Method for detecting a mark made on a ground, driver assistance device and motor vehicle

• US 10,353,065 B2
• Filed: 11/21/2014
• Issued: 07/16/2019
• Est. Priority Date: 12/17/2013
• Status: Active Grant

• Current Assignee: Valeo Schalter und Sensoren GmbH (Valeo SE)
• Original Assignee: Valeo Schalter und Sensoren GmbH (Valeo SE)
• Inventors: Heimberger, Markus
• Primary Examiner(s): Akonai, Olumide Ajibade
• Application Number:
  US15/104,688
• Publication Number:
  US 20160320477A1
• Time in Patent Office: 1,698 Days
• CPC Class Codes: B60W 30/06 Automatic manoeuvring for parking
• CPC Class Codes: G01S 13/867 Combination of radar systems with cameras
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 15/86 Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection
• CPC Class Codes: G01S 15/931 of land vehicles
• CPC Class Codes: G01S 17/86 Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G01S 2013/9314 Parking operations
• CPC Class Codes: G01S 2013/9318 Controlling the steering
• CPC Class Codes: G01S 2013/93185 Controlling the brakes
• CPC Class Codes: G01S 2013/9319 Controlling the accelerator
• CPC Class Codes: G01S 2015/932 for parking operations
• CPC Class Codes: G06V 20/56 exterior to a vehicle by using sensors mounted on the vehicle
• CPC Class Codes: G06V 20/588 Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road

Abstract

The invention relates to a method for using a driver assistance device of a motor vehicle (1) to detect a mark (7) made on a ground (6) by providing a two-dimensional image by means of an imaging sensor (3) of the driver assistance device (2); by identifying a potential mark (7″) on the basis of the two-dimensional image (11); and by performing a distance measurement by means of a distance sensor (4) of the driver assistance device and also taking a result (17) of the distance measurement as a basis for determining whether the potential mark (7″) is the mark (7) made on the ground (6) or a mark (14) on an object (13) that is on the ground (6).

Claims

1. A method for using a driver assistance device of a motor vehicle to detect a marking made on a ground the method comprising:

providing a two-dimensional image by an imaging sensor of the driver assistance device;

identifying a potential marking on the basis of the two-dimensional image;

performing a distance measurement by a distance sensor of the driver assistance device; and

taking a result of the distance measurement as a basis for determining whether the potential marking is the marking made on the ground or a marking on an object that is on the ground;

wherein when the result of the distance measurement does not detect an object, the potential marking is interpreted as the marking made on the ground.

2. The method according to claim 1, wherein the driver assistance device determines a position of the potential marking relative to the motor vehicle on the basis of the two-dimensional image, particularly by a ground projection of the potential marking onto the ground, and plausibilizes the potential marking by comparing said position with the result of the distance measurement.

3. The method according to claim 2, wherein when the distance measurement involves a distance being measured that is shorter than a distance of the potential marking from the motor vehicle, then the potential marking is interpreted as the marking on the object.

4. The method according to claim 2, wherein when the distance measurement involves a distance being measured that is longer than a distance of the potential marking from the motor vehicle, then the potential marking is interpreted as the marking made on the ground.

5. The method according to claim 1, wherein the two-dimensional image is provided by a camera and/or by a laser scanner as an imaging sensor.

6. The method according to claim 1, wherein the distance measurement is performed by an ultrasonic sensor and/or by a laser scanner and/or by a radar sensor and/or by a camera providing three-dimensional image data as a distance sensor.

7. The method according to claim 1, wherein a parking space is detected and/or a target position for the motor vehicle in a parking space is stipulated by using the driver assistance device to detect a parking space marking as the marking made on the ground.

8. The method according to claim 1, wherein a lane is recognized by using the driver assistance device to detect a longitudinal road marking as the marking made on the ground.

9. A driver assistance device for a motor vehicle, for detecting a marking made on a ground, having:

an imaging sensor for providing a two-dimensional image;

an evaluation device for identifying a potential marking on the basis of the two-dimensional image; and

a distance sensor for performing a distance measurement,

wherein the evaluation device is designed to take a result of the distance measurement as a basis for determining whether the potential marking is the marking made on the ground or a marking on an object that is on the ground;

wherein when the result of the distance measurement does not detect an object, the potential marking is interpreted as the marking made on the ground.

10. A motor vehicle having a driver assistance device according to claim 9.