JP2019500683A - 物体分類を有する動力車両の周辺領域をキャプチャーする方法、制御装置、運転者支援システム、及び動力車両 - Google Patents
物体分類を有する動力車両の周辺領域をキャプチャーする方法、制御装置、運転者支援システム、及び動力車両 Download PDFInfo
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- 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
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- 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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- 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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- 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
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- G01S13/862—Combination of radar systems with sonar systems
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- 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
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- 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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- 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
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- 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
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- G—PHYSICS
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- 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
- G01S2013/93272—Sensor installation details in the back 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
- G01S2013/93274—Sensor installation details on the side 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
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
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- General Engineering & Computer Science (AREA)
- Radar Systems Or Details Thereof (AREA)
- Traffic Control Systems (AREA)
- Business, Economics & Management (AREA)
- Health & Medical Sciences (AREA)
- Artificial Intelligence (AREA)
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- Game Theory and Decision Science (AREA)
- Medical Informatics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
Abstract
Description
Claims (11)
- 動力車両(1)の周辺領域(4)をキャプチャーする方法であって、前記周辺領域(4)における物体(8)に対して前記動力車両(1)が動かされている間に、距離センサ(3)からセンサデータが所定時間(T1、T2、T3)においていずれにおいても制御装置(7)によって受信されて、受信された前記センサデータに基づいて前記物体(8)が前記制御装置(7)により静止物体として又は移動物体(8)として分類され、
前記制御装置(7)によって、前記センサデータに基づいて、前記所定時間(T1、T2、T3)毎に距離値(a1、a2、a3)が検出され、前記距離値は、前記距離センサ(3)と前記物体(8)の少なくとも1つの所定の反射点(R1、R2、R3、R4)との間の距離を表し、前記物体(8)を分類するために時間(t)の関数としての前記距離値(a1、a2、a3)の曲線(10)は所定の基準曲線と比較されることを特徴とする方法。 - 時間(t)の関数としての前記距離値(a1、a2、a3)の前記曲線(10)が最初に低下してその後上昇する場合、前記物体(8)は静止物体(8)として分類されることを特徴とする請求項1に記載の方法。
- 時間(t)の関数としての前記距離値(a1、a2、a3)の前記曲線(10)が放物線である場合、前記物体(8)は、前記動力車両(1)が実質的に平行に動かされる静止物体(8)として分類されることを特徴とする請求項1又は2に記載の方法。
- 時間(t)の関数としての前記距離値(a1、a2、a3)の前記曲線(10)が放物線である場合、前記物体(8)は衝突フェンスとして分類されることを特徴とする請求項3に記載の方法。
- 前記物体(8)を分類するために、前記動力車両(1)の現在の速度及び/又は前記動力車両(1)の現在の進行方向が考慮されることを特徴とする請求項1〜4のいずれか一項に記載の方法。
- 前記距離値の最小値に基づいて前記動力車両と前記物体との間の距離が検出される請求項1〜5のいずれか一項に記載の方法。
- 前記周辺領域(4)を表す周辺のデジタルマップが、前記物体(8)の分類に基づいて更新される請求項1〜6のいずれか一項に記載の方法。
- 請求項1〜7のいずれか一項に記載の方法を実行するように設けられた動力車両(1)用の制御装置(7)。
- 距離センサ(3)、特にレーダーセンサ、を有し、請求項8に記載の制御装置(7)を有する運転者支援システム(2)。
- 前記運転者支援システム(2)は、前記動力車両(1)の少なくとも半自律操縦のための制御信号を出力するように構成されることを特徴とする請求項9に記載の運転者支援システム(2)。
- 請求項10に記載の運転者支援システム(2)を有する動力車両(1)。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102015119658.1 | 2015-11-13 | ||
DE102015119658.1A DE102015119658A1 (de) | 2015-11-13 | 2015-11-13 | Verfahren zum Erfassen eines Umgebungsbereichs eines Kraftfahrzeugs mit Objektklassifizierung, Steuereinrichtung, Fahrerassistenzsystem sowie Kraftfahrzeug |
PCT/EP2016/075344 WO2017080787A1 (de) | 2015-11-13 | 2016-10-21 | Seitliche leitplankenerkennung über einen abstandssensor im kfz |
Publications (2)
Publication Number | Publication Date |
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JP2019500683A true JP2019500683A (ja) | 2019-01-10 |
JP6668472B2 JP6668472B2 (ja) | 2020-03-18 |
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JP2018524428A Active JP6668472B2 (ja) | 2015-11-13 | 2016-10-21 | 物体分類を有する動力車両の周辺領域をキャプチャーする方法、制御装置、運転者支援システム、及び動力車両 |
Country Status (6)
Country | Link |
---|---|
US (1) | US11435442B2 (ja) |
EP (1) | EP3374791A1 (ja) |
JP (1) | JP6668472B2 (ja) |
KR (1) | KR102172071B1 (ja) |
DE (1) | DE102015119658A1 (ja) |
WO (1) | WO2017080787A1 (ja) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
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DE102016202112A1 (de) * | 2016-02-12 | 2017-08-17 | Robert Bosch Gmbh | Radarsensor für Fahrerassistenzsysteme in Kraftfahrzeugen |
ITUA20163205A1 (it) * | 2016-05-06 | 2017-11-06 | Cnh Ind Italia Spa | Metodo e sistema per la mappatura di un luogo di lavoro. |
DE102017214022A1 (de) * | 2017-08-11 | 2019-02-14 | Audi Ag | Verfahren zur Ermittlung von die Eigenbewegung eines Kraftfahrzeugs beschreibenden Egodaten und Kraftfahrzeug |
DE102021121406A1 (de) * | 2021-08-18 | 2023-02-23 | Bayerische Motoren Werke Aktiengesellschaft | Verfahren und Lokalisierungseinrichtung zur Lokalisierung eines Kraftfahrzeugs und Kraftfahrzeug |
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JP2008207726A (ja) * | 2007-02-27 | 2008-09-11 | Toyota Motor Corp | 駐車支援装置 |
JP2014137743A (ja) * | 2013-01-17 | 2014-07-28 | Denso It Laboratory Inc | 情報提供システム |
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JP3656301B2 (ja) * | 1995-12-28 | 2005-06-08 | 株式会社デンソー | 車両用障害物警報装置 |
DE10243508A1 (de) | 2002-09-19 | 2004-04-01 | Robert Bosch Gmbh | Verfahren und Anordnung zum vorbeugenden Schutz von Fahrzeuginsassen bei gefährlichen Situationen |
JP4298577B2 (ja) * | 2004-05-06 | 2009-07-22 | 三菱電機株式会社 | 車両用警報装置 |
DE102004046873A1 (de) | 2004-09-28 | 2006-04-13 | Robert Bosch Gmbh | Radarsensor und Verfahren zur Abstands- und Geschwindigkeitsregelung |
US8072370B2 (en) * | 2006-10-31 | 2011-12-06 | Valeo Radar Systems, Inc. | System and method for generating an alert signal in a detection system |
DE102008043394A1 (de) | 2008-11-03 | 2010-05-06 | Robert Bosch Gmbh | Verfahren zur Detektion von Peaküberlagerungen in einem diskreten Spektrum eines Ortungssignals |
JP5618744B2 (ja) * | 2010-05-26 | 2014-11-05 | 三菱電機株式会社 | 道路形状推定装置及びコンピュータプログラム及び道路形状推定方法 |
JP5538655B2 (ja) * | 2011-03-25 | 2014-07-02 | 三菱電機株式会社 | 車載レーダ装置 |
US8930063B2 (en) * | 2012-02-22 | 2015-01-06 | GM Global Technology Operations LLC | Method for determining object sensor misalignment |
JP6182987B2 (ja) * | 2012-07-06 | 2017-08-23 | 株式会社Soken | 並走車検出装置 |
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WO2014118968A1 (ja) * | 2013-02-01 | 2014-08-07 | 三菱電機株式会社 | レーダ装置 |
JP2015055541A (ja) * | 2013-09-11 | 2015-03-23 | トヨタ自動車株式会社 | 周辺物体検知装置 |
US9255988B2 (en) * | 2014-01-16 | 2016-02-09 | GM Global Technology Operations LLC | Object fusion system of multiple radar imaging sensors |
JP6552167B2 (ja) * | 2014-07-16 | 2019-07-31 | 株式会社デンソー | 車載レーダ装置および報知システム |
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- 2015-11-13 DE DE102015119658.1A patent/DE102015119658A1/de active Pending
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- 2016-10-21 JP JP2018524428A patent/JP6668472B2/ja active Active
- 2016-10-21 US US15/775,215 patent/US11435442B2/en active Active
- 2016-10-21 EP EP16784521.3A patent/EP3374791A1/de not_active Withdrawn
- 2016-10-21 KR KR1020187013454A patent/KR102172071B1/ko active IP Right Grant
- 2016-10-21 WO PCT/EP2016/075344 patent/WO2017080787A1/de active Application Filing
Patent Citations (3)
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DE102005059902A1 (de) * | 2005-12-15 | 2007-06-28 | Robert Bosch Gmbh | Verfahren zur Sensorzustandserfassung sowie Abstandsmessvorrichtung und Einparkassistenzsystem |
JP2008207726A (ja) * | 2007-02-27 | 2008-09-11 | Toyota Motor Corp | 駐車支援装置 |
JP2014137743A (ja) * | 2013-01-17 | 2014-07-28 | Denso It Laboratory Inc | 情報提供システム |
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Publication number | Publication date |
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EP3374791A1 (de) | 2018-09-19 |
DE102015119658A1 (de) | 2017-05-18 |
JP6668472B2 (ja) | 2020-03-18 |
US20180321377A1 (en) | 2018-11-08 |
KR102172071B1 (ko) | 2020-10-30 |
WO2017080787A1 (de) | 2017-05-18 |
KR20180069019A (ko) | 2018-06-22 |
US11435442B2 (en) | 2022-09-06 |
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