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).
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Patent number: 12061285Abstract: 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: GrantFiled: October 24, 2018Date of Patent: August 13, 2024Assignee: Arriver Software ABInventors: Andreas Schmid, Christopher Unverdorben, Christian Pfaffenzeller
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Patent number: 12024175Abstract: 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: GrantFiled: July 11, 2022Date of Patent: July 2, 2024Assignee: Arriver Software ABInventors: Michael Maas, Andreas Schmid, Christopher Unverdorben
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Patent number: 11585895Abstract: 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: GrantFiled: October 24, 2018Date of Patent: February 21, 2023Assignee: Veoneer Sweden ABInventors: Andreas Schmid, Christopher Unverdorben, Christian Pfaffenzeller
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Publication number: 20220348209Abstract: 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: ApplicationFiled: July 11, 2022Publication date: November 3, 2022Inventors: Michael MAAS, Andreas SCHMID, Christopher UNVERDORBEN
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Patent number: 11433900Abstract: 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: GrantFiled: June 5, 2018Date of Patent: September 6, 2022Assignee: Arriver Software ABInventors: Michael Maas, Andreas Schmid, Christopher Unverdorben
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Patent number: 11435474Abstract: 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: GrantFiled: June 5, 2018Date of Patent: September 6, 2022Assignee: Arriver Software ABInventors: Michael Maas, Andreas Schmid, Christopher Unverdorben
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Patent number: 11333754Abstract: 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: GrantFiled: October 24, 2018Date of Patent: May 17, 2022Assignee: VEONEER SWEDEN ABInventors: Andreas Schmid, Christopher Unverdorben, Christian Pfaffenzeller, Hendrik Böttcher
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Patent number: 11180137Abstract: 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: GrantFiled: May 4, 2018Date of Patent: November 23, 2021Assignee: VEONEER SWEDEN ABInventors: Christian Pfaffenzeller, Andreas Schmid, Christopher Unverdorben
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Patent number: 11158192Abstract: 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: GrantFiled: February 11, 2019Date of Patent: October 26, 2021Assignee: VEONEER SWEDEN ABInventors: Christopher Unverdorben, Andreas Schmid, Christian Pfaffenzeller, Uwe Siart
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Publication number: 20210190942Abstract: 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: ApplicationFiled: October 24, 2018Publication date: June 24, 2021Applicant: VEONEER SWEDEN ABInventors: ANDREAS SCHMID, CHRISTOPHER UNVERDORBEN, CHRISTIAN PFAFFENZELLER, HENDRIK BÖTTCHER
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Publication number: 20210174682Abstract: 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: ApplicationFiled: February 11, 2019Publication date: June 10, 2021Applicant: VEONEER SWEDEN ABInventors: CHRISTOPHER UNVERDORBEN, ANDREAS SCHMID, CHRISTIAN PFAFFENZELLER, UWE SIART
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Patent number: 10948569Abstract: 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: GrantFiled: April 27, 2017Date of Patent: March 16, 2021Assignee: VEONEER SWEDEN ABInventors: Yi Zhou, Christopher Unverdorben, Michael Maas
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Publication number: 20200393541Abstract: 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: ApplicationFiled: October 24, 2018Publication date: December 17, 2020Applicant: VEONEER SWEDEN ABInventors: ANDREAS SCHMID, CHRISTOPHER UNVERDORBEN, CHRISTIAN PFAFFENZELLER
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Publication number: 20200326411Abstract: 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: ApplicationFiled: April 27, 2017Publication date: October 15, 2020Applicant: VEONEER SWEDEN ABInventors: YI ZHOU, CHRISTOPHER UNVERDORBEN, MICHAEL MAAS
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Publication number: 20200309908Abstract: 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: ApplicationFiled: October 24, 2018Publication date: October 1, 2020Applicant: VEONEER SWEDEN ABInventors: Andreas SCHMID, Christopher UNVERDORBEN, Christian PFAFFENZELLER
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Publication number: 20200298833Abstract: 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: ApplicationFiled: May 4, 2018Publication date: September 24, 2020Applicant: VEONEER SWEDEN ABInventors: CHRISTIAN PFAFFENZELLER, ANDREAS SCHMID, CHRISTOPHER UNVERDORBEN
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Publication number: 20200198640Abstract: 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: ApplicationFiled: June 5, 2018Publication date: June 25, 2020Applicant: VEONEER SWEDEN ABInventors: MICHAEL MAAS, ANDREAS SCHMID, CHRISTOPHER UNVERDORBEN
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Publication number: 20200132833Abstract: 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: ApplicationFiled: June 5, 2018Publication date: April 30, 2020Applicant: VEONEER SWEDEN ABInventors: MICHAEL MAAS, ANDREAS SCHMID, CHRISTOPHER UNVERDORBEN
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Publication number: 20200082014Abstract: 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: ApplicationFiled: September 12, 2018Publication date: March 12, 2020Inventors: Christopher Unverdorben, Robert Schneider, Hendrik Bottcher