Abstract: Techniques for determining to modify a trajectory based on an object are discussed herein. A vehicle can determine a drivable area of an environment, capture sensor data representing an object in the environment, and perform a spot check to determine whether or not to modify a trajectory. Such a spot check may include processing to incorporate an actual or predicted extent of the object into the drivable area to modify the drivable area. A distance between a reference trajectory and the object can be determined at discrete points along the reference trajectory, and based on a cost, distance, or intersection associated with the trajectory and the modified area, the vehicle can modify its trajectory. One trajectory modification includes following, which may include varying a longitudinal control of the vehicle, for example, to maintain a relative distance and velocity between the vehicle and the object.

Abstract: A seat control system for a vehicle includes a seat, a seat position changer, a door sensor, and a controller. When an occupant performs registration operation after an ignition switch is turned on, the controller is configured to: if the door sensor senses a closed state, store a current seat position of the seat as a driving position, in association with the information of the occupant; and, if the door sensor senses an open state, store the current seat position as a get-out position at a time when the occupant gets off the vehicle, in association with the information. After the registration operation is performed, the controller is configured to: change the seat position to the driving position by controlling the seat position changer before the vehicle travels; and change the seat position to the get-out position by controlling the seat position changer when the occupant gets off the vehicle.

Abstract: A control system for an electrically-operated railroad car end door includes, an actuator, a processor, and a memory storing program instructions that cause the processor to instruct the actuator to begin generating a braking force applied to the railroad car end door in response to an opening of the railroad car end door, and determine whether the railroad car end door is being manually opened by a person based on information related to a state of the railroad car end door while the braking force is being generated.

Abstract: A vehicle operation detection device includes processing circuitry configured to output a command causing an opening-closing body of a vehicle to open and close in reference to capacitances of sensor electrodes arranged so as to form a row. The processing circuitry is configured to determine that a first operation has been performed when one of the sensor electrodes of which the capacitance increases is sequentially shifted in a first direction from an operation start electrode and determine that a second operation has been performed when the shifting is performed in a second direction. The sensor electrodes include an adjacent electrode adjacent to the operation start electrode. The processing circuitry is configured to determine that the capacitance of the adjacent electrode has increased when the capacitance becomes greater than or equal to a second determination value that is greater than a first determination value.

Abstract: An automotive headlight is disclosed including: an optical unit including a plurality of optical elements, each optical element having a different central direction; a segmented light-emitting diode (LED) chip including a plurality of LEDs that are separated by trenches formed on the segmented LED chip and arranged in a plurality of sections, each section being aligned with a different respective optical element, and each section including at least one first LED and at least one second LED; and a controller configured to: apply a forward bias to each of the first LEDs, apply a reverse bias to each of the second LEDs, and change a brightness of the first LEDs in any section based on a signal generated by the second LED in that section.

Abstract: A motor vehicle latch, in particular a motor vehicle door latch, is equipped with a locking mechanism consisting substantially of a catch and a pawl. An electromotive drive for a coupling lever is further provided as part of a power locking unit. In addition, a first operating lever is provided, wherein in the “unlocked” position of the power locking unit, said first operating lever works on the coupling lever that is then engaged in order to open the locking mechanism, and wherein in the “locked” position of the power locking unit, said first operating lever performs an idle stroke relative to the coupling lever that is then disengaged. According to the invention, the electromotive drive works with a linear thrust member on the coupling lever, wherein the linear thrust member is held in at least one position with the aid of a blocking levers).

Abstract: The present application discloses a method and apparatus for controlling display in a screen projection scenario, a device, a medium and a program product, relating to the technical fields of autonomous driving, Internet of Vehicles, intelligent voice, and screen projection in artificial intelligence. The specific implementation is: receiving a voice interaction instruction corresponding to a voice application; if a first page corresponding to a first application in at least one non-voice application has been projected onto a screen of a terminal device, adding to-be-displayed content corresponding to the voice application to the first page to obtain a to-be-projected page corresponding to the first application; and projecting the to-be-projected page onto the screen of the terminal device. The above process can reduce a delay in displaying an image projected on the screen.

Abstract: Devices, systems and processes for the detection of unsafe cabin conditions that provides a safer passenger experience in autonomous vehicles are described. One example method for enhancing passenger safety includes capturing at least a set of images of one or more passengers in the vehicle, determining, based on the set of images, the occurrence of an unsafe activity in an interior of the vehicle, performing, using a neural network, a classification of the unsafe activity, and performing, based on the classification, one or more responsive actions.

Abstract: A method for assisting an occupant exiting a vehicle includes: receiving opening data describing an imminent opening of a door of the vehicle; receiving object data describing positions and speeds of objects in the vehicle environment; determining a time-to-collision between the opening of the door and a possible collision of a first object with the door, based on the opening data and the object data; outputting an urgent warning signal if the time-to-collision falls below a predetermined minimum duration; using the object data to check whether the first object is followed by a second object; classifying the second object as a first following object if a time-gap between the first object and the second object is below a predetermined limit; and outputting a warning signal after the output of the urgent warning signal in the event that the second object is classified as the first following object.

Abstract: A radar detection system for activation of a powered closure member of a vehicle and corresponding method are provided. The system includes a radar sensor assembly having a radar transmit antenna for transmitting radar waves and a radar receive antenna for receiving the radar waves after reflection from an object in a detection zone. The radar sensor assembly outputs a sensor signal corresponding to the motion of the object in the detection zone. An electronic control unit is coupled to the radar sensor assembly and includes a data acquisition module to receive the sensor signal and a plurality of analysis modules to analyze the sensor signal to detect extracted features and determine whether extracted features are within predetermined thresholds representing a valid activation gesture. The electronic control unit initiates movement of the closure member in response to the extracted features being within the predetermined thresholds representing the valid activation gesture.

Abstract: A power door device includes: a motor actuator to open/close a vehicle door; a controller to control driving of the motor actuator and include an abnormal state dealing unit; an information unit to acquire information about a vertical vehicle acceleration, and a motor load for the motor actuator; and a diagnostic unit to generate an abnormal signal when the motor load exceeds a predetermined load threshold and when the vertical acceleration does not exceed an predetermined acceleration threshold. When the motor load exceeds the load threshold and the vertical vehicle acceleration does not exceed a predetermined acceleration threshold, the diagnostic unit diagnoses an abnormality generates the abnormal signal. The abnormal state dealing unit performs the abnormal dealing control including stop movement during the door opening/closing in response to the abnormal signal.

Abstract: An alighting assistance device D of the present disclosure may be a device moving a driver seat rearward in a case where a determination may be made that an occupant seated on the driver seat of a vehicle alights. The device may include a height changer which changes a height of a steering wheel, a sitting height acquirer which acquires a sitting height of the occupant, and a steering wheel controller 33 as one example of a height controller which controls the height changer such that the height of the steering wheel becomes lower as the sitting height acquired by the sitting height acquirer may be higher in the case where a determination is made that the occupant alights.

Abstract: The invention provides an autonomous vehicle with a video camera that merges images taken a different light levels by replacing saturated parts of an image with corresponding parts of a lower-light image to stream a video with a dynamic range that extends to include very low-light and very intensely lit parts of a scene. The high dynamic range (HDR) camera streams the HDR video to a HDR system in real time—as the vehicle operates. As pixel values are provided by the camera's image sensors, those values are streamed directly through a pipeline processing operation and on to the HDR system without any requirement to wait and collect entire images, or frames, before using the video information.

Abstract: Methods and enhanced apparatus used in such methods are described that a dispatched logistics operation for a deliverable item from a hold-at-location (HAL) logistics facility having a secured storage and using a modular autonomous bot apparatus assembly and a dispatch server. The bot apparatus assembly picks up and delivers the item from the HAL facility in response to a delivery dispatch command from the dispatch server. In response, the MAM of the bot verifies compatibility of modular components for the operation, controls receiving of the deliverable item from the secured storage at the HAL facility, then autonomously causes movement to the delivery destination. The MAM notifies the customer before delivery of the approaching delivery, authenticates delivery is to the authorized customer, provides access to the item within the bot apparatus assembly, monitors unloading of the item, then autonomously moves back to the HAL facility.

Abstract: A method and an apparatus for connecting through on-vehicle Bluetooth, and a storage medium includes: acquiring a first face image of a driver in response to an on-vehicle Bluetooth apparatus being on; determining a first face identifier corresponding to the driver by performing face recognition on the first face image; querying a first correspondence according to the first face identifier, in which the first correspondence indicates a correspondence between face identifiers and Bluetooth identifiers of terminals; in response to determining a first Bluetooth identifier matching the first face identifier, establishing, according to the first Bluetooth identifier, a Bluetooth connection between the on-vehicle Bluetooth apparatus and a first terminal Bluetooth apparatus corresponding to the first Bluetooth identifier.

Abstract: In accordance with an aspect of disclosure, the vehicle includes a first sensor configured to measure a distance to an object; a second sensor configured to measure a temperature of the object; a camera configured to acquire an image of the object; and a controller configured to activate the second sensor when the distance to the object measured by the first sensor satisfies the condition for performing heat detection, and activate the camera when the temperature of the object measured by the second sensor satisfies a condition for performing facial recognition.

Abstract: A drilling machine includes an inclination-based levelling system. The drilling machine includes a frame with front and rear portions, and a plurality of support jacks including a pair of rear jacks proximate the rear portion of the frame and a front jack proximate the front portion of the frame. Each jack is extendable and retractable. The drilling machine also includes a sensor configured to monitor and transmit sensor data, the sensor data including at least one of a roll of the drilling machine and a pressure. A controller operatively associated with the sensor, is configured to calculate a volume of debris to be produced during an operation of the drilling machine, to select a machine height setting based on the calculated volume of debris, and to extend and retract the plurality of support jacks according to the selected machine height setting.

Abstract: A device includes a camera that detects image data of the head and eyes of the vehicle user. An image data evaluating unit determines, using the detected image data, positions of the eyes or the current viewing direction of the vehicle user. Control equipment generates a signal that activates a light source when the current positions of the eyes or the viewing direction is not determinable. The light source has one or more individual light sources arranged so that the one or more individual light sources can only be discerned by the vehicle user or discerned simultaneously if the user's eyes, a vehicle user's eye positions and/or a current viewing direction of the vehicle user are clearly detectable.

Abstract: Coolant flowing from a compressor passes through a heat exchanger and opening-degree adjustable type of expansion valves for heating, and an external heat exchanger. The coolant passing through the external heat exchanger is capable of passing through an expansion valve and a heat exchanger for cooling, and an expansion valve and a heat exchanger for cooling a battery. A grille shutter to change an introduction state of traveling air is provided in front of the external heat exchanger. When pressure of the coolant (particularly, pressure of the coolant at a timing after the coolant passes through the external heat exchanger) is a specified pressure or lower, the grille shutter is closed, whereby the heat-exchange performance of the external heat exchanger is lowered.

Abstract: A first computing device may implement a method for sharing a navigation session to minimize driver distraction. The method includes requesting access to a shared navigation session synchronized with a navigation session at a second computing device indicative of a navigation route, and the navigation session includes route data. In response to receiving access to the shared navigation session, the first computing device may receive synchronized route data indicative of the navigation route at the second computing device. The method further comprises obtaining one or more first navigation instructions corresponding to the synchronized route data including at least one navigation instruction that augments or is output in a different manner than one or more second navigation instructions output at the second computing device, and outputting the one or more first navigation instructions.

Abstract: A method for controlling an air conditioning device of an electrified vehicle includes determining, by a controller, whether an active air flap is closed in response to an operation signal of the active air flap of the electrified vehicle, when an electric compressor provided in an air conditioner of the air conditioning device of the electrified vehicle is operated, when the active air flap is closed, controlling, by the controller, opening of an intake door provided in the air conditioning device to increase an amount of internal circulating air of the air conditioner, and when the amount of the internal circulating air of the air conditioner is increased, decreasing, by the controller, a speed of the electric compressor.

Abstract: The present disclosure relates to a folding control apparatus and method for vehicle seats capable of controlling folding or unfolding of a first vehicle seat and a second vehicle seat.

Abstract: A vehicle includes a sensor device configured to collect data on regions around the vehicle, and an automatic parking controller configured to generate a folding signal or an unfolding signal for a side mirror based on the data collected by the sensor device and a state of the side mirror when performing automatic parking.

Abstract: Automatically adjusting ergonomic factors of a vehicle seat, including: receiving first video data capturing a person outside of a vehicle; identifying, based on the first video data, one or more physical attributes of the person; and modifying vehicle seat configuration based on the one or more physical attributes.

Abstract: A connector for charging an electric vehicle that includes a housing configured to mate with an electric vehicle port of an electric vehicle, at least a sensor configured to detect an attachment datum as a function of the housing mating with an electric vehicle port, and transmit the attachment datum to a computing device, a computing device configured to receive the attachment datum from the at least a sensor, receive an identification datum from the electric vehicle, generate a verification datum as a function of the identification datum and the attachment datum, and determine an authorization status as a function of the verification datum.

Abstract: A steering wheel control interface module that can automatically detect the type of vehicle it is installed in and automatically detect the type of aftermarket radio it is sending messages to. In addition, the interface module can retain certain user pre-selects and use those to properly set the state of an aftermarket radio.

Abstract: A vehicle seat, including a plurality of actuators that can be activated independently of one another and that are arranged in a matrix-like manner, at least one sensor system for detecting an object on the vehicle seat, and at least one control unit for activating the actuators. The control unit may be configured to activate the actuators as a function of a detected contour of the object, so that the contour of the vehicle seat adapts to the contour of the object, and to a method for adapting a vehicle seat to a vehicle occupant.

Abstract: Embodiments related to active vibration isolation systems for a vehicle seat, as well as their methods of use, are disclosed. In some embodiments, an active suspension system may be configured to support a seat above a floor of a vehicle. The active suspension system may include two or more actuators that may be operated cooperatively to control both the roll and heave of the vehicle seat. In some instances, these actuators may also be non-back-drivable actuators. Additionally, in some embodiments, an active suspension system may include one or more torsion springs that apply torques in parallel with associated actuators of the active suspension system to support at least a portion of the loads applied to the active suspension system during operation.

Abstract: An intelligent rollator has a vehicle body, a seat provided in the vehicle body for a person to sit or place items on, and front and rear wheels provided at the bottom of the wheels, driven by motors. A power-assist control method includes the following steps: obtaining the load weight of the vehicle body; and entering a first power-assist compensation mode to compensate the torque output of the motor according to a first power-assist compensation threshold, when the load weight is greater than a set threshold. The first power-assist compensation threshold is direct proportional to at least one of the following parameters: the load weight of the intelligent rollator, and the moving speed of the intelligent rollator.

Abstract: An automation hub may automatically identify the arrival of a package to a location and provide a notification of the delivery to a user. A package authenticator may be generated via the automation hub at the location for embedment in a packaging of a product that is being ordered from a merchant for delivery to the location. Subsequently, the package authenticator may be associated with a pending delivery of the product at the location in response to receiving an indication that the package authenticator is submitted to the merchant via an order. The presence of an arrived package authenticator may be detected in proximity of the location via a sensor that is connected to the automation hub. A notification of arrival for the product may be generated for presentation on connected user devices in response to the arrived package authenticator matching the package authenticator.

Abstract: A method for determining an evaluation algorithm from a plurality of available evaluation algorithms for the processing of sensor data of a vehicle sensor of a vehicle. The method includes a step of reading in and a step of selecting. In the step of reading in, an environment signal is read in, which represents a current environment parameter acquired by a sensor unit using at least the vehicle sensor and/or received via a communications interface. In the step of selecting, the evaluation algorithm is selected from the plurality of evaluation algorithms for the evaluation of the sensor data of the vehicle sensor using the environment parameter.

Abstract: A closure latch assembly for a motor vehicle closure system includes a power release mechanism and an inside handle release mechanism mechanically connected to an inside door handle. The power release mechanism is used to shift the inside handle release mechanism from a normally Disengaged operating state to an Engaged operating state. In the Disengaged state, the inside handle release mechanism is uncoupled from the latch release chain of components to prevent latch release via actuation of the inside door handle. In the Engaged state, the inside handle release mechanism is coupled for the latch release chain of components to permit latch release via actuation of the inside door handle. The power release mechanism only shifts the inside release mechanism from its Disengaged state into its Engaged state in the event of an emergency condition.

Abstract: A vehicular control system includes a first communication device disposed at a first vehicle, a second communication device disposed at a second vehicle, a camera disposed at the second vehicle, and an electronic control unit (ECU) of the second vehicle. The vehicular control system determines a potential collision between the first vehicle and the second vehicle based at least in part on (i) a wireless communication received at the second communication device from the first communication device and provided to the ECU of the second vehicle and/or (ii) processing at the ECU of image data captured by the camera disposed at the second vehicle. Responsive to determination of the potential collision between the first vehicle and the second vehicle, the vehicular control system controls (i) braking of the second vehicle and/or (ii) steering of the second vehicle.

Abstract: A simulating method for an electric vehicle (EV) includes: receiving a request from a driver of the EV for performing a simulation of a target vehicle on the EV; obtaining a plurality of configuration parameters for simulating behavior of the target vehicle on the EV, at least including information of the target vehicle and settings of the target vehicle for the driver; obtaining a plurality of vehicle parameters of the EV, at least including run-time parameters of the EV and driving conditions of the EV; and performing a simulating process to obtain one or more control parameters to control the EV to realize behaviors, actions, and/or characteristics of the target vehicle on the EV based on the plurality of vehicle parameters and the plurality of configuration parameters using a vehicle simulator model. The vehicle simulator model is a neural network.

Abstract: A method, device and system for a method, device, and system for automatically adjusting driver-related in-vehicle equipment, the method including the steps of: acquiring a driver's height from a detection device of a vehicle; determining preset values of additional body parameters of the driver based on the driver's height and calculating a position for entry using the driver's height and the preset values of the additional body parameters of the driver; and adjusting the equipment including a driver's seat to the position for entry so as to facilitate the driver to enter the vehicle and sit on the seat.

Abstract: Systems and methods are described include a robot and/or an associated computing system that can use various cues about an environment of the robot to apply a bias to increase the accuracy of speech transcription. In some implementations, audio data corresponding to a spoken instruction to a robot is received. Candidate transcriptions of the audio data are obtained. A respective action of the robot corresponding to each of the candidate transcriptions of the audio data is determined. One or more scores indicating characteristics of a potential outcome of performing the respective action corresponding to the candidate transcription of the audio data are determined for each of the candidate transcriptions of the audio data. A particular candidate transcription is selected from among the candidate transcriptions based at least on the one or more scores. The action determined for the particular candidate transcription is performed.

Abstract: In an embodiment, a method for authenticating a user of a car includes: transmitting a plurality of radiation pulses through a predetermined portion of a surface of the car towards a portion of a hand of the user using a millimeter-wave radar; receiving a reflected signal from the portion of the hand using the millimeter-wave radar; generating a fingerprint signature based on the reflected signal; comparing the fingerprint signature to a database of authorized fingerprint signatures; and authorizing the user based on whether the fingerprint signature matches an authorized fingerprint signature of the database of authorized fingerprint signatures.

Abstract: Provided is to stabilize a fixed state of each bag body provided at a vehicle seat and configured to expand to push a corresponding one of the shoulders of a seated passenger. Of a seat back provided at the vehicle seat, each shoulder support configured to support a corresponding one of the shoulders of the seated passenger includes an air cell configured to expand by injection of air. The air cell includes protrusions extending in a predetermined direction and provided at respective end portions of the air bag in the extending direction thereof. The air cell is attached to the inside of the seat back in such a manner that each of the protrusions provided at respective end portions in the extending direction is fixed to a corresponding one of fixing positions separated from each other in the width direction of the vehicle seat.

Abstract: Disclosed herein is a control apparatus included in a vehicle in automated vehicle and highway systems, the control apparatus including: a steering wheel having at least one touch screen on which a screen for manipulating at least one of the functions of the vehicle is output In addition, a control unit determines an intention of the user related to a selection of any one of the functions of the vehicle and controls a screen for manipulating a function according to the determined intention of the user to be output.

Abstract: When it is confirmed that a user exists based on an image of the situation outside a vehicle which is captured using a camera and a proximity sensor detects a fact that the user is approaching based on, for example, a putting of a hand of the user over the proximity sensor, a control device causes a ramp to be extended. As such, a user sitting in a wheelchair can cause the ramp to be extended by approaching the proximity sensor, such as the putting of the user's hand over the proximity sensor such that the user sitting in the wheelchair does not have to press an extension/storage button provided on the vehicle to cause the ramp to be extended.

Abstract: A computer includes a processor and a memory storing instructions executable by the processor to receive a series of pressure maps indicating a respective series of sitting positions of an occupant in a seat, wherein the pressure maps include a current pressure map; update a profile of the occupant based on the pressure maps, wherein the profile includes a plurality of clusters of sitting positions and classifications of the clusters as preferred or nonpreferred, and updating the profile includes sorting one of the sitting positions into one of the clusters that is classified as preferred in response to the occupant remaining in that sitting position for greater than a threshold time; and adjust a physical configuration of the seat in response to the current sitting position being in one of the clusters that is classified as nonpreferred.

Abstract: In general, techniques are described by which provide confirmed automated access to portions of vehicles. A control system comprising a processor, and a memory may be configured to perform the techniques. The memory may store instructions that, when executed, cause the processor to determine that the authorized operator of the vehicle is intending to access a portion of the vehicle, and output, responsive to determination, a confirmation request to the authorized operator. The confirmation request may request confirmation that the authorized operator is intending to access the portion of the vehicle. The memory may also store instructions that, when executed, cause the processor to receive, from the authorized operator, a confirmation response indicating whether the authorized operator is intending to access at least the portion of the vehicle, and automatically open, based on the confirmation response, at least the portion of the vehicle.

Abstract: Scene filtering using motion estimation, including identifying, in camera data from an autonomous vehicle, based on motion relative to the autonomous vehicle, one or more pixels; filtering, from the camera data, the one or more pixels; and training, based on the filtered camera data, a neural network.

Abstract: A method includes predicting an environmental condition at a location to which a vehicle is travelling, the environmental condition including at least one of water, dust, and pollution, determining that an object within the vehicle is at a distance greater than a threshold distance from an unobstructed window of the vehicle, and then actuating the unobstructed window to a closed position based on the environmental condition and the object being at the distance from the window greater than the threshold distance.

Abstract: An active air flap device for a vehicle may include: a housing part mounted in a bumper cover part; one or more flap parts rotatably mounted in the housing part, and exposed to the outside through a hole formed in the bumper cover part to form the same skin line as the bumper cover part; a link part connected to the flap part; a loader part mounted in the link part; and a driving part configured to rotate the loader part.

Abstract: Provided herein is a system on a vehicle, the system comprising one or more sensors, one or more processors, and a memory storing instructions that, when executed by the one or more processors, causes the system to perform: receiving one or more ride requests for ridesharing from one or more users; receiving respective preferences from each of the one or more users; selecting a ride request of a user from the one or more ride requests based on the respective preferences; notifying the user of the selecting of the ride request; sending at least one of the images or videos of the interior of the vehicle to the user; in response to the sending, determining whether the user confirms the ride request; and in response to determining that the user confirms the ride request, selecting a route to the user and driving, according to the route, to the user.

Abstract: A system and a method for glare prevention. The method includes providing an image view of the face of the vehicle occupant; determining levels of light at plural parts of the face of the vehicle occupant; determining a direction to a light source causing the levels of light at plural parts of the face of the vehicle occupant; determining an area where to activate a glare protector; and activating the glare protector in the determined area to protect the vehicle occupant from glare caused by a light source.

Abstract: A dynamic vehicle stability control system for a vehicle may include an active wing extending laterally relative to a longitudinal centerline of the vehicle and configured to be rotatable to change an angle of attack relative to wind passing over the vehicle parallel to the longitudinal centerline, a repositioning assembly operably coupling the active wing to the vehicle, and a controller operably coupled to components and/or a sensor network of the vehicle to receive status information about the vehicle. The repositioning assembly may be operated based on a wing angle command received by the controller responsive to execution of a plurality of control algorithms executed by the controller. The controller may be configured to determine the wing angle command based on respective wing angle requests generated by each of the control algorithms.

Abstract: Provided is a robot including a main body provided with a pair of traveling wheels that are spaced apart from each other in a horizontal direction, a seating body disposed above the main body, a foot supporter disposed on a front lower portion of the main body, at least one front wheel disposed on the foot supporter, and a rear wheel disposed on the main body so as to be closer to a rear end of the main body than a front end of the main body and the traveling wheel is closer to the front end of the main body than the rear end of the main body.

Abstract: A kind of real-time measurement system and method for height from spray boom to crop canopy was provided in present invention patent, which includes the following steps. Step 1: Calibration for ultrasonic ranging sensor; Step 2: Determination of included angle for two ultrasonic ranging sensors; Step 3: Collection of relative height between spray boom and crop canopy; Step 4: Anti-interference processing for height data; Step 5: Calculation of relative height from spray boom to crop canopy. Its characteristic lies in: two ultrasonic ranging sensors with a certain angle are installed at each end of the spray boom, the height of crop canopy was acquired under the control of control unit, and the relative height from spray boom to crop canopy was obtained by the anti-interference analysis and data conversion, the accurate monitoring for relative height from spray boom to crop canopy was realized while the spray boom is tilted.