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公开(公告)号：US10235775B2
公开(公告)日：2019-03-19
申请号：US15914059
申请日：2018-03-07
发明人： Jagmal Singh , Sebastian Pliefke , Holger Hess
摘要： A method for calibrating a camera of a vehicular vision system includes providing a camera and an image processor at the vehicle. A monoview noncoplanar three dimensional calibration pattern distributed on a semi-sphere is determined via processing of image data captured by the camera. Responsive to determination of the monoview noncoplanar three dimensional calibration pattern distributed on the semi-sphere, extrinsic parameters of the camera and intrinsic parameters of the camera are estimated. The system performs at least one of (i) a linear refinement of the estimated extrinsic parameters and intrinsic parameters and (ii) a non-linear refinement of the estimated extrinsic parameters and intrinsic parameters. Responsive to processing by the image processor of image data captured by the camera, the camera is calibrated at least in part by using the determined monoview noncoplanar three dimensional semi-spherical calibration pattern.
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2.发明申请公开(公告)号：US20190072669A1
公开(公告)日：2019-03-07
申请号：US16123276
申请日：2018-09-06
发明人： Sergio Duque Biarge , Holger Hess , Jorge J. Jácome Muñoz , Kalin Kabakchiev , Roaldje Nadjiasngar
摘要： A sensing system for a vehicle includes at least one radar sensor disposed at the vehicle and having a field of sensing exterior of the vehicle. The at least one radar sensor includes multiple transmitting antennas and multiple receiving antennas. The transmitting antennas transmit signals and the receiving antennas receive the signals reflected off objects. Radar data sensed by the at least one radar sensor is received at a control, and a vehicle motion estimation is received at the control and processed at a processor of the control. The control, responsive at least in part to processing at the processor of the received sensed radar data and the received vehicle motion estimation, determines different types of surfaces in the field of sensing of the at least one radar sensor.
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公开(公告)号：US20180045812A1
公开(公告)日：2018-02-15
申请号：US15675919
申请日：2017-08-14
发明人： Holger Hess
IPC分类号： G01S7/40 , G01S13/87 , H01Q13/02 , G01S15/04 , G01S15/87 , G01S15/93 , G01S13/04 , G01S13/93
CPC分类号： G01S7/4021 , B60K31/0008 , B60Q9/008 , G01S7/2813 , G01S7/4008 , G01S13/04 , G01S13/878 , G01S13/931 , G01S15/04 , G01S15/876 , G01S15/931 , G01S2013/9367 , H01Q1/3233 , H01Q13/0233 , H01Q21/065 , H01Q21/293
摘要： A sensing system for a vehicle includes a control and sensor disposed at the vehicle. The sensor includes a plurality of antennas, which includes transmitting antennas and receiving antennas. The plurality of antennas includes a two-dimensional antenna array having a rhombus grid arrangement of antennas. Outputs of the antennas are communicated to the control, and the control, responsive to the outputs of the antennas, determines the presence of one or more objects exterior the vehicle and within the field of sensing of the antennas.
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公开(公告)号：US20170280034A1
公开(公告)日：2017-09-28
申请号：US15460665
申请日：2017-03-16
发明人： Holger Hess , Joern Ihlenburg , Sebastian Pliefke , Jagmal Singh
IPC分类号： H04N5/225
摘要： A camera for a vision system for a vehicle includes a front housing portion, a lens assembly disposed at the front housing portion and an imager disposed at a circuit element. A planar rigid spacer having uniform thickness is disposed between the lens assembly and the imager. At least a circumferential portion of a front surface of the planar rigid spacer is secured at a portion of the front housing portion and at least a circumferential portion of a rear surface of the planar rigid spacer is secured at one of the imager and the circuit element. The planar rigid spacer accurately spaces the imager from the lens assembly and the predetermined thickness of the planar rigid spacer is selected so that the lens assembly focuses incident light onto the imager.
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公开(公告)号：US12025696B2
公开(公告)日：2024-07-02
申请号：US18353195
申请日：2023-07-17
发明人： Sergio Duque Biarge , Holger Hess , Jorge J. Jácome Muñoz , Kalin Kabakchiev , Roaldje Nadjiasngar
IPC分类号： G01S13/931 , G01S13/44 , G01S13/50 , G01S13/90
CPC分类号： G01S13/931 , G01S13/505 , G01S13/9005 , G01S13/9029 , G01S13/4418 , G01S2013/9314 , G01S2013/9315 , G01S2013/932
摘要： A vehicular sensing system includes at least one radar sensor disposed at a vehicle and having a field of sensing exterior of the vehicle. The radar sensor includes multiple transmitting antennas and multiple receiving antennas. The at least one radar sensor is part of a suite of sensors that includes a forward viewing camera. Multiple scans of captured radar data are transferred from the at least one radar sensor to an electronic control unit. The system, via processing of transferred multiple scans of captured radar data and transferred image data, detects presence of a plurality of objects, generates a virtual antenna array with a virtual antenna aperture larger than a physical antenna aperture of the at least one radar sensor, and tracks the detected objects. The system, based at least in part on tracking detected objects, provides an output for at least one driving assist system of the vehicle.
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公开(公告)号：US12013480B2
公开(公告)日：2024-06-18
申请号：US17303629
申请日：2021-06-03
IPC分类号： G01S7/03 , G01S7/02 , H01Q1/32 , G01S13/931
CPC分类号： G01S7/03 , G01S7/028 , H01Q1/3233 , G01S13/931
摘要： A vehicular radar sensing system includes a radar sensor disposed at a vehicle. The radar sensor includes a waveguide antenna and a printed circuit board (PCB) with an inboard side and an outboard side. A processor is disposed at the inboard side of the PCB and the waveguide antenna is disposed at the outboard side of the PCB. The waveguide antenna is partially disposed within a cavity at the outboard side of the PCB. Radio frequency signals are electrically communicated between the processor and the waveguide antenna through only a portion of the PCB. The waveguide antenna (i) guides the transmitted radio signals from the transmitter to the exterior environment and (ii) guides reflected radio signals from the exterior environment to the receiver.
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公开(公告)号：US11852720B2
公开(公告)日：2023-12-26
申请号：US17935191
申请日：2022-09-26
IPC分类号： G01S13/931 , H01Q1/32 , H01Q21/06 , G01S7/03 , G01S7/02
CPC分类号： G01S13/931 , G01S7/032 , H01Q1/3233 , H01Q21/065 , G01S7/027 , G01S2013/93271
摘要： A vehicular radar sensing system includes a radar sensor disposed at a vehicle so as to sense exterior of the vehicle and having at least one transmitter that transmits radio signals and at least one receiver that receives radio signals. The radar sensor includes a transmitting wave guide antenna and a receiving wave guide antenna, a PCB, and a processor operable to process radio signals transmitted by the at least one transmitter and received by the at least one receiver. Each of the wave guide elements includes a respective wave guide slot disposed at the inboard side of the PCB, and another respective wave guide slot that guides the radio signals to or from the environment, and a respective air wave guide that guides the radio signals between the respective wave guide slots.
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公开(公告)号：US11703587B2
公开(公告)日：2023-07-18
申请号：US17247692
申请日：2020-12-21
发明人： Sergio Duque Biarge , Holger Hess , Jorge J. Jácome Muñoz , Kalin Kabakchiev , Roaldje Nadjiasngar
IPC分类号： G01S13/931 , G01S13/90 , G01S13/50 , G01S13/44
CPC分类号： G01S13/931 , G01S13/505 , G01S13/9005 , G01S13/9029 , G01S13/4418 , G01S2013/932 , G01S2013/9314 , G01S2013/9315
摘要： A vehicular sensing system includes at least one radar sensor disposed at a vehicle and having a field of sensing exterior of the vehicle. The radar sensor includes multiple transmitting antennas and multiple receiving antennas. The transmitting antennas transmit signals and the receiving antennas receive the signals reflected off objects. Multiple scans of radar data are received at an electronic control unit (ECU) and processed at a processor of the ECU. The ECU detects presence of a plurality of objects exterior the equipped vehicle and within the field of sensing of the at least one radar sensor. The ECU, responsive at least in part to processing at the processor of the received multiple scans of captured radar data and received vehicle motion estimation, tracks objects detected in the received multiple scans over two or more scans.
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公开(公告)号：US20230035968A1
公开(公告)日：2023-02-02
申请号：US17815632
申请日：2022-07-28
发明人： Helmut Arnold Hardow Wodrich , Walter Gordon Woodington , Suresh Boddi , Holger Hess , Danny A. Schram
IPC分类号： G01S13/931 , H01Q1/32
摘要： A vehicular radar sensing system includes a radar sensor that includes (i) at least one transmitter that transmits radio signals, and (ii) at least one receiver that receive radio signals. The radar sensor includes a waveguide antenna and a printed circuit board (PCB) with a transmitter pad and a receiver pad. The transmitter transmits radio signals to the transmitter pad, and the receiver receives radio signals from the receiver pad. The PCB includes a ground plane layer and a plurality of conductive elements that at least partially surrounds at least the transmitter pad. The plurality of conductive elements electrically connects the waveguide antenna to the ground plane layer and attaches the PCB to the waveguide antenna. The waveguide antenna (i) guides the transmitted radio signals from the transmitter pad to the exterior environment and (ii) guides reflected radio signals from the exterior environment to the receiver pad.
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公开(公告)号：US20220035023A1
公开(公告)日：2022-02-03
申请号：US17451202
申请日：2021-10-18
发明人： Sergio Duque Biarge , Holger Hess , Jorge J. Jácome Muñoz , Kalin Kabakchiev , Roaldje Nadjiasngar
IPC分类号： G01S13/931 , G01S13/44 , G06T7/41 , G06T7/11
摘要： A vehicular sensing system includes at least one MIMO radar sensor disposed at the vehicle and sensing exterior and forward of the vehicle. The at least one MIMO radar sensor includes multiple transmitting antennas and multiple receiving antennas. The transmitting antennas transmit radar signals and the receiving antennas receive radar signals. Radar data captured by the at least one MIMO radar sensor is provided to an electronic control unit (ECU). The ECU includes a processor and, responsive at least in part to processing at the ECU of provided captured radar data and vehicle motion information, determines different types of surfaces sensed by the at least one MIMO radar sensor. Responsive at least in part to processing at the ECU of provided captured radar data, the vehicular sensing system provides an output for at least one driving assist system.
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