公开(公告)号：US07809506B2

公开(公告)日：2010-10-05

申请号：US11285778

申请日：2005-11-23

Applicant: Nobuyuki Kuge ,  Takeshi Kimura

Inventor： Nobuyuki Kuge ,  Takeshi Kimura

IPC: G06F17/10 ,  G06G7/78 ,  G06G1/16 ,  G06F19/00 ,  G06G7/70 ,  G06G7/76 ,  G06G7/48 ,  G08G1/00

CPC classification number: B60K31/0008 ,  B60T8/1755 ,  B60T2201/08 ,  B60T2201/081 ,  B60T2201/086 ,  B60T2201/089 ,  B60T2220/02 ,  B60T2260/02 ,  B60W2550/306 ,  B62D6/007 ,  B62D15/029

Abstract: A driving intention estimation, driver assistance and vehicle with the driver assistance for providing a stable estimation of a driver's driving intention even if detection of a relationship between an own vehicle and lane markers is lost. A plurality of imaginary drivers of a first type and a second type, each being given a respective driving intention, are provided. When detection of lane markers is reliably kept, a driving intention by a real driver is estimated based on a comparison between an operation of the real driver to operations of the imaginary drivers of the first type that are calculated based on the relative positional relationship of the own vehicle to the detected lane marker. When the detection of lane markers is lost, operations of the plurality of imaginary drivers are calculated based on the relative positional relationship of the own vehicle to a preceding vehicle. In response to the status of detection of the lane marker, either the imaginary drivers of the first type or the second type are selected.

Abstract translation: 驾驶意图估计，驾驶员辅助和驾驶员协助的车辆，即使丢失了本车和车道标记之间的关系，也能够稳定地估计驾驶者的驾驶意图。 提供了各自被赋予相应驾驶意图的第一类型和第二类型的多个虚拟驱动器。 当可靠地保持车道标记的检测时，基于实际驾驶员的操作与第一类型的虚拟驾驶员的操作之间的比较来估计实际驾驶员的驾驶意图，所述虚拟驾驶员基于相对位置关系 自己的车辆到检测到的车道标记。 当车道标记的检测失去时，基于本车与前一车辆的相对位置关系来计算多个虚拟驾驶员的操作。 响应于车道标记的检测状态，选择第一类型或第二类型的虚拟驱动器。

公开(公告)号：US07679498B2

公开(公告)日：2010-03-16

申请号：US12329029

申请日：2008-12-05

Applicant: John A. Pawlicki ,  Martha A. McMahon ,  Steven G. Chinn ,  Joel S. Gibson

Inventor： John A. Pawlicki ,  Martha A. McMahon ,  Steven G. Chinn ,  Joel S. Gibson

IPC: B60Q1/00

CPC classification number: B60W30/18 ,  B60K31/00 ,  B60K31/0008 ,  B60Q1/525 ,  B60Q9/008 ,  B60R11/04 ,  B60R2011/004 ,  B60T7/22 ,  B60T2201/08 ,  B60T2201/082 ,  B60T2201/089 ,  B60T2210/34 ,  B60W10/04 ,  B60W10/20 ,  B60W30/09 ,  B60W30/12 ,  B60W30/143 ,  B60W30/16 ,  B60W50/14 ,  B60W2050/143 ,  B60W2420/42 ,  B60W2420/52 ,  B60W2550/12 ,  B60W2550/30 ,  B60W2550/306 ,  B60W2550/308 ,  B60W2550/406 ,  B60W2710/20 ,  B60W2720/10 ,  B62D15/025 ,  G01S11/12 ,  G01S13/867 ,  G01S13/931 ,  G06K9/00791 ,  G06K9/00798 ,  G06K9/00805 ,  G06K9/00818 ,  G06K9/00825 ,  G06K9/4604 ,  G06K9/52 ,  G06K2209/27 ,  G06T7/13 ,  G06T7/174 ,  G06T7/60 ,  G06T7/73 ,  G06T2207/30244 ,  G06T2207/30256 ,  G06T2207/30261 ,  G08G1/16 ,  G08G1/167 ,  H04N5/247

Abstract: An imaging system for a vehicle includes an imaging sensor and a control. The imaging sensor is operable to capture an image of a scene occurring exteriorly of the vehicle. The control is responsive to the imaging sensor. The imaging system may be associated with a side object detection system, a lane change assist system, a lane departure warning system, a monitoring system, a passive steering system and/or the like. The control may be operable to process a reduced image data set more than other image data, which are representative of areas of the captured image outside of a target zone, to detect objects present within the target zone.

Abstract translation: 一种用于车辆的成像系统包括成像传感器和控制装置。 成像传感器可操作以捕获在车辆外部发生的场景的图像。 控制响应于成像传感器。 成像系统可以与侧面物体检测系统，车道改变辅助系统，车道偏离警告系统，监视系统，被动转向系统等相关联。 该控制可以用于处理比其他图像数据更多的缩小图像数据集，其它图像数据代表目标区域外的捕获图像的区域，以检测目标区域内存在的对象。

公开(公告)号：US20090157273A1

公开(公告)日：2009-06-18

申请号：US12323526

申请日：2008-11-26

Applicant: Ryuk Kim ,  Je Hun Ryu

Inventor： Ryuk Kim ,  Je Hun Ryu

IPC: G06F7/00

CPC classification number: B60W50/0098 ,  B60T2201/08 ,  B60T2201/089 ,  B60T2210/32 ,  B60W2420/42 ,  B60W2550/143

Abstract: Disclosed herein is an apparatus and method for controlling the travel speed of a vehicle using information about a road or at least one portion thereof ahead of the vehicle. The apparatus includes a forward image sensor for photographing a forward road or portion(s) thereof, acquiring image data, and extracting information about the forward road or portion(s) from the image data using a Kalman filter. A control unit calculates a target speed required for the vehicle to travel using the forward road information. With the apparatuses and methods, vehicle safety and driving comfort can be improved.

Abstract translation: 本文公开了一种使用关于道路或其前方的至少一部分的信息来控制车辆行驶速度的装置和方法。 该装置包括用于拍摄前进道路或其一部分的前向图像传感器，获取图像数据，以及使用卡尔曼滤波器从图像数据中提取关于前进道路或部分的信息。 控制单元使用前进道路信息来计算车辆行驶所需的目标速度。 通过设备和方法，可以提高车辆的安全性和驾驶舒适性。

公开(公告)号：US20080174453A1

公开(公告)日：2008-07-24

申请号：US12058155

申请日：2008-03-28

Applicant: Kenneth Schofield

Inventor： Kenneth Schofield

IPC: G08G1/01

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：US20080143509A1

公开(公告)日：2008-06-19

申请号：US11751473

申请日：2007-05-21

Applicant: Yu-Long Wang ,  Yung-Sheng Liao ,  Chin-Shen Yeh ,  Sian-Chiang Liu

Inventor： Yu-Long Wang ,  Yung-Sheng Liao ,  Chin-Shen Yeh ,  Sian-Chiang Liu

IPC: B60Q1/52

CPC classification number: B60Q9/008 ,  B60T2201/082 ,  B60T2201/089 ,  B60W40/02 ,  G08G1/16 ,  G08G1/167

Abstract: The present invention discloses a lane departure warning method, which functions to choose the data acquiring source according to brightness of the environment surrounding a vehicle and weather status so as to reduce the erroneous judgment of lane departure during image processing and analyzing. In addition, the present invention also presents a lane departure warning apparatus using the foregoing method, which comprises at least a first information acquisition unit, at least a second information acquisition and a information processing/information processing/controlling unit. The first information acquisition unit disposed on the vehicle is capable of capturing the image around the vehicle while the second information acquisition unit disposed on the bottom of the vehicle is capable of capturing image under the bottom of the vehicle. The image acquired from the first information acquisition unit and the second information acquisition unit is then sent to the processing and information processing/controlling unit for data processing. The processing and information processing/controlling unit functions to choose the first information acquisition unit or the second information acquisition unit as the data source according to brightness of the environment surrounding the vehicle so as to prevent the erroneous judgment due to the influence of surroundings and improve the accuracy of image analyzing. When the lane departure is occurred, the processing and information processing/controlling unit can operate an alarm unit to generate an alert signal to remind the driver.

Abstract translation: 本发明公开了一种车道偏离警告方法，其功能是根据车辆周围的环境的亮度和天气状况选择数据采集源，以减少图像处理和分析期间车道偏离的错误判断。 此外，本发明还提出了一种使用上述方法的车道偏离警告装置，其至少包括第一信息获取单元，至少第二信息获取和信息处理/信息处理/控制单元。 布置在车辆上的第一信息获取单元能够捕获车辆周围的图像，同时设置在车辆底部的第二信息获取单元能够在车辆底部捕获图像。 然后将从第一信息获取单元和第二信息获取单元获取的图像发送到用于数据处理的处理和信息处理/控制单元。 处理和信息处理/控制单元用于根据车辆周围的环境的亮度选择第一信息获取单元或第二信息获取单元作为数据源，以防止由于周围环境的影响而引起的错误判断 图像分析的准确性。 当发生车道偏离时，处理和信息处理/控制单元可以操作报警单元以产生报警信号以提醒驾驶员。

公开(公告)号：US20060149448A1

公开(公告)日：2006-07-06

申请号：US11313046

申请日：2005-12-20

Applicant: Satoshi Tange ,  Shinji Matsumoto

Inventor： Satoshi Tange ,  Shinji Matsumoto

IPC: B62D6/00

CPC classification number: B60T8/17557 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2201/086 ,  B60T2201/089

Abstract: A lane departure prevention system comprises a traveling status detecting unit for detecting current lateral displacement and current yaw angle of a vehicle relative to a lane of travel, a departure detecting unit for detecting whether the vehicle is tending to depart from the lane of travel on the basis of current lateral displacement of the vehicle relative to the lane of travel as detected by the traveling status detecting unit; and a departure avoidance control unit for controlling the vehicle to avoid lane departure when the departure detecting unit detects that the vehicle is tending to depart from the lane of travel. The departure avoidance control unit calculating the extent of control necessary to avoid lane departure on the basis of current yaw angle of the vehicle detected by the traveling status detecting unit. Provision is made for preventing lane departure on a curving as well as a straight road.

公开(公告)号：US07038577B2

公开(公告)日：2006-05-02

申请号：US10427051

申请日：2003-04-30

Applicant: John A. Pawlicki ,  Martha A. McMahon ,  Steven G. Chinn ,  Joel S. Gibson

Inventor： John A. Pawlicki ,  Martha A. McMahon ,  Steven G. Chinn ,  Joel S. Gibson

IPC: B60Q1/00

CPC classification number: B60W30/18 ,  B60K31/00 ,  B60K31/0008 ,  B60Q1/525 ,  B60Q9/008 ,  B60R11/04 ,  B60R2011/004 ,  B60T7/22 ,  B60T2201/08 ,  B60T2201/082 ,  B60T2201/089 ,  B60T2210/34 ,  B60W10/04 ,  B60W10/20 ,  B60W30/09 ,  B60W30/12 ,  B60W30/143 ,  B60W30/16 ,  B60W50/14 ,  B60W2050/143 ,  B60W2420/42 ,  B60W2420/52 ,  B60W2550/12 ,  B60W2550/30 ,  B60W2550/306 ,  B60W2550/308 ,  B60W2550/406 ,  B60W2710/20 ,  B60W2720/10 ,  B62D15/025 ,  G01S11/12 ,  G01S13/867 ,  G01S13/931 ,  G06K9/00791 ,  G06K9/00798 ,  G06K9/00805 ,  G06K9/00818 ,  G06K9/00825 ,  G06K9/4604 ,  G06K9/52 ,  G06K2209/27 ,  G06T7/13 ,  G06T7/174 ,  G06T7/60 ,  G06T7/73 ,  G06T2207/30244 ,  G06T2207/30256 ,  G06T2207/30261 ,  G08G1/16 ,  G08G1/167 ,  H04N5/247

Abstract: An imaging system for a vehicle includes an imaging sensor and a control. The imaging sensor is operable to capture an image of a scene occurring exteriorly of the vehicle. The control receives the captured image, which comprises an image data set representative of the exterior scene. The control may apply an edge detection algorithm to a reduced image data set of the image data set. The reduced image data set is representative of a target zone of the captured image. The control may be operable to process the reduced image data set more than other image data, which are representative of areas of the captured image outside of the target zone, to detect objects present within the target zone. The imaging system may be associated with a side object detection system, a lane change assist system, a lane departure warning system and/or the like.

Abstract translation: 一种用于车辆的成像系统包括成像传感器和控制装置。 成像传感器可操作以捕获在车辆外部发生的场景的图像。 控制接收捕获的图像，其包括表示外部场景的图像数据集。 控制可以将边缘检测算法应用于图像数据集的缩小图像数据集。 缩小图像数据集代表捕获图像的目标区域。 该控制可以用于处理比其他图像数据更多的缩小图像数据集，其它图像数据代表目标区域外的捕获图像的区域，以检测目标区域内存在的对象。 成像系统可以与侧面物体检测系统，车道变换辅助系统，车道偏离警告系统等相关联。

公开(公告)号：US06823241B2

公开(公告)日：2004-11-23

申请号：US09951499

申请日：2001-09-14

Applicant: Ryota Shirato ,  Hiroshi Mouri

Inventor： Ryota Shirato ,  Hiroshi Mouri

IPC: G06G778

CPC classification number: G06K9/4609 ,  B60T2201/08 ,  B60T2201/089 ,  G06K9/00798 ,  G06K9/4604

Abstract: A lane recognition apparatus for a vehicle is comprised of an image picking-up section which picks up a road image in front of the vehicle, a lane-marker candidate-point detecting section which detects coordinate values of a plurality of lane marker candidate points from the road image, and a road model parameter calculating section which estimates a road model parameter representative of a road shape in front of the vehicle and a vehicle state quantity of the vehicle using an extended Kalman filter, on the basis of the coordinate values of the lane marker candidate points.

Abstract translation: 一种用于车辆的车道识别装置包括：拾取车辆前面的道路图像的图像拾取部分;车道标记候选点检测部分，其检测多个车道标记候选点的坐标值; 道路图像，以及道路模型参数计算部，其基于所述车辆的坐标值来估计表示车辆前方的道路形状的道路模型参数和使用扩展卡尔曼滤波器的车辆的车辆状态量 车道标记候选点。

公开(公告)号：US06753902B1

公开(公告)日：2004-06-22

申请号：US09625352

申请日：2000-07-25

Applicant: Takashi Kashiwazaki

Inventor： Takashi Kashiwazaki

IPC: H04N947

CPC classification number: G05D1/0253 ,  B60T2201/08 ,  B60T2201/082 ,  B60T2201/089 ,  G01C21/26 ,  G05D1/0274

Abstract: An image processing apparatus is provided with: an image taking device (19) for taking an image in a forward direction of a movable body and outputting an image signal corresponding to the taken image; a movement vector detecting device (18, 24) for detecting a movement vector for each area of the image taken by the image taking device, on the basis of the image signal while the movable body is moving; and a distance calculating device (18, 25) for setting a standard line at a predetermined image position crossing a road edge with respect to the image taken by the image taking device, and calculating the distance to the road edge on the basis of a distribution of the movement vector on the standard line.

Abstract translation: 一种图像处理装置具有：图像摄取装置，用于拍摄移动体的向前方向的图像，并输出与拍摄图像对应的图像信号; 运动矢量检测装置，用于根据移动体移动时的图像信号，检测由摄像装置拍摄的图像的每个区域的运动矢量; 以及距离计算装置（18,25），用于在相对于由所述图像拍摄装置拍摄的图像穿过道路边缘的预定图像位置处设置标准线，并且基于分布来计算到所述道路边缘的距离 的标准线上的运动矢量。

公开(公告)号：US20030093220A1

公开(公告)日：2003-05-15

申请号：US10271247

申请日：2002-10-15

Inventor： Hans Andersson ,  Martin Apelryd

IPC: G01C021/26

CPC classification number: B60W30/16 ,  B60T2201/08 ,  B60T2201/089 ,  B60W2550/141 ,  B60W2550/20 ,  B60W2550/402 ,  G01C21/26 ,  G01S13/931 ,  G01S2013/9321 ,  G01S2013/9357 ,  G08G1/166 ,  G08G1/167

Abstract: A system is disclosed for controlling an object detection system of a land based vehicle, having at least one detection device with a limited geometrical operating area. The system comprises a computing device using information regarding the current or upcoming road situation from an on-board map database as input for computing an attention plan for optimizing the use of the at least one detection device in the object detection system, said attention plan being outputted to the object detection system for control of said detection device. Further, a method is disclosed which relates to controlling an object detection system.

Abstract translation: 公开了一种用于控制陆基车辆的物体检测系统的系统，其具有至少一个具有有限几何操作区域的检测装置。 该系统包括使用关于来自车载地图数据库的当前或即将到来的道路情况的信息的计算装置作为计算用于优化对象检测系统中的至少一个检测装置的使用的注意计划的输入，所述注意计划是 输出到物体检测系统以控制所述检测装置。 此外，公开了一种涉及控制物体检测系统的方法。