DE10326648A1 - Object detection using vehicle radar, classifying object data from several cooperating vehicles according to set criteria - Google Patents
Object detection using vehicle radar, classifying object data from several cooperating vehicles according to set criteria Download PDFInfo
- Publication number
- DE10326648A1 DE10326648A1 DE10326648A DE10326648A DE10326648A1 DE 10326648 A1 DE10326648 A1 DE 10326648A1 DE 10326648 A DE10326648 A DE 10326648A DE 10326648 A DE10326648 A DE 10326648A DE 10326648 A1 DE10326648 A1 DE 10326648A1
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- DE
- Germany
- Prior art keywords
- data
- object data
- vehicles
- radar systems
- radar
- Prior art date
- Legal status (The legal status 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 status listed.)
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Links
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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/003—Transmission of data between radar, sonar or lidar systems and remote stations
- G01S7/006—Transmission of data between radar, sonar or lidar systems and remote stations using shared front-end circuitry, e.g. antennas
-
- 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
- G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
-
- 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
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/161—Decentralised systems, e.g. inter-vehicle communication
-
- 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
- G01S2013/9316—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles combined with communication equipment with other vehicles or with base stations
-
- 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
- G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Traffic Control Systems (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
Description
Die Erfindung betrifft Systeme in Fahrzeugen zur Erfassung von Objekten. Insbesondere betrifft die Erfindung Radarsysteme, die die nähere Umgebung eines Fahrzeugs abtasten und dem Fahrzeugführer so Informationen auch über visuell schwer oder gar nicht erkennbare Objekte darbieten.The The invention relates to systems in vehicles for detecting objects. In particular, the invention relates to radar systems, the closer environment of a Scan the vehicle and the driver so information also visually show difficult or unrecognizable objects.
Radarsysteme werden zunehmend in Fahrzeugen eingesetzt, um auch bei schwierigen optischen Verhältnissen (Dunkelheit, Nebel, Schneefall etc.) Objekte in der Nähe des Fahrzeugs, insbesondere in Fahrtrichtung zuverlässig zu erfassen. Die Reichweite ist dabei abhängig von verschiedenen Parametern. Bei der Radarsensierung mit heute verfügbaren Systemen ist die Entfernungsauflösung durch die zur Verfügung stehende Bandbreite begrenzt. Auch bestimmt die Sende/Empfangsleistung des Radarsystems die maximale Entfernung. Eine Verbesserung der Entfernungsauflösung wäre durch Verwendung höherer Bandbreiten prinzipiell zwar möglich, dem steht jedoch entgegen, dass die zur Verfügung stehenden Bandbreiten weltweit reglementiert sind.radar systems are increasingly used in vehicles, even in difficult optical conditions (Darkness, fog, snowfall etc.) Objects near the vehicle, especially reliably detect in the direction of travel. The range depends on it of different parameters. At the Radarsensierung with today available Systems is the distance resolution through the available limited bandwidth. Also, the transmit / receive power of the Radar system the maximum distance. An improvement in range resolution would be through use higher Bandwidths in principle possible, this is contrary, however, that the available bandwidths Regulated worldwide.
Ein anderes Problem stellen die bei der Radarsensierung auftretenden großen Dynamikbereiche dar. Hier wäre eine Verbesserung durch längere Beobachtungszeiten möglich, was jedoch insbesondere im Nahbereich nicht erwünscht ist.One Another problem is that of the radar sensor huge Dynamic ranges dar. Here would be an improvement through longer observation times possible, but this is not desirable, especially at close range.
Radar kann zudem prinzipiell nur Objekte erfassen, die sich unverdeckt im Abtastbereich des Systems befinden. Gerade aufgrund des Erfordernisses einer freien Wegstrecke der Radarsignale vom Fahrzeug zum Objekt ergibt sich in der Praxis zwangsläufig eine starke Beschränkung, da bei den im Straßenverkehr üblichen Verhältnissen und dynamischen Vorgängen sehr häufig Objekte zeitweilig von anderen verdeckt werden. So blockiert ein vorausfahrendes Fahrzeug die Erfassung der eventuell davor befindlichen Objekte, parkende Fahrzeuge verdecken entsprechend seitliche Bereiche wie Rad- oder Fußgängerwege oder auch Einmündungen. Objekte hinter Kurven oder Hügelkuppen können grundsätzlich nicht erfasst werden.radar In addition, in principle, it can only capture objects that are uncovered in the scanning area of the system. Especially because of the requirement a free path of the radar signals from the vehicle to the object In practice, there is bound to be a strong restriction since in the usual on the road conditions and dynamic processes very often Objects are temporarily obscured by others. So blocked vehicle in front of the detection of possibly located in front of it Objects, parked vehicles cover corresponding lateral areas like cycling or pedestrian paths or even junctions. Objects behind curves or hilltops can in principle not be recorded.
Ausgehend von diesem Stand der Technik liegt der vorliegenden Erfindung die Aufgabe zugrunde, für Fahrzeuge ein verbessertes Verfahren zur Radarerfassung und Klassifizierung von Objekten zu entwickeln, das die genannten Nachteile weitgehend überwindet.outgoing from this prior art, the present invention is the Task based, for Vehicles an improved method of radar detection and classification to develop objects that largely overcomes the mentioned disadvantages.
Diese Aufgabe wird bei einem Verfahren mit den Merkmalen des Oberbegriffs des Anspruchs 1 gelöst durch die kennzeichnenden Merkmale des Anspruchs 1. Weitere Einzelheiten der Erfindung und ergeben sich aus den Merkmalen der Unteransprüche.These Task is in a method with the features of the preamble of claim 1 by the characterizing features of claim 1. Further details The invention and emerge from the features of the subclaims.
Das erfindungsgemäße Verfahren wird im Folgenden anhand einer bevorzugten Ausführungsform beschrieben, wobei Bezug genommen wird auf die Abbildungen und darin aufgeführten Bezugsziffern.The inventive method will be described below with reference to a preferred embodiment, wherein Reference is made to the figures and reference numerals therein.
Es zeigt:It shows:
Bei dem erfindungsgemäßen Verfahren werden die Messdaten von Radarsystemen verschiedener Fahrzeuge untereinander von Fahrzeug zu Fahrzeug drahtlos ausgetauscht und bezüglich vorgegebener Kriterien auf Relevanz analysiert. Durch ein solches kooperierendes Radarsystem können die einzelnen Systeme der Fahrzeuge jeweils die eigenen Sensordaten und Auswertungen den Partnern mitteilen. Dadurch wird die Entfernungsauflösung und Dynamikerfassung entscheidend verbessert, wodurch eine Klassifizierung ausgedehnter Ziele ermöglicht wird und Objekte mit Gefährdungspotenzial mit hoher Sicherheit identifiziert werden können.at the method according to the invention The measurement data from radar systems of different vehicles with each other exchanged wirelessly from vehicle to vehicle and with respect to predetermined Criteria analyzed for relevance. By such cooperating Radar system can The individual systems of the vehicles each have their own sensor data and report evaluations to the partners. This will cause the range resolution and Dynamikerfassung decisively improved, creating a classification extended goals and objects with risk potential high security can be identified.
Ein
besonderer Vorteil besteht bei dem erfindungsgemäßen Verfahren in der Möglichkeit,
dass auch Daten von Objekten weitergeleitet werden können, die
vom Radarsystem einzelner Fahrzeuge des Verbunds selbst nur ungenau
oder überhaupt
nicht erfasst werden können.
In entsprechender Weise kann bei kooperierenden Radarsystemen auch ein Objekt in einer unübersichtlichen Kurve oder hinter einer Hügelkuppe von Fahrzeugen in der Nähe mit ihren Radarsystemen erfasst und klassifiziert werden und diese Objektinformation einem noch nicht im Sichtbereich befindlichen Fahrzeug übermittelt werden.In the same way can cooperating radar systems also an object in a confusing Curve or behind a hilltop of Vehicles nearby with their radar systems and classified and these Object information not yet in the field of view Vehicle transmitted become.
Zur Erhöhung der Erkennungsgenauigkeit können zu den jeweils detektierten Objektdaten auch weitere Parameter in die Klassifizierung einbezogen werden. Insbesondere die eigenen Bewegungsdaten (Fahrtrichtung, aktuelle Geschwindigkeit, Beschleunigungs-/Verzögerungswerte, Lenkwinkel) der jeweiligen kooperierenden Fahrzeuge liefern wertvolle Zusatzinformationen zur Identifizierung von Objekten und zur Erfassung der Verkehrssituation insgesamt. Zusätzlich können dabei auch Fahrzeugdaten (Typ, Gewicht, vorhandener Anhänger etc.) übermittelt und in die Auswertungen mit einbezogen werden.to increase the recognition accuracy can to the respectively detected object data also further parameters in the classification will be included. Especially your own Movement data (direction of travel, current speed, acceleration / deceleration values, Steering angle) of the respective cooperating vehicles provide valuable Additional information for identifying objects and for recording the traffic situation overall. In addition, vehicle data can also be used (Type, weight, existing trailer etc.) and be included in the evaluations.
Für eine Einstufung der Relevanz unterschiedlicher Objektdaten können bei dem erfindungsgemäßen Verfahren auch einzelne Fahrzeuggruppen nach bestimmten Kriterien zu kooperierenden Zellen zusammengefasst werden, z.B. bestimmt durch relative Distanz zueinander oder durch gleiche Fahrtrichtung, oder durch Koinzidenz bzw. Dynamik erfasster Objektdaten etc.For a classification the relevance of different object data can in the inventive method also individual vehicle groups to cooperate according to certain criteria Cells are combined, e.g. determined by relative distance to each other or by the same direction of travel, or by coincidence or dynamics of acquired object data, etc.
Bei
dem erfindungsgemäßen Verfahren
entstehen durch drahtlosen Datenaustausch lokale Gruppen von Fahrzeugen,
deren Radarsysteme miteinander kooperieren. Zur Realisation eines
solchen Verbunds ist es notwendig, ein sogenanntes AD HOC-Netz aufzubauen,
dessen Knoten die einzelnen Fahrzeuge darstellen. Eine mögliche Vorgehensweise
hierzu ist die Verwendung des aus WLAN bekannten IEEE 802.11-Standards.
Hierzu ist es jedoch erforderlich, die Fahrzeuge mit den notwendigen
Hard- u. Softwarekomponenten auszustatten und diese Standards an
die automobilen Gegebenheiten anzupassen. Eine weitere Möglichkeit
zur Realisation von AD HOC-Netzen besteht darin, die in den Fahrzeugen
bereits vorhandenen Komponenten in vorteilhafter Weise auszunutzen.
Die Verwendung von Nahbereichsradaren als multifunktonale Sensorik
für Komfort-
und Sicherheitsfunktionen wird zur Zeit sowohl von Fahrzeugherstellern
als auch ihren Zulieferern in zunehmendem Maße untersucht. Die duale Verwendung
eines Radarsystems im Fahrzeug als Umfeldsensierungs- und Datenübertragungssystem stellt
somit eine mögliche
Lösung
für die
oben genannten Anforderungen dar. So wird beispielsweise in der
deutschen Patentanmeldung
Durch einen Verbund kooperierender Systeme lassen sich die Ressourcen der einzelnen Systeme in der Art eines Rechnernetzwerks gemeinsam nutzen. Dies bietet neben einer erhöhten Auswertegeschwindigkeit und -genauigkeit auch einen wertvollen Redundanzeffekt: Störung oder gar Totalausfall eines Radarsystems innerhalb eines Verbunds kann weitgehend überbrückt werden durch die Informationen der anderen Teilnehmer.By a network of cooperating systems allows the resources to be shared of the individual systems in the manner of a computer network. This offers in addition to an elevated Evaluation speed and accuracy also a valuable redundancy effect: disorder or even total failure of a radar system within a composite be largely bridged through the information of the other participants.
Grundsätzlich leistet das erfindungsgemäße Verfahren einen Beitrag zur Erhöhung der Fahrtsicherheit. Frühzeitige Informationen über das Verkehrsgeschehen auch über den unmittelbar einsehbaren Bereich hinaus und Warnungen vor sich abzeichnenden kritischen Situationen führt zu einer Verkürzung der Reaktionszeit. Darüber hinaus kann bei sich abzeichnenden Gefahrensituationen auch ein direkter Eingriff in die Fahrzeugführung (z.B. Einleiten eines Bremsvorgangs) erfolgen.Basically, the invention provides Procedure contributes to increasing the driving safety. Early information on the traffic even beyond the immediate area and warnings of emerging critical situations leads to a reduction in response time. In addition, in the case of emerging dangerous situations, a direct intervention in the vehicle guidance (eg initiation of a braking process) can take place.
Claims (9)
Priority Applications (1)
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DE10326648A DE10326648A1 (en) | 2003-06-11 | 2003-06-11 | Object detection using vehicle radar, classifying object data from several cooperating vehicles according to set criteria |
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DE10326648A DE10326648A1 (en) | 2003-06-11 | 2003-06-11 | Object detection using vehicle radar, classifying object data from several cooperating vehicles according to set criteria |
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DE10326648A1 true DE10326648A1 (en) | 2005-01-13 |
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Cited By (16)
Publication number | Priority date | Publication date | Assignee | Title |
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DE102004017603A1 (en) * | 2004-04-07 | 2005-10-27 | Volkswagen Ag | Direct vehicle to vehicle communication signal transmission procedure uses vehicle relay links with transmission addresses determining position in sequence |
FR2896594A1 (en) * | 2006-01-24 | 2007-07-27 | Renault Sas | Movable and fixed elements e.g. pedestrian, perception method, involves introducing information related to elements of one series in perception system for fusion of images of environment established by vehicles |
DE102007009335A1 (en) * | 2007-02-22 | 2008-08-28 | Continental Teves Ag & Co. Ohg | Displacement determination improving method, involves detecting vehicle environment, evaluating environment with respect to accident situation, and providing sensor for displacement determination of vehicle |
CN102556060A (en) * | 2010-10-13 | 2012-07-11 | 罗伯特·博世有限公司 | Driving assistance system for use in motor vehicle |
EP2385508A3 (en) * | 2010-04-24 | 2012-08-29 | Audi AG | Method for testing the calibration of a remote sensor for a motor vehicle |
DE102011105692A1 (en) | 2011-06-25 | 2012-12-27 | GM Global Technology Operations LLC (n. d. Gesetzen des Staates Delaware) | Traffic control system installed in road for motor vehicle e.g. car, has processing unit which is arranged in communication with mobile detectors for receiving traffic abnormality message, and sending the message to control center |
WO2016003475A1 (en) * | 2014-07-03 | 2016-01-07 | GM Global Technology Operations LLC | Vehicle radar methods and systems |
EP2722833B1 (en) | 2012-10-17 | 2018-05-23 | Audi Ag | Method for associating a transmitter to a detected object in vehicle-to-vehicle communication and in a vehicle |
EP3339897A1 (en) * | 2016-12-20 | 2018-06-27 | Nxp B.V. | Selective sensor data network |
CN109727488A (en) * | 2018-12-19 | 2019-05-07 | 中国市政工程中南设计研究总院有限公司 | A kind of exit of interchange actively induces the driving system and method for vehicle |
US10429503B2 (en) | 2014-07-03 | 2019-10-01 | GM Global Technology Operations LLC | Vehicle cognitive radar methods and systems |
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DE102018220835A1 (en) * | 2018-12-03 | 2020-06-04 | Zf Friedrichshafen Ag | Method and sensor system for autonomous operation of a group of vehicles |
DE102019211382A1 (en) * | 2019-07-30 | 2021-02-04 | Robert Bosch Gmbh | System and method for processing environmental sensor data |
DE102021125582A1 (en) | 2021-10-01 | 2023-04-06 | Bayerische Motoren Werke Aktiengesellschaft | METHOD AND DEVICE FOR DETERMINING AN ENVIRONMENTAL MODEL OF A MOTOR VEHICLE |
DE102010062141B4 (en) | 2010-11-29 | 2023-08-17 | Bayerische Motoren Werke Aktiengesellschaft | Vehicle with at least one environment detection system |
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Cited By (22)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102004017603A1 (en) * | 2004-04-07 | 2005-10-27 | Volkswagen Ag | Direct vehicle to vehicle communication signal transmission procedure uses vehicle relay links with transmission addresses determining position in sequence |
DE102004017603B4 (en) * | 2004-04-07 | 2017-08-03 | Volkswagen Ag | Transmitting communication signals in a communication network with direct vehicle-to-vehicle communication |
FR2896594A1 (en) * | 2006-01-24 | 2007-07-27 | Renault Sas | Movable and fixed elements e.g. pedestrian, perception method, involves introducing information related to elements of one series in perception system for fusion of images of environment established by vehicles |
DE102007009335B4 (en) | 2007-02-22 | 2019-08-14 | Continental Teves Ag & Co. Ohg | Method for improving the distance determination |
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CN102556060A (en) * | 2010-10-13 | 2012-07-11 | 罗伯特·博世有限公司 | Driving assistance system for use in motor vehicle |
CN102556060B (en) * | 2010-10-13 | 2016-08-24 | 罗伯特·博世有限公司 | Travel assist system in motor vehicles |
DE102010062141B4 (en) | 2010-11-29 | 2023-08-17 | Bayerische Motoren Werke Aktiengesellschaft | Vehicle with at least one environment detection system |
DE102011105692A1 (en) | 2011-06-25 | 2012-12-27 | GM Global Technology Operations LLC (n. d. Gesetzen des Staates Delaware) | Traffic control system installed in road for motor vehicle e.g. car, has processing unit which is arranged in communication with mobile detectors for receiving traffic abnormality message, and sending the message to control center |
EP2722833B1 (en) | 2012-10-17 | 2018-05-23 | Audi Ag | Method for associating a transmitter to a detected object in vehicle-to-vehicle communication and in a vehicle |
US20170307733A1 (en) * | 2014-07-03 | 2017-10-26 | GM Global Technology Operations LLC | Vehicle radar methods and systems |
EP3164733A4 (en) * | 2014-07-03 | 2018-05-23 | GM Global Technology Operations LLC | Vehicle radar methods and systems |
CN107209262A (en) * | 2014-07-03 | 2017-09-26 | 通用汽车环球科技运作有限责任公司 | Radar for vehicle method and system |
US10429503B2 (en) | 2014-07-03 | 2019-10-01 | GM Global Technology Operations LLC | Vehicle cognitive radar methods and systems |
US10495732B2 (en) | 2014-07-03 | 2019-12-03 | GM Global Technology Operations LLC | Vehicle radar methods and systems |
WO2016003475A1 (en) * | 2014-07-03 | 2016-01-07 | GM Global Technology Operations LLC | Vehicle radar methods and systems |
EP3339897A1 (en) * | 2016-12-20 | 2018-06-27 | Nxp B.V. | Selective sensor data network |
DE102018220835A1 (en) * | 2018-12-03 | 2020-06-04 | Zf Friedrichshafen Ag | Method and sensor system for autonomous operation of a group of vehicles |
CN109727488A (en) * | 2018-12-19 | 2019-05-07 | 中国市政工程中南设计研究总院有限公司 | A kind of exit of interchange actively induces the driving system and method for vehicle |
DE102019211382A1 (en) * | 2019-07-30 | 2021-02-04 | Robert Bosch Gmbh | System and method for processing environmental sensor data |
DE102021125582A1 (en) | 2021-10-01 | 2023-04-06 | Bayerische Motoren Werke Aktiengesellschaft | METHOD AND DEVICE FOR DETERMINING AN ENVIRONMENTAL MODEL OF A MOTOR VEHICLE |
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