WO2020239381A2 - Dispositif et procédé d'identification d'objet dans la zone sous la caisse d'un véhicule à moteur - Google Patents

Dispositif et procédé d'identification d'objet dans la zone sous la caisse d'un véhicule à moteur Download PDF

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Publication number
WO2020239381A2
WO2020239381A2 PCT/EP2020/062634 EP2020062634W WO2020239381A2 WO 2020239381 A2 WO2020239381 A2 WO 2020239381A2 EP 2020062634 W EP2020062634 W EP 2020062634W WO 2020239381 A2 WO2020239381 A2 WO 2020239381A2
Authority
WO
WIPO (PCT)
Prior art keywords
motor vehicle
radar
sensor
underbody
radar sensor
Prior art date
Application number
PCT/EP2020/062634
Other languages
German (de)
English (en)
Other versions
WO2020239381A3 (fr
Inventor
Thorben Günzel
Torsten Büschenfeld
Stephan Max
Original Assignee
Volkswagen Aktiengesellschaft
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Volkswagen Aktiengesellschaft filed Critical Volkswagen Aktiengesellschaft
Publication of WO2020239381A2 publication Critical patent/WO2020239381A2/fr
Publication of WO2020239381A3 publication Critical patent/WO2020239381A3/fr

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Classifications

    • 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
    • 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
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/08—Systems for measuring distance only
    • G01S13/10—Systems for measuring distance only using transmission of interrupted, pulse modulated waves
    • 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
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/08—Systems for measuring distance only
    • G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
    • G01S13/34—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
    • 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
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/52—Discriminating between fixed and moving objects or between objects moving at different speeds
    • G01S13/522—Discriminating between fixed and moving objects or between objects moving at different speeds using transmissions of interrupted pulse modulated waves
    • 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
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/52—Discriminating between fixed and moving objects or between objects moving at different speeds
    • G01S13/536—Discriminating between fixed and moving objects or between objects moving at different speeds using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves
    • 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
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/52—Discriminating between fixed and moving objects or between objects moving at different speeds
    • G01S13/56—Discriminating between fixed and moving objects or between objects moving at different speeds for presence detection
    • 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
    • G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
    • 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
    • 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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • G01S7/415—Identification of targets based on measurements of movement associated with the target
    • 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
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/04—Systems determining presence of a target
    • 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
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/42—Simultaneous measurement of distance and other co-ordinates
    • G01S13/426—Scanning radar, e.g. 3D radar
    • 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
    • G01S13/862—Combination of radar systems with sonar systems
    • 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
    • G01S2013/9315—Monitoring blind spots
    • 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
    • G01S2013/9319—Controlling the accelerator
    • 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
    • G01S2013/9327—Sensor installation details
    • 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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/027—Constructional details of housings, e.g. form, type, material or ruggedness
    • 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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • G01S7/411—Identification of targets based on measurements of radar reflectivity
    • G01S7/412—Identification of targets based on measurements of radar reflectivity based on a comparison between measured values and known or stored values

Definitions

  • the invention relates to a device and a method for object recognition in
  • Ultrasonic sensor device for a motor vehicle is known, in which an ultrasonic signal is transmitted into a floor area below the motor vehicle and an ultrasonic signal is received from the floor area and by means of a control device based on the
  • the ultrasonic signal with a first ultrasonic sensor is the
  • Transmitted ultrasonic sensor device and the transmitted from the first ultrasonic sensor and reflected on a road surface in the ground area
  • Ultrasonic sensor received the ultrasonic signal detected the object.
  • the portion of the ultrasonic signal received by the second ultrasonic sensor is preferably stored after the motor vehicle has been parked and the portion of the from the second
  • Ultrasonic sensor received ultrasonic signal determined again at a later point in time and compared with the stored portion.
  • a similar method is known from DE 10 2017 111 931 A1, but instead of ultrasound optical signals are used to detect an object.
  • the device for object detection in the underbody area of a motor vehicle has a sensor system and an evaluation unit, the sensor system being designed as at least one radar sensor which is arranged on the motor vehicle in such a way as to emit and reflect radar radiation in the underbody area between the motor vehicle and the floor
  • the evaluation unit is designed to detect the movement of an object on the basis of a detected Doppler shift.
  • the device is thus possible, in particular, to detect living beings such as sleeping cats, because their breathing and heartbeat lead to a slight movement of the body, which can be detected as a Doppler shift.
  • classic objects e.g. a ball
  • the measurement should be carried out for a certain time in order to avoid the slow
  • the measurement does not yet provide any distance information, although the power of the radar sensor is preferably set in such a way that only objects a few meters further than the motor vehicle generate significant reflection signals, since a cat 20 m away is not a relevant object represents more.
  • the radar sensor is designed to work in FMCW or pulse mode.
  • a transit time can also be determined and a distance measurement can also be made.
  • the radar sensor is arranged on the underbody of the motor vehicle.
  • the radar sensor preferably has as large a radiation angle as possible in order to scan the underbody area as broadly as possible.
  • the radar sensor is designed to be retractable into the sub-floor.
  • it can be protected from damage while driving.
  • this is not mandatory, as it is another advantage over an ultrasonic sensor is that radar sensors are more flexible in terms of installation and can, for example, be installed behind radar-permeable parts.
  • the radar sensor is designed to be rotatable, so that complete scanning of the underbody area is facilitated. It can be provided that the radar sensor can be rotated through predetermined angular ranges and the
  • two radar sensors are provided, a first radar sensor being arranged in the front area of the underbody and a second radar sensor in the rear area of the underbody.
  • the front radar sensor shines to the rear, whereas the rear radar sensor shines to the front. In this way, too, full-surface scanning can easily be guaranteed.
  • the evaluation unit is designed in such a way, a
  • the evaluation unit can prevent the start of the journey and, if necessary, generate warning signals.
  • an acoustic or optical device can be installed to warn or scare away the object.
  • a user can be informed that the automated journey cannot be started due to an object.
  • the warnings described above can also be used in a conventional, manually operated motor vehicle.
  • the device has at least one further sensor system to detect objects in the underbody area and / or in the vicinity of the motor vehicle, the evaluation unit being designed to verify the data from the at least one radar sensor using the data from the further sensor system .
  • 1 shows a schematic representation of a device for object recognition in a first embodiment
  • 2 shows a schematic representation of a device for object recognition in a second embodiment.
  • a motor vehicle 1 is shown schematically in FIG. 1.
  • the motor vehicle 1 has a front side F and a rear side R. Furthermore, the motor vehicle 1 has tires 2 by means of which the motor vehicle 1 stands on a floor 3, so that an underbody area 5 is formed between an underbody 4 of the motor vehicle 1 and the floor 3.
  • the motor vehicle 1 has a device 6 for object recognition in the underbody area 5, which has a radar sensor 7 and an evaluation unit 8.
  • the radar sensor 7 is designed to be retractable and extendable in the sub-floor 4 and to be rotatable, which is indicated by the broken lines and the arrow.
  • the evaluation unit 8 is connected to a further control device 9.
  • Objects O, in particular animals, in the underbody area are intended to be detected by means of the device 6 in order to prevent injury to the objects O when the motor vehicle 1 starts up.
  • the radar sensor 7 is extended and emits radar beams
  • the radiation angle of the radar sensor 7 is as large as possible.
  • Radar sensor 7 detects the reflected radar radiation and transmits it to the
  • Evaluation unit 8 If the radar radiation hits a living object O, breathing and the heartbeat result in regular movement of the object O. This movement leads to a Doppler shift in the recorded radar signal, whereby the object O is on the radar -Sensor 7 moved too and sometimes moved away. This Doppler movement is recorded in the evaluation unit 8. If an object O is then detected, the
  • Control device 9 a warning device can be controlled to generate an acoustic horn signal. A motor vehicle driver can also be informed. Furthermore, the control device 9 can be designed to prevent the motor vehicle 1 from starting, which is important in particular in the case of motor vehicles 1 that drive automatically.
  • the radar sensor 7 is preferably designed to work in FMCW mode, as such
  • a radar image of the underbody area 5 can be recorded and stored as a reference. Before the motor vehicle 1 is started, the current radar image can then be compared with this reference.
  • data from further sensors 10 can be used, which are designed, for example, as ultrasonic sensors or cameras, in order to detect the immediate vehicle surroundings or also the underbody area 5.
  • FIG. 2 An alternative embodiment is shown in FIG. 2, which has two radar sensors 7, a first radar sensor 7 being arranged in the front area of the underbody 4 and a second radar sensor 7 in the rear area of the underbody 4.
  • the radar sensors 7 are preferably arranged in the center of the underbody 4 and arranged, for example, between the wheels 2 of an axle or even further forward or backward, in order to also detect objects O in front of the front wheels or behind the rear wheels. Otherwise, reference can be made in full to the explanations relating to FIG. 1.

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

L'invention concerne un dispositif (6) d'identification d'objet dans la zone sous la caisse (5) d'un véhicule à moteur (4). Le dispositif (6) comporte un mécanisme de détection et une unité d'évaluation (8). Le mécanisme de détection est réalisé sous la forme d'au moins un capteur radar (7), qui est disposé sur le véhicule à moteur (1) de manière à émettre un rayonnement radar dans la zone sous la caisse (5) entre le véhicule à moteur (1) et le plancher (3) et à recevoir le rayonnement radar réfléchi. L'unité d'évaluation (8) est réalisée de manière à détecter à l'aide d'un décalage Doppler le déplacement d'un objet (O).
PCT/EP2020/062634 2019-05-24 2020-05-06 Dispositif et procédé d'identification d'objet dans la zone sous la caisse d'un véhicule à moteur WO2020239381A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102019207674.2A DE102019207674A1 (de) 2019-05-24 2019-05-24 Vorrichtung und Verfahren zur Objekterkennung im Unterbodenbereich eines Kraftfahrzeugs
DE102019207674.2 2019-05-24

Publications (2)

Publication Number Publication Date
WO2020239381A2 true WO2020239381A2 (fr) 2020-12-03
WO2020239381A3 WO2020239381A3 (fr) 2021-01-21

Family

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PCT/EP2020/062634 WO2020239381A2 (fr) 2019-05-24 2020-05-06 Dispositif et procédé d'identification d'objet dans la zone sous la caisse d'un véhicule à moteur

Country Status (2)

Country Link
DE (1) DE102019207674A1 (fr)
WO (1) WO2020239381A2 (fr)

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102017111932A1 (de) 2017-05-31 2018-12-06 Valeo Schalter Und Sensoren Gmbh Verfahren zum Betreiben einer Ultraschallsensorvorrichtung für ein Kraftfahrzeug zum Überwachen eines Bodenbereichs unterhalb des Kraftfahrzeugs, Ultraschallsensorvorrichtung, Fahrerassistenzsystem sowie Kraftfahrzeug
DE102017111931A1 (de) 2017-05-31 2018-12-06 Valeo Schalter Und Sensoren Gmbh Verfahren zum Überwachen eines Bodenbereichs unterhalb eines Kraftfahrzeugs mittels einer optischen Sensoreinrichtung, Sensorvorrichtung, Fahrerassistenzsystem sowie Kraftfahrzeug

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102009033236A1 (de) * 2009-07-14 2011-01-20 Conductix-Wampfler Ag Vorrichtung zur induktiven Übertragung elektrischer Energie
DE102014010381A1 (de) * 2014-07-12 2016-01-14 Audi Ag Verfahren zum Betrieb eines Fahrzeugsystems eines Kraftfahrzeugs zum Schutz vor Beschädigungen durch Unebenheiten des Untergrunds und Kraftfahrzeug
DE102014222486A1 (de) * 2014-11-04 2016-05-04 Robert Bosch Gmbh Verfahren zur Überwachung einer induktiven Übertragungsstrecke und Ladesystem zum induktiven Laden eines Elektrofahrzeuges
US11054514B2 (en) * 2017-11-22 2021-07-06 Magna Closures Inc. Radar beam forming shield for motor vehicle

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102017111932A1 (de) 2017-05-31 2018-12-06 Valeo Schalter Und Sensoren Gmbh Verfahren zum Betreiben einer Ultraschallsensorvorrichtung für ein Kraftfahrzeug zum Überwachen eines Bodenbereichs unterhalb des Kraftfahrzeugs, Ultraschallsensorvorrichtung, Fahrerassistenzsystem sowie Kraftfahrzeug
DE102017111931A1 (de) 2017-05-31 2018-12-06 Valeo Schalter Und Sensoren Gmbh Verfahren zum Überwachen eines Bodenbereichs unterhalb eines Kraftfahrzeugs mittels einer optischen Sensoreinrichtung, Sensorvorrichtung, Fahrerassistenzsystem sowie Kraftfahrzeug

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Publication number Publication date
DE102019207674A1 (de) 2020-11-26
WO2020239381A3 (fr) 2021-01-21

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