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    METHOD AND DEVICE FOR SUPPORTING GENERATION OF SCENARIOS FOR TESTING AUTONOMOUS DRIVING AND/OR ADVANCED DRIVER ASSISTANCE SYSTEM FUNCTIONALITY
    6.
    发明公开
    METHOD AND DEVICE FOR SUPPORTING GENERATION OF SCENARIOS FOR TESTING AUTONOMOUS DRIVING AND/OR ADVANCED DRIVER ASSISTANCE SYSTEM FUNCTIONALITY 审中-公开

    公开(公告)号：EP3745381A1

    公开(公告)日：2020-12-02

    申请号：EP19176738.3

    申请日：2019-05-27

    申请人： ZENUITY AB

    发明人： VAKILZADEH, Majid Khorsand ,  LIU, Feng

    IPC分类号： G09B9/00 ,  G09B25/00

    摘要： Method and device for supporting generation of scenarios for testing autonomous driving and/or advanced driver assistance system, AD/ADAS, functionality for real world vehicles. A device (101; 500) provides (301) a virtual environment (200) simulating an environment relevant for operation of vehicles having said AD/ADAS functionality and in which is operating: fully computer controlled movable virtual objects (230a-c), human controlled movable virtual objects (220) and at least one virtual AD/ADAS vehicle (210) operating according to said AD/ADAS functionality. The device allows (303) a user of the device (101; 500) to, via user interface (506), control said one or more human controlled movable virtual objects (220) during operation and thereby cause generation of scenarios that the virtual AD/ADAS vehicle (210) is subjected to.

    METHOD AND CONTROL DEVICE FOR SENDING INFORMATION TO SURROUNDING VEHICLES
    8.
    发明公开
    METHOD AND CONTROL DEVICE FOR SENDING INFORMATION TO SURROUNDING VEHICLES 审中-公开

    公开(公告)号：EP3716245A1

    公开(公告)日：2020-09-30

    申请号：EP19165492.0

    申请日：2019-03-27

    申请人： Zenuity AB

    发明人： ANDERSSON, Tomas

    IPC分类号： G08G1/01 ,  G08G1/0967 ,  G08G1/16 ,  G08G1/056 ,  G08G1/0965 ,  G08G1/052

    摘要： A control device (10) for informing surrounding vehicles (2, 2a, 2b) of deviant behaviour is presented. The vehicle control device comprises at least one processor (11), at least one memory (12), at least one communication interface (13), and at least one sensor interface (14). The at least one processor is configured to execute instructions stored in the memory to perform a method for informing surrounding vehicles of deviant behaviour. More specifically, the at least one processor is configured to receive signals from a perception system, the signals comprising information about a movement of at least one surrounding vehicle (2, 2a, 2b) located in a surrounding environment, the information about a movement comprising at least one movement parameter. The at least one processor is further configured to receive signals comprising information about a current road scenario, compare the movement of the at least one surrounding vehicle with a predefined behaviour model, wherein the predefined behaviour model comprises at least one predefined movement parameter threshold for the current road scenario, and send a signal to the at least one surrounding vehicle based on the comparison.

    OBJECT DETECTION AND 3D BOX FITTING
    9.
    发明公开
    OBJECT DETECTION AND 3D BOX FITTING 审中-公开

    公开(公告)号：EP3703008A1

    公开(公告)日：2020-09-02

    申请号：EP19159400.1

    申请日：2019-02-26

    申请人： Zenuity AB

    发明人： JÖRGENSEN, Eskil ,  KAHL, Fredrik

    IPC分类号： G06T7/11 ,  G06T7/143 ,  G06K9/32 ,  G06T7/70

    摘要： A method for forming three-dimensional 3D bounding boxes around 3D objects in a monocular image is presented. The method comprises receiving a frame from a camera. The frame comprises an image representative of a portion of a surrounding environment of a vehicle, also the image comprises a plurality of pixels. Further, the method comprises determining, by means of a self-learning model, a plurality of parameters for each pixel of the plurality of pixels, and identifying, by means of the self-learning model, at least one object in the image by selecting a first subset of parameters of the plurality of parameters for each pixel and filtering the plurality of pixels based on each first subset of parameters and at least one predefined criteria in order to generate a reference pixel for each object. The method further comprises selecting a second subset of parameters of the plurality of parameters for each reference pixel, the second subset of parameters comprising Y geometrical parameters associated with each object. Next, the method comprises generating a 3D bounding box representation of each identified object based on the determined second subset of parameters, wherein the 3D bounding box representation is defined by b geometrical parameters, and wherein b ≤ Y.

    METHOD AND ARRANGEMENT FOR ENSURING ROAD TRACKING UP TO A PREDEFINED LATERAL ACCELERATION LIMIT IN A ROAD VEHICLE
    10.
    发明公开
    METHOD AND ARRANGEMENT FOR ENSURING ROAD TRACKING UP TO A PREDEFINED LATERAL ACCELERATION LIMIT IN A ROAD VEHICLE 审中-公开

    公开(公告)号：EP3611078A1

    公开(公告)日：2020-02-19

    申请号：EP18189639.0

    申请日：2018-08-17

    申请人： Zenuity AB ,  Volvo Car Corporation

    发明人： LIDANDER, Niklas ,  JOHANNESSON MÅRDH, Lars ,  LÖFGREN, Marcus

    IPC分类号： B62D6/00 ,  B62D15/02

    摘要： Disclosed is a method and an arrangement (2) for ensuring road tracking up to a predefined lateral acceleration limit ( a lat, R 79 ) in a road vehicle (1) having an autonomous steering function (3) arranged to selectively apply a steering wheel overlay torque ( T PA ) to a normal steering assistance torque ( T a ) in a power assisted steering system (4). A set predetermined lateral acceleration limit ( a lat,R 79 ) is differentiated with a current lateral acceleration signal ( a lat ) producing a controller error ( e ) which is subjected to a rate selector (8) having a predetermined dead zone interval. If the controller error ( e ) is below or equal to a lower limit of the interval or if a driver is interacting the rate selector (8) outputs a positive torque rate ( T R ), if above or equal to an upper limit it outputs a negative torque rate ( T R ), and if between the limits it outputs a zero torque rate ( T R ). The output torque rate ( T R ) is integrated providing a torque limit ( T LIM ) for the steering wheel overlay torque ( T PA ).