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1. 发明公开

US20240272304A1 Method for Detecting GNSS Spoofing in a GNSS Receiver of a Localization System 审中-公开
公开(公告)号：US20240272304A1
公开(公告)日：2024-08-15
申请号：US18569557
申请日：2022-05-19
申请人： Robert Bosch GmbH
发明人： Christian Skupin , David Oertel
IPC分类号： G01S19/21 , G01S19/29
CPC分类号： G01S19/215 , G01S19/29
摘要： A method for detecting GNSS spoofing by way of GNSS receiver of a localization system is disclosed. The GNSS receiver includes an antenna for receiving GNSS signals. The GNSS signals are emitted by at least one GNSS satellite and are received by the GNSS receiver in such a way that each GNSS signal is shifted by a frequency difference. The method includes a) receiving a GNSS signal by way of the antenna, b) measuring the frequency difference between the frequency of the GNSS signal emitted by a GNSS satellite and the frequency of the GNSS signal received by the antenna, c) determining the rate of change of the frequency difference by using motion change information relating to the GNSS receiver, d) checking if the determined rate of change corresponds to a rate of change characteristic of satellite signal reception, and e) detecting GNSS spoofing if the determined rate of change does not match satellite signal reception.

2. 发明申请

US20220244407A1 Method for Generating a Three-Dimensional Environment Model Using GNSS Measurements 有权
公开(公告)号：US20220244407A1
公开(公告)日：2022-08-04
申请号：US17621869
申请日：2020-07-08
申请人： Robert Bosch GmbH
发明人： Christian Skupin , Nikolay Mikhaylov , Wen Ren , Andreas Hinrichs
IPC分类号： G01S19/42 , G01S19/14 , G01S19/33 , G01S19/25
摘要： The disclosure relates to a method for generating a three-dimensional environment model using GNSS measurements, comprising at least the following steps: a) receiving a plurality of measuring data sets, each of which describes a propagation path of a GNSS signal between a GNSS satellite and a GNSS receiver; b) selecting from the plurality of measuring data sets individual measuring data sets which meet a first selection criterion, the first selection criterion being characteristic for the presence of an object boundary along the propagation path of the GNSS signal; and c) capturing an object boundary of an object in the environment of at least one GNSS receiver using the measuring data sets selected.

3. 发明授权

US10591304B2 Method for localizing an automated motor vehicle 有权
公开(公告)号：US10591304B2
公开(公告)日：2020-03-17
申请号：US15753389
申请日：2016-06-17
申请人： Robert Bosch GmbH
发明人： Moritz Michael Knorr , Alexander Geraldy , Christian Skupin , Daniel Zaum , Emre Cakar , Hanno Homann , Holger Mielenz , Isabella Hinterleitner , Jochen Marx , Lukas Klejnowski , Markus Langenberg , Michael Pagel
IPC分类号： G01C21/32 , G06F16/9537 , G01C21/30 , G06F16/583 , G06K9/00 , H04L29/08
摘要： A method of an automated motor vehicle for optimized communication from a server of localization reference data for a defined location includes a sensor of the motor vehicle capturing driving environment data, linking the captured driving environment data to location information, based on the linking, localizing the motor vehicle at an achieved localization accuracy, identifying a setpoint localization accuracy at which an operation of the motor vehicle is to be performed, signaling to the server the achieved localization accuracy, and transmitting to the server a request for the localization reference data at the setpoint localization accuracy based on the signaled achieved localization accuracy.

4. 发明申请

US20170168483A1 METHOD AND DEVICE FOR RECEIVING DATA VALUES AND FOR OPERATING A VEHICLE 审中-公开
公开(公告)号：US20170168483A1
公开(公告)日：2017-06-15
申请号：US15376316
申请日：2016-12-12
申请人： Robert Bosch GmbH
发明人： Moritz Michael Knorr , Alexander Geraldy , Christian Skupin , Daniel Zaum , Emre Cakar , Hanno Homann , Holger Mielenz , Isabella Hinterleitner , Jochen Marx , Lukas Klejnowski , Markus Langenberg , Michael Pagel
IPC分类号： G05D1/00 , B60W50/14 , G01C21/34
CPC分类号： G05D1/0061 , B60W50/14 , B60W2050/0077 , B60W2550/40 , B60W2550/408 , G01C21/3453 , G01C21/3461 , G05D2201/0213
摘要： A method and device for operating at least one first automated vehicle including receiving data values, which represent at least one transition from an automated operation of at least one second automated vehicle to a manual operation of the at least one second automated vehicle, and operating the at least one first automated vehicle, the operation taking place as a function of the received data values.

5. 发明申请

US20170067764A1 METHOD AND DEVICE FOR DETECTING AT LEAST ONE SENSOR MALFUNCTION OF AT LEAST ONE FIRST SENSOR OF AT LEAST ONE FIRST VEHICLE 审中-公开
标题翻译：用于检测至少一个第一车辆的至少一个第一传感器的传感器故障的方法和装置
公开(公告)号：US20170067764A1
公开(公告)日：2017-03-09
申请号：US15235005
申请日：2016-08-11
申请人： Robert Bosch GmbH
发明人： Christian Skupin , Markus Langenberg , Daniel Zaum , Hanno Homann , Moritz Michael Knorr , Lukas Klejnowski , Alexander Geraldy , Michael Pagel , Emre Cakar , Jochen Marx , Isabella Hinterleitner , Holger Mielenz
IPC分类号： G01D18/00 , G07C5/00 , G07C5/08
CPC分类号： G01D18/00 , B60W50/0205 , G01R31/007 , G07C5/008 , G07C5/0808 , G07C5/0816
摘要： A method and a device for detecting at least one sensor malfunction of at least one first sensor of at least one first vehicle, at least one first signal from the at least one first sensor of the at least one first vehicle being ascertained and this at least one first signal being compared according to predefined comparison criteria to at least one comparison variable, at least one further second signal from at least one second sensor of at least one further second vehicle being ascertained as this at least one comparison variable and the at least one sensor malfunction being detected in the at least one first vehicle as a function of the comparison.
摘要翻译：一种用于检测至少一个第一车辆的至少一个第一传感器的至少一个传感器故障的方法和装置，确定来自至少一个第一车辆的至少一个第一传感器的至少一个第一信号，并且至少根据预定义的比较标准将一个第一信号与至少一个比较变量进行比较，确定至少一个另外的第二车辆的至少一个第二传感器的至少一个另外的第二信号作为该至少一个比较变量和至少一个作为比较的功能，在至少一个第一车辆中检测到传感器故障。

6. 发明公开

US20230375717A1 Method and System for Predicting GNSS Geolocation Quality on Roads in Urban Environments 审中-公开
公开(公告)号：US20230375717A1
公开(公告)日：2023-11-23
申请号：US18318056
申请日：2023-05-16
申请人： Robert Bosch GmbH
发明人： Christian Skupin
IPC分类号： G01S19/26
CPC分类号： G01S19/26
摘要： A method for predicting GNSS geolocation quality on roads in urban environments given the propagation of objects obstructing GNSS signals is disclosed. The method includes step a) providing a model for determining the at least one geolocation quality parameter as a function of input values, wherein the model is designed for at least the following input values: (i) at least one DOP value describing the quality of the present geometrical satellite constellation under line-of-sight conditions, and (ii) at least one characteristic environmental parameter considered in the model independently of the DOP value and describing a local influence of objects on the propagation of GNSS signals. The method further includes step b) determining a location and/or a time at which location and/or time the GNSS geolocation quality is to be predicted. In addition, the method includes step c) determining at least one DOP value at a given time as a function of the location of the GNSS receiver provisionally determined in step b) and providing the DOP value as an input value to the model. The method also includes step d) determining at least one characteristic environmental parameter as a function of the location provisionally determined in step b) and providing the at least one environmental parameter as an input value to the model. Also, the method includes step e) calculating at least one quality parameter describing the quality of a GNSS geolocation using the model provided in step a) as a function of the parameters provided in steps c) and d).

7. 发明申请

US20220276388A1 Method for Determining a Model for Describing at least one Environment-Specific GNSS Profile 有权
公开(公告)号：US20220276388A1
公开(公告)日：2022-09-01
申请号：US17628335
申请日：2020-07-15
申请人： Robert Bosch GmbH
发明人： Christian Skupin , Hanno Homann , Moritz Michael Knorr
IPC分类号： G01S19/07 , G01S19/14
摘要： The disclosure relates to a method for determining a model for describing at least one environment-specific GNSS profile, comprising at least the following steps: a) receiving at least one measurement data record, which describes at least one GNSS parameter of a GNSS signal between a GNSS satellite and a GNSS receiver, b) using the measurement data record received in step a) to determine at least one model parameter for a model for describing the at least one environment-specific GNSS profile, and c) providing the model for describing the at least one environment-specific GNSS profile.

8. 发明授权

US11333504B2 Method and device for updating a digital map for vehicle navigation 有权
公开(公告)号：US11333504B2
公开(公告)日：2022-05-17
申请号：US16493460
申请日：2018-03-14
申请人： Robert Bosch GmbH
发明人： Moritz Michael Knorr , Alexander Geraldy , Christian Skupin , Daniel Zaum , Emre Cakar , Hanno Homann , Holger Mielenz , Isabella Hinterleitner , Jochen Marx , Lukas Klejnowski , Markus Langenberg , Michael Pagel
IPC分类号： G01C21/32 , G01S13/89
摘要： A method is described for updating a digital map for vehicle navigation. The method includes a step of determining an adjustment signal for adjusting a detection range of an environment sensor of a vehicle to a section of an environment of the vehicle that corresponds to an area of the digital map to be updated, using an item of information about the area to be updated, and the method including a step of supplying area data for updating the digital map, the area data representing an image of the section of the environment detected by the environment sensor.

9. 发明授权

US10591913B2 Method for transmitting, receiving and processing data values, and a transmission device and receiving device 有权
公开(公告)号：US10591913B2
公开(公告)日：2020-03-17
申请号：US15377388
申请日：2016-12-13
申请人： Robert Bosch GmbH
发明人： Moritz Michael Knorr , Alexander Geraldy , Christian Skupin , Daniel Zaum , Emre Cakar , Hanno Homann , Holger Mielenz , Isabella Hinterleitner , Jochen Marx , Lukas Klejnowski , Markus Langenberg , Michael Pagel
IPC分类号： G05D1/00 , B60R16/023 , H04L29/08
摘要： A method for transmitting, receiving and processing data values, including detecting first data values, which represent at least one first transition from an automated operation of at least one first automated vehicle to a manual operation of the at least one first automated vehicle. The method also includes transmitting the first data values, receiving the first data values and a step of processing the first data values, and a transmission device and a receiving device for carrying out the method for transmitting, receiving and processing data values.

10. 发明授权

US10872477B2 Method and device for uploading data of a motor vehicle 有权
公开(公告)号：US10872477B2
公开(公告)日：2020-12-22
申请号：US15736141
申请日：2016-05-13
申请人： Robert Bosch GmbH
发明人： Moritz Michael Knorr , Alexander Geraldy , Christian Skupin , Daniel Zaum , Emre Cakar , Hanno Homann , Holger Mielenz , Isabella Hinterleitner , Jochen Marx , Lukas Klejnowski , Markus Langenberg , Michael Pagel
IPC分类号： G07C5/00 , G01C21/32 , G01C21/36 , H04W4/40 , G06F16/29
CPC分类号： G07C5/008 , G01C21/32 , G01C21/3602 , G06F16/29 , H04W4/40
摘要： A method for uploading data of a motor vehicle, including the steps: acquiring surrounding-area data of the motor vehicle with the aid of a sensor device; generating a locational reference for the acquired surrounding-area data; evaluating the acquired surrounding-area data by comparing the acquired surrounding-area data to known surrounding-area data of a data storage unit of a server device; and uploading the acquired surrounding-area data to the server device (40) as a function of the evaluation.

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