WO2018033412A1 - Procédé permettant de faire fonctionner un dispositif de mesure de distance d'un véhicule, dispositif de mesure de distance et système d'aide à la conduite - Google Patents

Procédé permettant de faire fonctionner un dispositif de mesure de distance d'un véhicule, dispositif de mesure de distance et système d'aide à la conduite Download PDF

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Publication number
WO2018033412A1
WO2018033412A1 PCT/EP2017/069799 EP2017069799W WO2018033412A1 WO 2018033412 A1 WO2018033412 A1 WO 2018033412A1 EP 2017069799 W EP2017069799 W EP 2017069799W WO 2018033412 A1 WO2018033412 A1 WO 2018033412A1
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WO
WIPO (PCT)
Prior art keywords
signal
radar
distance measuring
optical
combination
Prior art date
Application number
PCT/EP2017/069799
Other languages
German (de)
English (en)
Inventor
Thomas Rudolf
Frank Künzler
Stefan Hoven
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
Publication of WO2018033412A1 publication Critical patent/WO2018033412A1/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
    • G01S7/40—Means for monitoring or calibrating
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G01S13/865—Combination of radar systems with lidar systems
    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—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
    • 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
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/42—Simultaneous measurement of distance and other co-ordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • 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
    • 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

Definitions

  • the invention relates to a method for operating a distance measuring device of a vehicle, wherein at least one optical transmission signal is transmitted into at least one target area by means of at least one optical distance measuring system and at least one reflected optical transmission signal coming from the at least one target area is detected as an optical reception signal.
  • the invention further relates to a distance measuring device of a vehicle comprising at least one optical distance measuring system with at least one transmitter for transmitting at least one optical transmission signal in at least one target area and at least one receiver for detecting at least one reflected optical transmission signal coming from the at least one target area as an optical reception signal.
  • the invention relates to a driver assistance system of a vehicle having at least one distance measuring device with at least one optical distance measuring system with at least one transmitter for transmitting at least one optical transmission signal into at least one destination area and with at least one receiver for detecting at least one reflected optical transmission signal coming from the at least one destination area optical received signal.
  • a distance measuring device for motor vehicles which outputs laser pulses at predetermined angular intervals over an object detection zone and receives a signal generated by reflection from one of the output signals on a reflecting object in order to determine the distance to this object.
  • the rangefinder according to the invention further comprises an object type determination function for determining the respective type of the object detection zone in the object detection zone. to determine the object.
  • the invention has for its object to design a method, a distance measuring device and a driver assistance system of the type mentioned, in which a functional accuracy, in particular a detection of the environment, can be improved.
  • At least one radar transmission signal is transmitted by means of at least one radar range finding system and at least one reflected radar transmission signal coming from the radar range finding system detects at least one target area as the at least one received optical signal as a radar echo signal If at least one variable determined from or with the at least one radar echo signal is combined with at least one variable determined from or with the at least one optical received signal to form at least one combination variable, or with at least one combination variable a distance and / or a direction of at least one any object is determined to the distance measuring device and / or from or with at least one combination size of any disturbances in the environment and / or the distance measuring device is closed.
  • information from at least one optical received signal of at least one optical distance measuring system is combined or fused with information from at least one radar echo signal of at least one radar range finding system.
  • the optical measurement technology and the radar technology work in different frequency ranges, so that there is no direct interaction between the optical signals and the radar signals.
  • the optical signals and the radar signals, in particular the at least one optical received signal and the at least one radar echo signal, and / or possibly the respective object data, in particular distance and direction, can be combined or fused, generalized in terms of content and / or evaluated for at least one fault warning.
  • a monitoring area can be monitored in particular simultaneously for objects or obstacles as well as for disturbances in the surroundings, which can lead to visual impairments.
  • the disturbances in the environment may be environmental, in particular weather-related, optical visual impairments, in particular fog, rain, snow, smoke or the like.
  • both the distance and the direction can be determined, and the surroundings and the distance measuring device can be checked for any disturbances.
  • different combination sizes can be used for the determination of the distance and / or the direction on the one hand and the examination of the environment and / or the distance measuring device for possible disturbances.
  • fusion functions can be realized by analyzing detected objects in the target area Generalized and fused signals, in particular variables, which characterize distances and / or directions of at least one object to the distance measuring device, in particular object angle signals, and to a corresponding one
  • the generalized merged signals may also be transmitted without information indicating which of the at least two ranging systems the signals are based on.
  • At least one variable can be determined from or with at least one radar echo signal, which characterizes a distance and / or a direction of at least one object to the distance measuring device, in particular to the at least one radar range finding system.
  • at least one variable can be determined from or with at least one optical received signal, which characterizes a distance and / or a direction of at least one object to the distance measuring device, in particular to the at least one optical distance measuring system.
  • At least one variable determined from or with at least one radar echo signal and at least one variable determined from or with at least one optical received signal can be combined to form at least one combination variable.
  • This at least one combination variable can be used to determine a distance and / or a direction of at least one object to the distance measuring device.
  • the distance measuring device can detect objects at a distance of less than 1 m to more than 200 m, in particular between 5 m and 120 m.
  • an active redundancy can be realized.
  • corresponding object data can still be detected.
  • the reliability and safety of the distance measuring device can be improved. If only one of the distance measuring systems detects an object, at least one combination variable may indicate a corresponding fault.
  • the at least one optical received signal and the at least one radar echo signal can be detected in parallel, in particular simultaneously, and / or processed.
  • snapshots of the ambient situation in particular the distance and / or the direction of at least one object and / or the presence of visual impairments, can be made with the distance measuring device.
  • the at least one radar range finding system and the at least one optical rangefinder system may be modular. In this way, corresponding components of both distance measuring systems can be shared. Thus, a cost of materials, assembly costs and / or a space requirement can be reduced.
  • the at least one optical ranging system can operate on optical signals in frequency ranges between about 300 THz and 700 THz.
  • the wavelength of the optical signals can be between about 900 nm and 430 nm. This corresponds to light in the spectral range between infrared and blue.
  • the at least one optical distance measuring system can be tuned to a restricted frequency range, in particular a single frequency.
  • the at least one optical distance measuring system can advantageously have a range of up to 200 m and more.
  • the visibility conditions in the environment, in particular in the at least one corresponding target area can influence measurement results of the at least one optical distance measuring system accordingly.
  • the measurement results can be greatly influenced by environmental visual impairments.
  • Optical beams, in particular optical transmission beams and receiving beams can be correspondingly damped by such environmental visual impairments.
  • the at least one optical distance measuring system therefore makes it possible to check the surroundings for visual impairments.
  • the visual impairment warning is particularly useful for a driver of the vehicle.
  • the at least one radar rangefinder system can operate on radar signals in frequency ranges between about 20 GHz and about 100 GHz, preferably at 24 GHz or 79 GHz.
  • the wavelengths can be between about 15 mm and about 3 mm.
  • such radar range finding systems are not impaired or less affected by environmental visual impairments than the at least one optical distance measuring system.
  • fog optical signals are attenuated stronger than radar signals.
  • the method and the distance measuring device can be used for the detection of environmental optical visual impairments.
  • the function of the at least one optical distance measuring system can also be impaired by soiling in the region of entrance and / or exit windows through which the optical signals must pass.
  • the at least one radar rangefinder system is less sensitive. In this way, the presence of such contaminants can be detected by the inventive combination of at least one radar echo signal and at least one optical received signal, which can lead to disturbances of the distance measuring device.
  • the target area of the at least one optical distance measuring system in the sense of the invention is the space to which the optical distance measuring system is aligned or sensitized, to which it "aims."
  • the target area can be roughly illustrated as a cone with a round or elliptical base area, the apex
  • the target area may be defined by the direction of a transmit beam of the at least one optical rangefinder system Alternatively or additionally, the target area may be defined by an orientation of a receive direction of a receiver of the optical rangefinder a radar rangefinding system, the space to which the at least one radar rangefinder system is aligned, the target ranges of the at least one radar rangefinder system and the at least one optical rangefinder system k can at least partially coincide.
  • a respective surveillance area can be scanned. enriched.
  • a monitoring area of the distance measuring device can be defined.
  • the respective monitoring areas can overlap each other.
  • the distance measuring device can be operated while driving and / or when the vehicle is at a standstill.
  • object data can be determined at different operating conditions of the vehicle and / or disturbances can be detected.
  • At least one combination variable and / or optionally at least one notification signal may be supplied to at least one electronic control device of the vehicle, in particular a driver assistance system and / or a chassis control and / or a driver information device.
  • the electronic control device can influence, in particular control and / or regulate, a corresponding function of the vehicle.
  • Driving functions of the vehicle in particular a steering system, a brake system and / or a motor, can be controlled with the driver assistance system.
  • the chassis control can be used to set an active chassis of the vehicle.
  • With the driver information device visual and / or audible cues or warnings can be issued to a driver.
  • the control of the driver assistance system, the chassis control and / or the driver information device can be combined with one another and / or integrated in a common control, in particular a control device.
  • the distance measuring device may advantageously be connected to or part of at least one electronic control device of the vehicle, in particular a driver assistance system and / or a chassis control and / or a driver information device.
  • At least one optical distance measuring system and / or at least one radar range finding system can be a scanning system.
  • there can be scanned with transmitted beams a surveillance area, so scanned be.
  • the corresponding transmission beams can be pivoted with respect to their direction over the monitoring area.
  • At least one optical distance measuring system may be a laser-based distance measuring system.
  • the laser-based distance measuring system has at least one laser, in particular a diode laser, as the light source.
  • pulsed transmission beams can be transmitted with the at least one laser. With the laser transmission beams can be emitted in visible or invisible to the human eye frequency ranges.
  • the laser-based distance measuring system can advantageously be a laser scanner. With a laser scanner, a surveillance area can be scanned with a particular pulsed laser beam.
  • a different type of optical distance measuring system in particular at least one camera distance measuring system or the like, may be provided.
  • camera-based measurements of signal-to-noise ratios can be carried out with a camera range finding system.
  • a distance measuring device can be arranged in the front region of the vehicle.
  • a distance measuring device may be arranged in the rear region of the vehicle. In this way, a corresponding monitoring area in the direction of travel in front of the vehicle and / or behind the vehicle can be monitored.
  • the invention is used in a vehicle, in particular a motor vehicle.
  • the invention can be used in a land vehicle, in particular a passenger car, truck, a bus, a motorcycle or the like.
  • At least one combination variable can be compared with at least one predefinable desired combination variable range, and if the at least one combination variable is outside the minimum range. is at least a desired combination range, at least one indication signal can be generated for the presence of an environmental and / or device-related fault. It can be concluded from the at least one combination variable that there are environmental optical visual impairments. Additionally or alternatively, it can be concluded that there is a disturbance of the distance measuring device, in particular of at least one radar range finding system and / or at least one optical range finding system. Additionally or alternatively, it can be concluded that there is contamination of at least one exit and / or entrance window of the distance measuring device, in particular of the optical distance measuring system.
  • At least one indication signal may be supplied to at least one electronic control device of the vehicle.
  • the at least one indication signal can be processed directly with an electronic control device of the vehicle.
  • At least one variable determined from or with at least one radar echo signal can have at least one combination variable with at least one variable determined by means of subtraction, addition, division, multiplication and / or a different function from at least one optical received signal be combined.
  • the combination method can be advantageously chosen depending on the type of sizes used.
  • the combination method can be realized by means of at least one algorithm.
  • the combination method can be realized by means of electronic components, devices or assemblies.
  • At least one signal strength, at least one signal-to-noise ratio and / or at least one noise level of at least one radar echo signal having at least one signal strength, at least one signal-to-noise ratio and / or at least one noise level can be at least one optical reception signal to be combined into at least one combination size.
  • different quantities based on the at least one radar echo signal and the at least one received optical signal can be used.
  • most suitable output size can be used.
  • At least one variable can be used which can directly or indirectly characterize an attenuation of the corresponding signal by ambient conditions.
  • a signal strength of the at least one radar echo signal can be combined with a signal strength of the at least one received signal to form at least one combination variable.
  • a signal-to-noise ratio of the at least one radar echo signal can be combined with a signal-to-noise ratio of the at least one received signal to form at least one combination variable.
  • a noise level of the at least one radar echo signal can be combined with a noise level of the received signal to form at least one combination variable.
  • a plurality of variables determined from or with at least one radar echo signal can be combined with a plurality of variables determined from or with at least one optical received signal to form at least one combination variable. In this way, an accuracy of the distance and / or direction determination and / or a review of the environment and / or the distance measuring device can be improved.
  • the signal strengths can be combined to form a combination variable, the signal-to-noise ratios to another combination variable, and / or the noise levels to a further combination variable.
  • the combination sizes can be processed separately from one another according to the method according to the invention. Alternatively or additionally, the different combination sizes can be combined to form at least one further superordinate combination size.
  • At least one variable determined from or with at least one radar echo signal and / or at least one variable determined from or with at least one optical received signal and / or at least one combination variable can be normalized, normalized and / or standardized. In this way, the sizes and / or combination sizes can be made comparable in particular with regard to dimension and / or order of magnitude.
  • respective radar echo signals and / or optical reception signals can be detected and processed from a plurality of target areas. In this way, the monitoring of objects or obstacles and / or the inspection of the environment and / or the distance measuring device can be improved for any disturbances.
  • radar echo signals reflected by a plurality of objects and / or optical reception signals can be detected and processed.
  • a light transit time method can be performed with at least one optical distance measuring system. Distances can be accurately determined with a time of flight method.
  • an optical distance measuring system can advantageously be used a LiDAR and / or LaDAR rangefinding system.
  • LiDAR Light Detection and Ranging
  • LaDAR Laser Detection and Ranging
  • the object is achieved in the distance measuring device according to the invention in that the distance measuring at least one radar rangefinding system with at least one transmitter for transmitting at least one radar transmission signal and at least one receiver for detecting at least one of the same for the radar rangefinding system at least one target area as the at least an optical received signal reflected radar transmission signal as a radar echo signal and at least one electronic function direction, wherein the at least one electronic functional device has at least one combination unit for combining at least one variable determined from or with at least one radar echo signal with at least one variable determined from or with at least one optical received signal to form at least one combination variable.
  • the information of the at least one radar range finding system can be combined or merged with the information of the at least one optical rangefinder system. In this way, accuracy and reliability of the distance measuring device can be improved.
  • At least one electronic functional device may have at least one signal processing unit for determining at least one variable from or with a radar echo signal and / or for determining at least one variable from or with an optical received signal.
  • the distance measuring device can have at least one connection for corresponding power supply lines and / or data lines. With the power supply lines, the distance measuring device can be powered. With the data lines, a data transfer to the distance measuring device and the distance measuring device can be realized.
  • the distance measuring device can be connected to at least one data and / or signal lines of the vehicle.
  • data and / or signal lines can be realized by CAN bus systems, Flexray, Ethernet or the like.
  • At least one electronic functional device can have at least one comparison unit for comparing at least one combination variable with at least one predetermined desired combination range and for generating at least one advisory signal if the at least one combination variable is outside the at least one desired combination variable range.
  • at least one indication signal can be generated. The distance measuring device can thus realize a means of checking for disturbances in the environment and / or the distance measuring device.
  • At least one electronic functional device can be realized with at least one integrated component, a processor or an assembly.
  • the at least one electronic functional device can have electrical and electronic components.
  • At least one electronic functional device may have corresponding algorithms for realizing at least one signal processing unit, at least one combination unit and / or at least one comparison unit.
  • At least one electronic functional device may comprise a plurality of components or modules.
  • the components or modules may each be associated with one or more radar ranging systems and / or one or more optical ranging systems.
  • the components or modules can be operated separately, in particular if required, in particular if one of the distance measuring systems fails.
  • the components or modules may be powered by the same or different power supplies.
  • At least one radar range finding system and at least one optical rangefinder system can optionally be arranged with at least one electronic functional device in a common housing.
  • the measuring device can be realized in a space-saving and / or material-saving and / or cost-effective manner.
  • corresponding openings in / on the vehicle for the distance measuring device in particular entrance and / or exit windows for radar signals and optical signals, can be shared.
  • a better, in particular larger, overlap of the respective target areas can be achieved by the spatial proximity of the distance measuring systems achieved in this way.
  • a common reference for the distance and / or the direction of an object can be defined more easily.
  • At least one optical distance measuring system and at least a radar rangefinder system may be arranged in separate housings.
  • At least one electronic functional device may be arranged separately from the distance measuring systems.
  • At least one radar range finding system and at least one optical rangefinder system can be operated independently of one another. In this way, if one of the distance measuring systems fails, the respective other distance measuring system can continue to be available. In particular, a driver assistance system can continue to be operated using the still available distance measuring system.
  • At least one radar rangefinding system and at least one optical distance measuring system can be connected to separate power supply devices. In this way, if the power supply of one of the distance measuring systems fails, the respective other distance measuring system can continue to be operated. Thus, the risk of a total failure of the distance measuring device in the event of a failure in the power supply can be reduced.
  • at least one power supply device may be an electrical power source.
  • the object according to the invention in the driver assistance system is achieved in that at least one distance measuring at least one radar rangefinding system with at least one transmitter for transmitting at least one radar transmission signal and at least one receiver for detecting at least one of the same for the radar rangefinding system at least one target area the at least one received optical signal reflected radar transmission signal as a radar echo signal and at least one electronic functional device, wherein the at least one electronic functional means comprises at least one combination unit for combining at least one determined from or with at least one radar echo signal magnitude with at least one of or with at least one optical received signal determined size to at least one combination size.
  • FIG. 1 shows a motor vehicle with a distance measuring device comprising
  • Radar distance measuring system and a laser scanner, the information of which is combined with each other, wherein the distance measuring device is part of a driver assistance system;
  • FIG. 1 shows a momentary state in which an object is detected
  • FIG. 3 shows a flowchart of a method for operating the distance measuring device from FIGS. 1 and 2;
  • Figure 4 is a diagram in which the course of the signal-to-noise ratio of a
  • Radar echo signal of the radar range finding system of Figures 1 and 2 is shown depending on a distance of an object from the radar rangefinder system in fog and without fog;
  • Figure 5 is a diagram in which the course of the signal-to-noise ratio of a
  • Laser receiving signal of the laser scanner of Figures 1 and 2 is shown depending on a distance of an object from the laser scanner in fog and without fog;
  • Figure 6 is a diagram in which a difference in the course of the signal-to-noise ratio of the radar rangefinding system of Figure 4 and the curve of the signal-to-noise ratio of the laser scanner from FIG. 5 is plotted as a function of the distance in the case of fog and without fog.
  • a vehicle 10 is shown in the form of a passenger car in front view.
  • the vehicle 10 includes a distance measuring device 12 which is disposed in an opening of a front bumper of the vehicle 10.
  • a monitoring area 14 in the direction of travel in front of the vehicle 10 is monitored for objects and obstacles.
  • an example 1 6 is indicated.
  • objects at a distance from the vehicle 10 of, for example, between 5 m and 120 m can be detected.
  • a distance of the object 1 6 from the distance measuring device 12 and a direction of the object 1 6 to the distance measuring device 1 2, that is, a direction in which the object 1 6 is arranged with respect to the distance measuring device 12 are detected.
  • the direction of the object 1 6 is exemplified by corresponding angular sizes.
  • the monitoring area 14 is monitored for visual impairments in the environment, such as fog, snow, rain, smoke or the like.
  • the distance measuring device 12 comprises an optical distance measuring system in the form of a laser scanner 18, a radar distance measuring system 20 and an electronic functional device 22.
  • the radar range finding system 20, the laser scanner 18 and the functional device 22 are implemented as a module in a common housing 24.
  • the housing 24 has, on its side facing the monitoring area 14, an entry and exit window for transmission beams and reception beams of the distance measuring device 12.
  • the distance measuring device 12 is part of a driver assistance system 26, which is indicated in FIG.
  • the distance measuring device 12 has a connection 28, via which it is connected by means of appropriate signal lines and power lines to a control unit 30 of the driver assistance system 26.
  • the laser scanner 18 and the radar range finding system 20 are connected via separate power lines each with separate power supplies.
  • the data lines can be realized by way of example by CAN bus systems, Flexray, Ethernet or the like.
  • the control unit 30 in turn is signal-technically connected to functional systems 32 of the vehicle 10, for example a steering control, an engine control, a braking system and a driver information device.
  • functional systems 32 of the vehicle for example a steering control, an engine control, a braking system and a driver information device.
  • functional systems 32 for example a steering control, an engine control, a braking system and a driver information device.
  • one of the functional systems 32 is indicated in FIG.
  • the information from the distance measuring device 12 is used to control driving functions of the vehicle 10 and signaling devices of the vehicle 10, for example, to output visual and / or audible warning signals to a driver.
  • the laser scanner 18 has, for example, a transmitter, a receiver, a deflecting mirror arrangement and a control unit.
  • the transmitter has a diode laser as the light source. With the diode laser, a pulsed laser transmission signal 34 is generated.
  • the laser transmission signal 34 is transmitted via the deflecting mirror arrangement into the monitoring area 14 of the distance measuring device 12.
  • An object 1 6 reflected by the object 1 6 located in the monitoring area 14 is passed as a laser received signal 38 via the deflecting mirror arrangement and received by the receiver.
  • the laser scanner 18 operates according to a light pulse transit time method.
  • the laser scanner 18 is a so-called LaDAR distance measuring system. In this case, a distance of the object 16 reflecting the light pulses to the laser scanner 18 is determined in a manner known per se by measurements of the transit times of light pulses.
  • the receiver of the laser scanner 18 With the receiver of the laser scanner 18, the received from a target area 36 laser received signal 38 is received.
  • the target area 36 of the laser scanner 18 is the space to which the laser scanner 18 is currently aligned.
  • the target area 36 is defined by the direction of the laser transmit signal 34.
  • the target area 36 is pivoted in the horizontal. In this way, the monitoring area 14 is scanned with the laser scanner 18.
  • the laser scanner 18 operates by way of example with optical signals in the infrared range.
  • the laser scanner 18 has a range of up to 200 m depending on the visibility. In poorer visibility conditions, such as fog, rain, snow, smoke or the like, the range of the laser scanner 18 is correspondingly lower.
  • the radar range finding system 20 has a transmitter for transmitting radar transmission signals 40 and a receiver for detecting reflected radar transmission signals 40 coming from a target area 42 as radar echo signals 44.
  • the target area 42 of the radar rangefinding system 20 is the space to which the radar rangefinder system 20 is aligned.
  • the surveillance area 14 is scanned.
  • the radar echo signal 44 reflected by the object 1 6 shown in FIG. 2 is detected.
  • the common target area 46 is currently located, as shown in Figure 2, the object 16.
  • the laser scanner 18 receives radar echo signals 44 reflected from the object 16 and laser received signals from the same target area, namely the common target area 46.
  • the radar range finding system 20 is exemplified as a per se known modulated continuous wave radar system (FMCW radar system).
  • the radar rangefinder system 20 operates with radar signals at the frequency of 24 GHz or 79 GHz. Ambient visual impairments affect the radar rangefinding system 20 less than they would the laser scanner 18.
  • the electronic functional device 22 is implemented as an electronic assembly with processors, in which appropriate algorithms for executing individual, further explained below process steps are included.
  • the functional device 22 has inter alia a signal processing unit 48, a combination unit 50 and a comparison unit 52.
  • the signal processing unit 48, the combination unit 50 and the comparison unit 52 are implemented with components and algorithms in the functional device 22.
  • the signal processing unit 48 is used to determine corresponding quantities, for example a corresponding signal-to-noise ratio, a distance and a direction of the object 1 6 to the distance measuring device 12, from the radar echo signal 44 and from the laser received signal 38.
  • the combination unit 50 serves to combine the variables determined from the radar echo signal 44 with the corresponding variables determined from the laser received signal 38 to form corresponding combination variables.
  • the comparison unit 52 is used to compare some combination variables, each with a corresponding predetermined desired combination range.
  • a reference signal can be generated with the comparison unit 52 if the corresponding combination variable (s) is outside the corresponding target value.
  • Combination size range is. With the electronic functional device 22 so ambient and device-related disorders are detected.
  • the method is performed with the electronic functional device 22 while driving and at a standstill of the vehicle 10.
  • a step 1 10 the laser received signal reflected by the object 1 6 38 and detected by the object 16 radar echo signal 44 detected.
  • the laser received signal 38 and the radar echo signal 44 are detected and processed simultaneously in parallel.
  • a size for a distance (radar distance size) and a size for a direction (radar direction size) of the object 1 6 to the distance measuring device 12 are determined from the radar echo signal 44. Further, a size for a distance (laser distance size) and a size for a direction (laser direction size) of the object 16 to the distance measuring device 12 are determined from the laser received signal 38.
  • the radar range size and the laser range size are combined into a range combination size. Accordingly, the radar direction amount and the laser direction amount are combined into a direction combining amount.
  • the smaller of the two distance variables or an average of the two distance variables can be combined to the distance combination variable.
  • the directional combination size can be combined, for example, as an average of the two directional size.
  • a step 140 the distance combination variable and the direction combination are transmitted to the control unit 30 of the driver assistance system 26.
  • a radar signal-to-noise ratio is determined from the radar echo signal 44, and a laser signal-to-noise ratio from the laser received signal 38 is determined in each case as a variable.
  • Step 150 and the following steps may be performed after, before, in parallel, and / or independently of steps 130 and 140. Overall, in the method, the order of individual steps may also be changed appropriately.
  • step 1 60 the radar signal-to-noise ratio and the laser signal-to-noise ratio are normalized, respectively.
  • a step 170 the normalized radar signal-to-noise ratio and the normalized laser signal-to-noise ratio by means of subtraction combined to a difference signal-to-noise ratio as a combination size.
  • a step 180 the difference signal-to-noise ratio is compared with a predefinable target range for the difference signal-to-noise ratio at the distance determined in step 120.
  • the target range for the difference signal-to-noise ratio is stored in a given table as a function of the distance.
  • the table has been prepared by way of example by way of calibration for the distance measuring device 12 in advance.
  • a warning signal is generated in step 190 for the presence of an environmental and / or device-related fault.
  • the hint signal gives an indication of the presence of fog.
  • the notification signal is transmitted to the control unit 30 of the driver assistance system 26 and processed there directly.
  • step 190 If the check in step 190 shows that the difference signal-to-noise ratio is within the target range, the method is repeated from step 1 10. In this case, no alert signal is generated.
  • the control unit 30 of the driver assistance system 26 controls the corresponding driving functions of the vehicle 10, for example the steering system, the engine and / or the brake system, depending on the distance combination and the direction combination. If an advisory signal is generated, the controller 30 of the driver assistance system 26 causes the issuing of an optical and / or acoustic warning signal to the driver.
  • FIG. 4 shows a diagram in which a profile of the radar signal-to-noise ratio (S / R (radar)) of the radar echo signal is shown in decibels as a function of a distance D of the object 1 6 from the radar range finding system 20 ,
  • the lower curve shows the course of the radar signal-to-noise ratio in fog, the upper curve without fog.
  • FIG. 5 shows a profile of the laser signal-to-noise ratio (S / R (laser)) of the laser received signal 38 in decibels as a function of a distance of the object 1 6 from the laser scanner 18.
  • the lower curve shows the curve of the laser signal-to-noise ratio in fog, the upper curve without fog.
  • FIG. 6 shows a variation of the difference signal-to-noise ratio (S / R (radar) -S / R (laser)) from the difference between the corresponding radar signal-to-noise ratios and laser signal-to-noise ratios shown in Figures 4 and 5 depending on the distance.
  • the upper curve shows the course of the difference signal-to-noise ratio in fog, the lower curve without fog.

Landscapes

  • 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)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

L'invention concerne un procédé permettant de faire fonctionner un dispositif de mesure de distance (12) d'un véhicule (10), un dispositif de mesure de distance (12) et un système d'aide à la conduite (26). Selon le procédé, au moins un signal d'émission otique (34) est émis au moyen d'au moins un système optique de mesure de distance (18) dans au moins une zone cible (46), et au moins un signal d'émission optique (34) réfléchi provenant de la ou des zones cible (46) est détecté en tant que signal de réception optique (38). Au moins un signal d'émission radar (40) est émis au moyen d'au moins un système radar de mesure de distance (20), et au moins un signal d'émission radar (40) réfléchi provenant de la même ou des mêmes zones cibles (46) que le ou les signaux de réception optiques (38) pour le système radar de mesure de distance (20) est détecté en tant que signal d'écho radar (44).. Au moins une grandeur déterminée à partir ou au moyen du ou des signaux d'écho radar (44) est combinée à au moins une grandeur déterminée à partir ou au moyen du ou des signaux de réception optiques (38) pour obtenir au moins une grandeur combinée. Une distance et/ou une orientation d'au moins un éventuel objet (16) par rapport au dispositif de mesure de distance (12) est déterminée à partir ou au moyen de la ou des grandeurs combinées. Selon une variante ou en complément, on conclut à partir ou au moyen de la ou des grandeurs combinées à la présence de perturbations dans l'environnement et/ou le dispositif de mesure de distance.
PCT/EP2017/069799 2016-08-15 2017-08-04 Procédé permettant de faire fonctionner un dispositif de mesure de distance d'un véhicule, dispositif de mesure de distance et système d'aide à la conduite WO2018033412A1 (fr)

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DE102016115073.8A DE102016115073A1 (de) 2016-08-15 2016-08-15 Verfahren zum Betreiben einer Entfernungsmessvorrichtung eines Fahrzeugs, Entfernungsmessvorrichtung und Fahrerassistenzsystem
DE102016115073.8 2016-08-15

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DE202022104920U1 (de) 2022-08-31 2023-12-01 Sick Ag Radarvorrichtung

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DE19932094A1 (de) * 1999-07-09 2001-01-25 Daimler Chrysler Ag Multisensorielle, vorausschauende Straßenzustandserkennung
EP1672390A1 (fr) * 2004-12-15 2006-06-21 Deere & Company Procédé et système de détection d'un objet au moyen d'une grille composite de mise en évidence
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