Veoneer Sweden Ab

Arriver Software Ab

Christopher Unverdorben

Andreas Schmid

Christian Pfaffenzeller

Michael Maas

Yi Zhou

Uwe Siart

Hendrik Böttcher

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.

Detecting a parking row with a vehicle radar system

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.

Vehicle system for detection of oncoming vehicles

A sensor signal processing unit () arranged to detect a configuration of parking slots () based on radar detections received from a radar-based sensor system (). 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.

Detection of parking slot configuration based on repetitive patterns

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 (R), 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 outcome angle (&#x3b8;), determine a difference angle (&#x3b4;) between the measured oncome direction (&#x2032;) and an oncome direction () corresponding to if the oncoming vehicle () would be moving along the common curve (), compare the difference angle (&#x3b4;) with a threshold angle (&#x3b8;), and to determine that the oncoming vehicle () is crossing if the difference angle (&#x3b4;) exceeds the threshold angle (&#x3b8;).

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 (). When this is the case. The main control unit () is arranged to, determine an ego direction () along which the ego vehicle () travels with a corresponding ego direction angle (&#x3b3;) with respect to a predetermined axis (x), determine a measured oncoming direction () of the tracked oncoming vehicle () with a corresponding oncoming angle (&#x3b8;) with respect to the predetermined axis (x) during a plurality of radar cycles, determine a difference angle (&#x3b4;) between the measured oncoming direction () and the ego direction (), and compare the difference angle (&#x3b4;) with a threshold angle (&#x3b8;), and to determine that the oncoming vehicle () is crossing if the difference angle (&#x3b4;) exceeds the threshold angle (&#x3b8;).

A vehicle environmental detection system () in an ego vehicle () and having at least one detector arrangement () and at least one control unit arrangement () configured to determine a slant angle of parking slots in a parking row. The detector arrangement () is adapted to obtain a set of detections (d(k), k=1 . . . K). For each slant angle (&#x3b1;) in a set of slant angles (&#x3b1;, n=1 . . . N), the control unit arrangement () is adapted to calculate a set of slant rotated detections (d(k, &#x3b1;), k=1 . . . K) by rotating coordinates of each detection in the set of detections (d(k), k=1 . . . K)) by the present slant angle (&#x3b1;), calculate a projection profile (P(&#x3b1;)) for the set of slant rotated detections (d(k,&#x3b1;), k=1 . . . K) by determining a histogram of slant rotated detection coordinates, and to calculate an entropy (H(&#x3b1;)) associated with the calculated projection profile (P(&#x3b1;)). The control unit arrangement () can determine the slant angle based on the calculated entropies (H(&#x3b1;), n=1 . . . N).

Detection of parking row orientation

A vehicle environmental detection system () in an ego vehicle () including at least one control unit arrangement () and at least one detector arrangement () that is adapted to obtain a plurality of detections (). The control unit arrangement () is adapted to form a cluster () of the plurality of detections (), form a first border line () and a second border line (), where these border lines () have mutually longitudinal extensions, and are mutually parallel and define outer borders of the cluster () and determine whether the cluster () corresponds to a row () of corresponding parked vehicles (), by the length or longitudinal displacement of, or distance between, the border lines ().

Vehicle environmental detection system for parking detection

A method and a system () for detecting parking spaces () suitable for a vehicle (). In order to determine a parking space (), radar signals () are directed to a plurality of vehicles () parked in a parking area () and also to surrounding elements (). The radar signals () reflected by the parked vehicles () and also the surrounding elements () are processed in a computing unit (). A gap () in a calculated periodicity () of a projection profile () is determined with an autoregressive prediction filter (). A prediction error function () has the highest value () at the location of a parking space ().

Method and system for detecting parking spaces which are suitable for a vehicle

A vehicle radar system () that is arranged to detect a plurality of objects outside a vehicle () and that includes a radar detector () and a processing unit arrangement (). The processing unit arrangement () is arranged to obtain at least one total detection angle (&#x3c6;, &#x3c6;') relative an x-axis () and at least one corresponding detected target Doppler velocity (v) relative the radar detector () for each detected object (). 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 () further is adapted to determine whether the radar detector () is misaligned based on the relation, where the total detection angle (&#x3c6;, &#x3c6;&#x2032;) equals the sum of a known mounting angle (&#x3c6;) between the x-axis () and the radar detector's mounting direction (), and a detection angle (&#x3c6;, &#x3c6;&#x2032;). The present disclosure also relates to a corresponding method.

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Munich, Germany

Christopher Unverdorben