Use of a device in a vehicle, using which the environment of the vehicle can be identified by means of radar beams

• US 6,300,896 B1
• Filed: 12/17/1999
• Issued: 10/09/2001
• Est. Priority Date: 12/17/1998
• Status: Expired due to Fees

• Current Assignee: Daimler AG (Mercedes-Benz Group AG)
• Original Assignee: DaimlerChrysler AG (Mercedes-Benz Group AG)
• Inventors: Reichmann, Thomas, Lauer, Wolfgang, Kull, Wolfgang
• Primary Examiner(s): Pihulic, Daniel T.
• Application Number:
  US09/465,595
• Time in Patent Office: 662 Days
• Field of Search: 342/104, 702/96, 701/1, 701/82, 701/91, 180/197
• US Class Current: 342/104
• 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 13/92 for velocity measurement
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/932 using own vehicle data, e.g. ground speed, steering wheel direction
• CPC Class Codes: G01S 2013/9321 Velocity regulation, e.g. cruise control
• CPC Class Codes: G01S 2013/9325 for inter-vehicle distance regulation, e.g. navigating in platoons
• CPC Class Codes: G01S 7/4091 during normal radar operation

Abstract

The present invention relates to a method for correction of a signal which is derived from wheel rotation speed signals and represents the vehicle speed, wherein the vehicle has a device by means of which the environment of the vehicle can be identified, and wherein the correction of the signal which is derived from the wheel rotation speeds and represents the vehicle speed is carried out on the basis of the speed at which objects in the environment which are identified as being stationary move relative to the vehicle.

Claims

1. A method for correcting a signal representing speed of a vehicle comprising the steps of:

(1) deriving a signal from vehicle wheel rotation speed signals, the signal representing speed of the vehicle;

(2) identifying an environment of the vehicle by means of radar beams wherein objects in the environment are distinguished and characterized as moving or stationary, where an object is characterized as being stationary when its relative speed with respect to the vehicle differs by not more than a specific amount from the vehicle speed derived from the wheel rotation signals, said specific amount being defined as a function of the vehicle speed in such a manner that the specific amount increases as the vehicle speed increases; and

(3) generating a correction of the vehicle speed signal as a function of speed at which the objects characterized as stationary, move relative to the vehicle.

2. A method for correcting a signal representing speed of a vehicle comprising the steps of:

(1) deriving a signal from vehicle wheel rotation speed signals, the signal representing speed of the vehicle;

(2) identifying an environment of the vehicle by means of radar beams wherein objects in the environment are distinguished and characterized as moving or stationary;

(3) determining a correction factor by averaging quotients of relative speeds of objects which are identified as being stationary, with respect to the vehicle speed derived from the wheel rotation speed signals; and

(4) generating a corrected vehicle speed as a function of speed at which the objects characterized as stationary, move relative to the vehicle, said corrected vehicle speed being obtained by multiplying the wheel rotation speed signals by said correction factor.

3. The method according to claim 2, wherein the only quotients which are included in the averaging are those for which the vehicle speed is greater than a specific minimum speed.

4. The method according to claim 2, wherein the only quotients included in the averaging are those which are determined at times at which the vehicle acceleration or vehicle deceleration which can be derived from the wheel rotation speed signals is within predetermined limits.

5. The method according to claim 2, wherein the only quotients included in the averaging are those which are determined at times at which an angle between the vehicle'"'"'s direction of travel and a vector from the vehicle to the object which is identified as being stationary does not exceed a specific value.

6. The method according to claim 2, wherein the only quotients included in the averaging are those which are determined at times at which a radius of curvature of a curve on which the vehicle is travelling is not less than specific values as a function of a distance to the object which is identified as being stationary.

7. A method for correcting a signal representing speed of a vehicle comprising the steps of:

(1) deriving a signal from vehicle wheel rotation speed signals, the signal representing speed of the vehicle;

(2) identifying an environment of the vehicle by means of radar beams wherein objects in the environment are distinguished and characterized as moving or stationary; and

(3) generating a correction of the vehicle speed signal as a function of speed at which the objects characterized as stationary, move relative to the vehicle speed, said vehicle speed being corrected by a previously determined correction.

8. A method for correcting a signal representing speed of a vehicle comprising the steps of:

(1) deriving a signal from vehicle wheel rotation speed signals, the signal representing speed of the vehicle;

(2) identifying an environment of the vehicle by means of radar beams wherein objects in the environment are distinguished and characterized as moving or stationary, where an object is characterized as being stationary when its relative speed with respect to the vehicle differs by not more than a specific amount from the vehicle speed derived from the wheel rotation signals, said specific amount being defined as a function of the vehicle speed in such a manner that the specific amount increases as the vehicle speed increases;

(3) generating a correction of the vehicle speed signal as a function of speed at which the objects characterized as stationary, move relative to the vehicle; and

(4) storing said new correction only if said new correction differs from a previous correction by more than a predetermined difference.

9. A method for correcting a signal representing speed of a vehicle comprising the steps of:

(1) deriving a signal from vehicle wheel rotation speed signals, the signal representing speed of the vehicle;

(2) identifying an environment of the vehicle by means of radar beams wherein objects in the environment are distinguished and characterized as moving or stationary;

(3) for each of various speed ranges generating a set of corrections for the vehicle wheel rotation speed signals, where each set of corrections is a function of speed at which objects characterized as stationary, move relative to the vehicle; and

(4) for a given speed range generating a corrected vehicle wheel rotation speed for each wheel by multiplying a wheel rotation speed by an element of said set of corrections.