EP3788398A1 - Ultraschallsystem eines fahrzeugs zur bestimmung des zustands der fahrbahn - Google Patents
Ultraschallsystem eines fahrzeugs zur bestimmung des zustands der fahrbahnInfo
- Publication number
- EP3788398A1 EP3788398A1 EP19721242.6A EP19721242A EP3788398A1 EP 3788398 A1 EP3788398 A1 EP 3788398A1 EP 19721242 A EP19721242 A EP 19721242A EP 3788398 A1 EP3788398 A1 EP 3788398A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- vehicle
- variance
- section
- state
- roadway
- 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- Withdrawn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
- 238000002604 ultrasonography Methods 0.000 claims description 26
- 238000002592 echocardiography Methods 0.000 claims description 16
- 238000005259 measurement Methods 0.000 claims description 16
- 238000000034 method Methods 0.000 claims description 10
- 206010038743 Restlessness Diseases 0.000 description 14
- 208000001431 Psychomotor Agitation Diseases 0.000 description 11
- 230000000694 effects Effects 0.000 description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 206010001497 Agitation Diseases 0.000 description 3
- 230000008014 freezing Effects 0.000 description 3
- 238000007710 freezing Methods 0.000 description 3
- 238000013019 agitation Methods 0.000 description 2
- 230000001419 dependent effect Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 239000011148 porous material Substances 0.000 description 2
- 230000005236 sound signal Effects 0.000 description 2
- 241000237858 Gastropoda Species 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000001556 precipitation Methods 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/539—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
-
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
-
- 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
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/08—Systems for measuring distance only
- G01S15/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
- G01S15/36—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated with phase comparison between the received signal and the contemporaneously transmitted signal
-
- 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
- G01S15/88—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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/52004—Means for monitoring or calibrating
- G01S2007/52012—Means for monitoring or calibrating involving a reference ground return
-
- 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
- G01S2015/932—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations
Definitions
- the present invention relates to an ultrasound system of a vehicle.
- the invention relates to a vehicle comprising such a
- the invention relates to a method for detecting a condition of a roadway section.
- DE 10 2004 018 088 A1 discloses such a system. This can be concluded with the help of an ultrasonic sensor and the data of a camera on a state of a roadway.
- DE 10 2013 discloses
- ultrasound systems are known in vehicles. These are usually used to determine a distance of objects to the sensor.
- Detected emitted signal in the echo determine.
- the ultrasound system of a vehicle allows a safe and reliable determination of a condition of a roadway section.
- an ultrasonic sensor is needed.
- Such an ultrasonic sensor usually sends an output signal with a defined amplitude curve
- the ultrasound system of a vehicle comprises at least one ultrasound sensor for determining a distance of objects from the vehicle.
- the ultrasonic sensor is preferably set up, a
- the ultrasound system comprises a computing device for evaluating a measurement signal of the ultrasound sensor. It is envisaged that the
- a computing device is configured to determine a variance of a ground echo distribution within a roadway section on which the vehicle is moving. For example, in ultrasonic sensors attached to vehicles, in addition to reflecting on objects, it is also usually a reflection on the object
- These signals are usually filtered out as a disturbance variable in order to enable a distance measurement to objects.
- these signals are to be used to estimate a roughness of the surface of the roadway, whereby a state of the roadway can be determined.
- the computing device is set up to determine the state of the lane section based on at least one predefined classifier which assigns a lane state to individual values of the variance.
- the predefined classifier is, in particular, historically learned values.
- variances of the ground echo distribution for different road conditions can be recorded and stored.
- the computing device is designed to determine the variance, in particular proportionally, from a frequency of the received ground echoes.
- an echo rate flows into the calculation of the variance of the ground echo distribution.
- an amplitude of the bottom echoes is used.
- the variance is determined from a clutter level by the computing device. Furthermore, the variance can be determined from the noise level. Likewise, a determination of all peak values in the measurement signal in a certain distance range of the ultrasonic sensor, where the
- Occurrence probability of the bottom echoes is greatest, possible.
- the static features maximum, minimum, variance, median, mean and / or oblique curvature are evaluated. From all these parameters in particular a restlessness of the measuring signals of the ultrasonic sensor can be determined.
- the rest is dependent on the condition of the road section on which the vehicle is currently moving. Therefore, the restlessness of the measurement signal of the ultrasonic sensor can be assigned to a road condition based on the at least one predefined classifier. Thus, the road condition of the road section being traveled can be determined easily and with little effort.
- the invention also relates to a vehicle.
- the vehicle includes a
- Ultrasonic sensors of the ultrasound system mounted on a front side and / or on a rear side.
- the ultrasonic sensors of the ultrasound system serve in particular as parking assistance for detecting obstacles during parking.
- the vehicle has a control unit.
- the control unit is used to execute a driver assistance function, in particular one Vehicle dynamics control, and / or autonomous driving of the vehicle.
- the driver assistance function is to be understood in particular as meaning that an intervention in driving dynamics of the vehicle takes place when the vehicle is being guided by a driver. This can in particular be a steering intervention, a braking intervention and / or an acceleration intervention.
- the control unit is advantageously set up to adapt the driver assistance function and / or the autonomous driving to the determined state of the roadway section.
- the driver assistance function and / or the autonomous driving can be carried out optimally and adapted to current environmental conditions.
- the wheels of the vehicle are brought to a complete standstill during full braking. In this way, builds up before each tire a brake wedge, with the additional braking effect can be achieved.
- a conventional control for avoiding wheel lock during braking can be adopted.
- the controller can be used to adjust the maximum speed with which the vehicle can be moved. For example, on slippery road sections and / or at
- the vehicle optimally has a warning device. This makes it possible to warn the driver of poor road conditions.
- the issuance of a warning to a driver of the vehicle takes place, in particular, if there is a danger to the vehicle due to the condition of the roadway section. On the one hand, this can be damage to the vehicle itself, for example due to potholes, or alternatively a risk of a loss of control of the vehicle by a driver.
- the warning may prompt the driver to heightened awareness and / or adapt his driving style to the current states of the traffic lane sections.
- the invention further relates to a method for detecting a condition of a roadway section. The detection takes place on the basis of at least one ultrasonic sensor of a vehicle. It is intended that the
- Ultrasonic sensor for determining a distance of objects from the vehicle by means of comparison of a transmitted signal and a reflected echo is formed. It is envisaged that the method comprises the following steps: First of all, a variance is determined
- Road segment based on a classifier, which assigns each value of the variance to a road condition.
- the predefined classifier is a historically learned value determined by measuring the variance at different road conditions.
- Method is carried out in particular with an ultrasound system as described above.
- the variance is determined in a preferred embodiment, in particular proportionally, from a frequency of the received ground echoes. This corresponds in particular to an echo rate. Alternatively or additionally, the variance is determined proportionally from an amplitude of the bottom echo. Likewise, it is alternatively or additionally provided that the variance is determined proportionally from a matching factor of the emitted signal and the ground echo. Finally, it is alternatively or additionally provided that the variance is determined proportionally from a clutter level. Likewise, the variance can be determined from the noise level. Furthermore, a determination of all peak values in the measurement signal in a certain distance range of the ultrasonic sensor, where the
- Occurrence probability of the bottom echoes is greatest, possible.
- the statistical features maximum, minimum, variance, median, mean and / or oblique curvature are evaluated.
- the variance can be determined easily and with little effort.
- the condition of the roadway section can be determined on the basis of measurement data which can be detected by means of the ultrasound sensor. Additional information that must be provided by other sensor types is not necessary.
- the method is advantageously carried out in such a way that the classifier is stored in a higher-level, central control entity and is called up to determine the roadway section.
- Lane section are either determined by the parent central control instance by the measurement signals are transmitted from the ultrasonic sensor to the parent, central control instance.
- the variance of the ground echo distribution is determined beforehand
- Measuring signals of the ultrasonic sensor wherein only said variance is transmitted to the parent, central control instance.
- the vehicle carrying the ultrasonic sensor itself may also be said
- a position of the vehicle carrying the ultrasonic sensor is determined, it being possible to determine from the position which classifier is to be used to determine the road condition from the variance.
- Figure 1 is a schematic illustration of a vehicle according to a
- FIG. 1 shows a vehicle 10 according to an embodiment of the invention.
- the vehicle 10 includes an ultrasound system 1 according to a
- the vehicle 10 is in particular configured to use the ultrasound system 1 to determine a current state of a roadway section 4 on which the vehicle 10 is currently moving.
- the ultrasound system 1 comprises at least one ultrasound sensor 2. In the exemplary embodiment shown in FIG. 1, three ultrasound sensors 2 are provided
- the ultrasound system 1 comprises a
- the computing device 3 is connected to the ultrasonic sensors 2 for signal transmission. Each ultrasonic sensor 2 transmits
- each ultrasonic sensor 2 emits a signal with a different frequency response, so that the echoes also have a different frequency response, whereby an assignment is made possible, which echo originally from which
- Ultrasonic sensor 2 was emitted.
- the measurement signals are, in particular, a conversion of the echo received by the ultrasonic sensor 2 into an electrical signal.
- the computing device 3 is designed to determine a state of the roadway section 4 based on a restlessness of the measurement signals of the ultrasonic sensors 2.
- the restlessness of the measurement signals corresponds to the variance of the ground echo distribution within the lane section 4. This is calculated proportionally from a frequency of received ground echoes, an amplitude of the bottom echoes, the degree of agreement between emitted sound signal and reflected bottom echo (matching factor) and the clutter level level).
- a determination of all peak values in the measurement signal in a specific distance range of each ultrasonic sensor 2 is possible, where the probability of occurrence of the ground echoes is greatest. In this case, the statistical features maximum, minimum, variance, median, mean and / or oblique curvature are evaluated.
- a dry and clean roadway section 4 due to corresponding roughness and / or unevenness and / or potholes, causes a characteristic restlessness of the measuring signal of the ultrasonic sensors 2.
- a dry surface can be inferred if there was no precipitation in a predefined time interval and a
- the coefficient of friction in such a state of the road section 4 is in the range of the maximum possible coefficient of friction.
- various cases can be distinguished as follows: Liquid water has the property to close the pores of a road surface and thereby reduce the restlessness of the measurement signal. It is furthermore known from the prior art that water generates an increased noise level in the measurement signal at higher speeds on the surface of the roadway section. On the other hand, ice frozen water does not produce an increased level of noise even at higher speeds. Even ice closes the pores of the road surface and thus ensures a low coefficient of friction.
- attached ultrasonic sensors 2 can detect increased agitation. Also, is the ambient temperature for a predefined minimum
- Tire marks can also lead to increased recognition of objects on the roadway section 4.
- the coefficient of friction is very low or low.
- split can only be recognized by the fact that the restlessness is increased. Usually, split is repaired at temperatures above freezing
- the computing device 3 individually for each individual lane section 4 a probability, in particular an intensity and a
- the condition of the roadway section 4 can be concluded. From the measurement signals of the ultrasonic sensors 2, the state of the roadway section 4 can therefore be determined on the basis of the restlessness with the aid of the at least one predefined classifier. This can be done in particular in a higher-level, central control instance 7.
- the computing device 3 only calculates the variance of the ground echo distribution of the current road section 4 and sends the calculated data to the higher-level, central control entity 7.
- the at least one predefined classifier is stored in the higher-level, central control entity 7. Look at one
- Comparison of the received variance and the classifier is thus a state of the lane section 4 determinable.
- This particular road condition can be transmitted back to the computing device 3 and thus is the
- Control entity transmits current classifiers to the computing device 3.
- the computing device 3 can then itself perform the comparison of the calculated variance with the classifier so as to determine the state of the lane section 4. As previously described, can be different
- the vehicle 10 has a control unit 5 for executing a driver assistance function and / or autonomous driving of the vehicle 10.
- the vehicle 10 advantageously has a warning device 6.
- a warning of poor conditions of the road section 4 can be transmitted to a driver of the vehicle 10 via the warning device 6.
- Warning device 6 is issued a warning. The driver can then adapt his driving style to the prevailing conditions.
- control unit 5 is arranged to brake wheels 9 of the vehicle 10 via brakes 8.
- the control unit 5 executes a control in the normal state, which prevents locking of the wheels 8 during braking. If, however, as described above, a high snowpack detected with existing tire marks and issued as the condition of the lane section 4, the control unit 5 controls the brakes 9 of the wheels 8 so that they block in a full braking. This creates a brake wedge of snow in front of the blocking wheels 8, which adds an extra
- controller 5 perform various assistance functions that are effective and / or reliable only in certain states of the lane section 4. If other states of the roadway section 4 are detected on the basis of the ultrasound system 1, then the states are deactivated
- the vehicle 10, in particular the ultrasound system 1, thus enables a reliable and reliable detection of a condition of a roadway section 4 on which the vehicle is currently moving. This allows an optimization of control devices 5 of the vehicle 10, which intervene in a driving dynamics of the vehicle 10. For determining the condition of the roadway section 4, no additional sensors are necessary for this purpose. Rather, the determination of the road section 4 can be carried out solely on the basis of the ultrasonic sensors 2. In particular, can be dispensed with additional cameras as in the prior art.
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Mathematical Physics (AREA)
- Traffic Control Systems (AREA)
- Human Computer Interaction (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102018206741.4A DE102018206741A1 (de) | 2018-05-02 | 2018-05-02 | Ultraschallsystem eines Fahrzeugs |
PCT/EP2019/060629 WO2019211164A1 (de) | 2018-05-02 | 2019-04-25 | Ultraschallsystem eines fahrzeugs zur bestimmung des zustands der fahrbahn |
Publications (1)
Publication Number | Publication Date |
---|---|
EP3788398A1 true EP3788398A1 (de) | 2021-03-10 |
Family
ID=66379894
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP19721242.6A Withdrawn EP3788398A1 (de) | 2018-05-02 | 2019-04-25 | Ultraschallsystem eines fahrzeugs zur bestimmung des zustands der fahrbahn |
Country Status (5)
Country | Link |
---|---|
US (1) | US20210048527A1 (de) |
EP (1) | EP3788398A1 (de) |
CN (1) | CN112074757A (de) |
DE (1) | DE102018206741A1 (de) |
WO (1) | WO2019211164A1 (de) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102017219906A1 (de) * | 2017-11-09 | 2019-05-09 | Robert Bosch Gmbh | Verfahren und Steuergerät zum Messen von Niederschlag |
CN115077387B (zh) * | 2022-08-22 | 2022-10-28 | 成都岁生科技有限责任公司 | 基于点云技术的斜楔检测方法 |
Family Cites Families (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE3728708A1 (de) * | 1987-08-28 | 1989-03-23 | Bosch Gmbh Robert | Verfahren zum erkennen des reibbeiwerts |
DE4117091A1 (de) * | 1991-05-25 | 1992-11-26 | Fraunhofer Ges Forschung | Verfahren zur erstellung eines klassifizierungssystemes zur erkennung der beschaffenheit des fahrbahnbelages |
US6807473B1 (en) * | 2003-04-09 | 2004-10-19 | Continental Teves, Inc. | Road recognition system |
DE102009003049A1 (de) * | 2009-05-13 | 2010-11-18 | Robert Bosch Gmbh | Verfahren zur Funktionsprüfung eines Ultraschallsensors an einem Kraftfahrzeug, Verfahren zum Betrieb eines Ultraschallsensors an einem Kraftfahrzeug und Abstandsmessvorrichtung mit mindestens einem Ultraschallsensor zur Verwendung in einem Kraftfahrzeug |
WO2011007015A1 (de) * | 2009-07-17 | 2011-01-20 | Continental Teves Ag & Co. Ohg | Laserbasiertes verfahren zur reibwertklassifikation in kraftfahrzeugen |
DE102011085287A1 (de) * | 2011-10-27 | 2013-05-02 | Robert Bosch Gmbh | Verfahren zur Ermittlung der Bodenbeschaffenheit |
DE102012211293A1 (de) * | 2012-06-29 | 2014-01-02 | Robert Bosch Gmbh | Verfahren zum Betrieb eines Umfelderfassungssystems eines Fahrzeugs und Umfelderfassungssystem |
DE102013226631A1 (de) * | 2013-12-19 | 2015-06-25 | Continental Teves Ag & Co. Ohg | Verfahren und Vorrichtung zur Ermittlung von lokalen Wetterverhältnissen und eines lokalen Fahrbahnzustands |
DE102014212032A1 (de) * | 2014-06-24 | 2015-12-24 | Robert Bosch Gmbh | Verfahren zum Detektieren einer Fahrbahn und entsprechendes Detektionssystem |
DE102015106404B4 (de) * | 2015-04-27 | 2022-12-22 | Valeo Schalter Und Sensoren Gmbh | Verfahren zum Erkennen eines Zustands einer Fahrbahn anhand eines mit einem Ultraschallsensor bestimmten Abstandswerts, Sensoranordnung, Fahrerassistenzsystem sowie Kraftfahrzeug |
DE102015209878B3 (de) * | 2015-05-29 | 2016-02-18 | Robert Bosch Gmbh | Verfahren und Vorrichtung zur Erfassung von Objekten im Umfeld eines Fahrzeugs |
GB2540748B (en) * | 2015-07-17 | 2019-01-30 | Jaguar Land Rover Ltd | A system for use in a vehicle |
DE102016118307A1 (de) * | 2016-09-28 | 2018-03-29 | Valeo Schalter Und Sensoren Gmbh | Verfahren zum Erkennen eines Objekts in einer Umgebung eines Kraftfahrzeugs unter Berücksichtigung einer Streuung von Abstandswerten eines Ultraschallsensors, Steuergerät, Fahrerassistenzsystem sowie Kraftfahrzeug |
DE102017103275B4 (de) * | 2017-02-17 | 2024-08-14 | Valeo Schalter Und Sensoren Gmbh | Verfahren zum Erfassen eines Objekts in einem Umgebungsbereich eines Kraftfahrzeugs mithilfe eines Ultraschallsensors mit verbesserter Filterung von Bodenreflexionen, Steuergerät, Ultraschallsensorvorrichtung sowie Kraftfahrzeug |
US10802142B2 (en) * | 2018-03-09 | 2020-10-13 | Samsung Electronics Company, Ltd. | Using ultrasound to detect an environment of an electronic device |
-
2018
- 2018-05-02 DE DE102018206741.4A patent/DE102018206741A1/de active Pending
-
2019
- 2019-04-25 CN CN201980029657.1A patent/CN112074757A/zh active Pending
- 2019-04-25 US US16/976,615 patent/US20210048527A1/en active Pending
- 2019-04-25 WO PCT/EP2019/060629 patent/WO2019211164A1/de unknown
- 2019-04-25 EP EP19721242.6A patent/EP3788398A1/de not_active Withdrawn
Also Published As
Publication number | Publication date |
---|---|
WO2019211164A1 (de) | 2019-11-07 |
DE102018206741A1 (de) | 2019-11-07 |
US20210048527A1 (en) | 2021-02-18 |
CN112074757A (zh) | 2020-12-11 |
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