WO2016198522A1 - Système d'aide à la conduite pour un véhicule à moteur, véhicule à moteur et procédé associé - Google Patents

Système d'aide à la conduite pour un véhicule à moteur, véhicule à moteur et procédé associé Download PDF

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Publication number
WO2016198522A1
WO2016198522A1 PCT/EP2016/063159 EP2016063159W WO2016198522A1 WO 2016198522 A1 WO2016198522 A1 WO 2016198522A1 EP 2016063159 W EP2016063159 W EP 2016063159W WO 2016198522 A1 WO2016198522 A1 WO 2016198522A1
Authority
WO
WIPO (PCT)
Prior art keywords
detection device
operating mode
resolution
surrounding area
designed
Prior art date
Application number
PCT/EP2016/063159
Other languages
German (de)
English (en)
Inventor
Lin Lin
Peter Horvath
Thomas Schuler
Original Assignee
Valeo Schalter Und Sensoren Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Valeo Schalter Und Sensoren Gmbh filed Critical Valeo Schalter Und Sensoren Gmbh
Publication of WO2016198522A1 publication Critical patent/WO2016198522A1/fr

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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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/42—Simultaneous measurement of distance and other co-ordinates
    • 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
    • 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
    • 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
    • G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction

Definitions

  • the invention relates to a driver assistance system for a motor vehicle for monitoring an environmental area of the motor vehicle, having an optical detection device on the vehicle side for emitting an optical signal into the surrounding area and for receiving the signal reflected in the surrounding area and a control device for operating the detection device in at least two
  • the invention also relates to a motor vehicle and a method for monitoring a surrounding area.
  • Driver assistance systems are already known in many ways from the prior art. Such driver assistance systems may be, for example, a parking assistant, a lane departure warning system or a distance cruise control.
  • a parking assistant may be, for example, a parking assistant, a lane departure warning system or a distance cruise control.
  • Driver assistance systems either support a driver of the motor vehicle only by issuing warning signals, for example, or in emergency situations
  • an environmental region of the motor vehicle is usually monitored, for example by means of optical detection devices.
  • optical detection device may for example be a laser scanner. That such a laser scanner can be operated in different operating modes, which are selected manually by a driver, is known from EP 2 204 672 B1.
  • An inventive driver assistance system for a motor vehicle is used for
  • Driver assistance system comprises a vehicle-side optical detection device for emitting an optical signal in the surrounding area and for receiving the signal reflected in the surrounding area and a control device for
  • control device is adapted to the detection device in a first mode
  • Operating mode with a first resolving power for detecting the Operate surrounding area with a first resolution and operate the detection device in a second operating mode with a higher resolution compared to the first resolution second resolution for detecting the surrounding area with a higher compared to the first resolution second resolution.
  • the driver assistance system serves to monitor the surrounding area of the motor vehicle, in particular to detect objects in the surrounding area of the motor vehicle.
  • the surrounding area of the motor vehicle may, for example, be subdivided into a vicinity close to the motor vehicle and adjacent to the motor vehicle and spaced apart from one another to the motor vehicle.
  • control device which, for example, by a
  • vehicle-side electronic control unit may be formed, adapted to change a resolution capability of the detection device by the
  • Control device operates the detection device in different operating modes. In order to provide the first, lower resolution, for example for the long range, the control device operates the detection device in the first operating mode. In order to provide the second, higher resolution, for example for the near range, the control device transfers the detection device into the second operating mode.
  • the detection device is advantageously configured in a particularly flexible manner and can be adapted particularly well and according to the situation to the respective application of the driver assistance system in terms of its resolving power. So it is not necessary in an advantageous manner, several
  • the detection device is adapted to the
  • the control device is designed to specify a first sampling rate for the detection device for providing the first resolution capability of the detection device, and to provide the detection device second resolution capability of the detection device to specify a higher compared to the first sampling rate second sampling rate for the detection device.
  • this means that the control device is designed to set the sampling rate or the sampling frequency at which the detection device uses the
  • Control device can be specified.
  • a sampling rate can be changed particularly easily by predetermining a corresponding control signal by the control device for the detection device, whereby the resolution can be adjusted easily and quickly.
  • control device is designed to provide the detection device for providing a detection area oriented along a vehicle longitudinal direction in the first operating mode with a first horizontal and / or vertical
  • the control device is thus designed in addition to a
  • the detection device which is arranged in its intended installation position, for example in a front region of the motor vehicle and whose detection range is aligned along the vehicle longitudinal direction, has a horizontal, along a vehicle transverse direction oriented opening angle and a vertical, along a vehicle vertical direction oriented opening angle.
  • the horizontal opening angle defines a horizontal extent of the detection area along the vehicle transverse direction.
  • the vertical opening angle defines a vertical extension of the detection area along the vehicle vertical direction. At least one of the opening angles is changed in the various operating modes by the control device.
  • the first, narrow horizontal and / or vertical opening angle is predetermined, so that the detection area extends as a narrow cone substantially in the vehicle longitudinal direction, in order, in particular, to detect more distant objects.
  • the horizontal and / or the vertical opening angle is predetermined, so that the detection area extends as a narrow cone substantially in the vehicle longitudinal direction, in order, in particular, to detect more distant objects.
  • the horizontal and / or the vertical opening angle is predetermined, so that the detection area extends as a narrow cone substantially in the vehicle longitudinal direction, in order, in particular, to detect more distant objects.
  • Opening angle increased so that the cone in the horizontal direction and / or in vertical direction stretches.
  • a lateral surrounding area of the motor vehicle can also be monitored. This allows objects in the lateral
  • control device is designed to, the
  • the control device is thus designed, in addition to the resolution, the range and thus a length of the detection area along the
  • the range is an extension of the respective detection range along the vehicle longitudinal direction.
  • the first operating mode in which, in particular, far-away objects are to be detected, the first, larger range and thus a long along the vehicle longitudinal direction detection range are given.
  • the second operating mode in which, in particular, objects located near the motor vehicle are to be detected, the second, lower range and thus one along the
  • the driver assistance system is designed to be particularly flexible.
  • the driver assistance system has at least two assistance functions.
  • the control device is designed to provide the first operating mode for a first assistance function of the driver assistance system and for providing the second operating mode for a second assistance function of the driver assistance system.
  • the driver assistance system is designed to monitor the surrounding area.
  • the control device is now designed to adapt the operating mode of the detection device to the respective assistance function.
  • the assistance functions may, for example, differ from one another in that different locations in the surrounding area are to be monitored and / or that the surrounding area is to be monitored with different accuracies.
  • the driver assistance system in the first assistance function can be designed, for example, for automatically keeping the motor vehicle distance on a highway.
  • the first assistance function can therefore be a Abstandstempomatfunktion the
  • Driver assistance system for example, to assist the driver in a
  • the second assistant function can therefore be a
  • Parking assistance function of the driver assistance system For example, when Abstandstempomat only the presence of the object and the distance of the object, ie a vehicle ahead and its distance to be detected. Spatial dimensions or dimensions of the object are of minor interest. Thus, it is sufficient to operate the detection device in the first operating mode, in which the detection device the
  • Detection device detects the surrounding area with the higher resolution.
  • the opening angle and / or the range can be changed. From this embodiment, there is the advantage that a detection device can be used for a plurality of assistance functions and the detection device can be flexibly adapted to the respective assistance function.
  • the driver assistance system preferably has a sensor device for measuring a current speed of the motor vehicle.
  • the control device is designed to operate the detection device as a function of the detected speed in the respective operating mode.
  • Modified operating mode as a function of the detected speed of the motor vehicle. Based on the detected speed provided by the sensor device, the control device can quickly and easily specify the assigned operating mode for the detection device.
  • control device is preferably designed to operate the detection device in the first operating mode when the detected speed at least exceeds a predetermined threshold value, and to operate the detection device in the second operating mode when the detected speed falls below the predetermined threshold value.
  • the invention is based on the finding that, especially at high speeds, for example in a
  • the environment area is to be detected quickly, in particular, that objects are located in the surrounding area and how far away these objects are from the motor vehicle.
  • the environmental area should be particularly accurate, especially with exact positions and dimensions of the objects to be detected.
  • the threshold for the speed is given, from which the
  • Detection device between the respective operating modes should change. It is also possible to predefine a plurality of threshold values, so that a resolution capability, but also a spatial extent and position of the detection area, for example, can be adjusted stepwise.
  • the threshold values can be stored, for example, in a list on the basis of which, depending on the detected speed, the corresponding operating mode can be selected and by the
  • Control device for the detection device can be provided.
  • control device is designed to specify an angle between at least 0 ° and at most 10 ° as the first horizontal opening angle at a detected speed of more than 50 km / h and / or as the first vertical opening angle an angle between at least Specify 0 ° and at most 5 ° and specify at an acquired speed of at most 50 km / h as the second horizontal opening angle an angle between at least 1 1 ° and at most 60 ° and / or as the second v ertikale opening angle an angle between at least 6 ° and not more than 10 °.
  • Embodiment thus increases the horizontal and / or vertical extent of the detection range at low speed, ie at speeds up to 50 km / h.
  • the opening angles are thus in the second
  • Operating mode compared to the first operating mode of the detection device increases.
  • the horizontal and / or vertical extent can be increased continuously or stepwise as the speed decreases.
  • the driver assistance system is designed to detect and characterize the surrounding area of the motor vehicle.
  • the Environments area designed to provide the respective operating mode.
  • the surrounding area is thus characterized here in terms of its spatial position or its configuration.
  • the control device is to designed to operate the detection device in the first operating mode, when the detected surrounding area as an area on a freeway for the
  • the detection device was detected and characterized, and operate the detection device in the second mode of operation, when the surrounding area was detected and characterized as an area within a parking garage.
  • a highway such as a highway or a highway, it is particularly important to detect vehicles in front, even far away.
  • the first operating mode with the lower resolution capability for the detection device is provided on the expressway, in which additionally the opening angle can be reduced and / or the range can be increased.
  • a parking garage which
  • control device is designed to operate the detection device for detecting an object in the first operating mode, and to operate the detection device to detect the object again in the second operating mode after detecting the object.
  • the object in the surrounding area for example, first in the far field
  • the motor vehicle thereby moves towards the object and the detection device is transferred by the control device into the second operating mode, in which the detection device detects the object again, with the higher resolution.
  • the object is fixed by the detection device.
  • the driver assistance system is designed here to detect whether the driver of the motor vehicle reacts to the object. If
  • the driver assistance system is thus designed to be particularly secure.
  • the detection device is designed as a laser scanner with a light source and a deflection device for deflecting the light provided by the light source into the surrounding area, wherein the control device for operating the detection device in the respective operating mode for driving the
  • the laser scanner includes as the light source
  • a laser which is a laser beam, in particular in a
  • non-visible wavelength range sent to the deflector.
  • the deflecting device At the deflection of the laser beam is deflected into the surrounding area.
  • the deflecting device For detecting the surrounding area, the deflecting device is driven to change its orientation, so that the laser beam is deflected in different directions into the surrounding area and thus the surrounding area is scanned.
  • Both a resolution capability and a scanning range, ie a spatial extent and position of the detection area can be influenced by the deflection device. Therefore, it is particularly advantageous to control the deflection of the detection device to change the operating modes of the detection device.
  • the deflection device is preferably designed as a resonantly operated deflection mirror, in particular as a MEMS mirror (MEMS - microelectromechanical system).
  • the control device is designed to change a resonance frequency of the deflection mirror for changing the resolution and / or to change the deflection angle of a deflection amplitude of the deflection mirror and / or to change a range of motion of a rest deflection of the deflection mirror relative to a vehicle vertical direction. If, for example, the resolution is to be increased, then the sampling rate of the detection device can be increased by the
  • Deflection mirror is operated at a higher resonant frequency.
  • the control device is adapted to this higher resonance frequency for the
  • Specify deflection mirror To increase the opening angle is a
  • Displacement amplitude ie a horizontal Auslenkamplitude and / or a vertical Auslenkamplitude of the deflection mirror changed.
  • the quiescent deflection of the deflection mirror is changed to the vehicle vertical direction.
  • the quiescent deflection is a rest tilting of the deflecting mirror in the direction of a roadway of the motor vehicle. The more the deflection mirror is thus tilted in the direction of the roadway, the lower the range of the detection device.
  • the range can also be changed by the pulse power of the laser.
  • the invention also relates to a motor vehicle with a driver assistance system.
  • the motor vehicle is designed in particular as a passenger car.
  • the invention also relates to a method for monitoring a
  • Detection device an optical signal along a transmission direction in a
  • the detection device Surrounding area of the motor vehicle is emitted and that in the Ambient area reflected optical signal is received and the detection device is operated in a first operating mode or in at least a second operating mode. In addition, in the first operating mode, the detection device is provided with a first resolution capability for detecting the
  • Operated ambient area with a first resolution and in the at least one second operating mode is operated with a larger resolution compared to the first resolution second resolution for detecting the surrounding area with a higher resolution compared to the first resolution.
  • Vehicle longitudinal direction (6), "vehicle transverse direction”, “vehicle vertical direction” (21), etc. are in accordance with the intended use and proper arrangement of the detection device on the motor vehicle and then at a in
  • Vehicle longitudinal direction of the motor vehicle observer given given positions and orientations.
  • FIG. 1 is a schematic representation of an embodiment of a
  • Fig. 2 is a schematic representation of an embodiment of the
  • Fig. 3 is a schematic representation of the embodiment of the
  • Fig. 4 shows the embodiment of the motor vehicle according to FIG. 2 in one
  • Fig. 5 shows the embodiment of the motor vehicle according to FIG. 3 in one
  • the driver assistance system 2 comprises an optical
  • Detection device 4 which is designed in the present case as a laser scanner.
  • the optical detection device 4 is designed by means of a
  • Deflection device 20 to deflect an optical signal, in particular a laser beam provided by a laser beam in the surrounding area 3 and to receive the reflected signal on an object in the surrounding area 3 signal again.
  • Detection area 5 of the optical detection device 4 is here in one
  • Vehicle longitudinal direction 6 oriented.
  • the driver assistance system 2 also has a control device 7, which is designed to operate the detection device 4 in a first operating mode 8 or in a second operating mode 9.
  • a control device 7 which is designed to operate the detection device 4 in a first operating mode 8 or in a second operating mode 9.
  • the first operating mode 8 is the
  • Control device 7 designed to operate the detection device 4 with a first resolution 10.
  • the Control device 7 is set to operate the detection device 4 with a higher resolution compared to the first resolving power 10 second power 1 1. This means that the detection device 4 in the first operating mode 8 detects the surrounding area 3 with a first resolution and in the second
  • Operating mode 9 detects the surrounding area 3 with a higher compared to the first resolution second resolution.
  • the operating modes 8, 9 are provided, for example, as a function of an assistance function of the driver assistance system 2.
  • the first operating mode 8 is provided when a remote area in the surrounding area 3 of FIG.
  • the second operating mode 9 is provided, for example, when a near zone in the surrounding area 3 of FIG.
  • Motor vehicle 1 for example, a parking assistance function of
  • the operating modes 8, 9 are provided as a function of a speed of the motor vehicle 1.
  • the driver assistance system 2 may have a sensor device 12 for detecting the speed of the motor vehicle 1.
  • the first operating mode 8 is provided at high speeds, in particular above 50 km / h
  • the second operating mode is provided at low speeds, in particular at most 50 km / h.
  • the surrounding area 3 of the motor vehicle 1 is to be detected quickly, in particular the presence of the object and a distance of the object to the motor vehicle 1, for example a preceding vehicle and its distance from the motor vehicle 1, are to be detected. Details, such as exact geometrical dimensions of the object, are of minor interest.
  • the surrounding area 3 should be detected particularly accurately, in particular exactly geometrical expansions or
  • the motor vehicle 1 shows the motor vehicle 1 in a plan view with the detection device 4 in the first operating mode 8.
  • Control device 7 operated with the first resolution 10, so that the detection device 4 detects the surrounding area 3 with a first resolution 13.
  • the control device 7 has a first sampling rate for the detection device 4 pretend.
  • the control device 7 For specifying the first sampling rate, the control device 7
  • the deflection device 20 which may be configured as a resonantly operated MEMS mirror, drive and a first resonant frequency for the
  • control device 7 is designed to operate the detection device 4 in the first operating mode 8 for providing the detection area 5 along the vehicle longitudinal direction 6 with a first range 14 and with a first horizontal opening angle 15, for example between 0 ° and 10 °.
  • FIG. 3 shows the motor vehicle 1 in a plan view with the detection device 4 in the second operating mode 9.
  • the detection device 4 with the second, compared to the first resolution capacity 10 larger second
  • the control device 7 can specify a higher second sampling rate for the detection device 4 than the first sampling rate.
  • the control device 7 can control, for example, the deflection device 20 and specify a higher second resonance frequency for the deflection device 20 than the first resonance frequency.
  • the control device 7 is designed to allow the detection device 4 in the second operating mode 9 to provide the detection area 5 along the
  • Vehicle longitudinal direction 6 with a smaller compared to the first range 14 second range 17 and with a compared to the first horizontal
  • FIG. 4 shows the motor vehicle 1 according to FIG. 2 in a side view.
  • Detection device 4 is operated by the control device 7 of the motor vehicle 1 in the first operating mode 8.
  • the control device 7 controls the
  • the first vertical opening angle 19 may be, for example, between 0 ° and 5 °.
  • a first deflection amplitude of the deflection device 20 in horizontal and vertical direction ie in a vehicle transverse direction and in a vehicle vertical direction 21, can be predetermined
  • a first quiescent deflection for the deflection device 20 of the detection device 4 can be specified.
  • the deflection device 20 is tilted relative to the vehicle vertical direction 21 by a first angle 22 in the direction of a roadway 23 of the motor vehicle 1. From this rest deflection or rest position, the deflection device 20 for deflecting the laser beam in the horizontal and vertical directions of the control device 7th
  • FIG. 5 shows the motor vehicle 1 according to FIG. 3 in a side view.
  • Detection device 4 is operated by the control device 7 of the motor vehicle 1 in the second operating mode 9.
  • the control device 7 controls the
  • Detection device 4 for providing the detection area 5 with a, compared to the first vertical opening angle 19 larger second vertical
  • Opening angle 24 may for example be between 6 ° and 10 °.
  • a second deflection amplitude of the deflection device 20, which is greater than the first deflection amplitude can be preset in the horizontal and vertical directions, ie in the vehicle transverse direction and in the vehicle vertical direction 21.
  • the detection area 5 is thus widened in the second operating mode 9 in comparison to the first operating mode 8, in particular by increasing the horizontal opening angle 18.
  • a lateral surrounding area of the motor vehicle 1 can also be monitored and objects can be reliably and reliably detected there.
  • a second quiescent deflection for the deflection device 20 of the detection device 4 can be specified.
  • the deflecting device 20 is related to the vehicle vertical direction 21 by a second angle 25, which is larger in comparison to the first angle 22, in the direction of the roadway 23 of FIG.
  • the range 17 of the detection range 5 is shortened and the detection range 5 is positioned closer to the motor vehicle 1.
  • the operating modes 8, 9 may depend on the driver assistance system
  • the Surrounding area 3 is characterized by the driver assistance system 2 and the operating mode 8, 9 is predetermined in dependence on the characterization of the surrounding area 3 by the control device 7. For example, the first
  • Expressway such as a highway
  • the second operating mode 9 are specified when the motor vehicle is in a parking garage.
  • the control device 7 can also be designed to operate the detection device 4 first in the first operating mode 8. If the detection device 4 has detected an object in this first operating mode 8, the control device 7 can transfer the detection device 4 into the second operating mode 9, in which the detection device 4 detects the object again, with the higher resolution 16. The object is thus fixed. Thus, the driver assistance system 2 can evaluate whether the driver of the motor vehicle 1 reacts to the object and if necessary intervene,
  • the motor vehicle 1 automatically decelerate.
  • the invention thus shows that a detection device 4, in particular its detection range 5, dynamically, for example, to be provided
  • Assistance functions and / or a speed and / or to the surrounding area 3 can be adjusted.

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention concerne un système d'aide à la conduite (2) pour un véhicule à moteur (1), destiné à surveiller un environnement (3) du véhicule à moteur (1), ledit système comportant un moyen de détection optique côté véhicule (4) destiné à émettre un signal optique dans l'environnement (3) et à recevoir le signal réfléchi par l'environnement (3) et un dispositif de commande (7) destiné à faire fonctionner le moyen de détection (4) dans au moins deux modes de fonctionnement (8, 9). Le dispositif de commande (7) est conçu pour faire fonctionner le moyen de détection (4) dans un premier mode de fonctionnement (8) avec un premier pouvoir de résolution (10) pour enregistrer l'environnement (3) à une première résolution (13) et pour faire fonctionner le moyen de détection (4) dans un second mode de fonctionnement (9) avec un second pouvoir de résolution (11), supérieur au premier pouvoir de résolution (10), pour enregistrer l'environnement (3) à une seconde résolution (16) supérieure à la première résolution (13). L'invention concerne également un véhicule à moteur (1) et un procédé associé.
PCT/EP2016/063159 2015-06-10 2016-06-09 Système d'aide à la conduite pour un véhicule à moteur, véhicule à moteur et procédé associé WO2016198522A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015109160.7A DE102015109160A1 (de) 2015-06-10 2015-06-10 Fahrerassistenzsystem für ein Kraftfahrzeug, Kraftfahrzeug sowie Verfahren
DE102015109160.7 2015-06-10

Publications (1)

Publication Number Publication Date
WO2016198522A1 true WO2016198522A1 (fr) 2016-12-15

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WO2017108247A1 (fr) * 2015-12-22 2017-06-29 Robert Bosch Gmbh Dispositif de balayage lidar sur un véhicule automobile
CN110967689A (zh) * 2018-09-28 2020-04-07 广州小鹏汽车科技有限公司 一种目标对象高度的确定方法、装置及车载雷达设备
CN112141089A (zh) * 2020-06-24 2020-12-29 上汽通用五菱汽车股份有限公司 可切换泊车模式的智能泊车系统及方法
KR20210122098A (ko) * 2020-03-25 2021-10-08 제트카베 그룹 게엠베하 가변 시야를 갖는 차량 주변 감지 시스템
US11749116B1 (en) 2022-04-08 2023-09-05 Here Global B.V. Apparatus and methods for providing adaptive vehicle parking assistance based on a driver's familiarity with a vehicle

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DE102017213438A1 (de) * 2017-08-02 2019-02-07 Audi Ag Verfahren zum Betrieb eines Radarsensors in einem Kraftfahrzeug und Kraftfahrzeug
DE102017117697A1 (de) * 2017-08-04 2019-02-07 Valeo Schalter Und Sensoren Gmbh Verfahren zum Betreiben einer Ablenkeinrichtung einer optischen Sensorvorrichtung eines Kraftfahrzeugs, Ablenkeinrichtung, optische Sensorvorrichtung sowie Kraftfahrzeug
CN111819486A (zh) * 2018-03-13 2020-10-23 三菱电机株式会社 光扫描装置及其控制方法
WO2020170700A1 (fr) * 2019-02-20 2020-08-27 株式会社デンソー Système de surveillance de proximité de véhicule
JP2020134516A (ja) * 2019-02-20 2020-08-31 株式会社デンソー 車両周辺監視システム
WO2022065378A1 (fr) * 2020-09-23 2022-03-31 株式会社デンソー Dispositif lidar

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