Robert Boschgmbh

Chengxuan Fu

Wilfried Feuchter

Isabelle Gentil-Kreienkamp

Dennis Hardenacke

Solomon Devakiruba Selvakumar

Oezguer Sen

Jasmine Richter

Rene Bischof

Ricardo Martins Costa

A method and to a device for processing a 3D point cloud representing surroundings, which is generated by a sensor. Initially, starting cells are identified based on ascertained starting ground points within the 3D point cloud which meet at least one predefined ground point criterion with respect to a reference plane divided into cells. Thereafter, cell planes are ascertained for the respective starting cells of the reference plane. Thereafter, estimated cell planes and ground points are ascertained for candidate cells deviating from the starting cells based on the cell planes of the starting cells, which are subsequently converted into final cell planes. As a result of such a cell growth originating from the starting cells, the cells of the reference plane are iteratively run through and processed so that the 3D point cloud is reliably classifiable into ground points and object points based on this method.

Method and device for processing a 3D point cloud representing surroundings

A method for classifying measuring points of a point cloud ascertained by at least one sensor, in particular, a point cloud ascertained from a LIDAR sensor, a radar sensor and/or a camera sensor, via a control unit. Local surface vectors to adjacent measuring points are ascertained for each measuring point of the point cloud. For each local surface vector, respectively one angle is calculated between the local surface vectors with respect to a gravity vector. A maximal surface vector having a maximal angle with respect to the gravity vector and a standardized surface vector are ascertained for each measuring point of the point cloud based on the calculated angles. Each measuring point of the point cloud includes a standardized surface vector and/or includes a maximal surface vector having an angle with respect to the gravity vector above a limiting value being classified as a non-ground point.

Method for classifying measuring points of a point cloud

A method for preparing and/or performing a steering intervention. The method includes detecting a traffic-influencing object and continuously recording object information, determining whether the object is tangential to a current trajectory of the vehicle, monitoring a lateral distance to the object or a predicted time available until a countersteering intervention is necessary before the object is reached. The method additionally includes checking whether the driver performs a countersteering intervention, for the case that the lateral distance or the available time falls below a first threshold value, of pilot controlling at least one actuator that influences the trajectory, so that a steering pretorque is applied if no steering intervention is performed by the driver, and triggering the steering actuator, so that a steering torque is applied to the steering, if the lateral distance or the available time additionally falls below a second threshold value.

Method for preparing and/or performing a steering intervention that assists the driver of a vehicle

A method for adapting a vehicle velocity of a vehicle, the method including determining a required steering torque for guiding the vehicle along a curved driving trajectory, and ascertaining a permissible velocity of the vehicle for guiding the vehicle along the curved driving trajectory using the required steering torque and an available steering torque.

Method and device for adapting a vehicle velocity for a vehicle

A method for determining a safety-critical yawing motion of a vehicle includes comparing a specification signal representing an ascertained setpoint yaw rate of the vehicle for an anticipated trajectory of the vehicle to a measuring signal representing an instantaneous yaw rate of the vehicle measured based on an actual trajectory of the vehicle, thereby generating a comparison signal; checking whether an amplitude of the comparison signal exceeds a first threshold value and whether a frequency of the comparison signal exceeds a second threshold value; and, in response to the amplitude exceeding the first threshold and the frequency exceeding the second threshold, outputting a yawing-motion signal indicating presence of the safety-critical yawing motion of the vehicle.

Method and device for determining a safety-critical yawing motion of a vehicle

A method for operating a lane-keeping assistance system of a vehicle includes: detecting at least two lane markings in a traffic space ahead of the vehicle using a sensor system; recognizing the separation of a primary lane into a first secondary lane and a second secondary lane based on the at least two detected lane markings; selecting one of the secondary lanes, including detecting and analyzing a signal representing an instantaneous driver intention; calculating a target trajectory of the selected secondary lane; activating a steering device of the vehicle for guiding the vehicle along the calculated target trajectory of the selected secondary lane.

Method for operating a lane-keeping assistance system

A method for the closed-loop and/or open-loop control of a lateral guidance of a vehicle with the aid of a lane-keeping assist. In the process, a detection signal is read in which represents hands-off and/or hands-on driving of the vehicle. If the detection signal represents the hands-off driving, then a closed-loop control signal is provided for controlling the lateral guidance in closed loop. On the other hand, if the detection signal represents the hands-on driving, then an open-loop control signal is provided for controlling the lateral guidance in open loop.

Method and apparatus for the closed-loop and/or open-loop control of a lateral guidance of a vehicle with the aid of a lane-keeping assist, and lane-keeping assist

A method for monitoring a steering action of a driver of a vehicle. The method includes exerting an automated steering torque on a steering system of the vehicle, reducing the automated steering torque and detecting a movement of the steering system and/or a force of the steering system and/or a lateral movement of the vehicle in response to the reduction of the automated steering torque, to monitor the steering action of the driver.

Method and device for monitoring a steering action of a driver of a vehicle

A method and a control unit for monitoring the lane of a vehicle, including the steps of ascertaining at least one lane characteristic, ascertaining at least one driving situation variable representing the instantaneous driving situation of the vehicle in an instantaneous position, as well as ascertaining at least one approach variable in a subsequent position of the vehicle. The approach variable is ascertained from the at least one lane characteristic, as well as from the at least one driving situation variable.

Method and control unit for monitoring the lane of a vehicle

A method for compensating a steering wheel angle signal, which is subject to an offset, in a vehicle, includes: a filtering step; and a use step. In the filtering step, the steering wheel angle signal is filtered while the vehicle is traveling, using a filtering rule, in order to obtain a mean value of the steering wheel angle signal. The steering wheel angle signal is filtered if a lane and/or a roadway of the vehicle meets predetermined criteria. In the use step, the mean value is used to compensate the offset.

Method and device for compensating a steering wheel angle signal, which is subject to an offset, in a vehicle

A method for assisting a driver of a vehicle during a lane change, in which for this purpose, an activation signal which represents an activation of a turn signal of the vehicle, which faces a setpoint direction of travel, and a sensor signal which is provided by at least one sensor of the vehicle and which represents a steering movement for steering the vehicle and/or a change in position of the vehicle within a lane are read in. Using the activation signal and the sensor signal, a control signal for controlling a steering system of the vehicle is provided if the steering movement is counter to the setpoint direction of travel and/or the change in position represents a movement of the vehicle in a direction counter to the setpoint direction of travel.

Method and device for assisting a driver of a vehicle during a lane change

A method for situation-related steering assistance in a lane keeping assistant for a vehicle includes: importing a collision signal; ascertaining a correction signal for adapting an intervention torque for the lane keeping assistant, in order to provide a situation-related steering assistance in the lane keeping assistant. The collision signal represents information about a risk of collision during a lane change, and the correction signal is ascertained using the collision signal.

Method and control device for situation-related steering assistance in a lane keeping assistant for a vehicle

The invention relates to a method () for monitoring a torque of an electric motor (), in particular for application in a motor vehicle, wherein the electric motor () is supplied with electric current (IS, IS, IS) in multiple phases. A first torque value (M) of the torque generated by the electric motor () is determined () on the basis of the electric output of the electric motor () and a detected rotational speed (n) of a rotor of the electric motor (). A second torque value (M) is determined on the basis of at least one measured phase current (IS, IS, IS) and a rotational position of the rotor, and the two determined torque values (M, M) are compared () to one another for plausibility checking.

Method and device for monitoring a torque of an electric motor

Circuit for evaluating resolver sensor signals () in a vehicle, having a resolver sensor (), set up to pick up a rotary movement of a rotor () in an electrical machine (), and a processor element (), wherein the resolver sensor () is set up to output at least one sinusoidal or cosinusoidal amplitude-modulated analog signal that is characteristic of the rotary movement of the rotor (), characterized in that the processor element () has a data processing unit (), a resolver sensor actuation unit () and a resolver sensor evaluation unit (), wherein the analog signal from the resolver sensor () is connected directly to the resolver sensor evaluation unit ().

Computerized evaluation of resolver sensor signals to determine rotor position in an electrical machine for a vehicle

In a method for operating a tank device of a motor vehicle having a tank and a valve which is adjustable by a driver stage connected to an energy supply, the valve is closed in response to an ascertained fault. Based on the fault, two output signals are formed for closing the valve: one of the output signals represents a relay signal and interrupts the energy supply to the driver stage.

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Kirchheim, Germany

Chengxuan Fu