JP7719953B2 - 動力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

動力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

Info

Publication number
JP7719953B2
JP7719953B2 JP2024509375A JP2024509375A JP7719953B2 JP 7719953 B2 JP7719953 B2 JP 7719953B2 JP 2024509375 A JP2024509375 A JP 2024509375A JP 2024509375 A JP2024509375 A JP 2024509375A JP 7719953 B2 JP7719953 B2 JP 7719953B2
Authority
JP
Japan
Prior art keywords
amplitude
ultrasonic sensor
echo
determined
motor vehicle
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
JP2024509375A
Other languages
English (en)
Japanese (ja)
Other versions
JP2024529175A5 (enExample
JP2024529175A (ja
Inventor
スレイマン・ワッシム
ブラウン・クリストファー
ケクド・アビシェーク
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.)
Aumovio Autonomous Mobility Germany GmbH
Original Assignee
Aumovio Autonomous Mobility Germany GmbH
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 Aumovio Autonomous Mobility Germany GmbH filed Critical Aumovio Autonomous Mobility Germany GmbH
Publication of JP2024529175A publication Critical patent/JP2024529175A/ja
Publication of JP2024529175A5 publication Critical patent/JP2024529175A5/ja
Application granted granted Critical
Publication of JP7719953B2 publication Critical patent/JP7719953B2/ja
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
    • 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
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B17/00—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations
    • G01B17/02—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations for measuring thickness
    • 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
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/06—Systems determining the position data of a target
    • G01S15/42—Simultaneous measurement of distance and other co-ordinates
    • 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
    • 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
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/06—Systems determining the position data of a target
    • G01S15/46—Indirect determination of position data
    • 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
    • G01S15/86—Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection
    • 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
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/06—Systems determining the position data of a target
    • G01S15/46—Indirect determination of position data
    • G01S2015/465—Indirect determination of position data by Trilateration, i.e. two transducers determine separately the distance to a target, whereby with the knowledge of the baseline length, i.e. the distance between the transducers, the position data of the target is determined
    • 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
    • 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
    • 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

Landscapes

  • 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)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
JP2024509375A 2021-09-13 2022-08-22 動力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 JP7719953B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102021210082.1A DE102021210082B3 (de) 2021-09-13 2021-09-13 Verfahren zur Charakterisierung eines Objekts in einer Umgebung eines Kraftfahrzeugs
DE102021210082.1 2021-09-13
PCT/DE2022/200194 WO2023036377A1 (de) 2021-09-13 2022-08-22 Verfahren zur charakterisierung eines objekts in einer umgebung eines kraftfahrzeugs

Publications (3)

Publication Number Publication Date
JP2024529175A JP2024529175A (ja) 2024-08-01
JP2024529175A5 JP2024529175A5 (enExample) 2025-03-24
JP7719953B2 true JP7719953B2 (ja) 2025-08-06

Family

ID=83149558

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2024509375A Active JP7719953B2 (ja) 2021-09-13 2022-08-22 動力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) US20240402336A1 (enExample)
EP (1) EP4402513A1 (enExample)
JP (1) JP7719953B2 (enExample)
CN (1) CN117916628A (enExample)
DE (1) DE102021210082B3 (enExample)
WO (1) WO2023036377A1 (enExample)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2014085131A (ja) 2012-10-19 2014-05-12 Denso Corp 距離検出装置、および距離検出プログラム
JP2014215283A (ja) 2013-04-30 2014-11-17 株式会社デンソー 障害物検出装置
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
JP2017142171A (ja) 2016-02-10 2017-08-17 株式会社Ｓｏｋｅｎ 物体検知装置
JP2017538109A (ja) 2014-10-15 2017-12-21 ヴァレオ・シャルター・ウント・ゼンゾーレン・ゲーエムベーハー 自動車両の周辺区域内における少なくとも１つの物体を検出するための方法、運転者支援システム、および自動車両
WO2018221255A1 (ja) 2017-05-30 2018-12-06 株式会社デンソー 物体検出装置
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
CN111610531A (zh) 2020-04-21 2020-09-01 吉利汽车研究院（宁波）有限公司 一种车辆的驾驶预警方法、装置及存储介质
JP2020180806A (ja) 2019-04-23 2020-11-05 株式会社Ｓｏｋｅｎ 物体検知装置

Family Cites Families (6)

* 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
JP4880712B2 (ja) * 2009-02-27 2012-02-22 株式会社日本自動車部品総合研究所 障害物検出装置
KR102510151B1 (ko) * 2016-10-13 2023-03-16 주식회사 에이치엘클레무브 차량 엔진 제어장치 및 제어방법
DE102018200688B4 (de) 2018-01-17 2023-05-17 Robert Bosch Gmbh Verfahren und Vorrichtung zum Betreiben eines akustischen Sensors
DE102018218007A1 (de) 2018-10-22 2020-04-23 Robert Bosch Gmbh Verfahren zur Bestimmung einer Höhe eines Objektes, Umfelderfassungssystem sowie Fahrzeug mit einem Umfelderfassungssystem
DE102020212381A1 (de) 2020-09-30 2022-03-31 Continental Automotive Gmbh Verfahren zur Charakterisierung eines Objekts in einer Umgebung eines Kraftfahrzeugs

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2014085131A (ja) 2012-10-19 2014-05-12 Denso Corp 距離検出装置、および距離検出プログラム
JP2014215283A (ja) 2013-04-30 2014-11-17 株式会社デンソー 障害物検出装置
JP2017538109A (ja) 2014-10-15 2017-12-21 ヴァレオ・シャルター・ウント・ゼンゾーレン・ゲーエムベーハー 自動車両の周辺区域内における少なくとも１つの物体を検出するための方法、運転者支援システム、および自動車両
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
JP2017142171A (ja) 2016-02-10 2017-08-17 株式会社Ｓｏｋｅｎ 物体検知装置
WO2018221255A1 (ja) 2017-05-30 2018-12-06 株式会社デンソー 物体検出装置
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
JP2020180806A (ja) 2019-04-23 2020-11-05 株式会社Ｓｏｋｅｎ 物体検知装置
CN111610531A (zh) 2020-04-21 2020-09-01 吉利汽车研究院（宁波）有限公司 一种车辆的驾驶预警方法、装置及存储介质

Also Published As

Publication number Publication date
JP2024529175A (ja) 2024-08-01
US20240402336A1 (en) 2024-12-05
WO2023036377A1 (de) 2023-03-16
EP4402513A1 (de) 2024-07-24
DE102021210082B3 (de) 2023-02-09
CN117916628A (zh) 2024-04-19

Similar Documents

Publication Publication Date Title
US8310376B2 (en) Object classification method, parking assistance method, and parking assistance system
CN109891262B (zh) 物体探测装置
CN109219760B (zh) 用于识别用于车辆的至少一个泊车空位的方法
CN103930794B (zh) 用于运行传感器的方法
CN110379178B (zh) 基于毫米波雷达成像的无人驾驶汽车智能泊车方法
JP5120139B2 (ja) 物体検出装置
KR20140050424A (ko) 도로 갓길의 공간 인지 방법 및 시스템
JP7602024B2 (ja) 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
CN101178437A (zh) 物体探测系统和物体探测方法
JP7020353B2 (ja) 物体検出装置
CN111857125A (zh) 雷达检测确认的方法和设备
US11435442B2 (en) Method for capturing a surrounding region of a motor vehicle with object classification, control device, driver assistance system and motor vehicle
JP2023541147A5 (enExample)
JP2001195700A (ja) 車両情報検出装置
JP7719953B2 (ja) 動力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
US12436277B2 (en) Method for elevation angle estimation based on an ultrasound sensor
US11851065B2 (en) Ditch and obstruction detection system for motor vehicles
JP2024529175A5 (enExample)
JP2023061459A (ja) 画像認識装置及び画像認識方法
CN113950629A (zh) 用于对车辆周围环境中的对象进行高度分类的方法及驾驶员辅助系统
US12609033B2 (en) Driving assistance device
JP2026512741A (ja) 自動車の周辺環境内の物体を特徴付けるための方法
CN115407345A (zh) 一种基于车载超声传感器的车辆实时定位方法
JP2022154963A (ja) 物体検知装置、車両、および、物体検知装置における検知感度の設定方法
JP2022155233A (ja) 物体検知装置、車両、および、物体検知装置における受波期間の設定方法

Legal Events

Date Code Title Description
A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20240216

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20240216

A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20241211

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20241218

A524 Written submission of copy of amendment under article 19 pct

Free format text: JAPANESE INTERMEDIATE CODE: A524

Effective date: 20250313

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20250702

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20250725

R150 Certificate of patent or registration of utility model

Ref document number: 7719953

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150