[go: up one dir, main page]

WO2007042339A1 - Procede de determination d'une grandeur - Google Patents

Procede de determination d'une grandeur Download PDF

Info

Publication number
WO2007042339A1
WO2007042339A1 PCT/EP2006/065458 EP2006065458W WO2007042339A1 WO 2007042339 A1 WO2007042339 A1 WO 2007042339A1 EP 2006065458 W EP2006065458 W EP 2006065458W WO 2007042339 A1 WO2007042339 A1 WO 2007042339A1
Authority
WO
WIPO (PCT)
Prior art keywords
probability
occurrence
computer program
reflections
measurement
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.)
Ceased
Application number
PCT/EP2006/065458
Other languages
German (de)
English (en)
Inventor
Ruediger Jordan
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
Priority to EP06792901A priority Critical patent/EP1941299A1/fr
Publication of WO2007042339A1 publication Critical patent/WO2007042339A1/fr
Anticipated expiration legal-status Critical
Ceased 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
    • 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
    • G01S13/42—Simultaneous measurement of distance and other co-ordinates
    • G01S13/44—Monopulse radar, i.e. simultaneous lobing
    • G01S13/4427—Monopulse radar, i.e. simultaneous lobing with means for eliminating the target-dependent errors in angle measurements, e.g. glint, scintillation effects
    • 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
    • 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
    • G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • G01S7/411—Identification of targets based on measurements of radar reflectivity
    • G01S7/412—Identification of targets based on measurements of radar reflectivity based on a comparison between measured values and known or stored values
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9321—Velocity regulation, e.g. cruise control
    • 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
    • G01S7/2923—Extracting wanted echo-signals based on data belonging to a number of consecutive radar periods
    • G01S7/2927—Extracting wanted echo-signals based on data belonging to a number of consecutive radar periods by deriving and controlling a threshold value
    • 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
    • G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • G01S7/415—Identification of targets based on measurements of movement associated with the target

Definitions

  • the invention relates to a method and a device for determining a size associated with an object, as well as a computer program and a computer program product.
  • a radar sensor usually measures maxima of temporary reflections on objects. However, these reflections do not describe any fixed points on the object but wander and jump depending on the viewing angle. Even the smallest changes in the viewing angle are sufficient to obtain a different reflection behavior. For objects that are larger than the separability of the radar sensor, several
  • Reflexes are measured simultaneously.
  • a clustering of reflections through a fixed window e.g., 2m * 8m
  • an averaging of readings is practiced.
  • the locally closest reflex is selected. This can lead to sham movements of the object when the reflex jumps on the object or another part of the object reflects it more strongly.
  • a further problem is a passing on a vehicle, the reflex running on an outer edge of the object in the direction of the own vehicle. In the worst case, this apparent movement of the object can lead to a false triggering of a Predictive Safety System (PSS).
  • PSS Predictive Safety System
  • the object has a plurality of locations suitable for the reflection of measurement signals
  • the inventive device for determining at least one associated with an object size, wherein the object more for the reflection of a
  • Measuring signal has suitable locations.
  • the device is designed to take account of an occurrence probability for reflections at these points in order to evaluate at least one measurement signal.
  • the invention also relates to a computer program with program code means for carrying out all the steps of a method according to the invention when the computer program is executed on a computer or a corresponding computing unit, in particular a device in a device according to the invention.
  • the invention further relates to a computer program product with program code means which are stored on a computer-readable data carrier to perform all the steps of a method according to the invention, when the computer program is executed on a computer or a corresponding computing unit, in particular a device in a device according to the invention.
  • a statistical approach that takes into account the probability of reflecting points or points on an extended object, for example a vehicle, is used.
  • Incoming measurements are weighted differently, depending on the current probability of occurrence. This in turn depends on the size, in particular a relative location or a relative speed, which is related to the object.
  • the Occurrence probability derived from a comprehensive reflection model of the object.
  • Radar-reflex modeling is possible. Via environmental measurements it is possible to determine a location and / or a speed of a
  • a signal is transmitted and reflected by a location of the object as at least one measurement signal and received by a sensor.
  • the device can be arranged in a vehicle and serve to monitor objects in an environment of this vehicle.
  • a fused measurement value can finally be formed that optimally describes the sought-after physical quantities of the object.
  • the fused measurement value can be further processed.
  • Speed or lateral offset of the object may increase handling of the model.
  • the method can be used with predictive safety systems (PSS2) and adaptive cruise control (ACCplus) systems.
  • PSS2 predictive safety systems
  • ACCplus adaptive cruise control
  • FIG. 1 shows in a diagram a probability of occurrence used for a distance measurement.
  • FIG. 2 shows in a diagram a probability of occurrence used for a speed measurement.
  • Figure 3 shows an example of an evaluation of a turntable measurement in a schematic representation.
  • FIG. 4 shows a diagram of a vehicle expansion model.
  • FIG. 5 shows a diagram of a distribution of reflections.
  • FIG. 6 shows a diagram of a reflex point shift.
  • the occurrence probability 6 or probability distribution of radar reflections shown in the diagram in FIG. 1 is taken as the basis, this is along the ordinate 8 plotted on the abscissa 10 for the distance.
  • One reason for an asymmetry of the occurrence probability 6 is that the trailing edge of the object 4 is not always estimated correctly. It happens, for example, that when measured for the first time objects 4 not the trailing edge but the leading edge is measured. The probability that the real trailing edge is farther back, which corresponds to a smaller distance, is higher than that the real trailing edge is further forward, which corresponds to a greater distance.
  • the probability of occurrence 12 of radar reflections shown in the diagram from FIG. 2 is taken as the basis, which is also plotted along the ordinate 8 over the abscissa 10 for the distance.
  • the trailing edge is not always estimated exactly as point 2 of the object 4, but that each point, and therefore each point 2 of the object 4, can provide a correct velocity measurement. Measurements of the speed of the trailing edge are i.d.R. more accurate than those from more forward points of the object 4, as more power is reflected from the trailing edge.
  • the center of the trailing edge is estimated in its transverse direction.
  • an exact location of the reflex strongly depends on a viewing angle of the object 4.
  • Detailed examinations of objects 14, in a vehicle shown schematically in FIG. 3, which are measured on a turntable in at least two spatial directions x, y 16, 18, have shown that a measured angle lies on average at the points 20, 22, 24 which have the smallest relative distance to a sensor.
  • a center is measured as the location 20 of the vehicle.
  • View angle ranges are measured only as corners 22, 24 of the vehicle corners. In between there are flowing transitions.
  • an expansion model 26 for vehicles in a first and second spatial direction x, y 28, 30 has been developed as shown in FIG. It consists of a rectangular body 32 with a circular curve 34. Since in road traffic usually the trailing edge is measured as a point 33 of an object 35 via the expansion model 26, it is sufficient to model this. The goal is to estimate the center 37 of the trailing edge as a function of a viewing angle ⁇ 38 from a sensor 36. This results in an occurrence probability of a distribution of reflections 40 at different locations, which is dependent on the viewing angle ⁇ 38 of the object 35 or of the vehicle.
  • the most probable displacement .DELTA.dy 42 of the reflex 40 to the center 37 of the trailing edge can be determined as the location 33 of FIG
  • Figure 5 shows three examples of reflections distributions 44, 46, 48 plotted along an ordinate 50 along an abscissa 52 for the view angle ⁇ 38 ( Figure 4).
  • measurement signals which preferably also lie on the trailing edge, are physically most heavily weighted.
  • a fused pseudo-measured value is formed, which describes the currently most probable velocity of the object 35 and the most probable location for the center 37 of the trailing edge of the object 35.
  • This pseudo-measured value can be determined by means of common tracking algorithms, e.g. via Kalman filter, further processed.

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

L'invention concerne un procédé pour déterminer une grandeur qui est en relation avec un objet (4), cet objet (4) présentant plusieurs emplacements (2) adaptés pour réfléchir des signaux de mesure. Selon ce procédé, pour analyser au moins un signal de mesure, une probabilité d'occurrence (6) est prise en considération pour les réflexions au niveau de ces emplacements (2).
PCT/EP2006/065458 2005-10-14 2006-08-18 Procede de determination d'une grandeur Ceased WO2007042339A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP06792901A EP1941299A1 (fr) 2005-10-14 2006-08-18 Procede de determination d'une grandeur

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102005049129.4 2005-10-14
DE102005049129A DE102005049129A1 (de) 2005-10-14 2005-10-14 Verfahren zur Bestimmung einer Größe

Publications (1)

Publication Number Publication Date
WO2007042339A1 true WO2007042339A1 (fr) 2007-04-19

Family

ID=37122784

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2006/065458 Ceased WO2007042339A1 (fr) 2005-10-14 2006-08-18 Procede de determination d'une grandeur

Country Status (3)

Country Link
EP (1) EP1941299A1 (fr)
DE (1) DE102005049129A1 (fr)
WO (1) WO2007042339A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2483708B1 (fr) 2009-10-02 2015-06-10 Robert Bosch GmbH Procédé pour représenter l'environnement d'un véhicule

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2396311A1 (fr) * 1977-06-27 1979-01-26 Thomson Csf Dispositif de reduction du bruit de mesure angulaire dans un radar et systeme radar comportant un tel dispositif
US5308984A (en) * 1987-07-06 1994-05-03 Raytheon Company Method of operating a dual mode tracking system
US5337053A (en) * 1993-10-22 1994-08-09 The United States Of America As Represented By The Secretary Of The Navy Method and apparatus for classifying targets
US5416488A (en) * 1993-12-27 1995-05-16 Motorola, Inc. Radar return signal processing method
US5793034A (en) * 1995-09-18 1998-08-11 Daedalus Enterprises, Inc. Target detection system utilizing multiple optical criteria
DE10324897A1 (de) * 2003-05-30 2004-12-23 Robert Bosch Gmbh Verfahren und Vorrichtung zur Opjektbestimmung in Fahrerassistenzsystemen für Kraftfahrzeuge
DE10349210A1 (de) * 2003-10-23 2005-05-25 Robert Bosch Gmbh System und Verfahren zum vorausschauenden Detektieren eines potentiellen Unfallobjektes im Kraftfahrzeugbereich

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10242808B4 (de) * 2002-09-14 2018-09-06 Robert Bosch Gmbh Verfahren und Vorrichtung zur Erkennung von Hindernissen und/oder Verkehrsteilnehmern
DE102004003868A1 (de) * 2004-01-26 2005-08-11 Ibeo Automobile Sensor Gmbh Verfahren zur Verfolgung von Objekten

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2396311A1 (fr) * 1977-06-27 1979-01-26 Thomson Csf Dispositif de reduction du bruit de mesure angulaire dans un radar et systeme radar comportant un tel dispositif
US5308984A (en) * 1987-07-06 1994-05-03 Raytheon Company Method of operating a dual mode tracking system
US5337053A (en) * 1993-10-22 1994-08-09 The United States Of America As Represented By The Secretary Of The Navy Method and apparatus for classifying targets
US5416488A (en) * 1993-12-27 1995-05-16 Motorola, Inc. Radar return signal processing method
US5793034A (en) * 1995-09-18 1998-08-11 Daedalus Enterprises, Inc. Target detection system utilizing multiple optical criteria
DE10324897A1 (de) * 2003-05-30 2004-12-23 Robert Bosch Gmbh Verfahren und Vorrichtung zur Opjektbestimmung in Fahrerassistenzsystemen für Kraftfahrzeuge
DE10349210A1 (de) * 2003-10-23 2005-05-25 Robert Bosch Gmbh System und Verfahren zum vorausschauenden Detektieren eines potentiellen Unfallobjektes im Kraftfahrzeugbereich

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP1941299A1 *

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2483708B1 (fr) 2009-10-02 2015-06-10 Robert Bosch GmbH Procédé pour représenter l'environnement d'un véhicule

Also Published As

Publication number Publication date
DE102005049129A1 (de) 2007-04-19
EP1941299A1 (fr) 2008-07-09

Similar Documents

Publication Publication Date Title
EP2339364A2 (fr) Alignment mutuel de capteur automobile en azimut
EP2401630B1 (fr) Procédé de détection de givrage sur un capteur de radar à résolution angulaire dans un système d'aide à la conduite pour véhicules à moteur
DE102015006931B4 (de) Parkzonen-Erkennungsvorrichtung und Steuerungsverfahren davon
DE102018104090A1 (de) Adaptive beschreibung von prozessrauschen für verbesserte kalman-filter-zielverfolgung
DE10124909A1 (de) Verfahren und Vorrichtung zum Betrieb einer Radarsensoranordnung
EP1131651B1 (fr) Procede et dispositif de reconnaissance d'etat dans un systeme de regulation longitudinale et/ou transversale automatique monte dans un vehicule automobile
DE102016223068A1 (de) Verfahren zur Blindheitserkennung bei Radarsensoren für Kraftfahrzeuge
DE102014207735B4 (de) Fahrzeugerkennungsvorrichtung und verfahren
EP1612580A1 (fr) Procédé de reconnaissance d'objet pour véhicules
WO2019101466A1 (fr) Procédé d'évaluation de données de mesure radar d'un système de mesure radar mobile
EP1433002B1 (fr) Procede pour determiner la position d'un objet cible et systeme radar actionne selon ledit procede
DE112017008095T5 (de) Objekterkennungsvorrichtung und Objekterkennungsverfahren
EP1941299A1 (fr) Procede de determination d'une grandeur
EP1352375B1 (fr) Procede et dispositif pour evaluer des parametres de mouvement de cibles
DE102017202964A1 (de) Verfahren und Vorrichtung zum Bereitstellen von Ultraschallsignalinformationen
WO2006005696A1 (fr) Procede et dispositif pour compenser des tolerances de montage d'un capteur de distances
DE102017215056A1 (de) Verfahren zum Erkennen von kreuzenden Fußgängern, Fahrerassistenzsystem und Fahrzeug
DE10242808B4 (de) Verfahren und Vorrichtung zur Erkennung von Hindernissen und/oder Verkehrsteilnehmern
DE102019218078B4 (de) Bestimmung eines Sachverhalts im Umfeld eines Kraftfahrzeugs
DE112021006354T5 (de) Fahrzeugsteuervorrichtung
DE102020203369A1 (de) Computerimplementierte Verfahren zur Festlegung der Sichtbarkeit eines Bereichs und Radarsensoren
DE102005015259A1 (de) Verfahren und Vorrichtung zur Positionsbestimmung von Objekten
DE102019210129A1 (de) Verfahren zum Überprüfen einer Kalibrierung mehrerer Sensoren und Kraftfahrzeug mit mehreren Sensoren
EP1963879B1 (fr) Procede pour l'evaluation de valeurs de mesure
DE112023004050T5 (de) Fahrerassistenzsystem, sicherheitsüberwachungseinheit und dazugehöriges verfahren

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application
WWE Wipo information: entry into national phase

Ref document number: 2006792901

Country of ref document: EP

WWP Wipo information: published in national office

Ref document number: 2006792901

Country of ref document: EP