DE4023538A1 - COLLISION WARNING DEVICE - Google Patents
COLLISION WARNING DEVICEInfo
- Publication number
- DE4023538A1 DE4023538A1 DE4023538A DE4023538A DE4023538A1 DE 4023538 A1 DE4023538 A1 DE 4023538A1 DE 4023538 A DE4023538 A DE 4023538A DE 4023538 A DE4023538 A DE 4023538A DE 4023538 A1 DE4023538 A1 DE 4023538A1
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- distance
- ultrasonic
- collision warning
- warning device
- ultrasonic sensor
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- 238000005259 measurement Methods 0.000 claims abstract description 20
- 238000012360 testing method Methods 0.000 claims description 2
- 230000005540 biological transmission Effects 0.000 claims 1
- 238000002604 ultrasonography Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 4
- 238000011156 evaluation Methods 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 230000018109 developmental process Effects 0.000 description 2
- 230000005855 radiation Effects 0.000 description 2
- 238000009795 derivation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012549 training Methods 0.000 description 1
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
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
-
- 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
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/46—Indirect determination of position data
-
- 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
- G01S15/876—Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector
- G01S15/878—Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector wherein transceivers are operated, either sequentially or simultaneously, both in bi-static and in mono-static mode, e.g. cross-echo mode
-
- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/46—Indirect determination of position data
- G01S2015/465—Indirect determination of position data by Trilateration, i.e. two transducers determine separately the distance to a target, whereby with the knowledge of the baseline length, i.e. the distance between the transducers, the position data of the target is determined
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
Description
Die Erfindung betrifft eine Kollisionswarneinrichtung nach der Gattung des Hauptanspruchs.The invention relates to a collision warning device according to the genus of the main claim.
Es sind Kollisionswarneinrichtungen für Kraftfahrzeuge bekannt und am Markt erhältlich, die mit Hilfe von Ultraschallsensoren den Abstand zu anderen Gegenständen im Fahrzeugheckbereich ermitteln. Bei Unterschreiten eines vorgegebenen Mindestabstandes wird ein Warnsignal für den Fahrer abgegeben.They are collision warning devices for motor vehicles known and available on the market with the help of Ultrasonic sensors the distance to other objects in the Determine vehicle rear area. When falling below one predetermined minimum distance is a warning signal for the Driver submitted.
Bei diesen bekannten Kollisionswarneinrichtungen wird von Ultraschallsensoren, die sowohl als Sender als auch als Empfänger ausgebildet sind, ein kurzes Ultraschallsignal ausgesendet, das bei Vorhandensein eines Hindernisses an diesem reflektiert und vom Ultraschallsensor empfangen wird. Aufgrund der Laufzeit wird die Entfernung zwischen dem Ultraschallsensor und dem reflektierenden Hindernis berechnet. In these known collision warning devices Ultrasonic sensors, both as transmitters and as Receiver are formed, a short ultrasonic signal sent out in the presence of an obstacle reflected and received by the ultrasonic sensor. Because of the transit time, the distance between the Ultrasonic sensor and the reflective obstacle calculated.
Die bekannten Kollisionswarneinrichtungen für Kraftfahrzeuge geben jedoch keinen Hinweis über die Richtung des Hindernisses. Dazu sind zwar Weiterbildungen der bekannten Einrichtungen bekannt, bei welchen eine gerichtete Abstrahlung der Ultraschallsignale in Form einer schmalen Sendekeule erfolgt, deren Richtung laufend verändert wird, wie es auch bei Radaranlagen geschieht. Außer dem zusätzlichen Aufwand einer entsprechenden Schwenkvorrichtung ist bei diesen Weiterbildungen nachteilig, daß die Zeit für eine vollständige Abtastung des Beobachtungsfeldes mit wachsender Winkelauflösung stark zunimmt. Bei zeitkritischen Anwendungen, beispielsweise beim Einsatz in Kraftfahrzeugen mit dessen schnellen Lageveränderungen, sind diese Verfahren oft zu langsam und damit ungeeignet.The known collision warning devices for motor vehicles however, give no indication of the direction of the Obstacle. For this purpose, further developments of the known Institutions known in which a directed Radiation of the ultrasonic signals in the form of a narrow Transmitting lobe takes place, the direction of which is constantly changing, like it also happens with radar systems. Moreover additional effort of a corresponding swivel device is disadvantageous in these training courses that the time for a complete scan of the observation field with increasing angular resolution increases sharply. With time-critical Applications, for example when used in motor vehicles with its rapid changes in location, these are procedures often too slow and therefore unsuitable.
Bei weiteren bekannten Einrichtung (DE 38 32 720 A1 und DE 38 27 729 A1) wird eine Abstandsinformation mit Hilfe einer Ultraschallmessung und eine Richtungsinformation mit Hilfe eines Infrarotstrahls gewonnen, der periodisch im zu erfassenden Winkelbereich geschwenkt wird.In other known device (DE 38 32 720 A1 and DE 38 27 729 A1) uses distance information an ultrasound measurement and direction information With the help of an infrared ray, which periodically in the detecting angular range is pivoted.
Die Kollisionswarneinrichtung, insbesondere zur Vermeidung von Kollisionen mit stehenden Hindernissen im Nahbereich eines Kraftfahrzeugs mit den Merkmalen des Hauptanspruchs hat den Vorteil, daß mit äußerst geringem Aufwand durch einfache Abstandsmessungen auf die Art und die relative Lage des Hindernisses in bezug auf das Kraftfahrzeug geschlossen werden kann und daß somit derjenige Abstand ermittelt werden kann, der besonders kritisch zur Vermeidung einer Kollision ist. Dieser ist beispielsweise bei einer schräg hinter dem Kraftfahrzeug verlaufenden Wand der Abstand zwischen der Wand und einer Ecke des Kraftfahrzeugs.The collision warning device, especially for avoidance collisions with standing obstacles in the vicinity a motor vehicle with the features of the main claim has the advantage that with very little effort simple distance measurements based on the type and relative position the obstacle related to the motor vehicle closed can be and that thus that distance can be determined can, which is particularly critical to avoid a collision is. This is for example at an angle behind the Motor vehicle trending wall the distance between the Wall and a corner of the motor vehicle.
Außer einer Einrichtung zur Auswertung der Laufzeiten werden bei der erfindungsgemäßen Kollisionswarneinrichtung lediglich zwei einfache Ultraschallsensoren benötigt. Die Auswerteeinrichtung kann im wesentlichen durch einen Mikroprozessor oder einen Signalprozessor mit einem entsprechenden Programm gebildet werden.In addition to a facility for evaluating the runtimes in the collision warning device according to the invention only two simple ultrasonic sensors are required. The Evaluation device can essentially by a Microprocessor or a signal processor with a appropriate program.
Durch die in den Unteransprüchen aufgeführten Maßnahmen sind vorteilhafte Weiterbildungen und Verbesserungen der im Hauptanspruch angegebenen Erfindung möglich.By the measures listed in the subclaims advantageous developments and improvements in Main claim specified invention possible.
Ausführungsbeispiele der Erfindung sind in der Zeichnung anhand mehrerer Figuren dargestellt und in der nachfolgenden Beschreibung näher erläutert. Es zeigt:Embodiments of the invention are in the drawing represented with several figures and in the following Description explained in more detail. It shows:
Fig. 1 eine schematische Darstellung der Ultraschallsensoren, welche am Heck eines Kraftfahrzeugs angeordnet sind, und eines Hindernisses, Fig. 1 is a schematic representation of the ultrasonic sensors, which are arranged at the rear of a motor vehicle and an obstacle,
Fig. 2 ein Blockschaltbild einer erfindungsgemäßen Kollisionswarneinrichtung, Fig. 2 is a block diagram of a collision warning device according to the invention,
Fig. 3 ein Struktogramm eines für den Prozessor vorgesehenen Programms, Fig. 3 is a structure diagram of an intended for the processor program,
Fig. 4 eine Erläuterung der geometrischen Verhältnisse bei einem flächenhaften Hindernis, beispielsweise einer Wand, und Fig. 4 is an explanation of the geometric relationships in a planar obstacle such as a wall, and
Fig. 5 die geometrischen Verhältnisse bei punktförmigen Hindernissen. Fig. 5 shows the geometric relationships with point-shaped obstacles.
Gleiche Teile sind in den Figuren mit gleichen Bezugszeichen versehen.Identical parts are given the same reference symbols in the figures Mistake.
Am Heck 1 eines Kraftfahrzeugs, das in Fig. 1 lediglich angedeutet ist, sind im Abstand x zwei Ultraschallsensoren S1 und S2 angeordnet, deren Abstrahl- und Empfangscharakteristik im wesentlichen ungebündelt ist, so daß alle Hindernisse, die im Nahbereich hinter dem Kraftfahrzeug auftreten, erfaßt werden können. In Fig. 1 ist ein punktförmiges Hindernis 2 dargestellt. Vom Ultraschallsensor S1 wird ein Ultraschallsignal ausgesendet. Danach werden von beiden Ultraschallsensoren S1 und S2 am Hindernis 2 reflektierte Signale empfangen. Aus der Laufzeit des vom Ultraschallsensor S1 empfangenen Signals kann in an sich bekannter Weise die Entfernung e zwischen dem Ultraschallsensor S1 und dem Hindernis 2 berechnet werden. Die Laufzeit des vom Ultraschallsensor S2 empfangenen Signals entspricht der Laufzeit des Ultraschallsignals zwischen Ultraschallsensor S1, dem Hindernis 2 und dem Ultraschallsensor S2 und gestattet die Berechnung der Entfernung y, die im folgenden auch als Ergebnis der Kreuzmessung bezeichnet wird.At the rear 1 of a motor vehicle, which is only hinted at in FIG. 1, two ultrasonic sensors S 1 and S 2 are arranged at a distance x, the radiation and reception characteristics of which are essentially unbundled, so that all obstacles that occur in the vicinity of the motor vehicle , can be detected. A punctiform obstacle 2 is shown in FIG. 1. An ultrasonic signal is emitted by the ultrasonic sensor S 1 . Then signals reflected by the two ultrasonic sensors S 1 and S 2 at the obstacle 2 are received. The distance e between the ultrasonic sensor S 1 and the obstacle 2 can be calculated in a manner known per se from the transit time of the signal received by the ultrasonic sensor S 1 . The transit time of the signal received by the ultrasonic sensor S 2 corresponds to the transit time of the ultrasonic signal between the ultrasonic sensor S 1 , the obstacle 2 and the ultrasonic sensor S 2 and allows the calculation of the distance y, which is also referred to below as the result of the cross measurement.
Mit Hilfe eines vom Ultraschallsensor S2 ausgesandten Ultraschallsignals kann die Entfernung d zwischen dem Ultraschallsensor S2 und dem Hindernis 2 und nochmals die Entfernung y bestimmt werden. Die zweifache Durchführung der Kreuzmessung erhöht die Sicherheit, da oft nur in einer Richtung Signale empfangen werden.The distance d between the ultrasonic sensor S 2 and the obstacle 2 and again the distance y can be determined with the aid of an ultrasonic signal emitted by the ultrasonic sensor S 2 . Carrying out the cross measurement twice increases safety, since signals are often only received in one direction.
Bevor auf die Auswertung der Messungen im einzelnen eingegangen wird, erfolgt eine kurze Beschreibung der Kollisionswarneinrichtung anhand von Fig. 2, welche ein stark vereinfachtes Blockschaltbild darstellt. Die Ultraschallsensoren S1, S2 sind mit einem Prozessor 3 verbunden, an den wiederum eine Anzeigeeinrichtung 4 angeschlossen ist. Der Prozessor besteht im wesentlichen aus einem Mikroprozessor oder einem Signalprozessor mit einem entsprechenden Programm. Durch ihn erfolgt außer der Auswertung der Laufzeiten auch die Steuerung der zeitlichen Abfolge etwa in dem Sinn, daß zunächst der Ultraschallsensor S1 ein Ultraschallsignal sendet, der dann wie auch der Ultraschallsensor S2 empfangsbereit geschaltet wird, daß durch Zählung von Zeiteinheiten die Laufzeiten zwischen dem Aussenden des Ultraschallsignals und dem Eintreffen der reflektierten Ultraschallsignale an den Ultraschallsensoren S1, S2 erfaßt werden. Danach wird ein Ultraschallsignal vom Ultraschallsensor S2 ausgesandt, worauf die Laufzeiten bis zum Eintreffen der reflektierten Ultraschallsignale bei den Ultraschallsensoren S1, S2 wiederum bestimmt werden.Before the evaluation of the measurements is dealt with in detail, the collision warning device is briefly described with reference to FIG. 2, which represents a greatly simplified block diagram. The ultrasonic sensors S 1 , S 2 are connected to a processor 3 , to which a display device 4 is in turn connected. The processor essentially consists of a microprocessor or a signal processor with a corresponding program. In addition to the evaluation of the transit times, it also controls the chronological sequence, for example in the sense that the ultrasound sensor S 1 first sends an ultrasound signal, which then, like the ultrasound sensor S 2 , is switched to ready to receive, so that the transit times between the Emission of the ultrasound signal and the arrival of the reflected ultrasound signals at the ultrasound sensors S 1 , S 2 can be detected. An ultrasonic signal is then emitted by the ultrasonic sensor S 2 , whereupon the transit times until the reflected ultrasonic signals arrive at the ultrasonic sensors S 1 , S 2 are in turn determined.
Nachdem die Werte für die Laufzeiten feststehen, werden die Entfernungen y, e, d berechnet. Daraufhin erfolgt die im folgenden anhand der Fig. 3, 4 und 5 beschriebene Auswertung.After the values for the transit times have been determined, the distances y, e, d are calculated. This is followed by the evaluation described below with reference to FIGS. 3, 4 and 5.
Bei der Darstellung nach Fig. 1 ist wegen des punktförmigen Hindernisses auch nur ein "Reflektionspunkt" vorhanden. Die sich bei der Kreuzmessung ergebenden Strecken entsprechen der Summe derjenigen Strecken bei der Einzelmessung. Bei ausgedehnten Hindernissen - wie beispielsweise einer Wand - ist dieses jedoch nicht der Fall. Zwischen den Entfernungen e, d und y ergeben sich daher bei verschiedenen Hindernissen auch verschiedene mathematische Beziehungen.In the illustration of FIG. 1 because of the point-like obstacle even a "reflection point" is present. The distances obtained in the cross measurement correspond to the sum of those distances in the single measurement. However, this is not the case with extensive obstacles - such as a wall. Different distances therefore result in different mathematical relationships between the distances e, d and y.
Da durch die Ultraschallmessungen die Entfernungen bekannt sind, kann geprüft werden, welcher dieser Bedingungen die gemessenen Größen jeweils gehorchen. Somit läßt sich die Art des Hindernisses bestimmen. Für die wichtigsten Hindernisformen sind die Bedingungen im folgenden wiedergegeben:Since the distances are known from the ultrasound measurements , it can be checked which of these conditions the obey measured quantities. Thus Art determine the obstacle. For the most important Obstacle forms are the conditions below reproduced:
y² = x² + 4e · d → Wand
y = e + d → Punkt
(y²-x²)/4e < d → Inneneck
(y²-x²)/4e e → Kreis, Kante
(y²-x²)/4e d → Kreis, Kante,y² = x² + 4e · d → wall
y = e + d → point
(y²-x²) / 4e <d → inner corner
(y²-x²) / 4e e → circle, edge
(y²-x²) / 4e d → circle, edge,
wobei x der Abstand zwischen den Ultraschallsensoren S1, S2, d die aufgrund der Reflektionsmessung mit dem einen Ultraschallsensor gemessene längere Entfernung, e die aufgrund der Reflektionsmessung mit dem anderen Ultraschallsensor gemessene kürzere Entfernung (e<d) und y die Entfernung aufgrund der Kreuzmessung ist.where x is the distance between the ultrasonic sensors S 1 , S 2 , d is the longer distance measured on the basis of the reflection measurement with the one ultrasonic sensor, e is the shorter distance measured on the basis of the reflection measurement with the other ultrasonic sensor (e <d) and y is the distance based on the cross measurement is.
In Abhängigkeit von der Art des Hindernisses kann anschließend eine der folgenden Gleichungen zur Berechnung des Abstandes verwendet werden:Depending on the nature of the obstacle then one of the following equations for calculation of the distance can be used:
Wand:Wall:
z = e-(g-x) · (d-e)/2x,z = e- (g-x) · (d-e) / 2x,
Punkt innerhalb des Bereichs der Ultraschallsensoren:Point within the range of the ultrasonic sensors:
z = [e²-{((d²-e²)/x-x)²}/4]1/2,z = [e² - {((d²-e²) / xx) ²} / 4] 1/2 ,
Punkt außerhalb des Bereichs der Ultraschallsensoren:Point outside the range of the ultrasonic sensors:
z = [e² + (g²-x²)/4 + ((g-x)/2x) · (d²-e²)]1/2,z = [e² + (g²-x²) / 4 + ((gx) / 2x) · (d²-e²)] 1/2 ,
Inneneck:Inside corner:
z = e · [1 + (1-cos β) · ((g-x)/2x)]-(g-x)/2,z = e · [1 + (1-cos β) · ((g-x) / 2x)] - (g-x) / 2,
Kreis, Kante:Circle, edge:
z = e-[(g-x) · ((y²-x²)/4e-e)]/2x,z = e - [(g-x) · ((y²-x²) / 4e-e)] / 2x,
wobei z der Abstand zwischen dem Hindernis und dem Kraftfahrzeug und g die Breite des Kraftfahrzeugs ist.where z is the distance between the obstacle and the Motor vehicle and g is the width of the motor vehicle.
Fig. 3 zeigt ein Struktogramm eines für den Prozessor 3 vorgesehenen Programms, wobei in einem ersten Programmteil 5 als sogenannte Remarks lediglich Erläuterungen der einzelnen Größen vorgesehen sind. In einem Programmteil 6 wird geprüft, ob die Größen y, e, d und x der Bedingung für das Vorhandensein einer Wand genügen. Ist dieses der Fall, wird im Programmteil 7 nach der oben angegebenen, für die Wand gültigen Formel der Abstand z berechnet. Fig. 3 shows a structure diagram of an intended for the processor 3 program, and only explanation of the different sizes are provided in a first program section 5 as a so-called Remarks. A program part 6 checks whether the sizes y, e, d and x satisfy the condition for the presence of a wall. If this is the case, the distance z is calculated in program part 7 using the formula given above for the wall.
Ist die Bedingung für die Wand im Programmteil 6 nicht gegeben, wird im Programmteil 8 geprüft, ob die Bedingung für ein punktförmiges Hindernis gegeben ist. Zutreffendenfalls wird bei 9 der Abstand z nach der für einen Punkt gültigen Formel berechnet. Ist im Programmteil 8 die Bedingung für einen Punkt nicht gegeben, wird im Programmteil 10 geprüft, ob es sich um ein Inneneck handelt. Je nach dem Ergebnis dieser Prüfung wird bei 11 der Abstand für den Fall eines Innenecks oder bei 12 der Abstand z für den Fall eines Kreises berechnet.If the condition for the wall is not present in program part 6 , program part 8 checks whether the condition for a punctiform obstacle is present. If applicable, the distance z is calculated at 9 according to the formula valid for a point. If the condition for a point is not given in program part 8 , it is checked in program part 10 whether it is an inside corner. Depending on the result of this test, the distance is calculated at 11 for the case of an inner corner or at 12 the distance z for the case of a circle.
Fig. 4 verdeutlicht die Ableitung einer Formel für den geringsten Abstand z zwischen dem Kraftfahrzeug 1 und einer Wand 15. Dazu sind zusätzlich zu den senkrecht auf der Wand 15 stehenden Strecken e und d und den gestrichelt dargestellten Strecken y für die Kreuzmessung Hilfslinien 16, 17 eingetragen, welche parallel zur Wand einerseits durch die linke Ecke 18 des Kraftfahrzeugs 1 und andererseits durch den Ultraschallsensor S1 verlaufen. Der Abstand z ergibt sich aus der Entfernung e abzüglich der Länge der Strecke a. Diese kann zu der Länge der Strecke b in Beziehung gesetzt werden, wobei b sich aus der Breite des Kraftfahrzeugs g und dem Abstand x der Ultraschallsensoren S1 , S2 zu b = (g-x)/2 berechnen läßt. Wegen der Ähnlichkeit der Dreiecke mit den Hypothenusen b und x ergibt sich a/b = u/x, wobei u = d-e ist. Insgesamt ergibt sich dann für den Abstand z = e - (g-x)×(d-e)/2x. Fig. 4 illustrates the derivation of a formula for the smallest distance z between the vehicle 1 and a wall 15. For this purpose, in addition to the lines e and d perpendicular to the wall 15 and the lines y shown in dashed lines, auxiliary lines 16 , 17 are entered for the cross measurement, which are parallel to the wall on the one hand through the left corner 18 of the motor vehicle 1 and on the other hand through the ultrasonic sensor S 1 run. The distance z results from the distance e minus the length of the distance a. This can be related to the length of the distance b, where b can be calculated from the width of the motor vehicle g and the distance x between the ultrasonic sensors S 1 , S2 to b = (gx) / 2. Because of the similarity of the triangles to the hypotenuses b and x, a / b = u / x results, where u = de. Overall, the distance z = e - (gx) × (de) / 2x.
Fig. 5 erläutert die Abstandsberechnung für punktförmige Hindernisse am Beispiel von drei verschiedenen Punkten 21, 22, 23. Es werden drei Bereiche des Raums unterschieden, in dem Hindernisse erfaßt werden. Der Bereich 24 liegt zwischen den Sensoren, der Bereich 25 liegt jeweils zwischen einem Sensor und dem Fahrzeugrand, während sich der Bereich 26 außerhalb der Fahrzeugbreite befindet. Fig. 5 illustrates the distance calculation for point-shaped obstacles on the example of three different points 21, 22, 23. A distinction is made between three areas of the room in which obstacles are detected. The area 24 lies between the sensors, the area 25 lies between a sensor and the vehicle edge, while the area 26 is outside the vehicle width.
Der Punkt 22 liegt innerhalb des durch die Ultraschallsensoren S1 und S2 gegebenen Bereichs 24, während die Punkte 21 und 23 außerhalb liegen. Punkt 21 stellt dadurch einen Sonderfall dar, daß er auf der Verlängerungslinie der Fahrzeugseite, also hinter dem Eckpunkt 18 liegt. Zur Unterscheidung, ob ein Punkt innerhalb des von den Ultraschallsensoren S1 und S2 gegebenen Bereichs liegt, wird geprüft, ob x2+e2 d2 ist.The point 22 lies within the range 24 given by the ultrasonic sensors S 1 and S 2 , while the points 21 and 23 lie outside. Point 21 therefore represents a special case in that it lies on the extension line on the vehicle side, that is, behind corner point 18 . To differentiate whether a point lies within the range given by the ultrasonic sensors S 1 and S 2 , a check is carried out to determine whether x 2 + e 2 d 2 .
Claims (7)
y = e + d,
(y²-x²)/4e < d,
(y²-x²)/4e e,
(y²-x²)/4e dsind, wobei x der Abstand zwischen den Ultraschallsensoren (S1, S2), d die aufgrund der Reflektionsmessung mit dem einen Ultraschallsensor gemessene größere Entfernung, e die aufgrund der Reflektionsmessung mit dem anderen Ultraschallsensor gemessene kleinere Entfernung (e<d) und y die Entfernung aufgrund der Kreuzmessung ist.3. collision warning device according to claim 2, characterized in that the predetermined mathematical relationships are as follows: y² = x² + 4e · d,
y = e + d,
(y²-x²) / 4e <d,
(y²-x²) / 4e e,
(y²-x²) / 4e d, where x is the distance between the ultrasonic sensors (S 1 , S 2 ), d is the larger distance measured on the basis of the reflection measurement with one ultrasonic sensor, e is the smaller distance measured on the basis of the reflection measurement with the other ultrasonic sensor ( e <d) and y is the distance based on the cross measurement.
z = [e²-{((d²-e²)/x-x)²}/4]1/2,
z = [e²-{(x-(d²-e²)/x)²}/4]1/2,
z = [e² + (g²-x²)/4 + ((g-x)/2x) · (d²-e²)]1/2,
z = e · [1 + (1-cos β) · ((g-x)/2x)]-(g-x)/2,
z = e-[(g-x) · ((y²-x²)/4e-e)]/2x,wobei g die Breite des Kraftfahrzeugs und β der Öffnungswinkel der Ultraschallsensoren ist.4. Collision warning device according to claim 3, characterized in that the distance z between the motor vehicle and the obstacle ( 2 , 15 , 21 , 22 , 23 ) is calculated according to one of the following equations: z = e- (gx) · (de) / 2x,
z = [e² - {((d²-e²) / xx) ²} / 4] 1/2 ,
z = [e² - {(x- (d²-e²) / x) ²} / 4] 1/2 ,
z = [e² + (g²-x²) / 4 + ((gx) / 2x) · (d²-e²)] 1/2 ,
z = e · [1 + (1-cos β) · ((gx) / 2x)] - (gx) / 2,
z = e - [(gx) · ((y²-x²) / 4e-e)] / 2x, where g is the width of the motor vehicle and β is the opening angle of the ultrasonic sensors.
- a) ein Ultraschallsensor (S1) sendet,
- b) beide Ultraschallsensoren (S1, S2) sind solange auf Empfang geschaltet, wie noch reflektierte Ultraschallsignale bei vorgegebenem Meßbereich erwartet werden,
- c) der zweite Ultraschallsensor (S2) sendet,
- d) beide Ultraschallsensoren (S1, S2) sind solange auf Empfang geschaltet, wie noch reflektierte Ultraschallsensoren bei vorgegebenem Meßbereich erwartet werden.
- a) sends an ultrasonic sensor (S 1 ),
- b) both ultrasonic sensors (S 1 , S 2 ) are switched to reception as long as reflected ultrasonic signals are expected for a given measuring range,
- c) the second ultrasonic sensor (S 2 ) transmits,
- d) both ultrasonic sensors (S 1 , S 2 ) are switched to reception as long as reflected ultrasonic sensors are expected for a given measuring range.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE4023538A DE4023538A1 (en) | 1990-07-25 | 1990-07-25 | COLLISION WARNING DEVICE |
| PCT/DE1991/000525 WO1992001954A1 (en) | 1990-07-25 | 1991-06-27 | Collision-warning system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE4023538A DE4023538A1 (en) | 1990-07-25 | 1990-07-25 | COLLISION WARNING DEVICE |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| DE4023538A1 true DE4023538A1 (en) | 1992-01-30 |
Family
ID=6410932
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| DE4023538A Withdrawn DE4023538A1 (en) | 1990-07-25 | 1990-07-25 | COLLISION WARNING DEVICE |
Country Status (2)
| Country | Link |
|---|---|
| DE (1) | DE4023538A1 (en) |
| WO (1) | WO1992001954A1 (en) |
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| DE3244358C2 (en) * | 1982-12-01 | 1984-10-04 | Daimler-Benz Ag, 7000 Stuttgart | Device for detecting obstacles as a maneuvering aid when parking or turning a motor vehicle |
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-
1990
- 1990-07-25 DE DE4023538A patent/DE4023538A1/en not_active Withdrawn
-
1991
- 1991-06-27 WO PCT/DE1991/000525 patent/WO1992001954A1/en not_active Ceased
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