WO2004067308A1 - Dispositif et procede pour la surveillance de l'environnement d'un vehicule automobile - Google Patents

Dispositif et procede pour la surveillance de l'environnement d'un vehicule automobile Download PDF

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Publication number
WO2004067308A1
WO2004067308A1 PCT/DE2003/003745 DE0303745W WO2004067308A1 WO 2004067308 A1 WO2004067308 A1 WO 2004067308A1 DE 0303745 W DE0303745 W DE 0303745W WO 2004067308 A1 WO2004067308 A1 WO 2004067308A1
Authority
WO
WIPO (PCT)
Prior art keywords
sensors
monitoring
motor vehicle
surroundings
vehicle
Prior art date
Application number
PCT/DE2003/003745
Other languages
German (de)
English (en)
Inventor
Michael Schlick
Christian Fuchs
Werner Uhler
Dirk Schmid
Joerg Heckel
Peter Haag
Original Assignee
Robert Bosch 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 Robert Bosch Gmbh filed Critical Robert Bosch Gmbh
Publication of WO2004067308A1 publication Critical patent/WO2004067308A1/fr

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
    • 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
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G01S13/867—Combination of radar systems with cameras
    • 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
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/161—Decentralised systems, e.g. inter-vehicle communication
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/08—Lane monitoring; Lane Keeping Systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/08—Lane monitoring; Lane Keeping Systems
    • B60T2201/089—Lane monitoring; Lane Keeping Systems using optical detection
    • 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
    • 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

Definitions

  • the invention relates to a device for monitoring the surroundings of a motor vehicle, in particular in the context of a driver assistance system, and a method for monitoring the surroundings of a motor vehicle with the aid of such a device.
  • warning systems are used in practice, with which objects in the vehicle environment can be automatically detected and their distance and speed relative to the detecting vehicle can also be determined automatically. Based on this information, situation-related warning messages for the driver are then also automatically issued.
  • TWD blind spot detection
  • Such TWD systems are particularly useful when another vehicle overtakes with a low differential speed and plunges into the blind spot to the right or left of one's own vehicle for more than a moment. This can reduce the risk of accidents by overlooking other vehicles, for example when changing lanes on multi-lane expressways.
  • the known warning systems generally include one or more radar sensors.
  • the presence of objects in the monitoring area is estimated on the basis of the course of the measured values.
  • a detected object is not possible, so that the warning system cannot distinguish whether the object is a car, a truck, a cyclist, a pedestrian or, for example, a guardrail.
  • very short vehicles such as motorcyclists, who drive alongside their own vehicle at the same speed for a longer period of time or who can cut in laterally, cannot be reliably detected.
  • the complete coverage of the blind spot area with the help of radar sensors also proves to be problematic.
  • Adverse environmental conditions can also limit availability, for example if the radar sensors are covered with slush or damp dirt.
  • the present invention proposes measures with which the reliability of systems for monitoring the vehicle environment can be increased.
  • the device according to the invention for monitoring the surroundings of a motor vehicle is equipped with at least two sensors for detecting objects and their position in relation to the vehicle. These two sensors work according to different physical measurement principles. In addition, the two sensors are arranged on the vehicle such that the detection areas of the two sensors overlap at least partially.
  • the invention it has been recognized that by combining a plurality of sensors whose spatial detection areas overlap, redundancy of the measurement results and thus greater detection reliability can be achieved.
  • the resolution and reliability of the detection in the overlap area can be improved, so that even smaller objects, such as cyclists or motorcyclists, can be detected.
  • the availability or reliability of the system also increases.
  • the failure of a broadcast sensor or the temporary "blindness" of a sensor does not lead to a total failure of the system. This effect can be intensified by combining sensors with which environmental influences such as lighting conditions and weather have different effects on the detection performance of the individual sensors.
  • the reliability of the system can also be increased by positioning the two sensors at different installation locations on the motor vehicle. This measure simply reduces the probability of a simultaneous failure of both sensors, for example due to adverse environmental influences or damage.
  • FIG. 1 shows a traffic situation with a first vehicle, which is equipped with a device for monitoring the blind spot, and
  • Fig. 2 shows a comparable traffic situation with a second vehicle, which is also equipped with a device according to the invention for monitoring the blind spot.
  • the two vehicles 1 and 2 shown in FIGS. 1 and 2 are each equipped with an inventive device for automatic monitoring of the blind spot, a so-called blind spot detection (TWD) system.
  • the TWD system is part of a driver assistance system and generates warning messages for the driver when an object in the blind spot area has been detected.
  • the TWD system in the two exemplary embodiments described here comprises two radar sensors 3 and 4, which are arranged on the side, on the driver's side of the vehicle 1 and 2, in the front and rear end areas.
  • the radar sensor 3 arranged in the front end area is oriented to the front, which is indicated by the associated detection area 30, while the radar sensor 4 arranged in the rear end area is oriented rather to the rear, so that the detection area 40 can be assigned to it.
  • both TWD systems each include a video sensor 5 or 6.
  • the video sensor 5 is arranged in the rear view mirror on the driver's side, for example behind semitransparent glass or in the mirror holder. Both variants enable a simple modular design with a display element of the TWD function in the inner part of the exterior mirror.
  • the video sensor 6 in the embodiment shown in FIG. 2 is arranged on the rear view mirror positioned in the interior, where, for example, further video sensors for interior monitoring can also be arranged.
  • the video sensors 5 and 6 are each aligned such that their detection areas 50 and 60 overlap at least partially with the detection area 40 of the radar sensor 4 oriented to the rear.
  • the area of the blind spot is outlined in both figures with a dashed line and designated 70.
  • this blind spot area 70 there is a vehicle 10 which is about to overtake.
  • the detection areas 40 and 50 of the radar sensor 4 and the video sensor 5 (FIG. 1) or the detection areas 40 and 60 of the radar sensor 4 and the video sensor 6 (FIG. 2) each largely cover the area of the blind spot 70, so that the Vehicle 10 is safely detected.
  • the detection range of a video sensor can also extend significantly further over the area of the blind spot 70 shown here. In this case, approaching vehicles can be detected early with the help of the video sensor and corresponding warning messages for the Drivers are dropped off before the detected vehicle disappears in the blind spot area.
  • the joint evaluation of the measurement data of the radar sensor 4 and the video sensor 5 or 6 enables an improvement in the resolution and reliability in the overlap area 80 of the detection areas 40 and 50 or 40 and 60, so that even smaller objects, such as e.g. Cyclists or motorcyclists can be reliably detected.
  • the redundancy of the sensor data achieves a higher availability of the system as a whole, since the failure of one sensor - radar sensor 4 or video sensor 5 or 6 - does not lead to a total failure of the system. For example, in the dark or poor visibility due to snow, fog, etc., only the detection performance of the video sensor 5 or 6 is severely restricted, while these conditions have no influence on the detection performance of the radar sensor 4.
  • the radar sensor could be temporarily blocked by being covered with slush or damp dirt, while the field of vision of the video sensor installed in another position is clear.
  • objects can also be reliably classified or recognized in the detection range of the video sensor.

Landscapes

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

Abstract

L'objectif de l'invention est d'augmenter la fiabilité de système de surveillance d'un environnement de véhicule. Elle concerne donc un dispositif de surveillance d'un environnement de véhicule (1; 2), lequel peut être utilisé en particulier dans le cadre d'un système d'assistance au conducteur et est équipé, à cet effet, d'au moins deux capteurs (4, 5; 4, 6) destinés à détecter des objets et à donner leur position par rapport au véhicule. Ces deux capteurs (4, 5; 4, 6) fonctionnent selon des principes de mesure physiques différents. En outre, les zones de détection (40, 50; 40, 60) des deux capteurs (4, 5; 4, 6) se chevauchent au moins partiellement. Ces capteurs peuvent être un capteur radar et un capteur vidéo.
PCT/DE2003/003745 2003-01-21 2003-11-12 Dispositif et procede pour la surveillance de l'environnement d'un vehicule automobile WO2004067308A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10302052A DE10302052A1 (de) 2003-01-21 2003-01-21 Vorrichtung und Verfahren zum Überwachen der Umgebung eines Kraftfahrzeugs
DE10302052.7 2003-01-21

Publications (1)

Publication Number Publication Date
WO2004067308A1 true WO2004067308A1 (fr) 2004-08-12

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/DE2003/003745 WO2004067308A1 (fr) 2003-01-21 2003-11-12 Dispositif et procede pour la surveillance de l'environnement d'un vehicule automobile

Country Status (2)

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DE (1) DE10302052A1 (fr)
WO (1) WO2004067308A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7791527B2 (en) * 2004-07-28 2010-09-07 Robert Bosch Gmbh Method and device for object detection in the case of a vehicle

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102008012644A1 (de) 2008-03-05 2009-09-10 Robert Bosch Gmbh Längsführungsassistent mit Seitenassistenzfunktion für Kraftfahrzeuge
US9586525B2 (en) * 2011-11-28 2017-03-07 Robert Bosch Gmbh Camera-assisted blind spot detection
DE102012215014A1 (de) * 2012-08-23 2014-02-27 Robert Bosch Gmbh Verfahren zur Überwachung eines toten Winkels und Fahrassistenzsystem
DE102013205147A1 (de) * 2013-03-22 2014-05-15 Robert Bosch Gmbh Verfahren, Steuergerät und Fahrerassistenzsystem zur seitlichen Überwachung von Fahrzeugen

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0811855A2 (fr) * 1996-06-07 1997-12-10 Robert Bosch Gmbh Système de capteurs pour le contrÔle automatique de la position relative
DE19702688A1 (de) * 1997-01-25 1998-07-30 Itt Mfg Enterprises Inc Hybridsystem zur Abstandsmessung in Kraftfahrzeugen
EP0913751A1 (fr) * 1997-11-03 1999-05-06 Volkswagen Aktiengesellschaft Véhicule autonome et méthode de guidage d'un véhicule autonome
US6492935B1 (en) * 1999-09-29 2002-12-10 Fujitsu Ten Limited Peripheral monitoring sensor
WO2003001472A1 (fr) * 2001-06-23 2003-01-03 Lucas Industries Limited Systeme de localisation d'objets pour vehicule routier

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0811855A2 (fr) * 1996-06-07 1997-12-10 Robert Bosch Gmbh Système de capteurs pour le contrÔle automatique de la position relative
DE19702688A1 (de) * 1997-01-25 1998-07-30 Itt Mfg Enterprises Inc Hybridsystem zur Abstandsmessung in Kraftfahrzeugen
EP0913751A1 (fr) * 1997-11-03 1999-05-06 Volkswagen Aktiengesellschaft Véhicule autonome et méthode de guidage d'un véhicule autonome
US6492935B1 (en) * 1999-09-29 2002-12-10 Fujitsu Ten Limited Peripheral monitoring sensor
WO2003001472A1 (fr) * 2001-06-23 2003-01-03 Lucas Industries Limited Systeme de localisation d'objets pour vehicule routier

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
BECKER J C: "Fusion of heterogeneous sensors for the guidance of an autonomous vehicle", CONFERENCE ON TELEMATICS APPLICATION - TA2001, vol. 2, 10 July 2000 (2000-07-10), Weingarten Germany, 24-26 July 2001, pages 11 - 18, XP010505104 *

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7791527B2 (en) * 2004-07-28 2010-09-07 Robert Bosch Gmbh Method and device for object detection in the case of a vehicle

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