DE102008061060A1 - Method for determining e.g. roll axis of car, involves detecting images by camera, determining rotational axis of vehicle by evaluation of images, and determining moving direction and/or speed of vehicle by optical flux - Google Patents
Method for determining e.g. roll axis of car, involves detecting images by camera, determining rotational axis of vehicle by evaluation of images, and determining moving direction and/or speed of vehicle by optical flux Download PDFInfo
- Publication number
- DE102008061060A1 DE102008061060A1 DE200810061060 DE102008061060A DE102008061060A1 DE 102008061060 A1 DE102008061060 A1 DE 102008061060A1 DE 200810061060 DE200810061060 DE 200810061060 DE 102008061060 A DE102008061060 A DE 102008061060A DE 102008061060 A1 DE102008061060 A1 DE 102008061060A1
- Authority
- DE
- Germany
- Prior art keywords
- vehicle
- images
- determining
- determined
- camera
- 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.)
- Withdrawn
Links
- 238000000034 method Methods 0.000 title claims abstract description 21
- 238000011156 evaluation Methods 0.000 title claims abstract description 18
- 230000003287 optical effect Effects 0.000 title claims abstract description 14
- 230000004907 flux Effects 0.000 title abstract 3
- 230000033001 locomotion Effects 0.000 claims abstract description 36
- 239000013598 vector Substances 0.000 claims abstract description 14
- 238000012545 processing Methods 0.000 claims description 16
- 238000005259 measurement Methods 0.000 description 11
- 238000001514 detection method Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- BUHVIAUBTBOHAG-FOYDDCNASA-N (2r,3r,4s,5r)-2-[6-[[2-(3,5-dimethoxyphenyl)-2-(2-methylphenyl)ethyl]amino]purin-9-yl]-5-(hydroxymethyl)oxolane-3,4-diol Chemical compound COC1=CC(OC)=CC(C(CNC=2C=3N=CN(C=3N=CN=2)[C@H]2[C@@H]([C@H](O)[C@@H](CO)O2)O)C=2C(=CC=CC=2)C)=C1 BUHVIAUBTBOHAG-FOYDDCNASA-N 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000001454 recorded image Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P13/00—Indicating or recording presence, absence, or direction, of movement
- G01P13/02—Indicating direction only, e.g. by weather vane
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
- G01P3/36—Devices characterised by the use of optical means, e.g. using infrared, visible, or ultraviolet light
-
- 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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
- G01S5/163—Determination of attitude
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/12—Mirror assemblies combined with other articles, e.g. clocks
- B60R2001/1253—Mirror assemblies combined with other articles, e.g. clocks with cameras, video cameras or video screens
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/10—Automatic or semi-automatic parking aid systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2230/00—Monitoring, detecting special vehicle behaviour; Counteracting thereof
- B60T2230/02—Side slip angle, attitude angle, floating angle, drift angle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2230/00—Monitoring, detecting special vehicle behaviour; Counteracting thereof
- B60T2230/03—Overturn, rollover
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Mechanical Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Transportation (AREA)
- Power Engineering (AREA)
- Image Analysis (AREA)
Abstract
Description
Die Erfindung betrifft ein Verfahren zur Ermittlung mindestens einer Rotationsachse eines Fahrzeugs nach den Merkmalen des Oberbegriffs des Anspruchs 1 und eine Vorrichtung zur Durchführung des Verfahrens nach den Merkmalen des Oberbegriffs des Anspruchs 7.The The invention relates to a method for determining at least one Rotation axis of a vehicle according to the features of the preamble of Claim 1 and an apparatus for carrying out the method according to the features of the preamble of claim 7.
Aus
dem Stand der Technik ist, wie in
In
der
Der Erfindung liegt die Aufgabe zugrunde, ein verbessertes Verfahren zur Ermittlung mindestens einer Rotationsachse eines Fahrzeugs sowie eine verbesserte Vorrichtung zur Durchführung des Verfahrens anzugeben.Of the Invention is based on the object, an improved method for determining at least one axis of rotation of a vehicle and a improved device for carrying out the method specify.
Die Aufgabe wird erfindungsgemäß durch ein Verfahren mit den Merkmalen des Anspruchs 1 und eine Vorrichtung mit den Merkmalen des Anspruchs 7 gelöst.The The object is achieved by a method with the features of claim 1 and a device with the features of claim 7 solved.
Bevorzugte Ausgestaltungen und Weiterbildungen der Erfindung sind in den abhängigen Ansprüchen angegeben.preferred Embodiments and developments of the invention are in the dependent Claims specified.
Beim erfindungsgemäßen Verfahren zur Ermittlung mindestens einer Rotationsachse eines Fahrzeugs werden mittels zumindest einer in einem Außenspiegel des Fahrzeugs angeordneten und nach unten gerichtete Kamera Bilder erfasst und durch Auswertung dieser Bilder wird mindestens eine Rotationsachse des Fahrzeugs bestimmt.At the inventive method for determining at least a rotation axis of a vehicle are by means of at least one arranged in an exterior mirror of the vehicle and after down directed camera captured images and by evaluating this Images is determined at least one axis of rotation of the vehicle.
Eine erfindungsgemäße Vorrichtung zur Durchführung des Verfahrens umfasst zumindest eine im Außenspiegel des Fahrzeugs angeordnete und nach unten gerichtete Kamera und eine Bildverarbeitungs- und Auswerteeinheit.A inventive device for implementation of the method comprises at least one in the outside mirror of the Vehicle-mounted and down-facing camera and a Image processing and evaluation unit.
Die erfindungsgemäße Lösung ermöglicht eine zuverlässige und exakte Bestimmung einer Geschwindigkeit und/oder einer Bewegungsrichtung eines Fahrzeugs auch in sehr geringen Geschwindigkeitsbereichen, wie beispielsweise zwischen 0 km/h und 3 km/h. Vorteilhafterweise ist eine aus dieser Geschwindigkeit und/oder Bewegungsrichtung des Fahrzeugs ermittelte Rotationsachse des Fahrzeuges ebenfalls sehr zuverlässig und exakt bestimmt.The Solution according to the invention allows a reliable and accurate determination of a speed and / or a direction of movement of a vehicle even in very small Speed ranges, such as between 0 km / h and 3 km / h. Advantageously, one of this speed and / or Movement direction of the vehicle determined axis of rotation of the vehicle also very reliable and exactly determined.
Damit wird das Fahrverhalten des mit der erfindungsgemäßen Lösung ausgerüsteten Fahrzeugs verbessert, da im Fahrzeug integrierte Fahrerassistenzsysteme, wie beispielsweise ein elektronisches Stabilitätsprogramm und/oder eine Antriebsschlupfregelung, zuverlässige Informationen über einen tatsächlichen Fahrzeugzustand erhalten, wodurch eine Kraftverteilung auf Antriebsräder des Fahrzeugs optimiert werden kann.In order to is the driving behavior of the inventive Solution-equipped vehicle improved since integrated in the vehicle driver assistance systems, such as an electronic stability program and / or traction control, reliable information about an actual Vehicle condition obtained, creating a force distribution on drive wheels of the vehicle can be optimized.
Ausführungsbeispiele der Erfindung werden anhand von Zeichnungen näher erläutert.embodiments The invention will be explained in more detail with reference to drawings.
Dabei zeigen:there demonstrate:
Einander entsprechende Teile sind in allen Figuren mit den gleichen Bezugszeichen versehen.each other corresponding parts are in all figures with the same reference numerals Mistake.
Derartige
Kameras
In
Die
Rotationsachsen eines Fahrzeugs
Als
Wanken bezeichnet man die Drehbewegung eines Fahrzeugs
Als
Nicken bezeichnet man die Drehbewegung eines Fahrzeugs
Als
Gieren bezeichnet man die Drehbewegung eines Fahrzeugs um seine
vertikale Achse. Diese Achse wird auch als Gierachse bezeichnet.
Eine Drehbewegung eines Fahrzeugs
Damit
ein Reifen Seitenführungskräfte aufbauen kann,
muss er seitlich rutschen, auch als driften bezeichnet. Driften
sowohl Vorder- als auch Hinterräder, nennt man den Drehwinkel
gegen die Bewegungsrichtung, den das gesamte Fahrzeug
Diese
fahrdynamischen Größen, insbesondere der Wankwinkel,
der Nickwinkel, der Gierwinkel und der Schwimmwinkel, werden im
beschriebenen Verfahren durch die Auswertung des optischen Flusses
der zeitgleich aufgenommenen Bilder von zwei Kameras
Eine
Gierwinkelmessung auch mit nur einer Kamera
In
Die
Bildverarbeitungs- und Auswerteeinheit
- 11
- AußenspiegelMirrors
- 22
- Kameracamera
- 33
- Fahrzeugvehicle
- 44
- Bildverarbeitungs- und Auswerteeinheitimage processing and evaluation unit
- 55
- Fahrbahnoberflächeroad surface
- 66
- abgebildeter Bereichpictured Area
- 77
- Blickwinkelperspective
- 88th
- FahrerassistenzsystemDriver assistance system
- AA
- Abstanddistance
- P, P'P, P '
- korrespondierende Punktecorresponding Points
- BVBV
- Bewegungsvektormotion vector
- αα
- Wankwinkelroll angle
- ββ
- Nickwinkelpitch angle
- δδ
- Gierwinkelyaw
- εε
- Schwimmwinkelfloat angle
ZITATE ENTHALTEN IN DER BESCHREIBUNGQUOTES INCLUDE IN THE DESCRIPTION
Diese Liste der vom Anmelder aufgeführten Dokumente wurde automatisiert erzeugt und ist ausschließlich zur besseren Information des Lesers aufgenommen. Die Liste ist nicht Bestandteil der deutschen Patent- bzw. Gebrauchsmusteranmeldung. Das DPMA übernimmt keinerlei Haftung für etwaige Fehler oder Auslassungen.This list The documents listed by the applicant have been automated generated and is solely for better information recorded by the reader. The list is not part of the German Patent or utility model application. The DPMA takes over no liability for any errors or omissions.
Zitierte PatentliteraturCited patent literature
- - DE 60316247 T2 [0002] - DE 60316247 T2 [0002]
- - US 2006/0055776 A1 [0003] US 2006/0055776 A1 [0003]
Claims (8)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE200810061060 DE102008061060A1 (en) | 2008-12-08 | 2008-12-08 | Method for determining e.g. roll axis of car, involves detecting images by camera, determining rotational axis of vehicle by evaluation of images, and determining moving direction and/or speed of vehicle by optical flux |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE200810061060 DE102008061060A1 (en) | 2008-12-08 | 2008-12-08 | Method for determining e.g. roll axis of car, involves detecting images by camera, determining rotational axis of vehicle by evaluation of images, and determining moving direction and/or speed of vehicle by optical flux |
Publications (1)
Publication Number | Publication Date |
---|---|
DE102008061060A1 true DE102008061060A1 (en) | 2010-06-10 |
Family
ID=42145679
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE200810061060 Withdrawn DE102008061060A1 (en) | 2008-12-08 | 2008-12-08 | Method for determining e.g. roll axis of car, involves detecting images by camera, determining rotational axis of vehicle by evaluation of images, and determining moving direction and/or speed of vehicle by optical flux |
Country Status (1)
Country | Link |
---|---|
DE (1) | DE102008061060A1 (en) |
Cited By (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102013200431A1 (en) * | 2013-01-14 | 2014-07-31 | Robert Bosch Gmbh | Camera system for vehicle, has control device that is arranged for each image sensor to recognize camera position at which image sensor is positioned on vehicle |
DE102013210591A1 (en) | 2013-06-07 | 2014-12-11 | Continental Automotive Gmbh | MOTION RECOGNITION OF A VEHICLE BY MULTIPLE CAMERAS |
DE102014019078A1 (en) | 2014-12-18 | 2015-06-18 | Daimler Ag | Calibration method and method for adjusting a camera mounted on a vehicle |
DE102015006571A1 (en) | 2015-05-21 | 2015-12-10 | Daimler Ag | Device and method for determining a torsion of a body and / or a chassis |
DE102016005452A1 (en) | 2016-05-03 | 2017-02-09 | Daimler Ag | A method of correcting a position of an augmented reality object projected on a display of a vehicle due to an obstructed landing gear of the vehicle |
DE102016014156A1 (en) | 2016-11-26 | 2017-05-24 | Daimler Ag | Method and system for the track stabilization of articulated vehicles, preferably articulated buses |
DE102017011558A1 (en) | 2017-12-14 | 2018-05-30 | Daimler Ag | Method for the camera-based determination of a proper movement and / or a rotational movement about a vehicle vertical axis of a vehicle |
DE102017118809A1 (en) | 2017-08-17 | 2019-02-21 | Valeo Schalter Und Sensoren Gmbh | Method for operating a sensor device of a motor vehicle, sensor device, driver assistance system and motor vehicle |
DE102017118880A1 (en) | 2017-08-18 | 2019-02-21 | Valeo Schalter Und Sensoren Gmbh | Method for operating a sensor device of a motor vehicle, sensor device, driver assistance system and motor vehicle |
DE102018207779A1 (en) * | 2018-05-17 | 2019-11-21 | Bayerische Motoren Werke Aktiengesellschaft | A method of approximately determining the slip angle or skew stiffness on an axle of a vehicle |
DE102018121265A1 (en) * | 2018-08-31 | 2020-03-05 | Connaught Electronics Ltd. | Method for determining an angle for determining a pose of a trailer |
US11810289B2 (en) | 2021-03-31 | 2023-11-07 | Caterpillar Inc. | Estimating the moving state of rotating machines systems and methods |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20060055776A1 (en) | 2003-10-17 | 2006-03-16 | Matsushita Electric Industrial Co., Ltd. | Mobile unit motion calculating method, apparatus and navigation system |
DE60316247T2 (en) | 2002-12-20 | 2008-05-29 | Murakami Corp. | MIRROR |
-
2008
- 2008-12-08 DE DE200810061060 patent/DE102008061060A1/en not_active Withdrawn
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE60316247T2 (en) | 2002-12-20 | 2008-05-29 | Murakami Corp. | MIRROR |
US20060055776A1 (en) | 2003-10-17 | 2006-03-16 | Matsushita Electric Industrial Co., Ltd. | Mobile unit motion calculating method, apparatus and navigation system |
Cited By (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102013200431A1 (en) * | 2013-01-14 | 2014-07-31 | Robert Bosch Gmbh | Camera system for vehicle, has control device that is arranged for each image sensor to recognize camera position at which image sensor is positioned on vehicle |
DE102013210591A1 (en) | 2013-06-07 | 2014-12-11 | Continental Automotive Gmbh | MOTION RECOGNITION OF A VEHICLE BY MULTIPLE CAMERAS |
DE102014019078A1 (en) | 2014-12-18 | 2015-06-18 | Daimler Ag | Calibration method and method for adjusting a camera mounted on a vehicle |
DE102015009657A1 (en) | 2014-12-18 | 2016-03-31 | Daimler Ag | Calibration method and method for adjusting a camera mounted on a vehicle |
DE102015006571A1 (en) | 2015-05-21 | 2015-12-10 | Daimler Ag | Device and method for determining a torsion of a body and / or a chassis |
DE102016005452A1 (en) | 2016-05-03 | 2017-02-09 | Daimler Ag | A method of correcting a position of an augmented reality object projected on a display of a vehicle due to an obstructed landing gear of the vehicle |
DE102016014156A1 (en) | 2016-11-26 | 2017-05-24 | Daimler Ag | Method and system for the track stabilization of articulated vehicles, preferably articulated buses |
DE102017118809A1 (en) | 2017-08-17 | 2019-02-21 | Valeo Schalter Und Sensoren Gmbh | Method for operating a sensor device of a motor vehicle, sensor device, driver assistance system and motor vehicle |
DE102017118809B4 (en) | 2017-08-17 | 2019-05-02 | Valeo Schalter Und Sensoren Gmbh | Method for operating a sensor device of a motor vehicle, sensor device, driver assistance system and motor vehicle |
DE102017118880A1 (en) | 2017-08-18 | 2019-02-21 | Valeo Schalter Und Sensoren Gmbh | Method for operating a sensor device of a motor vehicle, sensor device, driver assistance system and motor vehicle |
DE102017118880B4 (en) | 2017-08-18 | 2019-03-07 | Valeo Schalter Und Sensoren Gmbh | Method for operating a sensor device of a motor vehicle, sensor device, driver assistance system and motor vehicle |
DE102017011558A1 (en) | 2017-12-14 | 2018-05-30 | Daimler Ag | Method for the camera-based determination of a proper movement and / or a rotational movement about a vehicle vertical axis of a vehicle |
DE102018207779A1 (en) * | 2018-05-17 | 2019-11-21 | Bayerische Motoren Werke Aktiengesellschaft | A method of approximately determining the slip angle or skew stiffness on an axle of a vehicle |
DE102018121265A1 (en) * | 2018-08-31 | 2020-03-05 | Connaught Electronics Ltd. | Method for determining an angle for determining a pose of a trailer |
US11810289B2 (en) | 2021-03-31 | 2023-11-07 | Caterpillar Inc. | Estimating the moving state of rotating machines systems and methods |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
DE102008061060A1 (en) | Method for determining e.g. roll axis of car, involves detecting images by camera, determining rotational axis of vehicle by evaluation of images, and determining moving direction and/or speed of vehicle by optical flux | |
DE102005009814B4 (en) | Vehicle condition detection system and method | |
DE10050569B4 (en) | Method and device for controlling a suspension of a vehicle | |
DE102005033237B4 (en) | Method for determining and correcting misalignments and offsets of the sensors of an inertial measurement unit in a land vehicle | |
DE102009016562A1 (en) | Method for identifying objects in periphery of vehicle, involves recording image of periphery of vehicle at vehicle position, and another image of periphery of vehicle at another vehicle position by camera arranged on vehicle | |
DE102016209678A1 (en) | Method for operating a motor vehicle, motor vehicle and system for processing data on side wind loads acting on a motor vehicle | |
DE102011056671A1 (en) | Determining a height profile of a vehicle environment using a 3D camera | |
EP3356203B1 (en) | Method for determining a parking surface for parking a motor vehicle, driver assistance system, and motor vehicle | |
DE102011007608A1 (en) | Method for active chassis controlling of vehicle i.e. car, involves determining gear control information for regulating wheel suspension system, and performing active controlling of suspension system based on regulated control information | |
DE102015112313A1 (en) | Method for the at least semi-autonomous maneuvering of a motor vehicle with position correction, driver assistance system and motor vehicle | |
DE102007047337A1 (en) | Method for processing of sensor signals of motor vehicle, involves detecting sensor signal representing transversal acceleration, longitudinal speed, yaw rate or steering angle of vehicle and detected signals are fed to processing unit | |
DE102008062752A1 (en) | Method for compensation of crosswind effects for vehicle, involves recording direction and strength of crosswind, where steering torque of steering of vehicle is superimposed according to detected direction and strength of crosswind | |
DE102015008553A1 (en) | Device and method for adaptive alignment of the camera field of view of a vehicle camera | |
DE102008025773A1 (en) | Local and movement conditions estimating method for observed object i.e. vehicle, involves determining distance, detecting shifting of portion of object, and estimating parameter of local and movement condition | |
DE102015003724A1 (en) | Method for determining a current position of a motor vehicle on a roadway | |
DE102010049216A1 (en) | Method for operating camera i.e. stereo camera, arranged at car, involves detecting distance of object via image evaluation, and calibrating camera when distance determined by sensing unit deviates from distance determined by evaluation | |
DE10247991A1 (en) | Yaw angle determination method for a motor vehicle, e.g. for a dynamic control system, in which the velocity vector is determined by frequency analysis of a GPS receiver signal and is then combined with a measured yaw rate value | |
DE102015116220A1 (en) | Method for the at least semi-autonomous maneuvering of a motor vehicle with recognition of an odometry error, computing device, driver assistance system and motor vehicle | |
DE19735912B4 (en) | Method and device for detecting a vehicle bank | |
WO2017067914A1 (en) | Method for correcting an incorrect orientation of an optical sensor of a motor vehicle, computing device, driver assistance system, and motor vehicle | |
DE10248432A1 (en) | Road inclination determination method in which the instantaneous inclination is determined from the difference between measurements of motor vehicle acceleration relative to the road and absolute vehicle acceleration | |
DE102008045619A1 (en) | To determine the speed/direction of a moving vehicle, a downward camera is integrated into a wing mirror for an image processor to compare images from different time points | |
DE102015118468A1 (en) | Method for at least semi-autonomous maneuvering of a motor vehicle into a parking space with curb, driver assistance system and motor vehicle | |
DE102019007642A1 (en) | Method for predicting cross winds | |
DE102020007770B4 (en) | Method for determining uneven ground on a road by means of a motor vehicle system, and system |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
R021 | Search request validly filed |
Effective date: 20141024 |
|
R005 | Application deemed withdrawn due to failure to request examination |