JP7602024B2 - 車両の周辺部にあるオブジェクトを特徴付けるための方法 - Google Patents

車両の周辺部にあるオブジェクトを特徴付けるための方法 Download PDF

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Publication number
JP7602024B2
JP7602024B2 JP2023515801A JP2023515801A JP7602024B2 JP 7602024 B2 JP7602024 B2 JP 7602024B2 JP 2023515801 A JP2023515801 A JP 2023515801A JP 2023515801 A JP2023515801 A JP 2023515801A JP 7602024 B2 JP7602024 B2 JP 7602024B2
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Prior art keywords
amplitude
vehicle
amplitude change
echo
ultrasonic sensor
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JP2023515801A
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Japanese (ja)
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JP2023541147A5 (https=
JP2023541147A (ja
Inventor
ケクド・アビシェーク
アダムス・ロビン
カワトゥミ・サハール
グラッツ・ニコライ
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Aumovio Autonomous Mobility Germany GmbH
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Aumovio Autonomous Mobility Germany GmbH
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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
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/06—Automatic manoeuvring for parking
    • 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
    • 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
    • G01S7/539—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/168—Driving aids for parking, e.g. acoustic or visual feedback on parking space
    • 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
    • B60W2420/54—Audio sensitive means, e.g. ultrasound
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/20—Static objects
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/60—Traversable objects, e.g. speed bumps or curbs
    • 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

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Acoustics & Sound (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
JP2023515801A 2020-09-30 2021-09-22 車両の周辺部にあるオブジェクトを特徴付けるための方法 Active JP7602024B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102020212381.0A DE102020212381A1 (de) 2020-09-30 2020-09-30 Verfahren zur Charakterisierung eines Objekts in einer Umgebung eines Kraftfahrzeugs
DE102020212381.0 2020-09-30
PCT/DE2021/200125 WO2022068999A1 (de) 2020-09-30 2021-09-22 Verfahren zur charakterisierung eines objekts in einer umgebung eines kraftfahrzeugs

Publications (3)

Publication Number Publication Date
JP2023541147A JP2023541147A (ja) 2023-09-28
JP2023541147A5 JP2023541147A5 (https=) 2024-06-24
JP7602024B2 true JP7602024B2 (ja) 2024-12-17

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JP2023515801A Active JP7602024B2 (ja) 2020-09-30 2021-09-22 車両の周辺部にあるオブジェクトを特徴付けるための方法

Country Status (6)

Country Link
US (1) US20240004066A1 (https=)
EP (1) EP4222527B1 (https=)
JP (1) JP7602024B2 (https=)
CN (1) CN116324490A (https=)
DE (1) DE102020212381A1 (https=)
WO (1) WO2022068999A1 (https=)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102021210082B3 (de) 2021-09-13 2023-02-09 Continental Autonomous Mobility Germany GmbH Verfahren zur Charakterisierung eines Objekts in einer Umgebung eines Kraftfahrzeugs
DE102021214203A1 (de) * 2021-12-13 2023-06-15 Robert Bosch Gesellschaft mit beschränkter Haftung System zur Erfassung von wenigstens einem Objekt in einer Umgebung eines Fahrzeugs sowie Fahrzeug mit solch einem System
DE102022206021A1 (de) 2022-06-14 2023-12-14 Continental Autonomous Mobility Germany GmbH Verfahren zum Ermitteln einer eine Objekthöhe beschreibenden Objektinformation

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005063196A (ja) 2003-08-14 2005-03-10 Fuji Photo Film Co Ltd エッジ検出装置および方法、プロファイル判定装置および方法並びにプログラム
JP2016080639A (ja) 2014-10-22 2016-05-16 株式会社デンソー 物体検知装置、車両制御装置
WO2019058507A1 (ja) 2017-09-22 2019-03-28 三菱電機株式会社 障害物検出装置および障害物検出方法
WO2019154745A1 (de) 2018-02-08 2019-08-15 Valeo Schalter Und Sensoren Gmbh Verfahren zum erfassen eines objekts in einem umgebungsbereich eines kraftfahrzeugs mit abschätzung der höhe des objekts anhand von echoanteilen eines empfangssignals, recheneinrichtung, ultraschallsensor sowie fahrerassistenzsystem
DE102018103560A1 (de) 2018-02-16 2019-08-22 Valeo Schalter Und Sensoren Gmbh Verfahren zur Charakterisierung eines Objekts in einem Umgebungsbereich eines Kraftfahrzeugs durch Vergleich eines Empfangssignals eines Abstandssensors mit einer vorbestimmten Kurve, Sensorvorrichtung sowie Fahrerassistenzsystem

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102004047479A1 (de) 2004-09-30 2006-04-13 Robert Bosch Gmbh Verfahren und Vorrichtung zum Klassifizieren von Seitenbegrenzungen einer Parklücke für ein Einparkassistenzsystem
DE102005044050A1 (de) * 2005-09-15 2007-03-22 Hella Kgaa Hueck & Co. Verfahren zur Parklückenbestimmung für Kraftfahrzeuge
US7623061B2 (en) * 2006-11-15 2009-11-24 Autoliv Asp Method and apparatus for discriminating with respect to low elevation target objects
DE102007042220A1 (de) 2007-09-05 2009-03-12 Robert Bosch Gmbh Objektklassifizierungsverfahren, Einparkhilfeverfahren und Einparkhilfesystem
DE102014114999A1 (de) * 2014-10-15 2016-04-21 Valeo Schalter Und Sensoren Gmbh Verfahren zum Erfassen zumindest eines Objekts in einem Umgebungsbereich eines Kraftfahrzeugs, Fahrerassistenzsystem sowie Kraftfahrzeug
DE102018103414B4 (de) * 2018-02-15 2023-02-23 Valeo Schalter Und Sensoren Gmbh Verfahren zur Charakterisierung eines Objekts in einem Umgebungsbereich eines Kraftfahrzeugs mit Höhenschätzung anhand einer zeitlichen Ableitung eines Empfangssignals eines Ultraschallsensors, Recheneinrichtung sowie Ultraschallsensorvorrichtung
DE102018218007A1 (de) 2018-10-22 2020-04-23 Robert Bosch Gmbh Verfahren zur Bestimmung einer Höhe eines Objektes, Umfelderfassungssystem sowie Fahrzeug mit einem Umfelderfassungssystem

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005063196A (ja) 2003-08-14 2005-03-10 Fuji Photo Film Co Ltd エッジ検出装置および方法、プロファイル判定装置および方法並びにプログラム
JP2016080639A (ja) 2014-10-22 2016-05-16 株式会社デンソー 物体検知装置、車両制御装置
WO2019058507A1 (ja) 2017-09-22 2019-03-28 三菱電機株式会社 障害物検出装置および障害物検出方法
WO2019154745A1 (de) 2018-02-08 2019-08-15 Valeo Schalter Und Sensoren Gmbh Verfahren zum erfassen eines objekts in einem umgebungsbereich eines kraftfahrzeugs mit abschätzung der höhe des objekts anhand von echoanteilen eines empfangssignals, recheneinrichtung, ultraschallsensor sowie fahrerassistenzsystem
DE102018103560A1 (de) 2018-02-16 2019-08-22 Valeo Schalter Und Sensoren Gmbh Verfahren zur Charakterisierung eines Objekts in einem Umgebungsbereich eines Kraftfahrzeugs durch Vergleich eines Empfangssignals eines Abstandssensors mit einer vorbestimmten Kurve, Sensorvorrichtung sowie Fahrerassistenzsystem

Also Published As

Publication number Publication date
DE102020212381A1 (de) 2022-03-31
JP2023541147A (ja) 2023-09-28
US20240004066A1 (en) 2024-01-04
EP4222527B1 (de) 2026-04-15
CN116324490A (zh) 2023-06-23
EP4222527A1 (de) 2023-08-09
WO2022068999A1 (de) 2022-04-07

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