Method and device for detecting objects

• US 6,727,844 B1
• Filed: 10/13/2000
• Issued: 04/27/2004
• Est. Priority Date: 10/13/1999
• Status: Expired due to Fees

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Zimmermann, Uwe, Uhler, Werner, Pruksch, Achim
• Primary Examiner(s): Gregory, Bernarr E.
• Application Number:
  US09/687,218
• Time in Patent Office: 1,292 Days
• Field of Search: 342/24, 342/27, 342/28, 342/70, 342/71, 342/72, 342/104-118, 342/126-136, 342/145, 342/146, 342/147, 342/175, 342/195, 342/450, 342/451, 342/458, 342/461, 342/59, 356/3-3-, 356/4.01, 356/3.1, 356/3.11, 356/3.12, 701/23, 701/28, 701/200, 701/207, 701/223, 701/225, 701/300, 701/301
• US Class Current: 342/70
• CPC Class Codes: B60R 21/013 including means for detecting collisions, impending collisions or roll-over
• CPC Class Codes: B60R 21/0134 responsive to imminent contact with an obstacle , e.g. using radar systems
• CPC Class Codes: G01C 3/08 Use of electric radiation detectors
• CPC Class Codes: G01S 13/46 Indirect determination of position data
• CPC Class Codes: G01S 13/726 Multiple target tracking
• 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 2013/932 using own vehicle data, e.g. ground speed, steering wheel direction
• CPC Class Codes: G01S 2013/9321 Velocity regulation, e.g. cruise control
• CPC Class Codes: G01S 2013/9322 using additional data, e.g. driver condition, road state or weather data
• CPC Class Codes: G01S 2013/93271 in the front of the vehicles
• CPC Class Codes: G01S 2013/93275 in the bumper area

Abstract

A method and a device for detecting objects that has at least two near distance sensors installed on a vehicle. The at least two near distance sensors have detection ranges that overlap at least partially. The relative positions of possible detected objects with respect to the at least two near distance sensors are determined in the overlap area by the triangulation principle. Possible apparent objects obtained by determining the relative position of possible detected objects are identified using dynamic object monitoring.

Claims

1. A method of detecting objects, comprising the steps of:

determining relative positions of possible detected objects in an at least partially overlapping area of detection ranges of at least two distance sensors using triangulation, the at least two distance sensors being installed on a vehicle;

monitoring dynamic properties of the possible detected objects; and

analyzing the dynamic properties of the possible detected objects to identify at least one of the possible detected objects as an actual object.

2. The method according to claim 1, wherein the step of monitoring the dynamic properties of the possible detected objects includes monitoring at least one of the following dynamic property values:

monitoring speeds of the possible detected objects,

monitoring accelerations of the possible detected objects; and

monitoring changes in acceleration of the possible detected objects.

3. The method according to claim 2, further comprising the step of:

identifying at least one of the possible detected objects as an apparent object when at least one of the dynamic property values is outside a predefined value range.

4. The method according to claim 3, further comprising the step of:

at least one of;

determining the predefined value range as a function of at least one of a respective driving situation of the vehicle; and

retrieving the predefined value range from a memory.

5. The method according to claim 1, further comprising the step of:

analyzing the dynamic properties of the possible detected objects that occur substantially across an alignment of the at least two distance sensors.

6. The method according to claim 1, wherein the at least two distance sensors have a range of approximately seven meters.

7. The method according to claim 1, wherein the at least two distance sensors have a range of twenty meters or less.

8. The method according to claim 1, wherein the at least two distance sensors have a range of two hundred meters or less.

9. A device for detecting objects, comprising:

at least two distance sensors installed on a vehicle, the at least two distance sensors having detection ranges, the detections ranges at least partially overlapping;

a first arrangement configured to determine relative positions of possible detected objects with respect to the at least two distance sensors in the at least partially overlapping area of the detection ranges using triangulation; and

a second arrangement configured to identify apparent objects by monitoring and analyzing dynamic properties of the possible detected objects.

10. The device according to claim 9, wherein:

the at least two distance sensors are pulse radar sensors in the 24 GHz range.

11. The device according to claim 9, wherein:

the at least two distance sensors are uniformly spaced on a front of the vehicle.

12. The device according to claim 9, wherein:

the at least two distance sensors have a detection angle of at least 140°

.

13. The device according to claim 9, further comprising:

at least one additional sensor system having a different detection range than the at least two distance sensors.

14. The device according to claim 9, wherein the at least two distance sensors have a range of approximately seven meters.

15. The device according to claim 9, wherein the at least two distance sensors have a range of twenty meters or less.

16. The device according to claim 9, wherein the at least two distance sensors have a range of two hundred meters or less.