EP3894895A1 - Verfahren zur bestimmung eines sichtverhältnisses - Google Patents
Verfahren zur bestimmung eines sichtverhältnissesInfo
- Publication number
- EP3894895A1 EP3894895A1 EP19809711.5A EP19809711A EP3894895A1 EP 3894895 A1 EP3894895 A1 EP 3894895A1 EP 19809711 A EP19809711 A EP 19809711A EP 3894895 A1 EP3894895 A1 EP 3894895A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- visibility
- distance
- received signal
- determined
- signal strength
- 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.)
- Pending
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
- 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
- G01S17/95—Lidar systems specially adapted for specific applications for meteorological use
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
- G01N21/47—Scattering, i.e. diffuse reflection
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
- G01N21/47—Scattering, i.e. diffuse reflection
- G01N2021/4704—Angular selective
- G01N2021/4709—Backscatter
-
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
Definitions
- the present invention relates to a method for determining a visibility using a sensor unit, in particular a sensor unit comprising a lidar sensor, a method for outputting a speed recommendation to a vehicle driver, which includes determining the visibility, and a sensor unit for carrying out a method according to the invention.
- visibility measurement systems are used; e.g. B. roadside optical systems consisting of a transmitter and receiver, which are arranged at a distance from each other in order to determine the prevailing visibility. Furthermore, taking into account the determined visual conditions, a speed recommendation or speed specification is output via a speed display in order to counteract the potential risk potential. Since not all roads are equipped with such speed indicators, such accident-avoiding, regulatory interventions can only be used on certain road sections, e.g. B. on motorways and expressways.
- a light-dependent sensor device for determining visibility conditions outside a motor vehicle is known.
- the sensor device recognizes the visibility in front of or behind the vehicle and accordingly triggers a speed recommendation or another caution or warning measure.
- DE 39 30 272 A1 describes a lidar sensor that can be used to determine the visibility ratio, so that the speed of travel is controlled as a function of visibility conditions that occur.
- the lidar sensor here has a very complex structure with different receiving devices / mirror arrangements, on the basis of which a visual relationship determination is carried out.
- the object of the present invention is to provide a method by which the determination of the visibility is simplified and the operational safety is improved in a cost-effective manner.
- a transmission signal from the transmission unit is first transmitted.
- This transmission signal hits an object and is scattered back by it and detected as a reception signal by a receiver purity.
- the distance to the object is then determined on the basis of the received signal, e.g. B. over the duration of the signal.
- the current visibility is determined on the basis of the determined distance to the object and / or the received signal strength of the received signal.
- the method deliberately exploits the weaknesses of a generic sensor unit or a lidar sensor in order to obtain a usable (technology-based) evaluation of the visibility in adverse (restricted) visibility conditions.
- the light signals or laser beams are, for. B. in fog and high air humidity / spray is strongly damped, whereby the measuring range of a lidar system is reduced accordingly.
- This effect occurs mainly in that the light rays z. B. reflected on finely divided water particles in the air, mirrored or diffusely deflected who the.
- the resulting reflective received signal strength of the electromagnetic table waves in the receiver is then attenuated accordingly, z. B. compared to the reception signal strength without impairment in unrestricted visibility.
- the determined measurement results can be monitored using statistical evaluation in order to determine a (technology-based) evaluation of the visibility conditions.
- the determination of the visibility is particularly simplified and the operational safety is considerably improved.
- the process can be inexpensively implemented in new systems and upgraded in existing systems.
- the distance of an initial detection at which the object has been detected for the first time can expediently be used to determine the visibility conditions.
- the current visibility can be determined in a simple manner by defining the first detection as a constant to which the measured distance relates, ie. H. a parameter or property is used, the value of which usually changes with changing visibility (e.g. increases or decreases).
- An initial value for the distance of the first detection is preferably established.
- the initial value for the distance is determined by the manufacturer or during initial commissioning, i.e. H. at a time when there are no restricted visibility.
- manufacturing-related (minimal) deviations of the sensors can be compensated for.
- output values can also be specified by the manufacturer for certain sensors. The respective output value can then for the sensor unit or the distance measuring system z. B. be provided on a memory.
- the visual conditions are determined on the basis of a comparison between the initial value which was determined for the distance of the first detection and the distance of the first detection currently present or determined by the distance sensor. A value for the deviation can then be calculated from the comparison. Depending on this deviation, the current Visibility conditions are determined.
- tolerances and / or limit values can be defined in the system, the lower or lower values of which indicate a certain visual relationship.
- an output value of the received signal strength, which the received signal has at a definable distance to the object can also be defined to determine the visibility.
- a shift in the distance can be determined in that the defined received signal strength is only available at a shorter distance.
- the visibility is preferably determined on the basis of a comparison between the initial value of the received signal strength and the received signal strength currently present or measured at the definable distance to the object.
- the size of the deviation from the respective initial value can expediently be determined on the basis of the comparison, the visibility conditions being divided into gradations by correlating these gradations with the size of the deviation.
- An average value can also be formed in a simple manner from a plurality of measuring points of the distance or the received signal strength. This mean value can then be used to determine the visibility. As a result, the determination can be made even more reliable in that incorrect measurements or incorrect individual measured values can be relativized by simple averaging, so that incorrect determinations due to incorrect measurements can be avoided or at least reduced. This increases operational reliability to a particular degree.
- the visibility can then be determined on the basis of a comparison between the mean value and the respective initial value.
- the determination of the visibility conditions can also take place on the basis of the determined distance to the object and on the basis of the received signal strength of the received signal. In this way, a plausibility check can be implemented in order to safeguard the respectively determined visibility by means of a comparison with other provisions. This increases operational reliability even more.
- the present invention also claims a method for outputting a speed recommendation to a vehicle driver of a vehicle. Since the visibility is initially assigned to visibility classes using at least one parameter. This assignment can in particular be carried out at the factory, during operation or also via updates which are made available to the vehicle by a higher-level unit. A recommended speed (ie a speed recommendation) is then assigned to the visibility ratio classes.
- the visibility for the driver is determined especially while driving. This determination can in particular be carried out using the method according to the invention or using another method known from the prior art.
- the speed recommendation is then output by assigning the particular visibility conditions to a visibility ratio class and outputting the recommended speed of the respective visibility ratio class. In this way, the driver can be given a speed recommendation for the prevailing visibility in a simple and inexpensive manner, without the driver having to determine this himself.
- the restriction of the vehicle driver by the visibility can be provided as a parameter.
- the driver's restriction can be provided by the visibility as quantified visibility classes and / or quantified visibility restrictions.
- the visibility can be in "severe restriction", “medium restriction” and “weak restriction”. This division can be made, for example, by a high received signal strength indicating a weak restriction and a low received signal strength suggesting a strong restriction.
- a correlation of the determined visibility with properties of the roadway is preferably provided.
- properties of the road such. B. Wetness or slippage can be closed if the visibility "snow" or "rain” has been determined.
- these road properties can be used to issue a warning and / or a speed recommendation to the vehicle driver or to intervene in vehicle guidance (speed adjustment, braking and / or steering maneuvers or the like).
- the user or the driver can expediently have an acoustic or with limited visibility or certain or selected visibility visual warning or a signal are issued so that the driver is informed in good time about any difficulties that may arise during vehicle operation. For example, this can further increase the traffic and operational safety of the vehicle, since the driver is immediately informed about changed conditions in the vehicle management so that he can react accordingly.
- the present invention claims a sensor unit which has a transmitter and a receiver unit for determining the distance, in particular a lidar sensor which is preferably used for measuring the distance (distance-measuring system), the sensor unit being designed to carry out the method according to the invention.
- Figure 1 is a simplified schematic diagram of a typical driving scenario.
- Fig. 2 is a simplified schematic diagram of an evaluation possibility of the inventive method
- Fig. 3 shows a simplified representation of the relationship between the determination of visibility and speed recommendation.
- the vehicle 1 shows a typical scenario with two vehicles 1, 2, in which the first vehicle 1 follows the second vehicle 2 or approaches an object (in this case vehicle 2).
- another, possibly immobile object could also be provided, such as, for. B. a traffic post or a guardrail.
- the vehicle 1 there is a distance measuring system with a sensor unit 1.1, by means of the z. B. the distance a to the vehicle 2 can be determined.
- the measurement is carried out by the sensor unit 1 .1 sending out a transmission signal 1.2 by means of a transmission unit, which is reflected by the vehicle 2 (not shown in FIG. 1 for the sake of clarity).
- the reflected signal is then received as a received signal from a receiver unit of the sensor unit 1 .1.
- a second receiver unit is not required.
- a sensor unit 1.1 generally has a measurement limit within which an object or an obstacle can be detected. Hence the detection of the object is only inside a defined distance or a defined distance to the object possible.
- the sensor unit 1 .1 can comprise a lidar (light detecting and ranging) sensor.
- the transmitter unit can e.g. B. include a laser diode by means of which a light or laser signal can be sent.
- other sensors radar, camera
- the visibility can thus be reliably detected or recognized using two variants V1, V2.
- Fig. 2 the results of several (distance) measurements are shown, z. B. were generated by the sensor unit 1. 1, each measuring point of the sensor (or the received signal strength) being assigned to a typical distance by means of a distribution curve. Furthermore, the two variants V1 and V2 for determining the viewing ratio are shown in a highly simplified manner using the white arrows.
- a statistical evaluation is carried out in such a way that the distance a is determined, at which an object is recognized for the “first time” (correspondingly with a low received signal strength) when the vehicle moves towards the object, the so-called Initial detection.
- this distance (or the distribution curve) of the first detection shifts in the direction of a shorter distance, i. H. the obstacle is recognized later and at a closer distance to the object. This effect occurs because the rays of the lidar system in poor visibility, such as. As fog, high air humidity or spray can be strongly damped, which reduces the range of the system, so that the distance at which the object can be detected by the measuring system is reduced.
- an initial value W1 for the removal of the first detection can be defined.
- the determination of the initial value W1 for the Removal of the first detection is preferably carried out by the manufacturer or during the initial commissioning, ie at a time in the z. B. good visibility.
- This output value W1 can then be compared in each case with the value of the distance of the first detection currently determined by the distance sensor. A value for the deviation can then be calculated from this comparison.
- the current visibility is then concluded, for example by storing tolerances and / or limit values in the system, the exceeding of which indicates a deterioration in the visibility.
- the size of the deviation from the respective initial value W1 is determined on the basis of the comparison, the visibility conditions being divided into gradations by correlating the gradations with the size of the deviation.
- the visibility can be divided into classes, e.g. B. "good” or “bad” or after the restricted visibility (strong, medium or weak restriction) or in concrete weather events (snow, rain, fog, spray and the like).
- the visibility can also be determined in accordance with the second variant V2.
- variant V2 a statistical evaluation takes place in such a way that a typical distance with a corresponding distribution can be derived on the basis of a defined received signal strength.
- an output value W2 of the received signal strength which the received signal has at a definable distance from the object, can also be determined to determine the visibility.
- the respective prevailing visual conditions are also determined on the basis of a comparison between the initial value W2 of the received signal strength and the received signal strength currently present or measured at the definable distance to the object.
- the visibility ratio classes can then be classified or determined correlating with the received signal strength (e.g. high received signal strength means good visibility or a slight restriction of the visibility).
- the distance shifts in the direction of a shorter distance at the defined reception signal strength.
- This effect occurs in that the optical signals are attenuated in poorer visibility conditions, so that the received signal strength is lower and the obstacle must be brought closer to the measuring system in order to regain the initially defined received signal strength.
- a shift is recognized in that the measurement results move away from the original (stored) measured values or output values W1, W2 over time.
- the shift is a function of adverse visibility, or based on the size of the shift, a (technology-based) conclusion can be drawn about the impairment of the view.
- Other vehicles or roadside posts, traffic signs, trees and the like can be used as obstacles or objects to be evaluated (the respective ⁇ obstacle class '' has a typical distance with unrestricted visibility, at which the obstacle is for the first time from an environment detection system can be recorded and can thus be used as a reference).
- the method can therefore be used with all distance-measuring systems and is expressly not restricted to lidar sensors.
- an average value can also be formed from several measuring points of the distance or the received signal strength, as shown in a very simplified manner in FIG. 2.
- This mean value can then be used to determine the visibility.
- the visibility can then be determined on the basis of a comparison between the mean value and the respective initial value W1 or W2.
- a plausibility check can also be provided, e.g. B. by the visibility conditions, which were determined by the first variant, checked or secured by the result of the visibility determination by means of the second variant. In the same way, the visibility conditions determined by the second variant can also be checked or secured by the first variant.
- an average of several measuring points of the distance or the received signal strength can thus be formed during the evaluation in order to make the determination even more reliable.
- Incorrect measurements or erroneous individual measured values can be relativized by such an averaging, so that incorrect interpretations cannot occur as a result of the deviating measured values being compensated for with other measurement results by averaging.
- Fig. 3 the functional dependency between the current visibility and a speed recommendation or speed regulation is shown as an example.
- an autonomously functioning assistance system depending on the current visibility (determined, for example, using a distance measuring system based on lidar), generates a maximum vehicle speed as a recommendation and displays it for display. brings.
- the display can be visual or acoustic.
- the view ratio determination can take place either using the method according to the invention or in another way, such as. B. based on transmitted information (car-to-car, car-to-X transmissions).
- the driver according to the invention can provide an autonomously functioning assistance function (determination of the visual relationship via lidar and the resulting recommended speed limitation).
- an autonomously functioning assistance function determination of the visual relationship via lidar and the resulting recommended speed limitation.
- traffic safety can be improved to a particular degree, so that the present invention is a very special contribution in the field of driver assistance functions.
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Life Sciences & Earth Sciences (AREA)
- Health & Medical Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Traffic Control Systems (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102018221448.4A DE102018221448A1 (de) | 2018-12-11 | 2018-12-11 | Verfahren zur Bestimmung eines Sichtverhältnisses |
PCT/DE2019/200132 WO2020119866A1 (de) | 2018-12-11 | 2019-11-12 | Verfahren zur bestimmung eines sichtverhältnisses |
Publications (1)
Publication Number | Publication Date |
---|---|
EP3894895A1 true EP3894895A1 (de) | 2021-10-20 |
Family
ID=68699126
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP19809711.5A Pending EP3894895A1 (de) | 2018-12-11 | 2019-11-12 | Verfahren zur bestimmung eines sichtverhältnisses |
Country Status (4)
Country | Link |
---|---|
US (1) | US20220082703A1 (de) |
EP (1) | EP3894895A1 (de) |
DE (1) | DE102018221448A1 (de) |
WO (1) | WO2020119866A1 (de) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102020003471A1 (de) | 2020-06-09 | 2021-12-09 | Günter Fendt | Verfahren zur Erkennung einer Degradation eines abstandsmessenden Systems, sowie abstandsmessendes System |
DE102021102470A1 (de) | 2021-02-03 | 2022-08-04 | Daimler Ag | Verfahren zur Erkennung von Gischt |
CN114325761A (zh) * | 2021-12-31 | 2022-04-12 | 象谱信息产业有限公司 | 一种通过激光雷达团雾深度检测***及方法 |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE3930272A1 (de) | 1988-10-05 | 1990-04-19 | Impulsphysik Gmbh | Lidar |
DE4017051A1 (de) | 1990-05-26 | 1991-11-28 | Bayerische Motoren Werke Ag | Sensoreinrichtung |
DE4214817C2 (de) * | 1992-05-05 | 1994-03-03 | Daimler Benz Ag | Verfahren zur Anzeige der geschwindigkeitsbedingten Gefahrenträchtigkeit der Fahrsituation eines Fahrzeugs, und Vorrichtung zur Durchführung des Verfahrens |
DE4233379C1 (de) * | 1992-10-05 | 1994-03-31 | Leica Ag Heerbrugg | Verfahren und Vorrichtung zur relativen Sichtweitenbestimmung |
DE102009028578A1 (de) * | 2009-08-17 | 2011-02-24 | Robert Bosch Gmbh | Verfahren für die Umfelderfassung mit einer Lidarsensorik |
-
2018
- 2018-12-11 DE DE102018221448.4A patent/DE102018221448A1/de not_active Withdrawn
-
2019
- 2019-11-12 WO PCT/DE2019/200132 patent/WO2020119866A1/de unknown
- 2019-11-12 EP EP19809711.5A patent/EP3894895A1/de active Pending
- 2019-11-12 US US17/309,651 patent/US20220082703A1/en active Pending
Also Published As
Publication number | Publication date |
---|---|
DE102018221448A1 (de) | 2020-06-18 |
WO2020119866A1 (de) | 2020-06-18 |
US20220082703A1 (en) | 2022-03-17 |
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