公开(公告)号：US10452999B2

公开(公告)日：2019-10-22

申请号：US15467684

申请日：2017-03-23

Applicant: Aptiv Technologies Limited

Inventor： Stephanie Lessmann ,  Mirko Meuter ,  Jens Westerhoff

IPC: G06N20/00 ,  G06K9/62 ,  G06K9/66 ,  G06T5/20 ,  G06K9/00 ,  G06T7/73 ,  G06T7/269

Abstract: A method of generating a confidence measure for an estimation derived from images captured by a camera mounted on a vehicle includes: capturing consecutive training images by the camera while the vehicle is moving; determining ground-truth data for the training images; computing optical flow vectors from the training images and estimating a first output signal based on the optical flow vectors for each of the training images, the first output signal indicating an orientation of the camera; classifying the first output signal for each of the training images as a correct signal or a false signal depending on how good the first output signal fits to the ground-truth data; determining optical flow field properties for each of the training images derived from the training images; and generating a separation function that separates the optical flow field properties into two classes based on the classification of the first output signal.

公开(公告)号：US20220260701A1

公开(公告)日：2022-08-18

申请号：US17650514

申请日：2022-02-09

Applicant: Aptiv Technologies Limited

Inventor： Wolfgang Doerr ,  Uri Iurgel ,  Stephanie Lessmann

IPC: G01S13/42 ,  G01S7/35 ,  G01S13/931

Abstract: A method is provided for estimating an angle of an object with respect to a vehicle. A transformation of reflected radar signals is calculated, wherein the result of the transformation depends on a range with respect to the vehicle. A long beam vector is generated for respective range bins provided by the transformation by rearranging the result of the transformation such that the respective long beam vector comprises elements of the transformation from radar all receiver elements for each range bin. A reference vector is calculated for each range bin based on a signal model which depends on the motion of the target object relative to the vehicle and which is parameterized regarding the angle of the target object. The long beam vector and the reference vector are correlated, and the angle of the target object is determined based on the correlation result.

公开(公告)号：US20220244372A1

公开(公告)日：2022-08-04

申请号：US17588049

申请日：2022-01-28

Applicant: Aptiv Technologies Limited

Inventor： Stephanie Lessmann ,  Uri Iurgel ,  Wolfgang Doerr

IPC: G01S13/58 ,  G01S13/931

Abstract: A method of determining ego-motion information of a vehicle comprising a radar sensor having a plurality of antenna elements, comprising: acquiring motion spectrum comprising a plurality of data elements, each calculated for a respective one of a plurality of Doppler bin indices and for a respective one of a plurality of spatial bin indices, each spatial bin index indicating a respective angle-of-arrival of a radar return signal at the radar sensor; and determining the ego-motion information by solving a motion equation system comprising equations of motion generated using the motion spectrum data and each relating a respective value indicating a radial velocity, a respective value indicating an angular displacement, and a variable indicating a velocity of the vehicle.

公开(公告)号：US20210396862A9

公开(公告)日：2021-12-23

申请号：US16241404

申请日：2019-01-07

Applicant: Aptiv Technologies Limited

Inventor： Ahmad Pishehvari ,  Stephanie Lessmann ,  Uri Iurgel ,  Lutz Roese-Koerner

IPC: G01S13/06 ,  G01S13/50 ,  B60W40/114 ,  B60W40/105

Abstract: A method is described for determining the position of a vehicle equipped with a radar system that includes at least one radar sensor adapted to receive radar signals emitted from at least one radar emitter of the radar system and reflected the radar sensor. The method comprises: acquiring at least one radar scan comprising a plurality of radar detection points, wherein each radar detection point is evaluated from a radar signal received at the radar sensor and representing a location in the vicinity of the vehicle; determining, from a database, a predefined map, wherein the map comprises at least one element representing a static landmark in the vicinity of the vehicle; matching at least a subset of the plurality of radar detection points of the at least one scan and the at least one element of the map; deter-mining the position of the vehicle based on the matching.

公开(公告)号：US20190227145A1

公开(公告)日：2019-07-25

申请号：US16244650

申请日：2019-01-10

Applicant: Aptiv Technologies Limited

Inventor： Ahmad Pishehvari ,  Stephanie Lessmann ,  Uri Iurgel

IPC: G01S7/41 ,  G01S13/08 ,  G01S13/93 ,  G01S17/08 ,  G01S17/93 ,  G01S7/48

Abstract: A method for increasing the reliability of determining the position of a vehicle on the basis of a plurality of detection points is described, the plurality of detection points being acquired using a radio-based and/or an optical sensor system, in particular a radar system, of a vehicle receiving electromagnetic signals from a vicinity of the vehicle, and each of the plurality of detection point representing a location in the vicinity of the vehicle, wherein the method comprises for each detection point of at least a subset of the plurality of detection points: determining at least one geometrical object associated with the detection point; determining at least one group of detection points from the subset sharing the at least one geometrical object; determining a quantity of detection points in the at least one group; evaluating a weight which represents the quantity of detection points in the at least one group on a predefined scale, and processing the detection point with respect to the weight.

公开(公告)号：US20230054783A1

公开(公告)日：2023-02-23

申请号：US18047678

申请日：2022-10-19

Applicant: Aptiv Technologies Limited

Inventor： Stephanie Lessmann ,  Ahmad Pishehvari

IPC: G01C21/00

Abstract: A computer implemented method for determining the position of a vehicle, wherein the method comprises: determining at least one scan comprising a plurality of detection points, wherein each detection point is evaluated from a signal received at the at least one sensor and representing a location in the vehicle environment; determining, from a database, a predefined map, wherein the map comprises a plurality of elements in a map environment, each of the elements representing a respective one of a plurality of static landmarks in the vehicle environment, and the map environment representing the vehicle environment; matching the plurality of detection points and the plurality of elements of the map; determining the position of the vehicle based on the matching; wherein the predefined map further comprises a spatial assignment of a plurality of parts of the map environment to the plurality of elements, and wherein the spatial assignment is used for the matching.

公开(公告)号：US11378653B2

公开(公告)日：2022-07-05

申请号：US16244650

申请日：2019-01-10

Applicant: Aptiv Technologies Limited

Inventor： Ahmad Pishehvari ,  Stephanie Lessmann ,  Uri Iurgel

IPC: G01S7/41 ,  G01S13/08 ,  G01S7/48 ,  G01S17/08 ,  G01S13/931 ,  G01S17/931

Abstract: A method for increasing the reliability of determining the position of a vehicle on the basis of a plurality of detection points is described, the plurality of detection points being acquired using a radio-based and/or an optical sensor system, in particular a radar system, of a vehicle receiving electromagnetic signals from a vicinity of the vehicle, and each of the plurality of detection point representing a location in the vicinity of the vehicle, wherein the method comprises for each detection point of at least a subset of the plurality of detection points: determining at least one geometrical object associated with the detection point; determining at least one group of detection points from the subset sharing the at least one geometrical object; determining a quantity of detection points in the at least one group; evaluating a weight which represents the quantity of detection points in the at least one group on a predefined scale, and processing the detection point with respect to the weight.

公开(公告)号：US11249171B2

公开(公告)日：2022-02-15

申请号：US16442743

申请日：2019-06-17

Applicant: Aptiv Technologies Limited

Inventor： Honghui Yan ,  Stephanie Lessmann ,  Alexander Ioffe

IPC: G01S7/40 ,  G01S13/931 ,  B60T7/12 ,  B60W30/14

Abstract: A method of determining an alignment error of an antenna is described, wherein the antenna is installed at a vehicle and in cooperation with a detection device, and wherein the detection device is configured to determine a plurality of detections. Determining the plurality of detections comprises emitting a first portion of electromagnetic radiation through the antenna, receiving a second portion of electromagnetic radiation through the antenna, and evaluating the second portion of electromagnetic radiation in dependence of the first portion of electromagnetic radiation in order to localize areas of reflection of the first portion of electromagnetic radiation in the vicinity of the antenna. The method comprises determining a first detection and at least a second detection by using the detection device, and determining the alignment error by means of a joint evaluation of the first detection and the second detection.