# US 11,029,404 B2 · Method for classifying obstacles > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,029,404 B2 - Document ID: US11029404B2 - Status: Granted - Kind: B2 - Application number: 15/028,195 - Filed: 2014-10-16 - Published: 2016-09-01 - Granted: 2021-06-08 - Earliest claimed: 2013-10-18 - Assignees: KNORR-BREMSE Systeme fuer Nutzfahrzeuge GmbH - Applicants: Knorr-Bremse Systeme Fuer Nutzfahrzeuge GmbH - Inventors: Ulrich Guecker; Falk Hecker; Jan Mayer; Munir Kayalar - Web page: https://patentgrep.com/patent/US11029404B2 ## CPC - G01S 13/931: of land vehicles - G01S 7/2955: {Means for determining the position of the radar coordinate system for evaluating the position data of the target in another coordinate system (G01S7/24 takes precedence; sighting devices adapted for indirect laying of fire F41G3/16; inertial navigation G01C21/16)} - G01S 7/41: using analysis of echo signal for target characterisation; Target signature; Target cross-section - G01S 7/411: {Identification of targets based on measurements of radar reflectivity (G01S7/415 takes precedence)} - G01S 17/931: of land vehicles - G06V 10/141: Control of illumination - G06V 10/507: {Summing image-intensity values; Histogram projection analysis} - G06V 20/58: Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads - G06V 20/653: {by matching three-dimensional models, e.g. conformal mapping of Riemann surfaces} - G01S 2013/93185: {Controlling the brakes} - G01S 2013/9321: {Velocity regulation, e.g. cruise control} - G01S 2013/9325: {for inter-vehicle distance regulation, e.g. navigating in platoons} - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING ## Abstract A method is described for identifying and classifying objects, detected by a sensor apparatus which actively emits radiation, in terms of the relevance thereof to a driving situation of a moving vehicle, wherein radiation is emitted by the sensor apparatus and the echo radiation reflected at objects is received as measurement values, including: detecting measurement values in relation to the driving situation of the vehicle, performing an analysis of the driving situation represented by the measurement values and identifying at least one possible object, classifying the at least one identified object in an object class of a plurality of object classes, in which performing the analysis of the measurement values includes: transforming the detected measurement values from a coordinate system fixed in terms of the vehicle into a coordinate system fixed in terms of space for generating measurement values fixed in terms of spatial coordinates, wherein this transformation is based on the vehicle speed and the yaw rate of the vehicle in the determined driving situation, subdividing at least one total area, which is situated in the detection region of the sensor apparatus emitting radiation and which is coplanar or parallel with the roadway surface, into a plurality of partial areas, wherein partial areas adjoining one another partly overlap, determining the number and/or the statistical dispersion of the detected measurement values fixed in terms of spatial coordinates for each one of these partial areas, and in which performing the analysis of the driving situation represented by the measurement values and identifying at least one possible object includes: comparing the number and/or and statistical dispersion of the detected measurement values fixed in terms of spatial coordinates for each one of these partial areas, in each case with characteristic patterns, and identifying at least one object possibly present in a partial area and classifying the at least one identified object in an object class of a plurality of object classes depending on this comparison. ## Claims ### Claim 1 A method for identifying and classifying objects, the method comprising: detecting, via a sensor apparatus which actively emits radiation, in terms of the relevance thereof to a driving situation of a moving vehicle, wherein radiation is emitted by the sensor apparatus and echo radiation reflected at objects is received as measurement values, wherein the detecting includes detecting measurement values in relation to the driving situation of the moving vehicle; performing an analysis of the driving situation represented by the measurement values and identifying at least one possible object; and classifying the at least one identified object in an object class of a plurality of object classes; wherein the performing of the analysis of the measurement values includes: transforming the detected measurement values from a coordinate system fixed in terms of the vehicle into a coordinate system fixed in terms of space for the purposes of generating measurement values fixed in terms of spatial coordinates, wherein this transformation is based on the basis of the vehicle speed and the yaw rate of the vehicle in the determined driving situation, subdividing at least one total area, which is situated in the detection region of the sensor apparatus emitting radiation and which is coplanar or parallel with the roadway surface, into a plurality of partial areas, wherein partial areas adjoining one another partly overlap, determining a parameter of the detected measurement values fixed in terms of spatial coordinates for each one of these partial areas, and wherein the performing of the analysis of the driving situation represented by the measurement values and identifying at least one possible object includes: comparing the parameter of the detected measurement values fixed in terms of spatial coordinates for each one of these partial areas, in each case with characteristic patterns, and identifying at least one object possibly present in a partial area and classifying the at least one identified object in an object class of a plurality of object classes depending on the comparison, wherein the at least one object is identified upon determining that the number of measurement values detected in a respective partial area exceeds a predetermined threshold; and wherein the parameter includes the number and/or statistical dispersion of the detected measurement values. ### Claim 2 (depends on 1) The method of claim 1, wherein a histogram is created for each one of the partial areas from the detected measurement values fixed in terms of spatial coordinates, and an object possibly identified in a partial area is classified into an object class of a plurality of object classes depending on the histogram of the measurement values, detected for the respective partial area, fixed in terms of spatial coordinates. ### Claim 3 A device for identifying and classifying objects, comprising: a sensor apparatus, which actively emits radiation, to detect in terms of the relevance thereof to a particular driving situation of a moving vehicle, wherein the sensor apparatus is embodied to emit radiation and receive the echo radiation reflected at objects as measurement values; an evaluation apparatus for evaluating the measurement values detected by the sensor apparatus, the evaluation apparatus configured to perform the following: transforming the detected measurement values from a coordinate system fixed in terms of the vehicle into a coordinate system fixed in terms of space for the purposes of generating measurement values fixed in terms of spatial coordinates, wherein this transformation is based on the basis of the vehicle speed and the yaw rate of the vehicle in the determined driving situation, subdividing a total area, which is situated in the detection region of the sensor apparatus emitting radiation and which is coplanar or parallel with the roadway surface, into a plurality of partial areas, wherein partial areas adjoining one another partly overlap, determining the number and the statistical dispersion of the detected measurement values fixed in terms of spatial coordinates for each one of these partial areas, comparing the number and/or the statistical dispersion of the detected measurement values fixed in terms of spatial coordinates for each one of these partial areas, in each case with characteristic patterns, and identifying at least one object possibly present in a partial area and classifying the at least one identified object in an object class of a plurality of object classes depending on this comparison, wherein the at least one object is identified upon determining that the number of measurement values detected in a respective partial area exceeds a predetermined threshold. ### Claim 4 (depends on 3) The device of claim 3, wherein the evaluation apparatus is configured so that a histogram is created for each one of the partial areas from the detected measurement values fixed in terms of spatial coordinates and an object possibly identified in a partial area is classified into an object class of a plurality of object classes depending on the histogram of the measurement values, detected for the respective partial area, fixed in terms of spatial coordinates. ### Claim 5 (depends on 3) The device of claim 3, wherein the device is for controlling a speed of a motor vehicle. ### Claim 6 (depends on 1) The method of claim 1, wherein the method is for controlling a speed of a motor vehicle. ### Claim 7 A method for identifying and classifying objects, the method comprising: detecting, via a sensor apparatus which actively emits radiation, in terms of the relevance thereof to a driving situation of a moving vehicle, wherein radiation is emitted by the sensor apparatus and echo radiation reflected at objects is received as measurement values, wherein the detecting includes detecting measurement values in relation to the driving situation of the moving vehicle; performing an analysis of the driving situation represented by the measurement values and identifying at least one possible object; and classifying the at least one identified object in an object class of a plurality of object classes; wherein the performing of the analysis of the measurement values includes: transforming the detected measurement values from a coordinate system fixed in terms of the vehicle into a coordinate system fixed in terms of space for the purposes of generating measurement values fixed in terms of spatial coordinates, wherein this transformation is based on the basis of the vehicle speed and the yaw rate of the vehicle in the determined driving situation, subdividing at least one total area, which is situated in the detection region of the sensor apparatus emitting radiation and which is coplanar or parallel with the roadway surface, into a plurality of partial areas, wherein partial areas adjoining one another partly overlap, determining the number and the statistical dispersion of the detected measurement values fixed in terms of spatial coordinates for each one of these partial areas, and wherein the performing of the analysis of the driving situation represented by the measurement values and identifying at least one possible object includes: comparing the number and/or statistical dispersion of the detected measurement values fixed in terms of spatial coordinates for each one of these partial areas, in each case with characteristic patterns, and identifying at least one object possibly present in a partial area and classifying the at least one identified object in an object class of a plurality of object classes depending on the comparison, wherein the at least one object is identified upon determining that the number of measurement values detected in a respective partial area exceeds a predetermined threshold.