Operating a movable sensor rig for a vehicle

Abstract

The invention relates to a method for operating a movable sensor rig (10) for a vehicle (74) by an electronic computing device of the vehicle (74). The method comprises the steps of: capturing at least one sensor datum (72, 100) by at least one sensor (36, 38, 102) of the vehicle (74), wherein the at least one sensor datum (72, 100) concerns a current driving direction of the vehicle (74) and / or a position of a priority route user in a vicinity of the vehicle (74); (S1) estimating a new sensor position for at least one movable sensor (36, 38) of the rig (10) with respect to the rig (10) by the electronic computing device, wherein the new sensor position depends on the at least one sensor datum (72, 100); (S3) and generating a control signal by the electronic computing device, wherein the control signal actuates the rig (10) to move the at least one movable sensor (36, 38) potentially according to the new sensor position. (S4) Furthermore, the invention relates to a movable sensor rig (10).

Description

Applicant’s Ref.: 2024P02879WOAttorney’s Ref.: 960371Mercedes-Benz Group AG Negi 2026-02-19A Method for Operating a Movable Sensor Rig for a Vehicle by an Electronic Computing Device of the Vehicle as Well as a Movable Sensor RigFIELD OF THE INVENTION

[0001] The present invention relates to the field of vehicles. More specifically, the present invention relates to a method for operating a movable sensor rig for a vehicle by an electronic computing device of the vehicle. Furthermore, the present invention relates to a corresponding movable sensor rig.BACKGROUND INFORMATION

[0002] It is known in the prior art that a vehicle may be equipped with at least one sensor. The at least one sensor may, for instance, be configured to capture data used to support at least one assisted-driving functionality of the vehicle such as a collision avoidance system (CAS) and / or a lane departure warning system (LDWS). If the at least one sensor occupies a fixed position (including, potentially, a fixed angle) with respect to the vehicle, there may be at least one corresponding blind spot of the at least one sensor. The at least one sensor may have a reduced ability to observe that which is in the at least one blind spot.

[0003] If, for instance, the vehicle travels along a tortuous or inclined route, the location of the at least one blind spot may result in reduced efficiency associated with the at least one sensor, potentially even where the at least one sensor is complemented by at least one other sensor. For example, a long-range camera may be complemented by a long-range radar, a wide-range camera, and a short-range camera, yet nevertheless may feature at least one blind spot.

[0004] For instance, a first vehicle may be navigating a bend in a current route and may be gaining on a second vehicle at a current distance of one hundred meters. Due to aApplicant’s Ref.: 2024P02879WOAttorney’s Ref.: 960372current orientation of the first vehicle as it navigates the bend, the bend may at least partially overlap with at least one blind spot of at least one sensor of the first vehicle used to support an adaptive cruise control functionality and / or automated emergency braking functionality of the vehicle. Consequently, the adaptive cruise control functionality and / or automated emergency braking functionality may exhibit a delayed and / or reduced reaction compared to an analogous situation along a straight route. That is, the at least one sensor may first detect the second vehicle at a smaller inter-vehicle separation compared to an analogous situation along a straight route.

[0005] Document US 11835948 B2 describes systems and a method for improving vehicle operations using movable sensors. A vehicle can be configured with one or more sensors having the capability to be extended and / or rotated. The one or more movable sensors can be caused to move based on a determined context of the vehicle, to capture additional data associated with the environment in which the vehicle is operating. The movable sensor is caused to move by at least one processor configured to execute computer-executable instructions to, among other things, determine whether the vehicle is traversing a highway onramp.SUMMARY OF THE INVENTION

[0006] It is an object of the present invention to provide a method and a device by which an impact of at least one blind spot on at least one sensor may be reduced.

[0007] The object of the present invention is fulfilled by a method and a corresponding movable sensor rig according to the independent claims. Advantageous embodiments are presented in the dependent claims, the following description, and the figures.

[0008] One aspect of the present invention relates to a method for operating a movable sensor rig for a vehicle by an electronic computing device of the vehicle. At least one sensor datum is captured by at least one sensor of the vehicle. The at least one sensor datum concerns a current driving direction of the vehicle and / or a position of a priority route user in a vicinity of the vehicle. A new sensor position for at least one movable sensor of the rig with respect to the rig is estimated by the electronic computing device. In a further development, the estimating of the new sensor position depends on an application of at least one image processing algorithm to the at least one sensor datum by the electronic computing device. That is, for example, the new sensor position may depend on the application and / or the estimating of the new sensor position may beApplicant’s Ref.: 2024P02879WOAttorney’s Ref.: 960373triggered depending on the application. The new sensor position depends on the at least one sensor datum. A control signal is generated by the electronic computing device. The control signal actuates the rig to move the at least one movable sensor potentially according to the new sensor position.

[0009] As a consequence of application of the preceding aspect, at least one movable sensor of a vehicle may be moved so as to reposition at least one blind spot with respect to, for instance, the vehicle and / or a surface along which the vehicle is traveling. This may have an effect of reducing an impact of the at least one blind spot on the at least one movable sensor. Consequently, application of the preceding aspect may fulfill the object of the present invention.

[0010] Application of the method may extend a detection range of the at least one movable sensor, especially if the detection range depends on an angle of the at least one movable sensor. For instance, given a fixed position of an optical camera, the optical camera may be unable to observe targets outside of a particular angular range known as the field of view (FOV). Use of a dynamic rather than fixed position may allow the optical camera to observe a larger angular range. For instance, the optical camera may be rotated as a consequence of application of the preceding aspect.

[0011] By repositioning the at least one blind spot, application of the method may improve a performance of at least one assisted-driver functionality and / or automated driving functionality of the vehicle. This improved performance may result in increased safety and / or driving performance of the vehicle.

[0012] In addition, application of the method may simplify design of sensor-bearing devices such as vehicles. For instance, a sensor of reduced nominal detection range may be installed in a movable sensor rig operated by the method so as to achieve an effective detection range equivalent to that of a fixed sensor of greater nominal detection range. However, the rig-sensor combination may be simpler to manufacturer than the fixed sensor of greater nominal detection range.

[0013] The verb "driving" is used throughout this document to refer generally to operation of the vehicle so as to achieve motion according to a specific route and does not restrict the vehicle to a particular category. As examples, the verb "driving" may refer to flying if the vehicle is a sensor-equipped aerial vehicle or the verb may refer to sailing if the vehicle is a sensor-equipped boat.Applicant’s Ref.: 2024P02879WOAttorney’s Ref.: 960374

[0014] The at least one sensor may be identical to the at least one movable sensor. That is, the method may use at least one sensor datum from the at least one movable sensor to estimate the new sensor position of the at least one movable sensor. Alternatively, the at least one sensor may include at least one non-movable sensor. For instance, sensor data from a fixed optical camera may be used to estimate the new sensor position of the at least one movable sensor. Alternatively, sensor data from both fixed and movable sensors may be used to estimate the new sensor position of the at least one movable sensor.

[0015] The new sensor position may be so estimated as to potentially improve an observability by the at least one movable sensor of at least one physical entity of the vicinity, such as a current driving surface along which the vehicle is traveling. This may include consideration of a current trajectory of the vehicle. For example, the new sensor position may be so estimated as to potentially improve an observability by the at least one movable sensor of at least one object and / or surface from a position that the vehicle is projected by the electronic computing device to occupy within a time threshold value stored in the electronic computing device.

[0016] For instance, the electronic computing device may determine that the vehicle is not currently traveling along a bend in a route but will be within a predefined time interval of fifteen seconds. In this case, the electronic computing device may proactively estimate the new sensor position based on at least one shape property of the upcoming bend, for instance so as to potentially increase a maximum distance along the bend that is observable by the at least one movable sensor.

[0017] Examples of sensor data include photographs and videos captured by at least one camera observing at at least one wavelength of light; radar data; acoustic data such as audio recordings; and LIDAR data, such as time-of-f light camera data. Examples of sensor data furthermore include results, also known in the prior art as data fusion products, obtained by a combination of at least two sensor data originating from at least two different sensors.

[0018] Examples of sensors include radar sensors; LIDAR sensors, such as time-of-flight cameras; acoustic sensors, such as acoustic cameras; and optical sensors, such as optical cameras. At least one of the at least one sensor may be a sensor already installed in the vehicle for at least one different purpose. For instance, at least one of the at leastApplicant’s Ref.: 2024P02879WOAttorney’s Ref.: 960375one sensor may be a dashboard camera installed to record at least one driving session and / or to provide at least one datum for a navigation control unit of an autonomous driving system of the vehicle.

[0019] The term “vicinity” includes, but is not limited to, all physical locations with bearing on a current trajectory planning of the vehicle. The term “trajectory planning” is not limited to the automated planning known from the state of the art to be performed in selfdriving vehicles, but may also refer to trajectory planning performed by a human operator of the vehicle.

[0020] The rig comprises at least one means with which a position of the at least one movable sensor with respect to the rig is modified. For instance, the rig may comprise at least one motor and / or at least one electromagnetic induction mechanism used to drive the at least one movable sensor.

[0021] The term "position" includes both linear and angular coordinates, even though the rig may potentially not be configured to change both linear and angular coordinates of the at least one movable sensor with respect to the rig. For a fixed rig position, the rig is configured to change at least one coordinate of the at least one movable sensor with respect to the rig.

[0022] Examples of priority route users include police vehicles, firefighting vehicles, and medical emergency vehicles. In an embodiment of the present invention, these examples may be considered priority route users only when accompanied by a service signal such as a flashing light and / or an active siren. For instance, the at least one sensor may be a microphone of the vehicle. If the electronic computing device classifies sensor data from the microphone as indicating a presence of an active siren, the electronic computing device may actuate the rig to point the at least one movable sensor toward a source of the siren.

[0023] The invention comprises further developments providing additional benefits.

[0024] In a further development of the present invention, the method comprises the additional step of estimating a slope and / or curvature value of a current driving surface along which the vehicle is traveling by the electronic computing device of the vehicle, depending on the at least one sensor datum.Applicant’s Ref.: 2024P02879WOAttorney’s Ref.: 960376

[0025] For instance, a yaw angle of the new sensor position may depend on a radius of curvature associated with the current driving surface. As another example, a pitch angle of the new sensor position may depend on a grade of the current driving surface.

[0026] To implement this development, the vehicle must be traversing a surface of approximately constant shape over a timescale over which the vehicle traverses the surface.

[0027] In a further development, the method comprises two additional steps. The at least one sensor datum is classified by the electronic computing device according to a diversion and / or halting criterion of the electronic computing device. At least one driving functionality of the vehicle is controlled by the electronic computing device, depending on the classification. Consequently, to implement this development, the vehicle must be able to have a driving functionality that is at least partly automated.

[0028] For instance, the at least one movable sensor may be moved to potentially better observe a priority route user. The electronic computing device may estimate from sensor data from the at least one movable sensor that the priority route user is driving along a trajectory along which the priority route user may be at least partly hindered by the vehicle's presence. Consequently, the diversion and / or halting criterion may be satisfied, and the electronic computing device may control the at least one driving functionality to bring the vehicle to stop and / or move so as to facilitate passage by the priority user.

[0029] In a further development, the method comprises three additional steps. A current sensor position of the at least one movable sensor is provided by the electronic computing device. A difference between the sensor position and the current sensor position is compared to a position error tolerance value by the electronic computing device. At least one further control signal is generated by the electronic computing device to further actuate the rig, depending on the comparison.

[0030] These three steps may, for instance, be operated in a loop until the difference between the positions falls below the position error tolerance.

[0031] The current sensor position may be captured by an angle sensor of the rig. For instance, if the rig uses electromagnetic induction to move the at least one movable sensor, the angle of the at least one movable sensor may be measured with a magneticApplicant’s Ref.: 2024P02879WOAttorney’s Ref.: 960377angle sensor (such as one comprising one or more Hall elements). This development may facilitate correction of at least one error in the generation of the control signal.

[0032] Another aspect of the present invention relates to a movable sensor rig configured to be operated in a method according to the preceding aspect. The rig comprises at least one primary electromagnet, at least one electrical connection, at least one primary permanent magnet, and at least one movable sensor. The at least one primary electromagnet is configured to receive electric power through the at least one electrical connection. The at least one primary permanent magnet is configured to move in response to a magnetic field generated by the primary electromagnet. The at least one movable sensor is coupled to the at least one primary permanent magnet.

[0033] An electronic computing device by which multiple steps of the method according to the previous aspect are executed may be located at least partially within the rig or it may be located entirely outside the rig.

[0034] The primary electromagnet modifies at least one coordinate of the at least one movable sensor using electromagnetic induction technology. The control signal generated by the electronic computing device during execution of the method results in a change in electric current passing through the at least one primary electromagnet. In this way, the electronic computing device may modify the magnetic field produced by the at least one primary electromagnet. The magnetic field is modified so as to bring about motion of the at least one movable sensor.

[0035] A further aspect of the present invention relates to a vehicle comprising a least one electronic computing device and at least one movable sensor rig. At least one of the at least one electronic computing device is configured to carry out those steps of a method according to the preceding aspect as are therein assigned to an electronic computing device. At least one of the at least one rig is configured to be actuated by a control signal generated by the at least one of the at least one electronic computing device according to the method. At least one of the at least one rig and / or at least one further sensor comprised by the vehicle is configured to capture at least one sensor datum for use in the method.

[0036] An "electronic computing device" may in particular be understood as a data processing device, which comprises processing circuitry. An electronic computing device used to execute the method may therefore in particular process data to performApplicant’s Ref.: 2024P02879WOAttorney’s Ref.: 960378computing operations. This may also include operations to perform indexed accesses to a data structure, for example a look-up table (LUT).

[0037] In particular, the electronic computing device may include one or more computers, one or more microcontrollers, and / or one or more integrated circuits, for example, one or more application-specific integrated circuits (ASICs), one or more field-programmable gate arrays (FPGAs), and / or one or more systems on a chip (SoCs). The electronic computing device may also include one or more processors, for example one or more microprocessors, one or more central processing units (CPUs), one or more graphics processing units (GPUs), and / or one or more signal processors, in particular one or more digital signal processors (DSPs) and / or neural processing units (NPUs). The electronic computing device may also include a physical or a virtual cluster of computers or other of said units.

[0038] In various embodiments, the electronic computing device includes one or more hardware and / or software interfaces and / or one or more memory units.

[0039] A memory unit may be implemented as a volatile data memory, for example a dynamic random access memory (DRAM) or a static random access memory (SRAM), or as a non-volatile data memory, for example a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a flash memory or flash EEPROM, a ferroelectric random access memory (FRAM), a magnetoresistive random access memory (MRAM), or a phase-change random access memory (PCRAM).

[0040] Further advantages, features, and details of the invention derive from the following description of preferred embodiments as well as from the drawings. The features and feature combinations previously mentioned in the description as well as the features and feature combinations mentioned in the following description of the figures and / or shown in the figures alone can be employed not only in the respectively indicated combination but also in any other combination or taken alone without leaving the scope of the invention.Applicant’s Ref.: 2024P02879WOAttorney’s Ref.: 960379BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The novel features and characteristics of the disclosure are set forth in the appended claims. The accompanying drawings, which are incorporated in and constitute a part of this disclosure, illustrate exemplary embodiments and, together with the description, serve to explain the disclosed principles. The same numbers are used throughout the figures to reference like features and components. For example, the same reference signs may indicate the same elements or elements having the same function. Some embodiments of system and / or methods in accordance with embodiments of the present subject matter are now described below, by way of example only, and with reference to the accompanying figures.

[0042] The drawings show in:

[0043] Fig. 1 diagram of an embodiment of a movable sensor rig according to an aspect of the present invention.

[0044] Fig. 2 an example of application of at least one image processing algorithm to at least one sensor datum according to multiple developments of the present invention.

[0045] Fig. 3 flowchart illustrating an embodiment of a method according to an aspect of the present invention.DETAILED DESCRIPTION

[0046] In the following detailed description of the example embodiments of the disclosure, references are made to the accompanying drawings that form parts hereof and in which are shown by way of illustration specific embodiments in which the disclosure may be practiced. These embodiments are described in sufficient detail to enable those skilled in the art to practice the disclosure, and it is to be understood that other embodiments may be utilized and that changes may be made without departing from the scope of the present disclosure. The following description is, therefore, not to be taken in a limiting sense.

[0047] While the disclosure is susceptible to various modifications and alternative forms, specific embodiments thereof have been shown by way of example in the drawings and will be described in detail below. It should be understood, however, that it is not intended to limit the disclosure to the particular forms disclosed, but on the contrary, the disclosureApplicant’s Ref.: 2024P02879WOAttorney’s Ref.: 9603710is to cover all modifications, equivalents, and alternatives falling within the scope of the disclosure.

[0048] Fig. 1 shows an embodiment of a movable sensor rig 10 according to an aspect of the present invention. In this example, the rig 10 may comprise a shell case 12 serving as a potentially rigid framework within which components of the rig 10 may be arranged. Furthermore, the shell case 12 may be at least partially protected by a transparent outer shell 14, for instance one composed at least in part of a durable, transparent thermoplastic such as polymethyl methacrylate.

[0049] The rig 10 comprises at least one primary electromagnet 16, which in this example may be a radial stator of the rig 10. The at least one primary electromagnet 16 may be a series of eight primary electromagnetic coils 20 wound around eight primary magnetic cores 22.

[0050] In this example, each of the primary cores 22 may correspond in shape to a form 24 shown apart from the rig 10. The central, narrowest part of the form 24 may be that around which each of the primary coils 20 is, in this example, wound. The form 24 is shown with a pattern of seven tooth-like projections.

[0051] The primary coils 20 may be made at least partially of an electrically conductive material such as metallic copper and / or aluminum. The primary cores 22 may, for example, be made at least partially from materials of high magnetic permeability such as ferromagnetic iron.

[0052] The rig 10 comprises at least one primary permanent magnet 26. In this example, the eight primary electromagnets 16 may be arranged circularly around a single primary permanent magnet 26 such that each of the primary cores 22 is separated from its neighbor cores by a 4.5-degree gap. The primary permanent magnet 26 may be implemented in any shape without leaving the scope of the present invention.

[0053] The primary permanent magnet 26 may be fitted with a tooth cap, in this example comprising sixty tooth-like projections in total. The tooth cap may be fitted radially about the primary permanent magnet 26 using an interference fit. The tooth cap may be made of a material of high magnetic permeability such as ferromagnetic iron. The tooth cap may be used to extend and shape magnetic flux from the primary permanent magnet 26.Applicant’s Ref.: 2024P02879WOAttorney’s Ref.: 9603711

[0054] The tooth-like projections on each of the primary cores 22 (as shown on the form 24) may be designed to align with the tooth cap. In this example, this may impose a resolution limit on the yaw angle of the permanent magnet 26. For example, in order to maintain alignment between projections on the primary cores 22 and projections on the tooth cap and / or as a consequence of the geometries of the projections, the primary electromagnet assembly may be constrained to change the yaw angle of the permanent magnet 26 in increments of 1.5 degrees.

[0055] In this example, a primary printed circuit board (PCB) 28 may be mounted within the rig 10. The primary PCB 28 may be electrically connected to the primary coils 20 and may be configured to be able to independently adjust a current passing through each of the primary coils 20. This may include not only changes to magnitude of the current but also to polarity.

[0056] The primary PCB 28 may feature a primary power connector 30 through which the primary PCB 28 may receive electric power. For instance, the primary PCB 28 may receive, via a power cable attached to the primary power connector 30, electric power from an electric battery of a vehicle within which the rig 10 is installed.

[0057] Furthermore, the primary PCB 28 may feature a primary data connector 32 (such as a universal serial bus connector, a USB connector) through which the primary PCB 28 may communicate with at least an electronic computing device configured to operate the rig 10 according to a method according to an aspect of the present invention. The communication may, for example, be handled by a dedicated communication unit on the primary PCB 28.

[0058] The electronic computing device may also function as an automated driving controller unit. Alternatively, the vehicle may comprise a separate automated driving controller unit, which may also feature a data connection with the primary PCB 28 and / or the electronic computing device.

[0059] In this example, the primary PCB 28 may further comprise at least one memory unit, at least one error handling unit, and at least one memory controller unit which may communicate with each other. These units may be tasked with, for example, organization of communication with the electronic computing device as well as handling of instructions from the electronic computing device to control at least one current flowing through the rig 10. The primary PCB 28 may comprise one or more electric power management units, forApplicant’s Ref.: 2024P02879WOAttorney’s Ref.: 9603712example connected to the primary power connector 30 and potentially the memory controller unit.

[0060] By appropriately setting a current passing through at least one of the primary coils 20, the primary permanent magnet 26 may be brought to rotate about a fixed axis. In this example, the electronic computing device may independently control a current passing through each of the primary coils 20 by sending an appropriate control signal to the primary PCB 28. In another example, the electronic computing device may control the current by sending the control signal to a device supplying electric power to the primary PCB 28. In that example, the primary data connector 32 may not be used by the primary PCB 28 for accepting the control signal from the electronic computing device.

[0061] In this example, the rig 10 may comprise a printed circuit board cover (PCB cover) configured to protect any parts of the primary PCB 28 that may not be protected by the shell case 12 and / or outer shell 14. The PCB cover is not explicitly shown in Fig. 1.

[0062] In this example, a vertical shaft 34 may be coupled with the primary permanent magnet 26 so as to corotate with the primary permanent magnet 26. The vertical shaft 34 may be coaxial to the fixed axis about which the primary permanent magnet 26 is configured to rotate.

[0063] The rig 10 comprises at least one movable sensor 36, 38 coupled to the primary permanent magnet 26. In this example, a sensor mounting fixture 40 may be connected to the vertical shaft 34 using a pair of supporting arms 42. Consequently, when the primary permanent magnet 26 is magnetically rotated by the primary electromagnet 16, a yaw angle of the at least one movable sensor 36, 38 is modified.

[0064] In this example, the at least one movable sensor 36, 38 may be a radar sensor 36 and an optical camera 38 mounted in the sensor mounting fixture 40. They may be attached to the sensor mounting fixture 40 with, for example, screws corresponding to screw receptacles drilled into the sensor mounting fixture 40.

[0065] In this example, the supporting arms 42 may be configured to swing in a circle oriented perpendicular to the primary permanent magnet 26. The supporting arms 42 may be configured to swing about a connection point at which the supporting arms 42 are connected to the vertical shaft 34.Applicant’s Ref.: 2024P02879WOAttorney’s Ref.: 9603713

[0066] A magnet pocket 44 may be included directly behind the sensor mounting fixture 40. A secondary permanent magnet 46 may be stored inside the magnet pocket 44. In this example, the secondary permanent magnet 46 may be crescent-shaped, although other shapes may also be compatible with the present invention.

[0067] The secondary permanent magnet 46 may be configured to drive the supporting arms 42 to swing in response to a magnetic field produced by six secondary electromagnets 48 forming a vertical stator of the rig 10. Consequently, the control signal may result in adjustment of at least one current flowing through the secondary electromagnets 48, leading to modification of a pitch angle of the movable sensors 36, 38 with respect to the rig 10.

[0068] In this example, the six secondary electromagnets 48 may comprise six secondary coils 52 wound around six secondary magnetic cores 54. The secondary cores 54 may differ from the primary cores 22 in shape or they may be identical. The secondary electromagnets 48 may be arranged in two arc-shaped groups about the vertical shaft 34: an upper group of three 56 and a lower group of three 58.

[0069] The six secondary electromagnets 48 may receive electric power via the primary PCB 28. In particular, in this example, current passing through the six secondary electromagnets 48 may be independently controllable for each of the six electromagnets 48.

[0070] The secondary coils 52 may be made at least partially of an electrically conductive material such as metallic copper and / or aluminum. The secondary cores 54 may, for example, be made at least partially from materials of high magnetic permeability such as ferromagnetic iron.

[0071] In this example, the rig 10 may comprise a yaw sensor magnet 60 encased in a magnet sleeve 62, such as one prepared by injection molding. The yaw sensor magnet 60 may be a ring-shaped and diametrically magnetized permanent magnet, although other shapes and / or magnetizations may also be compatible with the present invention. The yaw sensor magnet 60 and the magnet sleeve 62 may be located above the primary permanent magnet 26. The yaw sensor magnet 60 and the magnet sleeve 62 may be fitted to the vertical shaft 34 via an interference fit so as to corotate with the vertical shaft 34 without slipping.Applicant’s Ref.: 2024P02879WOAttorney’s Ref.: 9603714

[0072] In this example, the rig 10 may comprise a yaw angle sensor 64 installed at a location on the primary PCB 28 and across from the yaw sensor magnet 60. The yaw angle sensor 64 may communicate with the electronic computing device via the primary data connector 32. In this example, the yaw angle sensor 64 may be powered via at least one of the electric power management units of the primary PCB 28. Information from the yaw angle sensor 64 may be forwarded to the memory controller unit of the primary PCB 28.

[0073] The yaw sensor magnet 60 may be used to track motion of the movable sensors 36, 38 without necessarily influencing motion of a component of the rig 10. In particular, in this example, motion-induced changes in a magnetic field of the yaw sensor magnet 60 as it rotates with the vertical shaft 34 may be observed by the yaw angle sensor 64 in order to estimate a yaw angle of the movable sensors 36, 38, for example by the electronic computing device.

[0074] The yaw angle sensor 64 may, for instance, comprise four Hall elements: a positive cosine element, a negative cosine element, a positive sine element, and a negative sine element. The Hall elements may generate varying voltages depending on how the magnetic field of the yaw sensor magnet 60 changes with motion of the yaw sensor magnet 60. Consequently, by combining voltage readings from the four Hall elements, the yaw angle sensor 64 may be able to provide a current yaw angle of the movable sensors 36, 38.

[0075] In a different example, the yaw angle sensor 64 may be configured as an optical scanner that measures an angular position of the vertical shaft 34 by reading unique markings on the vertical shaft 34.

[0076] In this example, a secondary printed circuit board (PCB) 66 may be mounted on the vertical shaft 34 and opposite the sensor mounting fixture 40. A pitch angle sensor 68 may be installed on the secondary PCB 66 and adjacent to a pitch sensor magnet 70 of the supporting arms 42. The pitch angle sensor 68 may be configured in a manner analogous to that of the yaw angle sensor 64 in this example. As one example consequence of this, the pitch angle sensor 68 may be configured to observe a magnetic field of the pitch sensor magnet 70 using at least one Hall element.

[0077] In this example, the pitch sensor magnet 70 is a permanent magnet. The yaw sensor magnet 60 may be a disk-shaped and diametrically magnetized permanentApplicant’s Ref.: 2024P02879WOAttorney’s Ref.: 9603715magnet, although other shapes and / or magnetizations may also be compatible with the present invention. The pitch sensor magnet 70 may be embedded in the supporting arms 42 at the connection point between the supporting arms 42 and the vertical shaft 34. The pitch sensor magnet 70 may be used to track motion of the movable sensors 36, 38 without necessarily influencing motion of a component of the rig 10. In this example, the pitch sensor magnet 70 may be configured to corotate with the supporting arms 42.

[0078] Motion-induced changes in the magnetic field of the pitch sensor magnet 70 may be observed by the pitch angle sensor 68 in order to estimate a pitch angle of the movable sensors 36, 38.

[0079] The secondary PCB 66 may be configured with a flexible data connection and a flexible power connection to the primary PCB 28 (not shown in Fig. 1) so that the two PCBs 28, 66 may communicate despite rotation of the vertical shaft 34. In this example, the pitch angle sensor 68 may communicate with the electronic computing device via the primary data connector 32 and the flexible data connection. Information from the pitch angle sensor 68 may be forwarded to the memory controller unit of the primary PCB 28. Furthermore, raw data from the movable sensors 36, 38 may be transmitted to at least the electronic computing device for processing through the secondary PCB similarly. In this example, the pitch angle sensor 68 may be powered via at least one of the electric power management units of the primary PCB 28.

[0080] In this example, the rig 10 may comprise a top bearing (not shown in Fig. 1) isolating the vertical shaft 34 from a top of the shell case 12. Similarly, the rig 10 may comprise a bottom bearing (also not shown in Fig. 1) isolating the primary permanent magnet 26 from a bottom of the shell case 12. As examples, the bottom bearing may be a magnetic bearing while the top bearing may be a fluid bearing and / or a thrust bearing.

[0081] In this example, the rig 10 may have a total range of motion of one hundred twenty degrees in yaw and sixty degrees in pitch.

[0082] Fig. 2 shows two independent examples of image processing algorithms being applied by the electronic computing device to at least one sensor datum 72. In this example, the electronic computing device operates the rig 10 for a vehicle 74 according to a method according to an aspect of the present invention.Applicant’s Ref.: 2024P02879WOAttorney’s Ref.: 9603716

[0083] The at least one sensor datum 72 may be a color photograph of a current driving surface 76 on which the vehicle 74 may be currently driving. The color photograph 72 may have been taken by the optical camera 38.

[0084] The color photograph 72 concerns a current driving direction of the vehicle 74 because the optical camera 38 is pointed in a direction that, for a given setting of the rig 10, depends on the current driving direction. Furthermore, the color photograph 72 concerns the current driving direction because, by comparison of visual elements represented in the color photograph 72, the electronic computing device may be able to analyze the current driving direction. For example, by using an image classification algorithm based on a convolutional neural network (CNN), the electronic computing device may identify a shape of the current driving surface 76 so as to estimate in which direction it runs compared to a current direction of the optical camera 38.

[0085] In these examples, the vehicle 74 may be driving in right-hand traffic and right of a lane divider 80 with respect to a current driving direction of the vehicle 74. Furthermore, in this example, the vehicle 74 may be driving left of a carriageway edge 82 with respect to the current driving direction.

[0086] In a first example shown in a top row of Fig. 2, an image processing algorithm may be applied by the electronic computing device to compute a new yaw angle for the at least one movable sensor 36, 38. The electronic computing device may first simplify the color photograph 72 by transforming the color photograph 72 into a transformed photograph 83. For example, the electronic computing device may generate the transformed photograph 83 by averaging red-green-blue (RGB) color values in different channels to get a single pixel brightness value for each pixel, resulting a greyscale version of the color photograph 72.

[0087] The electronic computing device may compute a first tangent line 84 tangent to the lane divider 80 at a virtual intersection point between the lane divider 80 and a horizontal line 86 corresponding to a distal edge of a hood of the vehicle 74 as seen in the transformed photograph 83. A position of the horizontal line 86 may, for instance, be determined by the electronic computing device using an image classification algorithm based on a convolutional neural network (CNN).Applicant’s Ref.: 2024P02879WOAttorney’s Ref.: 9603717

[0088] In addition, the electronic computing device may compute a second tangent line 88 tangent to the carriageway edge 82 at a virtual intersection point between the carriageway edge 82 and the horizontal line 86.

[0089] At least when the current driving surface 76 has approximately unvarying breadth with any marked lanes thereon being of approximately unvarying breadth, the first tangent line 84, second tangent line 88, and horizontal line 86 may intersect within a set of margins of the transformed photograph 83 to form a triangle.

[0090] The electronic computing device may compute a first angle measure corresponding to a first internal angle 90 of the triangle between the first tangent line 84 and the horizontal line 86. The electronic computing device may analogously compute a second angle measure corresponding to a second internal angle 92 of the triangle between the second tangent line 88 and the horizontal line 86. The electronic computing device may compute an angle delta by subtracting the second angle measure from the first angle measure.

[0091] The electronic computing device may compare the angle delta to at least one angle delta threshold value. In this example, the electronic computing device may check whether the angle delta is at least negative five degrees and at most positive five degrees. Failure of either condition may trigger the electronic computing device to estimate the new sensor position. In other words, if the angle delta already satisfies both conditions, the electronic computing device may not generate a control signal to move the at least one movable sensor 36, 38.

[0092] In this context, a negative angle delta may indicate that the current driving surface 76 curves rightward with respect to the current driving direction while a positive angle delta may indicate that the current driving surface 76 curves leftward with respect to the current driving direction.

[0093] In this example, the electronic computing device may estimate at least the new yaw angle so that the angle delta recalculated after implementation of at least the new yaw angle potentially satisfies both conditions. For instance, the electronic computing device may use a predefined constant of proportionality (potentially depending on a kinetic parameter and / or physical dimension of the vehicle) to map between a value of the angle delta and a sensor yaw delta value which, when added to a current yaw angle of the at least one movable sensor 36, 38, gives the new yaw angle.Applicant’s Ref.: 2024P02879WOAttorney’s Ref.: 9603718

[0094] In a second row of Fig. 2, a different yet here complementary example is shown. In this example, the at least one image processing algorithm may be applied by the electronic computing device to compute a new pitch angle for the at least one movable sensor 36, 38. The at least one sensor datum 72 in this example may be identical to that of the previous example.

[0095] In this example, the electronic computing device may first transform the color photograph 72 into the transformed photograph 83 for more efficient processing.Transformation of the color photograph 72 may involve compression of the color photograph 72, for instance by scaling down a resolution of the color photograph 72. Alternatively or in addition, transformation of the color photograph 72 may involve modifying a contrast value of the color photograph 72 to coarsely separate visual features. For instance, the contrast value may be adjusted to enhance distinction between the current driving surface 76 and an adjacent tree 94.

[0096] The electronic computing device may use a y-coordinate system wherein a y-coordinate value of zero corresponds to a neutral line 96 of the transformed photograph 83. The neutral line 96 may be pre-defined by a manufacturer of the vehicle 74 and / or the optical camera 38 so as to approximately correspond with a horizon 98 of the current driving surface 76 if the current driving surface 76 has zero grade and if the optical camera 68, if movable, observes from a predefined neutral position. Furthermore, the electronic computing device may use a y-coordinate system wherein pixels above the neutral line 96 correspond to positive y-coordinate values.

[0097] In this example, the electronic computing device may estimate a peak y-coordinate. The peak y-coordinate may correspond to the horizon 98 of the current driving surface 76 seen by the optical camera 68 from an arbitrary current position of the optical camera 68. The peak y-coordinate may, for instance, be determined by application of an image classification algorithm to the color photograph 72 and / or the transformed photograph 83 followed by estimation of a horizontal line above which no pixels are classified as corresponding to the current driving surface 76.

[0098] The electronic computing device may compare an absolute value of the peak y-coordinate to a predefined threshold value. In this example, the predefined threshold value may correspond to a tolerance of ten pixels. That is, in this example, the electronic computing device may check whether the absolute value of the peak y-coordinate isApplicant’s Ref.: 2024P02879WOAttorney’s Ref.: 9603719greater than positive ten pixels (indicating that the current driving surface 76 slopes upward) or less than negative ten pixels (indicating that the current driving surface 76 slopes downward).

[0099] Failure of either condition may trigger the electronic computing device to estimate the new sensor position. In other words, if the peak y-coordinate already satisfies both conditions, the electronic computing device may not generate a control signal to move the at least one movable sensor 36, 38.

[0100] In this example, the electronic computing device may estimate at least the new pitch angle so that the peak y-coordinate recalculated after implementation of at least the new pitch angle potentially satisfies both conditions. For instance, the electronic computing device may use a predefined constant of proportionality (potentially depending on a kinetic parameter and / or physical dimension of the vehicle) to map between the peak y-coordinate and a signed delta value which, when added to a current pitch angle of the at least one movable sensor 36, 38, gives the new pitch angle.

[0101] The examples of Fig. 2 are examples of estimating a slope and / or curvature value of the current driving surface 76, depending on the at least one sensor datum 72. Although the angle delta and the peak y-coordinate depend on the color photograph 72 and may therefore depend on at least one property of the optical camera 38, they nevertheless may act as proxy variables representing a curvature value and a slope value, respectively. In a different example, the electronic computing device may apply the image processing algorithm and potentially even at least one known property of the optical camera 38 in order to estimate a physical value for the slope and / or curvature of the current driving surface 76, for example a radius of curvature of the current driving surface 76 in meters.

[0102] The electronic computing device generates a control signal to actuate the rig 10 to move the at least one movable sensor 36, 38 potentially according to the new sensor position, in this case the new pitch angle and the new yaw angle. In the examples of Fig.2, the electronic computing device may execute three additional steps.

[0103] A current sensor position of the at least one movable sensor 36, 38 may be provided by the electronic computing device after actuation of the rig 10. In these examples, the electronic computing device may receive a yaw angle measurement from the yaw angle sensor 64 and a pitch angle measurement from the pitch angle sensor 68.Applicant’s Ref.: 2024P02879WOAttorney’s Ref.: 9603720

[0104] The electronic computing device may compare a difference between the new sensor position and the current sensor position to a position error tolerance value. In these examples, the electronic computing device may check whether the difference between the new pitch angle and the pitch angle measurement exceeds 1.5 degrees and whether the difference between the new yaw angle and the yaw angle measurement exceeds 1.5 degrees. In another example, the tolerances may differ from each other.

[0105] The electronic computing device may generate at least one further control signal to further actuate the rig 10, depending on these checks. In this example, if either angle difference exceeds 1.5 degrees, the electronic computing device may generate the at least one further control signal to correct the difference.

[0106] The preceding three steps may be executed by the electronic computing device in a loop until satisfaction of a predefined loop termination criterion. In these examples, the electronic computing device may continue to generate further control signals until both angle differences are below 1.5 degrees.

[0107] Fig. 3 is a flowchart illustrating a method according to an aspect of the present invention.

[0108] In a first step S1 of the method, the at least one sensor datum 72, 100 is captured. In this example, the at least one sensor datum 72, 100 may comprise the color photograph 72 as well as an acoustic camera reading 100 captured by an acoustic camera 102 of the vehicle 74. In this example, the acoustic camera 102 may differ from the optical camera 38 and radar sensor 36 in occupying a fixed position with respect to the vehicle 74.

[0109] The at least one sensor datum 72, 100 concerns the current driving direction and / or a position of a priority route user in a vicinity of the vehicle 74. In this example, the color photograph 72 concerns the current driving direction and the acoustic camera reading 100 concerns a priority route user, here an ambulance with an active siren approaching from the current driving direction.

[0110] In a second step S2 of the method, the electronic computing device may identify the active siren as a consequence of application of an acoustic classification algorithm (for example, one based on a convolutional neural network, a CNN) to the acoustic camera reading 100. Consequently, the acoustic camera reading 100 may be classified by theApplicant’s Ref.: 2024P02879WOAttorney’s Ref.: 9603721electronic computing device as fulfilling a diversion and / or halting criterion of the electronic computing device.

[0111] In a third step S3 of the method, the electronic computing device estimates the new sensor position for the at least one movable sensor 36, 38. In this example, the electronic computing device may estimate the new sensor position by first estimating a position of the priority route user from analysis of the acoustic camera reading 100. The electronic computing device may estimate the new sensor position so as to orient the at least one movable sensor 36, 38 toward the priority route user.

[0112] In a fourth step S4 of the method, the electronic computing device generates the control signal. The control signal actuates the rig 10 to move the at least one movable sensor 36, 38 potentially according to the new sensor position. In this example, the at least one movable sensor 36, 38 is rotated to face the priority route user.

[0113] In a fifth step S5 of the method, the electronic computing device may apply an image classification algorithm (for example, one based on a convolutional neural network, a CNN) to a follow-up video recording by the optical camera 38 from the new sensor position. At least one result of the application of the image classification algorithm may be used to estimate a relative velocity of the ambulance with respect to the vehicle 74, a current separation between the ambulance and the vehicle 74, and / or a breadth of the current driving surface 76.

[0114] For instance, if the breadth of the current driving surface 76 is identified as falling below a predefined threshold value, the electronic computing device may determine a necessity for the vehicle 74 to pull over to the carriageway edge 82. The relative velocity estimate and the current separation estimate may, in this example, be used by the electronic computing device to determine when to pull over.

[0115] In a sixth step S6 of the method, at least one driving functionality of the vehicle 74 is controlled by the electronic computing device. As a precondition of the sixth step S6, the vehicle 74 must be equipped with at least one automated driving functionality.

[0116] The controlling depends on the classifying of the at least one sensor datum 72, 100. In this example, the electronic computing device controls steering and braking functionalities of the vehicle 74 in order to gradually pull over to the carriageway edge 82.Applicant’s Ref.: 2024P02879WOAttorney’s Ref.: 9603722The electronic computing device controls the steering and braking functionalities as a consequence of the classifying performed in the second step S2.

[0117] In the present document, the word "exemplary" is used herein to mean "serving as an example, instance, or illustration." Any embodiment or implementation of the present subject matter described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments.

[0118] The terms “comprises,” “comprising,” or any other variations thereof, are intended to cover a non-exclusive inclusion so that a setup, device or method that comprises a list of components or steps does not include only those components or steps but may include other components or steps not expressly listed or inherent to such setup or device or method. In other words, one or more elements in a system or apparatus preceded by “comprises” or “comprise” does not or do not, without more constraints, preclude the existence of other elements or additional elements in the system or method.Applicant’s Ref.: 2024P02879WOAttorney’s Ref.: 9603723List of reference signs10 Rig12 Shell case14 Outer shell16 Primary electromagnets20 Primary coils22 Primary cores24 Form26 Primary permanent magnet 28 Primary PCB30 Primary power connector 32 Primary data connector34 Vertical shaft36 Radar sensor38 Optical camera40 Sensor mounting fixture42 Supporting arms44 Magnet pocket46 Secondary permanent magnet 48 Secondary electromagnets 52 Secondary coils54 Secondary cores56 Upper group58 Lower group60 Yaw sensor magnet62 Magnet sleeve64 Yaw angle sensor66 Secondary PCB68 Pitch angle sensor70 Pitch sensor magnet72 Color photograph74 Vehicle76 Current driving surfaceApplicant’s Ref.: 2024P02879WOAttorney’s Ref.: 960372480 Lane divider82 Carriageway edge83 Transformed photograph 84 First tangent line86 Horizontal line88 Second tangent line 90 First internal angle92 Second internal angle 94 Tree96 Neutral line98 Horizon100 Acoustic camera reading 102 Acoustic cameraS1-S6 Steps of the method

Claims

Applicant’s Ref.: 2024P02879WOAttorney’s Ref.: 9603725Mercedes-Benz Group AG Negi 2026-02-19CLAIMS1. A method for operating a movable sensor rig (10) for a vehicle (74) by an electronic computing device of the vehicle (74), comprising the steps of:- capturing at least one sensor datum (72, 100) by at least one sensor (36, 38, 102) of the vehicle (74), wherein the at least one sensor datum (72, 100) concerns a current driving direction of the vehicle (74) and / or a position of a priority route user in a vicinity of the vehicle (74); (S1)- estimating a new sensor position for at least one movable sensor (36, 38) of the rig (10) with respect to the rig (10) by the electronic computing device, wherein the new sensor position depends on the at least one sensor datum (72, 100), and wherein the estimating of the new sensor position depends on an application of at least one image processing algorithm to the at least one sensor datum (72, 100) by the electronic computing device; (S3) and- generating a control signal by the electronic computing device, wherein the control signal actuates the rig (10) to move the at least one movable sensor (36, 38) potentially according to the new sensor position. (S4)2. The method according to claim 1,comprising the additional steps of- classifying the at least one sensor datum (72, 100) by the electronic computing device according to a diversion and / or halting criterion of the electronic computing device; (S2) and- controlling at least one driving functionality of the vehicle (74) by the electronic computing device, depending on the classification. (S6)3. The method according to claim 2,whereinApplicant’s Ref.: 2024P02879WOAttorney’s Ref.: 9603726the diversion and / or halting criterion is satisfied when the electronic computing device estimates from the at least one sensor datum (72, 100) that a priority route user is driving along a trajectory along which the priority route user is at least partly hindered by the presence of the vehicle (74).

4. The method according to claims 2 or 3,whereinthe electronic computing device controls steering and braking functionalities of the vehicle (74) as a consequence of the classifying (S2).

5. The method according to any one of claims 1 to 4,comprising the additional step ofestimating a slope and / or curvature value of a current driving surface of the vehicle (74) by the electronic computing device of the vehicle (74), depending on the at least one sensor datum (72, 100).

6. The method according to any one of claims 1 to 5,characterized in thatthe new sensor position depends on the application of the at least one image processing algorithm and / or the estimating of the new sensor position is triggered depending on the application of the at least one image processing algorithm.

7. The method according to any one of claims 1 to 6,characterized in thatan image processing algorithm is applied by the electronic computing device to compute a new yaw angle and / or a new pitch angle for the at least one movable sensor (36, 38, 102). .

8. The method according to any one of claims 1 to 7,comprising the additional steps of- providing a current sensor position of the at least one movable sensor (36, 38) by the electronic computing device;- comparing a difference between the new sensor position and the current sensor position to a position error tolerance value by the electronic computing device; andApplicant’s Ref.: 2024P02879WOAttorney’s Ref.: 9603727- generating at least one further control signal to further actuate the rig (10) by the electronic computing device, depending on the comparison.

9. A movable sensor rig (10) configured to be operated in a method according to any one of claims 1 to 8, comprising:- at least one primary electromagnet (16);- at least one electrical connection through which the at least one primary electromagnet (16) is configured to receive electric power;- at least one primary permanent magnet (26), configured to move in response to a magnetic field generated by the primary electromagnet (16); and- at least one movable sensor (36, 38) coupled to the at least one primary permanent magnet (26).

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