Method for detecting the environment ahead of a road vehicle by means of an environment detection system

• US 20060038885A1
• Filed: 11/11/2003
• Published: 02/23/2006
• Est. Priority Date: 11/28/2002
• Status: Abandoned Application

• Current Assignee: Daimler AG (Mercedes-Benz Group AG)
• Original Assignee: Daimler AG (Mercedes-Benz Group AG)
• Inventors: Seekircher, Juergen, Eggers, Helmuth, Wohlgemuth, Thomas, Kurz, Gerhard
• Application Number:
  US10/535,157
• Publication Number:
  US 20060038885A1
• Time in Patent Office: Days
• US Class Current: 348/135
• CPC Class Codes: G01S 13/589 measuring the velocity vector
• CPC Class Codes: G01S 13/723 by using numerical data
• 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 15/86 Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection
• CPC Class Codes: G01S 17/86 Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G01S 2013/9321 Velocity regulation, e.g. cruise control
• CPC Class Codes: G06V 20/58 Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads

Abstract

Environment detection systems are used to aid drivers in road vehicles. To this end, optical sensors are applied to the road vehicle in order to record environmental data. The recorded environmental data is processed to form an image by means of a computing unit, and is then presented to the driver, for example on a display. In addition, the image data can be subjected to a further evaluation, for example, in order to identify objects located therein. For this purpose, a very large amount of data must be processed however, such that the requirements for the efficiency of the hardware are very high, in order to provide the system with a real-time capacity. The invention thus relates to a method which provides the system with a real-time capacity by means of simple data processing. By carrying out a multi-stage evaluation in individual identification partial regions and by limiting the identification region to the region of the driving lane, the quantity of data to be evaluated can be considerably reduced and the data can be rapidly processed during the environment detection process.

Claims

1. A method for sensing the surroundings in front of a road vehicle by means of a surroundings sensing system, system in which the surroundings data is sensed by means of a surroundings sensor, and objects within the surroundings data sensed by the surroundings sensor are detected by processing the sensor data,

wherein the perception region in which the objects are detected corresponds to a component-region of the region sensed by the surroundings sensor,

wherein the perception region is divided into a plurality of component-regions, and evaluation takes place in one component-region and no evaluation takes place in another component-region,

wherein the surroundings data is subjected to a multi-stage evaluation,

wherein before the perception region is divided into a plurality of component-regions in the perception region a lane is firstly defined in order to subsequently restrict the perception region to the lane, and

wherein each of these component-regions is subjected to a specific evaluation.

2. The method as claimed in claim 1, wherein the lane is defined in that either a lane detection is carried out by image processing methods or a lane is defined by means of the data of a navigation system.

3. The method as claimed in claim 1, wherein the perception region is restricted in such a way that, for the purpose of delimiting the lane, a further predefined tolerance region is also added.

4. The method as claimed in claim 1, wherein, for the purpose of carrying out evaluation in the perception region, object perception is carried out by means of image processing methods.

5. The method as claimed in claim 1, wherein, for the purpose of carrying out evaluation in the perception region, object classification is carried out by means of classification methods in order to rule out false alarms.

6. The method as claimed in claim 4, wherein, for the purpose of evaluation in the perception region, the distance from detected objects is determined in order to be able to provide information about obstacles in good time.

7. The method as claimed in claim 1, wherein, for the purpose of carrying out evaluation in the perception region by means of tracking methods, the movement of objects is sensed in order to perceive whether their direction of movement corresponds to the vehicle'"'"'s own movement.

9. The method as claimed in claim 1, wherein the surroundings sensing system, is an infrared night vision system.

8. (canceled)