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WO2019038174A1 - Évitement d'avertissements d'angle mort dûs à des éclaboussures - Google Patents

Évitement d'avertissements d'angle mort dûs à des éclaboussures Download PDF

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Publication number
WO2019038174A1
WO2019038174A1 PCT/EP2018/072207 EP2018072207W WO2019038174A1 WO 2019038174 A1 WO2019038174 A1 WO 2019038174A1 EP 2018072207 W EP2018072207 W EP 2018072207W WO 2019038174 A1 WO2019038174 A1 WO 2019038174A1
Authority
WO
WIPO (PCT)
Prior art keywords
blind spot
spray
vehicle
environmental sensor
sensor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2018/072207
Other languages
German (de)
English (en)
Inventor
Akhil Dheerendra Jaya
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Valeo Schalter und Sensoren GmbH
Original Assignee
Valeo Schalter und Sensoren GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Valeo Schalter und Sensoren GmbH filed Critical Valeo Schalter und Sensoren GmbH
Publication of WO2019038174A1 publication Critical patent/WO2019038174A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/87—Combinations of sonar systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/539—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9315—Monitoring blind spots
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2015/937—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles sensor installation details
    • G01S2015/938—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles sensor installation details in the bumper area

Definitions

  • the present invention relates to a driver assistance system for monitoring objects in a blind spot on a longitudinal side of a vehicle, comprising at least one first blind spot environment sensor, at least one second environment sensor monitoring a second area at a rear face of the vehicle, and a vehicle body
  • a control unit configured to receive sensor signals of the at least one first environmental sensor and the at least one second environmental sensor, wherein the
  • Control unit is executed, an object detection in the blind spot based on the sensor signals of the at least one first environment sensor and a
  • Control unit is executed to output a blind spot warning upon detection of an approaching object in the blind spot.
  • the present invention also relates to a vehicle having an above
  • the present invention relates to a method of monitoring blind spot objects on a longitudinal side of a vehicle, comprising the steps of monitoring the blind spot with at least one first environmental sensor, monitoring a second region having at least one second environmental sensor, receiving sensor signals of the at least one first Environmental sensor and the at least one second environmental sensor, detecting objects in the blind spot based on the sensor signals of the at least one first
  • the present invention also relates to a data processing program with program code means for carrying out the method according to one of the preceding claims by an electronic control unit having at least one
  • the present invention further relates to a computer program product with
  • a blind spot in a vehicle concerns an area laterally adjacent to the vehicle that can not be directly viewed by a driver or is within the field of view of a side mirror.
  • the blind spot is specified in vehicle standard.
  • the dead-angle area correspondingly extends adjacent the vehicle from a driver's position towards the rear to behind the vehicle, typically in an area about 3 meters behind the vehicle.
  • the blind spot has a width of 2.5 meters to 3 meters next to the vehicle. Although a portion of this standard blind spot can be seen in practice, typically this entire area adjacent to and behind the vehicle is included within the dead angle range.
  • a blind spot exists both on a driver side of the vehicle and on a passenger side of the vehicle.
  • a driver assistance system for blind spot monitoring nowadays comprises one or usually a plurality of environmental sensors which are arranged along one longitudinal side of the vehicle
  • a blind spot warning can be output accordingly, in particular when the object is approaching.
  • the blind spot monitoring is performed independently for a driver and a passenger side of the vehicle.
  • environment sensors today usually ultrasonic sensors are used, which are reliable and at the same time inexpensive.
  • the ultrasonic sensors can be used in common for different driver assistance systems, so that separate ultrasonic sensors do not have to be used for each driver assistance system.
  • parking assistance systems may be mentioned here which use ultrasonic sensors for monitoring an environment of the vehicle, in particular on a front and / or rear bumper, that is to say on a front and / or rear end side of the vehicle.
  • a common problem with blind spot monitoring is that the
  • Ultrasonic sensors spray i. from a road surface spraying water, capture. This relates in particular to water sprayed by the own vehicle, which is located in the vicinity of the surroundings sensors of the vehicle. If the spray is detected as an approaching object, this will cause a wrong one
  • Spray is whirled up mainly behind its own vehicle, however, at least part of the spray is usually still visible in the blind spot. Spray, however, also applies in principle to spray through vehicles located next to one's own vehicle, either by vehicles that move in the same direction of travel, ie outdated or overtaken
  • DE 10 2010 033 207 A1 discloses a method and device for monitoring the surroundings of a vehicle.
  • the method is at predetermined measuring times of at least one ultrasonic sensor
  • Receive echo signal wherein for each received echo signal by evaluating a corresponding propagation time distance information to a possible object is determined.
  • a distance pattern of the received echo signals for the corresponding measurement time is determined from the distance information determined at a time of measurement, wherein for detecting a real object and / or an interference source as a possible object parameters of distance patterns are compared with each other, which are detected at least two consecutive measurement times.
  • DE 19843563 A1 discloses a device for detecting moisture on a substrate.
  • the device comprises a body movable on the ground for stirring up spray from the ground and a sensor for detecting the spray.
  • the device is used to detect Roadway wetness used in motor vehicles, the motor vehicle itself may be the moving body.
  • Ultrasonic signals are used to measure distances to obstacles around the vehicle.
  • the ultrasonic sensors also serve to detect whether it is raining. For this purpose, an excitation of the ultrasonic sensors is evaluated with respect to incident raindrops.
  • DE 10 2010 021 053 B3 relates to a method for detecting disturbances of the measuring operation of an ultrasonic measuring arrangement of a motor vehicle at high
  • the ultrasound measuring arrangement comprising at least one ultrasound sensor as output data comprises at least one radius describing the distance to the nearest object lying within the detection range of the at least one sensor used for measuring the radius, wherein a disturbance of the measuring operation depends on at least one comparison of the radius 'is determined with a particular speed-dependent minimum radius.
  • the ultrasonic measuring arrangement comprising at least one ultrasonic sensor comprises as output data at least one radius describing the distance to the nearest object lying in the detection range of the at least one sensor used for the measurement with respect to the radius. A malfunction of the measuring operation becomes dependent on at least one
  • the invention is therefore based on the object, a driver assistance system for monitoring objects in a blind spot on a longitudinal side of a vehicle, a vehicle with such a driver assistance system, a method for monitoring objects in a blind spot a longitudinal side of a vehicle, a data processing program with program code means for carrying out the above method, and a Specify computer program product with program code means for carrying out the above method, which ensure reliable detection of objects located in a blind spot of the vehicle and avoiding false alarms in the blind spot monitoring in particular by spray.
  • the invention thus provides a driver assistance system for monitoring objects in a blind spot on a longitudinal side of a vehicle, comprising at least one first blind spot environmental sensor, at least one second environmental sensor monitoring a second area at a rearward face of the vehicle, and A control unit configured to receive sensor signals of the at least one first environmental sensor and the at least one second environmental sensor, wherein the
  • Control unit is executed, an object detection in the blind spot based on the sensor signals of the at least one first environment sensor and a
  • control unit is configured to determine a probability of detection of spray based on the object detection in the blind spot and in the second area, and the control unit is executed, a blind spot warning upon detection of an approaching object in FIG to spend the blind spot when the
  • Probability detection of spray is below a threshold.
  • a vehicle is also specified with an above driver assistance system.
  • a method for monitoring blind spot objects on a vehicle longitudinal side comprising the steps of monitoring the blind spot with at least a first environmental sensor, monitoring a second region having at least one second environmental sensor, receiving sensor signals of the at least one first Environment sensor and the at least one second environmental sensor, detecting objects in the blind spot based on the sensor signals of the at least one first
  • Environmental sensor determining a probability of detection of spray based on the object detection in the blind spot and in the second area, and outputting a blind spot warning upon detection of an approaching object in the blind spot when the probability of detection of spray below a threshold lies.
  • the invention likewise provides a data processing program with program code means for carrying out the method according to one of the preceding claims by an electronic control unit having at least one
  • Ambient sensor used to monitor the at least one second area This allows the detection of spray with increased reliability. While the at least one second environmental sensor does not include the blind spot, it provides additional clues as to the presence of spray in the blind spot.
  • the object recognition provides information on the occurrence of spray both for the blind spot and for the second area, so that it can be determined from a probability that the object detected by the at least one first environmental sensor is spray and not an object for which Blind spot warning must be issued. In this case, for example, a probability of the occurrence of spray in the area of the blind spot is thereby increased, even if spray is detected in the second area, as will be explained in more detail below.
  • the sensor information of the At least one first and at least one second environmental sensor can be incorporated differently in the calculation of the probability of detection of spray in the area of the blind spot and, for example, weighted.
  • the second area typically does not belong to the blind spot.
  • the at least one first blind spot ambient sensor is typically located on the longitudinal side of the vehicle to monitor the blind spot.
  • the driver assistance system comprises a plurality of first environmental sensors, which are arranged along the longitudinal side of the vehicle. Since spray typically occurs behind the driver's own vehicle, in the case of a plurality of first environmental sensors, in particular, a vehicle is behind first
  • Spray also applies to spray in principle by vehicles located next to one's own vehicle, either by vehicles that move in the same direction of travel, ie outdated or overtaking vehicles, as well as by vehicles that move in an opposite direction of travel.
  • a second environmental sensor may be provided, or a plurality of second environmental sensors, for monitoring the second region and detecting objects in the second region.
  • the second area may, for example, connect to the blind spot, or be positioned in another area.
  • the control unit is a computing unit with a processor and a memory, as is typically used in vehicles for control.
  • the control unit is a computing unit with a processor and a memory, as is typically used in vehicles for control.
  • Control unit is connected via a vehicle bus, which may be, for example, a CAN bus or other common data in vehicles data bus, with the environmental sensors, and receives the corresponding sensor signals from them.
  • vehicle bus which may be, for example, a CAN bus or other common data in vehicles data bus, with the environmental sensors, and receives the corresponding sensor signals from them.
  • the control unit is also connected via the vehicle bus with an output device for outputting the blind spot warning.
  • the object recognition in the blind spot or in the second area may be in the control unit itself based on the corresponding sensor signals
  • control unit is designed to carry out a probability of detection of spray based on the object recognition in the blind spot and in the second area based on pattern recognition from the sensor signals of the at least one first environmental sensor and the at least one second environmental sensor , Accordingly, the step of determining a probability for detection of spray comprises pattern recognition based on the sensor signals of the at least one first environmental sensor and the at least one second one
  • Pattern recognition can be based on various patterns that can display or even exclude spray. The probability of the detection of spray can therefore be increased or reduced by the pattern recognition.
  • Ultrasonic sensor is a received reflection of a radiated signal pulse.
  • the object detection is a signal indicating presence of an object.
  • Object detections in temporal proximity are spatially close, i. at similar distances from the environmental sensor, is with a high
  • the pattern recognition may include a determination of a standard deviation of sensor signals. This can be used in particular to detect spray. Spray is typically characterized by the sensor signals containing object detections that change in a short time sequence, i. Object surveys in temporal proximity take place with little spatial proximity. The sensor signals thus contain information that is similar to noise, for example, and can be identified as such.
  • the pattern recognition can also be vehicle-dependent. So can
  • spray of one's own vehicle may be different in different vehicles. This can cause the spray in the
  • control unit is designed to perform the pattern recognition in the blind spot based on a pattern for spray.
  • pattern recognition step includes a
  • Pattern recognition in the blind spot based on a spray pattern is characterized by a corresponding pattern in the sensor signals of the at least one first environmental sensor, which can be recognized as such. Simultaneous detection of spray with multiple first environmental sensors, such as right and left first environmental sensors, may improve the detection of the occurrence of spray. When detecting spray, a density of object detection may occur. With a high density of object detections in an area, i. Object detections in temporal proximity are spatially close, i. at similar distances from the environmental sensor, it is highly probable that the first
  • Pattern recognition may be a determination of a standard deviation of
  • sensor signals This can be used in particular to detect spray.
  • Spray is typically characterized by the fact that the sensor signals contain object detections that change in a short time sequence.
  • Sensor signals thus contain information that, for example, similar to a
  • the at least one second environmental sensor is disposed at a rear end side of the vehicle, and the step of pattern recognition includes pattern recognition in the second region based on a pattern for spray.
  • Second environment sensors on the rear end of the vehicle usually detect an area immediately behind the vehicle and are therefore well suited to detect the occurrence of spray, especially spray by the own vehicle.
  • Spray is characterized by a corresponding pattern in the sensor signals of the at least one second environmental sensor, which can be recognized as such. The detection can be carried out, for example, as for the at least one first environmental sensor. Simultaneous detection of spray with multiple environmental sensors, for example, with the at least one first environmental sensor and with one or more second environmental sensors, may lead to an improvement in the detection of an occurrence of spray.
  • Environmental sensor disposed on a front end side of the vehicle, and the control unit is designed to perform the pattern recognition in the second area based on a pattern for rain.
  • the at least one second environmental sensor is disposed at a front end side of the vehicle, and the step of pattern recognition includes pattern recognition in the second region based on a pattern for rain.
  • environmental sensors on the front of the vehicle are usually not or only partially suitable to detect the occurrence of spray, especially spray by the own vehicle.
  • detection of rain by the second environmental sensors at the front end of the vehicle may provide an indication of a possible occurrence of spray behind the own vehicle.
  • spray can also occur in wet roads due to other reasons, rain is the most common cause of a wet road and thus an indication that can increase the probability of an occurrence of spray in the dead-angle area.
  • Rain is like spray by a corresponding pattern in the
  • alternative or additional pattern recognition may also be performed in the second region for the second environmental sensor at the rear end of the vehicle based on a pattern for rain. This can be done parallel to the detection of spray.
  • a plurality of second environmental sensors to be arranged on the vehicle, wherein at least one second environmental sensor is arranged on the front end side of the vehicle, and at least a second one
  • Environmental sensor is arranged at the rear end of the vehicle.
  • Environmental sensor on the front of the vehicle a pattern of rain are detected, and with the at least one second environmental sensor on the At the rear of the vehicle, a pattern of spray can be detected.
  • the information may be processed together in the control unit to improve the determination of the probability of the occurrence of spray.
  • Ultrasonic sensors executed. Ultrasonic sensors as such are known in the art and are used to monitor a near field around the vehicle. The ultrasonic sensors can detect objects at a maximum distance of about 3 to 5 meters. Ultrasonic sensors are well proven in the art, also inexpensive and readily available. When spray, join
  • Ultrasonic sensors typically echo at a distance of about two to three meters.
  • Limit speed to zero In practice, it has been found that the occurrence of spray, at least from one's own vehicle below the limit speed, is not relevant and can be neglected accordingly. In a first approximation, this also applies to spray or spray from other vehicles, assuming that the other vehicles are moving at a similar speed.
  • a limit speed a speed of about 50 km / h to 70 km / h, in particular of about 60 km / h has been found suitable because below this
  • FIG. 1 is a schematic view of a vehicle according to a first
  • Fig. 2 is a schematic view of the vehicle of FIG. 1 in a
  • FIG. 3 is a diagram with sensor signals of a first environmental sensor of
  • FIG. 1 shows a vehicle 10 according to a first, preferred embodiment.
  • the vehicle 10 includes a driver assistance system 12 for blind spot monitoring for a blind spot 14 on each of the two longitudinal sides 16 of the vehicle 10.
  • the two blind spots 14 are shown together with a front blocking zone 18.
  • the two blind spots 14 each include a necessary alarm zone 20 and an optional alarm zone 22.
  • a blind spot warning may be triggered accordingly when an object 24, here another vehicle 24, approaches the vehicle 10 in the optional alarm zone 22 while a blind spot warning is triggered must when the object 24 in the necessary alarm zone 20 approaches the vehicle 10.
  • the object 24 is in the blocking zone 18, is a Blind spot warning to block.
  • These zones 18, 20, 22 are based on an ISO standard and are universally known in this form.
  • the driver assistance system 12 in each case comprises a plurality of first ultrasonic sensors 26, which are arranged along the respective longitudinal sides 16 of the vehicle 10, for monitoring the respective dead angle 14.
  • the first ultrasonic sensors 26 are first environmental sensors 26 in the sense of the present invention.
  • Driver assistance system 12 further comprises a plurality of second ultrasonic sensors 28, which are arranged on a front end side 30 and a rear end side 32 of the vehicle 10.
  • the second ultrasonic sensors 28 are second
  • Ultrasonic sensors 28 are designed and arranged to monitor a second area 34, which is located on the respective front side 30, 32. At each end face two second ultrasonic sensors 28 are arranged.
  • the first ultrasonic sensor 26 considered here is in each case at a rear end face of the two longitudinal sides 16 of FIG.
  • Vehicle 10 is positioned.
  • the second ultrasonic sensors 28 positioned at the rear end 32 are immediately adjacent thereto.
  • a corresponding field of view 40 of the first ultrasonic sensor 26 is shown, for example, in FIGS. 2 and 3. It coincides only partially with the blind spot 14 and extends in particular into the second area 34 which is monitored by the second environmental sensors 28 at the rear end 32 of the vehicle 10.
  • the driver assistance system 12 also includes a control unit 36, which is connected via a data bus 38 to the first and second ultrasonic sensors 26, 28.
  • the control unit 36 receives sensor signals of the first and second
  • Ultrasonic sensors 26, 28 via the data bus 38.
  • the control unit 36 is also connected via the data bus 38 with an output device, not shown here, for outputting a blind spot warning.
  • the output device may be an acoustic output device, or an optical output device.
  • the control unit 36 is implemented, an object recognition in the blind spot 14 based on the sensor signals of the first ultrasonic sensors 26 and a
  • Control unit 36 has a probability of detection of spray 42, as explained below, and issues a blind spot warning when detecting an approaching object 24 in blind spot 14 when the probability of detection of spray 42 is below a threshold.
  • Spray 42 is shown in Fig. 3, right part.
  • a method of monitoring objects 24 in the blind spot 14 on both longitudinal sides 16 of the vehicle 10 according to the first preferred embodiment will be described below with reference to FIG. The method is performed with the vehicle 10 and the driver assistance system 12 of the first embodiment.
  • the method begins with a step S100 that includes monitoring the blind spot 14 with the first ultrasonic sensors 26.
  • the monitoring of the blind spot 14 with the first ultrasonic sensors 26 is carried out continuously here.
  • step S1 10 the second area 34 is monitored with the second ultrasonic sensors 28.
  • the monitoring of the second area 34 with the second ultrasonic sensors 26 is likewise carried out continuously.
  • step S120 the control unit 36 receives sensor signals of the first ultrasonic sensors 26 and the second ultrasonic sensors 28.
  • the sensor signals are transmitted from the respective first and second ultrasonic sensors 26, 28 via the data bus 38 to the control unit 36.
  • step S130 objects 24 are detected in the blind spot 14 based on the sensor signals of the first ultrasonic sensors 26. The detection is performed by the control unit 36.
  • step S140 detection of objects 24 in the second region 34 is performed based on the sensor signals of the second ultrasonic sensors 28.
  • the Detection is performed by the control unit 36. The recognition of
  • Objects 24 are independently performed for second areas 34 on a front end 30 and a rear end 32.
  • a speed of the vehicle 10 is detected in step S150.
  • the speed may be determined, for example, based on odometry information or satellite position information. If the speed of the vehicle 10 is less than a limit speed of about 60 km / h, the probability of the presence of spray is set to zero, and the process proceeds to step S170. Otherwise, the process proceeds to step S160.
  • step S150 may be performed prior to step S140.
  • step S160 determining a probability of detection of spray 42 based on the object detection in the blind spot 14 and the second area 34 is performed. Pattern recognition is performed based on the sensor signals of the first ultrasonic sensors 26 and the second surrounding sensors 28
  • Spray 42 is characterized by a corresponding pattern in FIG.
  • Spray 42 in contrast, is typically characterized in that the sensor signals contain object detections that change in a short time sequence, ie object acquisitions close in time occur with little spatial proximity and thus contain information that is similar to noise and can be identified as such. For this purpose, a standard deviation is determined via the sensor signals.
  • a corresponding detection of spray 42 is shown in an object reflection section 46 in FIG.
  • the pattern recognition is based on a pattern for rain.
  • Rain is characterized by a corresponding pattern in the sensor signals of the second environmental sensors 28 consisting of repeated individual reflections 48, as shown in FIG.
  • a corresponding detection of rain results from the detection of the individual reflections, as shown in Fig. 3.
  • the probability that the object 24 detected by the first ultrasonic sensors 26 is spray 42 becomes, based on the pattern recognition, the first one
  • the probability of the presence of spray 42 is the higher, the more the first ultrasonic sensors 26 and the second ultrasonic sensors 28 on the rear end face 32 detect spray 42.
  • the probability of spray 42 is further increased when one or more of the second ultrasonic sensors 28 detect rain on the front face 30.
  • step S170 a blind spot warning is issued upon detection of an approaching object 24 in the blind spot 14 when the probability of detection of spray 42 is below a threshold.
  • the limit is positive and is in a probability interval between zero and one.
  • first ultrasonic sensor first environmental sensor second ultrasonic sensor, second environmental sensor front end side

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Acoustics & Sound (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention concerne un système d'assistance à la conduite (12) permettant de surveiller des objets (24) dans un angle mort (14) situé sur un côté longitudinal (16) d'un véhicule (10). Le système comprend au moins un premier capteur d'environnement (26) destiné à surveiller l'angle mort (14), au moins un deuxième capteur d'environnement (28) qui surveille une deuxième zone (34) du côté arrière (32) du véhicule (10), et une unité de commande (36) configurée pour recevoir des signaux de capteur de l'au moins un premier capteur d'environnement (26) et de l'au moins un deuxième capteur d'environnement (28). L'unité de commande (36) est conçue pour effectuer une reconnaissance d'objet dans l'angle mort (14) sur la base des signaux de capteur de l'au moins un premier capteur d'environnement (26) et une reconnaissance d'objet dans la deuxième zone (34) sur la base des signaux de capteur de l'au moins un deuxième capteur d'environnement (28), l'unité de commande (36) est conçue pour déterminer une probabilité de détection d'éclaboussures (42) sur la base de la détection d'objet dans l'angle mort (14) et dans la deuxième zone (34), et l'unité de commande (36) est conçue pour délivrer un avertissement d'angle mort lors de la détection d'un objet en approche (24) dans l'angle mort (14) lorsque la probabilité de détection d'éclaboussures (42) est inférieure à une valeur limite. L'invention concerne également un véhicule (10) équipé d'un tel système d'assistance à la conduite (12). L'invention concerne en outre un procédé correspondant de surveillance d'objets (24) dans un angle mort (14).
PCT/EP2018/072207 2017-08-21 2018-08-16 Évitement d'avertissements d'angle mort dûs à des éclaboussures Ceased WO2019038174A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017119042.2 2017-08-21
DE102017119042.2A DE102017119042A1 (de) 2017-08-21 2017-08-21 Vermeidung von Totwinkelwarnungen durch Gischt

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WO2019038174A1 true WO2019038174A1 (fr) 2019-02-28

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DE102019207029A1 (de) * 2019-05-15 2020-11-19 Robert Bosch Gmbh Verfahren und Vorrichtung zum Ermitteln einer Umweltbedingung im Umfeld eines Fortbewegungsmittels auf Basis eines Ultraschallsensors des Fortbewegungsmittels
DE102019218492A1 (de) * 2019-11-28 2021-06-02 Robert Bosch Gmbh Verfahren und Fahrerassistenzsystem zum Erkennen eines bewegten Objekts in der Umgebung eines Fahrzeugs
DE102020120726A1 (de) 2020-08-06 2022-02-10 Valeo Schalter Und Sensoren Gmbh Totwinkelwarnung
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