公开(公告)号：US11454718B2

公开(公告)日：2022-09-27

申请号：US15930725

申请日：2020-05-13

Applicant: APTIV TECHNOLOGIES LIMITED

Inventor： Jens Westerhoff

IPC: G01S13/89 ,  G01C7/04 ,  G01S13/08

Abstract: An illustrative example embodiment of a computer implemented method for estimating a vertical profile of a road in front of or behind a host vehicle includes monitoring a detection point at a surrounding or preceding vehicle by a sensor on the host vehicle, determining at least one value for a height of the detection point with respect to a reference level at the host vehicle based on the elevation angle of the detection point, and estimating the vertical profile of the road based on the at least one value for the height of the detection point. An estimation of a height of the object with respect to a road surface may be corrected by the estimated vertical profile.

公开(公告)号：US20230408646A1

公开(公告)日：2023-12-21

申请号：US18328569

申请日：2023-06-02

Applicant: Aptiv Technologies Limited

Inventor： Wolfgang Doerr ,  Jens Westerhoff

IPC: G01S7/40 ,  G01S13/931 ,  G01S7/41

CPC classification number: G01S7/4026 ,  G01S13/931 ,  G01S7/41

Abstract: A method is provided for determining a mounting position of a radar sensor at a vehicle. The mounting position is defined with respect to a ground plane on which the vehicle is currently located. Radar responses captured by the radar sensor are received, wherein a field of view of the radar sensor covers at least a predefined area of the ground plane. A sequence of characteristics of the radar responses is determined, and the mounting position is determined by performing the operations of optimizing parameters of a predefined model with respect to the sequence of characteristics of the radar responses, and determining the mounting position based on the optimized parameters of the predefined model.

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：US20230176190A1

公开(公告)日：2023-06-08

申请号：US18060088

申请日：2022-11-30

Applicant: Aptiv Technologies Limited

Inventor： Jens Westerhoff ,  Shan Zhang ,  Yihang Zhang ,  Narbik Manukian

IPC: G01S7/48 ,  G01S13/86 ,  G01S13/42 ,  G01S13/931 ,  G01S17/931

CPC classification number: G01S7/4802 ,  G01S13/42 ,  G01S13/865 ,  G01S13/931 ,  G01S17/931

Abstract: This document describes systems and techniques for determining a height of an object in a surrounding of a vehicle. In a first aspect, the systems and techniques include acquiring radar data for each of a plurality of vertically distributed antenna elements of a radar antenna. In additional aspects, the systems and techniques include estimating an elevation spectrum from the acquired radar data, extracting one or more features representative of the shape of the estimated elevation spectrum, and determining the height of the object using the extracted one or more features.

公开(公告)号：US11644574B2

公开(公告)日：2023-05-09

申请号：US17807547

申请日：2022-06-17

Applicant: Aptiv Technologies Limited

Inventor： Jens Westerhoff ,  Wolfgang Doerr

IPC: G01S17/36 ,  G01S17/931

CPC classification number: G01S17/36 ,  G01S17/931

Abstract: The present disclosure describes systems and techniques for estimating a height of an object by processing wave signals transmitted from a detection device to the object and reflected by the object. In aspects, a detection device transmits wave signals, which propagate via a direct path and an indirect path via reflection over a reflecting surface, to be reflected by the object. Operations include measuring wave signals reflected by the object and generating measurement vectors and producing a spectrum of an estimated elevation angle of the object over the range. Further, the operations include estimating the height of the object from the spectrum. The length of the window can be determined by estimating the range interval covered by a full phase cycle of a phase difference between the direct path and the indirect path from a current value of the range and a current estimate of the height of the object.

公开(公告)号：US20220402504A1

公开(公告)日：2022-12-22

申请号：US17807631

申请日：2022-06-17

Applicant: Aptiv Technologies Limited

Inventor： Jan Siegemund ,  Jittu Kurian ,  Sven Labusch ,  Dominic Spata ,  Adrian Becker ,  Simon Roesler ,  Jens Westerhoff

IPC: B60W40/09 ,  B60W50/12

Abstract: A computer-implemented method for generating ground truth data may include the following steps carried out by computer hardware components: for a plurality of points in time, acquiring sensor data for a respective point in time; and for at least a subset of the plurality of points in time, determining ground truth data of the respective point in time based on the sensor data of at least one present and/or past point of time and at least one future point of time.

公开(公告)号：US20220326009A1

公开(公告)日：2022-10-13

申请号：US17658490

申请日：2022-04-08

Applicant: Aptiv Technologies Limited

Inventor： Honghui Yan ,  Alexander Ioffe ,  Jens Westerhoff

IPC: G01B15/02 ,  G01S13/931

Abstract: A method is disclosed, which is carried out by a detection device having a transmitter element for transmitting wave signals and two vertically aligned receiver elements for receiving wave signals, separated by a given spacing. The method includes transmitting, at the transmitter element, a wave signal that is reflected by the target. Each receiver element receives the wave signal reflected by the target, where the wave signal propagates via multiple paths caused by the reflecting surface. While a target distance varies, a phase difference between the reflected wave signals received by the two receiver elements is measured. From the phase difference measurements, a physical quantity fluctuation is determined in relation to the target distance. The information on the target height is then derived from the physical quantity fluctuation.

公开(公告)号：US20220404493A1

公开(公告)日：2022-12-22

申请号：US17807547

申请日：2022-06-17

Applicant: Aptiv Technologies Limited

Inventor： Jens Westerhoff ,  Wolfgang Doerr

IPC: G01S17/36 ,  G01S17/931

Abstract: The present disclosure describes systems and techniques for estimating a height of an object by processing wave signals transmitted from a detection device to the object and reflected by the object. In aspects, a detection device transmits wave signals, which propagate via a direct path and an indirect path via reflection over a reflecting surface, to be reflected by the object. Operations include measuring wave signals reflected by the object and generating measurement vectors and producing a spectrum of an estimated elevation angle of the object over the range. Further, the operations include estimating the height of the object from the spectrum. The length of the window can be determined by estimating the range interval covered by a full phase cycle of a phase difference between the direct path and the indirect path from a current value of the range and a current estimate of the height of the object.