DE102005047332A1 - Sensor arrangement for motor vehicle e.g. bus, parking assistance, has two close range sensors in exposed vehicle region, where sensors have small radius of curvature and are arranged in specified angle that is diagonal to driving direction - Google Patents

Sensor arrangement for motor vehicle e.g. bus, parking assistance, has two close range sensors in exposed vehicle region, where sensors have small radius of curvature and are arranged in specified angle that is diagonal to driving direction Download PDF

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Publication number
DE102005047332A1
DE102005047332A1 DE102005047332A DE102005047332A DE102005047332A1 DE 102005047332 A1 DE102005047332 A1 DE 102005047332A1 DE 102005047332 A DE102005047332 A DE 102005047332A DE 102005047332 A DE102005047332 A DE 102005047332A DE 102005047332 A1 DE102005047332 A1 DE 102005047332A1
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Germany
Prior art keywords
sensors
vehicle
curvature
close range
small radius
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Withdrawn
Application number
DE102005047332A
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German (de)
Inventor
Heiko Faber
Sascha Dr.-Ing. Paasche
Andreas Dr.-Ing. Schwarzhaupt
Gernot Prof. Dr.-Ing. Spiegelberg
Armin Dr.-Ing. Sulzmann
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mercedes Benz Group AG
Original Assignee
DaimlerChrysler AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by DaimlerChrysler AG filed Critical DaimlerChrysler AG
Priority to DE102005047332A priority Critical patent/DE102005047332A1/en
Publication of DE102005047332A1 publication Critical patent/DE102005047332A1/en
Withdrawn legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/87—Combinations of sonar systems
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9314—Parking operations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9317—Driving backwards
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93275—Sensor installation details in the bumper area
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Acoustics & Sound (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

The arrangement has two close range sensors (1, 6) that are provided in an exposed vehicle region. The two close range sensors have a small radius of curvature and are arranged in a given angle e.g. 45 degrees that is diagonal to a driving direction (2, 3, 4, 5). The close range sensors are fitted in a body lining of a motor vehicle in an integrated manner, where the sensors are adjustably fitted by an assembly plate.

Description

Die Erfindung betrifft Systeme in Fahrzeugen, die durch Erfassung des Nahbereichs in der Umgebung eines Fahrzeuges mittels spezieller Detektoren, eine Unterstützung des Fahrers bei schwierigen Manövern, wie z.B. Einparkvorgängen ermöglichen.The The invention relates to systems in vehicles produced by detecting the Close range in the environment of a vehicle by means of special Detectors, a support the driver during difficult maneuvers, such as. parking operations enable.

Für den Fahrer sind Distanzen zu Gegenständen im unmittelbaren Nahbereich des Fahrzeugs i.a. nur schlecht erkennbar. Dies gilt insbesondere für den Front- und Heckbereich des Fahrzeugs, der oft nicht oder nur teilweise (z.B. über Spiegel) vom Fahrer eingesehen werden kann. Durch Irrtum bei Abschätzen des verbleibenden Freiraums besteht bei engen Rangierverhältnissen erhöhte Kollisionsgefahr. Insbesondere bei größeren Fahrzeugen (Van, Bus, LKW) sind die geschilderten Probleme bekannt.For the driver are distances to objects in the immediate vicinity of the vehicle i.a. only badly recognizable. This is especially true for the Front and rear of the vehicle, often not or only partially (e.g., via Mirror) can be viewed by the driver. By mistake in estimating the remaining clearance exists in close maneuvering conditions increased Risk of collision. Especially for larger vehicles (Van, Bus, Truck) are the problems described.

Um hier eine Unterstützung zu bieten werden in moderne Fahrzeuge seit einiger Zeit Warnsysteme eingebaut, die dem Fahrer eine Annäherung von kritischen Fahrzeugteilen an externe Gegenstände signalisieren, beispielsweise durch optische oder akustische Signale. Hierzu werden vorzugsweise mehrere Nahbereichssensoren verwendet, die typischerweise im Front/Heck-Bereich des Fahrzeugs integriert sind (Kotflügel, Spoiler, usw.). Zum Einsatz gelangen dabei u.a.Around here a support to provide warning systems have been installed in modern vehicles for some time, giving the driver an approach signal from critical vehicle parts to external objects, for example by optical or acoustic signals. For this purpose are preferably Several proximity sensors are used, typically in the front / rear area the vehicle are integrated (fenders, spoilers, etc.). For use reach u.a.

Nahbereichsradar, Untraschallsensoren, Infrarotdetektoren oder auch kapazitive Annäherungsschalter.Short-range radar, Non-ultrasonic sensors, infrared detectors or capacitive proximity switches.

Hauptproblematik bei diesen bekannten Systemen sind die Bereichsüberdeckung (horizontal und vertikal) und Auflösung. Eine unzulängliche Bereichsüberdeckung (beispielsweise Erfassung nur eines Teilbereichs, z.B. nur in einem bestimmten Bodenabstand, kann u.U. ungünstig liegende Gegenstände (z.B. herausstehende Anhängerkupplung eines Fremdfahrzeugs) nicht rechtzeitig erfassen und zu Beschädigungen führen. Bei einer unzureichenden Auflösung können sehr schmale Gegenstände (Draht, Stange, dünne Platte o.ä.) nicht richtig erfaßt werden. Desweiteren können am Fahrzeug selbst zusätzlich auch gegenüber der normalen Fahrzeugkontur exponierte Komponenten vorhanden sein (Anhängerkupplung, Auflieger o.ä.), die durch ihre Lage und herausragende Form besonders kollisionsgefährdet sind. Derartige kritische Bereiche werden von den üblichen Anordnungen der Nahbereichsdetektoren i.a. nicht oder nur unzureichend abgesichert.main issue in these known systems, the area coverage (horizontal and vertical) and resolution. An inadequate Area coverage (For example, capture only a subarea, e.g., only in one certain ground clearance, may u.U. unfavorable objects (e.g. protruding trailer hitch a foreign vehicle) in time and damage to lead. At an insufficient resolution can very narrow objects (wire, Rod, thin Plate or similar) not be detected correctly. Furthermore you can in addition to the vehicle itself also opposite the normal vehicle contour exposed components may be present (Trailer hitch, Semitrailer or similar), which are particularly vulnerable to collision due to their position and outstanding shape. Such critical areas are the usual arrangements of the proximity detectors i.a. not or insufficiently secured.

Die vorliegende Erfindung geht aus von diesem Stand der Technik. Ihr liegt die Aufgabe zugrunde, für Fahrzeuge ein verbessertes System zur Erfassung sich annähernder Gegenstände zu entwickeln. Diese Aufgabe wird bei einem System gemäß Oberbegriff des Anspruchs 1 gelöst durch die kennzeichnenden Merkmale. Details und vorteilhafte Ausführungsbeispiele sind Gegenstand der Unteransprüche.The The present invention is based on this prior art. you the task is based on Vehicles an improved system for detecting more approximate objects to develop. This task is in a system according to the preamble of claim 1 by the characteristic features. Details and advantageous embodiments are the subject of the dependent claims.

Die Erfindung wird im Folgenden unter Bezugnahme auf die Figuren und den darin verwendeten Bezugszeichen näher beschrieben. Dabei zeigenThe Invention is described below with reference to the figures and the reference numerals used therein described in more detail. Show

1 ein erstens Ausführungsbeipiel mit zwei Nahbereichssensoren in einem ca. 45° Winkel 1 a first Ausführungsbeipiel with two Nahbereichssensoren in an approximately 45 ° angle

2 Beispiel für ein gewinkeltes Halterungselement 2 Example of an angled mounting element

3 Anordnung von angewinkelten Sensoren im Bereich einer Sattelzugmaschine. 3 Arrangement of angled sensors in the area of a tractor.

Zur Verbesserung der Auflösung und Bereichsüberdeckung schlägt die Erfindung vor, neben Sensoren, die so angeordnet sind, dass sie im wesentlichen Annäherungen in Fahrtrichtung und quer dazu detektieren, auch weitere Sensoren einzusetzen, die sich annähernde Gegenstände unter einem anderen Winkel (z.B. 45°) zur Fahrtrichtung erfassen. Diese Sensoren werden insbesondere im Bereich kritischer Fahrzeugteile in Ergänzung zu den in bekannter Weise ausgerichteten Sensoren eingesetzt. Die Sensoren selbst können dabei als Standardausführung vorliegen und werden beispielsweise über entsprechende Halterungen mit voreingestelltem Winkel montiert.to Improvement of the resolution and area coverage beats the invention before, in addition to sensors arranged so that they are essentially approximations detect in the direction of travel and across, also other sensors to use that approaching objects at a different angle (e.g., 45 °) to the direction of travel. These Sensors are particularly in the range of critical vehicle parts in addition used to the aligned in a known manner sensors. The sensors yourself can as a standard version be present and are for example on appropriate brackets mounted with pre-set angle.

Die 1 zeigt ein einfaches Ausführungsbeispiel einer erfindungsgemäßen Anordnung im Bereich einer Fahrzeugfront. Neben vier Sensoren standardmäßig in Fahrtrichtung (2, 3, 4, 5) sind hier symmetrisch zwei Sensoren (1, 6) im stark gekrümmten Teil der Fahrzeugfront unter einem ca. 45°-Winkel angeordnet. Diese Sensoren erfassen somit sich nähernde Objekte gerade in diesem kritischen, besonders schlecht einsehbaren Schwenkbereich. Wie hier skizziert, ist der Winkel entsprechend der Fahrzeugkontur gewählt, d.h die Hauptachse des Sensorerfassungsbereichs bildet mit der Fahrzeugoberfläche einen rechten Winkel. Durch diese Anordnung ist auch dieser exponierte Teil gut gesichert ist. Je nach Gestaltung der Fahrzeugkarosserie sind hier natürlich auch andere Winkelstellungen möglich. Ebenso können mehrere und unterschiedlich angewinkelte Sensoren eingesetzt werden, wenn die Kontur des Fahrzeug anders geformt ist. Dabei können die Sensoren, wie in 1 dargestellt beispielsweise direkt in die Verkleidung integriert werden oder über Halterungen am Rahmen oder anderen tragenden Teilen fixiert sein.The 1 shows a simple embodiment of an inventive arrangement in the region of a vehicle front. In addition to four sensors as standard in the direction of travel ( 2 . 3 . 4 . 5 ) are symmetrically two sensors ( 1 . 6 ) arranged in the strongly curved part of the vehicle front at an approximately 45 ° angle. These sensors thus capture approaching objects precisely in this critical, particularly difficult-to-see swivel range. As sketched here, the angle is selected according to the vehicle contour, ie the main axis of the sensor detection area forms a right angle with the vehicle surface. By this arrangement, this exposed part is well secured. Depending on the design of the vehicle body, of course, other angular positions are possible here. Likewise, multiple and differently angled sensors can be used if the contour of the vehicle is shaped differently. The sensors, as in 1 shown, for example, be integrated directly into the panel or on brackets be fixed to the frame or other supporting parts.

2 zeigt ein einfaches Beispiel für eine derartige Sensorhalterung. Ein angewinkeltes Montage-Blech 7 – hier mit einem 115° Winkel dargestellt – weist im angewinkelten Teil eine Bohrung 9 zur Aufnahme eines Sensors 10 auf. Über Bohrung 8 wird das Montage-Blech am Fahrzeug angebracht. Durch Drehung um die Achse der Bohrung 8 kann die Richtung des Sensorerfassungsbereichs verändert werden. 2 shows a simple example of such a sensor holder. An angled mounting plate 7 - shown here with a 115 ° angle - has a hole in the angled part 9 for receiving a sensor 10 on. About drilling 8th the mounting plate is attached to the vehicle. By turning around the axis of the hole 8th the direction of the sensor detection area can be changed.

3 zeigt ein Anwendungsbeispiel, bei dem das Fahrzeug verschiedene unterschiedlich exponierte Teile aufweist, deren Nahbereich durch entsprechende Sensoren mit verschiedenen Winkelanordnungen überwacht wird. Dargestellt ist eine Ansicht des Fahrzeughecks einer Sattelzugmaschine von oben betrachtet. In den Seitenteilen (11, 12 sind jeweils Sensoren (13, 14) integriert und unter einem Winkel angebracht, der hier als Beispiel etwa 30° beträgt. Über Sensorhalterungen sind an den Druckluftbehältern (15, 16) weitere Sensoren (17, 18) mit einem Winkel angebracht, der so gewählt ist, dass sich die Erfassungsbereiche mit anderen Sensoren überdecken. Die mittleren Sensoren (19, 20) sind hier in bekannter Weise im hinteren Rahmenquerträger 21 mit Erfassungsbereichen in Fahrtrichtung eingebaut. 3 shows an application example in which the vehicle has various differently exposed parts whose proximity is monitored by corresponding sensors with different angular arrangements. Shown is a view of the vehicle rear of a tractor unit viewed from above. In the side parts ( 11 . 12 are each sensors ( 13 . 14 ) and mounted at an angle which is approximately 30 ° here as an example. About sensor mounts are on the compressed air tanks ( 15 . 16 ) other sensors ( 17 . 18 ) with an angle chosen so that the detection areas overlap with other sensors. The middle sensors ( 19 . 20 ) are here in a known manner in the rear frame cross member 21 installed with detection areas in the direction of travel.

Die dargestellten Beispiele zeigen Sensoranordnungen in symmetrischer Aufteilung. Andere Anordnungen sind je nach Fahrzeugtyp ebenfalls möglich. Auch sind die Winkeleinstellungen nicht nur in horizontaler Ebene möglich, sondern können – z.B. mittels Drehung der Sensorhalterung 7 – ebenso vertikal verändert werden, um z.B. bodennahe Fahrzeugteile zu schützen.The examples shown show sensor arrangements in symmetrical distribution. Other arrangements are also possible depending on the vehicle type. Also, the angle settings are not only possible in the horizontal plane, but can - for example by means of rotation of the sensor holder 7 - Be changed vertically, for example, to protect ground-level vehicle parts.

Claims (5)

Vorrichtung in Fahrzeugen mit Nahbereichssensoren (2, 3, 4, 5) zur Erfassung sich annähernder Objekte, dadurch gekennzeichnet, dass in exponierten Fahrzeugbereichen z.B. mit kleinem Krümmungsradius Nahbereichssensoren (1, 6; 13, 14; 17, 18) vorhanden sind, die in einem vorgegebenen Winkel schräg zur Fahrtrichtung und/oder der Horizontalen angeordnet sind.Device in vehicles with proximity sensors ( 2 . 3 . 4 . 5 ) for detecting approaching objects, characterized in that in exposed vehicle areas, eg with a small radius of curvature, proximity sensors ( 1 . 6 ; 13 . 14 ; 17 . 18 ) are present, which are arranged at a predetermined angle obliquely to the direction of travel and / or the horizontal. Vorrichtung nach Anspruch 1 dadurch gekennzeichnet, dass die schräg angeordneten Nahbereichssensoren (1, 6) so angebracht sind, dass die Hauptachse des Sensorerfassungsbereichs mit der Oberfläche der Karosserieverkleidung einen rechten Winkel bildet.Apparatus according to claim 1, characterized in that the obliquely arranged short-range sensors ( 1 . 6 ) are mounted so that the main axis of the sensor detection area forms a right angle with the surface of the body panel. Vorrichtung nach Anspruch 2, dadurch gekennzeichnet, dass die Nahbereichssensoren (1, 6) in der Karosserieverkleidung des Fahrzeugs integriert angebracht sind.Device according to claim 2, characterized in that the proximity sensors ( 1 . 6 ) are mounted integrated in the body panel of the vehicle. Vorrichtung nach Anspruch 1, dadurch gekennzeichnet, dass die schräg angeordneten Nahbereichssensoren (13, 14; 17, 18) an bzw. auf herausstehenden Fahrzeugteilen (11, 12; 15, 16) angebracht sind.Apparatus according to claim 1, characterized in that the obliquely arranged short-range sensors ( 13 . 14 ; 17 . 18 ) on or on protruding vehicle parts ( 11 . 12 ; 15 . 16 ) are mounted. Vorrichtung nach Anspruch 1, 2 oder 4, dadurch gekennzeichnet, dass die Nahbereichssensoren (13, 14; 17, 18) mittels gewinkeltem Montagelement (7) verstellbar angebracht sind.Device according to claim 1, 2 or 4, characterized in that the proximity sensors ( 13 . 14 ; 17 . 18 ) by means of angled mounting element ( 7 ) are adjustably mounted.
DE102005047332A 2005-09-30 2005-09-30 Sensor arrangement for motor vehicle e.g. bus, parking assistance, has two close range sensors in exposed vehicle region, where sensors have small radius of curvature and are arranged in specified angle that is diagonal to driving direction Withdrawn DE102005047332A1 (en)

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DE102005047332A DE102005047332A1 (en) 2005-09-30 2005-09-30 Sensor arrangement for motor vehicle e.g. bus, parking assistance, has two close range sensors in exposed vehicle region, where sensors have small radius of curvature and are arranged in specified angle that is diagonal to driving direction

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Application Number Priority Date Filing Date Title
DE102005047332A DE102005047332A1 (en) 2005-09-30 2005-09-30 Sensor arrangement for motor vehicle e.g. bus, parking assistance, has two close range sensors in exposed vehicle region, where sensors have small radius of curvature and are arranged in specified angle that is diagonal to driving direction

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19829731A1 (en) * 1998-07-03 2000-01-05 Mannesmann Vdo Ag Motor vehicle with tailgate
US20020018009A1 (en) * 2000-05-11 2002-02-14 Rast Rodger H. System and method of preventing aircraft wing damage
DE10053316A1 (en) * 2000-10-27 2002-05-16 Audi Ag Road vehicle with suspension raising facility to prevent body contact with obstruction
DE19917359C2 (en) * 1999-04-16 2003-06-05 Tomalla Jutta Device for recognizing obstacles to the side of the direction of travel of a motor vehicle
DE10339075A1 (en) * 2003-08-26 2005-03-24 Daimlerchrysler Ag motor vehicle
DE10352800A1 (en) * 2003-11-12 2005-06-23 Robert Bosch Gmbh Device for detecting moving objects

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19829731A1 (en) * 1998-07-03 2000-01-05 Mannesmann Vdo Ag Motor vehicle with tailgate
DE19917359C2 (en) * 1999-04-16 2003-06-05 Tomalla Jutta Device for recognizing obstacles to the side of the direction of travel of a motor vehicle
US20020018009A1 (en) * 2000-05-11 2002-02-14 Rast Rodger H. System and method of preventing aircraft wing damage
DE10053316A1 (en) * 2000-10-27 2002-05-16 Audi Ag Road vehicle with suspension raising facility to prevent body contact with obstruction
DE10339075A1 (en) * 2003-08-26 2005-03-24 Daimlerchrysler Ag motor vehicle
DE10352800A1 (en) * 2003-11-12 2005-06-23 Robert Bosch Gmbh Device for detecting moving objects

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Owner name: DAIMLERCHRYSLER AG, 70327 STUTTGART, DE

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