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1. 发明授权

US11585895B2 Detection of parking slot configuration based on repetitive patterns 有权
公开(公告)号：US11585895B2
公开(公告)日：2023-02-21
申请号：US16763192
申请日：2018-10-24
申请人： VEONEER SWEDEN AB
发明人： Andreas Schmid , Christopher Unverdorben , Christian Pfaffenzeller
IPC分类号： G01S7/41 , G01S13/00 , G01S13/931 , G01S7/00
摘要： 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.

2. 发明授权

US11435474B2 Vehicle system for detection of oncoming vehicles 有权
公开(公告)号：US11435474B2
公开(公告)日：2022-09-06
申请号：US16619785
申请日：2018-06-05
申请人： VEONEER SWEDEN AB
发明人： Michael Maas , Andreas Schmid , Christopher Unverdorben
IPC分类号： B60L3/00 , G01S13/931 , B60T8/1755 , B60W30/09 , B60W30/095
摘要： 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 (γego) with respect to a predetermined axis (xglob), determine a measured oncoming direction (18) of the tracked oncoming vehicle (9) with a corresponding oncoming angle (θtrack, glob) with respect to the predetermined axis (xglob) during a plurality of radar cycles, determine a difference angle (δ) between the measured oncoming direction (18) and the ego direction (21), and compare the difference angle (δ) with a threshold angle (θmax), and to determine that the oncoming vehicle (9) is crossing if the difference angle (δ) exceeds the threshold angle (θmax).

3. 发明授权

US11292464B2 Apparatus for a driver assistance system 有权
公开(公告)号：US11292464B2
公开(公告)日：2022-04-05
申请号：US16482302
申请日：2018-02-12
申请人： VEONEER SWEDEN AB
发明人： Sylvia Pietzsch , Eugen Schaefer
IPC分类号： G06T7/00 , B60W30/12 , G06T7/246 , G06T7/73 , G06K9/00 , G08G1/16 , B60W30/14 , B60W50/00
摘要： A driver assistance apparatus being configured to determine an object position sequence for each of a plurality of objects and generate an object track to approximate each respective object position sequence. The apparatus also sorts the object tracks in to at least one object group according to the value of at least one parameter of each of the object tracks. For each object group, a swarm function is generated to approximate the object position sequences of the object tracks that are members of the respective object group. A swarm lane is generated according to each the swarm function, the swarm lane portion representing a portion of a lane. A corresponding method is also provided.

4. 发明授权

US11262459B2 Enhanced object position detection 有权
公开(公告)号：US11262459B2
公开(公告)日：2022-03-01
申请号：US16493434
申请日：2018-03-14
申请人： VEONEER SWEDEN AB , Olof Eriksson , Tobias Aderum , Driouichi Chafik , Meifang Zhu
发明人： Olof Eriksson , Tobias Aderum , Driouichi Chafik , Meifang Zhu
IPC分类号： G01S19/51 , H04W4/46 , B60W30/095 , G01S19/48 , G08G1/16 , G01S5/00 , G01S5/02 , H04L43/0864 , H04W56/00 , G01S19/39 , B60R21/01 , B60R21/0134 , B60R21/231 , B60R21/36 , B60R22/48 , G08G1/01 , G05D1/00 , G05D1/02 , G08G1/00 , G01S13/87
摘要： A position estimation unit (2) comprising a first transceiver device (3) and a processing unit (10) that is arranged to repeatedly calculate time-of-flight (TOF) for radio signals (x1, x2, x3, x4, x5, x6) sent pair-wise between two transceivers among the first transceiver device (3) and at least two other transceiver devices (7, 8, 9); calculate possible positions for the transceiver devices (3, 7, 8, 9), which results in possible positions for each transceiver device (3, 7, 8, 9); and perform Multidimensional scaling (MDS) calculation in order to obtain relative positions of the transceiver devices (3, 7, 8, 9) in a present coordinate system. After two initial MDS calculations, between every two consecutive MDS calculations, the processing unit (10) is arranged to repeatedly perform a processing procedure comprising translation, scaling and rotation of present coordinate system such that a corrected present coordinate system is acquired. The processing procedure is arranged to determine the corrected present coordinate system such that a smallest change for the relative positions of the transceiver devices (3, 7, 8, 9) between the consecutive MDS calculations is obtained.

5. 发明授权

US11158192B2 Method and system for detecting parking spaces which are suitable for a vehicle 有权
公开(公告)号：US11158192B2
公开(公告)日：2021-10-26
申请号：US16975853
申请日：2019-02-11
申请人： VEONEER SWEDEN AB
发明人： Christopher Unverdorben , Andreas Schmid , Christian Pfaffenzeller , Uwe Siart
IPC分类号： G08G1/14 , G01S7/41 , G01S13/931
摘要： 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).

6. 发明申请

US20210237743A1 DRIVER ATTENTIVENESS DETECTION METHOD AND DEVICE 有权
公开(公告)号：US20210237743A1
公开(公告)日：2021-08-05
申请号：US16768843
申请日：2018-11-16
申请人： VEONEER SWEDEN AB
发明人： OLA BOSTRÖM
IPC分类号： B60W40/08 , B60W50/14 , B60W40/04 , G06K9/00
摘要： A vehicle safety system (37) includes at least one image sensor device (17), a control unit arrangement (5, 20, 22) and at least one warning device (11, 12). The image sensor device (17) is arranged to detect eye configurations of a vehicle driver (19). When the warning device (11, 12) is initiated to emit a first warning signal, the control unit arrangement (5, 20, 22) is arranged to determine if the vehicle driver (19) at least partly is looking outside a warning area (24, 25) that at least partly encompasses the warning device (11, 12), and in that case to issue a second warning signal.

7. 发明申请

US20210174682A1 METHOD AND SYSTEM FOR DETECTING PARKING SPACES WHICH ARE SUITABLE FOR A VEHICLE 有权
公开(公告)号：US20210174682A1
公开(公告)日：2021-06-10
申请号：US16975853
申请日：2019-02-11
申请人： VEONEER SWEDEN AB
发明人： CHRISTOPHER UNVERDORBEN , ANDREAS SCHMID , CHRISTIAN PFAFFENZELLER , UWE SIART
IPC分类号： G08G1/14 , G01S13/931
摘要： 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).

8. 发明授权

US11029405B2 FMCW vehicle radar system 有权
公开(公告)号：US11029405B2
公开(公告)日：2021-06-08
申请号：US15575257
申请日：2016-05-17
申请人： VEONEER SWEDEN AB
发明人： Jonathan Moss
IPC分类号： G01S13/931 , G01S7/35 , G01S13/34 , G01S13/58
摘要： A vehicle radar system having a signal generator (13) that generates a FMCW chirp signal (4) with a plurality of frequency ramps (r) running between a first frequency (fstart) and a second frequency (fstop). At the second frequency (fstop), the signal generator (13) is controlled to output an output signal (4) with an output frequency (Fout) for initializing a further frequency ramp (r′) using a frequency control signal (31) corresponding to a desired frequency (39) with an initial desired frequency part (39a) and at least one further desired frequency part (39b). The initial desired frequency part (39a) runs from the second frequency (fstop) to an intermediate frequency (fi) between the first and second frequency (fstart, fstop)), and the further desired frequency part (39b) runs from the intermediate frequency (fi) to the first frequency (fstart). The duration of the initial desired frequency part (39a) falls below the duration of the further desired frequency part (39b).

9. 发明申请

US20210149409A1 A DRIVER ASSISTANCE SYSTEM AND METHOD 有权
公开(公告)号：US20210149409A1
公开(公告)日：2021-05-20
申请号：US16627904
申请日：2018-07-04
申请人： VEONEER SWEDEN AB
发明人： HENDRIK HONSEL
IPC分类号： G05D1/02 , G08G1/16 , G01C21/36 , B60W60/00
摘要： A driver assistance system for an ego vehicle, and a method for a driver assistance system is provided. The system is configured to refine a coarse geolocation method based on the detection of the static features located in the vicinity of the ego vehicle. The system performs at least one measurement of the visual appearance of each of at least one static feature located in the vicinity of the ego vehicle. Using the at least one measurement, a position of the ego vehicle relative to the static feature is calculated. The real world position of the static feature is identified. The position of the ego vehicle relative to the static feature is calculated, which is, in turn, used to calculate a static feature measurement of the vehicle location. The coarse geolocation measurement and the static feature measurement are combined to form a fine geolocation position. By combining the measurements, a more accurate location of the ego vehicle can be determined.

10. 发明授权

US10855897B2 Imaging system for a motor vehicle 有权
公开(公告)号：US10855897B2
公开(公告)日：2020-12-01
申请号：US16493796
申请日：2018-03-19
申请人： VEONEER SWEDEN AB
发明人： Peter Fredriksson , Niklas Rundqvist
IPC分类号： H04N5/225
摘要： An imaging system for a motor vehicle, including a camera housing part (10) and at least one camera module (1) mounted at an attachment wall (12) of the camera housing part (10). The camera module (1) has a radially outwardly directed flange (5) with several radially outwardly directed protrusions (4), and a closed retainer ring (8). The protrusions (4) and/or the retainer ring (8) are elastically deformable, and the retainer ring (8) is attached by pushing it over the protrusions (4) under elastic deformation of the retainer ring (8) and/or the protrusions (4) to an attachment position. The camera module (1) is attached at the attachment wall (12) by clamping the attachment wall (12) between the retainer ring (8) and the flange (5) of the camera module (1).

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