# US 10,767,989 B2 · Method and device for detecting a light-emitting object at a traffic junction for a vehicle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,767,989 B2 - Document ID: US10767989B2 - Status: Granted - Kind: B2 - Application number: 16/183,164 - Filed: 2018-11-07 - Published: 2019-05-30 - Granted: 2020-09-08 - Earliest claimed: 2017-11-29 - Assignees: Robert Bosch GmbH - Applicants: Robert Bosch GmbH - Inventors: Daniel Zaum; Holger Mielenz; Jan Rohde - Web page: https://patentgrep.com/patent/US10767989B2 ## CPC - G01C 3/08: Use of electric radiation detectors - G01V 8/10: Detecting, e.g. by using light barriers (by reflection from the object G01S17/00) - G06V 20/584: {of vehicle lights or traffic lights} - G06V 2201/08: Detecting or categorising vehicles - G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S) - G01V: GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS (means for indicating the location of accidentally buried, e.g. snow-buried, persons A63B29/02) - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING ## Abstract A method for detecting a light-emitting object at a traffic junction for a vehicle, the method including a reading in in which the light signal is read in which represents at least one chronologically changing light range of a light-emitting object. Furthermore, the method includes determining in which a driving parameter of the light-emitting object is determined using the light signal. Finally, the method includes providing, a detection signal being provided using the driving parameter and the detection signal representing a presence and/or an approach of the light-emitting object. ## Claims ### Claim 1 A method for detecting a light-emitting object at a traffic junction for a vehicle, the method comprising: reading in a light signal which represents at least one chronologically changing light range of a light-emitting object; determining a driving parameter of the light-emitting object using the light signal; tracking over time, using the light signal, a movement direction light range; detecting, using the light signal, a presence of the light-emitting object at the traffic junction and/or detecting, using the light signal, an approach of the light-emitting object to the traffic junction; and based on the detecting of the presence of the light-emitting object at the traffic junction and/or based on the detecting of the approach of the light-emitting object to the traffic junction, providing a detection signal, using the driving parameter, which represents the presence of the light-emitting object at the traffic junction and/or the approach of the light-emitting object to the traffic junction; wherein the detecting includes detecting, based on the movement direction and based on a digital map, the presence and/or the approach of the light-emitting object. ### Claim 2 (depends on 1) The method of claim 1, wherein a frequency of the changing light range is read in in the reading in and a type of the light-emitting object is ascertained in the determining or the providing using the frequency. ### Claim 3 (depends on 1) The method of claim 1, wherein a geometry of the light range is read in in the reading in and the detection signal is determined using the geometry of a position of the light-emitting object on a roadway surface in the determining or the providing. ### Claim 4 (depends on 1) The method of claim 1, wherein a shape of the changing light range is read in in the reading in and a type of the light-emitting object is ascertained in the determining or the providing using the shape of the light range. ### Claim 5 (depends on 1) The method of claim 1, wherein a velocity, a movement direction, a movement trajectory and/or a position of the light-emitting object is determined as a driving parameter in the determining. ### Claim 6 (depends on 1) The method of claim 1, wherein a light signal, which represents a light range without a light source of the light-emitting object, is read in in the reading in, the detection signal being provided in the providing, which represents the presence and/or the approach of the light-emitting object concealed from sight by an object adjacent to the traffic junction. ### Claim 7 (depends on 6) The method as recited in claim 6, further comprising: displaying, on a display device of the vehicle, an indication of the presence and/or the approach of the light-emitting object concealed from sight by the object adjacent to the traffic junction. ### Claim 8 (depends on 1) The method of claim 1, wherein, in the reading in, a light signal, which represents at least two chronologically changing light ranges of a light-emitting object is read in. ### Claim 9 (depends on 1) The method as recited in claim 1, wherein the reading-in is performed at the traffic junction. ### Claim 10 (depends on 1) The method as recited in claim 1, wherein the traffic junction is an intersection of at least two streets, and the light-emitting object is a further vehicle, and wherein the detecting includes detecting: (i) the presence of the light-emitting object located on a different one of the streets than the vehicle and/or (ii) the approach of the light-emitting object located on the different one of the streets than the vehicle. ### Claim 11 (depends on 10) The method as recited in claim 10, wherein the light-emitting object is concealed from sight by an object adjacent to the traffic junction. ### Claim 12 (depends on 10) The method as recited in claim 10, wherein the detecting includes detecting the light-emitting object approaching the traffic junction from a first direction different than a direction at which the vehicle is traveling. ### Claim 13 (depends on 1) The method as recited in claim 1, wherein the detecting includes detecting, the presence and/or the approach of the light-emitting object, based on the tracked movement direction corresponding to a geometry of a street retrieved from the digital map.