Method and device for detecting objects in the surroundings of a vehicle

Patent metadata

Field	Value
Publication number	US-9488725-B2
Application number	US-201414476016-A
Country	US
Kind code	B2
Filing date	Sep 3, 2014
Priority date	Mar 3, 2012
Publication date	Nov 8, 2016
Grant date	Nov 8, 2016

Abstract

A device and a method for detecting objects in the surroundings of a vehicle is provided. At least one reflection pattern is ascertained for at least one object class. Pulse echo measurements for m different transmitter/receiver geometries are performed. Echo signals in the pulse echo measurements are detected. Weights for the different objects of the corresponding class are calculated. The weight values thus ascertained are summed to form a weight, and the presence of objects of the at least one object class is ascertained using the weights thus ascertained.

First claim

What is claimed is:

1. A method for detecting objects in an environment of a vehicle, the method comprising:
ascertaining at least one reflection pattern, which is stored or programmed in a memory or circuit, for at least one object class, wherein a reflection pattern for a mapping geometry of a pulse echo measurement assigns to each parameter value tuple that characterizes an object of the object class in the environment an expected transit time at which an echo pulse is expected in an echo signal if only a corresponding object characterized by the parameter value tuple is present in the environment;
performing pulse echo measurements for different transmitter/receiver geometries;
detecting echo signals in the pulse echo measurements;
calculating weights for different objects of the corresponding class characterized by the parameter value tuple in that, for each echo signal, one or more weight values are ascertained using the echo signal value or echo signal values for a point or points in time corresponding to an expected transit time or transit times that is or are associated with the parameter value tuple using the reflection pattern associated with the echo signal;
summing the weight values ascertained to form a weight; and
ascertaining a presence of objects of the at least one object class using the weights ascertained.

2. The method according to claim 1 , wherein the reflection pattern is calculated before detection of the echo signals.

3. The method according to claim 1 , wherein the echo signal values with which the weight values are ascertained are used as weight values.

4. The method according to claim 1 , wherein at least one reflection pattern for a transmitter/receiver geometry is precalculated, and wherein at least one additional reflection pattern is calculated from the at least one reflection pattern taking into account a vehicle motion between recording times of associated echo signals.

5. The method according to claim 1 , wherein a presence of an object is ascertained using a threshold condition for corresponding weights of a relevant class.

6. The method according to claim 1 , wherein an extent of a detected object is ascertained in that tests are made from the individual echo signals to determine whether or not the echo signal value or echo signal values for the point in time or points in time corresponding to the expected transit time or expected transit times which, based on the reflection pattern associated with the echo signal, is or are assigned to the parameter value tuple characterizing the detected object exceeds or exceed a predefined quantity, and wherein an echo signal value below the predefined quantity or the predefined additional threshold value is an indicator that the detected object does not extend to a reflection point at which a reflection of the transmit pulse at the detected object takes place in an associated transmitter/receiver geometry if the object is completely extended according to an assumption underlying a parameterization as a parameter value tuple.

7. The method according to claim 1 , wherein modified echo signals are generated such that signal components associated with detected objects are removed from the echo signals.

8. The method according to claim 1 , wherein the weights are recalculated using modified echo signals.

9. The method according to claim 1 , wherein the objects are inserted into a map of the environment in which each spatial cell is assigned a probability, wherein the insertion is carried out using a probability approach based on the Bayesian theorem, and wherein spatial points corresponding to a contour of the detected object are first assigned an existence probability for the object.

10. A device for detecting objects in the environment of a vehicle, the device comprising:
a pulse echo measurement device detecting echo signals;
a controller having a memory device for storing at least one reflection pattern for a transmitter/receiver geometry of the pulse echo measurement device; and
a computing unit that analyzes the echo signals according to the method of claim 1 .

Assignees

• Volkswagen Ag

Inventors

• Max Stephan
• Prausse Claudia
• Urban Alexander

Classifications

• G01S2015/932

  for parking operations · CPC title

• G01S15/878

  wherein transceivers are operated, either sequentially or simultaneously, both in bi-static and in mono-static mode, e.g. cross-echo mode · CPC title

• G01S15/931 Primary

  of land vehicles · CPC title

• G01S15/04 Primary

  Systems determining presence of a target · CPC title

• G01S7/539

  using analysis of echo signal for target characterisation; Target signature; Target cross-section · CPC title