A processing apparatus according to an embodiment of the present disclosure includes: a processor; and a memory having instructions that, when executed by the processor, cause the processor to perform operations comprising: inputting a distance measurement value and a past distance measurement value, the distance measurement value indicating a distance to a target object measured by a sensor at a first time point, the past distance measurement value indicating a distance to the target object measured by the sensor at one or more time points earlier than the first time point; determining whether the distance measurement value is valid or invalid based on the distance measurement value, the past distance measurement value, and movement information of the sensor; and outputting a control signal input to a control circuitry of a vehicle on which the sensor is mounted based on a result of the determination.

For training a perception algorithm to detect an emergency vehicle, respective audio datasets are received from two microphones and respective spectrograms are generated. At least one interaural difference map is generated based on the spectrograms, audio source localization data is generated, which specifies a number of audio sources in respective grid cells of a spatial grid, by applying a CRNN to first input data containing the spectrograms and the least one interaural difference map. An image is received from a camera and output data comprising a bounding box for the emergency vehicle is predicted by applying at least one further ANN to second input data containing the image and the spectrograms. Network parameters are adapted depending on the output data and the audio source localization data.

A vehicle overtaking control system includes a traveling information detection means configured to provide traveling route information and road edge information of a traveling route of an own vehicle, detect a preceding vehicle and a trailing vehicle traveling in front and to a side-rear of the own vehicle, and detect a speed and distance to the own vehicle, and an overtaking control means configured to receive the traveling route information to determine whether the own vehicle is traveling on the highway and whether the own vehicle is traveling in an overtaking lane from the road edge information of the traveling route, and when the own vehicle is not traveling in the overtaking lane, perform control of limiting overtaking of the own vehicle with respect to the preceding and trailing vehicles based on the detected speeds and distances of the preceding vehicle and the trailing vehicle traveling in the overtaking lane.

A sensor system including at least a first and a second sensor unit. The sensor system is designed to at least partially capture the environment of at least a first and second vehicle unit pivotably coupled to one another. The first sensor unit is positionable on the first vehicle unit and the second sensor unit is positionable on the second vehicle unit. The first and second sensor unit capture different environmental areas. The sensor system has an electronic control unit connected to the first and second sensor unit and designed such that it jointly evaluates output data from the first and second sensor unit. The first and the second sensor unit each provide their sensor data with a synchronized item of time information. The electronic control unit is designed such that it takes into account relative positioning of the first and second sensor unit when generating an environmental model.