Abstract: A vehicle radar system (3, 3?) and related method including a transceiver arrangement (7, 7?) that is arranged to generate and transmit at least a first radar signal over a cycle (4a) and a following second radar signal over a cycle (4b). For the first radar signal cycle (4a), a corresponding first received signal (5a) and corresponding first received signal information (20a, 28a) is obtained, and for a following second radar signal cycle (4b), a corresponding second received signal (5b) and corresponding second received signal information (20b, 28b) is obtained. The vehicle radar system (3, 3?) is arranged to calculate a difference between the first received signal information (20a, 28a) and the second received signal information (20b, 28b).

Abstract: A vehicle radar system (2) that is arranged to detect a plurality of objects outside a vehicle (1) and that includes a radar detector (3) and a processing unit arrangement (4). The processing unit arrangement (4) is arranged to obtain at least one total detection angle (?dT, ?dT?) relative an x-axis (7) and at least one corresponding detected target Doppler velocity (vDoppler) relative the radar detector (3) for each detected object (5, 6; 10, 11). Each detected object is classified as moving or stationary, and a relation is determined between the stationary detections and the total number of detections. The processing unit arrangement (4) further is adapted to determine whether the radar detector (3) is misaligned based on the relation, where the total detection angle (?dT, ?dT?) equals the sum of a known mounting angle (?m) between the x-axis (7) and the radar detector's mounting direction (8), and a detection angle (?d, ?d?). The present disclosure also relates to a corresponding method.

Abstract: An imaging system (1) for a motor vehicle, having a camera housing (2) and at least one camera module (3) to be mounted to the camera housing (2). The camera housing (2) is provided with an arrangement of at least two first abutments (4,5,6) with a defined geometry and orientation at which the camera module (2) abuts, wherein the camera module (3) is spring loaded against the first abutments (4,5,6) with at least one spring element (7).

Abstract: A vision system (10) for a motor vehicle with a stereo imaging apparatus (11) with imaging devices (12) adapted to capture images from a surrounding of the motor vehicle, and a processing device (14) adapted to process images captured by the imaging devices (12) and to detect objects, and track detected objects over several time frames, in the captured images. The processing device (14) is adapted to obtain an estimated value for the intrinsic yaw error of the imaging devices (12) by solving a set of equations, belonging to one particular detected object (30), using a non-linear equation solver method, where each equation corresponds to one time frame and relates a frame time, a disparity value of the particular detected object, an intrinsic yaw error and a kinematic variable of the vehicle.

Abstract: A vehicle radar detection system arranged to be mounted in an ego vehicle and including at least one detector arrangement and at least one control unit arrangement. The detector arrangement is adapted to obtain a dataset initially including a number K of radar detections. The control unit arrangement is adapted to repeatedly determine a dominating line from the dataset of radar detections, remove radar detections associated with the dominating line from the dataset of radar detections until a first stopping criterion is fulfilled, thereby determining a plurality of lines from the number K of radar detections.

Abstract: A vehicle environmental detection system (3) in an ego vehicle (1) including at least one control unit arrangement (15) and at least one detector arrangement (4, 7) that is adapted to obtain a plurality of detections (14). The control unit arrangement (15) is adapted to form a cluster (40) of the plurality of detections (14), form a first border line (16) and a second border line (17), where these border lines (16, 17) have mutually longitudinal extensions, and are mutually parallel and define outer borders of the cluster (40) and determine whether the cluster (40) corresponds to a row (13) of corresponding parked vehicles (18a, 18b, 18c, 18d, 18e, 18f, 18g), by the length or longitudinal displacement of, or distance between, the border lines (16, 17).

Abstract: A vehicle safety electronic control system (11) including master and slave microcontrollers (12, 13). The master microcontroller (12) is connected to a TDMA network bus, and the slave microcontroller (13) is connected to the master microcontroller (12) via a general purpose input/connection (14). Both microcontrollers (12, 13) are configured to operate schedule table based execution, and each has a respective synchronization counter. The master microcontroller (12) is configured to update its synchronization counter in response to a primary synchronization signal (19) from the network bus (10), and to issue a corresponding secondary synchronisation signal (20) to the slave microcontroller (13) via the general purpose input/output connection (14).

Abstract: There is disclosed a motor vehicle electronic control unit casing. The casing includes a housing (1) for electronic components, and a cover (15). The housing and cover (15) are inter-engageable. The housing (1) has a base (2), and an upstanding peripheral side wall (3) defining a peripheral edge (4) in spaced relation to the base (2) and which extends around an access opening of the housing. The cover (15) has a closure part (16) and is configured to close the access opening via engagement between the closure part (16) and the housing (1) around the peripheral edge (4). The cover (15) also has a mounting portion configured to be mounted to a mounting surface (27) in a motor vehicle.

Abstract: A method of securing operating instructions for a driver assistance system of a motor vehicle. The method including: a) implementing a distributed blockchain including a plurality of blocks, a copy of the blockchain being stored on each of a plurality of nodes. Wherein, each block includes a different version of the operating instructions. b) performing a verification routine including checking that the copies of the blockchain are identical. And, where a fault copy of the blockchain is not identical, flagging the fault copy as insecure. And preventing use of the fault copy, thus preventing installation of the operating instructions comprised in the blocks of the fault copy.

Abstract: A motor vehicle vision system (10) includes a pair of imaging devices (12a, 12b) forming a stereo imaging apparatus (11) and a data processing apparatus (14) for rectification of images captured by the stereo imaging apparatus (11), matching of rectified images, and to detect an object in the surrounding of the motor vehicle. The data processing device (14) performs, for image elements (43) of a rectified image from one imaging device, a search for a best-matching image element (44?) in the corresponding rectified image from the other imaging device. The search yielding vertical shift information from which a vertical shift from the image element (43) to the best-matching image element (44?) is derivable. The data processing device (14) calculates a pitch angle error and/or a roll angle error of or between the imaging devices (12a, 12b) from the vertical shift information.

Abstract: A motor vehicle vision system (10) including a stereo imaging system (11) and a data processing device (14) establishing an object detector (15) to detect an object and a tracker (16). The data processing device (14) calculates a size related value and a disparity related value for the object. An analysis section (20) performs an analysis on a group of at least five data points corresponding to different times, each data point includes a size related value and a disparity related value. The analysis uses predetermined regression function having at least one variable, and yields a best value for each variable corresponding to a best match of the regression function to the data points. The analysis section (20) calculates from a best value a systematic error in the disparity related values and/or in the size related values.

Abstract: A driver assistance apparatus and method for a driver assistance apparatus for verifying the safe operation of the apparatus. It is important to verify that operating instructions that dictate the operation of a driver assistance system are verified. The apparatus includes a safety electronic control unit and the safety electronic control unit includes operating instructions stored thereon that dictate the operation of the safety electronic control unit. The safety electronic control unit further includes a verified hash storage for storing a verified hash value of at least a portion of the operating instructions. The safety electronic control unit is configured to implement a verification routine, which includes calculating, using a hash function, a test hash value of the at least a portion of the operating instructions; comparing the test hash value with the verified hash value, and if the test hash value is not equal to the verified hash value, performing a safety routine.

Abstract: A vehicle environment detection system (40) in an ego vehicle (1), including a sensor arrangement (4) and a main control unit (8) is arranged to detect and track at least one oncoming vehicle (9), and to determine whether the ego vehicle (1) has entered a curve (17). The main control unit (8) is arranged to determine a common curve (12) with a radius (R), along which common curve (12) the ego vehicle (1) is assumed to travel,determine a measured oncome direction (13, 13?) of the oncoming vehicle (9) on the common curve (16), corresponding to an outcome angle (?track), determine a difference angle (?) between the measured oncome direction (13, 13?) and an oncome direction (13) corresponding to if the oncoming vehicle (9) would be moving along the common curve (12), compare the difference angle (?) with a threshold angle (?max), and to determine that the oncoming vehicle (9) is crossing if the difference angle (?) exceeds the threshold angle (?max).

Abstract: Mechanisms for detection of a target vehicle without V2V capability. The method includes obtaining sensor data from at least one on-board sensor of an ego vehicle. The sensor data indicates presence of the target vehicle within sensing range of the at least one on-board sensor. The method includes determining that the target vehicle is without V2V capability by comparing the sensor data to output data from a V2V system of the ego vehicle. The method includes determining, based on the sensor data and on current positioning data of the ego vehicle, fusion data representing at least one of current position, current direction and current speed of the target vehicle. The method includes wirelessly transmitting the fusion data of the target vehicle.

Abstract: A vehicle radar system (3) including a control unit arrangement (8) and at least one radar sensor arrangement (4) arranged to acquire a plurality of measured radar detections (zt, zt+1) at different times. The control unit arrangement (8) engages a tracking algorithm using the present measured radar detections (zt, zt+1) as input. For each track, for each one of a plurality of measured radar detections (zt, zt+1), the control unit arrangement (8) calculates a corresponding predicted detection (xt|t?1|, xt+1|t|) and a corrected predicted detection (xt|t|, xt+1|t+1|), and calculates an innovation vector (19, 19) constituted by a first vector type (18a, ??) and a second vector type (18b, ?r). The control unit arrangement (8) calculates a statistical distribution (24; ?inno,?, ?inno,r) for at least one of the vector types (18a, ??; 18b, ?r) and to determine how it is related to another statistical distribution (25; ?meas,?, ?meas,r); and/or to determine its symmetrical characteristics.

Abstract: A vehicle radar sensor unit (2) arranged to acquire a plurality of radar detections, and including an antenna arrangement (3), a transmitter unit (4), a receiver unit (5) and a processing unit (6). The antenna arrangement (3) has at least two transmitter antennas (7, 8) and at least two receiver antennas (9, 10, 11, 12), where two transmitter antennas (7, 8) have a vertical spacing (h) between their respective phase centers (17, 18) that exceeds half the free-space wavelength of the transmitted signal. The processing unit (5) is arranged to determine a first radial velocity of each radar detection by tracking the change of radial distance (r) to each radar detection for a plurality of radar cycles; determine a second radial velocity that best matches the first radial velocity; track a plurality of measured heights (z) as a function of radial distance (r); and to choose a measured height (zGT) among the tracked measured heights (z) that has a minimal change from radar cycle to radar cycle.

Abstract: The present disclosure relates to a vehicle environment detection system arranged to detect at least one detection and comprises at least one radar system, at least one camera device and at least one processing unit. For each radar detection at least one azimuth detection angle with respect to an x-axis and a detected Doppler velocity component that is constituted by detected Doppler velocity with respect to the radar system are obtained. For each detection, said processing unit is arranged to: Obtain corresponding camera detections for at least two image frames, constituting an optical flow. Determine a velocity y-component from said optical flow, where the velocity y-component is constituted by a projection of a resulting velocity onto a y-axis that extends perpendicular to the x-axis. Determine the resulting velocity from the detected Doppler velocity component and the velocity y-component.

Abstract: A vehicle radar system (2) having a radar detector (3) arranged to detect at least one stationary object (10) a plurality of times when a vehicle (1) moves in relation to it. A plurality of detected positions (11, 12, 13) are obtained in a local coordinate system (15), fixed with respect to the radar detector (3). The object (10) is stationary with respect to a global coordinate system (16), fixed with respect to the environment. A position detector (14) is arranged to detect its present movement conditions with reference to the global coordinate system (16). Correction factors are applied on each detected position of the object in the local coordinate system (15). Obtained corrected detected positions are then transformed into the global coordinate system (16) and an error/cost value is calculated for each correction factor. The correction factor that results in the smallest error/cost value is chosen.

Abstract: To provide a control apparatus of a protection apparatus, which, with a simple configuration and excluding side face collisions as well as head-on collisions, favorably detects an offset collision or diagonal collision, and then activates a suitable protection apparatus for protecting the side or head of a passenger at a timing in accordance with the degree of collision, in addition to providing a method for controlling a protection apparatus. The control apparatus (101) includes: an ECU (1); satellite sensors (2, 3) for detecting a first acceleration in the longitudinal direction of a vehicle; and a main sensor (13) for detecting a second acceleration in the longitudinal direction thereof, and a third acceleration in the width direction thereof.

Abstract: A vehicle radar system (3) including a control unit arrangement (8) and at least one radar sensor arrangement (4) arranged to transmit signals (6) and receive reflected signals (7). The vehicle radar system (3) acquires a plurality of measured radar detections (10, 11, 12, 13) at different times. The control unit arrangement (8) engages a tracking algorithm using the present measured radar detections (10, 11, 12, 13) as input such that at least one track is initialized. For each track, the control unit arrangement (8) calculates a calculated previous radar detection (14) that precedes the present measured radar detections (10, 11, 12, 13), and to re-initialize the tracking algorithm using the present measured radar detections (10, 11, 12, 13) in combination with the calculated previous radar detection (14).