• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    A method of managing a converter system (11) for automatically recognizing the objects of the environment of a vehicle (10) comprising: - managing (100) the converter system (11) in a first operating mode performing a first directional effect of the converter system (11), - recognizing (200) a modified driving situation or a modified steering angle and the response thereto, and - operating (300) the converter system in a second operating mode performing a second directional effect of the converter for transmitting and / or receiving signals (S).
    公开号:FR3035364A1
    申请号:FR1653330
    申请日:2016-04-15
    公开日:2016-10-28
    发明作者:Matthias Karl
    申请人:Robert Bosch GmbH；
    IPC主号:
    专利说明:

    [0001] FIELD OF THE INVENTION The present invention relates to a method for managing a converter system for recognizing objects of the vehicle environment. The invention also relates to an automated object recognition system of the environment of a means of transport implementing such a method. State of the art According to the state of the art, driving assistance systems are known for recognizing objects of the environment and issuing an appropriate warning signal as well as for automatically launching reactions. These systems are based on radar, lidar, ultrasound or laser techniques. According to these systems, the signals reflected by an object of the environment are captured, exploited and, for example, the distance and the spatial extension between the objects of the environment are determined from the echo. Depending on the state of operation of the vehicle, it may happen that certain areas for which the converter should respond, are no longer entered by the converter under certain conditions. In this case, the range of the environment originally planned to be monitored will be monitored at least in part. It is also possible that this modified operating state causes sensors to erroneously recognize objects in the environment that are not affected by a collision risk or that do not exist. In the case of the example of a motorcycle that can take known way a significant inclined position, this effect may appear as particularly visible. When a motorcycle is equipped with a blind spot assist, blind spots on the motorcycle are monitored by sensors. The sensor-monitored range limits are usually designed so that the space above the roadway in the user's blind spot is within the detection range of a sensor. . Since the inclined position of the motorcycle (for example in a curved passage) a situation can be encountered in which the pavement of the roadway passes from a sensor turned towards the inside of the curve in the entry range then that the sensor facing the outside of the curve is oriented in a less important range from the point of view of the circulation technique, above the dead angle range, which is important to monitor. DE 38 27 149 C2 discloses a headlight system having a beam shape height adjustment for a motorcycle whose inclined position recognition system recognizes the lateral inclination of the vehicle relative to the vehicle. pavement surface and adjusts the headlamps according to this angle of inclination. DE 41 02 586 A1 discloses a headlamp comprising an installation for correcting the light distribution characteristic when detecting an inclination of a body part, with respect to the roadway, and the tilting portion of the optics. maintains the optical distribution characteristic as a function of the angle of inclination of the body part, in a horizontal position.
    [0002] OBJECT OF THE INVENTION From the above-mentioned state of the art, the object of the present invention is to develop a method of managing a converter system for grasping the objects of the vehicle environment and of exploiting this information independently of the modified mode of operation of the means of transport, to recognize the objects. The present invention is intended in particular to avoid operating situations of a converter system in an environmental object detection system in which, because of the state of operation of the means of transport, the converters provide unusable results for detecting objects in the environment. DESCRIPTION AND ADVANTAGES OF THE INVENTION To this end, the subject of the invention is a method for managing a converter system for automatically recognizing the objects of the environment of a vehicle consisting in managing the converter system in accordance with a first mode of operation in which a first directional effect of the converter system is made, a modified driving situation or a modified steering angle is recognized and the response to this modification is to operate the converter system according to a second mode of operation in which a second directional effect of the converter is produced and this directional effect consists in transmitting and / or receiving signals. In other words, the problem of identification stated above is solved according to the invention by a method of managing a converter system for automated detection or "recognition" of objects in the environment of a vehicle. The converter system converts electrical signals into electromagnetic signals and / or sound signals and / or electromagnetic signals and / or acoustic signals into electrical signals. In other words, the converter system according to the invention allows automated recognition of objects in the environment. In a first step, the converter system operates according to a first mode of operation in which it performs a first action direction or directional effect of the converter system. The converter system for example transmits signals in a first main direction. Alternatively or additionally, in this first mode of operation, the converter system receives signals from the environment in the first main direction at the highest sensitivity. Then, a modified vehicle situation or a modified steering angle is recognized. The situation of the vehicle corresponds for example to a modified driving situation and / or a modified configuration of the vehicle. In response, the converter system proceeds to a second mode of operation in which it realizes a second directional effect of the converter, different from the first directional effect of action. In other words, the main axis of the transmission or reception signals is modified in a predefined manner to better take into account the second mode of operation of the vehicle and obtain better results. The modification of the directional effect can be described in particular with respect to the direction of the converter system. In other words, with respect to the orientation of the converter system, another main direction of transmission or reception is set to notably adapt the modified direction of the converter system with respect to the vehicle for an adaptation of the directional effect. according to the invention. The signals are operated by automated means according to the invention and are examined for the presence of objects in the environment. This is why the signals according to the invention go far beyond the emission of visible light. In particular, from the signals it is possible to determine the distance between an object of the environment and the vehicle on the basis of travel time. The invention realizes it mainly without being disturbed by the current mode of operation of the vehicle. This greatly reduces the erroneous reporting of environmental objects (false positives) or the non-reporting of actual objects (false negatives). The direction of action or directional effect preferably relates to the spatial distribution of the energy of at least one signal transmitted by the converter system. The directional effect is an axis in which the emission signals have the highest intensity. Alternatively or additionally, the angle dependent sensitivity in space with respect to at least one of the transformed signals received by the converter system is maximum in the principal axis defined by the direction of the converter. 'action. This does not exclude the transmission and / or reception of signals in other ranges of angles in space, (solid angle) a greater range of environment (also known as the so-called lide ") with the converter system according to the invention. The converter system preferably converts electrical signals into acoustic signals and / or acoustic signals into electrical signals. Acoustic signals may be particularly in the ultrasound range. Insofar as the electromagnetic signals are emitted into the environment of the transport means, they are designed in the frequency range or in the manner of a focused laser beam. Alternatively or additionally, the converter system transmits and / or receives the radar signals. The modified driving state can be seen in response to different characteristic quantities captured by sensors. For example, using the signal of an acceleration sensor and / or a tilt sensor to determine the inclined position of the vehicle.
    [0003] The speed and / or direction of travel indicated or taken can also be used and to determine to what extent the change of the current direction of the converter system is advantageous for recognizing objects. The direction of traffic or direction of driving is determined for example by the steering wheel position and / or the irregular acceleration or braking of the vehicle wheels. Similarly, a modification of the roadway used (for example a road that winds along a straight road, a road with parked vehicles or a road lined with trees, etc.), by a detection by sensors or by a location system and map material for changing the direction of action of the converter system. Similarly, one can receive radio information relating to the state of the circulation and networks and / or traffic information via the Internet and use them to adapt the direction of action. These may be appropriate networks and especially the "Car2Car" communication. According to a preferred development, the preceding vehicles transmit their trajectory and their circulation velocity vector with the objects detected and their mobility behavior (position as a function of time) towards the upstream traffic.
    [0004] This can be done either by direct communication to the follower vehicles (upstream vehicle) or by using fixed, suitable network providers and / or by more mobile systems which are for example housed in vehicles traveling in the direction of traffic. reverse. With the aid of the information received, in particular with the aid of experimental information, stored in memory, the vehicle according to the invention can adapt its driving state. An example of such experiments uses the acceleration profiles and environmental detections of the preceding vehicles. If, for example, the preceding vehicle must brake strongly because it has suddenly detected an object, the following vehicle according to the invention must be able to suitably adapt its driving state. For example, the vehicle according to the invention circulates along another path, in particular to avoid the object and / or directs its environmental sensors to the position in which, thanks to the experience of the preceding vehicle, could be 'object. This 3035364 6 allows all vehicles to influence the driving situation of other vehicles. Such experiments include, in particular, the position of free spaces, that is to say places where there is no obstacle object.
    [0005] The vehicle may in particular be able to tilt significantly and it may especially be a two-wheeled vehicle. The possibility of inclination may be necessary to stabilize the vehicle in its trajectory or its curve, which also makes it possible to considerably modify the input ranges in the space of the sensors 10 installed in a fixed manner on the vehicle. Under these conditions, particularly in the case of tilting vehicles, the invention offers improvements for the detection of objects in the environment. In particular, sensors oriented in the lateral direction of the vehicle (usually referred to as the Y direction) the inclined position of the vehicle considerably changes the orientation of the sensors. Correspondingly, the converter system according to the invention is particularly applicable to the search in the case of blind spot assist systems and the improvement of such systems. According to another development, the subject of the invention is a system for capturing the environment of a means of transport. The system includes an operating unit, a converter system and a transceiver amplifier. The transceiver amplifier operates the converter system in a first mode of operation in which there is the first directional effect of the converter system. As has been disclosed in connection with the method described above, the transducer system can be designed to convert electrical signals into electromagnetic and / or acoustic signals or to allow appropriate conversion of environmental signals into electrical signals. The operating unit 30 recognizes a modified driving state that makes it possible to draw conclusions that a modified active steering of the converter system has advantages for the detection of objects in the environment. The transceiver amplifier further makes it possible, in response to the modified situation of the vehicles, to operate the converter system of a second operating mode in which the second direction of the converter system is sought. The direction of action or directional effect influenced according to the invention for transmitting and / or receiving signals for the recognition of objects in the environment requires a modification of the preferred direction for the conversion of the signals both to the emission in a range of the space angle, in the form of a maximum intensity or at the reception of the signals of the environment with the maximum sensitivity. The direction of action is obtained according to the invention, by modifying the mode of operation of the converter system and not by a new physical orientation of the converter system (for example by turning or tilting). In this way, moving parts which are usually a source of defect are avoided. Preferably, the system according to the invention comprises a first and a second converter system, the second converter system monitoring a range of space different from that of the first converter system and which is in particular rotated by more than 90 ° to that of the first converter system. For example, the first and the second converter system may be provided on the segments remote from each other of the handlebar 20 of a two-wheeled vehicle. Alternatively or additionally, the converter systems are installed on the opposite sides of another vehicle and in particular in response to a modified operating mode they rotate in the same direction about an axis of the transport means and or bow and / or rock. The transceiver amplifier 25 is correspondingly oriented in response to a modified driving state to switch from a third mode of operation of the second converter system to a fourth mode of operation, to adapt the directional effect of the second system. converter in the second mode of operation. The directional effect of the second converter system can in particular correspond to the directional effect of the second converter system according to the variation of the orientation of the vehicle when the first operating mode passes to the second operating mode. The same applies to the first converter system. In other words, the system according to the invention carries out the method according to the first development of the invention and assists the user of the vehicle through reliable recognition of the objects. According to a third development, the present invention relates to a means of transport comprising a system according to the second development. The means of transport is, for example, a passenger vehicle, a transport vehicle, a truck, an aerial and / or aquatic machine, in particular the means of transport is a vehicle capable of tilting and which, while circulating in a curve inclines with respect to the vertical direction by generating centripetal forces.
    [0006] In particular, the first converter system and preferably also a second converter system are installed on the vehicle so that in the inclined position the alignment of the converter system is changed according to the inclined position. The adaptation according to the invention of the directional effect of the converter system thus makes it possible to compensate for the modified operating mode in order to be able to detect the objects of the environment in a practically unchanged range of interest to the user. The direction of action or directional effect of the converter system for capturing the environment of the vehicle may vary differently depending on the technique of the converter. Thus, for example, the directional effect of the sound transmitter or receiver system may be modified in that the electrical signals of a plurality of electroacoustic converter elements spaced apart from each other in the direction of space are a relation as a function of time with, in particular, periodically a fixed chronological relationship. This is often done by delaying the electrical signals relative to each other and then practically activating them. Confirmed forms of matching include adding or subtracting the signals from each other. The acoustic signals in the ultrasound frequency range have a short wavelength and therefore even for small gaps between the electroacoustic converter elements a relatively high directional effect will be achieved. It is also possible to have different directional effects in the converter systems, for example by changing the chronological relationship and / or the geometrical ratios of the electro-acoustic converter elements. For example, the signals of different transducer elements are related and the different deviations of the pairs of converters each give a different direction.
    [0007] It is known that even for other media, for example in the case of electromagnetic waves (radar, lidar, laser), the exploitation of the chronological relationship of the electrical signals with respect to the transducer elements gives a directional effect. Thus, the directional effect of radar system antennas with several tags can be modified by modifying the transmission and / or reception of the related tags and preferably one will accumulate between the antennas having different directional effects. . Optical sensors make it possible to modify the directional effect, for example by producing a very large solid angle range with the optoelectric transducer elements forming a converter system. The position of a converter element in the converter system thus corresponds to a direction of the space. In particular, the position of a transducer element relative to the position of another transducer element is a function of the wavelength of the received signal or the transmission signal, in a certain direction in space. . If, for example, for reasons of limited control and / or calculation capacity, only a partial range of the opto-electric converter elements is used each time, such an optical converter system will have a directional effect. By changing the opto-electric converter in this way, the directional effect of the optical sensors is changed. A basic idea of the present invention is to adapt the sensors in response to a modified operating state of the vehicle with respect to their directional effect of action to compensate for the variation of the operating state of the vehicle and / or optimize the modified operating state of the means of transport. In particular, sensor arrays can be used as the converter system and the different sensors co-operate (almost like an "orchestra") to have a directional effect in response to the modified state of operation of the transport means.
    [0008] The present invention will be described hereinafter in detail with the aid of exemplary embodiments of the method of managing a converter system as well as such a converter system shown in the accompanying drawings. in which: FIG. 1 is a diagram of a tilting two-wheeled vehicle with an exemplary embodiment of a converter system according to the invention, FIG. 2 is a diagram showing the components and the principle operation of FIG. an exemplary embodiment of a system according to the invention for capturing the environment, FIGS. 2b and c show a diagram of a two-wheeled vehicle guided in a direction having an exemplary embodiment of a converter system according to FIG. 3 shows a very simplified flowchart of the steps of an exemplary embodiment of a method according to the invention for managing an automated object detection converter system. ts of the environment of a vehicle. DESCRIPTION OF EMBODIMENTS FIG. 1 shows a motorcycle 10 as a transport means capable of moving into an inclined position and whose conductor 20 takes an inclined position to stabilize the motorcycle 10 on a path in a curved passage. The handlebar of the motorcycle 10 is equipped at its distal ends with first and second converter systems 11; the input regions 2 of the converter system 11 each have a main axis 3 for the most intense signal transmission and the highest sensitivity for the reception signals. Since the sensors are fixedly installed on the motorcycle, the object of the present invention is to turn the transmission signals S or the main axes 3 of these signals in a modified direction as indicated by the arrows P. Fig. 2 shows the components of an automated object recognition system of the environment of a conveyance such as that shown in Fig. 1. A tilt sensor 6 as the first component of an installation The recognition system is linked by transmitting information to an electronic control unit 5 as an operating unit and a second component of a recognition facility. To amplify the transmitted signals as well as to amplify the received signals, there is provided a transceiver amplifier 4 coupled in the information transmission technique to the electronic control unit 5; it is designed to control the elementary converters 1 of the converter system 11 to have a delay between the signals S emitted by the elementary converters 1 so that the main axis 3 is inclined by the angle 10cp relative to the horizontal direction. This allows the transceiver amplifier 4 to adapt the angle cp by delaying the signal to an inclined position of the vehicle equipped with the system of the invention and thus compensate for the inclined position of the vehicle. Figure 2b shows a front view of a curved motorcycle 10 as an example of a conveying means according to the invention, capable of taking an inclined position. Behind a cladding 12 optimizing aerodynamics, there are housed on either side, converter systems 11 according to the invention (preferably not visible from the outside). The converter systems 11 are installed to exploit two preferred directions Rv and Rh preferably with respect to the incoming signal. With the aid of the distance difference with respect to the surface of the roadway, which has been determined each time in the direction Rv by the converter systems 11, the inclined position of the vehicle, in particular its current position, is detected and the detection direction Rh for the detection of the environment. In other words, a predominantly horizontal preferential direction is set for the reception and operation of the incoming signals. With the aid of a system equipped with several converter systems 11, the state of the vehicle and also its environment of the vehicle 30 are detected in this way as a function of the state detected according to the invention. Figure 2c is a top view of the motorcycle 10 of Figure 2b equipped with a converter system 11 according to the invention which is preferably installed behind the casing 13, at the rear of the motorcycle 10. For example, the steering direction is determined by means of steering angle sensors and / or by the method based on the converter system 11 described in connection with FIG. 2b to detect the inclined position of the vehicle. The converter system 11 then makes it possible to monitor whether in the range now activated, it moves an external object in the form of a vehicle 14. As a result, the converter system 11 is controlled to adjust the detection on the vehicles. cules 14 passing from the left side and for example optimize the sensitivity of the converter system 11 in this area. If now it is found that the vehicle 14 is actually on a collision course with the motorcycle 10, there is emission of at least one warning signal of the driver of the motorcycle indicating the risk of collisions. Optionally an active means (longitudinal and / or transverse guidance of the motorcycle by the driver assistance system) actively prevents a collision. Figure 3 is a flow chart explaining the steps of an exemplary embodiment of the method of the invention for managing a converter system for automatically detecting objects in the environment of a vehicle. In step 100 the converter system is operated in a first mode of operation with a first directional effect for the converter system.
    [0009] For example, the first mode of operation characterizes the straight-line movement of a fully raised motorcycle. In step 200 a modified vehicle situation is recognized due to the modified steering angle and in response, in step 300, the converter system operates in a second operating mode in which a second directional effect is provided. of the converter to compensate for the inclined position characteristic of this second mode of operation and which corresponds to a curve circulation. The directional effect of the signals processed by the converter system concerns both the signals emitted by the converter system and also the preferential direction of reception of the signals reflected by the objects of the environment.
    [0010] 35 3035364 13 NOMENCLATURE OF MAIN ELEMENTS 2 Input range 3 Main axis 5 4 Transceiver amplifier 5 Control unit 6 Incline sensor 10 Motorcycle / trim 11 Second converter system 10 13 Cover 14 Vehicle 100, 200, 300 Process steps management of a converter system S Transmitted signals cl) Angle of inclination 15 Rv, Rh Direction predefined to exploit the incoming signals 20
    权利要求:
    Claims (2)
    [0001]
    CLAIMS 1 °) A method of managing a converter system (11) for automatically recognizing the objects of the environment of a vehicle (10) comprising the following steps of: - managing (100) the converter system (11) in a first mode of operation in which a first directional effect of the converter system (11) is generated / simulated, - recognizing (200) a modified driving situation or a modified steering angle and responding to this modification, - operating (300) the converter system in a second operating mode in which a second directional effect of the converter is generated / simulated and this directional effect consists of transmitting and / or receiving signals (S).
    [0002]
    Method according to Claim 1, characterized in that the directional effect relates to a spatial distribution of the energy of at least one signal (S) transmitted by the converter system (11) and / or a sensitivity dependent on the angle in space with respect to at least one signal (S) of the environment, converted, received by the converter system (11). 30) Method according to claim 2, characterized in that the converter system (11) transforms electrical signals into acoustic signals or acoustic signals into electrical signals. 4) Method according to claim 3, characterized in that the acoustic signals are in the ultrasonic range. Method according to claim 1, characterized in that the modified driving state is recognized in response to: a signal from an acceleration sensor (6) and / or a speed signal and / or a signal from a tilt sensor and / or a direction display and / or - a direction preset and / or 5 - a modified traffic route mode and / or - a traffic information and information and / or - network information and / or traffic information obtained via the internet. 6. Process according to claim 1, characterized in that the vehicle (10) has an essential inclined position capacity and in particular the vehicle is a two-wheeled vehicle. Method according to claim 1, characterized in that the converter system (11) is part of a blind spot assist system. 8. The method according to claim 1, characterized in that the second mode of operation characterizes a modified preferential direction with respect to the first mode of operation for the signals transmitted by the converter system (11) or the signals received by the system. converter (11) from the vehicle environment. 9 °) Automated recognition system of the environmental objects of a transport means (10) having - an operating unit (5), - a converter system (11), and - a transceiver amplifier ( 4), for operating the converter system (11) in a first operating mode in which a first directional effect of the converter system (11) is generated / simulated, the operating unit (5) being designed to - recognize a modified driving situation, and the transceiver amplifier (4) is further adapted to respond to a modified driving situation, - to operate the converter system (11) in a second position. an operating mode in which a second directional effect of the converter system (11) is generated / simulated, the directional effect co-transmitting and transmitting signals (S). The system of claim 7 or 8 further comprising: a second converter system (11) for monitoring a modified space range with respect to the first converter system (11) and which is in particular rotated by more than 90 °; the transceiver amplifier (4) in response to the modified driving situation, switching from a third mode of operation of the second converter system (11) to a fourth mode of operation in which the directional effect of the second converter system (11) is modified to oppose the directional effect of the first converter system (11). 110) A means of transport comprising a system according to any one of claims 9 or 10.
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    法律状态:
    2017-04-24| PLFP| Fee payment|Year of fee payment: 2 |
    2018-11-02| PLSC| Publication of the preliminary search report|Effective date: 20181102 |
    优先权:
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