DE19934670B4 - Object detection system - Google Patents
Object detection system Download PDFInfo
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- DE19934670B4 DE19934670B4 DE19934670A DE19934670A DE19934670B4 DE 19934670 B4 DE19934670 B4 DE 19934670B4 DE 19934670 A DE19934670 A DE 19934670A DE 19934670 A DE19934670 A DE 19934670A DE 19934670 B4 DE19934670 B4 DE 19934670B4
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- 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
- G01S7/497—Means for monitoring or calibrating
- G01S7/4972—Alignment of sensor
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/865—Combination of radar systems with lidar systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/867—Combination of radar systems with cameras
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
-
- 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
- G01S2013/9321—Velocity regulation, e.g. cruise control
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9324—Alternative operation using ultrasonic waves
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9325—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles for inter-vehicle distance regulation, e.g. navigating in platoons
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9327—Sensor installation details
- G01S2013/93271—Sensor installation details in the front of the vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9329—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles cooperating with reflectors or transponders
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- 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
- G01S7/497—Means for monitoring or calibrating
Abstract
Objektdetektionssystem, insbesondere für ein Kraftfahrzeug (2, 10), wobei das Objektdetektionssystem aus einer Kombination von wenigstens drei Objektdetektoren (12, 13, 14, 15) besteht, die jeweils einen anderen Detektionsbereich (3, 4, 5, 16, 17) und/oder eine andere Detektionsreichweite aufweisen, wobei die Detektionsbereiche (3, 4, 5, 16, 17) maßgeblich in Fahrtrichtung vor dem Kraftfahrzeug (2, 10) liegen, wobei sich die in Fahrtrichtung liegenden Detektionsbereiche (3, 4, 5, 16) überschneiden, dadurch gekennzeichnet, daß die von den Objektdetektoren (12, 13, 14, 15) aus den sich überschneidenden Detektionsbereichen gelieferten Meßwerte zu gesonderten Auswertungen genutzt werden.Object detection system, in particular for a motor vehicle (2, 10), the object detection system consisting of a combination of at least three object detectors (12, 13, 14, 15), each having a different detection area (3, 4, 5, 16, 17) and / or have a different detection range, the detection areas (3, 4, 5, 16, 17) lying in the direction of travel in front of the motor vehicle (2, 10), the detection areas (3, 4, 5, 16) lying in the direction of travel overlap, characterized in that the measured values supplied by the object detectors (12, 13, 14, 15) from the overlapping detection areas are used for separate evaluations.
Description
Die vorliegende Erfindung betrifft ein Objektdetektionssystem. Ein solches System kann beispielsweise im Rahmen einer adaptiven Fahrgeschwindigkeits- und/oder Abstandsregelung eines Kraftfahrzeugs eingesetzt werden. Ein solche Regelung kann ohne Eingriff durch den Fahrer eine zuvor eingestellte Fahrgeschwindigkeit und/oder einen zuvor eingestellten Abstand zu einem vorausfahrenden Fahrzeug oder zu sich in Fahrtrichtung befindlichen Gegenständen und/oder Objekten regeln. Dies geschieht unter entsprechender Berücksichtigung des Umfelds des Kraftfahrzeuges und gegebenenfalls weiterer Parameter wie beispielsweise den Witterungs- und Sichtbedingungen. Eine solche Regelung wird auch als Adaptive-Cruise-Control-System (ACC-System) bezeichnet. Das ACC-System muß insbesondere mit Blick auf die steigende Verkehrsdichte der heutigen Zeit flexibel genug sein, um auf alle Fahrsituationen geeignet zu reagieren. Dies erfordert wiederum eine entsprechende Objektdetektionssensorik, um in jeder Fahrsituation die für die Regelung notwendigen Meßdaten zu liefern.The present invention relates to an object detection system. Such a system can, for example as part of an adaptive vehicle speed and / or distance control a motor vehicle are used. Such a scheme can a previously set driving speed without driver intervention and / or a previously set distance to a preceding vehicle or to objects in the direction of travel and / or Control objects. This is done with due consideration the environment of the motor vehicle and possibly other parameters such as weather and visibility conditions. Such Regulation is also called an adaptive cruise control system (ACC system) designated. The ACC system must in particular flexible in view of the increasing traffic density of today be enough to react appropriately to all driving situations. This again requires an appropriate object detection sensor system, to be the right choice for every driving situation the control necessary measurement data to deliver.
Zur Objektdetektion bieten sich eine Vielzahl verschiedener technischer Konzepte/Systeme an, von denen einige im folgenden näher erläutert werden.There are one for object detection Variety of different technical concepts / systems, of which some below explained become.
Aus der
Ein solches auf Lichtemission und Lichtaufnahme basierendes optisches Radarsystem wird im folgenden auch als LIDAR-Sensor (LIght Detection And Ranging) bezeichnet.Such on light emission and Optical radiation-based optical radar system is described below also called LIDAR sensor (LIght Detection And Ranging).
Aus der
Eine solche auf Licht basierende Radarvorrichtung wird im weiteren ebenfalls als LIDAR-Sensor bezeichnet.One based on light Radar device is also referred to below as a LIDAR sensor.
Aus der
Ein entsprechend ausgelegter FMCW-Radarsensor hat eine Reichweite von ca. 150 m und wird bevorzugt für die Detektion von einem oder mehreren Objekten bei einem Fahrzeug eingesetzt.An appropriately designed FMCW radar sensor has a range of approx. 150 m and is preferred for detection of one or more objects used in a vehicle.
Ein solcher FMCW-Radarsensor wird im folgenden auch als ACC-Radarsensor (Adaptive Cruise Control) oder einfach ACC-Sensor bezeichnet.Such an FMCW radar sensor is in the following also as ACC radar sensor (Adaptive Cruise Control) or simply called ACC sensor.
Die
Eine solche Hinderniserfassungsvorrichtung wird im folgenden auch als PreCrash-Sensor oder als Short-Range-Radar bezeichnet.Such an obstacle detection device will hereinafter also as a pre-crash sensor or as a short-range radar designated.
Aus der
Ein bevorzugtes Ausführungsbeispiel sieht die Verwendung von zwei Signalgebern vor, die in einem Frequenzbereich von 5,8 GHz arbeiten. Die maximale Reichweite des Sensorsystems liegt bei 3 Meter, wobei sich ein besonders sensibler Bereich bis zu einer Reichweite von ca. 1,5 Metern ergibt. Eine solches Sensorsystem wird im folgenden ebenfalls als PreCrash-Sensor oder als Short-Range-Radar bezeichnet.A preferred embodiment provides for the use of two signal generators that operate in one frequency range of 5.8 GHz. The maximum range of the sensor system is 3 meters, with a particularly sensitive area up to to a range of approx. 1.5 meters. Such a sensor system is also used below as a PreCrash sensor or as a short-range radar designated.
Aus der
Eine solche Entfernungsbestimmungseinrichtung wird im folgenden auch als stereoskopische Kamera bezeichnet.Such a distance determining device is also referred to below as a stereoscopic camera.
Aus der
Eine solche Anordnung von Bildzellen wird im folgenden auch als CMOS-Kamera bezeichnet.Such an arrangement of picture cells is also referred to below as a CMOS camera.
Aus der
Die
Die
Diese Schrift stellt somit eine Kombination eines LIDAR-Sensors mit einer stereoskopischen Kamera dar.This font therefore represents a combination of a LIDAR sensor with a stereoscopic camera.
Die
Aufgabe, Lösung und Vorteile der Erfindung Es ist die Aufgabe der vorliegenden Erfindung, ein Objektdetektionssystem anzugeben, das in der Lage ist, Objekte in einem möglichst großen Detektionsbereich zuverlässig und genau zu detektieren.Object, solution and advantages of the invention is the object of the present invention, an object detection system specify that is able to object in a possible huge Detection range reliable and to detect exactly.
Diese Aufgabe wird dadurch gelöst, daß das Objektdetektionssystem aus einer Kombination von wenigstens drei Objektdetektoren besteht, die jeweils einen anderen Detektionsbereich und/oder eine andere Detektionsreichweite aufweisen. Dies hat den Vorteil, daß für jeden einzelnen Detektionsbereich der für diesen Bereich optimale Objektdetektor eingesetzt werden kann. Durch diese Maßnahme können Objekte besonders zuverlässig und genau detektiert werden.This object is achieved in that the object detection system consists of a combination of at least three object detectors, each have a different detection area and / or a different one Show detection range. This has the advantage that for everyone individual detection area the optimal object detector for this area can be used. This measure allows objects to be particularly reliable and be accurately detected.
Bei einem Objektdetektionssystem, das insbesondere für ein System zur adaptiven Farhgeschwindigkeitsregelung (ACC-System) in einem Kraftfahrzeug verwendet wird, ist es vorteilhaft, daß die Detektionsbereiche maßgeblich inWith an object detection system, especially for a system for adaptive speed control (ACC system) is used in a motor vehicle, it is advantageous that the detection areas essential in
Fahrtrichtung vor dem Kraftfahrzeug liegen, wobei sich die Detektionsbereiche überschneiden. Besonders vorteilhaft ist es, wenn die maximale Detektionsreichweite des Objektdetektors mit der größten Detektionsreichweite wenigstens im Bereich von 100 m liegt und die Detektionsreichweite des Objektdetektors mit der geringsten Detektionsreichweite im Bereich unterhalb von 1 m beginnt. Weiterhin vorteilhaft ist, daß der Detektionsbereich des Objektdetektors mit der größten Detektionsreichweite wenigstens in Teilen des Detektionsbereiches eine Detektionsbreite aufweist, die eine Detektion von Objekten in zu dem eigenen Kraftfahrzeug angrenzenden Fahrspuren ermöglicht. In Bezug auf den Detektionsbereich des Objektdetektors mit der geringsten Detektionsreichweite ist es vorteilhaft, wenn dieser eine Detektionsbreite aufweist, die wenigstens der Breite des eigenen Kraftfahrzeugs entspricht. Hierdurch wird sichergestellt, daß in jedem Detektionsbereich die erforderliche Detektionsbreite überwacht wird.Direction of travel are in front of the motor vehicle, the detection areas overlapping. It is particularly advantageous if the maximum detection range of the object detector with the largest detection range is at least in the range of 100 m and the detection range of the object detector begins with the smallest detection range in the range below 1 m. It is also advantageous that the detection area of the object detector with the greatest detection range has a detection at least in parts of the detection area has a width that enables detection of objects in lanes adjacent to one's own motor vehicle. With regard to the detection area of the object detector with the smallest detection range, it is advantageous if the latter has a detection width that corresponds at least to the width of one's own motor vehicle. This ensures that the required detection width is monitored in each detection area.
Besonders vorteilhaft ist es, daß die Objektdetektoren nach wenigstens zwei verschiedenen technischen Konzepten arbeiten. Vorteilhafterweise wird als technisches Konzept wenigstens eines der folgenden eingesetzt:It is particularly advantageous that the object detectors work according to at least two different technical concepts. At least one is advantageously used as the technical concept of the following:
- 1. Auf akustischen Signalen basierende Objektdetektion, insbesondere Ultraschall.1. Object detection based on acoustic signals, especially ultrasound.
- 2. Auf elektromagnetischer Mikrowellenstrahlung basierende Objektdetektion, insbesondere FMCW-Radar und/oder Pulsradar.2. Object detection based on electromagnetic microwave radiation, in particular FMCW radar and / or pulse radar.
- 3. Auf Bildauswertung basierende Objektdetektion, insbesondere stereoskopische Kamera und/oder CMOS-Kamera.3. Object detection based on image evaluation, in particular stereoscopic camera and / or CMOS camera.
- 4. Auf gebündeltem Licht basierende Objektdetektion, insbesondere LIDAR-Sensor.4. On a bundle Light-based object detection, especially LIDAR sensor.
Eine besonders vorteilhafte Ausführungsform ergibt sich, wenn genau drei Detektionsbereiche unterschieden werden. Hierbei wird im ersten Detektionsbereich ein auf elektromagnetischer Mikrowellenstrahlung basierender Objektdetektor eingesetzt, während im zweiten Detektionsbereich ein auf optischer Strahlung und/oder ein auf Bildauswertung basierender Objektdetektor zum Einsatz kommt. Im dritten Detektionsbereich wird wiederum ein auf elektromagnetischer Mikrowellenstrahlung basierender Objektdetektor verwendet. Diese spezielle Objektdetektoranordnung vereint in ganz besonderer Weise die Vorteile der einzelnen Objektdetektortypen. Bei dieser Anordnung ist es vorteilhaft, daß der erste Objektdetektor eine Detektionsreichweite von ca. 0,5 m bis ca. 7 m aufweist. Der zweite Objektdetektor hat eine Detektionsreichweite von ca. 2 m bis ca. 40 m und der dritte Objektdetektor eine Detektionsreichweite von mehr als ca. 40 m. Bei dieser Anordnung überschneiden sich in besonders vorteilhafter Weise die ersten beiden Detektionsbereiche um ca. 5 m. Der zweite und der dritte Detektionsbereich überschneiden sich ebenfalls. Die auf diese Weise entstehende Überschneidung der Detektionsbereiche kann genutzt werden, um die aus diesen Bereichen stammenden Meßwerte zu gesonderten Auswertungen zu verwenden. Diese gesonderten Auswertungen können beispielsweise ein gemeinsames Tracking der detektierten Objekte im Überschneidungsbereich und/oder eine Funktionsüberwachung der Objektdetektoren und/oder eine Plausibilisierung der Meßdaten sein.A particularly advantageous embodiment results if exactly three detection areas are distinguished. In the first detection area, an electromagnetic field is used Microwave radiation based object detector used, while in second detection area one on optical radiation and / or one object detector based on image evaluation is used. In the third detection area, an electromagnetic field is used Object detector based on microwave radiation is used. This special object detector arrangement combined in a very special way the advantages of the individual object detector types. With this arrangement it is advantageous that the first object detector has a detection range of approx. 0.5 m to approx. 7 m. The second object detector has a detection range from approx. 2 m to approx. 40 m and the third object detector has a detection range of more than approx. 40 m. This arrangement overlaps in particular advantageously the first two detection areas by approx. 5 m. The second and third detection areas overlap yourself too. The overlap of the detection areas that arises in this way can be used to measure values from these areas to use separate evaluations. These separate evaluations can for example, a common tracking of the detected objects in the overlap area and / or a function monitoring the object detectors and / or a plausibility check of the measurement data.
Vorteilhaft ist es weiterhin, daß die Objektdetektoren zu wenigstens einer weiteren Anwendung genutzt werden. Dies kann eine Einparkhilfe, eine Precrash-Erkennung, eine Anfahrüberwachung, eine Straßenoberflächen- beziehungsweise Zustandserkennung, eine Verkehrszeichenerkennung, eine Sichtweitenerkennung beziehungsweise Sichtweitenbestimmung, eine adaptive Lichtverteilung, eine Scheinwerferhöhenverstellung oder eine Wettererkennung beziehungsweise ein Regensensor sein. Die hat den Vorteil, daß sonstige zusätzliche Sensoren für diese Anwendungen entfallen können.It is also advantageous that the object detectors can be used for at least one other application. This can a parking aid, a pre-crash detection, a start monitoring, road surface or condition detection, a traffic sign recognition, a visibility detection or Visibility determination, an adaptive light distribution, a headlight height adjustment or a weather detection or a rain sensor. The has the advantage that other additional Sensors for these applications can be omitted.
Ganz besonders vorteilhaft ist es, das Objektdetektionssystem im Rahmen eines Systems zur adaptiven Fahrgeschwindigkeitsregelung einzusetzen, wobei das System in der Lage ist, die Geschwindigkeit kontinuierlich zwischen dem Stillstand und der Höchstgeschwindigkeit des Kraftfahrzeugs zu regeln. Diese um die „Stehen-und-Fahren-Funktionalität" (Stop & Go) erweiterte adaptive Fahrgeschwindigkeitsregelung ist ein bevorzugtes Anwendungsgebiet des erfindungsgemäßen Objektdetektionssystems.It is particularly advantageous the object detection system as part of an adaptive system Use cruise control, the system in the Is able to continuously speed between standstills and the top speed to regulate the motor vehicle. This extended by the "stand-and-drive functionality" (Stop & Go) adaptive vehicle speed control is a preferred application of the object detection system according to the invention.
Nachfolgend werden bevorzugte Ausführungsbeispiele der Erfindung anhand von Zeichnungen detailliert erläutert:Below are preferred embodiments the invention explained in detail with reference to drawings:
In
Wäre
beispielsweise nur das Kraftfahrzeug
Wäre
beispielsweise nur das Kraftfahrzeug
Wäre
auf der vorausliegenden Straße
lediglich das Kraftfahrzeug
Immer dann, wenn sich ein Zielobjekt
im Überschneidungsbereich
von zwei Detektionsbereichen befindet, wie es in der
Insbesondere mit Blick auf zukünftige Funktionserweiterungen im Rahmen eines Systems zur adaptiven Fahrgeschwindigkeitsregelung wie der Stop & Go-Funktionalität kann das erfindungsgemäße Objektdetektionssystem bevorzugt eingesetzt werden. Hierbei muß das System in der Lage sein, die Geschwindigkeit kontinuierlich zwischen dem Stillstand und der Höchstgeschwindigkeit des Kraftfahrzeugs zu regeln. Diese um die „Stehen-und-Fahren-Funktionalität" (Stop & Go) erweiterte adaptive Fahrgeschwindigkeitsregelung (Stop & Go-System) ist eine Weiterentwicklung, die heutige Systeme in der Regel nicht bieten. Vielmehr werden heutige Systeme beispielsweise in einem Geschwindgkeitsbereich unterhalb von 30 Stundenkilometern automatisch deaktiviert. Die erweiterte Stop & Go-Funktionalität erfordert die Reaktion des Systems auf stehende Objekte, die schnelle Reaktion auf in die eigene Fahrspur einscherende Fahrzeuge im dichten Verkehr und die Möglichkeit der automatischen Geschwindigkeitsreduktion bis hin zum vollständigen Stop des eigenen Fahrzeugs. Eine weitere mögliche Funktionalität eines Stop & Go-Systems ist das „bedingte Go". Hierbei erhält der Fahrer eines sich im Stand befindlichen Fahrzeugs einen Hinweis, daß ein vor Ihm stehendes Fahrzeug angefahren ist. Wenn der Fahrer aufgrund dieses Hinweises eine entsprechende Bestätigung auslöst (beispielsweise mittels eines Bedienhebels oder einer Spracheingabe wie „Go") kann das eigenen Fahrzeug automatisch anfahren.In particular with a view to future functional expansions in the context of a system for adaptive vehicle speed control such as the stop & go functionality, the object detection system according to the invention can be used with preference. The system must be able to continuously regulate the speed between the standstill and the maximum speed of the motor vehicle. These about the “standing and driving functions onality "(Stop & Go) extended adaptive vehicle speed control (Stop & Go system) is a further development that today's systems generally do not offer. Rather, today's systems are automatically deactivated, for example, in a speed range below 30 km / h. The extended Stop & Go Functionality requires the reaction of the system to stationary objects, the quick reaction to vehicles that cut into your lane in heavy traffic and the possibility of automatic speed reduction up to the complete stop of your own vehicle. Another possible functionality of a Stop & Go system is the "conditional go". Here, the driver of a vehicle that is standing still receives an indication that a vehicle standing in front of him has started. If the driver triggers a corresponding confirmation on the basis of this information (for example by means of an operating lever or a voice input such as “Go”), the driver's own vehicle can start automatically.
Unter der Voraussetzung, daß für den Detektionsbereich
Im allgemeinen liegen beliebige Überschneidungsmöglichkeiten der unterschiedlichen Detektionsbereiche im Rahmen des erfindungsgemäßen Objektdetektionssystems. Es liegt weiterhin im Rahmen des erfindungsgemäßen Objektdetektionssystems, daß die Anzahl der Detektionsbereiche vermindert oder erhöht werden kann. Diese Auswahl ist dem Fachmann entsprechend der spezifischen Anforderungen an das jeweilige Objektdetektionssystem überlassen. Ebenso möglich ist eine beliebige Kombination von verschiedenen Objektdetektoren innerhalb eines Detektionsbereiches. Auch hierbei wird die entsprechende Auswahl dem Fachmann überlassen.In general there are any overlapping possibilities the different detection areas within the scope of the object detection system according to the invention. It is also within the scope of the object detection system according to the invention that the Number of detection areas can be reduced or increased can. This selection is according to the specialist according to the specific Leave requirements to the respective object detection system. Also possible is any combination of different object detectors within a detection range. Here too the corresponding one Leave the selection to the specialist.
Sowohl in dem Ausführungsbeispiel
nach
In der gesamten vorliegenden Beschreibung ist unter dem Detektionsbereich eines Objektdetektors der meßtechnisch sinnvoll auswertbare Detektionsbereich des physikalischen Detektionsbereiches eines Objektdetektors zu verstehen. Rein physikalisch sind die Grenzen der Detektionsbereiche der beschriebenen Objektdetektoren nicht derart scharf abgrenzbar, wie es in den Figuren gezeigt ist. Die zur Auswertung herangezogenen meßtechnisch sinnvoll auswertbaren Detektionsbereiche sind hingegen durch geeignete Maßnahmen in der Hard- und/oder Software des erfindungsgemäßen Objektdetektionssystems in der Weise abgrenzbar, wie es beispielhaft in den Ausführungsbeispielen gezeigt ist.Throughout the present description under the detection area of an object detector the metrological sensible evaluable detection area of the physical detection area of a Understand object detector. The limits are purely physical the detection areas of the described object detectors are not so sharply delineated as shown in the figures. The that can be used for the evaluation in terms of measurement technology Detection areas, however, are through appropriate measures in the hardware and / or software of the object detection system according to the invention can be delimited in the manner exemplified in the exemplary embodiments is shown.
Claims (13)
Priority Applications (5)
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DE19934670A DE19934670B4 (en) | 1999-05-26 | 1999-07-23 | Object detection system |
JP2001500886A JP2003501635A (en) | 1999-05-26 | 2000-05-25 | Object detection system |
PCT/DE2000/001667 WO2000073818A1 (en) | 1999-05-26 | 2000-05-25 | Object detection system |
US09/744,620 US6580385B1 (en) | 1999-05-26 | 2000-05-25 | Object detection system |
EP00943634A EP1103004A1 (en) | 1999-05-26 | 2000-05-25 | Object detection system |
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DE19923920 | 1999-05-26 | ||
DE19934670A DE19934670B4 (en) | 1999-05-26 | 1999-07-23 | Object detection system |
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