WO2017097493A1 - Dispositif de détection radar et système d'aide à la conduite par détermination de l'angle d'élévation d'un objet au moyen de l'entrée de l'objet dans le point zéro de la caractéristique d'antenne entre le lobe principal et le premier lobe secondaire - Google Patents

Dispositif de détection radar et système d'aide à la conduite par détermination de l'angle d'élévation d'un objet au moyen de l'entrée de l'objet dans le point zéro de la caractéristique d'antenne entre le lobe principal et le premier lobe secondaire Download PDF

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Publication number
WO2017097493A1
WO2017097493A1 PCT/EP2016/075927 EP2016075927W WO2017097493A1 WO 2017097493 A1 WO2017097493 A1 WO 2017097493A1 EP 2016075927 W EP2016075927 W EP 2016075927W WO 2017097493 A1 WO2017097493 A1 WO 2017097493A1
Authority
WO
WIPO (PCT)
Prior art keywords
radar sensor
motor vehicle
elevation
zero point
predetermined
Prior art date
Application number
PCT/EP2016/075927
Other languages
German (de)
English (en)
Inventor
Christian Sturm
Stefan Goerner
Moritz Krueger
Antoni Bestard
Original Assignee
Valeo Schalter Und Sensoren 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 Valeo Schalter Und Sensoren Gmbh filed Critical Valeo Schalter Und Sensoren Gmbh
Priority to EP16790318.6A priority Critical patent/EP3387460A1/fr
Publication of WO2017097493A1 publication Critical patent/WO2017097493A1/fr

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/42—Simultaneous measurement of distance and other co-ordinates
    • G01S13/424—Stacked beam radar
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93271—Sensor installation details in the front of the vehicles

Definitions

  • the invention relates to a radar sensor device for a driver assistance system of a motor vehicle for detecting an object in an environmental region of the vehicle
  • Motor vehicle comprising at least one radar sensor having a first transmitting antenna for transmitting first transmission signals, wherein the first transmitting antenna has a first direction oriented along a first directional characteristic and wherein the radar sensor is adapted to detect the first transmitted signals reflected at the object as the first echo signals.
  • the invention also relates to a
  • Driver assistance system a motor vehicle and a method for detecting an object.
  • Radar sensors are commonly used in motor vehicles to detect moving and stationary objects or obstacles in an environmental region of the motor vehicle. For this radar sensors emit transmission signals in the form of electromagnetic waves, which are reflected at the object. The reflected transmission signals are received and evaluated again as echo signals. From the transmission signals and the echo signals, information about the object, such as a distance of the object, a speed and a
  • the information a driver assistance system, such as a blind spot assistant, a
  • Lane change assistants adaptive cruise control or the like.
  • an elevation measurement that is to say the measurement of a height of the object above a roadway of the motor vehicle, is indispensable, since no emergency braking for objects that can be driven over, may be on the ground.
  • objects are, for example, manhole cover or
  • Radar beam are received.
  • the elevation of the echo signals By knowing the relationship between an amplitude difference of the echo signals and the elevation, which can be determined for example by a calibration measurement, the elevation of the echo signals.
  • a disadvantage of this approach is that the reflected power is typically subject to a high fluctuation, whereby a plurality of measurements must be performed and averaged in order to make a reliable statement about the elevation of the object can. Besides, one is
  • This object is achieved by a radar sensor device, a
  • a radar sensor device for a driver assistance system of a motor vehicle is used to detect an object in an environmental region of the motor vehicle.
  • the radar sensor device has at least one radar sensor, which comprises a first transmission antenna for transmitting first transmission signals, wherein the first transmission antenna has a first directional characteristic oriented along a first direction.
  • the at least one radar sensor is designed to detect the first transmitted signals reflected at the object as first echo signals.
  • the first directional characteristic of the first transmitting antenna has a zero at a predetermined zero value angle.
  • the radar sensor device comprises a control device, which is designed to elevate the object upon entry of the object into the null, based on the first echo signal and the zero value angle.
  • the radar sensor device can be distributed on the motor vehicle, for example in a front region of the motor vehicle, and serves inter alia to detect the elevation of an object relative to the horizon or a roadway of the motor vehicle.
  • the elevation describes the height of the object above the roadway or a distance of the object to the roadway.
  • the detected elevation can be provided to the driver assistance system, which is designed in particular as an automatic emergency brake assistant.
  • the radar sensor device comprises at least one radar sensor for this purpose.
  • Radar sensors usually work according to the echosounding principle. This means that the radar sensor emits, by means of the transmitting antenna, transmission signals in the form of electromagnetic waves, which are reflected by the object in the surrounding area of the motor vehicle. The reflected transmission signals are then received as echo signals again by the radar sensor, for example by a receiver of the radar sensor designed as a receiving antenna. On the basis of the echo signals, for example, an azimuth angle
  • a distance between the radar sensor and thus between the motor vehicle, on which the radar sensor is installed, and the object can be determined.
  • the transmitting antenna is a directional antenna in which a transmitted energy is concentrated in one direction.
  • the transmission signal ie the radar radiation
  • the first transmission signal of the first transmission antenna is here bundled in the first direction, so that the first
  • the first directivity of the first transmitting antenna is thus a lobe characteristic, wherein a main lobe of the first transmitting antenna contains the first direction.
  • Directional characteristic of the transmitting antenna for example, based on a
  • Antenna diagram can be graphed or illustrated.
  • interest is directed to the vertical
  • Antenna diagram which describes a side view of the first directional characteristic.
  • the first direction is thus in a through a vehicle vertical direction and a
  • the radar sensor device also has the control device, which can also be realized by a vehicle-side control unit.
  • the control device is designed to determine the elevation of the object on the basis of the first echo signal.
  • the first directional characteristic of the first transmitting antenna has the zero point at the predetermined zero value angle.
  • the zeroes are all points in the antenna diagram, at which the radiation energy is practically zero.
  • the zero value angle is a predetermined elevation angle between a zero value direction and a reference direction.
  • the zero point is oriented along the zero value direction.
  • the reference direction for example, the first direction may be defined. However, the reference direction can also be a direction oriented from the first transmitting antenna at an installation height of the radar sensor parallel to a vehicle longitudinal direction.
  • the first transmitting antenna thus radiates virtually no radiant energy. This means that substantially no transmission signal is reflected at an object which is located in the zero point of the first directional characteristic, and thus essentially no echo signal is received.
  • the zero can be generated, for example, by multiple antenna elements of the first
  • the elevation of the object is now determined as soon as the object enters the zero point.
  • Radar sensor device for example, moved toward the object and the object at a certain distance from the motor vehicle, which is dependent on the elevation of the object, from the main lobe of the first transmitting antenna passes into the zero point.
  • a time of entry of the object into the zero point is dependent on the distance or the distance of the object to
  • the object After passing through the zero point, the object enters, for example, a side lobe of the first directional characteristic.
  • Passing the object into the zero point as well as passing the zero point can be determined on the basis of a break in the signal amplitude of the first echo signal.
  • the signal amplitude or the signal amplitude profile of the first echo signal originating from the reflection at the object can be determined as a function of the distance or the distance of the object.
  • the object can thus be tracked or "tracked.”
  • the amplitude of the first echo signal measured by the radar sensor changes particularly strongly, since in the zero point ideally no Transmission signals are reflected more. This amplitude collapse can be detected particularly well and reliably.
  • the distance of the object can be determined by the
  • the distance value of the amplitude dip in the amplitude curve can be determined.
  • the distance or the distance of the object is known.
  • the object is at the zero point in the zero value direction. Based on the distance and the zero value angle, the elevation can thus be determined simply and very precisely, for example geometrically.
  • the elevation of the object can be determined quickly from a few measurements or only one measurement. In such a radar sensor device thus have to
  • the at least one radar sensor particularly preferably has at least one second transmission antenna for transmitting second transmission signals, the second one being a second transmission antenna
  • Transmitting antenna has a second directional characteristic oriented along a second direction.
  • the control device is designed to determine distance values of the object to the radar sensor based on the second transmitted signal reflected by the at least one radar sensor and the elevation of the object based on the distance value of the object to the radar sensor when the object enters the zero of the first
  • the directivity of the second transmitting antenna which is also designed in particular as a directional antenna, is therefore also a lobe characteristic, wherein a main lobe of the second transmitting antenna contains the second direction.
  • Transmission antennas are therefore oriented in different directions.
  • the main lobes of the two transmit antennas differ here in the vertical deflection.
  • the two directions thus have in the through the vehicle vertical direction and the
  • Vehicle longitudinal direction spanned plane different orientations, ie different angles to the vehicle longitudinal axis on.
  • the first and second echo signals reflected on the same object differ.
  • the second direction of the second directional characteristic is oriented along a vehicle longitudinal direction.
  • this means that the second transmission signals are transmitted starting from the motor vehicle along the vehicle longitudinal direction parallel to a roadway of the motor vehicle.
  • the two transmit antennas are driven, for example sequentially, to transmit the first and second transmit signals.
  • Transmitting signals can be received in the sequential control of a receiving antenna of the radar sensor and thus the respective transmitting antenna uniquely assigned. However, it can also be provided that the transmitting antennas transmit the transmission signal at the same time and the echo signals are transmitted, for example, from the
  • Receiver separated from each other and the respective transmitting antenna are uniquely assigned.
  • the elevation of the object is determined as soon as the object enters the zero point, ie as soon as the receiver of the radar sensor no more echo signal is received.
  • the distance of the object at the time of the zero entry is determined on the basis of the second echo signal.
  • no tracking of the object is necessary to determine the distance from the amplitude curve of the first echo signal.
  • the object can still be detected by the
  • Ambient area of the motor vehicle are detected particularly reliable.
  • the first transmitting antenna may be formed as a switchable transmitting antenna.
  • Transmitting antenna can be generated by at a first switching time, the main lobe of the first transmitting antenna is oriented in the first direction and a second
  • the main lobe of the first transmitting antenna is oriented in the second direction.
  • the transmitting antenna is thereby alternately driven to orient the directional characteristic in the first and in the second direction, to the first switching time is then in addition, for example, by a corresponding control of
  • Antenna elements of the first transmitting antenna that generates zero.
  • the second transmitting antenna can be omitted.
  • the zero entry can then go to the first
  • the first direction of the first directional characteristic is tilted by a predetermined negative first angle with respect to a vehicle longitudinal direction, and thus the first direction and the zero point oriented along the zero value angle are oriented obliquely downward starting from the radar sensor.
  • Proper installation position of the radar sensor device on the motor vehicle is thus the first direction oriented starting from the motor vehicle obliquely downwards. If the radar sensor is arranged in a front region of the motor vehicle, the first is Direction oriented diagonally forward. As a result, the zero point in a predetermined by the zero angle distance in front of the motor vehicle, for example in
  • the height of the object above the ground can be determined very precisely taking into account the distance determined in this moment, for example on the basis of the second echo signal.
  • ground-level objects can be detected and their elevation can be determined.
  • the control device is designed to classify the object as an object connected to a roadway of the motor vehicle if the detected elevation corresponds to a predetermined first elevation threshold value when the object enters the downwardly oriented zero position or the predetermined elevation falls below the first elevation threshold, and to classify the object as an object spaced from the roadway, if the detected elevation at least when the object enters the downwardly oriented zero exceeds the predetermined first elevation threshold.
  • the elevation threshold is a height value and corresponds in particular to a value of 0 m.
  • an object which is located on the road and this at least touched for example, a guide post, or which is integrated into the road, for example, a Guilideckel. If the object is above the lane, then the detected elevation is greater than the first elevation threshold. The object thus has a distance of more than 0 m from the roadway.
  • Such an object may for example be a body of another motor vehicle.
  • Such objects located at a distance from the road surface can be characterized as not being traversable by the motor vehicle and thus identified as obstacles to the motor vehicle. This means that, for example, designed as an emergency brake assist
  • Driver assistance system performs emergency braking on such objects, which have been classified by the radar sensor device as not traversable.
  • control device is designed to classify the object as an object connected to the roadway of the motor vehicle, if one
  • Distance value of the object to the motor vehicle when entering the object in the zero point in about a predetermined by the zero angle distance value of itself on the roadway of the motor vehicle located zero point corresponds to the motor vehicle. Because the directional characteristic is oriented downwards, the zero point impinges on the roadway in the distance value predetermined by the zero value angle.
  • the object If the detected object is an object connected to the ground, the object first enters the zero point of the first directional characteristic at that position on the roadway at which the zero point of the first object is located
  • Directional characteristic is located on the roadway. This can, for example, the at
  • Amplitude collapse of the first echo signal and / or based on the second echo signal specific distance value are compared with the distance value of the zero point. If the detected distance value of the object corresponds to the distance value of the zero point
  • the control device is designed to classify the object classified as connected to the roadway as passable for the motor vehicle, if an extension of the object classified as connected to the roadway in a vehicle vertical direction falls below a predetermined first expansion threshold value.
  • a predetermined first expansion threshold value In this case, in particular all objects which, when the object enters the downwardly oriented zero point, exceed the predetermined first elevation threshold value, have already been classified as not being traversable by the motor vehicle.
  • it is evaluated by the control device whether objects which are connected to the floor of the motor vehicle are traversable for the motor vehicle as is the case with a guide cover, for example, or are not traversable for the motor vehicle, as for example in the case of a wall or a guide post is the case.
  • the spatial extent of the object in the vehicle vertical direction or a geometric dimension of the object in the vertical direction of the vehicle that is to say the size of the object, is now also detected. If the dimension of the object in the vehicle vertical direction falls below the expansion threshold, the object is classified as passable. This information can be provided, for example, to the driver assistance system designed as an emergency brake assistant, which then suppresses automatic emergency braking. If the dimension of the object exceeds the expansion threshold at least, then the object, such as the spaced objects, classified as not traversable for the motor vehicle and thus identified as an obstacle for the motor vehicle. Based on this
  • Radar sensor device can thus be provided a particularly safe driving the motor vehicle.
  • control device is designed to determine the extent of the object in the vehicle vertical direction on the basis of a signal amplitude of the second echo signal, the object classified as connected to the ground being classified as passable for the motor vehicle if the signal amplitude of the second
  • Echo signal when entering the object in the zero point below a predetermined first signal amplitude threshold when entering the object in the zero point below a predetermined first signal amplitude threshold.
  • the second directional characteristic of the second transmitting antenna oriented along the vehicle longitudinal direction for example, the lower the object, that is, the smaller the extent of the object in the vehicle vertical direction, the lower the signal amplitude of the second echo signal reflected at the object.
  • the invention is based on the finding that objects which are located in the surrounding area at a height above the roadway, which corresponds to an installation height of the radar sensor, are irradiated with the maximum signal strength of the second transmission signal.
  • the second echo signal reflected at the object also has a maximum signal amplitude.
  • the second has
  • Signal amplitudes can thus be detected a height of the object.
  • reference data for example, which were obtained with the aid of calibration measurements can be provided, by means of which the detected signal amplitude of the second echo signal can be assigned to a specific dimension value. It can therefore be evaluated on the basis of the signal amplitude of the second echo signal, whether the
  • Motor vehicle can run over the object or not.
  • the first direction of the first directional characteristic is tilted by a predetermined positive second angle with respect to a vehicle longitudinal direction, and thus the first direction and the zero point oriented along the zero value angle oriented obliquely upward from the radar sensor.
  • the first direction starting from the motor vehicle obliquely upwards, in particular obliquely forward, oriented.
  • the zero point is oriented in the direction of the sky.
  • the distance of the object to the motor vehicle can be determined on the basis of the second echo signal.
  • the control device is designed to classify the object as an object accessible for the motor vehicle, if the detected elevation on entering the object in the upward-oriented zero point a predetermined second
  • Elevation threshold exceeds and if an extension of the object opposite to the vehicle vertical direction falls below a predetermined second expansion threshold.
  • Control device first, the elevation of the object, ie the height of the object above the roadway. If this elevation exceeds the second elevation threshold value, the extent of the object based on the detected elevation of the object in the direction of the roadway is determined based on a signal amplitude of the second echo signal.
  • the object is classified as being accessible for the motor vehicle if the signal amplitude of the second echo signal falls below the predetermined second expansion threshold.
  • the signal amplitude of the second echo signal falls below the predetermined second expansion threshold.
  • Radar sensor are oriented obliquely upwards. In other words, this means that both directional characteristics each have a zero. Thus, overridden and accessible objects can be classified simultaneously. If, for example, the object is in the zero position of the first directional characteristic, an elevation of the object can be based on the distance value of the second echo signal be determined. If now the object is located in the further zero point of the second directional characteristic, the elevation of the object can be determined on the basis of
  • Distance value of the first echo signal can be determined.
  • first directional characteristic and / or the second directional characteristic each have a plurality of zero points.
  • first directional characteristic has at least one zero and / or the second
  • Directional characteristic at least one more root.
  • the elevation of the object can be detected particularly reliable.
  • the invention also relates to a driver assistance system having at least one
  • the driver assistance system is in particular as a
  • Radar sensor device detected elevation and the classification of objects can be assessed whether the driver assistance system must perform emergency braking or not. If, for example, objects have been classified as passable or manoeuvrable, an automatic emergency braking of the motor vehicle can be omitted. If objects were detected as not traversable or not accessible, ie as obstacles for the motor vehicle, then the driver assistance system can trigger the automatic emergency braking of the motor vehicle.
  • a motor vehicle according to the invention comprises an inventive
  • the motor vehicle is designed in particular as a passenger car.
  • the invention also relates to a method for detecting an object in an environmental region of the motor vehicle, in which first transmission signals are emitted by a first transmission antenna of at least one radar sensor, a first directional characteristic of the first transmission antenna being oriented along a first direction and by the radar sensor being mounted on the first Object reflected first transmit signals are received as the first echo signals.
  • the first directional characteristic of the first transmitting antenna is provided with a zero at a predetermined zero value angle, and elevation of the object upon entry of the object into the zero is determined from the first echo signal and the zero value angle.
  • the object can additionally be classified by means of the method.
  • the preferred embodiments presented with reference to the radar sensor device according to the invention and their advantages apply correspondingly to the driver assistance system according to the invention, to the motor vehicle according to the invention and to the method according to the invention.
  • Radar sensor device on the motor vehicle and at a given then in front of a motor vehicle and looking in a vehicle longitudinal direction of the motor vehicle given positions and orientations.
  • Fig. 1 is a schematic representation of a motor vehicle according to the prior
  • Fig. 2 is a schematic representation of two amplitude curves of a
  • Fig. 3 is a schematic representation of an embodiment of a
  • Fig. 4 is a schematic representation of amplitude curves of a
  • Fig. 6 is a schematic representation of an elevation determination of further
  • FIG. 7 shows a schematic illustration of a further embodiment of a motor vehicle according to the invention.
  • Fig. 8 is a schematic representation of another embodiment of a motor vehicle according to the invention.
  • Fig. 1 shows a motor vehicle 1 according to the prior art.
  • Motor vehicle 1 has a radar sensor 2 according to the prior art, which is designed to detect objects in the surrounding area 3 of the motor vehicle 1.
  • the known radar sensor 2 has two controllable transmitting antennas 4, 5, which emit first and second transmission signals into the surrounding area 3.
  • the first and second transmission signals reflected on the object are received as first and second echo signals from the radar sensor 2.
  • the first transmitting antenna 4 has a first directional characteristic 7 oriented along a first direction 8 and the second transmitting antenna 5 second directional characteristic 9, which is oriented along a second direction 10.
  • the elevation of the object can be determined.
  • a first amplitude curve 12 of the first echo signal and a second amplitude curve 1 1 of the second echo signal are plotted over the distance r for an object which is at the same height as the radar sensor 2.
  • the distance-independent amplitude profiles 1 1, 12 shown in FIG. 2 are established.
  • the elevation of the object can be determined. From this approach, the elevation can not be determined very reliable, since the reflected power, so the echo signal, and thus the difference between the signal amplitudes of
  • Amplitude curves 1 1, 12 subject to high fluctuation.
  • the motor vehicle 13 has a driver assistance system 14, which is configured in particular as an automatic emergency brake assistant.
  • the driver assistance system 14 has a radar sensor device 15 which comprises at least one radar sensor 16 and a control device 17.
  • the radar sensor device 15 is designed to detect objects 01, 02, 03 in the surrounding area 3 of the motor vehicle 13, as well as to determine their elevation E.
  • the control device 17 may be designed, for example, as a vehicle-side control unit.
  • the radar sensor 16 is arranged here in a front region of the motor vehicle 13 and serves to monitor the surrounding area 3 in front of the motor vehicle 13.
  • the radar sensor 16 has a first transmitting antenna 18 for transmitting first transmission signals.
  • the radar sensor 16 has a first transmitting antenna 18 for transmitting first transmission signals.
  • the radar sensor 16 in addition to a second transmitting antenna 19 for transmitting second transmission signals.
  • the first transmitting antenna 18 has a first directional characteristic 20 in the form of a lobe characteristic, which is oriented in a first direction 21.
  • the second transmitting antenna 19 has a second directional characteristic 22 in the form of a lobe characteristic, which is oriented in a second direction 23. This means that a transmission power of the first transmission antenna 18 along the first direction 21 is maximum and a transmission power of the second transmission antenna 19 along the second direction 23 is maximum.
  • the radar sensor 16 receives the first and second transmission signals reflected at the object 01, 02, 03 as first and second echo signals.
  • the zero value angle 25 describes an angle between a reference direction B, which here at an installation height h1 of the radar sensor 16 along a
  • Vehicle longitudinal L extends, and a zero value direction 29, along which the zero point 24 is oriented.
  • Transmit antenna 18 essentially zero. This means that a signal amplitude A of the first echo signal reflected by the object 01, 02, 03 collapses, while the object 01, 02, 03 passes the zero point 24. Amplitude curves 26, 27 of the first and second echo signals are shown in FIG. 4. In this case, the amplitude curve 26 of the second echo signal and the amplitude curve 27 of the first echo signal are plotted over the distance r. In an object located on the ground is the
  • Amplitude curve 26 of the second echo signal monotonically increasing with the distance, while the amplitude curve 27 of the first echo signal at the distance value r1 has an amplitude collapse 28.
  • the distance value r1 can be determined on the basis of the amplitude collapse of the first echo signal and / or on the basis of the second echo signal and characterizes the distance of the object 01, 02, 03 to the radar sensor 16, while the object 01, 02, 03 is in the zero point 24.
  • the distance r1 can be determined, for example, based on a transit time of the second transmission signal and the second echo signal.
  • the second direction 23 is oriented along the vehicle longitudinal direction L and the first direction 21 is oriented counter to the vehicle vertical direction H in the direction of the roadway 6, that is to say obliquely downwards.
  • the elevation E of ground-level objects 01, 02, 03 can be determined.
  • the elevation E of the object 01, 02, 03 for example geometrically, can be determined on the basis of the distance value r1 and the zero value angle 25. This is exemplified in Fig. 5.
  • the object 01 is here at a distance r1 to the radar sensor 16 in the zero point 24 and thus lies on the zero value direction 29.
  • the zero value direction 29 has the predetermined zero value angle 25 to the reference axis B.
  • the reference axis B is here at the installation height h1 of the radar sensor 16 and extends parallel to the roadway 6 along the vehicle longitudinal direction L.
  • the elevation E can be determined trigonometrically. In this case, the object 01 can additionally be classified.
  • the object 01 may be classified as an object connected to the lane 6 when the detected elevation E falls below a predetermined first elevation threshold and classified as an object spaced from the lane 6 if the elevation E is the predetermined first elevation threshold at least exceeds.
  • the object 01 is an object spaced from the roadway 6, which is detected on the basis of the exceeding of the first elevation threshold value.
  • the object O may, for example, be a body of another motor vehicle driving in front of the motor vehicle 13.
  • the object 01 classified as being spaced apart from the roadway 6 is also classified here as not being able to be driven over by the motor vehicle 13 and thus constitutes an obstacle for the motor vehicle 13.
  • the driver assistance system 14 can, for example, apply emergency braking of the motor vehicle 13 for the object 01 classified as not traversable provide.
  • FIG. 6 shows two objects 02, 03, which are classified by the radar sensor device 15 as objects connected to the roadway 6.
  • the objects 02, 03 can be classified as objects connected to the roadway 6 on the basis of the falling below the first elevation threshold value.
  • the objects 02, 03 are classified on the basis of the distance value r1 as objects connected to the roadway 6.
  • the distance r1 namely corresponds to a distance value rN, which indicates a position at which the zero point 24 is located on the roadway 6 relative to the motor vehicle 13.
  • this corresponds to the intersection between the r-axis and the zero-value direction 29.
  • the distance value rN is fixed by the zero-value angle 25.
  • Objects 02, 03 which are located on the lane 6 or integrated into the lane 6, such as delineators or guide lids, namely enter the zero point 24 at a distance rN. If so based on the amplitude of the first echo signal and / or on the basis of the second
  • Echosignals detected distance value r1 of the objects 02, 03 corresponds to the distance rN of the zero point 24, the objects 02, 03 are classified as connected to the lane 6 objects. In addition, it can be evaluated by the control device 17 as to whether the objects 02, 03 are objects that can be driven over for the motor vehicle 13. Here, only the object 03 for the motor vehicle 13 should be traversable and be designed, for example, as a guide lid. The object 02 is not traversable for the
  • Motor vehicle 13 and represents, for example, a guide post.
  • the objects 02, 03 can be identified by their spatial extent a1, a2 in
  • Vehicle vertical direction H are classified. This can be an expansion threshold be specified.
  • Expansion threshold is therefore classified as not traversable.
  • Extension a2 of the object 03 falls below the expansion threshold and is therefore classified as passable.
  • the extent a1, a2 can be determined, for example, on the basis of the amplitude value A of the second echo signal and / or on the basis of a
  • Amplitude difference of both echo signals can be determined. Since, for example, the object 02 projects further into the second directional characteristic 22 than the object 03, the second echo signal for the object 02 has a higher amplitude value A than for the object 03. From this, obtained, for example, via calibration measurements
  • the signal amplitude curve of the second echo signal, and the elevation, the elevation of the object can be determined quantitatively as soon as the signal amplitude A breaks in the measurement with the first transmitting antenna.
  • FIG. 7 shows a further embodiment of a motor vehicle 13 according to the invention.
  • the first directional characteristic 20 is oriented obliquely upwards in the vehicle vertical direction H relative to the vehicle longitudinal direction L. This is also the
  • wheelchair-accessible objects 01, 02, 03 can be classified for the motor vehicle 13.
  • Such objects 01, 02, 03 are, for example, gantries.
  • An object 01, 02, 03 is classified as traversable if the elevation E determined on the basis of the zero-value direction 29 oriented upwards and the distance r1 exceeds a second elevation threshold value and if the spatial extent a1, a2 of the object 01, 02, 03 against the vehicle vertical direction H a
  • Object 01, 02, 03 are determined against the vehicle vertical direction H.
  • FIG. 8 shows a further embodiment of a motor vehicle 13 according to the invention.
  • the first directional characteristic 20 the zero point 24 in the
  • Zero value angle 25 wherein the first direction 21 and the zero value direction 29 are oriented obliquely downwards.
  • the second directional characteristic 22 has a further zero point 30 at a further zero value angle 31, wherein the second
  • Direction 23 and another zero value direction 32, along which the further zero point 30 is oriented, are oriented obliquely upwards.
  • 31 and the distance r1 traversable and underfahrbare objects can be determined, depending on which zero point 24, 30, the object 01, 02, 03 is located.

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

Abstract

L'invention concerne un dispositif de détection radar (15) pour un système d'assistance à la conduite (14) d'un véhicule automobile (13), permettant de détecter un objet (O1, O2, O3) dans une zone (3) environnant le véhicule automobile (13) et comportant au moins un capteur radar (16) qui présente une première antenne émettrice (18) émettant de premiers signaux d'émission, la première antenne émettrice (18) présentant une première caractéristique directionnelle (20) orientée dans une première direction (21), et le capteur radar (16) étant conçu pour détecter en tant que premiers signaux d'écho les premiers signaux d'émission réfléchis au niveau de l'objet (O1, O2, O3). La première caractéristique directionnelle (20) de la première antenne d'émission (18) présente un point zéro (24) pour un angle de valeur zéro prédéfini (25), et le dispositif de détection radar (15) présente un dispositif de commande (17) qui est conçu pour déterminer une élévation (E) de l'objet (O1, O2, O3) lors de l'entrée du l'objet (O1, O2, O3) dans le point zéro (24) au moyen du premier signal d'écho et l'angle de valeur zéro (25). L'invention concerne en outre un système d'aide à la conduite (14) d'un véhicule automobile (13) ainsi qu'un procédé.
PCT/EP2016/075927 2015-12-08 2016-10-27 Dispositif de détection radar et système d'aide à la conduite par détermination de l'angle d'élévation d'un objet au moyen de l'entrée de l'objet dans le point zéro de la caractéristique d'antenne entre le lobe principal et le premier lobe secondaire WO2017097493A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP16790318.6A EP3387460A1 (fr) 2015-12-08 2016-10-27 Dispositif de détection radar et système d'aide à la conduite par détermination de l'angle d'élévation d'un objet au moyen de l'entrée de l'objet dans le point zéro de la caractéristique d'antenne entre le lobe principal et le premier lobe secondaire

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015121343.5A DE102015121343A1 (de) 2015-12-08 2015-12-08 Radarsensoreinrichtung zum Erfassen eines Objektes, Fahrerassistenzsystem, Kraftfahrzeug sowie Verfahren zum Erfassen eines Objektes
DE102015121343.5 2015-12-08

Publications (1)

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WO2017097493A1 true WO2017097493A1 (fr) 2017-06-15

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EP (1) EP3387460A1 (fr)
DE (1) DE102015121343A1 (fr)
WO (1) WO2017097493A1 (fr)

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US11874364B2 (en) * 2018-09-27 2024-01-16 Kyocera Corporation Electronic apparatus, control method for electronic apparatus, and control program for electronic apparatus

Citations (3)

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Publication number Priority date Publication date Assignee Title
EP1357394A1 (fr) * 2000-12-28 2003-10-29 Fujitsu Ten Limited Procede de detection d'objets inanimes
DE102008001838A1 (de) * 2008-05-19 2009-11-26 Robert Bosch Gmbh Verfahren und Vorrichtung zur Vermessung eines Hindernisses
DE102015102519A1 (de) * 2014-03-11 2015-09-17 Fujitsu Ten Limited Antenne

Family Cites Families (3)

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Publication number Priority date Publication date Assignee Title
DE19801617A1 (de) * 1998-01-17 1999-07-22 Daimler Chrysler Ag Radarsignal-Verarbeitungsverfahren
DE102009057032A1 (de) 2009-12-04 2011-06-09 Bayerische Motoren Werke Aktiengesellschaft Verfahren und Vorrichtung zur radargestützten Steuerung einer Funktion eines Fahrzeugs
DE102013216951A1 (de) 2013-08-26 2015-02-26 Robert Bosch Gmbh Radarsensor für Kraftfahrzeuge

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1357394A1 (fr) * 2000-12-28 2003-10-29 Fujitsu Ten Limited Procede de detection d'objets inanimes
DE102008001838A1 (de) * 2008-05-19 2009-11-26 Robert Bosch Gmbh Verfahren und Vorrichtung zur Vermessung eines Hindernisses
DE102015102519A1 (de) * 2014-03-11 2015-09-17 Fujitsu Ten Limited Antenne

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EP3387460A1 (fr) 2018-10-17

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