PROCEDURE FOR THE DETERMINATION OF THE LENGTH OF AN OBJECT OF MEANS RADAR

MOTOR VEHICLE DISPLAY SYSTEM AND - PROCEDURES FOR INDICATING THE MOVEMENT CONDITION OF THE MOTOR VEHICLE

SYSTEM FOR THE INFLUENCE OF THE SPEED OF A MOTOR VEHICLE

NEAR OBSTACLE DETECTION SYSTEM

In a radar system for alerting the vehicle operator of obstacles behind the vehicle when backing up or in front of the vehicle below the operator's line of sight an RF signal is transmitted at a frequency modulated by a sawtooth signal. The transmitted RF signal is mixed with the transmitted signal reflected from an object. The resulting IF signal is analyzed into a Fourier series having a DC coefficient and harmonic frequency coefficients. The range to the object is determined from the harmonic frequency coefficients in multiples of the range resolution determined by the RF bandwidth of the system when the DC coefficient is less than each of the harmonic frequency coefficients. The range to the object is determined to be within 1/2 the range resolution determined by the RF bandwidth when the DC coefficient is greater than each of the harmonic frequency coefficients.

TARGET VEHICLE SPEED GENERATION DEVICE AND DRIVE CONTROL DEVICE

A target vehicle speed generation device comprises a determination unit (30) and a correction unit (32). The determination unit (30) determines whether or not a sudden change point (P), at which acceleration changes in excess of a predetermined condition, is present in the target vehicle speed contained in the target route information of the vehicle, which is set in advance. The correction unit (32) corrects the target vehicle speed so as to eliminate the sudden change point (P), if it is determined that the sudden change point (P) is present by the determination unit (30).

Preceding vehicle selection apparatus

Method and system for forecasting impact time and impact speed

METHOD FOR INDICATING THE EXISTENCE OF A RISK, IN CONNECTION WITH THE SPEED, IN THE SITUATION OF VEHICLE MOVEMENT AND DEVICE FOR [...] OF THE METHOD.

Method of regulation of distance between two motor vehicles

L'invention concerne un procédé de régulation de la distance entre un véhicule cible (C) et un véhicule suiveur (S) comportant les étapes suivantes : - détermination de la distance de consigne (Dc) entre les deux véhicules, dans un scénario routier de suivi, pour lequel le véhicule suiveur se stabilise à une vitesse (VACC) égale à la vitesse (Vci) de la cible; - détermination du scénario routier entre les deux véhicules, à partir de la distance (Dr) et de la vitesse (Vr) relatives du véhicule (S), et du pourcentage d'intrusion du véhicule dans ladite distance de consigne, parmi cinq types de scénarios d'observation, d'approche, de danger, d'insertion et de dépassement; - identification du comportement routier du véhicule suiveur (S), pour chaque scénario, parmi des classes de comportements routiers; - filtrage et pondération pour classer le comportement routier en plusieurs catégories; - sélection et paramétrage automatiques des lois de commande.

METHOD AND SYSTEM FOR ASSOCIATING DATA FOR DETECTION AND TRACKING OF MOVING OBJECTS FOR MOTOR VEHICLE

Device for the localised and range-limited detection of obstacles, people and objects

SYSTEM Of ASSISTANCE OF CONTROL WITH TARGET DETECTION

Procédé et dispositif de détection d'un obstacle dans un système d'assistance de conduite (12) comportant des capteurs (22) pour capter l'environnement du véhicule (10) consistant à : - émettre des faisceaux de détection par une source de rayonnement (26, 26') intégrée en plus des capteurs (22) dans un plan de rayonnement (28) à une hauteur prédéfinie au-dessus du sol, - exploiter les données fournies par les capteurs (22) recevant les rayons de détection réfléchis, - déterminer (104) si la réflexion détectée tombe dans un champ de l'environnement prédéfini du véhicule, et - émettre de manière sélective un signal de détection d'un obstacle (14) de hauteur prédéfinie dans l'environnement du véhicule.

A method and device for mounting covered with a detector in an exterior portion of an [...] engine

Procédé et dispositif pour le montage recouvert d'un détecteur dans une partie extérieure d'un véhicule à moteur, caractérisés en ce que: a) le détecteur (2) est disposé de façon fixe à un endroit prédéfini de la partie extérieure du véhicule à moteur (1), de préférence en venant à fleur avec la membrane par rapport à la partie extérieure du véhicule à moteur (1) et en ce que: b) au moins l'endroit, où se trouve le détecteur (2), est pourvu d'un recouvrement (4) adapté au contour de la partie extérieure (1) du véhicule à moteur.

SYSTEM OF RECOGNITION OF DANGER FOR VEHICLES

METHOD AND DEVICE FOR ADAPTING THE GUIDANCE OF A VEHICLE

The invention relates to a method and a device for adapting the guidance of a vehicle (1) in a region (9) that comprises at least one obstacle (4, 5, 10, 11). The method comprises the steps of determining the height profile of a trajectory that the vehicle (1) is supposed to follow when parking in the region (9), and adapting the speed of the vehicle (1) to the determined height profile by controlling the engine and/or the brake of the vehicle.

SAFETY DEVICE FOR MOTOR VEHICLES

The invention relates to a safety device for motor vehicles, comprising a sensor system (10) for locating objects (30; 32) at least on an adjacent lane to the travel lane of the vehicle and having a prediction module (14) for predicting a degree of blocking of at least one adjacent lane, wherein the prediction module (14) is designed to predict a degree of blocking of the adjacent lane by as of yet non-located objects (32) in dependence on information on located objects (30). The invention further relates to a method comprising the steps of: locating an object (30) on the adjacent lane to the travel lane of a motor vehicle (24); and predicting a degree of blocking of the adjacent lane by as of yet non-located objects (32) in dependence on the performed object location.

DEVICE FOR CONTROLLING PEDESTRIAN PROTECTION MEANS

The invention relates to a device for controlling pedestrian protection means (6), which comprises a surround sensor system (1) for determining a relative speed between a vehicle containing the device and the pedestrian. The device controls the protection means (6) in accordance with said relative speed and the inherent speed of the vehicle.

Motor vehicle display system and ranging device

The state of motion of a motor vehicle is indicated to a driver of a following vehicle by employing an array of lamps. The state of motion is determined by sensing vehicle velocity, deceleration being measured either directly via a transducer or being derived from measured velocity. When the subject vehicle is determined to be stationary, the lamps are illuminated in a time dependent sequence to produce an animated visual display in which the lamps are illuminated and selected pairs of lamps are sequentially de-actuated to provide a pattern cyclically moving outwardly from the center to both left and right ends of the array. The approach of the following vehicle to within a pre-set distance of the stationary vehicle is sensed and triggers a change in the display to a static visual display in which an outer pair of lamps remain illuminated. During deceleration, the level of deceleration is indicated by illuminating progressively more lamps with increasing deceleration.

Sensing apparatus for vehicles

A target object position sensing apparatus for a host vehicle, comprises a lane detection apparatus provided on the host vehicle which includes an image acquisition means adapted to capture an image of at least a part of the road ahead of the host vehicle, a vehicle path estimation means adapted to estimate a projected path for the host vehicle, and a target vehicle detection apparatus which is adapted to identify the position of any target objects located on the road ahead of the host vehicle, the position including data representing the distance of the target vehicle from the host vehicle. A first data processing means determines a target lane in which the host vehicle will be located when it has travelled along the projected path by the distance to the target object and a second processing means compares the position of the target vehicle determined by the target vehicle detection means with the position of the target lane to provide a processed estimate of the actual position of the ...

Method and device for Recognising and adjusting left-hand or right hand driving

System and method for providing safety zone associated with a vehicle

A sensing system collects position data associated with one or more obstacles (104) within a certain range of a vehicle (104). A former establishes an occupancy grid based on the collected position data. A motion monitoring module determines a reaction distance and a deceleration distance associated with a vehicle at a regular time interval during an operational state. A safety guidance module establishes a safety zone (e.g., safety zone grid) for the regular time interval based on the occupancy grid, the determined reaction distance, and the deceleration distance.

SYSTEM FOR DETERMINING OBJECTS

自動車の周囲環境のモニタリング方法

SERVOMECHANISM FOR THE CONTROLLING OF A MOTOR VEHICLE

DRIVING ASSISTANT APPARATUS, DRIVING ASSISTANT METHOD, MOVING OBJECT, AND PROGRAM

The present invention pertains to a driving support device, a method, a mobile body, and a program, whereby appropriate driving support can be provided. The driving support device comprises a control unit that performs driving support processing for the host vehicle, on the basis of peripheral vehicle information relating to peripheral vehicles present in an area corresponding to the number of occupants in the host vehicle. The present invention can be applied to a mobile body such as an automobile, etc.

MEASURING DEVICE FOR A MOTOR VEHICLE

Methods and systems for generating and using localisation reference data

ASSISTANCE SYSTEM WITH the CONTROL Of a MOTOR VEHICLE

METHOD FOR MANAGING AN OBJECT RECOGNITION SYSTEM ON VEHICLES WITH TILTABLE AND SYSTEM THEREFOR

Procédé de gestion d'un système convertisseur (11) pour reconnaître de manière automatisée les objets de l'environnement d'un véhicule (10) consistant à : - gérer (100) le système convertisseur (11) dans un premier mode de fonctionnement réalisant un premier effet directionnel du système convertisseur (11), - reconnaître (200) une situation de conduite modifiée ou un angle de braquage modifié et la réponse à cette modification, et - faire fonctionner (300) le système convertisseur dans un second mode de fonctionnement réalisant un second effet directionnel du convertisseur pour émettre et/ou à recevoir des signaux (S).

DEVICE AND A METHOD FOR DETERMINING THE DISTANCE ENTER A VEHICLE AND AN OBJECT

SELF-STEERING VEHICLES

TRAFFIC RESPONSIVE SPEED CONTROL SYSTEM

Electronic indicator to monitor vehicle separation and vehicle parking

... - L'invention concerne un circuit électronique utilisant un signal d'écho (hyper-fréquence, ultrason ou autres) qui se réfléchi entre le véhicule de tête et le véhicule suiveur. Selon la vitesse du premier, le signal d'écho détermine la distance de sécurité à respecter par le véhicule suiveur. En cas de non respect de cette zone un signal lumineux apparaît à l'arrière du premier véhicule, signifiant au conducteur suiveur qu'il doit ralentir ou dépasser - Par temps de pluie ou de brouillard, la distance de sécurité à respecter est automatiquement adaptée aux conditions atmosphériques, d'où diminution des accidents par carambolages successifs. - Partant de ce même circuit électronique et utilisant un signal d'écho, un détecteur d'obstacles sonore permet le parcage aisé du véhicule en zone à risques (créneaux entre véhicules, fond de garage, arbre ou poteau isolé sur une place, etc). - La distance de réglage du déclenchement de l'alarme sonore est préréglée ou réglable. Le freinage arrête ...

METHOD FOR ASSISTING THE DRIVING OF A MOTOR VEHICLE

METHOD FOR SCANNING THE ENVIRONMENT OF A MOVING VEHICLE

Method for scanning the environment of a moving vehicle (10) using at least two sensors (12, 14) arranged spatially separate from each other on one side of the vehicle (10), wherein the at least two sensors deliver scanning points of the environment at a specified scanning rate and wherein the scanning of the at least two sensors (12, 14) is synchronised such that the scanning points of the environment, as viewed in the direction of movement of the vehicle (10), are delivered cyclically in succession by the at least two sensors (12, 14).

SCALABLE SENSOR SYSTEMS BASED ON SENSOR MODULES

A stand alone sensor module having built in intelligence that provides object detection for a both vehicle and stationary applications. The system includes a processor connected to a sensor and a signal interface. The processor receives signals from the sensor and the signal interface and generates a status signal based on the signals received from the sensor and the signal interface. The processor drives the status signal to the signal interface.

MOTOR VEHICLE WITH OPTICAL LATERAL ENVIRONMENT SENSOR INTEGRATED IN THE INDICATOR LIGHT

The invention relates to a motor vehicle, comprising at least one sensor for recording objects in a lateral environment of the vehicle, whereby the sensor comprises at least one transmitter for the transmission of electromagnetic radiation and a receiver for receiving electromagnetic radiation reflected from an object. According to the invention, the transmitter (15) and the receiver (20) are arranged in a side indicator (10) mounted on a side panel of the vehicle, whereby the transmitter (15) and the receiver (20) are covered by a cover (50) for the side indicator (10).

DEVICE FOR MONITORING THE SURROUNDINGS OF A VEHICLE

Disclosed is a device for monitoring the surroundings of a vehicle, which is characterized by the fact that objects are selected in a detection range of the sensor unit according to parameters such that only the selected objects are tracked by the sensor unit, allowing the adaptive use of restraint means, particularly reversible ones.

Collision predicting and avoidance device for moving vehicles

Apparatus for avoiding collision between a vehicle and an object that moves in a trajectory relative to the vehicle. The apparatus includes at least one microwave pulsed transmitter and receiver for transmitting a scanning beam of pulsed energy which scans a sector of space, at least forward of the vehicle, a check for producing timing pulses, a ranging device connected to the clock and the receiver for measuring the time difference between the transmitted pulses and any echoes received by the receiver. The antenna is pivotally coupled to the vehicle and a scanning motor serves to set the antenna in a scanning motion. A direction device is coupled to the scanning antenna for sensing the direction of the antenna. A computer is connected to ranging device, the clock, the direction device and computes continuously the last three coordinated for vector to the object, and is connected to an anunciator which can speak and/or display a message to the vehicle operator.

Lane Change Detection

The present invention relates to a vehicle safety system and method including a detection system, an emergency control unit and one or more safety devices. The detection system detects a target vehicle positioned longitudinally and laterally displaced relative the detection system, and defines a target vehicle rectangle that at least partly encloses the target vehicle, and constitutes an approximation of the target vehicle. The target vehicle rectangle forms a boundary (k) positioned along a second bearing having a second azimuth angle (δ′+δ′) with reference to a first reference line. The target vehicle rectangle forms a first corner (j) closest to the detection system and positioned along a first bearing having a first azimuth angle (δ′) with reference to the first reference line. The detection system calculates a yaw movement (θ) of the target vehicle using the first and second azimuth angles (δ′, δ′δ′). 1. A vehicle safety system comprising a detection system , an emergency control unit and at least one safety device , where the detection system is arranged to detect a target vehicle positioned longitudinally and laterally displaced relative the detection system , and to define a target vehicle rectangle that at least partly encloses the target vehicle , where the target vehicle rectangle has two sides that are parallel to the present forward running direction of the target vehicle and two sides that are perpendicular to the present forward running direction of the target vehicle , where the target vehicle rectangle further forms a first boundary and a second boundary , the first and second boundaries defining a largest extension of the target vehicle rectangle as viewed from the detection system in the azimuth plane , where the first boundary is positioned along a second bearing having a second azimuth angle (δ′+δ′) with reference to a first reference line , wherein the target vehicle rectangle forms a first corner (j) which is defined by the point of the target ...

OPTICAL RADAR EQUIPMENT FOR VEHICLE

PURPOSE: To identify securely a preceding vehicle by providing a light emitting means, photodetecting means, distance arithmetic means, and intervehicle distance judging means. CONSTITUTION: A light transmitter 23 is driven with a signal from a clock generator 21 and laser light Lt which is vertically divergent is outputted from the light transmitter 23 to before the vehicle. This laser light strikes a reflecting body such as the preceding vehicle in front of the vehicle and is reflected and its reflected light Lr is photodetected by a photodetector 25 and converted into an electric signal, which is supplied to a range finder 29 through an amplifier 27. Then, the circuit 29 is supplied with a clock signal from a generator 21 to measure the light propagation delay time between the current point and the point of time when the reflected photoelectric signal is supplied from the photodetector 25 through the amplifier 27, thereby calculating the range to the reflecting body. A microcomputer ...

FAHRASSISTENZSYSTEM FOR A MOTOR VEHICLE

PROCEDURE AND DEVICE FOR THE DETERMINATION OF THE VEHICLE SURROUNDING FIELD

MULTI-MODAL SWITCHING ON A COLLISION MITIGATION SYSTEM

Systems and methods for controlling an autonomous vehicle are provided. In one example embodiment, a computer-implemented method includes receiving data indicative of an operating mode of the vehicle, wherein the vehicle is configured to operate in a plurality of operating modes. The method includes determining one or more response characteristics of the vehicle based at least in part on the operating mode of the vehicle, each response characteristic indicating how the vehicle responds to a potential collision. The method includes controlling the vehicle based at least in part on the one or more response characteristics.

PROCESS AND DEVICE AUTOMATICALLY TO DETECT THE TRAFFIC STREAM IN AN AUTOMOBILE TRAFFIC

METHOD AND SYSTEM CONTEXTUALISEE PERCEPTION OF BODY MATERIALS

DEVICE OF RELEASE Of a PROTECTIVE SYSTEM OF the PASSENGERS

DRIVING ASSIST SYSTEM WITH DETECTION OF OBJECTS

Motor vehicle proximity control for acceleration and braking, has emitter on vehicle to determine position of leading vehicle using time delay of reflection

Dispositif d'aide à la conduite pour véhicule automobile (A), comprenant au moins un émetteur de rayonnement (F) vers l'avant du véhicule (A), un récepteur d'une partie de ce rayonnement réfléchi par un véhicule cible (B), et des moyens de calcul et de commande pour agir sur l'accélération et le freinage du véhicule suiveur (A) selon les informations provenant de l'ensemble émetteur - récepteur et selon des données propres au véhicule suiveur. Au moins l'émetteur est monté rotatif en azimut, et des moyens d'entraînement en rotation de l'émetteur sont prévus pour modifier l'azimut ( α ) du faisceau (F) de l'émetteur selon la courbure de la route. Avantageusement ce faisceau (F) tourne du même angle que celui du faisceau (F') d'un éclairage adaptatif.

PROCESS OF CALIBRATION Of a SYSTEM OF SENSOR

Procédé de calibrage d'un système de capteur par saisie et exploitation des objets dans la trajectoire d'un véhicule (1). Avec le système de capteur (2, 3, 4, 5), on saisit les données caractéristiques des objets (6) et on fournit à une unité de calibrage (7) les données qui, en tenant compte du mouvement propre du véhicule (1) correspondent à des objets (6) au repos ou quasi au repos. L'unité de calibrage (7) mesure la déviation entre les données actuelles et celles d'un modèle des objets (6) pour former un vecteur d'erreur et on minimise la déviation.

PROCESS OF MONITORING OF the ENVIRONMENT Of a MOTOR VEHICLE

L'invention concerne un procédé de surveillance d'un environnement d'un véhicule apte à se déplacer selon une trajectoire. Elle se caractérise en ce que le procédé comporte les étapes de : - Calculer une pluralité de niveaux critiques de roulage en fonction de capteurs de détection, de paramètres liés audit véhicule et d'un obstacle se trouvant dans l'environnement du véhicule ; - Déterminer si un obstacle se trouve sur la trajectoire dudit véhicule ; et - En fonction des niveaux critiques de roulage calculés et de la détermination d'un obstacle sur la trajectoire dudit véhicule, prendre une décision concernant le freinage du véhicule. Application : véhicule automobile ...

ANTI-COLLISION VEHICULAR RADAR SYSTEM

Anti-collision vehicular radar system which provides a warning of a potential collision of the vehicle with other vehicles or objects in the path of the vehicle and automatic braking. The invention utilizes a pulsed radar system (24) with overlapped antenna beams (13, 14, A, B) for off-axis object discrimination. The invention determines the pattern of change in relative velocity of the vehicle and the object which is detected by its radar to provide signals which are processed by circuitry to determine whether the detected object is a potential obstruction which must be avoided by braking or maneuvering of the vehicle. Each time the vehicle travels a predetermined, incremental distance, the radar (26) is pulsed (16). Circuitry (19) is provided which detects reflections from objects in 32 range gate intervals 10 feet in length, for example, extending in front of the vehicle. The received signal for each 10 foot range gate is a binary bit representing the presence of one or more objects ...

Device for monitoring the surroundings of a vehicle

A device is provided in a vehicle for monitoring the environment around the vehicle. The device includes a sensor system such that objects in a detection range of the sensor system are selected as a function of predetermined parameters so that only the selected objects are tracked by the sensor system. This permits adaptive use of reversible restraint means based on the sensor system output.

Extended angular resolution in sensor arrays using secondary echoes

A reflector is used to extend an aperture of an omni-directional, single-point remote-sensing echo-system utilizing secondary round-trip reflections of a transmitted sensor signal. The reflector is spatially displaced from a transmission element to contribute a secondary reflection whose echo from the target object provides additional information used to triangulate both azimuthal and elevation angles of the target object.

VEHICLE ALIGNMENT SYSTEMS FOR LOADING DOCKS

Example vehicle alignment systems for use at loading docks are disclosed herein. An example vehicle alignment system includes a first switch positioned on a first lateral edge of a doorway of the loading dock. The first switch is to be engageable by a first side surface of the vehicle. A second switch is positioned on a second lateral edge of the doorway opposite the first lateral edge. The second switch to be engageable by a second side surface of the vehicle opposite the first side surface. A controller is to receive a first feedback signal from the first switch and a second feedback signal from the second switch. The controller is to compare the first feedback signal and the second feedback signal to detect a lateral deviation of the vehicle relative to a reference.

METHOD AND DEVICE FOR IDENTIFYING AN IMMINENT COLLISION

Device for detecting objects for vehicles

Method and device for detecting objects surrounding a motor vehicle

The obstacle detection method uses a number of distance sensors (4-17), positioned around the outside of the vehicle (2) for detecting obstacles on all sides of the latter, coupled to a common evaluation and control circuit (3). The distance sensors transmit pulsed or modulated signals and detect the corresponding echo signals, their detection range adapted in dependence on the actual vehicle speed and the detected object relative velocity. An INDEPENDENT CLAIM for an obstacle detection device is also included.

Radar device

A radar device for detecting distances and relative speeds of obstructions such as preceding vehicles has a stationary object identifier for identifying stationary objects such as roadside guard rails and the like and a stationary object eliminator for eliminating data identified as pertaining to such stationary objects. The stationary object identifier detects peak densities in a beat spectrum detected as a difference between transmitted and received frequencies of a radar beam modulated to rise and fall in frequency periodically and identifies peak groups having peak densities above a predetermined value as stationary objects. Therefore, it is possible to detect a stationary roadside object on the basis of peak densities. The stationary object eliminator eliminates data of peak groups identified as stationary objects by the stationary object identifier and thereby removes them as objects of combination processing for pairing rise side beat frequencies with fall side beat frequencies.

Cruise control systems for motor vehicles

MULTI-STATIC RADAR FOR A MOTOR VEHICLE

AUTOMATIC DOOR OPENING SYSTEM

OUTSIDE MIRROR FOR A MOTOR VEHICLE.

RADIATION SENSOR MODULE

DEVICE FOR THE IMPROVEMENT OF THE VIEW IN VEHICLES

CALIBRATION PROCEDURE FOR A RADAR DETECTOR SYSTEM FOR THE OBJECT COLLECTION

PROCEDURE FOR THE MONITORING OF MULTI-CANAL RANGE MEASURING SYSTEMS FOR VEHICLES

Multi-modal switching on a collision mitigation system

MULTI-MODAL SWITCHING ON A COLLISION MITIGATION SYSTEM Systems and methods for controlling an autonomous vehicle are provided. In one example embodiment, a computer-implemented method includes receiving data indicative of an operating mode of the vehicle (501), wherein the vehicle is configured to operate in a plurality of operating modes. The method includes determining one or more response characteristics (502) of the vehicle based at least in part on the operating mode of the vehicle, each response characteristic indicating how the vehicle responds to a potential collision. The method includes controlling the vehicle based at least in part on the one or more response characteristics. '1onhzI') 1 ...

VEHICLE ALIGNMENT SYSTEMS FOR LOADING DOCKS

Abstract Example vehicle alignment systems for use at loading docks are disclosed herein. An example vehicle alignment system includes a sensor system to detect a surface of a vehicle, where the sensor system obtains a feedback signal representative of a spatial orientation of the detected surface relative to a reference as the vehicle approaches a doorway of the loading dock. A controller detects a threshold deviation in the spatial orientation of the detected surface of the vehicle relative to the reference based on the feedback signal. A display varies an output signal in response to the detected deviation in the spatial orientation of the detected surface relative to the reference.

CONCEPT AND DEVICE FOR CHECKING SENSOR SYSTEM FOR DETECTING OCCUPANCY STATE OF PARKING SPACE FOR ERRORS

ELECTROMAGNETIC WAVE MINIMUM INTERVAL DETECTION MEANS AND SYSTEM USING IT

DEVICE Of ASSISTANCE TO CONTROL FOR MOTOR VEHICLE OPTIMIZES BY SYNERGIEAVEC an ADAPTIVE LIGHTING

DISPOSITIF DE DETECTION LOCALISEE ET LIMITEE EN DISTANCE D'OBSTACLES, PERSONNES ET OBJETS

L'invention concerne un dispositif permettant de détecter un obstacle dans une direction et à une distance donnée en s'affranchissant des obstacles plus éloignés. Il est constitué de cellules d'émissions 1 et de réception 3 directives et éloignées les unes des autres. Les faisceaux d'émission 2 et de réception 4 convergent sur un volume 7. Les moyens d'alarme 5 sont activés au passage d'un obstacle 8 au travers dudit volume, un obstacle 9 situé au-delà de la limite de détection 6 n'étant pas détecté grâce aux moyens de sélection de puissance 10. Le dispositif selon l'invention est particulièrement destiné à la sécurité vol, machines dangereuses et automobiles (angle mort et distance de rabattement). (CF DESSIN DANS BOPI) ...

Car parking driver aid system

Ce système d'aide à la conduite d'un véhicule automobile, du type comportant des moyens (1) formant détecteur d'obstacle, implantés sur le véhicule et reliés à des moyens (2) d'analyse des signaux de sortie de ceux-ci, ces moyens d'analyse étant reliés à des moyens d'indication sonore de la distance séparant le véhicule d'un obstacle, le véhicule comportant également un système audiophonique (3) comprenant des haut-parleurs (4, 5) répartis dans l'habitacle du véhicule, est caractérisé en ce que les moyens d'indication sonore sont formés par les haut-parleurs (4, 5) du système audiophonique (3) et en ce que les moyens d'analyse (2) sont reliés à ce système, pour permettre un pilotage des haut-parleurs de celui-ci en fonction de la position de l'obstacle par rapport au véhicule et de la distance le séparant de celui-ci.

Detector for e.g. car, has controller for detecting geographic end point and determining position of point in spatial reference from transition zone images, where point is associated to end contour of object at transition zone

Le dispositif de détection d'objet à partir de mesures de distance par écho d'un signal permet de délimiter avec précision les contours d'un objet détecté en combinant des données de distance et des données d'images calibrées prises d'une région de transition correspondant à un bord de contour apparent de l'objet de façon à déterminer la position d'éléments de contour d'extrémité de l'objet. Une représentation 3D de la forme de chaque objet détecté est alors calculée.

SCALABLE SENSOR SYSTEMS BASED ON SENSOR MODULES

A stand alone sensor module having built in intelligence that provides object detection for a both vehicle and stationary applications. The system includes a processor connected to a sensor and a signal interface. The processor receives signals from the sensor and the signal interface and generates a status signal based on the signals received from the sensor and the signal interface. The processor drives the status signal to the signal interface.

METHOD FOR ADJUSTING THE ORIENTATION OF A SENSOR UNIT, USE THEREOF, AND DEVICE FOR CARRYING OUT THIS METHOD

The invention relates to a method for adjusting the orientation of a sensor unit used in a motor vehicle for determining distance and/or for detecting objects. The inventive method comprises the following steps: the vehicle is positioned with the wheels of a non-steering axle onto two parallel rollers that can rotate; the non-steering axle of the motor vehicle is oriented parallel to the rotation axes of the rollers by rotating the rollers and the wheels; a specified radiation is emitted by the sensor unit to a reflector plate that is parallel to the rotation axes of the rollers; the orientation of the sensor unit is adjusted in a horizontal direction with regard to the motor vehicle so that the reflector plate reflects a maximum portion of the emitted radiation back to the sensor unit. The invention also relates to a use for this method and to a device for carrying out the method.

DISTANCE DETECTION SYSTEM FOR A TOWING VEHICLE AND METHOD FOR OPERATING SAID DISTANCE DETECTION SYSTEM

The invention relates to a method for operating a distance detection system of a towing vehicle (10), whereby signals of at least one distance-sensitive sensor (21, 22, 23) disposed on the towing vehicle's (10) tail are evaluated. The sensors (21, 22, 23) are activated depending on the inclination angle (17) between the towing vehicle (10) and a suspended goods trailer (11), thereby allowing to increase the safety with which the towing vehicle (10) can be operated with suspended semitrailer or trailer.

AUTOMOTIVE RADAR WITH END-FIRE ANTENNA FED BY AN OPTICALLY GENERATED SIGNAL TRANSMITTED THROUGH A FIBER SPLITTER TO ENHANCE A FIELD OF VIEW

A vehicular radar system includes an optical source designed to output an optical signal. The vehicular radar system further includes a first optical splitter coupled to the optical source and designed to split the optical signal into a first duplicate signal and a second duplicate signal. The vehicular radar system further includes at least one converter coupled to the first optical splitter and designed to convert the first duplicate signal and the second duplicate signal into a first radar signal and a second radar signal, respectively. The vehicular radar system further includes a first antenna coupled to the at least one converter and designed to transmit the first radar signal, and a second antenna coupled to the at least one converter and designed to transmit the second radar signal. 1. A vehicular radar system comprising:an optical source configured to output an optical signal;a first optical splitter coupled to the optical source and configured to split the optical signal into a first duplicate signal and a second duplicate signal;at least one converter coupled to the first optical splitter and configured to convert the first duplicate signal and the second duplicate signal into a first radar signal and a second radar signal, respectively; anda first antenna coupled to the at least one converter and configured to transmit the first radar signal, and a second antenna coupled to the at least one converter and configured to transmit the second radar signal.2. The vehicular radar system of further comprising a phase shifter coupled to the first optical splitter and configured to shift a phase of the first duplicate signal such that the first duplicate signal and the first radar signal have a different phase than the second duplicate signal and the second radar signal claim 1 , respectively.3. The vehicular radar system of further comprising:a second optical splitter coupled to the phase shifter and configured to split the first duplicate signal that is phase- ...

Automatic door opening system

The automatic door opening system has a sensor arrangement (3) for detecting objects in a defined area around the vehicle and an arrangement associated with at least one door that indicates the ingress of an object into the defined area. The sensor arrangement can detect the height (H) of a detected object relative to a predefined reference co-ordinate system. The sensor arrangement can contain an adaptive cruise control system ...

METHOD AND DEVICE FOR DETERMINING EXACT VELOCITY OF A ROTATING COMPONENT ESPECIALLY THE VELOCITY OF A MOTOR VEHICLE WHEEL

The invention relates to a method for determining exact velocity of a rotating component, especially the velocity of a motor vehicle wheel, in which existing inconsistencies are scanned along the circumference of the rotating component and the temporal occurrence of discontinuities in velocity are determined. During the method for determining exact velocity of a rotating component, the dynamics of the rotating component are reliably determined despite manufacturing tolerances of incremental disk and eccentricity of the rotating component. According to the invention, an adjustment value is determined from the actual distribution of the discontinuities on the rotating component, said valve being used to determine the corrected velocity.

Method for producing an environment card and for determining a position in the environment by an automotive unit

METHOD AND DEVICE FOR DETECTING AND MONITORING VEHICLES TRAVELING AHEAD

PROBLEM TO BE SOLVED: To remarkably relieve burden on a driver of his own vehicle concerning the monitoring of a circumferential area in front of a plurality of vehicles traveling ahead and concerning the evaluation of inter-vehicle distances and speeds. SOLUTION: In the method for detecting and monitoring a plurality of vehicles (A, B and C) traveling ahead of the driver's own vehicle (E), the forward circumferential area is divided into at least one near area zone (ZII) and at least one far area zone (ZI). In this case, the lanes (S1, S2 and S3), the speeds (VA, VB and VC) and/or the inter-vehicle distances of the vehicles respectively traveling before the self vehicle are detected. The positions of the advance traveling vehicles are stipulated in relation to the near area zone or the far area zone based on the respectively detected lanes, speeds and/or inter-vehicle distances. The self vehicle is adapted connecting a momentary velocity (VE momentan) based on the respectively detected ...

BASE BAND PULSE CONTROL SYSTEM FOR VEHICLE SAFETY APPARATUS

METHOD AND SYSTEM FOR GENERATING ENVIRONMENT MODEL AND FOR POSITIONING USING CROSS-SENSOR FEATURE POINT REFERENCING

A method of generating an environment reference model for positioning comprises receiving multiple data sets representing a scanned environment. The data also comprises information about the type of sensor used and data for determining an absolute position of objects or features represented by the data. One or more feature points are extracted from each of the data sets, and a position of the feature points in a reference coordinate system is determined. A three-dimensional vector representation of the scanned environment is generated that is aligned with the reference coordinate system and in which the feature points are represented at corresponding locations. Links between the feature points in the three-dimensional vector model with at least one type of sensor by use of which they can be detected in the environment are created, and the three-dimensional vector model representation and the links are stored in a retrievable manner. In response to a corresponding request including at least ...

TRAVEL VEHICLE AND METHOD FOR CONTROLLING TRAVEL VEHICLE

A travel vehicle includes: a vehicle having a travel device and a vehicle body supported by the travel device; a steering device provided to the travel device; a steering angle detection device that detects detected steering angle data of the steering device; an attitude detection device that detects attitude data of the vehicle body; a travel speed detection device that detects travel speed data of the travel device; a turn data calculation unit that calculates turn data of the vehicle body based on the attitude data and the travel speed data; and a steering angle data correction unit that calculates first correction data on the detected steering angle data based on the detected steering angle data and the turn data.

Method and system for impact time and velocity prediction

A collision detection system includes at least one sensor. The data from the sensor is input to a recursive filter which selectively uses the input to predict the motion of a target object relative to a host vehicle. The recursive filter continues to use the data from the sensor until the target object is within a threshold distance of the host vehicle. Within the threshold distance, the sensor does not reliably provide accurate data. Accordingly, the recursive filter omits the sensor input from motion estimates when the target object is within the threshold distance, which leads to significant improvement in target motion prediction.

Object recognition device

Method for detecting an object in a surrounding region of a motor vehicle by checking a spatial deviation of measurement points, control device, driver assistance system and motor vehicle

PROCESS OF CALIBRATION Of a SYSTEM OF SENSOR

Method and apparatus for mounting covered with a detector in an exterior of a motor vehicle.

DATA FUSION SYSTEM FOR DETECTING AND TRACKING OBJECTS FOR MOTOR VEHICLE

ON-BOARD SYSTEM AND METHOD FOR DETERMINING A RELATIVE POSITION

Un système embarqué (2) comprend un premier capteur (6) apte à mesurer une distance libre (di) pour diverses directions (αi) dans un environnement rencontré par un véhicule (V) et un second capteur (4) apte à générer une image (IMG) dudit environnement. Le système embarqué comprend en outre un module de regroupement d'une pluralité desdites directions (αi) sur la base des distances libres (di) mesurées pour les directions (αi) de ladite pluralité, un module de localisation d'au moins un objet (O, O') au sein d'une région (R) de l'image (IMG) correspondant auxdites directions (αi) de ladite pluralité, et un module de sélection des directions (αi) correspondant à la localisation dudit objet (O ; O') parmi ladite pluralité de directions (αi). Un procédé de détermination d'une position relative d'un objet (O ; O') est également proposé.

목표 차속 생성 장치 및 주행 제어 장치

... 차량의 목표 차속 생성 장치는, 판정부(30)와 보정부(32)를 구비한다. 판정부(30)는 미리 설정된 상기 차량의 목표 경로의 정보에 포함되는 목표 차속에 있어서, 가속도가 소정의 조건을 초과하여 변화하는 급변화점(P)이 존재하는지 여부를 판정한다. 보정부(32)는, 상기 판정부(30)에 있어서 상기 급변화점(P)이 존재한다고 판정된 경우에는, 상기 급변화점(P)을 없애도록 상기 목표 차속을 보정한다.

DEVICE FOR DETECTING BY MEANS OF INTERSECTING BEAMS CROSSING OF A LINE DELIMITING A TRAFFIC LANE ON A SURFACE

The invention concerns a device for detecting crossing of a line delimiting a zone on a surface, comprising at least two transmitters (7.1, 7.2) of electromagnetic beams (11.1, 11.2) and two sensors (10.1, 10.2) positioned in correspondence with the transmitters to receive a reflected part of the transmitted beams, the transmitters being positioned relative to each other in order that the beams intersect each other.

OBSTACLE DETECTING/ALARMING SYSTEM FOR VEHICLE

An obstacle detecting/alarming system for vehicles comprising at least one obstacle sensor being fixed to the front or rear end of a vehicle, and means for informing an alarm message indicative of the expected effect of a trouble detected by the obstacle sensor on a vehicle. A decision criterion setting means in the inventive system determines a traveling track of the vehicle by analyzing the traveling direction and the steering angle thereof and provides a decision criterion unique to the track of vehicle thus determined and variable depending on the steering angle. Based on this decision criterion, the driver is provided with an alarm message indicative of whether the vehicle has a possibility of touching an obstacle detected by means of the obstacle sensor or not. Conditions for detecting an obstacle can be varied depending on the traveling track of the vehicle and an accurate decision results of obstacle can be imparted to the driver by detecting only an obstacle in the vicinity of ...

Target Detection Device For Avoiding Collision Between Vehicle And Target Captured By Sensor Mounted To The Vehicle

The target detecting device comprises a radar sensor, an imaging sensor, and an ECU. The target detected by the radar sensor is selected under certain conditions, for example, i) a reception intensity of the reflected radar waves is equal to or more than a predetermined value, or ii) the target is moving, to be outputted externally. When a stopped vehicle is detected on a road by the sensor, and a target, for example a pedestrian, present behind the stopped vehicle is detected from the image acquired by the imaging sensor by performing image recognition using predetermined patterns of a target, the ECU makes the selection condition less restrictive than the selection condition for targets other than the target present behind the stopped vehicle, or unconditionally selects the target present behind the stopped vehicle.

Lane assistance system responsive to extremely fast approaching vehicles

A lane assistance system of a host vehicle for reacting to fast and extremely fast approaching vehicles includes a rear radar sensing unit having a sensor and an electronic controller. The electronic controller determines the distance and relative velocity of the fast approaching vehicle to the host vehicle. Further, depending on the closeness of the approaching vehicle, the lane of the approaching vehicle is determined from angular resolution of the radar signal. When the vehicle is approaching at an extremely fast rate and the angular resolution of the radar signal is not capable of determining an exact relative lane of the approaching vehicle due to the vehicle being too far away, the assistance system warns against or prevents lane changes by the host vehicle.

MOTOR VEHICLE AND METHOD FOR A 360° DETECTION OF THE MOTOR VEHICLE SURROUNDINGS

The invention relates to a method and a motor vehicle comprising a sensor assembly for a 360° detection of the motor vehicle surroundings. The sensor assembly has multiple sensors of the same type, wherein each of the multiple sensors has a specified detection region and the sensors are distributed around the exterior of the motor vehicle such that the detection regions collectively provide a complete detection zone which covers the surroundings in a complete angle about the motor vehicle at a specified distance from the motor vehicle. The sensors are each designed to detect the surroundings in their respective detection region as respective sensor data in respective successive synchronized time increments. The sensor assembly has a pre-processing mechanism which fuses the sensor data of each of the sensors in order to generate a three-dimensional image of the section of the surroundings for a respective identical time increment and provides same in a common database. 110.-. (canceled)11. A motor vehicle comprising: a plurality of sensors, each of which are of a same kind, with the plurality of sensors each respectively having a predetermined detection zone, wherein the plurality of sensors are disposed in a distributed manner around an exterior of the motor vehicle such that the predetermined detection zones of the plurality of sensors collectively provide an overall detection zone, which covers a region of the surroundings at a pre-determined distance from the motor vehicle in a complete angle around the motor vehicle, with each of the plurality of sensors being configured to record the surroundings in their respective detection zone as respective sensor data in respective successive synchronized time steps, and', acquire the sensor data from each of the plurality of sensors;', 'fuse the sensor data from the plurality of sensors for a respective identical time step to produce a three-dimensional image of the surroundings that is produced in a common database, with ...

DRIVER ASSISTANCE SYSTEM FOR A VEHICLE

A driver assistance system for a vehicle includes a vision system, a sensing system and a control. The vision system includes a camera and the sensing system includes a radar sensor. Image data captured by the camera is provided to the control and is processed by an image processor of the control. Responsive to image processing of captured image data, lane markers on the road being traveled along by the equipped vehicle are detected and the control determines a lane being traveled by the equipped vehicle. Radar data generated by the radar sensor is provided to the control, which receives vehicle data relating to the equipped vehicle via a vehicle bus of the equipped vehicle. Responsive at least in part to processing of generated radar data and captured image data, the control detects another vehicle present on the road being traveled along by the equipped vehicle. 1. A driver assistance system for a vehicle , said driver assistance system comprising:a vision system comprising a camera disposed at a vehicle equipped with said driver assistance system, said camera having a field of view that encompasses a road being traveled along by the equipped vehicle;a control disposed at or in the equipped vehicle and comprising an image processor;wherein image data captured by said camera is provided to said control and is processed by said image processor;wherein said image processor processes data at a processing speed of at least 30 MIPS;wherein, responsive to image processing by said image processor of image data captured by said camera, lane markers on the road being traveled along by the equipped vehicle are detected;wherein, responsive to image processing by said image processor of image data captured by said camera, said control determines a lane being traveled by the equipped vehicle;a sensing system operable to detect other vehicles present exterior the equipped vehicle;wherein said sensing system comprises a radar sensor disposed at the equipped vehicle and having a ...

Autonomous vehicle operated with guide assistance of human driven vehicles

Sensor information is collected from human driven vehicles which are driven in a given region. From the sensor information, a road condition is detected on a road segment, where the road condition has a sufficiently high likelihood of impairing autonomous vehicles in safely navigating through the one or more road segments. Information about the one or more road segments is communicated to the one or more autonomous vehicles.

VEHICLE BLIND SPOT SYSTEM OPERATION WITH TRAILER TOW

This disclosure generally relates to a vehicle blind spot detection system, method, and module for adjusting parameters of a vehicle blind spot detection algorithm based on a trailer being attached to the back of the vehicle. More specifically, based on a determination that a trailer is attached to the vehicle and the reception of trailer information corresponding to the attached trailer, an adjust to the parameters of a blind spot detection area is disclosed for ensuring the continued operation of the blind spot detection feature will take into account the attached trailer. 1. A vehicle comprising: detect a hitched trailer', 'load trailer and buffer dimensions based on the detection of the hitched trailer;', 'generate a blind spot dimension based on the loaded trailer and buffer dimensions;', 'identify a position of an object based the sensors;', 'automatically generate a blind spot warning based on the generated blind spot dimension and the identified position of the object;', 'only enable user-adjustment of the buffer dimension above a preset minimum., 'a body, a motor, brakes, one or more sensors, a trailer hitch, at least one processor in electronic communication with the sensors and configured to2. The vehicle of claim 1 , wherein the blind spot warning is automatically deactivating the vehicle's cruise control.3. The vehicle of claim 1 , wherein the blind spot warning includes flashing a light mounted on a rear-view mirror of the body.4. The vehicle of claim 1 , wherein the at least one processor is configured to trigger the blind spot warning based on the at least one processor detecting a lane change.5. The vehicle of claim 4 , wherein the lane change is the vehicle steering toward a lane of the identified object.6. The vehicle of claim 1 , wherein the dimensions are parallel to a longitudinal axis of the vehicle.7. The vehicle of claim 1 , wherein the at least one processor is configured to detect the hitched trailer upon receiving a user input.8. The ...

OCCUPANCY PREDICTION NEURAL NETWORKS

Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for generating a future occupancy prediction for a region of an environment. In one aspect, a method comprises: receiving sensor data generated by a sensor system of a vehicle that characterizes an environment in a vicinity of the vehicle as of a current time point, wherein the sensor data comprises a plurality of sensor samples characterizing the environment that were each captured at different time points; processing a network input comprising the sensor data using a neural network to generate an occupancy prediction output for a region of the environment, wherein: the occupancy prediction output characterizes, for one or more future intervals of time after the current time point, a respective likelihood that the region of the environment will be occupied by an agent in the environment during the future interval of time. 1. A method implemented by one or more data processing apparatus , the method comprising:receiving sensor data generated by a sensor system of a vehicle that characterizes an environment in a vicinity of the vehicle as of a current time point, wherein the sensor data comprises a plurality of sensor samples characterizing the environment that were each captured at different time points; the occupancy prediction output characterizes, for one or more future intervals of time after the current time point, a respective likelihood that the region of the environment will be occupied by an agent in the environment during the future interval of time; and', 'the network input is provided to an input layer of the neural network, and the occupancy prediction output for the region of the environment is output by an output layer of the neural network; and, 'processing a network input comprising the sensor data using a neural network to generate an occupancy prediction output for a region of the environment, whereinproviding the occupancy prediction output to a ...

SYSTEM AND METHOD FOR AVOIDING SENSOR INTERFERENCE USING VEHICULAR COMMUNICATION

A method and system for controlling sensor data acquisition using a vehicular communication network is provided. An example method includes establishing an operable connection between a first vehicle and remote vehicles. The first vehicle and the remote vehicles operate based upon a common time base according to a global time signal. The method includes receiving capability data that includes a sensor actuation time slot of each of the remote vehicles indicting a time slot at which the sensors of each of the remote vehicles are actuating. The sensor actuation time slot of each of the remote vehicle is different. The method also includes dividing a clock cycle into a plurality of time slots based on the remote vehicles and controlling, according to the plurality of time slots and the sensor actuation time slot, sensor actuation of a sensor of the first vehicle and the sensors of the remote vehicles. 1. A computer-implemented method for controlling sensor data acquisition using a vehicular communication network , comprising:establishing an operable connection for computer communication between a first vehicle and one or more remote vehicles within a communication range of the first vehicle using the vehicular communication network, wherein the first vehicle and the one or more remote vehicles operate based upon a common time base according to a global time signal;receiving, from each of the one or more remote vehicles, capability data that includes a sensor actuation time slot of each of the one or more remote vehicles indicting a time slot at which sensors of each of the one or more remote vehicles are actuating, and wherein the sensor actuation time slot of each of the one or more remote vehicles are different;dividing a clock cycle into a plurality of time slots based on one or more remote vehicles; andcontrolling, according to the plurality of time slots and the sensor actuation time slot, sensor actuation of a sensor of the first vehicle and the sensors of each ...

OBSTACLE DETECTION AND VEHICLE NAVIGATION USING RESOLUTION-ADAPTIVE FUSION OF POINT CLOUDS

A method for obstacle detection and navigation of a vehicle using resolution-adaptive fusion includes performing, by a processor, a resolution-adaptive fusion of at least a first three-dimensional (3D) point cloud and a second 3D point cloud to generate a fused, denoised, and resolution-optimized 3D point cloud that represents an environment associated with the vehicle. The first 3D point cloud is generated by a first-type 3D scanning sensor, and the second 3D point cloud is generated by a second-type 3D scanning sensor. The second-type 3D scanning sensor includes a different resolution in each of a plurality of different measurement dimensions relative to the first-type 3D scanning sensor. The method also includes detecting obstacles and navigating the vehicle using the fused, denoised, and resolution-optimized 3D point cloud. 1. A method for obstacle detection and navigation of a vehicle using resolution-adaptive fusion , the method comprising:performing, by a processor, a resolution-adaptive fusion of at least a first three-dimensional (3D) point cloud and a second 3D point cloud to generate a fused, denoised, and resolution-optimized 3D point cloud that represents an environment associated with the vehicle, wherein the first 3D point cloud is generated by a first-type 3D scanning sensor and the second 3D point cloud is generated by a second-type 3D scanning sensor, and wherein the second-type 3D scanning sensor includes a different resolution in each of a plurality of different measurement dimensions relative to the first-type 3D scanning sensor; anddetecting obstacles and navigating the vehicle using the fused, denoised, and resolution-optimized 3D point cloud.2. The method of claim 1 , wherein said performing the resolution-adaptive fusion comprises:generating a first volumetric surface function by performing a 3D convolution of each measured point from a plurality of measured points of the first 3D point cloud with an associated 3D point spread function of ...

PLATOON CONTROLLER STATE MACHINE

Systems, methods, controllers and algorithms for controlling a vehicle to closely follow another vehicle safely using automatic or partially automatic control are described. The described control schemes are well suited for use in vehicle platooning and/or vehicle convoying applications, including truck platooning and convoying controllers. In one aspect, methods of initiating a platoon between a host vehicle and a platoon partner are described. In another aspect, a number of specific checks are described for determining whether a platoon controller is ready to initiate platoon control of the host vehicle. In another aspect, a platoon controller that includes a state machine that determines the state of the platoon controller is described. In another aspect, methods for generating braking alerts to a driver of a vehicle while the vehicle is being at least semi-automatically controlled by a platoon controller are described. 1. A method for determining whether a platoon controller on a host vehicle is ready to initiate platoon control of the host vehicle , the method comprising:verifying that a platoon partner is currently in a ready to platoon state;verifying that the platoon partner is within a designated range of the host vehicle;verifying that communications between the host and the platoon partners are stable; andverifying that a tracking unit on the host has a fix on the platoon partner.2. A method as recited in further comprising:verifying that a current deceleration of the platoon partner does not exceed an designated deceleration thresholds.3. A method as recited in further comprising:verifying that no cut-in vehicle has been detected between the host and the platoon partner.4. A method as recited in further comprising:verifying that the platoon partner is currently confirming that it is receiving stable communications from the host vehicle.5. A method as recited in further comprising:verifying that transitioning to platoon control at the current time would ...

CONSTRUCTION MACHINE CONTROL SYSTEM, CONSTRUCTION MACHINE, CONSTRUCTION MACHINE MANAGEMENT SYSTEM, AND CONSTRUCTION MACHINE CONTROL METHOD AND PROGRAM

A construction machine control system for a construction machine that travels along a travel route, includes: a position detection unit that detects a position of the construction machine; a determination unit that determines whether an error in the position detected by the position detection unit is equal to or smaller than a predetermined error; a non-contact sensor that detects a position of an object around the construction machine; and a map information storage unit that extracts a detection result related to a vertical projection that protrudes vertically from a detection result of the non-contact sensor and stores the extracted detection result related to the vertical projection as map information when the determination unit determines that the error in the position detected by the position detection unit is equal to or smaller than the predetermined error. 1. A construction machine control system for a construction machine that travels along a travel route , comprising:a position detection unit that detects a position of the construction machine;a determination unit that determines whether an error in the position detected by the position detection unit is equal to or smaller than a predetermined error;a non-contact sensor that detects a position of an object around the construction machine; anda map information storage unit that extracts a detection result related to a vertical projection that protrudes vertically from a detection result of the non-contact sensor and stores the extracted detection result related to the vertical projection as map information when the determination unit determines that the error in the position detected by the position detection unit is equal to or smaller than the predetermined error, and never stores a detection result of the non-contact sensor when the determination unit determines that the error in the position detected by the position detection unit exceeds the predetermined error.2. A construction machine control system ...

RADAR TARGET DETECTION AND IMAGING SYSTEM FOR AUTONOMOUS VEHICLES WITH ULTRA-LOW PHASE NOISE FREQUENCY SYNTHESIZER

A target detection and imaging system, comprising a RADAR unit and at least one ultra-low phase noise frequency synthesizer, is provided. The target detecting, and imaging system can assist other sensors such as LiDAR, camera to further detect and investigate objects on the road from distance. RADAR unit configured for detecting the presence and characteristics of one or more objects in various directions. The RADAR unit may include a transmitter for transmitting at least one radio signal; and a receiver for receiving the at least one radio signal returned from the one or more objects. signals. The ultra-low phase noise frequency synthesizer may utilize dual loop design comprising one main PLL and one sampling PLL, where the main PLL might include a DDS or Fractional-N PLL plus a variable divider, or the synthesizer may utilize a sampling PLL only, to reduce phase noise from the returned radio signal. This proposed system overcomes deficiencies of current generation state of the art RADAR Systems by providing much lower level of phase noise which would result in improved performance of the RADAR system in terms of target detection, characterization etc. 2. The object detection system of claim 1 , wherein the at least one ultra-low phase noise frequency synthesizer comprises:at least one clocking device configured to generate at least one first clock signal of at least one first clock frequency;at least one sampling phase locked loop (PLL), communicably connected to the at least one clocking device;at least one first fixed frequency divider configured to receive the at least one single reference frequency and to divide the at least one single reference frequency by a first predefined factor to generate at least one clock signal; andat least one high frequency low phase noise Direct Digital Synthesizer (DDS) configured to receive the at least one clock signal and to generate at least one second clock signal of at least one second clock frequency.3. The object ...

APPARATUS FOR MEASURING DISTANCE

The distance measuring device detects parallax between right and left captured images where a front object is present ahead of the own vehicle, and calculate a parallax distance between the front object and the own vehicle. The radar device detects a radar detected distance therebetween. The distance measuring device calculates a parallax error based on the difference between the parallax calculated distance and the radar detected distance. A correction region is set in the right captured image and divided into correction divided regions. The distance measuring device sets an individual correction parallax for every correction divided regions, based on the parallax error and the identified correction divided regions. 1. A distance measuring device comprising:an image acquiring unit installed in a vehicle cabin of a vehicle, acquiring a plurality of images which are simultaneously captured from mutually different view points via a windshield of the vehicle, to include a common imaging region ahead of the vehicle which are shared by the plurality of images;a parallax detection unit that detects a parallax between the plurality of images as a detected parallax, when a front object, as an object present ahead of the vehicle, is captured in the plurality of images, based on positions where the front object is captured in respective images;a distance calculation unit that calculates distance between the front object and the vehicle as a parallax calculated distance based on the detected parallax;a distance detection unit mounted on the vehicle, transmitting/receiving electromagnetic waves to detect distance between the front object and the vehicle as electromagnetic waves detected distance;an error calculation unit that calculates a parallax error which is an error of the parallax detected by the parallax detection unit, the parallax error being calculated based on a difference between the parallax calculated distance calculated by the distance calculation unit and the ...

APPARATUS AND METHOD FOR RECOGNIZING POSITION OF VEHICLE

Disclosed are an apparatus and a method for recognizing a position of a vehicle. The apparatus includes a recognition unit that recognizes at least one first neighboring vehicle, a global positioning system (GPS) receiver that receives an absolute position of an own vehicle, a communication unit that transmits, to another vehicle, a relative position of the at least one first neighboring vehicle and the absolute position of the own vehicle and to receive, from the another vehicle, an absolute position of the another vehicle and a relative position of at least one second neighboring vehicle recognized by the another vehicle, and a processing unit that calculates the relative position of the at least one first neighboring vehicle, fuses relative positions of at least one third neighboring vehicle commonly recognized by the own vehicle and the another vehicle based on the relative position of the at least one first neighboring vehicle, the absolute position of the own vehicle, the absolute position of the another vehicle, and the relative position of the at least one second neighboring vehicle, and corrects an absolute position of at least one of the own vehicle, the another vehicle and the at least one third neighboring vehicle based on the fused relative position of the at least one third neighboring vehicle. 1. An apparatus for recognizing a position of a vehicle , the apparatus comprising:a recognition unit configured to recognize at least one first neighboring vehicle;a global positioning system (GPS) receiver configured to receive an absolute position of an own vehicle;a communication unit configured to transmit, to another vehicle, a relative position of the at least one first neighboring vehicle and the absolute position of the own vehicle and to receive, from the another vehicle, an absolute position of the another vehicle and a relative position of at least one second neighboring vehicle recognized by the another vehicle; anda processing unit configured to ...

DRIVER ASSISTANCE SYSTEM HAVING REAR-VIEW CAMERA AND CROSS-TRAFFIC SENSOR SYSTEM WITH SIMULTANEOUS VIEW

A driver assistance system for a vehicle includes a rear-view camera constructed and arranged to obtain an image of an area behind a rear of the vehicle. A non-camera sensor system is constructed and arranged to obtain data regarding dynamic or static environmental features at opposing sides of the vehicle. An electronic control unit is electrically connected with the rear-view camera and with the sensor system. The electronic control unit is constructed and arranged to create an image from the data received from the sensor system. A display system is controlled by the electronic control unit and is constructed and arranged to display simultaneously to a driver of the vehicle at a single location, the image obtained by the rear-view camera and the image created by the electronic control system. 1. A driver assistance system for a vehicle comprising:a rear view camera constructed and arranged to obtain an image of an area behind a rear of the vehicle,a non-camera sensor system constructed and arranged to obtain data regarding dynamic or static environmental features at opposing sides of the vehicle,an electronic control unit electrically connected with the rear view camera and with the sensor system, the electronic control unit being constructed and arranged to create an image from the data received from the sensor system, anda display system controlled by the electronic control unit and constructed and arranged to display simultaneously to a driver of the vehicle at a single location, the image obtained by the rear-view camera and the image created by the electronic control system.2. The system of claim 1 , the electronic control unit includes a processor circuit constructed and arranged to create the image from the data received from the sensor system.3. The system of claim 2 , wherein processor circuit is constructed and arranged to create a virtual 3D image from the data received from the sensor system.4. The system of claim 1 , wherein the sensor system ...

Object detection apparatus and object detection method

An object detection apparatus acquires a first position based on a detection result of an object ahead of an own vehicle detected by an electromagnetic wave sensor and a second position based on a detection result of the object detected by an image sensor. When determined that the objects are a same object, the object detection apparatus corrects either of the first position and the second position such that the first position and the second position are positions of the object detected at a same time, based on a time difference between a first amount of time required for the electromagnetic wave sensor to detect the object and a second amount of time required for the image sensor to detect the object. Position information of the object is calculated using the first position and the corrected second position, or the second position and the corrected first position.

RADAR AIDED VISUAL INERTIAL ODOMETRY OUTLIER REMOVAL

Various embodiments disclose a device with one or more processors which may be configured to translate a RADAR velocity map in at least one image plane of at least one camera, to form a three-dimensional RADAR velocity image. The 3D RADAR velocity image includes a relative velocity of each pixel in the one or more images, and the relative velocity of each pixel is based on a RADAR velocity estimate in the three-dimensional RADAR velocity map. The one or more processors may be configured to determine whether visual features correspond to a moving object based on the relative velocity of each pixel determined, and may be configured to remove the visual features that correspond to a moving object, prior to providing them as an input into a state updater, in a RADAR-aided visual inertial odometer. 1. A device comprising: obtain one or more images from at least one camera;', 'translate a radio detection and ranging (RADAR) velocity map in at least one image plane of at least one camera, to form a three-dimensional RADAR velocity image, wherein the 3D RADAR velocity image includes a relative velocity of each pixel in the one or more images, wherein the relative velocity of each pixel is based on a RADAR velocity estimate in the three-dimensional RADAR velocity map;', 'detect visual features in the one or more images;', 'determine whether the visual features correspond to a moving object based on the relative velocity of each pixel determined;', 'remove the visual features that correspond to a moving object, prior to providing them as an input into a state updater, in a RADAR-aided visual inertial odometer; and', 'refine an estimated position, based on the removal of the visual features that correspond to the moving object., 'one or more processors configured to2. The device of claim 1 , further comprising at least one RADAR sensor configured to provide the RADAR velocity map.3. The device of claim 1 , further comprising at least one camera configured to provide at least ...

TRAINING A MACHINE LEARNING BASED MODEL OF A VEHICLE PERCEPTION COMPONENT BASED ON SENSOR SETTINGS

A method for configuring a perception component of a vehicle having one or more sensors includes generating a first set of training data that includes first sensor data corresponding to a first setting of one or more sensor parameters, and an indicator of the first setting. The method also includes generating a second set of training data that includes second sensor data corresponding to a second setting of the sensor parameter(s), and an indicator of the second setting. The method further includes training the perception component, at least by training a machine learning based model using the first and second training data sets. The trained perception component is configured to generate signals descriptive of a current state of the vehicle environment by processing sensor data generated by the sensor(s), and one or more indicators indicating which setting of the sensor parameter(s) corresponds to which portions of the generated sensor data. 1. A method for configuring a perception component of a vehicle having one or more sensors configured to sense an environment through which the vehicle is moving , the method comprising:generating, by one or more processors, a first set of training data that includes (i) first sensor data indicative of real or simulated vehicle environments, the first sensor data corresponding to a first setting of one or more sensor parameters, and (ii) an indicator of the first setting;generating, by one or more processors, a second set of training data that includes (i) second sensor data indicative of real or simulated vehicle environments, the second sensor data corresponding to a second setting of the one or more sensor parameters, and (ii) an indicator of the second setting; andtraining, by one or more processors, the perception component, at least in part by training a machine learning based model of the perception component using the first and second sets of training data,wherein the trained perception component is configured to ...

Object detection method and apparatus

In an object detection apparatus, a first association unit associates, based on radar information and camera information, radar objects with at least one camera object that are estimated to be the same as each other. If camera objects are detected so that the camera information includes at least the detection point and the type of each of the camera objects, a determination unit determines whether the camera objects express a common object in accordance with the camera information. A second association unit defines, upon determination that the camera objects express the common object, the camera objects as a camera object group, and associates, if one of the camera objects constituting the camera object group is associated with a target radar object that is one of the radar objects, all the camera objects constituting the camera object group with the target radar object.

Detection device and control system

A detection device includes sensor device configured to obtain environmental information about surroundings of a small vehicle, an output unit outputting the environmental information to a control device of the small vehicle, and a mount configured to be attached to a rider of the small vehicle so as to hold the sensor device and the output device.

SENSOR FUSION-BASED SWATH PROFILE

In one embodiment, a system comprising a machine configured to traverse a field having windrows; a radar sensor mounted to the machine, the radar sensor arranged to transmit first signals to, and receive first reflected signals from, one of the windrows and the field adjacent the one of the windrows; a lidar sensor mounted to the machine, the lidar sensor arranged to transmit second signals to, and receive second reflected signals from, the one of the windrows and the field adjacent the one of the windrows; and a processing circuit configured to receive data corresponding to the first and second reflected signals and determine a mass profile and a geometric profile of the one of the windrows based on the data. 1. A system , comprising:a machine configured to traverse a field having windrows;a radar sensor mounted to the machine, the radar sensor arranged to transmit first signals to, and receive first reflected signals from, one of the windrows and the field adjacent the one of the windrows;a lidar sensor mounted to the machine, the lidar sensor arranged to transmit second signals to, and receive second reflected signals from, the one of the windrows and the field adjacent the one of the windrows; anda processing circuit configured to receive data corresponding to the first and second reflected signals and determine a mass profile and a geometric profile of the one of the windrows based on the data.2. The system of claim 1 , wherein the processing circuit is further configured to determine the mass profile by determining a center of mass of the one of the windrows based on data corresponding to a difference in reflective distances between the first reflected signals and the second reflected signals.3. The system of claim 1 , wherein the processing circuit is further configured to determine the geometric profile based on data corresponding to a point cloud that is based on the second reflected signals.4. The system of claim 3 , wherein the processing circuit is ...

True velocity vector estimation using v2x

Embodiments are provided herein for a radar system and a method for determining true velocity, which includes: obtaining a radial velocity component that corresponds to a target object, based on sensor data detected by a radar sensor on a vehicle; obtaining a true velocity magnitude of the target object from a communication protocol; and calculating a true velocity angle of direction of the target object based on a trigonometric relationship established between the radial velocity component and the true velocity vector.

Collision possibility determination device

A collision possibility determination device includes: a detection unit which detects at least one object which moves relatively with respect to a moving body; and a determination unit which determines a collision possibility of the moving body with the object. The determination unit defines a first factor and a second factor which are spaces between the body and the object in a travelling direction and in a width direction of the body respectively. The determination unit determines the possibility based on the two factors when the object is within a farther area from the body, and the possibility based on only the first factor when the object is within a nearer area from the body.

METHOD AND SYSTEM FOR ASSESSING ERRANT THREAT DETECTION

A threat assessment system and method of assessing errant threat detection. The method, in one implementation, involves receiving a detection estimation from a driver of the vehicle or an object detection sensor of the vehicle, obtaining an analysis environmental camera image from a camera on the vehicle, generating a predictive saliency distribution based on the analysis environmental camera image, comparing the detection estimation received from the driver of the vehicle or the object detection sensor of the vehicle with the predictive saliency distribution, and determining a deviation between the detection estimation and the predictive saliency distribution. 1. A method of assessing errant threat detection for a vehicle , comprising the steps of:receiving a detection estimation from a driver of the vehicle or an object detection sensor of the vehicle;obtaining an analysis environmental camera image from a camera on the vehicle;generating a predictive saliency distribution based on the analysis environmental camera image;comparing the detection estimation received from the driver of the vehicle or the object detection sensor of the vehicle with the predictive saliency distribution; anddetermining a deviation between the detection estimation and the predictive saliency distribution.2. The method of claim 1 , wherein the predictive saliency distribution is a spatiotemporal camera based predictive distribution of threats claim 1 , and relating to threats claim 1 , that other drivers would be likely to visually attend.3. The method of claim 2 , further comprising the step of obtaining a plurality of initial environmental camera images before the analysis environmental camera image.4. The method of claim 3 , further comprising the step of performing an optical flow analysis of the plurality of initial environmental images and using results of the optical flow analysis to generate the predictive saliency distribution.5. The method of claim 4 , further comprising the ...

METHOD FOR MIGRATING RADAR SENSOR LIMITATIONS WITH VIDEO CAMERA INPUT FOR ACTIVE BRAKING FOR PEDESTRIANS

A pedestrian collision avoidance system for a vehicle including a radar sensor, a video camera, and an electronic control unit (ECU). The ECU detects an object in the video information and classifies the object as a pedestrian based on a comparison of the video information with a database. The ECU determines a distance to the pedestrian based on the radar information and determines a characteristic of the pedestrian based on the video information, the distance, and the database. When the pedestrian ceases to be detected by the radar sensor, the ECU determines an updated distance to the pedestrian based on the video information and the characteristic of the pedestrian. The ECU determines whether a potential for collision exists between the vehicle and the pedestrian based in part on the distance to the pedestrian, and when the potential for collision is present, the ECU activates an automatic vehicle response. 1. A method of operating a pedestrian collision avoidance system on a vehicle , the method comprising:sensing a surrounding area of the vehicle with a radar sensor and a video camera;sending radar information from the radar sensor and video information from the video camera to an electronic control unit;detecting an object in the video information with the electronic control unit;classifying the object as a pedestrian based on a comparison of the video information with a database;determining, with the electronic control unit, a distance between, based on the radar information, an object classified as a pedestrian and the vehicle;determining, with the electronic control unit, a characteristic of the object classified as a pedestrian based on the video information, the distance, and the database;storing the characteristic of the object classified as a pedestrian in memory;when the object classified as a pedestrian ceases to be detected by the radar sensor, determining, with the electronic control unit, an updated distance to the object classified as a pedestrian ...

APPARATUS FOR WARNING A DRIVER OF A VEHICLE ABOUT A STATIONARY OBJECT AND VEHICLE HAVING SUCH AN APPARATUS

An apparatus/vehicle for warning a driver of a vehicle or vehicle/trailer (V-VT) about a stationary object (SO): a) a sensor device having a detection area (DA) including a side DA arranged laterally from a vehicle side (VS) and extending front to rear, in the direction of a longitudinal centerline of the (V-VT), and detecting the SO within the DA; b) a control device to evaluate the sensor signals as to the SO detected within the DA and define a dynamically alterable warning area (WA) that is no more than the side DA; c) a warning device to generate a warning signal if the sensor device detects the object(s) in the WA; d) the control device, on detection of the SO within the side DA and on detection of the (V-VT) turning toward the VS on which the side DA is situated, to assign a triangular cross-section to the WA. 111-. (canceled)12. An apparatus for warning a vehicle driver of a vehicle or of a vehicle/trailer combination about a stationary object , comprising:a) a sensor device having a detection area comprising a side detection area that is arranged laterally from a vehicle side and extends from a vehicle front to a vehicle rear, as seen in the direction of a longitudinal centerline of the vehicle or of the vehicle/trailer combination, wherein the sensor device is configured so that it can detect a stationary object within the detection area;b) a control device, interacting with the sensor device, that is configured so that it evaluates the signals of the sensor device in respect of stationary objects detected within the detection area and defines a dynamically alterable warning area (A_info) that is smaller than the side detection area or no more than the same as it;c) a warning device actuated by the control device such that it generates a warning signal to warn the vehicle driver only if the sensor device detects a stationary object in the dynamically alterable warning area (A_info);wherein:d) the control device is configured so that, on detection of a ...

DRIVER SUPPORTING DEVICE AND WARNING TIMING CONTROL METHOD

Disclosed is a driver supporting device including: a warning timing control unit for setting a timing at which to output warning data in accordance with the existence or non-existence of a passenger when it is determined that a warning target which possibly collides with a driver's vehicle exists ahead of the driver's vehicle, and a warning data outputting unit for outputting the warning data in accordance with the timing set by the warning timing control unit. 1. A driver supporting device that outputs warning data to urge a driver to perform a braking operation in order to prevent a collision with a warning target , comprising:a warning timing control unit to set a timing at which to output the warning data in accordance with existence or non-existence of a passenger when it is determined that a warning target which possibly collides with a driver's vehicle exists ahead of the driver's vehicle; anda warning data outputting unit to output the warning data in accordance with the timing set by the warning timing control unit,wherein when a passenger exists, the warning timing control unit sets, in addition to a first timing at which to output warning data to urge the driver to perform the braking operation, a second timing at which to output warning data for the passenger in accordance with a line of sight of the passenger, the second timing being advanced relative to the first timing, andthe warning data outputting unit outputs the respective warning data in accordance with the first and second timings set by the warning timing control unit.2. (canceled)3. (canceled)4. (canceled)5. The driver supporting device according to claim 1 , wherein the warning timing control unit sets the second timing also in accordance with an age of the passenger.6. The driver supporting device according to claim 1 , wherein the warning timing control unit sets the second timing also in accordance with the passenger's seat position.7. The driver supporting device according to claim 1 , ...

VEHICLE WITH SYSTEM FOR DETECTING ARRIVAL AT CROSS ROAD AND AUTOMATICALLY DISPLAYING SIDE-FRONT CAMERA IMAGE

A vehicle includes a proximity sensor that senses a distance to objects located to at least one side of the vehicle, a camera mounted at the front of the vehicle, a display for displaying video from the camera, and processing circuitry that detects a transition of the vehicle from surroundings of the vehicle in which at least one object located to the side of the vehicle is within a predetermined proximity threshold distance to surrounding of the vehicle in which no objects are located to the side of the vehicle within the predetermined proximity threshold distance, and in response to determining that, at least, the proximity sensor has detected the transition, the processing circuitry is configured to display video from the camera on the display of the vehicle. Additional criteria for displaying the video can include vehicle speed, distance traveled prior to the transition, duration for which the state prior to the transition was maintained, and the state of the vehicle's turn signal. 1. A vehicle comprising:a front;a first side;a second side;a proximity sensor configured to sense a distance to objects located to at least one of the first side and the second side of the vehicle;a camera mounted at the front of the vehicle, the camera configured to include a field of view that includes a view to at least one of the first side and the second side of the vehicle;a display in the vehicle;processing circuitry coupled to the proximity sensor, the camera, and the display, wherein the processing circuitry is configured to:determine that, at least, the proximity sensor has detected a transition of the vehicle from surroundings of the vehicle in which at least one object located to at least one of the first side of the vehicle and the second side of the vehicle is within a predetermined proximity threshold distance to surroundings of the vehicle in which no objects are located to the at least one of the first side of the vehicle and the second side of the vehicle within the ...

METHOD AND SYSTEM FOR CONTEXTUALIZED PERCEPTION OF PHYSICAL BODIES

A method for perceiving physical bodies comprises the following steps: a) acquisition of a plurality of distance measurements of the physical bodies arising from one or more sensors; b) acquisition or computation of a value of a priori probability of occupancy of the cells of an occupancy grid; and c) application of an inverse sensor model on the occupancy grid to determine a probability of occupancy of a set of cells of the grid; d) construction of a consolidated occupancy grid by fusing the occupancy probabilities estimated during step c); wherein each the inverse sensor model is a discrete model, associating with each cell of the corresponding occupancy grid, and for each distance measurement, a probability class chosen inside one and the same set of finite cardinality and identified by an integer index; and wherein step d) is implemented by means of integer computations performed on the indices of the probability classes determined during step c), and as a function of the value of a priori occupancy probability. A system for perceiving physical bodies, adapted to implement the method is provided. 112. A method for perceiving physical bodies comprising the following steps , implemented by a computer or a dedicated digital electronic circuit (MTD , MTD):{'sub': 1', 'NC', '1', 'NC, 'a) acquisition of a plurality of distance measurements (z. . . z) of said physical bodies arising from one or more sensors (C. . . C);'}b) acquisition from an outside device, or computation on the basis of at least one signal (SST) received from outside, of at least one value of a priori probability of occupancy of the cells of an occupancy grid;c) application, to each said distance measurement, of an inverse model of the corresponding sensor on said occupancy grid (GO) providing a discretized spatial representation of an environment of said sensor, so as to determine a probability of occupancy by a physical body of a set of cells of said occupancy grid, each said inverse sensor model ...

Methods and Systems for Generating and Using Localisation Reference Data

Methods and systems for classifying data points of a point cloud indicative of the environment around a vehicle by using features of a digital map relating to a deemed current position of the vehicle. Such methods and systems can be used to detect road actors, such as other vehicles, around a vehicle capable of sensing its environment as a point cloud; preferably used by highly and fully automated driving applications. 2. The method according to claim 1 , wherein the one or more alignment offsets are longitudinal claim 1 , lateral claim 1 , heading and/or bearing offsets.3. The method according to claim 1 , wherein the plurality of reference lines indicative of borders of the navigable element further include road borders and/or lane borders.4. The method according to claim 1 , wherein at least one of the plurality of reference lines is a reference line indicative of the centreline of a road and/or the centreline of lanes of a road.5. The method according to claim 1 , wherein data points between borders of the navigable segment are data points that relate to the surfaces of objects that are on the navigable element.6. The method according to claim 1 , wherein the method further comprises analysing one or more of the groups of data points to recognise one or more candidate objects.7. The method according to claim 6 , wherein the method further comprises removing points from the point cloud claim 6 , such that object recognition is only performed for a subset of data points in the point cloud.8. The method according to claim 7 , wherein the removed points are the points corresponding to at least one moving object.9. The method according to claim 7 , wherein the subset of data points are the points that are in a road corridor.10. The method according to claim 7 , wherein the subset of data points are the points that are outside of a road corridor.11. The method according to claim 8 , wherein the at least one moving object is a moving vehicle.13. A system for ...

VISION ALGORITHM PERFORMANCE USING LOW LEVEL SENSOR FUSION

A method and system that performs low level fusion of Radar or LiDAR data with an image from a camera. The system includes a radar-sensor, a camera, and a controller. The radar-sensor is used to detect a radar-signal reflected by an object in a radar-field-of-view. The camera is used to capture an image of the object in a camera-field-of-view that overlaps the radar-field of view. The controller is in communication with the radar-sensor and the camera. The controller is configured to determine a location of a radar-detection in the image indicated by the radar-signal, determine a parametric-curve of the image based on the radar detections, define a region-of-interest of the image based on the parametric-curve derived from the radar-detection, and process the region-of-interest of the image to determine an identity of the object. The region-of-interest may be a subset of the camera-field-of-view. 1. An object-detection system configured to detect an object proximate to a vehicle , said system comprising:a radar-sensor used to detect a radar-signal reflected by an object in a radar-field-of-view;a camera used to capture an image of the object in a camera-field-of-view that overlaps the radar-field of view; anda controller in communication with the radar-sensor and the camera, said controller configured to determine a location of a radar-detection in the image indicated by the radar-signal, determine a parametric-curve of the image based on the radar detections, define a region-of-interest of the image based on the parametric-curve derived from the radar-detection, wherein the region-of-interest is a subset of the camera-field-of-view, and process the region-of-interest of the image to determine an identity of the object.2. The system in accordance with claim 1 , wherein the controller is configured to define the region-of-interest above the parametric-curve.3. The system in accordance with claim 1 , wherein the controller is configured to determine a confidence-value ...

INTERMEDIATE MOUNTING COMPONENT AND SENSOR SYSTEM FOR A MANSFIELD BAR OF A CARGO TRAILER

A self-driving semi-truck can include tractor comprising a drive system, a first set of sensors mounted to the tractor, a fifth wheel, and cargo trailer comprising a kingpin coupled to the fifth wheel. The cargo trailer can include a Mansfield bar having a second set of sensors mounted thereto, where the second set of sensors have a rearward field of view from the trailer. The semi-truck can include an autonomous control system that receives sensor data from the first set of sensors and the second set of sensors, and analyzes the live sensor view to autonomously operate the drive system along a current route. 1. A self-driving semi-truck comprising:tractor comprising a drive system;a first set of sensors mounted to the tractor;a fifth wheel;a cargo trailer comprising a kingpin coupled to the fifth wheel, the cargo trailer further comprising a Mansfield bar having a second set of sensors mounted thereto, the second set of sensors having a rearward field of view; and receive sensor data from the first set of sensors and the second set of sensors, the sensor data providing a live sensor view of a surrounding environment of the self-driving semi-truck; and', 'analyze the live sensor view to autonomously operate the drive system along a current route., 'an autonomous control system comprising processing resources executing an instruction set, causing the autonomous control system to2. The self-driving semi-truck of claim 1 , wherein the second set of sensors is mounted to an intermediate mounting component having a first set of securing features removably mountable to the Mansfield bar claim 1 , and a second set of securing features for mounting each of the second set of sensors.3. The self-driving semi-truck of claim 2 , wherein the intermediate mounting component extends for substantially a full length of the Mansfield bar.4. The self-driving semi-truck of claim 3 , wherein the second set of sensors comprises at least one radar sensor mounted to the intermediate ...

Sensor data anomaly detection system and method for a vehicle

A sensor data anomaly detection system for a vehicle includes one or more processors and a memory in communication with the one or more processors that stores an anomaly detection module and an anomaly correction module. The anomaly detection module causes the one or more processors to analyze one or more signals from at least one sensor of the vehicle for at least one potential anomaly and compare correlating information from one or more external sources to the at least one potential anomaly to confirm when the potential anomaly is an actual anomaly The anomaly correction module causes the one or more processors to correct the actual anomaly in the one or more signals to generate a corrected signal when the actual anomaly is present.

VEHICLE AND CONTROLLING METHOD THEREOF INTEGRATING RADAR AND LIDAR

A vehicle includes a Radar sensor configured to output Radar dot data with respect to an obstacle, a Lidar sensor configured to output Lidar dot data with respect to the obstacle, and a controller configured to match the Radar dot data to the Lidar dot data. The controller clusters one or more Lidar dots of the Lidar dot data, and clusters one or more Radar dots of the Radar dot data based on a distance between a cluster of Lidar dots and the one or more Radar dots. 1. A vehicle , comprising:a Radar sensor configured to output Radar dot data with respect to an obstacle;a Lidar sensor configured to output Lidar dot data with respect to the obstacle; anda controller configured to match the Radar dot data to the Lidar dot data,wherein the controller clusters one or more Lidar dots of the Lidar dot data, and clusters one or more Radar dots of the Radar dot data based on a distance between a cluster of Lidar dots and the one or more Radar dots.2. The vehicle according to claim 1 , wherein the controller judges a plurality of Lidar dots having a distance therebetween less than a predetermined reference interval as one cluster with respect to one obstacle.3. The vehicle according to claim 1 , wherein the controller estimates a boundary of the obstacle by connecting the one or more Lidar dots of one cluster.4. The vehicle according to claim 3 , wherein the controller estimates a smallest square comprising an outline of the obstacle as an obstacle area claim 3 , and clusters the one or more Radar dots based on a distance between the obstacle area and the one or more Radar dots.5. The vehicle according to claim 4 , wherein the controller sets a plurality of areas at upper claim 4 , lower claim 4 , left claim 4 , right claim 4 , and diagonal positions around the obstacle area claim 4 , and estimates a perpendicular distance from the one or more Radar dots to the obstacle area as a distance between the obstacle area and the one or more Radar dots claim 4 , if the one or more ...

SOFTWARE DEFINED AUTOMOTIVE RADAR

A radar system has different modes of operation. In one mode, the radar operates as a single-input, multiple output (SIMO) radar system utilizing one transmitted signal from one antenna at a time. Codes with known excellent autocorrelation properties are utilized in this mode. At each receiver the response after correlating with various possible transmitted signals is measured in order to estimate the interference that each transmitter will represent at each receiver. The estimated effect of the interference from one transmitter to a receiver that correlates with a different code is used to mitigate the interference. In another mode, the radar operates as a multi-input, multiple-output (MIMO) radar system utilizing all the antennas at a time. Interference cancellation of the nonideal cross-correlation sidelobes when transmitting in the MIMO mode are employed to remove ghost targets due to unwanted sidelobes. 1. A radar sensing system for a vehicle , the radar sensing system comprising:a plurality of transmitters configured for installation and use on a vehicle, wherein the transmitters are configured to transmit modulated radio signals;a plurality of receivers configured for installation and use on the vehicle, wherein the receivers are configured to receive radio signals, wherein the received radio signals are transmitted radio signals reflected from an object in the environment;wherein each transmitter of the plurality of transmitters comprises a digital processing unit, a digital-to-analog converter, an analog processing unit, and transmitting antennas;wherein each receiver of the plurality of receivers comprises a receiving antenna, an analog processing unit, an analog-to-digital converter, and a digital processing unit; anda control unit configured to individually modify one or more operational parameters of one or more transmitters of the plurality of transmitters and one or more receivers of the plurality of receivers, wherein the control unit is configured ...

Novel Host Cells and Methods for Producing Isopentenol from Mevalonate

The present invention provides for a genetically modified host cell capable of producing isopentenol and/or 3-methyl-3-butenol, comprising (a) an increased expression of phosphomevalonate decarboxylase (PMD) (b) an increased expression of a phosphatase capable of converting isopentenol into 3-methyl-3-butenol, (c) optionally the genetically modified host cell does not express, or has a decreased expression of one or more of NudB, phosphomevalonate kinase (PMK), and/or PMD, and (d) optionally one or more further enzymes capable of converting isopentenol and/or 3-methyl-3-butenol into a third compound, such as isoprene. 1. A genetically modified host cell capable of producing 3-methyl-3-butenol , comprising:(a) expression of acetyl-CoA acetyltransferase (AtoB),(b) expression of hydroxymethylglutaryl-CoA synthase (HMGS),(c) expression of hydroxymethylglutaryl-CoA reductase (HMGR),(d) expression of phosphomevalonate decarboxylase (PMD), wherein the PMD has an amino acid sequence having at least 90% identity with SEQ ID NO:1, and(e) the genetically modified host cell does not express phosphomevalonate kinase (PMK);wherein the host cell is a bacterial or fungal cell.2. The genetically modified host cell of claim 1 , comprising wherein the PMD comprises (i) a histidine at position 74 claim 1 , (ii) a phenylalanine at position 145 claim 1 , or (iii) a histidine at position 74 and a phenylalanine at position 145 claim 1 , corresponding to the numbering of SEQ ID NO:1.3. The genetically modified host cell of claim 2 , wherein the PMD comprises the following amino acid residues: (a) E at position 71 claim 2 , S at position 108 claim 2 , N at position 110 claim 2 , A at position 119 claim 2 , S at position 120 claim 2 , S at position 121 claim 2 , A at position 122 claim 2 , S at position 155 claim 2 , R at position 158 claim 2 , S at position 208 claim 2 , and D at position 302 corresponding to SEQ ID NO:1.4. The genetically modified host cell of claim 1 , wherein the PMD has ...

APPARATUS FOR DETERMINING DISPLACEMENT OF RADAR APPARATUS

A determination unit that determines a positional change of a radar apparatus mounted on a vehicle including a vehicle body is provided with a reference member, a displacement sensor and displacement determining means. The reference member is fixed to the vehicle body and disposed such that at least a part of the reference member is adjacent to the radar apparatus. The displacement sensor detects a displacement of the radar apparatus with respect to the reference member. The determining means determines whether or not a position of the radar apparatus has changed with respect to the vehicle body, based on the displacement detected by the displacement sensor. 1. A determination unit that determines a positional change of a radar apparatus mounted on a vehicle including a vehicle body characterized in that the determination unit comprises:a reference member fixed to the vehicle body and disposed such that at least a part of the reference member is adjacent to the radar apparatus;a displacement sensor that detects a displacement of the radar apparatus with respect to the reference member; anddisplacement determining means for determining whether or not a position of the radar apparatus has changed with respect to the vehicle body, based on the displacement detected by the displacement sensor.2. The determination unit according to claim 1 , characterized in that the radar apparatus is fixed to the vehicle body via a predetermined exterior part claim 1 , and the reference member is fixed to the vehicle body other than at the exterior part.3. The determination unit according to claim 1 , characterized in that the reference member protrudes to the exterior part from the vehicle body.4. The determination unit according to claim 2 , characterized in that the exterior part is a bumper.5. The determination unit according to to claim 1 , characterized in that the displacement determining means is configured to determine that the position of the radar apparatus has changed with ...

VEHICLE RADAR METHODS AND SYSTEMS

Methods and systems are provided for selectively analyzing radar signals of a radar system of a vehicle. A receiver is configured to receive a plurality of radar signals of a radar system of a vehicle. The interface is configured to obtain data from one or more sensors of the vehicle having a modality that is different from the radar system. The processor is coupled to the receiver and to the interface, and is configured to selectively analyze the plurality of radar signals based upon the data. 1. A method comprising for selectively analyzing radar signals of a radar system of a vehicle , the method comprising the steps of:receiving a plurality of radar signals via the radar system;obtaining data from one or more sensors of the vehicle having a modality that is different from the radar system; andselectively analyzing the plurality of radar signals based upon the data from the one or more sensors.2. The method of claim 1 , wherein:the obtaining the data comprises obtaining object-level data from each of the one or more sensors regarding one or more objects on or along a road in which the vehicle is travelling; andthe selectively analyzing the plurality of radar signals comprises identifying a target on the road in which the vehicle is travelling by selectively analyzing the plurality of radar signals based upon the object-level data.3. The method of claim 2 , further comprising:determining whether each of the plurality of radar signals was reflected from one or more objects that are likely to interfere with tracking of the target;wherein the identifying the target on the road comprises identifying the target on the road by analyzing the plurality of radar signals, except for those reflected from an object that is likely to interfere with tracking of the target.4. The method of claim 3 , wherein the determining whether each of the plurality of radar signals was reflected from one or more objects that are likely to interfere with tracking of the target comprises: ...

OBJECT RECOGNITION APPARATUS

An object recognition apparatus learns an axis displacement amount of a reference axis of first object detecting means, combines and integrates, as information belonging to a same object, a plurality of pieces of information present within a first combining area and a second combining area, when a positional relationship between the first combining area and the second combining area meets a predetermined combinable condition. The first combining area is set as an area in which pieces of information related to the object acquired by the first object detecting means are combined. The second combining area is set as an area in which pieces of information related to the object acquired by second object detecting means are combined. The object recognition apparatus variably sets sizes of the first combining area and the second combining area based on a learning state of the axis displacement amount of the reference axis. 1. An object recognition apparatus mounted to a moving body , the moving body being provided with a plurality of object detecting means for detecting an object present within a predetermined detectable area including a reference axis , the plurality of object detecting means including a first object detecting means and a second object detecting means , the detectable area of the first object detecting means and the detectable area of the second object detecting means overlapping each other , the object recognition apparatus comprising:an axis displacement learning means for learning an axis displacement amount of the reference axis of the first object detecting means;an integration processing means for combining and integrating, as information belonging to a same object, a plurality of pieces of information present within a first combining area and a second combining area, when a positional relationship between the first combining area and the second combining area meets a predetermined combinable condition, the first combining area being set as an area ...

APPARATUS AND METHOD FOR DETERMINING A SPEED OF A VEHICLE

An apparatus for determining a speed of a vehicle, in which the vehicle includes one or more sensors to determine a distance to or a relative speed of an object in an environment of the vehicle, and in which the apparatus includes a data interface and a processing module. The data interface is configured to receive sensor data from the one or more sensors, where the sensor data indicates the distance to and/or the relative speed of the object. The processing module is configured to determine (i) a motion state of the object based on the received sensor data, and (ii) the speed of the vehicle based on the determined motion state and the received sensor data. 114-. (canceled)15. An apparatus for determining a speed of a vehicle having at least one sensor to determine a distance to or a relative speed of an object in an environment of the vehicle , comprising:a data interface to receive sensor data from the at least one sensor, the sensor data indicating the distance to and/or the relative speed of the object; anda processing module to determine (i) a motion state of the object based on the received sensor data, and (ii) the speed of the vehicle based on the determined motion state and the received sensor data.16. The apparatus of claim 15 , wherein the processing module is configured to derive as the motion state the speed of the object.17. The apparatus of claim 15 , wherein the at least one sensor includes at least one of the following sensors: a radar claim 15 , a LIDAR sensor claim 15 , a sensor of a collision mitigation system claim 15 , a sensor of a following distance control system claim 15 , and a sensor of a blind spot monitoring system claim 15 , and wherein the processing module is configured to determine the relative speed between the vehicle and the object based on the received sensor data.18. The apparatus of claim 15 , wherein the at least one sensor includes at least one of a global positioning system claim 15 , an information storage claim 15 , and a ...

Method for Operating A Partially Autonomous or Autonomous Motor Vehicle, and Motor Vehicle

The disclosure relates to a method for operating a partially autonomous or autonomous motor vehicle. A digital three-dimensional height model of an infrastructure interior which has at least one aisle that can be traversed by the motor vehicle can be provided by a data server device of the infrastructure for example. The height model describes a spatial situation within the infrastructure, and the topography of at least one section of a surface of a region of the infrastructure, said motor vehicle being located in the section, is detected by means of a sensor device of the motor vehicle. A controller of the motor vehicle generates a three-dimensional topographical map of the region by means of the height model using the ascertained topography. The controller ascertains the current position of the motor vehicle within the infrastructure using the result of the comparison, and the controller ascertains a route along the at least one aisle using the ascertained current position and the height model. 19-. (canceled)10. A method for operating a semi-autonomous and/or autonomous motor vehicle , comprising the following steps:receiving, by a control device, a digital, three-dimensional elevation model of an interior of an infrastructure, the interior having at least one aisle along which the motor vehicle can drive, and the elevation model describing a spatial situation within the infrastructure;detecting, by a sensor device of the motor vehicle, a topography of at least one part of a surface of a particular region of the infrastructure in which the motor vehicle is located;creating, by the control device, a three-dimensional topographical map of the region on the basis of the detected topography;comparing, by the control device, the created topographical map with the elevation model;determining, by the control device, a current position of the motor vehicle within the infrastructure on the basis of a result of the comparison; anddetermining, by the control device, a route ...

Methods for locating and positioning, locating system, charging station, and charging system

The method for locating a certain object is a method for locating the object by means of a detected locating signal. With this method, locating of precisely this object is checked in such a way that an object with at least a temporally variable reflective property is used, and an influence of this reflective property on the detected locating signal is checked. The locating system has a locating sensor for locating an object by means of a locating signal detected by a locating sensor, as well as an evaluating device which is configured to check an influence of a temporally variable reflective property of the object on the locating signal detected by the locating sensor.

VEHICLE AND METHOD FOR CONTROLLING THEREOF

The present disclosure relate to a technology to detect an object placed in a blind spot on a road so as to inhibit collision between a target vehicle driving in the vicinity of a vehicle, and the object. The vehicle includes an imager to detect the object by recording the object near the vehicle, a sensor to obtain position information and speed information of the object, and a controller to calculate a time to collision (TTC) between the target vehicle and the object, based on the position information and/or speed information of the object. to the controller outputs a collision risk warning signal in a direction of the object, based on the calculated TTC. 1. A vehicle comprising:an imager configured to detect an object in the vicinity of the vehicle;a sensor configured to obtain at least one of position information or speed information of the object; anda controller configured to calculate a time to collision (TTC) between a target vehicle driving in the vicinity of the vehicle and the object, based on the obtained position information or speed information of the object, and configured to output a collision risk warning signal in a direction of the object, based on the calculated TTC.2. The vehicle of claim 1 , wherein the controller is configured to transmit a signal controlling a driving speed of the target vehicle based on the calculated TTC.3. The vehicle of claim 1 , wherein the controller is configured to transmit claim 1 , based on the calculated TTC claim 1 , a braking control signal allowing the target vehicle to avoid a collision with the object.4. The vehicle of claim 1 , wherein the controller is configured to transmit claim 1 , based on the calculated TTC claim 1 , a control signal warning a driver of the target vehicle of the collision risk between the target vehicle and the object.5. The vehicle of claim 1 , wherein the sensor is configured to obtain at least one of position information or speed information of the target vehicle.6. The vehicle of ...

A METHOD FOR CONTROLLING A VEHICLE

The invention relates to a method for controlling a subject vehicle () travelling along a road behind a vehicle transmitting wireless signals representative of at least one parameter affecting the velocity and/or acceleration of the transmitting vehicle (), the method comprising—receiving said wireless signals from the transmitting vehicle (), —controlling (S) the velocity and/or acceleration of the subject vehicle () in dependence on the received signals, —during said control (S) in dependence on the received signals, monitoring (S) by means () other than means for wireless communication a distance (DSF) between the subject vehicle () and a further vehicle () travelling between the subject vehicle () and the transmitting vehicle (), —and determining in dependence on the monitoring of the distance (DSF) between the subject vehicle () and the further vehicle () whether or not to control (S) the velocity and/or acceleration of the subject vehicle () in dependence on the monitored distance (DSF). 122.-. (canceled)23122. A method for controlling a subject vehicle () travelling along a road behind a vehicle transmitting wireless signals representative of the velocity and/or acceleration of the transmitting vehicle () or at least one parameter affecting the velocity and/or acceleration of the transmitting vehicle () , the method comprising{'b': '2', 'receiving said wireless signals from the transmitting vehicle (), and'}{'b': 6', '1, 'controlling (S) the velocity and/or acceleration of the subject vehicle () in dependence on the received signals,'}characterized by{'b': 6', '3', '111', '1', '3', '1', '2', '1', '3', '1', '3', '4, 'during said control (S) in dependence on the received signals, monitoring (S) by means () other than means for wireless communication a distance (DSF) between the subject vehicle () and a further vehicle () travelling between the subject vehicle () and the transmitting vehicle (), wherein the monitoring of the distance (DSF) between the subject ...

Software defined automotive radar

A radar system has different modes of operation. In a method for operating the radar system, at least one of one or more transmitters are configured to transmit modulated continuous-wave radio signals, while at least one of one or more receivers are configured to receive radio signals. The received radio signals include the transmitted radio signals transmitted by the one or more transmitters and reflected from objects in the environment. The method further includes selectively modifying an operational parameter of at least one of the transmitters or at least one of the receivers. The selected operational parameter is modified to meet changing operational requirements of the radar sensing system.

Learning Lanes From Radar Sensors

Systems, methods, and apparatuses are disclosed for determining lane information of a roadway segment from vehicle probe data. Probe data is received from radar sensors of vehicles at a road segment, where the probe data includes an identification of static objects and dynamic objects in proximity to the respective vehicles at the road segment, and geographic locations of the static objects and the dynamic objects. A reference point, such as a road boundary, at the road segment is determined from the identified static objects. Lateral distances between the identified dynamic objects and the reference point are calculated. A number of lanes at the road segment are ascertained from a distribution of the calculated distances of the identified dynamic objects from the reference point. 1. A method comprising:receiving probe data from radar sensors of a plurality of vehicles at a road segment, the probe data comprising an identification of static objects in proximity to the respective vehicles at the road segment and geographic locations of the static objects;determining, using a processor, a first road boundary and a second, opposite road boundary at the road segment from the identified static objects received from the plurality of vehicles;computing a width of the road segment from the identified first and second road boundaries;estimating a number of lanes at the road segment by dividing the computed width of the road segment by a predetermined average lane width; andupdating a map database with the estimated number of lanes at the road segment.2. The method of claim 1 , wherein the first and second road boundaries are determined from pluralities of static objects grouped along opposite edges of the road segment.3. The method of claim 2 , wherein the static objects comprise one or more of road signs claim 2 , road curbs claim 2 , barriers claim 2 , or guard rails.4. The method of claim 3 , wherein the width of the road segment is computed by (1) determining claim 3 , ...

SIMULATION-BASED METHOD TO EVALUATE PERCEPTION REQUIREMENT FOR AUTONOMOUS DRIVING VEHICLES

In one embodiment, a system is designed to determine the requirement of a perception range for a particular type of vehicles and a particular planning and control technology. A shadow filter is used to connect a scenario based simulator and a PnC module, and tuning the parameters (e.g. decreasing the filter range, tuning the probability of obstacles to be observed among frames) of shadow filter to mimic the real world perceptions with a limited range and reliabilities. Based on the simulation results (e.g., a failure rate, smoothness, etc.), the system is able to determine the required perception distance for the current PnC module. A PnC module represents a particular autonomous driving planning and control technology for a particular type of autonomous driving vehicles. Notice that the PnC module is replaceable so that this method is suitable for different PnC algorithms representing different autonomous driving technologies. 1. A computer-implemented method for determining perception ranges required for an autonomous driving vehicle , the method comprising:defining a first set of virtual obstacles arranged at a plurality of different locations relative to a current location of an autonomous driving vehicle (ADV);defining a plurality of sets of perception parameters associated with one or more perception sensors of the ADV; performing a filtering operation on the first set of virtual obstacles based on the set of the perception parameters to determine a second set of virtual obstacles, the second set of virtual obstacles being a subset of the first set of virtual obstacles, and', 'performing a planning and control simulation to plan a trajectory and control the ADV to move according to the trajectory in view of the second set of virtual obstacle; and, 'for each set of the perception parameters,'}selecting a first set of perception parameters from the plurality of sets of perception parameters based on the planning and control simulation, wherein the first set of ...

VEHICLE SURROUNDING INFORMATION ACQUIRING APPARATUS AND VEHICLE

A vehicle surrounding information acquiring apparatus includes: a radar detector configured to detect an object around a vehicle by radio waves; a lidar detector configured to detect an object around the vehicle by light; and an image detector configured to capture a periphery of the vehicle and detect an object from the captured image. The apparatus comprises: a first processor configured to generate target information by combining a detection result of the radar detector and a detection result of the image detector; a second processor configured to generate target information by combining a detection result of the lidar detector and the detection result of the image detector; and a third processor configured to generate target information of the periphery of the vehicle by integrating the target information generated by the first processor and the target information generated by the second processor. 1. A vehicle surrounding information acquiring apparatus including:a radar detector configured to detect an object around a vehicle by radio waves;a lidar detector configured to detect an object around the vehicle by light; andan image detector configured to capture a periphery of the vehicle and detect an object from the captured image, the apparatus comprising:a first processor configured to generate target information by combining a detection result of the radar detector and a detection result of the image detector;a second processor configured to generate target information by combining a detection result of the lidar detector and the detection result of the image detector; anda third processor configured to generate target information of the periphery of the vehicle by integrating the target information generated by the first processor and the target information generated by the second processor.2. The vehicle surrounding information acquiring apparatus according to claim 1 , wherein the target information generated by the first processor includes identification ...

VEHICLE SURROUNDING INFORMATION ACQUIRING APPARATUS AND VEHICLE

A vehicle surrounding information acquiring apparatus acquires information of surroundings of a vehicle by using radar detectors configured to detect an object around the vehicle by radio waves, and lidar detectors configured to detect an object around the vehicle by light. The radar detectors are arranged one by one at four corners of the vehicle and one at a center on one side of the vehicle, and the lidar detectors are arranged one by one inside arrangement positions of the radar detectors in a vehicle width direction at respective corner portions on one side of the vehicle, one by one outside the arrangement positions of the radar detectors in the vehicle width direction at respective side portions on the other side of the vehicle, and one at a center on the other side of the vehicle. 1. A vehicle surrounding information acquiring apparatus that acquires information of surroundings of a vehicle by using radar detectors configured to detect an object around the vehicle by radio waves , and lidar detectors configured to detect an object around the vehicle by light ,wherein the radar detectors are arranged one by one at four corners of the vehicle and one at a center on one side of the vehicle, andthe lidar detectors are arranged one by one inside arrangement positions of the radar detectors in a vehicle width direction at respective corner portions on one side of the vehicle, one by one outside the arrangement positions of the radar detectors in the vehicle width direction at respective side portions on the other side of the vehicle, and one at a center on the other side of the vehicle.2. The vehicle surrounding information acquiring apparatus according to claim 1 , wherein the respective lidar detectors are arranged at positions of substantially the same height with respect to the vehicle.3. The vehicle surrounding information acquiring apparatus according to claim 1 , wherein the respective lidar detectors are arranged at positions lower than arrangement ...

METHOD FOR DETECTING AT LEAST ONE OBJECT IN A SURROUNDING AREA OF A MOTOR VEHICLE, DRIVER ASSISTANCE SYSTEM AND MOTOR VEHICLE

The invention relates to a method for detecting at least one object () in a surrounding area () of a motor vehicle () by means of a driver assistance system (), in which a transmission signal is transmitted in each of chronologically consecutive measurement cycles via a distance sensor (), and a first and a second echo of the transmission signal reflected by the at least one object () are received; and, by means of a control device (), a first distance value (a) is determined based on the first echo, a second distance value (a) is determined based on the second echo, and a height of the at least one object () is determined based on the first and the second distance value (a, a); wherein the measurement cycles are carried out during a relative movement of the motor vehicle () with respect to the at least one object (); in at least two of the measurement cycles, a difference value is determined in each case, which describes a difference between the second distance value (a) and the first distance value (a); and the height of the at least one object () is determined based on a change in the respective difference value determined in the at least two measurement cycles. 1.A method for detecting at least one object in a surrounding area of a motor vehicle by means of a driver assistance system , the method comprising:transmitting a transmission signal in each of chronologically consecutive measurement cycles via a distance sensor;receiving a first and a second echo of the transmission signal reflected by the at least one object; andby means of a control device, determining a first distance value based on the first echo, determining a second distance value based on the second echo, and determining a height of the at least one object based on the first distance value and the second distance value;wherein:the measurement cycles are carried out during a relative movement of the motor vehicle with respect to the at least one object,in at least two of the measurement cycles, a ...

OBJECT DETECTION APPARATUS

In an object detection apparatus, a first trajectory estimation unit estimates a trajectory of a first object detected by an electromagnetic wave sensor. An optical flow acquisition unit image-processes a captured image acquired from a camera to acquire movement directions based on optical flows of feature points in the captured image. A movement direction match determination unit determines whether or not a match occurs between a movement direction based on the optical flows and a movement direction based on the trajectory of the first object. If a match occurs between the movement direction based on the optical flows of the plurality of feature points and the movement direction based on the trajectory of the first object, a sameness determination unit determines that a second object identified by the plurality of feature points and the first object are a same object. 1. An object detection apparatus mounted in a vehicle , comprising:a first trajectory estimation unit configured to estimate a trajectory of a first object that is an object detected by an electromagnetic wave sensor configured to transmit and receive electromagnetic waves to detect a position of the object;an optical flow acquisition unit configured to image process a captured image acquired from a camera to acquire movement directions based on optical flows of a large number of feature points in the captured image;a movement direction match determination unit configured to determine whether or not a match occurs between a movement direction based on optical flows of a plurality of feature points, of the large number of feature points, situated around the periphery of the first object and a movement direction based on the trajectory of the first object; anda sameness determination unit configured to, if a match occurs between the movement direction based on the optical flows of the plurality of feature points and the movement direction based on the trajectory of the first object, determine that a ...

METHOD FOR WARNING A DRIVER OF A VEHICLE OF THE PRESENCE OF AN OBJECT IN THE SURROUNDINGS, DRIVER ASSISTANCE SYSTEM AND MOTOR VEHICLE

The invention relates to a method for warning a driver of a motor vehicle () about the presence of an object () in the surroundings () of the motor vehicle () by means of a driver assistance system (), in which a position of the object () is determined by means of a sensor device (), an anticipated driving tube () of the motor vehicle () is determined, a collision distance (DTC), which describes a distance between the motor vehicle () and the object () when the motor vehicle () moves within the determined driving tube (), is determined on the basis of the determined position of the object () and the determined driving tube (), a minimum distance (SD) between the motor vehicle () and the object () is determined, and a warning signal is output if the value of the minimum distance (SD) undershoots a predetermined limiting value, wherein the determined value of the minimum distance is adapted as a function of the determined collision distance (DTC). 1. A method for warning a driver of a motor vehicle about the presence of an object in the surroundings of the motor vehicle by a driver assistance system , the method comprising:determining a position of the object by a sensor device;determining an anticipated driving tube of the motor vehicle;determining a collision distance, which describes a distance between the motor vehicle and the object when the motor vehicle moves within the determined driving tube, on the basis of the determined position of the object and the determined driving tube;determining a value of a minimum distance between the motor vehicle and the object; andoutputting a warning signal when the value of the minimum distance undershoots a predetermined limiting value, wherein the determined value of the minimum distance is adapted as a function of the determined collision distance.2. The method according to claim 1 , wherein the collision distance is determined as a function of time claim 1 , and the determined value of the minimum distance is adapted when ...

DEVICE AND METHOD FOR ESTIMATING DISTANCE BASED ON OBJECT DETECTION

A device for estimating a distance based on object detection and a method thereof are provided. The device for estimating a distance based on object detection according to an embodiment of the present disclosure includes a fusion sensor including a first sensor configured to detect positions of a plurality of objects in front of a host vehicle and a second sensor configured to capture a front image of the host vehicle, and a controller communicatively connected to the fusion sensor and configured to recognize all radar tracks corresponding to distances detected by the first sensor and all vision tracks corresponding to distances detected by the second sensor, assign adjacent vision tracks for each of the radar tracks to one cluster, and correct distances of all the vision tracks assigned to the corresponding cluster based on the closest vision track from the radar track for each cluster. 1. A device for estimating a distance based on object detection , the device comprising:a fusion sensor including a first sensor configured to detect positions of a plurality of objects in front of a host vehicle and a second sensor configured to capture a front image of the host vehicle; anda controller communicatively connected to the fusion sensor and configured to:recognize all radar tracks corresponding to distances detected by the first sensor and all vision tracks corresponding to distances detected by the second sensor;assign adjacent vision tracks for each of the radar tracks to one cluster; andcorrect distances of all the vision tracks assigned to the corresponding cluster based on the closest vision track from the radar track for each cluster.2. The device of claim 1 , wherein the first sensor is a radar sensor or a lidar sensor claim 1 , and the second sensor is an image sensor.3. The device of claim 1 , wherein the controller is configured to recognize the closest radar track for each of the vision tracks and assign each vision track to the cluster having the closest ...

DYNAMIC OBJECT DETECTION INDICATOR SYSTEM FOR AN AUTOMATED VEHICLE

A system includes a tracking system, a controller-circuit, and a device. The tracking system is configured to detect and track an object, and includes one or more of a computer vision system, a radar system, and a LIDAR system. The controller-circuit is disposed in a host vehicle, and is configured to receive detection signals from the tracking system, process the detection signals, determine, whether an object is detected based on the processed detecting signals, and in accordance with a determination that an object is detected, output command signals. The device is adapted to be mounted to the host vehicle, and is configured to receive the command signals and thereby provide a dynamic visual indication adapted to change in accordance with orientation changes between the host vehicle and the object. The dynamic visual indication is viewable from outside of the host vehicle. 1. A system comprising:a tracking system configured to detect and track an object, the tracking system including one or more of a computer vision system, a radar system, and a LIDAR system; receive detection signals from the tracking system,', 'process the detection signals,', 'determine, based on the processed detecting signals, whether an object is detected, and', 'in accordance with a determination that an object is detected, output command signals; and, 'a controller-circuit disposed in a host vehicle and configured toa device adapted to be mounted to the host vehicle, the device configured to receive the command signals and thereby provide a dynamic visual indication adapted to change in accordance with orientation changes between the host vehicle and the object, the dynamic visual indication being viewable from outside of the host vehicle.2. The system set forth in claim 1 , wherein the dynamic visual indication follows the object along a direct line-of-sight.3. The system set forth in claim 1 , wherein the dynamic visual indication is an illumination that changes in intensity as a ...

PROCESSOR AND SYSTEM FOR TRAIN ASSISTANCE TRACKING AND EARLY-WARNING

The present disclosure provides a processor and a system for train assistance tracking and early-warning. The processor includes a synthesis analysis unit configured to perform a synthesis logic analysis on information ahead of a train based on a preset logic synthesis rule; and an identification unit configured to identify an abnormal condition within a predetermined distance ahead of the train according to an analysis result, wherein the abnormal condition includes an appearance of any one or more of a signal machine, an obstacle, or a track turnout. 1. A processor for train assistance tracking and early-warning , comprising a synthesis analysis unit and an identification unit , wherein:the synthesis analysis unit is configured to perform a synthesis logic analysis on information ahead of a train based on a preset logic synthesis rule;the identification unit is configured to identify an abnormal condition within a predetermined distance ahead of the train according to an analysis result, wherein the abnormal condition includes an appearance of any one or more of a signal machine, an obstacle, or a track turnout;the information ahead of the train comprises at least two types of the following information: first image information captured by a short-focus camera within a short-focus visibility distance ahead of the train, second image information captured by a long-focus camera within a predetermined distance ahead of the train, and information scanned by a laser radar within the predetermined distance ahead of the train; and the short-focus visibility distance is a distance at which the short-focus camera is able to identify a track outline, and the predetermined distance is longer than the short-focus visibility distance.2. The processor of claim 1 , wherein when the information ahead of the train comprises the first image information claim 1 , the second image information and the scanned information claim 1 , the preset logic synthesis rule comprises:when each of ...

VEHICLE GUIDANCE SYSTEM

A vehicle guidance system assists a driver in maneuvering a vehicle with respect to an object in a scene. The system includes a steering angle sensor, a camera device, a video processing module (VPM), and a human-machine interface (HMI). The sensor is configured to monitor the angular position of a vehicle wheel. The device is configured to capture an original image of a scene having the object. The VPM is configured to receive and process the original image from the device, detect the object in the original image, receive and process the angular position from the sensor, generate a vehicle trajectory based on the angular position, and orientate the trajectory with regard to the object. The HMI is configured to display a processed image associated with the original image and a trajectory overlay associated with the trajectory from the VPM. Together, the object is displayed in relation to the overlay. 1. A vehicle guidance system for assisting a driver in maneuvering a vehicle with respect to an object in a scene , the vehicle including a wheel having a range of angular positions steered by the driver , the vehicle guidance system comprising:a steering angle sensor configured to monitor the angular position of the wheel;a camera device configured to capture an original image of a scene having the object;a video processing module (VPM) configured to receive and process the original image from the camera device, detect the object in the original image, receive and process the angular position from the steering angle sensor, generate a vehicle trajectory based on the angular position, and orientate the vehicle trajectory with regard to the object; anda human-machine interface (HMI) configured to display a processed image associated with the original image and a trajectory overlay associated with the vehicle trajectory from the VPM, and wherein the trajectory overlay is overlaid upon the processed image with respect to the object.2. The vehicle guidance system set forth ...

METHOD FOR CALIBRATING A SENSOR OF A MOTOR VEHICLE FOR MEASURING ANGLES, COMPUTING DEVICE, DRIVER ASSISTANCE SYSTEM AND MOTOR VEHICLE

The invention relates to a method for calibrating a sensor () of a motor vehicle (), in which, while the motor vehicle () is moved relative to an object (), a reception signal is received continuously in each case by means of a computing device () from two reception devices (′) of the sensor (), said reception signal describing a sensor signal that is emitted by the sensor () and reflected at the object (), a measurement angle (α) between the sensor () and the object () is determined on the basis of a phase difference (Δφ) between the reception signals and a relative orientation between the sensor () and the object () is determined continuously on the basis of the reception signals, wherein a reference time (t), at which the relative orientation corresponds to a predetermined reference orientation for which a reference angle (β) between the sensor () and the object () is known, is determined by means of the computing device (), the measurement angle (α) is determined for the reference time (t) and the sensor () is calibrated on the basis of a comparison between the measurement angle (α) for the reference time (t) and the reference angle (β). 1. The method for calibrating a sensor of a motor vehicle , comprising:while the motor vehicle is moved relative to an object, continuously receiving a reception signal in each case by a computing device from two reception devices of the sensor,said reception signal describing a sensor signal that is emitted by the sensor and reflected at the object;determining a measurement angle between the sensor and the object on the basis of a phase difference between the reception signals;continuously determining a relative orientation between the sensor and object on the basis of the reception signals;determining a reference time, at which the relative orientation corresponds to a predetermined reference orientation for which a reference angle between the sensor and the object is known, by the computing device anddetermining the ...

METHOD AND DEVICE FOR SELECTING AND TRANSMITTING SENSOR DATA FROM A FIRST MOTOR VEHICLE TO A SECOND MOTOR VEHICLE

A method for depicting sensor data of one or more first motor vehicle(s) via a man-machine interface of a second motor vehicle comprises depicting an image of at least part of surroundings of the second motor vehicle via the man-machine interface of the second motor vehicle. One or more first motor vehicle(s) in the surroundings is/are mapped at least in part. A user selects one or more of the mapped first motor vehicles to which respective point-to-point connections are set up that are used to send a request for information pertaining to available sensors and the properties thereof. Based on the responses, a schematic depiction of the surroundings of the second motor vehicle is created and reproduced that shows positions of the motor vehicles in the surroundings, the sensors available in the motor vehicles and areas within which the available sensors can pick up objects. 1. A method for depicting sensor data of one or more first motor vehicle(s) via a man-machine interface of a second motor vehicle , comprising:depicting an image of at least part of surroundings of the second motor vehicle via the man-machine interface of the second motor vehicle, wherein one or more first motor vehicle(s) is/are mapped at least in part,receiving a user input that corresponds to a selection of one or more of the first motor vehicles mapped on the image of the surroundings,setting up one or more individual first point-to-point connection(s) from the second to the selected first motor vehicle(s) via a first wireless communication interface,sending a request to the selected first motor vehicle(s) via the respective individual first point-to-point connection to transmit information pertaining to available sensors and the properties thereof to the second motor vehicle,receiving the responses from one or more of the selected first motor vehicles and reproducing a schematic depiction of the surroundings of the second motor vehicle, wherein the schematic depiction shows positions of the ...

Systems and methods for interpolated virtual aperature radar tracking

A method for interpolated virtual aperture array radar tracking includes: transmitting first and second probe signals; receiving a first reflected probe signal at a radar array; receiving a second reflected probe signal at the radar array; calculating a target range from at least one of the first and second reflected probe signals; corresponding signal instances of the first reflected probe signal to physical receiver elements of the radar array; corresponding signal instances of the second reflected probe signal to virtual elements of the radar array; interpolating signal instances; calculating a first target angle; and calculating a position of the tracking target relative to the radar array from the target range and first target angle.

VEHICLE ALIGNMENT SYSTEMS FOR LOADING DOCKS

Example vehicle alignment systems for use at loading docks are disclosed herein. An example vehicle alignment system includes an outer sensor pair to detect a surface of the vehicle. The outer sensor pair is to obtain a first feedback signal representative of an orientation of the detected surface relative to a reference as the vehicle approaches a doorway of the loading dock. An inner sensor pair is to detect the surface of the vehicle. The inner sensor pair is to obtain a second feedback signal representative of the orientation of the detected surface relative to the reference as the vehicle approaches the doorway of the loading dock. A controller is to detect a threshold deviation in the orientation of the detected surface of the vehicle relative to the reference based on at least one of the first feedback signal or the second feedback signal. A display is to vary an output signal in response to the detected threshold deviation in the orientation of the detected surface relative to the reference. 1. A vehicle alignment system to monitor a vehicle at a loading dock , the vehicle alignment system comprising:an outer sensor pair to detect a surface of the vehicle, the outer sensor pair to obtain a first feedback signal representative of an orientation of the detected surface relative to a reference as the vehicle approaches a doorway of the loading dock;an inner sensor pair to detect the surface of the vehicle, the inner sensor pair to obtain a second feedback signal representative of the orientation of the detected surface relative to the reference as the vehicle approaches the doorway of the loading dock;a controller to detect a threshold deviation in the orientation of the detected surface of the vehicle relative to the reference based on at least one of the first feedback signal or the second feedback signal; anda display to vary an output signal in response to the detected threshold deviation in the orientation of the detected surface relative to the reference. ...

VEHICLE ALIGNMENT SYSTEMS FOR LOADING DOCKS

Example vehicle alignment systems for use at loading docks are disclosed herein. An example vehicle alignment system includes a first arm extending a first distance from a wall of the loading dock, where the first arm is positioned adjacent a first lateral edge of a doorway of the loading dock. A first sensor is coupled to the first arm, where the first sensor is directed substantially perpendicular relative to a longitudinal axis of the first arm. The first sensor is to detect a first lateral distance between the first sensor and a first side surface of the vehicle. The first sensor to provide a first feedback signal representative of the first lateral distance. A second arm extends a second distance from the wall of the loading dock, where the second arm is positioned adjacent a second lateral edge of the doorway of the loading dock opposite the first lateral edge. A second sensor is coupled to the second arm, where the second sensor is directed substantially perpendicular relative to a longitudinal axis of the second arm. The second sensor is oriented toward the first sensor, the second sensor to detect a second lateral distance between the second sensor and a second side surface of the vehicle opposite the first side surface. The second sensor is to provide a first feedback signal representative of the second lateral distance. 1. A vehicle alignment system to monitor an alignment of a vehicle at a loading dock the vehicle alignment system comprising:a first arm extending a first distance from a wall of the loading dock, the first arm being positioned adjacent a first lateral edge of a doorway of the loading dock;a first sensor coupled to the first arm, the first sensor being directed substantially perpendicular relative to a longitudinal axis of the first arm, the first sensor to detect a first lateral distance between the first sensor and a first side surface of the vehicle, the first sensor to provide a first feedback signal representative of the first lateral ...

NEURAL NETWORK-BASED RADAR SYSTEM

A radar system includes an array antenna including antenna elements that each output a reception signal in response to one or plural arriving waves, and a signal processing circuit in which a learned neural network has been established. The signal processing circuit receives the reception signals, inputs the reception signals or a secondary signal generated from the reception signals to the neural network, performs computation by using the reception signals or secondary signal and learned data of the neural network, and outputs a signal indicating the number of arriving waves from the neural network. 1. A radar system comprising:an array antenna including a plurality of antenna elements each of which outputs a reception signal in response to at least one arriving wave; and receives the reception signals;', 'inputs the reception signals or a secondary signal generated from the reception signals, to the neural network;', 'performs computation by using the reception signals or the secondary signal, and data of the learned neural network; and', 'generates a signal indicating a spatial distribution pattern of one or more preceding targets., 'a signal processing circuit in which a learned neural network has been established; wherein the signal processing circuit2. The radar system of claim 1 , wherein the signal processing circuit generates the signal indicating the spatial distribution pattern of plurality of preceding targets that are abreast of each other.3. The radar system of claim 1 , wherein the one or more preceding targets are vehicles claim 1 , andwherein as the signal indicating the spatial distribution pattern of the one or more preceding targets that are abreast of each other, the signal processing circuit generates a signal indicating whether or not at least one of the preceding targets exists in a driver's lane in which the driver's vehicle is travelling and in a lane adjacent to the driver's lane.4. The radar system of claim 2 , wherein the signal ...

Method and Device for Determining the Range of a Sensor for a Motor Vehicle

The present invention relates to a device for determining the range of a sensor for a motor vehicle, wherein the device () comprises: a memory unit (), which is designed to provide, as an attribute, a map having at least one landmark and a target detection range associated with the landmark and/or a reflectivity property associated with the landmark and/or a radiant intensity associated with the landmark; a sensor unit (), which is designed to detect the at least one landmark with an actual detection range and/or to measure a received signal intensity for the at least one landmark; and a computing unit (), which is designed to determine a detection range of the sensor unit () based on the target detection range and the actual detection range and/or based on a comparison of the signal intensity measured for the respective landmark and the calculated signal intensity, which can be derived from the reflectivity property recorded in the map and/or the radiant intensity of the respective landmark. 111. A device () for determining the range of a sensor for a motor vehicle , wherein the device () comprises:{'b': '10', 'a memory unit (), which is designed to provide, as an attribute, a map having at least one landmark and a target detection range associated with the landmark and/or a reflectivity property associated with the landmark and/or a radiant intensity associated with the landmark;'}{'b': '20', 'a sensor unit (), which is designed to detect the at least one landmark with an actual detection range and/or to measure a received signal intensity for the at least one landmark; and'}{'b': 30', '20, 'a computing unit (), which is designed to determine a detection range of the sensor unit () based on the target detection range and the actual detection range and/or based on a comparison of the signal intensity measured for the respective landmark and the calculated signal intensity, which can be derived from the reflectivity property recorded in the map and/or the radiant ...

TRAFFIC SAFETY ALERT SYSTEM

An apparatus for providing traffic alerts includes a distance module, analysis module, transmission module, and signaling module. The distance module measures the distance between a vehicle and an object in front of the vehicle. The analysis decides whether to signal a presence of the object that comprises determining that the measured distance is equal to or less than a threshold distance. The transmission module transmits an alert in response to the analysis module deciding to signal a presence of the object. The signaling module transmits a visual signal to one or more vehicles behind the vehicle in response to receiving the alert from the transmission module. The visual signal has one or more characteristics. 1. An apparatus comprising:a distance module that measures a distance between a vehicle and an object in front of the vehicle on a roadway;an analysis module that decides whether to signal a presence of the object, wherein deciding whether to signal the presence of the object comprises determining that the distance is less than or equal to a threshold distance;a transmission module that transmits an alert in response to the analysis module deciding to signal a presence of the object; anda signaling module transmitting a visual signal to a visual indicator on a rear of the vehicle in response to receiving the alert, transmitting the visual signal to a separate vehicle behind the vehicle in response to receiving the alert, or a combination thereof, the visual signal comprising a live video feed of a view from the front of the vehicle;wherein at least a portion of the distance module, the analysis module, the transmission module, and the signaling module comprise one or more of hardware and executable code, the executable code stored on one or more computer readable storage media.2. The apparatus of claim 1 , further comprisinga speed module that measures a velocity of the vehicle;wherein the analysis module deciding whether to signal a presence of the object ...

VEHICLE ALIGNMENT SYSTEMS FOR LOADING DOCKS

Example vehicle alignment systems for use at loading docks are disclosed herein. An example vehicle alignment system includes a camera to detect the vehicle approaching a doorway of a loading dock. The camera to generate an image signal indicative of at least one of an angular orientation of the vehicle or a lateral position of the vehicle relative to a reference. A controller is to detect a deviation in the at least one of the angular orientation of the vehicle or the lateral position of the vehicle relative to the reference based on the image signal. A display is to generate an indication representative of the at least one of the angular orientation of the vehicle or the lateral position of the vehicle relative to the reference. 1. A vehicle alignment system for monitoring a vehicle at a loading dock , the vehicle alignment system comprising:a camera to detect the vehicle approaching a doorway of a loading dock, the camera to generate an image signal indicative of at least one of an angular orientation of the vehicle or a lateral position of the vehicle relative to a reference;a controller to detect a deviation in the at least one of the angular orientation of the vehicle or the lateral position of the vehicle relative to the reference based on the image signal; anda display to generate an indication representative of the at least one of the angular orientation of the vehicle or the lateral position of the vehicle relative to the reference.2. The vehicle alignment system of claim 1 , wherein the controller is to compare the image signal to at least one of an angular orientation threshold or a lateral orientation threshold to detect the deviation in the at least one of the angular orientation or the lateral position.3. The vehicle alignment system of claim 2 , wherein the controller is to vary a light of the display with a blinking frequency in response to an extent to which the at least one of the lateral position of the vehicle or the angular orientation of the ...

APPARATUS, METHOD AND SYSTEM FOR MULTI-MODE FUSION PROCESSING OF DATA OF MULTIPLE DIFFERENT FORMATS SENSED FROM HETEROGENEOUS DEVICES

Apparatus, method and system for hybrid multi-mode data fusion to fuse data of multiple different formats by a centralized data fusion processing and send the fused data by a distributed data processing to a set of heterogeneous sensor devices. The hybrid multi-mode data fusion apparatus comprises a multi-mode fusion module configured to operate in a first mode to receive fused data of multiple different formats sensed from a set of heterogeneous devices and configured to operate in a second mode to send the fused data to each of the heterogeneous devices. An association module to fuse data of multiple different formats sensed from each of the heterogeneous devices and to send the fused data to the multi-mode fusion module. A fusion track data file to store prior fused data to enable the multi-mode fusion module to send cueing information based upon the stored prior fused data to the heterogeneous devices. 1. A hybrid multi-mode fusion apparatus , comprising:a multi-mode fusion module configured to operate in a first mode to receive fused data of multiple different formats sensed from a set of heterogeneous devices and configured to operate in a second mode to send the fused data to each of the heterogeneous devices;an association module configured to fuse data of multiple different formats sensed from each of the heterogeneous devices and to send the fused data to the multi-mode fusion module; anda fusion track data file configured to store prior fused data to enable the multi-mode fusion module to send cueing information based upon the stored prior fused data to the heterogeneous devices.2. The multi-mode fusion apparatus of claim 1 , wherein the set of heterogeneous devices includes at least a vision claim 1 , radar or LIDAR sensing device.3. The multi-mode fusion apparatus of claim 1 , wherein the association module is configured to perform an alignment data correction to the sensed data from the heterogeneous devices.4. The multi-mode fusion apparatus of claim ...

RADAR CROSS SECTION COMPENSATION FOR CALIBRATION OF VEHICLE RADAR

One or more radar sensors coupled to a vehicle receive readings during a calibration time period. Each radar sensor receives data covering a field of view of the sensor, which may be split into angle-based bins. A noise-reducing filter (e.g., median filter) may be applied. A function is generated by processing raw radar cross section (RCS) returns into values plotted against angles compared to the direction that the sensor is facing. The function may be smoothed. Radar sensor measurements captured after calibration are corrected using the function, for example by automatically subtracting or dividing amounts corresponding to the function. 1. A system for vehicle sensor calibration , the system comprising:a range sensor coupled to a vehicle, wherein the range sensor tracks range data within a field of view that includes a portion of an environment of the vehicle, wherein the range sensor captures a plurality of sensor calibration datasets during a calibration time period, wherein the range sensor also captures a plurality of sensor post-calibration datasets after the calibration time period;a memory storing instructions; anda processor that executes the instructions, wherein execution of the instructions by the processor causes the processor to:receive the plurality of sensor calibration datasets from the range sensor,generate a function plotting strength values of the plurality of sensor calibration datasets over the field of view against angles within the field of view,receive the plurality of sensor post-calibration datasets from the range sensor, andautomatically modify the plurality of sensor post-calibration datasets based on the function.2. The system of claim 1 , wherein the angles within the field of view of the environment of the vehicle are angles relative to a direction that the range sensor is facing.3. The system of claim 1 , wherein the range sensor is a radio detection and ranging (RADAR) sensor.4. The system of claim 3 , wherein the strength values ...

극도로 빠르게 접근하는 차량들에 응답하는 차선 보조 시스템

빠르게 및 극도로 빠르게 접근하는 차량들에 응답하기 위한 호스트 차량의 차량 보조 시스템은 센서 및 전자 제어기를 갖는 후방 레이더 감지 유닛을 포함한다. 전자 제어기는 호스트 차량에 대한 빠르게 접근하는 차량의 거리 및 상대 속도를 결정한다. 또한, 접근하는 차량의 근접성에 따라, 접근하는 차량의 차선은 레이더 신호의 각도 분해능으로부터 결정된다. 차량이 극도로 빠른 속도로 접근하고, 레이더 신호의 각도 분해능이 차량이 너무 멀리 떨어져 있기 때문에 접근하는 차량의 정확한 상대 차선을 결정할 수 없는 경우, 보조 시스템은 호스트 차량에 의한 차선 변경들에 대해 경고하거나 차선 변경들을 방지한다.

Method and device for selecting and transmitting sensor data from a first motor vehicle to a second motor vehicle

A method for depicting sensor data of one or more first motor vehicle(s) via a man-machine interface of a second motor vehicle comprises depicting an image of at least part of surroundings of the second motor vehicle via the man-machine interface of the second motor vehicle. One or more first motor vehicle(s) in the surroundings is/are mapped at least in part. A user selects one or more of the mapped first motor vehicles to which respective point-to-point connections are set up that are used to send a request for information pertaining to available sensors and the properties thereof. Based on the responses, a schematic depiction of the surroundings of the second motor vehicle is created and reproduced that shows positions of the motor vehicles in the surroundings, the sensors available in the motor vehicles and areas within which the available sensors can pick up objects.

Driver assistance system for a vehicle

A driver assistance system for a vehicle includes a forward facing and a control having an image processor that processes image data captured by the camera. At least in part responsive to processing by the image processor, an alert to a driver of the equipped vehicle is generated based upon at least one of (i) detection of an inappropriate lane change maneuver of the equipped vehicle and (ii) a detection of a potential impact with another vehicle. The image processor processes image data captured by the forward facing camera to detect a traffic control device present within the field of view of the forward facing camera, and the system may generate an alert to the driver when it is determined that the vehicle is not appropriately responding to the detected traffic control device.

Vehicular lane change system

A vehicular lane change system includes a forward-viewing camera that has a field of view through the vehicle windshield that encompasses a road being traveled along by the vehicle. Responsive at least in part to processing of image data captured by the camera, a control determines the lane traveled by the vehicle. The control is operable to detect a lane change maneuver of the vehicle to a lane immediately adjacent to the lane traveled by the vehicle. Detection of the lane change maneuver is based at least in part on vehicle steering data and/or image processing of captured image data. Responsive to the control detecting the lane change maneuver of the vehicle when the driver of the vehicle has neglected to turn on an appropriate turn signal indicator of the vehicle, the control automatically turns on the turn signal indicator at the appropriate side of the vehicle.

Driver assistance system for a vehicle

A driver assistance system for a vehicle includes a vision system, a sensing system and a control. The vision system includes a camera and the sensing system includes a radar sensor. Image data captured by the camera is provided to the control and is processed by an image processor of the control. Responsive to image processing of captured image data, lane markers on the road being traveled along by the equipped vehicle are detected and the control determines a lane being traveled by the equipped vehicle. Radar data generated by the radar sensor is provided to the control, which receives vehicle data relating to the equipped vehicle via a vehicle bus of the equipped vehicle. Responsive at least in part to processing of generated radar data and captured image data, the control detects another vehicle present on the road being traveled along by the equipped vehicle.

Driver assistance system for a vehicle

A driver assistance system for a vehicle includes a forward facing camera and a control comprising an image processor that processes image data captured by the forward facing camera. The control receives vehicle data relating to the vehicle, including vehicle speed and vehicle steering angle, via a vehicle bus of the vehicle. Via processing by the image processor of image data captured by the forward facing camera, the control is operable to detect a road marking on the road being traveled by the vehicle and to the left of the vehicle. Responsive at least in part to processing of captured image data by the image processor, the control determines a driving condition of the vehicle, such as the type of lane markers present ahead of the vehicle, a traffic condition at or ahead of the vehicle, and/or a hazardous condition at or ahead of the vehicle.

Calculation of the time to collision for a vehicle

Based on the assumption that a preceding vehicle does not brake to a halt, but only reduces its speed for a certain time, an improved TTC (Time To Collision) can be calculated. By means of the difference between the TTC with braking to a halt and the improved TTC, a probability for the occurrence of a hypothesis concerning the further behavior of the preceding vehicle can be reduced.

Method and system for detecting, tracking and estimating stationary roadside objects

A system and method for selectively reducing or filtering data provided by one or more vehicle mounted sensors before using that data to detect, track and/or estimate a stationary object located along the side of a road, such as a guardrail or barrier. According to one example, the method reduces the amount of data by consolidating, classifying and pre-sorting data points from several forward looking radar sensors before using those data points to determine if a stationary roadside object is present. If the method determines that a stationary roadside object is present, then the reduced or filtered data points can be applied to a data fitting algorithm in order to estimate the size, shape and/or other parameters of the object. In one example, the output of the present method is provided to automated or autonomous driving systems.

Lane assistance system responsive to extremely fast approaching vehicles

빠르게 및 극도로 빠르게 접근하는 차량들에 응답하기 위한 호스트 차량의 차량 보조 시스템은 센서 및 전자 제어기를 갖는 후방 레이더 감지 유닛을 포함한다. 전자 제어기는 호스트 차량에 대한 빠르게 접근하는 차량의 거리 및 상대 속도를 결정한다. 또한, 접근하는 차량의 근접성에 따라, 접근하는 차량의 차선은 레이더 신호의 각도 분해능으로부터 결정된다. 차량이 극도로 빠른 속도로 접근하고, 레이더 신호의 각도 분해능이 차량이 너무 멀리 떨어져 있기 때문에 접근하는 차량의 정확한 상대 차선을 결정할 수 없는 경우, 보조 시스템은 호스트 차량에 의한 차선 변경들에 대해 경고하거나 차선 변경들을 방지한다. A vehicle auxiliary system of a host vehicle for responding to rapidly and extremely rapidly approaching vehicles includes a rear radar sensing unit having a sensor and an electronic controller. The electronic controller determines the distance and relative speed of the vehicle that is approaching the host vehicle quickly. Also, depending on the proximity of the approaching vehicle, the lane of the approaching vehicle is determined from the angular resolution of the radar signal. If the vehicle is approaching extremely fast and the angular resolution of the radar signal can not determine the correct relative lane of the approaching vehicle because the vehicle is too far away, the auxiliary system warns of lane changes by the host vehicle Avoid lane changes.

System and method for determining of and compensating for misalignment of a sensor

Methods and systems for determining a misalignment angle for a sensor in a vehicle are provided. The method, for example, may include, but is not limited to determining, by a processor, when an object detected in sensor data acquired by the sensor is a stationary object, and calculating, by the processor, the misalignment angle of the sensor based upon sensor data associated with the stationary object.

Adjusting area of focus of vehicle sensors by controlling spatial distributions of scan lines

A method for controlling at least a first sensor of a vehicle, which senses an environment through which the vehicle is moving by producing a plurality of scan lines arranged according to a spatial distribution, includes receiving sensor data generated by one or more sensors. The one or more sensors are configured to sense the environment through which the vehicle is moving. The method also includes identifying, by one or more processors and based on the received sensor data, one or more areas of interest in the environment, and causing, by one or more processors and based on the areas of interest, the spatial distribution of the plurality of scan lines produced by the first sensor to be adjusted.

Vehicle and method for controlling the same

A vehicle may a capturer configured to capture an object around the vehicle to detect the object, a detector configured to obtain at least one of position information and speed information related to the object, and a controller configured to determine a collision avoidance control area for the object based on the at least one of position information and speed information related to the object, change the determined collision avoidance control area based on information related to a surrounding condition of a road on which the vehicle is being driven, and change at least one of time to send a signal to warn of a collision with the object and an amount of braking of the vehicle based on the changed collision avoidance control area.

Object detection method and apparatus

In an object detection apparatus, a first association unit associates, based on radar information and camera information, radar objects with at least one camera object that are estimated to be the same as each other. If camera objects are detected so that the camera information includes at least the detection point and the type of each of the camera objects, a determination unit determines whether the camera objects express a common object in accordance with the camera information. A second association unit defines, upon determination that the camera objects express the common object, the camera objects as a camera object group, and associates, if one of the camera objects constituting the camera object group is associated with a target radar object that is one of the radar objects, all the camera objects constituting the camera object group with the target radar object.

Method and arrangement for determining safe vehicle trajectories

A method and arrangement for determining safe vehicle trajectories for a vehicle equipped with sensors for monitoring a surrounding environment, taking into account sensing limitations, as well as a vehicle including such an arrangement. The method includes detecting observable obstacles, detecting unobservable areas, adding virtual obstacles in unobservable areas, associating each observable obstacle and each virtual obstacle with one or more hypothetical events and assigning an occurrence probability to each combination of obstacle and one or more events, and determining safe vehicle trajectories based on both observable obstacles and virtual obstacles and the occurrence probability of each combination of obstacle and one or more events.

Controlling vehicle sensors based on road configuration

A method for controlling a first sensor configured to sense an environment through which a vehicle is moving includes receiving sensor data generated by one or more sensors of the vehicle as the vehicle moves through the environment, identifying, by one or more processors and based on at least a portion of the received sensor data, one or more road portions along which the vehicle is expected to travel, and determining, by one or more processors, a configuration of the identified road portions, at least in part by determining a slope of at least one of the identified road portions. The method also includes determining, by one or more processors analyzing at least the determined configuration, an elevation of a field of regard of the first sensor that satisfies one or more visibility criteria, and causing the first sensor to be adjusted in accordance with the determined elevation.

Lane assistance system responsive to extremely fast approaching vehicles

A lane assistance system of a host vehicle for reacting to fast and extremely fast approaching vehicles includes a rear radar sensing unit having a sensor and an electronic controller. The electronic controller determines the distance and relative velocity of the fast approaching vehicle to the host vehicle. Further, depending on the closeness of the approaching vehicle, the lane of the approaching vehicle is determined from angular resolution of the radar signal. When the vehicle is approaching at an extremely fast rate and the angular resolution of the radar signal is not capable of determining an exact relative lane of the approaching vehicle due to the vehicle being too far away, the assistance system warns against or prevents lane changes by the host vehicle.

Vehicle collision avoidance system

A vehicle collision avoidance system that utilizes signal emitters and receivers positioned around the periphery of vehicles to detect nearby vehicles. Upon detection of a nearby vehicle, the system may execute any of a variety of predefined responses based on the distance from the local vehicle to the detected nearby vehicle.

Use of motion data in the processing of automotive radar image processing

In an example method, a vehicle configured to operate in an autonomous mode could have a radar system used to aid in vehicle guidance. The method could include a plurality of antennas configured to transmit and receive electromagnetic signals. The method may also include a one or more sensors configured to measure a movement of the vehicle. A portion of the method may be performed by a processor configured to: i) determine adjustments based on the movement of the vehicle; ii) calculate distance and direction information for received electromagnetic signals; and iii) recover distance and direction information for received electromagnetic signals with the adjustments applied. The processor may be further configured to adjust the movement of the autonomous vehicle based on the distance and direction information with adjustments applied.

Lateral distance sensor diagnosis apparatus

A lateral distance sensor diagnosis apparatus cooperating with a lateral distance sensor in a vehicle includes a travel enabled distance acquisition section and a diagnosis test section. The travel enabled distance acquisition section determines whether the vehicle is estimated to have contact with an object detected by the lateral distance sensor, based on a distance detected by the lateral distance sensor and a present steering angle. When determining that the vehicle is estimated to have contact with the detected object, the travel enabled distance acquisition section acquires a travel enabled distance based on a distance detected by the lateral distance sensor. The diagnosis test section determines that the lateral distance sensor fails to operate normally when a movement distance becomes greater than the travel enabled distance under state where the steering angle is an angle causing the vehicle to have contact with an object detected by the lateral distance sensor.

Exterior lighting and object detection assembly

An exterior lighting and object detection assembly for a vehicle operable in an exterior environment that includes an object includes a housing, a first light source, an inner lens, and an object detection device. The first light source is connected to the housing and emits light for a position light function of the vehicle. The inner lens is connected to the housing and has a first portion that receives and reflects the light from the first light source to the exterior environment of the vehicle to provide the position light function. The object detection device is connected to the housing and is operable to detect the object via an electromagnetic energy. The first portion of the inner lens is disposed between the object and the object detection device and is configured to permit the electromagnetic energy to pass through such that the object detection device detects the object.

Enhanced rear obstacle detection

A first output mechanism in a wearable device is actuated when a vehicle reverse speed exceeds a first threshold. A second output mechanism in a vehicle is actuated when a rear obstacle collision detection controller detects an impending collision with a rear obstacle.

Autonomous vehicle operated with guide assistance of human driven vehicles

Examples described herein include an autonomous vehicle that receives guide assistance from a human driven vehicle in response to a determination that the autonomous vehicle cannot progress safely on its route.

Enhanced camera object detection for automated vehicles

An illustrative example object detection system includes a camera having a field of view. The camera provides an output comprising information regarding potential objects within the field of view. A processor is configured to select a portion of the camera output based on information from at least one other type of detector that indicates a potential object in the selected portion. The processor determines an Objectness of the selected portion based on information in the camera output regarding the selected portion.

Contact sensor assembly for brake systems in autonomous vehicles

An autonomous vehicle includes an autonomous driving system configured to produce a first brake control signal, and a contact sensor assembly mechanically coupled to an exterior surface of the autonomous vehicle. The contact sensor assembly is configured to produce a second brake control signal. A brake system is configured to control braking of the autonomous vehicle by prioritizing the second brake control signal over the first brake control signal.

Detection device, detection method, and detection program

A detection device includes: a first correlation circuit that computes correlation of a first wave detection signal, which is a phase-modulated input wave detected at determined frequency, with a determined code sequence for every code composing the determined code sequence, and to generate first correlation signals the number of which corresponds to a code sequence length, which is a length of the determined code sequence; and a control circuit that rotates phases of the first correlation signals, generates an added value by adding the phase-rotated first correlation signals, and determines based on the added value whether the phase-modulated input wave is a return wave from a determined object.