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EP3011360A1 - Procédé pour faire fonctionner un système de détection de l'environnement d'un véhicule - Google Patents

Procédé pour faire fonctionner un système de détection de l'environnement d'un véhicule

Info

Publication number
EP3011360A1
EP3011360A1 EP14716556.7A EP14716556A EP3011360A1 EP 3011360 A1 EP3011360 A1 EP 3011360A1 EP 14716556 A EP14716556 A EP 14716556A EP 3011360 A1 EP3011360 A1 EP 3011360A1
Authority
EP
European Patent Office
Prior art keywords
signal
frequency
echo signals
received echo
determined
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP14716556.7A
Other languages
German (de)
English (en)
Inventor
Dirk Schmid
Marcus Schneider
Michael Schumann
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP3011360A1 publication Critical patent/EP3011360A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/50—Systems of measurement, based on relative movement of the target
    • G01S15/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • G01S15/582—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of interrupted pulse-modulated waves and based upon the Doppler effect resulting from movement of targets
    • 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
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/06—Systems determining the position data of a target
    • G01S15/08—Systems for measuring distance only
    • G01S15/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
    • G01S15/34—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/50—Systems of measurement, based on relative movement of the target
    • G01S15/52—Discriminating between fixed and moving objects or between objects moving at different speeds
    • 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
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/50—Systems of measurement, based on relative movement of the target
    • G01S15/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • G01S15/586—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/523—Details of pulse systems
    • G01S7/526—Receivers
    • G01S7/527—Extracting wanted echo signals
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/523—Details of pulse systems
    • G01S7/526—Receivers
    • G01S7/527—Extracting wanted echo signals
    • G01S7/5276—Extracting wanted echo signals using analogue techniques
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/08—Systems for measuring distance only
    • G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
    • G01S13/34—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
    • G01S13/345—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal using triangular modulation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/52—Discriminating between fixed and moving objects or between objects moving at different speeds
    • G01S13/522—Discriminating between fixed and moving objects or between objects moving at different speeds using transmissions of interrupted pulse modulated waves
    • G01S13/524—Discriminating between fixed and moving objects or between objects moving at different speeds using transmissions of interrupted pulse modulated waves based upon the phase or frequency shift resulting from movement of objects, with reference to the transmitted signals, e.g. coherent MTi
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/52—Discriminating between fixed and moving objects or between objects moving at different speeds
    • G01S13/536—Discriminating between fixed and moving objects or between objects moving at different speeds using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves
    • 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
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
    • G01S17/26—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves wherein the transmitted pulses use a frequency-modulated or phase-modulated carrier wave, e.g. for pulse compression of received signals
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G01S17/32—Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
    • G01S17/34—Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/50—Systems of measurement based on relative movement of target
    • 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
    • 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
    • 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
    • G01S2015/932—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/28—Details of pulse systems
    • G01S7/285—Receivers
    • G01S7/292—Extracting wanted echo-signals
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/483—Details of pulse systems
    • G01S7/486—Receivers
    • G01S7/487—Extracting wanted echo signals, e.g. pulse detection

Definitions

  • the invention relates to a method for operating an environment detection system of a vehicle
  • Vehicle which has at least one transmitting / receiving unit which emits signals and receives echo signals of the transmitted signal.
  • the invention also relates to a computer program and an environment detection system, which are set up to carry out the method.
  • Ultrasonic-based measuring systems are used to measure a distance to an object located in front of a sensor system.
  • the sensors used are usually based on a pulse / echo method. In this mode, the sensor sends a
  • Ultrasonic pulse which is called echo signal.
  • the distance between the sensor and the object is calculated by the measured echo time and the
  • EP 1 248 119 A1 discloses a method of detecting signals in systems subject to an unknown Doppler frequency shift affecting modulated coherent signals used, for example, for range finding purposes.
  • a coherence demodulator processes the received signal to reconstruct a time-delayed copy of the modulated waveform.
  • the modulated waveform and its time-delayed copy are processed in a correlator to produce the Distance between the system and an obstacle to determine. With a relative movement between the system and the obstacle, the value of the
  • the Doppler frequency ⁇ 0 o is calculated from a rate of change of a correlation function which is repeatedly calculated for successive short processing intervals.
  • EP 1 248 119 A1 relates to systems which operate in the microwave range.
  • DE 195 33 126 A1 shows a Doppler sensor for detecting the movement of an object in a defined distance range, wherein a signal source is provided which generates a microwave signal to which a suitable code signal, for example a chirp signal is mixed and emitted. The reflected and received signal from an object signal is supplied to a correlator to connect it with the
  • Delay element to correlate delayed code signal.
  • the transmitting / receiving unit emits a frequency-modulated signal and the transmitting / receiving unit and / or one or more further transmitting / receiving units
  • Echo signals of the emitted frequency-modulated signal receive that the received echo signals are assigned to reflection sources and, based on the received echo signals, information about the speed of the reflection source relative to the transmitting / receiving unit is determined.
  • the emitted frequency-modulated signal has at least a first section with increasing frequencies and a second section with falling frequencies or a first section with falling frequencies and a second section with rising frequencies.
  • a phase velocity generally changes in the transmission signal and in the echo signal.
  • the rising frequency section is also referred to in the invention as a chirp-up, and the falling frequency section as a chirp-down.
  • chirp is a signal whose frequency changes over time. In a chirp-up the frequency increases in time, while it decreases in a chirp-down.
  • a time shift of the received echo signals for the first section is opposite to the time shift for the second section. From the time shift, the information about the speed of the reflection source relative to the transmitting / receiving unit can be determined.
  • the presence or movement of an object in the detection range of the transmitting / receiving unit is determined, which may for example lead to the emission of warnings to the occupants of the vehicle, to activate accident avoidance systems and / or to activate accident damage reduction system ,
  • the measures listed in the dependent claims advantageous refinements and improvements of the independent claim method are possible.
  • the emitted frequency-modulated signal has a pulse duration of 0.6 ms to 3 ms. Particularly advantageous is a transmission of a frequency-modulated signal with a pulse duration between 1 ms to 2 ms. Such pulse lengths can achieve a very good signal-to-noise ratio.
  • a pulse a time-limited signal is referred to within the scope of the invention. In contrast to this are FMCW (Frequency Modulated Continuous Wave) methods. Time-limited pulses (FM pulse, frequency-modulated pulse) are preferred because the sensor is shortly after
  • the signal emitted may also have three sections, such as chirp-up, chirp-down, chirp-up or chirp-down, chirp-up, chirp-down or four sections, for example chirp-up, chirp-down, chirp-up , Chirp-down or chirp-down, chirp-up, chirp-down, chirp-up or even more sections.
  • the emitted frequency-modulated signal has a linear or logarithmic chirp-up followed by a linear or logarithmic chirp-down or a linear or logarithmic chirp-down followed by a linear or logarithmic chirp-up.
  • the linear chirp is not only technically easy to implement, it is also characterized by other easily measurable properties, such as a rising constant, which can be referred to in the context of the invention as a slope of the chirp, and defined corner frequencies. The steepness and the corner frequencies can be varied from pulse to pulse.
  • the received echo signals pass through at least a first FIR filter device with a first FIR signal, and a first time of best match of the received echo signals to the first FIR signal is determined.
  • the first FIR signal is configured to filter out the echo signal of the first portion of the transmitted frequency modulated signal.
  • the received echo signals preferably pass through at least one second FIR filter device with a second FIR signal, and a second point of best match of the received echo signals to the second FIR signal is determined.
  • the second FIR signal corresponds to the second section of the transmitted frequency-modulated signal and is suitable for detecting the corresponding echo signal.
  • the information about the speed of the reflection source relative to the transmitting / receiving unit is particularly preferably determined by means of a linear approach.
  • the determined time difference becomes one
  • Whether a received echo signal is attributable to a reflection source depends on the quality of the echo signal, which generally has useful signal components and interference signal components. To determine the useful signal components are in accordance with a preferred
  • Embodiment of the invention from the received echo signals phase information and / or amplitude information determined.
  • an echo signal evaluation is performed by a filter logic connected downstream of the transceiver units.
  • an amplitude information in the form of a cross-correlation function x CO rr (t) and a phase information in the form of a cross-correlation coefficient R (t) can be provided for an evaluation of the signal quality.
  • the amplitude information Xc 0r (t) represents a quantity that depends on the amplitude of the received signal.
  • the phase information R (t) provides information about the quality of the phase of the received signal, ideally independent of the amplitude. Since both variables provide meaningful information about the detected objects, according to a preferred embodiment, both the phase information and the amplitude information are determined from the received echo signals and used in the determination of the useful signal components.
  • the amplitude information Xc 0r r (t) is preferably determined by calculating a convolution of a received or a processed received signal e (t) with an expected signal s (t), for example after The correlation function is calculated by convolving the received signal or the preprocessed received signal with an expected signal.
  • the expected signal s (t) is an excitation function adapted to a transfer function of the converter, which in particular has signal distortion due to properties the transceiver unit considered.
  • the calculation can be done for example in so-called matched filter.
  • phase information that is the
  • R ⁇ t) 2 x corr ⁇ tf l ⁇ s
  • e (t) is the received signal
  • s (t) the expected signal
  • Xc 0r r (t) the convolution of the received signal e (t) with the expected signal s (t)
  • 2 the squares of the standards of the individual signals.
  • the amplitude information is shortened.
  • the phase information, that is, the cross-correlation coefficient R (t) is determined from R (t) 2 by root extraction.
  • a computer program is also proposed according to which one of the methods described herein is performed when the computer program is executed on a programmable computer device.
  • the computer program can be, for example, a module for implementing a driver assistance system or a subsystem thereof in a vehicle or an application for driver assistance functions that can be executed, for example, on a smartphone or a tablet PC.
  • the computer program can be on a machine-readable
  • Storage medium can be stored, such as on a permanent or
  • Storage medium such as a memory card or a USB stick.
  • the computer program may be provided for download on a computing device such as a server, for example, via a data network such as the Internet or a communication link such as a telephone line or a wireless link.
  • an environment detection system of a vehicle comprises at least one transmission / reception unit which is set up,
  • the emitted frequency modulated signal having at least a first portion with increasing frequencies and a second portion with decreasing frequencies or a first portion with falling frequencies and having a second portion with increasing frequencies, and a filter device which is coupled to the at least one transmitting / receiving unit, so that received echo signals can pass through the filter device, wherein the filter device is adapted to assign the received echo signals reflection sources and set up is to determine based on the received echo signals information about the speed of the reflection source relative to the transmitting / receiving unit.
  • the invention is used in such environment sensing systems that use sensors based on a pulse / echo method. This applies in particular
  • Ultrasound systems but also radar systems and lidar systems.
  • sensors are used which can both emit pulses and can receive pulses, so-called transceiver units.
  • transceiver units can also be provided to use the sensors according to the invention only as a receiving unit or only as a transmitting unit.
  • the invention can be used in ultrasound-based systems, which are not able to simultaneously receive the echo response during the transmission process, since the membrane amplitude during transmission by several orders of magnitude higher than a reflected signal could produce as an echo on the membrane , The imposed during the transmission of the membrane vibration is affected only slightly by the incoming sound.
  • a frequency modulated continuous wave (FMCW) method which is customary in radar technology is not applicable here since the transmission and reception paths in the case of ultrasound systems are performed on the same mechanical oscillatory system, while they are separated in radar systems.
  • the invention can be used in particular in sensors which are provided for example in the front and / or rear bumper of a motor vehicle for the purpose of parking assistance and / or collision avoidance.
  • sensors according to the invention can be installed in an ultrasound system, which is a group of
  • Ultrasonic sensors comprises, wherein at least one, preferably all ultrasonic sensors have the inventive features.
  • the ultrasound system can be set up, for example, to detect a sub-environment of the motor vehicle.
  • ultrasound sensors in the front region for detecting a front-end vehicle environment and / or ultrasound sensors in the side region for detecting a side region of the Vehicle and / or ultrasonic sensors in the rear area for detecting a rear environment of the vehicle may be assigned to such an ultrasound system.
  • this four to six ultrasonic sensors are installed in a bumper, with only a maximum of four ultrasonic sensors are mounted with approximately the same direction of view.
  • ultrasonic sensors are also positioned in the front bumper so that they have their detection range to the left and to the right.
  • ultrasound sensors can also be positioned in the rear bumper in such a way that they detect an area to the left and right of the motor vehicle.
  • the ultrasound system furthermore has a control device assigned to the respective group and a
  • the surroundings detection system allows a quick and accurate statement about objects in and near the drive tube of a vehicle, wherein the drive tube usually designates the area swept by the vehicle in the future.
  • a precise localization accuracy in a detection range of the sensors can be designated as well as a detection probability, that is to say a number of detections of an obstacle in a specific time interval.
  • the surroundings detection system preferably comprises at least one FIR filter device which is set up to determine at least two times of best match of the received echo signal to two FIR signals. It can also be provided that the
  • Filter device comprises two FIR filter devices, which are each adapted to determine times of best match of the received echo signal to a first and a second FIR signal.
  • the system can be combined with other systems to determine the
  • a motor vehicle comprises at least one such surroundings detection system.
  • the method and the device according to the invention make it possible to quickly and reliably determine the relative speed of an object in the detection range of the sensors, without requiring multiple time detection of the object distance and a change in object distance calculated therefrom. Compared to purely distance - based methods, it can be seen that a more exact determination of the
  • the warning of the occupants of the vehicle can also be carried out very quickly, for example as part of blind spot monitoring, such as a so-called side view assistant.
  • Another application is the support of airbag sensors to trigger an airbag. Here can be very high
  • the invention further provides an additional measure, namely the time difference between two strictly defined echo signal components, so that from this another
  • FIG. 1 shows an environment detection system 2, which comprises a transmitting / receiving unit 4, which is set up to transmit and receive frequency-modulated signals.
  • the surroundings detection system 2 comprises a pre-filter 6, which is set up, for example, to filter out useful signal components from the received echo signals and
  • the prefilter 6 receives the signals of the transmitting / receiving unit 4.
  • received signals are processed, for example amplified, digitized, sampled, filtered by low, high or bandpass filters and
  • the signals in the pre-filter 6 are decoded.
  • the surround detection system 2 also includes a first FIR filter device 8 and a second FIR filter device 10, which are set to best times
  • Such FIR (Finite Impulse Response) filter devices may also be referred to as finite impulse response filters and are preferably implemented digitally and operated by a computer program.
  • the FIR filter devices 8, 10 are matched filters.
  • the first FIR filter device 8 decodes a rising frequency section, also referred to as a so-called up ramp, and the second FIR filter device 10 designates a falling frequency section, also referred to as a down ramp. If an echo is detected, the transit time is determined by searching for the maximum of the respective filter output and the two measured times of the outputs of the two FIR filter devices 8, 10 are offset from one another. The calculation yields the relative velocity.
  • the surroundings detection system 2 comprises a device 12 for determining a speed of a reflection source.
  • Reflection source speed receives the data or readings from the FIR filter devices 8, 10 and further processes them.
  • the device 12 for determining the speed of the reflection source sets the data to a further processing
  • Control system 14 ready, for example, a higher-level control system such as an ADAS system (Advanced Driving Assistance System) or a sibling
  • the device 12 for determining the speed of a reflection source provides the determined data on a bus system, for example on a CAN bus.
  • Figure 2 shows a schematic representation of a situation with a
  • the object 24 is also referred to as a reflection source within the scope of the invention.
  • a transmitting unit 20 transmits a frequency-modulated signal 26.
  • the frequency-modulated signal 26 is reflected by the object 24.
  • a receiving unit 22 receives a receiving unit 22, which does not necessarily coincide with the transmitting unit 20, but quite the same
  • the emitted frequency-modulated signal 26 comprises a first section 30 of increasing frequency, that is to say with a chirp-up.
  • Frequency modulated signal 26 also includes a second section 32 having a decreasing frequency, that is with a chirp-down.
  • the received echo signal 28 at time t1 comprises a first section 34 which corresponds to the first section 30 of the transmitted frequency-modulated signal 26 and a second section 36 which corresponds to the second section 32 of the transmitted frequency-modulated signal 26.
  • the transmission unit 20 transmits the frequency-modulated signal 26 at a time t2.
  • the frequency-modulated signal 26 is reflected by the object 24, the object 24 now being at the time of reflection
  • Relative speed 38 relative to the transmitting unit 20 and the receiving unit 22 has.
  • the receiving unit 22 receives the echo signal 28 which has been reflected by the moving object 24. Due to the relative movement of the object 24 relative to the transmitting unit 20 or receiving unit 22, which are generally a transmitting / receiving unit, the received echo signal 28 is compressed relative to the transmitted signal 26, ie raised in its frequency as a whole, or stretched, ie in its frequency as a whole, so that the receiving unit 22 receives a Doppler-shifted echo signal 28 'with the first section 34' and the second section 36 '.
  • Figure 3 shows two diagrams D ⁇ D 2 for explaining a signal shift.
  • the first diagram Di shows a frequency characteristic 40 of a section of a transmitted signal, which may correspond to the first section 30 of the signal shown in FIG. 2, for example.
  • the frequency response is in this embodiment of a
  • Pulse duration T of the section to be assigned Pulse duration T of the section to be assigned.
  • Frequency-modulated signals which are suitable for implementing the method according to the invention can have a frequency characteristic shown in FIG. 3 in the first or in the second section. But you can just as well have a different frequency response, for example, a linear declining or a polynomial, in particular quadratic polynomial, exponential or logarithmic course.
  • a frequency profile 42 of a portion of the received echo signal corresponding to the transmitted signal wherein it is shown that the frequency response of the echo signal is now higher overall than the frequency characteristic 40 of the portion of the transmitted signal.
  • the frequency profile 42 of the received echo signal can be, for example, with reference to FIG. 2 described section 34 of the received echo signal at moving object 24.
  • the second diagram D 2 shows the frequency curve 40 of the transmitted signal and the frequency curve 42 of the received echo signal, wherein these are shifted by a time At relative to one another in such a way that they coincide in as many functional values as possible.
  • FIG. 4 shows the occurrence of the temporal signal shift as a consequence of
  • FIG. 4 shows a frequency characteristic 44 of a transmitted signal which has a first section 48 with rising frequencies and a second section 50 with falling frequencies.
  • FIG. 4 also shows a frequency characteristic 46 of a received echo signal, which likewise has a first section 48 with rising frequencies and a second section 50 with falling frequencies.
  • an FIR filter signal 52 is shown with a temporal filter window ⁇ and a frequency filter window between a lower cutoff frequency 56 and an upper cutoff frequency 58.
  • the first FIR filter signal 52 is a linear signal which is responsive to the signal of the frequency response 44 in the first section 48 of FIG matched signal is tuned.
  • a second FIR filter signal 54 is shown with a temporal filter window T 2 and a frequency filter window between the lower and upper
  • Cutoff frequency 56, 58 The second FIR filter signal 54 is a linear signal which is tuned to the second portion 50 of the frequency response 44 of the transmitted signal.
  • FIG. 4 also shows a total filter response amplitude 60 on the transmitted signal and a total filter response amplitude 62 on the received echo signal. As described with reference to FIG. 2, the frequency response 44 of the transmitted signal agrees with the
  • a bottom time difference 64 can be determined, namely as a difference between a first time 66 best tuning the first FIR filter signal 52 with the frequency curve 44 of
  • Basic time difference 64 of, for example, 1 ms, if the time interval between the chirp-up pulse and the chirp-down pulse has been 1 ms.
  • a time difference 70 can be determined as a difference between a first time 72 of best match of the first FIR filter signal 52 with the frequency response 46 of the echo signal and a second time 74 best
  • the filter for the chirp-up determines the first best match time 72 a little earlier, while the chirp down filter determines the second best match time 74 a little later so that the time difference 70 is greater than the basic time difference is 64.
  • FIG. 5 shows further method steps for determining the relative speed of the surroundings detection system with respect to the object.
  • a first step S1 the echo signal 28 is received, as described with reference to FIG.
  • a second step S2 the received echo signal 28 is filtered with the FIR filter signal 52 and from this a first FIR signal is filtered.
  • Filter response amplitude 76 won.
  • the received signal 28 is filtered by means of a second FIR filter and a second FIR filter response amplitude 78 is determined. From the first FIR filter response amplitude 76 and the second FIR filter response amplitude 78, the total filter response amplitudes 60, 62 which are illustrated in FIG. 4 are determined in a step S4 by superposing the first and second FIR filter response amplitudes 76, 78.
  • the total filter response amplitudes 60, 62 which are illustrated in FIG. 4 are determined in a step S4 by superposing the first and second FIR filter response amplitudes 76, 78.
  • step S5 the information obtained is also further
  • the conversion factor is for example 1/20 [km / h / ⁇ ].
  • the conversion factor depends on the bandwidth of the chirp used and on the shape of the chirp. For logarithmic chirps, a linear dependence is measured between v re i and the
  • Doppler shift evoked frequency offset df to the bandwidth DF of the chirp determined with the pulse duration used the conversion factor. If df «DF, then only small time shifts are measured and the conversion factor is high.
  • FIG. 6 shows two diagrams with exemplary FIR filter response amplitudes for moving and static objects.
  • a first FIR filter response amplitude 82 to a static object has a first maximum 86 and thereby defines a first time ti.
  • a second FIR filter response amplitude 84 on the static object has a second maximum 88 at a second time t 2 . From the times ti and t 2 can be the
  • the lower diagram shown in FIG. 6 has a first FIR filter response amplitude 90 for a received echo signal for a moving object with a first maximum 94 at a time t 3 .
  • the second FIR filter response amplitude 92 has a second maximum 96 at a time t 4 . From the first time t 3 and the second time t 4 , the time difference 70 results by forming the difference, with the aid of which the relative speed of the moving object to the surroundings detection system can be determined.
  • FIG. 7 shows an example of the temporal frequency profile of a received signal.
  • the frequency response has a first portion 34 of increasing frequency and a second portion 36 of decreasing frequency.
  • the illustrated implementation includes a chirp-up with a pulse duration of 1 ms, a first corner frequency 102 of 45 kHz and a second corner frequency 104 of 54 kHz, followed by a chirp-down of 1 ms from 54 kHz to 45 kHz.
  • a first slope 98 can be assigned to the chirp-up and the second section 36 to the chirp-down a second slope 100, which is also referred to as a slope.
  • ultrasonic transducers having resonant frequencies in the range of 40 to 60 kHz are preferred, for example, as shown, an ultrasound transducer having a resonant frequency of 48 kHz.
  • the chirp is preferably formed with corner frequencies 102, 104 in the range of 5% to 30%, preferably 5% to 10% below and above the resonant frequency of the ultrasonic transducer.
  • corner frequencies 102, 104 are, for example, 2.5 to 10 kHz, preferably 2.5 to 5 kHz, below and above the resonance frequency.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

L'invention concerne un procédé pour faire fonctionner un système (2), servant à détecter l'environnement d'un véhicule, qui comprend au moins un module émetteur/récepteur (4). Le module émetteur/récepteur (4) envoie un signal modulé en fréquence (26) et le module émetteur/récepteur (4) et/ou un ou plusieurs autres modules émetteurs/récepteurs (4) reçoivent des signaux d'écho (28) du signal modulé en fréquence (26) envoyé. Selon l'invention, les signaux d'écho reçus sont associés à des sources de réflexion (24) et les signaux d'écho (28) reçus permettent de déterminer une information concernant la vitesse relative (38) de la source de réflexion (24) par rapport au module émetteur/récepteur (4). L'invention concerne en outre un programme informatique ainsi qu'un système de détection d'environnement (2) qui sont adaptés en particulier pour mettre en œuvre le procédé selon l'invention.
EP14716556.7A 2013-06-21 2014-04-08 Procédé pour faire fonctionner un système de détection de l'environnement d'un véhicule Withdrawn EP3011360A1 (fr)

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DE102013211846.5A DE102013211846A1 (de) 2013-06-21 2013-06-21 Verfahren zum Betrieb eines Umfelderfassungssystems eines Fahrzeugs
PCT/EP2014/057025 WO2014202251A1 (fr) 2013-06-21 2014-04-08 Procédé pour faire fonctionner un système de détection de l'environnement d'un véhicule

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US10120073B2 (en) 2018-11-06
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US20160154104A1 (en) 2016-06-02
CN105474039A (zh) 2016-04-06

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