WO2005081200A2 - Dispositif de saisie et systeme de securite pour un vehicule - Google Patents

Dispositif de saisie et systeme de securite pour un vehicule Download PDF

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Publication number
WO2005081200A2
WO2005081200A2 PCT/EP2005/001239 EP2005001239W WO2005081200A2 WO 2005081200 A2 WO2005081200 A2 WO 2005081200A2 EP 2005001239 W EP2005001239 W EP 2005001239W WO 2005081200 A2 WO2005081200 A2 WO 2005081200A2
Authority
WO
WIPO (PCT)
Prior art keywords
motor vehicle
obstacle
detection device
field
sensor unit
Prior art date
Application number
PCT/EP2005/001239
Other languages
German (de)
English (en)
Other versions
WO2005081200A3 (fr
Inventor
Ottmar Gehring
Harro Heilmann
Sascha Kolski
Andreas Schwarzhaupt
Gernot Spiegelberg
Armin Sulzmann
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
Application filed by Daimlerchrysler Ag filed Critical Daimlerchrysler Ag
Publication of WO2005081200A2 publication Critical patent/WO2005081200A2/fr
Publication of WO2005081200A3 publication Critical patent/WO2005081200A3/fr

Links

Classifications

    • 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
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
    • 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
    • G01S13/88—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
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • B60K31/0008—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including means for detecting potential obstacles in vehicle path
    • 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

Definitions

  • the invention relates to a detection device of a motor vehicle for detecting an obstacle according to the preamble of patent claim 1 and a safety system for driverless operation of a motor vehicle according to the preamble of patent claim 8.
  • a method for assisting a driver of a motor vehicle in which a prediction of the current situation of the surroundings of the motor vehicle is derived from information about the external surroundings of the motor vehicle acquired with a plurality of environment detection sensors. The recorded information is subjected to a sensor fusion and a scene interpretation, whereby a consistent spatial-temporal description of the scene surrounding the motor vehicle is determined using motion models and shape models.
  • a prediction of the driver's reaction is made.
  • the driver reaction prediction is linked to the situation prediction in order to initiate suitable motor vehicle maneuvers, for example automatic emergency braking.
  • EP 0 545 437 B1 describes a method for avoiding collisions, in which the output signal of a distance measuring device that detects an obstacle is fed to an evaluation device.
  • the measuring range of the distance measuring device is divided into safety zones, which are located at different distances from the motor vehicle and each of which is assigned an individual, predetermined reaction measure.
  • the evaluation device automatically carries out the reaction measure provided for the respective safety zone when the motor vehicle is in the respective safety zones and the distance to the obstacle is further reduced.
  • DE 43 02 527 AI discloses a device arranged on a motor vehicle for detecting an obstacle in a detection area which extends in front of the motor vehicle.
  • the device for detecting the obstacle comprises a device for dividing the detection area into a plurality of partial zones with a conical configuration and different degrees of danger, a device for detecting the obstacle in each of the narrow partial zones, a decision device for assessing a degree of danger of the obstacle in the detection area and a inference device for deriving a corrected travel path of the motor vehicle in the detection area.
  • the invention has for its object to provide a detection device of a motor vehicle for detecting an obstacle in a surrounding area of the motor vehicle, which has a simplified functionality compared to the prior art.
  • a safety system for driverless operation of a motor vehicle is to be specified.
  • the first-mentioned object is achieved by a detection device of a motor vehicle for detecting an obstacle in a surrounding area of the motor vehicle with the features of claim 1.
  • the first arithmetic unit is provided for generating the first probability distribution for the presence of the obstacle in the surrounding area detected with the first surrounding sensor unit, the surrounding area being divided into a predetermined number of fields and a probability value for each predetermined field as a measure of the presence of the obstacle in the respective field is determined.
  • the first computing unit and the first environmental sensor unit are part of the detection device of the motor vehicle.
  • the surrounding area comprises an immediate front area of the motor vehicle with a typical depth of approximately 3 m.
  • This advance area is then divided, for example, into square fields with a side length of approximately 0.5 m.
  • motor vehicles are usually moved at a speed of approximately 7 km / h.
  • the detection means may with a corresponding arrangement used to monitor a rear surrounding area of the motor vehicle who ⁇ .
  • a second environment sensor unit for detecting the obstacle in the environment area detected with the first environment sensor unit.
  • a second arithmetic unit generates a second probability distribution for the detection of the obstacle with the second environment sensor unit, a probability value likewise being determined for each predetermined field of the environment area as a measure of the presence of the obstacle in the respective field. It is advantageous to provide a fusion platform for generating a third probability distribution, which is formed field by field from the first and second probability distributions. The field of the third probability distribution with the greatest probability value is then determined and if this probability value is greater than a predetermined probability threshold value, the existence of the obstacle in the area surrounding the motor vehicle is concluded.
  • the accuracy or the safety of the result can be improved by the detection of a surrounding area with at least two surrounding sensor units.
  • the specified fields of the surrounding area have numbers.
  • the probability values of the fields of the first and the second probability distribution with the same number are used, whereby the The term "field-by-field formation" is explained.
  • the so-called fusion of the probability values can take place according to different approaches of the probability calculation.
  • the first and the second environment sensor unit have different physical measurement principles, wherein the first and / or the second environment sensor unit can each comprise a plurality of sensors.
  • the detection accuracy is further increased. Changes in the ambient conditions, for example a change in the weather conditions, do not have a restrictive effect on the operation of the detection device.
  • An environment sensor unit can also comprise a plurality of sensors of the same measurement principle, for example a plurality of radar sensors can be arranged in one plane parallel to the road surface on the front of the motor vehicle, which monitor the environment and whose sensor values are used to form a probability distribution.
  • the two environmental sensor units are preferably arranged on the motor vehicle in such a way that they detect the environmental region from different angles of inclination with respect to a road surface. This enables spatial monitoring of the surrounding area.
  • An obstacle which is not detected, for example, at an inclination angle of 0 degrees (parallel to the road surface), can be detected by the environmental sensor unit arranged at a different inclination angle. For example, this obstacle could be a larger stone on the road.
  • the second object is achieved by a safety system for driverless operation of a motor vehicle with the features of claim 8.
  • the safety system for the driverless operation of the motor vehicle comprises, in addition to the detection device, a travel course control unit arranged in the motor vehicle, which on the input side of the fusion platform provides the first course of information with an indication of the presence of the obstacle in the area surrounding the motor vehicle of the travel course control unit. and a control computer of the motor vehicle, which provides a desired travel course for the motor vehicle of the travel course control unit as second input information.
  • FIG. 1 shows a side view of a detection device arranged in a motor vehicle for detecting an obstacle in a surrounding area of the motor vehicle in a schematic representation
  • FIG. 2 shows a plan view of a surrounding area of a motor vehicle divided into a predetermined number of fields
  • Fig. 3 shows a security system for driverless operation of a motor vehicle in a block diagram.
  • a detection device 1 of a motor vehicle 2 for detecting an obstacle 3 in a surrounding area 4 of the motor vehicle 3 comprises a first surrounding sensor unit 5 and a second surrounding sensor unit 6.
  • the surrounding area 4 can in particular be the immediate front area of the motor vehicle 2.
  • the opening cones of the two environmental sensor units 5, 6 are indicated by broken lines 7 and 8, respectively.
  • the obstacle 6 is detected both with the environmental sensor unit 5 and with the environmental sensor unit 6.
  • the first environment sensor unit 5 is followed by a first arithmetic unit 9 for generating a first probability distribution for the presence of the obstacle 3 in the environment area 4 detected by the first environment sensor unit 5.
  • the second environment sensor unit 6 is followed by a second arithmetic unit 10 for generating a second probability distribution for the detection of the obstacle 3 in the environment 4 with the second environment sensor unit 6.
  • the 2 is divided into a predetermined number of fields 11, each field 11 being assigned its own addressing number.
  • the fields 11 are square, but they can also have a different configuration, for example in the form of equilateral triangles.
  • the surrounding area 4 is divided into 4x4 fields. The total number of fields covers the entire surrounding area 4, the size of the fields being selected so that the obstacle 3 can be detected with a sufficient spatial resolution.
  • a probability value for the first and the second probability is keits Distribution determined as a measure of the presence of the obstacle 3 in the respective field 11.
  • the probability value for each cell is between 0 and 1.
  • Each 1 byte contains the information for two fields 11. By scaling to half a byte per field 11, the probability values can be assigned in 1/15 steps.
  • the first and the second probability distribution are each forwarded in the form of a data packet via a data bus, for example a CAN bus (Controller Area Network), from the two computing units 9, 10 to a fusion platform 12, see FIG. 1.
  • the fusion platform 12 is provided for generating a third probability distribution, which is formed field by field from the first and the second probability distribution.
  • the field 11 of the third probability distribution with the largest probability value is then determined. If this ascertained probability value is greater than a predetermined probability threshold value, it is concluded that the obstacle 3 is present in the surrounding area 4 of the motor vehicle 2.
  • the field-by-field formation of the third probability distribution takes place according to the Bayesian theorem about conditional probabilities in the form:
  • A is the assumption that the corresponding field 11 is occupied by the obstacle 3.
  • - ⁇ A is the assumption that the corresponding field 11 is not occupied by the obstacle 3.
  • Bi is determined with the i-th environment sensor unit 5, 6 Average probability value for the corresponding field 11.
  • n is chosen 2 for the number of environmental sensor units 5, 6 used in the detection device 1.
  • the field-by-field formation of the third probability distribution can also be done using other approaches.
  • the first environment sensor unit 5 comprises a predetermined number of radar sensors, not shown in any more detail, which are arranged on the front of the motor vehicle 2 in a plane parallel to the road surface 13. An evaluation of the measurement signals from the radar sensors provides the first probability distribution.
  • the second environment sensor unit 6 comprises an optical camera. It is advantageous if the first and the second environmental sensor unit 5, 6 comprise sensors that work according to different physical measurement principles. Any disadvantages of a measurement principle when detecting the obstacle 3 as a function of the prevailing environmental conditions can be eliminated by a second measurement principle. In principle, all physical measurement principles suitable for environmental detection can be used in the detection device 1. The number of sensors to be used for the respective environmental sensor unit 5, 6 can be selected depending on the arrangement. In a further exemplary embodiment, not shown, the detection device 1 comprises only one environment sensor unit 5, 6.
  • the two environmental sensor units 5, 6 are arranged on the motor vehicle 2 in such a way that they detect the environmental region 4 from different angles of inclination with respect to a road surface 13. While the first environment sensor unit 5 detects a first section from the environment of the motor vehicle 2, which is almost parallel to the road surface, the second environment sensor unit 6 detects a relative to the first segment inclined second off ⁇ cut from the surroundings of the motor vehicle 2. The camera of the second environment sensor unit 6 is disposed in an upper front area of the motor vehicle 2 for this purpose. However, both environment sensor units 5, 6 completely capture the environment area 4. Due to the different Nei ⁇ 6 account the Sens mecanics Kunststoffe around sensor units 5, against each other, an optimal detection of the obstacle
  • FIG. 3 shows a safety system 14 for driverless operation of the motor vehicle 2, in particular for a truck, comprising the detection device 1.
  • a travel course control unit 15 arranged in the motor vehicle 2 is on the input side by the fusion platform 12 of the detection device 1 and a host computer 16 of the motor vehicle 2 driven.
  • the fusion platform 12 provides the third probability distribution for the presence of the obstacle 3 in the surrounding area
  • the first input information can also contain a differently illustrated indication of the presence of the obstacle 3 in the surrounding area 4 of the motor vehicle 2.
  • the control computer 16 of the motor vehicle 2 provides a desired travel course for the motor vehicle 2 to the travel course control unit 15 as second input information.
  • the security system 14 can also be provided for the operation of a motor vehicle 2 with a driver.
  • the travel course control unit 15 controls a drive train control unit 17, which in turn controls a motor 18, a brake 19, a steering 20 and / or a transmission 21 of the motor vehicle 2 in order to carry out a driving maneuver.
  • the suitable driving maneuver is determined by the drive train control unit 17 depending on the presence and the position of the obstacle 3 in the surrounding area 4 of the motor vehicle 2 and on its desired course of travel.
  • the detection device 1 is characterized by an optimized functionality. Their implementation is inexpensive to achieve since, in addition to the hardware components already present in motor vehicle 2, no additional components are required.
  • the first and the second computing unit 9, 10 and the fusion platform 12 can be part of a computer.

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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)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Electromagnetism (AREA)
  • Traffic Control Systems (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

L'invention concerne un dispositif de saisie pour un véhicule, ce dispositif étant destiné à détecter un obstacle dans une zone environnant le véhicule au moyen d'au moins un premier bloc détecteur d'environnement. L'invention est caractérisée en ce qu'une première unité de calcul génère une première distribution de probabilité relative à l'existence d'un obstacle dans la zone saisie par le premier bloc détecteur d'environnement. Cette zone est divisée en un nombre défini de champs et pour chaque champ est déterminée une valeur de probabilité comme mesure de l'existence d'un obstacle dans ledit champ.
PCT/EP2005/001239 2004-02-17 2005-02-08 Dispositif de saisie et systeme de securite pour un vehicule WO2005081200A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102004007553.0 2004-02-17
DE102004007553A DE102004007553A1 (de) 2004-02-17 2004-02-17 Erfassungsvorrichtung und Sicherheitssystem für ein Kraftfahrzeug

Publications (2)

Publication Number Publication Date
WO2005081200A2 true WO2005081200A2 (fr) 2005-09-01
WO2005081200A3 WO2005081200A3 (fr) 2005-11-10

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PCT/EP2005/001239 WO2005081200A2 (fr) 2004-02-17 2005-02-08 Dispositif de saisie et systeme de securite pour un vehicule

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DE (1) DE102004007553A1 (fr)
WO (1) WO2005081200A2 (fr)

Cited By (2)

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Publication number Priority date Publication date Assignee Title
US10195992B2 (en) 2017-04-03 2019-02-05 Ford Global Technologies, Llc Obstacle detection systems and methods
CN114371015A (zh) * 2022-01-04 2022-04-19 一汽解放汽车有限公司 自动驾驶测试方法、装置、计算机设备、存储介质

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FR2890774B1 (fr) * 2005-09-09 2007-11-16 Inst Nat Rech Inf Automat Procede d'assitance a la conduite d'un vehicule et dispositif associe ameliore
EP1835475B1 (fr) * 2006-03-15 2008-06-25 Delphi Technologies, Inc. Procédé d'évaluation d'obstacles pour véhicule
JP2007333486A (ja) * 2006-06-13 2007-12-27 Denso Corp 車両用障害物検知装置
DE102006046843A1 (de) * 2006-10-02 2008-04-03 Robert Bosch Gmbh Verfahren zur Erkennung eines Umfelds
DE102006047131A1 (de) 2006-10-05 2008-04-10 Robert Bosch Gmbh Verfahren zum automatischen Steuern eines Fahrzeugs
DE102006056835A1 (de) * 2006-12-01 2008-06-05 Robert Bosch Gmbh Verfahren zum gitterbasierten Verarbeiten von Sensorsignalen
DE102006058308A1 (de) * 2006-12-11 2008-06-12 Robert Bosch Gmbh Verfahren und Vorrichtung zum Erfassen eines Hindernisses in einem Umgebungsbereich eines Kraftfahrzeugs und Kraftfahrzeug
DE102006061390B4 (de) 2006-12-23 2019-05-16 Volkswagen Ag Umfelderfassungssystem und Umfelderfassungsverfahren eines Kraftfahrzeugs
DE102007012458A1 (de) 2007-03-15 2008-09-18 Robert Bosch Gmbh Verfahren zur Objektbildung
DE102008001409A1 (de) 2008-04-28 2009-11-05 Robert Bosch Gmbh Verfahren zur Bestimmung von freien Bereichen in der, insbesondere für die Fahrzeugführung relevanten Umgebung eines Kraftfahrzeugs
DE102008062273A1 (de) * 2008-12-15 2010-06-17 Volkswagen Ag Verfahren zum Bereitstellen von Informationen über Objekte in einer Umgebung eines Kraftfahrzeugs, Verfahren zum Steuern sicherheitsrelevanter Fahrzeugssysteme und Steuerungsvorrichtung
WO2010127650A1 (fr) * 2009-05-06 2010-11-11 Conti Temic Microelectronic Gmbh Procédé d'analyse de données de détection pour un véhicule à moteur
DE102013223803A1 (de) 2013-11-21 2015-05-21 Robert Bosch Gmbh Verfahren und Vorrichtung zur Segmentierung eines Belegungsgitters für ein Umfeldmodell eines Fahrerassistenzsystems für ein Fahrzeug
DE102014204430A1 (de) * 2014-03-11 2015-09-17 Conti Temic Microelectronic Gmbh Verfahren und Vorrichtung zur Ermittlung einer Genauigkeit eines zu bewertenden Belegungsgitters für ein Fahrerassistenzsystem
DE102014208006A1 (de) * 2014-04-29 2015-11-26 Bayerische Motoren Werke Aktiengesellschaft Verfahren zur Umfelderfassung eines Fahrzeugs
DE102015109157A1 (de) * 2015-06-10 2016-12-15 Valeo Schalter Und Sensoren Gmbh Verfahren zum Betreiben von Einrichtungen eines Kraftfahrzeugs, Vorrichtung zum Betreiben von Einrichtungen eines Kraftfahrzeugs sowie Kraftfahrzeug
DE102015217771A1 (de) * 2015-09-17 2017-03-23 Conti Temic Microelectronic Gmbh Vorrichtung und Verfahren zum Überwachen einer Sensorfunktion für ein Kraftfahrzeug

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US10195992B2 (en) 2017-04-03 2019-02-05 Ford Global Technologies, Llc Obstacle detection systems and methods
CN114371015A (zh) * 2022-01-04 2022-04-19 一汽解放汽车有限公司 自动驾驶测试方法、装置、计算机设备、存储介质
CN114371015B (zh) * 2022-01-04 2024-06-04 一汽解放汽车有限公司 自动驾驶测试方法、装置、计算机设备、存储介质

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WO2005081200A3 (fr) 2005-11-10

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