WO2004059341A1 - Procede permettant d'acquerir des informations relatives a un environnement et procede permettant de determiner la position d'une place de stationnement - Google Patents

Procede permettant d'acquerir des informations relatives a un environnement et procede permettant de determiner la position d'une place de stationnement Download PDF

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Publication number
WO2004059341A1
WO2004059341A1 PCT/EP2003/014033 EP0314033W WO2004059341A1 WO 2004059341 A1 WO2004059341 A1 WO 2004059341A1 EP 0314033 W EP0314033 W EP 0314033W WO 2004059341 A1 WO2004059341 A1 WO 2004059341A1
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WO
WIPO (PCT)
Prior art keywords
sensor
measurements
vehicle
reflected
signals
Prior art date
Application number
PCT/EP2003/014033
Other languages
German (de)
English (en)
Inventor
Helmut Keller
Steen Kristensen
Uwe Regensburger
Jakob Seiler
Andy Yap
Original Assignee
Daimlerchrysler Ag
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
Priority claimed from DE10310214A external-priority patent/DE10310214A1/de
Application filed by Daimlerchrysler Ag filed Critical Daimlerchrysler Ag
Publication of WO2004059341A1 publication Critical patent/WO2004059341A1/fr

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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
    • 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
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/46—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
    • 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
    • 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
    • G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
    • G01S13/90—Radar or analogous systems specially adapted for specific applications for mapping or imaging using synthetic aperture techniques, e.g. synthetic aperture radar [SAR] techniques
    • G01S13/904—SAR modes
    • G01S13/9047—Doppler beam sharpening mode
    • 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
    • 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
    • G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
    • 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
    • G01S2013/9314—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
    • 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
    • G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel 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
    • 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
    • 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
    • G01S2013/93271—Sensor installation details in the front 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
    • 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
    • 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
    • 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
    • G01S2015/934—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 the depth, i.e. width, not length, of the parking space
    • 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
    • G01S2015/935—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 the contour, e.g. a trajectory of measurement points, representing the boundary of the parking space

Definitions

  • the invention relates to a method for detecting environmental information and to a method for determining the position of a parking space.
  • a signal is sent from the source of each sensor and due to the run time of the one Subject reflected signal to the reception in the receiver of the sensor to the distance from the object to the sensor closed.
  • a position circle for each reflected signal with a single measurement.
  • measurements must be carried out with at least two sensors spaced apart from one another.
  • the superposition of the measurement signals is then carried out in a grid structure, each field being assigned a set of positions. If the fields in which the positions of the reflected signals fall are marked, the entry of several markings results in the area of individual fields. It is then concluded that there are actually objects in the area of the more frequently marked fields. The best quality is when several measurements are made in succession, using a large number of different sensor positions.
  • a method for acquiring environmental information uses a source which emits pulsed signals of a certain frequency.
  • the reflected signals from an object are received in a receiver.
  • the distance of the object from the sensor is determined on the basis of the transit time of the reflected beams. Due to the superposition of a large number of measurements, a diagram is created, which corresponds to a superimposition of the plurality of measurements and, as a result, the position of the objects reflecting the rays is closed with respect to the position of the sensor.
  • a source and a receiver form a sensor.
  • the at least one sensor executes a movement of known speed with respect to the observation area.
  • the frequency of the reflected signals is detected. From the frequency shift between the emitted and the reflected signals, a direction angle for the reflective object with respect to the direction of movement of the sensor is determined. From the distance and direction of the reflective object is then closed on its position.
  • Determining the position of the reflective article based on a single measurement is made possible by the sensor making a movement. By exploiting the Doppler effect, directional information is then obtained. Since the transit time of the reflected signal is also recorded, a position can be determined from the direction and distance with a single measurement. From a single measurement is no longer an elaborate location line with many points, but only one position for the reflected signal from an object received.
  • the determination of the position of reflective objects is further improved by the fact that the position of the sensor changes due to its movement with respect to the reflective objects, so that the observation of the reflective objects takes place from different directions.
  • the invention is due to the Signalaufl ⁇ sung with respect to the frequency shift and from the movement speed closed to an angular resolution with respect to the determined direction and taken into account in the determination of the position.
  • the given by the frequency resolution of the sensor Be Restriction in the resolution of the angle signal is taken into account by this measure.
  • the existing measuring accuracy of the sensor is thus taken into account in the determination of the possible position of an object.
  • the evaluation of the signals takes place by means of a two-dimensional grid structure of fields of predetermined mesh size.
  • Each of the fields is assigned a lot of positions.
  • the grid structure extends in the plane of movement of the sensor.
  • markings are made in accordance with the determined positions of the reflective objects in the fields associated therewith.
  • a plurality of successive measurements is performed. The positions of objects of the measurements are entered in a common grid structure. As a result, a superposition of the measurement results of the plurality of measurements is generated in a simple manner.
  • the marking of a field consists in the incrementing of a meter reading associated therewith.
  • Another further embodiment provides that the presence of an object at a position is then concluded when, in the field of the lattice structure assigned to this position, the generated marking exceeds a predetermined dimension.
  • a filtering of measurement errors and on the other hand averaging of the position values is made.
  • all objects that also move themselves are filtered out of the measurement signals to be considered. These objects move from field to field, so that in the time average of the counter readings does not accumulate in a field (ie in a range of positions) arises. Rather, an "impression" is left in a large number of fields. This could also be evaluated. However, this is not necessary to detect a fixed environment, for example a gap in a column of parked vehicles.
  • the number of measurements required to detect the presence of a reflective article can be determined as a function of the requirements and the repetition rate of the measurements. It can also be determined as a function of the speed of movement of the sensor. Such methods are known in various embodiments under the name "evidence grid method".
  • An advantageous application of a method according to the invention is given when the sensor is mounted on a vehicle and serves to observe the surroundings of the vehicle.
  • obstacles in the range of the movement space of a vehicle can be detected. It can be detected in particular in the region lying obliquely to the vehicle longitudinal axis areas of the traffic area. In these areas, the position of all dormant or against the vehicle very slowly moving objects can be detected.
  • An advantageous embodiment of a method according to the invention provides that the movement speed of the sensor is above 0.5 km / h, in particular above 2 km / h. Above these speeds, a sufficient Winkelaufl ⁇ sung due to the evaluation of the frequency shift is achieved. The higher the vehicle speed, the better the angular resolution. Nevertheless, it corresponds to an advantageous embodiment of a method according to the invention, when the method is carried out only up to speeds of below 50 or 60 km / h. Observing the vehicle environment with respect to, in particular, stationary reflective objects above these speeds does not make sense. On the one hand, such speeds are not driven, for example, when looking for a parking space.
  • a further embodiment provides for improving the measurement results, that a plurality of sensors is provided, which independently perform measurements. Multiplying the number of measurements associated with increasing the number of sensors initially increases the resolution of the system. This allows better detection of the positions of reflective objects throughout the speed range.
  • Each of the sensors has an observation area due to its characteristics. If several sensors are used, they are arranged according to a preferred embodiment so that their observation areas overlap each other. This ensures that reflective objects are simultaneously detected by multiple sensors. By comparing the different sensor signals with each other, it is then possible to check whether a reflective object is located at a specific position. According to an advantageous embodiment, the sensors are arranged such that the observable space encompasses an angular range of approximately 360 °. This largely covers the entire surrounding space. Depending on the application purpose of the sensors, it may be least important to detect the ambient space directly in the direction of travel.
  • the source emits electromagnetic radiation, in particular radar beams of known frequency, preferably in the range around 24 GHz.
  • radar beams ie high-frequency electromagnetic radiation, allows the detection of a wide variety of objects in a wide range and with a wide range of applications.
  • a method for determining the location of a parking space is carried out according to the present invention from a moving vehicle.
  • At least one sensor consisting of a source of radiation of known frequency and a receiver is arranged on the vehicle.
  • an area is observed in which a parking space can be located. From the duration of the rays it is concluded that there are objects in the environment.
  • a multiplicity of successive measurements are carried out, in particular according to a method described above. From the superimposition of the plurality of measurements, at least one of the variables of position and size of the parking space with respect to the vehicle is then closed.
  • the evaluation of the signals takes place according to an evidence grid method, as has already been described above.
  • the evidence grid method is performed taking into account the Doppler effect.
  • FIG. 1 is a schematic representation of an exemplary measuring arrangement on a vehicle
  • FIG. 2a, 2b in schmatischer representation a measurement situation and the associated measurement result.
  • the arrangement of Figure 1 shows a schematically illustrated vehicle 10.
  • the vehicle 10 has a sensor S, which is arranged on a vehicle side of the vehicle 10.
  • the sensor S is mounted in the front vehicle area in the illustrated embodiment.
  • the sensor S emits at an opening angle ⁇ .
  • an observation area B results.
  • the objects G are detected insofar as they reflect the signals emitted by the sensor S.
  • the evaluation unit assigned to the sensor S the transit time T and the frequency Fdo of the reflected signal are determined.
  • the frequency Fa of the transmitted signal is known.
  • the speed vdo of the object G relative to the vehicle 10 can be determined therefrom.
  • the item G can be assigned exactly one point. With each measurement, a point for a reflected object G is generated. This point is assigned to a cell of the Evidence Grid.
  • the angular resolution of the Doppler method is limited by the resolution of the frequency shift.
  • FIG. 2a shows a schematic representation of a measurement situation and the resulting evidence grid.
  • the measurement situation (FIG. 2 a) is formed from the vehicle 10, which has a plurality of sensors S on both the vehicle front side and the vehicle rear side, the signals of which are respectively evaluated and transmitted to a common evidence grid.
  • the evidence grid is shown in FIG. 2b.
  • the Evidence Grid is a grid of fields, where in the illustrated form the grid is so narrow that the individual grid points are not recognizable.
  • the evidence grid is synchronously moved with the vehicle 10, so to speak, that is, the linear movement of the vehicle 10 with respect to an initial time is taken into account by corresponding displacement of the coordinates.
  • Each possible place is thus only an element of a field of the E vidence Grid.
  • the vehicle 10 moves past a chain of parked vehicles 11, between which the parking space 12 is located.
  • the vehicles 11 are parked along the curb 13, which limits the parking space 12 in depth.
  • an evidence grid emerges, which is usually presented in the literature as frequently marked fields appear bright against a dark background. This type of presentation is not intended to be limiting, any other representations are also conceivable showing the frequency distribution in the evidence grid.
  • a deviating, inverse representation was selected in FIG. 2b, in which frequently marked fields now appear dark compared to a light background.
  • a multitude of measurements then yields the Evidence Grid shown.
  • the measurement makes it possible to automatically determine the length L, the position and the depth Ti of the parking space 12 on the basis of analyzes of the obtained grating image. there the determination may already be completed before the vehicle 10 has completely passed one of the vehicles 11.

Landscapes

  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

L'invention concerne un procédé permettant d'acquérir des informations relatives à un environnement, ainsi qu'un procédé permettant de déterminer la position d'une place de stationnement (12). Ledit procédé d'acquisition d'informations fait appel à une source qui envoie, de manière pulsatoire, des signaux présentant une fréquence déterminée. Les signaux réfléchis par un objet (G) sont reçus par un récepteur. La distance (D) séparant l'objet (G) du capteur (S) est déterminée dans une unité de commande, en fonction du temps de propagation (T) des rayons réfléchis. Un diagramme est établi par superposition d'une pluralité de mesures. Ce diagramme reflète ladite superposition de mesures et permet de déterminer la position des objets (G) réfléchissant lesdits rayons, par rapport à la position du capteur (S). Cette invention est caractérisée en ce que : le capteur (S) est formé par la source et le récepteur ; ce(s) capteur(s) effectue(nt) un mouvement de vitesse connue (vs) par rapport à la zone d'observation (B) ; la fréquence (Fdo) des signaux réfléchis est détectée ; l'angle de direction (α) qui décrit la direction de l'objet (G) réfléchissant par rapport au sens de déplacement du capteur (S) est déterminé à partir du décalage de fréquence entre les signaux émis et les signaux réfléchis. La distance (D) et l'angle de direction (α) de l'objet (G) réfléchissant permettent de déterminer la position de cet objet.
PCT/EP2003/014033 2002-12-20 2003-12-11 Procede permettant d'acquerir des informations relatives a un environnement et procede permettant de determiner la position d'une place de stationnement WO2004059341A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
DE10259977.7 2002-12-20
DE10259977 2002-12-20
DE10310214.0 2003-03-08
DE10310214A DE10310214A1 (de) 2002-12-20 2003-03-08 Verfahren zum Erfassen von Umgebungsinformationen und Verfahren zum Bestimmen der Lage einer Parklücke

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Publication Number Publication Date
WO2004059341A1 true WO2004059341A1 (fr) 2004-07-15

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Cited By (10)

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WO2005121834A1 (fr) * 2004-06-09 2005-12-22 Valeo Schalter Und Sensoren Gmbh Systeme d'assistance au stationnement
WO2007033755A1 (fr) * 2005-09-22 2007-03-29 Valeo Schalter Und Sensoren Gmbh Procede pour mesurer des emplacements de stationnement
WO2008029038A1 (fr) * 2006-09-07 2008-03-13 Renault S.A.S. Dispositif et procede d'estimation des dimensions d'une place de parking, vehicule automobile comportant un tel dispositif
WO2018134915A1 (fr) * 2017-01-18 2018-07-26 三菱電機株式会社 Dispositif d'aide au stationnement
RU2686674C1 (ru) * 2018-08-28 2019-04-30 Федеральное государственное бюджетное учреждение науки Институт проблем управления им. В.А. Трапезникова Российской академии наук Бесконтактный способ измерения пройденного пути
RU2690842C1 (ru) * 2018-08-28 2019-06-06 Федеральное государственное бюджетное учреждение науки Институт проблем управления им. В.А. Трапезникова Российской академии наук Бесконтактный измеритель пройденного пути
WO2020069898A1 (fr) * 2018-10-01 2020-04-09 Conti Temic Microelectronic Gmbh Procédé de détection d'informations d'environnement au moyen de plusieurs capteurs radar
WO2021106030A1 (fr) * 2019-11-25 2021-06-03 三菱電機株式会社 Dispositif de détection d'obstacles
WO2022133872A1 (fr) * 2020-12-24 2022-06-30 Huawei Technologies Co., Ltd. Détection d'environnement collaboratif dans des réseaux sans fil
EP4177635A1 (fr) * 2021-11-05 2023-05-10 GM Cruise Holdings LLC Radar automobile de mappage et de localisation

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WO2005121834A1 (fr) * 2004-06-09 2005-12-22 Valeo Schalter Und Sensoren Gmbh Systeme d'assistance au stationnement
WO2007033755A1 (fr) * 2005-09-22 2007-03-29 Valeo Schalter Und Sensoren Gmbh Procede pour mesurer des emplacements de stationnement
WO2008029038A1 (fr) * 2006-09-07 2008-03-13 Renault S.A.S. Dispositif et procede d'estimation des dimensions d'une place de parking, vehicule automobile comportant un tel dispositif
FR2905765A1 (fr) * 2006-09-07 2008-03-14 Renault Sas Dispositif et procede d'estimation des dimensions d'une place de parking, vehicule automobile comportant un tel dispositif.
JPWO2018134915A1 (ja) * 2017-01-18 2019-06-27 三菱電機株式会社 駐車支援装置
JP6479295B2 (ja) * 2017-01-18 2019-03-06 三菱電機株式会社 駐車支援装置
WO2018134915A1 (fr) * 2017-01-18 2018-07-26 三菱電機株式会社 Dispositif d'aide au stationnement
RU2686674C1 (ru) * 2018-08-28 2019-04-30 Федеральное государственное бюджетное учреждение науки Институт проблем управления им. В.А. Трапезникова Российской академии наук Бесконтактный способ измерения пройденного пути
RU2690842C1 (ru) * 2018-08-28 2019-06-06 Федеральное государственное бюджетное учреждение науки Институт проблем управления им. В.А. Трапезникова Российской академии наук Бесконтактный измеритель пройденного пути
WO2020069898A1 (fr) * 2018-10-01 2020-04-09 Conti Temic Microelectronic Gmbh Procédé de détection d'informations d'environnement au moyen de plusieurs capteurs radar
CN112789520A (zh) * 2018-10-01 2021-05-11 康蒂-特米克微电子有限公司 借助多个雷达传感器采集环境信息的方法
US11874370B2 (en) 2018-10-01 2024-01-16 Continental Autonomous Mobility Germany GmbH Method for acquiring environment information by means of multiple radar sensors
WO2021106030A1 (fr) * 2019-11-25 2021-06-03 三菱電機株式会社 Dispositif de détection d'obstacles
JPWO2021106030A1 (fr) * 2019-11-25 2021-06-03
JP7224491B2 (ja) 2019-11-25 2023-02-17 三菱電機株式会社 障害物検知装置
WO2022133872A1 (fr) * 2020-12-24 2022-06-30 Huawei Technologies Co., Ltd. Détection d'environnement collaboratif dans des réseaux sans fil
EP4177635A1 (fr) * 2021-11-05 2023-05-10 GM Cruise Holdings LLC Radar automobile de mappage et de localisation

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