Abstract: A method for classifying the height of an object by at least one vehicle ultrasonic sensor is disclosed. A computer receives at least two ultrasonic signals, calculates a first item of height information based on two items of spacing information relating to at least one vehicle ultrasonic sensor and the object, and calculates a variance of the first item of information. The computer similarly calculates a second item of height information and a variance thereof from a received further ultrasonic signal. The computer combines the items of height information as an average thereof, and the calculated variances of items of height information as an averaged variance thereof. The object is classified in a height class by calculating a probability value based on a distribution function which has as a mean value the averaged item of height information and as a variance the averaged variance of the height information.

Abstract: A method and system for creating a virtual lane for a vehicle comprises receiving real-time values of vehicle dynamics parameters and location of one or more objects and transforming the received information into a world coordinate system. Further, the method comprises generating a bird's-eye view of the vehicle and creating and rendering a virtual lane corresponding to the vehicle on the bird's-eye view. Thereafter, the method comprises detecting if at least one of the one or more objects is in the virtual lane of the vehicle, and generating an alert when the at least one of the one or more objects are in the virtual lane. Thus, the present disclosure helps the vehicle avoid collisions with other objects/vehicles by dynamically altering the path when the other objects/vehicles are detected in the virtual lane of the vehicle.

Abstract: A vehicle object detection system for detecting a target object in a detection area located behind and/or lateral of a subject vehicle, that is configured to generate a judgement on whether a target object which has been detected in the detection area is an alert object, to output the judgement to warning means which is configured to output a warning to a driver of the subject vehicle based on the judgement indicating that the target object is an alert object, and to generate the judgement based on: one or more positions of one or more other objects other than the target object being detected to be located between the target object and the subject vehicle, and a time period during which the target object is detected, being smaller than a specified period of time.

Abstract: A vehicle object detection system configured to generate a judgement on whether a target object which has been detected in the detection area is an alert object, and to output the judgement to a warning which is configured to output a warning to a driver of the subject vehicle based on the judgement indicating that the target object is an alert object, wherein system is configured to generate the judgement based on at least one of a comparison of a difference between a relative speed of the target object with respect to the subject vehicle and an absolute speed of the target object in a transverse direction of the subject vehicle with a specified range, and a comparison of an estimated arrival position of the target object, which is a position the target object is estimated to reach in the detection area in a specific period of time.

Abstract: The present disclosure relates to a method for the detection and determination of the height of objects by means of an environment detection system, including a first environment detection sensor and a second environment detection sensor of a vehicle, wherein at least one of the environment detection sensors is a mono camera. The method includes the following steps: capturing a mono image using the camera; capturing an environment representation using the second environment detection sensor; carrying out object detection in the mono image; carrying out object detection in the environment representation of the second environment detection sensor; measuring the distance from the object in the environment representation of the second environment detection sensor; and carrying out height determination of the detected object.

Abstract: A vehicle object detection system configured to judge whether a target object which has been detected in the detection area is an alert object, and to output a result of judgement to a warning which is configured to output a warning to a driver of the subject vehicle that a target object is present in the detection area based on judging the target object to be an alert object, wherein the system is configured to judge, in response to the subject vehicle being detected to make or have made a turn, whether the target object detected in the detection area is an alert object based on a trailing trajectory of the subject vehicle being a calculated trajectory the subject vehicle has passed during turning and/or after turning, and further based on a current relative position of the target object with respect to the subject vehicle.

Abstract: A vehicle detection system, for detecting a target vehicle in a detection area located behind a subject vehicle, is configured to judge whether a target vehicle which has been detected to approach the subject vehicle occupying a driving lane from behind in a first adjacent lane which is on one side of the driving lane and which target vehicle has been further detected to change from the first adjacent lane by diagonally passing the driving lane on to a second adjacent lane on the other side of the driving lane, is an alert object, and output a result of judgement to warn a driver of the subject vehicle that a target vehicle is present behind the subject vehicle, and determine, on the basis of a change of a lateral overlap of the target vehicle in the detection area, an overlap change rate.

Abstract: The present disclosure relates to a method for the assistive or automated vehicle control of an ego-vehicle, the ego-vehicle including a control device and at least one sensor for environment and object detection, wherein, for the vehicle control of the ego-vehicle, trajectory planning is carried out on the basis of the detected environment and the detected objects, boids which are defined using rules of attraction and repulsion are generated for the objects, and the trajectory planning is carried out using the boids.

Abstract: A vehicle object detection system configured to generate a judgement on whether a target object which has been detected to enter the detection area is an alert object, and to output the judgement to a warning which is configured to output a warning to a driver of the subject vehicle that a target object is present in the detection area behind the subject vehicle based on the judgement indicating that the target object is an alert object, wherein the system is configured to delay generating the judgment until a specified period of time has elapsed from a point in time when the target object is detected to enter a detectable area included in a field of view of a sensor, wherein the detectable area overlaps with only a part of the detection area.

Abstract: A vehicle object detection system configured to generate a judgement on whether a target object which has been detected to enter the detection area is an alert object, and to output the judgement to a warning which is configured to warn a driver of the subject vehicle that a target object is present in the detection area behind the subject vehicle based on the judgement indicating that the target object is an alert object, wherein the system is configured to delay generating the judgement until a specified period of time has elapsed from a point in time when the target object entered the detection area from an adjacent area located lateral to the detection area and/or is configured to generate the judgement based on a change in distance between the target object and the subject vehicle during said specified period of time.

Abstract: A blind spot detection control apparatus for a vehicle, configured for judging whether an object detected during a detection cycle in blind spot zone of the vehicle is an alert object, for outputting a result of judgement to a warning which warns a driver of vehicle that an object is present in blind spot zone based on judging that object detected in blind spot zone is an alert object, wherein apparatus is configured to judge whether an object detected in blind spot zone is an alert object by comparing detection parameters relating to a current target object detected in blind spot zone during a current detection cycle with detection parameters relating to a reference moving object corresponding to a target object detected in blind spot zone at least during a previous detection cycle.

Abstract: A vehicle detection system configured to judge whether a target vehicle, which has been detected to approach the subject vehicle from behind in a driving lane being used by the subject vehicle and being covered by the detection area is an alert object, to output a result of judgement to a warning which warns a driver of the subject vehicle that a target vehicle (60) is present in the driving lane behind the subject vehicle based on the judging the target vehicle to be an alert object, and to determine, on the basis of a change of a lateral overlap of the target vehicle in the detection area, an overlap change rate which is defined as a ratio of the change of the overlap to a specified time.

Abstract: A coherent lidar system for capturing the surroundings is configured to emit a phase-modulated signal with pseudo-random change over discrete phase values. The system receives the signals reflected back from objects and converts the signals into a low-frequency signal by mixing and digitizing. The system includes a digital signal processing for correlation filtering of the low-frequency received signal. At least a part of the two-dimensional correlation filter is realized by a hardwired digital circuit embodied as a pipeline, wherein multiple or all of the output values are determined per clock frequency of the digital circuit in one of the two dimensions, and over a sequence of clock frequencies in the other dimension.

Abstract: A method for use of a detected parking space, including: a) detecting a potentially usable parking space by sensing a partial area of the parking space by a vehicle sensor system; b) determining an initial parking area contour and an initial parking area orientation for the detected parking space and determining a quality criterion therefor; c) altering the parking area orientation by rotating the initial parking area contour about a vertical axis, producing a contour with an altered rotational position; d) calculating a modified quality criterion based on the altered rotational position; e) checking whether the quality criterion for the parking space has improved; f) iteratively repeating c) to e) until reaching a termination criterion; g) specifying a final parking target area having a final parking area contour and orientation based on a highest quality criterion; h) manoeuvring so that the vehicle parks in the final parking target area.

Abstract: The invention relates to a method for operating an assistance system for a vehicle, including a control device for controlling the assistance system, multiple sensors for capturing the environment, a first sensor set which includes at least one sensor of the sensors for capturing the environment, and a second sensor set which includes at least one sensor of the sensors for capturing the environment. The sensor signals of the first sensor set are enlisted in order to create an environmental model, and driving functions of the assistance system are carried out on the basis of the environmental model. A sensor signal path switch is provided which switches the sensor signals of the second sensor set either via a main path to the signal processing of the environmental model or via a safety path to the signal processing of a plausibility check of the planned trajectory.

Abstract: A system for actuating an electromechanical steering system of a vehicle includes a driver assistance system, which generates a first item of steering control information, and a control unit having a first interface which receives driver torque information, and at least one second interface which receives at least one item of adjustment information which is dependent on the driving state and/or the driving situation. The control unit provides a second item of steering control information which is dependent on the driver torque information and the at least one item of adjustment information, and the system provides a modified item of steering control information to the steering system of the vehicle based on the first and the second item of steering control information, a steering movement being executed on the electromechanical steering system based on the modified item of steering control information.

Abstract: A method of modelling the uncertainty of sensors in a central-level tracking architecture system for fusing a plurality of the sensor detections in respect to at least one sensor object. The detections acquired from the sensors correspond to at least one dimension of the at least one sensor object. For each sensor it is set a predetermined association gate minimum threshold for each dimension by setting a predetermined amount of sensor detection error for each dimension based on which an increase of each sensor detection error is modeled as a function of distance. An association gate is computed by increasing according to the modeling each sensor detection error above the predetermined association gate minimum threshold. A covariance matrix is computed for each sensor associated to each detection. A plurality of covariance matrices corresponding to all sensors is stored and made available to the central-level tracking system for fusing the plurality of sensor detections.

Abstract: A method, a 3D map generation system, and a device for generating 3D map of surroundings of a vehicle. In the system, conditions of the surroundings are detected. Further, cameras and sensing devices are operated based on the conditions to generate a 3D data representation of the surroundings. A combined 3D map of the surroundings is generated using a combination of the 3D data representation obtained from the cameras and the sensing devices.

Abstract: A method for providing an enhanced environment map for use in vehicles, including: receiving sensor data from sensors of at least one vehicle; evaluating the sensor data; setting location-dependent sensor data by associating the sensor data with a position in an environment map; identifying detection accuracies of the sensors based on the location-dependent sensor data; entering the detection accuracies as sensor models into the environment map in the corresponding positions of the location-dependent sensor data in order to create an enhanced environment map; and providing the enhanced environment map to at least one vehicle.

Abstract: The present disclosure relates to a method for the detection and determination of the height of objects by means of an environment detection system, including a first environment detection sensor and a second environment detection sensor of a vehicle, wherein at least one of the environment detection sensors is a mono camera. The method includes the following steps: capturing a mono image using the camera; capturing an environment representation using the second environment detection sensor; carrying out object detection in the mono image; carrying out object detection in the environment representation of the second environment detection sensor; measuring the distance from the object in the environment representation of the second environment detection sensor; and carrying out height determination of the detected object.