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公开(公告)号：US10730528B2
公开(公告)日：2020-08-04
申请号：US16087890
申请日：2017-03-16
Applicant: Robert Bosch GmbH
Inventor： Chengxuan Fu , Solomon Devakiruba Selvakumar
IPC: B60W40/114 , B60T8/1755 , B60W40/072 , G06K9/00 , B60W40/13
Abstract: 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.
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公开(公告)号：US20180037232A1
公开(公告)日：2018-02-08
申请号：US15550662
申请日：2016-01-15
Applicant: Robert Bosch GmbH
Inventor： Chengxuan Fu
Abstract: 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.
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13.发明授权Method and control device for situation-related steering assistance in a lane keeping assistant for a vehicle 有权用于车辆的车道保养助理中与状况相关的转向辅助的方法和控制装置公开(公告)号：US09567006B2
公开(公告)日：2017-02-14
申请号：US14553661
申请日：2014-11-25
Applicant: Robert Bosch GmbH
Inventor： Chengxuan Fu
IPC: B62D15/02
CPC classification number: B62D15/025
Abstract: 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.
Abstract translation: 一种用于车辆的车道保持助手中与情况相关的转向辅助的方法包括：导入碰撞信号; 确定用于适应车道保持助手的干预扭矩的校正信号，以便在车道保持助手中提供与状况有关的转向辅助。 碰撞信号表示在车道变换期间碰撞风险的信息，并且使用碰撞信号来确定校正信号。
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公开(公告)号：US11640703B2
公开(公告)日：2023-05-02
申请号：US17328952
申请日：2021-05-24
Applicant: Robert Bosch GmbH
Inventor： Chengxuan Fu
IPC: G06V10/75 , G06F18/241
Abstract: 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.
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公开(公告)号：US20220375229A1
公开(公告)日：2022-11-24
申请号：US17744090
申请日：2022-05-13
Applicant: Robert Bosch GmbH
Inventor： Chengxuan Fu , Jasmine Richter , Dennis Hardenacke , Ricardo Martins Costa
Abstract: 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.
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Patent Agency Ranking
公开(公告)号：US10286951B2
公开(公告)日：2019-05-14
申请号：US15547342
申请日：2016-01-15
Applicant: Robert Bosch GmbH
Inventor： Chengxuan Fu
Abstract: 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.
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公开(公告)号：US10255815B2
公开(公告)日：2019-04-09
申请号：US15512188
申请日：2015-07-31
Applicant: Robert Bosch GmbH
Inventor： Chengxuan Fu
Abstract: 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.
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公开(公告)号：US12190597B2
公开(公告)日：2025-01-07
申请号：US17744090
申请日：2022-05-13
Applicant: Robert Bosch GmbH
Inventor： Chengxuan Fu , Jasmine Richter , Dennis Hardenacke , Ricardo Martins Costa
IPC: G06K9/00 , G01C7/02 , G01C21/00 , G01S17/89 , G06T7/11 , G06T7/50 , G06T17/00 , G06T17/30 , G06V20/56
Abstract: 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.
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公开(公告)号：US20220308231A1
公开(公告)日：2022-09-29
申请号：US17695198
申请日：2022-03-15
Applicant: Robert Bosch GmbH
Inventor： Gabriela Samagaio , Carl Mueller-Roemer , Farooq Ahmed Zuberi , Joao Andrade , Juan Carlos Garza Fernandez , Sebastien Lemetter , Chengxuan Fu , Nikolaus Moehler , Ricardo Martins Costa
IPC: G01S17/894
Abstract: A method for range determination for a LIDAR sensor. The method includes: receiving measured values of a LIDAR sensor organized in a point cloud, and each including pieces of directional information and radial distance information relative to the LIDAR sensor and representing a laser beam reflected from the particular direction and at the particular radial distance; assigning the measured values based on the pieces of directional and radial distance information to areas of interest of a field of view; ascertaining a maximum distance range as an area of interest including a maximum radial distance to the LIDAR sensor and a point distribution of measured values of the area of interest, which includes a variance which reaches or exceeds a predetermined limiting value; and providing a value of the radial distance of the maximum distance range to the LIDAR sensor as the maximum range of the LIDAR sensor.
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公开(公告)号：US20190111936A1
公开(公告)日：2019-04-18
申请号：US16087890
申请日：2017-03-16
Applicant: Robert Bosch GmbH
Inventor： Chengxuan Fu , Solomon Devakiruba Selvakumar
IPC: B60W40/114 , B60W40/072 , G06K9/00
CPC classification number: B60W40/114 , B60T8/1755 , B60T2250/03 , B60T2260/024 , B60W40/072 , B60W2040/1346 , B60W2520/14 , B60W2720/14 , G06K9/00798
Abstract: 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.
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