WO2019091700A1 - Procédé de détermination d'au moins un espace libre dans une zone de surveillance d'un dispositif de mesure de distance, dispositif de mesure de distance et système d'assistance à la conduite - Google Patents

Procédé de détermination d'au moins un espace libre dans une zone de surveillance d'un dispositif de mesure de distance, dispositif de mesure de distance et système d'assistance à la conduite Download PDF

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Publication number
WO2019091700A1
WO2019091700A1 PCT/EP2018/077884 EP2018077884W WO2019091700A1 WO 2019091700 A1 WO2019091700 A1 WO 2019091700A1 EP 2018077884 W EP2018077884 W EP 2018077884W WO 2019091700 A1 WO2019091700 A1 WO 2019091700A1
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WO
WIPO (PCT)
Prior art keywords
free space
distance measuring
amplitude
monitoring area
signals
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/EP2018/077884
Other languages
German (de)
English (en)
Inventor
Jean-Francois Bariant
Llarina Lobo-Palacios
Christian Sturm
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.)
Valeo Schalter und Sensoren GmbH
Original Assignee
Valeo Schalter und Sensoren 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 Valeo Schalter und Sensoren GmbH filed Critical Valeo Schalter und Sensoren GmbH
Publication of WO2019091700A1 publication Critical patent/WO2019091700A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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
    • G01S13/88—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
    • 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
    • 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
    • G01S7/48—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
    • G01S7/4873—Extracting wanted echo signals, e.g. pulse detection 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
    • 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

Definitions

  • the invention relates to a method for determining at least one free space in a monitoring area of a distance measuring device, in particular of a vehicle
  • environmental information are determined from which at least one free space is determined.
  • the invention relates to a distance measuring device for monitoring a monitoring area, in particular of a vehicle, on objects, the distance measuring device having
  • At least one transmitter for transmitting transmission signals to the surveillance area
  • At least one receiver for receiving received signals from the surveillance area
  • control and / or evaluation device for controlling the at least one transmitter and the at least one receiver and / or for evaluating received signals
  • the at least one control and / or evaluation means comprises means for determining at least one free space in the monitoring area from the received signals.
  • the invention relates to a driver assistance system of a vehicle having at least one distance measuring device
  • At least one electronic control device for controlling functional devices of the vehicle depending on environmental information provided by at least one distance measuring device, - And at least one distance measuring device for determining environmental information from a monitoring area, the at least one distance measuring device
  • At least one transmitter for transmitting transmission signals to the surveillance area
  • At least one receiver for receiving received signals from the surveillance area
  • control and / or evaluation device for controlling the at least one transmitter and the at least one receiver and / or for evaluating received signals
  • the at least one control and / or evaluation means comprises means for determining at least one free space in the monitoring area from the received signals.
  • a method is known in particular for improving the reactivity of vehicles or vehicle drivers when danger occurs in traffic.
  • the lying in the direction of travel of a vehicle vehicle environment is examined for a free driving space. At least the location parameters of the free travel area are made available to a system or a person for further processing.
  • the invention has for its object to design a method, a distance measuring device and a driver assistance system of the type mentioned, in which an accuracy and / or reliability of the free space determination can be improved.
  • the environmental information is characterized by a distance-dependent amplitude characteristic, which depends on distances from a reference range of the distance-measuring device, the amplitude profile is compared in terms of amplitude with a free space threshold, which is set or specified in terms of amplitude below a predefinable detection threshold for determining target signals,
  • an outer boundary of the at least one free space is defined.
  • an amplitude-related detection threshold is predetermined, which may be so high that correspondingly stronger detections can be identified as target signals.
  • the detection threshold can advantageously be specified such that increases in the amplitude profile that result from reflections of the transmission signals on real target objects are above the detection threshold. With the detection threshold, an appropriate false detection rate can be achieved.
  • a free space threshold is defined, which lies below the detection threshold. With the free space threshold, according to the invention, even smaller increases in amplitude can be detected, which can result in particular from weak reflections on real objects. In this way it can be ensured that even objects with weak reflections can be detected and no object for determining the free space is overlooked.
  • the outer limit of the free space is thus determined by the safety of the reference range of the distance measuring device closest to the amplitude increase, which are above the free space threshold. Thus, on the whole, it can be ensured that the free space is even more likely to be free of any objects.
  • the free space determination can be performed in this way more accurate and reliable.
  • a free space is part of the corresponding surveillance area, which is extremely likely to be free of objects. To be considered free space, the distance dependent amplitude must be below the free space threshold.
  • the outer boundary of the free space describes the end of the free space away from the reference area.
  • An inner boundary of the free space can accordingly describe the end of the free space facing the reference area.
  • the reference range of the distance measuring device may be a reference point, a reference line or a reference surface to which the distances can be referred.
  • the reference range may be defined by the position of a transmitter and / or a receiver of the rangefinder.
  • the free space threshold can be fixed prior to commissioning of the distance measuring device or adjusted during operation.
  • the free space threshold can be specified in particular during a calibration of the removal device.
  • the free space threshold can be adjusted according to the environmental conditions and / or the operating conditions. Thus, overall, reliability and accuracy of free space determination can be improved.
  • the invention can also be used to detect objects which move on a trajectory tangent to the reference region.
  • Such objects may be susceptible to false detections, in particular due to noise or interference from other sources, which without the invention would be detected with little probability as detections associated with real objects.
  • the invention enables the identification of false detections.
  • such false detections that have arisen due to accumulation from previous measurement cycles in a map and / or detections that have been erroneously classified as static can be identified.
  • it can be detected by means of the invention whether an object originally recognized as static, in particular a stationary pedestrian, a parked vehicle or the like, has moved.
  • the invention can be used in a vehicle, in particular a motor vehicle.
  • the invention can be used in a land vehicle, in particular a passenger car, truck, a bus, a motorcycle or the like, an aircraft and / or a watercraft.
  • the invention can also be used in autonomous or at least partially autonomous vehicles.
  • a vehicle recognized free spaces can be identified as free and / or parking spaces. Knowledge of open spaces can improve the responsiveness of vehicles or vehicle drivers when traffic hazards occur. In particular, in combination with a driver assistance system so the driving safety and / or driving comfort can be improved.
  • Standing or moving objects, in particular vehicles, persons, obstacles, road bumps, in particular potholes or stones, roadway boundaries, free spaces, in particular parking spaces, or the like, can be detected as ambient information with the distance measuring device.
  • the detection device may advantageously be connected to or part of at least one electronic control device of the vehicle, in particular a driver assistance system and / or a chassis control and / or a driver information device and / or a parking assistance system or the like.
  • the object data detected by the detection device in particular the distance, orientation and / or relative speed of an object relative to the vehicle, transmitted to the control device and for influencing driving functions, in particular the speed, a brake function, a steering function, a chassis control and / or an output of a warning and / or warning signal, in particular for the driver or the like.
  • the free space threshold can be adjusted depending on a noise of the amplitude curve. In this way, the free space threshold can be adapted to the noise component in the amplitude curve.
  • the free space threshold can be chosen to be above a maximum noise. Thus, an overall accuracy of the method can be improved.
  • the free space threshold can be set or specified with an offset function starting from the detection threshold.
  • an offset function can be preset or set constant over at least part of the amplitude profile and / or can be variably preset or set at least over part of the amplitude profile.
  • the offset function can be set constant at least over part of the amplitude curve.
  • the offset function can have a constant value over the entire amplitude curve. Thus, a calculation effort can be reduced accordingly.
  • the offset function can be variably set or adjusted over at least part of the amplitude profile. In this way, the offset function can be adjusted individually in particular to the noise and / or the course of the detection threshold.
  • an offset function can be set or adjusted in terms of amplitude constant or variable over at least part of the amplitude profile and / or can be preset or set at least temporally constant or variable over a part of the amplitude profile.
  • the offset function can be better adapted in particular to the noise and / or the detection threshold.
  • the offset function can be chosen so that an improvement in the accuracy and reliability of the free space determination is achieved.
  • the offset function can be constant in terms of amplitude and / or time over at least part of the amplitude profile. This makes it easier to specify the offset function.
  • the offset function can be variable in amplitude and / or time over at least part of the amplitude curve.
  • the offset function can be adapted to an amplitude-related and / or temporal course, in particular of the detection threshold, the noise and / or the amplitude profile of the surroundings information.
  • At least one free space can be used as a spatial one-dimensional distance, as a two-dimensional surface or as three-dimensional volume can be defined. In this way, depending on the application and arrangement of the distance measuring device in each case the most suitable free space information can be obtained.
  • At least one free space can be specified as a two-dimensional surface via an azimuth angle or an elevation angle or as a three-dimensional volume via azimuth and elevation.
  • At least one free space can be defined as a vertical or horizontal section or as a spatial section.
  • At least one free space can be defined two-dimensionally as a circular sector or three-dimensionally as a spherical sector.
  • distances, directions and / or speeds of any objects relative to the reference range of the distance measuring system can be determined from the environmental information.
  • a location, in particular a distance and a direction, and / or a movement of a possible object relative to the reference range of the distance measuring device can be determined.
  • detected objects can also be identified as static or dynamic, in particular on the basis of the speed information. This allows more accurate statements about the free space.
  • At least one radar system, a LiDAR system, an ultrasound system or another type of distance measuring system can be used to determine the environmental information.
  • a monitoring area can be precisely and quickly monitored for objects.
  • Such distance measuring systems work without contact.
  • a scanning, in particular scanning, measuring system can be used for the distance measuring device.
  • a monitoring area can be scanned accordingly.
  • the environmental information can be determined from the received signals by means of at least one Fourier transformation.
  • an amplitude curve in be determined a so-called distance gate Dopplertor matrix.
  • Any objects in the surveillance area may be represented in such a range gate doppler gate matrix by corresponding target signals in the form of amplitude peaks.
  • a distance of a corresponding object to the reference range of the distance measuring device can be determined.
  • Doppler values corresponding relative velocities can be determined.
  • the intensities of the corresponding range cells obtained from the Fourier transform of the received signals must be below the free space threshold.
  • the free space threshold can be predetermined or adjusted depending on a noise of the amplitude curve in the Doppler and / or distance dimension. In this way, the accuracy and / or reliability of the free space determination can be further improved.
  • At least one multidimensional discrete Fourier transformation in particular at least one two-dimensional or three-dimensional Fourier transformation, can be performed.
  • a fast Fourier transform FFT
  • radar signals can be reshaped using Fourier transforms.
  • an inner limit of the free space can additionally be specified or set.
  • a distance of an opening of the free space from the reference range of the removal device can be predetermined.
  • the clearance is between the inner border and the outer border.
  • the inner boundary may lie behind a near zone of the distance measuring device. In this way, any objects in the vicinity can be disregarded in the free space determination.
  • the inner limit can be set at a distance of approximately between 10 cm and 1 m from the reference range of the distance measuring device.
  • control and / or evaluation device comprises means for performing the method according to the invention.
  • control and / or evaluation device may comprise means for carrying out at least one multi-dimensional discrete Fourier transformation of the received signals.
  • control and / or evaluation device has means for carrying out the method according to the invention.
  • FIG. 1 shows a motor vehicle in a driving situation in plan view, with a driver assistance system and exemplarily four radar systems for monitoring respective monitoring areas;
  • FIG. 2 shows a functional representation of the motor vehicle with the driver assistance system and one of the radar systems from FIG. 1;
  • FIG. 3 shows a distance-gate-amplitude diagram in which an amplitude profile of a radar measurement with one of the radar systems from FIG. 1 is shown.
  • FIG. 1 shows a motor vehicle 10 in the form of a passenger car in a driving situation in plan view.
  • the motor vehicle 10 has, for example, four identical radar systems 12.
  • the radar systems 12 are arranged, for example, at the four corners of the motor vehicle 10. With the radar systems 12, respective monitoring areas 14 in the direction of travel 16 can be monitored obliquely in front of and obliquely behind the motor vehicle 10 towards objects 18.
  • the radar systems 12 can also be arranged at other locations on the motor vehicle 10 and aligned differently. It is also possible to provide more or less than four radar systems 12.
  • the objects 18 may, for example, be other vehicles, persons, obstacles, road bumps, for example potholes or stones, roadway boundaries or the like. In the figures 1 and 2, some objects 18 are indicated by way of example.
  • Each radar system 12 is designed, for example, as a frequency-modulated continuous wave radar.
  • Frequency-modulated continuous wave radars are also referred to in the art as FMCW (Frequency Modulated Continuous Wave) radars.
  • FMCW Frequency Modulated Continuous Wave
  • a distance, a direction and a velocity of the object 18 relative to a reference point of the motor vehicle 10 can be determined.
  • Reference point for example, be the position of a transmitter 26 of the radar system 12 on the motor vehicle 10.
  • the radar systems 12 are part of a driver assistance system 20 or can at least be connected to it.
  • FIG. 2 shows a functional diagram of the driver assistance system 20, some exemplary components of the motor vehicle 10, and one of the radar systems 12.
  • a driver of the motor vehicle 10 can be supported.
  • the motor vehicle 10 using the driver assistance system 20 at least partially drive autonomously, on or off parking.
  • driving functions of the motor vehicle 10 such as a motor control, a braking function or a steering function, influenced or hints or warning signals are issued.
  • the driver assistance system 20 is connected to functional devices 22 in a regulating and / or controlling manner.
  • FIG. 2 shows by way of example two functional devices 22.
  • the functional devices 22 may be, for example, an engine control system, a brake system, a steering system, a chassis control or a signal output system.
  • the driver assistance system 20 has an electronic control device 24 with which corresponding electronic control and regulating signals can be transmitted to the functional devices 22 and / or received and processed by them.
  • Each radar system 12 includes by way of example a transmitter 26, an electronic control and evaluation device 28 and a receiver 30.
  • Each control and evaluation device 28 is technically connected to the control device 24.
  • driving functions of the motor vehicle 10 can be controlled / regulated depending on environmental information that is determined with the radar systems 12.
  • electrical / electronic control and / or evaluation devices such as the control device 24, the control and evaluation devices 28, an engine control unit of the motor vehicle 10 or the like Chen, integrated in one or more components or groups of components or at least partially realized as decentralized components or groups of components.
  • transmission signals 32 can be sent, for example, with constantly changing frequency in the corresponding monitoring area 14.
  • the transmit signals 32 are optionally reflected on objects 18 and sent back as corresponding receive signals 34 to the receiver 30 and received therewith. From the received signals 34, the distance, the direction and the speed of the object 18 relative to the motor vehicle 10 or the reference point are determined by the control and evaluation device 28.
  • the method for determining environmental information from the corresponding monitoring area 14 will be explained below by way of example with reference to one of the radar systems 12.
  • the transmitter 26 is controlled so that transmission signals 32 are sent to the monitoring area 14.
  • the transmission signals 32 are generated, for example, from frequency-modulated continuous-wave signals.
  • Reflected echoes of the transmission signals 32 are received by the corresponding receiver 30 as received signals 34 on the object 18 and if necessary brought into a form which can be utilized by the control and evaluation device 28.
  • false detections for example in the form of noise or possibly interferences from other sources, can be received by the receiver 30 as receive signals 34 from the monitoring area 14.
  • the reception signals 34 received by the receiver 30 are subjected to a two-dimensional fast Fourier transformation by appropriate means of the control and evaluation device 28.
  • the result of the Fourier transformation results in an amplitude curve 36 for the transformed received signals 34.
  • the amplitude curve 36 in the range gate dimension is shown by way of example in a distance-gate-amplitude diagram.
  • the amplitude curve 36 is dependent on a distance to the reference point. From the result of the two-dimensional discrete Fourier transformation, target signals 38a of physically existing target objects and their respective amplitudes emerge as peaks.
  • the amplitude curve 36 characterizes the intensity of a possible target signal 38a or, if it is in the corresponding monitoring area 14, only noise.
  • a target object is an area of an object 18 on which transmit signal 32 can be reflected. Multiple targets may originate from the same object 18 or from different objects 18.
  • the range gates correspond to so-called “range bins.”
  • the Doppler ports correspond to so-called relative speed gates or "Doppler bins.”
  • the amplitude profile 36 is compared with a predetermined detection threshold 40.
  • the detection threshold 40 is shown by way of example in FIG. 3 as a constant amplitude.
  • the detection threshold 40 can be predetermined and stored, for example, before commissioning of the radar system 12 during test measurements.
  • the detection threshold 40 is selected so that only target signals 38a of real target objects whose amplitudes are correspondingly large are above the detection threshold 40 and therefore detected. From the target signals 38a, a distance, a velocity and / or a direction of the corresponding target objects relative to the reference point of the radar system 12 can be determined.
  • a free space threshold 44 is given in terms of amplitude below the detection threshold 40.
  • the free space threshold 44 is reduced, for example, by a constant amplitude offset 48 with respect to the detection threshold 40.
  • the amplitude offset 48 is selected so that the free space threshold 44 is above the noise 50 so that noise 50 is not erroneously identified as the target signal 38a or 38b.
  • the amplitude curve 36 is compared with the free space threshold 44. If available, possible target signals 38b are determined whose amplitudes lie above the free space threshold 44 and below the detection threshold 40.
  • the possible target signals 38b are provided with the reference numeral 38b for easier discrimination of the above-mentioned target signals 38a.
  • the potential target signals 38b may be due, for example, to weak reflections to target objects or to signal noise.
  • Target objects which generate the possible target signals 38b are provided with the reference symbols 18b as black dots in FIG. 1 for the sake of simpler distinctness.
  • the possible target signals 38b are not detected in the comparison with the detection threshold 40, since their reflections are too weak.
  • the free space threshold 44 it is ensured that even very weak reflections of possible target objects can be used to determine the free space 42.
  • the smallest distance 52 in which the amplitude curve 36 lies above the free space threshold 44 is defined as the outer boundary 46 of the free space 42.
  • the clearance 42 Due to the opening angle of the radar system 12, the clearance 42 has the shape of a circular sector, for example in FIG. 1, depending on the orientation of the radar system 12.
  • the free space 42 is shown as a two-dimensional area in azimuth.
  • the free space 42 can also be defined in the elevation direction or as a three-dimensional volume.
  • an inner boundary 54 for the free space 42 can additionally be specified. This is shown by way of example in FIG. 1 at the free space 42, which is determined by the left-hand radar system 12 in the direction of travel 16.
  • the inner boundary 54 may eliminate the near range of the radar system 12, for example, at distances of about 20 cm to 50 cm from the radar system 12.
  • the bumper of the vehicle 10 may be arranged, which would be erroneously detected as relative to the motor vehicle 10 static object.

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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)
  • Electromagnetism (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

La présente invention a trait à un procédé de détermination d'au moins un espace libre (42) dans une zone de surveillance (14) d'un dispositif de mesure de distance (12) en particulier d'un véhicule (10), à un dispositif de mesure de distance (12) et à un système d'assistance à la conduite (20). Selon le procédé, des signaux d'émission (32) sont émis dans la zone de surveillance (14), des signaux de réception (34) sont reçus depuis la zone de surveillance (14) et à partir des signaux de réception (34) sont déterminées des informations d'environnement à partir desquelles au moins un espace libre (42) est déterminé. Les informations d'environnement sont caractérisées par une courbe d'amplitude dépendante de la distance (36) qui dépend de distances à une zone de référence du dispositif de mesure de distance (12). La courbe d'amplitude est comparée au niveau des amplitudes à un seuil d'espace libre qui est réglé ou prédéfini selon l'amplitude en dessous d'un seuil de détection prédéfinissable pour la détermination de signaux cibles. Avec la plus petite distance, à laquelle la courbe d'amplitude se trouve au niveau des amplitudes au-delà du seuil d'espace libre, est définie une limite externe (46) du ou des espaces libres (42).
PCT/EP2018/077884 2017-11-10 2018-10-12 Procédé de détermination d'au moins un espace libre dans une zone de surveillance d'un dispositif de mesure de distance, dispositif de mesure de distance et système d'assistance à la conduite Ceased WO2019091700A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017126388.8A DE102017126388B4 (de) 2017-11-10 2017-11-10 Verfahren zur Bestimmung wenigstens eines Freiraums in einem Überwachungsbereich einer Entfernungsmessvorrichtung, Entfernungsmessvorrichtung und Fahrerassistenzsystem
DE102017126388.8 2017-11-10

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WO2019091700A1 true WO2019091700A1 (fr) 2019-05-16

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EP3888988B1 (fr) 2020-03-30 2024-09-04 Aptiv Technologies AG Procédé et système pour déterminer une distance utilisable à l'avant d'un véhicule
EP3905105A1 (fr) 2020-04-27 2021-11-03 Aptiv Technologies Limited Procédé pour déterminer un espace exempt de collision
EP3905106A1 (fr) 2020-04-27 2021-11-03 Aptiv Technologies Limited Procédé de détermination d'une zone carrossable
EP4009228B1 (fr) 2020-12-02 2025-10-29 Aptiv Technologies AG Méthode pour déterminer un espace libre sémantique

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