METHOD FOR REMOTE-CONTROLLED EXECUTION OF A DRIVING MANOEUVRE WITH VEHICLE-EXTERNAL SENSOR INFORMATION FOR A REMOTE CONTROLLER, AND ELECTRONIC REMOTE CONTROL SYSTEM
The invention relates to a method for the remote-controlled execution of a driving manoeuvre of a vehicle (1), comprising the following steps: - detecting the surroundings (10) by means of at least one detection device (13) of the vehicle (11) to be remotely controlled and providing this surroundings information self-detected on the vehicle side; - detecting the surroundings (10) in an environment region (16) of the vehicle (11) by means of at least one infrastructure detection unit (16) arranged externally of the vehicle (11) and arranged on an infrastructure unit (16) that is fixed in place and providing this surroundings information detected externally of the vehicle; - transmitting the surroundings information self-detected on the vehicle side and the surroundings information detected externally of the vehicle to a remote control central office (1); - executing, in a remote-controlled manner, the vehicle manoeuvre of the vehicle (1) by a remote controller (3) in the remove control central office (1) depending on the surroundings information detected on the vehicle side and the surroundings information detected externally of the vehicle.
An ultrasonic sensor (100) for a motor vehicle (1) comprises: a plastics housing (2); a diaphragm cup (7) that is inserted into an opening (12) in the plastics housing (2) and has an ultrasonic diaphragm (8); a sound transducer element (25) for inducing and sensing vibration of the ultrasonic diaphragm (8), which sound transducer element is mounted on the ultrasonic diaphragm (8) from the inside; a circuit board (16) which is disposed in the interior (14) of the plastics housing (2) and on which a driver circuit (19) for controlling the sound transducer element (25) is mounted; two contact pins (20, 21) for bringing the driver circuit (19) into electrical contact with the sound transducer element (25), the circuit board (16) being pressed onto the contact pins (20, 21) such that ends (35) of the contact pins (20, 21) pass through the circuit board (16); and a metal hood (40) which, together with the circuit board (16), surrounds and shields on all sides the ends (35) of the contact pins (20, 21) passing through the circuit board (16).
G10K 9/122 - Devices in which sound is produced by vibrating a diaphragm or analogous element, e.g. fog horns, vehicle hooters or buzzers electrically operated using piezoelectric driving means
The invention relates to a sensor arrangement having an ultrasonic transceiver and an optical transceiver device and to a method for measuring the surroundings of a motor vehicle. A sensor arrangement (20, 21) for a vehicle (10) comprises: an ultrasonic transceiver (100), which is designed to emit ultrasonic waves and to receive reflected ultrasonic waves; and an optical transceiver device (101), which is designed to emit light and to receive reflected light.
The invention relates to a method for producing a circuit board (11) having a plurality of conductor layers (22, 26, 30) and at least one substrate layer (20, 24, 28) therebetween, comprising the steps of providing a base substrate (19), applying a first conductor layer (26) having a first conductor layer thickness (d) to the base substrate (19), applying an intermediate substrate layer (28) having an intermediate substrate layer thickness to the first conductor layer (26), applying a second conductor layer (30) having a second conductor layer thickness to the intermediate substrate layer (28), the first conductor layer thickness (d) and the second conductor layer thickness being chosen differently, and removing the intermediate substrate layer (28) and the second conductor layer (30) applied to the intermediate substrate layer in order to expose the first conductor layer (26) in at least one region (32) of the circuit board (11). The invention also relates to a multi-layer circuit board (11) produced accordingly. The invention further relates to a circuit assembly (10) having the above circuit board (11), on which a supply part (12) and a processing part (14) are disposed, wherein the first conductor layer thickness (d) is less than the second conductor layer thickness, electrical components of the supply part (12) of the circuit assembly (10) are disposed on the second conductor layer (30), and electrical components of the processing part (14) of the circuit assembly (10) are disposed on the first conductor layer (26).
The invention relates to a method for calculating a predicted time (TTC) until a possible collision between a first motor vehicle (1) and an object (2), wherein a travel envelope (6) of the first motor vehicle (1) is ascertained, and the object (2) is represented by four corners (7r, 7l, 8r, 8l). The time (TTC) until the possible collision is ascertained for a point in time in an interval during which at least one part of the object (2) is located in the travel envelope (6), namely on the basis of an absolute first speed (v1) of the first motor vehicle (1) and regardless of a second speed (v2) of the object (2) in a first situation (S1) and on the basis of a relative speed between the first motor vehicle (1) and the object (2) in a second situation (S2). It is determined whether the first situation or the second situation (S2) is occurring on the basis of the respective position of the four corners (7r, 7l, 8r, 8l) relative to the travel envelope (6).
B60W 30/095 - Predicting travel path or likelihood of collision
6.
METHOD FOR REMOTE-CONTROLLED PERFORMANCE OF A DRIVING MANOEUVRE WITH A TRAJECTORY DISPLAY FOR A REMOTE CONTROLLER, AND ELECTRONIC REMOTE CONTROL SYSTEM
The invention relates to a method for remote-controlled performance of a driving manoeuvre of a vehicle (26), comprising the following steps: - determining the position of the vehicle (26) in the surroundings (10) by means of an evaluation unit (9); - determining a trajectory (32) for the driving manoeuvre of the vehicle (26) depending on the information regarding the position; - displaying the trajectory (32) on a display unit (5, 6, 7), which is arranged externally to the vehicle (26) in a remote-control centre (1); - remote-controlled performance of the driving manoeuvre of the vehicle (26) by a remote controller (3) in the remote-control centre (1) depending on the trajectory (32) displayed on the display unit (5, 6, 7).
One aspect relates to a detection device (1) for a vehicle, having a housing (2) and having an electrical connection (3) for the connection of an electrical plug (7) of a cable unit (4), such that, in the state in which the electrical connection (3) is connected to the electrical plug (7), the detection device (1) is able to be connected in wired form to a unit external thereto, wherein the housing (2), adjacent to the electrical connection (3), has a coupling structure (5) to which a mating coupling structure (6) of the plug (7) is able to be coupled directly in order to keep the plug (7) in the state coupled to the electrical connection (3) on the housing (2) by way of a bayonet connection, wherein the coupling structure (5) is integrated into the housing (2) and is a bayonet coupling structure. Further aspects relate to a detection system (18) and to a method.
An active optical sensor system (1) has a light source (10), a detector unit (12) and a mirror (4) which is mounted to rotate about an axis of rotation (6) and is arranged such that light generated by the light source (10) which strikes a mirror surface (7) of the mirror (4) is emitted into surroundings of the active optical sensor system (1). The detector unit (12) is designed and arranged to detect the portions (3b) of the emitted light (3a) reflected in the surroundings. The mirror surface (7) has a surface structure according to which an incline of a surface contour of the mirror surface (7) changes along a direction (z) within a cross-sectional plane (16) that is parallel to the axis of rotation (6).
METHOD FOR DISPLAYING THE SURROUNDINGS OF A MOTOR VEHICLE ON A DISPLAY DEVICE BY MEANS OF AN ASSISTANCE SYSTEM, COMPUTER PROGRAM PRODUCT, COMPUTER-READABLE STORAGE MEDIUM, AND ASSISTANCE SYSTEM
The invention relates to a method for displaying the surroundings (2) of a motor vehicle (1) on a display device (13, 15) by means of an assistance system (19), said method comprising the steps of: - detecting the surroundings (2) of the motor vehicle (1) by means of at least one detection device (7, 8) of the assistance system (19), which detection device is arranged outside the motor vehicle; - transforming the detected surroundings (2) by means of an electronic computing device (6) of the assistance system (19) in such a way that a perception perspective (20) is generated from an interior (21) of the motor vehicle (1); and - displaying the transformed surroundings (2) on the display device (13, 15). The invention also relates to a computer program product, a computer-readable storage medium and an assistance system (19).
According to a method for automatic visual perception using a vehicle (1), a camera image (6) depicting a surround of the vehicle (1) is generated, ultrasonic pulses are emitted into the surround, and at least one sensor signal (16) is generated on the basis of reflected components of the emitted ultrasonic pulses. On the basis of the ultrasonic sensor signals (16), a spatial ultrasonic map (7) is generated in a plan view perspective, at least one feature map is generated by the application of at least one encoder module (8, 9, 15) of a trained artificial neural network (12) to input data dependent on the camera image (6) and the ultrasonic map (7), with each of the at least one encoder modules (8, 9, 15) containing at least one convolution layer, and a visual perception task is performed by the neural network (12) on the basis of the at least one feature map.
G01S 7/53 - Means for transforming co-ordinates or for evaluating data, e.g. using computers
G01S 7/539 - 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 - Details of systems according to groups , , of systems according to group using analysis of echo signal for target characterisation; Target signature; Target cross-section
G01S 15/00 - Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
G01S 15/10 - Systems for measuring distance only using transmission of interrupted, pulse-modulated waves
G01S 15/42 - Simultaneous measurement of distance and other coordinates
G01S 15/46 - Indirect determination of position data
G01S 15/86 - Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection
The invention relates to a method for operating a display device (7) in a motor vehicle (1), comprising: determining (S1) additional information (10) describing information concerning a region in surroundings of the motor vehicle (1); by evaluating the additional information (10), generating (S2) a first surroundings representation (12) of the surroundings of the motor vehicle (1), in which the region for which the additional information (10) was determined is depicted; determining (S3) distance information (15) describing a distance between an object and the motor vehicle (1); by evaluating the distance information (15), generating (S4) a second surroundings representation (16) of the surroundings of the motor vehicle (1), in which a partial region (17) of the surroundings which at least partly overlaps the object is depicted, a visual configuration of the partial region (17) in the second surroundings representation (16) being predefined depending on the distance; generating (S5) a combination representation (18) by superimposing the surroundings representations (12, 16) generated; and displaying (S6) the combination representation (18) by means of the display device (7), wherein the distance information (15) has a plurality of distance measurement values and the plurality of distance measurement values form a point cloud (19) in the partial region (17) in the second surroundings representation (16).
The invention relates to a method for monitoring a section (2) of road (1), which has a first lane (3) that is provided for being driven on in a first direction (p1), and which has a second lane (4) that is provided for being driven on in a second direction (P2) opposite the first direction (p1), wherein, on at least a partial section (6), the section (2) cannot be completely seen over its entire length when viewed from one lane (3, 4), said method having the following steps: - capturing the section (2) using at least one electronic capture device (8); - evaluating the captured information to determine the constellation of vehicles (16, 17, 18) on the lanes (3, 4); - depending on at least one constellation of the existence of vehicles (16, 17, 18) on the lanes (3, 4), generating at least one piece of overtaking information for at least one potential overtaking manoeuvre for vehicles (16, 17, 18) driving on one of the lanes (3, 4); - optically displaying the at least one piece of overtaking information (12a, 13a, 14a, 15a) on at least one first electronic traffic sign (13, 14, 15, 16) that is positioned in the surroundings of the section (2), wherein the overtaking information optically characterises the possibility or non-possibility of an overtaking manoeuvre.
The invention relates to a method for organizing an inspection process for an autonomously driving motor vehicle (1), having the following steps: - checking the functional state of at least one detection device (2) of the motor vehicle (1) at least during a drive of the motor vehicle (1); - detecting an at least impaired functional state of the detection device (2); - autonomously driving the motor vehicle (1) from a current position to a position at which at least one inspection device (11, 12, 13, 15, 19) is present and/or moving at least one inspection drone (17) to the current position of the motor vehicle (1); and - carrying out an inspection process using the at least one inspection device (11, 12, 13, 15, 19) and/or the inspection drone (17).
The invention relates to a method of detecting presence of life in a vehicle. The method comprises operating at least one radar sensor device (4) mounted in the vehicle to monitor a passenger compartment (1) of the vehicle, the operating comprising transmitting a radar signal towards the passenger compartment of the vehicle and receiving a portion of the transmitted radar signal reflected by a current scenario under a current event in the passenger compartment (1). The received radar signal is pre-processed to obtain at least one parameter characterizing the current scenario under the current event. Then, a weight assigned to the at least one parameter is obtained, wherein the weight is based on a statistical profile for the at least parameter indicating a probability of presence of life in the current scenario under the current event. Based on the obtained weight presence of life in the current scenario is determined.
G01S 7/41 - 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 - Details of systems according to groups , , of systems according to group using analysis of echo signal for target characterisation; Target signature; Target cross-section
G01S 13/58 - Velocity or trajectory determination systems; Sense-of-movement determination systems
G01S 13/88 - Radar or analogous systems, specially adapted for specific applications
15.
HOUSING FOR ULTRASONIC TRANSDUCERS, SAID HOUSING HAVING DIFFERENTLY INCLINED BOTTOM SURFACES
The invention relates to a housing (110, 200, 210, 220, 230) for an ultrasonic transducer (106) for detecting an object in the environment (102) of a vehicle (100), said housing comprising: a peripheral side wall (114) which defines a main axis (118) of the housing (110); and a bottom wall (112) which has a central receiving portion (130) for supporting a transducer element and at least one modulator region (132); wherein the modulator region (132) extends in a longitudinal sectional plane (126), which includes the main axis (118), radially from the receiving portion (130) to a transition (140) of the bottom wall (112) into the side wall (114); wherein a thickness (C) of the bottom wall (112) decreases radially outwardly over the entire modulator region (132); and wherein an inner side (120) of the bottom wall (112) in the modulator region (132) has at least two different angles of inclination (E, D).
The invention relates to a heads-up display (2) for a motor vehicle (1), to an image generating unit (6) for the heads-up display (2), and to a motor vehicle (1) comprising the heads-up display (2). The heads-up display (2) has an image generating device (6) with a matrix (7) of micro light-emitting diodes (13), wherein an optical element (8) is arranged on the matrix (7) such that light can be emitted in the direction of the optical element (8) by means of each micro light-emitting diode (13). The optical element (8) is designed as a liquid crystal element, a liquid crystal display, or an electrochromic element and is designed to set an illumination intensity of the image generating device (6).
G09G 3/32 - Control arrangements or circuits, of interest only in connection with visual indicators other than cathode-ray tubes for presentation of an assembly of a number of characters, e.g. a page, by composing the assembly by combination of individual elements arranged in a matrix using controlled light sources using electroluminescent panels semiconductive, e.g. using light-emitting diodes [LED]
B60K 35/00 - Arrangement or adaptations of instruments
17.
CAMERA ARRANGEMENT FOR MONITORING A DRIVER OF A VEHICLE, WITH AN LED DIRECTLY MOUNTED TO A PLUG ELEMENT OF A CONNECTOR DEVICE
The invention relates to a camera arrangement (10) for monitoring a driver of a vehicle, with an image capture device (12) comprising a lens element (14) providing a field of view (16) to an image sensor (18) of the image capture device (12). The image capture device (12) is mounted to a circuit board (20). A light source unit (22) is configured to illuminate an object to be captured by the image sensor (18). A top side (26) of the lens element (14) and a top side (30) of the light source unit (22) have substantially equal distances (24, 28) from the circuit board (20). The light source unit (22) is electrically connected to a base plug (38) of a connector device (36). The base plug (38) is mounted to the circuit board (20). The light source unit (22) is directly mounted to a further plug element (40) of the connector device (36), which is electrically connected to the base plug (38).
H04N 23/56 - Cameras or camera modules comprising electronic image sensors; Control thereof provided with illuminating means
B60R 11/04 - Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
B60R 1/29 - Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area inside the vehicle, e.g. for viewing passengers or cargo
G03B 30/00 - Camera modules comprising integrated lens units and imaging units, specially adapted for being embedded in other devices, e.g. mobile phones or vehicles
18.
GUIDING A VEHICLE DEPENDING ON A GIVE WAY INTENTION OF A TRAFFIC USER
According to a method for guiding an ego-vehicle (1) at least in part automatically depending on a give way intention of a traffic user in an environment of the ego-vehicle (1), sensor data representing the environment of the ego-vehicle (1) and the traffic user is generated by an environmental sensor system (3). A traffic situation is identified depending on the sensor data, wherein the traffic user has the right of way with respect to the ego-vehicle (1). An action of the traffic user is determined depending on the sensor data, a confidence level for the presence of the give way intention of the traffic user is computed depending on the at least one action of the traffic user, and the ego-vehicle (1) is guided at least in part automatically depending on the confidence level.
The invention relates to a method for training a neural network for determining the position of object surfaces (8) in the surroundings of a vehicle (1) on the basis of ultrasonic measurement data (10), having the steps of: a) providing a training measurement data set comprising ultrasonic measurement data (10) relating to object surfaces (8) in the surroundings of the vehicle (1); b) providing a reference data set which describes the object surfaces (8) with respect to the position thereof; and c) training a neural network on the basis of the training measurement data set and the reference data set.
G01S 7/539 - 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 - Details of systems according to groups , , of systems according to group using analysis of echo signal for target characterisation; Target signature; Target cross-section
G01S 15/931 - Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
G01S 7/52 - 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 - Details of systems according to groups , , of systems according to group
The invention relates to a method for sequentially processing sequentially provided sets (24) of sensor information, in particular sensor information of an ultrasonic sensor (14) of a driving support system (12) for a vehicle (10) in order to detect an environment (20) of the vehicle (10), comprising a control unit (16), in particular for providing a driving support function for the vehicle (10), comprising the steps of determining an availability of a current set (24) of valid sensor information, and when there is no availability of a current set (24) of valid sensor information, providing a current set (24) of valid sensor information based on at least one previous set (24) of sensor information. The invention also relates to a driving support system (12) for a vehicle (10) comprising an ultrasonic sensor (14), which is designed to provide sequential sets (24) of sensor information, and comprising a control unit (16) which is designed to sequentially process sets (24) of sensor information, in particular in order to detect an environment (20) of the vehicle (10), wherein the driving support system (12) is designed to carry out the above method.
G01S 15/931 - Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
G01S 15/52 - Discriminating between fixed and moving objects or between objects moving at different speeds
G01S 7/52 - 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 - Details of systems according to groups , , of systems according to group
G01S 7/53 - Means for transforming co-ordinates or for evaluating data, e.g. using computers
G01S 15/86 - Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection
B60W 50/02 - Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
B60W 40/02 - Estimation or calculation of driving parameters for road vehicle drive control systems not related to the control of a particular sub-unit related to ambient conditions
21.
CALIBRATION OF A GESTURE RECOGNITION ALGORITHM FOR THE GESTURE-CONTROLLED OPENING OF AN AREA OF A VEHICLE CLOSED BY A MOVABLE COMPONENT
According to a method for calibrating a gesture recognition algorithm for the gesture-controlled opening of an area of a vehicle (1) closed by a movable component (3), a gesture recognition algorithm is provided in a computer-readable format, which is adapted to recognise a predetermined gesture as a function of a time-dependent sensor signal from an ultrasonic sensor (5) of the vehicle (1). The ultrasonic sensor (5) is used to generate a time-dependent first sensor signal, while a first person (8) performs a gesture movement in a field of view of the ultrasonic sensor (5) and, depending on the first sensor signal, a first value of a predetermined parameter of the gesture recognition algorithm is determined and stored.
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 40/20 - Movements or behaviour, e.g. gesture recognition
B60K 35/00 - Arrangement or adaptations of instruments
G06F 3/00 - Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
22.
IMPROVED DETERMINATION OF A TORQUE TO BE APPLIED IN AN ELECTRIC POWER STEERING SYSTEM
The present invention refers to a method for determining a torque to be applied in an electric power steering system (26) of a steering system (28) of an ego vehicle (10) with at least one steering support function acting on the electric power steering system (26), comprising the steps of receiving a requested torque from the at least one steering support function, determining a torque applied by a human driver to the steering system (28), determining an intention of the human driver to apply the torque to the steering system (28), and determining the torque to be applied in the electric power steering system (26) based on the torque requested from the at least one steering support function, the determined torque applied by the human driver to the steering system (28) and the determined intention of the human driver to apply the torque to the steering system (28). The present invention also refers to a respective electric power steering system (26) for determining a torque to be applied to a steering system (28) of an ego vehicle (10) with at least one steering support function acting on the electric power steering system (26). The present invention further refers to a steering support system (12) comprising the above electric power steering system.
HOUSING PART FOR THE HOUSING OF A VEHICLE CAMERA, OPTICAL MODULE FOR A VEHICLE CAMERA, VEHICLE CAMERA, VEHICLE COMPRISING AT LEAST ONE VEHICLE CAMERA, AND METHOD FOR PRODUCING A VEHICLE CAMERA
The invention relates to a housing part (18) for the housing (16) of a vehicle camera (14), to an optical module for a vehicle camera, to a vehicle camera, to a vehicle comprising at least one vehicle camera, and to a method for producing a vehicle camera. The housing part (18) has at least one connecting section (36) for mechanically connecting the housing part (18) to at least one other part (22) of the vehicle camera (14), wherein at least one protruding connecting element (38) which is made of a deformable material at least at one end is arranged on the at least one connecting section (36). At least one end of the at least one protruding connecting element (38) is made of a material which can be cold formed.
G03B 30/00 - Camera modules comprising integrated lens units and imaging units, specially adapted for being embedded in other devices, e.g. mobile phones or vehicles
The invention relates to a method (200, 300) for determining a surface of a road by means of ultrasound, comprising the steps of: providing (S1) at least one time series (202) which is measured by at least one ultrasonic transducer (104); determining (S3) a maximum number (210) which is a number of local maximums (208) in a first time period (206) of the at least one time series (202); providing (S4) a first mathematical model (212) which assigns a surface probability to each of a plurality of maximum numbers (210) for the first time period (206), wherein a surface probability is a probability (218, 220) of the presence of one surface of at least two surfaces in a detection region of an ultrasonic transducer (104); and determining (S5), by means of the provided mathematical model (212) and the determined maximum number (210), a first surface probability with respect to a region of the road represented by the at least one time series (202).
G01S 7/539 - 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 - Details of systems according to groups , , of systems according to group using analysis of echo signal for target characterisation; Target signature; Target cross-section
G01S 15/931 - Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
25.
METHOD FOR THE TELEOPERATED OPERATION OF AN AT LEAST PARTIALLY AUTONOMOUSLY OPERATED MOTOR VEHICLE BY MEANS OF A TELEOPERATION APPARATUS, COMPUTER PROGRAM PRODUCT, COMPUTER-READABLE STORAGE MEDIUM, AND TELEOPERATION APPARATUS
The present invention relates to a method for the teleoperated operation of an at least partially autonomously operated motor vehicle (2) by means of a teleoperation apparatus (1), having the steps of: - capturing an environment (4) of the motor vehicle (2) by means of at least one environment capture device (5, 6, 7, 8, 9) of the motor vehicle (2); - generating a virtual environmental signal (10) on the basis of the captured environment (4), wherein, in order to generate the virtual environmental signal (10), the environment (4) is adapted from a perception perspective of a person sitting on a driver's seat of the motor vehicle (2); - transmitting the captured environment (4) and/or the virtual environmental signal (10) to the teleoperation apparatus (1) by means of at least one communication connection (11, 12) between the motor vehicle (2) and the teleoperation apparatus (1); and - outputting the virtual environmental signal (10) for a teleoperator (3) by means of at least one output device (23, 24, 25, 26) of the teleoperation apparatus (1). The invention also relates to a computer program product, to a computer-readable storage medium and to a teleoperation apparatus (1).
In a computer-implemented method for calibrating a surroundings sensor system (5, 5a, 5b, 5c), sensor data of the surroundings sensor system (5, 5a, 5b, 5c) is obtained, a first marking element (6, 6a, 6b, 6c, 7, 7a, 7b, 7c) is identified in the field of view on the basis of the sensor data, and pose information of the first marking element (6, 6a, 6b, 6c, 7, 7a, 7b, 7c) is determined. A second marking element 6, 6a, 6b, 6c, 7, 7a, 7b, 7c) is identified in the field of view on the basis of the sensor data, and relative pose information of the first marking element (6, 6a, 6b, 6c, 7, 7a, 7b, 7c) relative to the second marking element (6, 6a, 6b, 6c, 7, 7a, 7b, 7c) is determined. The relative pose information is compared with specified target relative pose information, and on the basis of the result of the comparison and the pose information of the first marking element (6, 6a, 6b, 6c, 7, 7a, 7b, 7c), stored sensor pose information of the surroundings sensor system (5, 5a, 5b, 5c) is corrected in a reference coordinate system of the infrastructure device (1).
G06V 10/22 - Image preprocessing by selection of a specific region containing or referencing a pattern; Locating or processing of specific regions to guide the detection or recognition
G06V 10/74 - Image or video pattern matching; Proximity measures in feature spaces
G06V 20/54 - Surveillance or monitoring of activities, e.g. for recognising suspicious objects of traffic, e.g. cars on the road, trains or boats
The invention relates to an infrastructure device (1) for guiding a vehicle (2), containing a camera (5), which is designed to generate at least one camera image that images a first field of view (9), and a lidar system (6), which is designed to generate lidar sensor data that represents a second field of view (10). A first sub-region of a traversable region (3a, 3b, 3c, 3d) lies within the first field of view (9), and a second sub-region of the traversable region (3a, 3b, 3c, 3d) lies within the second field of view (10). The infrastructure device (1) has a computing unit (8) which is designed to obtain input data that contains at least one camera image and lidar sensor data and to locate a vehicle (2) within the traversable region (3a, 3b, 3c, 3d) on the basis of at least some of the input data. The lidar system (6) is arranged such that the maximum distance from the second sub-region to the lidar system (6) is greater than a specified first threshold.
The invention relates to a method for manoeuvring a vehicle (10) from a transfer point (26), along a trajectory (28), to a target point (30) with a movement area (34) monitored by an automated manoeuvring system (24), comprising the steps of: monitored manoeuvring of the vehicle (10) along the trajectory (28), wherein the manoeuvring of the vehicle (10) is monitored by a human observer; detecting the vehicle (10) in the monitored movement area (34) with the automated manoeuvring system (24); transmitting a message from the automated manoeuvring system (24) to the vehicle (10) in order to switch the manoeuvring from monitored manoeuvring to automated manoeuvring in the monitored movement area (34); and automated manoeuvring of the vehicle (10) along the trajectory (28) using the automated manoeuvring system (24) in the monitored movement area (34) by transmitting control commands to the vehicle (10) based on the detection of the movement area (34) by the automated manoeuvring system (24). The invention also relates to a corresponding manoeuvring system (24) and a corresponding driving assistance system (12).
The invention relates to a method for operating a parking assistance system (110) for a vehicle (100). The parking assistance system (110) is designed such that, in a tracking mode, it autonomously tracks a trajectory (TR1-TR4) from a number of trajectories (TR1-TR4) learned in a training mode, wherein the respective trajectory (TR1-TR4) is determined by a sequence of positions (P1-P6) and connects a starting position (P1) to a target position (P6), and wherein the respective trajectory (TR1-TR4) is assigned a number of images (IMG1-IMG6) of an environment (200) of the vehicle (100) captured by the vehicle's camera (120) in the respective position (P1-P6) and stored. The method comprises the steps of: Providing (S1) a number of stored images (IMG1-IMG6); determining (S2) a display element (DSP) comprising the provided images (IMG1-IMG6) to represent the respective associated trajectory (TR1-TR4); outputting (S3) the determined display element (DSP) to a display device of a user interface (105) of the vehicle (100); receiving (S4) a user input (SIG) for selecting at least one image (IMG1-IMG6) contained in the display element (DSP) via the user interface (105); and initiating (S5) an autonomous journey of the vehicle (100) along the trajectory (TR1-TR4) associated with the selected image (IMG1-IMG6).
The invention relates to a housing (16) for a vehicle camera (14), a vehicle camera (14), and a vehicle. The housing (16) comprises at least one main housing part (18), which has at least one receiving opening, and at least one objective-module housing part (22), which has at least one objective receptacle for at least one optical system and which is disposed at the at least one receiving opening of the at least one main housing part (18). The at least one main housing part (18) has at least one main contact portion (48). The at least one objective-module housing part (22) has at least one module contact portion (90), which is at least partly in contact with the at least one main contact portion (48). At least one of the main contact portions (48) has at least one main contact surface (60) which is curved in at least one portion (62). At least one of the module contact portions (90) has at least one module contact surface (96) which is curved in at least one portion (102) and which is at least partly in contact with the at least one curved portion (62) of the at least one main contact surface (60) of the at least one main contact portion (48). The curvature of the at least one curved portion (62) of the at least one main contact surface (60) and the curvature of the contacting at least one curved portion (102) of the at least one module contact surface (96) are the same.
According to a method for guiding a vehicle (1), a position of the vehicle (1) is determined by means of a self-localization system (3, 4) and the vehicle (1) is guided in an at least partially automatic manner on the basis thereof. The self-localization system (3, 4) is used to generate sensor data representing the external surroundings of the vehicle (1), and it is determined, on the basis thereof, that a minimum brightness criterion for an ambient brightness in the external surroundings of the vehicle (1) has not been satisfied. A request is sent from the vehicle (1) to a lighting control system (8) in the external surroundings and ambient lighting in the external surroundings is activated and/or adjusted in response to the request by means of the lighting control system (8) in order to increase the ambient brightness. The position of the vehicle (1) is determined after the ambient brightness has been increased.
G01S 5/16 - Position-fixing by co-ordinating two or more direction or position-line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
G06V 20/56 - Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
G08G 1/09 - Arrangements for giving variable traffic instructions
G08G 1/133 - Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles within the vehicle
H05B 47/11 - Controlling the light source in response to determined parameters by determining the brightness or colour temperature of ambient light
H05B 47/175 - Controlling the light source by remote control
H05B 47/19 - Controlling the light source by remote control via wireless transmission
B60W 40/02 - Estimation or calculation of driving parameters for road vehicle drive control systems not related to the control of a particular sub-unit related to ambient conditions
G01C 21/28 - Navigation; Navigational instruments not provided for in groups specially adapted for navigation in a road network with correlation of data from several navigational instruments
G01C 21/36 - Input/output arrangements for on-board computers
32.
METHOD FOR PERFORMING A TELEOPERATED DRIVING FUNCTION OF AN AT LEAST PARTIALLY AUTONOMOUSLY OPERATED MOTOR VEHICLE, COMPUTER PROGRAM PRODUCT, COMPUTER-READABLE STORAGE MEDIUM, AND AN ASSISTANCE SYSTEM
The invention relates to a method for performing a teleoperated driving function (2) of an at least partially autonomously operated motor vehicle (3) by means of an assistance system (1), having the steps of using an electronic computing device (6) of the assistance system (1) to determine a quality of a network connection (9) between a first communication device (4) of the assistance system (1) inside the motor vehicle and a second communication device (5) of the assistance system (1) outside the motor vehicle, using the electronic computing device (6) to determine a safe speed (V) of the motor vehicle (3) for teleoperated performance of the driving function (2) on the basis of the determined quality; and using an input device (6) of the assistance system (1) to perform the teleoperated driving function (2) at the safe speed (V) outside the motor vehicle by way of a teleoperator (10). The invention also relates to a computer program product, to a computer-readable storage medium and to an assistance system (1).
The invention relates to a method for localizing a vehicle (1) on a road (2a) in a lateral direction (x) with respect to the road (2a), wherein sensor data are received from at least one environmental sensor (5) of the vehicle (1), wherein the sensor data relate to at least part of the road (2a), wherein the sensor data are analyzed, at least one road feature (7, 8, X0, 2b, 2c, Xr) is determined on the basis of the sensor data, and the vehicle (1) is localized in the lateral direction (x) with respect to the road (2a) in dependency of determined at least one road feature (7, 8, X0, 2b, 2c, Xr). Moreover, by analyzing the sensor data a lateral ground surface profile (11) of a ground (9), which the road (2a) is part of, is determined and in dependency of the determined lateral ground surface profile (11) the at least one road feature (7, 8, X0, 2b, 2c, Xr) is determined.
A method for determining a state of a driver monitoring device, having an illumination device for illuminating a passenger compartment of a vehicle, a diffuser, and an image-capturing device, comprises the following steps: b) illuminating the passenger compartment and generating at least one first image of the passenger compartment that is based on an image, captured by the image-capturing device, of the passenger compartment illuminated by way of the illumination device, c) dividing the at least one first image into multiple image sections, d) determining a maximum intensity of pixels of a first group of image sections of the at least one first image, and determining a mean intensity of a second group of image sections of the at least one first image, e) determining an illumination difference in the at least one first image by dividing the maximum intensity of the first group by the mean intensity of the second group, and f) determining that the diffuser is operational and arranged correctly and activating the illumination device for driver monitoring when the illumination difference in the at least one first image is less than a lower threshold value, or determining that the diffuser is not operational and arranged correctly and deactivating the illumination device when the illumination difference is greater than an upper threshold value.
The invention relates to a device (6) and a method for ascertaining the mass of an occupant (2) of a vehicle (1). The device (6) has: a vehicle acceleration detection device (7) which ascertains the vehicle acceleration vector (24), said vehicle acceleration vector describing an acceleration which the vehicle (1) is undergoing; an occupant acceleration detection device (10) which ascertains an occupant acceleration vector (26), said occupant acceleration vector describing an acceleration which the occupant (2) is undergoing; and an analysis device (13) which ascertains a vehicle force vector (21) that describes the force acting on the vehicle (1) on the basis of the ascertained vehicle acceleration vector (24), projects the vehicle force vector (21) onto the occupant (2), and ascertains mass information (36) that describes the mass of the occupant (2) from the projected vehicle force vector (22) and the ascertained occupant acceleration vector (26).
B60R 21/015 - Electrical circuits for triggering safety arrangements in case of vehicle accidents or impending vehicle accidents including means for detecting the presence or position of passengers, passenger seats or child seats, e.g. for disabling triggering
36.
CIRCUIT BOARD UNIT, IN PARTICULAR FOR USE FOR A ZONE CONTROL DEVICE, HAVING TWO CIRCUIT BOARDS
The invention relates to a circuit board unit (10), in particular for use for a zone control device for a vehicle, having two circuit boards (12, 14) and a plurality of rod-shaped plug-in contact pins (32) each having two spring contact regions (34), wherein the two circuit boards (12, 14) are arranged in parallel, one above the other, the two circuit boards (12, 14) have corresponding contact holes (20) for electrical contacting, the spring contact regions (34) of each plug-in contact pin (32) are inserted under elastic deformation into corresponding contact holes (20) of the two circuit boards (12, 14) and contact these electrically, the contact holes (20) of each of the two circuit boards (12, 14) are arranged in a plurality of groups (22), the groups (22) of the contact holes (20) are arranged in corner regions (24) of at least one of the two circuit boards (12, 14), the contact holes (20) of each of the groups (22) of the contact holes (20) are arranged in at least one substantially straight section (28), and the substantially straight sections (28) with the contact holes (20) of each group (22) are arranged at an angle to at least one other substantially straight section (28) with the contact holes (20). The invention also relates to a zone control device for a vehicle having the above circuit board unit (10).
According to a method for detecting the surroundings, a first image data stream (15) is generated by means of a first camera (2) of an ego vehicle (4) and a second image data stream is received which is generated by means of a second camera of a further vehicle (5), wherein a visual field (8) represented by the first image data stream (15) overlaps with a second visual field (9) represented by the second image data stream. A region (14) which is obscured for the first camera (2) is identified in the first visual field (8), which visual field is not obscured for the second camera. On the basis of the second image data stream, substitute image data (17) are generated which correspond to the region (14) which is obscured for the first camera (2). On the basis of the first image data stream (15), a combined image data stream is generated which represents the first visual field, wherein in a region (14) of the combined image data stream (16), which corresponds to the region (14) obscured for the first camera (2), the substitute image data (17) are displayed.
B60R 1/24 - Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view in front of the vehicle
G06V 20/56 - Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
G08G 1/017 - Detecting movement of traffic to be counted or controlled identifying vehicles
38.
GUIDING A VEHICLE IN A PREDETERMINED NAVIGABLE REGION
The invention relates to a system (1) for guiding a vehicle (2), comprising an offboard environment sensor arrangement (5) which is designed to generate environment sensor data representing an overall field of view of the environment sensor arrangement (5), wherein the environment sensor data contain an image data stream of a camera, which data stream depicts a camera field of view of the camera. The system (1) comprises an offboard computer system (8) which is designed to obtain the environment sensor data and, on the basis of the image data stream, to display an image representation (9) on an offboard display device (6). The offboard computer system (8) is designed, on the basis of the environment sensor data, to detect an object (10) in a predefined surrounding environment of the vehicle (2) and, depending on the detected object (10), to display a warning on the offboard display device (6) and/or to output a further warning via a further offboard output device.
The invention relates to a method for operating a parking assistance system (100). The parking assistance system is designed for autonomously controlling a vehicle (200) in a predetermined area (110), wherein the parking assistance system (100) comprises a number of optical image sensors (120A-120L) located in an infrastructure of the area (110), wherein each optical image sensor (120A-120L) is designed for capturing an image of an associated capture region (121A-121L) and for outputting the captured image. The method comprises: receiving (S1) the associated captured image from each optical image sensor (120A-120L); determining (S2) an associated actual value (B1-B3) for a specific property of the associated received image; comparing (S3) the associated determined actual value (B1-B3) with an associated predetermined interval (IB); and triggering (S4) a predetermined measure if the determined actual value (B1-B3) is outside the predetermined interval (IB), wherein the predetermined measure comprises the controlling of a technical device (210-212), which technical device (210-212) is designed for adapting a capture condition for the associated optical image sensor (120A-120L), and/or wherein the predetermined measure comprises the exclusion of the associated capture region (121A-121L) from a path planning area of the parking assistance system (100).
The invention relates to a method for adjusting identification of objects (18) in an area (20) surrounding a vehicle (10) based on ultrasonic echo signals (26) received by ultrasound sensors (14) of the vehicle (10), the method comprising the steps of receiving ground information concerning the area (20) surrounding the vehicle (10), and adjusting identification of objects (18) in the area (20) surrounding the vehicle (10) from ultrasonic echo signals (26) received by the ultrasound sensors (14) on the basis of the received ground information. The invention also relates to a system (12) for identifying objects (18) in an area (20) surrounding a vehicle (10) based on ultrasonic echo signals (26) received by ultrasound sensors (14) of the vehicle (10), having a plurality of ultrasound sensors (14) which are interconnected via a data connection (34), the system (12) being designed to carry out the above method for adjusting identification of objects (18).
G01S 7/52 - 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 - Details of systems according to groups , , of systems according to group
G01S 15/931 - Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
An input device (3) for a vehicle (1) comprises a housing (4) and an actuating element (8), which is movable relative to the housing (4). The actuating element (8) is guided in an opening (16) of the housing (4) and, in a non-actuated state, held by means of a clip connection formed by a stop element (9) and a spring element (7), wherein the actuating element (8) comprises the stop element (9) and the housing (4) comprises the spring element (7) or vice versa. The stop element (9) comprises a recess (11) and the spring element (7) comprises a protrusion (10) or vice versa. A contact region (15) of the protrusion (10) faces a contact region (15) of the recess (11) and, in the non-actuated state, the protrusion (10) is arranged at least in part inside the recess (11) and the contact regions (15) are held in contact with each other by a restoring force.
H01H 13/705 - Switches having rectilinearly-movable operating part or parts adapted for pushing or pulling in one direction only, e.g. push-button switch having a plurality of operating members associated with different sets of contacts, e.g. keyboard with contacts carried by or formed from layers in a multilayer structure, e.g. membrane switches characterised by construction, mounting or arrangement of operating parts, e.g. push-buttons or keys
42.
DEVICE FOR GENERATING A SIGNAL FOR CONTROLLING AN OPERATING FUNCTION, METHOD FOR GENERATING A SIGNAL FOR CONTROLLING AN OPERATING FUNCTION, COMPUTER PROGRAM AND COMPUTER-READABLE STORAGE MEDIUM
The present invention relates to a device (100, 10) for generating a signal (BF) for controlling an operating function, and to a corresponding method, a computer program and a computer-readable storage medium, wherein the device (100, 10) is designed to generate the signal (BF) for controlling an operating function in dependence upon a touch sensor signal (BS) and at least one force sensor signal (KS1, KS2), and wherein the device (100, 10) comprises an evaluation apparatus (20) which is designed to evaluate the touch sensor signal (BS) and the at least one force sensor signal (KS1, KS2) on the basis of defined criteria, to check whether the touch sensor signal (BS) and/or the at least one force sensor signal (KS1, KS2) fulfil or do not fulfil one or more defined conditions, to increase or decrease an error counter value (FZ) by a defined value or to reset same to a defined value depending on which of the checked conditions the touch sensor signal (BS) and the at least one force sensor signal (KS1, KS2) fulfil or do not fulfil, to compare the resulting error counter value (FZ) with a defined error counter threshold value, and in dependence upon the result of said comparison, to generate a signal (BF) for controlling an operating function.
B60K 37/06 - Arrangement of fittings on dashboard of controls, e.g. control knobs
G06F 3/01 - Input arrangements or combined input and output arrangements for interaction between user and computer
H03K 17/94 - Electronic switching or gating, i.e. not by contact-making and -breaking characterised by the way in which the control signals are generated
A METHOD FOR ASCERTAINING A MANUAL EXERTION OF A CAPACITIVE SENSOR DEVICE, A COMPUTER PROGRAM PRODUCT AND AN ASCERTAINING DEVICE FOR ASCERTAINING A MANUAL EXERTION OF A CAPACITIVE SENSOR DEVICE
The invention relates to a method for ascertaining manual exertion of a capacitive sensor device (1), wherein a capacitive sensor element (2) of the capacitive sensor device is exposed to a sinewave-based first electric signal (15), wherein the capacitive sensor element provides a second electric signal (14), wherein the second electric signal is input to an in-phase-detector (16), in order to provide an I-signal (18), and a quadrature-phase-detector (17), in order to provide a Q-signal (19), wherein the I-signal (18) and the Q-signal are processed in order to allow ascertaining the manual exertion. According to the invention, three predetermined reference impedances are also exposed to the first electric signal, wherein the predetermined reference impedances provide respective second electric reference signals which are input to the in-phase-detector and the quadrature-phase-detector, in order to provide respective reference I-signals and respective reference Q-signals, the reference I-signals and the reference Q-signals are additionally processed.
FFF) when receiving the ultrasound echoes. The invention further relates to an ultrasound detection system (50) with a plurality of ultrasound sensors (14) for detecting an environment (24), in particular an environment (24) of a vehicle (10), based on sensor information provided by the ultrasound sensors (14), having a plurality of ultrasound sensors (14), which are connected to one another via a data connection (18), wherein one of the ultrasound sensors (14) is configured as a master (M), in order to receive and process the sensor information from at least one further ultrasound sensor (14) configured as a slave (S), in order to detect the environment (24) of the vehicle (10), wherein the ultrasound sensors (14) are configured as described above. In addition, the invention relates to a driving support system (12) having at least one ultrasound sensor (14) for providing sensor information, and a control device (16), wherein the at least one ultrasound sensor (14) and the control device (16) are connected to one another via a data connection (18), and the control device (16) is configured to receive and process the sensor information from the at least one ultrasound sensor (14), in order to detect the environment (24) of the vehicle (10), wherein the at least one ultrasound sensor (14) is configured as described above.
The invention relates to a door protection control system (100) for detecting an obstacle (9) in a pivot region (10) of a lateral door (4) of a motor vehicle (1) with multiple ultrasonic sensors (2) attached underneath or arranged below a lateral door of the motor vehicle and a camera device (6) with at least one section of the pivot region (10) in the field of vision thereof, comprising: a camera control unit (15) which captures an image of the pivot region (10) using the camera device (6) and carries out an object identification on the captured image; an ultrasonic control unit (16) which carries out a distance measurement in the pivot region (10) of the lateral door (4) using the ultrasonic sensors (2); and a door protection control unit (17) which determines, based on a result of the object identification and based on a result of the distance measurement, whether there is an actual obstacle (9) in the pivot region (10) of the lateral door (4), and in the event of there being the actual obstacle (8), said door protection control unit generates a signal which indicates the presence of the actual obstacle (9).
The invention relates to a cloud-based method for determining a current speed limit for a vehicle (10), comprising the steps of: receiving position information from the vehicle (10), ascertaining a map position corresponding to the position information on the basis of a highway database (34) of a cloud server (30), ascertaining a next fork in the road (44) along a first, currently used route (46) on the basis of the current map position and the highway database (34) of the cloud server (30), ascertaining a first speed limit for the first route (46) up to the fork in the road (44) on the basis of the highway database (34) of the cloud server (30), ascertaining a second speed limit for at least one optional, second route (48) that connects to the fork in the road (44) on the basis of the highway database (34) of the cloud server (30), and sending the first speed limit and the at least one second speed limit to the vehicle (10) together with an identification of the corresponding second route (48). The invention also relates to a cloud server (30) for determining a current speed limit for a vehicle (10) which is designed to carry out the above method. The invention further relates to a corresponding driving assistance system (12).
A camera device (3) for a vehicle (1), comprising: a housing (4) including, with respect to an installed state in the vehicle (1), an upper part (5) and a lower part (6) attached to each other, and an imaging module (16) accommodated at least partially in the housing (4) and including an objective (17), an image sensor unit (18) arranged so as to intersect an optical axis (A) of the objective (17) and a printed circuit board (19) on which the image sensor unit (18) is mounted, wherein the objective (17) and the printed circuit board (19) are each attached to the upper part (5) of the housing (4).
B60R 1/00 - Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
The present invention refers to a method for performing pre-boost acceleration prior to overtaking a preceding third party vehicle (34) driving on a road (26) with multiple driving lanes (28, 30, 32) for driving in a forward driving direction (34) with an ego vehicle (10), wherein the ego vehicle (10) is following the preceding third party vehicle (36) on an ego lane (28) with an initial distance (d) to the ego vehicle (10), comprising the steps of detecting third party vehicles (38) on the neighboring driving lane (30), determining an acceleration profile with an acceleration phase for accelerating the ego vehicle (10) compared to the preceding third party vehicle (36) on the ego lane (28) while following the preceding third party vehicle (36), wherein an acceleration of the acceleration phase is determined based on the detection of third party vehicles (38) on the neighboring driving lane (30), a maximum acceleration value and a maximum change of acceleration, receiving a trigger for performing the pre-boost acceleration prior to overtaking the preceding third party vehicle (36) driving on the ego lane (28) using the neighboring driving lane (30), and performing the pre-boost acceleration according to the determined acceleration profile. The present invention also refers to a driving support system (12) for use in an ego vehicle (10) for following a preceding third party vehicle (36), in particular for performing adaptive cruise control, when driving on a road (26) with multiple driving lanes (28, 30, 32) for driving in a forward driving direction (34) of the ego vehicle (10), wherein the driving support system (12) is adapted to perform the method for pre-boost acceleration prior to overtaking a preceding third party vehicle (34) according to the above method.
An electronic processing circuit (1) comprises an arithmetic logical unit, ALU, (7) which is configured to carry out a predefined ALU-operation and a watchdog module (8), which is configured to read out a value from a storage location (12) of the electronic processing circuit (1) and to initiate a predefined safety action, if the read out value differs from a predefined target value. The electronic processing circuit (1) comprises at least one software module, which is configured to transform an output of the ALU-operation into a transformed output by carrying out a predefined transformation, wherein the transformed output matches the target value, if the output of the ALU-operation corresponds to a predefined expected result of the ALU-operation, and to write the transformed output to the storage location (12).
The invention relates to an input apparatus (5) for a motor vehicle (1) and to a motor vehicle (1) comprising the input apparatus (5), wherein the input apparatus (5) has: a housing (7); an actuating device (8) which is mounted movably in relation to the housing (7) in an actuating direction (9); four bearing elements (10) by means of which the actuating device (8) can be moved in the actuating direction (9) relative to the housing (7), wherein two of the bearing elements (10) in each case are arranged offset from one another in the actuating direction (9) and form a bearing element pair and the two bearing element pairs are arranged offset from one another in a transverse direction to the actuating direction (9); and a damping element (11) by means of which a movement of the actuating device (8) in the actuating direction (9) can be damped. The input apparatus (5) has two coupling elements (12) and each bearing element (10) of one bearing element pair is connected via the relevant coupling element (12) to a bearing element (10) of the other bearing element pair so that tilting of the actuating device (8) relative to the housing (7) is prevented.
A method for operating a radar system (12) for a vehicle (10), a radar system (12) and a vehicle (10) are described. In the method, the radar system (12) is used to carry out at least one radar measurement, within the scope of which at least one radar signal is transmitted by means of at least one transmission antenna element of at least one transmission antenna arrangement of the radar system (12) and a reception readiness for possible radar echo signals based on the at least one radar signal is established for at least one receiver antenna element of at least one receiver antenna arrangement of the radar system (12), with the at least one transmission antenna element being controlled according to at least one control scheme. It is no later than at the start of the at least one radar measurement that a basic control scheme for the radar system (12), specified depending on a use purpose of the radar system (12) on the vehicle (10), is set for at least one measurement mode of the radar system (12), with the basic control scheme being used to adjust a basic main beam axis (42) of the at least one transmission antenna arrangement to the use purpose of the radar system (12) and the at least one radar measurement being carried out on the basis of the basic control scheme.
The invention describes a radar system (12) for a vehicle (10), a vehicle, and a method for operating a radar system (12). The radar system (12) comprises at least one transmitting antenna arrangement that has at least one transmitting antenna element (Tx) for transmitting radar signals, at least one receiving antenna arrangement that has at least one receiving antenna element (Rx) for receiving radar echo signals, and at least one control and capture device (36) for controlling at least the transmitting antenna elements (Tx) and for capturing radar echo signals received with the at least one receiving antenna element (Rx), wherein the radar system (12) has at least one adjustment means (38) with at least one control scheme (44, 46) for adjusting at least one main beam axis of the at least one transmitting antenna arrangement. The at least one adjustment means (38) has at least two basic control schemes (44, 46) for different adjustments of the at least one main beam axis in at least one measurement mode of the radar system (12) and at least one intended purpose specification means (44, 48) for specifying one of the at least two basic control schemes (44) on the basis of an intended purpose of the radar system (12) in at least one measurement mode of the radar system (12).
A method for determining a position and a force of a finger press on a touch surface of an electronic device, at least two force sensors, and a memory, in which a respective regression model is stored for each of the at least two force sensors which describes a relation between a force applied to the touch surface on a specific position and a respective signal detected by a respective force sensor comprises the following steps: a) generating a plurality of hypotheses points each being a state of random force and position on the touch surface; b) querying each of the regression models to obtain a model based value for a respective one of the plurality of hypotheses points; c) respectively calculating a probability that the model based value for a respective one of the at least two force sensors is correct; d) multiplying the respective probabilities to obtain a respective weight for each of the plurality of hypotheses points; e) resampling the plurality of hypotheses points based on the respective weight; f) changing the resampled plurality of hypotheses points to obtain a changed resampled plurality of hypotheses points; g) repeating steps b) to f) a number of times until a predetermined condition is fulfilled, and h) averaging the positions and random forces of the hypotheses and determining the position at which the touch surface is pressed and the force with which the touch surface is pressed.
A method for operating a parking assistance system (110) of a vehicle (100, 101, 102) during production of the vehicle (100, 101, 102) in a production facility (200) is proposed. The parking assistance system (110) is configured for autonomously following a predetermined trajectory (TR, TR1, TR2) with the vehicle (100, 101, 102) depending on received sensor signals. The method comprises the steps of: A) receiving (S10) a predetermined trajectory (TR, TR1, TR2) from a unit (217) external to the parking assistance system (110), B) activating (S11) the parking assistance system (110), C) receiving (S12) a sensor signal indicative of surroundings of the vehicle (100, 101, 102) from a sensor (120) arranged on the vehicle (100, 101, 102), and D) instigating (S13) travel of the vehicle (100, 101, 102) along the predetermined trajectory (TR, TR1, TR2) depending on the received sensor signal.
B62D 65/18 - Transportation, conveyor or haulage systems specially adapted for motor vehicle or trailer assembly lines
G06Q 10/04 - Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
A method for operating a vehicle (1), comprising the steps: a) receiving (S1) sensor data (S) of a sensor system (3) of the vehicle (1), b) detecting (S2) an absence of lane markings based on the sensor data (S), c) transmitting (S3) instructions (B) to a human machine interface (17) of the vehicle (1) to prompt a driver of the vehicle (1) to drive to a perceived center line (18) of a lane (11), d) determining (S5) a virtual lane (23) based on the perceived center line (18) to which the driver has driven, and e) performing (S6) a lane keeping assistant function to keep the vehicle (1) on the virtual lane (23).
B60W 30/165 - Control of distance between vehicles, e.g. keeping a distance to preceding vehicle automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
B60W 50/14 - Means for informing the driver, warning the driver or prompting a driver intervention
56.
QUANTIFICATION OF THE AGEING OF AN ENVIRONMENT SENSOR SYSTEM
The invention relates to an environment sensor system (2) comprising a detector unit (4) which is designed to detect electromagnetic waves from an environment of the environment sensor system (2) during a sequence of successive detection periods and to generate detector signals on the basis thereof. A processing unit (5, 6) of the environment sensor system (2) is designed to generate, based on the detector signals, for each detection period a sensor data set representing the environment of the environment sensor system (2) and to detect, based on the sensor data sets, an object in the environment and to track the object for a portion of the sequence of detection periods. The processing unit (5, 6) is designed: to establish that the object cannot be detected according to a predefined detection condition based on a sensor data set of a further detection period following the portion of the sequence; to determine a maximum distance of the object from the environment sensor system (2) during the portion of the sequence; to determine a measure of ageing of the environment sensor system (2) based on the maximum distance; and to store said measure.
The invention relates to a parking assistance system (130) for a motorized two-wheeled vehicle (100). The parking assistance system (130) is designed to autonomously control the two-wheeled vehicle (100) and comprises: - a receiving unit (132) for receiving an environment sensor signal indicating an environment (200) of the two-wheeled vehicle (100) and for receiving a driving-state sensor signal indicating a driving state of the two-wheeled vehicle (100); - a locating unit (134) for determining a current position (P0) of the two-wheeled vehicle (100) in accordance with the received environment sensor signal and/or the received driving-state sensor signal; - a providing unit (136) for providing a predetermined trajectory (TR) connecting a starting position (P1) to a target position (P2); and - a control unit (138) for carrying out an autonomous parking operation with the two-wheeled vehicle (100) in accordance with the received environment sensor signal, the received driving-state sensor signal, the determined current position (P0) and the predetermined trajectory (TR); wherein the autonomous parking operation comprises autonomous travel of the two-wheeled vehicle (100) from the determined current position (P0) of the two-wheeled vehicle (100) to the target position (P2) along the predetermined trajectory (TR).
The invention relates to a first housing part (20) for a housing (16) for a device (12) for a vehicle (10), in particular for a detection device, to a housing (16), to a device (12), to a vehicle (10), and to a method for mounting a device (12). The first housing part (20) comprises at least two holding portions (33) and at least one contact portion (24). At least one part of the at least one contact portion (24) extends between the at least two holding portions (33). At least one part of at least one contact surface (32) of the at least one contact portion (24), which part extends between at least two holding portions (33), has at least one curvature when the first housing part (20) is not mounted. The at least one part of the at least one contact portion (24) comprising the at least one curved contact surface (32) is elastic.
The invention is concerned with a radar device (6) for a vehicle (1), the vehicle (1) with the radar device (6) and a method to produce the radar device (6). The radar device (6) comprises at least one antenna element (9) and a cover element (8). The cover element (8) is designed to transmit electromagnetic waves emitted and/or received by the at least one antenna element (9) through the cover element (8), the at least one antenna element (9) is a planar antenna printed at least indirectly on the cover element (8). The printing of the at least one antenna element (9) on the cover element (8) is preferably performed by three-dimensional printing. The cover element (8) is preferably a radar dome and/or a vehicle component of the vehicle (1), for example, a front area component (2) and/or a rear area component, particularly a bumper (3) and/or a headlamp (4).
H01Q 1/32 - Adaptation for use in or on road or rail vehicles
H01Q 1/38 - Structural form of radiating elements, e.g. cone, spiral, umbrella formed by a conductive layer on an insulating support
H01Q 1/40 - Radiating elements coated with, or embedded in, protective material
B60R 19/48 - Bumpers, i.e. impact receiving or absorbing members for protecting vehicles or fending off blows from other vehicles or objects combined with, or convertible into, other devices or objects, e.g. bumpers combined with road brushes, bumpers convertible into beds
The invention is concerned with a radar device arrangement (5) for a vehicle, the vehicle with the radar device arrangement (5) and a method to produce the radar device arrangement (5). The radar device arrangement (5) comprises a vehicle component (2) of the vehicle and a radar device. The radar device (6) comprises at least one antenna arrangement (9) and a cover element (8) designed to transmit electromagnetic waves emitted and/or received by the at least one antenna element (9) through the cover element (8). The vehicle component (2) and the cover element (8) are constructed in one piece so that a cover element surface (15) of the cover element (8) is integrated into a vehicle component surface of the vehicle component (2). Therefore, the cover element (8) is molded, preferably injection molded, into the vehicle component (2) of the vehicle.
H01Q 1/32 - Adaptation for use in or on road or rail vehicles
H01Q 1/40 - Radiating elements coated with, or embedded in, protective material
H01Q 1/42 - Housings not intimately mechanically associated with radiating elements, e.g. radome
G01S 7/02 - 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 - Details of systems according to groups , , of systems according to group
G01S 13/931 - Radar or analogous systems, specially adapted for specific applications for anti-collision purposes of land vehicles
61.
METHOD FOR OPERATING A VEHICLE, COMPUTER PROGRAM PRODUCT, CONTROL SYSTEM AND VEHICLE
(Method for operating a vehicle, computer program product, control system and vehicle) A method for operating a vehicle (1), comprising the steps: receiving (S1) sensor data (S) of a sensor system (3) of the vehicle (1), detecting (S2) an absence of lane markings (11) and a presence of a preceding vehicle (13) based on the sensor data (S), determining (S3) a virtual lane (14, 14') based on a heading angle (α) of the preceding vehicle (13) and a lateral distance (L1) between the ego-vehicle (1) and the preceding vehicle (13) derived from the sensor data (S), and performing (S4) a lane keeping assistant function to keep the ego-vehicle (1) on the virtual lane (14, 14').
The invention is concerned with a detection device (2) for a vehicle (1) and the vehicle (1). The detection device (2) comprises a housing (9) incorporating a laser light source (10) and a light receiver (11) both arranged transversely to each other with respect to a main illumination direction (16) of light emitted by the laser light source (10) and covered by a transparent cover (13), the cover (13) and a light scattering element (12). The light scattering element (12) is arranged opposite the laser light source (10) on an outer side (17) of the cover (13) facing away from the housing (9) such that a coupling of the emitted light from the laser light source (10) to the light receiver (11) inside of the detection device (2), especially a propagation of the emitted light transversal to the main illumination direction (16) along the cover (13), is at least reduced.
The invention relates to a method for operating a parking assistance system (110) for a vehicle (100). The parking assistance system (110) is configured for autonomous control of the vehicle (100). The method comprises the steps of: receiving (S1) a plurality of sensor signals from a corresponding plurality of environment sensors (122, 124, 126, 128, 131, 132, 133) arranged on the vehicle (100), wherein the respective sensor signal is indicative of obstacles (300) located in a specific region (102, 104, 106, 108) in an area surrounding the vehicle (100), and wherein a first number of sensor signals is indicative for a first side region (106) of the vehicle (100) and a second number of sensor signals is indicative for a second side region (108) of the vehicle (100), opposite the first side region (106); determining (S2) whether an obstacle (300) is located in the first and/or second side region (106, 108), depending on the first and/or second number of received sensor signals; determining (S3) a path (TR) for the vehicle (100), which runs through the first or the second side region (106, 108), if it is determined that the respective side region (106, 108) is free of obstacles (300), and initiating (S4) autonomous driving along the determined path (TR).
The invention relates to a method for computational noise compensation for an ultrasound sensor system (7) of a motor vehicle, comprising the following steps: a) acquiring (S1) a plurality of reference signal representations (101, 102, 103) at different times, in each case by transmitting an ultrasound transmission signal using an ultrasound sensor (2) of the ultrasound sensor system (7) and receiving an ultrasound received signal using the same ultrasound sensor (2) or another ultrasound sensor (2) of the ultrasound system (7); b) storing (S2) the plurality of reference signal representations (101, 102, 103); d) acquiring (S4) a measurement signal representation (20) by transmitting an ultrasound transmission signal using the ultrasound sensor (2) and receiving an ultrasound received signal using the same or another ultrasound sensor (2); e) selecting (S5) one of the stored reference signal representations (101); and f) generating (S6) a noise-compensated measurement signal representation (30) by subtracting the selected reference signal representation (101) from the acquired measurement signal representation (20). The invention also relates to an ultrasound system (7) which is designed to carry out the method, and to a motor vehicle (1) having the ultrasound system (7).
G01S 7/52 - 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 - Details of systems according to groups , , of systems according to group
G01S 15/931 - Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
65.
METHOD FOR SURVEYING THE SURROUNDINGS OF A MOTOR VEHICLE
The invention relates to a method for surveying the surroundings of a motor vehicle (1) comprising a number of ultrasonic transceivers (2). The method comprises: a) actuating (S1) the number of ultrasonic transceivers (2) to emit ultrasonic transmission signals into the surroundings of the motor vehicle (1) and receive ultrasonic reception signals (7) from the surroundings of the motor vehicle (1); b) identifying (S2) a plurality of ultrasonic echoes (8) in the received ultrasonic reception signals (7) and recording a relevant echo signal representation (9) for each of the identified ultrasonic echoes (8); c) determining (S3) a classification (32, 33) of each of the plurality of echo signal representations (9) as a reflection of the ultrasonic transmission signal on a punctiform object (10) or as a reflection of the ultrasonic transmission signal on a linear object (11); and d) generating (S4) a number of object features (18, 19) which indicate a relevant object (10, 11) in the surroundings of the motor vehicle (1) on the basis of the plurality of ultrasonic echoes (8), taking into account the classifications (32, 33) of the plurality of echo signal representations (9).
G01S 7/539 - 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 - Details of systems according to groups , , of systems according to group using analysis of echo signal for target characterisation; Target signature; Target cross-section
According to a method for distance measurement, light is emitted and a reflected part is detected. A first and a second energy value (E2) of the reflected part detected during a first and a second measurement interval (21a, 22a, 23a, 24a) are determined, wherein a duration of the measurement intervals (21a, 22a, 23a, 24a) is given by an integration time and the first energy value (E1) fulfils a predefined saturation condition. A first further energy value (E1 ') of the reflected part detected during a first further measurement interval (26a, 27a, 28a, 29a) is determined, whose duration is shorter than the integration time. An energy value for the first measurement interval (21a, 22a, 23a, 24a) is estimated depending on the first further energy value (E1 ') and a distance is determined depending on the estimated energy value (eE1) and the second energy value (E2).
B60W 50/00 - CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - Details of control systems for road vehicle drive control not related to the control of a particular sub-unit
An optical vehicle environmental sensor (4) comprises: a housing (5) and a multi-layered circuit board (6) accommodated in the housing (5). The multi-layered circuit board (6) comprises: a microoptics layer (10) comprising a number of microoptical elements (18-20) and an electronic layer (9) comprising a number of light sensing elements (12-14). Each of the light sensing elements (12-14) is arranged in a light path of incident light (15-17) that has passed through an associated one of the number of microoptical elements (18-20).
B60S 1/08 - Wipers or the like, e.g. scrapers characterised by the drive electrically driven
H01L 31/173 - SEMICONDUCTOR DEVICES NOT COVERED BY CLASS - Details thereof structurally associated with, e.g. formed in or on a common substrate with, one or more electric light sources, e.g. electroluminescent light sources, and electrically or optically coupled thereto the semiconductor device sensitive to radiation being controlled by the light source or sources the light sources and the devices sensitive to radiation all being semiconductor devices characterised by at least one potential or surface barrier formed in, or on, a common substrate
69.
METHOD FOR OPERATING A LIDAR SYSTEM, LIDAR SYSTEM, AND VEHICLE COMPRISING AT LEAST ONE LIDAR SYSTEM
The invention relates to a method for operating a lidar system, in particular a lidar system for a vehicle, to a lidar system, and to a vehicle. In the method, at least one optical beam is transmitted into at least one monitored region by at least one transmission device, and at least one optical beam reflected on at least one object present in the at least one monitored region is received by at least one receiving region of at least one receiving device and is converted into at least one reception variable. At least one piece of object information relating to at least one object reflecting the optical beam is ascertained from at least one reception variable. At least one optical beam is transmitted with an intensity distribution (36) which is defined over the beam profile. At least two beam profile sections of the beam profile of the at least one optical beam are imaged onto at least two adjacent receiving regions, received by the respective receiving regions, and converted into respective reception variables. The at least one optical beam is transmitted into the at least two beam profile sections with different intensities (40a, 40b, 40c).
G01S 17/42 - Simultaneous measurement of distance and other coordinates
G01S 17/931 - Lidar systems, specially adapted for specific applications for anti-collision purposes of land vehicles
70.
METHOD FOR ALIGNING AT LEAST TWO COMPONENTS OF AN OPTICAL DEVICE, SAID COMPONENTS INTERACTING IN AN OPTICALLY FUNCTIONAL MANNER, OPTICAL DEVICE, AND VEHICLE COMPRISING AT LEAST ONE OPTICAL DEVICE FOR MONITORING AT LEAST ONE MONITORED REGION
The invention relates to a method for aligning at least two components (26, 28, 34, 42, 46) of an optical device (12) relative to each other, said components interacting in an optically functional manner, to an optical device (12), and to a vehicle (10). According to the method, the actual state (AZ) of the optical device (12) is ascertained, said actual state characterizing the alignment of the at least two optical components (26, 28, 34, 42, 46), and the alignment of the at least two optical components (26, 28, 34, 42, 46) is adjusted on the basis of the at least one ascertained actual state (AZ). The method is used to align at least two optical components (26, 28, 34, 42, 46) of an optical device (12) in the form of a lidar system (12), said components interacting in a functional manner. At least one optical beam (30) is transmitted into at least one monitored region (16) by means of at least one optical transmission device (20) of the lidar system (12). At least one optical beam (30) which is reflected in the at least one monitored region (16) is received by means of at least one of at least two optical receiving regions (46) of the lidar system (12), said receiving regions being arranged along an imaginary receiving region axis, and is converted into at least one actual illumination variable (62) which characterizes an actual illumination state (AZ) with respect to the illumination of the at least one optical receiving region (46) by means of the at least one reflected optical beam (30). The alignment of the at least two optical components (26, 28, 34, 42, 46) relative to each other is adjusted by means of at least one adjusting device (40) of the lidar system (12) on the basis of the at least one actual illumination variable (62).
The invention relates to an ultrasonic sensor (3, 31-34) for a motor vehicle (1), comprising a membrane assembly (5) for transmitting and receiving ultrasonic signals (13). A passive damping element (11) is arranged on an inner side of the membrane assembly (5). An actuator (12) is arranged on an inner side of the passive damping element (11), which actuator is configured to exert a force onto the passive damping element (1) as a function of an actuating signal applied to the actuator (12), which force modifies a mechanical coupling between the damping element (11) and the membrane assembly (5).
B06B 1/06 - Processes or apparatus for generating mechanical vibrations of infrasonic, sonic or ultrasonic frequency making use of electrical energy operating with piezoelectric effect or with electrostriction
G01H 11/08 - Measuring mechanical vibrations or ultrasonic, sonic or infrasonic waves by detecting changes in electric or magnetic properties by electric means using piezoelectric devices
The present invention refers to a method for generating a lateral boundary warning (54, 56) to a human driver of a vehicle (10) when approaching or crossing a lateral driving boundary (38, 40, 42), comprising the steps of receiving sensor information covering the environment (20) of the vehicle (10), identifying at least one lateral driving boundary (38, 40, 42) in the environment (20) of the vehicle (10) based on the received sensor information, determining a position of the at least one lateral driving boundary (38, 40, 42) relative to the vehicle (10) based on the received sensor information, and generating a lateral boundary warning (54, 56) based on the position of the at least one lateral driving boundary (38, 40, 42) relative to the vehicle (10) in at least one mirror device (26, 28, 30) of the vehicle (10). The present invention also refers to a driving support system (12) for a vehicle (10) for generating a lateral boundary warning (54, 56) to a human driver of the vehicle (10) when approaching or crossing a lateral driving boundary (38, 40, 42), which is adapted to perform the above method.
B60W 50/14 - Means for informing the driver, warning the driver or prompting a driver intervention
73.
OPTICAL INTERFEROMETER, LASER CONTROL DEVICE, TRANSMITTING DEVICE FOR A LIDAR SYSTEM, LIDAR SYSTEM, VEHICLE HAVING AT LEAST ONE LIDAR SYSTEM, AND METHOD FOR OPERATING AN OPTICAL INTERFEROMETER
The invention relates to an optical interferometer (40), in particular for a LiDAR system (12), in particular for a laser control device (36) for a laser (30), in particular of a LiDAR system (12) for a vehicle (10). The LiDAR system (12), which is realised in part as an integrated lens, comprises a transmitting device (24), a receiving device (26), and a control and evaluation device (28). The optical interferometer (40), in particular a Mach-Zehnder interferometer, comprises at least two optical branches (48, 50) for guiding optical waves (38). In at least one of the optical branches (48), at least one optical microresonator (58) is arranged, for example a travelling wave resonator, an optical whispering gallery resonator and/or a ring resonator, in order to retard optical waves (38) by means of a retarding element (58). The interferometer (40) has an adjustment means (60), for example in the form of a heating element. The interferometer (40) further comprises an incoupler (52), for example in the form of a beam splitter. By means of the incoupler (52), the control signals (38) coming from the branching means (34) can be divided between the branches (48, 50). The interferometer (50) also comprises an outcoupler (54). The outcoupler (54) is located at the end of the optical branches (48, 50), combining the portions of the optical control signal (38), wherein the waves can be superimposed. The combined portions of the control signal (38) can be output as an interference signal (56) and transmitted to a control detector (42). An evaluation means (44) and a laser control means (46) are integrated in the control and evaluation device (28) of the LiDAR system (12).
G02B 6/293 - Optical coupling means having data bus means, i.e. plural waveguides interconnected and providing an inherently bidirectional system by mixing and splitting signals with wavelength selective means
G02F 1/01 - Devices or arrangements for the control of the intensity, colour, phase, polarisation or direction of light arriving from an independent light source, e.g. switching, gating or modulating; Non-linear optics for the control of the intensity, phase, polarisation or colour
G02F 1/21 - Devices or arrangements for the control of the intensity, colour, phase, polarisation or direction of light arriving from an independent light source, e.g. switching, gating or modulating; Non-linear optics for the control of the intensity, phase, polarisation or colour by interference
74.
SENSOR DEVICE HAVING A TORQUE SENSOR UNIT AND A STEERING ANGLE SENSOR UNIT FOR A MOTOR VEHICLE
The present invention relates to a combined sensor device (100) having a torque sensor unit (10) and a steering angle sensor unit (20) for a motor vehicle and to a secondary rotor assembly (30) for a steering angle sensor unit (20) of such a sensor device (100), the steering angle sensor unit (20) having a main rotor (21) which can be connected for conjoint rotation to the shaft (11), a first secondary rotor (31), a first steering angle magnetic unit (32) which is assigned to the first secondary rotor (31) to generate a first steering angle magnetic field, and a first steering angle magnetic sensor (35) which is assigned to the first secondary rotor (31) to generate at least one first sensor signal as a function of a rotary angle of the main rotor (21). The sensor device (100, 200) further has a magnetic shielding unit (33, 43) having at least one flat magnetic shielding element (33) in order to shield the torque sensor magnetic field of the torque sensor unit (10) and the first steering angle magnetic field (32) of the steering angle sensor unit (20) at least partially from one another, wherein the first shielding element (33) is arranged on a side of the first steering angle magnetic unit (32) facing away from the first steering angle magnetic sensor (35) in the axial direction and is fastened for conjoint rotation to the first secondary rotor (31).
B62D 6/10 - Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to input torque characterised by the means for sensing torque
G01D 5/14 - Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
G01D 21/02 - Measuring two or more variables by means not covered by a single other subclass
G01L 3/10 - Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft involving electric or magnetic means for indicating
G01L 5/22 - Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers
75.
VEHICLE CAMERA, HOUSING FOR AT LEAST ONE VEHICLE CAMERA, AND VEHICLE COMPRISING AT LEAST ONE VEHICLE CAMERA
The invention relates to a vehicle camera (14) for a vehicle, comprising at least one housing (16) which has at least one first housing part (18) and at least one second housing part (20) which at least partially delimit at least one housing interior (32) of the at least one housing (16), and comprising at least one support plate (34) which supports at least one functional component (36) of the vehicle camera (14), is arranged at least partly between the at least one first housing part (18) and the at least one second housing part (20) so as to rest on each housing part, and is at least partly arranged in the at least one housing interior (32). The at least one first housing part (18) has at least two opposing outer contact sections (44) which each have an outer contact surface (60). The outer contact surfaces (60) are arranged on the sides of the opposing outer contact sections (44) facing each other. The at least one second housing part (20) has at least two opposing inner contact sections (52) which each have inner contact surface (58). The inner contact surfaces (58) are arranged on the sides of the opposing inner contact sections (52) facing away from each other. At least two opposing inner contact sections (52) are arranged between two respective opposing outer contact sections (44). The inner contact surfaces (58) each lie on a corresponding outer contact surface (60). The at least one second housing part (20) is at least partly elastic.
B60R 1/20 - Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
H04N 23/52 - Elements optimising image sensor operation, e.g. for electromagnetic interference [EMI] protection or temperature control by heat transfer or cooling elements
H05K 5/00 - Casings, cabinets or drawers for electric apparatus
76.
CHECKING THE AUTHENTICITY OF AN OBJECT IN A POINT CLOUD
According to a computer-implemented method for checking the authenticity of an object in a point cloud (8) generated by an active optical sensor system (3) and containing respective three-dimensional coordinates for a plurality of points, a first object (4) is identified as a first point cluster (4') of the plurality of points and a second object (5) is identified as a second point cluster (5') of the plurality of points. Based on the first point cluster (4') and the second point cluster (5'), a check is performed as to whether the second object (5) is completely covered by the first object (4). The second object (5) is classified as a ghost object if, according to the result of the check, the second object (5) is completely covered by the first object (4).
G06V 20/56 - Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
G06V 10/26 - Segmentation of patterns in the image field; Cutting or merging of image elements to establish the pattern region, e.g. clustering-based techniques; Detection of occlusion
77.
FAULT DETECTION DURING OPERATION OF A DEVICE FOR DETECTING CONTACT WITH A CAPACITIVE ELEMENT
According to a method for fault detection during operation of a device for detecting contact with a capacitive element (3), the capacitive element (3) is charged during each measurement cycle of a plurality of successive measurement cycles and subsequently an amount of charge of the capacitive element (3) is transferred to a further capacitive element (5) within the same measurement cycle. After the plurality of measurement cycles, a measurement value relating to a total amount of charge transferred overall to the further capacitive element (5) during the plurality of measurement cycles is determined. It is checked whether the measurement value is smaller than or equal to a predetermined first threshold value and whether the measurement value is larger than or equal to a predetermined second threshold value. Depending on a result of the check, the presence of a fault is established and a fault type of the fault is determined.
The present invention relates to an image signal generating device (10) for a head-up display (100), to a head-up display (100), and to a method for mounting a head-up display (100), wherein: the image signal generating device (10) has a printed circuit board (11) which has a printed circuit board plane, and a plug connector (42) and is designed to generate and output one or more image signals which represent image information; the printed circuit board (11) has a first positioning aid (12, 13) and a second positioning aid (14, 15) in order to arrange the printed circuit board (11) in a defined position relative to a printed circuit board holder (30, 31); the printed circuit board holder (30, 31) has at least one correspondingly designed holder positioning aid (16, 17); and the first positioning aid (12, 13) and the second positioning aid (14, 15) of the printed circuit board are designed and arranged mirror-symmetrically to one another with respect to a first axis of symmetry (S1) running in the printed circuit board plane, and the plug connector (42) is arranged at a position along the first axis of symmetry (S1).
B60K 35/00 - Arrangement or adaptations of instruments
79.
METHOD FOR GENERATING THREE-DIMENSIONAL SURROUND INFORMATION OF AN OPTICAL DETECTION DEVICE, COMPUTER PROGRAM PRODUCT, COMPUTER-READABLE STORAGE MEDIUM, OPTICAL DETECTION DEVICE, ASSISTANCE SYSTEM, AND MOTOR VEHICLE
The invention relates to a method for generating three-dimensional surround information (11) of an optical detection device (3), including the steps of: - emitting a multiplicity of light pulses (7) into the surround (6); - receiving light pulses (8) reflected in the surround (6); - evaluating the received light pulses (8) by means of an electronic computing device (4); characterized by the steps of: - generating at least one two-dimensional image (12) of the surround (6) on the basis of received surround light (19) from the surround (6); - generating at least one three-dimensional point cloud (13) of the surround (6) on the basis of the reflected light pulses (9); and - generating the three-dimensional surround information (11) on the basis of the generated two-dimensional image (12) and on the basis of the three-dimensional point cloud (13). Further, the invention relates to a computer program product, a computer-readable storage medium, an optical detection device (3), and an assistance system (2).
G01S 17/931 - Lidar systems, specially adapted for specific applications for anti-collision purposes of land vehicles
G01S 17/894 - 3D imaging with simultaneous measurement of time-of-flight at a 2D array of receiver pixels, e.g. time-of-flight cameras or flash lidar
G01S 17/46 - Indirect determination of position data
G01S 17/36 - Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated with phase comparison between the received signal and the contemporaneously transmitted signal
The present invention refers to a method for performing an intersection blocking prevention for traffic participants (14) in vicinity of the intersection (12), comprising the steps of defining a non-blocking area (28) for the intersection (12), receiving environment sensor information covering at least one exiting area (30) and at least one entrance area (32) adjacent to the non-blocking area (28) and connected to the intersection (12), determining a free space (52) in the at least one exiting area (30) as a space between the non-blocking area (28) and a traffic participant (14) located in the respective exiting area (30) closest to the non-blocking area (28), identifying a traffic participant (14) in the at least one entrance area (32) with a driving path (54) to the at least one exiting area (30), determining if the identified traffic participant (14) fits the free space (52) in the at least one exiting area (30) according to its driving path (54), and sending a warning message to the identified traffic participant (14) in case it does not fit in the free space (52) in the at least one exiting area (30) according to its driving path (54). The present invention also refers to an intersection blocking prevention unit (16) for perform the above method. The present invention further refers to an intersection blocking prevention system (10) for preventing blocking the intersection (12) with traffic participants (14) in vicinity of the intersection (12), comprising the above intersection blocking prevention unit (16) and multiple traffic participants (14) in communication connection with the intersection blocking prevention unit (16).
The present invention relates to an operator control input apparatus (10) having an operator control interface (11), a touch sensor device (20), a force sensor device (30) and an evaluation device (40), and to a method for operating an operator control input apparatus (10) of this kind, wherein the evaluation device (40) is designed to determine the actuation state of the operator control input apparatus (10) and to generate and output an operator control signal (BDS) characterising the actuation state of the operator control input apparatus (10), wherein the operator control input apparatus (10) can assume an unactuated initial state (Z0) and at least one actuation-expected state (Z1, Z2), wherein in the unactuated initial state (Z0) a current base force value (BKW) is equal to a value of a currently captured actual force signal (IKS) and in an actuation-expected state (Z1, Z2) the current base force value (BKW) is, in each case, a defined force value, and wherein the operator control input apparatus (10) is designed, when touching of the operator control interface (11) is identified, to switch from the unactuated initial state (Z0) to a first actuation-expected state (Z1), and/or is designed, depending on the actual force signal (IKS) to determine a force signal gradient for the applied and captured operating force (F) and to compare the determined force signal gradient with a pre-defined gradient threshold value and, if the determined force signal gradient of the applied and captured operating force (F) exceeds the pre-defined gradient threshold value, to switch from the unactuated initial state (Z0) to a second actuation-expected state (Z2).
G06F 3/041 - Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means
B60K 37/06 - Arrangement of fittings on dashboard of controls, e.g. control knobs
82.
METHOD FOR OPERATING A DETECTION DEVICE FOR MONITORING AT LEAST ONE MONITORED REGION IN A SPATIALLY RESOLVED MANNER, DETECTION DEVICE, AND VEHICLE COMPRISING AT LEAST ONE DETECTION DEVICE
The invention relates to a method for operating a detection device for monitoring at least one monitored region, in particular of a vehicle, in a spatially resolved manner, to a detection device, and to a vehicle comprising at least one detection device. The detection device has multiple measuring channels (38) which can be bundled and each of which comprises a receiving region (36) for receiving electromagnetic radiation from the at least one monitored region in a spatially resolved manner. According to the method, at least one respective measurement channel variable is ascertained from the receiving state of the respective receiving region (36) for at least some of the measurement channels (38). At least one information variable is ascertained at least for some of the measurement channels (38) on the basis of at least one of the respective measurement channel variables, said information variable characterizing the monitored region state of the at least one monitored region with respect to locations from which electromagnetic radiation can reach the detection device. At least one respective measurement channel variable is used as a validation measurement channel variable for at least some of the measurement channels (38), and a check is carried out for at least some of the measurement channels (38) in order to determine whether the respective validation measurement channel variable lies within a specified acceptance range. At least some of the measurement channels (38) with respective validation measurement channel variables which do not lie within the acceptance range and with respective receiving regions (36) which adjoin one another are bundled in order to form at least one combination measurement channel (40), and at least some of the respective corresponding measurement channel variables thereof are combined in order to form combination measurement channel variables.
Described are techniques for generating, updating, and using sensor-based navigational maps. An input map is generated based on sensor data captured by a first sensor of a first vehicle. The input map is filtered based on one or more criteria to generate a filtered map corresponding to a three-dimensional representation of a route traveled by the first vehicle. The filtering can be based on detecting features using sensor data captured by a second sensor of the first vehicle. The one or more criteria can include object classes, distance criteria, and/or other criteria relating to attributes of features in the sensor data captured by the first sensor and/or the sensor data captured by the second sensor. The filtered map can be stored for transmission to a second vehicle, for use in determining a location of the second vehicle while the second vehicle is traveling along the same route.
The invention relates to a method for operating a vehicle (1) when driving through a car wash (10), comprising the steps of: receiving (S1) sensor data (S) from one or more sensors (3, 4, 5, 6, 7) of the vehicle (1) by a control device (2) of the vehicle (1), and detecting (S2) when an end (19) of the car wash (10) is reached based on the sensor data (S) by means of the control device (2).
A camera system (3) for being mounted to a windshield (2) of a motor vehicle (1) comprises a camera (8) with a lens unit (14) and an optical element (11), which comprises a structure forming a plurality of prisms (12) on a first side of the optical element (11). The optical element (11) is arranged in a field of view (16) of the camera (8) and an optical axis (15) of the lens unit (14) passes through the optical element (11).
DETECTION DEVICE, IN PARTICULAR OF A VEHICLE, FOR MONITORING AT LEAST ONE MONITORING REGION BY MEANS OF ELECTROMAGNETIC SCANNING SIGNALS, VEHICLE AND METHOD FOR OPERATING A DETECTION DEVICE
A detection device (14) for monitoring at least one monitoring region (20) of a vehicle by means of electromagnetic scanning signals (28), a vehicle and a method for operating a detection device (14) are described. The detection device (14) comprises a transmitting unit (22) for transmitting electromagnetic scanning signals (28) into the monitoring region (20), and a receiving unit (24) for receiving electromagnetic echo signals (30) that stem from scanning signals (28) reflected in the monitoring region (20). The transmitting unit (22) has at least one signal source (36) for generating electromagnetic scanning signals (28) and at least one signal dispersion unit (40) for dispersing electromagnetic scanning signals (28) generated by the at least one signal source (36) into the monitoring region (20), which surrounds a vehicle vertical axis (18). The signal dispersion unit (40) comprises a signal wave guide member (41) for guiding electromagnetic scanning signals (28). The signal wave guide member (41) has at least one signal input coupling region (42) for a scanning signal (28) coming from the signal source (36), and at least one signal exit portion (48) that extends coherently over the circumference on a circumferential side of the signal wave guide member (41) that is radially external to the axis (18) and in which scanning signals (28) guided in the signal wave guide member (41) can exit from the signal wave guide member (41). The LiDAR system (14) can be used to monitor a monitoring region (20) beneath the vehicle (10) for objects. The overlap between a reception field of view (56) and an illumination field (52) forms the monitoring region (20). A received signal deflection unit (54) comprises a panoramic mirror, for example. Alternatively, the received signal deflection unit (54) and the receiver (34) are arranged on opposite sides of the guide member (41).
The invention relates to a surroundings camera apparatus (4) for a vehicle (1), comprising: an image-capturing device (10) for capturing image data (B1) of the surroundings of the vehicle (1), an image processor unit (14) for processing the image data (B1) captured by the image-capturing device (10), an image-data interface (15) for receiving image data (B2) from an occupant camera apparatus (5), wherein the image processor unit (14) is designed to process the image data (B2) from the occupant camera apparatus (5) received via the image-data interface (15), and a housing (9) in which the image-capturing device (10), the image processor unit (14) and the image-data interface (15) are at least partially accommodated.
H04N 23/57 - Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices
B60R 1/00 - Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
H04N 23/90 - Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
The invention relates to a head-up display device (10) for a motor vehicle, comprising a housing part (12), in which an image-generating unit (14) of the display device (10) is arranged. The image-generating unit (14) is designed for providing an image which can be projected onto a translucent projection surface. The image-generating unit (14) can be subjected to light by means of an illumination device of the display device (10). A holding device (18) is secured to the housing part (12) in the area of the illumination device, wherein the image-generating unit (14) is retained on the holding device (18).
G02F 1/13 - Devices or arrangements for the control of the intensity, colour, phase, polarisation or direction of light arriving from an independent light source, e.g. switching, gating or modulating; Non-linear optics for the control of the intensity, phase, polarisation or colour based on liquid crystals, e.g. single liquid crystal display cells
89.
ACTIVE OPTICAL SENSOR SYSTEM HAVING HIGH SENSITIVITY
The invention relates to an active optical sensor system (4) comprising: - an emitter unit (6), which is designed to emit a plurality of light pulses (9) during each of two or more scanning cycles; - a detector unit (7), which is designed to sense reflected portions (9') of the plurality of emitted light pulses (9) and to generate, in accordance therewith, at least one detector signal, the detector signal representing an amount of energy of a corresponding reflected portion (9'); and - at least one processing unit (8), which is designed to generate, for each of the scanning cycles, a first point cloud of scanning points on the basis of the at least one detector signal, the first point cloud corresponding to exceedance of a predefined first threshold value (T1) by the amount of energy. The at least one processing unit (8) is designed to identify consistent scanning points of the first point clouds, the consistent scanning points being characterized in that they are contained with respective consistent spatial coordinates in each of the first point clouds, and to generate a filtered first point cloud on the basis of the identified consistent scanning points.
G01S 7/48 - 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 - Details of systems according to groups , , of systems according to group
A method, apparatus, and computer-readable medium for confirming a perceived position of a traffic light, by obtaining identifiers and results of a first perception of traffic lights associated with the identifiers, the results of the first perception including a first estimation of an ellipse encompassing each of the traffic lights, receiving results of a second perception of traffic lights associated with the identifiers, the results of the second perception including a second estimation of an ellipse encompassing each of the traffic lights, calculating, based on the first perception and the second perception, association parameters for each possible pair of estimated ellipses, selecting, based on the calculated association parameters for each possible pair of estimated ellipses, matching pairs of estimated ellipses, and fusing each matching pair of estimated ellipses.
G08G 1/0962 - Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
G01C 21/00 - Navigation; Navigational instruments not provided for in groups
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
91.
CAMERA ARRANGEMENT, METHOD FOR DESIGNING A CURVATURE OF A COVER, AND COVER FOR A CAMERA ARRANGEMENT
The present invention relates to a camera arrangement (100) for a vehicle, comprising a camera (10) having an optical axis (AK) and a camera field of view (11) for optically detecting at least one item of image information of the surroundings, and further comprising a planar cover (20) having an outer surface (21), an inner surface (22) and at least one optically active region (23) in which the cover (20) is light-permeable and can be penetrated by light rays, wherein the optically active region (23) of the cover (20) protrudes into the camera field of view (11) and at least partially covers the field of view (11) of the camera (10), and the outer surface (21) and the inner surface (22) are each at least partially curved in the optically active region (23) of the cover (20), and wherein a curvature of the outer surface (21) and a curvature of the inner surface (22) in the optically active region are designed and matched such that and the cover (20) is arranged relative to the camera (10) such that at least one variable that characterises an undesired optical effect caused by the cover (20) lies within a defined range.
G03B 17/00 - APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR - Details of cameras or camera bodies; Accessories therefor
B60R 1/20 - Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
G02B 27/00 - Optical systems or apparatus not provided for by any of the groups ,
There is provided a sensor unit (2) for a vehicle (1), comprising: an optical sensor (7); and an optical element (13) arranged in front of the optical sensor (7), the optical element (13) comprising a convex surface (20, 20') facing away from the optical sensor (7) and a concave surface (21) facing towards the optical sensor (7), wherein the convex surface (20, 20') has a longer radius (R, R') of curvature than the concave surface (21); wherein the convex surface (20, 20') has a shape which is non-rotationally symmetric about an axis (A) intersecting the optical element (13) and the optical sensor (7).
The invention relates to a calibration device arrangement (3), a calibration device (4) and a calibration method. The calibration device arrangement (3) comprises an automotive radar device (2) and a calibration device (4) comprising a holding unit (5) positioned at a distance (8) to the radar device (2) and calibration objects (6) positioned spaced apart in a first direction of the calibration device (4). Upon radar wave emission from the radar device (2) to all calibration objects (6), back signals receivable by the radar device (2) are analyzable using a fast Fourier transformation (FFT) algorithm. A peak location of each transformed back signal in the FFT spectrum is distinguishable and correspondable to the involved calibration object (6) so that a calibration of the radar device (2) for elevation and azimuth angles (11, 12) is performable while moving the holding unit (5) in a second direction perpendicular to the first direction.
The present invention refers to a method for removing non-relevant points of a point cloud (22) corresponding to a point representation of an environment (20) of an ego vehicle (10) with multiple individual points (24), comprising the steps of providing the point cloud (22) covering a position of the ego vehicle (10), recognizing the environment (20) of the ego vehicle (10) using at least one environment sensor (14) of the ego vehicle (10), determining a current position of the ego vehicle (10) within the point cloud (22) based on the recognition of the environment (20) of the ego vehicle (10), determining a projection area (32) with a projection of the ego vehicle (10) into the point cloud (22) based on the determined current position of the ego vehicle (10), and removing individual points (24) from the point cloud (22) in the projection area (32) of the ego vehicle (10) as non-relevant points. The present invention also refers to a driving support system (12) comprising at least one environment sensor (14) for recognizing an environment (20) of an ego vehicle (10) and a processing unit (16), which receives sensor information from the at least one environment sensor (14) via a data connection (18) and processes the sensor information, wherein the driving support system (12) is adapted to perform the above method.
The present invention relates to a method for calibration of a radar system (14) of a vehicle (10) for monitoring an environment of the vehicle (10). During a movement of the vehicle (10) with the radar system (14) at least one radar signal (22) is transmitted into a monitoring area (18). With the radar system (14) at least one echo signal (26) of at least one radar signal (22) is received, which is reflected from at least one target (24). At least one phase-based target angle (ΦS) is determined from at least one phase difference of the at least one received echo signal (26), which is received with different antennas of the radar system (14), wherein the phase-based target angle (ΦS) characterizes the direction of the at least one detected target (24) with respect to a radar reference system (28S) of the radar system (14). At least one Doppler-based target angle (ΦH) is determined from at least one Doppler shift of the at least one received echo signal (26) and a vehicle velocity (vH) of the vehicle (10), wherein the Doppler-based target angle (ΦH) characterizes the direction of the at least one detected target (24) with respect to a nominal reference system (28H) defining the calibration situation with the nominal mounting of the radar system (14) at the vehicle (10). At least one angle correction value (ΔΦ) is determined from a difference of at least one phase-based target angle (ΦS) and at least one Doppler-based target angle (ΦH). The at least one angle correction value (ΔΦ) is stored with at least one of the corresponding target angles (ΦS) in a correction lookup table for the purpose of correcting phase-based target angles (ΦS) at least from subsequent measurements with the radar system (14) to corrected target angles (Φcorr).
The invention relates to a calibration device arrangement (3), a calibration device (4) and a calibration method. The calibration device arrangement (3) comprises an automotive radar device (2) and a calibration device (4) comprising a holding unit (5) positioned at a distance (8) and calibration objects (6) positioned spaced apart on the holding unit (5). Upon radar wave emission from the radar device (2) to the calibration objects (6) a phase between individual back signals emittable from the calibration objects (6) is changeable so that a direction of arrival (13) of received back signals is changeable. The received back signals are analyzable using a fast Fourier transformation (FFT) algorithm. A peak location of each back signal in the FFT spectrum is directly correspondable to the direction of arrival (13) and distinguishable in relation to the direction of arrival (13) so that a calibration of the radar device (2) is performable.
The present invention relates to a radar sensor (14) in particular for a vehicle, a protective cover (30) for at least one antenna system (20) of a radar sensor (14), a vehicle with at least one radar sensor (14) and a method for heating at least one protective cover (30). The radar sensor (14) comprises at least one antenna system (20) for radar signals (22), at least one protective cover (30) transparent for radar signals (22), with which the at least one antenna system (20) is covered at least in sections towards the environment, at least one electrical heating element (42) to heat at least the at least one protective cover (30) at least temporarily. At least one electrical heating element (42) is realized with at least one electrical conductive antenna part (34) of the at least one antenna system (20) that comprises at least one electrical supply connection (46).
A method for calibrating a user input apparatus (1) contains a first calibration step in which a first relationship between a change in an actuation force exerted on a touch-sensitive surface (3) and a change in a sensor signal from a distance sensor (6) is determined. After the first calibration step, the user input apparatus (1) is installed in a motor vehicle. In a subsequent, second calibration step, the first relationship is corrected on the basis of an actual value of the sensor signal.
According to a computer-implemented method for road lane delimiter classification, environmental sensor data is obtained from an optical environmental sensor system (4) of a motor vehicle (1), the environmental sensor data depicting a part of a road (7) on which the motor vehicle (1) is located. A plurality of points (14) representing a road lane delimiter (5, 8) is determined based on the environmental sensor data. For each of the plurality of points (14), respective two-dimensional coordinates are determined and each of the plurality of points is assigned to a bin of a two-dimensional array of coordinate bins. A two- dimensional histogram (20) is determined based on the binned plurality of points (14) and a classification algorithm is applied to the two-dimensional histogram (20) and a class of the road lane delimiter (5, 8) is determined depending on an output of the classification algorithm.
The invention relates to a method for operating a parking assistance system (110) for a vehicle (100), which parking assistance system is designed to train a manually driven trajectory (TR) in a training mode, and to automatically follow the trained trajectory (TR) by means of the vehicle (100) in a following mode. The training mode comprises: receiving (S1) an inclination angle sensor signal (NWS) from a sensor unit (120) of the vehicle (100) during manual travel along the trajectory (TR), and ascertaining (S2) an edge (200) at a particular position along the trajectory (TR) depending on the received inclination angle sensor signal (NWS). The following mode comprises: receiving (S3), from an environment sensor unit (130) of the vehicle (100), an environment sensor signal (US) which is indicative of an obstacle located at a position along the trained trajectory (TR) in the direction of travel of the vehicle (100); during the process of automatically following the trained trajectory (TR), ascertaining (S4) the position of the obstacle on the trained trajectory (TR) depending on the received environment sensor signal (US); and, according to a first set of rules (R1) or according to a second set of rules (R2), performing (S5) the process of following depending on a comparison of the ascertained position and the position determined in the training mode.
patents
