WO2016087339A1 - Verfahren zum erkennen einer abschattung einer sensoreinrichtung eines kraftfahrzeugs durch ein objekt, recheneinrichtung, fahrerassistenzsystem sowie kraftfahrzeug - Google Patents
Verfahren zum erkennen einer abschattung einer sensoreinrichtung eines kraftfahrzeugs durch ein objekt, recheneinrichtung, fahrerassistenzsystem sowie kraftfahrzeug Download PDFInfo
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- WO2016087339A1 WO2016087339A1 PCT/EP2015/077999 EP2015077999W WO2016087339A1 WO 2016087339 A1 WO2016087339 A1 WO 2016087339A1 EP 2015077999 W EP2015077999 W EP 2015077999W WO 2016087339 A1 WO2016087339 A1 WO 2016087339A1
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- sensor device
- motor vehicle
- classifier
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- computing device
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Classifications
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- 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
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- 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
- G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
- G01S13/723—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar by using numerical data
- G01S13/726—Multiple target tracking
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- 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
- G01S13/74—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems
- G01S13/76—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems wherein pulse-type signals are transmitted
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- 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
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- 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
- G01S15/66—Sonar tracking systems
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- 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
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- 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
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- 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
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- 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
- G01S7/4039—Means for monitoring or calibrating of parts of a radar system of sensor or antenna obstruction, e.g. dirt- or ice-coating
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- 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
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/52004—Means for monitoring or calibrating
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- 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
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
- G01S2007/4975—Means for monitoring or calibrating of sensor obstruction by, e.g. dirt- or ice-coating, e.g. by reflection measurement on front-screen
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/52004—Means for monitoring or calibrating
- G01S2007/52009—Means for monitoring or calibrating of sensor obstruction, e.g. dirt- or ice-coating
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- 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
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- 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
- G01S2013/9323—Alternative operation using light waves
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- 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
- G01S2013/9324—Alternative operation using ultrasonic waves
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- 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 present invention relates to a method for detecting a shadowing of a sensor device of a motor vehicle by an object, in which at least one echo signal detected by the sensor device, which characterizes a distance between the sensor device and the object, is received by means of a computing device, a detection range for the sensor device is determined and is checked based on the at least one received echo signal, whether the
- the invention also relates to a computing device for a driver assistance system.
- the invention relates to a driver assistance system and a motor vehicle.
- These sensor devices can, for example, be distributed on the motor vehicle and serve to detect or recognize an object in an environmental region of the motor vehicle. In particular, a distance between the motor vehicle and the object can be detected with the sensor devices.
- Such sensor devices usually operate according to the echosounding principle. That is, the sensor devices send out a transmission signal, which is reflected by the object in the surrounding area of the motor vehicle. That reflected
- Transmission signal is then received as echo signal again from the sensor device. Based on the transit time between the transmission of the transmission signal and the reception of the echo signal, the distance between the motor vehicle and the object can then be determined.
- sensor devices may include, for example, a radar sensor, an ultrasonic sensor or a laser sensor. The sensor devices are used in particular in connection with driver assistance systems which assist the driver in guiding the motor vehicle. Such
- Driver assistance system may be, for example, a parking aid, a blind spot assistant, a distance control or an automatic door opener.
- the functionality of the sensor devices must be ensured.
- the functionality of the sensor device is limited, for example, if a detection range of the sensor device is shaded. Of the Detection range of the sensor device describes in particular the area in which objects can be detected with the sensor device.
- Sensor device can be shaded, for example, when a (quasi) static object is in the detection range of the sensor device.
- a (quasi) static object is in the detection range of the sensor device.
- further objects that are located behind the shading object, starting from the sensor device can no longer be detected.
- the shading object is located relatively close to the sensor device, this can result in a large proportion of the detection area being shaded by the object. This is effected in particular by the fact that the transmission signals, which are transmitted with the sensor device, are scattered on this object, whereby the field of view of the sensor device is restricted.
- EP 2 639 781 A1 describes a method for detecting a position of a target object in a surrounding area of a motor vehicle.
- a sensor device for example a radar sensor.
- an image containing the target object and detected by an image sensor is received.
- the first position is projected onto the image and the first position is refined by a second position which is determined based on a symmetry search within the image.
- it can be checked whether an object is shadowed by other objects.
- This object is achieved by a method by a
- An inventive method is used to detect a shadowing of a sensor device of a motor vehicle by an object.
- at least one echo signal detected by the sensor device which characterizes a distance between the sensor device and the object, is received by means of a computing device.
- a detection range for the sensor device is determined and On the basis of the at least one received echo signal is checked whether the
- Sensor device is shadowed by the object at least partially. Furthermore, at least one echo signal by means of the computing device becomes a discrete one
- a power value is determined on the basis of the echo signal, and based on the power values, it is decided by means of a classifier whether at least a predetermined portion of the detection range of the sensor device is shaded by the object.
- the method relates to the operation of a sensor device of a motor vehicle.
- a sensor device With the sensor device, an object in the surrounding area of the motor vehicle can be detected.
- a distance between the sensor device and an object can be determined with the sensor device.
- the sensor device may comprise, for example, a radar sensor, an ultrasound sensor and / or a laser sensor.
- the sensor device can be in several, in particular temporally
- a transmission signal is transmitted by means of the sensor device, this transmission signal is reflected at the object and the reflected sensor signal is received by the sensor device again as an echo signal. Based on the transit time between the transmission of the transmission signal and the reception of the echo signal, the distance between the sensor device and the object can be determined.
- the shading of the sensor device can also be referred to as "occlusion.”
- the sensor device has a predetermined detection region which describes the region in the surrounding region of the motor vehicle in which objects can be detected with the sensor device.
- the object may be (quasi-) static and have a low permittivity for the transmission signal .
- the object may therefore be determined as to whether the object for the sensor device is a shading object Shading of the detection area by the object is dependent on the distance between the sensor device and the object and / or the dimensions of the object. of the shadowed by the object, no further objects can be detected by means of
- the at least one echo signal is discrete by means of a computing device
- a plurality of echo signals can also be received by means of the computing device and assigned to discrete distance values in each case. These discrete distance values can be predetermined.
- a power value is determined for each of the discrete distance values on the basis of the echo signal. The power value can be determined, for example, based on the signal power of the echo signal. For example, the
- Power value can be determined from the signal amplitude of the echo signal.
- a classifier in particular a linear classifier, is provided, with which the power values for the discrete distance values are examined. It is also possible to use a non-linear classifier.
- the classifier can be provided for example by a corresponding computing device on which a classification method is performed. It can also be provided that the classification method is performed on the computing device itself. In this case, the computing device forms the classifier.
- the classifier can now analyze the power values for the respective discrete distance values and assign these predetermined classes.
- the classifier can be the
- shaded means that the object described by the discrete distance values and the associated power values will shade the detection range of the sensor device.
- the class "not shaded” means that the object to which the discrete distance values and the associated power values are assigned do not shade the sensor device, so that it is easy to check with the aid of the classifier whether the object has the
- the power values for the plurality of discrete distance values are assigned to a vector and the vector is compared by means of the classifier with a predetermined decision limit.
- the decision boundary can be designed differently.
- the decision limit may be, for example, a line, a hyperplane or a
- Probability density function to be formed Based on this predetermined Decision limit may be the vector that determines the performance values for the discrete
- Distance values includes either the class "shadowed” or the class "unshaded”. This way, within a short
- the predetermined decision limit is predetermined during a training phase of the classifier. During this training phase, for example, a reference object at a predetermined distance from the
- the reference object can be positioned at a predetermined distance from the motor vehicle. It can then be decided whether the reference object should be assigned to the class "shaded" or "not shaded". For this distance of the reference object, a so-called ground truth label can be defined. Subsequently, the vector can be determined, which in each case includes the power value for the plurality of discrete distance values.
- Sensor device and the reference object are performed.
- the steps described above can be performed for different reference objects or for several reference objects.
- the vectors determined in the respective measurements with their associated ground truth label can then be passed to the classifier. Based on these values, the classifier can then use the
- the predetermined decision limit is checked during a test phase of the classifier.
- a test phase of the classifier for example, a
- the vector can be determined, which in each case includes the power value for the plurality of discrete distance values. This vector can then be compared with the decision boundary and then it can be decided whether the reference object is assigned to the class "shadowed" or "unshaded". Thus, the functionality of the classifier can be checked in the test phase.
- a plurality of echo signals are received by the computing device, wherein each of the echo signals is received during the measurement cycle with the sensor device.
- the sensor device can, for example, in operated consecutively measuring cycles. It is also conceivable that in each of the measuring cycles only a portion of the detection range is examined by means of the sensor device for the presence of the object. In the successive measuring cycles, the complete detection range can also be checked by means of the sensor device. In each of the measuring cycles, an echo signal is generated with the sensor device and transmitted to the computing device. The computing device can then assign the echo signal to the respective discrete distance value and determine the associated power value. Thus, it can be determined, for example, whether the object which is detected by means of the sensor device is static or whether a relative movement takes place between the sensor device and the object.
- Sensor device and the object is determined.
- the distance between the sensor device and the object can be determined.
- a spatial dimension of at least one side of the object facing the sensor device can be determined.
- the arrangement of the object to the sensor device can be determined.
- the object is determined by a plurality of sensor devices.
- the object can be detected by means of the sensor device starting from different positions and in this case the distance in each case can be determined. In this way, the relative position between the sensor device and the object can be determined.
- the location of the object in the detection area and the spatial extent of the object in the detection area can be determined.
- a first part of the detection area which is shadowed by the object, and a second part area of the detection area, in which further objects by means of
- Sensor device can be detected determined. On the basis of the relative position between the sensor device and / or on the basis of the dimensions of the object and on the basis of the detection range of the sensor device, it is possible to determine the region of the detection region which is shaded by the object. In addition, the area can be determined which is not shadowed by the object in which further objects can be detected by means of the sensor device. Thus, can
- the sensor device for detecting objects can continue to be used and in which area objects can be detected.
- Detected detection range by means of the sensor device can be detected. On the one hand, it can be determined on the basis of the echo signal and the distance values derived therefrom as well as the associated power values whether a shading object is located in the detection range of the sensor device. Furthermore, it should now be checked whether this
- Shadowing is so strong that behind the shading object no more objects can be detected.
- the discrete distance values can be used.
- the discrete distance values can be used, which objects are assigned behind the shadowing object. If the
- Power value which is associated with such a discrete distance value, falls below a predetermined threshold, it can be assumed that an object which is assigned to this discrete distance value, can not be detected. In this case, the field of view of the sensor device would be too strongly influenced by the shading object. However, if the power value for this distance value exceeds the threshold, it can be assumed, for example, that objects behind the shadowed object can still be detected.
- the classifier is a Support Vector Machine, a Parzen Window Classifier, and / or a Discriminant Analysis Classifier.
- a support vector machine which can also be referred to as a support vector machine, can, for example, divide the vectors into classes in such a way that the respective ones can be divided into classes
- class boundaries remain as free of vectors as possible. Furthermore, the classifier can be designed according to the principle of a Parzen window classification method. Furthermore, it is conceivable that the classifier
- Discriminant analysis classifier for example a Fisher's linear discriminant or a perceptron.
- a computing device for a driver assistance system of a
- the computing device may be, for example, a programmable
- Computer such as a digital signal processor (DSP), a microcontroller or the like act.
- DSP digital signal processor
- a computer program may be provided which for example, stored on a storage medium (RAM, ROM, flash memory), wherein the program is programmed to execute the method described here, when it is executed on the computer.
- the program can be executed on the computing device.
- An inventive driver assistance system for a motor vehicle comprises a computing device according to the invention.
- the driver assistance system may be, for example, a parking aid, a blind spot assistant, a proximity control or an automatic door opener.
- the driver assistance system can also have a
- Output means by means of which an output is output to the driver of the motor vehicle, if it is detected by the computing means that the object shadows the sensor device. Thus, the driver can be informed that the sensor device can not currently detect objects.
- a motor vehicle according to the invention comprises an inventive
- the motor vehicle is designed in particular as a passenger car.
- Embodiments and their advantages apply correspondingly to the computing device according to the invention, to the driver assistance system according to the invention and to the motor vehicle according to the invention.
- FIG. 1 is a schematic representation of a motor vehicle according to a
- FIG. 2 shows the motor vehicle according to FIG. 1, wherein further objects are located in a detection area of a sensor device of the motor vehicle;
- Fig. 3 is an enlarged fragmentary view of Fig. 2;
- FIG. 4 is a schematic flow diagram of a method according to the invention for detecting a shading of the sensor device of the motor vehicle;
- FIG. 1 shows a motor vehicle 1 according to an embodiment of the present invention
- the motor vehicle 1 is in the present embodiment as
- the motor vehicle 1 further comprises a
- Driver assistance system 2 which, for example, as a parking aid system,
- Abstandsregeltempomat, blind spot assistant or the like may be formed.
- the driver assistance system 2 comprises at least one sensor device 4 by means of which an object 8 can be detected in a surrounding area 7 of the motor vehicle 1.
- the surrounding area 7 surrounds the motor vehicle 1 completely.
- an object 8 which in the
- the sensor device 4 is designed to emit a transmission signal, which is reflected by the object 8.
- the reflected transmission signal returns as an echo signal to the sensor device 4.
- the sensor device 4 can basically be designed as an ultrasonic sensor, as a radar sensor or as a laser sensor.
- the sensor device can be arranged in a front area and / or in a rear area 5 of the motor vehicle 1.
- the motor vehicle 1 or the
- Driver assistance system 2 two distance sensors 4, which are designed as radar sensors, and which are arranged in the rear region 5 of the motor vehicle.
- Distance sensors may be designed in particular as so-called continuous wave radar sensors.
- the distance sensors 4 can be arranged, for example, concealed behind a bumper of the motor vehicle 1.
- Driver assistance system 2 also has a computing device 3.
- Computing device 3 may be formed, for example, by a computer, by a digital signal processor or the like.
- the computing device 3 may also be a control unit (ECU - Electronic Control Unit) of the motor vehicle 1.
- FIG. 1 shows an enlarged view of Fig. 2.
- the detection area E is assumed to be circular sector-shaped here.
- Detection area E is thus divided into a first partial area 10, which is shadowed by the object 8, and into a second partial area 11, in which optionally further objects 9 can be detected by means of the sensor device 4.
- the second portion 1 1 has the opening angle ⁇ .
- only part of the further object 9 can be detected by means of the sensor device 4.
- the lateral distance W and the longitudinal distance L can be determined.
- the lateral distance W may, for example, be a distance at which a warning signal is output if an object 9 is located there.
- 4 shows a schematic flow diagram of a method for detecting a shading of the sensor device 4 by the object 8. In a step S1, a plurality of measuring cycles are performed with the distance sensor 4. At each
- a transmission signal is emitted and received by the object 8 reflected echo signal. Based on the received echo signal, a power can be determined. This power is measured in particular as a function of two discrete variables, namely the distance and the speed. The distance between the distance sensor 4 and the object 8 can be determined based on the transit time. The speed or the relative speed between the
- Motor vehicle 1 and the object 8 can be determined for example by means of a double shift of the echo signal. Based on the distance and the distance
- Speed can be defined as a two-dimensional function of power that includes the distance as the first variable and the speed as the second variable.
- the object 8 is in particular a static object, for example a parked motor vehicle.
- the proportion of the speed can not be considered.
- the echo signal is further processed by means of the computing device 3.
- the echo signal which describes a distance between the sensor device 4 and the object 8, can now be assigned to a discrete distance value B1, B2, B3. For each of the distance values B1, B2, B3 can then by means of
- the power value P can be determined for each of the discrete distance values B1, B2, B3 from the signal power of the
- Echo signal can be determined.
- the respective power values P for each of the discrete distance values B1, B2, B3 are assigned to a vector.
- the vector is compared by means of a classifier with a predetermined decision boundary.
- the classifier can be provided by a corresponding computer, on which a corresponding classification method is performed.
- the classifier can also be provided by the computing device 3 itself. In the present case, it is assumed that in the case of shading, the shading object 8 is at a distance from the
- the power value P will be highest for the discrete distance values B1, B2, B3 closest to that distance. Similarly, the power or the power value P for the other
- Distance values B1, B2, B3 be much smaller. These can be for example Rauschmony are. Based on the power values P for the discrete distance values B1, B2, B3, it can now be determined on the one hand whether a shading object 8 is arranged in the detection area E of the distance sensor 4. Furthermore, it can be determined whether the shading is so strong that the power values P for areas behind the object 8 are sufficiently small. Thus one can conclude that the
- Distance sensor 4 can no longer "see” behind the object 8, and the field of view is thus impaired.
- the power values P should have similar values for the respective discrete distance values B1, B2, B3. This is illustrated for example in FIG. 5.
- the power values P should have a clear maximum with respect to the power value P for one of the discrete distance values B1, B2, B3, and for the other distance values B1, B2, B3, the power values P should be markedly lower. In the present case, this is illustrated by way of example in FIG. 6, in which case the power value P for the discrete distance value B1 is significantly greater than that
- Power values P for the distance values B2 and B3. Such patterns of performance values can be recognized by the classifier.
- the classifier can first be operated in a training phase according to step S4.
- a reference object can be positioned at a predetermined distance from the distance sensor. Then it can be decided to which class "shadowed” or “not shaded” this distance should belong. Thus, a ground truth label can be defined.
- the vector comprising the discrete distance values B1, B2, B3 and the associated power values P can be determined. This can be done for different distances between the distance sensor 4 and the reference object as well as for different reference objects. Based on
- the classifier can then determine the decision boundary, which is, for example, a line, a hyperplane or a probability density function, depending on the classifier used.
- step S5 since the decision boundary is checked in a test phase of the classifier.
- an object can be positioned at a predetermined distance from the distance sensor 4.
- the vector can be determined.
- the vector can be compared with the decision boundary and it can be decided whether this object is assigned to the class "shadowed" or "unshaded".
- FIG. 7 Here, for example, corresponding training data for two classes to be considered are shown as points 12 and 13.
- the classifier now tries to find a mathematical rule to uniquely assign a new point 12, 13 to one of the two classes. This can be done in this example by drawing a line 14 (for more dimensional points this would be a hyperplane) that separates the two classes as well as possible.
- Test data point is assigned to the class on whose side of the line it is located.
- step S3 the determined power values P for the discrete distance values B1 and B2 are compared as a function of the decision limit.
- the points 12 of the class are "shadowed" and the points 13 are assigned to the class "not shaded".
- line 15 shows the decision boundary of a first Bayes classifier.
- Line 16 shows the decision boundary of a discriminant analysis classifier, for example Fisher's Linear Discriminant.
- the curve 17 describes the decision boundary of a Parzen classifier.
- Line 18 shows the decision boundary of a classifier operating on the basis of an artificial neural network, such as a perceptron.
- the curve 19 describes the decision boundary of another Bayes classifier.
- Detection range E of the distance sensor shadows or not. In addition, it can be determined to what extent the object 8 shadows the detection area E of the distance sensor 4.
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Abstract
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JP2017529714A JP6510052B2 (ja) | 2014-12-05 | 2015-11-30 | 物体による自動車のセンサ装置の遮蔽を検出するための方法、コンピュータ装置、運転者支援システム、及び自動車 |
CN201580065639.0A CN107003405B (zh) | 2014-12-05 | 2015-11-30 | 用于检测机动车辆的传感器装置由物体屏蔽的方法、计算装置、驾驶员辅助系统和机动车辆 |
KR1020177014953A KR102012572B1 (ko) | 2014-12-05 | 2015-11-30 | 물체에 의한 자동차의 센서 장치의 차단을 검출하는 방법, 컴퓨팅 장치, 운전자 보조 시스템 및 자동차 |
US15/532,608 US10908259B2 (en) | 2014-12-05 | 2015-11-30 | Method for detecting a screening of a sensor device of a motor vehicle by an object, computing device, driver-assistance system and motor vehicle |
EP15801452.2A EP3227718A1 (de) | 2014-12-05 | 2015-11-30 | Verfahren zum erkennen einer abschattung einer sensoreinrichtung eines kraftfahrzeugs durch ein objekt, recheneinrichtung, fahrerassistenzsystem sowie kraftfahrzeug |
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DE102014118035.6A DE102014118035B4 (de) | 2014-12-05 | 2014-12-05 | Verfahren zum Erkennen einer Abschattung einer Sensoreinrichtung eines Kraftfahrzeugs durch ein Objekt, Recheneinrichtung, Fahrerassistenzsystem sowie Kraftfahrzeug |
DE102014118035.6 | 2014-12-05 |
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EP (1) | EP3227718A1 (de) |
JP (1) | JP6510052B2 (de) |
KR (1) | KR102012572B1 (de) |
CN (1) | CN107003405B (de) |
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EP3579020B1 (de) * | 2018-06-05 | 2021-03-31 | Elmos Semiconductor SE | Verfahren zur erkennung eines hindernisses mit hilfe von reflektierten ultraschallwellen |
US11156714B2 (en) * | 2020-02-13 | 2021-10-26 | Tymphany Acoustic Technology (Huizhou) Co., Ltd. | Object movement detection based on ultrasonic sensor data analysis |
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DE19721901A1 (de) | 1997-05-26 | 1997-11-13 | Bernhard Prof Dr Liesenkoetter | Verfahren und Vorrichtung zur Hinderniserkennung auf Bahngleisen mit einem fahrzeugbasierten Radarsystem |
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JP2006010570A (ja) * | 2004-06-28 | 2006-01-12 | Aisin Seiki Co Ltd | 車両周辺監視装置 |
WO2006025453A1 (ja) * | 2004-09-01 | 2006-03-09 | Matsushita Electric Industrial Co., Ltd. | レーダ装置 |
DE102005046000A1 (de) * | 2004-09-28 | 2006-05-04 | Continental Teves Ag & Co. Ohg | Vorrichtung zum Erfassen eines seitlichen Umfelds eines Fahrzeugs |
JP4485892B2 (ja) * | 2004-09-28 | 2010-06-23 | セコム株式会社 | 移動体検知装置 |
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JP2013134591A (ja) * | 2011-12-26 | 2013-07-08 | Denso Corp | 運転支援装置 |
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JP6229615B2 (ja) * | 2014-08-01 | 2017-11-15 | マツダ株式会社 | 車両の運転支援装置、及び運転支援方法 |
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- 2014-12-05 DE DE102014118035.6A patent/DE102014118035B4/de active Active
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2015
- 2015-11-30 EP EP15801452.2A patent/EP3227718A1/de not_active Withdrawn
- 2015-11-30 WO PCT/EP2015/077999 patent/WO2016087339A1/de active Application Filing
- 2015-11-30 JP JP2017529714A patent/JP6510052B2/ja active Active
- 2015-11-30 US US15/532,608 patent/US10908259B2/en active Active
- 2015-11-30 CN CN201580065639.0A patent/CN107003405B/zh active Active
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CN107003405A (zh) | 2017-08-01 |
EP3227718A1 (de) | 2017-10-11 |
US10908259B2 (en) | 2021-02-02 |
KR102012572B1 (ko) | 2019-08-20 |
DE102014118035A1 (de) | 2016-06-09 |
JP2018503074A (ja) | 2018-02-01 |
KR20170081665A (ko) | 2017-07-12 |
US20170343649A1 (en) | 2017-11-30 |
CN107003405B (zh) | 2020-09-01 |
DE102014118035B4 (de) | 2022-11-17 |
JP6510052B2 (ja) | 2019-05-08 |
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