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公开(公告)号：US20130116854A1
公开(公告)日：2013-05-09
申请号：US13289517
申请日：2011-11-04
IPC分类号： G06F7/00
CPC分类号： B60W30/12 , B60W2420/42
摘要： A lane tracking system for tracking the position of a vehicle within a lane includes a camera configured to provide a video feed representative of a field of view and a video processor configured to receive the video feed from the camera and to generate latent video-based position data indicative of the position of the vehicle within the lane. The system further includes a vehicle motion sensor configured to generate vehicle motion data indicative of the motion of the vehicle, and a lane tracking processor. The lane tracking processor is configured to receive the video-based position data, updated at a first frequency; receive the sensed vehicle motion data, updated at a second frequency; estimate the position of the vehicle within the lane from the sensed vehicle motion data; and fuse the video-based position data with the estimate of the vehicle position within the lane using a Kalman filter.
摘要翻译： 用于跟踪车道在车道内的位置的车道跟踪系统包括被配置为提供表示视野的视频馈送的照相机和被配置为从照相机接收视频馈送并且产生潜在视频的位置的视频处理器 指示车辆在车道内的位置的数据。 该系统还包括被配置为产生指示车辆的运动的车辆运动数据的车辆运动传感器和车道跟踪处理器。 车道跟踪处理器被配置为接收以第一频率更新的基于视频的位置数据; 接收以第二频率更新的感测车辆运动数据; 从感测的车辆运动数据估计车道在车道内的位置; 并使用卡尔曼滤波器将基于视频的位置数据与车道内的车辆位置的估计融合。
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公开(公告)号：US09514647B2
公开(公告)日：2016-12-06
申请号：US12908689
申请日：2010-10-20
IPC分类号： G08G1/16 , B60W10/184 , B60W10/20 , B60W30/09 , B60W40/064 , B60W50/14 , B60W50/00
CPC分类号： G08G1/163 , B60W10/184 , B60W10/20 , B60W30/09 , B60W40/064 , B60W50/14 , B60W2050/0026 , B60W2050/0033 , B60W2050/143 , B60W2520/10 , B60W2520/105 , B60W2550/148 , B60W2550/302 , B60W2550/306 , B60W2550/308 , B60W2710/182 , B60W2710/207 , B60W2720/106 , B60W2720/125 , B60W2720/14
摘要： A system and method for providing an optimal collision avoidance path for a host vehicle that may potentially collide with a target vehicle. The method includes providing off-line an optimization look-up table for storing on the host vehicle that includes an optimal vehicle braking or longitudinal deceleration and an optimal distance along the optimal path based on a range of speeds of the host vehicle and coefficients of friction of the roadway surface. The method determines the current speed of the host vehicle and the coefficient of friction of the roadway surface during the potential collision, and uses the look-up table to determine the optimal longitudinal deceleration or braking of the host vehicle for the optimal vehicle path. The method also determines an optimal lateral acceleration or steering of the host vehicle for the optimal vehicle path based on a friction ellipse and the optimal braking.
摘要翻译： 一种用于为主车辆提供可能与目标车辆可能碰撞的最佳碰撞避免路径的系统和方法。 该方法包括基于主车辆的速度范围和摩擦系数提供离线优化查找表，用于在主车辆上存储包括最佳车辆制动或纵向减速和最佳路径的最佳距离 的道路表面。 该方法确定本车辆的当前速度和潜在碰撞期间道路表面的摩擦系数，并且使用查找表来确定用于最佳车辆路径的主车辆的最佳纵向减速度或制动。 该方法还基于摩擦椭圆和最佳制动来确定用于最佳车辆路径的主车辆的最佳横向加速度或转向。
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公开(公告)号：US08670903B2
公开(公告)日：2014-03-11
申请号：US13101397
申请日：2011-05-05
申请人： Jin-Woo Lee , Nikolai K. Moshchuk , Shih-Ken Chen
发明人： Jin-Woo Lee , Nikolai K. Moshchuk , Shih-Ken Chen
CPC分类号： B60T8/17557 , B60T2201/08 , B60T2260/02 , B60T2270/402 , B60W30/12 , B60W50/029 , B60W2050/0025 , B60W2710/182 , B60W2720/14 , B62D9/005 , B62D15/025
摘要： Method, system and non-transitory computer-readable medium for fail-safe performance of a lane centering system. An electrical power steering (EPS) system of a vehicle is monitored for a failure and operation of the lane centering system is switched to a differential braking controller to output differential braking commands to a differential breaking system upon determining that a failure of the EPS system has occurred, where the output braking commands direct the differential braking system to apply force a brake for a wheel of vehicle, such by the applied braking force the vehicle follows a desired path determined for a lane centering operation.
摘要翻译： 用于车道对中系统故障安全性能的方法，系统和非暂时性计算机可读介质。 监测车辆的电动助力转向（EPS）系统的故障，并且车道定心系统的操作被切换到差速制动控制器，以在确定EPS系统的故障具有 发生，其中输出制动指令指示差速制动系统对车辆的车轮施加强制制动，例如通过施加的制动力，车辆遵循为道路对中操作确定的期望路径。
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公开(公告)号：US20120101713A1
公开(公告)日：2012-04-26
申请号：US12908689
申请日：2010-10-20
IPC分类号： G08G1/16
CPC分类号： G08G1/163 , B60W10/184 , B60W10/20 , B60W30/09 , B60W40/064 , B60W50/14 , B60W2050/0026 , B60W2050/0033 , B60W2050/143 , B60W2520/10 , B60W2520/105 , B60W2550/148 , B60W2550/302 , B60W2550/306 , B60W2550/308 , B60W2710/182 , B60W2710/207 , B60W2720/106 , B60W2720/125 , B60W2720/14
摘要： A system and method for providing an optimal collision avoidance path for a host vehicle that may potentially collide with a target vehicle. The method includes providing off-line an optimization look-up table for storing on the host vehicle that includes an optimal vehicle braking or longitudinal deceleration and an optimal distance along the optimal path based on a range of speeds of the host vehicle and coefficients of friction of the roadway surface. The method determines the current speed of the host vehicle and the coefficient of friction of the roadway surface during the potential collision, and uses the look-up table to determine the optimal longitudinal deceleration or braking of the host vehicle for the optimal vehicle path. The method also determines an optimal lateral acceleration or steering of the host vehicle for the optimal vehicle path based on a friction ellipse and the optimal braking.
摘要翻译： 一种用于为主车辆提供可能与目标车辆可能碰撞的最佳碰撞避免路径的系统和方法。 该方法包括基于主车辆的速度范围和摩擦系数提供离线优化查找表，用于在主车辆上存储包括最佳车辆制动或纵向减速和最佳路径的最佳距离 的道路表面。 该方法确定本车辆的当前速度和潜在碰撞期间道路表面的摩擦系数，并且使用查找表来确定用于最佳车辆路径的主车辆的最佳纵向减速度或制动。 该方法还基于摩擦椭圆和最佳制动来确定用于最佳车辆路径的主车辆的最佳横向加速度或转向。
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公开(公告)号：US08095273B2
公开(公告)日：2012-01-10
申请号：US12578616
申请日：2009-10-14
申请人： Nikolai K. Moshchuk , Shih-Ken Chen
发明人： Nikolai K. Moshchuk , Shih-Ken Chen
IPC分类号： A01B69/00
CPC分类号： B62D15/0285 , B62D7/159
摘要： A method includes parallel parking a vehicle between a first object and a second object in response to an available parking distance therebetween. The vehicle includes front steerable wheels and rear steerable wheels. A distance between the first object and the second object is remotely sensed determining whether to apply a one or two cycle parking strategy. An autonomous one cycle parking strategy includes pivoting the front and rear steerable wheels in respective directions for steering the vehicle in a first reverse arcuate path of travel and then cooperatively pivoting the steerable wheels in a counter direction for steering the vehicle in a second reverse arcuate path of travel to a final park position. The autonomous two cycle parking strategy includes performing the one cycle parking maneuver and then changing a transmission gear to a drive gear and pivoting the front and rear steerable wheels in the first direction for moving the vehicle forward to a final park position.
摘要翻译： 一种方法包括响应于它们之间的可用停车距离而将车辆平行停泊在第一物体和第二物体之间。 车辆包括前可转向轮和后可转向轮。 遥测第一物体和第二物体之间的距离，确定是否应用一个或两个循环停车策略。 自主的单循环停车策略包括使前后可转向轮在各个方向上枢转，以便在第一反向弓形运动路径中转向车辆，然后在相对方向上协调地枢转可转向的车轮，以便在第二反向弧形路径 的旅行到最后的公园位置。 自主的两周期停车策略包括执行一个周期的停车操作，然后将传动齿轮改变为驱动齿轮，并使第一方向上的前后可转向轮转动，以将车辆向前移动到最后的停放位置。
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16.发明授权公开(公告)号：US09376095B2
公开(公告)日：2016-06-28
申请号：US12841769
申请日：2010-07-22
CPC分类号： B60T8/172 , B60T2210/12
摘要： A vehicle control method includes iteratively modifying a level of braking of the vehicle until it is determined that the vehicle has substantially lost traction with respect to the road surface, then determining the coefficient of friction between the road surface and the tire based on the level of braking at the time the vehicle substantially lost fraction. In one embodiment, previous ABS or other vehicle control events are used as a basis for estimating an initial level of braking to be applied during the friction measurement procedure. Such a deterministic maneuver can also function as a collision warning to the driver of the vehicle.
摘要翻译： 车辆控制方法包括迭代地修改车辆的制动水平，直到确定车辆相对于路面基本上失去牵引力，然后基于路面的水平来确定路面和轮胎之间的摩擦系数 在车辆大大损失分数时制动。 在一个实施例中，先前的ABS或其他车辆控制事件用作估计在摩擦测量过程期间施加的制动初始水平的基础。 这种确定性机动也可以作为对车辆驾驶员的碰撞警告。
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公开(公告)号：US08849515B2
公开(公告)日：2014-09-30
申请号：US13556471
申请日：2012-07-24
CPC分类号： B62D15/0265 , G08G1/165 , G08G1/166 , G08G1/167
摘要： A collision avoidance system for assisting a driver in avoiding a collision between a host vehicle and obstacle. A processor recursively calculates a time-to-collision with the obstacle and an optimal collision avoidance path for avoiding the collision. The optimum collision avoidance path is recursively generated based on a position and speed of the host vehicle relative to the obstacle and an updated calculated time-to-collision. A sensing device determines whether the driver of the vehicle has initiated a steering maneuver to avoid the obstacle. A steering assist mechanism maintains the host vehicle along the optimum collision avoidance path. The steering assist mechanism applies a steering assist torque for producing steering adjustments to assist in guiding the host vehicle along the optimum collision avoidance path to the target lane. The steering assist torque generated by the steering assist mechanism is recursively adjusted based on a recent updated optimum collision avoidance path.
摘要翻译： 一种用于辅助驾驶员避免主车和障碍物之间的碰撞的防撞系统。 处理器递归地计算与障碍物的碰撞时间和避免碰撞的最佳碰撞避免路径。 基于主车辆相对于障碍物的位置和速度以及更新的计算出的碰撞时间递归地产生最佳碰撞避免路径。 感测装置确定车辆的驾驶员是否已经开始转向操纵以避免障碍物。 转向辅助机构沿着最佳的避碰路径来维持主车辆。 转向辅助机构施加用于产生转向调节的转向辅助转矩，以帮助沿着目标车道的最佳碰撞避免路径引导主车辆。 基于最近更新的最佳碰撞避免路径递归地调整由转向辅助机构产生的转向辅助转矩。
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公开(公告)号：US20130030651A1
公开(公告)日：2013-01-31
申请号：US13190111
申请日：2011-07-25
IPC分类号： G08G1/16 , B60T8/1763 , B62D6/00
CPC分类号： G08G1/166 , B60T7/22 , B60T8/17558 , B60T8/246 , B60T2260/02 , B60T2270/402 , B60W10/184 , B60W10/20 , B60W30/09 , B60W50/0205 , B60W50/029 , B60W2050/0295 , B60W2520/26 , B60W2530/10 , B60W2550/148
摘要： A collision avoidance system in a host vehicle that provides automatic steering control using differential braking in the event that the normal steering control fails. The system determines whether a collision with an object, such as a target vehicle, in front of the host vehicle is imminent, and if so, determines an optimal path for the host vehicle to travel along to avoid the object if the collision is imminent. The collision avoidance system may determine that automatic steering is necessary to cause the vehicle to travel along the optimal path to avoid the target. If the collision avoidance system does determine that automatic steering is necessary and detects that normal vehicle steering has failed, the system uses differential braking to steer the vehicle along the path.
摘要翻译： 在主车辆中的碰撞避免系统，在正常转向控制失败的情况下，使用差速制动提供自动转向控制。 系统确定与本车辆前方的目标车辆的碰撞是否即将到来，如果是，则如果碰撞即将发生，则确定主车辆行驶的最佳路径以避免物体。 碰撞避免系统可以确定自动转向是必要的，以使车辆沿着最佳路径行进以避免目标。 如果碰撞避免系统确实需要自动转向并检测到正常的车辆转向失败，则系统使用差速制动来沿车道转向车辆。
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公开(公告)号：US20090235724A1
公开(公告)日：2009-09-24
申请号：US12051391
申请日：2008-03-19
申请人： Jihan Ryu , Nikolai K. Moshchuk , Shih-Ken Chen
发明人： Jihan Ryu , Nikolai K. Moshchuk , Shih-Ken Chen
IPC分类号： G01M1/00
CPC分类号： G01M1/122 , G01G19/086 , G01M17/007
摘要： A system and method for determining vehicle CG height and mass in real-time. The method includes selecting a set of vehicle parameters to be considered that includes the vehicle mass and the center of gravity height of the vehicle. Frequency responses are generated using the dynamic model and a plurality of different values for the selected vehicle parameters. During vehicle operation, frequency responses are calculated from a measured vehicle lateral acceleration to a roll angle and/or a roll rate of the vehicle. The generated frequency responses and the calculated frequency responses are compared to determine which of the generated frequency responses more closely matches the calculated frequency responses. The generated frequency responses that most closely match the calculated frequency responses are used to determine the center of gravity height and the vehicle mass from the values for the vehicle parameters.
摘要翻译： 实时确定车辆CG高度和质量的系统和方法。 该方法包括选择要被认为包括车辆质量和车辆重心高度的一组车辆参数。 使用动态模型和所选择的车辆参数的多个不同值来生成频率响应。 在车辆操作期间，从测量的车辆横向加速度到滚动角度和/或车辆的滚动速度计算频率响应。 比较产生的频率响应和计算出的频率响应，以确定哪个产生的频率响应与计算出的频率响应更紧密地匹配。 与计算出的频率响应最接近的产生的频率响应用于根据车辆参数值确定重心高度和车辆质量。
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公开(公告)号：US07440824B2
公开(公告)日：2008-10-21
申请号：US11280943
申请日：2005-11-16
申请人： Shih-Ken Chen , Jihan Ryu , Nikolai K. Moshchuk
发明人： Shih-Ken Chen , Jihan Ryu , Nikolai K. Moshchuk
IPC分类号： G06F19/00
CPC分类号： B60T8/172 , B60T8/17551 , B60T2230/02
摘要： A system and method for estimating vehicle side-slip velocity that includes measuring the lateral acceleration of the vehicle, measuring the yaw rate of the vehicle, measuring the longitudinal speed of the vehicle and measuring the steering angle of the vehicle. The measured longitudinal speed is corrected to provide a true longitudinal speed using a filter factor based on the vehicle-dependent parameters and a steering angle. A constant is defined based on the measured longitudinal speed and a function is defined based on the combination of the vehicle-dependent parameters and the lateral acceleration. Side-slip acceleration is calculated using the measured lateral acceleration, the true longitudinal speed, the yaw rate, the constant and the function.
摘要翻译： 一种用于估计车辆侧滑速度的系统和方法，包括测量车辆的横向加速度，测量车辆的横摆角速度，测量车辆的纵向速度并测量车辆的转向角。 使用基于车辆相关参数和转向角的滤波因子来校正所测量的纵向速度以提供真实的纵向速度。 基于测量的纵向速度来定义常数，并且基于车辆相关参数和横向加速度的组合来定义功能。 侧滑加速度使用测量的横向加速度，真实纵向速度，横摆角速度，常数和功能计算。
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