FR3006058B1 - Procede d'evaluation d'obstacles par un systeme d'assistance de conduite de vehicule - Google Patents

Procede d'evaluation d'obstacles par un systeme d'assistance de conduite de vehicule Download PDF

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Publication number
FR3006058B1
FR3006058B1 FR1454612A FR1454612A FR3006058B1 FR 3006058 B1 FR3006058 B1 FR 3006058B1 FR 1454612 A FR1454612 A FR 1454612A FR 1454612 A FR1454612 A FR 1454612A FR 3006058 B1 FR3006058 B1 FR 3006058B1
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FR
France
Prior art keywords
vehicle driving
assistance system
driving assistance
obstacle
evaluation process
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Expired - Fee Related
Application number
FR1454612A
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English (en)
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FR3006058A1 (fr
Inventor
Michael Schoor
Goetz Kuehnle
Volker Gross
Benedikt Loesch
Stefan Heilmann
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Robert Bosch GmbH
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Robert Bosch GmbH
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Publication date
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Publication of FR3006058A1 publication Critical patent/FR3006058A1/fr
Application granted granted Critical
Publication of FR3006058B1 publication Critical patent/FR3006058B1/fr
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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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
    • 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
    • G01S13/08—Systems for measuring distance only
    • G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
    • G01S13/34—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
    • 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
    • G01S13/42—Simultaneous measurement of distance and other co-ordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • G01S13/583—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets
    • G01S13/584—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets adapted for simultaneous range and velocity measurements
    • 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
    • G01S7/35—Details of non-pulse systems
    • G01S7/352—Receivers
    • G01S7/354—Extracting wanted echo-signals
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Traffic Control Systems (AREA)

Abstract

Procédé d'évaluation d'obstacles à l'aide de données de localisation d'un capteur radar (10) dans un système d'assistance de conduite de véhicule selon lequel on calcule une fonction d'évaluation (R1, R2) qui indique en fonction d'un jeu de grandeurs de mesure rapporté à un obstacle potentiel si cet obstacle potentiel doit être considéré comme un obstacle véritable. A l'aide des données de localisation, on forme un indicateur de complexité indiquant la complexité de la situation de mesure actuelle, et pour le même jeu de grandeurs de mesure, on définit au moins deux fonctions d'évaluation différentes (R1, R2) et en fonction de l'indicateur de complexité, on décide quelle fonction d'évaluation doit être appliquée à la situation actuelle de mesure.
FR1454612A 2013-05-24 2014-05-22 Procede d'evaluation d'obstacles par un systeme d'assistance de conduite de vehicule Expired - Fee Related FR3006058B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE201310209736 DE102013209736A1 (de) 2013-05-24 2013-05-24 Verfahren zur Bewertung von Hindernissen in einem Fahrerassistenzsystem für Kraftfahrzeuge

Publications (2)

Publication Number Publication Date
FR3006058A1 FR3006058A1 (fr) 2014-11-28
FR3006058B1 true FR3006058B1 (fr) 2020-09-11

Family

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Family Applications (1)

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FR1454612A Expired - Fee Related FR3006058B1 (fr) 2013-05-24 2014-05-22 Procede d'evaluation d'obstacles par un systeme d'assistance de conduite de vehicule

Country Status (4)

Country Link
US (1) US9664788B2 (fr)
CN (1) CN104181516B (fr)
DE (1) DE102013209736A1 (fr)
FR (1) FR3006058B1 (fr)

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DE102013209736A1 (de) * 2013-05-24 2014-11-27 Robert Bosch Gmbh Verfahren zur Bewertung von Hindernissen in einem Fahrerassistenzsystem für Kraftfahrzeuge
JP6338871B2 (ja) * 2014-01-31 2018-06-06 株式会社デンソーテン レーダ装置、車両制御システム及び信号処理方法
DE102015220275A1 (de) * 2015-10-19 2017-04-20 Robert Bosch Gmbh Steuervorrichtung, Antriebsstrang und Verfahren
DE102016202112A1 (de) * 2016-02-12 2017-08-17 Robert Bosch Gmbh Radarsensor für Fahrerassistenzsysteme in Kraftfahrzeugen
EP3220566A1 (fr) * 2016-03-17 2017-09-20 R3 - Reliable Realtime Radio Communications GmbH Système de communication utilisant tdm et echo
DE102016116964B4 (de) * 2016-09-09 2019-05-16 Knorr-Bremse Systeme für Nutzfahrzeuge GmbH Vorrichtung zum Warnen eines Fahrzeugführers eines Fahrzeugs vor einem stationären Objekt sowie Fahrzeug mit einer solchen Vorrichtung
JP2018072014A (ja) * 2016-10-25 2018-05-10 ソニーセミコンダクタソリューションズ株式会社 レーダ装置、信号処理装置及び信号処理方法
CN108068800B (zh) * 2016-11-18 2020-09-15 比亚迪股份有限公司 自动泊车控制***、探头模块、车辆和自动泊车控制方法
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US11885874B2 (en) * 2018-12-19 2024-01-30 Semiconductor Components Industries, Llc Acoustic distance measuring circuit and method for low frequency modulated (LFM) chirp signals
JP7185547B2 (ja) * 2019-02-07 2022-12-07 株式会社デンソー 車両検出装置
FR3097972B1 (fr) * 2019-06-28 2021-12-10 Aptiv Tech Ltd Procédé et système pour cartographier un environnement physique au moyen d’une grille d’occupation

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Also Published As

Publication number Publication date
US9664788B2 (en) 2017-05-30
FR3006058A1 (fr) 2014-11-28
CN104181516B (zh) 2019-02-15
CN104181516A (zh) 2014-12-03
DE102013209736A1 (de) 2014-11-27
US20140347208A1 (en) 2014-11-27

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