EP2771713A1 - Sensorsystem zur eigenständigen bewertung der genauigkeit seiner daten - Google Patents

Sensorsystem zur eigenständigen bewertung der genauigkeit seiner daten

Info

Publication number
EP2771713A1
EP2771713A1 EP12787661.3A EP12787661A EP2771713A1 EP 2771713 A1 EP2771713 A1 EP 2771713A1 EP 12787661 A EP12787661 A EP 12787661A EP 2771713 A1 EP2771713 A1 EP 2771713A1
Authority
EP
European Patent Office
Prior art keywords
signal processing
accuracy
sensor system
designed
parameter
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.)
Ceased
Application number
EP12787661.3A
Other languages
German (de)
English (en)
French (fr)
Inventor
Nico Steinhardt
Hermann Winner
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Continental Automotive Technologies GmbH
Original Assignee
Continental Teves AG and Co OHG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Continental Teves AG and Co OHG filed Critical Continental Teves AG and Co OHG
Publication of EP2771713A1 publication Critical patent/EP2771713A1/de
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • 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
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C1/00—Apparatus, or methods of use thereof, for testing or treating seed, roots, or the like, prior to sowing or planting
    • 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
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/14—Adaptive cruise control
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D1/00—Measuring arrangements giving results other than momentary value of variable, of general application
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
    • G06F17/10—Complex mathematical operations
    • G06F17/18—Complex mathematical operations for evaluating statistical data, e.g. average values, frequency distributions, probability functions, regression analysis
    • 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
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial

Definitions

  • the signal processing means is preferably adapted to the at least one parameter or the parameters set in each case to a date of a physical quantity, providing at successive Signalverabeitungsuzeen the signal processing device and, in particular assigns particular in each case, after, or and the Da ⁇ th the at least one characteristic or the characteristics set depend on how the assigned or the preceding ⁇ signal processing step, the processed date of the physical quantity to which the at least one Characteristic or the characteristic quantity set, influenced.
  • the signal processing means is configured such that the at least one parameter as min ⁇ least one of the following sizes, in particular for loading ⁇ a write-data quality, defined or can be defined, namely
  • the signal processing device is designed such that it provides the at least one parameter or the parameter set for each datum of a defined physical variable after or at each and every significant signal processing step.
  • the measure of accuracy is expediently not a single value but results from defined data or values of the at least one parameter or the parameter set.
  • the measure of accuracy or the information on the Wegig ⁇ ness is preferably to all output values of all the variables, in particular of all physical quantities, the outputs of the sensor system are provided.
  • the strapdown algorithm unit directly or indirectly provide its computed navigation data and / or vehicle dynamics data to the fusion filter.
  • the vehicle model unit forms so out ⁇ is that the steering angle of each wheel, in particular by the steering ⁇ angle sensor for the two front wheels detected in its calculation at least follow ⁇ de physical variables and / or parameters taken into consideration a), wherein the Model assumption is made that the steering angle of Hin ⁇ tergan is equal to zero or that the steering angle of the rear wheels is additionally detected,
  • the signal processing device of the sensor system also includes a fusion filter 5.
  • the fusion filter 5 is in the course of the joint evaluation of at least the sensor signals and / or derived signals of the sensor elements 3, so the odometry, and the output signals of the satellite navigation system ⁇ 4 and / or derived signals a defined fusion data set 6 ready.
  • This fusion data set in each case has data on defined physical variables, the fusion data set 6 being at least one physical size includes a value of this physical quantity and information about its data quality, this information about the data quality is exemplarily pronounced as a variance.
  • Rate of rotation in each case based on the vehicle coordinate system, ie in each case the three components of these variables with respect to this coordinate system, and IMU orientation or the IMU orientation angle between the vehicle coordinate system and the coordinate system or the installation orientation of the Inertialsensoran Aunt 1 and the position relative to the World coordinate system transmitted to the strapdown algorithm unit.
  • the predetermined condition is a maximum allowable error between the measurement data and the reference position data
  • the sensor system and the signal processing device also includes a stall detection unit 8, wel ⁇ surface is formed so that it can detect a stoppage of the driving ⁇ zeugs and in the case of a detected stoppage of the vehicle at least the fusion filter provides 5 information from a standstill model, in particular have the information that the rate of rotation about all three axes have the value zero and at least one Positionsände- also approximately zero size and having insbeson ⁇ particular, the velocities along all three axes of the value zero.
  • the standstill detection unit 8 is, for example as designed is that it uses asriesda ⁇ th wheel speeds and wheel speed as well as the "raw" or direct outputs of the
  • the angle of orientation between theierekoordinatensys ⁇ system and the world coordinate system is calculated according to the example in the alignment model unit 9 additionally comprises at least on the basis of one or more of the following variables:
  • Noise change of characteristic, weighting of power density with f ⁇ 2 .
  • Delay / delay time persists, arrears of Integ ⁇ ralsumme
EP12787661.3A 2011-10-24 2012-10-24 Sensorsystem zur eigenständigen bewertung der genauigkeit seiner daten Ceased EP2771713A1 (de)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
DE102011085134 2011-10-24
DE102011086710 2011-11-21
DE102012207297 2012-05-02
PCT/EP2012/071091 WO2013060749A1 (de) 2011-10-24 2012-10-24 Sensorsystem zur eigenständigen bewertung der genauigkeit seiner daten

Publications (1)

Publication Number Publication Date
EP2771713A1 true EP2771713A1 (de) 2014-09-03

Family

ID=47191701

Family Applications (2)

Application Number Title Priority Date Filing Date
EP12787662.1A Active EP2771714B8 (de) 2011-10-24 2012-10-24 Sensorsystem zur eigenständigen bewertung der integrität seiner daten
EP12787661.3A Ceased EP2771713A1 (de) 2011-10-24 2012-10-24 Sensorsystem zur eigenständigen bewertung der genauigkeit seiner daten

Family Applications Before (1)

Application Number Title Priority Date Filing Date
EP12787662.1A Active EP2771714B8 (de) 2011-10-24 2012-10-24 Sensorsystem zur eigenständigen bewertung der integrität seiner daten

Country Status (6)

Country Link
US (2) US11255676B2 (ko)
EP (2) EP2771714B8 (ko)
KR (2) KR20140082848A (ko)
CN (2) CN104081222B (ko)
DE (2) DE102012219478A1 (ko)
WO (2) WO2013060750A1 (ko)

Families Citing this family (33)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20140070722A (ko) * 2012-11-26 2014-06-11 한국전자통신연구원 다중속도시스템 결합 장치 및 운용 방법
US20150102955A1 (en) * 2013-10-14 2015-04-16 GM Global Technology Operations LLC Measurement association in vehicles
DE102014211178A1 (de) 2013-11-20 2015-06-25 Continental Teves Ag & Co. Ohg Verfahren und System zur Korrektur von Messdaten eines ersten Sensorsystems
DE102014211164A1 (de) 2014-06-11 2015-12-17 Continental Teves Ag & Co. Ohg Verfahren und System zur Anpassung eines Navigationssystems
DE102014211177A1 (de) * 2014-06-11 2015-12-17 Continental Teves Ag & Co. Ohg Verfahren und System zur echtzeitfähigen Bereitstellung von dynamischen Fehlerwerten dynamischer Messwerte
DE102014211171A1 (de) 2014-06-11 2015-12-17 Continental Teves Ag & Co. Ohg Verfahren und System zur Anpassung eines Navigationssystems
DE102014211172A1 (de) * 2014-06-11 2015-12-17 Continental Teves Ag & Co. Ohg Verfahren und System zur Korrektur von Ausgabedaten eines Sensorbasissystems
DE102014211180A1 (de) 2014-06-11 2015-12-17 Continental Teves Ag & Co. Ohg Verfahren und System zur verbesserten Erkennung und/oder Kompensation von Fehlerwerten
DE102014211175A1 (de) * 2014-06-11 2015-12-17 Continental Teves Ag & Co. Ohg Verfahren und System zur Initialisierung eines Sensorfusionssystems
DE102014211168A1 (de) * 2014-06-11 2015-12-17 Continental Teves Ag & Co. Ohg Verfahren und System zur Verifizierung von Messdaten
CN104061928B (zh) * 2014-06-26 2017-05-03 北京控制工程研究所 一种自主择优使用星敏感器信息的方法
DE102014212703A1 (de) * 2014-07-01 2016-01-07 Continental Teves Ag & Co. Ohg M2XPro-Überwachung durch Integritätsmaßspeicherung
JP6269566B2 (ja) 2015-05-08 2018-01-31 トヨタ自動車株式会社 誤認識判定装置
DE102015209467A1 (de) 2015-05-22 2016-11-24 Continental Teves Ag & Co. Ohg Verfahren zur Schätzung von Fahrstreifen
US11666702B2 (en) 2015-10-19 2023-06-06 Medtronic Minimed, Inc. Medical devices and related event pattern treatment recommendation methods
US11501867B2 (en) * 2015-10-19 2022-11-15 Medtronic Minimed, Inc. Medical devices and related event pattern presentation methods
DE102016217079A1 (de) * 2016-09-08 2018-03-08 Robert Bosch Gmbh Verfahren und Vorrichtung zum Betreiben eines ersten Fahrzeugs
JP6885781B2 (ja) 2017-05-11 2021-06-16 日立Astemo株式会社 車両制御装置、車両制御方法および車両制御システム
DE102017213577A1 (de) * 2017-08-04 2019-02-07 Robert Bosch Gmbh Verfahren zur Lagebestimmung eines Roboters, Lagebestimmungsvorrichtung eines Roboters und Roboter
US20190054915A1 (en) * 2017-08-16 2019-02-21 Deere & Company Service Brake Assist Steering
DE102017216755A1 (de) * 2017-09-21 2019-03-21 Continental Automotive Gmbh Verfahren zur Bestimmung einer Fehlerfortpflanzung von Steuersignalen
DE102017216749A1 (de) * 2017-09-21 2019-03-21 Continental Automotive Gmbh Verfahren zur Bereitstellung eines Steuersignals
EP3470861B1 (en) * 2017-10-10 2019-11-27 Melexis Technologies SA Redundant sensor fault detection
DE102018206829A1 (de) * 2018-05-03 2019-11-07 Continental Automotive Gmbh Adaption eines Steuersignals anhand von der Signalgenauigkeit
EP3653428A1 (de) * 2018-11-19 2020-05-20 B&R Industrial Automation GmbH Verfahren zum sicheren überwachen der funktion eines langstatorlinearmotors
DE102018220936A1 (de) * 2018-12-04 2020-06-04 Robert Bosch Gmbh Verfahren zur Überprüfung eines Sensorwertes eines MEMS-Sensors
DE102018222166A1 (de) * 2018-12-18 2020-06-18 Robert Bosch Gmbh Verfahren zum Ermitteln eines Integritätsbereichs
DE102020203511A1 (de) 2020-03-19 2021-09-23 Zf Friedrichshafen Ag Verfahren zum Feststellen einer sicheren Position eines Fahrzeugs
CN111965390B (zh) * 2020-07-13 2022-06-21 江苏大学 一种轮速传感器故障检测方法
US11789110B2 (en) 2020-09-03 2023-10-17 Honeywell International Inc. Fault detection, exclusion, isolation, and re-configuration of navigation sensors using an abstraction layer
US11529973B1 (en) 2020-11-09 2022-12-20 Waymo Llc Software application for sensor analysis
US20230027369A1 (en) * 2021-07-26 2023-01-26 Motional Ad Llc Vehicle location using combined inputs of redundant localization pipelines
CN117056326B (zh) * 2023-08-11 2024-05-03 重庆市地理信息和遥感应用中心(重庆市测绘产品质量检验测试中心) 基于灰色关联自适应确权的gnss数据质量评价方法及系统

Family Cites Families (46)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05231938A (ja) * 1991-02-07 1993-09-07 Res Dev Corp Of Japan 高感度多波長分光装置
US5216611A (en) 1991-02-08 1993-06-01 Rockwell International Corporation Integrated enroute and approach guidance system for aircraft
US5482314A (en) * 1994-04-12 1996-01-09 Aerojet General Corporation Automotive occupant sensor system and method of operation by sensor fusion
US5451960A (en) * 1994-06-10 1995-09-19 Unisys Corporation Method of optimizing the allocation of sensors to targets
US5583774A (en) * 1994-06-16 1996-12-10 Litton Systems, Inc. Assured-integrity monitored-extrapolation navigation apparatus
CN1180413A (zh) * 1995-03-30 1998-04-29 西门子公司 高分辨率分析信号进行一维或二维方向或频率评估的方法
US5902351A (en) * 1995-08-24 1999-05-11 The Penn State Research Foundation Apparatus and method for tracking a vehicle
US5626140A (en) * 1995-11-01 1997-05-06 Spacelabs Medical, Inc. System and method of multi-sensor fusion of physiological measurements
GB9608953D0 (en) * 1996-04-29 1996-07-03 Pulp Paper Res Inst Automatic control loop monitoring and diagnostics
CA2252868C (en) * 1996-04-29 2000-12-19 Pulp And Paper Research Institute Of Canada Automatic control loop monitoring and diagnostics
US6026340A (en) * 1998-09-30 2000-02-15 The Robert Bosch Corporation Automotive occupant sensor system and method of operation by sensor fusion
US6240367B1 (en) * 1998-11-27 2001-05-29 Ching-Fang Lin Full fusion positioning method for vehicle
SE523023C2 (sv) * 2000-04-12 2004-03-23 Nira Dynamics Ab Metod och anordning för att med rekursiv filtrering bestämma en fysikalisk parameter hos ett hjulfordon
US6681159B2 (en) * 2001-10-28 2004-01-20 The Boeing Company Spacecraft methods and structures with enhanced attitude control that facilitates gyroscope substitutions
US6654685B2 (en) * 2002-01-04 2003-11-25 The Boeing Company Apparatus and method for navigation of an aircraft
US6944566B2 (en) * 2002-03-26 2005-09-13 Lockheed Martin Corporation Method and system for multi-sensor data fusion using a modified dempster-shafer theory
US6829568B2 (en) * 2002-04-26 2004-12-07 Simon Justin Julier Method and apparatus for fusing signals with partially known independent error components
US6922632B2 (en) * 2002-08-09 2005-07-26 Intersense, Inc. Tracking, auto-calibration, and map-building system
US6907347B2 (en) 2002-11-21 2005-06-14 Ford Global Technologies, Llc Systems and method for estimating speed and pitch sensor errors
US8131463B2 (en) * 2003-12-02 2012-03-06 Gmv Aerospace And Defence, S.A. GNSS navigation solution integrity in non-controlled environments
DE102005030296A1 (de) * 2005-06-24 2006-12-28 Siemens Ag Verfahren zur Erhöhung der Genauigkeit eines Dopplerradarsensors
DE102005033237B4 (de) * 2005-07-15 2007-09-20 Siemens Ag Verfahren zur Bestimmung und Korrektur von Fehlorientierungen und Offsets der Sensoren einer Inertial Measurement Unit in einem Landfahrzeug
US7376499B2 (en) 2005-09-16 2008-05-20 Gm Global Technology Operations, Inc. State-of-health monitoring and fault diagnosis with adaptive thresholds for integrated vehicle stability system
JP4796400B2 (ja) * 2006-02-01 2011-10-19 クラリオン株式会社 車両速度制御装置および同装置における目標速度設定方法ならびにプログラム
WO2007143806A2 (en) * 2006-06-15 2007-12-21 Uti Limited Partnership Vehicular navigation and positioning system
US7702460B2 (en) * 2006-06-17 2010-04-20 Northrop Grumman Guidance And Electronics Company, Inc. Estimate of relative position between navigation units
JP4600357B2 (ja) * 2006-06-21 2010-12-15 トヨタ自動車株式会社 測位装置
DE102006029148B4 (de) 2006-06-24 2010-08-05 Lfk-Lenkflugkörpersysteme Gmbh Verfahren zur Überprüfung einer inertialen Messeinheit von Fahrzeugen, insbesondere von Luftfahrzeugen, im stationären Zustand
JP4914689B2 (ja) * 2006-09-29 2012-04-11 本田技研工業株式会社 車両位置検出システム
US7629889B2 (en) * 2006-12-27 2009-12-08 Cardiac Pacemakers, Inc. Within-patient algorithm to predict heart failure decompensation
JP5113407B2 (ja) 2007-03-22 2013-01-09 古野電気株式会社 Ｇｐｓ複合航法装置
US20090043447A1 (en) * 2007-08-07 2009-02-12 General Electric Company Systems and Methods for Model-Based Sensor Fault Detection and Isolation
DE112008002434B4 (de) * 2007-09-10 2013-07-11 Mitsubishi Electric Corp. Navigationsausrüstung
GB0901685D0 (en) * 2009-01-31 2009-03-11 Qinetiq Ltd Navigation system integrity
US8417490B1 (en) * 2009-05-11 2013-04-09 Eagle Harbor Holdings, Llc System and method for the configuration of an automotive vehicle with modeled sensors
US20110118979A1 (en) * 2009-11-19 2011-05-19 Robert Bosch Gmbh Automotive location data integrity
US20110190972A1 (en) * 2010-02-02 2011-08-04 Gm Global Technology Operations, Inc. Grid unlock
DE102010063984A1 (de) 2010-02-11 2011-08-11 Continental Teves AG & Co. OHG, 60488 Fahrzeug-Sensor-Knoten
US8380447B2 (en) * 2010-04-14 2013-02-19 Simmonds Precision Products, Inc. Quantification of condition indicators in the presence of synchronous noise
DE102010028510A1 (de) * 2010-04-19 2011-12-01 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Vorrichtung und Verfahren zum Ermitteln einer physikalischen Größe
US9568321B2 (en) * 2010-04-19 2017-02-14 Honeywell International Inc. Systems and methods for determining inertial navigation system faults
WO2012050473A1 (en) * 2010-10-11 2012-04-19 General Electric Company Systems, methods, and apparatus for detecting agreement for individual channels among redundant sensor signals
JP5306389B2 (ja) * 2011-02-25 2013-10-02 株式会社東芝 目標追跡装置
EP2755869B1 (de) * 2011-09-12 2017-07-12 Continental Teves AG & Co. oHG Ausrichtungsmodell für ein sensorsystem
US9471722B2 (en) * 2013-02-05 2016-10-18 Johnson Controls Technology Company Systems and methods for evaluating a fault condition in a building
DE102014211175A1 (de) * 2014-06-11 2015-12-17 Continental Teves Ag & Co. Ohg Verfahren und System zur Initialisierung eines Sensorfusionssystems

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
None *
See also references of WO2013060749A1 *

Also Published As

Publication number Publication date
CN104011563B (zh) 2016-08-17
CN104011563A (zh) 2014-08-27
DE102012219475A1 (de) 2013-04-25
US11255676B2 (en) 2022-02-22
EP2771714A1 (de) 2014-09-03
EP2771714B8 (de) 2018-10-24
EP2771714B1 (de) 2018-08-08
US20140336983A1 (en) 2014-11-13
CN104081222A (zh) 2014-10-01
KR20140082848A (ko) 2014-07-02
KR20140093961A (ko) 2014-07-29
WO2013060750A1 (de) 2013-05-02
CN104081222B (zh) 2016-10-12
US9558157B2 (en) 2017-01-31
DE102012219478A1 (de) 2013-04-25
WO2013060749A1 (de) 2013-05-02
US20140300512A1 (en) 2014-10-09

Similar Documents

Publication Publication Date Title
EP2771713A1 (de) Sensorsystem zur eigenständigen bewertung der genauigkeit seiner daten
EP2755869B1 (de) Ausrichtungsmodell für ein sensorsystem
EP2981832B1 (de) Verfahren zur ermittlung zumindest einer geschwindigkeit bei einem schienenfahrzeug
WO2015075093A1 (de) Verfahren, fusionsfilter und system zur fusion von sensorsignalen mit unterschiedlichen zeitlichen signalausgabeverzügen zu einem fusionsdatensatz
DE102014118414A1 (de) Geschwindigkeitsbegrenzungsschwelleerfassungsvorrichtung und Navigationsdatenaktualisierungsvorrichtung und Verfahren, welches diese verwendet
DE19803386A1 (de) Vorrichtung zur Überwachung des Luftdrucks eines Fahrzeugreifens
DE102014211175A1 (de) Verfahren und System zur Initialisierung eines Sensorfusionssystems
DE102014211180A1 (de) Verfahren und System zur verbesserten Erkennung und/oder Kompensation von Fehlerwerten
DE102014211164A1 (de) Verfahren und System zur Anpassung eines Navigationssystems
DE102014211178A1 (de) Verfahren und System zur Korrektur von Messdaten eines ersten Sensorsystems
WO2021023584A1 (de) Verfahren zur bestimmung einer lokalen wagengeschwindigkeit eines wagens
EP3155454B1 (de) Verfahren und system zur anpassung eines navigationssystems
DE102014211177A1 (de) Verfahren und System zur echtzeitfähigen Bereitstellung von dynamischen Fehlerwerten dynamischer Messwerte
WO2020224971A1 (de) Verfahren zur ermittlung von messwerten mittels mindestens zweier unterschiedlicher messverfahren und dessen verwendung
DE102019211934B4 (de) Verfahren zur Bestimmung einer Zuggeschwindigkeit eines Zugs mit mindestens einem Wagen
DE102014211172A1 (de) Verfahren und System zur Korrektur von Ausgabedaten eines Sensorbasissystems
DE102013218043A1 (de) Verfahren zum Bereitstellen relativer Messdaten für einen Fusionssensor
DE102018123092A1 (de) Verfahren zum Bestimmen einer lateralen Geschwindigkeit sowie einer Gierrate für eine Eigenbewegung eines Kraftfahrzeugs
DE102017010384A1 (de) Verfahren zur Ermittlung einer Eigenbewegung
EP3789264A1 (de) Verfahren und vorrichtung zur schlupferkennung sowie schienenfahrzeug
EP4326599A1 (de) Computerimplementiertes verfahren zur detektion eines lenkradeingriffszustands, computerprogrammprodukt, fahrassistenzsystem sowie kraftfahrzeug
WO2022135636A1 (de) Verfahren und elektronisches kontrollsystem zum ermitteln einer gefahrenen wegstrecke eines fahrzeugs
DE102016221171A1 (de) Verfahren und Vorrichtung zur Ermittlung von Fahrspurverlaufsdaten

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

17P Request for examination filed

Effective date: 20140526

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

DAX Request for extension of the european patent (deleted)
STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: EXAMINATION IS IN PROGRESS

17Q First examination report despatched

Effective date: 20161206

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: EXAMINATION IS IN PROGRESS

APBK Appeal reference recorded

Free format text: ORIGINAL CODE: EPIDOSNREFNE

APBN Date of receipt of notice of appeal recorded

Free format text: ORIGINAL CODE: EPIDOSNNOA2E

APBR Date of receipt of statement of grounds of appeal recorded

Free format text: ORIGINAL CODE: EPIDOSNNOA3E

APAF Appeal reference modified

Free format text: ORIGINAL CODE: EPIDOSCREFNE

RAP1 Party data changed (applicant data changed or rights of an application transferred)

Owner name: CONTINENTAL TEVES AG & CO. OHG

RAP1 Party data changed (applicant data changed or rights of an application transferred)

Owner name: CONTINENTAL AUTOMOTIVE TECHNOLOGIES GMBH

REG Reference to a national code

Ref country code: DE

Ref legal event code: R003

APBT Appeal procedure closed

Free format text: ORIGINAL CODE: EPIDOSNNOA9E

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE APPLICATION HAS BEEN REFUSED

18R Application refused

Effective date: 20231004