Driver assistance system and method for checking the plausibility of objects

• US 8,125,372 B2
• Filed: 03/03/2008
• Issued: 02/28/2012
• Est. Priority Date: 04/19/2007
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Focke, Thomas, Hilsebecher, Joerg, Zender, Arne, Mueller-Frahm, Mario, Schoeberl, Thomas, Oechsle, Fred, Grimm, Andreas, Simon, Andreas, Becker, Jan-Carsten, Sparbert, Jans
• Primary Examiner(s): Sotomayor, John B
• Application Number:
  US12/305,432
• Publication Number:
  US 20100085238A1
• Time in Patent Office: 1,457 Days
• Field of Search: 342 70- 72, 342/52, 342 54- 55, 342/27, 342/109, 342/128
• US Class Current: 342/70
• CPC Class Codes: B60W 2420/408 Radar; Laser, e.g. lidar
• CPC Class Codes: G01S 11/12 using electromagnetic waves other than radio waves
• CPC Class Codes: G01S 13/867 Combination of radar systems with cameras
• CPC Class Codes: G01S 13/931 of land vehicles
• 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

In a method for checking the plausibility of objects in driver assistance systems for motor vehicles is described, two measured variables are derived from position data from two object position-finding systems of the vehicle that operate independently of one another, for an object located by the two position-finding systems, one variable for each position-finding system, these variables representing one and the same physical parameter, and the two measured variables are then checked for consistency, which is characterized by the fact that the parameter is the time to collision of the vehicle with the object, which is calculated in advance.

Claims

1. A method for checking plausibility of objects in driver assistance systems for motor vehicles, comprising:

deriving two measured variables from position data from two object position-finding systems of the vehicle that operate independently of one another for an object located by the two position-finding systems, one variable for each position-finding system, these variables representing one and the same physical parameter; and

checking the two measured variables for consistency;

wherein the parameter is a time to collision of the vehicle with the object, which is calculated in advance.

2. The method according to claim 1, wherein one of the two position-finding systems is a video-based system, and the associated measured variable is calculated directly from a change in a spurious object size in two video images recorded at different times.

3. The method according to claim 1, wherein one of the two object position-finding systems is an FMCW radar.

4. The method according to claim 3, wherein the measured variable assigned to the FMCW radar is calculated on the basis of a change in a frequency of radar signals received from the object, the signals being measured in different measuring cycles of the radar sensor for frequency ramps having a same ramp slope.

5. The method according to claim 3, wherein a relationship is determined between a relative speed and a distance of the object represented by a straight line in a v/d diagram for each object located by the FMCW radar on the basis of a signal obtained on a modulation ramp;

another relationship is determined for each object on the basis of a signal obtained on another modulation ramp having another ramp slope, the relationship being represented by another straight line in the v/d diagram;

a measured variable is calculated for each point of intersection of the straight lines, and the measured variables are compared with the measured variables obtained by a video-based position-finding system.

6. The method according to claim 1, wherein, for the comparison, one of the two measured variables is corrected by an effect of a distance between the sensors of the two object position-finding systems in a longitudinal direction of the vehicle.