Method for measuring lateral movements in a driver assistance system

• US 8,112,223 B2
• Filed: 12/02/2008
• Issued: 02/07/2012
• Est. Priority Date: 12/04/2007
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Jordan, Ruediger, Schwindt, Oliver
• Primary Examiner(s): Black, Thomas
• Assistant Examiner(s): MARC-COLEMAN, MARTHE Y
• Application Number:
  US12/326,137
• Publication Number:
  US 20090157314A1
• Time in Patent Office: 1,162 Days
• Field of Search: 701/300, 701/96, 701/229, 342/70, 342/71, 342/109, 342/133, 342/139, 342/146, 342/147, 342/435, 342/436
• US Class Current: 701/300
• CPC Class Codes: B60W 40/04 Traffic conditions
• CPC Class Codes: G01S 13/589 measuring the velocity vector
• CPC Class Codes: G01S 13/878 Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector G01S13/874 takes precedence
• CPC Class Codes: G01S 13/931 of land vehicles
• 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 2013/93271 in the front of the vehicles

Abstract

Method for determining a dynamic variable representative for a lateral movement of a located object in a driver assistance system for motor vehicles, which has two angle-resolving distance sensors situated laterally offset to one another for locating the object, using which a radial component of the relative velocity of the object along the particular line of sight is also measurable, wherein the dynamic variable is calculated on the basis of the radial components of the relative velocity measured by the two distance sensors.

Claims

1. A method for determining a dynamic variable representative of a lateral movement of a located object in a driver assistance system of a motor vehicle, the method comprising:

locating the object using two angle-resolving distance sensors situated laterally offset with respect to one another;

measuring radial components of a relative velocity of the object along particular lines of sight using the two distance sensors; and

determining the dynamic variable on the basis of the measured radial components;

wherein;

a distinction is made between substantially punctiform objects and extended objects on the basis of azimuth angles measured by the two distance sensors, and the method for determining the dynamic variable is selected as a function of an object type; and

for substantially punctiform objects, a lateral velocity of the object is calculated, under an assumption that both distance sensors are locating a same reflection point on the object, from the azimuth angles of the reflection point measured by the distance sensors and the measured radial components.

2. The method according to claim 1, wherein for extended objects, on the basis of distance and azimuth angle data provided by the two distance sensors, positions of two reflection points in a two-dimensional x-y coordinate system are determined, a distance between the reflection points is calculated, and, on the basis of a difference of the radial components of the relative velocity measured for the reflection points, a yaw rate of the object is calculated.

3. A method for determining a dynamic variable representative of a lateral movement of a located object in a driver assistance system of a motor vehicle, the method comprising:

locating the object using two angle-resolving distance sensors situated laterally offset with respect to one another;

measuring radial components of a relative velocity of the object along particular lines of sight using the two distance sensors; and

determining the dynamic variable on the basis of the measured radial components;

wherein;

a distinction is made between substantially punctiform objects and extended objects on the basis of azimuth angles measured by the two distance sensors, and the method for determining the dynamic variable is selected as a function of an object type; and

for extended objects, on the basis of distance and azimuth angle data provided by the distance sensors, positions of two reflection points in a two-dimensional x-y coordinate system are determined, a distance between the reflection points is calculated, and, on the basis of a difference of the radial components of the relative velocity measured for the reflection points, a yaw rate of the object is calculated.

4. A method for determining a dynamic variable representative of a lateral movement of a located object in a driver assistance system of a motor vehicle, the method comprising:

locating the object using two angle-resolving distance sensors situated laterally offset with respect to one another;

measuring radial components of a relative velocity of the object along particular lines of sight using the two distance sensors; and

determining the dynamic variable on the basis of the measured radial components;

wherein a difference of the radial components of the relative velocity is measured and, on the basis of a fixed relationship predefined in a navigation system between the difference and a probability of a turning or lane-changing operation of the object, a probability parameter is determined which provides the probability.

5. The method according to claim 4, wherein a distinction is made between substantially punctiform objects and extended objects on the basis of azimuth angles measured by the two distance sensors, and the method for determining the dynamic variable is selected as a function of an object type.

6. A driver assistance system for a motor vehicle for determining a dynamic variable representative of a lateral movement of a located object, comprising:

two angle-resolving distance sensors situated laterally offset with respect to one another on the vehicle, the two distance sensors locating the object and measuring radial components of a relative velocity of the object along particular lines of sight; and

an arrangement for determining the dynamic variable on the basis of the measured radial components;

wherein;

a distinction is made between substantially punctiform objects and extended objects on the basis of azimuth angles measured by the two distance sensors, and a method for determining the dynamic variable is selected as a function of an object type; and

for substantially punctiform objects, a lateral velocity of the object is calculated, under an assumption that both distance sensors are locating a same reflection point on the object, from the azimuth angles of the reflection point measured by the two distance sensors and the measured radial components.

7. A driver assistance system for a motor vehicle for determining a dynamic variable representative of a lateral movement of a located object, comprising:

two angle-resolving distance sensors situated laterally offset with respect to one another on the vehicle, the two distance sensors locating the object and measuring radial components of a relative velocity of the object along particular lines of sight; and

an arrangement for determining the dynamic variable on the basis of the measured radial components;

wherein;

a distinction is made between substantially punctiform objects and extended objects on the basis of azimuth angles measured by the two distance sensors, and the method for determining the dynamic variable is selected as a function of an object type; and

for extended objects, on the basis of distance and azimuth angle data provided by the two distance sensors, positions of two reflection points in a two-dimensional x-y coordinate system are determined, a distance between the reflection points is calculated, and, on the basis of a difference of the radial components of the relative velocity measured for the reflection points, a yaw rate of the object is calculated.

8. A driver assistance system for a motor vehicle for determining a dynamic variable representative of a lateral movement of a located object, comprising:

two angle-resolving distance sensors situated laterally offset with respect to one another on the vehicle, the two distance sensors locating the object and measuring radial components of a relative velocity of the object along particular lines of sight; and

an arrangement for determining the dynamic variable on the basis of the measured radial components;

wherein a difference of the radial components of the relative velocity is measured and, on the basis of a fixed relationship predefined in a navigation system between the difference and a probability of a turning or lane-changing operation of the object, a probability parameter is determined which provides the probability.

9. The driver assistance system according to claim 8, wherein a distinction is made between substantially punctiform objects and extended objects on the basis of azimuth angles measured by the two distance sensors, and the method for determining the dynamic variable is selected as a function of an object type.

10. The driver assistance system according to claim 9, wherein for extended objects, on the basis of distance and azimuth angle data provided by the two distance sensors, positions of two reflection points in a two-dimensional x-y coordinate system are determined, a distance between the reflection points is calculated, and, on the basis of a difference of the radial components of the relative velocity measured for the reflection points, a yaw rate of the object is calculated.