WO2005081200A3 - Detection device for a motor vehicle - Google Patents

Detection device for a motor vehicle Download PDF

Info

Publication number
WO2005081200A3
WO2005081200A3 PCT/EP2005/001239 EP2005001239W WO2005081200A3 WO 2005081200 A3 WO2005081200 A3 WO 2005081200A3 EP 2005001239 W EP2005001239 W EP 2005001239W WO 2005081200 A3 WO2005081200 A3 WO 2005081200A3
Authority
WO
WIPO (PCT)
Prior art keywords
motor vehicle
detection device
surrounding zone
obstacle
environmental sensor
Prior art date
Application number
PCT/EP2005/001239
Other languages
German (de)
French (fr)
Other versions
WO2005081200A2 (en
Inventor
Ottmar Gehring
Harro Heilmann
Sascha Kolski
Andreas Schwarzhaupt
Gernot Spiegelberg
Armin Sulzmann
Original Assignee
Daimler Chrysler Ag
Ottmar Gehring
Harro Heilmann
Sascha Kolski
Andreas Schwarzhaupt
Gernot Spiegelberg
Armin Sulzmann
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 Daimler Chrysler Ag, Ottmar Gehring, Harro Heilmann, Sascha Kolski, Andreas Schwarzhaupt, Gernot Spiegelberg, Armin Sulzmann filed Critical Daimler Chrysler Ag
Publication of WO2005081200A2 publication Critical patent/WO2005081200A2/en
Publication of WO2005081200A3 publication Critical patent/WO2005081200A3/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
    • 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
    • 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
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • B60K31/0008—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including means for detecting potential obstacles in vehicle path
    • 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
    • G01S2013/93272—Sensor installation details in the back of the vehicles

Abstract

The invention relates to a detection device of a motor vehicle for detecting an obstacle in a surrounding zone of the motor vehicle by means of at least one first environmental sensor unit. According to the invention, a first computing unit is provided for generating a first probability distribution for the presence of the obstacle in the surrounding zone detected by means of the first environmental sensor unit. The surrounding zone is subdivided into a predefined number of fields, and a probability value is determined for each predefined field as a measure of the presence of the object in the respective field.
PCT/EP2005/001239 2004-02-17 2005-02-08 Detection device for a motor vehicle WO2005081200A2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102004007553.0 2004-02-17
DE102004007553A DE102004007553A1 (en) 2004-02-17 2004-02-17 Detecting device and safety system for a motor vehicle

Publications (2)

Publication Number Publication Date
WO2005081200A2 WO2005081200A2 (en) 2005-09-01
WO2005081200A3 true WO2005081200A3 (en) 2005-11-10

Family

ID=34813430

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2005/001239 WO2005081200A2 (en) 2004-02-17 2005-02-08 Detection device for a motor vehicle

Country Status (2)

Country Link
DE (1) DE102004007553A1 (en)
WO (1) WO2005081200A2 (en)

Families Citing this family (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2890774B1 (en) * 2005-09-09 2007-11-16 Inst Nat Rech Inf Automat VEHICLE DRIVING ASSISANCE METHOD AND IMPROVED ASSOCIATED DEVICE
FR2890773B1 (en) * 2005-09-09 2007-11-16 Inst Nat Rech Inf Automat METHOD FOR ASSISTING DRIVING A VEHICLE AND ASSOCIATED DEVICE
ATE399359T1 (en) * 2006-03-15 2008-07-15 Delphi Tech Inc OBSTACLE ASSESSMENT METHOD FOR A MOTOR VEHICLE
JP2007333486A (en) * 2006-06-13 2007-12-27 Denso Corp Obstacle detector for vehicle
DE102006046843A1 (en) * 2006-10-02 2008-04-03 Robert Bosch Gmbh Motor vehicle surrounding detecting method for use in area of driver assistance system, involves processing data for detecting objects and free area in surrounding of motor vehicle, and dividing surrounding into cells with attributes
DE102006047131A1 (en) 2006-10-05 2008-04-10 Robert Bosch Gmbh Method for automatically controlling a vehicle
DE102006056835A1 (en) * 2006-12-01 2008-06-05 Robert Bosch Gmbh Method for the grid-based processing of sensor signals
DE102006058308A1 (en) * 2006-12-11 2008-06-12 Robert Bosch Gmbh Method and device for detecting an obstacle in a surrounding area of a motor vehicle and motor vehicle
DE102006061390B4 (en) 2006-12-23 2019-05-16 Volkswagen Ag Environment detection system and Umweisfassungsverfahren a motor vehicle
DE102007012458A1 (en) 2007-03-15 2008-09-18 Robert Bosch Gmbh Method for object formation
DE102008001409A1 (en) 2008-04-28 2009-11-05 Robert Bosch Gmbh Method for determining free areas in the environment of a motor vehicle, which is particularly relevant for vehicle guidance
DE102008062273A1 (en) * 2008-12-15 2010-06-17 Volkswagen Ag Method for supplying information over objects in surrounding of motor vehicle, involves detecting measuring data over objects, evaluating measuring data and supplying surrounding field representation
WO2010127650A1 (en) * 2009-05-06 2010-11-11 Conti Temic Microelectronic Gmbh Method for evaluating sensor data for a motor vehicle
DE102013223803A1 (en) 2013-11-21 2015-05-21 Robert Bosch Gmbh Method and device for segmenting an occupancy grid for an environment model of a driver assistance system for a vehicle
DE102014204430A1 (en) * 2014-03-11 2015-09-17 Conti Temic Microelectronic Gmbh Method and device for determining an accuracy of an occupancy grid to be evaluated for a driver assistance system
DE102014208006A1 (en) * 2014-04-29 2015-11-26 Bayerische Motoren Werke Aktiengesellschaft Method for detecting the surroundings of a vehicle
DE102015109157A1 (en) * 2015-06-10 2016-12-15 Valeo Schalter Und Sensoren Gmbh Method for operating devices of a motor vehicle, device for operating devices of a motor vehicle and motor vehicle
DE102015217771A1 (en) * 2015-09-17 2017-03-23 Conti Temic Microelectronic Gmbh Device and method for monitoring a sensor function for a motor vehicle
US10195992B2 (en) 2017-04-03 2019-02-05 Ford Global Technologies, Llc Obstacle detection systems and methods

Citations (5)

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Publication number Priority date Publication date Assignee Title
DE4242635A1 (en) * 1992-12-17 1994-06-23 Mak System Gmbh Recognising obstacle in path of driverless vehicle
FR2709834A1 (en) * 1993-09-10 1995-03-17 Framatome Sa Method and device for detecting and locating obstacles in the environment of a vehicle
US6151539A (en) * 1997-11-03 2000-11-21 Volkswagen Ag Autonomous vehicle arrangement and method for controlling an autonomous vehicle
US6163252A (en) * 1999-04-07 2000-12-19 Mitsubishi Denki Kabushiki Kaisha Device for detecting obstacles, for use in vehicles
EP1394761A2 (en) * 2002-08-28 2004-03-03 Kabushiki Kaisha Toshiba Obstacle detection device and method therefor

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5461357A (en) * 1992-01-29 1995-10-24 Mazda Motor Corporation Obstacle detection device for vehicle
DE19932779A1 (en) * 1999-07-14 2001-01-25 Daimler Chrysler Ag Reversing aid

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4242635A1 (en) * 1992-12-17 1994-06-23 Mak System Gmbh Recognising obstacle in path of driverless vehicle
FR2709834A1 (en) * 1993-09-10 1995-03-17 Framatome Sa Method and device for detecting and locating obstacles in the environment of a vehicle
US6151539A (en) * 1997-11-03 2000-11-21 Volkswagen Ag Autonomous vehicle arrangement and method for controlling an autonomous vehicle
US6163252A (en) * 1999-04-07 2000-12-19 Mitsubishi Denki Kabushiki Kaisha Device for detecting obstacles, for use in vehicles
EP1394761A2 (en) * 2002-08-28 2004-03-03 Kabushiki Kaisha Toshiba Obstacle detection device and method therefor

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
"Baye's Theorem", WIKIPEDIA, XP002330652, Retrieved from the Internet <URL:http://en.wikipedia.org/wiki/Bayes%27_theorem> [retrieved on 20050606] *
DEB S ET AL: "A MULTISENSOR MULTITARGET DATA ASSOCIATION ALGORITHM", INTERNATIONAL CONFERENCE ON SYSTEMS ENGINEERING. PITTSBURGH, AUG. 9 - 11, 1990, NEW YORK, IEEE, US, 9 August 1990 (1990-08-09), pages 320 - 323, XP000169420 *

Also Published As

Publication number Publication date
DE102004007553A1 (en) 2005-09-01
WO2005081200A2 (en) 2005-09-01

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