Method and computer program for the detection of the contour of an obstacle in the surroundings of a vehicle

• US 7,450,738 B2
• Filed: 07/08/2004
• Issued: 11/11/2008
• Est. Priority Date: 09/12/2003
• Status: Expired due to Fees

• Current Assignee: Valeo Schalter und Sensoren GmbH (Valeo SE)
• Original Assignee: Valeo Schalter und Sensoren GmbH (Valeo SE)
• Inventors: Jecker, Nicolas, Gotzig, Heinrich
• Primary Examiner(s): Le; Brian Q
• Application Number:
  US10/571,096
• Publication Number:
  US 20070030347A1
• Time in Patent Office: 1,587 Days
• Field of Search: 382/104, 382/106, 382/107, 382/226, 382/266, 701 11- 12, 701/23, 701/41, 701 42- 43, 701300-302
• US Class Current: 382/104
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/9314 Parking operations
• CPC Class Codes: G01S 2013/9323 Alternative operation using light waves
• CPC Class Codes: G01S 2013/9324 Alternative operation using ultrasonic waves
• CPC Class Codes: G01S 2013/93271 in the front of the vehicles
• CPC Class Codes: G01S 2013/93272 in the back of the vehicles
• CPC Class Codes: G01S 2013/93274 on the side of the vehicles
• CPC Class Codes: G01S 2015/934 for measuring the depth, i.e. width, not length, of the parking space
• CPC Class Codes: G01S 2015/935 for measuring the contour, e.g. a trajectory of measurement points, representing the boundary of the parking space

Abstract

The invention relates to a method for detecting the contour of an obstacle in the surroundings of a moving vehicle by means of a sensor device that is preferably integrated in the lateral area of the vehicle. In previously known methods of this type, the sensor device usually emits a sensor signal to the obstacle already when said obstacle lies ahead in the direction of travel while also emitting a sensor signal once the vehicle has passed the obstacle. In order to improve evaluation of the sensor signals with regard to the reflection thereof on the obstacle, the reflection signals thus generated are first mathematically averaged so as to be able to then derive in a more precise manner the actual position and the actual shape of the contour of the obstacle from the obtained averaged reflection signal.

Claims

1. A method for detecting a contour of an obstacle in a vicinity of a moving vehicle using a sensor means preferably installed in a side area of the vehicle, the method comprising steps of:

a) emitting a first sensor signal, using the sensor means, in a direction having a directional portion in a travelling direction of the vehicle when the obstacle is ahead of the vehicle in the travelling direction;

b) receiving at least part of the first sensor signal after reflection thereof from the obstacle, in a form of a first reflection signal that represents a first position and a first shape of a contour of the obstacle;

c) emitting a second sensor signal, using the sensor means, in a direction having a directional portion opposite to the travelling direction of the vehicle when the vehicle has passed the obstacle;

d) receiving at least part of the second sensor signal, after reflection thereof from the obstacle, in a form of a second reflection signal that represents a second position and a second shape of the contour of the obstacle;

e) generating an averaged reflection signal through mathematical or arithmetical averaging of the first and the second reflection signals; and

f) evaluating an averaged reflection signal to extract an actual position and actual shape of the contour of the obstacle.

2. The method of claim 1, wherein the sensor signals are radar signals, ultrasound signals, or laser light signals.

3. A computer readable medium having a program code, the computer program code being designed for performing the method of claim 1.

4. The computer readable medium of claim 3, wherein a parking space is detected.

5. A method for detecting a contour of an obstacle in a vicinity of a moving vehicle using a sensor means preferably installed in a side area of the vehicle, the method comprising steps of:

a) emitting a first sensor signal, using a sensor means, in a direction having a directional portion in a travelling direction of the vehicle when the obstacle is ahead of the vehicle in the travelling direction;

b) receiving at least part of the first sensor signal after reflection thereof from the obstacle, in a form of a first reflection signal that represents a first position and a first shape of a contour of the obstacle;

c) emitting a second sensor signal, using the sensor means, in a direction having a directional portion opposite to the travelling direction of die vehicle when the vehicle has passed the obstacle;

d) receiving at least part of the second sensor signal, after reflection thereof from the obstacle, in a form of a second reflection signal that represents a second position and a second shape of the contour of the obstacle;

e) emitting a third sensor signal, using the sensor means, in a direction substantially perpendicular to the travelling direction when the vehicle is located at a substantially same position as the obstacle;

f) receiving at least part of the third sensor signal, after reflection thereof from the obstacle, in a form of a third reflection signal that represents a third position and a third shape of the contour of the obstacle;

g) generating an averaged reflection signal through mathematical or arithmetical averaging of at least two of the first, second and third reflection signals; and

h) evaluating an averaged reflection signal to extract an actual position and actual shape of the contour of the obstacle.

6. The method of claim 5, wherein the first, second and third reflection signals are used with individual weighting factors in averaging in accordance with step g).

7. The method of claim 6, wherein the third reflection signal is weighted more than the first and second reflection signals.

8. The method of claim 7, wherein the first and the second reflection signals are weighted by a same amount.

9. The method of claim 5, wherein the first, second and third reflection signals are substantially co-planar.

10. The method of claim 9, further comprising repeating steps a) through h) for different angular positions of a plane relative to a vertical plane in a longitudinal direction of the vehicle.

11. The method of claim 5, wherein the first, second and third sensor signals are emitted at a substantially same time.

12. A vehicle parking space detecting device to detect a contour of an obstacle in a surroundings of the vehicle and while the vehicle is moving, the device comprising:

a) means for emitting a first sensor signal, using the sensor means, in a direction having a directional portion in a travelling direction of the vehicle when the obstacle is ahead of the vehicle in the travelling direction;

b) means for receiving at least part of the first sensor signal after reflection thereof from the obstacle, in a form of a first reflection signal that represents a first position and a first shape of a contour of the obstacle;

c) means for emitting a second sensor signal, using the sensor means, in a direction having a directional portion opposite to the travelling direction of the vehicle when the vehicle has passed the obstacle;

d) mean for receiving at least part of the second sensor signal, after reflection thereof from the obstacle, in a form of a second reflection signal that represents a second position and a second shape of the contour of the obstacle;

e) means for generating an averaged reflection signal through mathematical or arithmetical averaging of the first and the second reflection signals; and

f) means for evaluating an averaged reflection signal to extract an actual position and actual shape of the contour of the obstacle.