WO2005109036A1 - Objekterkennungssystem für ein kraftfahrzeug - Google Patents
Objekterkennungssystem für ein kraftfahrzeug Download PDFInfo
- Publication number
- WO2005109036A1 WO2005109036A1 PCT/EP2005/004380 EP2005004380W WO2005109036A1 WO 2005109036 A1 WO2005109036 A1 WO 2005109036A1 EP 2005004380 W EP2005004380 W EP 2005004380W WO 2005109036 A1 WO2005109036 A1 WO 2005109036A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- object detection
- detection
- sensor
- motor vehicle
- detection sensor
- Prior art date
Links
- 238000011156 evaluation Methods 0.000 claims abstract description 7
- 238000001514 detection method Methods 0.000 claims description 116
- 238000000053 physical method Methods 0.000 claims description 3
- 230000003449 preventive effect Effects 0.000 description 4
- 230000004913 activation Effects 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000005855 radiation 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
- 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
-
- 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/87—Combinations of systems using electromagnetic waves other than radio 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
- 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
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/865—Combination of radar systems with lidar 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
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/867—Combination of radar systems with cameras
-
- 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
- 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
- G01S2013/9321—Velocity regulation, e.g. cruise control
-
- 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
- G01S2013/93271—Sensor installation details in the front 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
- 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
- G01S2015/937—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles sensor installation details
- G01S2015/939—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles sensor installation details vertical stacking of sensors, e.g. to enable obstacle height determination
Definitions
- the invention relates to an object detection system for a motor vehicle with at least two object detection sensors according to the preamble of patent claim 1.
- an object detection system for a motor vehicle which consists of a combination of at least three object detectors.
- the object detectors each have a different detection range and / or a different detection range.
- the detection areas can essentially lie in front of the motor vehicle in the direction of travel, the detection areas lying in the direction of travel overlap.
- the use of several object detectors has the advantage that the object detector that is optimally suited for this area can be used for each individual detection area.
- DE 195 01 612 AI describes a measuring method for the distance between a motor vehicle and an object which, in the motor vehicle, outputs the output signals of a first measuring device with a corresponding measuring range at a small object distance and the output signals of a second measuring device at a larger object distance correspondingly larger measuring range taken into account.
- the first or the second measuring device is activated.
- the output signals of the measuring devices are weighted depending on the distance of the object.
- the two measuring devices can be operated with different physical measuring principles.
- the invention is based on the object of specifying an object detection system for a motor vehicle with at least two object detection sensors, which enables object detection systems which are more reliable than the object detection systems known from the prior art and which actually disrupt and impair the travel of the motor vehicle.
- an object detection system for a motor vehicle with at least two object detection sensors with the features of claim 1.
- the first object detection sensor with the predetermined first vertical detection angle also detects the road surface in its detection range.
- the second object detection sensor with the predetermined second vertical detection angle which is smaller than the first vertical detection angle of the first object detection sensor, does not detect the road surface in the direction of travel in the detection range of the first object detection sensor.
- the evaluation unit is provided, which only concludes the presence of an object in the detection range of the first object detection sensor when both object detection sensors have recognized the object.
- the object detection system for a motor vehicle comprises at least the two object detection sensors, the detection ranges of which partially overlap in the direction of travel.
- the object detection system In a real traffic environment, however, objects occur which are only a small height and can be easily passed over by the motor vehicle. These objects are, for example, protruding manhole covers, base plates or manhole grilles. In the object detection systems known from the prior art, these are recognized as relevant collision objects and lead to incorrect triggering in the case of corresponding precrash systems. With the object detection system according to the invention, the triggering security for critical actuators is increased.
- the use of the second object detection sensor with the predetermined second vertical detection angle which is smaller than the first vertical detection angle of the first object detection sensor, enables reliable detection of objects which actually disrupt and impair the travel of the motor vehicle. The goal is not to identify as many trigger scenarios as possible, but rather to suppress all unnecessary and irrelevant trigger moments. It is advantageous if the first and second object detection sensors have different physical measurement principles. The use of two different physical measuring principles increases the triggering reliability and thus the accuracy of the object detection system.
- a first horizontal detection angle of the first object detection sensor in the direction of travel is greater than a second horizontal detection angle of the second object detection sensor
- the evaluation unit only then for the presence of an object in the detection range of the first object detection sensor closes when both object detection sensors have recognized the object.
- an object detection system 1 for a motor vehicle 2 comprises two object detection sensors 3, 4 whose detection ranges 5, 6 overlap in the area 5 * in the direction of travel.
- a first object detection sensor 3 with a predetermined first vertical detection angle 7 also detects a road surface 8 in its detection range 5 in the direction of travel.
- a second object detection sensor 4 with a predetermined second vertical detection angle 9, which is smaller than the first vertical detection angle 7 of the first object detection sensor 3, does not detect the road surface 8 in the direction of travel in the detection range 5 of the first object detection sensor 3.
- An evaluation unit 10 only concludes that an object 11, 12 is present in the detection range 5 of the first object detection sensor 3 if both the first object detection sensor 3 and the second object detection sensor 4 have recognized the object 11, 12.
- the flat object 11 on the road surface 8 is not recognized as a nuisance to the motor vehicle 2, since it is only detected by the first object detection sensor 3 and not by the second object detection sensor 4. Since the flat object 11 is not assessed as disruptive to driving, no safety measures for preventive occupant protection for the flat object 11 are activated and initiated.
- the larger and, above all, higher object 12 is detected by both the first object detection sensor 3 and the second object detection sensor 4 at the same time.
- the higher object 12 is therefore regarded as a potential hazard for driving operation and safety measures for preventive occupant protection are activated and initiated.
- the object detection system 1 thus has the option of distinguishing between objects 12, which represent a source of danger for driving, and those objects 11, which do not restrict driving operation. False triggers for the activation of safety measures for preventive occupant protection can be avoided, which significantly increases the safety for the occupants of the motor vehicle.
- the detection of the object 11, 12 in the detection area 5 of the first object detection sensor 3 can also take place when the object 11, 12 by means of the second object detection sensor 4 by trekking and a pre-calculation of a trajectory of the object 11, 12 in the detection area 5 of the first object detection sensor 3 he follows.
- a first horizontal detection angle of the first object detection sensor 3 in the direction of travel can be larger than a second horizontal detection angle of the second object detection sensor 4, the evaluation unit 10 only concluding the presence of an object 11, 12 in the detection area 5 of the first object detection sensor 3 if both object detection sensors 3, 4 have recognized the object 11, 12 at the same time.
- the evaluation unit 10 only concluding the presence of an object 11, 12 in the detection area 5 of the first object detection sensor 3 if both object detection sensors 3, 4 have recognized the object 11, 12 at the same time.
- only those objects 11, 12 are recognized as disturbing which actually limit the intended travel path of the motor vehicle 2 laterally in advance.
- the first object detection sensor 3 can be, for example, a radar sensor with an operating frequency of approximately 22 GHz or 24 GHz, a LIDAR sensor (Light Detection And Ranging) or a camera, wherein the camera can have various suitable configurations.
- a radar sensor with an operating frequency of approximately 22 GHz or 24 GHz
- a LIDAR sensor Light Detection And Ranging
- a camera wherein the camera can have various suitable configurations.
- the second object detection sensor can in particular be an ACC radar sensor (Adaptive Cruise Control) or a LIDAR sensor which uses high-frequency microwave radiation in a frequency range from approximately 76 to 77 GHz. It is advantageous if the first and second object detection sensors 3, 4 have different physical measurement principles.
- ACC radar sensor Adaptive Cruise Control
- LIDAR sensor which uses high-frequency microwave radiation in a frequency range from approximately 76 to 77 GHz. It is advantageous if the first and second object detection sensors 3, 4 have different physical measurement principles.
- the object detection system 1 can also be used for at least one lateral surrounding area and / or for a rear surrounding area of the motor vehicle 2.
- the object detection system 1 for the motor vehicle 2 with the two object detection sensors 3, 4 ensures reliable detection of objects 12 which actually interfere with the travel of the motor vehicle 2. Incorrect triggering of safety measures for preventive occupant protection on the basis of detected objects 11 which do not endanger driving operation are avoided.
- the object recognition system 1 can be implemented with little effort, since essential components of the object recognition system 1 are used for another purpose. purpose are usually already provided in motor vehicle 2.
Abstract
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US11/579,421 US20080266167A1 (en) | 2004-05-03 | 2005-04-23 | Object Recognition System for a Motor Vehicle |
JP2007511933A JP2007536536A (ja) | 2004-05-03 | 2005-04-23 | 自動車用物体認識システム |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102004021561.8 | 2004-05-03 | ||
DE102004021561A DE102004021561A1 (de) | 2004-05-03 | 2004-05-03 | Objekterkennungssystem für ein Kraftfahrzeug |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2005109036A1 true WO2005109036A1 (de) | 2005-11-17 |
Family
ID=34965761
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP2005/004380 WO2005109036A1 (de) | 2004-05-03 | 2005-04-23 | Objekterkennungssystem für ein kraftfahrzeug |
Country Status (4)
Country | Link |
---|---|
US (1) | US20080266167A1 (de) |
JP (1) | JP2007536536A (de) |
DE (1) | DE102004021561A1 (de) |
WO (1) | WO2005109036A1 (de) |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2023158A3 (de) * | 2007-07-25 | 2009-03-04 | Fujitsu Ten Limited | Vorwärtsgerichteter Sensor für Kraftfahrzeuge mit Identifikation überfahrbarer stationärer Hindernisse im Fahrschlauch |
EP2138358A1 (de) * | 2008-05-29 | 2009-12-30 | Delphi Technologies, Inc. | Voraufprallsensorsystem für Fahrzeug mit Objektmerkmalsdetektion |
US9664788B2 (en) | 2013-05-24 | 2017-05-30 | Robert Bosch Gmbh | Method for evaluating obstacles in a driver assistance system for motor vehicles |
WO2017191201A1 (de) * | 2016-05-06 | 2017-11-09 | Audi Ag | Kraftfahrzeug mit wenigstens zwei radarsensoren |
CN111824053A (zh) * | 2020-07-24 | 2020-10-27 | 江苏徐工工程机械研究院有限公司 | 矿用卡车 |
Families Citing this family (18)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102006020391B4 (de) * | 2006-04-28 | 2013-01-03 | Daimler Ag | Verfahren und Vorrichtung zur Detektion und Identifikation von Objekten mit geringer Höhenausdehnung |
DE102006020387B4 (de) * | 2006-04-28 | 2008-05-08 | Daimler Ag | Verfahren und Vorrichtung zur Detektion und Identifikation von Objekten mit geringer Höhenausdehnung |
US7592945B2 (en) | 2007-06-27 | 2009-09-22 | Gm Global Technology Operations, Inc. | Method of estimating target elevation utilizing radar data fusion |
DE102008034634A1 (de) | 2008-07-25 | 2009-12-24 | Daimler Ag | Sicherheitssystem |
WO2010070701A1 (ja) * | 2008-12-15 | 2010-06-24 | トヨタ自動車株式会社 | 対象物測定装置、及び当該装置で用いられる方法 |
DE102011077333A1 (de) * | 2011-06-10 | 2012-12-27 | Robert Bosch Gmbh | Fahrerassistenzsystem mit Objektdetektion |
US9446711B2 (en) | 2012-05-09 | 2016-09-20 | Toyota Jidosha Kabushiki Kaisha | Driving assist device |
CN102749626B (zh) * | 2012-07-17 | 2015-04-08 | 奇瑞汽车股份有限公司 | 雷达传感器、汽车以及目标方位识别方法 |
JP6019959B2 (ja) * | 2012-09-06 | 2016-11-02 | 富士通株式会社 | 物体検出装置、物体検出プログラムおよび車両 |
DE102012109377A1 (de) * | 2012-10-02 | 2014-04-03 | Continental Teves Ag & Co. Ohg | Verfahren und Vorrichtung zur Repräsentation von Umgebungsstrukturen in einem Belegungsgitter mit Kritikalitätswerten |
DE102013200793A1 (de) * | 2013-01-18 | 2014-07-24 | Robert Bosch Gmbh | Fahrerassistenzsystem |
EP2883756B1 (de) * | 2013-12-12 | 2019-11-06 | Volvo Car Corporation | Sicherheitssystem und verfahren zum betrieb eines sicherheitssystems eines fahrzeuges |
JP6393123B2 (ja) * | 2014-09-04 | 2018-09-19 | 日立建機株式会社 | 障害物検出システム及び運搬車両 |
DE102014221034B4 (de) | 2014-10-16 | 2023-03-16 | Robert Bosch Gmbh | Verfahren zum Erkennen einer bevorstehenden Kollision eines Fahrzeugs mit einem Objekt |
JP6428482B2 (ja) * | 2015-05-18 | 2018-11-28 | トヨタ自動車株式会社 | 車両用制御装置 |
US9669677B2 (en) * | 2015-05-28 | 2017-06-06 | Ford Global Technologies, Llc | Vehicle active suspension system and method of control |
KR101778558B1 (ko) | 2015-08-28 | 2017-09-26 | 현대자동차주식회사 | 물체 인식 장치, 그를 가지는 차량 및 그 제어 방법 |
DE102018207274A1 (de) * | 2018-05-09 | 2019-11-14 | Robert Bosch Gmbh | Ultraschallsensorsystem und Verfahren zum Erkennen von Objekten im Umfeld eines Fahrzeugs, sowie Fahrzeug mit einem Ultraschallsensorsystem |
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DE10115910A1 (de) * | 2000-03-31 | 2001-11-08 | Denso Corp | Hinderniserkennungssystem für ein Fahrzeug |
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JP3385304B2 (ja) * | 1997-08-29 | 2003-03-10 | 三菱電機株式会社 | 車載用レーダ装置 |
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JP3681620B2 (ja) * | 2000-07-26 | 2005-08-10 | 株式会社デンソー | 車両用障害物認識装置 |
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US6810330B2 (en) * | 2001-07-31 | 2004-10-26 | Omron Corporation | Apparatus for and method of detecting object on road |
DE10151594C1 (de) * | 2001-10-18 | 2002-11-14 | Adc Automotive Dist Control | Verfahren zur Auswertung einer eine Szene repräsentierenden zweidimensionalen Abstandsmatrix |
EP1504276B1 (de) * | 2002-05-03 | 2012-08-08 | Donnelly Corporation | Objektdetektionssystem für ein fahrzeug |
US6927699B2 (en) * | 2002-12-05 | 2005-08-09 | Denso Corporation | Object recognition apparatus for vehicle, and inter-vehicle distance control unit |
DE10337620B4 (de) * | 2003-08-16 | 2017-09-28 | Daimler Ag | Kraftfahrzeug mit einem Pre-Safe-System |
US20050209762A1 (en) * | 2004-03-18 | 2005-09-22 | Ford Global Technologies, Llc | Method and apparatus for controlling a vehicle using an object detection system and brake-steer |
DE102004057604B4 (de) * | 2004-11-29 | 2014-04-30 | Daimler Ag | Verfahren für ein Sicherheitssystem in einem Fahrzeug |
-
2004
- 2004-05-03 DE DE102004021561A patent/DE102004021561A1/de not_active Withdrawn
-
2005
- 2005-04-23 US US11/579,421 patent/US20080266167A1/en not_active Abandoned
- 2005-04-23 WO PCT/EP2005/004380 patent/WO2005109036A1/de active Application Filing
- 2005-04-23 JP JP2007511933A patent/JP2007536536A/ja not_active Abandoned
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DE3738221A1 (de) * | 1987-11-11 | 1989-06-08 | Bayerische Motoren Werke Ag | Verfahren und einrichtung zum erkennen des zustandes einer strasse |
DE19646075A1 (de) * | 1996-11-08 | 1998-05-14 | Volkswagen Ag | Verfahren und Vorrichtung zur Leuchtweiteneinstellung |
DE10115910A1 (de) * | 2000-03-31 | 2001-11-08 | Denso Corp | Hinderniserkennungssystem für ein Fahrzeug |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2023158A3 (de) * | 2007-07-25 | 2009-03-04 | Fujitsu Ten Limited | Vorwärtsgerichteter Sensor für Kraftfahrzeuge mit Identifikation überfahrbarer stationärer Hindernisse im Fahrschlauch |
EP2138358A1 (de) * | 2008-05-29 | 2009-12-30 | Delphi Technologies, Inc. | Voraufprallsensorsystem für Fahrzeug mit Objektmerkmalsdetektion |
EP2138357A1 (de) * | 2008-05-29 | 2009-12-30 | Delphi Technologies, Inc. | Voraufprallsensorsystem für Fahrzeug mit Objektmerkmalsdetektion |
US9664788B2 (en) | 2013-05-24 | 2017-05-30 | Robert Bosch Gmbh | Method for evaluating obstacles in a driver assistance system for motor vehicles |
WO2017191201A1 (de) * | 2016-05-06 | 2017-11-09 | Audi Ag | Kraftfahrzeug mit wenigstens zwei radarsensoren |
CN111824053A (zh) * | 2020-07-24 | 2020-10-27 | 江苏徐工工程机械研究院有限公司 | 矿用卡车 |
Also Published As
Publication number | Publication date |
---|---|
DE102004021561A1 (de) | 2005-12-08 |
JP2007536536A (ja) | 2007-12-13 |
US20080266167A1 (en) | 2008-10-30 |
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