Method and surroundings detection device for determining the presence and/or properties of one or multiple objects in the surroundings of a motor vehicle

Patent metadata

Field	Value
Publication number	US-11169259-B2
Application number	US-201916260365-A
Country	US
Kind code	B2
Filing date	Jan 29, 2019
Priority date	Jan 29, 2018
Publication date	Nov 9, 2021
Grant date	Nov 9, 2021

Abstract

A method is described for determining the presence and/or properties of one or multiple objects in the surroundings of a motor vehicle, the method including the following steps: —determining and/or receiving a driving speed of the motor vehicle; —emitting measuring beams by a measuring device of the motor vehicle; —receiving reflected and/or scattered back measuring beams by the measuring device; —determining a Euclidean distance of the one object or of the multiple objects from the measuring device based on the reflected and/or scattered back measuring beams; —determining the relative velocity of the one or of the multiple objects in relation to the motor vehicle based on the reflected and/or scattered back measuring beams; —calculating a sum of squares D2, the sum of squares D2 being the sum of the square of the distance of the respective object from the measuring device in a first direction perpendicular to a driving direction of the motor vehicle and of the square of the distance of the respective object from the measuring device in a second direction perpendicular to the first direction and to the driving direction of the motor vehicle, from the speed of the motor vehicle, the Euclidean distance of the one object or of the multiple objects from the measuring device and the relative velocity of the one or of the multiple objects in relation to the motor vehicle under the approximations that the yaw rate of the motor vehicle is zero, that the pitch rate of the motor vehicle is zero and that the speed of the motor vehicle is essentially constant; and —analyzing a frequency distribution of the sum of squares D2 within a time period for determining a number of the objects, an object type of the objects, positions of the objects and/or a geometric expansion of the objects in the surroundings of the motor vehicle.

First claim

What is claimed is:

1. A method for determining at least one of a presence and properties of one or multiple objects in surroundings of a motor vehicle, comprising:
at least one of determining and receiving a driving speed of the motor vehicle;
emitting a measuring beam by a measuring device of the motor vehicle;
receiving at least one of reflected and scattered back measuring beams by the measuring device;
determining a Euclidean distance of the one object or of the multiple objects from the measuring device based on the at least one of reflected and scattered back measuring beams;
determining a relative velocity of the one or of the multiple objects in relation to the motor vehicle based on the at least one of reflected and/or scattered back measuring beams;
calculating a sum of squares D 2 , the sum of squares D 2 being the sum of a square of a distance of a respective object from the measuring device in a first direction perpendicular to a driving direction of the motor vehicle and of a square of a distance of the respective object from the measuring device in a second direction perpendicular to the first direction and to the driving direction of the motor vehicle, from the speed of the motor vehicle, the Euclidean distance of the one object or of the multiple objects from the measuring device and the relative velocity of the one or of the multiple objects in relation to the motor vehicle assuming the approximations that the yaw rate of the motor vehicle is zero, that the pitch rate of the motor vehicle is zero and that the speed of the motor vehicle is essentially constant; and
analyzing a frequency distribution of the sum of squares D 2 within a time period for determining at least one of a number of the objects, an object type of the objects, positions of the objects and a geometric expansion of the objects in the surroundings of the motor vehicle.

2. The method as recited in claim 1 , wherein the measuring beam includes a radar beam.

3. The method as recited in claim 1 , wherein the at least one of the number of the objects, the object types of the objects, the positions of the objects, and the geometric expansion of the objects are displayed to a driver of the motor vehicle via a display.

4. The method as recited in claim 3 , wherein the display is a head-up display.

5. The method as recited in claim 1 , wherein the analysis of the frequency distribution of the sum of squares D 2 is carried out with the aid of a fit or multiple fits based on a Rice distribution.

6. The method as recited in claim 1 , wherein the respective frequency distribution of the sum of squares D 2 is calculated during a sliding time interval, and a frequency distribution of the sum of squares D 2 determined over the sliding time interval is analyzed during the analysis of the frequency distribution of the sum of squares D 2 .

7. The method as recited in claim 1 , wherein an order estimation is carried out during the analysis of the frequency distribution of the sum of squares D 2 to determine the number of object classes present.

8. The method as recited in claim 1 , wherein a height position of the surface of a road is determined during the analysis of the frequency distribution of the sum of squares D 2 , and the determined height position of the surface of the road is used to calibrate the measuring device.

9. A surroundings detection device for determining at least one of a presence and properties of one or multiple objects in surroundings of a motor vehicle, comprising:
a speed determination device for at least one of determining and receiving a speed of the motor vehicle;
a measuring device for emitting a measuring beam and for receiving at least one of reflected and scattered back measuring beams;
a determination device:
for determining a Euclidean distance of the one object or of the multiple objects from the measuring device based on the at least one of reflected and scattered back measuring beams,
for determining a relative velocity of the one or of the multiple objects in relation to the motor vehicle based on the at least one of reflected and/or scattered back measuring beams, and
for calculating a sum of squares D 2 , the sum of squares D 2 being the sum of a square of a distance of a respective object from the measuring device in a first direction perpendicular to a driving direction of the motor vehicle and of a square of a distance of the respective object from the measuring device in a second direction perpendicular to the first direction and to the driving direction of the motor vehicle, from the speed of the motor vehicle, the Euclidean distance of the one object or of the multiple objects from the measuring device and the relative velocity of the one or of the multiple objects in relation to the motor vehicle assuming the approximations that the yaw rate of the motor vehicle is zero, that the pitch rate of the motor vehicle is zero and that the speed of the motor vehicle is essentially constant; and
an analysis device for analyzing a frequency distribution of the sum of squares D 2 in a time period for determining a number of the objects, an object type of the objects, positions of the objects and/or a geometric expansion of the objects.

10. The surroundings detection device as recited in claim 9 , wherein the measuring device includes a radar device, and the measuring beam includes a radar beam.

11. The surroundings detection device as recited in claim 9 , wherein the analysis device is designed in such a way that an order estimation is carried out during the analysis of the frequency distribution of the sum of squares D 2 to determine the number of object classes present.

Assignees

• Bosch Gmbh Robert

Inventors

• Reiher Marcus Steffen

Classifications

• G06V20/58

  Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads · CPC title

• G01S13/931 Primary

  of land vehicles · CPC title

• G01S2013/932

  using own vehicle data, e.g. ground speed, steering wheel direction · CPC title

• G01S13/08

  Systems for measuring distance only (indirect measurement G01S13/46) · CPC title

• G01S13/92

  for velocity measurement · CPC title