公开(公告)号：EP2404195A1

公开(公告)日：2012-01-11

申请号：EP10711535.4

申请日：2010-03-04

申请人： Continental Teves AG & Co. oHG ,  ADC Automotive Distance Control Systems GmbH

发明人： LUEKE, Stefan ,  SCHMITT, Ken ,  ISERMANN, Rolf ,  HABENICHT, Stefan ,  HOHM, Andree ,  MANNALE, Roman ,  WOJEK, Christian ,  WINNER, Hermann ,  SCHIELE, Bernt

IPC分类号： G01S13/93

CPC分类号： G01S13/931 ,  G01S2013/9325 ,  G01S2013/9346 ,  G01S2013/9353

摘要： The invention relates to a method for automatically detecting a driving maneuver of a motor vehicle (A), in particular during a passing maneuver or an evasive maneuver, wherein the vehicle environment is captured and an electronic image is produced thereof, the electronic image is used to detect a lane and/or road and objects (B, C) in the surroundings of the vehicle, longitudinal and transverse dynamic movement information (
Ψ, a y , δ H , ω FL , ω FR , ω RL , ω RR ) of the motor vehicle (A) is determined, and the position (X) of the motor vehicle (A) is estimated odometrically on the basis of the data (b
Lane / Y
Lane /
θ , C
0 ) from the lane and/or road detection and/or from the movement information (
Ψ, a y , δ H , ω FL , ω FR , ω RL , ω RR ) of the motor vehicle (A). According to the invention, a) the following indicator variables are formed from the estimated position data (X) of the motor vehicle (A): a lateral distance value (LO
L , LO
R ) of the motor vehicle (A) from a lane or road marking (L), a time-to-collision value (TTC
A,B ) relative to the distance (
d ) from the object (B) located in the driving direction, in particular from the vehicle ahead (B), a longitudinal dynamic passing or evasive maneuver (I), formed from the indicator variable (TTC
A/B ) of the time-to-collision value and a value corresponding to the positioning (FPS) of the gas pedal of the motor vehicle (A), and b) threshold values (I
th , TTC
A, B, th ) are determined for said indicator variables (LO
L , LO
R , TTC
A,B , I) to be used as criteria both for detecting partial maneuvers of a passing or evasive process, in particular of a following process, a lane change, passing a stationary or moving object (B) and changing into the lane of the passed object (B), and for detecting transitions between said partial maneuvers.

摘要翻译： 本发明涉及一种用于自动地检测机动车辆（A）的驾驶操纵，特别是超车或避让操作，其中，所述车辆的周围环境被覆盖和电子图像的其被创建，所述电子图像 用于检测的交通车道和/或道路的以及的对象在车辆的周围环境（B，C），纵向动态和横向动力学运动信息（{点以上（ψ）} ，.alpha..sub.y，三角洲H，ωFL，ωFR，ωRL，ωRR）机动车辆的（A）是确定性的开采，以及位置（[数（X）}）机动车辆（A）的odometrically估计数据的基础上的（ BLANE，伊兰，＆θ驱动;，C0）车道检测和/或道路检测和/或运动的信息的（{点以上（ψ）}，.alpha..sub.y，δ-H，ωFL，ωFR，ωRL，ωRR）机动车辆的（A 的米）worin本发明提供了做了）以下指示器量是从所估计的位置数据所形成的（[数（X）}） OTOR车辆（A）：所述横向距离的从道路机动车辆（A）的值（LOL，LOR）标记或交通线路（L），一个时间 - 碰撞值（TTCA，B）相对于距离 （d）中从位于对象（B）（在运动的方向，特别是从前方行驶车辆（B），从指示器量FORMED TTCA的纵向动力学超车或 - 回避-操纵指示器（I）， b）的时间 - 碰撞值的和从一个值确实对应于所述机动车辆（A）的油门踏板的位置（FPS），和b）那样的阈值（第I TTCA，b，TH）是确定性的开采 用于所述指示器数量哪个阈值被用作标准，用于检测超车或避让操作的局部演习（LOL，LOR，TTCA，B，I），尤其是机动跟随前方行驶车辆，车道变更，一个 操纵通过静止或移动物体（B）和一个操纵切入化做对象（B），车道以及用于检测之间的过渡 所述部分演习。

公开(公告)号：EP1797459A1

公开(公告)日：2007-06-20

申请号：EP05789528.6

申请日：2005-09-27

申请人： Continental Teves AG & Co. oHG

发明人： HALASY-WIMMER, Georg ,  LUEKE, Stefan

IPC分类号： G01S17/93

CPC分类号： G01S17/936 ,  G01S2013/9314 ,  G01S2013/9332 ,  G01S2013/9385

摘要： The invention relates to a device for recording a lateral environment of a vehicle (2), by means of a sensor (14), arranged laterally on the vehicle (2), comprising a transmitter unit for the transmission of electromagnetic radiation into a monitored space and a receiver unit for receiving electromagnetic radiation reflected from an object in the monitoring space, whereby on receiving reflected electromagnetic radiation, recorded signals may be generated by the receiver unit. According to the invention, the device is characterised in that the monitoring space comprises at least two recording regions (18; 16, 18, 20), whereby a first recording region (18) is arranged essentially perpendicular to the vehicle longitudinal axis and has a first opening angle and the second recording region (16, 18, 20) has a second opening angle which is larger than the first opening angle. The recorded signals from the first recording region (18) may be supplied to a parking aid device, whereby a parking gap (4) may be measured on the vehicle (2) driving past the parking gap (4) and the recorded signals from the second recording region (16, 18, 10) may be supplied to an environment monitoring device.

公开(公告)号：EP1797459B1

公开(公告)日：2013-11-20

申请号：EP05789528.6

申请日：2005-09-27

申请人： Continental Teves AG & Co. oHG

发明人： HALASY-WIMMER, Georg ,  LUEKE, Stefan

IPC分类号： G01S17/93

CPC分类号： G01S17/936 ,  G01S2013/9314 ,  G01S2013/9332 ,  G01S2013/9385

摘要： The invention relates to a device for recording a lateral environment of a vehicle (2), by means of a sensor (14), arranged laterally on the vehicle (2), comprising a transmitter unit for the transmission of electromagnetic radiation into a monitored space and a receiver unit for receiving electromagnetic radiation reflected from an object in the monitoring space, whereby on receiving reflected electromagnetic radiation, recorded signals may be generated by the receiver unit. According to the invention, the device is characterised in that the monitoring space comprises at least two recording regions (18; 16, 18, 20), whereby a first recording region (18) is arranged essentially perpendicular to the vehicle longitudinal axis and has a first opening angle and the second recording region (16, 18, 20) has a second opening angle which is larger than the first opening angle. The recorded signals from the first recording region (18) may be supplied to a parking aid device, whereby a parking gap (4) may be measured on the vehicle (2) driving past the parking gap (4) and the recorded signals from the second recording region (16, 18, 10) may be supplied to an environment monitoring device.