EP1634099A2 - Device for the classification of at least one object by means of an environment sensor - Google Patents

Device for the classification of at least one object by means of an environment sensor

Info

Publication number
EP1634099A2
EP1634099A2 EP04723153A EP04723153A EP1634099A2 EP 1634099 A2 EP1634099 A2 EP 1634099A2 EP 04723153 A EP04723153 A EP 04723153A EP 04723153 A EP04723153 A EP 04723153A EP 1634099 A2 EP1634099 A2 EP 1634099A2
Authority
EP
European Patent Office
Prior art keywords
speed
acceleration
determined
classification
environment sensor
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.)
Ceased
Application number
EP04723153A
Other languages
German (de)
French (fr)
Inventor
Dirk Weber
Alfred Kuttenberger
Marc Theisen
Michael Bunse
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
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 EP1634099A2 publication Critical patent/EP1634099A2/en
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
    • B60R21/0132—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to vehicle motion parameters, e.g. to vehicle longitudinal or transversal deceleration or speed value
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
    • B60R21/0134—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to imminent contact with an obstacle, e.g. using radar systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—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
    • G01S7/415—Identification of targets based on measurements of movement associated with the target
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/4804—Auxiliary means for detecting or identifying lidar signals or the like, e.g. laser illuminators
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • 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
    • 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
    • G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction
    • 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
    • G01S2013/9323—Alternative operation using light waves
    • 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
    • G01S2013/9324—Alternative operation using ultrasonic waves

Definitions

  • the invention is based on a device for classifying at least one object with an environmental sensor system according to the type of the independent patent claim.
  • a camera-based pre-crash detection system is known from DE 100 25 678 A1. Collision opponents are classified in terms of safe typing. The classification is based on the relative speed of these objects.
  • the device according to the invention for classifying at least one object with the features of the independent patent claim has the advantage over the prior art that the object is now classified on the basis of its speed and acceleration.
  • the acceleration information can also be used to achieve a more reliable classification of objects.
  • a first distinguishing criterion is, for example, the exclusion of objects firmly anchored in the ground, such as piles and walls, if a speed other than zero can be assigned to the object to be classified. If necessary, the position of the object (eg on the road, next to the road) can also be used to check the plausibility of the classification. Different classes of objects (such as vehicles on the one hand and pedestrians on the other hand) can also due to their Movement patterns, i.e. the respective speed and acceleration characteristics can be distinguished.
  • This classification can be used when assigning a crash object to the class of moving objects for a more precise control of restraint systems.
  • the acceleration of the object is determined as a function of the observer's own acceleration.
  • the acceleration can also or additionally be determined from the time profile of the natural speed and the object speed.
  • the own speed means the speed of the observer, that is, the own vehicle, which is equipped with the classification device. This own speed can be determined, for example, using wheel speeds, the ABS system or the speedometer.
  • the object speed is the speed of the object. Alternatively, the speed can also be determined on the basis of a temporal course of location information.
  • the environment sensor system can also have a photon mixture detector and / or an LEDAR system, the LIDAR system using lasers in addition to the conventional radar system that uses microwaves.
  • the environment sensor system can advantageously also have a photon mixture detector.
  • the so-called time-of-flight measurement is used, which enables distance information in the image plane of an imaging system.
  • the driver can also be informed if, for example, there is a critical situation with a high risk of an accident.
  • This information can be optically, acoustically and / or haptically. Tightening of the reversible belt tensioner serves in particular as haptic information.
  • a restraint system is activated depending on this classification. This is particularly advantageous when controlling reversible restraint devices.
  • FIG. 1 shows a typical scene between a vehicle and an object and FIG. 2 shows a block diagram of the device according to the invention.
  • sensors such as radar, ultrasound, lidar or video technology
  • Such information about the time of impact and speed can be determined in pre-crash systems in order to activate restraint devices.
  • Speed characteristics classified This means that the speed characteristic is determined from the speed of the object and its acceleration. Both parameters, the speed and the acceleration, define this Object, so that depending on the classification, precise control of restraint devices can then be carried out.
  • the measuring system determines the relative speed between the crash object and your own vehicle. From this relative speed and the actual speed of the own vehicle, which e.g. The speed of the object can be calculated via CAN. The acceleration of the object can then also be estimated from the history of both data and the braking state of the own vehicle. A classification by an object classification algorithm is carried out on the basis of the speed and the acceleration of the object. If an object belongs to the class of moving and accelerated objects, this information can be used in the algorithm for controlling restraint systems, since it can be excluded with a high degree of probability that it is a pile or a rigid wall. The control of the restraint systems can then in the algorithm according to the object class and other crash parameters, e.g. of acceleration signals and the relative speed.
  • crash parameters e.g. of acceleration signals and the relative speed.
  • FIG. 1 shows such a scene in which the device according to the invention is used.
  • Own vehicle 10 has its own speed VE
  • an object 11 of an observed vehicle has the own speed VO due to the pre-crash sensor system of vehicle 10.
  • the relative speed VR results from the vectorial subtraction of the own speed VE and the own speed VO.
  • the speed VR can be determined by a pre-crash sensor system.
  • the acceleration behavior of the vehicle 11 can be determined, for example, from the time profile of the relative speed VR.
  • the speed VO which is determined by means of the relative speed VR and the own speed VE, and the acceleration of the vehicle 11 lead to a classification of the vehicle 11.
  • the own speed VE is determined, for example, via the wheel speeds.
  • FIG. 2 explains the device according to the invention in a block diagram.
  • the relative speed VR is determined in block 21 via a pre-crash sensor system.
  • the own speed VE is determined in block 20, for example, via the wheel speeds and / or a tachometer.
  • a classification algorithm 22 which is calculated on a processor of the control unit, for example an airbag control unit, the object speed and its acceleration.
  • the algorithm 22 classifies the vehicle 11 from these speeds and the acceleration. It then assigns predetermined object classes, which are defined by the speed VO and the acceleration, to the object 11.
  • delays which are generated in block 24, are then triggered to control the restraint means.
  • the restraint means are, for example, the restraint means R1 a belt tensioner 27 and R2 a front airbag 28 and RN a passenger airbag 29.
  • FIG. 3 explains the individual components of the device according to the invention in a further block diagram.
  • a pre-crash sensor system 30 determines the relative speed VR of the object 11.
  • the processor 31 which receives the signal from the pre-crash sensor system 30, the self-speed VO of the object 11 is then determined from the vehicle's own speed on which the pre-crash sensor system 30 is located.
  • the own speed VE is determined, for example, via a wheel speed measurement or the tachometer, this information is contained on the CAN bus, for example.
  • the acceleration behavior of the object 11 is determined from the time profile of the speed VO and the speed VE.
  • the object classification then takes place from this, that is to say the class of the object is determined by the acceleration and the speed VO.
  • This object class is then transmitted to a control unit 34 for restraint systems.
  • the control unit 34 which is connected to other vehicle components and sensors via connections (not shown here), determines the activation of restraint devices 35, which include airbags, belt tensioners and roll bars, depending on the object class and these further parameters.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • Mechanical Engineering (AREA)
  • Optics & Photonics (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Automotive Seat Belt Assembly (AREA)
  • Air Bags (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Indicating Or Recording The Presence, Absence, Or Direction Of Movement (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

A device for the classification of at least one object by means of an environment sensor is disclosed. The device classifies the at least one object, by using the speed and acceleration thereof, whereby the device determines the speed and acceleration from a signal from the environment sensor.

Description

Vorrichtung zur Klassifizierung von wenigstens einem Objekt mit einer UmfeldsensorikDevice for classifying at least one object with an environmental sensor system
Stand der TechnikState of the art
Die Erfindung geht aus von einer Vorrichtung zur Klassifizierung von wenigstens einem Objekt mit einer Umfeldsensorik nach der Gattung des unabhängigen Patentanspruchs.The invention is based on a device for classifying at least one object with an environmental sensor system according to the type of the independent patent claim.
Aus DE 100 25 678 Al ist ein kamerabasiertes Precrash-Erkennungssystem bekannt. Dabei werden Kollisionsgegner im Sinne einer sicheren Typisierung klassifiziert. Die Klassifizierung erfolgt anhand der Relativgeschwindigkeit dieser Objekte.A camera-based pre-crash detection system is known from DE 100 25 678 A1. Collision opponents are classified in terms of safe typing. The classification is based on the relative speed of these objects.
Vorteile der ErfindungAdvantages of the invention
Die erfindungsgemäße Vorrichtung zur Klassifizierung von wenigstens einem Objekt mit den Merkmalen des unabhängigen Patentanspruchs hat dem gegenüber den Vorteil, dass nunmehr das Objekt anhand dessen Geschwindigkeit und der Beschleunigung klassifiziert wird.The device according to the invention for classifying at least one object with the features of the independent patent claim has the advantage over the prior art that the object is now classified on the basis of its speed and acceleration.
Insbesondere kann auch durch die Beschleunigungsinformation eine zuverlässigere Klassifizierung von Objekten erreicht werden. Ein erstes Unterscheidungskriterium ist zum Beispiel der Ausschluß von fest im Boden verankerten Gegenständen, wie Pfählen und Mauern, wenn dem zu klassifizierenden Objekt eine von null verschiedene Geschwindigkeit zugeordnet werden kann. Gegebenenfalls kann auch die Position des Objekts (z.B. auf der Fahrbahn, neben der Fahrbahn) zur Plausibilisierung der Klassifikation verwendet werden. Unterschiedliche Klassen von Objekten (wie zum Beispiel Fahrzeuge einerseits und Fußgänger andererseits) können auch aufgrund ihrer Bewegungsmuster, also der jeweiligen Geschwindigkeit^- und Beschleunigungscharakteristik unterschieden werden.In particular, the acceleration information can also be used to achieve a more reliable classification of objects. A first distinguishing criterion is, for example, the exclusion of objects firmly anchored in the ground, such as piles and walls, if a speed other than zero can be assigned to the object to be classified. If necessary, the position of the object (eg on the road, next to the road) can also be used to check the plausibility of the classification. Different classes of objects (such as vehicles on the one hand and pedestrians on the other hand) can also due to their Movement patterns, i.e. the respective speed and acceleration characteristics can be distinguished.
Zumindest ist eine Einteilung in statische und bewegte bzw. beschleunigte Objekte möglich. Diese Einteilung kann bei der Zuordnung eines Crashobjekts zu der Klasse der bewegten Objekte für eine präzisere Ansteuerung von Rückhaltesystemen genutzt werden.At least a division into static and moving or accelerated objects is possible. This classification can be used when assigning a crash object to the class of moving objects for a more precise control of restraint systems.
Durch die in den abhängigen Ansprüchen aufgeführten Maßnahmen und Weiterbildungen sind vorteilhafte Verbesserungen der im unabhängigen Patentanspruch angegebenen Vorrichtung zur Klassifizierung von wenigstens einem Objekt möglich.The measures and developments listed in the dependent claims enable advantageous improvements of the device for classifying at least one object specified in the independent claim.
Besonders vorteilhaft ist, dass die Beschleunigung des Objekts in Abhängigkeit von der eigenen Beschleunigung des Beobachters bestimmt wird. Die Beschleunigung kann jedoch auch oder zusätzlich aus dem zeitlichen Verlauf der Eigengeschwindigkeit und der Objektgeschwindigkeit bestimmt werden. Dabei bedeutet die Eigengeschwindigkeit die Geschwindigkeit des Beobachters, also des eigenen Fahrzeugs, das mit der Klassifizierungsvorrichtung ausgestattet ist. Diese Eigengeschwindigkeit kann beispielsweise anhand von Raddrehzahlen, des ABS-Systems oder des Tachometers bestimmt werden. Die Objektgeschwindigkeit ist die Geschwindigkeit des Objekts. Alternativ kann die Geschwindigkeit auch anhand eines zeitlichen Verlaufs von Ortsinformationen bestimmt werden.It is particularly advantageous that the acceleration of the object is determined as a function of the observer's own acceleration. However, the acceleration can also or additionally be determined from the time profile of the natural speed and the object speed. The own speed means the speed of the observer, that is, the own vehicle, which is equipped with the classification device. This own speed can be determined, for example, using wheel speeds, the ABS system or the speedometer. The object speed is the speed of the object. Alternatively, the speed can also be determined on the basis of a temporal course of location information.
Die Umfeldsensorik kann neben oder anstatt einer Radar-, Ultraschall- und/oder Videosensrik auch einen Photonenmischdetektor und/oder ein LEDAR-System aufweisen, wobei das LIDAR-System neben dem herkömmlichen Radarsystem, das Mikrowellen verwendet, Laser einsetzt.In addition to or instead of a radar, ultrasound and / or video sensor, the environment sensor system can also have a photon mixture detector and / or an LEDAR system, the LIDAR system using lasers in addition to the conventional radar system that uses microwaves.
Die Umfeldsensorik kann vorteilhafterweise auch einen Photonenmischdetektor aufweisen. Dabei wird die sogenannte Time-of-Flight-Messung verwendet, die eine Distanzinformation in der Bildebene eines abbildenden Systems ermöglicht. Es wird hier auf die DE 197 04 496 Al verwiesen, die einen solchen Photonenmischdetektor offenbart. In Abhängigkeit von der Klassifizierung kann der Fahrer auch informiert werden, wenn beispielsweise eine kritische Situation vorliegt, die ein hohes Unfallrisiko birgt. Diese Information kann optisch, akustisch und/oder haptisch erfolgen. Als haptische Information dient insbesondere das Anziehen des reversiblen Gurtstraffers.The environment sensor system can advantageously also have a photon mixture detector. The so-called time-of-flight measurement is used, which enables distance information in the image plane of an imaging system. Reference is made here to DE 197 04 496 A1, which discloses such a photon mixture detector. Depending on the classification, the driver can also be informed if, for example, there is a critical situation with a high risk of an accident. This information can be optically, acoustically and / or haptically. Tightening of the reversible belt tensioner serves in particular as haptic information.
Schließlich ist auch von Vorteil, dass in Abhängigkeit von dieser Klassifizierung ein Rückhaltesystem angesteuert wird. Dies ist insbesondere auch bei der Ansteuerung von reversiblen Rückhaltemitteln von Vorteil.Finally, it is also advantageous that a restraint system is activated depending on this classification. This is particularly advantageous when controlling reversible restraint devices.
Zeichnungdrawing
Ausführungsbeispiele der Erfindung sind in der Zeichnung dargestellt und werden in der nachfolgenden Beschreibung näher erläutert.Embodiments of the invention are shown in the drawing and are explained in more detail in the following description.
Figur 1 zeigt eine typische Szene zwischen einem Fahrzeug und einem Objekt und Figur 2 ein Blockschaltbild der erfϊndungsgemäßen Vorrichtung.FIG. 1 shows a typical scene between a vehicle and an object and FIG. 2 shows a block diagram of the device according to the invention.
Beschreibungdescription
Mit Hilfe einer geeigneten Sensorik wie zum Beispiel der Radar-, Ultraschall-, Lidar- oder Videotechnik ist es möglich, Abstände und Relativgeschwindigkeiten zwischen Objekten und dem Radarsensor zu messen. Hierüber können in Precrash-Systemen solche Informationen über Aufprallzeitpunkt und Geschwindigkeit ermittelt werden, um Rückhaltemittel anzusteuern.With the help of suitable sensors such as radar, ultrasound, lidar or video technology, it is possible to measure distances and relative speeds between objects and the radar sensor. Such information about the time of impact and speed can be determined in pre-crash systems in order to activate restraint devices.
Bei bestimmten Messsystemen wie zum Beispiel dem Radarsystem, das nur die Abstandinformation nutzen und keine dreidimensionale Raumauflösung bieten, ist keine Klassifizierung von Objekten möglich, da als für das Objekt charakteristische Eigenschaft zum Beispiel nur der gesamte Radarquerschnitt zur Verfügung steht.With certain measuring systems such as the radar system, which only use the distance information and do not offer a three-dimensional spatial resolution, it is not possible to classify objects because, for example, only the entire radar cross section is available as a characteristic property of the object.
Erfindungsgemäß wird nunmehr ein Objekt anhand seinerAccording to the invention, an object is now based on its
Geschwindigkeitscharakteristik klassifiziert. Dies bedeutet, dass aus der Geschwindigkeit des Objekts und seiner Beschleunigung die Charakteristik der Geschwindigkeit bestimmt wird. Beide Parameter, die Geschwindigkeit und die Beschleunigung, definieren das Objekt, so dass in Abhängigkeit von der Klassifizierung dann eine präzise Ansteuerung von Rückhaltemitteln vorgenommen werden kann.Speed characteristics classified. This means that the speed characteristic is determined from the speed of the object and its acceleration. Both parameters, the speed and the acceleration, define this Object, so that depending on the classification, precise control of restraint devices can then be carried out.
Das Messsystem bestimmt die Relativgeschwindigkeit zwischen Crashobjekt und dem eigenen Fahrzeug. Aus dieser Relativgeschwindigkeit sowie der vorliegenden Eigengeschwindigkeit des eigenen Fahrzeugs, die z.B. über CAN ausgewertet werden kann, kann die Geschwindigkeit des Objekts berechnet werden. Aus der Historie beider Daten und dem Bremszustand des eigenen Fahrzeugs kann dann auch noch die Beschleunigung des Objekts abgeschätzt werden. Anhand der Geschwindigkeit und der Beschleunigung des Objekts wird eine Klassifizierung durch einen Objektklassifikationsalgorithmus vorgenommen. Gehört ein Objekt zur Klasse der bewegten und beschleunigten Objekte, kann im Algorithmus zur Ansteuerung von Rückhaltesystemen diese Information genutzt werden, da mit hoher Wahrscheinlichkeit ausgeschlossen werden kann, dass es sich um einen Pfahl oder eine starre Wand handelt. Die Steuerung der Rückhaltesysteme kann dann im Algorithmus entsprechend der Objektklasse und weiterer Crashparameter, z.B. von Beschleunigungssignalen und der Relativgeschwindigkeit, durchgeführt werden.The measuring system determines the relative speed between the crash object and your own vehicle. From this relative speed and the actual speed of the own vehicle, which e.g. The speed of the object can be calculated via CAN. The acceleration of the object can then also be estimated from the history of both data and the braking state of the own vehicle. A classification by an object classification algorithm is carried out on the basis of the speed and the acceleration of the object. If an object belongs to the class of moving and accelerated objects, this information can be used in the algorithm for controlling restraint systems, since it can be excluded with a high degree of probability that it is a pile or a rigid wall. The control of the restraint systems can then in the algorithm according to the object class and other crash parameters, e.g. of acceleration signals and the relative speed.
Figur 1 zeigt eine solche Szene, in der die erfindungsgemäße Vorrichtung zum Einsatz kommt. Das eigene Fahrzeug 10 weist eine Eigengeschwindigkeit VE auf, während ein Objekt 11 ein beobachtetes Fahrzeug durch die Precrashsensorik des Fahrzeugs 10 die Eigengeschwindigkeit VO aufweist. Aus der vektoriellen Subtraktion der Eigengeschwindigkeit VE und der Eigengeschwindigkeit VO ergibt sich die Relativgeschwindigkeit VR. Die Geschwindigkeit VR kann durch eine Precrashsensorik ermittelt werden. Aus dem zeitlichen Verlauf der Relativgeschwindigkeit VR kann beispielsweise das Beschleunigungsverhalten des Fahrzeugs 11 bestimmt werden. Die Geschwindigkeit VO, die mittels der Relativgeschwindigkeit VR und der Eigengeschwindigkeit VE bestimmt wird und die Beschleunigung des Fahrzeugs 11 führen zu einer Klassifizierung des Fahrzeugs 11. Die Eigengeschwindigkeit VE wird beispielsweise über die Raddrehzahlen ermittelt.FIG. 1 shows such a scene in which the device according to the invention is used. Own vehicle 10 has its own speed VE, while an object 11 of an observed vehicle has the own speed VO due to the pre-crash sensor system of vehicle 10. The relative speed VR results from the vectorial subtraction of the own speed VE and the own speed VO. The speed VR can be determined by a pre-crash sensor system. The acceleration behavior of the vehicle 11 can be determined, for example, from the time profile of the relative speed VR. The speed VO, which is determined by means of the relative speed VR and the own speed VE, and the acceleration of the vehicle 11 lead to a classification of the vehicle 11. The own speed VE is determined, for example, via the wheel speeds.
Figur 2 erläutert in einem Blockschaltbild die erfindungsgemäße Vorrichtung. Über eine Precrashsensorik wird die Relativgeschwindigkeit VR im Block 21 ermittelt. Wie oben dargestellt wird beispielsweise über die Raddrehzahlen und/oder ein Tachometer die Eigengeschwindigkeit VE im Block 20 ermittelt. Aus dem zeitlichen Verlauf der Geschwindigkeiten VR und VE bestimmt ein Klassifikationsalgorithmus 22, der auf einem Prozessor des Steuergeräts, beispielsweise Airbagsteuergeräts, gerechnet wird, die Objektgeschwindigkeit und dessen Beschleunigung. Aus diesen Geschwindigkeiten und der Beschleunigung klassifiziert der Algorithmus 22 das Fahrzeug 11. Er ordnet dann vorgegebene Objektklassen, die durch die Geschwindigkeit VO und die Beschleunigung definiert sind, dem Objekt 11 zu. Im Block 26 wird dann in Abhängigkeit von der Relativgeschwindigkeit 25 und weiteren Crashparametern wieder Verzögerungen, die im Block 24 erzeugt werden, die Ansteuerung der Rückhaltemittel durchgeführt. Die Rückhaltemittel sind hier beispielsweise die Rückhaltemittel Rl ein Gurtstraffer 27 und R2 ein Frontairbag 28 und RN ein Beifahrerairbag 29.FIG. 2 explains the device according to the invention in a block diagram. The relative speed VR is determined in block 21 via a pre-crash sensor system. As shown above, the own speed VE is determined in block 20, for example, via the wheel speeds and / or a tachometer. From the course of time of the Speeds VR and VE are determined by a classification algorithm 22, which is calculated on a processor of the control unit, for example an airbag control unit, the object speed and its acceleration. The algorithm 22 classifies the vehicle 11 from these speeds and the acceleration. It then assigns predetermined object classes, which are defined by the speed VO and the acceleration, to the object 11. In block 26, depending on the relative speed 25 and further crash parameters, delays, which are generated in block 24, are then triggered to control the restraint means. The restraint means here are, for example, the restraint means R1 a belt tensioner 27 and R2 a front airbag 28 and RN a passenger airbag 29.
Figur 3 erläutert in einem weiteren Blockschaltbild die einzelnen Komponenten der erfindungsgemäßen Vorrichtung. Eine Precrashsensorik 30 ermittelt die Relativgeschwindigkeit VR des Objekts 11. Im Prozessor 31, der das Signal der Precrashsensorik 30 erhält, wird dann daraus mittels der Eigengeschwindigkeit des Fahrzeugs, auf der sich die Precrashsensorik 30 befindet, die Eigengeschwindigkeit VO des Objekts 11 bestimmt. Die Eigengeschwindigkeit VE wird zum Beispiel über eine Raddrehzahlmessung bzw. den Tachometer ermittelt, diese Information ist beispielsweise auf dem CAN-Bus enthalten. Aus dem zeitlichen Verlauf der Geschwindigkeit VO und der Geschwindigkeit VE wird das Beschleunigungsverhalten des Objekts 11 bestimmt. Daraus erfolgt dann die Objektklassifizierung, das heißt, die Klasse des Objekts wird durch die Beschleunigung und durch die Geschwindigkeit VO bestimmt. Diese Objektklasse wird dann einem Steuergerät 34 für Rückhaltesysteme übermittelt. Das Steuergerät 34, das über hier nicht dargestellte Verbindungen mit anderen Fahrzeugkomponenten und Sensoren verbunden ist, bestimmt in Abhängigkeit von der Objektklasse und dieser weiteren Parameter die Ansteuerung von Rückhaltemitteln 35, zu denen Airbags, Gurtstraffer und Überrollbügel zählen. FIG. 3 explains the individual components of the device according to the invention in a further block diagram. A pre-crash sensor system 30 determines the relative speed VR of the object 11. In the processor 31, which receives the signal from the pre-crash sensor system 30, the self-speed VO of the object 11 is then determined from the vehicle's own speed on which the pre-crash sensor system 30 is located. The own speed VE is determined, for example, via a wheel speed measurement or the tachometer, this information is contained on the CAN bus, for example. The acceleration behavior of the object 11 is determined from the time profile of the speed VO and the speed VE. The object classification then takes place from this, that is to say the class of the object is determined by the acceleration and the speed VO. This object class is then transmitted to a control unit 34 for restraint systems. The control unit 34, which is connected to other vehicle components and sensors via connections (not shown here), determines the activation of restraint devices 35, which include airbags, belt tensioners and roll bars, depending on the object class and these further parameters.

Claims

Ansprüche Expectations
1. Vorrichtung zur Klassifizierung von wenigstens einem Objekt mit einer Umfeldsensorik (30), dadurch gekennzeichnet, dass die Vorrichtung derart konfiguriert ist, dass die Vorrichtung das wenigstens eine Objekt (11) anhand dessen Geschwindigkeit (VO) und Beschleunigung klassifiziert, wobei die Vorrichtung aus wenigstens einem Signal der Umfeldsensorik (30) die Geschwindigkeit (VO) und die Beschleunigung bestimmt.1. Device for classifying at least one object with an environment sensor system (30), characterized in that the device is configured in such a way that the device classifies the at least one object (11) on the basis of its speed (VO) and acceleration, the device comprising at least one signal from the environment sensor system (30) determines the speed (VO) and the acceleration.
2. Vorrichtung nach Anspruch 1, dadurch gekennzeichnet, dass die Beschleunigung anhand wenigstens einer eigenen Beschleunigung bestimmt wird.2. Device according to claim 1, characterized in that the acceleration is determined on the basis of at least one own acceleration.
3. Vorrichtung nach Anspruch 1, dadurch gekennzeichnet, dass die Beschleunigung anhand eines zeitlichen Verlaufs der Eigengeschwindigkeit (VE) und der Objektgeschwindigkeit (VO) bestimmt wird.3. Device according to claim 1, characterized in that the acceleration is determined on the basis of a time profile of the natural speed (VE) and the object speed (VO).
4. Vorrichtung nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass die Vorrichtung derart mit einem Rückhaltesystem (35) koppelbar ist, dass das Rückhaltesystem (35) in Abhängigkeit von der Klassifizierung des wenigstens einen Objekts angesteuert wird.4. Device according to one of the preceding claims, characterized in that the device can be coupled to a restraint system (35) in such a way that the restraint system (35) is controlled as a function of the classification of the at least one object.
5. Vorrichtung nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass die Geschwindigkeit (VO) anhand der Eigengeschwindigkeit (VE) bestimmt wird. 5. Device according to one of the preceding claims, characterized in that the speed (VO) is determined on the basis of the airspeed (VE).
6. Vorrichtung nach einem der Ansprüche 1-4, dadurch gekennzeichnet, dass die Geschwindigkeit (VO) anhand eines zeitlichen Verlaufs von Ortsinformationen bestimmt wird.6. Device according to one of claims 1-4, characterized in that the speed (VO) is determined on the basis of a time profile of location information.
7. Vorrichtung nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass die Umfeldsensorik (30) wenigstens einen Photonenmischdetektor aufweist.7. Device according to one of the preceding claims, characterized in that the environment sensor system (30) has at least one photon mixture detector.
8. Vorrichtung nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass die Umfeldsensorik (30) ein LIDAR-System aufweist.8. Device according to one of the preceding claims, characterized in that the environment sensor system (30) has a LIDAR system.
9. Vorrichtung nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass die Vorrichtung zur Ausgabe von einer Information an den Fahrer konfiguriert ist, wobei die Ausgabe in Abhängigkeit von der Klassifizierung erfolgt.9. Device according to one of the preceding claims, characterized in that the device is configured to output information to the driver, the output taking place as a function of the classification.
10. Vorrichtung nach Anspruch 9, dadurch gekennzeichnet, dass die Information haptisch ausgegeben wird. 10. The device according to claim 9, characterized in that the information is output haptically.
EP04723153A 2003-05-28 2004-03-25 Device for the classification of at least one object by means of an environment sensor Ceased EP1634099A2 (en)

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DE10324217A DE10324217A1 (en) 2003-05-28 2003-05-28 Surrounding environment sensor object classification unit, classifies object speed and acceleration from position or speed sensor signal and controls restraint system
PCT/DE2004/000615 WO2004110813A2 (en) 2003-05-28 2004-03-25 Device for the classification of at least one object by means of an environment sensor

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US20060050148A1 (en) 2006-03-09
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JP2006517287A (en) 2006-07-20
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