WO2019219718A1 - Détection acoustique d'un environnement de véhicule - Google Patents

Détection acoustique d'un environnement de véhicule Download PDF

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Publication number
WO2019219718A1
WO2019219718A1 PCT/EP2019/062411 EP2019062411W WO2019219718A1 WO 2019219718 A1 WO2019219718 A1 WO 2019219718A1 EP 2019062411 W EP2019062411 W EP 2019062411W WO 2019219718 A1 WO2019219718 A1 WO 2019219718A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
microphones
detection
detection device
noise
Prior art date
Application number
PCT/EP2019/062411
Other languages
German (de)
English (en)
Inventor
Goetz Kuehnle
Timo WINTERLING
Christoph Bayer
Original Assignee
Robert Bosch 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 Robert Bosch Gmbh filed Critical Robert Bosch Gmbh
Publication of WO2019219718A1 publication Critical patent/WO2019219718A1/fr

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Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0965—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages responding to signals from another vehicle, e.g. emergency vehicle

Definitions

  • the present invention generally relates to detecting an acoustic signal in a vehicle environment.
  • the invention relates to a detection device for an acoustic signal in a vehicle environment, a driver assistance system equipped therewith and a method for operating a vehicle.
  • a warning system for a vehicle which includes a plurality of microphones for detecting warning signals of a
  • the warning system gives an audible and / or visual warning message for the detection of a warning signal
  • the object of the invention is therefore to provide an improved possibility for the acoustic detection of a vehicle environment.
  • the plurality of microphones above a vehicle cabin are arranged in such a way that together they span a surface.
  • at least three microphones are provided, which are preferably not arranged on a common straight line.
  • the area spanned by the plurality of microphones surface may be flat or curved, which may be understood that the microphones above the vehicle cab can also be arranged in different heights.
  • An arrangement of the microphones above a vehicle cabin can be understood in this context that the microphones above a
  • the microphones are arranged in an exposed position, so that even for more distant noise or sound sources of Sound propagation path is not disturbed. This results in a particularly good signal-to-noise ratio.
  • the vehicle itself is not an acoustic shadow for the microphones, since they are arranged at a comparatively high altitude on the vehicle. Even unwanted noise, such as the exiting from the exhaust of a car ahead sounds or the rolling noise of a car in front, affect the detection by the microphones due to their high arrangement.
  • a directional and / or distance detection can be performed by arranging the several microphones spanning an area.
  • the direction and distance detection can be effected in particular by determining a respective phase difference at comparatively small distances between the microphones. Additionally or alternatively, a respective delay difference can be determined at relatively large distances of the microphones to each other. Also additionally or alternatively, a respective difference of a sound pressure at the microphones, that is a (complex) sound amplitude, can be determined. Thus, not only the presence of an acoustic signal, but also its
  • Acceleration noises, railroad crossings, bicycle bells, hopping signals, brake noises, accident noises, cries for help or the like are detected and recognized.
  • acoustic signals can be detected which are in the
  • At least three microphones are arranged substantially coplanar, ie substantially in a common plane.
  • the use of at least three microphones in a common plane allows accurate
  • the plane can be formed by the vehicle roof, the microphones even with a slight
  • Curvature of the vehicle roof are arranged substantially in a common plane.
  • the microphones form a microphone array designed for beamforming.
  • Beamforming is understood to be a method for determining the position of a noise or sound source which is based on a time shift of the signals detected by this microphone which corresponds to the transit time from the noise or sound source to the respective microphone.
  • beamforming sources of interference can be hidden, so that a particularly accurate detection of the acoustic signal is possible.
  • the microphones are arranged individually or grouped triangular. In other words, the arrangement of the
  • Microphones on the vehicle roof directly or as a projection to describe a triangle By a grouped triangular arrangement, it can be understood that while some of the microphones are collinear, that is, they are arranged on a common line, but others are not. This excludes that all microphones from the plurality of microphones are arranged collinear, so that a good direction and / or position determination is possible. In measurements or simulations with different frequencies of the acoustic signal, a good angular accuracy has shown in this arrangement of the microphones, which is a measure of the direction and / or position determination of the Noise or sound source represents. Also, the signal uniqueness has been found in this arrangement to be good.
  • the microphones are arranged in a circle on a common circular ring. This alternative arrangement has proved to be particularly advantageous in terms of angular accuracy and signal uniqueness.
  • the microphones are arranged on the circular ring with an identical distance from each other. This causes the angle dependence for the entire angle spectrum is constant and depends only on the frequency of the noise or sound source.
  • the invention also relates to a driver assistance system for a vehicle which has an electronic control device, preferably with at least one processor, and at least one optical sensor, such as a camera and / or a LIDAR sensor system, for detecting a vehicle environment.
  • the control device is set up to combine detection data of the optical sensor with detection data of the above-described detection device in order to control a driving function of the vehicle, for example for actuator-actuated steering, braking, etc.
  • the driver assistance system may also be configured to control the vehicle fully autonomously. The advantage of this is that the noise or
  • the thus equipped vehicle can therefore be very safe through the
  • the driver assistance system or the control device can be set up to maneuver the vehicle by the actuation of actuators, that is, e.g., the control device, the vehicle to control so that when detecting and / or detection of a warning signal, such as a siren of a
  • the vehicle is independently maneuvered to the edge of the road or another lane.
  • the invention also relates to a method for operating a vehicle, wherein the vehicle preferably has an above-described
  • Driver assistance system has. The method comprises the following steps:
  • the detection data of the sensor can be supplied to a control device which contains these optical sensors.
  • control device controls corresponding actuators of the vehicle, which then cause the vehicle to a driving maneuver.
  • a development of the invention provides that combining the
  • Detection data includes a plausibility of the detection data of the optical sensor by the detection data of the microphones.
  • optically e.g. an emergency vehicle is detected with a warning light, be made plausible on the acoustic detection of his warning signal that it is actually a emergency vehicle and not about a civilian vehicle, which does not have to be given a special right of way.
  • the controller can control the vehicle so that the emergency vehicle is granted priority.
  • Another development of the invention provides that after the detection of the acoustic signal direction detection, in particular a
  • a noise or sound source is performed. This can be done by processing the acquisition data of the microphones, for example by beamforming or Time Difference of Arrival (TDOA)
  • TDOA Time Difference of Arrival
  • the direction, the distance and the (inherent speed of the noise or sound source relative to the vehicle can be determined, in particular based on temporal tracking of the noise or sound source adapted or a
  • Direction detection of the signal and / or the noise or sound source are evaluated.
  • a particularly accurate direction detection can be achieved.
  • the detection quality can be increased if a classification of the signal and / or the noise or sound source is performed after the detection of the acoustic signal.
  • a classification of the signal and / or the noise or sound source is performed after the detection of the acoustic signal.
  • Exemplary classes can be: warning signals or
  • the classification of the signal and / or the noise or sound source before a direction detection or localization can be performed so that irrelevant classes are excluded from the determination.
  • FIG. 1 shows a vehicle with a driver assistance system according to the invention or an inventive acoustic signal detection device according to an embodiment
  • FIG. 2 shows a vehicle with a driver assistance system according to the invention or an acoustic signal detection device according to the invention in accordance with a further embodiment
  • FIG. 1 shows a vehicle 1, which by way of example is an autonomously driving motor vehicle. Accordingly, the vehicle has (unspecified) actuators and a vehicle drive to the
  • Driving control of the vehicle 1 can be controlled electronically.
  • the vehicle 1 has a vehicle cabin 2 in relation to a
  • the vehicle 1 further has a driver assistance system 100, which has an electronic control device 110 for activating the actuators and the vehicle drive, a plurality of optical sensors 120 cooperating therewith and also a cooperating detection device 130 for an acoustic signal 140 of a noise or signal source 150 in FIG. 1
  • the controller 110 has a
  • Processor 111 and a memory 112 for storing
  • the optical sensors 120 are exemplary here to cameras, for example, the Optically detect area in front of the vehicle and behind the vehicle and supply this detection data of the controller 110, which can thus control the vehicle 1 by the vehicle environment, so for example, the traffic.
  • the detection device 130 has on the vehicle roof 3 of the vehicle 1, ie in an exposed position above the vehicle cabin 2, a plurality, but at least three, of microphones 131, which are either directly attached to the vehicle roof 3 or integrated in this or at one
  • Vehicle roof structure are attached, which can be designed aerodynamically favorable.
  • the microphones 131 are aligned away from the vehicle 1, wherein several different types of microphones for detecting different frequency ranges are provided here. Due to the exposed position of the microphones 131, the vehicle 1 itself is not an acoustic shadow. In addition, unwanted noise, such as the operating noise of vehicles in front can be minimized.
  • the microphones 131 are arranged to detect acoustic signals in an exemplary frequency range of about 20 to 20,000 Hz, which is approximately equal to the average human hearing range. However, the frequency range can also be extended to e.g. detect acoustic markers at intersections or the like outside the human hearing range.
  • the microphones 131 are arranged in this embodiment circular, so are not collinear or are not on a common line and therefore stretch between them a surface 132, which may also be curved in a curved vehicle roof 3.
  • the surface 132 may also be a plane, so that the microphones 131 may be arranged coplanar.
  • the microphones 131 are shown lying on a common circular ring.
  • the microphones 131 are arranged at regular intervals, whereby the angle dependence for the entire angular spectrum is constant and depends only on the frequency of the noise or signal source 150 ,
  • the microphones 131 together form a microphone array, which by means of beamforming a precise localization, ie directional and Distance determination, the noise or sound source 150 relative to the vehicle 1 allows.
  • the signal 140 detected by the microphones 131 is supplied to the control device 110 as detection data and further processed there.
  • the controller 110 is stored by the memory 112
  • Program instructions that can be executed by the processor 111 configured to process both the detection data of the sensors 120 and the detection device 130, but in particular to combine with each other and to generate therefrom control instructions for driving control of the vehicle 1.
  • the control device 110 is also configured to locate the noise or sound source 150 with respect to direction and distance relative to the vehicle 1 and to classify it according to the type of source.
  • Exemplary classes form the emergency vehicles, e.g. Fire brigade, police and rescue vehicles, operating noise from other road users etc.
  • FIG. 2 shows a further embodiment of the detection device 130, in which the microphones 131 are now in an exemplary cross-shaped manner
  • the microphones 131 may also be grouped (in FIG. 2, two groups) on a straight line, as long as they in turn span the surface 132 between them and at least three of the microphones 131 or three groups thereof are not collinear are arranged.
  • the cross-shaped arrangement for example exactly four microphones 131 are arranged on each outer corner portion of the vehicle roof 3.
  • the noise or signal source 150 is here by way of example in a position deviating from FIG.
  • FIG. 3 shows a further embodiment of the detection device 130, in which the microphones 131 are arranged triangularly. Again, here are
  • the vehicle 1 can with the driver assistance system 100 and the
  • Detection device 130 are operated according to the method described below.
  • the method can be executed by the control device 110, wherein the method as program instructions in the
  • Memory 112 which are executed by the processor 111.
  • FIG. 4 shows a flowchart of the method.
  • the vehicle surroundings are detected optically by the sensors 120 or radar sensors by means of radar in a step S1.
  • the vehicle environment is additionally detected or monitored acoustically, with the microphones 131 arranged on the vehicle roof 3 detecting the signal 140 acoustically.
  • the detection data of the sensors 120 and the detection data of the microphones 131 are combined with each other
  • Control means 110 the actuators and / or the traction drive of the vehicle 1, taking into account both the detection data of the sensors 120 and the detection data of the microphones 131 by the vehicle environment.
  • the detected acoustic signal 140 is located, that is, based on at least three of the microphones 131 in terms of its

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  • Business, Economics & Management (AREA)
  • Emergency Management (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

La présente invention a trait à la détection acoustique d'un environnement de véhicule. La présente invention concerne en particulier un dispositif de détection (130) pour un signal acoustique dans un environnement de véhicule, ledit dispositif ayant une pluralité de microphones (131) qui sont disposés au niveau d'une face externe d'un véhicule (1) et orientés vers l'extérieur de celui-ci. Selon l'invention, les microphones (131) sont disposés au-dessus de la cabine (2) du véhicule, délimitant ensemble une surface (132). La présente invention concerne en outre un système d'assistance à la conduite (100) pourvu d'un tel dispositif de détection (130) ainsi qu'un procédé de fonctionnement du véhicule (1). La présente invention fournit une meilleure détection de l'environnement de véhicule en permettant une combinaison de données de détection de différents capteurs (120, 131).
PCT/EP2019/062411 2018-05-17 2019-05-15 Détection acoustique d'un environnement de véhicule WO2019219718A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102018207758.4 2018-05-17
DE102018207758.4A DE102018207758A1 (de) 2018-05-17 2018-05-17 Akustische Erfassung eines Fahrzeugumfelds

Publications (1)

Publication Number Publication Date
WO2019219718A1 true WO2019219718A1 (fr) 2019-11-21

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WO (1) WO2019219718A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023152077A1 (fr) * 2022-02-10 2023-08-17 Zf Friedrichshafen Ag Système de microphone et produit-programme d'ordinateur pour déterminer une direction d'origine de signaux sonores et véhicule équipé d'un tel système de microphone
US11889278B1 (en) 2021-12-22 2024-01-30 Waymo Llc Vehicle sensor modules with external audio receivers
US11984026B2 (en) 2022-05-19 2024-05-14 Alert The Mechanism LLC System and method for emergency vehicle detection and alerting

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102021118762A1 (de) 2021-07-20 2023-01-26 Datacollect Traffic Systems Gmbh Verfahren und System zum Erkennen eines elektrisch angetriebenen Fahrzeugs
AT525938A1 (de) * 2022-02-24 2023-09-15 Avl List Gmbh Prüfstandsystem zum Testen eines Fahrerassistenzsystems mit einem Hörschall-Sensor
DE102023001906B3 (de) 2023-05-11 2024-06-13 Mercedes-Benz Group AG Verfahren zur Ermittlung einer Richtung, aus welcher sich ein Einsatzfahrzeug einem Fahrzeug nähert

Citations (6)

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Publication number Priority date Publication date Assignee Title
GB2500569A (en) * 2012-02-29 2013-10-02 Leonard Maxwell Emergency Siren Alert System for a Vehicle
JP2015022453A (ja) * 2013-07-18 2015-02-02 カルソニックカンセイ株式会社 緊急車両報知システム
DE102014223881A1 (de) 2014-11-24 2016-05-25 Robert Bosch Gmbh Warnsystem für ein Fahrzeug, Verfahren zum Betreiben eines Warnsystems
DE102014226026A1 (de) * 2014-12-16 2016-06-16 Continental Automotive Gmbh Fahrassistenzsystem zur Erfassung eines Ereignisses im Umfeld außerhalb eines Fahrzeugs
DE102016006802A1 (de) * 2016-06-03 2016-12-08 Daimler Ag Verfahren und Vorrichtung zur Erfassung zumindest eines von einem Einsatzfahrzeug ausgehenden Sondersignals
DE102016120218A1 (de) * 2015-10-27 2017-04-27 Ford Global Technologies, Llc Kollisionsvermeidung unter verwendung akustischer daten

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2500569A (en) * 2012-02-29 2013-10-02 Leonard Maxwell Emergency Siren Alert System for a Vehicle
JP2015022453A (ja) * 2013-07-18 2015-02-02 カルソニックカンセイ株式会社 緊急車両報知システム
DE102014223881A1 (de) 2014-11-24 2016-05-25 Robert Bosch Gmbh Warnsystem für ein Fahrzeug, Verfahren zum Betreiben eines Warnsystems
DE102014226026A1 (de) * 2014-12-16 2016-06-16 Continental Automotive Gmbh Fahrassistenzsystem zur Erfassung eines Ereignisses im Umfeld außerhalb eines Fahrzeugs
DE102016120218A1 (de) * 2015-10-27 2017-04-27 Ford Global Technologies, Llc Kollisionsvermeidung unter verwendung akustischer daten
DE102016006802A1 (de) * 2016-06-03 2016-12-08 Daimler Ag Verfahren und Vorrichtung zur Erfassung zumindest eines von einem Einsatzfahrzeug ausgehenden Sondersignals

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11889278B1 (en) 2021-12-22 2024-01-30 Waymo Llc Vehicle sensor modules with external audio receivers
WO2023152077A1 (fr) * 2022-02-10 2023-08-17 Zf Friedrichshafen Ag Système de microphone et produit-programme d'ordinateur pour déterminer une direction d'origine de signaux sonores et véhicule équipé d'un tel système de microphone
US11984026B2 (en) 2022-05-19 2024-05-14 Alert The Mechanism LLC System and method for emergency vehicle detection and alerting

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