WO2023241762A1 - Procédé de détermination d'informations d'objet décrivant une hauteur d'objet - Google Patents

Procédé de détermination d'informations d'objet décrivant une hauteur d'objet Download PDF

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Publication number
WO2023241762A1
WO2023241762A1 PCT/DE2023/200105 DE2023200105W WO2023241762A1 WO 2023241762 A1 WO2023241762 A1 WO 2023241762A1 DE 2023200105 W DE2023200105 W DE 2023200105W WO 2023241762 A1 WO2023241762 A1 WO 2023241762A1
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WO
WIPO (PCT)
Prior art keywords
distance
sensor
height
amplitude
determined
Prior art date
Application number
PCT/DE2023/200105
Other languages
German (de)
English (en)
Inventor
Wassim Suleiman
Abhishek Kekud
Original Assignee
Continental Autonomous Mobility Germany 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 Continental Autonomous Mobility Germany GmbH filed Critical Continental Autonomous Mobility Germany GmbH
Publication of WO2023241762A1 publication Critical patent/WO2023241762A1/fr

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/42—Simultaneous measurement of distance and other co-ordinates
    • 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
    • G01S7/411—Identification of targets based on measurements of radar reflectivity

Definitions

  • the invention relates to a method for determining object information describing at least one object height of an object by means of a sensor device comprising at least one distance sensor, the object and the distance sensor moving relative to one another and the distance sensor emitting a signal at different distances from the object, which is transmitted to the object Object is reflected and received again as an echo by the distance sensor.
  • Distance sensors usually include a transmitting device, which sends out signals, and a receiving device, which receives signals reflected from objects in the environment as echoes.
  • the distance or in other words, the distance to the object, can be determined based on a transit time difference between the time of sending the signal and the time of receiving the echo, taking into account the speed of propagation of the signal.
  • the amplitude of the reflected signal or echo can also be determined here.
  • Such distance sensors can usually be used in motor vehicles to detect the surroundings.
  • Ultrasonic sensors for example, are particularly important and can be used in semi-automatic or automatic driving maneuvers, especially in connection with parking applications, such as parking distance measurement, parking space searches or when parking.
  • the motor vehicle is usually moved relative to the objects, with a measurement cycle being carried out at predetermined times during the movement. During each measurement cycle, a signal is sent out using a distance sensor.
  • the height of the object is also usually important. Height is an important factor in deciding whether an object or obstacle can be driven over or not. In particular, if the motor vehicle is maneuvered at least semi-autonomously based on the measurements of an ultrasonic sensor, it is desirable to determine the height of a detected object.
  • Determining height with one-dimensional (1 D) distance sensors i.e. ultrasonic sensors or radar sensors for distance determination, which are regularly used in the motor vehicle sector, is fundamentally quite difficult due to physical limitations.
  • ultrasonic sensors i.e. ultrasonic sensors or radar sensors for distance determination, which are regularly used in the motor vehicle sector
  • the height of an object cannot be measured directly.
  • a camera is additionally used and the height is estimated based on a 2D image, or a method based on several sensors is used to estimate the height based on triangulation.
  • methods based on a camera or multiple sensors do not take advantage of the advantages of a 1 D ultrasonic sensor in terms of cost and robustness.
  • Various approaches are known from the prior art for determining height using distance sensors.
  • ultrasonic signals are sent out by means of the ultrasonic sensor of the motor vehicle and the echoes of the ultrasonic signals reflected by the objects are received. Based on an amplitude of a received echo, the classification of the height of the object is determined.
  • the present invention is based on the object of specifying an improved method for determining object information describing an object height of an object, which in particular enables a more precise determination of the object height.
  • This object is achieved according to the invention in a method of the type mentioned at the outset in that a course of an amplitude of several of the echoes is determined over the distance, the object information being determined as a function of at least one distance-dependent amplitude change rate determined from the course of the amplitude.
  • the sensor device or the at least one distance sensor can be mounted on a vehicle, for example.
  • the distance sensor can be designed as an ultrasonic sensor or as a radar sensor.
  • a relative movement between the distance sensor and the object can occur, for example, when the vehicle moves relative to the object.
  • the object can be stationary or also move relative to the vehicle.
  • the object can be another road user, for example another vehicle, or an infrastructure object, for example a curb, a wall or a section of a building such as a garage or similar.
  • the distance sensor During the relative movement between the distance sensor and the object, for example when the distance sensor approaches the object or when the distance sensor moves away from the object, several signals are emitted one after the other by the distance sensor. Due to the relative movement, the signals are displayed in different ways Distances or at different distances between the distance sensor and the object.
  • the signals emitted by the distance sensor are reflected on the object and then received again as echoes by the distance sensor.
  • the received echoes each have an amplitude or signal strength, whereby the amplitude can differ in particular for different echoes.
  • the amplitude can depend, among other things, on the distance between the distance sensor and the object.
  • the amplitudes of the received echoes can be determined, for example, by the distance sensor and/or by a computing device of the sensor device. Furthermore, a distance to the object is determined for each of the echoes. The distance determination can be determined, for example, from a transit time of the signal, i.e. the time period between the transmission of the signal and the reception of the associated echo. From the respective amplitudes of the echo and from the distances, the computing device, for example, determines a distance-dependent course of the amplitude of the received echoes. The object information of the object is then derived from the distance-dependent amplitude change rate, which is determined from the determined course.
  • the invention is based on the knowledge that, in addition to the distance between the distance sensor and the object, the height of the object also has an influence on the amplitude, in particular on the distance dependence of the amplitude.
  • the object height describes in particular a relative height in relation to the distance sensor and/or a vertical extent of the object in relation to the distance sensor.
  • Objects with different object heights relative to the sensor reflect the signals emitted by the distance sensor depending on the distance between the distance sensor and the object in different subareas of a vertical detection range of the distance sensor.
  • This vertical detection range is determined, for example, by the elevation angle of the Signal emission determined. Since the vertical detection sub-area or the elevation angle sub-area in which the object lies and into which the signals are emitted or from which the echoes are received depends on both the object height and the distance, the received echoes from objects with different object heights have one different, distance-dependent course of the amplitude.
  • distance sensors such as ultrasonic or radar sensors generally radiate most of their power horizontally, i.e. at an elevation angle of zero, the amplitude of the echoes reflected from the object decreases.
  • the distance between the distance sensor and the object decreases, so that the proportion of power emitted into free space areas (free space loss) also decreases, which results in an increase in the amplitude of the reflected echoes. Both effects overlap and thus cause the echo amplitude to change over distance depending on the object properties.
  • the object information can be determined depending on sensor information stored, for example, in the computing device, wherein the sensor information can include a description of the radiation characteristics of the distance sensor. For objects with a comparatively complex geometry, for example vehicles, several amplitude change rates can also be determined, particularly for individual distance sub-ranges.
  • object information regarding an object height can also be obtained.
  • the environment data obtained using such sensors can advantageously contain objects supplemented by the respective object information, so that a more precise determination of the environment is possible without the need for additional sensors.
  • the inventive evaluation of the distance-dependent amplitude change rate thus increases the amount of data obtained via the distance sensor, so that the signals can be used in addition to measuring the distance to obtain further information about objects present in the vicinity of a vehicle.
  • the sensor device comprising the distance sensor can also be used in industrial processes, for example in manufacturing processes, in the movement of autonomous machines or machine parts or the like.
  • the object information contains an absolute object height in relation to a reference position, in particular to a position of the distance sensor, a vertical extent of the object and/or an assignment of the object to one of several, each different object heights and/or different vertical extents of objects comprehensive height classes.
  • the sensor height or an installation height of the distance sensor can be used as a reference position.
  • the object height can be determined as an absolute height difference between the sensor height and the object height. It is also possible to use a different reference height, for example the height of a road on which a vehicle comprising the sensor device is located.
  • the object height can be determined as an assignment of the object to one of several height classes (e.g. low objects, medium-high objects and high objects, etc.).
  • objects with different object heights and/or different vertical extents for example curbs, walls, cars, beams hanging at a vertical distance from the ground or the like, can advantageously be distinguished and classified accordingly.
  • three or more classes are provided for the object height, which correspondingly include objects with different object heights and/or different vertical dimensions.
  • the object information is determined depending on the amount of an increase and/or a decrease in the amplitude change rate as the distance decreases becomes.
  • an increase in the rate of change in amplitude as the distance decreases is understood to mean an increasingly steep increase in the amplitude as the distance sensor approaches the object.
  • a decrease in the rate of change of amplitude is to be understood as meaning an ever-increasing decrease in the amplitude of the echoes as the distance sensor approaches the object.
  • the increase and decrease in amplitude can take place over the entire distance depending on the height of the object or the vertical extent of the object or can occur in different partial areas of the distance, i.e. within different distance intervals.
  • a relative object height of the object described by the object information is related to a sensor height of the object Distance sensor increases with increasing turning point distance.
  • the closer the distance at which the turning point occurs from the object the greater the relative height difference between the object height and the sensor height.
  • the relative height difference between the object and the distance sensor is always smaller, the smaller the distance assigned to the turning point is.
  • the object height and/or an object type of the object information assigned to the object depends on a variance of the amplitude change rate at least within a limited distance range and/or depending on a variance of the amplitudes of several, within a distance or one Limited distance range of received echoes is determined.
  • the object information in particular the object height and/or the object type, can also be determined from a set of measurement points assigned to one or more objects depending on the echoes assigned to the object.
  • the number of echoes or measuring points received from an object also offers the possibility of drawing conclusions about the object height and/or an object type of the object, so that these can also be used to improve the determination of object height and/or object type.
  • the amplitude of the received echoes is normalized for determining the course over the distance and/or as a function of directional information assigned to the object.
  • the directional information can include the azimuth angle assigned to the respective echo, so that different radiation characteristics of the distance sensor in the azimuth direction can be taken into account.
  • the determination of the object information from the distance-dependent amplitude curve or the distance-dependent amplitude change rate can be carried out in the same way for all sub-areas of the detection area in the azimuth direction.
  • the evaluation of other properties of the echoes, in particular those that depend on the distance, such as the variance in distance and/or amplitude, can also be made easier by normalizing the distance. This can advantageously reduce the computing effort for determining the object information for several, differently arranged objects.
  • the object information is determined from the amplitude change rate as a function of an assignment rule, with an assignment rule determined by machine classification being used.
  • the assignment rule can, for example, be stored in the computing device.
  • a decision tree, a neural network, a naive Bayes classifier, a support vector machine (SVM) or similar can be used as a classifier.
  • an actuator and/or a display device that can be viewed by a user of a device comprising the sensor device can be controlled depending on the height information.
  • the device can, for example, be designed as a vehicle, wherein at least one transverse guidance actuator and/or one longitudinal guidance actuator can be controlled depending on the height information.
  • the control of the at least one actuator can, for example, as part of a partially automated or automated driving maneuvers.
  • the height information can also be displayed to a user of the vehicle on a display device, for example a display, in particular as part of an environment map that at least partially represents the surroundings of the motor vehicle.
  • a computer program product comprises commands which, when the program is executed by a computing device of a sensor device comprising at least one distance sensor, cause the computing device to carry out a method according to one of the preceding claims.
  • the computing device can be a computer, for example.
  • the computing device can be designed, for example, as a microcontroller or as a control device.
  • the computing device can only be designed to carry out the method according to the invention or it can be a computing device which can also carry out other methods and/or functions, for example a central computing unit of a vehicle or another device.
  • the computing device can be arranged with the distance sensor in a common device, for example a vehicle. It is also possible for the computing device to be arranged spatially separate from the sensor device, whereby the computing device can be designed as a server, for example.
  • a sensor device For a sensor device according to the invention it is provided that it comprises at least one distance sensor and a computing device, the computing device being set up to form a method according to the invention.
  • the vehicle 1 moves towards the object 6 in the scene shown in FIG.
  • the object 6 is shown in a first position 8.
  • the object 6 is also shown in dashed lines in a second position 9, the object 6 being in the first position 8 at a greater distance r from the vehicle 1 than in the second position 9.
  • a detection area 10 of the distance sensor 3 is shown schematically, which in the present case extends in the vertical direction z over an elevation angle range. It can be seen that the part of the elevation angle range in which the object 8 is located changes with the distance or the distance between the object 6 and the vehicle 1.
  • a further object 11 in the present case arranged below the distance sensor 3, which also covers different sub-areas of the detection area 10 in the first position 8 and in the second position 9.
  • the further object 11 can be, for example, a curb, the object height or vertical extent of which is determined by the distance of its upper edge from the road surface 12.
  • the computing device 4 can, as part of the object information, contain an absolute object height in relation to a reference position, a vertical extent of the object 6, 11 and/or an assignment of the object 6, 11 to one of several, each different object heights and/or different vertical extents Determine height classes comprising objects.
  • the sensor height above the road 12 or an installation height of the distance sensor 3 in the vehicle 1 can be used as a reference position.
  • the object height can be determined as an absolute height difference between the sensor height and the object height, as was done for the different objects in FIG. 2, for example.
  • the object information can be determined by the computing device 4 depending on the amount of an increase and/or a decrease in the rate of amplitude change as the distance decreases.
  • the increase in the amplitude change rate, at least up to a turning point in the amplitude change rate, and/or the decrease in the amplitude change rate from this point are dependent on the object height of the object 6, 11 and thus allow the object information to be determined from a measured or recorded amplitude curve.
  • FIGS. 3 - 6 show amplitude curves recorded for different objects with different object heights using a distance sensor 3 designed as an ultrasonic sensor.
  • the computing device 4 can evaluate further properties of the amplitude curves or the echoes 7 used as measuring points.
  • the computing device 4 can, for example, determine the object height and/or an object type of the object information assigned to the object 6, 11 depending on a variance of the amplitude change rate at least within a limited distance range and/or depending on a variance of the amplitudes of several, within a distance or a limited distance range Determine received echoes 7.
  • the extent of the variance of the amplitudes which occurs, for example, as a scattering of the amplitudes for a distance or a distance range or a distance interval in FIGS. 3 - 6, can also be used as an indication of the nature of the object 6, 11.
  • the variance of the amplitudes for a given distance or for several distances within a distance interval means that, for example, the possible linear fits can also have a variance, this variance correspondingly representing a variance of the rate of amplitude change.
  • the amplitudes of the received echoes 7 can be normalized for determining the amplitude curve depending on directional information assigned to the object 6, 11.
  • the directional information can include the azimuth angle assigned to the respective echo 7, so that a different radiation characteristic of the distance sensor 3 in the azimuth direction, i.e. with respect to a plane parallel to the road surface 12, can be taken into account.
  • the amplitudes of the echoes 7 can also be normalized over the distance, so that properties of the echoes 7, for example the variance in the distance and / or the direction, which can vary with the distance, for objects 6, 11 in different Distances can be evaluated analogously to each other.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

L'invention se réfère à un procédé pour déterminer, au moyen d'un dispositif de détection (2) comprenant au moins un capteur de distance (3), des informations d'objet décrivant au moins une hauteur d'objet d'un objet (6, 11), l'objet (6, 11) et le capteur de distance (3) se déplaçant l'un par rapport à l'autre et le capteur de distance (3) émettant un signal (5) à différentes distances de l'objet (6, 11), chaque signal étant réfléchi au niveau de l'objet (6, 11) et étant reçu à nouveau par le capteur de distance (3) sous la forme d'un écho (7), un profil d'amplitude d'une pluralité des échos (7) sur la distance étant déterminé, les informations d'objet étant déterminées en fonction d'au moins une vitesse de changement d'amplitude dépendant de la distance et déterminée à partir du profil de l'amplitude.
PCT/DE2023/200105 2022-06-14 2023-05-23 Procédé de détermination d'informations d'objet décrivant une hauteur d'objet WO2023241762A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102022206021.0A DE102022206021A1 (de) 2022-06-14 2022-06-14 Verfahren zum Ermitteln einer eine Objekthöhe beschreibenden Objektinformation
DE102022206021.0 2022-06-14

Publications (1)

Publication Number Publication Date
WO2023241762A1 true WO2023241762A1 (fr) 2023-12-21

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DE (1) DE102022206021A1 (fr)
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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19801617A1 (de) * 1998-01-17 1999-07-22 Daimler Chrysler Ag Radarsignal-Verarbeitungsverfahren
DE10152078A1 (de) * 2000-10-24 2002-07-25 Delphi Tech Inc Unterscheidung von detektierten Objekten auf dem Weg eines Fahrzeugs
DE102004047479A1 (de) 2004-09-30 2006-04-13 Robert Bosch Gmbh Verfahren und Vorrichtung zum Klassifizieren von Seitenbegrenzungen einer Parklücke für ein Einparkassistenzsystem
US20140292559A1 (en) * 2013-03-29 2014-10-02 Fujitsu Ten Limited Radar apparatus and signal processing method

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102020212381A1 (de) 2020-09-30 2022-03-31 Continental Automotive Gmbh Verfahren zur Charakterisierung eines Objekts in einer Umgebung eines Kraftfahrzeugs

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19801617A1 (de) * 1998-01-17 1999-07-22 Daimler Chrysler Ag Radarsignal-Verarbeitungsverfahren
DE10152078A1 (de) * 2000-10-24 2002-07-25 Delphi Tech Inc Unterscheidung von detektierten Objekten auf dem Weg eines Fahrzeugs
DE102004047479A1 (de) 2004-09-30 2006-04-13 Robert Bosch Gmbh Verfahren und Vorrichtung zum Klassifizieren von Seitenbegrenzungen einer Parklücke für ein Einparkassistenzsystem
US20140292559A1 (en) * 2013-03-29 2014-10-02 Fujitsu Ten Limited Radar apparatus and signal processing method

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