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公开(公告)号：US11097670B2
公开(公告)日：2021-08-24
申请号：US17108434
申请日：2020-12-01
申请人： Robert Bosch GmbH
发明人： Martin Goth , Jerg Pfeil , Uwe Maehnert
摘要： A method for calibrating image data of an imaging system for a vehicle combination, including a first part of the tractor trailer, which encompasses the imaging system, and a second part which encompasses a calibration object, the second part being mechanically coupled to the first part so as to be movable about at least one axis. The imaging system is configured to at least partially representing the second part. The method includes: providing at least one image of the imaging system, which represents the calibration object; identifying the calibration object within the image; identifying a characteristic variable of the calibration object within the image; determining a deviation of the characteristic variable from a stored characteristic setpoint variable; generating calibrated image data by transforming the image data of the imaging system, depending on the deviation of the characteristic variable from the stored characteristic setpoint variable to compensate for the deviation.
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公开(公告)号：US11587328B2
公开(公告)日：2023-02-21
申请号：US16872789
申请日：2020-05-12
申请人： Robert Bosch GmbH
发明人： Jerg Pfeil , Matthias Settele , Maximilian Wolf
IPC分类号： G06V20/56 , H04W4/46 , G01S13/931 , G01S13/87 , G01S17/86
摘要： A method for operating a sensor unit of a vehicle. The method includes providing a time signal for the sensor unit of a first vehicle, it also being possible to provide the time signal for at least one sensor unit of a second vehicle, and controlling sensor devices of the sensor unit using the time signal for detecting an environment of the vehicle in a temporally defined manner; and providing the detected environment data.
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公开(公告)号：US20230076413A1
公开(公告)日：2023-03-09
申请号：US17898086
申请日：2022-08-29
申请人： Robert Bosch GmbH
发明人： Jerg Pfeil , Simon Hackenbroich
摘要： A method and a device for operating a tractor including a trailer. The method includes detecting the surroundings behind the tractor through the clearance underneath the trailer using a surroundings sensor system, which, for this purpose, is mounted close to the roadway surface from the tractor, in particular underneath a connection between the tractor and the trailer, the surroundings sensor system including at least one video sensor. The method further includes determining objects in these surroundings, which are not encompassed by the trailer, by recognizing individual, in particular moving, integral parts of the trailer as such and excluding these in a targeted manner, determining a driving strategy for the tractor depending on the objects in the surroundings, and operating the tractor depending on the driving strategy.
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公开(公告)号：US20200371519A1
公开(公告)日：2020-11-26
申请号：US16872789
申请日：2020-05-12
申请人： Robert Bosch GmbH
发明人： Jerg Pfeil , Matthias Settele , Maximilian Wolf
摘要： A method for operating a sensor unit of a vehicle. The method includes providing a time signal for the sensor unit of a first vehicle, it also being possible to provide the time signal for at least one sensor unit of a second vehicle, and controlling sensor devices of the sensor unit using the time signal for detecting an environment of the vehicle in a temporally defined manner; and providing the detected environment data.
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公开(公告)号：US20230386220A1
公开(公告)日：2023-11-30
申请号：US18324002
申请日：2023-05-25
申请人： Robert Bosch GmbH
发明人： Jerg Pfeil
IPC分类号： G06V20/56 , G06V10/764 , G06V10/774 , G06T7/70
CPC分类号： G06V20/56 , G06V10/764 , G06V10/774 , G06T7/70 , G06T2207/30252
摘要： A method for automatic object and/or segment labeling of sensor target data of at least one vehicle target sensor. The method comprises first capturing of at least one sequence of camera images; generating an environment representation of the vehicle as a function of the captured sequence; recognizing at least one object in the environment by a learned machine recognition method as a function of a captured camera image; ascertaining an estimated position of the object as a function of the camera image; classifying a point of the environment representation based on the recognized object and the ascertained estimated position; and second capturing of distance data using at least one distance sensor. The generated environment representation is adjusted as a function of the captured distance data. A calculation of a synthetic image of the environment from a virtual perspective of observation takes place based on the adjusted environment representation.
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公开(公告)号：US20230079545A1
公开(公告)日：2023-03-16
申请号：US17903521
申请日：2022-09-06
申请人： Robert Bosch GmbH
发明人： Jerg Pfeil , Tim Dettling
摘要： A method for monitoring a sensor system. Sensor data of the sensor system are read in and information of the sensor data from different elevations of the sensor data is projected as image data into an azimuthal image plane. The information from at least two image areas of the image plane is evaluated in a spatially resolved manner in order to recognize a local sensor blindness of the sensor system. A blindness notification for an image area is output if the sensor blindness is recognized in the image area.
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公开(公告)号：US20210178984A1
公开(公告)日：2021-06-17
申请号：US17108434
申请日：2020-12-01
申请人： Robert Bosch GmbH
发明人： Martin Goth , Jerg Pfeil , Uwe Maehnert
摘要： A method for calibrating image data of an imaging system for a vehicle combination, including a first part of the tractor trailer, which encompasses the imaging system, and a second part which encompasses a calibration object, the second part being mechanically coupled to the first part so as to be movable about at least one axis. The imaging system is configured to at least partially representing the second part. The method includes: providing at least one image of the imaging system, which represents the calibration object; identifying the calibration object within the image; identifying a characteristic variable of the calibration object within the image; determining a deviation of the characteristic variable from a stored characteristic setpoint variable; generating calibrated image data by transforming the image data of the imaging system, depending on the deviation of the characteristic variable from the stored characteristic setpoint variable to compensate for the deviation.
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公开(公告)号：US20220413148A1
公开(公告)日：2022-12-29
申请号：US17618280
申请日：2020-05-07
申请人： Robert Bosch GmbH
发明人： Jerg Pfeil
IPC分类号： G01S17/89 , G01S17/931 , G01S17/86
摘要： A method for optimizing a surroundings model by at least one control unit, measured data being received from a first sensor set and at least one second sensor set. The first sensor set includes a first scanning area, and the second sensor set includes a second scanning area, the first scanning area and the second scanning area partially overlapping in an overlap area. A surroundings model is created for each sensor set based on the received measured data of the particular sensor set. The at least two surroundings models are compared to one another based on the overlap area and being verified. The at least two surroundings models are combined into an optimized surroundings model. A system, a control unit, a computer program, and a machine-readable memory medium, are also described.
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9.发明申请公开(公告)号：US20220196395A1
公开(公告)日：2022-06-23
申请号：US17605516
申请日：2020-04-17
申请人： Robert Bosch GmbH
发明人： Uwe Maehnert , Jerg Pfeil , Martin Goth
摘要： A method for ascertaining an operating angle between a tractor and a trailer of the tractor. The method includes: ascertaining camera images carried out in a chronologically consecutive manner with the aid of at least one rear-facing camera situated on the tractor; detecting structures of the trailer in the camera images; and ascertaining the operating angle by evaluating the detected structures in the camera image.
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公开(公告)号：US11221624B2
公开(公告)日：2022-01-11
申请号：US16540710
申请日：2019-08-14
申请人： Robert Bosch GmbH
发明人： Jerg Pfeil
摘要： A method and a device for operating an automated vehicle are provided. The method includes a step of receiving a first position of the automated vehicle, a step of receiving environment data values, the environment data values representing an environment of the automated vehicle, a step of detecting at least one further vehicle in the environment of the automated vehicle, and a step of generating a digital environment model, starting from a digital map, based on the environment data values and as a function of the first position of the automated vehicle. The environment model comprises the automated vehicle, the at least one further vehicle, and at least one simulated object in the environment of the automated vehicle. The method also includes a step of operating the automated vehicle as a function of the digital environment model.
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