EP2922732A1 - Device and vehicle with tilt compensation for an environment sensor - Google Patents
Device and vehicle with tilt compensation for an environment sensorInfo
- Publication number
- EP2922732A1 EP2922732A1 EP13788979.6A EP13788979A EP2922732A1 EP 2922732 A1 EP2922732 A1 EP 2922732A1 EP 13788979 A EP13788979 A EP 13788979A EP 2922732 A1 EP2922732 A1 EP 2922732A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- vehicle
- sensor
- environment
- sensors
- detected
- 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- Withdrawn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
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
- G01S13/874—Combination of several systems for attitude determination
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
- B60R21/0134—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to imminent contact with an obstacle, e.g. using radar systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
- B62J45/40—Sensor arrangements; Mounting thereof
- B62J45/41—Sensor arrangements; Mounting thereof characterised by the type of sensor
- B62J45/415—Inclination sensors
- B62J45/4151—Inclination sensors for sensing lateral inclination of the cycle
-
- 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
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
-
- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/86—Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection
-
- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/87—Combinations of sonar 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
-
- 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
- G01S7/40—Means for monitoring or calibrating
- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
- G01S7/4026—Antenna boresight
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J50/00—Arrangements specially adapted for use on cycles not provided for in main groups B62J1/00 - B62J45/00
- B62J50/20—Information-providing devices
- B62J50/21—Information-providing devices intended to provide information to rider or passenger
- B62J50/22—Information-providing devices intended to provide information to rider or passenger electronic, e.g. displays
-
- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar 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
- G01S2013/9327—Sensor installation details
- G01S2013/93274—Sensor installation details on the side 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
- 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
- G01S7/40—Means for monitoring or calibrating
- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
- G01S7/4026—Antenna boresight
- G01S7/4034—Antenna boresight in elevation, i.e. in the vertical plane
Definitions
- the invention relates to a device for a vehicle, in particular
- Motor vehicle with an environment sensor system having at least one environment sensor for non-contact detection of at least one environment area, with means for setting the environment to be detected area, and with a device for determining the surrounding area to be detected.
- the invention relates to a vehicle, in particular motor vehicle, with a corresponding device.
- the device thus comprises a device that the
- Cornering the environment sensor is aligned in the direction of the curve.
- the device according to the invention with the features of claim 1 has the advantage that an adjustment of the detected environment area is independent of a steering angle of the vehicle. This adjusts the surrounding area even when the vehicle is not cornering.
- the Device can thus be used meaningful for environment that are independent of a cornering lane.
- surrounding areas on a longitudinal side of a vehicle can be adjusted as a function of the lateral inclination of the vehicle, which is particularly advantageous for single-track vehicles.
- the device is advantageously providable in vehicles that have a variable or changeable body, in which, for example, the inclination of a body section with respect to a
- the device according to the invention is characterized in that the device has a position sensor which detects the inclination of the vehicle with respect to a vehicle background, and that the means to be detected
- the inclination of the vehicle can be detected in a simple manner, so that the means can readily determine the environment to be detected adapted to the inclination of the vehicle.
- the means have an actuator device which pivots the at least one surroundings sensor as a function of the inclination of the vehicle.
- the environment sensor is expediently stored in a corresponding holder which can be actuated by the actuator device.
- the actuator device has at least one, preferably a plurality of actuators, for example as
- the surrounding area detected by the surroundings sensor can be changed in a simple manner or adapted to the inclination of the vehicle.
- the means set the surrounding area in such a way that it detects the environment substantially as if the vehicle was not inclined to the vehicle ground.
- the environment sensor is thus designed such that it preferably always at least substantially parallel to the road surface detects the environment.
- the environment sensor system has at least two, preferably three environment sensors, which are arranged to detect superimposed surrounding areas.
- the environment sensors are arranged on a vehicle longitudinal side in such a way that they detect surrounding areas on the side of the vehicle.
- the superimposed surrounding areas are superimposed at a certain angle in such a way that they abut each other or in regions
- the environment sensors are expediently aligned at an angle to each other.
- the environment sensor system has at least two, preferably three environmental sensors, which are arranged to detect adjacent surrounding areas.
- the environmental sensors are correspondingly arranged such that they are adjacent or adjacent to one another
- the surrounding areas can overlap in regions or adjoin one another without overlapping or can also be spaced apart from one another.
- the environment sensors are also preferably oriented obliquely to one another in order to capture segment-shaped surrounding areas of an environment.
- the means preferably have a control unit which operates one or more of the environment sensors as a function of the inclination of the vehicle.
- the control unit activates the sensor which detects the desired surrounding area, or it controls the actuator device accordingly. This preferably controls
- Control unit several sensors at the same time.
- the control unit controls the plurality of sensors in such a way that together they detect an environment that can be varied as a function of the activation of the sensors.
- beamforming in particular with phase shift of a radar antenna array, a radiation angle of the
- Environment sensor or one more environment sensors having
- the Environment sensor group can be varied. If one or more environmental sensors are provided, they are preferably pivoted individually or jointly as an alternative to beamforming. In order to optimize the energy requirement, the control unit preferably controls only one of the sensors of the environmental sensor system or environmental sensor group depending on the angle of inclination. According to an advantageous development of the invention, it is provided that the at least one environment sensor is designed as a radar sensor, lidar sensor, ultrasound sensor or camera sensor or else as a so-called time-of-flight sensor. The individual types of sensor are known in principle, so it will not be discussed in more detail here. In connection with the advantageous device, they allow a robust environment detection.
- the position sensor is designed as an inertial sensor, gyro sensor and / or optical sensor, in particular a camera sensor.
- the detection of the inclination of the vehicle, in particular a certain inclination angle of the vehicle with respect to the road surface can be well determined using an inertial sensor or a gyroscope.
- the formation of the position sensor as an optical sensor facilitates the position detection, especially when the
- Road surface is not aligned horizontally, but for example represents a slope.
- the position sensor has a combination of said sensors, wherein in particular a combination of the camera sensor with the inertial sensor or the gyro sensor is advantageous.
- the vehicle according to the invention with the features of claim 8 is characterized by the device described above. It has the advantage that a robust and interference-free environment detection is ensured.
- the vehicle is distinguished by the design as a single-track vehicle, a tilt vehicle or as a vehicle provided with a variable body, in particular with a variable wheelbase.
- the vehicle preferably has the surroundings sensor system on at least one side of the vehicle, that is, on at least one vehicle longitudinal side and / or on a vehicle front and / or vehicle rear side.
- the surroundings sensor system on at least one side of the vehicle, that is, on at least one vehicle longitudinal side and / or on a vehicle front and / or vehicle rear side.
- Environment sensor group can be operated by a separate control unit or by a global control unit that is connected to all environment sensor groups.
- Figure 1 is a single-track vehicle with an advantageous device for
- FIG. 2 shows the single-track vehicle in a side-inclined condition
- FIG. 3 shows the single-track vehicle in the side-tilted state with adapted surrounding area of the device
- Figure 4 shows a tilting vehicle with the device in the inclined state
- Figures 5A and 5B show a vehicle with a variable body and with the
- Figure 1 shows a vehicle which is designed as Einspurhus 1 or as a motorcycle.
- the single-track vehicle 1 is in an equilibrium position in which it is perpendicular to a mobile ground 2.
- the motorcycle has a device 3, which is in particular part of a safety device of the single-track vehicle 1 and has an environment sensor 4 for non-contact detection of the environment of the motorcycle.
- the environment sensor system 4 has six environment sensors 5 to 10 which are connected to the
- Vehicle longitudinal sides of the motorcycle are arranged. Here are the
- the environment sensors 5 to 7 arranged on one side and the environment sensors 8 to 10 on the opposite vehicle longitudinal side.
- the environment sensors 5 to 10 can be embodied as radar sensors, lidar sensors, ultrasound sensors or else as optical sensors.
- the environment sensors 5 to 6 or 8 to 10 located on a vehicle longitudinal side each form an environment sensor group.
- Environment sensor group are aligned so obliquely to each other that their main axes are arranged at an angle of about 45 ° to each other, so that each of the environment sensors 5 to 7 or 8 to 10 respectively detected surrounding areas 1 1 to 13 or 14 to 16
- surrounding areas 1 1 to 13 and 14 to 16 adjoin one another.
- the environmental sensors 5 to 10 are designed in such a way that the respectively detected surrounding area 1 1 to 16 is substantially circular-segment-shaped.
- the device 3 has a position sensor 17 which detects the position of the one-track vehicle 1 with respect to the mobile ground 2.
- the position sensor 17 determines a tilt angle ⁇ of the one-track vehicle 1 to the mobile ground 2.
- the position sensor is designed for this purpose, for example, as an inertial sensor, gyro sensor or as an optical camera sensor.
- the device 3 has a control unit 18 which is connected to the position sensor 17 and the environment sensors 5 to 10
- the device 3 serves to increase the safety of the driver of the one-track vehicle 1, in particular by driving-supporting measures, such as
- the display of warning signals, or safety measures, such as a braking operation to initiate automatically in an emergency For example, the display of warning signals, or safety measures, such as a braking operation to initiate automatically in an emergency.
- the position sensor 17 always detects the position of the motorcycle or the mobile ground 2, wherein the control unit 18 depending on the detected inclination ⁇ , the environment sensors 5 to 10 drives. According to the present embodiment, it is provided that in the
- the environment sensors 6 and 9 are activated and insofar as the surrounding areas 12 and 15 detect, which are aligned substantially parallel to the vehicle base 2. If the single-track vehicle 1 tilts sideways, as shown by way of example in FIG. 2, for example because a curve is traversed, the environment sensors 6 and 9 also incline accordingly. As a result, the surrounding areas 12 and 15 are no longer parallel to the mobile ground 2 but are inclined to do so. In particular, the surroundings sensor 6 now largely comprises the vehicle ground 2, which leads to a fault value. Traversable objects are captured in the signal.
- control unit 18 controls the environment sensor 4 such that when falling below a predetermined inclination angle a, as shown in Figure 2, the environment sensors 5 and 10 are activated and the environment sensors 6 and 9 are disabled. The surrounding areas 1 1 and 16 thus detected are then again substantially parallel to the road surface 2, as shown in FIG.
- the inclination angle ⁇ is less than 90 ° in this case. Nevertheless, the device 3 ensures that the environment of the motorcycle is reliably detected. If the motorcycle is inclined in the opposite direction, so that the angle ⁇ is greater than 90 °, the control unit 18 preferably controls the surroundings sensor 4 in such a way that now only the sensors 7 and 8 are activated and thus the surrounding areas 13 and 14 are detected.
- the control unit 18 thus constitutes a means for adjusting the detected environment area, while the position sensor means for determining the to be detected
- Adjust environment sensor groups individually to the inclination angle of the vehicle 1. For this purpose, a phase shift of the respective
- Environment sensors 6 and 9 provide, which are pivotally mounted. through a corresponding actuator can then be the environment sensors 6 and 9 pivot in order to adjust the respectively detected environment area 12, 15 to the inclination of the vehicle 1.
- FIG. 4 shows another embodiment in which the vehicle is designed as a tilting vehicle 19. In this case, the vehicle is considered
- Two-track vehicle is formed, wherein the height level of the wheels can be changed on one side of the vehicle to those on the other side of the vehicle to "corner" the vehicle or to corner when cornering to increase the ride comfort 19 also has the device 3, wherein in this embodiment, an environment sensor group at the front or front of the
- Neige Vietnamese plants 19 is provided, the present three environment sensors 20, 21, 22, which are arranged side by side. If the control device 18 detects by means of the bearing sensor 17 that the tilting vehicle 19 is inclined with respect to the mobile ground 2, it controls the environmental sensors 20 to 22 by beamforming in such a way that the surrounding area covered by the environmental sensors 20 to 22 is displaced parallel to the surroundings mobile underground 2, as shown in Figure 4 by curved lines to lie. This avoids that the environment area detected by the environment sensors 20 to 22 is restricted by the vehicle background 2 or that the environment sensors 20 to 22 detect the vehicle background 2 and
- FIGS. 5A and 5B show a further exemplary embodiment of the device 3, this time as part of a vehicle 23 having a variable body 24.
- the body allows a change in the wheelbase, for which purpose a part 25 of the body 24 is inclined with respect to another part 26.
- 5A shows the vehicle 23 in an initial state
- FIG. 5B shows the vehicle 23 in a final state when the wheelbase has been shortened to a minimum, in each case in a simplified side view.
- the device 3 likewise has an environment sensor group which is arranged on the front side of the vehicle 25 and has at least two environment sensors 27, 28.
- the Environment sensor 27 is activated, which detects a first environment region 29 whose main axis is aligned parallel to the vehicle base 2.
- the environment sensor 28 is aligned or arranged on the body 25 such that when the vehicle 23 is in the final state, the environment area covered by the surroundings sensor 28 is aligned with its main axis parallel to the road surface 2.
- the control unit 18 changes between the environment sensors 27 and 28, so that in the final state of the environment sensor 28 at the initial state
- the Environment sensor 27 is activated.
- the inclination of the body part 25 can also be detected by means of the position sensor 17.
- the device 3 ensures the optimal design of the concluded processes and energy savings, since preferably only the relevant environmental sensor is activated / activated.
- the road surface or the road surface 2 itself is prevented from being detected, thereby preventing noise and increasing the robustness of the system. Since less irrelevant objects are detected, the total computing power required for evaluating the sensor signals is also reduced overall, so that the control unit 18 can be designed to be relatively inexpensive and simple.
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Mechanical Engineering (AREA)
- Electromagnetism (AREA)
- Radar Systems Or Details Thereof (AREA)
- Vehicle Body Suspensions (AREA)
- Operation Control Of Excavators (AREA)
- Traffic Control Systems (AREA)
- Toys (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102012221188.8A DE102012221188A1 (en) | 2012-11-20 | 2012-11-20 | Device, vehicle |
PCT/EP2013/073273 WO2014079697A1 (en) | 2012-11-20 | 2013-11-07 | Device and vehicle with tilt compensation for an environment sensor |
Publications (1)
Publication Number | Publication Date |
---|---|
EP2922732A1 true EP2922732A1 (en) | 2015-09-30 |
Family
ID=49553700
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP13788979.6A Withdrawn EP2922732A1 (en) | 2012-11-20 | 2013-11-07 | Device and vehicle with tilt compensation for an environment sensor |
Country Status (6)
Country | Link |
---|---|
US (1) | US9457753B2 (en) |
EP (1) | EP2922732A1 (en) |
JP (1) | JP6092417B2 (en) |
CN (1) | CN104797466B (en) |
DE (1) | DE102012221188A1 (en) |
WO (1) | WO2014079697A1 (en) |
Families Citing this family (29)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9153133B1 (en) * | 2014-07-18 | 2015-10-06 | John D. Baker | Motorcycle blind spot detector |
TWI621550B (en) * | 2014-08-29 | 2018-04-21 | Kwang Yang Motor Co | Configuration of locomotive dump sensor |
CN105460136A (en) * | 2014-09-10 | 2016-04-06 | 光阳工业股份有限公司 | Configuration of motorcycle turning-over perceptron |
DE102015207330A1 (en) * | 2015-04-22 | 2016-10-27 | Robert Bosch Gmbh | System and method for operating an object recognition system for oblique vehicles |
JP6481529B2 (en) | 2015-07-06 | 2019-03-13 | スズキ株式会社 | Inertia sensor mounting structure and motorcycle |
CN105329365A (en) * | 2015-11-08 | 2016-02-17 | 王军 | Built-in heating mechanism |
CN105292343A (en) * | 2015-11-08 | 2016-02-03 | 王军 | Power supply system of small road guiding device |
CN105329345A (en) * | 2015-12-06 | 2016-02-17 | 潘炼 | Small radar scanning information analysis device |
JP2017210896A (en) * | 2016-05-24 | 2017-11-30 | スズキ株式会社 | Supercharging pressure control device |
DE102016210718A1 (en) | 2016-06-16 | 2017-12-21 | Bayerische Motoren Werke Aktiengesellschaft | motor vehicle |
JP6658413B2 (en) | 2016-09-07 | 2020-03-04 | 株式会社デンソー | Object detection device |
KR101878484B1 (en) * | 2016-11-25 | 2018-07-13 | (주)카네비컴 | Road-shape-recognition front-crash-prevention lidar system |
DE102016223761A1 (en) | 2016-11-30 | 2018-05-30 | Robert Bosch Gmbh | Environment sensors in a two-wheeler |
JP6914065B2 (en) * | 2017-03-17 | 2021-08-04 | シャープ株式会社 | Obstacle detection device, traveling device, obstacle detection system and obstacle detection method |
JP2019003263A (en) * | 2017-06-12 | 2019-01-10 | ローベルト ボッシュ ゲゼルシャフト ミット ベシュレンクテル ハフツング | Processing unit and processing method for front recognition system, front recognition system, and motor cycle |
JP7045822B2 (en) * | 2017-08-24 | 2022-04-01 | 株式会社小糸製作所 | A sensor system and a lamp unit equipped with the sensor system. |
WO2019167220A1 (en) | 2018-03-01 | 2019-09-06 | 本田技研工業株式会社 | Saddle-type vehicle |
JPWO2019180829A1 (en) * | 2018-03-20 | 2021-02-25 | 本田技研工業株式会社 | Saddle-type vehicle |
US10935670B2 (en) * | 2018-03-28 | 2021-03-02 | Psionic, Llc | Navigation system for GPS denied environments |
JP7033193B2 (en) * | 2018-03-28 | 2022-03-09 | 本田技研工業株式会社 | Saddle-type vehicle |
WO2019186945A1 (en) | 2018-03-29 | 2019-10-03 | 本田技研工業株式会社 | Saddled vehicle |
JP7063986B2 (en) * | 2018-05-23 | 2022-05-09 | 本田技研工業株式会社 | Saddle-type vehicle |
JP7198602B2 (en) | 2018-07-11 | 2023-01-04 | カワサキモータース株式会社 | motorcycle |
US20210373151A1 (en) * | 2018-10-12 | 2021-12-02 | Kyocera Corporation | Electronic device, control method of electronic device, and control program of electronic device |
US11333767B2 (en) * | 2019-04-03 | 2022-05-17 | Caterpillar Inc. | Avoidance modifier system for collision avoidance system |
DE102019122190B4 (en) * | 2019-08-19 | 2022-08-11 | Webasto SE | Roof module for forming a vehicle roof with a cooling device |
WO2021064805A1 (en) * | 2019-09-30 | 2021-04-08 | 本田技研工業株式会社 | Saddle-ridden vehicle, method for controlling saddle-ridden vehicle, and program |
CN115812056A (en) * | 2020-07-18 | 2023-03-17 | Tvs电机股份有限公司 | Blind spot detection system |
CN113534174A (en) * | 2021-05-25 | 2021-10-22 | 意欧斯物流科技(上海)有限公司 | A adjustment base and range finding sensor for range finding sensor |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102011075062A1 (en) * | 2011-05-02 | 2012-11-08 | Robert Bosch Gmbh | DETECTING THE ORIENTATION OF A RADAR SENSOR UNIT |
Family Cites Families (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE19906208C2 (en) * | 1999-02-15 | 2000-11-23 | Bosch Gmbh Robert | Headlight device for a two-wheeler |
JP2001027666A (en) * | 1999-07-14 | 2001-01-30 | Denso Corp | Posture-retaining device for two-wheeler |
DE19962491A1 (en) * | 1999-12-23 | 2001-07-05 | Daimler Chrysler Ag | Method for the optical monitoring of the surroundings of a moving vehicle |
JP2004082903A (en) * | 2002-08-28 | 2004-03-18 | Furuki Shinobu | Self-standing automatic vehicle |
DE102005024052B4 (en) | 2005-05-25 | 2015-02-05 | Robert Bosch Gmbh | Method and device for the controlled selection of predictive sensors for a pedestrian protection system of a motor vehicle |
JP4648135B2 (en) * | 2005-09-06 | 2011-03-09 | 本田技研工業株式会社 | Motorcycle |
JP2007237883A (en) * | 2006-03-08 | 2007-09-20 | Yamaha Motor Co Ltd | Motor bicycle |
JP2007271298A (en) * | 2006-03-30 | 2007-10-18 | Fujitsu Ten Ltd | On-vehicle radar system |
JP4832253B2 (en) | 2006-10-31 | 2011-12-07 | 本田技研工業株式会社 | Motorcycle equipment for motorcycles and tricycles |
JP5152778B2 (en) * | 2007-07-19 | 2013-02-27 | 本田技研工業株式会社 | Inclination angle detector for motorcycles |
JP5008494B2 (en) * | 2007-08-07 | 2012-08-22 | ヤマハ発動機株式会社 | Caution information presentation system and motorcycle |
US8014921B2 (en) * | 2008-06-25 | 2011-09-06 | Ford Global Technologies, Llc | Ultrasonic sensor-based side impact sensing system |
US20100013186A1 (en) * | 2008-07-16 | 2010-01-21 | Markie Alcide G | Powered retractable motorcycle stand |
-
2012
- 2012-11-20 DE DE102012221188.8A patent/DE102012221188A1/en active Granted
-
2013
- 2013-11-07 JP JP2015543379A patent/JP6092417B2/en active Active
- 2013-11-07 CN CN201380060458.XA patent/CN104797466B/en active Active
- 2013-11-07 WO PCT/EP2013/073273 patent/WO2014079697A1/en active Application Filing
- 2013-11-07 EP EP13788979.6A patent/EP2922732A1/en not_active Withdrawn
- 2013-11-07 US US14/443,771 patent/US9457753B2/en active Active
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102011075062A1 (en) * | 2011-05-02 | 2012-11-08 | Robert Bosch Gmbh | DETECTING THE ORIENTATION OF A RADAR SENSOR UNIT |
Also Published As
Publication number | Publication date |
---|---|
DE102012221188A1 (en) | 2014-05-22 |
WO2014079697A1 (en) | 2014-05-30 |
CN104797466B (en) | 2017-10-03 |
JP2016503503A (en) | 2016-02-04 |
US20150329072A1 (en) | 2015-11-19 |
CN104797466A (en) | 2015-07-22 |
JP6092417B2 (en) | 2017-03-08 |
US9457753B2 (en) | 2016-10-04 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
EP2922732A1 (en) | Device and vehicle with tilt compensation for an environment sensor | |
EP3510463B1 (en) | Sensor array for an autonomously operated utility vehicle and method for surround-view image acquisition | |
EP2307213B1 (en) | Method for determining an inclination of a body of a motor vehicle, and device for determining an inclination | |
EP1711371B1 (en) | Device and method for adjusting the headlight-range of a motor vehicle | |
EP1993861B1 (en) | System for regulating the position of the chassis of a motor vehicle | |
DE102008008665B3 (en) | Testing device for e.g. velocity control system of motor vehicle, has aiming device simulating vehicle rear end, and arranged in positions within and outside traffic lanes of carrier vehicle, respectively | |
DE102013001119B4 (en) | Driver assistance system, method for assisted, autonomous and / or piloted parking on and / or Ausparken a vehicle, as well as vehicle with the driver assistance system | |
DE102011116822B4 (en) | Monitoring system for monitoring the surroundings of vehicles, in particular motor and/or commercial vehicles | |
DE10326190A1 (en) | Apparatus and method for determining a spatial orientation of a hanger or trailer | |
DE102016000209A1 (en) | A control system and method for determining a pavement irregularity | |
DE102015202099A1 (en) | Processing sensor data for a driver assistance system | |
DE102012024931A1 (en) | Tailgate system for motor car, has tailgate provided with spacing sensor system by which distance to obstacle is determined for detecting swiveling range of tailgate, which is supported at motor car | |
EP3312029A1 (en) | Method for operating a vehicle and vehicle | |
DE102005022677A1 (en) | Sensor apparatus for detecting objects in front of motor vehicle, pivots sensor about vertical axis so that it can optimally detect vehicle's lane when traveling around curve | |
EP3159191A1 (en) | System for influencing a vehicle alignment | |
DE102006004866B4 (en) | Driver assistance system for a vehicle and method for operating a vehicle | |
DE102015014882A1 (en) | Steering support during power steering failure | |
DE102021205623B4 (en) | Method and device for aligning a vehicle body of a vehicle | |
DE102010050573A1 (en) | Method for avoiding lateral collisions of motor vehicle i.e. passenger car, with roadway laterally limiting lateral vehicle-external obstructions, involves engaging driver assistance system with steering device of motor vehicle | |
WO2014094933A1 (en) | Method for combined determining of a momentary roll angle of a motor vehicle and a momentary roadway cross slope of a curved roadway section traveled by the motor vehicle | |
WO2005014315A1 (en) | Method and device for improving driving comfort of motor vehicles | |
DE102021201589B4 (en) | Control of a vehicle depending on a topographical feature of a road surface | |
DE102016109850B4 (en) | Method for detecting an inclination in a roadway of a motor vehicle, driver assistance system and motor vehicle | |
DE102012221188B4 (en) | device, vehicle | |
DE102019216147B3 (en) | Method for determining the drivability of an area of a site for a vehicle |
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: 20150622 |
|
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 |
|
AX | Request for extension of the european patent |
Extension state: BA ME |
|
DAX | Request for extension of the european patent (deleted) | ||
17Q | First examination report despatched |
Effective date: 20160331 |
|
RAP1 | Party data changed (applicant data changed or rights of an application transferred) |
Owner name: ROBERT BOSCH GMBH |
|
GRAP | Despatch of communication of intention to grant a patent |
Free format text: ORIGINAL CODE: EPIDOSNIGR1 |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: GRANT OF PATENT IS INTENDED |
|
INTG | Intention to grant announced |
Effective date: 20200618 |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: THE APPLICATION IS DEEMED TO BE WITHDRAWN |
|
18D | Application deemed to be withdrawn |
Effective date: 20201029 |