EP3788399A1 - Method and device for identifying a road condition - Google Patents
Method and device for identifying a road conditionInfo
- Publication number
- EP3788399A1 EP3788399A1 EP19719876.5A EP19719876A EP3788399A1 EP 3788399 A1 EP3788399 A1 EP 3788399A1 EP 19719876 A EP19719876 A EP 19719876A EP 3788399 A1 EP3788399 A1 EP 3788399A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- road
- change
- noise level
- detected
- road condition
- 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- Withdrawn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
- 238000000034 method Methods 0.000 title claims abstract description 21
- 230000008859 change Effects 0.000 claims description 47
- 238000002604 ultrasonography Methods 0.000 claims description 7
- 238000004590 computer program Methods 0.000 claims description 5
- 238000002592 echocardiography Methods 0.000 claims description 3
- 238000005096 rolling process Methods 0.000 description 9
- 238000013459 approach Methods 0.000 description 5
- 230000008901 benefit Effects 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 230000010354 integration Effects 0.000 description 3
- 239000010426 asphalt Substances 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009408 flooring Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000002310 reflectometry Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 230000002123 temporal 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
- 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
- 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
- G01S13/862—Combination of radar systems with 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
- 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
-
- 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
- G01S15/50—Systems of measurement, based on relative movement of the target
- G01S15/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S15/60—Velocity or trajectory determination systems; Sense-of-movement determination systems wherein the transmitter and receiver are mounted on the moving object, e.g. for determining ground speed, drift angle, ground track
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
- G01S7/411—Identification of targets based on measurements of radar reflectivity
-
- 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
- G01S7/523—Details of pulse systems
- G01S7/526—Receivers
- G01S7/527—Extracting wanted echo signals
-
- 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
-
- 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
- G01S2013/9323—Alternative operation using light waves
-
- 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
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/4802—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
-
- 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
- G01S7/537—Counter-measures or counter-counter-measures, e.g. jamming, anti-jamming
Definitions
- the invention relates to a method and a device for detecting a road condition.
- a road condition significantly influences the road grip of a vehicle.
- the road condition is inter alia by a figure of a
- the road surface may be smooth or rough, dry, wet or liquid-covered.
- the road condition may be optically detected using a camera system of the vehicle.
- Embodiments of the present invention may advantageously enable a detection of the road condition based on a noise level provided by an ultrasonic sensor of a vehicle to be ensured by a bottom echo provided by a sensor of the vehicle.
- a method for detecting a road condition of a road is presented, which is characterized in that a road condition information representing the road condition is determined by using a noise level detected by at least one ultrasonic sensor of a vehicle and a floor echo detected in the area of the vehicle by a road surface.
- a road condition of a road can be understood as meaning a surface structure of a surface of the road and / or a surface condition of the surface.
- the surface structure may be determined by a road surface of the road.
- the road surface can be smooth, rough and / or uneven.
- the road surface may be concrete or asphalt.
- the surface texture may be smooth or rough.
- the surface texture may be uneven but smooth or rough.
- the surface condition may be wet, dry, damp, mushy, snowy or flooded.
- Surface condition may be affected by road pollution.
- a noise level maps at least a volume of ambient noise to an ultrasonic sensor.
- the ambient noise can be any suitable ambient noise.
- the ambient noise may include rolling noise caused by the rolling of at least one tire of the vehicle on the road.
- Rolling noise is caused both by the surface structure of the road, as also significantly influenced by the surface condition of the road.
- the ambient noise can also be caused by other vehicles, while wind noise and rolling noise of the other vehicle can be detected.
- a ground echo depicts the surface structure of the road as long as it is not obscured by the surface condition.
- the bottom echo can be called a clutter.
- the bottom echo is composed of many superimposed
- the reflections occur on small areas that are part of the surface structure.
- the bottom echo is generally more pronounced the rougher the surface is.
- the bottom echo can be represented by a numerical value.
- the numerical value can be called the clutter value.
- the road condition information may be determined using a
- Noise level change of the noise level and / or a bottom echo change of the ground echo can be determined.
- the road condition can by a
- Observing a noise level curve and / or a floor chaser can be detected.
- the road condition can be detected by a ratio or relative changes in the noise level and / or bottom echo.
- the road surface can be recognized by the ground echo change.
- a weather-related change in the road condition can by the
- Noise level change in connection with the ground echo change are detected.
- a source of noise for extraneous noise can through the
- Noise level change can be detected.
- the noise level changes little when changing from one road surface to another, while the bottom echo can change significantly.
- a change from dry road to wet road significantly affects the noise level, while the bottom echo shows little change.
- the noise level and the bottom echo change significantly.
- a foreign noise does not change the bottom echo while being mapped in the noise level.
- Ground echo change can be observed over an observation period to obtain the road condition information.
- the changes can be detected with a small time offset.
- Noise level change and / or the course of the bottom echo change for example, be integrated.
- the ground echo may be detected using the ultrasonic sensor and / or using a radar sensor of the vehicle.
- Ground echo can be caused by reflections from sound waves and / or radar waves on the road surface.
- the bottom echo can also be detected in parallel with both sensors.
- the bottom echo can be up to a speed limit below
- the bottom echo can go down with increasing speed in the ambient noise and be shifted by the Doppler effect outside the detectable frequency range. At low
- the road surface may also be screened by means of an imaging technique, e.g. be detected using a camera or a lidar sensor. Does the camera measure a change in the reflectivity of an extraneous light source such as a light source? street lighting or the lighting of other vehicles, this can be attributed to a change in the road surface. If the Lidar sensor measures a change in the reflection strength of the reflection intensity of the own emitted light, then this can also be due to a change in the
- the method may, for example, in software or hardware or in a hybrid of software and hardware, for example in a
- the device may be an electrical device having at least one computing unit for processing signals or data, at least one memory unit for storing signals or data, and at least one interface and / or a communication interface for reading in or outputting data embedded in a communication protocol, be.
- the arithmetic unit can be, for example, a signal processor, a so-called system ASIC or a microcontroller for processing sensor signals and outputting
- the storage unit may be, for example, a flash memory, an EPROM or a magnetic storage unit.
- the interface can be used as a sensor interface for reading in the sensor signals from a sensor and / or as an actuator interface for
- the communication interface can be designed to read in or output the data wirelessly and / or by cable.
- Interfaces may also be software modules that are present, for example, on a microcontroller in addition to other software modules.
- a computer program product or computer program with program code which can be stored on a machine-readable carrier or storage medium such as a semiconductor memory, a hard disk memory or an optical memory and for carrying out, implementing and / or controlling the steps of the method according to one of the above
- Fig. 1 shows a representation of a vehicle with a device according to an embodiment.
- FIG. 1 shows an illustration of a vehicle 100 with a device 102 according to one exemplary embodiment.
- the device 102 is configured to implement a method according to the approach presented here for recognizing a
- the vehicle 100 has for this purpose at least one ultrasonic sensor 106.
- the ultrasonic sensor 106 emits ultrasound 108 and images sound waves 110 arriving at the ultrasound sensor 106 in a received signal 112.
- the sound waves 110 comprise echoes 114 of the ultrasound 108 on surfaces which are substantially transverse to a propagation direction of the
- Ultrasound 108 are aligned. Since the road 104 is oriented substantially in the propagation direction, the road 104 is imaged in the sound waves 110 as a bottom echo 116. The bottom echo 116 is formed on many small transversely aligned to the propagation direction surfaces of a
- Ultrasonic sensor 106 shown as a numerical value.
- the numerical value thus represents the surface structure.
- foreign signals 118 are imaged in the received signal 112.
- the extraneous noises 118 are, for example, wind noise 120, rolling noise 122 and noise 124 from other noise sources 126
- Ultrasonic sensor 106 images an intensity of the foreign noise 118 as a further numerical value in a noise level 128.
- a surface condition of the road 104 significantly influences the rolling noise 122.
- the rolling noise 122 is louder than when the road 104 is dry.
- the noise level 128 is also higher on a wet road 104 than on a dry road 104.
- the vehicle 100 further includes a radar sensor 130. Radar waves of the radar sensor 130 are also reflected back at the surfaces that are aligned substantially transverse to a propagation direction of the radar waves. The radar waves are also at the many small transverse to the propagation direction aligned surfaces of
- the device 102 reads in the noise level 128 from the ultrasonic sensor 106 and the bottom echo 116 from the ultrasonic sensor 106 and / or the radar sensor 130 and determines road condition information 134 using the noise level 128 and the floor echo 116
- Road condition information 134 represents the road condition of the road 104.
- a relative change in road condition is detected based on a history of noise level 128 and / or ground echo 116.
- the bottom echo 116 may become weaker as water fills the road 104 bumps.
- the rolling noise 122 of the tires on the wet road 104 also increases.
- the road condition can be recognized as wet.
- the bottom echo 116 may change due to a smooth floor covering.
- the rolling noise 122 changes only slightly. Therefore, the changed flooring can be detected.
- a wind speed at the ultrasonic sensor 106 may be used to raise or lower a transmission frequency of the ultrasonic sensor 106. By raising or lowering, a Doppler shift of the bottom echo 116 and / or other echoes 114 may be at least partially compensated and a receive frequency of the bottom echo 116 may be maintained within a receive frequency range of the ultrasound sensor 106.
- Ambient noise e.g., caused by other vehicles
- Ambient noise may be disturbed.
- Using a low-pass filter can cause short-term disturbances
- the road surface can be determined from the bottom echo of the ultrasonic signal.
- the bottom echo can be quantified in a clutter value.
- the clutter value forms a diffuse echo of the road surface.
- this diffuse echo is greatly affected by the sound of wind and water of your own Vehicle and the other vehicles superimposed. Therefore the clutter value is corrected with the help of the noise level so that the noise level has no influence on the clutter value. Since the diffuse echo is only very weak, at high vehicle speeds and thus large Doppler shifts the diffuse echo can be measured only very difficult if the diffuse echo is received far from the natural frequency of the sensor. At very high speeds, the frequency can be shifted completely out of the measuring range of the sensor.
- the frequency is raised or lowered so far that the frequency of the echo does not leave the measuring range of the sensor. Likewise, it can not be sent out so much if it is sent far away from the natural frequency.
- the attenuation of the diffuse echo of the road surface or the clutter value as a function of the vehicle speed is also compensated, so that a change in the vehicle speed with constant road surface and constant road condition has no influence on the clutter value.
- the Clutteragonist can with the help of ultrasonic sensors at large
- Noise levels e.g., caused by water on the road and high
- the clutter values of radar sensors can be used.
- the clutter values of the radar sensors are similarly influenced by the road surface, since the wavelengths of radar and ultrasound differ only by a few-digit multiples.
- the clutter value of the radar can better reflect the structure of the road surface, since it is not affected by the wind noise and wet hiss.
- an absolute value of the road condition is first calculated.
- the road condition becomes over a longer time Titled and thus short-term changes or errors filtered out, eg with the help of a PTl-member.
- the short-term calculated differences from the integrated change calculations are added as described above.
- the airstream speeds can be calculated from any of the sensor values and assuming all possible road conditions.
- the calculated plausibility of wind speeds in this way are more robust against disturbances and thus have a lower standard deviation from the outset.
- the plausible airstream speeds calculated in this way are simply consulted in addition to the directly calculated airstream speeds. Due to the higher quality of the plausible airstream speed values and, in general, the greater number of airstream speed values, it is also easier to calculate road conditions and wind speeds. To further improve the result, the associated standard deviations are also added the plausibility of the airspeed and taken into account in the merger with the directly calculated airstream speeds. Whenever changing the clutter value is not plausible to change the clutter value
- the measurement of the road condition becomes more robust, more accurate and more dynamic.
- the road conditions, weather conditions and sources of interference can be better distinguished from each other. Short wet, wet or flooded road sections can be detected more reliably.
- the tire condition or tread depth can be better determined. Wind and wind direction can be better determined.
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)
- Electromagnetism (AREA)
- Traffic Control Systems (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102018206703.1A DE102018206703A1 (en) | 2018-05-02 | 2018-05-02 | Method and device for detecting a road condition |
PCT/EP2019/060632 WO2019211167A1 (en) | 2018-05-02 | 2019-04-25 | Method and device for identifying a road condition |
Publications (1)
Publication Number | Publication Date |
---|---|
EP3788399A1 true EP3788399A1 (en) | 2021-03-10 |
Family
ID=66290458
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP19719876.5A Withdrawn EP3788399A1 (en) | 2018-05-02 | 2019-04-25 | Method and device for identifying a road condition |
Country Status (5)
Country | Link |
---|---|
US (1) | US11487005B2 (en) |
EP (1) | EP3788399A1 (en) |
CN (1) | CN112074758A (en) |
DE (1) | DE102018206703A1 (en) |
WO (1) | WO2019211167A1 (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11487005B2 (en) * | 2018-05-02 | 2022-11-01 | Robert Bosch Gmbh | Method and device for identifying a road condition |
Family Cites Families (22)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2945230B2 (en) * | 1993-02-25 | 1999-09-06 | 三菱電機株式会社 | Road surface condition detection device |
DE19843563A1 (en) * | 1998-09-23 | 2000-03-30 | Bosch Gmbh Robert | Unit detecting water on surfaces, especially from moving vehicle, employs ultrasound reflection from spray raised at rear |
US6807473B1 (en) * | 2003-04-09 | 2004-10-19 | Continental Teves, Inc. | Road recognition system |
JP2008033760A (en) * | 2006-07-31 | 2008-02-14 | Secom Co Ltd | Mobile robot |
DE102006037591A1 (en) * | 2006-08-11 | 2008-02-14 | Robert Bosch Gmbh | Device for detecting a moving object |
DE102008014513A1 (en) * | 2008-03-15 | 2008-10-16 | Daimler Ag | Vehicle i.e. commercial motor vehicle, tire rolling noise detecting device, has sensor surrounded partially by housing fastened to vehicle, and vibration isolation elements arranged between housing and vehicle body |
KR20120050451A (en) * | 2009-07-17 | 2012-05-18 | 콘티넨탈 엔지니어링 서비시스 게엠베하 | Laser-based method for the friction coefficient classification of motor vehicles |
DE102011003334A1 (en) * | 2011-01-28 | 2012-08-02 | Robert Bosch Gmbh | Method and device for determining the condition of the road surface by means of combined acoustic and electromagnetic wide-angle sensors |
DE102011085287A1 (en) * | 2011-10-27 | 2013-05-02 | Robert Bosch Gmbh | Method for determining texture of roadway, involves detecting continuously road surface by ultrasonic sensor system built in vehicle, where road surface is classified based on reflected frequency spectrum |
DE102015106402A1 (en) * | 2015-04-27 | 2016-10-27 | Valeo Schalter Und Sensoren Gmbh | Method for detecting a state of a roadway based on an echo signal of an ultrasonic sensor, sensor arrangement, driver assistance system and motor vehicle |
DE102015106401A1 (en) * | 2015-04-27 | 2016-10-27 | Valeo Schalter Und Sensoren Gmbh | Sensor arrangement for detecting a state of a roadway with at least two spaced ultrasonic sensors, driver assistance system, motor vehicle and associated method |
DE102016218238B3 (en) * | 2016-09-22 | 2017-07-06 | Robert Bosch Gmbh | Method and computing unit for detecting a wet or damp track and for object detection |
DE102016118307A1 (en) * | 2016-09-28 | 2018-03-29 | Valeo Schalter Und Sensoren Gmbh | A method for detecting an object in an environment of a motor vehicle, taking into account a scattering of distance values of an ultrasonic sensor, control device, driver assistance system and motor vehicle |
CN113119963B (en) * | 2017-07-28 | 2024-03-26 | 现代摩比斯株式会社 | Intelligent ultrasonic system, vehicle rear collision warning device and control method thereof |
DE102018203924A1 (en) * | 2018-03-15 | 2019-09-19 | Robert Bosch Gmbh | Method and device for detecting a road surface condition |
DE102018206700A1 (en) * | 2018-05-02 | 2019-11-07 | Robert Bosch Gmbh | Method and device for detecting a noise imaged in a received signal of an ultrasonic sensor |
DE102018206739A1 (en) * | 2018-05-02 | 2019-11-07 | Robert Bosch Gmbh | Method and device for detecting a road condition |
DE102018206703A1 (en) * | 2018-05-02 | 2019-11-07 | Robert Bosch Gmbh | Method and device for detecting a road condition |
DE102018206722A1 (en) * | 2018-05-02 | 2019-11-07 | Robert Bosch Gmbh | Method and device for operating ultrasonic sensors of a vehicle |
DE102018217325A1 (en) * | 2018-10-10 | 2020-04-16 | Robert Bosch Gmbh | Method for influencing a vehicle's driving dynamics and vehicle dynamics controller |
DE102019208913A1 (en) * | 2019-06-19 | 2020-12-24 | Robert Bosch Gmbh | Method and device for determining a condition of a road surface by means of a first sensor of a means of locomotion |
DE102019216729A1 (en) * | 2019-10-30 | 2021-05-06 | Robert Bosch Gmbh | Method and device for optimizing an ultrasound-based environment detection for a means of locomotion |
-
2018
- 2018-05-02 DE DE102018206703.1A patent/DE102018206703A1/en active Pending
-
2019
- 2019-04-25 US US17/040,514 patent/US11487005B2/en active Active
- 2019-04-25 WO PCT/EP2019/060632 patent/WO2019211167A1/en unknown
- 2019-04-25 EP EP19719876.5A patent/EP3788399A1/en not_active Withdrawn
- 2019-04-25 CN CN201980029524.4A patent/CN112074758A/en active Pending
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11487005B2 (en) * | 2018-05-02 | 2022-11-01 | Robert Bosch Gmbh | Method and device for identifying a road condition |
Also Published As
Publication number | Publication date |
---|---|
WO2019211167A1 (en) | 2019-11-07 |
US11487005B2 (en) | 2022-11-01 |
US20210018618A1 (en) | 2021-01-21 |
DE102018206703A1 (en) | 2019-11-07 |
CN112074758A (en) | 2020-12-11 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
DE102005010623B4 (en) | radar device | |
DE102019108420A1 (en) | PARKASSISTENZSYSTEM FOR A VEHICLE AND METHOD FOR IMPROVING THE DETECTION POWER OF AN ULTRASOUND SENSOR FOR THE PARKASSISTENZSYSTEM | |
DE102010033207B4 (en) | Method and device for monitoring the surroundings of a vehicle | |
DE102005013524A1 (en) | Vehicle control device | |
DE102010027647A1 (en) | Laser-based method for friction coefficient classification in motor vehicles | |
DE102018124538A1 (en) | Systems and methods for measuring a bridge clearance height | |
WO2019211169A1 (en) | Method and apparatus for identifying a road condition | |
DE102019209846A1 (en) | Method of operating a 3D distance sensor device | |
DE102018206694A1 (en) | Method and device for recognizing a current road condition | |
WO2019211165A1 (en) | Method and device for detecting a noise generated in a received signal of an ultrasonic sensor | |
DE102019210767A1 (en) | Method and device for fusing a plurality of signals from an ultrasonic sensor system of a means of locomotion | |
EP3788399A1 (en) | Method and device for identifying a road condition | |
DE102018212779A1 (en) | Method and system for determining and displaying a wading situation | |
DE112015006901B4 (en) | Speed control device | |
DE102018206732A1 (en) | Method and device for detecting a road condition | |
DE102018119632B4 (en) | Method for determining the detection range of an environment sensor | |
WO2019211166A1 (en) | Method and device for processing an ultrasonic signal recorded by an ultrasonic sensor | |
WO2019063393A1 (en) | Method and system for determining at least one movement component of an absolute movement of an object in a stationary reference system | |
DE102018116267A1 (en) | Ultrasonic sensor with adjustment of the transmission / reception characteristics | |
DE102020205691B3 (en) | Method and device for fusing a plurality of signals from an ultrasonic sensor system of a means of locomotion | |
DE102020201940A1 (en) | Method and system for determining a risk of aquaplaning for a means of locomotion | |
DE102018219223A1 (en) | Method and device for determining an amount of precipitation | |
DE102019207034B3 (en) | Method and device for fusing a plurality of measurement signals from an ultrasonic sensor of a means of transportation | |
DE102019208913A1 (en) | Method and device for determining a condition of a road surface by means of a first sensor of a means of locomotion | |
DE102018218462A1 (en) | Method and control device for operating an ultrasonic sensor system |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: UNKNOWN |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE |
|
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 |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE |
|
17P | Request for examination filed |
Effective date: 20201202 |
|
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 |
|
DAV | Request for validation of the european patent (deleted) | ||
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: 20230503 |
|
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: 20230914 |