Patents by Inventor Christopher Unverdorben

Christopher Unverdorben has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).

  • Patent number: 12061285
    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.
    Type: Grant
    Filed: October 24, 2018
    Date of Patent: August 13, 2024
    Assignee: Arriver Software AB
    Inventors: Andreas Schmid, Christopher Unverdorben, Christian Pfaffenzeller
  • Patent number: 12024175
    Abstract: A vehicle environment detection system in an ego vehicle, including a sensor arrangement and a main control unit is arranged to detect and track at least one oncoming vehicle, and to determine whether the ego vehicle has entered a curve. The main control unit is arranged to determine a common curve with a radius, along which common curve the ego vehicle is assumed to travel, determine a measured oncome direction of the oncoming vehicle on the common curve, corresponding to an oncome angle, determine a difference angle between the measured oncome direction and an oncome direction corresponding to if the oncoming vehicle would be moving along the common curve, compare the difference angle with a threshold angle, and to determine that the oncoming vehicle is crossing if the difference angle exceeds the threshold angle.
    Type: Grant
    Filed: July 11, 2022
    Date of Patent: July 2, 2024
    Assignee: Arriver Software AB
    Inventors: Michael Maas, Andreas Schmid, Christopher Unverdorben
  • Patent number: 11585895
    Abstract: A sensor signal processing unit (100) arranged to detect a configuration of parking slots (1a,1b,1c,1d) based on radar detections received from a radar-based sensor system (120). The unit includes a histogram unit arranged to generate a representation of a spatial distribution of a set of radar detection coordinates, and a detection unit arranged to detect the configuration of parking slots. The detection unit is arranged to detect the configuration of parking slots based on a Fourier transform of the representation of spatial distribution.
    Type: Grant
    Filed: October 24, 2018
    Date of Patent: February 21, 2023
    Assignee: Veoneer Sweden AB
    Inventors: Andreas Schmid, Christopher Unverdorben, Christian Pfaffenzeller
  • Publication number: 20220348209
    Abstract: A vehicle environment detection system in an ego vehicle, including a sensor arrangement and a main control unit is arranged to detect and track at least one oncoming vehicle, and to determine whether the ego vehicle has entered a curve. The main control unit is arranged to determine a common curve with a radius, along which common curve the ego vehicle is assumed to travel, determine a measured oncome direction of the oncoming vehicle on the common curve, corresponding to an oncome angle, determine a difference angle between the measured oncome direction and an oncome direction corresponding to if the oncoming vehicle would be moving along the common curve, compare the difference angle with a threshold angle, and to determine that the oncoming vehicle is crossing if the difference angle exceeds the threshold angle.
    Type: Application
    Filed: July 11, 2022
    Publication date: November 3, 2022
    Inventors: Michael MAAS, Andreas SCHMID, Christopher UNVERDORBEN
  • Patent number: 11433900
    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).
    Type: Grant
    Filed: June 5, 2018
    Date of Patent: September 6, 2022
    Assignee: Arriver Software AB
    Inventors: Michael Maas, Andreas Schmid, Christopher Unverdorben
  • Patent number: 11435474
    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). When this is the case. The main control unit (8) is arranged to, determine an ego direction (21) along which the ego vehicle (1) travels with a corresponding ego direction angle (?ego) with respect to a predetermined axis (xglob), determine a measured oncoming direction (18) of the tracked oncoming vehicle (9) with a corresponding oncoming angle (?track, glob) with respect to the predetermined axis (xglob) during a plurality of radar cycles, determine a difference angle (?) between the measured oncoming direction (18) and the ego direction (21), and 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).
    Type: Grant
    Filed: June 5, 2018
    Date of Patent: September 6, 2022
    Assignee: Arriver Software AB
    Inventors: Michael Maas, Andreas Schmid, Christopher Unverdorben
  • Patent number: 11333754
    Abstract: A vehicle environmental detection system (3) in an ego vehicle (1) and having at least one detector arrangement (4, 7) and at least one control unit arrangement (15) configured to determine a slant angle of parking slots in a parking row. The detector arrangement (4, 7) is adapted to obtain a set of detections (d(k), k=1 . . . K). For each slant angle (?n) in a set of slant angles (?n, n=1 . . . N), the control unit arrangement (15) is adapted to calculate a set of slant rotated detections (dslant(k, ?n), k=1 . . . K) by rotating coordinates of each detection in the set of detections (d(k), k=1 . . . K)) by the present slant angle (?n), calculate a projection profile (Prow(?n)) for the set of slant rotated detections (dslant(k,?n), k=1 . . . K) by determining a histogram of slant rotated detection coordinates, and to calculate an entropy (Hrow(?n)) associated with the calculated projection profile (Prow(?n)).
    Type: Grant
    Filed: October 24, 2018
    Date of Patent: May 17, 2022
    Assignee: VEONEER SWEDEN AB
    Inventors: Andreas Schmid, Christopher Unverdorben, Christian Pfaffenzeller, Hendrik Böttcher
  • Patent number: 11180137
    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).
    Type: Grant
    Filed: May 4, 2018
    Date of Patent: November 23, 2021
    Assignee: VEONEER SWEDEN AB
    Inventors: Christian Pfaffenzeller, Andreas Schmid, Christopher Unverdorben
  • Patent number: 11158192
    Abstract: A method and a system (100) for detecting parking spaces (32) suitable for a vehicle (1). In order to determine a parking space (32), radar signals (11) are directed to a plurality of vehicles (301, 302, . . . 30M) parked in a parking area (13) and also to surrounding elements (34). The radar signals (12) reflected by the parked vehicles (301, 302, . . . 30M) and also the surrounding elements (34) are processed in a computing unit (15). A gap (29) in a calculated periodicity (51) of a projection profile (24) is determined with an autoregressive prediction filter (53). A prediction error function (26) has the highest value (55) at the location of a parking space (32).
    Type: Grant
    Filed: February 11, 2019
    Date of Patent: October 26, 2021
    Assignee: VEONEER SWEDEN AB
    Inventors: Christopher Unverdorben, Andreas Schmid, Christian Pfaffenzeller, Uwe Siart
  • Publication number: 20210190942
    Abstract: A vehicle environmental detection system (3) in an ego vehicle (1) and having at least one detector arrangement (4, 7) and at least one control unit arrangement (15) configured to determine a slant angle of parking slots in a parking row. The detector arrangement (4, 7) is adapted to obtain a set of detections (d(k), k=1 . . . K). For each slant angle (an) in a set of slant angles (?n, n=1 . . . N), the control unit arrangement (15) is adapted to calculate a set of slant rotated detections (dslant(k, ?n), k=1 . . . K) by rotating coordinates of each detection in the set of detections (d(k), k=1 . . . K)) by the present slant angle (?n), calculate a projection profile (Prow(?n)) for the set of slant rotated detections (dslant(k,?n), k=1 . . . K) by determining a histogram of slant rotated detection coordinates, and to calculate an entropy (Hrow(?n)) associated with the calculated projection profile (Prow(?n)).
    Type: Application
    Filed: October 24, 2018
    Publication date: June 24, 2021
    Applicant: VEONEER SWEDEN AB
    Inventors: ANDREAS SCHMID, CHRISTOPHER UNVERDORBEN, CHRISTIAN PFAFFENZELLER, HENDRIK BÖTTCHER
  • Publication number: 20210174682
    Abstract: A method and a system (100) for detecting parking spaces (32) suitable for a vehicle (1). In order to determine a parking space (32), radar signals (11) are directed to a plurality of vehicles (301, 302, . . . 30M) parked in a parking area (13) and also to surrounding elements (34). The radar signals (12) reflected by the parked vehicles (301, 302, . . . 30M) and also the surrounding elements (34) are processed in a computing unit (15). A gap (29) in a calculated periodicity (51) of a projection profile (24) is determined with an autoregressive prediction filter (53). A prediction error function (26) has the highest value (55) at the location of a parking space (32).
    Type: Application
    Filed: February 11, 2019
    Publication date: June 10, 2021
    Applicant: VEONEER SWEDEN AB
    Inventors: CHRISTOPHER UNVERDORBEN, ANDREAS SCHMID, CHRISTIAN PFAFFENZELLER, UWE SIART
  • Patent number: 10948569
    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.
    Type: Grant
    Filed: April 27, 2017
    Date of Patent: March 16, 2021
    Assignee: VEONEER SWEDEN AB
    Inventors: Yi Zhou, Christopher Unverdorben, Michael Maas
  • Publication number: 20200393541
    Abstract: A sensor signal processing unit (100) arranged to detect a configuration of parking slots (1a,1b,1c,1d) based on radar detections received from a radar-based sensor system (120). The unit includes a histogram unit arranged to generate a representation of a spatial distribution of a set of radar detection coordinates, and a detection unit arranged to detect the configuration of parking slots. The detection unit is arranged to detect the configuration of parking slots based on a Fourier transform of the representation of spatial distribution.
    Type: Application
    Filed: October 24, 2018
    Publication date: December 17, 2020
    Applicant: VEONEER SWEDEN AB
    Inventors: ANDREAS SCHMID, CHRISTOPHER UNVERDORBEN, CHRISTIAN PFAFFENZELLER
  • Publication number: 20200326411
    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.
    Type: Application
    Filed: April 27, 2017
    Publication date: October 15, 2020
    Applicant: VEONEER SWEDEN AB
    Inventors: YI ZHOU, CHRISTOPHER UNVERDORBEN, MICHAEL MAAS
  • Publication number: 20200309908
    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.
    Type: Application
    Filed: October 24, 2018
    Publication date: October 1, 2020
    Applicant: VEONEER SWEDEN AB
    Inventors: Andreas SCHMID, Christopher UNVERDORBEN, Christian PFAFFENZELLER
  • Publication number: 20200298833
    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).
    Type: Application
    Filed: May 4, 2018
    Publication date: September 24, 2020
    Applicant: VEONEER SWEDEN AB
    Inventors: CHRISTIAN PFAFFENZELLER, ANDREAS SCHMID, CHRISTOPHER UNVERDORBEN
  • Publication number: 20200198640
    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).
    Type: Application
    Filed: June 5, 2018
    Publication date: June 25, 2020
    Applicant: VEONEER SWEDEN AB
    Inventors: MICHAEL MAAS, ANDREAS SCHMID, CHRISTOPHER UNVERDORBEN
  • Publication number: 20200132833
    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). When this is the case. The main control unit (8) is arranged to, determine an ego direction (21) along which the ego vehicle (1) travels with a corresponding ego direction angle (?ego) with respect to a predetermined axis (xglob), determine a measured oncoming direction (18) of the tracked oncoming vehicle (9) with a corresponding oncoming angle (?track, glob) with respect to the predetermined axis (xglob) during a plurality of radar cycles, determine a difference angle (?) between the measured oncoming direction (18) and the ego direction (21), and 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).
    Type: Application
    Filed: June 5, 2018
    Publication date: April 30, 2020
    Applicant: VEONEER SWEDEN AB
    Inventors: MICHAEL MAAS, ANDREAS SCHMID, CHRISTOPHER UNVERDORBEN
  • Publication number: 20200082014
    Abstract: Methods and systems for classification of remote objects from within a host vehicle. In some implementations, the method may comprise using a RADAR sensor within a host vehicle to obtain data of a first property of a remote object. The data may then be filtered to obtain a subset of data, such as a predetermined number of data points comprising extrema data points in the data set. A statistical analysis may be performed using the subset of data and the remote object may be classified as one of a plurality of distinct object types using the results of the statistical analysis.
    Type: Application
    Filed: September 12, 2018
    Publication date: March 12, 2020
    Inventors: Christopher Unverdorben, Robert Schneider, Hendrik Bottcher