公开(公告)号：US06560535B2

公开(公告)日：2003-05-06

申请号：US10169514

申请日：2002-07-03

Applicant: Larry J. Levy ,  Thomas Thompson ,  David S. Hohman ,  Thomas M. Murdock ,  Edwin E. Westerfield ,  Thomas M. Hattox ,  Thomas L. Kusterer

Inventor： Larry J. Levy ,  Thomas Thompson ,  David S. Hohman ,  Thomas M. Murdock ,  Edwin E. Westerfield ,  Thomas M. Hattox ,  Thomas L. Kusterer

IPC: G01C2126

CPC classification number: G01S19/43 ,  B60T2201/08 ,  B60T2201/089 ,  G01C21/165 ,  G01C21/28 ,  G01S19/07 ,  G01S19/41 ,  G01S19/45 ,  G01S19/49 ,  G01S19/50 ,  G01S2205/008

Abstract: A real-time integrated navigation system for a vehicle includes a GPS receiver, connected to a first antenna, where the GPS receiver receives GPS data from satellites and outputs GPS position data. The system also includes a communications link, connected to a second antenna and to the GPS receiver, receiving range and carrier phase measurements from at least one base station. The system further includes navigation aids which provide relative position data of said vehicle and a Kalman filter, connected to the output of the GPS receiver and the navigation aids, that integrates the GPS position data and the relative position data and outputs smoothed position data. The smoothed position data is used in transportation applications, especially detection of lane departure. This GPS-based positioning system is suitable for highway speeds during all weather conditions.

Abstract translation: 用于车辆的实时集成导航系统包括连接到第一天线的GPS接收器，其中GPS接收器从卫星接收GPS数据并输出GPS位置数据。 该系统还包括连接到第二天线和GPS接收器的通信链路，从至少一个基站接收范围和载波相位测量。 该系统还包括提供所述车辆的相对位置数据和连接到GPS接收机和导航辅助装置的输出的卡尔曼滤波器的导航辅助装置，其集成GPS位置数据和相对位置数据并输出平滑的位置数据。 平滑的位置数据用于运输应用，特别是车道偏离的检测。 这种基于GPS的定位系统适用于所有天气条件下的公路速度。

公开(公告)号：US20030060936A1

公开(公告)日：2003-03-27

申请号：US10226232

申请日：2002-08-23

Inventor： Tomohiro Yamamura ,  Satoshi Kitazaki ,  Shunsuke Hijikata

IPC: G06F017/00

CPC classification number: B60K26/021 ,  B60G2400/823 ,  B60G2400/824 ,  B60G2401/16 ,  B60G2800/166 ,  B60G2800/704 ,  B60G2800/92 ,  B60G2800/96 ,  B60G2800/97 ,  B60G2800/982 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2201/087 ,  B60T2201/089 ,  B60W50/087 ,  B60W50/14 ,  B60W50/16 ,  B62D15/0265 ,  B62D15/029 ,  G08G1/16 ,  G08G1/166 ,  G08G1/167

Abstract: A driving assist system for assisting effort by an operator to operate a vehicle in traveling is provided. The driving assist system receives data including information on vehicle state and information on environment in a field around the vehicle. A controller, mounted to the vehicle, determines future environment in the field, makes an operator response plan in response to the determined future environment to determine command, and generates the command. The operator response plan prompts the operator to operating the vehicle in a desired manner for the determined future environment. At least one actuator, mounted to the vehicle, prompts the operator in response to the command to operating the vehicle in the desired manner.

Abstract translation: 提供一种驾驶辅助系统，用于辅助操作者在行驶中操作车辆的努力。 驾驶辅助系统接收包括关于车辆状态的信息和关于车辆周围的场中的环境的信息的数据。 安装到车辆上的控制器确定现场的未来环境，根据确定的未来环境做出操作员响应计划以确定命令，并生成命令。 操作员响应计划提示操作者以所期望的方式对所确定的未来环境操作车辆。 安装到车辆的至少一个致动器响应于以期望的方式操作车辆的命令来提示操作者。

公开(公告)号：US20030055562A1

公开(公告)日：2003-03-20

申请号：US10169514

申请日：2002-07-03

Inventor： Larry J. Levy ,  Thomas Thompson ,  David S. Hohman ,  Thomas M. Murdock ,  Edwin E. Westerfield ,  Thomas M. Hattox ,  Thomas L. Kusterer

IPC: G01C021/36

CPC classification number: G01S19/43 ,  B60T2201/08 ,  B60T2201/089 ,  G01C21/165 ,  G01C21/28 ,  G01S19/07 ,  G01S19/41 ,  G01S19/45 ,  G01S19/49 ,  G01S19/50 ,  G01S2205/008

Abstract: A real-time integrated navigation system for a vehicle includes a GPS receiver, connected to a first antenna, where the GPS receiver receives GPS data from satellites and outputs GPS position data. The system also includes a communications link, connected to a second antenna and to the GPS receiver, receiving range and carrier phase measurements from at least one base station. The system further includes navigation aids which provide relative position data of said vehicle and a Kalman filter, connected to the output of the GPS receiver and the navigation aids, that integrates the GPS position data and the relative position data and outputs smoothed position data. The smoothed position data is used in transportation applications, especially detection of lane departure. This GPS-based positioning system is suitable for highway speeds during all weather conditions.

Abstract translation: 用于车辆的实时集成导航系统包括连接到第一天线的GPS接收器，其中GPS接收器从卫星接收GPS数据并输出GPS位置数据。 该系统还包括连接到第二天线和GPS接收器的通信链路，从至少一个基站接收范围和载波相位测量。 该系统还包括提供所述车辆的相对位置数据和连接到GPS接收机和导航辅助装置的输出的卡尔曼滤波器的导航辅助装置，其集成GPS位置数据和相对位置数据并输出平滑的位置数据。 平滑的位置数据用于运输应用，特别是车道偏离的检测。 这种基于GPS的定位系统适用于所有天气条件下的公路速度。

公开(公告)号：US20020128754A1

公开(公告)日：2002-09-12

申请号：US10146886

申请日：2002-05-17

Applicant: FUJITSU TEN LIMITED

Inventor： Kazuhiro Sakiyama ,  Toshihiro Shimizu ,  Kazuya Sako

IPC: G01C001/00

CPC classification number: B60R1/00 ,  B60Q9/005 ,  B60Q9/007 ,  B60R2300/301 ,  B60R2300/302 ,  B60R2300/305 ,  B60R2300/806 ,  B60R2300/8086 ,  B60T2201/08 ,  B60T2201/089 ,  B60T2201/10 ,  B62D15/0275

Abstract: A camera unit 10 is mounted on a vehicle 3. When an attempt is made to park the vehicle 3 in a parking lot, a predicted path 5a and guidelines 5b are displayed on an information display 4 together with an image. Data to be used for displaying the predicted path 5a and the guidelines 5b are stored beforehand in internal memory of an image processing circuit 19 provided in a parking assist ECU 6 so that the data can be selected in accordance with specifications, such as the type of the vehicle 3. The predicted path 5a is computed on the basis of a steering angle detected by a steering angle sensor provided in an exposed portion of the steering shaft 11. The length or color of the predicted path 5a is changed in accordance with the speed of the vehicle 3. Further, a vehicle driving support system is provided with a back sonar 17, and hence the length or color of the predicted path 5a is also changed in accordance with the result of detection of an obstacle.

公开(公告)号：US06411867B1

公开(公告)日：2002-06-25

申请号：US09695849

申请日：2000-10-26

Applicant: Kazuhiro Sakiyama ,  Shimizu Toshihiro ,  Kazuya Sako

Inventor： Kazuhiro Sakiyama ,  Shimizu Toshihiro ,  Kazuya Sako

IPC: G06F1700

CPC classification number: B60R1/00 ,  B60Q9/005 ,  B60Q9/007 ,  B60R2300/301 ,  B60R2300/302 ,  B60R2300/305 ,  B60R2300/806 ,  B60R2300/8086 ,  B60T2201/08 ,  B60T2201/089 ,  B60T2201/10 ,  B62D15/0275

Abstract: A camera unit 10 is mounted on a vehicle 3. When an attempt is made to park the vehicle 3 in a parking lot, a predicted path 5a and guidelines 5b are displayed on an information display 4 together with an image. Data to be used for displaying the predicted path 5a and the guidelines 5b are stored beforehand in internal memory of an image processing circuit 19 provided in a parking assist ECU 6 so that the data can be selected in accordance with specifications, such as the type of the vehicle 3. The predicted path 5a is computed on the basis of a steering angle detected by a steering angle sensor provided in an exposed portion of the steering shaft 11. The length or color of the predicted path 5a is changed in accordance with the speed of the vehicle 3. Further, a vehicle driving support system is provided with a back sonar 17, and hence the length or color of the predicted path 5a is also changed in accordance with the result of detection of an obstacle.

Abstract translation: 相机单元10安装在车辆3上。当试图将车辆3停放在停车场中时，预测路径5a和指引5b与图像一起显示在信息显示器4上。 用于显示预测路径5a和准则5b的数据预先存储在设置在驻车辅助ECU 6中的图像处理电路19的内部存储器中，使得可以根据规格来选择数据，例如 基于设置在转向轴11的暴露部分中的转向角传感器检测到的转向角来计算预测路径5a。预测路径5a的长度或颜色根据速度而改变 此外，车辆驾驶辅助系统设置有后声纳17，因此预测路径5a的长度或颜色也根据障碍物的检测结果而改变。

公开(公告)号：US20020061123A1

公开(公告)日：2002-05-23

申请号：US09987258

申请日：2001-11-14

Applicant: NISSAN MOTOR CO., LTD.

Inventor： Kiyoshi Akutagawa

IPC: G06K009/00

CPC classification number: G05D1/0246 ,  B60T2201/08 ,  B60T2201/089 ,  G05D2201/0213 ,  G06T7/12 ,  G06T7/73 ,  G06T2207/10016 ,  G06T2207/30256

Abstract: In road white line detecting apparatus and method, a CCD camera is installed to photograph a road surface, an edge image is generated from a road surface image photographed and outputted by the CCD camera, edge positions of a smear are detected from a region of the generated edge image which is determined on the basis of a previously detected position of a white line on the road surface, smear edges corresponding to the edge positions of the smear are generated from the generated edge image, and the present position of the white line are detected from the generated edge image from which the smear edges have been eliminated.

Abstract translation: 在道路白线检测装置和方法中，安装CCD照相机拍摄路面，从由CCD照相机拍摄并输出的路面图像产生边缘图像，从该区域检测污迹的边缘位置 根据先前检测到的路面上的白线位置确定的生成边缘图像，从所生成的边缘图像生成对应于拖尾边缘位置的拖尾边缘，白线的当前位置为 从已经消除了涂抹边缘的生成的边缘图像中检测到。

公开(公告)号：US06317057B1

公开(公告)日：2001-11-13

申请号：US09750736

申请日：2000-12-29

Applicant: Dong-Min Lee

Inventor： Dong-Min Lee

IPC: G08G100

CPC classification number: G08G1/22 ,  B60T2201/08 ,  B60T2201/089 ,  G05D1/0246 ,  G05D2201/0213

Abstract: In a method for detecting lane deviation of a vehicle, a difference between a center point of lane markers and a center point of the vehicle is first determined. Then a difference between a screen center x-coordinate and a vehicle center point x-coordinate is subtracted from the determined difference between the center point of lane markers and the center point of the vehicle. And it is determined that the vehicle is deviating from the lane if the result of the subtraction is less than a predetermined value.

Abstract translation: 在车辆的车道偏离检测方法中，首先确定车道标志的中心点与车辆的中心点之间的差。 然后，从确定的车道标记的中心点和车辆的中心点之间的差中减去屏幕中心x坐标和车辆中心点x坐标之间的差。 如果减法的结果小于预定值，则确定车辆偏离车道。

公开(公告)号：US4632543A

公开(公告)日：1986-12-30

申请号：US579694

申请日：1984-02-13

Applicant: Hiroshi Endo

Inventor： Hiroshi Endo

IPC: G01S7/48 ,  B60K31/00 ,  B60K31/04 ,  B60Q1/52 ,  G01S17/88 ,  G01S17/93 ,  G01C3/08 ,  G01B11/26 ,  G01C1/00 ,  G01P3/36

CPC classification number: G01S17/936 ,  B60K31/0008 ,  B60K31/04 ,  B60Q9/008 ,  B60G2400/82 ,  B60G2401/00 ,  B60R2021/161 ,  B60T2201/08 ,  B60T2201/089

Abstract: An optical radar system for vehicles has a stationary receiver and a transmitter which scans the road surface ahead of the vehicle, the scan area being shifted in accordance with the direction of steering of the vehicle. The scan area is covered by periodically sweeping a narrow-beam pulse laser through the designated scan area and monitoring the return lag of pulses reflected by objects in the scan area. The scan area is centered over the longitudinal axis of the vehicle while the latter is moving straight ahead. The axis of the scan area is shifted in proportion to the orientation of the steering wheel of the vehicle.

Abstract translation: 一种用于车辆的光学雷达系统具有固定式接收器和扫描车辆前方的路面的发射器，扫描区域根据车辆的转向方向移动。 扫描区域被周期性地扫描窄光束脉冲激光穿过指定的扫描区域并监视由扫描区域中的物体反射的脉冲的返回滞后。 扫描区域在车辆的纵向轴线上居中，而后者正在向前移动。 扫描区域的轴线与车辆方向盘的方向成比例地偏移。

公开(公告)号：US10078334B2

公开(公告)日：2018-09-18

申请号：US15371635

申请日：2016-12-07

Applicant: Delphi Technologies, Inc.

Inventor： Premchand Krishna Prasad ,  Michael I. Chia

IPC: G06K9/32 ,  G05D1/02 ,  B60T7/12 ,  G06K9/00

CPC classification number: G06K9/00798 ,  B60R2300/301 ,  B60T7/12 ,  B60T2201/089 ,  B60T2210/10 ,  B60W30/12 ,  B60W2420/42 ,  B60W2420/52 ,  G01S17/023 ,  G01S17/936 ,  G06K9/00791 ,  G06K9/3233 ,  G06T2207/30256

Abstract: A lane-control system suitable for use on an automated vehicle comprising a camera, a lidar-sensor, and a controller. The camera captures an image of a roadway traveled by a host-vehicle. The lidar-sensor detects a discontinuity in the roadway. The controller is in communication with the camera and the lidar-sensor and defines an area-of-interest within the image, constructs a road-model of the roadway based on the area-of-interest, determines that the host-vehicle is approaching the discontinuity, and adjusts the area-of-interest within the image based on the discontinuity.

公开(公告)号：US20180157269A1

公开(公告)日：2018-06-07

申请号：US15371635

申请日：2016-12-07

Applicant: Delphi Technologies, Inc.

Inventor： Premchand Krishna Prasad ,  Michael I. Chia

IPC: G05D1/02 ,  B60T7/12

CPC classification number: G05D1/0246 ,  B60R2300/301 ,  B60T7/12 ,  B60T2201/089 ,  B60T2210/10 ,  B60W30/12 ,  B60W2420/42 ,  B60W2420/52 ,  G01S17/023 ,  G01S17/936 ,  G05D1/0248 ,  G05D2201/0213 ,  G06K9/00791 ,  G06K9/00798 ,  G06K9/3233 ,  G06T2207/30256

Abstract: A lane-control system suitable for use on an automated vehicle comprising a camera, a lidar-sensor, and a controller. The camera captures an image of a roadway traveled by a host-vehicle. The lidar-sensor detects a discontinuity in the roadway. The controller is in communication with the camera and the lidar-sensor and defines an area-of-interest within the image, constructs a road-model of the roadway based on the area-of interest, determines that the host-vehicle is approaching the discontinuity, and adjusts the area-of-interest within the image based on the discontinuity.