JP6254690B2 - 自動車のための運転者アシストシステムで真の障害物と見かけの障害物との間の区別をする方法 - Google Patents
自動車のための運転者アシストシステムで真の障害物と見かけの障害物との間の区別をする方法 Download PDFInfo
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- JP6254690B2 JP6254690B2 JP2016518877A JP2016518877A JP6254690B2 JP 6254690 B2 JP6254690 B2 JP 6254690B2 JP 2016518877 A JP2016518877 A JP 2016518877A JP 2016518877 A JP2016518877 A JP 2016518877A JP 6254690 B2 JP6254690 B2 JP 6254690B2
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- 238000000034 method Methods 0.000 claims description 16
- 238000012795 verification Methods 0.000 claims description 9
- 238000005259 measurement Methods 0.000 claims description 8
- 238000012545 processing Methods 0.000 description 3
- 238000011156 evaluation Methods 0.000 description 2
- 238000010200 validation analysis Methods 0.000 description 2
- 241000283690 Bos taurus Species 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000002310 reflectometry Methods 0.000 description 1
- 239000010865 sewage Substances 0.000 description 1
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
- B60K31/0008—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including means for detecting potential obstacles in vehicle path
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
-
- 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
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/02—Active or adaptive cruise control system; Distance control
- B60T2201/022—Collision avoidance systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
- B60T2210/30—Environment conditions or position therewithin
- B60T2210/36—Global Positioning System [GPS]
-
- 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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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Traffic Control Systems (AREA)
- Regulating Braking Force (AREA)
Description
12 レーダセンサ
14 追加のセンサ
16 出力ユニット
18 位置測定システム
20 インターフェース
22,24 データバンク
Claims (8)
- 自身の位置を判定するための位置測定システム(18)と、レーダ目標物の距離と相対速度を測定するためのレーダセンサ(12)と、車両の周辺を監視するように車両に組み込まれているビデオカメラ(14)と、を有する自動車のための運転者アシストシステムで真の障害物と見かけの障害物との間の区別をする方法において、
前記ビデオカメラ(14)によって撮影された前記レーダ目標物のビデオ画像を評価することによって、前記レーダ目標物が真の障害物であるか、見かけの障害物であるかを区別し、
見かけの障害物として認識されたレーダ目標物についての位置表示がデータバンク(22,24)に保存され、前記運転者アシストシステムは、該運転者アシストシステムが静止しているレーダ目標物を特定の位置で認識したときに、当該位置について見かけの障害物が保存されているかどうかを前記データバンク(22,24)に照会することを特徴とする方法。 - データバンク照会の後に検証アルゴリズムが実行され、該検証アルゴリズムは、認識されたレーダ目標物を前記レーダセンサ(12)のデータおよび/または追加のセンサ(14)のデータを参照して真の障害物として検証することを目的としている、請求項1に記載の方法。
- 見かけの障害物の位置表示は自身の車両の車内にあるローカルデータバンク(22)に保存される、請求項1または2に記載の方法。
- 前記運転者アシストシステムは前記レーダセンサにより検出された静止しているレーダ目標物の位置表示を、当該レーダ目標物の位置がまだ保存されておらずレーダ目標物が真の障害物として判明しなかったときに、見かけの障害物として保存するよう指示する、請求項2に記載の方法。
- 認識されたレーダ目標物の位置表示は、真の障害物としての検証が失敗したときには、見かけの障害物として保存される、請求項2に記載の方法。
- 認識された静止しているレーダ目標物の位置表示は、自身の車両が当該レーダ目標物の上を通過したときには、見かけの障害物として保存される、請求項4に記載の方法。
- 認識された静止しているレーダ目標物の位置表示は、前記運転者アシストシステムが車両のブレーキシステムへの介入を指示して運転者が当該介入を中止したときには、見かけの障害物として保存される、請求項4に記載の方法。
- 見かけの障害物の位置表示は、無線データネットワークのインターフェース(20)を介して前記運転者アシストシステムが通信する外部のデータバンク(24)に保存される、請求項1から7のいずれか1項に記載の方法。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE201310210928 DE102013210928A1 (de) | 2013-06-12 | 2013-06-12 | Verfahren zur Unterscheidung zwischen echten Hindernissen und Scheinhindernissen in einem Fahrerassistenzsystem für Kraftfahrzeuge |
DE102013210928.8 | 2013-06-12 | ||
PCT/EP2014/057696 WO2014198441A1 (de) | 2013-06-12 | 2014-04-16 | Verfahren zur unterscheidung zwischen echten hindernissen und scheinhindernissen in einem fahrerassistenzsystem für kraftfahrzeuge |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2016527602A JP2016527602A (ja) | 2016-09-08 |
JP6254690B2 true JP6254690B2 (ja) | 2017-12-27 |
Family
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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JP2016518877A Active JP6254690B2 (ja) | 2013-06-12 | 2014-04-16 | 自動車のための運転者アシストシステムで真の障害物と見かけの障害物との間の区別をする方法 |
Country Status (6)
Country | Link |
---|---|
US (1) | US10031225B2 (ja) |
EP (1) | EP3008710A1 (ja) |
JP (1) | JP6254690B2 (ja) |
CN (1) | CN108028017B (ja) |
DE (1) | DE102013210928A1 (ja) |
WO (1) | WO2014198441A1 (ja) |
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DE102015111925B4 (de) * | 2015-07-22 | 2021-09-23 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Spurhalteassistenzsystem für ein Fahrzeug |
DE102015116586A1 (de) | 2015-09-30 | 2017-03-30 | Claas E-Systems Kgaa Mbh & Co Kg | Selbstfahrende landwirtschaftliche Arbeitsmaschine |
DE102015116574A1 (de) | 2015-09-30 | 2017-03-30 | Claas E-Systems Kgaa Mbh & Co Kg | Selbstfahrende landwirtschaftliche Arbeitsmaschine |
US10262540B2 (en) * | 2016-01-29 | 2019-04-16 | Ford Global Technologies, Llc | Bollard receiver identification |
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-
2013
- 2013-06-12 DE DE201310210928 patent/DE102013210928A1/de active Pending
-
2014
- 2014-04-16 JP JP2016518877A patent/JP6254690B2/ja active Active
- 2014-04-16 EP EP14719679.4A patent/EP3008710A1/de not_active Ceased
- 2014-04-16 CN CN201480084705.4A patent/CN108028017B/zh active Active
- 2014-04-16 US US14/897,579 patent/US10031225B2/en active Active
- 2014-04-16 WO PCT/EP2014/057696 patent/WO2014198441A1/de active Application Filing
Also Published As
Publication number | Publication date |
---|---|
CN108028017B (zh) | 2021-04-27 |
DE102013210928A1 (de) | 2014-12-18 |
WO2014198441A1 (de) | 2014-12-18 |
CN108028017A (zh) | 2018-05-11 |
EP3008710A1 (de) | 2016-04-20 |
JP2016527602A (ja) | 2016-09-08 |
US10031225B2 (en) | 2018-07-24 |
US20160139262A1 (en) | 2016-05-19 |
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