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    AUTOMATED VECHICLE STEERING AND BRAKING
    261.
    发明申请
    AUTOMATED VECHICLE STEERING AND BRAKING 审中-公开
    自动化车辆转向和制动

    公开(公告)号：WO2003058169A1

    公开(公告)日：2003-07-17

    申请号：PCT/GB2003/000054

    申请日：2003-01-09

    Applicant: PEMBERTON, Martin ,  AYLWARD, Roger

    Inventor： PEMBERTON, Martin ,  AYLWARD, Roger

    IPC: G01C21/26

    CPC classification number: B62D1/28 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2201/087 ,  G01C21/26 ,  G05D1/0077 ,  G08G1/164

    Abstract: A vehicle steering system, with multiple independent systems, employing different route referencing, such as a primary system (10), referring to a physical reference line (30), or multiple discrete markers; and a secondary system (20), referring to an independent reference store (18), expressed as a sequential instruction table, configured as an emergency backup, implemented upon failure of the primary system; the system allows co-ordinated vehicle steering and braking, for adherence to a prescribe route; multiple discrete route markers (66) allow route banding (62), and multiple routes (60A, 60B).

    Abstract translation: 具有多个独立系统的车辆转向系统，采用不同的路线参考，诸如主系统（10），参考物理参考线（30）或多个离散标记; 以及辅助系统（20），参考独立参考存储器（18），被表示为顺序指令表，被配置为紧急备份，在主系统故障时实现; 该系统允许协调车辆转向和制动，以遵守处方路线; 多个离散路线标记（66）允许路线条带（62）和多条路线（60A，60B）。

    VISION-BASED COLLISION THREAT DETECTION SYSTEM_
    263.
    发明申请
    VISION-BASED COLLISION THREAT DETECTION SYSTEM_ 审中-公开
    基于视觉的碰撞检测系统_

    公开(公告)号：WO2003001473A1

    公开(公告)日：2003-01-03

    申请号：PCT/US2002/020064

    申请日：2002-06-20

    Applicant: HRL LABORATORIES, LLC ,  CHEN, Yang

    Inventor： CHEN, Yang

    IPC: G08G1/16

    CPC classification number: G01S13/931 ,  B60T2201/08 ,  B60T2201/089 ,  G01S13/867 ,  G08G1/04 ,  G08G1/164

    Abstract: A image sequence is inputted (200) from the camera and vertical motion is estimated (202). A windowed horizontal edge projection (204) is extracted from the inputted image sequence (200) and the horizontal edges are projected (206). The horizontal edge projection (206) and the vertical motion estimation (202) are combined in a horizontal segmentation and tracking element (208), and forwarded to an object parameter estimation element (210) where the object's distance and height are estimated. This data is combined in a fusion with radar detection element (212). By correctly matching the overhead objects sensed by the radar and video camera, the proximity and relative speed can be ascertained. Once overhead objects have been identified they can be isolated and not considered for collision avoidance purposes.

    Abstract translation: 从相机输入图像序列（200），并且估计垂直运动（202）。 从输入的图像序列（200）中提取窗口化的水平边缘投影（204），并且水平边缘被投影（206）。 水平边缘投影（206）和垂直运动估计（202）在水平分割和跟踪元素（208）中组合，并被转发到估计对象的距离和高度的对象参数估计元素（210）。 该数据与雷达检测元件（212）的融合组合。 通过正确匹配由雷达和摄像机感测到的架空物体，可以确定接近度和相对速度。 一旦已经识别出开销对象，它们可以被隔离，并且不考虑用于冲突避免目的。

    LANE-KEEPING CONTROL WITH STEERING TORQUE AS A CONTROL INPUT TO A VEHICLE STEERING SYSTEM
    266.
    发明申请
    LANE-KEEPING CONTROL WITH STEERING TORQUE AS A CONTROL INPUT TO A VEHICLE STEERING SYSTEM 审中-公开
    具有转向扭矩的局域网控制作为控制输入到车辆转向系统

    公开(公告)号：WO02047945A2

    公开(公告)日：2002-06-20

    申请号：PCT/JP2001/010473

    申请日：2001-11-30

    IPC: B60R21/00 ,  B62D1/28 ,  B62D6/00 ,  B62D111/00 ,  B62D113/00 ,  B62D137/00 ,  B60T8/00

    CPC classification number: B62D1/286 ,  B60T2201/08 ,  B60T2201/087 ,  B62D15/025

    Abstract: A method for lane-keeping control of a lane-keeping support system provides a current command indicative of steering torque assist needed to steer a vehicle in following a target line between lane markings on a roadway during driving in lane-keeping control (LKC) mode. A map has two sets of limit data against a range of values of lateral acceleration to which the vehicle is subject, between which sets of limit data there is a range of values of the command during various phases of steering the vehicle to turn in the LKC mode. In order to compensate for undesired effect caused by any deviation of the range of values of the current command due to the presence of continuous disturbance, the two sets of limit data are corrected. To determine driver steering intervention, the instantaneous value of the current command is compared to two limit values established out of the corrected two sets of limit data.

    Abstract translation: 车道保持支撑系统的车道保持控制的方法提供指示在车道保持控制（LKC）模式驾驶期间驾驶车辆在道路上的车道标记之间跟随目标线所需的转向转矩辅助所需的电流指令 。 地图具有与车辆所对向的横向加速度的值的范围的两组限制数据，在该组限制数据之间存在在车辆转向LKC的各个阶段期间的命令的值的范围 模式。 为了补偿由于连续扰动的存在而导致的电流指令的值的范围的任何偏差引起的不期望的影响，校正了两组限制数据。 为了确定驾驶员转向干预，将当前命令的瞬时值与由修正的两组限制数据建立的两个极限值进行比较。

    METHOD OF GUIDING A TRACK-GUIDED VEHICLE
    267.
    发明申请
    METHOD OF GUIDING A TRACK-GUIDED VEHICLE 审中-公开
    方法操控车辆TRACK出

    公开(公告)号：WO00058143A1

    公开(公告)日：2000-10-05

    申请号：PCT/EP1999/009676

    申请日：1999-12-09

    IPC: B62D1/28 ,  G05D1/02 ,  G05D1/03

    CPC classification number: B62D1/28 ,  B60T2201/08 ,  B60T2201/087 ,  G05D1/0265 ,  G05D2201/0213

    Abstract: The invention relates to a method of guiding a track-guided vehicle, according to which at least one wheel (11) of the vehicle is automatically guided along a track which acts indirectly on said wheel (11). According to the invention the wheel (11) is guided with an offset (25, 26) next to the track and perpendicular to the direction of travel of same, which reduces wear of the runway (12).

    Abstract translation: 一种用于操纵所述的轨道车辆的方法中，自动上沿着轨道车辆的至少一个轮（11），其中所述轨道仅作用间接地与轮（11）上进行。 根据本发明的横向引导至轨道的行进方向的车轮（11）具有偏移（25，26）。 以这种方式，在道路表面（12）的磨损被减小。

    DETERMINING AND DISPLAYING AUTO DRIVE LANES IN AN AUTONOMOUS VEHICLE
    270.
    发明申请
    DETERMINING AND DISPLAYING AUTO DRIVE LANES IN AN AUTONOMOUS VEHICLE 审中-公开
    在自动车辆中确定和显示自动驾驶室

    公开(公告)号：WO2014085121A1

    公开(公告)日：2014-06-05

    申请号：PCT/US2013/070499

    申请日：2013-11-18

    Applicant: GOOGLE INC.

    Inventor： NEMEC, Philip ,  CULLINANE, Brian ,  CLEMENT, Manuel, Christian ,  MARIET, Robertus Christianus, Elisabeth

    IPC: B60W30/12 ,  G06T7/00 ,  G01C21/00

    CPC classification number: G01C21/3673 ,  B60T7/12 ,  B60T7/22 ,  B60T17/221 ,  B60T2201/022 ,  B60T2201/08 ,  B62D1/28 ,  B62D15/025 ,  B62D15/0295 ,  G05D1/021 ,  G08G1/0969 ,  G08G1/16 ,  G08G1/167

    Abstract: Aspects of the present disclosure relate generally to identifying and displaying traffic lanes that are available for autonomous driving. This information may be displayed to a driver of a vehicle (101) having an autonomous driving mode, in order to inform the driver of where he or she can use the autonomous driving mode. In one example, the display (152, 810, 820) may visually distinguish between lanes that are available for auto-drive from those that are not. The display (152, 810, 820) may also include an indicator (850) of the position of a lane (836) (autodrive or not) currently occupied by the vehicle. In addition, if that lane is an autodrive lane the display (1010) may include information (1060) indicating how much further the vehicle may continue in the autonomous driving mode in that particular lane.

    Abstract translation: 本公开的方面通常涉及识别和显示可用于自主驾驶的交通车道。 该信息可以显示给具有自主驾驶模式的车辆（101）的驾驶员，以便通知驾驶员他或她可以使用自主驾驶模式。 在一个示例中，显示器（152,810,820）可以在视觉上区分可用于自动驱动的车道与不是自动驾驶的车道。 显示器（152,810,820）还可以包括当前由车辆占据的车道（836）（自动驾驶或非自行驾驶）的位置的指示器（850）。 此外，如果该车道是自动驾驶车道，则显示器（1010）可以包括指示车辆可以在该特定车道的自主驾驶模式中继续多少的信息（1060）。

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