JP6510052B2 - 物体による自動車のセンサ装置の遮蔽を検出するための方法、コンピュータ装置、運転者支援システム、及び自動車 - Google Patents
物体による自動車のセンサ装置の遮蔽を検出するための方法、コンピュータ装置、運転者支援システム、及び自動車 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
- 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
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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
- G01S13/66—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
- G01S13/726—Multiple target tracking
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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
- G01S13/74—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems
- G01S13/76—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems wherein pulse-type signals are transmitted
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- G—PHYSICS
- G01—MEASURING; TESTING
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- 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
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- G—PHYSICS
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- 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
- G01S15/66—Sonar tracking 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
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- G—PHYSICS
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- 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
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- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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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
- 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
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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
- 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
- G01S7/4039—Means for monitoring or calibrating of parts of a radar system of sensor or antenna obstruction, e.g. dirt- or ice-coating
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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
- 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
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- G—PHYSICS
- G01—MEASURING; TESTING
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- 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
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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
- 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
- G01S2007/4975—Means for monitoring or calibrating of sensor obstruction by, e.g. dirt- or ice-coating, e.g. by reflection measurement on front-screen
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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
- 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
- G01S2007/52009—Means for monitoring or calibrating of sensor obstruction, e.g. dirt- or ice-coating
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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
- G01S2013/9315—Monitoring blind spots
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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
- G01S2013/9323—Alternative operation using light waves
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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
- G01S2013/9324—Alternative operation using ultrasonic waves
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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
- G01S2013/9327—Sensor installation details
- G01S2013/93272—Sensor installation details in the back of the vehicles
Description
Claims (10)
- 物体(8)による自動車(1)のセンサ装置(4)の遮蔽を検出するための方法であって、
前記センサ装置(4)により捕捉された少なくとも1つのエコー信号であって、前記センサ装置(4)と前記物体(8)との間の距離を表すエコー信号が、コンピュータ装置(3)により受信され(S1)、
前記センサ装置(4)の捕捉領域(E)が決定され、
前記少なくとも1つの受信されたエコー信号に基づいて、前記センサ装置(4)の捕捉領域(E)が、少なくともいくつかの領域において、前記物体(8)により遮蔽されているかどうかが検査される、方法において、
前記コンピュータ装置(3)により、前記少なくとも1つのエコー信号が、複数の個別距離値(B1、B2、B3)のうちの1つの個別距離値(B1、B2、B3)に割り当てられ、
前記個別距離値(B1、B2、B3)のそれぞれに対して、パワー値(P)が前記エコー信号に基づいて決定され(S2)、
前記パワー値(P)に基づいて、分類器により、前記センサ装置(4)の前記捕捉領域(E)の少なくとも所定の割合が、前記物体(8)により遮蔽されているかどうかについての決定がなされ(S6)、
前記複数の個別距離値(B1、B2、B3)に対する前記パワー値(P)は、ベクトルに割り当てられ、
前記ベクトルは、前記分類器によって所定の判定境界と比較され(S3)、
前記センサ装置(4)と前記物体(8)との相対配置が、前記コンピュータ装置(3)により、前記個別距離値(B1、B2、B3)に対する前記パワー値(P)のそれぞれに基づいて決定され、
前記物体(8)により遮蔽された前記捕捉領域(E)の第1部分領域(10)と、少なくとも1つの更なる物体(9)が前記センサ装置(4)により捕捉され得る前記捕捉領域(E)の第2部分領域(11)とが、前記コンピュータ装置(3)により、前記センサ装置(4)と前記物体(8)との前記決定された相対配置に基づいて決定される、
ことを特徴とする方法。 - 前記所定の判定境界は、前記分類器のトレーニング期中に予め決定される(S4)、
ことを特徴とする請求項1に記載の方法。 - 前記所定の判定境界は、前記分類器のテスト期中に検査される(S5)、
ことを特徴とする請求項1又は2に記載の方法。 - 複数のエコー信号が前記コンピュータ装置(3)により受信され、
前記エコー信号のそれぞれは、計測サイクル中に前記センサ装置(4)により受信される、
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。 - 前記個別距離値(B1、B2、B3)に基づいて、前記コンピュータ装置(3)により、前記センサ装置(4)から進んで、前記物体(8)の背後に位置する更なる物体(9)が、少なくともいくつかの領域において、前記捕捉領域(E)において前記センサ装置(4)により捕捉され得るかどうかが検査される、
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。 - 前記分類器は、サポートベクターマシン、パーゼン窓分類器、及び/又は判別分析分類器である、
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。 - 請求項1乃至6のいずれか一項に記載の方法を実施するように設計された、自動車(1)の運転者支援システム(2)用のコンピュータ装置(3)。
- 請求項7に記載のコンピュータ装置(3)と、少なくとも1つのセンサ装置(4)とを有する、自動車(1)用の運転者支援システム(2)。
- 前記少なくとも1つのセンサ装置(3)は、レーダーセンサ、超音波センサ、レーザーセンサ、及び/又はカメラを有する、
請求項8に記載の運転者支援システム(2)。 - 請求項8又は9に記載の運転者支援システム(2)を有する自動車(1)。
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DE102014118035.6A DE102014118035B4 (de) | 2014-12-05 | 2014-12-05 | Verfahren zum Erkennen einer Abschattung einer Sensoreinrichtung eines Kraftfahrzeugs durch ein Objekt, Recheneinrichtung, Fahrerassistenzsystem sowie Kraftfahrzeug |
DE102014118035.6 | 2014-12-05 | ||
PCT/EP2015/077999 WO2016087339A1 (de) | 2014-12-05 | 2015-11-30 | Verfahren zum erkennen einer abschattung einer sensoreinrichtung eines kraftfahrzeugs durch ein objekt, recheneinrichtung, fahrerassistenzsystem sowie kraftfahrzeug |
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US11156714B2 (en) * | 2020-02-13 | 2021-10-26 | Tymphany Acoustic Technology (Huizhou) Co., Ltd. | Object movement detection based on ultrasonic sensor data analysis |
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- 2015-11-30 CN CN201580065639.0A patent/CN107003405B/zh active Active
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- 2015-11-30 EP EP15801452.2A patent/EP3227718A1/de not_active Withdrawn
- 2015-11-30 KR KR1020177014953A patent/KR102012572B1/ko active IP Right Grant
- 2015-11-30 JP JP2017529714A patent/JP6510052B2/ja active Active
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Publication number | Publication date |
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JP2018503074A (ja) | 2018-02-01 |
CN107003405A (zh) | 2017-08-01 |
US20170343649A1 (en) | 2017-11-30 |
WO2016087339A1 (de) | 2016-06-09 |
EP3227718A1 (de) | 2017-10-11 |
KR102012572B1 (ko) | 2019-08-20 |
DE102014118035B4 (de) | 2022-11-17 |
US10908259B2 (en) | 2021-02-02 |
KR20170081665A (ko) | 2017-07-12 |
CN107003405B (zh) | 2020-09-01 |
DE102014118035A1 (de) | 2016-06-09 |
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