 2000-02-25 | Honda Motor Co Ltd | 物体検知装置 |
US6061001A (en) * | 1998-08-07 | 2000-05-09 | Honda Giken Kogyo Kabushiki Kaisha | Object detecting apparatus |
US20090312906A1 (en) * | 2007-01-04 | 2009-12-17 | Continental Automotive Gmbh | Vertical alignment of a lidar sensor |
JP2010515183A (ja) * | 2007-01-04 | 2010-05-06 | コンチネンタル オートモーティヴ ゲゼルシャフト ミット ベシュレンクテル ハフツング | ライダーセンサの垂直アライメント |
US20120290169A1 (en) * | 2011-05-10 | 2012-11-15 | GM Global Technology Operations LLC | Novel sensor alignment process and tools for active safety vehicle applications |
DE102015103542A1 (de) * | 2014-03-28 | 2015-10-01 | Gm Global Technology Operations, Llc | System und Verfahren zur Bestimmung und zum Ausgleich einer Fehlausrichtung eines Sensors |
JP2018072236A (ja) * | 2016-11-01 | 2018-05-10 | 株式会社デンソー | 異常検出装置 |
Non-Patent Citations (1)
Title |
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渡辺 正浩 他: "周辺監視レーダ −車々間通信への適用−", 電子情報通信学会2001年総合大会講演論文集, JPN6022004038, 7 March 2001 (2001-03-07), JP, pages 428, ISSN: 0004699347 * |
Also Published As
Publication number | Publication date |
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WO2020011291A1 (de) | 2020-01-16 |
EP3821273B1 (de) | 2024-05-22 |
EP3821273A1 (de) | 2021-05-19 |
KR20210021009A (ko) | 2021-02-24 |
KR102547466B1 (ko) | 2023-06-23 |
JP7110473B2 (ja) | 2022-08-01 |
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