GB2491724A - Vehicle obstacle detection with additional horizontal radiation plane to discriminate between low and elevated obstacles - Google Patents
Vehicle obstacle detection with additional horizontal radiation plane to discriminate between low and elevated obstacles Download PDFInfo
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- GB2491724A GB2491724A GB1210293.5A GB201210293A GB2491724A GB 2491724 A GB2491724 A GB 2491724A GB 201210293 A GB201210293 A GB 201210293A GB 2491724 A GB2491724 A GB 2491724A
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- vehicle
- detection
- sensor system
- assistance system
- driver assistance
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Classifications
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- 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
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/168—Driving aids for parking, e.g. acoustic or visual feedback on parking space
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- 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
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
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- 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
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/865—Combination of radar systems with lidar systems
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- 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
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/867—Combination of radar systems with cameras
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- 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
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- 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
- G01S15/86—Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection
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- 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
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- 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
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
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- 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
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/862—Combination of radar systems with sonar systems
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- 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
- G01S2013/9314—Parking operations
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- 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
- G01S2013/9318—Controlling the steering
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- 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
- G01S2013/93185—Controlling the brakes
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- 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
- G01S2013/9321—Velocity regulation, e.g. cruise control
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- 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
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- 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
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- 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
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- 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
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- 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
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Acoustics & Sound (AREA)
- Traffic Control Systems (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
Diver assistance system 12 comprises sensor system 22 for detecting a vehicle environment. A radiation source (e.g. diode lasers 26, 26 ) is installed in addition to (e.g. below) the sensor system. It emits detection beams in a radiation plane 28 at a predetermined height above ground. Data provided by the sensor system regarding detection of reflected beams is evaluated to determine whether the reflection 30 falls within a predetermined vehicle environment range (18, Fig.1). A detection signal is then selectively output if an obstacle 14 is detected at the predetermined height therein (e.g. collision warning or activation of another driver assistance system component). Thus low obstacles 16 which may safely be driven over are ignored. The radiation plane may be varied in height according to driving state or speed and compensated for vehicle tilt.
Description
Description Title
Driver assistance system comprising object detection
Prior Art
The invention relates to a method for obstacle detection in a driVer assistance system, as well as such driver assistance systems.
A driver assistance system provides one or more additional IS devices in a vehicle for assisting. the driver in specific driving situations. Such additional devices are; for example, ABS (Antilock Braking System), ESP (Electronic Stability Program) or ACC (Adaptive Cruise Control).
A parking assistance system may also be present as an additional device in a driver assistance system. In this case, a sensor system based on, for example, ultrasound, radar, LIDAR (LIght Detection and Ranging), LADAR (LAsar Detection and Ranging) and video sensors is used in order to guide the driver during a parking manoeuvre. The sensor system monitors the vehicle environment and detects, amongst other things, obstacles which enter the driving path of the vehicle. If there is the risk of a collision with such an object, the parking assistance system generates a warning signal which may be emitted in passive form as a warning to the driver. The parking assistance system may be additionally designed to act actively on the braking system or drive system of the vehicle in order to prevent a collision.
For obstacle detection during driving situations, such as for example parking manoeuvres or reversing, monitoring of the environment in a manner which is as reliable as possible is advantageous. The distances from obstacles may be displayed to the driver and/or the driver is warned of imminent collisions with s4rrounding objects. In the case of low-lying objects, however, such systems are unreliable.
Therefore, situations may occur in which the driver has a clear road ahead but the driver assistance system is nevertheless activated and initiates a braking procedure or generates warnings, as a perceived obstacle has been identified. Various attempts have already been made to increase the reliability of the driver assistance system in this regard.
An autonomous vehicle is described in the publication J. Yoon et al. (LADAR based Obstacle Detection in an Urban Environment and its Application in the DARPA Urban Challenge, ICCAS 2008, Oct 14-17, in COEX Seoul, Korea), obstacles being detected by means of laser scanners. The laser scanners are attached to the vehicle at different * heights and detect obstacles which are located within a scanning range of the scanners. The data from the laser scanners are weighted and combined for each scanned environment cell, and evaluated regarding the navigability of the environment cell. However, in this system so-called ground strikes are able to falsify the obstacle detection.
This is prevented by two further laser scanners being provided on the roof of the vehicle which scan the terrain and compare with the respective strikes by the obstacle detection system.
A driver assistance system is disclosed in US 2005/110620 Al, which uses two sensors at different heights in order to determine the distance from an obstacle. If the measured distance is shorter than a threshold distance, the height of the obstacle is calculated based on the installation height of the sensors on the vehicle and the distance between the vehicle and the obstacle. If the determined height exceeds a threshold value which represents an upper' limit for obstacles which can be driven over, an activation of the driver assistance system is suppressed.
A radar or LIDAR system is combined with an imaging system in US 2003/154010 Al in order to determine the object distance and the object size. Depending on the height, width or area as well as the orientation of the object, a classification takes place in order to adopt the appropriate counter-measures.
The systems described above have increased reliability so that objects which can be driven over may be discriminated from objects which cannot be driven over. However, complex sensor systems and complex procedures are necessary.
Disclosure of the invention
According to the invention, a method for obstacle detection is proposed in a driver assistance system comprising a sensor system for detecting the vehicle environment. The method comprises the emission of detection beams by means of at least one radiation source installed in addition to the sensor system in a radiation plane at a predetermined height above ground; the evaluation of the data provided by the sensor system regarding the detection of reflected detection beams; the determination, in reaction to a detected reflection, whether the reflection falls within a predetermined vehicle environment range; and the selective output, in reaction to the determination, of a detection signal regarding the detection of an obstacle at at least the predetermined height in a predetermined vehicle environjre range.
A driver assistance system as described above provides one or more additional devices in a vehicle which, for example, may comprise a parking assistant, a reversing assistance system, an emergency braking system or. a collision warning system, in particular a Forward Collision Warning (FCW) system. Such additional devices form separate sub-systems of the driver assistance system and provide, in particular, sensor systems for environment detection.
In an embodiment of the method according to the invention, the sensor system for environment detection may be provided for a separate sub-system of the driver assistance system.
In paticular, the sensor system may be provided for a parking assistance system or an ACC system. The sensor system itself may comprise further elements, such as for example a camera, a distance warning radar, an ultrasound distance warning system, a laser distance warning system, to name some examples.
In an implementation of the method according to the invention, the radiation spurce is installed on the vehicle below the sensor system. The predetermined height above ground at which the radiation source is located preferably corresponds to a critical height, derived from the maximum height of an object which may still be driven over by a vehicle. For example, the critical height may depend on the type of vehicle, the tyres or the Suspension of the vehicle. Thus, for a lower-lying sports vehicle, the critical height may be lower than for an all-terrain vehicle.
The predetermined height above ground may also be varied depending on the driving state. For example, the radiation plane of the detection beams may be controlled in the vertical plane and optionally adapted to the tilting motion of the vehicle. Additionally or alternatively, the predetermined height above ground may be dependent on the speed. In particular, in city traffic at low speeds, the critical height for objects which can still be driven over may be lower than, for example, during motorway driving at speeds of >100 km/h.
In an embodiment of the method according to the invention, the radiation source emits detection beams in the direction of travel. The beams may also be emitted to the front or rear, depending on the direction of travel. The radiation sources able to be used within the scope of the invention are able to emit radiation which includes infrared light, visible light, ultraviolet light, radar beams, LIDAR beams, laser beams and/or ultrasound beams. Preferably, a light plane from the radiation source is generated by at least one directed laser beam, at least one directed light section, at least one rotating laser beam or a combination thereof.
In one variant, at least one portion of the detection beams is emitted with a signature for differentiating the reflected detection beams from the background radiation, the sensor system being configured to identify the signature. The signature may comprise a predetermined variation in the pattern of the intensity and/or wavelength of the emitted radiation. Alternatively or additionally, the signature may comprise a chronologically or spatially predetermined variation in the pattern of the emitted radiation. For example, a chronological variation may exist which alters the intensity or wavelength of the detection beams chronologically in a specific pattern. Spatial variations may, for example, be implemented by patterns, such as for example grid shapes or linear shapes.
In order to be able to evaluate data provided by the sensor system regarding detection of reflected detection beams, the detection range of the radiation source may at least partially overlap the detection range of the sensor system.
In a variant, the at least partially overlapping detection range of the sensor system and the radiation source determines the predetermined vehicle environment range which at least partially encompasses a driving path of the vehicle. In a further variant, the predetermined vehicle environment range encompasses a predetermined distance range. The distance range is, in particular, determined by the range of the detection beams and may typically be 1 to m for use in city driving.
In an implementation of the method according to the invention, the detection signal comprises a collision warning. Preferably, the detection signal initiates an output to an HMI (Human Machine Interface) and/or an activation of a separate component of the driver assistance system. The separate component nay, in particular, refer to automatic transverse and/or longitudinal guidance of the vehicle.
According to the invention, a computer program is also proposed according to which one of the methods disclosed herein is carried out when the computer program is executed on a programmable computer device. The computer device may, for example, be a module for implementing a driver assistance system, or a sub-system thereof, in a vehicle.
The computer program may be stored on a machine-readable storage medium, namely on a permanent or re-writable storage medium or in association with a computer device or a a removable CD-ROM, DVD or a USS stick. Additionally or alternatively, the computer program may be provided on a computer device, such as for example a server for downloading, for example via a data network, such as for example the Internet or a communication connection, such as for example a telephone line or a wireless connection.
According to the invention, a system for obstacle detection is also proposed, said system being configured for detecting at least one object and having the following components: a sensor system for environment detection; at least one radiation source installed in addition to the sensor system in a radiation plane at a predetermined height above ground; means for evaluating data provided by the sensor system regarding detection of reflected detection beams; means for determining, in reaction to a detected reflection, whether the reflection falls within a predetermined vehicle environment tange; at least one output component configured for the selective output, in reaction to the determination, of a detection signal relative to the detection of an obstacle at at least the predetermined height in the predetermined vehicle environment range. The system according to the invention for obstacle detection is preferably suitable for carrying out the above-described method.
In an implementation of the system according to the invention, the sensor system belongs at least partially to a further sub-system of the driver assistance system. Such sub-systems may, for example, comprise ACC, a predictive emergency braking system or a collision warning system, in particular a Forward Collision Warning (FCW) system. The sensor system of the sub-systems may comprise a camera, in particular a front-view camera or rear-view camera, a distance warning radar, an ultrasound distance warning system, a laser distance warning system or the like.
In an implementation of the system according to the invention, the radiation source and/or the sensor system is/are oriented to a rear, front and/or lateral vehicle environment. The radiation source is preferably able to be oriented in order to be adapted to vehicle movements. In this regard, tilting movements of the vehicle, such as rolling movements, yaw movements or pitching movements, may be detected by means of gyrosensors and the radiation source may be activated based on this data.
The radiation sources able to be used within the scope of the invention may be configured to emit radiation which comprises infrared light, visible light, ultraviolet light, radar beams, LIDAR beams, laser beams and/or ultrasound beams. Preferably, the radiation source is configured to generate a light plane by means of at least one directed laser beam, at least one directed light section, at least one rotating laser beam or a combination thereof. In a preferred embodiment, the radiation source comprises a diode laser.
In a variant of the driver assistance system according to the invention, the output component is configured to provide the detection signal for an HMI and/or a further component of the driver assistance system.
According to the invention, a driver assistance system is further proposed which comprises the system for obstacle detection, configured for detecting at least one object.
Advantages of the invention By using surprisingly simple means, namely the provision of a radiation source for generating a radiation plane and/or
a field of radiation at a suitable height for
discriminating objects which are able to be driven over from objects which are not able to be driven over, the invention permits the reliable identification of a risk of collision, objects which are able to be driven over being able to be reliably discriminated from objects which are not able to be driven over. The reliable identification of objects which are able to be driven over also permits the driver assistance system to react reliably to different driving situations which increases the usefulness of the S assisted driving, and thus the acceptability of the assistant. Situations in which objects which are able to be driven over, such as for example raised manhole covers, appear to constitute a risk of a collision and frequently occur in a city environment, and a driver assistant developed according to the invention may contribute, therefore, to an appropriate improvement.
The greater availability of the system in this case is frequently only countered by a small additional mounting cost as the additional components for generating the light plane do not require any further measuring techniques and may be integrated easily. The majority of vehicles nowadays have a sensor system, by means of which reflections from detection beams may be detected, so that (optionally as well as the additional radiation source) substantially no additional sources or detectors and/or sensors have to be implemented for the invention. The method according to the invention, therefore, may also be easily and cost-effectively retrofitted, for example by a software update, namely for an ECU (Electronic Control Unit) implementing the driver assistance system or a component thereof. :1-i
Brief description of the drawings
Further features and advantages of the invention are now described in more detail with reference to the accompanying drawings, in which: Figure 1 shows a schematic view of a travelling vehicle comprising a sensor system for environment detection according to the prior art in plan view; Figure 2 shows a side view of the vehicle according to Figure 1; Figure 3 shows a vehicle provided with a driver assistance system according to the invention in an exemplary driving situation with an object in the driving path; Figure 4 shows a plan view of the vehicle according to Figure 3; Figure 5 shows a mode of operation of the driver assistance system of Figures 3, 4 according to the invention in the form of a flowchart; Figure 6 shows a further exemplary driving situation for explaining the mode of operation of the driver assistance system of Figures 3, 4; and Figure 7 shows a schematic video image detail of a sub-system of the driver assistance system according to the invention which exhibits, by way of example, reflections of the detection beam on the object.
Embodiments of the invention In Figure 1, in a schematic view, a vehicle 10 provided with a driver assistance system 13 is indicated in a typical driving situation. Objects 14, 16 are located on the road in front of the vehicle 10 in the direction of travel 20, the vehicle 10 moving towards the objects 14, 16.
A distance sensor system 22 is provided in the front region of the vehicle 10, said system, for example, being based on ultrasound, laser or radar and forming part of the driver assistance system 12. The distance sensor system 22 has a detection range 24 in the horizontal plane in which objects 14, 26 may be detected. In the driving situation, shown by way of example, the distance sensor system 22 detects the objects 14, 16. If the objects 14, 16 are additionally located in a driving path 18 of the vehicle 10, there is the risk of a collision. In order to prevent this, the driver assistance system 13 generates a warning to the driver or takes control of the vehicle by a braking procedure or a deviation manoeuvre being initiated.
Figure 2 shows the driving situation of the vehicle 10 similar to Figure 1 in side view. The vehicle 10 drives towards the objects 14, 16 located in the direction of travel 20. The distance sensor system 22 which is associated with the driver assistance system 13, comprises a detection range 24 in the vertical plane in which objects 14, 16 located on the road are detected. As indicated in Figure 2, the objects 14, 16 have different heights. Whilst the object 14 depending on its height constitutes a genuine obstacle for the vehicle 10, the object 16 which1 for example, may be a raised manhole cover, has a low height and may be easily driven over. Both objects 14, 16, however, are located in the detection range 24 of the distance sensor system 22 and are handled equally by the driver assistance system 13. The driver assistance system 13 of the vehicle 10 generates a warning to the driver as a result of the two objects 14 and 16 and optionally initiates a deviation manoeuvre or a brakin procedure.
Figures 3 and 4 show a vehicle 10 which is provided with a driver assistance system 12 according to the invention, the vehicle 10 being in a driving situation similar to Figures 1 and 2. The driver assistance system 12 also comprises, in addition to the distance sensor system 22, diode lasers 26, 26' which in each case emit a laser beam and thus generate a light plane 28, 28'. The diode lasers 26, 26' are installed in the front region of the vehicle 10, as is the distance sensor system 22. The diode lasers 26, 26' are, in particular, installed in the lower region of the bumper, the detection ranges 28, 28' of the two diode lasers overlapping in the horizontal plane, i.e. parallel to the driving planes.
As may be identified in the side view of the vehicle 10 according to Figure 4, the two diode lasers 26, 26' are centred at a distance d and provided on the bumper of the vehicle 10. As a result, two detection ranges 28, 28' are produced for the respective diode lasers 26, 26'. The two detection ranges 28, 28' have an overlapping region 32, in which the detection ranges 28, 28' of the two lasers 26, 26' overlap. Additionally, the detection range of the light plane 28, 28' thus generated overlaps the detection range 24 of the distance sensor system 22.
The driver assistant 12 of the vehicle 10 additionally comprises a video sensor system 34 which detects light reflections. As may be derived from Figure 3, the light plane 28 illuminates the object 14 located in the driving path 18 of the vehicle 10. Visible reflections 30 are produced thereby, said reflections being identified by the video sensor system 34. If such a reflection is detected within the driving path 18 of the vehicle 10, said object is classified as relevant and the driver assistant may generate a warning to the driver and/or initiate a deviation manoeuvre or braking manoeuvre.
A mode of operation and a cooperation of the components shown in Figures 3 and 4, as well as Figures 6 and 7, is disclosed hereinafter with reference to the flowchart in Figure 5. Generally the driver assistant 12 is configured in order to estimate the risk of collision with objects, which also depends on the height of the objects.
One possible sequence of the method according to the invention is discussed in the exemplary situation of Figures 1 and/or 6. To this end, in a first step 100, detection beams which generate a radiation plane consisting, for example, of laser light, are emitted from diode lasers 26, 26'. The diode lasers 26, 26' generate a radiation plane at a predetermined height above ground which represents the critical height for the vehicle 10.
If the object 14 is located at a height above ground which exceeds the critical height and/or the installation height of the diode lasers 26, 26' in the environment of the vehicle 10, the detectioribeams of the diode lasers 26, 26' strike the object and are reflected. In a further step of the method 102, the reflected detection beams are detected by the video sensor system 34 which is provided as part of a separate sub-system of the driver assistance system 12 on the vehicle 10.
The detected reflections 30 are evaluated using the video image 36 of the video sensor system 34. In this manner, in a method step 104 it is determined whether the reflections fall within a driving path 18 and the detected object 14 represents an obstacle which is not able to be driven over.
If this is the case, in the method step 106 a detection signal is emitted which in the method step 108 triggers.
further reactions from the driver assistance system 12.
Such reactions include the output of an optical, haptic and/or acoustic warning on an 11t41. Also, the active actuation of a separate component of the driver assistance system 12 is possible, the driving situation being actively acted upon. For example, a braking procedure or a deviation manoeuvre may be initiated as an active reaction of the vehicle 10.
If the object 16 is located at a height above ground which does not exceed the critical height, in the driving path 16 of the vehicle 10, beams in the radiation plane generated by the diode lasers 26, 26' are not reflected onto the object: The beams are able to pass freely through the space above the object 16, and no reflections 30 are detected on the object. As a result, it is implicit that the object 16 is able to be driven over by the vehicle 10. The object 16 thus does not require any further reaction from the driver assistance system. In this manner, the method according to the invention is able to differentiate between objects 14, 16 on the road which are able to be driven over and which are not able to be driven over, and situations may be avoided in which the driver apparently has a clear road ahead but the driver assistance system nevertheless intervenes. This increases, in particular, the reliability of the driver assistance system 12, in particular relative to the detection of obstacles 14, 16.
Figure 6 shows a further exemplary driving situation of a vehicle 10 provided with the driver assistance system 12 according to the invention, which comprises a distance sensor system 22 and diode lasers 26, 26'. In the driver situation shown in Figure 6, two objects 14, 16 are located on the road in front of the vehicle 10. In this case, the object 14 has a height which is not able to be driven over whilst the object 16, for example, represents a raised manhole cover with a low height which is able to be driven over. The diode lasers 26, 26' of the driver assistance system 12 according to the invention generate a radiation plane 28 which passes over the low object 16 without generating reflections. In contrast therewith, the beams of the radiation plane 28 strike the high object 14 and generate reflections 30 at that point. The video sensor system 34 integrated in the driver assistance system 12 of the vehicle 10 detects the reflection and classifies said object as relevant, as it is not able to be driven over.
The driver assistance system 12 accordingly generates a warning to the driver and optionally initiates a deviation manoeuvre and/or braking manoeuvre relative to the object 14.
Figure 7 shows, in the form of a schematic view, a video image 36 which is recorded by the video sensor system 34 of the driver assistance system 12 according to the invention in the driving situation illustrated in Figure 6. The objects 14, 16 may be seen in the video image 36. The video sensor system 34 thus detects the objects 14 and 16 which are located in the driving path 18 of the vehicle. In addition or. as an alternative to detection by the video sensor system 34, the objects may also be detected by the distance sensor system 22 shown in Figures 3, 4 and 6.
After detecting the objects 14, 16, the video image recordings of the video sensor system 34 are evaluated in order to detect reflections of the light plane 28 from the diode lasers 26, 26'. The object 16 in its natural form is recorded on the video image 36. The object 14, however, comprises reflections 30 which may be identified as a bright spot in the video image. If such reflections 30 from the light plane 28 of the diode lasers 26, 26' are present in the video image, the object is classified as an object which is not able to be driven over, as the height of the object exceeds the critical object height set by the installation height of the diode lasers 26, 26'.
Accordingly, the object 14 is classified as not being able to be driven over and, by means of an information processing system, the driver assistance system 12 may trigger warnings to the driver and/or initiate a braking manoeuvre or deviation manoeuvre.
If no reflections are able to be detected in the video image 36 of the video sensor system 34, the objects 14, 16 are thus classified as being able to be driven over, having an object height which does not exceed the critical object height defined by the installation height of the diode lasers 26, 26t. In this manner, the reliability of the driver assistance system 12 may be increased and objects which are able to be driven over are discriminated from objects which are not able to be driven over.
The invention is not limited to the exemplary embodiments disclosed herein and the features revealed therein, but numerous modifications which come within the scope of the person skilled in the art are possible within the field set forth by the accompanying c1aims
Applications Claiming Priority (1)
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| DE102011077333A DE102011077333A1 (en) | 2011-06-10 | 2011-06-10 | Driver assistance system with object detection |
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| GB201210293D0 GB201210293D0 (en) | 2012-07-25 |
| GB2491724A true GB2491724A (en) | 2012-12-12 |
| GB2491724B GB2491724B (en) | 2015-11-04 |
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| DE (1) | DE102011077333A1 (en) |
| FR (1) | FR2976246B1 (en) |
| GB (1) | GB2491724B (en) |
| IT (1) | ITMI20120878A1 (en) |
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| DE102015104940A1 (en) | 2015-03-31 | 2016-10-06 | Valeo Schalter Und Sensoren Gmbh | A method for providing height information of an object in an environmental area of a motor vehicle at a communication interface, sensor device, processing device and motor vehicle |
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Also Published As
| Publication number | Publication date |
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| ITMI20120878A1 (en) | 2012-12-11 |
| DE102011077333A1 (en) | 2012-12-27 |
| GB201210293D0 (en) | 2012-07-25 |
| FR2976246B1 (en) | 2019-07-05 |
| GB2491724B (en) | 2015-11-04 |
| FR2976246A1 (en) | 2012-12-14 |
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