DE102013016282A1 - Method for determining a self-motion of a vehicle - Google Patents
Method for determining a self-motion of a vehicle Download PDFInfo
- Publication number
- DE102013016282A1 DE102013016282A1 DE201310016282 DE102013016282A DE102013016282A1 DE 102013016282 A1 DE102013016282 A1 DE 102013016282A1 DE 201310016282 DE201310016282 DE 201310016282 DE 102013016282 A DE102013016282 A DE 102013016282A DE 102013016282 A1 DE102013016282 A1 DE 102013016282A1
- Authority
- DE
- Germany
- Prior art keywords
- vehicle
- radar sensor
- determined
- velocity
- radar
- Prior art date
- Legal status (The legal status 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 status listed.)
- Withdrawn
Links
Images
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
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S13/60—Velocity or trajectory determination systems; Sense-of-movement determination systems wherein the transmitter and receiver are mounted on the moving object, e.g. for determining ground speed, drift angle, ground track
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
- B60T8/17551—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve determining control parameters related to vehicle stability used in the regulation, e.g. by calculations involving measured or detected parameters
-
- 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
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/52—Discriminating between fixed and moving objects or between objects moving at different speeds
-
- 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
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S13/589—Velocity or trajectory determination systems; Sense-of-movement determination systems measuring the velocity vector
-
- 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
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S13/62—Sense-of-movement determination
-
- 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
- G01S13/66—Radar-tracking systems; Analogous systems
- G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
- G01S13/723—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar by using numerical data
- G01S13/726—Multiple target tracking
-
- 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
- G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- 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
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/28—Details of pulse systems
- G01S7/285—Receivers
- G01S7/295—Means for transforming co-ordinates or for evaluating data, e.g. using computers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
- B60T2210/30—Environment conditions or position therewithin
- B60T2210/32—Vehicle surroundings
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2230/00—Monitoring, detecting special vehicle behaviour; Counteracting thereof
- B60T2230/02—Side slip angle, attitude angle, floating angle, drift angle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2250/00—Monitoring, detecting, estimating vehicle conditions
- B60T2250/03—Vehicle yaw rate
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9327—Sensor installation details
- G01S2013/93271—Sensor installation details in the front of the vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9327—Sensor installation details
- G01S2013/93272—Sensor installation details in the back of the vehicles
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)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
Die Erfindung betrifft ein Verfahren zur Bestimmung einer Eigenbewegung eines Fahrzeugs (1), wobei eine Umgebung des Fahrzeugs (1) mittels zumindest eines Radarsensors (2, 3, 4, 5) erfasst wird und anhand von mittels des Radarsensors (2, 3, 4, 5) erfassten Daten radiale Relativgeschwindigkeiten (vr, vr1 bis vr7) von in der Umgebung erfassten Objekten (O1 bis On) ermittelt werden. Aus einem Verlauf der radialen Relativgeschwindigkeiten (vr, vr1 bis vr7) werden in Abhängigkeit eines Betrachtungswinkels (θ, θ–3 bis θ+3 ) des Radarsensors (2, 3, 4, 5) im zweidimensionalen Raum eine absolute Geschwindigkeit (v) und eine Bewegungsrichtung des Fahrzeugs (1) ermittelt. Erfindungsgemäß wird zur Ermittlung der Eigenbewegung des Fahrzeugs (1) unter Verwendung von einer einzelnen Radarmessung eine euklidische Transformation des Fahrzeugs (1) im zweidimensionalen Raum bestimmt.The invention relates to a method for determining a proper movement of a vehicle (1), wherein an environment of the vehicle (1) by means of at least one radar sensor (2, 3, 4, 5) is detected and by means of the radar sensor (2, 3, 4 , 5) relative radial velocities (vr, vr1 to vr7) of objects detected in the environment (O1 to On) are determined. From a progression of the radial relative speeds (vr, vr1 to vr7), an absolute velocity (v) and (b) in two-dimensional space are determined as a function of a viewing angle (θ, θ-3 to θ + 3) of the radar sensor (2, 3, 4, 5) a movement direction of the vehicle (1) determined. According to the invention, a Euclidean transformation of the vehicle (1) in two-dimensional space is determined for determining the proper motion of the vehicle (1) using a single radar measurement.
Description
Die Erfindung betrifft ein Verfahren zur Bestimmung einer Eigenbewegung eines Fahrzeugs, wobei eine Umgebung des Fahrzeugs mittels zumindest eines Radarsensors erfasst wird und anhand von mittels des Radarsensors erfassten Daten radiale Relativgeschwindigkeiten von in der Umgebung erfassten Objekten ermittelt werden, wobei aus einem Verlauf der radialen Relativgeschwindigkeiten in Abhängigkeit eines Betrachtungswinkels des Radarsensors im zweidimensionalen Raum eine absolute Geschwindigkeit und eine Bewegungsrichtung des Fahrzeugs ermittelt werden.The invention relates to a method for determining an intrinsic motion of a vehicle, wherein an environment of the vehicle is detected by means of at least one radar sensor and radial relative velocities of objects detected in the environment are determined on the basis of data detected by the radar sensor, wherein a progression of the relative radial velocities in Dependence of a viewing angle of the radar sensor in two-dimensional space, an absolute speed and a direction of movement of the vehicle are determined.
Aus der
Der Erfindung liegt die Aufgabe zu Grunde, ein gegenüber dem Stand der Technik verbessertes Verfahren zur Bestimmung einer Eigenbewegung eines Fahrzeugs anzugeben.The invention is based on the object to provide a comparison with the prior art improved method for determining an intrinsic motion of a vehicle.
Die Aufgabe wird erfindungsgemäß mit einem Verfahren gelöst, welches die im Anspruch 1 angegebenen Merkmale aufweist.The object is achieved by a method having the features specified in
Vorteilhafte Ausgestaltungen der Erfindung sind Gegenstand der Unteransprüche.Advantageous embodiments of the invention are the subject of the dependent claims.
In dem Verfahren zur Bestimmung einer Eigenbewegung eines Fahrzeugs wird eine Umgebung des Fahrzeugs mittels zumindest eines Radarsensors erfasst und anhand von mittels des Radarsensors erfassten Daten werden radiale Relativgeschwindigkeiten von in der Umgebung erfassten Objekten ermittelt. Aus einem Verlauf der radialen Relativgeschwindigkeiten werden in Abhängigkeit eines Betrachtungswinkels des Radarsensors im zweidimensionalen Raum eine absolute Geschwindigkeit und eine Bewegungsrichtung des Fahrzeugs ermittelt.In the method for determining a self-motion of a vehicle, an environment of the vehicle is detected by means of at least one radar sensor, and based on data acquired by the radar sensor, relative radial speeds of objects detected in the surroundings are determined. From a course of the radial relative speeds, an absolute speed and a direction of movement of the vehicle are determined as a function of a viewing angle of the radar sensor in two-dimensional space.
Erfindungsgemäß wird zur Ermittlung der Eigenbewegung des Fahrzeugs unter Verwendung von einer einzelnen Radarmessung eine euklidische Transformation des Fahrzeugs im zweidimensionalen Raum bestimmt.According to the invention, a Euclidean transformation of the vehicle in two-dimensional space is determined for determining the intrinsic motion of the vehicle using a single radar measurement.
Dies ermöglicht eine zuverlässige Bestimmung der Eigenbewegung des Fahrzeugs im dreidimensionalen Raum bzw. eine zuverlässige Bestimmung der Eigenbewegung des Fahrzeugs mit drei Freiheitsgraden. Bei einer Verwendung von zumindest zwei Radarsensoren zur Durchführung der Radarmessung kann die Bestimmung in besonders vorteilhafter Weise ohne Modellannahmen des Fahrzeugs oder die Kenntnis weiterer Fahrzeugdaten, wie beispielsweise ein Lenkwinkel des Fahrzeugs, erfolgen. Auch ist keine Historie von Messwerten erforderlich, so dass die Ermittelung der absoluten Geschwindigkeit und Bewegungsrichtung des Fahrzeugs und die Bestimmung der euklidischen Transformation in einem gemeinsamen Zeitschritt erfolgen können. Weiterhin ist das Verfahren in besonders vorteilhafter Weise auf Rohdaten des zumindest einen Radarsensors anwendbar, so dass ein Clustering, eine Objektbildung und eine Merkmalsextraktion nicht erforderlich sind. Schon in den Rohdaten erfolgt eine direkte Trennung von stehenden und bewegten Objekten. Auch ist das erfindungsgemäße Verfahren derart ausgebildet, dass zur Ermittlung der radialen Relativgeschwindigkeiten der Objekte die mittels des Radarsensors gemessene Dopplerfrequenz direkt verwendet wird. Somit werden nicht zwei zeitliche Einzelmessungen benötigt, welche in aufwändiger Weise assoziiert werden müssen.This allows a reliable determination of the intrinsic motion of the vehicle in three-dimensional space or a reliable determination of the vehicle's own motion with three degrees of freedom. When using at least two radar sensors for carrying out the radar measurement, the determination can take place in a particularly advantageous manner without model assumptions of the vehicle or the knowledge of further vehicle data, such as a steering angle of the vehicle. Also, no history of measured values is required, so that the determination of the absolute speed and direction of movement of the vehicle and the determination of the Euclidean transformation can take place in a common time step. Furthermore, the method is applicable in a particularly advantageous manner to raw data of the at least one radar sensor, so that clustering, object formation and feature extraction are not required. Even in the raw data, there is a direct separation of stationary and moving objects. The method according to the invention is also designed such that the Doppler frequency measured by means of the radar sensor is used directly to determine the relative radial speeds of the objects. Thus, two individual time measurements are not needed, which must be associated in a complex manner.
Ausführungsbeispiele der Erfindung werden im Folgenden anhand von Zeichnungen näher erläutert.Embodiments of the invention are explained in more detail below with reference to drawings.
Dabei zeigen:Showing:
Einander entsprechende Teile sind in allen Figuren mit den gleichen Bezugszeichen versehen.Corresponding parts are provided in all figures with the same reference numerals.
In
Aufgrund der Bewegung des Radarsensors
Durch das Bestimmen der in
Weiterhin entspricht die jeweilige, in den
In
Dabei dreht sich das Fahrzeug
Der Cosinus der radialen Relativgeschwindigkeit vr verschiebt sich dabei soweit, bis die zusammengesetzte Geschwindigkeit v parallel zur im Betrachtungswinkel θ–2 verlaufenden Betrachtungsrichtung des Radarsensors
Somit entspricht die Geschwindigkeit v des Radarsensors
In
Zur Bestimmung des Geschwindigkeitsvektors eines Radarsensors
Mittels eines robusten Algorithmus, beispielsweise dem so genannten RANSAC-Algorithmus, wird der Cosinus cos, ein so genannter Cosinus-Fit, bestimmt. Mittels eines derartigen robusten Algorithmus ist es in besonders vorteilhafter Weise auch möglich, den Cosinus cos zu bestimmen, wenn mehr so genannte, durch bewegte Objekte O1 bis On gebildete Outlier als so genannte, durch stehende Objekte O1 bis On gebildete Inlier erfasst werden. Durch Bildung des Cosinus cos und der Unterscheidung zwischen Inliern, welche innerhalb eines Korridors auf dem Cosinus cos liegen, und Outliern, welche abseits des Korridors des Cosinus cos liegen, wird zwischen stehenden und bewegten Objekten O1 bis On unterschieden.By means of a robust algorithm, for example the so-called RANSAC algorithm, the cosine cos, a so-called cosine fit, is determined. By means of such a robust algorithm, it is also possible in a particularly advantageous manner to determine the cosine cos when more so-called outsiders formed by moving objects O1 to On are detected as so-called inliers formed by stationary objects O1 to On. By forming the cosine cos and distinguishing between internals lying within a corridor on the cosine cos and outliners lying outside the corridor of the cosine cos, a distinction is made between stationary and moving objects O1 to On.
Des Weiteren werden die Amplitude vmess und die Phasenverschiebung β des Cosinus cos gemäß folgender Gleichung bestimmt:
Die Amplitude vmess entspricht dabei der absoluten Geschwindigkeit v des Radarsensors
Diese Zusammenhänge zeigen die
Aufgrund der Ermittlung der absoluten Geschwindigkeit v ist in einem Punkt des Fahrzeugs
Allerdings sind bei einer Kurvenfahrt des Fahrzeugs
Das in
Bei dem Ackermann-Modell wird ein geometrischer Zusammenhang zwischen einem Lenkwinkel δA des Fahrzeugs
Somit wird ein Parameter, nämlich der so genannte Schräglaufwinkel, zu Null gesetzt. Das heißt, der Momentanpol MP liegt auf der Verlängerung der Hinterachse HA. Die zwei weiteren zu bestimmenden Parameter sind eine Geschwindigkeit vego in diesem Punkt, d. h. im Mittelpunkt MPHA der Hinterachse HA und die Gierrate φ'ego. Ist eine Einbauposition des Radarsensors
Die
Beide Radarsensoren
Mittels der Radarsensoren
Aus den beiden Geschwindigkeitsvektoren an den jeweiligen Koordinaten S1(0, 0), S2(x2, y2) der Radarsensoren
Die Bestimmung des Momentanpols MP des Fahrzeugs
Dabei haben ein Abstand zwischen den Radarsensoren
In
Somit tritt ein größerer Schnittwinkel zwischen den Senkrechten zur Bewegungsrichtung auf, so dass die Genauigkeit bei der Ermittlung des Momentanpols MP gegenüber der Anordnung gemäß
Aufgrund der gegenüber den Anordnungen gemäß den
Somit tritt ein größerer Schnittwinkel zwischen den Senkrechten zur Bewegungsrichtung auf, so dass die Genauigkeit bei der Ermittlung des Momentanpols MP gegenüber der Anordnung gemäß
BezugszeichenlisteLIST OF REFERENCE NUMBERS
- 11
- Fahrzeugvehicle
- 22
- Radarsensorradar sensor
- 33
- Radarsensorradar sensor
- 44
- Radarsensorradar sensor
- 55
- Radarsensorradar sensor
- bb
- horizontale Abstandskomponentehorizontal distance component
- coscos
- Cosinuscosine
- HAHA
- Hinterachserear axle
- ll
- vertikale Abstandskomponentevertical distance component
- lges l ges
- Gesamtlängeoverall length
- lHA HA
- Längelength
- lVA VA
- Längelength
- MPMP
- Momentanpolinstantaneous
- MPHA MP HA
- MittelpunktFocus
- MPVA MP VA
- MittelpunktFocus
- O1 bis OnO1 to On
- Objektobject
- RS1 bis RSnRS1 to RSn
- RückstreusignalBackscatter signal
- SS
- Referenzpunktreference point
- S1(0, 0)S 1 (0, 0)
- Koordinatecoordinate
- S2(x2, y2)S 2 (x 2 , y 2 )
- Koordinatecoordinate
- SPSP
- Spurtrack
- vv
- Geschwindigkeitspeed
- VV
- Geschwindigkeitsverlaufspeed curve
- VAVA
- VorderachseFront
- v1 bis v7v1 to v7
- Relativgeschwindigkeitrelative speed
- vHA v HA
- Geschwindigkeitspeed
- vego ego
- Geschwindigkeitspeed
- vmess v mess
- Amplitudeamplitude
- vr v r
- radiale Relativgeschwindigkeitradial relative speed
-
Vr1 bis vr7
V r 1 to v r 7 - radiale Relativgeschwindigkeitradial relative speed
- vVA VA
- Geschwindigkeitspeed
- (xMP, yMP)(x MP , y MP )
- Koordinatecoordinate
- xx
- Richtungsachsedirection axis
- yy
- Richtungsachsedirection axis
- ββ
- Phasenverschiebungphase shift
- δA δ A
- Lenkwinkelsteering angle
- γγ
- Winkelangle
- θ θ
- Betrachtungswinkelviewing angle
- θ–3 bis θ+3 θ -3 to θ +3
- Betrachtungswinkelviewing angle
- ρM ρ M
- Kurvenradiusturning radius
- φ'ego φ ' ego
- Gierrateyaw rate
ZITATE ENTHALTEN IN DER BESCHREIBUNG QUOTES INCLUDE IN THE DESCRIPTION
Diese Liste der vom Anmelder aufgeführten Dokumente wurde automatisiert erzeugt und ist ausschließlich zur besseren Information des Lesers aufgenommen. Die Liste ist nicht Bestandteil der deutschen Patent- bzw. Gebrauchsmusteranmeldung. Das DPMA übernimmt keinerlei Haftung für etwaige Fehler oder Auslassungen.This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.
Zitierte PatentliteraturCited patent literature
- DE 102010015723 A1 [0002] DE 102010015723 A1 [0002]
Claims (5)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE201310016282 DE102013016282A1 (en) | 2013-09-13 | 2013-10-02 | Method for determining a self-motion of a vehicle |
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102013015146 | 2013-09-13 | ||
DE102013015146.5 | 2013-09-13 | ||
DE201310016282 DE102013016282A1 (en) | 2013-09-13 | 2013-10-02 | Method for determining a self-motion of a vehicle |
Publications (1)
Publication Number | Publication Date |
---|---|
DE102013016282A1 true DE102013016282A1 (en) | 2015-03-19 |
Family
ID=52579725
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE201310016282 Withdrawn DE102013016282A1 (en) | 2013-09-13 | 2013-10-02 | Method for determining a self-motion of a vehicle |
Country Status (1)
Country | Link |
---|---|
DE (1) | DE102013016282A1 (en) |
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2017164250A1 (en) * | 2016-03-22 | 2017-09-28 | 株式会社デンソー | Estimation device |
EP3495840A1 (en) * | 2017-12-01 | 2019-06-12 | Volkswagen Aktiengesellschaft | Method and device for locating a vehicle |
JP2020020607A (en) * | 2018-07-30 | 2020-02-06 | 株式会社デンソーテン | Radar device and axial deviation detection method |
CN111615642A (en) * | 2018-01-18 | 2020-09-01 | 罗伯特·博世有限公司 | Method and device for evaluating the angular position of an object, and driver assistance system |
DE102019128020A1 (en) * | 2019-10-17 | 2021-04-22 | Valeo Schalter Und Sensoren Gmbh | Method for estimating an airspeed of a vehicle |
DE102020202515A1 (en) | 2020-02-27 | 2021-09-02 | Robert Bosch Gesellschaft mit beschränkter Haftung | Method for determining a vehicle's own speed and radar sensor system for determining a vehicle's own speed |
EP4365631A1 (en) * | 2022-11-04 | 2024-05-08 | Robert Bosch GmbH | A radar system for 3d ego motion estimation |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102010015723A1 (en) | 2010-04-21 | 2011-10-27 | Volkswagen Ag | Motor vehicle movement detection method for driver assistance for e.g. navigation function, involves determining trigonometric function by compensation calculation of values of relative movement |
-
2013
- 2013-10-02 DE DE201310016282 patent/DE102013016282A1/en not_active Withdrawn
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102010015723A1 (en) | 2010-04-21 | 2011-10-27 | Volkswagen Ag | Motor vehicle movement detection method for driver assistance for e.g. navigation function, involves determining trigonometric function by compensation calculation of values of relative movement |
Cited By (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2017164250A1 (en) * | 2016-03-22 | 2017-09-28 | 株式会社デンソー | Estimation device |
JP2017173036A (en) * | 2016-03-22 | 2017-09-28 | 株式会社Soken | Estimation device |
EP3495840A1 (en) * | 2017-12-01 | 2019-06-12 | Volkswagen Aktiengesellschaft | Method and device for locating a vehicle |
CN111615642A (en) * | 2018-01-18 | 2020-09-01 | 罗伯特·博世有限公司 | Method and device for evaluating the angular position of an object, and driver assistance system |
JP2020020607A (en) * | 2018-07-30 | 2020-02-06 | 株式会社デンソーテン | Radar device and axial deviation detection method |
JP7221606B2 (en) | 2018-07-30 | 2023-02-14 | 株式会社デンソーテン | Radar device and shaft deviation detection method |
DE102019128020A1 (en) * | 2019-10-17 | 2021-04-22 | Valeo Schalter Und Sensoren Gmbh | Method for estimating an airspeed of a vehicle |
DE102020202515A1 (en) | 2020-02-27 | 2021-09-02 | Robert Bosch Gesellschaft mit beschränkter Haftung | Method for determining a vehicle's own speed and radar sensor system for determining a vehicle's own speed |
EP4365631A1 (en) * | 2022-11-04 | 2024-05-08 | Robert Bosch GmbH | A radar system for 3d ego motion estimation |
WO2024094332A1 (en) * | 2022-11-04 | 2024-05-10 | Robert Bosch Gmbh | A radar system for 3d ego motion estimation |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
DE102013016282A1 (en) | Method for determining a self-motion of a vehicle | |
DE102011002959B4 (en) | Method and device for determining the angle between trailer and towing vehicle of a towing vehicle-trailer combination | |
DE102013018310A1 (en) | Method for determining a movement of an object | |
DE102013019804A1 (en) | Method for determining a movement of an object | |
DE102005033237A1 (en) | Method for determining and correcting misalignments and offsets of the sensors of an inertial measurement unit in a land vehicle | |
DE102007058242A1 (en) | Method for measuring transverse movements in a driver assistance system | |
EP1827930A1 (en) | Determination of the angle of inclination for a motorbike | |
DE102015206689A1 (en) | Method for steering an agricultural trailer and agricultural train association | |
DE102009057996A1 (en) | Method for determining position and/or alignment of camera relative to position of vehicle and semi-trailer, involves determining rotation parameter and/or translation parameter of camera-coordinate system to vehicle-coordinate system | |
DE102013011239A1 (en) | Method for determining a movement of an object | |
EP3612794A1 (en) | Method and device for performing a wheel alignment check | |
DE102013222291A1 (en) | Method and apparatus for estimating the mounting angles of a vehicle-mounted imaging sensor | |
DE102008045618A1 (en) | Method for calibrating sensors of vehicle, involves detecting sensor positioning data by calibrating sensor during drive of vehicle, and determining model positioning data | |
DE102018122054A1 (en) | Control system and control device for moving a vehicle into a target position, and vehicle therefor | |
DE102008025773A1 (en) | Local and movement conditions estimating method for observed object i.e. vehicle, involves determining distance, detecting shifting of portion of object, and estimating parameter of local and movement condition | |
EP2736017A2 (en) | Method for determining the movement of a motor vehicle | |
DE202014009461U1 (en) | Steering angle detection device of a motor vehicle | |
DE102010056217A1 (en) | Method for operating a driver assistance system in a motor vehicle, driver assistance system and motor vehicle | |
DE102012200127A1 (en) | Depth image calculation with a monocamera through a defined trajectory | |
DE102017007122A1 (en) | Method for detecting the direction of travel of a vehicle | |
DE102016011849A1 (en) | Method for self-localization of a vehicle | |
DE102012018471A1 (en) | Method for detecting e.g. lane markings of lane edge for motor car, involves performing classification in image region of individual images, which are detected by cameras, and in another image region of disparity images | |
DE102018007972A1 (en) | Method for calibrating a yaw rate sensor of a driver assistance system | |
DE102010010656A1 (en) | Method for classifying cars in road traffic for determining length of cars, involves recognizing car position from position of right rear and front edges of cars, and determining distance of car axles from right front edge radar module | |
WO2022018007A1 (en) | Method for estimating an ego motion of a vehicle on the basis of measurements of a lidar sensor and computing device |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
R119 | Application deemed withdrawn, or ip right lapsed, due to non-payment of renewal fee |