DE10218228A1 - Motor vehicle video camera operational checking method in which video data are subjected to plausibility testing in conjunction with other sensor data, such as yaw rate, transverse acceleration, vehicle speed, etc. - Google Patents
Motor vehicle video camera operational checking method in which video data are subjected to plausibility testing in conjunction with other sensor data, such as yaw rate, transverse acceleration, vehicle speed, etc.Info
- Publication number
- DE10218228A1 DE10218228A1 DE10218228A DE10218228A DE10218228A1 DE 10218228 A1 DE10218228 A1 DE 10218228A1 DE 10218228 A DE10218228 A DE 10218228A DE 10218228 A DE10218228 A DE 10218228A DE 10218228 A1 DE10218228 A1 DE 10218228A1
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- sensor data
- data
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- checking
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Links
- 238000000034 method Methods 0.000 title claims abstract description 26
- 230000001133 acceleration Effects 0.000 title claims abstract description 6
- 238000011156 evaluation Methods 0.000 claims description 9
- 230000007613 environmental effect Effects 0.000 claims description 5
- 238000003702 image correction Methods 0.000 claims description 2
- 238000009434 installation Methods 0.000 abstract 1
- 230000000007 visual effect Effects 0.000 abstract 1
- 230000001419 dependent effect Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 1
- 238000003708 edge detection Methods 0.000 description 1
- 230000007274 generation of a signal involved in cell-cell signaling Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/018—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the use of a specific signal treatment or control method
- B60G17/0185—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the use of a specific signal treatment or control method for failure detection
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/019—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the type of sensor or the arrangement thereof
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/0205—Diagnosing or detecting failures; Failure detection models
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/0205—Diagnosing or detecting failures; Failure detection models
- B60W2050/0215—Sensor drifts or sensor failures
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/04—Monitoring the functioning of the control system
- B60W50/045—Monitoring control system parameters
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Transportation (AREA)
- Studio Devices (AREA)
Abstract
Description
Die Erfindung betrifft ein Verfahren sowie eine Einrichtung zur Funktionskontrolle einer Videokamera in oder an einem Kraftfahrzeug, gemäß Oberbegriff der Patentansprüche 1 und 6. The invention relates to a method and a device for checking the function of a Video camera in or on a motor vehicle, according to the preamble of the claims 1 and 6.
Kameras, die an Fahrzeugen angeordnet sind, und zur Beobachtung des am Fahrzeug gelegenen Außenraumes in mehr oder weniger weiträumiger Umgebung vorgesehen sind, sind hinlänglich bekannt. Cameras that are arranged on vehicles and for observing that on the vehicle located outside space provided in a more or less spacious environment are well known.
Aus der EP 1 089 054 A2 ist dabei eine Kamera zur Aufnahme von Einzelbildern an einem Fahrzeug bekannt, wobei die Anzeige der Bilder auf einem Display im Fahrzeug erfolgt. EP 1 089 054 A2 discloses a camera for taking individual images a vehicle known, the display of images on a display in the vehicle he follows.
Eine weitere Kameraeinrichtung für ein Fahrzeug ist aus der DE 199 61 313 A1 bekannt. Um einem Fahrer die Erfassung eines Kamerabildes zu erleichtern wird hierbei vorgeschlagen, dass am Bildschirm eine Referenzmarke für die Ausrichtung der Fahrzeuglängsachse angezeigt wird, der Verarbeitungseinrichtung Informationen zur Steuerung der Kamera bezüglich der Fahrzeuglängsachse zukommen zu lassen und die Verarbeitungseinrichtung derart auszubilden, dass eine Relativbewegung von dem Bild der Kamera und der Referenzmarke auf dem Bildschirm in Abhängigkeit von der tatsächlichen Stellung der Kamera zur Fahrzeuglängsachse durchführbar ist. Another camera device for a vehicle is known from DE 199 61 313 A1. In order to make it easier for a driver to capture a camera image suggested that on the screen a reference mark for the alignment of the Vehicle longitudinal axis is displayed, the processing device for information Control of the camera with respect to the vehicle's longitudinal axis and the Form processing device such that a relative movement of the image the camera and the reference mark on the screen depending on the actual position of the camera to the longitudinal axis of the vehicle can be carried out.
Aus der DE 199 62 997 A1 ist ein Verfahren zur Kalibrierung eines Sensorsystems bekannt, bei dem eine Selbstkalibrierung erfolgt und wobei das Sensorsystem hierbei auch als Kamerasystem ausgestaltet sein kann. Ein theoretisches Dejustageverfahren zur Ausrichtung eines Sensors oder eine Kamera in einem Kraftfahrzeug ist aus der DE 100 19 182 A1 bekannt, wobei dort durch ein Rechenverfahren ein Abgleich zwischen realem Bild und Modellbild vorgenommen wird. DE 199 62 997 A1 describes a method for calibrating a sensor system known in which a self-calibration takes place and the sensor system here can also be configured as a camera system. A theoretical misalignment process to align a sensor or a camera in a motor vehicle is from the DE 100 19 182 A1 is known, a comparison being made there by means of a calculation method between the real image and the model image.
Aus der WO 01/21446 A1 ist ein Kompensationsverfahren parallaktischer Fehler bei einer stereoskopischen Kameraanordnung in einem Kraftfahrzeug bekannt. WO 01/21446 A1 describes a compensation method for parallactic errors a stereoscopic camera arrangement in a motor vehicle.
Bei Verfahren dieser Art ist die Dejustageermittlung entweder erheblich aufwendig, oder gar nicht möglich bzw. nur mit unzureichendem Ergebnis. In this type of procedure, the misalignment determination is either considerably complex, or not possible at all or only with insufficient results.
Der Erfindung liegt somit die Aufgabe zugrunde, bei einem Verfahren sowie einer Einrichtung der gattungsgemäßen Art eine Dejustage, einer am Fahrzeug angeordneten Videokamera auf zuverlässige Art und Weise zu beheben oder zu kompensieren. The invention is therefore based on the object in a method and a Device of the generic type a misalignment, one arranged on the vehicle Video camera to fix or compensate in a reliable way.
Die gestellte Aufgabe ist beim Verfahren der gattungsgemäßen Art erfindungsgemäß durch die kennzeichnenden Merkmale des Patentanspruches 1 gelöst. The object is in the method of the generic type according to the invention solved by the characterizing features of claim 1.
Weitere vorteilhafte Ausgestaltungen des erfindungsgemäßen Verfahrens sind in den abhängigen Verfahrensansprüchen 2-6 angegeben. Further advantageous refinements of the method according to the invention are specified in the dependent method claims 2-6 .
Im Hinblick auf eine Einrichtung der gattungsgemäßen Art ist die gestellte Aufgabe erfindungsgemäß durch die kennzeichnenden Merkmale des Patentanspruches 7 gelöst. Weitere vorteilhafte Ausgestaltungen sind in den übrigen abhängigen Ansprüchen angegeben. With regard to a device of the generic type, the task is solved according to the invention by the characterizing features of claim 7. Further advantageous configurations are in the remaining dependent claims specified.
Kern der verfahrensgemäßen Erfindung ist hierbei, dass die aus den Kameradaten erkannten Umgebungsdaten mit weiteren Sensordaten des Fahrzeuges, wie Gierrate und/oder Querbeschleunigung und/oder Raddrehzahldifferenz und/oder Lenkradwinkel zusammen mit einer Fahrgeschwindigkeit automatisch auf Plausibilität geprüft werden. The essence of the method according to the method is that from the camera data recognized environmental data with further sensor data of the vehicle, such as yaw rate and / or lateral acceleration and / or wheel speed difference and / or steering wheel angle automatically checked for plausibility together with a driving speed.
Das aus dem Videobild entnehmbare Fahrbahnverhalten wird dabei mit dem tatsächlichen Fahrverhalten durch die besagte Plausibilitätsprüfung mit weiteren Sensorwerten abgeglichen. Die Gierrate kann beispielsweise über einen Gierratensensor oder aus Raddrehzahldifferenzen ermittelt werden. Vorzugsweise werden bei den Raddrehzahldifferenzen die Räder von nicht angetriebenen Achsen herangezogen. Des weiteren kann die Gierrate auch aus einem Lenkradwinkel zusammen mit einer Fahrgeschwindigkeit bestimmt werden. The road behavior that can be seen from the video image is compared with the actual driving behavior through said plausibility check with others Sensor values compared. The yaw rate can be, for example, over a Yaw rate sensor or wheel speed differences can be determined. Preferably are the wheels of non-driven axles at the wheel speed differences used. Furthermore, the yaw rate can also be from a steering wheel angle can be determined together with a driving speed.
In weiterer vorteilhafter Ausgestaltung ist angegeben, dass die verfügbaren Sensordaten aus einem elektronischen Fahrwerksregelungssystem des Kraftfahrzeuges entnommen werden bzw. aus demselben verwendet werden. Die als automatisches oder elektronisches Fahrwerk bekannten Regelungssysteme, auch beispielsweise als Fahrdynamikregelsystem bekannt, verfügen über eine Reihe von Sensordaten wie Querbeschleunigung, Längsbeschleunigung, Gierrate etc. Die im System bereits verfügbaren Sensordaten können sodann auch in erfindungsgemäßer Weise mit dem Auswerteverfahren der Bildverarbeitungseinrichtung im Kraftfahrzeug verknüpft werden. In a further advantageous embodiment, it is indicated that the available sensor data taken from an electronic chassis control system of the motor vehicle are used or are used from the same. The as automatic or electronic chassis known control systems, also for example as Known vehicle dynamics control system, have a number of sensor data such as Lateral acceleration, longitudinal acceleration, yaw rate etc. That already in the system Available sensor data can then also be used in the manner according to the invention with the Evaluation methods of the image processing device in the motor vehicle are linked.
In weiterer vorteilhafter Ausgestaltung ist angegeben, dass über eine frei wählbare Zeit die Sensordaten mittels eines Weg/Zeit-Raumintegrals verwendet werden. Hierzu wird über ein Zeitintegral das Fahrbahnverhalten sowohl über die Sensordaten, als auch über die Bilddaten ausgewertet. Das integrale Ergebnis berücksichtigt dabei einen innerhalb der entsprechenden Zeit zurückgelegten Weg. Hieraus können sicher und zuverlässig Plausibilitätsprüfungen automatisch durchgeführt werden. In a further advantageous embodiment, it is specified that over a freely selectable time the sensor data are used by means of a path / time-space integral. This will the road behavior via a time integral both via the sensor data and via evaluated the image data. The integral result takes into account one within the corresponding distance traveled. This can be done safely and reliably Plausibility checks are carried out automatically.
In weiterer vorteilhafter Ausgestaltung ist angegeben, dass das Verfahren kontinuierlich oder zyklisch angewendet wird. Das heißt, das Plausibilitätsverfahren in der genannten Art läuft permanent im Fahrbetrieb mit und überprüft die Kamera und kann somit auf eine Dejustage entsprechend reagieren. In a further advantageous embodiment, it is stated that the method is continuous or applied cyclically. That is, the plausibility procedure in the above Art is constantly running while driving and checks the camera and can therefore open react a misalignment accordingly.
Ein Reihe von Aggregaten können beispielsweise bei automatischer Fahrzeugführung oder teilautomatischer Fahrzeugbeeinflussung von großer Bedeutung sein, so wie beispielsweise die automatische Abstandsregelung in Verbindung mit Tempomat etc. sowie auch die automatische Fahrbahnranderkennung mit einer automatischen Lenknachstellung. A number of units can be used, for example, with automatic vehicle guidance or semi-automatic vehicle control are of great importance, such as for example the automatic distance control in connection with cruise control etc. as well as the automatic lane edge detection with an automatic Steering adjustment.
In weiterer vorteilhafter Ausgestaltung des erfindungsgemäßen Verfahrens ist angegeben, dass aus einer ermittelten Diskrepanz zwischen Videobild und Sensordaten ein Korrektursignal zur Nachjustierung der Kamera ermittelt, und an einer entsprechenden Nachjustiereinrichtung als Stellsignal zugeführt wird. In a further advantageous embodiment of the inventive method stated that from a determined discrepancy between video image and sensor data a correction signal for readjusting the camera is determined, and at one corresponding readjustment device is supplied as a control signal.
In einem weiteren vorteilhaften Verfahren werden aus einer ermittelten Diskrepanz zwischen Videobild und Sensordaten ein Korrektursignal zur elektronischen Bildkorrektur ermittelt. Damit kann eine Korrektur ohne mechanische Stellglieder durchgeführt werden. Ein Korrektursignal führt zur Veränderung der Bilddaten und erreicht damit auf elektronischem Weg die Nachjustierung. In a further advantageous method, a discrepancy is determined a correction signal for electronic image correction between the video image and sensor data determined. A correction can thus be carried out without mechanical actuators become. A correction signal leads to a change in the image data and thus reaches electronic adjustment.
Im Hinblick auf eine Einrichtung der gattungsgemäßen Art besteht der Kern der Erfindung darin, dass die aus einer Kamera entnehmbaren Bilddaten automatisch ausgewertet und daraus Umgebungsdaten ermittelbar sind und mit mindestens einer Information der Sensoren auf Anforderung oder automatisch auf Plausibilität in einer Überprüfeinrichtung prüfbar sind. With regard to a device of the generic type, there is the core of Invention in that the image data removable from a camera automatically evaluated and environmental data can be determined therefrom and with at least one Information of the sensors on request or automatically for plausibility in one Checking device can be checked.
Dies entspricht in seiner Funktionsweise zumindest einigen strukturell notwendigen Maßnahmen zur Durchführung des Verfahrens. The way it works corresponds to at least some structurally necessary ones Measures to carry out the procedure.
In weiterer vorteilhafter Ausgestaltung ist angegeben, dass im Ergebnis der Überprüfeinrichtung eine Justiereinrichtung für die Kamera ansteuerbar ist. Damit werden die Umgebungsdaten dazu verwendet, die Kamera nicht nur auf ihre Funktion zu überprüfen, sondern auch ihre Positionierung nachzustellen. Hierdurch ist eine höhere Genauigkeit der Zuverlässigkeit erreichbar. In a further advantageous embodiment, it is stated that the result of the Checking device an adjustment device for the camera can be controlled. In order to the environmental data are used to ensure that the camera is not only used to function check, but also readjust their positioning. This is a higher one Accuracy of reliability achievable.
In vorteilhafter Ausgestaltung ist weiterhin angegeben, dass als Sensordaten mindestens eine Information der Ausgangsdaten aus einem elektronischen Fahrwerksregelungssystem einsetzbar sind. In an advantageous embodiment, it is also specified that the sensor data at least one piece of information of the output data from an electronic Chassis control system can be used.
In letzter vorteilhafter Ausgestaltung ist angegeben, dass über eine frei wählbare Zeit die Sensordaten mittels eines Weg/Zeit-Raumintegrals in einer Auswerteeinrichtung berechenbar bzw. berücksichtigbar sind. In the last advantageous embodiment, it is stated that the over a freely selectable time Sensor data using a path / time-space integral in an evaluation device can be calculated or taken into account.
Die Erfindung ist in der Zeichnung dargestellt und nachfolgend näher beschrieben. The invention is shown in the drawing and described in more detail below.
Hierbei ist ein prinzipieller Aufbau von für die Durchführung des erfindungsgemäßen Verfahrens sowie der Realisierung der erfindungsgemäßen Einrichtung notwendigen funktionellen und strukturellen Merkmalen angegeben. Ausgehend von einer Kamera 2, die auf einer physischen Justiereinrichtung 3 montiert ist und ein Kraftfahrzeug, welches hier nicht weiter dargestellt ist, angebracht ist und den Außenraum desselben beobachtet, werden die durch die Kamera 2 verfügbaren Bilddaten, welche analog als auch digital vorliegen können, zu einer Bildauswertung 4 gegeben. Nachfolgend werden entsprechende Bildauswertedaten, die schon eine elektronische, automatische Interpretation des Umgebungsfeldes um das Fahrzeug enthalten, einer Überprüfeinrichtung 1 zugeführt. Gleichzeitig werden Sensordaten von Sensoren 10, 11, 12 sowie ggf. von der elektronischen Fahrwerksregelung 6, welche in einer Auswerteeinrichtung 5 bewertet werden, mitberücksichtigt. In der Überprüfeinrichtung 1 werden sodann die Daten der Bildauswertung und die Daten der Auswertung der Sensordaten gemeinsam berücksichtigt, und dort findet die Plausibilitätsprüfung statt. Im Ergebnis wird dann am Ausgang der Überprüfeinrichtung ein Stellsignal erzeugt, welches auf die Justiereinrichtung 3 der Kamera 2 einwirkt und diese nachjustiert. Dabei kann jedoch neben der reinen Stellsignalerzeugung für eine Justiereinrichtung 3 auch eine elektronische Kompensation direkt auf die Bildauswertung wirken. Here, a basic structure of the functional and structural features necessary for the implementation of the method according to the invention and the implementation of the device according to the invention is specified. Starting from a camera 2 , which is mounted on a physical adjustment device 3 and a motor vehicle, which is not shown here in more detail, is attached and observes the exterior of the latter, the image data available through the camera 2 , which can be present in analog and digital form, given to an image evaluation 4 . Corresponding image evaluation data, which already contain an electronic, automatic interpretation of the surrounding field around the vehicle, are subsequently fed to a checking device 1 . At the same time, sensor data from sensors 10 , 11 , 12 and possibly from the electronic chassis control 6 , which are evaluated in an evaluation device 5 , are also taken into account. The data of the image evaluation and the data of the evaluation of the sensor data are then taken into account together in the checking device 1 , and the plausibility check takes place there. As a result, an actuating signal is then generated at the output of the checking device, which acts on the adjusting device 3 of the camera 2 and readjusted it. However, in addition to the pure control signal generation for an adjusting device 3 , electronic compensation can also act directly on the image evaluation.
Darüber hinausgehend kann entweder zusätzlich oder separat davon auch ein Warnsignal oder ein sichtbares optisches oder akustisches Signal auf einer Anzeige 20 gegeben werden. In addition, a warning signal or a visible optical or acoustic signal can also be given on a display 20 either additionally or separately therefrom.
Claims (10)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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DE10218228A DE10218228A1 (en) | 2002-04-24 | 2002-04-24 | Motor vehicle video camera operational checking method in which video data are subjected to plausibility testing in conjunction with other sensor data, such as yaw rate, transverse acceleration, vehicle speed, etc. |
Applications Claiming Priority (1)
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DE10218228A DE10218228A1 (en) | 2002-04-24 | 2002-04-24 | Motor vehicle video camera operational checking method in which video data are subjected to plausibility testing in conjunction with other sensor data, such as yaw rate, transverse acceleration, vehicle speed, etc. |
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DE10218228A1 true DE10218228A1 (en) | 2003-11-06 |
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DE10218228A Ceased DE10218228A1 (en) | 2002-04-24 | 2002-04-24 | Motor vehicle video camera operational checking method in which video data are subjected to plausibility testing in conjunction with other sensor data, such as yaw rate, transverse acceleration, vehicle speed, etc. |
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Cited By (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102005014954A1 (en) * | 2005-04-01 | 2006-10-05 | Audi Ag | Measured yaw angle deviation determining method for motor vehicle, involves determining measured yaw angle and distance of assigned point of vehicle to lane limit, from data and determining real yaw angle from distance and speed information |
DE102006018978A1 (en) * | 2006-04-25 | 2007-11-08 | Adc Automotive Distance Control Systems Gmbh | Motor vehicle roll angle determining method, involves determining yaw rate or correlated size, and vehicle speed, and determining roll angle of motor vehicle using yaw rate or correlated size and specific vehicle roll spring rigidity |
WO2009071345A1 (en) * | 2007-12-04 | 2009-06-11 | Continental Teves Ag & Co. Ohg | Central control unit for a plurality of assistance systems provided in a motor vehicle, and motor vehicle |
WO2015024037A1 (en) * | 2013-08-20 | 2015-02-26 | Fts Computertechnik Gmbh | Method for detecting errors |
WO2015048968A1 (en) * | 2013-10-02 | 2015-04-09 | Conti Temic Microelectronic Gmbh | Method and device for monitoring the function of a driver assistance system |
WO2015131887A1 (en) * | 2014-03-05 | 2015-09-11 | Conti Temic Microelectronic Gmbh | Device for correcting a spacing value and/or for correcting a relative speed value, vehicle, and method |
DE102017214653A1 (en) * | 2017-08-22 | 2019-02-28 | Audi Ag | Method for providing an image signal of an environmental region of a motor vehicle and motor vehicle |
CN109421739A (en) * | 2017-08-28 | 2019-03-05 | 通用汽车环球科技运作有限责任公司 | Method and apparatus for monitoring autonomous vehicle |
DE102018201996A1 (en) | 2018-02-08 | 2019-08-08 | Audi Ag | Method for plausibility checking of at least one mechanical sensor |
US11958419B2 (en) | 2022-02-24 | 2024-04-16 | Stoneridge, Inc. | Collapsible vehicle camera arm assembly |
US11995920B2 (en) | 2020-10-23 | 2024-05-28 | Argo AI, LLC | Enhanced sensor health and regression testing for vehicles |
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DE102006018978A1 (en) * | 2006-04-25 | 2007-11-08 | Adc Automotive Distance Control Systems Gmbh | Motor vehicle roll angle determining method, involves determining yaw rate or correlated size, and vehicle speed, and determining roll angle of motor vehicle using yaw rate or correlated size and specific vehicle roll spring rigidity |
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JP2017516068A (en) * | 2014-03-05 | 2017-06-15 | コンティ テミック マイクロエレクトロニック ゲゼルシャフト ミット ベシュレンクテル ハフツングConti Temic microelectronic GmbH | Apparatus, vehicle and method for correcting interval values and / or for correcting relative speed |
US10060945B2 (en) | 2014-03-05 | 2018-08-28 | Conti Temic Microelectronic Gmbh | Device for correcting a spacing value and/or for correcting a relative speed value, vehicle, and method |
WO2015131887A1 (en) * | 2014-03-05 | 2015-09-11 | Conti Temic Microelectronic Gmbh | Device for correcting a spacing value and/or for correcting a relative speed value, vehicle, and method |
DE102017214653B4 (en) | 2017-08-22 | 2023-01-26 | Audi Ag | Method for providing an image signal of an area surrounding a motor vehicle and motor vehicle |
DE102017214653A1 (en) * | 2017-08-22 | 2019-02-28 | Audi Ag | Method for providing an image signal of an environmental region of a motor vehicle and motor vehicle |
CN109421739A (en) * | 2017-08-28 | 2019-03-05 | 通用汽车环球科技运作有限责任公司 | Method and apparatus for monitoring autonomous vehicle |
CN109421739B (en) * | 2017-08-28 | 2022-04-12 | 通用汽车环球科技运作有限责任公司 | Method and apparatus for monitoring autonomous vehicles |
DE102018120786B4 (en) | 2017-08-28 | 2024-06-27 | GM Global Technology Operations LLC | Method for monitoring an autonomous vehicle and vehicle equipped accordingly |
DE102018201996A1 (en) | 2018-02-08 | 2019-08-08 | Audi Ag | Method for plausibility checking of at least one mechanical sensor |
US11995920B2 (en) | 2020-10-23 | 2024-05-28 | Argo AI, LLC | Enhanced sensor health and regression testing for vehicles |
US11958419B2 (en) | 2022-02-24 | 2024-04-16 | Stoneridge, Inc. | Collapsible vehicle camera arm assembly |
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