WO2008071167A2 - Bestimmung der position eines objekts mit einem sensor - Google Patents
Bestimmung der position eines objekts mit einem sensor Download PDFInfo
- Publication number
- WO2008071167A2 WO2008071167A2 PCT/DE2007/002201 DE2007002201W WO2008071167A2 WO 2008071167 A2 WO2008071167 A2 WO 2008071167A2 DE 2007002201 W DE2007002201 W DE 2007002201W WO 2008071167 A2 WO2008071167 A2 WO 2008071167A2
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- sensor system
- distance
- received signal
- determined
- angle
- Prior art date
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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
- G01S7/4026—Antenna boresight
-
- 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
- G01S13/42—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
- 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
- G01S13/42—Simultaneous measurement of distance and other co-ordinates
- G01S13/44—Monopulse radar, i.e. simultaneous lobing
-
- 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
- G01S13/66—Radar-tracking systems; Analogous systems
- G01S13/70—Radar-tracking systems; Analogous systems for range tracking only
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/28—Details of pulse systems
- G01S7/285—Receivers
- G01S7/292—Extracting wanted echo-signals
- G01S7/2923—Extracting wanted echo-signals based on data belonging to a number of consecutive radar periods
- G01S7/2925—Extracting wanted echo-signals based on data belonging to a number of consecutive radar periods by using shape of radiation pattern
-
- 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
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/28—Details of pulse systems
- G01S7/285—Receivers
- G01S7/34—Gain of receiver varied automatically during pulse-recurrence period, e.g. anti-clutter gain control
-
- 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
- G01S13/50—Systems of measurement based on relative movement of target
-
- 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar 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
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
- G01S7/4052—Means for monitoring or calibrating by simulation of echoes
- G01S7/4082—Means for monitoring or calibrating by simulation of echoes using externally generated reference signals, e.g. via remote reflector or transponder
- G01S7/4091—Means for monitoring or calibrating by simulation of echoes using externally generated reference signals, e.g. via remote reflector or transponder during normal radar operation
Definitions
- the invention relates to a method for determining the position of objects.
- the method may, for. B. used in vehicles for environment detection.
- the method is suitable for sensor misalignment detection.
- sampling points are slightly shifted from measuring cycle to measuring cycle.
- a higher sampling rate and an angle determination are achieved within the beam width.
- the disadvantage of this method is that the sampling points must be shifted with high accuracy in order to obtain a meaningful result. This requires a mechanically complex scanner unit.
- the object of the invention is therefore to provide a simple and inexpensive method and a device for determining the position of an object.
- BESTATIGUNGSKOPIE This object is achieved according to the invention by a method and a device according to the independent patent claims. Advantageous developments can be found in the dependent claims.
- a method for determining the position of an object with a sensor system comprises at least a transmitter and a receiver.
- a transmitter and / or receiver are designed such that the predetermined sensitivity of the sensor has an angle-dependent non-linear course.
- the sensor system and an associated data processing unit are designed so that at least one object is tracked in the detection range of the sensor system.
- the distance of the object to the sensor system determined by pulse transit time measurement or another method. The distance determination is carried out in an advantageous embodiment of the invention each time the object is detected. The distance alone is not yet clear the position of the object to the sensor system, this at least one angle indication is required, indicating the direction of the object to the sensor.
- the angle or the position of the tracked object is determined from the strength of the received signal (amplitude or intensity) and the associated object distance. It is not important for the invention whether the amplitude or the intensity of the received signal are evaluated.
- the intensity of the received signal can be described in the simplest case depending on three parameters.
- the emitted radiation is attenuated by a factor proportional to 1 / x 4 before reaching the receiver, where x indicates the object distance.
- the intensity of the received signal is determined by the reflectivity of the object, the reflectivity indicates how much of the incident radiation is reflected to the receiver.
- the reflectivity is characteristic of the object.
- the transmitter intensity profile or the angle-dependent sensitivity curve of the receiver give an angle-dependent profile of the sensitivity of the receiver Sensor system before. It is easy for a person skilled in the art to calculate how an angular dependence of transmitter and receiver on the sensitivity of the sensor system.
- the received signal scaled by 1 / x 4 has the same angle-dependent profile as the specified sensitivity profile.
- At least one object in the detection area is tracked and the distance and reception intensity are recorded at least three times, ie. H. the object is detected by the sensor at least at three different times at at least three different positions, since the relative speed of the object is not equal to zero.
- the position of the object at the corresponding measurement times is determined even without knowledge of the reflectivity in retrospect.
- the course of the distance-scaled received signal is compared with the given angle-dependent profile, and from this the respective position of the object is derived.
- a plurality of value pairs for distance and reception intensity is recorded for an object.
- the distance-scaled receive values are adapted to the sensitivity curve of the sensor. The adjustment is made with adjustment calculation in order to achieve the best possible result.
- the adaptation is z. B. calculated by the method of least squares.
- the sensitivity profile of the sensor system comprises a local maximum and / or a local minimum. If the measured values of the distance-scaled amplitude of the received signal also have an extreme value, this is used as a reference for determining the position. The distance scaled amplitude of the received signal is plotted over time or simply in the order in which the readings were taken.
- At least two zones are provided for the detection range of the sensor system.
- the position of an object is determined directly from the measured values (for example, after the Monopulse method) and in a second zone the method claimed here for determining the position is used.
- this is used for the misalignment determination of a sensor system.
- the sensor system is in a vehicle and detects z. B. the environment in front of the moving vehicle. In this case, the position of at least one stationary object is considered over a predetermined observation period.
- the observation period is i. d. R.
- Whether an object is relative to the road surface is determined on the basis of the distance data and the proper motion of the vehicle. It is assumed that standing objects i. d. R. stand on the roadside, so that their course z. B.
- a forward-facing sensor system reflects the course of the lane on which the vehicle is moving.
- the self-motion of the vehicle with sensor is compared with the determined values for the position of stationary objects.
- Voices in a given time window the course of the self-motion with the course of the position of at least one stationary objects substantially do not agree is closed on a misalignment of the sensor system and it will be the necessary measures for sensor adjustment and / or warning the driver and / or Switching off the sensor system initiated.
- the inventive method is stored on a data evaluation unit in a motor vehicle with sensor system.
- the detection range of the sensor system is designed so that stationary objects are detected at the edge of the road.
- the inventive method is stored on a data evaluation unit in a motor vehicle with sensor system.
- the sensor system is designed so that in a first zone of the detection range, the position of objects can be determined directly from the measured data.
- the first zone of the detection area is preferably directed to the roadway ahead, so that objects on the roadway are detected up to a distance of several meters to several hundred meters.
- a second zone of the detection area essentially detects objects at the edge of the road. The position of the object is determined here by the method described above.
- Fig. 1 Sensitivity of a sensor system with seven channels plotted on the detection angle.
- FIG. 1 shows the angle-dependent sensitivity profile of a multi-channel sensor system.
- the invention is embodied as an infrared sensor with seven separate channels whose detection ranges are represented by the seven curves.
- the separate channels are achieved by a suitable arrangement of several receiving and / or multiple transmitting units.
- a transmitter illuminates the detection ranges of seven receivers or vice versa. It partially overlaps the detection areas of two adjacent channels.
- the sensitivity of the receiving units was plotted against the detection angle ⁇ .
- the coverage areas of the receiving units partially overlap. In the overlap areas, the detection angle ⁇ indicative of the position of an object is determined by the signal ratio of two channels.
- FIG. 1 shows the angle-dependent sensitivity profile of a multi-channel sensor system.
- the invention is embodied as an infrared sensor with seven separate channels whose detection ranges are represented by the seven curves.
- the separate channels are achieved by a suitable arrangement of several receiving and / or multiple transmitting units.
- a transmitter illuminates the detection range
- the position angle ⁇ _l is plotted, on which an object O1 is detected by the sensor system.
- the signal of the two channels which is a signal from the Taking up object oil is the same in this case.
- the detection area of the sensor system also has areas on the right and left edges where the detection areas of the channels do not overlap.
- the position of objects is determined indirectly.
- the received signal of an object is recorded several times and scaled with the associated distance.
- the scaled received signal is plotted according to the order of recording.
- the applied signal has an extreme value, a maximum. A comparison with the sensitivity curve of the corresponding receiving unit shows that the maximum is present at the position angle ⁇ _2.
- the scaled receive signal at maximum is provided with a correction factor so that it coincides with the maximum of the sensitivity.
- the correction factor is also applied to the other measured values and the position angles are determined according to the sensitivity curve.
- the correction factor is constant and depends on the reflectivity of the object. However, if the sensor signal is greatly attenuated in bad weather (fog, snow, etc.), this effect must also be taken into account.
- the correction factor is composed of a constant portion and an exponential portion into which the distance is received.
Abstract
Description
Claims
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE112007001724.4T DE112007001724B4 (de) | 2006-12-09 | 2007-12-06 | Bestimmung der Position eines Objekts mit einem Sensor |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102006058155.5 | 2006-12-09 | ||
DE102006058155A DE102006058155A1 (de) | 2006-12-09 | 2006-12-09 | Bestimmung der Position eines Objekts mit einem Sensor |
Publications (2)
Publication Number | Publication Date |
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WO2008071167A2 true WO2008071167A2 (de) | 2008-06-19 |
WO2008071167A3 WO2008071167A3 (de) | 2008-10-16 |
Family
ID=39362503
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/DE2007/002201 WO2008071167A2 (de) | 2006-12-09 | 2007-12-06 | Bestimmung der position eines objekts mit einem sensor |
Country Status (2)
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DE (2) | DE102006058155A1 (de) |
WO (1) | WO2008071167A2 (de) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2014072105A1 (de) * | 2012-11-08 | 2014-05-15 | Valeo Schalter Und Sensoren Gmbh | Abtastende optoelektronische detektionseinrichtung mit einer detektionsschwelle, kraftfahrzeug und entsprechendes verfahren |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102012018099B4 (de) | 2012-09-13 | 2021-05-20 | Volkswagen Ag | Verfahren zum Betreiben einer Sensoreinrichtung eines Kraftwagens |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
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US3391403A (en) * | 1967-02-24 | 1968-07-02 | Westinghouse Electric Corp | Digital optimum weighted statistical detector |
DE2257705A1 (de) * | 1971-11-29 | 1973-06-07 | Int Standard Electric Corp | Schaltungsanordnung zur entfernungsabhaengigen ansteuerung des videoteils eines pulsradarempfaengers |
US3789396A (en) * | 1972-03-06 | 1974-01-29 | Westinghouse Electric Corp | Radar apparatus |
EP0477155A2 (de) * | 1990-09-18 | 1992-03-25 | Bofors Electronics AB | Radargerät |
US5101210A (en) * | 1990-12-21 | 1992-03-31 | Itt Corporation | Signal dynamic range compression apparatus and method including clutter estimation and reduction |
EP1239298A2 (de) * | 2001-03-05 | 2002-09-11 | Murata Manufacturing Co., Ltd. | Verfahren und Radar zur Abstandsdetektion eines Zieles |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE19543813A1 (de) * | 1995-11-24 | 1997-05-28 | Bosch Gmbh Robert | Radarsystem, insbesondere Kraftfahrzeug-Radarsystem |
DE19964020A1 (de) | 1999-12-30 | 2001-07-05 | Bosch Gmbh Robert | Verfahren und Vorrichtung zur Dejustageerkennung bei einem Kraftfahrzeug-Radarsystem |
JP2004144543A (ja) * | 2002-10-23 | 2004-05-20 | Omron Corp | 物体検知方法および物体検知装置 |
-
2006
- 2006-12-09 DE DE102006058155A patent/DE102006058155A1/de active Pending
-
2007
- 2007-12-06 DE DE112007001724.4T patent/DE112007001724B4/de active Active
- 2007-12-06 WO PCT/DE2007/002201 patent/WO2008071167A2/de active Application Filing
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3391403A (en) * | 1967-02-24 | 1968-07-02 | Westinghouse Electric Corp | Digital optimum weighted statistical detector |
DE2257705A1 (de) * | 1971-11-29 | 1973-06-07 | Int Standard Electric Corp | Schaltungsanordnung zur entfernungsabhaengigen ansteuerung des videoteils eines pulsradarempfaengers |
US3789396A (en) * | 1972-03-06 | 1974-01-29 | Westinghouse Electric Corp | Radar apparatus |
EP0477155A2 (de) * | 1990-09-18 | 1992-03-25 | Bofors Electronics AB | Radargerät |
US5101210A (en) * | 1990-12-21 | 1992-03-31 | Itt Corporation | Signal dynamic range compression apparatus and method including clutter estimation and reduction |
EP1239298A2 (de) * | 2001-03-05 | 2002-09-11 | Murata Manufacturing Co., Ltd. | Verfahren und Radar zur Abstandsdetektion eines Zieles |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2014072105A1 (de) * | 2012-11-08 | 2014-05-15 | Valeo Schalter Und Sensoren Gmbh | Abtastende optoelektronische detektionseinrichtung mit einer detektionsschwelle, kraftfahrzeug und entsprechendes verfahren |
US9864047B2 (en) | 2012-11-08 | 2018-01-09 | Valeo Schalter Und Sensoren Gmbh | Scanning optoelectronic detection device having a detection threshold, motor vehicle and corresponding method |
Also Published As
Publication number | Publication date |
---|---|
DE102006058155A1 (de) | 2008-07-31 |
DE112007001724A5 (de) | 2009-04-16 |
WO2008071167A3 (de) | 2008-10-16 |
DE112007001724B4 (de) | 2022-02-10 |
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