DE102009013326A1 - Vehicle controlling method, involves producing image of object, determining object data and surrounding data from image of object, and classifying object using object data and surrounding data - Google Patents
Vehicle controlling method, involves producing image of object, determining object data and surrounding data from image of object, and classifying object using object data and surrounding data Download PDFInfo
- Publication number
- DE102009013326A1 DE102009013326A1 DE102009013326A DE102009013326A DE102009013326A1 DE 102009013326 A1 DE102009013326 A1 DE 102009013326A1 DE 102009013326 A DE102009013326 A DE 102009013326A DE 102009013326 A DE102009013326 A DE 102009013326A DE 102009013326 A1 DE102009013326 A1 DE 102009013326A1
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- vehicle
- data
- relevance
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- objects
- Prior art date
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- 238000000034 method Methods 0.000 title claims abstract description 12
- 230000007613 environmental effect Effects 0.000 claims description 9
- 238000001514 detection method Methods 0.000 description 8
- 238000012545 processing Methods 0.000 description 3
- BUHVIAUBTBOHAG-FOYDDCNASA-N (2r,3r,4s,5r)-2-[6-[[2-(3,5-dimethoxyphenyl)-2-(2-methylphenyl)ethyl]amino]purin-9-yl]-5-(hydroxymethyl)oxolane-3,4-diol Chemical compound COC1=CC(OC)=CC(C(CNC=2C=3N=CN(C=3N=CN=2)[C@H]2[C@@H]([C@H](O)[C@@H](CO)O2)O)C=2C(=CC=CC=2)C)=C1 BUHVIAUBTBOHAG-FOYDDCNASA-N 0.000 description 1
- 241001465754 Metazoa Species 0.000 description 1
- 230000004913 activation Effects 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000012552 review Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/867—Combination of radar systems with cameras
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/52—Surveillance or monitoring of activities, e.g. for recognising suspicious objects
- G06V20/54—Surveillance or monitoring of activities, e.g. for recognising suspicious objects of traffic, e.g. cars on the road, trains or boats
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/408—Radar; Laser, e.g. lidar
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/20—Road profile, i.e. the change in elevation or curvature of a plurality of continuous road segments
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/30—Road curve radius
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9325—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles for inter-vehicle distance regulation, e.g. navigating in platoons
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9329—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles cooperating with reflectors or transponders
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
Landscapes
- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- General Physics & Mathematics (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Multimedia (AREA)
- Theoretical Computer Science (AREA)
- Traffic Control Systems (AREA)
Abstract
Description
Die Erfindung betrifft ein Verfahren zur Steuerung eines Fahrzeugs, wobei mittels eines Radarsystems zumindest ein Objekt in einem Umfeld des Fahrzeugs und mittels zumindest einer Kamera ein Verlauf einer Straße erfasst werden, wobei in Abhängigkeit einer Relevanz und/oder Klassifizierung des Objekts und/oder in Abhängigkeit des Verlaufs der Straße ein Fahrerassistenzsystem des Fahrzeugs gesteuert wird.The The invention relates to a method for controlling a vehicle, wherein by means of a radar system at least one object in an environment of the vehicle and by means of at least one camera a course of a Road are detected, depending on a Relevance and / or classification of the object and / or depending on the course of the road controlled a driver assistance system of the vehicle becomes.
Aus
der
Weiterhin
ist aus der
Ferner
offenbart die
Der Erfindung liegt die Aufgabe zugrunde, ein gegenüber dem Stand der Technik verbessertes Verfahren zur Steuerung eines Fahrzeugs anzugeben.Of the Invention is based on the object, a relation to the Prior art improved method for controlling a vehicle specify.
Bei dem erfindungsgemäßen Verfahren zur Steuerung eines Fahrzeugs werden mittels eines Radarsystems zumindest ein Objekt in einem Umfeld des Fahrzeugs und mittels zumindest einer Kamera ein Verlauf einer Straße erfasst, wobei in Abhängigkeit einer Relevanz und/oder Klassifizierung des Objekts und/oder in Abhängigkeit des Verlaufs der Straße ein Fahrerassistenzsystem des Fahrzeugs gesteuert wird.at the method of the invention for control of a vehicle are at least one by means of a radar system Object in an environment of the vehicle and by means of at least one Camera detects a course of a road, depending on a relevance and / or classification of the object and / or in Dependence of the course of the road a driver assistance system the vehicle is controlled.
Erfindungsgemäß wird aus mittels des Radarsystems erfassten Daten eine Relevanz des Objekts bezüglich einer aktuellen Situation des Fahrzeugs ermittelt. Zur Überprüfung dieser Relevanz wird mittels der Kamera zumindest ein Bild des Objekts erzeugt, aus welchem Objektdaten und Umgebungsdaten ermittelt werden, anhand derer das Objekt klassifiziert wird.According to the invention from data collected by the radar system, a relevance of the object determined with respect to a current situation of the vehicle. To verify this relevance is by means of Camera generates at least one image of the object from which object data and environment data by which the object is classified becomes.
Unter der Relevanz des Objekts für die aktuelle Situation des Fahrzeugs wird verstanden, welchen Einfluss das erfasste Objekt aufgrund seiner Objekteigenschaften, wie z. B. seiner Abmessungen, Form, Position, Geschwindigkeit und/oder Relativgeschwindigkeit, und/oder aufgrund von Eigenschaften der Umgebung des Fahrzeugs, wie z. B. einer Kurvenkrümmung und/oder Breite der Fahrspur, aktuell oder zukünftig auf das Fahrzeug bzw. dessen Bewegung hat.Under the relevance of the object to the current situation of the object Vehicle is understood, which influence the detected object due to its object properties, such. B. its dimensions, shape, Position, speed and / or relative speed, and / or due to characteristics of the environment of the vehicle, such. B. a curve curvature and / or width of the lane, current or in the future on the vehicle or its movement.
Mittels des erfindungsgemäßen Verfahrens ist es in vorteilhafter Weise möglich, die mittels des Radarsystems erfassten Daten, insbesondere die Relevanz des Objekts für die aktuelle Situation des Fahrzeugs zu überprüfen und gegebenenfalls anzupassen und somit eine zuverlässige Funktion des Fahrerassistenzsystems sicherzustellen, woraus ein erhöhter Komfort und eine erhöhte Sicherheit für Insassen des Fahrzeugs resultieren.through of the method according to the invention, it is in an advantageous Possible, the data collected by the radar system, in particular the relevance of the object for the current one Situation of the vehicle to check and if necessary adapt and thus a reliable function of the driver assistance system to ensure, from which increased comfort and an increased Safety for occupants of the vehicle result.
Ausführungsbeispiele der Erfindung werden im Folgenden anhand von Zeichnungen näher erläutert.embodiments The invention will be described in more detail below with reference to drawings explained.
Dabei zeigen:there demonstrate:
Einander entsprechende Teile sind in allen Figuren mit den gleichen Bezugszeichen versehen.each other corresponding parts are in all figures with the same reference numerals Mistake.
Das
Fahrzeug
Zusätzlich
befindet sich neben der Fahrspur L in gleicher Entfernung zu dem
Fahrzeug
Mittels
des Radarsystems
Die Relevanz der Objekte O1 und O2 für das Fahrzeug F ist dabei insbesondere von deren Art und Bewegung abhängig, wobei zur Ermittlung der Relevanz die mittels des Radarsystems erfassten Daten der Objekte O1 und O2, beispielsweise deren Abmessungen, Form, Position, Geschwindigkeit und/oder Relativgeschwindigkeit mit hinterlegten Vergleichsdaten verglichen werden, wobei durch diesen Vergleich die Relevanz der Objekte O1 und O2 für das ermittelt wird.The Relevance of the objects O1 and O2 for the vehicle F is included depending in particular on their nature and movement, where to determine the relevance of those detected by the radar system Data of the objects O1 and O2, for example their dimensions, shape, Position, speed and / or relative speed with stored comparison data comparison, the relevance of this comparison Objects O1 and O2 for which is determined.
Anhand
der mittels des Radarsystems
Um
die mittels des Radarsystems
Wie
in
Die
Kamera
Weiterhin werden aus dem Bild der Umgebung als Umgebungsdaten eine Kurvenkrümmung rL der Fahrspur L, eine Breite bL der Fahrspur L, ein Objektversatz yO1L in der Fahrspur L und ein Versatz yFL des Fahrzeugs F in der Fahrspur L ermittelt. Anhand dieser Ermittlung, einer so genannten Fernbereichsspurerkennung, wird das Objekt O1 der Fahrspur L zugeordnet und eine eigene Position des Fahrzeugs F in der Fahrspur L wird bestimmt.Further, from the image of the environment as environmental data a curve curvature r L of the traffic lane L, a width L determined b the traffic lane L, an object offset y O1L in the traffic lane L, and an offset y FL of the vehicle F in the traffic lane L. On the basis of this determination, a so-called long range track recognition, the object O1 is assigned to the lane L and a separate position of the vehicle F in the lane L is determined.
Anhand
der mittels der Kamera
Zu dieser Klassifizierung der Objekte O1 und O2 werden diese mit nicht näher dargestellten hinterlegten Mustern verglichen. Diese Muster werden insbesondere bei einer Herstellung des Fahrzeugs F in einer ebenfalls nicht näher dargestellten Speichereinheit des Fahrzeugs F hinterlegt, wobei jedem dieser Muster zumindest eine Bedeutung zugewiesen ist. Durch einen Vergleich der erfassten Objektdaten der Objekte O1 und O2, insbesondere deren Abmessungen, Form und/oder Position, mit den Mustern, wird ermittelt, um welche Art von Objekt es sich bei den Objekten O1 und O2 jeweils handelt, so dass diese klassifiziert werden.To This classification of the objects O1 and O2 will not do this compared stored patterns compared. These Patterns become particularly in a production of the vehicle F in a storage unit, also not shown of the vehicle F deposited, with each of these patterns at least a meaning is assigned. By comparing the detected Object data of the objects O1 and O2, in particular their dimensions, Shape and / or position, with the patterns, is determined by which Type of object The objects O1 and O2 are each, so that these are classified.
Auch
die Relevanz der Objekte O1 und O2 wird anhand der mittels der Kamera
Anhand
dieser Klassifikation und Relevanz, d. h. anhand der mittels der
Kamera
Die Relevanz der Objekte O1, O2 ergibt sich dabei insbesondere aus der Bewegung und Position der Objekte O1, O2 in der Umgebung des Fahrzeugs F und der Bewegung des eigenen Fahrzeugs F bezüglich der Objekte O1, O2.The Relevance of the objects O1, O2 results in particular from the Movement and position of the objects O1, O2 in the vicinity of the vehicle F and the movement of the own vehicle F with respect to Objects O1, O2.
Handelt
es sich bei dem Fahrerassistenzsystem
Handelt
es sich bei dem Fahrerassistenzsystem
Aus
der Überprüfung und Anpassung der Relevanz der
Objekte O1 und O2 bezüglich der aktuellen Situation S des
Fahrzeugs F in Abhängigkeit der ermittelten Objektdaten
und Umgebungsdaten ergibt sich in besonders Gewinn bringender Weise, dass
Fehlauslösungen des Fahrerassistenzsystems
Aus
der Vermeidung derartiger Fehlauslösungen ergibt sich sowohl
ein Sicherheitsgewinn für Insassen des Fahrzeugs F als
auch für andere Verkehrsteilnehmer. Auch werden Beschädigungen
an dem Fahrzeug F, welche beispielsweise durch Kollisionen mit den
Objekten O1 und O2 hervorgerufen werden können, durch die
optimale Auslösung des Fahrerassistenzsystems
- 11
- Radarsystemradar system
- 22
- Kameracamera
- 33
- FahrerassistenzsystemDriver assistance system
- bL b l
- Breitewidth
- FF
- Fahrzeugvehicle
- LL
- Fahrspurlane
- O1O1
- Objektobject
- O2O2
- Objektobject
- RR
- StraßeStreet
- rL r L
- Kurvenkrümmungcurvature
- yFL y FL
- Versatzoffset
- yO1L y O1L
- Objektversatzobject offset
ZITATE ENTHALTEN IN DER BESCHREIBUNGQUOTES INCLUDE IN THE DESCRIPTION
Diese Liste der vom Anmelder aufgeführten Dokumente wurde automatisiert erzeugt und ist ausschließlich zur besseren Information des Lesers aufgenommen. Die Liste ist nicht Bestandteil der deutschen Patent- bzw. Gebrauchsmusteranmeldung. Das DPMA übernimmt keinerlei Haftung für etwaige Fehler oder Auslassungen.This list The documents listed by the applicant have been automated generated and is solely for better information recorded by the reader. The list is not part of the German Patent or utility model application. The DPMA takes over no liability for any errors or omissions.
Zitierte PatentliteraturCited patent literature
- - EP 1566659 A1 [0002] EP 1566659 A1 [0002]
- - US 2008/0169966 A1 [0003] US 2008/0169966 A1 [0003]
- - US 2008/0042812 A1 [0004] US 2008/0042812 A1 [0004]
Claims (5)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102009013326A DE102009013326A1 (en) | 2009-03-16 | 2009-03-16 | Vehicle controlling method, involves producing image of object, determining object data and surrounding data from image of object, and classifying object using object data and surrounding data |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102009013326A DE102009013326A1 (en) | 2009-03-16 | 2009-03-16 | Vehicle controlling method, involves producing image of object, determining object data and surrounding data from image of object, and classifying object using object data and surrounding data |
Publications (1)
Publication Number | Publication Date |
---|---|
DE102009013326A1 true DE102009013326A1 (en) | 2009-11-12 |
Family
ID=41152849
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE102009013326A Withdrawn DE102009013326A1 (en) | 2009-03-16 | 2009-03-16 | Vehicle controlling method, involves producing image of object, determining object data and surrounding data from image of object, and classifying object using object data and surrounding data |
Country Status (1)
Country | Link |
---|---|
DE (1) | DE102009013326A1 (en) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102010033774A1 (en) | 2010-08-09 | 2011-05-12 | Daimler Ag | Vehicle i.e. lorry, operating method, involves detecting environment data of vehicle environment, determining environment information from recorded camera images, and searching objects in images based on vehicle illuminations |
WO2014071939A1 (en) * | 2012-11-06 | 2014-05-15 | Conti Temic Microelectronic Gmbh | Method and device for recognising traffic signs for a vehicle |
DE102020205629A1 (en) | 2020-05-05 | 2021-11-11 | Zf Friedrichshafen Ag | Method for controlling a vehicle |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1566659A1 (en) | 2004-02-18 | 2005-08-24 | Omron Corporation | Method and device for determining the center position and extension of an object in a lidar image |
US20080042812A1 (en) | 2006-08-16 | 2008-02-21 | Dunsmoir John W | Systems And Arrangements For Providing Situational Awareness To An Operator Of A Vehicle |
US20080169966A1 (en) | 2006-08-09 | 2008-07-17 | Fujitsu Ten Limited | On-vehicle radar device |
-
2009
- 2009-03-16 DE DE102009013326A patent/DE102009013326A1/en not_active Withdrawn
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1566659A1 (en) | 2004-02-18 | 2005-08-24 | Omron Corporation | Method and device for determining the center position and extension of an object in a lidar image |
US20080169966A1 (en) | 2006-08-09 | 2008-07-17 | Fujitsu Ten Limited | On-vehicle radar device |
US20080042812A1 (en) | 2006-08-16 | 2008-02-21 | Dunsmoir John W | Systems And Arrangements For Providing Situational Awareness To An Operator Of A Vehicle |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102010033774A1 (en) | 2010-08-09 | 2011-05-12 | Daimler Ag | Vehicle i.e. lorry, operating method, involves detecting environment data of vehicle environment, determining environment information from recorded camera images, and searching objects in images based on vehicle illuminations |
WO2014071939A1 (en) * | 2012-11-06 | 2014-05-15 | Conti Temic Microelectronic Gmbh | Method and device for recognising traffic signs for a vehicle |
US10223600B2 (en) | 2012-11-06 | 2019-03-05 | Conti Temic Microelectronic Gmbh | Method and device for recognizing traffic signs for a vehicle |
DE102020205629A1 (en) | 2020-05-05 | 2021-11-11 | Zf Friedrichshafen Ag | Method for controlling a vehicle |
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