Method and apparatus for aggregating/representing an environment model for a driver assistance system of a vehicle
View Patent ↗A method of parametrizing an environment model ( 108 ) for a driver assistance system ( 106 ) of a vehicle ( 100 ) comprises steps of defining, determining and transforming. In the step of defining, a reference point (R) on a predicted trajectory (T) of the vehicle ( 100 ) is defined in relation to a detected object (OBJ) in an environment of the vehicle ( 100 ). In the step of determining, an angle (α x ) between a tangent (tan) to the trajectory (T) in the reference point (R) and a first axis (x) of a vehicle coordinate system (K) and a relative distance between object (OBJ) and reference point (R) are determined, to obtain object-related information ( 115 ). In the step of transforming, the object-related information ( 115 ) is transformed according to the determined angle (α x ) to a new coordinate system with its first axis tangential to the trajectory (T) in the reference point (R), to obtain parametrization data ( 117 ).
1 . A method for parameterizing an environment model for a driver assistance system of a vehicle, the method comprising:
acquiring, using an environment sensor of the vehicle, sensor data representing an environment of the vehicle;
detecting an object present in the environment of the vehicle, using the sensor data;
defining a reference point on a predicted trajectory of the vehicle, wherein the reference point is defined in relation to the detected object in the environment of the vehicle;
determining: (i) an angle between a tangent to the predicted trajectory at the reference point and a first coordinate axis of a vehicle coordinate system, wherein the vehicle coordinate system is defined by a longitudinal axis of the vehicle and a lateral axis of the vehicle, the first coordinate axis being the longitudinal axis of the vehicle, and (ii) a relative distance between the detected object and the reference point with reference to the vehicle coordinate system, so as to obtain object-related information; and
obtaining parameterization data for the environment model by transforming the object-related information according to the determined angle to a new coordinate system with its first coordinate axis tangential to the predicted trajectory at the reference point;
wherein the obtained parameterization data represents the predicted trajectory as a straight movement with respect to the detected object;
providing the obtained parameterization data for the environment model to an interface of the driver assistance system of the vehicle; and
controlling the vehicle by the driver assistance system, using the environment model and the obtained parameterization data for the environment model.
2 . The method of claim 1 , wherein an intersection point, between a simplified object movement path and the predicted trajectory of the vehicle, is ascertained to define the reference point on the predicted trajectory of the vehicle.
3 . The method of claim 1 , wherein a nearest point, between a simplified object movement path and the predicted trajectory of the vehicle, is ascertained, to define the reference point on the predicted trajectory of the vehicle.
4 . The method of claim 1 , wherein a distance, between the detected object and the vehicle along the first coordinate axis of the vehicle coordinate system, is used as a distance between the vehicle and the reference point along the first coordinate axis of the vehicle coordinate system to define a first position value of the reference point, and a second position value of the reference point relative to a second coordinate axis of the vehicle coordinate system is ascertained based on the first position value.
5 . The method of claim 1 , wherein the controlling of the vehicle includes using adaptive cruise control or controlling emergency braking.
6 . A vehicle, comprising:
an environment sensor;
an apparatus for parameterizing an environment model for a driver assistance system of the vehicle, the apparatus including a logic circuit or an integrated circuit or computer hardware, wherein the apparatus configured to acquire, using the environment sensor, sensor data, and detect an object present in the environment of the vehicle, using the sensor data, and wherein the apparatus includes:
a defining unit for defining a reference point on a predicted trajectory of the vehicle, wherein the reference point is defined in relation to the detected object in the environment of the vehicle,
a determining unit for determining: (i) an angle between a tangent to the predicted trajectory at the reference point and a first coordinate axis of a vehicle coordinate system, wherein the vehicle coordinate system is defined by a longitudinal axis of the vehicle and a lateral axis of the vehicle, the first coordinate axis being the longitudinal axis of the vehicle, and (ii) a relative distance between the detected object and the reference point with reference to the vehicle coordinate system, so as to obtain object-related information, and
a transforming unit configured to obtain parameterization data for the environment model by transforming the object-related information according to the determined angle to a new coordinate system with its first coordinate axis tangential to the predicted trajectory at the reference point,
wherein the parameterization data represents the trajectory as a straight movement with respect to the detected object,
wherein the apparatus is configured to provide the obtained parameterization data for the environment model to an interface of the driver assistance system of the vehicle; and
the driver assistance system configured to control the vehicle using the environment model and the obtained parameterization data for the environment model;
wherein the apparatus and the driver assistance system are communicatively connected to each other.
7 . The vehicle of claim 6 , wherein the driver assistance system controls the vehicle using adaptive cruise control or emergency braking.
8 . A non-transitory computer readable medium having a computer program, which is executable by a processor, comprising:
a program code arrangement having program code for parameterizing an environment model for a driver assistance system of a vehicle, by performing the following:
acquiring, using an environment sensor of the vehicle, sensor data representing an environment of the vehicle;
detecting an object present in the environment of the vehicle, using the sensor data;
defining a reference point on a predicted trajectory of the vehicle, wherein the reference point is defined in relation to the detected object in the environment of the vehicle;
determining: (i) an angle between a tangent to the predicted trajectory at the reference point and a first coordinate axis of a vehicle coordinate system, wherein the vehicle coordinate system is defined by a longitudinal axis of the vehicle and a lateral axis of the vehicle, the first coordinate axis being the longitudinal axis of the vehicle, and (ii) a relative distance between the detected object and the reference point with reference to the vehicle coordinate system, so as to obtain object-related information; and
obtaining parameterization data for the environment model by transforming the object-related information according to the determined angle to a new coordinate system with its first coordinate axis tangential to the predicted trajectory at the reference point;
wherein the obtained parameterization data represents the predicted trajectory as a straight movement with respect to the detected object;
providing the obtained parameterization data for the environment model to an interface of the driver assistance system of the vehicle; and
controlling the vehicle by the driver assistance system, using the environment model and the obtained parameterization data for the environment model.
9 . The computer readable medium of claim 8 , wherein a distance, between the detected object and the vehicle along the first coordinate axis of the vehicle coordinate system, is used as a distance between the vehicle and the reference point along the first coordinate axis of the vehicle coordinate system to define a first position value of the reference point, and a second position value of the reference point relative to a second coordinate axis of the vehicle coordinate system is ascertained based on the first position value.
10 . The non-transitory computer readable medium of claim 8 , wherein the controlling of the vehicle includes using adaptive cruise control or controlling emergency braking.