DE102019122565A1 - Method for operating a detection device and detection device - Google Patents

Abstract

A method for operating a detection device (12), which is used to detect objects (18) in a monitoring area (16), and a detection device (12) are described. In the method, electromagnetic transmission signals (26) are sent to a monitoring area (16). Electromagnetic reception signals (28) which originate from transmission signals (26) which are reflected on objects (18) in the monitoring area (16) are received. Object information about objects (18) in the monitoring area (16) is determined from the transmit signals (26) and the associated receive signals (28). At least one device state variable (P), which characterizes a state of the detection device (12), is determined from the object information. At least one space coordinate system (36), which characterizes the space of the monitored area (16), is determined from the object information. At least one orientation variable (θ, ρ, Φ) is determined which describes the orientation of the at least one spatial coordinate system (36) with respect to a predetermined device coordinate system (34). The at least one spatial coordinate system (36) is permanently assigned to the detection device (12). The at least one device state variable (P) is regulated on the basis of at least one orientation variable (θ, ρ, Φ).

Description

• - elektromagnetische Sendesignale in einen Überwachungsbereich gesendet werden,
• - elektromagnetische Empfangssignale, welche von Sendesignalen herrühren, die an Objekten in dem Überwachungsbereich reflektiert werden, empfangen werden,
• - aus den Sendesignalen und den zugehörigen Empfangssignalen Objektinformationen über Objekte im Überwachungsbereich ermittelt werden.

The invention relates to a method for operating a detection device which is used to detect objects in a monitoring area in which

• - electromagnetic transmission signals are sent into a surveillance area,
• - Electromagnetic received signals that originate from transmitted signals that are reflected on objects in the surveillance area are received,
• - Object information about objects in the monitoring area can be determined from the transmit signals and the associated receive signals.

• - mit wenigstens einem Sender zum Senden von elektromagnetischen Sendesignalen in den Überwachungsbereich,
• - mit wenigstens einem Empfänger zum Empfangen von elektromagnetischen Empfangssignalen, welche von Sendesignalen herrühren, die an Objekten in dem Überwachungsbereich reflektiert werden,
• - und mit wenigstens einer Steuer- und Auswerteeinrichtung, mit der aus den Sendesignalen und den zugehörigen Empfangssignalen Objektinformationen über Objekte in dem Überwachungsbereich ermittelt werden können.

The invention also relates to a detection device for detecting objects in a monitoring area,

• - With at least one transmitter for sending electromagnetic signals into the surveillance area,
• - With at least one receiver for receiving electromagnetic reception signals which originate from transmission signals which are reflected on objects in the monitoring area,
• - and with at least one control and evaluation device with which object information about objects in the monitoring area can be determined from the transmit signals and the associated receive signals.

State of the art

From the DE 10 2011 108 683 A1 an optical measuring device for a vehicle is known which comprises a sensor unit designed as a laser scanner with a housing. An optical sensor generates pulsed laser beams which are deflected via a transmitter mirror unit and emitted through a transmitter window into an area to be monitored. Pulsed laser beams are received via a receiving window, which are reflected in response to the emitted pulsed laser beams from objects or obstacles which are arranged in the monitoring area. The received laser beams are deflected by a receiving mirror unit and guided by receiving optics to an optical receiver. The output signal of the optical receiver is then evaluated to determine the transit time of the laser beams in order to determine the distance to a recognized object in the monitoring area.

The invention is based on the object of designing a method and a detection device of the type mentioned at the beginning with which a state of the detection device, in particular a detection range and / or an alignment of the detection device, can be determined.

Disclosure of the invention

• - aus den Objektinformationen wenigstens eine Vorrichtungs-Zustandsgröße ermittelt wird, welche einen Zustand der Detektionsvorrichtung charakterisiert,
• - aus den Objektinformationen wenigstens ein Raum-Koordinatensystem ermittelt wird, welches den Raum des Überwachungsbereichs charakterisiert,
• - wenigstens eine Orientierungsgröße ermittelt wird, welche die Orientierung des wenigstens einen Raum-Koordinatensystems zu einem vorgegebenen Vorrichtungs-Koordinatensystem beschreibt, wobei das wenigstens eine Raum-Koordinatensystem fest der Detektionsvorrichtung zugeordnet ist,
• - die wenigstens eine Vorrichtungs-Zustandsgröße auf Basis wenigstens einer Orientierungsgröße reguliert wird.

According to the invention, this object is achieved in that

• at least one device state variable is determined from the object information, which characterizes a state of the detection device,
• - At least one space coordinate system is determined from the object information, which characterizes the space of the monitoring area,
• - At least one orientation variable is determined which describes the orientation of the at least one spatial coordinate system to a predetermined device coordinate system, the at least one spatial coordinate system being permanently assigned to the detection device,
• the at least one device state variable is regulated on the basis of at least one orientation variable.

According to the invention, a device state variable of the detection device is determined and regulated on the basis of the orientation of the detection device in space. With corresponding device state variables, the detection range of the detection device and / or the position and / or orientation of the detection device in space can in particular be characterized. State variables can be used to describe a mathematical state of dynamic systems. A detection device that moves in space is a dynamic system. With a dynamic Detection device, the device state variables are coupled with the dynamic behavior of the detection device. The dynamic behavior of the detection device is influenced in particular by the inertia and mechanical connections.

Dynamic detection devices are used in particular in vehicle technology and robotics, where the detection device is moved in space with a vehicle or part of a robot system.

In the case of detection devices that are movable in space, a stable description of the state of the detection device is important for determining the specification and the performance. The determination of the state of the detection device should reflect the stable working state and performance. The description of the state must not be influenced by changes in the movement behavior of the detection device. During the operation of the detection device that is movable in space, the state of the detection device and the device state variable are influenced by the movement dynamics, in particular through acceleration, braking and / or change of direction of the detection device. An acceleration process can have different effects on the state of the detection device than a braking process. It is necessary to stabilize the description of the state of the detection device against dynamic changes and to decouple the description of the state and the device state variable from movement variations.

For this purpose, the state, in particular at least one device state variable, of the detection device at the end of production can be determined, in particular by means of calibration. According to the invention, at least one device state variable is regulated during operation on the basis of at least one orientation variable which characterizes the movement of the detection device in space.

The detection device can advantageously operate according to a signal transit time method, in particular a light pulse transit time method. Optical detection devices operating according to the light pulse transit time method can be designed and designated as time-of-flight (TOF), light detection and ranging systems (LiDAR), laser detection and ranging systems (LaDAR) or the like. A transit time from the transmission of a transmission signal, in particular an electromagnetic transmission signal, in particular a light pulse, with a transmitter and the reception of the corresponding reflected transmission signal, i.e. a reception signal, is measured with a receiver and a distance between the detection device and the detected object is determined from this .

The detection device can advantageously be designed as a scanning system. A monitoring area can be scanned, i.e. scanned, with transmission signals. For this purpose, the corresponding transmission signals can be swiveled over the monitoring area with regard to their direction of propagation. At least a deflection device, in particular a scanning device, a deflection mirror device or the like, can be used here.

The detection device can advantageously be designed as a laser-based distance measuring system. The laser-based distance measuring system can have at least one laser as the light source of a transmitter. With the at least one laser, in particular, pulsed transmission beams can be transmitted as transmission signals. The laser can be used to emit transmission signals in frequency ranges that are visible or invisible to the human eye. Correspondingly, at least one receiver can have a detector designed for the frequency of the emitted light. The laser-based distance measuring system can advantageously be a laser scanner. With a laser scanner, a monitoring area can be scanned with a particularly pulsed laser beam.

The invention can be used in a vehicle, in particular a motor vehicle. The invention can advantageously be used in a land vehicle, in particular a passenger car, a truck, a bus, a motorcycle or the like, an aircraft and / or a watercraft. The invention can also be used in vehicles that can be operated autonomously or at least partially autonomously. However, the invention is not limited to vehicles. It can also be used in other technical areas, such as robotics in particular.

The detection device can advantageously be connected to or part of at least one electronic control device of a vehicle, in particular a driver assistance system and / or chassis control and / or a driver information device and / or a parking assistance system and / or gesture recognition or the like. In this way one can at least partially autonomous operation of the vehicle are made possible. Correspondingly, the detection device can be connected to an electronic control device of a robotic system, which in this way can be operated autonomously or partially autonomously.

The detection device can be used to detect stationary or moving objects, in particular lanes, vehicles, people, animals, plants, obstacles, uneven road surfaces, in particular potholes or stones, road boundaries, traffic signs, free spaces, in particular parking spaces, or the like.

In an advantageous embodiment of the method, at least one spatial coordinate system can be determined from object information originating from at least one reference spatial area. In this way, the orientation of the detection device can be determined relative to the reference spatial area.

At least three points of the reference spatial area can advantageously be determined with the detection device. In this way the reference room area can be identified. Three points are sufficient to characterize a flat reference room surface.

The at least one device state variable can advantageously be regulated in situations in which a reference spatial area can be identified with the detection device. A reference spatial area can advantageously be identified in situations in which no further object, in particular an obstacle or the like, is detected in the monitoring area.

The detection device can advantageously be used to determine whether a detected object is a reference spatial area. Advantageously, areas that are flat within predetermined tolerances can be identified as reference spatial areas. Orthogonal spatial coordinate systems can easily be aligned on flat surfaces.

A floor, in particular a roadway, can advantageously be used as a reference spatial area. In this way, the device state variable can be regulated relative to the ground, in particular to the roadway.

In a further embodiment of the method, a detection range of the detection device can be determined as at least one device state variable. In this way, a statement can be made about the efficiency of the detection direction. The detection range indicates the range up to which objects can be detected with the detection device.

The detection range can advantageously be determined from at least one echo pulse width of at least one electromagnetic received signal, in particular from a difference between echo pulse widths from successive measurements. In this way, the detection range can be obtained from the received signals that are already present.

In a further advantageous embodiment of the method, roll-pitch-yaw angles can be determined as at least one orientation variable. In this way, the orientation of the device coordinate system of the detection device relative to a spatial coordinate system can be described more simply.

The device coordinate system and the spatial coordinate system can each advantageously be orthogonal coordinate systems. In this way, the roll, pitch, and yaw movements of the detection device in space can be described with the roll-pitch-yaw angles.

In a further advantageous embodiment of the method, the device coordinate system can initially be specified. In this way, the device coordinate system can be permanently assigned to the detection device.

The device coordinate system can advantageously be determined initially at the end of production of the detection device, in particular at the end of production of a vehicle or a robot system with the detection device, in particular by means of calibration. In this way, the device coordinate system can be determined under predetermined conditions.

The device coordinate system of the detection device can advantageously be specified with a geometric arrangement of transmitters and / or receivers of the detection device.

The device coordinate system can advantageously be specified via an installation point and / or alignment of the detection device on or in a vehicle or a robot system or the like. In this way, with the aid of the device coordinate system, an orientation of the vehicle or the robot system, which carries the detection device, can be determined in space.

In a further advantageous embodiment of the method, at least one device state variable can be smoothed at least once in a method for regulating the at least one device state variable. In this way, a signal-to-noise ratio can be improved. In this way, the overall device state variable can be better regulated.

At least one device state variable can advantageously be smoothed with at least one filter. A filter can be implemented using software and / or hardware technology.

In a further advantageous embodiment of the method, at least one device state variable or possibly a smoothed device state variable can be reduced by an influence of at least one orientation variable on the regulation of the at least one device state variable. In this way, dynamic influences on the detection device can be compensated more easily.

At least one device state variable or, if necessary, a smoothed device state variable can advantageously be subjected to the following calculation process: $$\text{P ''}=\text{P '}-\left[\text{a}\left(\mathrm{\rho }-{\mathrm{\rho }}_0\right)+\text{b}\left(\mathrm{\Theta }-{\mathrm{\Theta }}_0\right)+\text{c}\left(\mathrm{\Phi }-{\mathrm{\Phi }}_0\right)\right]$$

• P'': geglättete korrigierte Vorrichtungs-Zustandsgröße,
• P': geglättete Vorrichtungs-Zustandsgröße,
• ρ, Θ, Φ: Roll-Nick-Gier-Winkel,
• ρ₀, Θ₀, Φ₀: Anfangs-Roll-Nick-Gier-Winkel in einem statischen Zustand ohne Störung,
• a, b, c: Einflussparameter

There are:

• P '': smoothed corrected device state variable,
• P ': smoothed device state quantity,
• ρ, Θ, Φ: roll-pitch-yaw angle,
• ρ ₀ , Θ ₀ , Φ ₀ : initial roll-pitch-yaw angle in a static state without disturbance,
• a, b, c: influencing parameters

In this way, the device state quantity can be corrected more easily using the roll-pitch-yaw angles.

In a further advantageous embodiment of the method, an influence of at least one orientation variable on the regulation of the at least one device state variable can be corrected by means of an objective function. In this way, the regulation of the at least one device state variable can be further improved.

In order to determine the influence of the at least one orientation variable, at least one extreme point of at least one objective function can advantageously be determined.

In a further advantageous embodiment of the method, at least one influencing parameter for at least one orientation variable can be determined from at least one extreme point of an objective function. With the aid of the at least one influencing parameter, an influence of the movement of the detection device on the at least one device state variable can be corrected better.

Advantageously, an influence of the at least one orientation variable on the regulation of the at least one device state variable can be corrected using the following objective function: $$\text{bad min}\left\{\text{Standard deviation nug}\left(\text{P ''}\right)\right\}={\text{bad min}}_{\left(\text{a},\text{b},\text{c},\mathrm{\rho }\mathrm{0,}\mathrm{\Theta }\mathrm{0,}\mathrm{\Phi }0\right)}\left(\frac{1}{N}\sqrt{{{\displaystyle {\sum }_{i=0}^N\left(P\text{'}\text{'}\left(i\right)-\overline{P\text{'}\text{'}}\right)}}^2}\right)$$

• P'': geglättete korrigierte Vorrichtungs-Zustandsgröße,
• ρ₀, Θ₀, Φ₀: Anfangs-Roll-Nick-Gier-Winkel in einem statischen Zustand ohne Störung,
• a, b, c: Einflussparameter
• i = 1, N: Nummern der Messungen

There are:

• P '': smoothed corrected device state variable,
• ρ ₀ , Θ ₀ , Φ ₀ : initial roll-pitch-yaw angle in a static state without disturbance,
• a, b, c: influencing parameters
• i = 1, N: numbers of the measurements

In this way, the influencing parameters a, b, c can be optimized in particular according to a feedforward method.

Furthermore, the object is achieved in the device according to the invention in that the detection device has at least one means for performing the method according to the invention.

In addition, the features and advantages shown in connection with the method according to the invention and the device according to the invention and their respective advantageous configurations apply mutatis mutandis and vice versa. The individual features and advantages can of course be combined with one another, whereby further advantageous effects can arise that go beyond the sum of the individual effects.

Figure list

• 1 eine Vorderansicht eines Kraftfahrzeugs mit einer Detektionsvorrichtung zur Detektion von Objekten in einem Überwachungsbereich in Fahrtrichtung vor dem Kraftfahrzeug und einem Fahrerassistenzsystem;
• 2 das Kraftfahrzeug in einer Draufsicht in einer Fahrsituation;
• 3 das Kraftfahrzeug aus der 2 in einer Seitenansicht;
• 4 ein Raum-Koordinatensystem und ein Vorrichtungs-Koordinatensystem für das Kraftfahrzeug aus den 1 bis 3 in den drei Koordinatenebenen mit den entsprechenden Roll-Nick-Gier-Winkeln;
• 5 eine Regulationseinrichtung der Detektionsvorrichtung des Kraftfahrzeugs aus den 1 bis 3 zur Kompensation von Einflüssen einer Fahrdynamik des Kraftfahrzeugs auf die Erfassungsreichweite der Detektionsvorrichtung.

Further advantages, features and details of the invention emerge from the following description, in which exemplary embodiments of the invention are explained in more detail with reference to the drawing. The person skilled in the art will expediently also consider the features disclosed in combination in the drawing, the description and the claims individually and combine them into meaningful further combinations. It show schematically

• 1 a front view of a motor vehicle with a detection device for detecting objects in a monitoring area in the direction of travel in front of the motor vehicle and a driver assistance system;
• 2 the motor vehicle in a top view in a driving situation;
• 3 the motor vehicle from the 2 in a side view;
• 4th a spatial coordinate system and a device coordinate system for the motor vehicle from the 1 to 3 in the three coordinate planes with the corresponding roll-pitch-yaw angles;
• 5 a regulation device of the detection device of the motor vehicle from the 1 to 3 to compensate for influences of driving dynamics of the motor vehicle on the detection range of the detection device.

In the figures, the same components are provided with the same reference symbols.

Embodiment (s) of the invention

In the 1 is a motor vehicle 10 shown in the form of a passenger car in the front view. The car 10 comprises a detection device 12 , which are exemplified in a front bumper of the motor vehicle 10 is arranged. The detection device 12 is with a driver assistance system 14th of the motor vehicle 10 connected. With the detection device 12 can be a surveillance area 16 in the direction of travel in front of the motor vehicle 10 monitored for objects. The detection device 12 can also be elsewhere on the motor vehicle 10 be arranged and oriented differently.

To the objects, which with the detection device 12 can be detected, belongs to the road 18th on which the motor vehicle 10 moves. In addition, with the detection device 12 Standing or moving objects, for example other vehicles, people, animals, plants, obstacles, uneven road surfaces, for example potholes or stones, road boundaries, traffic signs, open spaces, for example parking spaces, or the like, can be detected.

At the detection device 12 This is, for example, a so-called LiDAR system with which the distances, directions and speeds of objects relative to the motor vehicle 10 can be captured. Also can with detection device 12 the orientation of the roadway 18th be determined.

The detection device 12 is by motor vehicle 10 movable in space. The one with the detection device 12 determined object information about detected objects, for example the orientation and the course of the road 18th , are sent to the driver assistance system 14th transmitted. With the driver assistance system 14th can the motor vehicle 10 operated autonomously or partially autonomously in a manner that is not of further interest here.

The detection device 12 assigns a transmitter 20th , a recipient 22nd and a control and evaluation device 24 on. With the transmitter 20th become electromagnetic transmission signals 26th for example in the form of laser pulses in the monitoring area 16 Posted. Thereby the direction of the transmission signals 26th changed between pulses so that the monitoring area 16 can be scanned, for example, in two dimensions. Any objects, such as the roadway 18th , in the direction of the detection direction 12 reflected transmission signals 26th will be with the recipient 22nd as electromagnetic received signals 28 , namely laser pulses received. With the control and evaluation device 24 are made from the transmit signals 26th and the associated received signals 28 Object information, for example the distance, the speed and the direction of the corresponding object relative to the detection device 12 , determined.

In the 2 and 3 is shown as an example that the transmission signals 26th at four object points, for example 30th , which are each indicated with an asterisk, on the surface of the roadway 18th be reflected. Using the object information from the four object points 30th can the roadway 18th identified as such. It can also be seen that the roadway 18th is flat within certain tolerances.

To ensure safe and reliable operation, it is necessary to check the status of the detection device 12 to know. The state of the detection device 12 can, for example, with device state variables of the detection device 12 such as the detection range P or the orientation of the detection device 12 , to be discribed. The detection range P is the range of the detection device 12 , in the objects with the detection device 12 can still be captured.

The state of the detection device 12 is initial, for example at the end of production of the motor vehicle 10 , determined by way of example by means of calibration. While the vehicle is in motion 10 becomes the state of the detection device 12 influenced by vehicle dynamics, for example. Acceleration processes, braking processes and / or changes of direction of the motor vehicle 10 affect the state of the detection device 12 . Acceleration processes have different effects on the state of the detection device 12 as braking processes. A stable description of the state is important for assessing the specification and performance of the detection device 12 . In order to obtain a stable description of the state, the influence of the movement of the motor vehicle 10 and thus the detection device 12 corrected using a regulatory process described below.

When operating the detection device 12 measurements are made continuously or at specific moments to monitor the monitoring area 16 carried out on objects. The measurements are transmitted signals 26th in different directions in the monitoring area 16 sent and corresponding received signals 28 receive. The object information obtained therefrom is used to determine whether the motor vehicle is 10 on a substantially flat roadway 18th is located. A level roadway 18th can serve as a reference space for the further procedure.

As soon as a level roadway 18th is recognized, the regulation method is used to compensate for influences on driving dynamics of the motor vehicle 10 started on the detection range P.

The detection range P is exemplified in a manner not of further interest here as the difference between the echo pulse widths (EPW) of the received signals 28 determined.

About the influence of the vehicle dynamics on the detection device 12 will describe a relationship between a given device coordination system 34 the detection device 12 and a space coordinate system 36 determined. The space coordinate system 36 is made using the level roadway 18th determined as a reference room area.

The fixture coordinate system 34 is an example of an orthogonal coordinate system with the coordinates x, y and z. The fixture coordinate system 34 is initial, for example at the end of production of the motor vehicle 10 , given. The fixture coordinate system 34 is generally not identical to a vehicle coordinate system, not shown, of the motor vehicle 10 . Since the Detection device 12 usually fixed in the motor vehicle 10 is arranged, for example, at the end of production, a firmly defined relationship between the device coordinate system 34 and the vehicle coordinate system.

The space coordinate system 36 based on the spatial orientation of the roadway 18th , which using the detection device 12 is determined, determined. The space coordinate system 36 is an orthogonal coordinate system with the coordinates x ₀ , yo and z ₀ .

When driving the motor vehicle 10 the orientation of the device coordinate system changes, for example, as a result of acceleration processes, braking processes and / or changes in direction 34 in space, i.e. relative to the space coordinate system 36 . These changes can be described with the so-called roll-pitch-yaw angles (θ, ρ, Φ). For explanation are in the 4th the roll-pitch-yaw angles (θ, ρ, Φ) between the device coordinate system 34 and the space coordinate system 36 shown in the three coordinate planes.

The roll angle θ describes the rolling of the motor vehicle 10 around its vehicle longitudinal axis 38 , which are exemplary parallel to the x-axis of the device coordinate system 34 runs. The car 10 For example, it “rolls” when cornering or when the road is sloping 18th .

The pitch angle ρ describes the pitch of the motor vehicle 10 around its transverse vehicle axis 40 , which are exemplary parallel to the y-axis of the device coordinate system 34 runs. The car 10 "Nods" when braking and accelerating.

The yaw angle Φ describes the yaw of the motor vehicle 10 around its vertical vehicle axis, which is for example parallel to the z-axis of the device coordinate system 34 runs. The car 10 "Yaws" when changing direction. During normal operation of the motor vehicle 10 changes in the yaw angle Φ prevail.

The regulation process is carried out with a regulation device 44 , which is exemplified in the 5 is indicated schematically, performed. The regulatory device 44 can, for example, in software and / or hardware technology in the control and evaluation device 24 be realized.

With an evaluation device 46 the regulator 44 is, for example, from the difference between the echo pulse widths of the received signals 28 the detection range P is determined.

The detection range P is smoothed with a first filter F1 and sent to a calculation means as the smoothed detection range P ' 56 transmitted.

In addition, the object information becomes the roadway 18th an orientation determination means 48 transmitted. With the orientation tool 48 becomes the lane from the object information 18th the spatial coordinate system 36 determined. On the basis of the device coordinate system 34 and the space coordinate system 36 the roll-pitch-yaw angles (θ, ρ, Φ) are determined.

With a second means of calculation 50 a difference is formed from the pitch angle ρ and an initial pitch angle po.

With a third means of calculation 52 a difference is established between the roll angle θ and an initial roll angle θ ₀ .

With a fourth means of calculation 54 a difference between the yaw angle Φ and an initial yaw angle Φ _{0 is} formed.

The initial pitch angle ρ ₀ , the initial roll angle θ ₀ and the initial yaw angle Φ ₀ have been determined in advance in a static state, for example when the motor vehicle is stopped 10 without interference from other objects based on the roadway 18th determined.

durchgeführt. Dabei wird die Differenz aus dem Nick-Winkel ρ und dem Anfangs-Nick-Winkel po mit einem ersten Einflussparameter a multipliziert. Die Differenz aus dem Roll-Winkel θ und dem Anfangs-Roll-Winkel θ₀ wird mit einem zweiten Einflussparameter b multipliziert. Die Differenz aus dem Gier-Winkel Φ und dem Anfangs-Gier-Winkel Φ₀ wird mit einem dritten Einflussparameter c multipliziert. Die jeweiligen Produkte werden mit dem ersten Berechnungsmittel 56 von der geglätteten Erfassungsreichweite P' abgezogen. Das Ergebnis wird als korrigierte geglättete Erfassungsreichweite P'' an einen zweiten Filter F2 übermittelt.A first calculation is then made according to the formula $$\text{P ''}=\text{P '}-\left[\text{a}\left(\mathrm{\rho }-{\mathrm{\rho }}_0\right)+\text{b}\left(\mathrm{\Theta }-{\mathrm{\Theta }}_0\right)+\text{c}\left(\mathrm{\Phi }-{\mathrm{\Phi }}_0\right)\right]$$

carried out. The difference between the pitching angle ρ and the initial pitching angle po is multiplied by a first influencing parameter a. The difference between the roll angle θ and the initial roll angle θ ₀ is multiplied by a second influencing parameter b. The difference between the yaw angle Φ and the initial yaw angle Φ ₀ is multiplied by a third influencing parameter c. The respective products are calculated using the first calculation means 56 subtracted from the smoothed detection range P '. The result is transmitted to a second filter F2 as a corrected, smoothed detection range P ″.

The corrected smoothed detection range P ″ is smoothed with the second filter F2 and output _{as a regulated detection range P 0.} The regulated detection range P ₀ serves as a description of the state of the detection device 12 .

The above-described influencing parameters a, b and c are determined using what is known as a feedforward method.

To determine the influencing parameters a, b and c, a target function ZF is defined in which the variation of the corrected smoothed detection range P ″ is minimal. The objective function ZF (a, b, c) = {standard deviation (P '')} reaches its minimum during the process. The following equation is solved to determine the influencing parameters a, b and c: $$\text{bad min}\left\{\text{Standard deviation nug}\left(\text{P ''}\right)\right\}={\text{bad min}}_{\left(\text{a},\text{b},\text{c},\mathrm{\rho }\mathrm{0,}\mathrm{\Theta }\mathrm{0,}\mathrm{\Phi }0\right)}\left(\frac{1}{N}\sqrt{{{\displaystyle {\sum }_{i=0}^N\left(P\text{'}\text{'}\left(i\right)-\overline{P\text{'}\text{'}}\right)}}^2}\right)$$

"Arg min" corresponds to the function for calculating the point at which the objective function is at its minimum. i = 1, ..., N corresponds to the measurements during a measurement process.

QUOTES INCLUDED IN THE DESCRIPTION

This list of the documents listed by the applicant was generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Patent literature cited

• DE 102011108683 A1 [0003]

Claims (10)

Method for operating a detection device (12) which is used to detect objects (18) in a monitoring area (16), in which - electromagnetic transmission signals (26) are sent into a monitoring area (16), - electromagnetic reception signals (28) which from transmission signals (26) which are reflected on objects (18) in the monitored area (16), are received, - from the transmitted signals (26) and the associated received signals (28) object information about objects (18) in the monitored area (16) are determined, characterized in that - at least one device state variable (P) is determined from the object information, which characterizes a state of the detection device (12), - at least one space coordinate system (36) is determined from the object information, which the space of the monitoring area (16) characterized, - at least one orientation variable (θ, ρ, Φ) is determined, which the orientation de s describes at least one spatial coordinate system (36) for a given device coordinate system (34), the at least one spatial coordinate system (36) being permanently assigned to the detection device (12), the at least one device state variable (P) Based on at least one orientation variable (θ, ρ, Φ) is regulated. Procedure according to Claim 1 , characterized in that at least one spatial coordinate system (36) is determined from object information originating from at least one reference spatial area (18). Procedure according to Claim 1 or 2 , characterized in that a detection range (P) of the detection device (12) is determined as at least one device state variable. Method according to one of the preceding claims, characterized in that roll-pitch-yaw angles (θ, ρ, Φ) are determined as at least one orientation variable. Method according to one of the preceding claims, characterized in that the device coordinate system (34) is initially specified. Method according to one of the preceding claims, characterized in that at least one device state variable (P) is smoothed at least once in a method for regulating the at least one device state variable (P). Method according to one of the preceding claims, characterized in that at least one device state variable (P) or optionally a smoothed device state variable (P ') about an influence of at least one orientation variable (θ, ρ, Φ) on the regulation of the at least one device -State quantity (P) is reduced. Method according to one of the preceding claims, characterized in that an influence of at least one orientation variable (θ, ρ, Φ) on the regulation of the at least one device state variable (P) is corrected by means of an objective function (ZF). Procedure according to Claim 8 , characterized in that at least one influencing parameter (a, b, c) for at least one orientation variable (θ, ρ, Φ) is determined from at least one extreme point of a target function (ZF). Detection device (12) for detecting objects (18) in a monitored area (16), - with at least one transmitter (20) for sending electromagnetic transmission signals (26) into the monitored area (16), - with at least one receiver (22) for Receiving electromagnetic reception signals (28) which originate from transmission signals (26) which are reflected on objects (18) in the monitoring area (16), - and with at least one control and evaluation device (24) with which the transmission signals ( 26) and the associated received signals (28) object information about objects (18) in the monitoring area (16) can be determined, characterized in that the detection device (12) has at least one means (44) for performing the method according to one of the preceding claims .

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