DE19536000A1 - Level setting for distance measurement devices in motor vehicles - Google Patents

Level setting for distance measurement devices in motor vehicles

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Publication number
DE19536000A1
DE19536000A1 DE19536000A DE19536000A DE19536000A1 DE 19536000 A1 DE19536000 A1 DE 19536000A1 DE 19536000 A DE19536000 A DE 19536000A DE 19536000 A DE19536000 A DE 19536000A DE 19536000 A1 DE19536000 A1 DE 19536000A1
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Germany
Prior art keywords
vehicles
transit time
pulse transit
vehicle
distance
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Granted
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DE19536000A
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German (de)
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DE19536000B4 (en
Inventor
Martin J Dipl Ing Spies
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SPIES MARTIN J DIPL ING FH
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SPIES MARTIN J DIPL ING FH
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Priority to DE19536000A priority Critical patent/DE19536000B4/en
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Publication of DE19536000B4 publication Critical patent/DE19536000B4/en
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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C9/00—Measuring inclination, e.g. by clinometers, by levels
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating
    • G01S7/4004—Means for monitoring or calibrating of parts of a radar system
    • G01S7/4026—Antenna boresight
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating
    • G01S7/4004—Means for monitoring or calibrating of parts of a radar system
    • G01S7/4026—Antenna boresight
    • G01S7/4034—Antenna boresight in elevation, i.e. in the vertical plane
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/08—Systems for measuring distance only
    • G01S13/10—Systems for measuring distance only using transmission of interrupted, pulse modulated waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating
    • G01S7/4052—Means for monitoring or calibrating by simulation of echoes
    • G01S7/4082—Means for monitoring or calibrating by simulation of echoes using externally generated reference signals, e.g. via remote reflector or transponder
    • G01S7/4091—Means for monitoring or calibrating by simulation of echoes using externally generated reference signals, e.g. via remote reflector or transponder during normal radar operation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/497—Means for monitoring or calibrating
    • G01S7/4972—Alignment of sensor

Abstract

The method involves directing at least one electromagnetic pulse transition time sensor channel at the road in front of the vehicle (101) and evaluating the pulse shape and/or the distance of the echo in front of the vehicle to set the pitch angle of the sensor system. By applying the sensor system at a large vertical distance from the road, the pulse transition time sensor channel directed towards the road can be simultaneously used for distance measurement of very low vehicles (301) which are close to the vehicle.

Description

Stand der TechnikState of the art

Abstandsmeßgeräte für Warn- und Abstandshaltefunktion in Kraftfahrzeugen müssen so ausgerichtet sein, daß sie die Verkehrssituation und die Fahrzeuge vor dem eigenen Fahrzeug erfassen.Distance measuring devices for warning and spacing functions in motor vehicles must be so be oriented so that they face the traffic situation and the vehicles in front of their own Capture the vehicle.

Dazu sind bisher zwei Methoden bekannt:Two methods are known for this so far:

  • - Das System wird so ausgelegt, daß vor dem Sensor eine so große Flache erfaßt wird, daß alle Nickwinkel und Fahrbahnkrümmungen abgedeckt werden.- The system is designed so that such a large area is detected in front of the sensor, that all pitch angles and road curvatures are covered.
  • - Das System wird abgeleitet von der Einfederung des Fahrzeugs nachgeregelt.- The system is adjusted based on the deflection of the vehicle.

Beide Systemansätze haben erhebliche Nachteile:Both system approaches have significant disadvantages:

Zum einen wird mit der ersten Lösung eine viel zu große Fläche betrachtet, zum anderen spiegelt die Einfederung des Fahrzeugs nur die Fahrbahnbeschaffenheit und nicht den Winkel Fahrzeug/Fahrbahn wider.On the one hand, the first solution looks at a much too large area, on the other reflects the deflection of the vehicle only the road surface and not that Angle vehicle / lane reflected.

Beschreibung der ErfindungDescription of the invention

Vorliegende Erfindung vermeidet diese Nachteile. Sie wird anhand der Fig. 1 bis 3 beschrieben.The present invention avoids these disadvantages. It is described with reference to FIGS. 1 to 3.

Der Abstandssensor wird entsprechend Fig. 1a so ausgeführt, daß vom Einbauort im Fahrzeug (101) z. B. drei oder mehrere getrennte Sende-Empfangskanäle (103,104 und 105) ausgehen, die vertikal aufgefächert und zueinander in einem festen Winkel angeordnet sind.The distance sensor is designed according to Fig. 1a so that from the installation location in the vehicle ( 101 ) z. B. three or more separate transceiver channels ( 103, 104 and 105 ), which are fanned out vertically and arranged at a fixed angle to each other.

Betrachtet man die Echos z. B. eines optischen Systems, das die bekannte Pulslaufzeltmessung nützt, so werden von der Straße (106) Rückstreusignale (107) und (108) detektiert werden, während z. B. ein Fahrzeug (113) ein Signal (109) erzeugt.Looking at the echoes z. B. an optical system that uses the known pulse tent measurement, so from the road ( 106 ) backscatter signals ( 107 ) and ( 108 ) are detected while z. B. a vehicle ( 113 ) generates a signal ( 109 ).

Durch die Höhe der Anbringung des Sensors am Fahrzeug (101) und die Winkel zwischen den Sende-Empfangskanälen (103), (104) und (105) sind die Echos von der Straße (106) bei Ausrichtung des Gerätes mit dem Kanal (105) parallel zur Fahrbahn in einem definierten Abstand vom Fahrzeug und zueinander. Der Winkel zwischen Sensor und Fahrzeug (100) entspricht in etwa dem Winkel Fahrzeug-Fahrbahn (102).Due to the height of the attachment of the sensor to the vehicle ( 101 ) and the angles between the transmit / receive channels ( 103 ), ( 104 ) and ( 105 ), the echoes from the street ( 106 ) when the device is aligned with the channel ( 105 ) parallel to the road at a defined distance from the vehicle and from each other. The angle between the sensor and the vehicle ( 100 ) corresponds approximately to the angle of the vehicle roadway ( 102 ).

Wird z. B. das Fahrzeug (101), wie in Fig. 1b dargestellt, so stark beladen, daß zwischen Fahrzeug (101) und Fahrbahn (106) ein Winkel von (110) gebildet wird, würden sich die Echos (111) und (112) der Sende-Empfangskanäle (103) und (104) weit vom Fahrzeug wegbewegen. Durch Nicken des gesamten Sensorsystems um den Winkel (114) wird erreicht, daß die Echos (111) und (112) wieder im gleichen Abstand vor dem Fahrzeug sind. Damit ist der Kanal (105) wieder annähernd parallel zur Fahrbahn (106) ausgerichtet. Damit ist das System wieder in der Lage, das Fahrzeug (113) zu detektieren. Durch die Auswertung des Abstandes des Echos der Kanäle (103) und (104) kann also der Kanal (105) in etwa parallel zur Fahrbahnoberfläche ausgerichtet werden.Is z. B. the vehicle ( 101 ), as shown in Fig. 1b, so heavily loaded that an angle of ( 110 ) is formed between the vehicle ( 101 ) and roadway ( 106 ), the echoes ( 111 ) and ( 112 ) the transmit-receive channels ( 103 ) and ( 104 ) move far away from the vehicle. By nodding the entire sensor system by the angle ( 114 ) it is achieved that the echoes ( 111 ) and ( 112 ) are again at the same distance in front of the vehicle. The channel ( 105 ) is thus again aligned approximately parallel to the roadway ( 106 ). The system is then able to detect the vehicle ( 113 ) again. By evaluating the distance of the echo of the channels ( 103 ) and ( 104 ), the channel ( 105 ) can thus be aligned approximately parallel to the road surface.

Dabei ist es gleichgültig, ob das Fahrzeug selbst den Winkel zur Fahrbahn durch z. B. Beladung oder durch Bremsen oder durch Beschleunigung bildet oder durch die Fahrbahn durch entsprechende Krümmung (Steigerung oder Gefälle) der Winkel zum Fahrzeug geändert wird.It does not matter whether the vehicle itself the angle to the road through z. B. Loading or by braking or by acceleration or by the Road by appropriate curvature (increase or decrease) the angle to Vehicle is changed.

Die Systemkonfiguration soll anhand Fig. 2 beschrieben werden.The system configuration will be described with reference to FIG. 2.

Das Sensorsystem (208) enthält die Fahrbahnsensoren (201) und (202), die wie in Fig. 1 beschrieben Sende-Empfangskanäle direkt auf die Straße gerichtet enthalten und vorzugsweise optische Pulslaufzeitsensoren sind. Diese sind mit einem Auswerterechner verbunden, der die Abstände des Echos vom Fahrzeug und die Form des Echos auswertet. Starr mit dem System (208) ist der eigentliche Abstandssensor (207) verbunden. Dieser Abstandssensor kann durch jegliches physikalisches Prinzip ausgeführt werden, z. B. optisch Pulslaufzeit oder Radar-Puls-Doppler. Die Signale dieses Sensors (207) können getrennt oder auch im Rechner (203) ausgewertet werden.The sensor system ( 208 ) contains the roadway sensors ( 201 ) and ( 202 ) which, as described in FIG. 1, contain transmission / reception channels directed directly onto the road and which are preferably optical pulse transit time sensors. These are connected to an evaluation computer, which evaluates the distances of the echo from the vehicle and the shape of the echo. The actual distance sensor ( 207 ) is rigidly connected to the system ( 208 ). This distance sensor can be implemented by any physical principle, e.g. B. optical pulse transit time or radar pulse Doppler. The signals of this sensor ( 207 ) can be evaluated separately or also in the computer ( 203 ).

Die Abstände der Echos vom Fahrzeug und damit der Winkel zum Fahrzeug werden mit dem Motor (204) so nachgestreut, daß die Abstände konstant bleiben. Durch die Verwendung von zwei oder mehr Sende-Empfangskanälen, die die Fahrbahnechos auswerten, kann auch die Fahrbahnkrümmung bei der Nachstellung berücksichtigt werden.The distances of the echoes from the vehicle and thus the angle to the vehicle are scattered with the motor ( 204 ) so that the distances remain constant. By using two or more transmit / receive channels that evaluate the lane echoes, the lane curvature can also be taken into account when adjusting.

Damit nicht bei Schlaglöchern oder einer Unebenheit über eine sehr kurze Strecke eine Nachregelung erfolgt, kann entweder im Rechner (203) eine entsprechende Zeitkonstante implementiert werden oder das Signal eines Vertikalgyrators (206) so ausgewertet werden, daß kurze Nickbewegungen nicht berücksichtigt werden.To prevent readjustment in the event of potholes or an unevenness over a very short distance, either a corresponding time constant can be implemented in the computer ( 203 ) or the signal of a vertical gyrator ( 206 ) can be evaluated so that short pitching movements are not taken into account.

Wird das Sensorsystem, wie in Fig. 3 gezeigt, im Fahrzeug (101) relativ weit über der Fahrbahn (106) angebracht, so kann das System mit den Sende-Empfangskanälen (103) und (104) natürlich auch zur Erfassung von kleinen Fahrzeugen (301) im absoluten Nahbereich dienen. Das Echo wird dabei von dem der Straße durch Lage des Echos zueinander, während der Annäherung und durch die Pulsform unterschieden, so daß in diesem Falle im Rechner (203) der Abstand zum Fahrzeug (301) ausgegeben wird und die Vertikalnachregelung (206) nicht betätigt wird.If the sensor system, as shown in Fig. 3, is mounted in the vehicle ( 101 ) relatively far above the roadway ( 106 ), the system can of course also be used with the transmit / receive channels ( 103 ) and ( 104 ) to detect small vehicles ( 301 ) serve in the absolute close range. The echo is distinguished from that of the road by the position of the echo relative to one another, during the approach and by the pulse shape, so that in this case the distance to the vehicle ( 301 ) is output in the computer ( 203 ) and the vertical readjustment ( 206 ) is not actuated becomes.

Natürlich kann die Niveauregulierung des Sensors auch mit nur einem Sende-Empfangskanal, der die Bodenechos als Funktion des Abstandes vom Fahrzeug für die Nachstellung auswertet, ausgeführt werden.Of course, the level control of the sensor can also be done with just one Transmit-receive channel that reflects the floor echoes as a function of the distance from the vehicle Re-evaluation evaluates to be carried out.

Entsprechend Fig. 4 kann das System in ein Fahrzeug so eingebaut werden, daß die Sende-Empfangskanäle (201) und (202) starr mit dem Fahrzeug verbunden sind und der Rechner (203) durch die Auswertung der Lage und Pulsform des Echos des vertikalen Abstandswinkel einen Abstandssensors (401) durch statische optische oder elektromagnetische Maßnahmen einstellt. Dies kann durch Umschaltung von Sende-Empfangsgruppen oder durch interne Komponentenschwenkung oder durch optische oder elektromagnetische Phasensteuerung erfolgen. Die Abstandssignale können einen Rechner oder eine Schnittstelle im Fahrzeug (402) übergeben werden.According to Fig. 4, the system can be installed in a vehicle so that the transmit-receive channels ( 201 ) and ( 202 ) are rigidly connected to the vehicle and the computer ( 203 ) by evaluating the position and pulse shape of the echo of the vertical distance angle sets a distance sensor ( 401 ) by static optical or electromagnetic measures. This can be done by switching transmission / reception groups or by internal component swiveling or by optical or electromagnetic phase control. The distance signals can be transferred to a computer or an interface in the vehicle ( 402 ).

Die Dämpfung des Systems kann mit Hilfe einer Zeitkonstante oder durch Nutzung der Signale eines Vertikalgyrators (206) erfolgen. Natürlich können mit dem System auch Komponenten wie Frontscheinwerfer, Kameras oder Spiegel (404) über einen oder mehrere Motore oder Maßnahmen in ihrer Lage zur Fahrbahn zugleich nachgesteuert werden.The system can be damped using a time constant or by using the signals of a vertical gyrator ( 206 ). Of course, the system can also be used to readjust components such as headlights, cameras or mirrors ( 404 ) via one or more motors or measures in relation to the position of the road.

Claims (7)

1. Niveaueinstellung für Abstandsmeßgeräte in Fahrzeugen mit einem oder mehreren elektromagnetischen Pulslaufzeitsensorkanälen dadurch gekennzeichnet, daß mindestens einer der Pulslaufzeitsensorkanäle auf die Fahrbahn vor dem Fahrzeug gerichtet ist und die Pulsform und oder der Abstand des Echos vor dem Fahrzeug zur Nickwinkeleinstellung des Sensorsystems ausgewertet wird.1. Level setting for distance measuring devices in vehicles with one or more electromagnetic pulse transit time sensor channels, characterized in that at least one of the pulse transit time sensor channels is directed towards the road in front of the vehicle and the pulse shape and or the distance of the echo in front of the vehicle for pitch angle adjustment of the sensor system is evaluated. 2. Niveaueinstellung für Abstandsmeßgeräte in Fahrzeugen mit einem oder mehreren elektromagnetischen Pulslaufzeitsensorkanälen nach Anspruch 1, dadurch gekennzeichnet, daß bei Anbringung des Sensorsystems in großem vertikalem Abstand von der Fahrbahn, die auf die Fahrbahn gerichteten Pulslaufzeitsensorkanäle zugleich zur Abstandsmessung von sehr niedrigen Fahrzeugen in nahem Abstand dienen.2. Level adjustment for distance measuring devices in vehicles with one or more Electromagnetic pulse transit time sensor channels according to claim 1, characterized characterized in that when the sensor system is attached at a large vertical distance from the roadway, the pulse transit time sensor channels directed at the roadway at the same time to measure the distance from very low vehicles in close proximity. 3. Niveaueinstellung für Abstandsmeßgeräte in Fahrzeugen mit einem oder mehreren elektromagnetischen Pulslaufzeitsensorkanälen nach einem der Ansprüche 1 oder 2, dadurch gekennzeichnet, daß zur Niveauregulierung eine Zeitkonstante zur Vermeidung von zu schnellen Nachstellungen, z. B. bei Schlaglöchern in der Fahrbahn, eingeführt wird.3. Level adjustment for distance measuring devices in vehicles with one or more electromagnetic pulse transit time sensor channels according to one of claims 1 or 2, characterized in that a time constant to avoid level regulation from too fast readjustments, e.g. B. at potholes in the road becomes. 4. Niveaueinstellung für Abstandsmeßgeräte in Fahrzeugen mit einem oder mehreren elektromagnetischen Pulslaufzeitsensorkanälen nach einem der Ansprüche 1 oder 2, dadurch gekennzeichnet, daß zur Verbesserung des Regelverhaltens der Niveauregulierung das Signal eines Vertikalgyrators mitherangezogen wird.4. Level adjustment for distance measuring devices in vehicles with one or more electromagnetic pulse transit time sensor channels according to one of claims 1 or 2, characterized in that to improve the control behavior of the Level control the signal of a vertical gyrator is used. 5. Niveaueinstellung für Abstandsmeßgeräte in Fahrzeugen mit einem oder mehreren elektromagnetischen Pulslaufzeitsensorkanälen nach einem der Ansprüche 1 bis 4, dadurch gekennzeichnet, daß die Niveauverstellung durch optisch oder elektromagnetische Strahlablenkverfahren ohne bewegte Teile erfolgt.5. Level adjustment for distance measuring devices in vehicles with one or more electromagnetic pulse transit time sensor channels according to one of claims 1 to 4, characterized in that the level adjustment by optical or electromagnetic beam deflection is done without moving parts. 6. Niveaueinstellung für Abstandsmeßgeräte in Fahrzeugen mit einem oder mehreren elektromagnetischen Pulslaufzeitsensorkanälen nach einem der Ansprüche 1 bis 5, dadurch gekennzeichnet, daß der Abstandssensor in seinem Niveau zur Fahrbahn getrennt von den Sende-Empfangs-Kanälen, die die Bodenechos auswerten, nachgestellt wird.6. Level adjustment for distance measuring devices in vehicles with one or more electromagnetic pulse transit time sensor channels according to one of claims 1 to 5, characterized in that the distance sensor in its level to the road separately from the transmit / receive channels that evaluate the ground echoes becomes. 7. Niveaueinstellung für Abstandsmeßgeräte in Fahrzeugen mit einem oder mehreren elektromagnetischen Pulslaufzeitsensorkanälen nach einem der Ansprüche 1 bis 6, dadurch gekennzeichnet, daß mit dem System andere Sensoren und Teile des Fahrzeuges wie Frontlichter, Videosysteme, Spiegel in ihrer Winkellage zur Fahrbahn nachgestellt werden.7. Level adjustment for distance measuring devices in vehicles with one or more electromagnetic pulse transit time sensor channels according to one of claims 1 to 6, characterized in that with the system other sensors and parts of the Vehicle such as headlights, video systems, mirrors in their angular position to the road be adjusted.
DE19536000A 1995-09-28 1995-09-28 Level adjustment for distance measuring devices in vehicles Expired - Fee Related DE19536000B4 (en)

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