DE10344299A1 - Klassifizierung der in einer Umgebung eines Kraftfahrzeugs befindlichen Objekte - Google Patents
Klassifizierung der in einer Umgebung eines Kraftfahrzeugs befindlichen Objekte Download PDFInfo
- Publication number
- DE10344299A1 DE10344299A1 DE10344299A DE10344299A DE10344299A1 DE 10344299 A1 DE10344299 A1 DE 10344299A1 DE 10344299 A DE10344299 A DE 10344299A DE 10344299 A DE10344299 A DE 10344299A DE 10344299 A1 DE10344299 A1 DE 10344299A1
- Authority
- DE
- Germany
- Prior art keywords
- vehicle
- further processing
- assistance system
- vicinity
- driver assistance
- 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.)
- Granted
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Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
- G01S7/411—Identification of targets based on measurements of radar reflectivity
-
- 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
- G01S13/46—Indirect determination of position data
-
- 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
- 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
- G01S13/46—Indirect determination of position data
- G01S2013/466—Indirect determination of position data by Trilateration, i.e. two antennas or two sensors determine separately the distance to a target, whereby with the knowledge of the baseline length, i.e. the distance between the antennas or sensors, the position data of the target is determined
-
- 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
- G01S2013/9325—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles for inter-vehicle distance regulation, e.g. navigating in platoons
-
- 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
- G01S2013/93275—Sensor installation details in the bumper area
-
- 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
- G01S7/417—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 involving the use of neural networks
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar Systems Or Details Thereof (AREA)
- Traffic Control Systems (AREA)
Abstract
Ein Verfahren zur Klassifikation von in einer Umgebung eines Kraftfahrzeuges befindlichen Objekten weist die folgenden Schritte auf: DOLLAR A - Aussenden von Radarsignalen in einen zu überwachenden Umgebungsbereich des Kraftfahrzeugs, DOLLAR A - Empfangen rückgestreuter Radarechos der ausgesandten Radarsignale, DOLLAR A - Detektion mindestens eines Ziels, DOLLAR A - Extraktion zielspezifischer Merkmale aus den Radarechos, DOLLAR A - Übergabe der extrahierten Merkmale an einen Klassifikator und DOLLAR A - Klassifikation des detektierten Ziels aus den extrahierten Merkmalen.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10344299.5A DE10344299B4 (de) | 2003-09-23 | 2003-09-23 | Klassifizierung der in einer Umgebung eines Kraftfahrzeugs befindlichen Objekte |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10344299.5A DE10344299B4 (de) | 2003-09-23 | 2003-09-23 | Klassifizierung der in einer Umgebung eines Kraftfahrzeugs befindlichen Objekte |
Publications (2)
Publication Number | Publication Date |
---|---|
DE10344299A1 true DE10344299A1 (de) | 2005-04-21 |
DE10344299B4 DE10344299B4 (de) | 2016-08-04 |
Family
ID=34353069
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE10344299.5A Expired - Fee Related DE10344299B4 (de) | 2003-09-23 | 2003-09-23 | Klassifizierung der in einer Umgebung eines Kraftfahrzeugs befindlichen Objekte |
Country Status (1)
Country | Link |
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DE (1) | DE10344299B4 (de) |
Cited By (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2006114292A1 (de) * | 2005-04-28 | 2006-11-02 | Bayerische Motoren Werke Aktiengesellschaft | Fahrerassistenzsystem zur ausgabe zumindest einer information |
WO2006120057A1 (de) * | 2005-05-09 | 2006-11-16 | Robert Bosch Gmbh | VERFAHREN UND VORRICHTUNG ZUR ERKENNUNG DER OBERFLÄCHENBESCHAFFENHEIT VON OBJEKTEN DES STRAßENVERKEHRS ODER PERSONEN |
DE102012004396A1 (de) * | 2012-03-03 | 2013-09-05 | Volkswagen Aktiengesellschaft | Verfahren und Vorrichtung zum Erfassen von Objekten in einer Umgebung eines Fahrzeugs |
CN104199007A (zh) * | 2014-09-09 | 2014-12-10 | 西安电子科技大学 | 基于最近邻一类分类器的雷达分布式地面目标鉴别方法 |
WO2016016161A1 (de) * | 2014-07-29 | 2016-02-04 | Valeo Schalter Und Sensoren Gmbh | Verfahren zum klassifizieren eines objektes in einem umgebungsbereich eines kraftfahrzeugs, fahrerassistenzsystem und kraftfahrzeug |
WO2016156099A1 (de) * | 2015-03-31 | 2016-10-06 | Valeo Schalter Und Sensoren Gmbh | Verfahren zum verarbeiten von informationen in einer sensoreinrichtung eines kraftfahrzeugs in einer tendenzanalyse, verfahren zum erzeugen einer umgebungsbereichskarte, computerprogrammprodukt, verarbeitungseinrichtung und kraftfahrzeug |
DE102019215393A1 (de) * | 2019-10-08 | 2021-04-08 | Robert Bosch Gmbh | Verfahren und eine Vorrichtung zur Klassifizierung eines Objektes, insbesondere im Umfeld eines Kraftfahrzeugs |
EP3882654A1 (de) * | 2020-03-20 | 2021-09-22 | Aptiv Technologies Limited | Objektklassifizierung aus nicht bearbeiteten radardaten |
DE102006035207B4 (de) | 2006-07-29 | 2022-06-09 | Volkswagen Ag | Fahrzeug-Objekterfassungsvorrichtung |
DE102006049626B4 (de) | 2006-10-20 | 2023-02-23 | Volkswagen Ag | Verfahren zur Bestimmung der Position und der geometrischen Ausdehnung eines Objekts im Umfeld eines Kraftfahrzeugs |
DE102022117706A1 (de) | 2022-07-15 | 2024-01-18 | Bayerische Motoren Werke Aktiengesellschaft | Verfahren und Assistenzsystem zur radarbasierten Größeneinstufung von Objekten und entsprechend eingerichtetes Kraftfahrzeug |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE19649618A1 (de) * | 1996-11-29 | 1998-06-04 | Alsthom Cge Alcatel | Verfahren und Vorrichtung zur automatischen Klassifikation von Objekten |
DE19754220A1 (de) * | 1997-05-17 | 1998-11-19 | Bosch Gmbh Robert | Verfahren und Vorrichtung zur Erkennung einer bevorstehenden oder möglichen Kollision |
EP1094336A2 (de) * | 1999-10-19 | 2001-04-25 | Honda Giken Kogyo Kabushiki Kaisha | Objekterkennungsgerät |
US6377205B1 (en) * | 1997-11-21 | 2002-04-23 | Celsiustech Electronics A.B. | Method and device for classifying overhead objects |
DE10110038A1 (de) * | 2001-03-02 | 2002-09-19 | Daimler Chrysler Ag | Verfahren zur autonomen Adaption eines Klassifikators |
EP1329740A2 (de) * | 2002-01-17 | 2003-07-23 | The Ohio State University | Radargerät zur Hinderniswarnung für Fahrzeuge |
-
2003
- 2003-09-23 DE DE10344299.5A patent/DE10344299B4/de not_active Expired - Fee Related
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE19649618A1 (de) * | 1996-11-29 | 1998-06-04 | Alsthom Cge Alcatel | Verfahren und Vorrichtung zur automatischen Klassifikation von Objekten |
DE19754220A1 (de) * | 1997-05-17 | 1998-11-19 | Bosch Gmbh Robert | Verfahren und Vorrichtung zur Erkennung einer bevorstehenden oder möglichen Kollision |
US6377205B1 (en) * | 1997-11-21 | 2002-04-23 | Celsiustech Electronics A.B. | Method and device for classifying overhead objects |
EP1094336A2 (de) * | 1999-10-19 | 2001-04-25 | Honda Giken Kogyo Kabushiki Kaisha | Objekterkennungsgerät |
DE10110038A1 (de) * | 2001-03-02 | 2002-09-19 | Daimler Chrysler Ag | Verfahren zur autonomen Adaption eines Klassifikators |
EP1329740A2 (de) * | 2002-01-17 | 2003-07-23 | The Ohio State University | Radargerät zur Hinderniswarnung für Fahrzeuge |
Non-Patent Citations (1)
Title |
---|
GAVRILA,Dariu M., et.al.: A multi-sensor approach for the protection of vulnerable traffic participants - the PROTECTOR project. In: IEEE Instrumentation and Measurement Technology Conference, May 2001, S.2044-2048 * |
Cited By (20)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2006114292A1 (de) * | 2005-04-28 | 2006-11-02 | Bayerische Motoren Werke Aktiengesellschaft | Fahrerassistenzsystem zur ausgabe zumindest einer information |
US8232873B2 (en) | 2005-04-28 | 2012-07-31 | Bayerische Motoren Werke Aktiengesellschaft | Driver assistance system and method for outputting at least one piece of information |
WO2006120057A1 (de) * | 2005-05-09 | 2006-11-16 | Robert Bosch Gmbh | VERFAHREN UND VORRICHTUNG ZUR ERKENNUNG DER OBERFLÄCHENBESCHAFFENHEIT VON OBJEKTEN DES STRAßENVERKEHRS ODER PERSONEN |
US8432770B2 (en) | 2005-05-09 | 2013-04-30 | Robert Bosch Gmbh | Method and device for detecting the surface character of objects in road traffic or of persons |
DE102006035207B4 (de) | 2006-07-29 | 2022-06-09 | Volkswagen Ag | Fahrzeug-Objekterfassungsvorrichtung |
DE102006049626B4 (de) | 2006-10-20 | 2023-02-23 | Volkswagen Ag | Verfahren zur Bestimmung der Position und der geometrischen Ausdehnung eines Objekts im Umfeld eines Kraftfahrzeugs |
DE102012004396A1 (de) * | 2012-03-03 | 2013-09-05 | Volkswagen Aktiengesellschaft | Verfahren und Vorrichtung zum Erfassen von Objekten in einer Umgebung eines Fahrzeugs |
US9488725B2 (en) | 2012-03-03 | 2016-11-08 | Volkswagen Aktiengesellschaft | Method and device for detecting objects in the surroundings of a vehicle |
WO2016016161A1 (de) * | 2014-07-29 | 2016-02-04 | Valeo Schalter Und Sensoren Gmbh | Verfahren zum klassifizieren eines objektes in einem umgebungsbereich eines kraftfahrzeugs, fahrerassistenzsystem und kraftfahrzeug |
DE102014110667A1 (de) * | 2014-07-29 | 2016-02-04 | Valeo Schalter Und Sensoren Gmbh | Vefahren zum Klassifizieren eines Objektes in einem Umgebungsbereich eines Kraftfahrzeugs, Fahrerassistenzsystem und Kraftfahrzeug |
US10481244B2 (en) | 2014-07-29 | 2019-11-19 | Valeo Schalter Und Sensoren Gmbh | Method for classifying an object in an area surrounding a motor vehicle, driver assistance system and motor vehicle |
KR20170039242A (ko) * | 2014-07-29 | 2017-04-10 | 발레오 샬터 운트 센소렌 게엠베아 | 자동차의 주위 영역 내의 물체를 분류하기 위한 방법, 운전자 보조 시스템 및 자동차 |
KR101954005B1 (ko) * | 2014-07-29 | 2019-03-04 | 발레오 샬터 운트 센소렌 게엠베아 | 자동차의 주위 영역 내의 물체를 분류하기 위한 방법, 운전자 보조 시스템 및 자동차 |
CN104199007A (zh) * | 2014-09-09 | 2014-12-10 | 西安电子科技大学 | 基于最近邻一类分类器的雷达分布式地面目标鉴别方法 |
CN104199007B (zh) * | 2014-09-09 | 2016-10-12 | 西安电子科技大学 | 基于最近邻一类分类器的雷达分布式地面目标鉴别方法 |
WO2016156099A1 (de) * | 2015-03-31 | 2016-10-06 | Valeo Schalter Und Sensoren Gmbh | Verfahren zum verarbeiten von informationen in einer sensoreinrichtung eines kraftfahrzeugs in einer tendenzanalyse, verfahren zum erzeugen einer umgebungsbereichskarte, computerprogrammprodukt, verarbeitungseinrichtung und kraftfahrzeug |
DE102019215393A1 (de) * | 2019-10-08 | 2021-04-08 | Robert Bosch Gmbh | Verfahren und eine Vorrichtung zur Klassifizierung eines Objektes, insbesondere im Umfeld eines Kraftfahrzeugs |
EP3882654A1 (de) * | 2020-03-20 | 2021-09-22 | Aptiv Technologies Limited | Objektklassifizierung aus nicht bearbeiteten radardaten |
US11415670B2 (en) | 2020-03-20 | 2022-08-16 | Aptiv Technologies Limited | Object classification using low-level radar data |
DE102022117706A1 (de) | 2022-07-15 | 2024-01-18 | Bayerische Motoren Werke Aktiengesellschaft | Verfahren und Assistenzsystem zur radarbasierten Größeneinstufung von Objekten und entsprechend eingerichtetes Kraftfahrzeug |
Also Published As
Publication number | Publication date |
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DE10344299B4 (de) | 2016-08-04 |
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