Method and device for object detection in the case of a vehicle

• US 7,791,527 B2
• Filed: 06/01/2005
• Issued: 09/07/2010
• Est. Priority Date: 07/28/2004
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Haag, Peter, Jordan, Ruediger
• Primary Examiner(s): Sotomayor; John B
• Application Number:
  US11/658,982
• Publication Number:
  US 20090079986A1
• Time in Patent Office: 1,924 Days
• Field of Search: 342 70- 72, 342/27, 342/147, 342/148, 340435-436, 340/903, 701/301
• US Class Current: 342/70
• CPC Class Codes: G01S 13/58 Velocity or trajectory determination systems; Sense-of-movement determination systems
• CPC Class Codes: G01S 13/723 by using numerical data
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/464 using only the non-line-of-sight signal(s), e.g. to enable survey of scene 'behind' the target only the indirect signal is evaluated
• CPC Class Codes: G01S 2013/93185 Controlling the brakes
• CPC Class Codes: G01S 2013/9319 Controlling the accelerator
• 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 2013/9325 for inter-vehicle distance regulation, e.g. navigating in platoons
• CPC Class Codes: G01S 2013/93271 in the front of the vehicles
• CPC Class Codes: G01S 2013/9329 cooperating with reflectors or transponders
• CPC Class Codes: G01S 7/40 Means for monitoring or calibrating

Abstract

A method and device for object detection in the case of a vehicle equipped with an object-detection system, the object-detection system emitting electromagnetic radiation and receiving radiation reflected off objects within the detection range, and the radiation reflected off a detected object, which was additionally reflected off an object extending along the roadway, is analyzed. The analysis consists of a plausibilization in which the directly measured object reflections are verified using the indirect object reflections, or in that the analysis consists of utilizing the indirect object reflections for the further object detection if reflections from a previously detected object are no longer measurable.

Claims

1. A method for detecting an object for a vehicle equipped with an object-detection system, the object-detection system emitting electromagnetic radiation and receiving radiation reflected off objects within the detection range, the method comprising:

analyzing directly reflected radiation that is reflected directly off a detected object, and analyzing indirectly reflected radiation that is reflected off an object extending along the roadway; and

verifying the direct reflections, which were not reflected off the object extending along the roadway, based on the indirect reflections, which were reflected off the object extending along the roadway.

2. The method as recited in claim 1, wherein, if reflections from a previously directly detected object are no longer measurable, the analysis uses the indirect reflection, which was reflected off the object extending along the roadway, to detect the object.

3. The method as recited in claim 1, wherein the object extending along the roadway includes at least one of a guard rail, a tunnel wall, a boundary wall, and a noise-abatement walls.

4. The method as recited in claim 1, wherein the indirect reflection is used as a direct reflection for the analysis.

5. The method as recited in claim 4, wherein the position of the object extending along the roadway is estimated for using the indirect reflection as the direct reflection.

6. The method as recited in claim 5, wherein the measured object location, which was detected using the indirect reflection, is reflected off the object extending along the roadway.

7. The method as recited in claim 1, wherein, if reflections from a previously directly detected object are no longer measurable, the analysis uses the indirect reflection, which was reflected off the object extending along the roadway, to detect the object, wherein the object extending along the roadway includes at least one of a guard rail, a tunnel wall, a boundary wall, and a noise-abatement walls, and wherein the indirect reflection is used as a direct reflection for the analysis.

8. The method as recited in claim 7, wherein the position of the object extending along the roadway is estimated for using the indirect reflection as the direct reflection, and wherein the measured object location, which was detected using the indirect reflection, is reflected off the object extending along the roadway.

9. A device for detecting an object for a vehicle equipped with an object-detection system, the object-detection system emitting electromagnetic radiation and receiving radiation reflected off objects within the detection range, comprising:

an analyzing arrangement to analyze directly reflected radiation that is reflected directly off a detected object, and analyzing indirectly reflected radiation that is reflected off an object extending along the roadway; and

a verifying arrangement to verify the direct reflections, which were not reflected off the object extending along the roadway, based on the indirect reflections, which were reflected off the object extending along the roadway.

10. The device as recited in claim 9, wherein, if reflections from a previously directly detected object are no longer measurable, the analysis uses the indirect reflection, which was reflected off the object extending along the roadway, to detect the object.

11. The device as recited in claim 9, wherein the object extending along the roadway includes at least one of a guard rail, a tunnel wall, a boundary wall, and a noise-abatement walls.

12. The device as recited in claim 9, wherein the indirect reflection is used as a direct reflection for the analysis.

13. The device as recited in claim 9, wherein the position of the object extending along the roadway is estimated for using the indirect reflection as the direct reflection.

14. The device as recited in claim 9, wherein the measured object location, which was detected using the indirect reflection, is reflected off the object extending along the roadway.

15. The device as recited in claim 9, wherein, if reflections from a previously directly detected object are no longer measurable, the analysis uses the indirect reflection, which was reflected off the object extending along the roadway, to detect the object, wherein the object extending along the roadway includes at least one of a guard rail, a tunnel wall, a boundary wall, and a noise-abatement walls, and wherein the indirect reflection is used as a direct reflection for the analysis.

16. The device as recited in claim 15, wherein the position of the object extending along the roadway is estimated for using the indirect reflection as the direct reflection, and wherein the measured object location, which was detected using the indirect reflection, is reflected off the object extending along the roadway.