[특허]Driver assistance system for detecting an object in the surroundings of a vehicle

ROBERT BOSCH GMBH

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특허 상세정보

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Driver assistance system for detecting an object in the surroundings of a vehicle

특허상세정보
국가/구분	United States(US) Patent 등록
국제특허분류(IPC7판)	G01S-015/00 G01S-015/93 G01S-007/527 G01S-013/58 G01S-015/42 G01S-015/58 G01S-007/292 G01S-013/93
출원번호	US-0990604 (2011-11-02)
등록번호	US-10006999 (2018-06-26)
우선권정보	DE-10 2010 062 235 (2010-12-01)
국제출원번호	PCT/EP2011/069250 (2011-11-02)
§371/§102 date	20130815 (20130815)
국제공개번호	WO2012/072360 (2012-06-07)
발명자 / 주소	Karl, Matthias
출원인 / 주소	ROBERT BOSCH GMBH
대리인 / 주소	Norton Rose Fulbright US LLP
인용정보	피인용 횟수 : 0 인용 특허 : 3

초록

A method in a driver assistance system of a vehicle for detecting an object in the surroundings of the vehicle. The method has the following steps: emission of at least one measuring pulse by a transmitter; reception of a reflection of the measuring pulse by at least one receiver; determination of a Doppler shift between the emitted measuring pulse and the received reflection in an analysis unit; and determination of a direction toward the object based on the determined Doppler shift.

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1. A method for a driver assistance system of a vehicle for detecting a plurality of objects in surroundings of the vehicle about a parking space, the method comprising: emitting a sequence of measuring pulses toward the parking space by a transmitter;receiving reflections of the measuring pulses off the plurality of objects about the parking space by at least one receiver, the reflections including a reflection carrier modulated by reflection pulses;determining a speed of the vehicle;determining Doppler shifts between the emitted measuring pulses and the received reflections in an analysis unit, wherein determining the Doppler shifts includes at least one of:determining a time difference between a pulse width of the reflection pulses and a pulse width of the measuring pulses, or determining a time difference between pulse intervals of the reflection pulses and pulse intervals of the measuring pulses; anddetermining directions toward the objects based on the determined Doppler shift, the determined speed of the vehicle, and an assigned speed of zero for the plurality of objects, wherein determining the directions is independent of determining distances toward the objects, and wherein for values of the determined Doppler shifts indicating frequencies of the reflections higher than corresponding frequencies of the measuring pulses, the determined direction is toward ahead of the vehicle, and for values of the determined Doppler shifts indicating frequencies of the reflections lower than corresponding frequencies of the measuring pulses, the determined direction is toward behind the vehicle. 2. The method of claim 1, wherein at least one of a shift of a pulse signal frequency, a shift of a pulse shape, and a shift of a time interval between two measuring pulses are ascertained to determine the Doppler shift. 3. The method of claim 2, wherein at least two of the mentioned shifts are ascertained to determine the Doppler shift. 4. The method of claim 2, wherein a time difference in a period duration within the signal frequency of a measuring pulse is detected to determine the Doppler shift. 5. The method of claim 1, further comprising: determining a distance to the object based on the received reflection in the analysis unit; anddetermining a spatial position of the object in the surroundings of the vehicle based on distance and direction. 6. The method of claim 1, wherein the analysis unit is detached from the transmitter and the one receiver or the multiple receivers. 7. The method of claim 6, wherein time reference information is exchanged between a central processing component and the transmitter or the receiver(s). 8. The method of claim 6, wherein nonlinear coding is used to at least one of transmit transmitted information from the transmitter to the analysis unit and transmit received information from the receiver to the analysis unit. 9. The method of claim1, wherein for values of the determined Doppler shift indicating frequencies of the reflection being substantially the same as frequencies of the measuring pulse, the determined direction is toward a side of the vehicle. 10. A non-transitory computer readable medium having a computer program, which is executable by a processor to perform a method for a driver assistance system of a vehicle for detecting a plurality of objects in surroundings of the vehicle about a parking space, the method comprising: emitting a sequence of measuring pulses toward the parking space by a transmitter;receiving reflections of the measuring pulses off the plurality of objects about the parking space by at least one receiver, the reflections including a reflection carrier modulated by reflection pulses;determining a speed of the vehicle;determining Doppler shifts between the emitted measuring pulses and the received reflections in an analysis unit, wherein determining the Doppler shifts includes at least one of: determining a time difference between a pulse width of the reflection pulses and a pulse width of the measuring pulses, or determining a time difference between pulse intervals of the reflection pulses and pulse intervals of the measuring pulses; anddetermining directions toward the objects based on the determined Doppler shift, the determined speed of the vehicle, and an assigned speed of zero for the plurality of objects, wherein determining the directions is independent of determining distances toward the objects, and wherein for values of the determined Doppler shifts indicating frequencies of the reflections higher than corresponding frequencies of the measuring pulses, the determined direction is toward ahead of the vehicle, and for values of the determined Doppler shifts indicating frequencies of the reflections lower than corresponding frequencies of the measuring pulses, the determined direction is toward behind the vehicle. 11. The non-transitory computer readable medium of claim 10, wherein for values of the determined Doppler shift indicating frequencies of the reflection being substantially the same as frequencies of the measuring pulse, the determined direction is toward a side of the vehicle. 12. A driver assistance system for a vehicle for detecting a plurality of objects in surroundings of the vehicle about a parking space, comprising: a transmitter for emitting a sequence of measuring pulses toward the parking space;at least one receiver for receiving reflections of the measuring pulses off the plurality of objects about the parking space, the reflections including a reflection carrier modulated by reflection pulses;a sensor for determining a speed of the vehicle;an analysis unit for determining Doppler shifts between the emitted measuring pulses and the received reflections, wherein determining the Doppler shifts includes at least one of: determining a time difference between a pulse width of the reflection pulses and a pulse width of the measuring pulses, or determining a time difference between pulse intervals of the reflection pulses and pulse intervals of the measuring pulses; anda component for determining directions toward the objects based on the determined Doppler shift, the determined speed of the vehicle, and an assigned speed of zero for the plurality of objects, wherein determining the directions is independent of determining distances toward the objects, and wherein for values of the determined Doppler shifts indicating frequencies of the reflections higher than corresponding frequencies of the measuring pulses, the determined direction is toward ahead of the vehicle, and for values of the determined Doppler shifts indicating frequencies of the reflections lower than corresponding frequencies of the measuring pulses, the determined direction is toward behind the vehicle. 13. The driver assistance system of claim 12, wherein for values of the determined Doppler shift indicating frequencies of the reflection being substantially the same as frequencies of the measuring pulse, the determined direction is toward a side of the vehicle.

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Driver assistance system for detecting an object in the surroundings of a vehicle

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Driver assistance system for detecting an object in the surroundings of a vehicle

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이 특허에 인용된 특허 (3)

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