Process for evaluating a signal from a motor vehicle environment sensor

• US 20050192769A1
• Filed: 02/17/2005
• Published: 09/01/2005
• Est. Priority Date: 02/20/2004
• Status: Abandoned Application

• Current Assignee: Daimler Chrysler Company LLC (Stellantis NV)
• Original Assignee: Daimler Chrysler Company LLC (Stellantis NV)
• Inventors: von Reyher, Alexander
• Application Number:
  US11/059,851
• Publication Number:
  US 20050192769A1
• Time in Patent Office: Days
• US Class Current: 702/104
• CPC Class Codes: G01S 17/42 Simultaneous measurement of distance and other co-ordinates indirect measurement G01S17/46
• CPC Class Codes: G01S 17/88 Lidar systems specially adapted for specific applications
• CPC Class Codes: G01S 7/4802 using analysis of echo signal for target characterisation; Target signature; Target cross-section
• CPC Class Codes: G01S 7/487 Extracting wanted echo signals , e.g. pulse detection

Abstract

The invention concerns a process for evaluating the signal of an environment sensor of a motor vehicle, wherein from the signal lag time an offset of this signal is determined as well as an incline of the roadway, in that the signal is subject to a first filtering with a first time constant, in order to determine the incline of the roadway, and in that the signal is subject to a further filtering with a second time constant, in order to determine a possible offset of the signal, wherein, as the input of the filter for determining the incline of the roadway, a measurement signal adjusted by the output of the second filter is used. In certain cases, from the drive dynamic input values, with use of a drive dynamic model, a drive dynamic associated component of the pitch and/or roll angle of the motor vehicle can be determined, wherein the input signal of the filter for determining the incline of the roadway is obtained, in that, from the measurements signal adjusted by the output of the second filter, further the drive dynamic associated components of the pitch and/or roll angle are subtracted. In the design of the model, in certain cases, the first filter can be completely dispensed with.

Claims

1. A process for evaluating the signal of an environment sensor of a motor vehicle, comprising:

determining, from the signal lag time, an offset of this signal (2, 3) as well as an incline of the roadway (9, 10), comprising

(a) subjecting the signal to a first filtering (9) with a first time constant, in order to determine (10) the incline of the roadway and

(b) subjecting the signal to a further filtering (2) with a second time constant,

in order to determine (3) a possible offset of the signal,

wherein as the input of the filter (9) for determining the incline of the roadway a measurement signal (4, 8) adjusted by the output (3) of the second filter (2) is used.

3. The process according to claim 1, wherein from the drive dynamic input values, with utilization of a drive dynamic model, a drive dynamic associated component of the pitch and/or roll angle of the motor vehicle is determined, wherein the input signal (8) of the filter (9) is obtained for determining the incline of the roadway, in that from the measurement signal (4), adjusted by the output (3) of the second filter (2), further the drive dynamic associated component of the pitch and/or roll angle is subtracted (7, 8).

4. The process according to claim 1, wherein additionally the spring compression status of the springs of the vehicle are determined (5), whereby, from the degree of compression of the vehicle (5) and the offset of the signal (3), a possible misalignment of the sensor is determined (4).

5. The process according to claim 1, wherein by evaluation of the intensity of at least all measurement points associated with the road lane a maximum is determined, of which the breadth corresponds to a lane marker (11).

6. The process according to claim 1, wherein the signals from measurement points, which do not belong to the road surface, are checked for the occurrence to contiguous segments (12).

7. The process according to claim 1, wherein for estimating the course of the road, also standing objects, such as for example, guide posts are used (13).

2. A process for evaluating the signal of an environment sensor of a motor vehicle, wherein, from the drive dynamic input values with use of a drive dynamic model, a drive dynamic associated component of the pitch and/or roll angle of the motor vehicle is determined (7, 8), comprising:

determining, from the single run time, an offset of the signal (2, 3) as well as an incline of the roadway (9, 10), in that the signal is subject to a filtering (2) with a time constant, in order to determine (3) a possible offset of the signal, wherein for determining the incline of the roadway a measurement signal (4) adjusted by the output (3) of the filter (2) is employed, from which then components of the pitch and/or roll angle associated with the drive dynamics are subtracted (7, 8).

8. The process according to claim 2, wherein additionally the spring compression status of the springs of the vehicle are determined (5), whereby, from the degree of compression of the vehicle (5) and the offset of the signal (3), a possible misalignment of the sensor is determined (4).

9. The process according to claim 2, wherein by evaluation of the intensity of at least all measurement points associated with the road lane a maximum is determined, of which the breadth corresponds to a lane marker (11).

10. The process according to claim 2, wherein the signals from measurement points, which do not belong to the road surface, are checked for the occurrence to contiguous segments (12).

11. The process according to claim 2, wherein for estimating the course of the road, also standing objects, such as for example, guide posts are used (13).