Three-dimensional perception of environment

• US 20020169537A1
• Filed: 03/26/2002
• Published: 11/14/2002
• Est. Priority Date: 03/26/2001
• Status: Active Grant

• Current Assignee: Daimler AG (Mercedes-Benz Group AG)
• Original Assignee: Daimler AG (Mercedes-Benz Group AG)
• Inventors: Schanz, Alexander, Regensburger, Uwe, Stahs, Thomas
• Granted Patent: US 7,230,640 B2
• Time in Patent Office: Days
• US Class Current: 701/96
• CPC Class Codes: B60T 2201/10 Automatic or semi-automatic parking aid systems
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 17/89 for mapping or imaging
• CPC Class Codes: G01S 17/931 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 2013/93271 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 2013/93277 in the lights
• CPC Class Codes: G06V 20/586 of parking space

Abstract

A vehicle-useful, high-resolution 3D-detection of the environment of a street vehicle with environment scanning sensors is not possible today. Depending on application the first commercially available vehicle integrated systems may be a comprise between resolution of the sensors and size of the sampled area. With the inventive two dimensional distance resolution sensor device it becomes possible, in contrast to those which are known, to produce a system which, installed in a street vehicle, detects and preferably processes complex dynamics scenarios such for example street traffic, from the prospective of the active dynamic moving vehicle. Therein a three dimensional image of the environment is produced using a distance sensor, which produces a two dimensional distance profile (depth profile), and on the other hand, using a data processing and a storage unit, which process and store sequential distance profiles and sequence a series of distance profiles into the three dimensional image of the environment.

Claims

1. Device for three-dimensional detection of the environment about a street vehicle, in particular for detection of parking spaces, comprised of

a distance sensor, which produces a series of two dimensional distance profiles,

a data processing unit and a storage unit, which preprocesses sequentially following distance profiles, stores and from a sequencing of a sequential amount of distance profiles produces a three dimensional image of the environment,

and a means for determining the distance covered by the street vehicle between each individual produced distance profile.

2. Device according to claim 1, thereby characterized, that a supplemental means is provided, which determines or detects at least in two spatial dimensions the relative position and the orientation of the vehicle within the environment.

3. Device according to claim 2, thereby characterized, that for detection of the relative position a radar, in particular a millimeter wavelength radar or a lidar is provided.

4. Device according to claim 2, thereby characterized, that for detection of the relative position a camera device with associated video image processor is provided.

5. Device according to claim 2, thereby characterized, that for detection of the relative position a navigation system is provided.

6. Device according to claim 2, thereby characterized, that a means is provided in connection with a distance sensor, such that a part of the scan sector is distributed by the beams of the distance sensor are deflected into a different spatial area, then that which was to be determined three dimensionally by sequential arrangement of distance profiles,

so that from this part of the light sector determined distance information and their variance over time can be contemplated or considered for determining the relative orientation.

7. Device according to claim 6, thereby characterized, that the means for the beam defection is a mirror.

8. Device according to one of claims 2 through 6, thereby characterized, that a means is provided, via which the determination of the relative orientation can be suppressed.

9. Device according to one of claims 1 through 8, thereby characterized, that the distance sensor is so arranged that the distance sensor is so positioned, that the distance profile is recorded about an angle, preferably 45°

, relative to a normal plane on the road surface.

10. Device according to one of claims 1 through 9, thereby characterized, that the device is integrated in an optical element provided on a street vehicle.

11. Device according to claim 10, thereby characterized, that the optical element is a back up light or a headlight.

13. Process according to claim 12, thereby characterized, that at least in two spatial dimensions the relative position and the orientation of the vehicle within its environment is determined,

so that the variations of the orientation of the distance sensors during the production of the three dimensional image of the environment due to the own movement of the vehicle can be corrected.

14. Process according to claim 13, thereby characterized, that the relative position is determined by means of a radar with associated radar signal processor.

15. Process according to claim 13, thereby characterized, that the relative position is determined using a camera arrangement with associated video image processor.

16. Process according to claim 13, thereby characterized, that a part of the light sector distributed by the emission of the distance sensor is deflected into a different spatial area, than that which is to be determined for three dimensionalization by sequencing of distance profiles,

and that the distance information obtained or yielded from this part of the light sector and their variants over time are utilized for determining the relative position.

17. Process according to one of claims 13 through 16, thereby characterized, that the determination of the relative position occurs only upon exceeding a preset speed and otherwise is suppressed.

19. Process according to claim 18, thereby characterized, that for the further quantatization preferably task specific quantatization steps are employed.

20. Device according to claim 19, thereby characterized, that three task specific quantatization steps, such as “

no object”

, “

potential collision”

, “

none potential collision object”

are employed.

21. Process according to claim 20, thereby characterized, that the quantatization occurs on the basis of a threshold comparison.

12. Process for three dimensional detection of the environment about a street vehicle, in particular for detection of parking spaces, wherein

by means of a distance sensor a two dimensional distance profile is produced

by means of a data processing unit and a storage unit, sequential distance profiles are processed, stored and from a sequencing of a sequential amount of distance profiles a three dimensional image of the environment is produced,

and via means the traversed path between each individual of the produced distance profiles is determined.

18. Process according to one of claims 12 through 17, thereby characterized, that for each distance cell within the area to be measured by the distance sensor only the highest superior point occurring there is stored and further processed,

so that the three dimensional image of the environment generated in accordance with the invention provides a birds eye view, in which in the individual orientation points the maximal characterizing or height values are extracted.

22. Process according to one of claims 12 through 21, thereby characterized, that the detection of park spaces occurs a continuous analysis of the potential park spaces adjacent to the vehicle,

wherein free spaces in the framework of the analysis of the three dimensional environmental data are compared with the physical and dynamic measurement so the street vehicle.