公开(公告)号：US08896433B2

公开(公告)日：2014-11-25

申请号：US12864335

申请日：2008-11-26

Applicant: Bernd Danner ,  Uli Kolbe ,  Rainer Moebus ,  Markus Raab ,  Uwe Regensburger ,  Reinhold Schoeb ,  Anke Dorle Dudeck ,  Lars Dudeck ,  Sven Gerhard Dudeck

Inventor： Bernd Danner ,  Uli Kolbe ,  Rainer Moebus ,  Markus Raab ,  Uwe Regensburger ,  Reinhold Schoeb ,  Ingo Dudeck

IPC: B60Q1/00 ,  B62D15/02 ,  B60T8/1755

CPC classification number: B62D15/025 ,  B60T8/17557 ,  B60T2201/08 ,  B60T2201/082 ,  B60T2201/083 ,  B62D15/0265

Abstract: In a method and apparatus for assisting the driver of a vehicle in maintaining a traffic lane limited by traffic lane markings, the traffic lane markings and the position of the vehicle in the traffic lane are detected. Upon an actual or impending change of traffic lanes a lane change warning is output to the driver of the vehicle in a first step, and a course correcting actuating intervention counteracting the lane change is carried out in a second step. The actuating intervention is carried out only if the change of traffic lanes is impermissible due to the type of traffic lane marking to be crossed during the traffic lane change, or if the lane change is not possible without danger due to collision-endangering objects present on the side of the traffic lane.

Abstract translation: 在用于辅助车辆的驾驶员维持由行车道标记限制的行车道的方法和装置中，检测行车道标记和车辆在行车道中的位置。 在实际或即将改变的行车道时，在第一步骤中将车道变更警告输出到车辆的驾驶员，并且在第二步骤中执行抵消车道改变的行驶校正致动干预。 执行干预只有在行车道变更不允许的情况下进行，这是由于在行车道改变期间要交叉的行车道标线的类型，或者如果由于碰撞危害物体不存在危险而无法进行车道更换 行车线的一侧。

公开(公告)号：US20140172220A1

公开(公告)日：2014-06-19

申请号：US13895647

申请日：2013-05-16

Applicant: HYUNDAI MOTOR COMPANY

Inventor： Byung Yong You

IPC: B60W30/12

CPC classification number: G05D1/0297 ,  B60T2201/08 ,  B60T2201/087 ,  B60W30/12 ,  G01C21/3658 ,  G01S2013/9342 ,  G05D2201/0213

Abstract: An unmanned autonomous traveling service apparatus and method based on driving information database that allows an unmanned autonomous traveling vehicle to be autonomously operated stably without performing a large scale computing process in real time by allowing the unmanned autonomous traveling vehicle to be autonomously operated based on driving information generated in a database and allowing the unmanned autonomous traveling vehicle to be autonomously operated based on an installed sensor at the time of a traffic lane change or an unexpected situation. In particular, the driving information is collected from drivers throughout the world to create the database for the driving information.

Abstract translation: 基于驾驶信息数据库的无人自主旅行服务装置和方法，其允许无人驾驶的自动行驶车辆通过基于驾驶信息自主地运行而无需实时地执行大规模的计算处理，从而能够自主地运行无人自主行驶车辆 在数据库中产生并且允许无人自行行驶车辆在行车道改变时或者意外情况下基于安装的传感器自主操作。 特别是，驾驶信息从世界各地的司机收集，以创建驾驶信息的数据库。

公开(公告)号：US20140063232A1

公开(公告)日：2014-03-06

申请号：US13603615

申请日：2012-09-05

Applicant: Nathaniel Fairfield ,  David Ian Ferguson ,  Abhijit Ogale ,  Matthew Wang ,  Yangli Hector Yee

Inventor： Nathaniel Fairfield ,  David Ian Ferguson ,  Abhijit Ogale ,  Matthew Wang ,  Yangli Hector Yee

IPC: G06K9/78 ,  H04N7/18

CPC classification number: G06K9/78 ,  B60T1/10 ,  B60T7/12 ,  B60T7/18 ,  B60T7/22 ,  B60T2201/08 ,  B60W30/10 ,  B60W30/143 ,  B60W40/06 ,  B60W2420/42 ,  B60W2550/14 ,  B60W2550/22 ,  B62D6/00 ,  B62D15/025 ,  B62D15/0255 ,  B62D15/0265 ,  G01S7/4802 ,  G01S7/4808 ,  G01S13/865 ,  G01S13/867 ,  G01S13/931 ,  G01S17/89 ,  G01S17/936 ,  G01S2013/9353 ,  G01S2013/936 ,  G05D1/0088 ,  G05D1/0214 ,  G05D1/024 ,  G05D1/0246 ,  G05D1/0257 ,  G05D1/027 ,  G05D1/0278 ,  G05D2201/0213 ,  G06K9/00798 ,  G06K9/00805 ,  G06K9/00818 ,  H04N7/18

Abstract: Methods and systems for detection of a construction zone sign are described. A computing device, configured to control the vehicle, may be configured to receive, from an image-capture device coupled to the computing device, images of a vicinity of the road on which the vehicle is travelling. Also, the computing device may be configured to determine image portions in the images that may depict sides of the road at a predetermined height range. Further, the computing device may be configured to detect a construction zone sign in the image portions, and determine a type of the construction zone sign. Accordingly, the computing device may be configured to modify a control strategy associated with a driving behavior of the vehicle; and control the vehicle based on the modified control strategy.

Abstract translation: 描述了用于检测结构区域符号的方法和系统。 被配置为控制车辆的计算设备可以被配置为从耦合到计算设备的图像捕获设备接收车辆行驶的道路附近的图像。 此外，计算设备可以被配置为确定可以在预定高度范围处描绘道路的侧面的图像中的图像部分。 此外，计算装置可以被配置为检测图像部分中的构造区域标记，并且确定构造区域符号的类型。 因此，计算设备可以被配置为修改与车辆的驾驶行为相关联的控制策略; 并根据修改的控制策略控制车辆。

公开(公告)号：US20130321615A1

公开(公告)日：2013-12-05

申请号：US13919483

申请日：2013-06-17

Applicant: Donnelly Corporation

Inventor： Kenneth Schofield

IPC: G08G1/16

CPC classification number: B60Q9/008 ,  B60Q1/346 ,  B60R1/00 ,  B60R11/04 ,  B60R2300/804 ,  B60T2201/08 ,  B60T2201/089 ,  B62D15/029 ,  G01S13/931 ,  G01S2013/9325 ,  G01S2013/9332 ,  G01S2013/9353 ,  G01S2013/936 ,  G01S2013/9364 ,  G01S2013/9367 ,  G01S2013/9385 ,  G06K9/00798 ,  G06K9/00805 ,  G06K9/6267 ,  G08G1/163 ,  G08G1/167 ,  H04N5/247

Abstract: A driver assistance system for a vehicle includes a forward facing and a control having an image processor that processes image data captured by the camera. At least in part responsive to processing by the image processor, an alert to a driver of the equipped vehicle is generated based upon at least one of (i) detection of an inappropriate lane change maneuver of the equipped vehicle and (ii) a detection of a potential impact with another vehicle. The image processor processes image data captured by the forward facing camera to detect a traffic control device present within the field of view of the forward facing camera, and the system may generate an alert to the driver when it is determined that the vehicle is not appropriately responding to the detected traffic control device.

Abstract translation: 用于车辆的驾驶员辅助系统包括前向面和具有处理由照相机拍摄的图像数据的图像处理器的控制。 至少部分地响应于图像处理器的处理，基于以下中的至少一个产生对配备的车辆的驾驶员的警报：（i）检测到配备的车辆的不适当的车道改变机动，以及（ii）检测 与另一辆车有潜在的冲击。 图像处理器处理由正向相机拍摄的图像数据，以检测存在于正面照相机的视野内的交通控制装置，并且当确定车辆不适当时，系统可以向驾驶员生成警报 响应于检测到的交通控制装置。

公开(公告)号：US20130289843A1

公开(公告)日：2013-10-31

申请号：US13798755

申请日：2013-03-13

Applicant: VOLVO CAR CORPORATION

Inventor： Mohammad Ali ,  Mattias Bengtsson ,  Per Landfors

IPC: B60T8/1755

CPC classification number: B60T8/17554 ,  B60T8/1755 ,  B60T2201/08 ,  B60T2210/36 ,  B60T2220/02 ,  B60T2220/03

Abstract: A vehicle yaw stability control method and a vehicle yaw stability control apparatus are provided. The yaw rate {dot over (Ψ)} of the vehicle is measured. A first reference yaw rate {dot over (Ψ)}ref is set. A difference yaw rate Δ{dot over (Ψ)} is set. Stabilizing braking intervention is triggered when a value of the difference yaw rate Δ{dot over (Ψ)} exceeds limits defined by difference yaw rate threshold values Δ{dot over (Ψ)}min, Δ{dot over (Ψ)}max. Information regarding the shape of the road ahead of the vehicle is acquired. The reliability of the driver steering input δ is evaluated upon stabilizing braking intervention being triggered. In case the driver steering input δ is deemed unreliable a replacement reference yaw rate {dot over (Ψ)}refroad is set based on the acquired road shape and a replacement difference yaw rate Δ{dot over (Ψ)}road is set whereupon stabilizing braking intervention is performed based on the replacement difference yaw rate Δ{dot over (Ψ)}road.

Abstract translation: 提供车辆偏航稳定性控制方法和车辆偏航稳定性控制装置。 测量车辆的偏航率{dot over（Psi）}。 设置第一参考横摆率{dot over（Psi）} ref。 设定差偏转角速度Delta {dot over（Psi）}。 当偏差角速度Delta {dot over（Psi）}的值超过由偏航角速度阈值Delta {dot over（Psi）} min，Delta（doti（Psi））max定义的限制时，触发稳定制动干预。 获取关于车辆前方道路的形状的信息。 在稳定的制动干预被触发时评估驾驶员转向输入三角形的可靠性。 在驾驶员转向输入增量被认为不可靠的情况下，基于所获取的道路形状和替换差速偏差Delta {dot over（Psi）} road设定替代参考横摆率{dot over（Psi）} refroad，由此设定稳定 基于替换差偏航率Delta {dot over（Psi）} road执行制动干预。

公开(公告)号：US08521416B2

公开(公告)日：2013-08-27

申请号：US13043984

申请日：2011-03-09

Applicant: Yuki Nakada ,  Toshiya Oosawa ,  Akira Takahashi

Inventor： Yuki Nakada ,  Toshiya Oosawa ,  Akira Takahashi

IPC: F41G9/00 ,  G06F17/10 ,  G06G7/78

CPC classification number: B60W30/12 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2201/087 ,  B62D15/025

Abstract: A vehicle control apparatus includes a first section that recognizes a lane boundary line of a lane in which a vehicle is traveling. A second section recognizes a present position of a predetermined reference point of the vehicle. A third section calculates a predicted position of the reference point, wherein the predicted position is a predetermined interval ahead of the present position. A fourth calculates an imaginary lane boundary line, wherein the imaginary lane boundary line is tangent to the lane boundary line at a point close to the predicted position. A fifth section performs a control of preventing the vehicle from deviating from the lane by controlling the vehicle depending on positional relationship between the vehicle and the lane boundary line. A sixth section selectively permits and suppresses the control depending on positional relationship among the imaginary lane boundary line, the present position, and the predicted position.

Abstract translation: 车辆控制装置包括识别车辆行驶的车道的车道边界线的第一部分。 第二部分识别车辆的预定参考点的当前位置。 第三部分计算参考点的预测位置，其中预测位置是在当前位置之前的预定间隔。 第四计算虚拟车道边界线，其中虚拟车道边界线在靠近预测位置的点处与车道边界线相切。 第五部分通过根据车辆与车道边界线之间的位置关系控制车辆来执行防止车辆偏离车道的控制。 第六部分根据虚拟车道边界线，当前位置和预测位置之间的位置关系选择性地允许和抑制控制。

公开(公告)号：US20120265431A1

公开(公告)日：2012-10-18

申请号：US13518249

申请日：2010-12-01

Applicant: Yasuhisa Hayakawa ,  Kou Sato ,  Masahiro Kobayashi

Inventor： Yasuhisa Hayakawa ,  Kou Sato ,  Masahiro Kobayashi

IPC: G05D1/02

CPC classification number: B60T7/22 ,  B60T2201/022 ,  B60T2201/08 ,  B60W10/18 ,  B60W10/20 ,  B60W30/0953 ,  B60W30/12 ,  B60W40/10 ,  B60W2550/146 ,  B60W2550/308 ,  B60W2550/402 ,  B62D15/0265

Abstract: A driving control device according to the present invention activates a control for suppressing sideways movement of a vehicle towards a side object, when the side object present to the side of the vehicle as well as towards the rear of the vehicle is detected. Also, the activation of the control is suppressed when, in the absence of detection of the side object, the vehicle starts entering an adjacent lane in order to change lanes.

Abstract translation: 根据本发明的驱动控制装置，当检测到存在于车辆一侧以及朝向车辆后部的侧面物体时，启动用于抑制车辆朝向侧面物体的侧向移动的控制。 此外，当没有检测到侧对象时，车辆开始进入相邻车道以便改变车道时，抑制了控制的激活。

公开(公告)号：US08289142B2

公开(公告)日：2012-10-16

申请号：US12559856

申请日：2009-09-15

Applicant: John A. Pawlicki ,  Martha A. McMahon ,  Steven G. Chinn ,  Joel S. Gibson

Inventor： John A. Pawlicki ,  Martha A. McMahon ,  Steven G. Chinn ,  Joel S. Gibson

IPC: B60Q1/00

CPC classification number: B60W30/18 ,  B60K31/00 ,  B60K31/0008 ,  B60Q1/525 ,  B60Q9/008 ,  B60R11/04 ,  B60R2011/004 ,  B60T7/22 ,  B60T2201/08 ,  B60T2201/082 ,  B60T2201/089 ,  B60T2210/34 ,  B60W10/04 ,  B60W10/20 ,  B60W30/09 ,  B60W30/12 ,  B60W30/143 ,  B60W30/16 ,  B60W50/14 ,  B60W2050/143 ,  B60W2420/42 ,  B60W2420/52 ,  B60W2550/12 ,  B60W2550/30 ,  B60W2550/306 ,  B60W2550/308 ,  B60W2550/406 ,  B60W2710/20 ,  B60W2720/10 ,  B62D15/025 ,  G01S11/12 ,  G01S13/867 ,  G01S13/931 ,  G06K9/00791 ,  G06K9/00798 ,  G06K9/00805 ,  G06K9/00818 ,  G06K9/00825 ,  G06K9/4604 ,  G06K9/52 ,  G06K2209/27 ,  G06T7/13 ,  G06T7/174 ,  G06T7/60 ,  G06T7/73 ,  G06T2207/30244 ,  G06T2207/30256 ,  G06T2207/30261 ,  G08G1/16 ,  G08G1/167 ,  H04N5/247

Abstract: An imaging system for a vehicle includes an imaging sensor and a control. The imaging sensor is operable to capture an image of a scene occurring exteriorly of the vehicle. The control is responsive to the imaging sensor. The imaging system may be associated with a side object detection system, a lane change assist system, a lane departure warning system, a monitoring system, a passive steering system and/or the like. The control may be operable to process a reduced image data set more than other image data, which are representative of areas of the captured image outside of a target zone, to detect objects present within the target zone.

Abstract translation: 一种用于车辆的成像系统包括成像传感器和控制装置。 成像传感器可操作以捕获在车辆外部发生的场景的图像。 控制响应于成像传感器。 成像系统可以与侧面物体检测系统，车道改变辅助系统，车道偏离警告系统，监视系统，被动转向系统等相关联。 该控制可以用于处理比其他图像数据更多的缩小图像数据集，其它图像数据代表目标区域外的捕获图像的区域，以检测目标区域内存在的对象。

公开(公告)号：US20110010094A1

公开(公告)日：2011-01-13

申请号：US12735365

申请日：2008-11-11

Applicant: Stephan Simon

Inventor： Stephan Simon

IPC: G08G1/16 ,  G06F19/00

CPC classification number: B60W30/16 ,  B60T2201/02 ,  B60T2201/022 ,  B60T2201/08 ,  B60T2201/089 ,  G08G1/165 ,  G08G1/167

Abstract: A method for assisting a user of a vehicle, in which driving-condition variables (v, a, q, ω, n) are sensed or ascertained via sensors of the vehicle, and a camera of the vehicle covers a coverage area of a road scene at least in front of the vehicle and outputs image signals. Based on the image signals, it is determined whether a further vehicle which is outputting blinking signals is in the coverage area. As a function of the ascertained driving-condition variables (v, a, q, ω, n) of the vehicle and as a function of the determination as to whether other vehicles are indicating a change of direction, information signals, particularly warning signals, are able to be output to the user and/or an automatic driver-assistance control is able to be implemented in which control signals for interventions in a vehicle control for a longitudinal control and/or lateral control, especially a distance control, are output. In this context, in each case different possible control interventions are able to be ascertained and carried out. Furthermore, a corresponding control device and the vehicle thereby made possible are provided.

Abstract translation: 一种用于辅助车辆的用户的方法，其中通过车辆的传感器感测或确定驾驶条件变量（v，a，q，ω，n），并且车辆的照相机覆盖道路的覆盖区域 场景至少在车辆前方输出图像信号。 基于图像信号，确定是否在覆盖区域中输出闪烁信号的另外的车辆。 作为车辆的确定的驾驶条件变量（v，a，q，ω，n）的函数，并且作为关于其他车辆是否指示方向改变的确定的函数的函数，信息信号，特别是警告信号， 能够输出到用户和/或能够实现自动驾驶员辅助控制，其中用于纵向控制和/或横向控制，特别是距离控制的车辆控制中的干预的控制信号被输出。 在这种情况下，在每种情况下，能够确定和执行不同的可能的控制干预措施。 此外，提供了相应的控制装置和由此制成的车辆。

公开(公告)号：US07840330B2

公开(公告)日：2010-11-23

申请号：US11132886

申请日：2005-05-19

Applicant: Sascha Heinrichs-Bartscher

Inventor： Sascha Heinrichs-Bartscher

IPC: G06F19/00

CPC classification number: B60W30/16 ,  B60K31/0008 ,  B60T2201/08 ,  B60T2201/081 ,  G01S13/723 ,  G01S2013/9321

Abstract: System for evaluating the traffic environment of a motor vehicle and for influencing the speed of the motor vehicle in its own traffic lane, comprising an electronic control unit (ECU), which is connected to a signal transmitter that produces a signal characteristic of the desired speed of the motor vehicle, a signal transmitter that produces a signal characteristic of the yaw of the motor vehicle about its vertical axis, a signal transmitter that produces a signal characteristic of the articles situated, in the direction of travel of the motor vehicle, in front of the motor vehicle in terms of their spacing and orientation relative to the motor vehicle and which reproduces the speed relative to the speed of the system motor vehicle and/or the spacing relative to the system motor vehicle and/or the angular offset or the cross track distance relative to the vehicle longitudinal axis of the system motor vehicle, and a signal transmitter that produces a signal characteristic of the speed of at least one wheel of the motor vehicle, and which is connected to at least one control device, which influences the performance of the motor vehicle, in order to supply said device with output signals derived from the performance of the motor vehicle situated in front of the system motor vehicle, in which in the electronic control unit (ECU) the width of the system motor vehicle traffic lane is modified in dependence upon the distance of articles detected in the space in front of the system motor vehicle from the system motor vehicle, wherein the width in the close range and in the remote range is smaller than in the medium range.

Abstract translation: 用于评估机动车辆的交通环境并影响其自身行车道中的机动车辆的速度的系统，包括电子控制单元（ECU），其连接到产生所需速度的信号特性的信号发送器 机动车辆的信号发送器，其产生机动车辆围绕其垂直轴的偏转的信号特征的信号发送器，产生位于机动车辆的行进方向上的物品的信号特征的信号发送器 在相对于机动车辆的间隔和取向方面，相对于系统机动车辆的速度和/或相对于系统机动车辆的间隔和/或角度偏移或十字形的再现速度 相对于系统机动车辆的车辆纵向轴线的轨迹距离，以及产生速度信号特性的信号发射器 的至少一个车轮，并且其连接到影响机动车辆的性能的至少一个控制装置，以便为所述装置提供从位于前方的机动车辆的性能得到的输出信号 其中在电子控制单元（ECU）中，系统机动车辆行车道的宽度根据在系统机动车辆前方的空间中检测到的物品与系统机动车辆的距离而被修改 其中，近距离和远程范围内的宽度小于中等范围。