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Method and device for creating an inverse sensor model and method for detecting obstacles

A sensor model and obstacle technology, applied in the direction of instruments, utilization of re-radiation, reflection/re-radiation of radio waves, etc., can solve problems such as difficulty in occupying grids

Pending Publication Date: 2020-05-26
ROBERT BOSCH GMBH
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Problems solved by technology

However, generating occupancy grids directly using radar sensors is difficult due to the following reasons: Radar reflections are often generated in an indirect way - for example through guardrail reflections or floor reflections

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  • Method and device for creating an inverse sensor model and method for detecting obstacles
  • Method and device for creating an inverse sensor model and method for detecting obstacles
  • Method and device for creating an inverse sensor model and method for detecting obstacles

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Embodiment Construction

[0029] exist figure 1A schematic block diagram of a device 1 for generating an inverse sensor model for a radar sensor device 21 is shown in . Radar sensor device 21 may have a plurality of individual transceiver devices which are designed to emit radar waves and to receive reflected radar waves.

[0030] Radar sensor device 21 is preferably integrated in vehicle 2 . The radar sensor device 21 performs radar measurements and generates corresponding radar measurement data, which are transmitted via a signal connection to the interface 11 of the device 1 . Interface 11 of device 1 is also coupled to external computing device 3 , which transmits to interface 11 the exact spatial position and size of obstacles in the surroundings of radar sensor device 21 . The spatial position can include two-dimensional or three-dimensional position coordinates, which can in particular be specified relative to the position of radar sensor device 21 . The dimensions may include the exact spati...

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Abstract

The invention relates to a method for creating an inverse sensor model for a radar sensor device (21), comprising the following steps: arranging (S1) obstacles (41 to 44) with predefined measurementsand spatial positions in an environment of the radar sensor device (21); generating (S2) radar measurement data using the radar sensor device (21); and creating (S3) the inverse sensor model using thegenerated radar measurement data and the predefined measurements and spatial positions of the obstacles (41 to 44); wherein the inverse sensor model assigns an occupancy probability to a cell (9-ij)of an occupancy grid (9) according to predefined radar measurement data.

Description

technical field [0001] The invention relates to a method and a device for generating an inverse sensor model (inverse sensor modell) for a radar sensor system. The invention also relates to a method for detecting obstacles in the surroundings of a vehicle by means of a radar sensor system. Background technique [0002] Driver assistance systems that enable partially autonomous or autonomous driving must be able to have accurate information about the vehicle's surroundings. In particular, the drivable or vacant areas in the vehicle's surroundings must be Separated from non-drivable areas. [0003] At present, video sensors, stereo video sensors and LiDAR sensors are mainly used to determine free areas. In particular, it is conceivable to use the sensor data generated by these sensors for generating an occupancy grid. For this purpose, the surroundings of the vehicle are represented as a generally two-dimensional grid structure, wherein an occupancy value is assigned to e...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S7/40G01S13/931
CPCG01S7/40G01S13/931G01S2013/9323B60W40/02G08G1/165
Inventor T·格斯内尔S·朗
Owner ROBERT BOSCH GMBH
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