公开(公告)号：EP2169427A1

公开(公告)日：2010-03-31

申请号：EP09169144.4

申请日：2009-09-01

Applicant: Delphi Technologies, Inc.

Inventor： Schiffmann, Jan K. ,  Schwartz, David A.

IPC: G01S13/86 ,  G01S13/93

CPC classification number: G01S13/931 ,  B60T2201/08 ,  G01S13/726 ,  G01S13/867 ,  G01S2013/9321 ,  G01S2013/9353 ,  G01S2013/9375

Abstract: An improved probabilistic lane assignment method for detected objects (24) in the scene forward of a host vehicle (10). Road/lane model parameters, preferably including an angular orientation of the host vehicle (10) in its lane, are estimated from host vehicle sensor systems (26-36), taking into account measurement uncertainty in each of the constituent parameters. A probabilistic assignment of the object's lane is then assessed based on the road/lane model parameters and object measurements, again taking into account measurement uncertainty in both the road/lane model and object measurements (100-108). According to a first embodiment, the probabilistic assignment is discrete in nature, indicating a confidence or degree-of-belief that the detected object (24) resides in each of a number of lanes (94). According to a second embodiment, the probabilistic assignment is continuous in nature, providing a lateral separation distance between the host vehicle (10) and the object (24), and a confidence or degree-of-belief in the lateral separation distance (110).

Abstract translation: 一种用于本车辆（10）前方的场景中的检测对象（24）的改进的概率车道分配方法。 考虑到每个组成参数中的测量不确定性，从主车辆传感器系统（26-36）估计出优选地包括主车辆（10）在其车道中的角度定向的道路/车道模型参数。 然后根据道路/车道模型参数和物体测量值，再次考虑道路/车道模型和物体测量中的测量不确定度，来对目标车道进行概率分配（100-108）。 根据第一实施例，概率分配本质上是离散的，指示检测对象（24）位于多条通道（94）中的每一条中的置信度或信度程度。 根据第二实施例，概率分配本质上是连续的，提供主车辆（10）和物体（24）之间的横向间隔距离，以及侧向间隔距离（110）中的置信度或信度， 。

公开(公告)号：EP1211144B1

公开(公告)日：2007-04-18

申请号：EP01204544.9

申请日：2001-11-26

Applicant: Delphi Technologies, Inc.

Inventor： Horan, Dale ,  Schubert, Peter J. ,  Wallner, Edward J. ,  Braun, David W. ,  Nichols, David J. ,  Schiffmann, Jan K.

IPC: B60R21/01

CPC classification number: B60R21/013 ,  B60G2800/9124 ,  B60R2021/0018 ,  B60R2021/01306 ,  B60R2021/01327

公开(公告)号：EP1346883A3

公开(公告)日：2004-06-09

申请号：EP03075524.3

申请日：2003-02-24

Applicant: Delphi Technologies, Inc.

Inventor： Schiffmann, Jan K.

IPC: B60R21/01

CPC classification number: B60R21/0133 ,  B60R21/0132 ,  B60R21/01336 ,  B60R21/01338 ,  B60R2021/01304 ,  B60R2021/01325 ,  B60R2021/01327 ,  B60T8/172 ,  B60T2210/14 ,  B60T2230/02 ,  B60T2230/03 ,  B60T2250/06

Abstract: An attitude angle estimator (80) and method of estimating attitude angle (82) of a vehicle having an angular attitude rate sensor (12) sensing angular attitude rate (13) of a vehicle, a vertical accelerometer (20) sensing vertical acceleration (21), and a lateral accelerometer (14) sensing lateral acceleration (15). An attitude angle estimate is produced and is updated as a function of the sensed angular attitude rate. An acceleration-based attitude angle (ϕ a ) is determined as a function of the sensed accelerations, and a blending coefficient (K) is provided. A current vehicle attitude angle estimate (82) is generated as a function of the updated attitude angle estimate, the acceleration-based attitude angle (ϕ a ), and the blending coefficient (K).

公开(公告)号：EP2328114B1

公开(公告)日：2012-09-19

申请号：EP11151598.7

申请日：2007-10-25

Applicant: Delphi Technologies, Inc.

Inventor： Schwartz, David A. ,  Schiffmann, Jan K. ,  Hamilton, Lisa R.

IPC: G06K9/46 ,  G06K9/00

CPC classification number: G06K9/4609 ,  G06K9/00798

公开(公告)号：EP1760491A3

公开(公告)日：2009-12-09

申请号：EP06076622.7

申请日：2006-08-25

Applicant: Delphi Technologies, Inc.

Inventor： Schiffmann, Jan K. ,  Schwartz, David A.

IPC: G01S13/93 ,  G01S13/86

CPC classification number: G01S7/4026 ,  G01S13/867 ,  G01S13/931 ,  G01S2007/403 ,  G01S2007/4034 ,  G01S2007/4091 ,  G01S2013/9357 ,  G01S2013/9375

Abstract: A method for estimating unknown parameters (pan angle ( ψ ), instantaneous tilt angle (τ) and road geometry of an upcoming road segment) for a vehicle object detection system (10). The vehicle object detection system is preferably a forward looking, radar-cued vision system having a camera (12), a radar sensor (14) and an processing unit (16). The method first estimates the pan angle ( ψ ), then corrects the coordinates from a radar track so that pan angle ( ψ ) can be treated as zero, and finally solves a least squares problem that determines best estimates for instantaneous tilt angle (τ) and road geometry. Estimating these parameters enables the vehicle object detection system (10) to identify, interpret and locate objects in a more accurate and efficient manner.

公开(公告)号：EP1918853A2

公开(公告)日：2008-05-07

申请号：EP07119254.6

申请日：2007-10-25

Applicant: Delphi Technologies, Inc.

Inventor： Schwartz, David A. ,  Schiffmann, Jan K. ,  Hamilton, Lisa R.

IPC: G06K9/46

CPC classification number: G06K9/4609 ,  G06K9/00798

Abstract: A method of lane marker detection and lane fitting is provided for lane tracking. A lane marker is modeled and split into left and right steps. A filter response is calculated from a cumulative row sum, and normalized for filter pixel size, lane marker brightness and road brightness. A lane marker response is peak detected for positive and negative peaks and checked for having a magnitude above a threshold and being a local peak in a five point neighborhood. A Hough transform is extended to multiple planes to use lane marker features to determine a best line. Lane marker features include a mean and variance of lane marker brightness, lane marker width, lane marker parallelism to a host vehicle direction of travel, and consistence with a predicted lane marker characteristic. A closest lane marker line to a host vehicle is identified, and refitted to account for any curvature.

公开(公告)号：EP1918853B1

公开(公告)日：2011-06-22

申请号：EP07119254.6

申请日：2007-10-25

Applicant: Delphi Technologies, Inc.

Inventor： Schwartz, David A. ,  Schiffmann, Jan K. ,  Hamilton, Lisa R.

IPC: G06K9/46

CPC classification number: G06K9/4609 ,  G06K9/00798

公开(公告)号：EP1918853A3

公开(公告)日：2009-07-15

申请号：EP07119254.6

申请日：2007-10-25

Applicant: Delphi Technologies, Inc.

Inventor： Schwartz, David A. ,  Schiffmann, Jan K. ,  Hamilton, Lisa R.

IPC: G06K9/46

CPC classification number: G06K9/4609 ,  G06K9/00798

Abstract: A method of lane marker detection and lane fitting is provided for lane tracking. A lane marker is modeled and split into left and right steps. A filter response is calculated from a cumulative row sum, and normalized for filter pixel size, lane marker brightness and road brightness. A lane marker response is peak detected for positive and negative peaks and checked for having a magnitude above a threshold and being a local peak in a five point neighborhood. A Hough transform is extended to multiple planes to use lane marker features to determine a best line. Lane marker features include a mean and variance of lane marker brightness, lane marker width, lane marker parallelism to a host vehicle direction of travel, and consistence with a predicted lane marker characteristic. A closest lane marker line to a host vehicle is identified, and refitted to account for any curvature.

公开(公告)号：EP1754633A3

公开(公告)日：2007-10-24

申请号：EP06018834.9

申请日：2001-11-26

Applicant: Delphi Technologies, Inc.

Inventor： Schubert, Peter J. ,  Nichols, David J. ,  Wallner, Edward J. ,  Schiffmann, Jan K. ,  Braun, David William ,  Horan, Dale

IPC: B60R21/01

CPC classification number: B60R21/013 ,  B60G2800/9124 ,  B60R2021/0018 ,  B60R2021/01306 ,  B60R2021/01327

Abstract: A vehicle rollover sensing apparatus (10) and method are provided for detecting an overturn condition of the vehicle. The rollover sensing apparatus (10) includes an angular rate sensor (12) for sensing attitude rate of change of a vehicle and producing an output signal indicative thereof. The rollover sensing apparatus also has an integrator (64) for integrating the sensed attitude rate of change signal over a variable time window (80) and producing an attitude angle. The rollover sensing apparatus further includes deployment logic (66) for comparing the attitude angle and attitude rate of change to a pair of variable threshold values, with a gray-zone (150) that varies based on time, and an output (56) for deploying a vehicle overturn condition signal based on the comparison. Adaptive bias removal and output minimum logic (62) reduces bias and noise associated with the sensed signal.

公开(公告)号：EP1378764A1

公开(公告)日：2004-01-07

申请号：EP03076972.3

申请日：2003-06-25

Applicant: Delphi Technologies, Inc.

Inventor： Schiffmann, Jan K. ,  Humm, Lawrence A.

IPC: G01S13/93 ,  G01S13/50

CPC classification number: G01S13/505 ,  G01S13/931 ,  G01S2013/9375

Abstract: A collision detection system (18) and method (100) of estimating a miss distance (M) of an object (16) and estimating length (L) and width (W) of the object (16) are provided. The collision detection system (18) includes a sensor (12) for sensing an object (16) within a field of view (14) and measuring range (R) and range rate (R & ) of the sensed object. The collision detection system (18) further includes a controller (20) for estimating a miss distance (M) of the object (16) and further estimating length (L) and width (W) of the object (16) as a function of the range (R) and the range rate (R & ).

Abstract translation: 提供了一种用于估计对象（16）的遗漏距离（M）和估计对象（16）的长度（L）和宽度（W）的碰撞检测系统（18）和方法（100）。 碰撞检测系统（18）包括用于感测视场（14）内的物体（16）的传感器（12）和感测对象的测量范围（R）和范围速率（R &&）。 碰撞检测系统（18）还包括控制器（20），用于估计对象（16）的未命中距离（M），并进一步估计对象（16）的长度（L）和宽度（W）作为 范围（R）和范围速率（R＆lt;＆gt;）。