公开(公告)号：US20030025597A1

公开(公告)日：2003-02-06

申请号：US10209173

申请日：2002-07-31

Inventor： Kenneth Schofield

IPC: B60Q001/00

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 vehicle lane change aid system includes a detector that is operative to detect the presence of an other vehicle adjacent the vehicle, an indicator for providing an indication that a lane change maneuver of the vehicle may affect the other vehicle and a control receiving movement information of the vehicle. The control develops a position history of the vehicle at least as a function of the movement information. The control compares the detected presence of the other vehicle with the position history and provides an indication when a lane change maneuver may affect the other vehicle.

Abstract translation: 车辆换车辅助系统包括：检测器，用于检测邻近车辆的其他车辆的存在;指示器，用于提供车辆的车道变换机动可能影响其他车辆的指示;以及控制器，其接收运动信息 机动车。 该控制至少根据运动信息来形成车辆的位置历史。 该控制将检测到的其他车辆的存在与位置历史进行比较，并且当车道变换机动可能影响另一车辆时提供指示。

公开(公告)号：US06321159B1

公开(公告)日：2001-11-20

申请号：US09418967

申请日：1999-10-14

Applicant: Shinya Nohtomi ,  Shinichiro Horiuchi

Inventor： Shinya Nohtomi ,  Shinichiro Horiuchi

IPC: B60K3100

CPC classification number: B62D15/025 ,  B60G2400/0523 ,  B60G2400/104 ,  B60G2400/41 ,  B60G2400/824 ,  B60G2401/142 ,  B60G2800/24 ,  B60T2201/08 ,  B60T2201/087 ,  B60T2201/089 ,  B60T2260/02 ,  B62D1/28

Abstract: Preview information is obtained by processing data from image data of a CCD camera, and it is treated as a known disturbance. Then, models for a vehicle and a target road path, typically consisting of DARMA (deterministic auto-regressive moving average) models are prepared so as to give a relationship between a front wheel steering angle command and a lateral deviation of the vehicle. An extended generalized predictive control theory is applied to these models so as to compensate for tracking errors that may arise as a result of the known disturbance. Thus, a favorable tracking capability can be achieved with a relatively simple structure, by executing a prediction control which requires only such variable that can be measured both easily and accurately.

Abstract translation: 通过从CCD照相机的图像数据处理数据获得预览信息，并将其视为已知的干扰。 然后，准备通常由DARMA（确定性自回归移动平均）模型组成的车辆和目标道路路径的模型，以便给出前轮转向角度指令与车辆的横向偏差之间的关系。 扩展的广义预测控制理论应用于这些模型，以补偿由于已知扰动而可能出现的跟踪误差。 因此，通过执行仅需要容易且准确地测量的这样的变量的预测控制，可以通过相对简单的结构实现良好的跟踪能力。

公开(公告)号：US6091833A

公开(公告)日：2000-07-18

申请号：US917815

申请日：1997-08-27

Applicant: Nobuhiko Yasui ,  Atsushi Iisaka ,  Mamoru Kaneko

Inventor： Nobuhiko Yasui ,  Atsushi Iisaka ,  Mamoru Kaneko

IPC: G06T1/00 ,  G05D1/02 ,  G06K9/00 ,  G06T5/00 ,  G06T7/00 ,  G08G1/04 ,  G08G1/16

CPC classification number: G06K9/00798 ,  G05D1/0246 ,  G06T7/0042 ,  G06T7/0044 ,  G06T7/0083 ,  G08G1/04 ,  G08G1/161 ,  B60T2201/08 ,  B60T2201/089 ,  G06T2207/10016 ,  G06T2207/30256

Abstract: An apparatus and method for correctly determining the position of a vehicle in a traffic lane by obtaining correct information about the position of the traffic lane without being affected by variations in the road surface, weather, time of day, or such imaging conditions as fixed or moving lighting, are provided. An edge signal of a high spatial frequency component and a luminance signal of a low spatial frequency component of a digital image signal representing the view of the local area to the front of a vehicle are extracted. A road contour signal is then extracted from the edge signal, and a road region signal is extracted from the luminance signal. The position of the lane Sre is then detected with high precision by evaluating the lane contour Sre based on the road region signal Srr and lane contour data Sre.

Abstract translation: 通过获取关于行车道的位置的正确信息而不受路面，天气，时间的变化或诸如固定或 提供移动照明。 提取高空间频率分量的边缘信号和表示车辆前方的局部区域的视图的数字图像信号的低空间频率分量的亮度信号。 然后从边缘信号中提取道路轮廓信号，并从亮度信号中提取道路区域信号。 然后通过基于道路区域信号Srr和车道轮廓数据Sre评估车道轮廓Sre，高精度地检测车道Sre的位置。

公开(公告)号：US6005492A

公开(公告)日：1999-12-21

申请号：US108320

申请日：1998-07-01

Applicant: Kazuya Tamura ,  Sachio Kobayashi ,  Eishi Jitsukata

Inventor： Kazuya Tamura ,  Sachio Kobayashi ,  Eishi Jitsukata

IPC: G08G1/00 ,  B60Q1/52 ,  B60W30/00 ,  G05D1/02 ,  G06T1/00 ,  G06T7/60 ,  G08G1/16 ,  G08G1/017

CPC classification number: G05D1/0274 ,  B60Q9/008 ,  G05D1/0246 ,  G05D1/027 ,  B60T2201/08 ,  B60T2201/089 ,  G05D2201/0213

Abstract: A road lane recognizing apparatus can accurately recognize a road lane position from an image shown by an actual road surface image signal obtained by picturing a road surface in front of a vehicle by means of picturing means such as a television camera or the like mounted on the vehicle. Whether the vehicle exists on a straight part of road or not is discriminated in accordance with a vehicle-self position detected by vehicle detecting means. When the vehicle exists on the straight part, an attitude angle showing the direction of the vehicle for the road direction at the vehicle-self position is detected. When the attitude angle is detected, a predetermined ideal road surface image is inclined by only the attitude angle, thereby obtaining the corrected road surface image. The actual road surface image signal from the picturing means is compared with a signal of the corrected road surface image. An image difference is used as an offset amount. The actual road surface image is corrected by only the offset amount. The road lane position is recognized on the basis of the image shown by the corrected actual road surface image signal.

Abstract translation: 道路车道识别装置可以通过利用安装在车辆上的电视摄像机等的图形装置，将车辆前方的路面图像获得的实际路面图像信号所示的图像精确地识别出道路位置 车辆。 根据由车辆检测装置检测的车辆自身位置来判别车辆是否存在于道路的直线部分上。 当车辆存在于直线部分时，检测出示出车辆自身位置处的道路方向的车辆方向的姿态角。 当检测到姿态角时，预定的理想路面图像仅倾斜姿态角度，从而获得校正后的路面图像。 将来自图形装置的实际路面图像信号与校正后的路面图像的信号进行比较。 图像差用作偏移量。 实际路面图像仅通过偏移量进行校正。 基于校正的实际路面图像信号所示的图像来识别道路位置。

公开(公告)号：US4630109A

公开(公告)日：1986-12-16

申请号：US706952

申请日：1985-02-28

Applicant: Russell R. Barton

Inventor： Russell R. Barton

IPC: G05D1/02 ,  H04N7/18

CPC classification number: G05D1/0246 ,  B60T2201/08 ,  B60T2201/089

Abstract: A vehicle tracking system for determining the lateral position of a moving vehicle relative to an optically distinct line extending along the roadway on which the vehicle travels. A camera periodically scans the roadway including the optically distinct line thereon. Signals representing successive scans are stored then correlated to determine the lateral movement of the vehicle between scans.

Abstract translation: 一种车辆跟踪系统，用于确定移动车辆相对于沿着车辆行进的道路延伸的光学不同的线的横向位置。 相机周期性地扫描道路，包括其上的光学不同的线。 存储表示连续扫描的信号然后被相关联以确定车辆在扫描之间的横向移动。