公开(公告)号：US06906639B2

公开(公告)日：2005-06-14

申请号：US10420395

申请日：2003-04-21

Applicant: Dorothy Lemelson ,  Robert D. Pedersen

Inventor： Jerome H. Lemelson

IPC: G01S5/14 ,  G01S13/86 ,  G01S13/93 ,  G01S17/02 ,  G01S17/93 ,  G01S19/48 ,  G07C5/08 ,  G08G1/123 ,  G08G1/16 ,  G08B1/16 ,  B62D1/24 ,  G06F17/10

CPC classification number: G01S19/11 ,  B60T2201/022 ,  B60T2201/024 ,  B60T2201/08 ,  B60T2201/082 ,  B60T2201/083 ,  B60T2201/085 ,  B60T2201/087 ,  G01S5/009 ,  G01S13/867 ,  G01S13/931 ,  G01S17/023 ,  G01S17/936 ,  G01S2013/9321 ,  G01S2013/9325 ,  G01S2013/9342 ,  G01S2013/9346 ,  G01S2013/935 ,  G01S2013/9353 ,  G01S2013/9357 ,  G01S2013/936 ,  G01S2013/9367 ,  G07C5/0891 ,  G08G1/164 ,  G08G1/165 ,  G08G1/166

Abstract: A system and method assists the driver of a motor vehicle in preventing accidents or minimizing the effects of same. In one form, a television camera or other ranging device is mounted on a vehicle and scans the roadway ahead of the vehicle as the vehicle travels. Continuously generated video picture signals output by the camera are electronically processed and analyzed by a fuzzy-logic-based image analyzing computer mounted in the controlled vehicle, which generates control signals and applies them to control the operation of the accelerator, brake, and steering system of the vehicle in a coordinated way to attempt to avoid or lessen the effects of a collision. In a particular form, the decision computer may select the evasive action taken from a number of choices, depending on whether and where the detection device senses other vehicles and obstacles. Warning signals may also be generated.

Abstract translation: 一种系统和方法帮助机动车辆的驾驶员防止事故或最小化其效果。 在一种形式中，电视摄像机或其他测距装置安装在车辆上，并随着车辆行驶扫描车辆前方的道路。 由摄像机输出的连续生成的视频图像信号由安装在受控车辆中的基于模糊逻辑的图像分析计算机进行电子处理和分析，产生控制信号并施加它们以控制加速器，制动器和转向系统的操作 以协调的方式试图避免或减轻碰撞的影响。 在特定形式中，决策计算机可以根据检测装置是否检测其它车辆和障碍物以及在何处检测其他车辆和障碍物来选择从多个选择中获取的回避动作。 也可能产生警告信号。

公开(公告)号：US20040022416A1

公开(公告)日：2004-02-05

申请号：US10420395

申请日：2003-04-21

Inventor： Jerome H. Lemelson ,  Robert D. Pedersen ,  Dorothy Lemelson

IPC: G06K009/00

CPC classification number: G01S19/11 ,  B60T2201/022 ,  B60T2201/024 ,  B60T2201/08 ,  B60T2201/082 ,  B60T2201/083 ,  B60T2201/085 ,  B60T2201/087 ,  G01S5/009 ,  G01S13/867 ,  G01S13/931 ,  G01S17/023 ,  G01S17/936 ,  G01S2013/9321 ,  G01S2013/9325 ,  G01S2013/9342 ,  G01S2013/9346 ,  G01S2013/935 ,  G01S2013/9353 ,  G01S2013/9357 ,  G01S2013/936 ,  G01S2013/9367 ,  G07C5/0891 ,  G08G1/164 ,  G08G1/165 ,  G08G1/166

Abstract: A system and method assists the driver of a motor vehicle in preventing accidents or minimizing the effects of same. In one form, a television camera is mounted on a vehicle and scans the roadway ahead of the vehicle as the vehicle travels. Continuously generated video picture signals output by the camera are electronically processed and analyzed by an image analyzing computer, which generates codes that serve to identify obstacles. A decision computer mounted in the controlled vehicle receives such code signals along with code signals generated by the speedometer or one or more sensors sensing steering mechanism operation and generates control signals. Such code signals may be displayed, and a synthetic speech or special sound generating and warning means used, to warn the driver of the vehicle of approaching and existing hazards. The system may also use the control signals, particularly through application of fuzzy logic, to control the operation of the brakes and steering mechanism of the vehicle to avoid or lessen the effects of a collision. In a particular form, the decision computer may select the evasive action taken from a number of choices, depending on whether and where the detection device senses other vehicles or obstacles.

Abstract translation: 一种系统和方法帮助机动车辆的驾驶员防止事故或最小化其效果。 在一种形式中，电视摄像机安装在车辆上，并在车辆行驶时扫描车辆前方的道路。 相机输出的连续生成的视频图像信号由图像分析计算机进行电子处理和分析，图像分析计算机产生用于识别障碍物的代码。 安装在受控车辆中的判定计算机接收这样的代码信号以及由速度计产生的代码信号或感测转向机构操作的一个或多个传感器，并产生控制信号。 可以显示这样的代码信号，并且使用合成语音或特殊声音产生和警告装置来警告车辆的驾驶员接近和存在的危险。 系统还可以使用控制信号，特别是通过应用模糊逻辑来控制车辆的制动器和转向机构的操作，以避免或减轻碰撞的影响。 在特定形式中，决定计算机可以根据检测装置是否检测其他车辆或障碍物以及在何处检测其他车辆或障碍物来选择从多个选择中采取的回避动作。

公开(公告)号：US06370471B1

公开(公告)日：2002-04-09

申请号：US09719071

申请日：2001-01-08

Applicant: Herbert Lohner ,  Peter Dominke ,  Chi-Thuan Cao ,  Klaus-Dieter Leimbach ,  Werner Harter ,  Mathias Hommel

Inventor： Herbert Lohner ,  Peter Dominke ,  Chi-Thuan Cao ,  Klaus-Dieter Leimbach ,  Werner Harter ,  Mathias Hommel

IPC: G06F16500

CPC classification number: B60W30/10 ,  B60G2800/166 ,  B60K31/0008 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2201/085 ,  B60T2201/086 ,  B60T2201/087 ,  B60W10/20 ,  B60W30/16 ,  B60W2750/30 ,  G05D1/024 ,  G05D1/0246 ,  G05D1/0257 ,  G05D2201/0213

Abstract: The invention concerns a system for automatic following guidance, particularly for heavy-traffic automatic following guidance, of a motor vehicle (1), designed to ease the burden on the driver in heavy-traffic situations both by taking over lateral guidance by means of an automatic steering regulation system and by maintaining a set distance from a leading vehicle. The latter function requires an adaptive cruise and braking regulation system with “stop” and “go” function. According to the invention, selection and decision means (5, 6, 7, 8, 9) are provided that select both the regulating parameters and the types of controllers [sic], e.g., following guidance of the motor vehicle (1) on the basis of lane markings recognized by means of a video camera or on the basis of a recognized leading vehicle. The system is divided into hierarchical levels I-IV, the driver always being in the monitoring and adaptation loop assigned to the top level IV of the hierarchy, so that he has the highest priority and can override the system at any time.

Abstract translation: 本发明涉及一种用于自动跟随指导的系统，特别是用于机动车辆（1）的重型交通自动跟随指导的系统，其被设计成通过以下方式通过接管横向引导来减轻驾驶员在重型交通情况下的负担 自动转向调节系统，并保持与前方车辆的距离。 后一种功能需要具有“停止”和“去”功能的自适应巡航和制动调节系统。 根据本发明，提供了选择和确定装置（5,6,7,8,9），其选择调节参数和控制器的类型，例如，在机动车辆（1）的引导下 通过摄像机或基于认可的领先车辆识别的车道标记的基础。 该系统被分为I-IV级别，驱动程序始终处于分配给层次结构的顶层IV的监控和适配循环中，以便他具有最高优先级，并可随时覆盖系统。

公开(公告)号：US5983161A

公开(公告)日：1999-11-09

申请号：US717807

申请日：1996-09-24

Applicant: Jerome H. Lemelson ,  Robert D. Pedersen

Inventor： Jerome H. Lemelson ,  Robert D. Pedersen

IPC: G01S5/14 ,  G01S13/86 ,  G01S13/93 ,  G01S17/02 ,  G01S17/93 ,  G01S19/11 ,  G01S19/48 ,  G07C5/08 ,  G08G1/123 ,  G08G1/16 ,  G06F165/00

CPC classification number: G01S19/11 ,  G07C5/0891 ,  G08G1/164 ,  G08G1/20 ,  B60T2201/022 ,  B60T2201/08 ,  B60T2201/082 ,  B60T2201/083 ,  B60T2201/085 ,  B60T2201/087 ,  G01S13/86 ,  G01S13/931 ,  G01S17/023 ,  G01S17/936 ,  G01S2013/9321 ,  G01S2013/9325 ,  G01S2013/9339 ,  G01S2013/9342 ,  G01S2013/9346 ,  G01S2013/935 ,  G01S2013/9353 ,  G01S2013/9357 ,  G01S2013/936 ,  G01S5/009

Abstract: GPS satellite (4) ranging signals (6) received (32) on comm1, and DGPS auxiliary range correction signals and pseudolite carrier phase ambiguity resolution signals (8) from a fixed known earth base station (10) received (34) on comm2, at one of a plurality of vehicles/aircraft/automobiles (2) are computer processed (36) to continuously determine the one's kinematic tracking position on a pathway (14) with centimeter accuracy. That GPS-based position is communicated with selected other status information to each other one of the plurality of vehicles (2), to the one station (10), and/or to one of a plurality of control centers (16), and the one vehicle receives therefrom each of the others' status information and kinematic tracking position. Objects (22) are detected from all directions (300) by multiple supplemental mechanisms, e.g., video (54), radar/lidar (56), laser and optical scanners. Data and information are computer processed and analyzed (50,52,200,452) in neural networks (132, FIGS. 6-8) in the one vehicle to identify, rank, and evaluate collision hazards/objects, an expert operating response to which is determined in a fuzzy logic associative memory (484) which generates control signals which actuate a plurality of control systems of the one vehicle in a coordinated manner to maneuver it laterally and longitudinally to avoid each collision hazard, or, for motor vehicles, when a collision is unavoidable, to minimize injury or damage therefrom. The operator is warned by a heads up display and other modes and may override. An automotive auto-pilot mode is provided.

公开(公告)号：EP1674359B1

公开(公告)日：2010-09-15

申请号：EP05258029.7

申请日：2005-12-23

Applicant: NISSAN MOTOR COMPANY LIMITED

Inventor： Takeda, Yuya

IPC: B60T8/00

CPC classification number: B60T8/17557 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2201/085 ,  B60T2201/087 ,  B60W10/18 ,  B60W10/20 ,  B60W30/12 ,  B60W40/064 ,  B60W2520/14 ,  B62D6/003 ,  B62D7/159

公开(公告)号：EP1582440A2

公开(公告)日：2005-10-05

申请号：EP05251924.6

申请日：2005-03-29

Applicant: Nissan Technical Center North America, Inc.

Inventor： Kawazoe, Hiroshi ,  Tsuda, Hiroshi

IPC: B62D15/02

CPC classification number: B62D15/029 ,  B60Q9/008 ,  B60T7/18 ,  B60T7/22 ,  B60T17/22 ,  B60T2201/08 ,  B60T2201/085 ,  B60W10/18 ,  B60W10/20 ,  B60W30/12 ,  B60W30/14 ,  B60W50/14 ,  B60W2710/18 ,  B60W2710/20 ,  B62D6/003 ,  B62D15/025 ,  E01F9/529

Abstract: An embodiment or the present invention includes a device to alter transfer characteristies of a road departure warning installation installed on a road to a driver of a vehicle, including a rumble strip sensor to sense input from a rumble strip and an adjustable vehicle component in communication with the sumble strip sensor, the adjustable vehicle component configured to automatically adjust to increase an amount of input from the romble strip sensed by the driver. Another embodiment of the present invention includes a device to estimate lateral displacement of a vehicle based on the location of a rumble strip installed on a road with respect to the vehicle, the device including a processor configured to receive four signals indicative of contact of a rumble strip with respective associated four tires of the vehicle and to estimate a lateral distance that the vehicle has traveled beyond the detected rumple strip.

Abstract translation: 一个实施例或本发明包括一种用于改变安装在通向车辆驾驶员的道路上的道路离境警告装置的转移特性的装置，包括用于感测来自隆隆条的输入的隆起带传感器和与该通路的通信的可调节车辆部件 所述最后的带状传感器，所述可调节车辆部件被配置为自动调节以增大从所述驱动器感测到的所述隆起条的输入量。 本发明的另一实施例包括一种根据相对于车辆安装在道路上的隆起条的位置来估计车辆的横向位移的装置，该装置包括处理器，该处理器被配置为接收指示隆隆声接触的四个信号 并且估计车辆行进超过检测到的斜槽带的横向距离。

公开(公告)号：EP1103023A2

公开(公告)日：2001-05-30

申请号：EP00936607.1

申请日：2000-04-06

Applicant: ROBERT BOSCH GMBH

Inventor： LOHNER, Herbert ,  DOMINKE, Peter ,  CAO, Chi-Thuan ,  LEIMBACH, Klaus-Dieter ,  HARTER, Werner ,  HOMMEL, Mathias

IPC: G05D1/00

CPC classification number: B60W30/10 ,  B60G2800/166 ,  B60K31/0008 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2201/085 ,  B60T2201/086 ,  B60T2201/087 ,  B60W10/20 ,  B60W30/16 ,  B60W2750/30 ,  G05D1/024 ,  G05D1/0246 ,  G05D1/0257 ,  G05D2201/0213

Abstract: The invention relates to a system for automatic following-distance control, notably in congested traffic, in a motor vehicle (1) so as to facilitate driving in congested traffic by both taking over transverse steering by means of an automatic steering system and ensuring that a given distance is maintained to a vehicle driving ahead. The latter function calls for an adaptive driving and brake control system with a 'stop' and 'go' function. According to the invention selection and decision means (5, 6, 7, 8, 9) are provided for which are able to selected both control parameters and control types, for example following-distance control of the motor vehicle (1) in accordance with road markings recognized by video camera or in accordance with a detected leading vehicle. The system is divided into hierarchical levels (I-IV). The driver always remains in the monitoring and adaptation circuit assigned to the highest hierarchical level (IV) so that he has the highest priority and can overrule the system at any time.

公开(公告)号：WO2004021546A2

公开(公告)日：2004-03-11

申请号：PCT/DE2003/002685

申请日：2003-08-08

Applicant: CONTI TEMIC MICROELECTRONIC GMBH ,  AUTOMOTIVE DISTANCE CONTROL SYSTEMS GMBH ,  LANG, Christian ,  ADOMAT, Rolf ,  MASSEN, Joachim ,  RIEDEL, Helmut ,  FECHNER, Thomas ,  BRUNN, Marcus

Inventor： LANG, Christian ,  ADOMAT, Rolf ,  MASSEN, Joachim ,  RIEDEL, Helmut ,  FECHNER, Thomas ,  BRUNN, Marcus

IPC: H02K7/20

CPC classification number: G01S17/89 ,  B60R21/013 ,  B60R21/0134 ,  B60R2021/01306 ,  B60T8/17557 ,  B60T2201/08 ,  B60T2201/085 ,  B60T2201/089 ,  B60T2201/10 ,  G01S5/163 ,  G01S7/4972 ,  G01S17/936 ,  G01S2013/9314 ,  G01S2013/9321 ,  G01S2013/9332 ,  G01S2013/9346

Abstract: Die vorliegende Erfindung betrifft ein Verkehrsmittel mit einer 3D-Entfernungsbildkamera und ein Verfahren zum Aufbau und Betreiben der 3D-Entfernungsbildkamera in Verkehrsmitteln, insbesondere Kraftfahrzeugen. Insbesondere ist das erfindungsgemäße Verfahren bzw. die erfindungsgemäße Vorrichtung geeignet zur Anwendung in Kraftfahrzeugen als Bremsassistent, Schadensreduzierungssystem, Closing Velocity-Sensorik, vorzugsweise als Aufprallerkennung im Frontbereich, der Seite und/oder am Heck, Unfallvermeidung, Fußgängerschutz, Stop-and­-Go- bzw. Stauassistent, Einparkhilfe, beispielsweise Parklückenvermessung, Parkassistent und/oder autonomes Einparken. Weiterhin kann die Erfindung vorteilhaft eingesetzt werden zur Totwinkelüberwachung, als Spurverlassungswarnsystem, Spurwechselassistent, insbesondere mit Totwinkelüberwachung und/oder Spurlageerkennung, Spurhalteassistent, Überschlags- und/oder Nickwinkelerkennung. Ferner kann mit Vorteil ein Einsatz der Erfindung bei Night Visi­on, zur Straßenzustandserkennung, als Türstopper, zur Verkehrszeichenerkennung, als Lichtsensor, Wettersensor, Befahrbarkeitssensor und/oder zur Andockhilfe oder Rückfahrhilfe vorge­sehen sein.

Abstract translation:

本发明涉及一种传输网络与3D距离相机和用于构造和运输操作3D距离相机，特别是机动车辆的方法。 适合在机动车辆中使用电子装置作为制动辅助系统，减少损害系统，关闭速度传感器，优选大街如在前面，侧面碰撞检测和/或后部，事故预防，傅＆;特别地，本发明BEAR ROAD方法和本发明BEAR大街 停车和交通堵塞辅助，停车辅助，例如停车位测量，停车辅助和/或自动停车。 此外，本发明可以有利地用于盲点导航利用监测，如Spurverlassungswarnsystem，车道变换辅助，特别是具有盲点导航利用监测和/或跟踪检测，车道偏离警告，导航用途berschlags-和/或桨距角的检测。 此外，有利地，本发明在夜间的Visi＆害羞的申请;上，大街到STRA＆; enzustandserkennung如T＆uuml;可以看出

公开(公告)号：WO0062139A3

公开(公告)日：2001-03-29

申请号：PCT/DE0001097

申请日：2000-04-06

Applicant: BOSCH GMBH ROBERT ,  LOHNER HERBERT ,  DOMINKE PETER ,  CAO CHI THUAN ,  LEIMBACH KLAUS DIETER ,  HARTER WERNER ,  HOMMEL MATHIAS

Inventor： LOHNER HERBERT ,  DOMINKE PETER ,  CAO CHI-THUAN ,  LEIMBACH KLAUS-DIETER ,  HARTER WERNER ,  HOMMEL MATHIAS

IPC: B60R21/00 ,  B60K31/00 ,  B60T7/12 ,  B60W10/00 ,  B60W10/04 ,  B60W10/20 ,  B60W30/10 ,  B60W30/16 ,  F02D29/02 ,  G05D1/02 ,  G08G1/16 ,  G05D1/03 ,  G05D13/00 ,  H04N13/00 ,  G06F15/50

CPC classification number: B60W30/10 ,  B60G2800/166 ,  B60K31/0008 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2201/085 ,  B60T2201/086 ,  B60T2201/087 ,  B60W10/20 ,  B60W30/16 ,  B60W2750/30 ,  G05D1/024 ,  G05D1/0246 ,  G05D1/0257 ,  G05D2201/0213

Abstract: The invention relates to a system for automatic following-distance control, notably in congested traffic, in a motor vehicle (1) so as to facilitate driving in congested traffic by both taking over transverse steering by means of an automatic steering system and ensuring that a given distance is maintained to a vehicle driving ahead. The latter function calls for an adaptive driving and brake control system with a "stop" and "go" function. According to the invention selection and decision means (5, 6, 7, 8, 9) are provided for which are able to selected both control parameters and control types, for example following-distance control of the motor vehicle (1) in accordance with road markings recognized by video camera or in accordance with a detected leading vehicle. The system is divided into hierarchical levels (I-IV). The driver always remains in the monitoring and adaptation circuit assigned to the highest hierarchical level (IV) so that he has the highest priority and can overrule the system at any time.

Abstract translation: 本发明涉及一种用于自动跟随距离控制的系统中，尤其是用于机动车辆（1）的自动交通堵塞的指导，以减轻在通过接管横向导向sowhal拥塞情况驾驶员装置通过保持一定的距离，以领先的车辆的自动转向控制的以及。 后者功能需要一个自适应驱动和制动控制与“停止” - 和“去”的功能。 根据本发明，选择和决定装置（5，6，7，8，9），以使控制参数以及控制器类型，例如选择 以下作为根据检测到的前方车辆由视频摄像机，或道路标记检测到的机动车辆（1）的指导。 该系统分为分层级I-IV，其中驾驶员始终在层次结构的顶部与IV的监测和适应电路相关联，使得它具有最高的优先级，可以在任何时间覆盖系统。

公开(公告)号：WO00062139A2

公开(公告)日：2000-10-19

申请号：PCT/DE2000/001097

申请日：2000-04-06

IPC: B60R21/00 ,  B60K31/00 ,  B60T7/12 ,  B60W10/00 ,  B60W10/04 ,  B60W10/20 ,  B60W30/10 ,  B60W30/16 ,  F02D29/02 ,  G05D1/02 ,  G08G1/16 ,  G05D1/00

CPC classification number: B60W30/10 ,  B60G2800/166 ,  B60K31/0008 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2201/085 ,  B60T2201/086 ,  B60T2201/087 ,  B60W10/20 ,  B60W30/16 ,  B60W2750/30 ,  G05D1/024 ,  G05D1/0246 ,  G05D1/0257 ,  G05D2201/0213

Abstract: The invention relates to a system for automatic following-distance control, notably in congested traffic, in a motor vehicle (1) so as to facilitate driving in congested traffic by both taking over transverse steering by means of an automatic steering system and ensuring that a given distance is maintained to a vehicle driving ahead. The latter function calls for an adaptive driving and brake control system with a "stop" and "go" function. According to the invention selection and decision means (5, 6, 7, 8, 9) are provided for which are able to selected both control parameters and control types, for example following-distance control of the motor vehicle (1) in accordance with road markings recognized by video camera or in accordance with a detected leading vehicle. The system is divided into hierarchical levels (I-IV). The driver always remains in the monitoring and adaptation circuit assigned to the highest hierarchical level (IV) so that he has the highest priority and can overrule the system at any time.

Abstract translation: 本发明涉及一种用于自动跟随距离控制的系统中，尤其是用于机动车辆（1）的自动交通堵塞的指导，以减轻在通过接管横向导向sowhal拥塞情况驾驶员装置通过保持一定的距离，以领先的车辆的自动转向控制的以及。 后者功能需要一个自适应驱动和制动控制与“停止” - 和“去”的功能。 根据本发明，选择和决定装置（5，6，7，8，9），以使控制参数以及控制器类型，例如选择 以下作为根据检测到的前方车辆由视频摄像机，或道路标记检测到的机动车辆（1）的指导。 该系统分为分层级I-IV，其中驾驶员始终在层次结构的顶部与IV的监测和适应电路相关联，使得它具有最高的优先级，可以在任何时间覆盖系统。