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    ROAD SHAPE RECOGNITION APPARATUS
    11.
    发明申请
    ROAD SHAPE RECOGNITION APPARATUS 审中-公开

    公开(公告)号：US20170270373A1

    公开(公告)日：2017-09-21

    申请号：US15506614

    申请日：2015-08-24

    Applicant: DENSO CORPORATION

    Inventor： Naoki Kawasaki ,  Youhei Masui ,  Toyoharu Katsukura

    IPC: G06K9/00

    CPC classification number: G06K9/00798 ,  B60R21/00 ,  B60T2201/085 ,  B60T2210/20 ,  B60T2210/24 ,  B60W30/12 ,  B60W2420/40 ,  G06T7/60

    Abstract: A road shape recognition apparatus is mounted in a vehicle. The road shape recognition apparatus acquires a road image, determines a road shape using the road image, recognizes the road shape based on the road image within a predetermined recognition range, and estimates the road shape outside of the recognition range based on the road shape within the recognition range. The road shape recognition apparatus estimates the road shape outside of the recognition range and within a first distance as a curved line of which a curvature change rate is constant, and the road shape farther than the first distance as a curved line of which a curvature is constant.

    Lane departure prevention apparatus
    13.
    发明授权
    Lane departure prevention apparatus 有权
    车道离境预防装置

    公开(公告)号：US07212901B2

    公开(公告)日：2007-05-01

    申请号：US10960706

    申请日：2004-10-08

    Applicant: On Sadano ,  Yoshitaka Uemura ,  Masahiro Ozaki

    Inventor： On Sadano ,  Yoshitaka Uemura ,  Masahiro Ozaki

    IPC: G06F19/00

    CPC classification number: B60T8/17557 ,  B60T7/22 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2201/085

    Abstract: A lane departure prevention apparatus is configured to conduct a course correction in a lane departure avoidance direction when the controller 8 determines that there is a potential for a vehicle to depart from a driving lane. The controller 8 combines yaw control and deceleration control to conduct departure prevention control to avoid lane departure. The yaw control is not actuated if the opposite direction from the steering direction coincides with the lane departure direction (steps S10 and S11). Preferably, the controller 8 sets the timing of yaw moment and the deceleration of the vehicle on the basis of the acceleration or deceleration of the vehicle, and performs braking control so that these settings are achieved (steps S7 to S9). Preferably, the controller 8 calculates the target yaw moment in the lane departure-avoidance direction on the basis of the running state of the vehicle, and calculates the deceleration amount by taking into account the driver braking operation amount.

    Abstract translation: 车道偏离防止装置被配置为当控制器8确定有可能使车辆从行驶车道偏离时，以车道偏离避免方向进行路线校正。 控制器8组合了偏航控制和减速控制，以进行离开预防控制，以避免车道偏离。 如果与转向方向相反的方向与车道偏离方向一致，则偏航控制不被致动（步骤S10和S11）。 优选地，控制器8基于车辆的加速或减速来设定车辆的横摆力矩和减速度的定时，并进行制动控制，从而实现这些设定（步骤S7〜S9）。 优选地，控制器8基于车辆的行驶状态来计算车道偏离避开方向上的目标横摆力矩，并且通过考虑驾驶员制动操作量来计算减速度。

    GPS vehicle collision avoidance warning and control system and method
    15.
    发明授权
    GPS vehicle collision avoidance warning and control system and method 失效
    GPS车辆碰撞回避预警与控制系统及方法

    公开(公告)号：US06487500B2

    公开(公告)日：2002-11-26

    申请号：US09923252

    申请日：2001-08-02

    Applicant: Jerome H. Lemelson ,  Robert D. Pedersen

    Inventor： Jerome H. Lemelson ,  Robert D. Pedersen

    IPC: G01C2126

    CPC classification number: G01S19/11 ,  B60T2201/022 ,  B60T2201/08 ,  B60T2201/082 ,  B60T2201/083 ,  B60T2201/085 ,  B60T2201/087 ,  G01S5/009 ,  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 ,  G07C5/0891 ,  G08G1/164 ,  G08G1/20 ,  H04W4/046

    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.

    Abstract translation: GPS卫星（4）在comm1上接收（32）的测距信号（6），以及来自在comm2上接收（34）的固定的已知地球基站（10）的DGPS辅助范围校正信号和伪卫星载波相位模糊度分辨率信号（8） 在多个车辆/飞行器/汽车（2）中的一个被计算机处理（36）以以厘米的精度连续地确定在路径（14）上的运动学跟踪位置。 将基于GPS的位置与所选择的其他状态信息彼此通信到多个车辆（2）中的一个，一个站（10）和/或多个控制中心（16）中的一个，并且 一辆车从其中接收其他人的状态信息和运动跟踪位置。 通过多个补充机制（例如视频（54）），雷达/激光雷达（56），激光和光学扫描仪从所有方向（300）检测物体（22）。 在一辆车辆中的神经网络（132，图6-8）中对数据和信息进行计算机处理和分析（50,52,200,452）以识别，排序和评估碰撞危险/对象，专家操作响应在 模拟逻辑关联存储器（484），其产生控制信号，其以协调的方式致动所述一个车辆的多个控制系统，以横向和纵向地操纵所述控制信号，以避免每次碰撞危险，或者对于机动车辆，当碰撞不可避免时 ，以减少伤害或损坏。 操作员被抬头显示和其他模式警告，并可以覆盖。 提供汽车自动驾驶模式。

    GPS vehicle collision avoidance warning and control system and method
    16.
    发明授权
    GPS vehicle collision avoidance warning and control system and method 有权
    GPS车辆碰撞回避预警与控制系统及方法

    公开(公告)号：US06275773B1

    公开(公告)日：2001-08-14

    申请号：US09436097

    申请日：1999-11-08

    Applicant: Jerome H. Lemelson ,  Robert D. Pedersen

    Inventor： Jerome H. Lemelson ,  Robert D. Pedersen

    IPC: G01C2126

    CPC classification number: G01S19/11 ,  B60T2201/022 ,  B60T2201/08 ,  B60T2201/082 ,  B60T2201/083 ,  B60T2201/085 ,  B60T2201/087 ,  G01S5/009 ,  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 ,  G07C5/0891 ,  G08G1/164 ,  G08G1/20 ,  H04W4/046

    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.

    Abstract translation: GPS卫星（4）在comm1上接收（32）的测距信号（6），以及来自在comm2上接收（34）的固定的已知地球基站（10）的DGPS辅助范围校正信号和伪卫星载波相位模糊度分辨率信号（8） 在多个车辆/飞行器/汽车（2）中的一个被计算机处理（36）以以厘米的精度连续地确定在路径（14）上的运动学跟踪位置。 将基于GPS的位置与所选择的其他状态信息彼此通信到多个车辆（2）中的一个，一个站（10）和/或多个控制中心（16）中的一个，并且 一辆车从其中接收其他人的状态信息和运动跟踪位置。 通过多个补充机制（例如视频（54）），雷达/激光雷达（56），激光和光学扫描仪从所有方向（300）检测物体（22）。 在一辆车辆中的神经网络（132，图6-8）中对数据和信息进行计算机处理和分析（50,52,200,452）以识别，排序和评估碰撞危险/对象，专家操作响应在 模拟逻辑关联存储器（484），其产生控制信号，其以协调的方式致动所述一个车辆的多个控制系统，以横向和纵向地操纵所述控制信号，以避免每次碰撞危险，或者对于机动车辆，当碰撞不可避免时 ，以减少伤害或损坏。 操作员被抬头显示和其他模式警告，并可以覆盖。 提供汽车自动驾驶模式。

    DRIVING SUPPORT APPARATUS AND DRIVING SUPPORT METHOD
    17.
    发明申请
    DRIVING SUPPORT APPARATUS AND DRIVING SUPPORT METHOD 有权
    驱动支持设备和驱动支持方法

    公开(公告)号：US20130226409A1

    公开(公告)日：2013-08-29

    申请号：US13877114

    申请日：2011-09-28

    Applicant: Tomonori Akiyama ,  Shinji Igarashi ,  Yuki Yoshihama

    Inventor： Tomonori Akiyama ,  Shinji Igarashi ,  Yuki Yoshihama

    IPC: B60W30/02 ,  B60W10/20

    CPC classification number: B60W30/02 ,  B60T8/17557 ,  B60T2201/083 ,  B60T2201/085 ,  B60T2201/087 ,  B60W10/184 ,  B60W10/20 ,  B60W30/12 ,  B60W2520/14 ,  B60W2720/14 ,  B62D6/003 ,  B62D15/025

    Abstract: Disclosed is a driving support apparatus for setting a traveling lane in which a vehicle can travel on the basis of a road marking to indicate a lane boundary or a traveling-prohibited region and performing support by combining steering of the vehicle and deceleration of the vehicle so that the vehicle is allowed to travel in the traveling lane if the vehicle is to be departed from the traveling lane, wherein the steering of the vehicle and the deceleration of the vehicle, which are to be performed when the support is performed so that the vehicle is allowed to travel in the traveling lane, are individually controlled depending on a difference ΔY between a target yaw rate Ytrg and an actual yaw rate Yrea if the actual yaw rate Yrea is smaller than the target yaw rate Ytrg in order not to allow the vehicle to exceed the traveling lane.

    Abstract translation: 公开了一种驾驶辅助装置，用于设置行驶车道，其中车辆可以基于道路标记行驶以指示车道边界或行驶禁止区域，并且通过组合车辆的转向和车辆的减速度来执行支撑 如果车辆要离开行车道，车辆被允许在行车道中行驶，其中车辆的转向和车辆的减速度将在执行支撑时执行，使得车辆 被允许在行驶车道中行驶，如果实际横摆率Yrea小于目标横摆角速度Ytrg，则根据目标横摆角速度Ytrg和实际横摆角速度Yrea之间的差ΔYY单独控制，以便不允许车辆 超越行车道。

    Device for evaluating and or influencing a motion variable and or motion behavior of a vehicle
    18.
    发明申请
    Device for evaluating and or influencing a motion variable and or motion behavior of a vehicle 审中-公开

    公开(公告)号：US20060052917A1

    公开(公告)日：2006-03-09

    申请号：US10497229

    申请日：2002-11-26

    Applicant: Andreas Schwarzhaupt ,  Gernot Spiegelberg

    Inventor： Andreas Schwarzhaupt ,  Gernot Spiegelberg

    IPC: G01M17/00

    CPC classification number: B60W10/06 ,  B60T7/12 ,  B60T7/22 ,  B60T8/00 ,  B60T8/32 ,  B60T8/3275 ,  B60T8/4809 ,  B60T2201/08 ,  B60T2201/085 ,  B60T2201/088 ,  B60T2201/10 ,  B60T2260/08 ,  B60T2260/09 ,  B60W10/10 ,  B60W10/18 ,  B60W10/20 ,  B60W40/08 ,  B60W40/10 ,  B60W50/023 ,  B60W50/06 ,  B60W50/14 ,  B60W2050/0006 ,  B60W2050/0066 ,  B60W2050/143 ,  B60W2540/04

    Abstract: The device according to the invention relates to a device for evaluating and/or influencing a vehicle movement variable and/or the vehicle movement behavior. For this purpose, the device has the following means: operator control means (10) with which the driver can generate predefined values (VG) for influencing at least one vehicle movement variable. Evaluation means (42, 44, 46, 48) with which the behavior of a vehicle movement variable with respect to a predefined value is evaluated, and/or with which the vehicle movement behavior is evaluated with respect to a predefined vehicle movement behavior as a function of vehicle movement variables and/or of variables which represent the surroundings of the vehicle. These evaluation means (42, 44, 46, 48) can be operated in at least two different operating states, only an information item (OHAx) relating to the behavior of the vehicle movement variable and/or relating to the vehicle movement behavior being made available to the driver in a first operating state as a function of the result of the evaluation which is carried out, and output signals (AGSx) for influencing a vehicle movement variable and/or the vehicle movement behavior independently of the driver being determined in a second operating state as a function of the result of the evaluation which is carried out. In addition, the device has influencing means (40) by means of which the driver can switch over the evaluation means (42, 44, 46, 48) between the at least two operating states. There is also provision of processing means (12, 14, 16, 18, 20, 22) with which actuation signals (ASSx) for actuating actuators (26, 28, 30) which are arranged in the vehicle are generated on the basis of the predefined values (VG) which are generated by the driver and/or, if the evaluation means (42, 44, 46, 48) are operated in the second operating state, on the basis of the output signals (AGSx). The actuation of the actuator (26, 28, 30) influences the vehicle movement variable and/or the vehicle movement behavior.

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