Abstract: A method for classifying measuring points of a point cloud ascertained by at least one sensor, in particular, a point cloud ascertained from a LIDAR sensor, a radar sensor and/or a camera sensor, via a control unit. Local surface vectors to adjacent measuring points are ascertained for each measuring point of the point cloud. For each local surface vector, respectively one angle is calculated between the local surface vectors with respect to a gravity vector. A maximal surface vector having a maximal angle with respect to the gravity vector and a standardized surface vector are ascertained for each measuring point of the point cloud based on the calculated angles. Each measuring point of the point cloud includes a standardized surface vector and/or includes a maximal surface vector having an angle with respect to the gravity vector above a limiting value being classified as a non-ground point.

Abstract: A method for preparing and/or performing a steering intervention. The method includes detecting a traffic-influencing object and continuously recording object information, determining whether the object is tangential to a current trajectory of the vehicle, monitoring a lateral distance to the object or a predicted time available until a countersteering intervention is necessary before the object is reached. The method additionally includes checking whether the driver performs a countersteering intervention, for the case that the lateral distance or the available time falls below a first threshold value, of pilot controlling at least one actuator that influences the trajectory, so that a steering pretorque is applied if no steering intervention is performed by the driver, and triggering the steering actuator, so that a steering torque is applied to the steering, if the lateral distance or the available time additionally falls below a second threshold value.

Abstract: A method and to a device for processing a 3D point cloud representing surroundings, which is generated by a sensor. Initially, starting cells are identified based on ascertained starting ground points within the 3D point cloud which meet at least one predefined ground point criterion with respect to a reference plane divided into cells. Thereafter, cell planes are ascertained for the respective starting cells of the reference plane. Thereafter, estimated cell planes and ground points are ascertained for candidate cells deviating from the starting cells based on the cell planes of the starting cells, which are subsequently converted into final cell planes. As a result of such a cell growth originating from the starting cells, the cells of the reference plane are iteratively run through and processed so that the 3D point cloud is reliably classifiable into ground points and object points based on this method.

Abstract: A method for range determination for a LIDAR sensor. The method includes: receiving measured values of a LIDAR sensor organized in a point cloud, and each including pieces of directional information and radial distance information relative to the LIDAR sensor and representing a laser beam reflected from the particular direction and at the particular radial distance; assigning the measured values based on the pieces of directional and radial distance information to areas of interest of a field of view; ascertaining a maximum distance range as an area of interest including a maximum radial distance to the LIDAR sensor and a point distribution of measured values of the area of interest, which includes a variance which reaches or exceeds a predetermined limiting value; and providing a value of the radial distance of the maximum distance range to the LIDAR sensor as the maximum range of the LIDAR sensor.

Abstract: A method for preparing and/or performing a steering intervention. The method includes detecting a traffic-influencing object and continuously recording object information, determining whether the object is tangential to a current trajectory of the vehicle, monitoring a lateral distance to the object or a predicted time available until a countersteering intervention is necessary before the object is reached. The method additionally includes checking whether the driver performs a countersteering intervention, for the case that the lateral distance or the available time falls below a first threshold value, of pilot controlling at least one actuator that influences the trajectory, so that a steering pretorque is applied if no steering intervention is performed by the driver, and triggering the steering actuator, so that a steering torque is applied to the steering, if the lateral distance or the available time additionally falls below a second threshold value.

Abstract: A method for classifying measuring points of a point cloud ascertained by at least one sensor, in particular, a point cloud ascertained from a LIDAR sensor, a radar sensor and/or a camera sensor, via a control unit. Local surface vectors to adjacent measuring points are ascertained for each measuring point of the point cloud. For each local surface vector, respectively one angle is calculated between the local surface vectors with respect to a gravity vector. A maximal surface vector having a maximal angle with respect to the gravity vector and a standardized surface vector are ascertained for each measuring point of the point cloud based on the calculated angles. Each measuring point of the point cloud includes a standardized surface vector and/or includes a maximal surface vector having an angle with respect to the gravity vector above a limiting value being classified as a non-ground point.

Abstract: A method for ascertaining a range limit of a LIDAR device, due to environmental influences, by use of a control unit is provided. For ascertaining distances between the LIDAR device and at least one surface in a scanning area, beams are emitted into the scanning area by a transmitting unit of the LIDAR device, and beams that are reflected and/or backscattered from the scanning area are received by a receiving unit of the LIDAR device. The distances between the LIDAR device and the surface are computed based on the propagation times of the transmitted beams and of the reflected and/or backscattered beams. A range limit of a maximum possible range of the LIDAR device is ascertained based on a variance of the computed distances. Moreover, a control unit and a LIDAR device are provided.

Abstract: A method for adapting a vehicle velocity of a vehicle, the method including determining a required steering torque for guiding the vehicle along a curved driving trajectory, and ascertaining a permissible velocity of the vehicle for guiding the vehicle along the curved driving trajectory using the required steering torque and an available steering torque.

Abstract: A method for determining a safety-critical yawing motion of a vehicle includes comparing a specification signal representing an ascertained setpoint yaw rate of the vehicle for an anticipated trajectory of the vehicle to a measuring signal representing an instantaneous yaw rate of the vehicle measured based on an actual trajectory of the vehicle, thereby generating a comparison signal; checking whether an amplitude of the comparison signal exceeds a first threshold value and whether a frequency of the comparison signal exceeds a second threshold value; and, in response to the amplitude exceeding the first threshold and the frequency exceeding the second threshold, outputting a yawing-motion signal indicating presence of the safety-critical yawing motion of the vehicle.

Abstract: A method for operating a lane-keeping assistance system of a vehicle includes: detecting at least two lane markings in a traffic space ahead of the vehicle using a sensor system; recognizing the separation of a primary lane into a first secondary lane and a second secondary lane based on the at least two detected lane markings; selecting one of the secondary lanes, including detecting and analyzing a signal representing an instantaneous driver intention; calculating a target trajectory of the selected secondary lane; activating a steering device of the vehicle for guiding the vehicle along the calculated target trajectory of the selected secondary lane.

Abstract: A method for monitoring a steering action of a driver of a vehicle. The method includes exerting an automated steering torque on a steering system of the vehicle, reducing the automated steering torque and detecting a movement of the steering system and/or a force of the steering system and/or a lateral movement of the vehicle in response to the reduction of the automated steering torque, to monitor the steering action of the driver.

Abstract: A method for the closed-loop and/or open-loop control of a lateral guidance of a vehicle with the aid of a lane-keeping assist. In the process, a detection signal is read in which represents hands-off and/or hands-on driving of the vehicle. If the detection signal represents the hands-off driving, then a closed-loop control signal is provided for controlling the lateral guidance in closed loop. On the other hand, if the detection signal represents the hands-on driving, then an open-loop control signal is provided for controlling the lateral guidance in open loop.

Abstract: A method for determining a safety-critical yawing motion of a vehicle includes comparing a specification signal representing an ascertained setpoint yaw rate of the vehicle for an anticipated trajectory of the vehicle to a measuring signal representing an instantaneous yaw rate of the vehicle measured based on an actual trajectory of the vehicle, thereby generating a comparison signal; checking whether an amplitude of the comparison signal exceeds a first threshold value and whether a frequency of the comparison signal exceeds a second threshold value; and, in response to the amplitude exceeding the first threshold and the frequency exceeding the second threshold, outputting a yawing-motion signal indicating presence of the safety-critical yawing motion of the vehicle.

Abstract: A method and a control unit for monitoring the lane of a vehicle, including the steps of ascertaining at least one lane characteristic, ascertaining at least one driving situation variable representing the instantaneous driving situation of the vehicle in an instantaneous position, as well as ascertaining at least one approach variable in a subsequent position of the vehicle. The approach variable is ascertained from the at least one lane characteristic, as well as from the at least one driving situation variable.

Abstract: A method for operating a lane-keeping assistance system of a vehicle includes: detecting at least two lane markings in a traffic space ahead of the vehicle using a sensor system; recognizing the separation of a primary lane into a first secondary lane and a second secondary lane based on the at least two detected lane markings; selecting one of the secondary lanes, including detecting and analyzing a signal representing an instantaneous driver intention; calculating a target trajectory of the selected secondary lane; activating a steering device of the vehicle for guiding the vehicle along the calculated target trajectory of the selected secondary lane.

Abstract: A method for adapting a vehicle velocity of a vehicle, the method including determining a required steering torque for guiding the vehicle along a curved driving trajectory, and ascertaining a permissible velocity of the vehicle for guiding the vehicle along the curved driving trajectory using the required steering torque and an available steering torque.

Abstract: A method for monitoring a steering action of a driver of a vehicle. The method includes exerting an automated steering torque on a steering system of the vehicle, reducing the automated steering torque and detecting a movement of the steering system and/or a force of the steering system and/or a lateral movement of the vehicle in response to the reduction of the automated steering torque, to monitor the steering action of the driver.

Abstract: A method for compensating a steering wheel angle signal, which is subject to an offset, in a vehicle, includes: a filtering step; and a use step. In the filtering step, the steering wheel angle signal is filtered while the vehicle is traveling, using a filtering rule, in order to obtain a mean value of the steering wheel angle signal. The steering wheel angle signal is filtered if a lane and/or a roadway of the vehicle meets predetermined criteria. In the use step, the mean value is used to compensate the offset.

Abstract: A method for the closed-loop and/or open-loop control of a lateral guidance of a vehicle with the aid of a lane-keeping assist. In the process, a detection signal is read in which represents hands-off and/or hands-on driving of the vehicle. If the detection signal represents the hands-off driving, then a closed-loop control signal is provided for controlling the lateral guidance in closed loop. On the other hand, if the detection signal represents the hands-on driving, then an open-loop control signal is provided for controlling the lateral guidance in open loop.

Abstract: A method for assisting a driver of a vehicle during a lane change, in which for this purpose, an activation signal which represents an activation of a turn signal of the vehicle, which faces a setpoint direction of travel, and a sensor signal which is provided by at least one sensor of the vehicle and which represents a steering movement for steering the vehicle and/or a change in position of the vehicle within a lane are read in. Using the activation signal and the sensor signal, a control signal for controlling a steering system of the vehicle is provided if the steering movement is counter to the setpoint direction of travel and/or the change in position represents a movement of the vehicle in a direction counter to the setpoint direction of travel.