EP2513667A1 - Device for monitoring a distance of a vehicle to an object - Google Patents
Device for monitoring a distance of a vehicle to an objectInfo
- Publication number
- EP2513667A1 EP2513667A1 EP10781514A EP10781514A EP2513667A1 EP 2513667 A1 EP2513667 A1 EP 2513667A1 EP 10781514 A EP10781514 A EP 10781514A EP 10781514 A EP10781514 A EP 10781514A EP 2513667 A1 EP2513667 A1 EP 2513667A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- distance
- value
- sensor
- limit value
- limit
- 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
Links
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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/003—Bistatic sonar systems; Multistatic sonar 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/46—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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/87—Combinations of sonar 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/87—Combinations of sonar systems
- G01S15/876—Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector
- G01S15/878—Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector wherein transceivers are operated, either sequentially or simultaneously, both in bi-static and in mono-static mode, e.g. cross-echo mode
-
- 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
-
- 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
Definitions
- the invention relates to a device for monitoring a distance of a vehicle to an object
- the invention relates to a device for monitoring a distance of a vehicle
- Ultrasonic sensors For a measurement, a plurality of measuring sensors are preferably arranged for transmitting and receiving transmitted pulses in the front or rear region of a vehicle.
- An electronics unit calculates a distance to the nearest obstacle from received pulses and generates a full warning signal, eg. B. a continuous tone, falls below a predetermined minimum limit.
- Sensors transmit and receive signals within a so-called measuring cone, whereby a monitoring area on the vehicle is defined by the arrangement position of the sensors in the vehicle contour of the front or rear area, as well as the lateral zones of a vehicle.
- the object of the present invention is seen to provide a device for monitoring a distance of an object to a vehicle, which allows improved monitoring of a rear and / or front area.
- the invention is based on a device for monitoring a distance of a vehicle to an object, comprising several in the front and / or in the
- Distance range is provided and connected to the distance sensors electronics unit which generates a full warning signal upon reaching a predetermined minimum limit of a distance determined by the distance sensors and activates a display device for optical and / or acoustic display of distances. Sensors that perform a distance measurement, have a minimal
- Measurement distance resulting from the ringing of the membrane system.
- the minimum limit of a minimum measuring distance of a sensor is
- the essence of the invention is that the electronics unit is designed, even before reaching the predetermined minimum limit for a determined distance at a predetermined first warning distance value, which is greater than one
- Minimum limit of a sensor is to generate a full warning signal when passing through a
- Direct echo of the first sensor a distance is determined which is smaller than a first limit value, wherein the first limit value is greater than a minimum limit value of the first sensor, and if a distance is determined by a direct echo of the second sensor, which is greater than a second limit value wherein the second threshold is greater than a minimum threshold of the second sensor.
- sensors can not be positioned anywhere in the bumper. If the positioning of an external sensor results in a distance to the vehicle corner which is greater than the minimum limit value of the sensor, no full warning, for. B. a continuous tone, generated for obstacle objects in the area of the vehicle corner, which is outside the minimum limit.
- the first and second limit value is selected such that in a region of a central
- both the first limit and the second threshold at least at one point have the same value.
- the area defined by the limit values can be placed in an area that lies in front of a corner area to be monitored.
- Electronic unit is designed, even before reaching the predetermined minimum limit for a determined distance at a specified
- Warning distance value to generate a full warning signal when a distance, which is smaller than a first limit value, is determined by a direct echo of the first sensor, wherein the first limit value is greater than the minimum limit value and if a distance is determined by a cross echo of the first and second sensor, which is greater than a third limit.
- the constraint definition with the constraints can be used to use a special offset to match the warning distance value of one
- the first and third limit values are selected such that both the first and the third are between an area before the minimum limit value of the first sensor and the second limit value
- Limit value have at least at one point an equal value.
- the range between the limit values which defines a consideration of the offset, is advantageously placed in the corner region of the vehicle.
- the electronic unit is designed, even before reaching the predetermined minimum limit value for a determined distance, only at a second time
- Warning distance value which is greater by an offset than the first warning distance value to output a full warning signal, if in addition by a direct echo of the first sensor, a distance is determined, which is smaller than a fourth limit, and by a cross echo of the first and second sensor, a distance is determined which is greater than a fifth threshold, wherein the fourth threshold is less than the first threshold, and wherein the fifth threshold is greater than the minimum threshold of the first sensor.
- the minimum limit value is corrected with a first offset value. If an object enters the second monitoring area between the fourth and fifth limit value, a further offset correction is carried out. If the offset value corrected with the offset values is within the second
- the fourth and fifth limit value is selected such that in a range between the first and third limit value before the first sensor, both the fourth and the fifth limit value have a same value at one point.
- the first offset value is set to a value which is smaller than a hysteresis value for the withdrawal of a generated full warning signal.
- the second offset value is set to a value which is smaller than the first offset value plus a hysteresis value.
- a hysteresis value ensures continuous updating of a display when an obstacle object approaches a vehicle, and avoids so-called "jumping" of the display or output medium to the driver when the obstacle object moves away from the vehicle.
- the first limit value is greater than the minimum limit value plus the first offset value.
- the second offset value is smaller than the fourth limit value which is smaller than the first limit value.
- Figure 1 is a schematic representation of a conventional
- Figure 2 is a schematic representation of a distance monitoring a
- Figure 3 is a schematic representation of a distance monitoring a
- Figure 4 is a schematic representation of the evaluation of measured
- sensors 2, 3, 4, 5 are preferably arranged at the same distance from each other in the vehicle contour.
- the sensors 2, 3, 4 and 5 are designed to receive measurement signals as a direct echo signal or cross echo signal.
- a cross echo signal is, for example, from
- Direct echo signal is sent by a sensor and received by it again.
- the minimum limit may coincide with the minimum limit of each sensor. However, he will regularly be above it in order not to have to operate the system at the technical limits.
- Distance measuring device merge with the ringing of the membrane system of the sensor.
- This minimum limit value 6 is preferably defined as a full warning limit, ie. H.
- a full warning limit ie. H.
- the driver of a vehicle is signaled a full warning, such as a continuous tone.
- the distance measurement is based on a transit time measurement of the signals.
- an electronic unit If an obstacle object is detected in the monitoring area of the sensor 2, an electronic unit generates an optical and / or acoustic warning signal.
- a driver can be signaled obstacle objects in the surveillance area, which are not recognizable by a backward view or by a view in the rear or side mirrors of a vehicle by the driver.
- the sensors arranged in FIG. 1 monitor the rear area.
- the area between an illustrated line of sight 7 and the lateral contour of the vehicle is not visible to a driver and can not be detected by the sensor 2 as
- Full warning are detected because the minimum limit 6 of the sensor 2 is smaller than the distance between sensor 2 and corner of the vehicle. If the positioning of the outer sensor 2, 5 relative to a vehicle corner results in a distance which is greater than a minimum limit value 6 of the sensor 2, no near-range warning (full warning signal) for obstacle objects in the area of a vehicle corner of a vehicle is generated by a conventional monitoring device. The risk of possible damage in this area is thus given, as only when reaching the minimum limit 6 of the sensor 2, a full warning signal is generated.
- FIG. 2 shows a schematic representation of a distance monitoring on a vehicle contour 1 in the rear region of a vehicle, wherein the outer sensor 2 is positioned at a distance with reference to the vehicle corner which is smaller than the minimum limit value 6 plus a value which adds to a distance value must be so that the full warning signal is withdrawn.
- the value is called the hysteresis value. It is a generation of a full warning signal before reaching the minimum limit 6 of the sensor 2 is provided to a in the
- the area 10 can be defined by limiting values to be determined for the distances determined between an obstacle object and the sensors 2, 3, 4, 5.
- a distance value of a direct echo of the sensor 2 (DE2) is smaller than a
- a distance value (CE23) of a cross echo of the sensors 2 and 3 is greater than a predetermined distance (CE23_Max) at a fixed cross echo of the sensors 2 and 3;
- a distance value (DE3) of a direct echo of the sensor 3 is greater than one
- Warning distance value 14 As soon as the new warning distance value 14 is reached, it comes to an output of a full warning signal.
- the course of an obstacle object on the line 12 with offset correction fulfills the condition for an offset 8 (see hatching of the area 10), whereby a full warning is triggered at an intersection of the line 12 with the new warning distance value 14.
- the offset correction may in fact be such that the offset value 8 is subtracted from the measured distance of the sensor 2 at the intersection point 16 of the line 12 with the limit value at DE2_Min. This would be an addition to
- Figure 3 is intended to illustrate the operation of a device for monitoring a distance of a vehicle, wherein the distance range to be monitored is divided into two different areas - in a first region 21 and in a second region 20th
- a two-stage monitoring of the corner region is preferably to be used when the distance between the outer sensor 2 to the vehicle corner is smaller than the minimum limit value 6 plus a double hysteresis value. It is in a first stage, the consideration of a first offset 8 and in a second stage the
- the first monitoring area 21 is defined by the following conditions:
- the direct echo DE2 of the second sensor is smaller than a fixed one
- Limit DE2_Min for a distance of a direct echo of the sensor 2; a distance value CE23 of a cross echo of the sensors 2 and 3 is greater than a predetermined limit CE23;
- a distance value DE3 of a direct echo of the sensor 3 is greater than one
- a cross echo of the sensors 3, 4 may be considered in such a way that a distance value is greater than a threshold value CE34_Max of the cross echo.
- the monitoring area 20 may be defined by the following conditions.
- a distance value DE2 of a direct echo of the sensor 2 is smaller than a defined limit DE2_min_nnnen and a distance value CE23 of a cross echo of
- Sensors 2, 3 is greater than a specified limit CE23_Max_lnnen. If the conditions for the monitoring area 21 and the conditions for the second monitoring area 20 are met, a further offset value 9 for the minimum limit value 6 is taken into account in addition to the offset value 8. In addition, a cross echo of the sensors 3, 4 may be taken into account in a manner that is a distance value greater than a threshold CE34_Max_lnnen of the cross echo.
- Warning distance value 15 is then within the monitoring area 20.
- FIG. 4 shows a schematic representation to illustrate FIG
- a display of distances of an obstacle object for the driver takes place in different stages, preferably via LEDs in different colors or acoustically with different pulse sequences of tones.
- the first column 22 of FIG. 4 shows an optical signaling of distance values, wherein the area 25 is a full warning, the area 26 an alert, the
- the regions 25, 26, 27, 28 are shown shifted by the first offset value 8. It illustrates the one-step case.
- the regions 25, 26, 27, 28 are additionally shifted by the second offset value 9 in relation to the second column 23. This represents the two-stage case.
- the offset values add up to a total of 15. In the single-stage and two-stage case, it was assumed that all above conditions are met and an evaluation only depends on the direct echo DE2.
- a display for a driver may be updated as an obstacle approaches the vehicle. If an obstacle is removed, it can be determined that it must first move away by a value of X before the ad is updated, ie. H. returns to the previously valid warning level.
- This value X can, for example, with reference to Figure 4 ten units, z. B. 10 cm, amount.
- the limits can be z.
- a first offset 8 is preferably smaller than a display hysteresis value X.
- the limit value DE2_Min is preferably greater than or equal to the minimum measuring distance 6 plus the offset value 8.
- the offset value 9 is preferably smaller than the sum of the offset value 1 and the display Hysteresis value X.
- the offset value 2 is preferably smaller than the limit DE2_Min_lnnen, which in turn is smaller than the limit DE2_Min.
- the present invention should not be limited to the embodiment for monitoring a single vehicle corner. Rather, all vehicle corners of a vehicle can be monitored with the device according to the invention, wherein the one-stage or two-stage described in the embodiment
- Corner monitoring can be extended by further stages.
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Traffic Control Systems (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102009054634A DE102009054634A1 (en) | 2009-12-15 | 2009-12-15 | Device for monitoring a distance of a vehicle to an object |
PCT/EP2010/068108 WO2011073001A1 (en) | 2009-12-15 | 2010-11-24 | Device for monitoring a distance of a vehicle to an object |
Publications (1)
Publication Number | Publication Date |
---|---|
EP2513667A1 true EP2513667A1 (en) | 2012-10-24 |
Family
ID=43478169
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP10781514A Ceased EP2513667A1 (en) | 2009-12-15 | 2010-11-24 | Device for monitoring a distance of a vehicle to an object |
Country Status (5)
Country | Link |
---|---|
US (1) | US9541644B2 (en) |
EP (1) | EP2513667A1 (en) |
CN (1) | CN102782520B (en) |
DE (1) | DE102009054634A1 (en) |
WO (1) | WO2011073001A1 (en) |
Families Citing this family (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102012020413A1 (en) | 2012-10-18 | 2014-04-24 | Volkswagen Aktiengesellschaft | Method and device for environment detection |
JP6474228B2 (en) | 2014-10-22 | 2019-02-27 | 株式会社デンソー | Object detection device |
JP6484000B2 (en) | 2014-10-22 | 2019-03-13 | 株式会社デンソー | Object detection device |
JP2016080641A (en) * | 2014-10-22 | 2016-05-16 | 株式会社デンソー | Object detector |
JP6462308B2 (en) | 2014-10-22 | 2019-01-30 | 株式会社デンソー | Object detection device |
JP6430778B2 (en) | 2014-10-22 | 2018-11-28 | 株式会社デンソー | Object detection device |
JP6430777B2 (en) | 2014-10-22 | 2018-11-28 | 株式会社デンソー | Object detection device |
JP6442225B2 (en) | 2014-10-22 | 2018-12-19 | 株式会社デンソー | Object detection device |
JP6404679B2 (en) | 2014-10-22 | 2018-10-10 | 株式会社デンソー | Object detection device |
DE102018206535A1 (en) * | 2018-04-27 | 2019-10-31 | Robert Bosch Gmbh | Radar sensor device |
DE102018219227A1 (en) * | 2018-11-12 | 2020-05-14 | Robert Bosch Gmbh | Method and device for generating a representation of obstacles in the vicinity of a vehicle |
CN110398742B (en) * | 2019-08-29 | 2021-08-27 | 广州小鹏自动驾驶科技有限公司 | Method and device for inhibiting ultrasonic interference and vehicle |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE19856974C1 (en) | 1998-12-10 | 2000-09-07 | Bosch Gmbh Robert | Method and device for detecting an obstacle |
DE102004010752A1 (en) * | 2004-03-05 | 2005-09-22 | Robert Bosch Gmbh | Distance warning and distance warning unit method |
DE102004020423A1 (en) | 2004-04-27 | 2005-11-24 | Robert Bosch Gmbh | Method for detecting fictitious obstacles |
US7818127B1 (en) * | 2004-06-18 | 2010-10-19 | Geneva Aerospace, Inc. | Collision avoidance for vehicle control systems |
CN100528657C (en) | 2006-12-20 | 2009-08-19 | 东风汽车有限公司 | Vehicle alarm system |
-
2009
- 2009-12-15 DE DE102009054634A patent/DE102009054634A1/en active Pending
-
2010
- 2010-11-24 WO PCT/EP2010/068108 patent/WO2011073001A1/en active Application Filing
- 2010-11-24 US US13/516,154 patent/US9541644B2/en active Active
- 2010-11-24 CN CN201080057079.1A patent/CN102782520B/en active Active
- 2010-11-24 EP EP10781514A patent/EP2513667A1/en not_active Ceased
Non-Patent Citations (2)
Title |
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None * |
See also references of WO2011073001A1 * |
Also Published As
Publication number | Publication date |
---|---|
US9541644B2 (en) | 2017-01-10 |
CN102782520A (en) | 2012-11-14 |
DE102009054634A1 (en) | 2011-06-16 |
WO2011073001A1 (en) | 2011-06-23 |
US20120320208A1 (en) | 2012-12-20 |
CN102782520B (en) | 2015-02-25 |
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