WO2017134060A1 - Procédé permettant de faire fonctionner un système d'aide à la conduite d'un véhicule automobile et véhicule automobile - Google Patents

Procédé permettant de faire fonctionner un système d'aide à la conduite d'un véhicule automobile et véhicule automobile Download PDF

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Publication number
WO2017134060A1
WO2017134060A1 PCT/EP2017/052068 EP2017052068W WO2017134060A1 WO 2017134060 A1 WO2017134060 A1 WO 2017134060A1 EP 2017052068 W EP2017052068 W EP 2017052068W WO 2017134060 A1 WO2017134060 A1 WO 2017134060A1
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WO
WIPO (PCT)
Prior art keywords
motor vehicle
person
radar
radar sensor
movement pattern
Prior art date
Application number
PCT/EP2017/052068
Other languages
German (de)
English (en)
Inventor
Rachid Khlifi
Original Assignee
Audi Ag
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Audi Ag filed Critical Audi Ag
Publication of WO2017134060A1 publication Critical patent/WO2017134060A1/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
    • 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
    • G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • G01S7/411—Identification of targets based on measurements of radar reflectivity
    • G01S7/412—Identification of targets based on measurements of radar reflectivity based on a comparison between measured values and known or stored values
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027—Parking aids, e.g. instruction means
    • B62D15/0285—Parking performed automatically
    • 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
    • G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • G01S7/415—Identification of targets based on measurements of movement associated with the target
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
    • G06V40/20—Movements or behaviour, e.g. gesture recognition
    • G06V40/28—Recognition of hand or arm movements, e.g. recognition of deaf sign language
    • 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
    • G01S13/0209—Systems with very large relative bandwidth, i.e. larger than 10 %, e.g. baseband, pulse, carrier-free, ultrawideband
    • 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
    • G01S2013/9314—Parking operations
    • 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
    • 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
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93274—Sensor installation details on the side of the vehicles

Definitions

  • the invention relates to a method for operating a driver assistance system of a motor vehicle having a function for positioning the previously parked motor vehicle relative to a person, wherein depending on a position information of the person relative to the motor vehicle a Zielpose the motor vehicle, which allows a boarding of the person, and a to the Zielpose leading trajectory are determined and the motor vehicle is automatically moved along the trajectory in the Zielpose.
  • the invention relates to a motor vehicle.
  • driver assistance systems For modern motor vehicles, a large number of driver assistance systems have already been proposed, which evaluate input data that describe the driving situation and, if at least one action criterion occurs, carry out at least one measure to assist the driver.
  • Driver assistance systems for example so-called parking assistants, have also been described in particular with regard to parking and parking.
  • parking aids are known, which provide information based on data from ultrasonic sensors, in which direction from the motor vehicle obstacles are.
  • automatic parking and Ausparkhnen have already been proposed.
  • DE 10 2009 051 463 A1 describes a method for performing a parking operation of a motor vehicle, in which an external control device is used, which is designed for communication with a motor vehicle-side control device.
  • the transmitted signals are evaluated to determine location information about the driver's location and / or a destination specified by the driver, after which a Ausparkvorgang is feasible taking into account the location information.
  • a GPS sensor for example, an absolute position of the driver can be transmitted, it being possible to determine the position of the driver even more accurately by using environment sensors of the motor vehicle.
  • GPS receivers positioning by GPS receivers is dependent on coverage by satellites and the infrastructure. If no GPS reception is given, the location information can not be determined and communicated, for example within a parking garage. In addition, the accuracy of such position determinations is limited. If one considers the use of additional sensors, which is provided in the motor vehicle itself, a reliable determination is also mung position information to a person hardly possible because the recognition of the person is possible only with the highest effort.
  • the invention is therefore an object of the invention to provide a method for reliable and low-cost determination of a position information of a person in the automatic positioning of a motor vehicle, especially when Ausparken.
  • the invention proposes that the function is activated after detection of at least one predetermined movement pattern of the person in radar data of at least one radar sensor of the motor vehicle and determines the position information, in particular exclusively, from radar data of the person performing the movement pattern becomes.
  • the person requesting the function in particular the driver, by a movement pattern, for example a gesture, selects the function for radar sensors of the motor vehicle recognizably.
  • a movement pattern for example a gesture
  • the activation of the function also directly knows which object corresponds to the person so that the radar data can be used to provide extremely accurate, reliable position information derive the person, especially the driver.
  • the movement pattern is thus recognized as well as the source of the movement pattern, so that the position of the person can be determined and based on the ego position of the motor vehicle relative to the person an optimal trajectory for comfortable positioning of the person Motor vehicle or the driver's door relative to the external person under consideration of the obstacles in the environment of the motor vehicle can be calculated, with the comfortable positioning determined by the Zielpose. The person can then then comfortably open in particular the driver's door and get in.
  • CMOS complementary metal-oxide-semiconductor
  • RF CMOS complementary metal-oxide-semiconductor
  • a very low cost small radar sensor is possible, which can meet the space requirements significantly better and due to the short signal paths also has a very low signal-to-noise ratio and for high frequencies and larger, variable frequency bandwidths is suitable. Therefore, such small-sized radar sensors can also be used for short-range applications, for example in the range of 30 cm to 10 m.
  • CMOS transceiver chip and / or a package with CMOS transceiver chip and antenna on a common circuit board with a digital signal processing processor (DSP processor) or the functions of the signal processing processor in the CMOS Integrate transceiver chip. Similar integration is possible for control functions.
  • DSP processor digital signal processing processor
  • a particularly preferred embodiment of the present invention therefore provides that a radar sensor with a semiconductor chip that realizes at least one radar transceiver, in particular a CMOS chip, is used as the radar sensor. It is particularly preferred here if a control unit of the radar sensor and / or a digital signal processing component of the radar sensor are realized by the semiconductor chip and / or the semiconductor chip and an antenna arrangement of the radar sensor are realized as a package. In this way, not only an extremely small-scale radar sensor can be realized, which has a high signal-to-noise ratio due to short signal paths, but it can also be used with operating parameters that allow a highly accurate environment detection, especially in the vicinity.
  • the radar sensor with a frequency bandwidth of more than 2 GHz, in particular 4 GHz, and / or operating in a frequency band of 77 to 81 GHz.
  • High frequency bandwidths, in particular frequency bandwidths of 4 GHz, allow for excellent object identifiability and thus improved recognition of motion patterns as well as a more accurate determination of position information on a person performing the movement patterns.
  • a plurality of radar sensors are used whose coverage areas cover the surroundings of the motor vehicle in a 360 ° radius.
  • eight radar sensors can be used, which are concealed in the motor vehicle are installed, of which, for example, three in the front bumper, three in the rear bumper and two laterally, especially in the doors, are arranged.
  • These radar sensors are preferably wide-angle radar sensors which have an opening angle in the azimuth of more than 140 °, in particular more than 150 °. Overlap areas between the detection areas of the radar sensors can be used to plausibilize radar data against each other. By detecting the entire environment around the motor vehicle, the person or the movement pattern can be detected independently of the direction in which it is viewed from the motor vehicle.
  • the movement pattern is preferably a gesture to be carried out in particular with the arms.
  • gestures are preferably used which are to be understood unambiguously as an instruction to the driver assistance system, and consequently can only accidentally arise with a low probability.
  • the movement pattern is to be performed with more than one limb. In this way, it is possible to realize clear, easily identifiable movement patterns, in particular gestures, which can be recognized by the motor vehicle and are very unlikely to occur in a person's natural course of motion.
  • a particularly preferred embodiment of the present invention provides that the monitoring of the presence of the movement pattern in Environment of the motor vehicle only when unlocked and / or switched on the motor vehicle, in particular after unlocking the motor vehicle by means of a remote control element occurs.
  • a remote control element for example a key
  • the function for suitably positioning the motor vehicle is thus always carried out only in the context of the unlocking / activation of the motor vehicle, so that it can not lead to accidental and / or caused by wrong people positioning maneuvers.
  • the duration of the monitoring is expediently limited, for example, by detecting a person in the driver's seat and / or until the ignition is switched on and / or until it is re-interlocked.
  • an indication signal in particular an optical and / or acoustic indication signal.
  • an indication signal for example, a unique sequence of tones can be output by the motor vehicle, which indicates to the person that the movement pattern has been understood and the function is activated, thus initiating the fully automatic positioning of the motor vehicle.
  • An additional or alternative possibility for notifying the person is an optical indication signal, for example a brief actuation of the hazard warning system and / or another illumination device of the motor vehicle.
  • the target pose can be determined in an optimization method such that the person can enter while taking a minimum distance by making use of a maximum available space.
  • an environment map is used with particular advantage, which also on the Radar sensors based, but also other environmental data of other environment sensors of the motor vehicle can take into account and / or can be based on a present digital map material.
  • an optimal target position and orientation can also be used in the context of the present invention.
  • the target pose and the trajectory are determined to maintain a minimum distance to the person. This means that when determining the target pose and the trajectory, a minimum distance to the person is used as a boundary condition in order to ensure the greatest possible safety of the person. Of course, such a minimum distance is expediently also observed to other persons, such as those, in particular by the radar sensor, observed. In this way, a very safe operation of the motor vehicle is given in the function for positioning.
  • the invention also relates to a motor vehicle, comprising at least one radar sensor and a control device designed for carrying out the method according to the invention. All statements relating to the method according to the invention can be analogously applied to the motor vehicle according to the invention, so that the advantages mentioned can also be obtained therewith.
  • FIG. 1 is a schematic diagram of a motor vehicle according to the invention
  • FIG. 2 shows a radar sensor used in the motor vehicle according to FIG. 1
  • FIG. Fig. 3 is a first situation for explaining the invention
  • Fig. 4 shows a second situation for explaining the invention
  • Fig. 5 is a third situation for explaining the invention
  • Fig. 6 shows a fourth situation for explaining the invention
  • FIG. 1 shows a schematic diagram of a motor vehicle 1 according to the invention. This has eight radar sensors 2, of which three are installed in the rear bumper, three in the front bumper and two in the doors of the motor vehicle.
  • Fig. 2 shows the structure of the radar sensor 2 used in more detail. This is realized in semiconductor technology, here specifically CMOS technology, and is operated in a frequency band of 77 to 81 GHz with a frequency bandwidth of 4 GHz in order to deliver high-resolution radar data.
  • the radar sensor 2 has a housing 4, in which a printed circuit board 5 is supported, which carries a package 6, which is formed from a semiconductor chip 7 and an antenna arrangement 8 of the radar sensor 2.
  • the semiconductor chip 7, here a CMOS chip in addition to a radar transceiver 9, a control unit 10 of the radar sensor 2 and a digital signal processing component 1 1 (DSP) of the radar sensor 2 are realized.
  • DSP digital signal processing component 1 1
  • a central control unit 12 of the motor vehicle 1 which is also designed to carry out the method according to the invention, thus associated with a driver assistance system 13 with a function for positioning the previously parked motor vehicle 1 relative to a person.
  • the radar data are consequently evaluated at least in some operating states, in this case when the motor vehicle is unlocked, but not yet switched on (ignition off), in order to monitor whether a person is carrying out a predetermined movement pattern in the surroundings of the motor vehicle.
  • the radar data of the radar sensors 2 are high-resolution, the detection of individual limbs of people is easily possible, and thus a detection of movement patterns.
  • this is considered a trigger signal for the activation of the function for positioning the motor vehicle 1 relative to a person.
  • the person's positional information necessary therefor is determined from the radar data as that of the detected object that carried out the movement pattern, whereupon an aiming pose is determined in an optimization procedure that allows the person to get in via the driver's door as comfortably as possible.
  • an aiming pose is determined in an optimization procedure that allows the person to get in via the driver's door as comfortably as possible.
  • further objects / obstacles detected in the surroundings of the motor vehicle and / or otherwise known are taken into account.
  • These objects / obstacles are also taken into account in the subsequent planning of a trajectory which is intended to transfer the motor vehicle to the target pose.
  • a safety margin is maintained as a boundary condition to the person who has carried out the movement pattern and to other persons detected in the environment of the motor vehicle 1.
  • Fig. 3 shows the motor vehicle 1 parked, so parked, in a parking garage 14, specifically here in a narrow gap between two other vehicles 15.
  • a person 16, here the driver of the motor vehicle 1 uses a Remote control element 17, here a key to unlock the motor vehicle 1.
  • the radar sensors 2 of the motor vehicle 1 are activated and their radar data are evaluated in the control unit 12 to the effect whether the predetermined movement pattern, here a gesture, in the environment of the motor vehicle 1 is detected.
  • the person 16 carries out the predetermined movement pattern with their arms 16a, which are only indicated here, which is detected in the control unit 12.
  • the functions for the automatic positioning of the motor vehicle 1 relative to the person 16 is activated, that is, it is on the one hand resulting from the radar data position information of the person 16 (which is already identified, since it has performed the movement pattern) as the basis for the calculation of the Zielpose and the trajectory taken, but on the other hand, the activation of the function is also acknowledged, in this case acoustically and optically by a brief illumination 18 of the hazard warning system of the motor vehicle 1 only hinted here.
  • the motor vehicle 1 has finally reached the target pose 20.
  • the person 16 can comfortably get in with maximum available space through the driver's door and must do this as short a route as possible.
  • the detection of the movement pattern and the determination of the position information of the person can be determined solely on the basis of the radar data of the radar sensors 2.
  • embodiments are also conceivable in which further sensors of the motor vehicle 1 support this determination, in particular in a plausibilizing manner.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Mechanical Engineering (AREA)
  • General Health & Medical Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Electromagnetism (AREA)
  • Health & Medical Sciences (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Chemical & Material Sciences (AREA)
  • Psychiatry (AREA)
  • Social Psychology (AREA)
  • Human Computer Interaction (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention concerne un procédé permettant de faire fonctionner un système d''aide à la conduite (13) d'un véhicule automobile (1), comprenant une fonction permettant le positionnement du véhicule automobile (1) préalablement garé par rapport à une personne (16). Selon le procédé, on détermine en fonction d'une information sur la position de la personne (16) par rapport au véhicule automobile (1) une position cible (20) du véhicule automobile (1) permettant à la personne (16) de monter, ainsi qu'une trajectoire (19) conduisant à la position cible (20), et le véhicule automobile (1) est automatiquement déplacé vers la position cible (20) le long de la trajectoire (19). La fonction est activée après la détection d'au moins un modèle de déplacement prédéfini de la personne (16) dans les données radar d'au moins un capteur radar (2) du véhicule automobile (1), et l'information de position est déterminée, en particulier exclusivement, à partir des données radar de la personne (16) exécutant le modèle de déplacement.
PCT/EP2017/052068 2016-02-02 2017-01-31 Procédé permettant de faire fonctionner un système d'aide à la conduite d'un véhicule automobile et véhicule automobile WO2017134060A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102016001121.1 2016-02-02
DE102016001121.1A DE102016001121A1 (de) 2016-02-02 2016-02-02 Verfahren zum Betrieb eines Fahrerassistenzsystems eines Kraftfahrzeugs und Kraftfahrzeug

Publications (1)

Publication Number Publication Date
WO2017134060A1 true WO2017134060A1 (fr) 2017-08-10

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Country Status (2)

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DE (1) DE102016001121A1 (fr)
WO (1) WO2017134060A1 (fr)

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CN110988848B (zh) * 2019-12-23 2022-04-26 潍柴动力股份有限公司 车载激光雷达相对位姿监测方法及设备

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