METHOD AND DEVICE FOR MEASURING SPEED IN A VEHICLE INDEPENDENTLY OF THE WHEELS

• US 20150005993A1
• Filed: 11/06/2012
• Published: 01/01/2015
• Est. Priority Date: 01/05/2012
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Breuing, Holger
• Granted Patent: US 9,610,961 B2
• Time in Patent Office: Days
• US Class Current: 701/19
• CPC Class Codes: B61L 15/0063 Multiple on-board control systems, e.g. "2 out of 3"-systems
• CPC Class Codes: B61L 2205/04 Satellite based navigation systems, e.g. global positioning system [GPS]
• CPC Class Codes: B61L 23/041 Obstacle detection
• CPC Class Codes: B61L 25/021 Measuring and recording of train speed
• CPC Class Codes: B61L 25/025 Absolute localisation, e.g. providing geodetic coordinates
• CPC Class Codes: B61L 25/026 Relative localisation, e.g. using odometer
• CPC Class Codes: B61L 99/00 Subject matter not provided for in other groups of this subclass
• CPC Class Codes: G01P 3/00 Measuring linear or angular speed; Measuring differences of linear or angular speeds G01P5/00 - G01P11/00 take precedence; direction and speed indication G01P13/045; counting mechanisms G06M
• CPC Class Codes: G01S 13/60 wherein the transmitter and receiver are mounted on the moving object, e.g. for determining ground speed, drift angle, ground track G01S13/64 takes precedence
• CPC Class Codes: G01S 15/60 wherein the transmitter and receiver are mounted on the moving object, e.g. for determining ground speed, drift angle, ground track
• CPC Class Codes: G01S 17/58 Velocity or trajectory determination systems; Sense-of-movement determination systems
• CPC Class Codes: G01S 7/4056 specially adapted to FMCW
• CPC Class Codes: G01S 7/4082 using externally generated reference signals, e.g. via remote reflector or transponder

Abstract

A method for determining the speed of a vehicle is described. In this method, at least one object present in the environment of the vehicle is detected and a relative speed of the detected object in relation to the vehicle is measured. In addition, the speed of the vehicle is determined on the basis of the relative speed of the object.

Claims

1-12. -12. (canceled)

13. A method for determining the speed of a vehicle, comprising:

detecting at least one object located in the environment of the vehicle and measuring a relative speed of the detected object in relation to the vehicle; and

determining the speed of the vehicle based of the relative speed of the detected object.

14. The method as recited in claim 13, further comprising:

analyzing whether the detected object is a stationary or a moving object; and

using the relative speed of the detected object to determine the speed of the vehicle only if the detected object has been evaluated as stationary.

15. The method as recited in claim 13, further comprising:

comparing the relative speed of the detected object with a reference speed; and

using the relative speed for determining the speed of the vehicle only if the relative speed corresponds to the reference speed.

16. The method as recited in claim 15, wherein the speed of the vehicle is determined in recurring manner, and a most recently determined value of the speed of the vehicle is used as the reference speed.

17. The method as recited in claim 15, wherein the relative speeds of multiple objects detected in the environment of the vehicle are measured simultaneously or one after the other, and the reference speed is determined on the basis of an average value formed based on the relative speeds of the detected objects.

18. The method as recited in claim 15, wherein the relative speeds of multiple objects detected in the environment of the vehicle are measured, and an individual probability of being a stationary object is determined for each of the detected objects, and only particular objects having the highest probability are considered when determining the speed of the vehicle.

19. The method as recited in claim 18, wherein the probability assigned to an object of being a stationary object rises with increasing agreement between the relative speed determined for the object, and the reference speed.

20. The method as recited in claim 15, wherein the reference speed is determined on the basis of a speed of the vehicle ascertained with the aid of a reference sensor, the reference sensor using at least one of:

i) a reflection of optical beams at a subsurface, ii) a reflection of sonic waves at the subsurface, iii) the wheel speed, and iv) satellite navigation, for determining the reference speed.

21. The method as recited in claim 15, wherein the speed of the vehicle is determined on the basis of the measured relative speed of objects that are situated at least one of in front of and behind the vehicle, in the driving direction.

22. The method as recited in claim 15, wherein the detection of the objects in the environment of the vehicle takes place with the aid of at least one of an optical, acoustical, and a radar-based, measuring method.

23. The method as recited in claim 15, wherein the measurement of the relative speed of the detected objects takes place with the aid of a measuring method based on the Doppler effect.

24. A device for determining the speed of a vehicle, comprising

a first sensor device to detect objects in an environment of the vehicle;

a second sensor device to measure a relative speed of the detected object in relation to the vehicle; and

an evaluation device to determine the speed of the vehicle on the basis of the measured relative speed of the object, the evaluation device being designed to evaluate the detected object as stationary based on the associated relative speed, and to determine the speed of the vehicle only on the basis of the relative speed of an object that is evaluated as stationary.