# US 8,543,325 B2 · Collision monitoring for a motor vehicle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 8,543,325 B2 - Document ID: US8543325B2 - Status: Granted - Kind: B2 - Application number: 13/389,634 - Filed: 2010-07-23 - Published: 2012-08-30 - Granted: 2013-09-24 - Earliest claimed: 2009-08-11 - Assignees: Robert Bosch GmbH - Applicants: Joerg Zeller; Mike Schliemann; Florian Kloss; Nico Latsch - Inventors: Joerg Zeller; Mike Schliemann; Florian Kloss; Nico Latsch - Web page: https://patentgrep.com/patent/US8543325B2 ## CPC - G08G 1/16: Anti-collision systems (road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08) - B60W 50/14: Means for informing the driver, warning the driver or prompting a driver intervention - G01S 2013/932: {using own vehicle data, e.g. ground speed, steering wheel direction} - G01S 2013/9322: {using additional data, e.g. driver condition, road state or weather data} - G01S 2013/9323: {Alternative operation using light waves} - G01S 2013/9324: {Alternative operation using ultrasonic waves} - G01S 2013/93271: {in the front of the vehicles} - G01S 2013/93272: {in the back of the vehicles} - G01S 2013/93274: {on the side of the vehicles} - G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93}) - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - 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 ## Abstract A method for collision monitoring for a motor vehicle, a predefined surrounding area being monitored. The method includes the steps of providing information on the position and direction of motion of at least one object located in the surrounding area, providing vehicle information which indicates at least one position of a vehicle component and/or a driver's intended driving direction, designating an object if it is ascertained based on the vehicle information that the object does not pose any collision risk for the motor vehicle, and signalizing a collision risk if it is recognized based on the information on position and direction of motion that a not-designated object is approaching the motor vehicle. ## Claims ### Claim 1 A method for collision monitoring a predefined surrounding area of a motor vehicle, comprising: providing, by at least one sensor, information on a position and direction of motion of at least one object located at least partially in the surrounding area; providing, by the at least one sensor, vehicle information which indicates at least one position of a component of the motor vehicle; based on the vehicle information, determining whether any of the at least one object is a component of the motor vehicle, the any of the at least one object determined to be a component of the motor vehicle being designated as a non-risk object; and conditional upon that the at least one object includes an object (a) not designated as a non-risk object and (b) recognized based on the information on position and direction of motion to be approaching the motor vehicle, signaling, by a signaling device, a collision risk. ### Claim 2 (depends on 1) The method as recited in claim 1, further comprising: providing, by the at least one sensor, a driver's intended driving direction and designating as a non-risk object, an object ascertained, using the intended driving direction, not to pose any collision risk for the motor vehicle due to its location outside an area which will be traversed by the motor vehicle in the intended driving direction. ### Claim 3 (depends on 1) The method as recited in claim 1, wherein a collision risk is signaled when, that an object not designated as a non risk object would collide with the motor vehicle is determined based on a position, and a direction of motion in relation to the motor vehicle, of the respective object. ### Claim 4 (depends on 1) The method as recited in claim 1, wherein a collision risk is conditional upon that a determination is made that an object of the at least one object not designated as a non-risk object would collide with the motor vehicle within a predetermined period of time, based on a position, a direction of motion in relation to the motor vehicle, and a motion speed in relation to the motor vehicle, of the respective object. ### Claim 5 (depends on 1) The method as recited in claim 1, wherein the component of the motor vehicle includes a movable vehicle part. ### Claim 6 (depends on 5) The method as recited in claim 5, wherein the moveable vehicle part includes a vehicle door. ### Claim 7 (depends on 2) The method as recited in claim 2, wherein the intended driving direction is ascertained based on at least one of a turn signal, a steering wheel angle, a yaw angle, and a gear position selection. ### Claim 8 (depends on 1) The method as recited in claim 1, wherein the information on position and direction of motion of the at least one object which is located in the surrounding area is provided during a standstill of the motor vehicle. ### Claim 9 (depends on 1) The method as recited in claim 1, wherein the information on position and direction of motion of the at least one object which is located in the surrounding area is provided while the motor vehicle is traveling. ### Claim 10 (depends on 1) The method as recited in claim 1, wherein a warning signal is output to the driver if a collision risk is signalized. ### Claim 11 A device for collision monitoring for a motor vehicle, comprising: at least one object sensor to monitor a surrounding area of the motor vehicle; a control unit of the motor vehicle which is configured to: provide information on a position and direction of motion of at least one object located in the surrounding area; provide vehicle information which indicates at least one position of a vehicle component of the motor vehicle; and based on the vehicle information, determine whether any of the at least one object is a component of the motor vehicle, the any of the at least one object determined to be a component of the motor vehicle being designated as a non-risk object; and a signaling device configured to, conditional upon that the at least one object includes an object (a) not designated as a non-risk object and (b) recognized based on the information on position and direction of motion to be approaching the motor vehicle, signal a collision risk. ### Claim 12 A non-transitive computer-readable medium on which are stored instructions executable by a data processing device, the instructions which when executed by the data processing device, cause the data processing device to perform a collision monitoring method, the collision monitoring method comprising: providing information on a position and direction of motion of at least one object located at least partially in the surrounding area; providing vehicle information which indicates at least one position of a component of the motor vehicle; based on the vehicle information, determining whether any of the at least one object is a component of the motor vehicle, the any of the at least one object determined to be a component of the motor vehicle being designated as a non-risk object; and conditional upon that the at least one object includes an object (a) not designated as a non-risk object and (b) recognized based on the information on position and direction of motion to be approaching the motor vehicle, signaling a collision risk.