DE102012021461A1 - Method for vehicle classification, such as vehicle size, vehicle mass and type of vehicle, for operating driving assistance device, involves detecting wheel of vehicle by radar sensor, and generating super-positioned overall signal - Google Patents
Method for vehicle classification, such as vehicle size, vehicle mass and type of vehicle, for operating driving assistance device, involves detecting wheel of vehicle by radar sensor, and generating super-positioned overall signal Download PDFInfo
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- DE102012021461A1 DE102012021461A1 DE102012021461A DE102012021461A DE102012021461A1 DE 102012021461 A1 DE102012021461 A1 DE 102012021461A1 DE 102012021461 A DE102012021461 A DE 102012021461A DE 102012021461 A DE102012021461 A DE 102012021461A DE 102012021461 A1 DE102012021461 A1 DE 102012021461A1
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- vehicle
- wheel
- size
- radar sensor
- determined
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Classifications
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- 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
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
- G01S7/415—Identification of targets based on measurements of movement associated with the target
-
- 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
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/52—Discriminating between fixed and moving objects or between objects moving at different speeds
-
- 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
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
-
- 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
- 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
-
- 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
- G01S2013/93271—Sensor installation details in the front of the 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
- 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
- G01S2013/9329—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles cooperating with reflectors or transponders
Abstract
Description
Die Erfindung betrifft ein Verfahren zur Klassifikation von Fahrzeugen, wobei mittels zumindest eines Radarsensors zumindest ein Rad eines Fahrzeugs erfasst wird, und eine Verwendung einer mittels eines solchen Verfahrens ermittelten Fahrzeuggröße, Fahrzeugmasse und/oder Fahrzeugkategorie zum Betrieb einer Fahrerassistenzvorrichtung eines Fahrzeugs.The invention relates to a method for classifying vehicles, wherein at least one wheel of a vehicle is detected by means of at least one radar sensor, and a use of a determined by such a method vehicle size, vehicle mass and / or vehicle category for operating a driver assistance device of a vehicle.
Die Erfindung betrifft weiterhin eine Vorrichtung zur Klassifikation von Fahrzeugen, umfassend zumindest einen Radarsensor zur Erfassung zumindest eines Rades eines Fahrzeugs.The invention further relates to a device for classifying vehicles, comprising at least one radar sensor for detecting at least one wheel of a vehicle.
Aus der
Aus der
Der Erfindung liegt die Aufgabe zu Grunde, ein gegenüber dem Stand der Technik verbessertes Verfahren zur Klassifikation von Fahrzeugen, eine verbesserte Vorrichtung zur Klassifikation von Fahrzeugen und eine Verwendung einer mittels eines Verfahrens zur Klassifikation von Fahrzeugen ermittelten Fahrzeuggröße, Fahrzeugmasse und/oder Fahrzeugkategorie anzugeben.The object of the invention is to specify a method for classifying vehicles that is improved compared with the prior art, an improved device for classifying vehicles and a use of a vehicle size, vehicle mass and / or vehicle category determined by means of a method for the classification of vehicles.
Hinsichtlich des Verfahrens wird die Aufgabe erfindungsgemäß durch die im Anspruch 1 angegebenen Merkmale, hinsichtlich der Vorrichtung durch die im Anspruch 5 angegebenen Merkmale und hinsichtlich der Verwendung durch die im Anspruch 6 angegebenen Merkmale gelöst.With regard to the method, the object is achieved by the features specified in
Vorteilhafte Ausgestaltungen der Erfindung sind Gegenstand der Unteransprüche.Advantageous embodiments of the invention are the subject of the dependent claims.
In dem Verfahren zur Klassifikation von Fahrzeugen wird mittels zumindest eines Radarsensors zumindest ein Rad eines Fahrzeugs erfasst. Erfindungsgemäß wird mittels des Radarsensors aus mehreren Streuzentren des Rades ein superpositioniertes Gesamtsignal erzeugt, welches aus einem charakteristischen Verlauf von den Streuzentren reflektierter Radarstrahlung während einer Drehung des Rades gebildet wird, wobei das Gesamtsignal einer Auswerteeinheit zugeführt und mittels der Auswerteeinheit aus dem Gesamtsignal eine von den Streuzentren abhängige Signatur des Rades ermittelt wird, wobei aus der Signatur eine Radgröße abgeleitet wird, anhand welcher eine Fahrzeuggröße, eine Fahrzeugmasse und/oder Fahrzeugkategorie ermittelt werden bzw. wird.In the method for classifying vehicles, at least one wheel of a vehicle is detected by means of at least one radar sensor. According to the invention, a superpositioned total signal is generated by means of the radar sensor from a plurality of scattering centers of the wheel, which is formed from a characteristic course of radar radiation reflected by the scattering centers during a rotation of the wheel, wherein the total signal is fed to an evaluation unit and from the total signal one of the scattering centers by means of the evaluation unit dependent signature of the wheel is determined, wherein from the signature, a wheel size is derived, based on which a vehicle size, a vehicle mass and / or vehicle category is determined or will.
Das erfindungsgemäße Verfahren ermöglicht aufgrund der Ermittlung der Signatur des Rades aus dem Verlauf der Streuzentren während der Drehung des Rades in besonders vorteilhafter Weise eine besonders exakte Bestimmung der Radgröße und daraus folgend eine besonders exakte Klassifikation von Fahrzeugen in Abhängigkeit von aus der Radgröße ermittelten Fahrzeuggrößen, Fahrzeugmassen und/oder Fahrzeugkategorien.The inventive method allows due to the determination of the signature of the wheel from the course of the scattering centers during the rotation of the wheel in a particularly advantageous manner, a particularly accurate determination of the wheel size and consequently a particularly accurate classification of vehicles depending on determined from the wheel size vehicle sizes, vehicle masses and / or vehicle categories.
Die erhöhte Genauigkeit bei der Ermittlung der Fahrzeuggrößen, Fahrzeugmassen und/oder Fahrzeugkategorien führt bei einer Verwendung dieser Größen zum Betrieb einer Fahrerassistenzvorrichtung eines Fahrzeugs insbesondere zu dem Vorteil, dass aufgrund der Genauigkeit eine optimierte Anpassung der von der Fahrerassistenzvorrichtung durchgeführten Maßnahmen an die Fahrzeuggröße, Fahrzeugmasse und/oder Fahrzeugkategorie eines Fahrzeugs, mit welchem eine Kollision droht, realisierbar ist. Somit können Kollisionsvermeidungsmaßnahmen und Maßnahmen, welche die Folgen einer Kollision mindern, besonders genau an die Eigenschaften des Fahrzeugs, mit welchem die Kollision droht, eingestellt werden. Dadurch ist eine Zuverlässigkeit und Robustheit solcher Fahrerassistenzvorrichtungen signifikant verbessert.The increased accuracy in determining the vehicle sizes, vehicle masses and / or vehicle categories results in the use of these variables for operating a driver assistance device of a Vehicle in particular to the advantage that due to the accuracy of an optimized adaptation of the measures performed by the driver assistance device to the vehicle size, vehicle mass and / or vehicle category of a vehicle, with which a collision threatens, can be realized. Thus, collision avoidance measures and measures which reduce the consequences of a collision can be adjusted particularly precisely to the properties of the vehicle with which the collision threatens. This significantly improves the reliability and robustness of such driver assistance devices.
Ausführungsbeispiele der Erfindung werden im Folgenden anhand von Zeichnungen näher erläutert.Embodiments of the invention are explained in more detail below with reference to drawings.
Dabei zeigen:Showing:
Einander entsprechende Teile sind in allen Figuren mit den gleichen Bezugszeichen versehen.Corresponding parts are provided in all figures with the same reference numerals.
In
Um eine Klassifikation des Fahrzeugs
Mittels des Radarsensors
Das Systemfahrzeug
Um einen optimierten Betrieb der Fahrerassistenzvorrichtung
Zur Ermittlung der Fahrzeuggröße, Fahrzeugmasse und Fahrzeugkategorie werden mittels des Radarsensors
Weiterhin werden mittels des Radarsensors
Weiterhin werden die Fahrzeuggröße, Fahrzeugmasse und Fahrzeugkategorie aus einer Radgröße der Räder
In
Während einer Drehung des Rades
Das Gesamtsignal GS wird einer ebenfalls in
Dieses Frequenzsignal FS ist über der Frequenz f abgetragen in
Somit kann bei bekannter Drehgeschwindigkeit auf den Raddurchmesser rückgeschlossen werden. Aus dem Raddurchmesser bzw. auch der Radgröße werden mittels der Auswerteeinheit
In Abhängigkeit des Durchmessers des Rades
Weiterhin wird die Radgröße aus einer Signatur S des jeweiligen Rades
In Abhängigkeit vom Raddurchmesser liefert das Rad
Hierzu wird im dargestellten Ausführungsbeispiel mittels des Radarsensors
Jedes der Streuzentren SZ7 bis SZ11 zeichnet sich durch eine unterschiedliche radiale Geschwindigkeit v7 bis v11 in Richtung des Radarsensors
Aus der jeweiligen radialen Geschwindigkeit v7 bis v11 wird gemäß folgender Gleichung (1) ein Dopplerspektrum ermittelt, welches die Signatur S des Rades
- fDoppler
- = Dopplerfrequenz
- v
- r = radiale Geschwindigkeit v7 bis v11
- λ
- = Wellenlänge der Radarstrahlung
- f Doppler
- = Doppler frequency
- v
- r = radial velocity v7 to v11
- λ
- = Wavelength of radar radiation
In Abhängigkeit von der Radgröße liefert das Rad
Auch wird aus der Signatur S des Rades
In einem nicht gezeigten Ausführungsbeispiel werden das Maß der Spreizung des Gesamtsignals GS, die Frequenzabstände im Dopplerspektrum und die Signatur S des jeweiligen Rades
Bei einer Erfassung mehrerer Räder
In
Die Vorrichtung
BezugszeichenlisteLIST OF REFERENCE NUMBERS
- 11
- Fahrzeugvehicle
- 22
- Radwheel
- 33
- Radwheel
- 44
- Vorrichtungcontraption
- 55
- Radarsensorradar sensor
- 66
- Systemfahrzeugsystem vehicle
- 77
- FahrerassistenzvorrichtungDriver assistance device
- 88th
- Auswerteeinheitevaluation
- AA
- Abstanddistance
- Ee
- Erfassungsbereichdetection range
- ff
- Frequenzfrequency
- fDoppler f Doppler
- DopplerfrequenzDoppler frequency
- FSFS
- Frequenzsignalfrequency signal
- GSGS
- Gesamtsignaltotal signal
- LL
- Längsachselongitudinal axis
- P1, P2P1, P2
- PunktPoint
- RSRS
- Radstandwheelbase
- SS
- Signatursignature
- SZ1 bis SZ11SZ1 to SZ11
- Streuzentrumscattering center
- tt
- ZeitTime
- UU
- Untergrundunderground
- v7 bis v11v7 to v11
- radiale Geschwindigkeitradial speed
- vrvr
- radiale Geschwindigkeitradial speed
- XX
- optische Achseoptical axis
- ZSZS
- Zeitsignaltime signal
- αα
- Winkelangle
ZITATE ENTHALTEN IN DER BESCHREIBUNG QUOTES 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 of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.
Zitierte PatentliteraturCited patent literature
- DE 102008037233 B4 [0003] DE 102008037233 B4 [0003]
- US 2004/0061598 A1 [0004] US 2004/0061598 A1 [0004]
Claims (6)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102012021461A DE102012021461A1 (en) | 2012-10-31 | 2012-10-31 | Method for vehicle classification, such as vehicle size, vehicle mass and type of vehicle, for operating driving assistance device, involves detecting wheel of vehicle by radar sensor, and generating super-positioned overall signal |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102012021461A DE102012021461A1 (en) | 2012-10-31 | 2012-10-31 | Method for vehicle classification, such as vehicle size, vehicle mass and type of vehicle, for operating driving assistance device, involves detecting wheel of vehicle by radar sensor, and generating super-positioned overall signal |
Publications (1)
Publication Number | Publication Date |
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DE102012021461A1 true DE102012021461A1 (en) | 2013-05-08 |
Family
ID=48129025
Family Applications (1)
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DE102012021461A Withdrawn DE102012021461A1 (en) | 2012-10-31 | 2012-10-31 | Method for vehicle classification, such as vehicle size, vehicle mass and type of vehicle, for operating driving assistance device, involves detecting wheel of vehicle by radar sensor, and generating super-positioned overall signal |
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DE (1) | DE102012021461A1 (en) |
Cited By (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102015004468A1 (en) * | 2015-04-04 | 2016-10-06 | Audi Ag | Method for operating a driver assistance system and motor vehicle |
DE102015009308A1 (en) * | 2015-07-18 | 2017-01-19 | Audi Ag | Method for operating a driver assistance system and motor vehicle |
DE102016218350A1 (en) * | 2016-09-23 | 2018-03-29 | Conti Temic Microelectronic Gmbh | METHOD AND DEVICE FOR DETECTING A SECOND VEHICLE IN THE ENVIRONMENT OF A FIRST VEHICLE |
DE102017206340A1 (en) | 2017-04-12 | 2018-10-18 | Robert Bosch Gmbh | Classify an object in the environment of a motor vehicle |
EP3564699A1 (en) * | 2018-05-04 | 2019-11-06 | Audi Ag | Method for determining an absolute velocity of a further road user and motor vehicle |
CN111033311A (en) * | 2017-09-29 | 2020-04-17 | 三美电机株式会社 | Radar device and target detection method |
DE102019216805A1 (en) * | 2019-10-31 | 2021-05-06 | Continental Automotive Gmbh | Method for tracking a distant target vehicle in a surrounding area of a motor vehicle by means of a collision detection device |
DE102016106299B4 (en) | 2015-04-06 | 2024-03-21 | GM Global Technology Operations LLC | Wheel detection and its application in object tracking and sensor registration |
DE102016100030B4 (en) | 2015-01-13 | 2024-05-08 | Hyundai Mobis Co., Ltd. | DEVICE FOR SAFE DRIVING OF A VEHICLE |
Citations (2)
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US20040061598A1 (en) | 2002-09-26 | 2004-04-01 | King Anthony Gerald | Vehicle collision severity estimation system |
DE102008037233B4 (en) | 2008-08-09 | 2010-06-17 | Rtb Gmbh & Co. Kg | Vehicle classifier with a device for detecting a tolling wheel |
-
2012
- 2012-10-31 DE DE102012021461A patent/DE102012021461A1/en not_active Withdrawn
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
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US20040061598A1 (en) | 2002-09-26 | 2004-04-01 | King Anthony Gerald | Vehicle collision severity estimation system |
DE102008037233B4 (en) | 2008-08-09 | 2010-06-17 | Rtb Gmbh & Co. Kg | Vehicle classifier with a device for detecting a tolling wheel |
Cited By (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102016100030B4 (en) | 2015-01-13 | 2024-05-08 | Hyundai Mobis Co., Ltd. | DEVICE FOR SAFE DRIVING OF A VEHICLE |
DE102015004468A1 (en) * | 2015-04-04 | 2016-10-06 | Audi Ag | Method for operating a driver assistance system and motor vehicle |
DE102016106299B4 (en) | 2015-04-06 | 2024-03-21 | GM Global Technology Operations LLC | Wheel detection and its application in object tracking and sensor registration |
DE102015009308B4 (en) | 2015-07-18 | 2022-07-07 | Audi Ag | Method for operating a driver assistance system and motor vehicle |
DE102015009308A1 (en) * | 2015-07-18 | 2017-01-19 | Audi Ag | Method for operating a driver assistance system and motor vehicle |
DE102016218350A1 (en) * | 2016-09-23 | 2018-03-29 | Conti Temic Microelectronic Gmbh | METHOD AND DEVICE FOR DETECTING A SECOND VEHICLE IN THE ENVIRONMENT OF A FIRST VEHICLE |
DE102017206340A1 (en) | 2017-04-12 | 2018-10-18 | Robert Bosch Gmbh | Classify an object in the environment of a motor vehicle |
CN111033311B (en) * | 2017-09-29 | 2023-08-18 | 三美电机株式会社 | Radar apparatus and target detection method |
EP3690484A4 (en) * | 2017-09-29 | 2021-06-16 | Mitsumi Electric Co., Ltd. | Radar device and target detection method |
US11467253B2 (en) | 2017-09-29 | 2022-10-11 | Mitsumi Electric Co., Ltd. | Radar device and target detection method |
CN111033311A (en) * | 2017-09-29 | 2020-04-17 | 三美电机株式会社 | Radar device and target detection method |
EP3564699A1 (en) * | 2018-05-04 | 2019-11-06 | Audi Ag | Method for determining an absolute velocity of a further road user and motor vehicle |
WO2021083464A1 (en) * | 2019-10-31 | 2021-05-06 | Continental Automotive Gmbh | Method for tracking a remote target vehicle in an area surrounding a motor vehicle by means of a collision detection device |
JP2022550762A (en) * | 2019-10-31 | 2022-12-05 | コンチネンタル オートモーティヴ ゲゼルシャフト ミット ベシュレンクテル ハフツング | A method for tracking a remote target vehicle within a peripheral area of a motor vehicle using collision recognition means |
DE102019216805A1 (en) * | 2019-10-31 | 2021-05-06 | Continental Automotive Gmbh | Method for tracking a distant target vehicle in a surrounding area of a motor vehicle by means of a collision detection device |
JP7340097B2 (en) | 2019-10-31 | 2023-09-06 | コンチネンタル オートモーティヴ ゲゼルシャフト ミット ベシュレンクテル ハフツング | A method for tracking a remote target vehicle within a peripheral area of a motor vehicle using collision recognition means |
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