公开(公告)号：US20020198643A1

公开(公告)日：2002-12-26

申请号：US10029935

申请日：2001-12-31

Inventor： Young-Seop Lee

IPC: G08G001/123

CPC classification number: B62D15/029 ,  B60T2201/08 ,  B60T2201/089

Abstract: A method for preventing a vehicle from deviating from a lane is provided, in which precise determinations of whether a vehicle is deviating from a lane may also be made when driving on curved sections of a road. Using DSRC, which is a system enabling communications between a vehicle and roadside equipment, information of road curvature and lane width is received. This road information and setting information of a camera mounted to the vehicle are then used to determine a lane deviation determination standard angle, which is used in curved sections of the road. A difference between the standard angle and a center value of left and right lane marker angles is compared with a critical value to determine whether the vehicle is deviating from the lane.

Abstract translation: 提供一种用于防止车辆偏离车道的方法，其中当在道路的弯曲部分上行驶时也可以精确地确定车辆是否偏离车道。 使用车辆与路边设备之间的通信的系统DSRC，接收道路曲率和车道宽度的信息。 然后，使用安装到车辆的照相机的道路信息和设置信息来确定在道路的弯曲部分中使用的车道偏离确定标准角度。 将标准角度与左右车道标记角度的中心值之间的差值与临界值进行比较，以确定车辆是否偏离车道。

公开(公告)号：US06489887B2

公开(公告)日：2002-12-03

申请号：US09946925

申请日：2001-09-06

Applicant: Shigeki Satoh ,  Hiroshi Mouri ,  Masayasu Shimakage ,  Hiroshi Kawazoe ,  On Sadano

Inventor： Shigeki Satoh ,  Hiroshi Mouri ,  Masayasu Shimakage ,  Hiroshi Kawazoe ,  On Sadano

IPC: B60Q100

CPC classification number: G05D1/0246 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2201/089 ,  G05D2201/0213

Abstract: A system for assisting a lane-keep traveling of a vehicle is comprised of a camera for detecting a view ahead of the vehicle, a vehicle behavior detector including a vehicle speed sensor and a yaw rate sensor, and a controller. The controller is arranged to estimate a road shape on the basis of lane markers detected by the camera, to detect a target yaw rate necessary to return the vehicle at a center of the lane markers, and to determine that there is a possibility that the vehicle deviates from the lane when a difference between the target yaw rate and an actual yaw rate detected by the yaw rate sensor becomes greater than a threshold.

Abstract translation: 用于辅助车辆行车道的系统包括用于检测车辆前方的视野的照相机，包括车速传感器和横摆率传感器的车辆行为检测器以及控制器。 控制器被设置为基于由照相机检测的车道标记来估计道路形状，以检测在车道标记的中心返回车辆所需的目标横摆率，并且确定存在车辆 当偏航率传感器检测到的目标横摆率和实际横摆率之间的差异变得大于阈值时，偏离车道。

公开(公告)号：US20020041229A1

公开(公告)日：2002-04-11

申请号：US09946925

申请日：2001-09-06

Applicant: NISSAN MOTOR CO., LTD.

Inventor： Shigeki Satoh ,  Hiroshi Mouri ,  Masayasu Shimakage ,  Hiroshi Kawazoe ,  On Sadano

IPC: B60Q001/00 ,  G05D001/00

CPC classification number: G05D1/0246 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2201/089 ,  G05D2201/0213

Abstract: A system for assisting a lane-keep traveling of a vehicle is comprised of a camera for detecting a view ahead of the vehicle, a vehicle behavior detector including a vehicle speed sensor and a yaw rate sensor, and a controller. The controller is arranged to estimate a road shape on the basis of lane markers detected by the camera, to detect a target yaw rate necessary to return the vehicle at a center of the lane markers, and to determine that there is a possibility that the vehicle deviates from the lane when a difference between the target yaw rate and an actual yaw rate detected by the yaw rate sensor becomes greater than a threshold.

公开(公告)号：US20020031242A1

公开(公告)日：2002-03-14

申请号：US09216957

申请日：1998-12-21

Inventor： NOBUHIKO YASUI ,  ATSUSHI IISAKA ,  MAMORU KANEKO

IPC: G06K009/36 ,  G06K009/00

CPC classification number: G06K9/00798 ,  B60T2201/08 ,  B60T2201/089 ,  G05D1/0246 ,  G06T7/12 ,  G06T7/73 ,  G06T7/74 ,  G06T2207/10016 ,  G06T2207/30256 ,  G08G1/04 ,  G08G1/161

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 or 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和高空间频率分量和亮度信号的低空间频率分量和亮度信号。 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：US06327536B1

公开(公告)日：2001-12-04

申请号：US09590980

申请日：2000-06-09

Applicant: Takayuki Tsuji ,  Nobuharu Nagaoka ,  Masahito Watanabe ,  Hiroshi Hattori

Inventor： Takayuki Tsuji ,  Nobuharu Nagaoka ,  Masahito Watanabe ,  Hiroshi Hattori

IPC: G06F778

CPC classification number: B60R1/00 ,  B60Q9/008 ,  B60R11/04 ,  B60R2300/105 ,  B60R2300/106 ,  B60R2300/107 ,  B60R2300/205 ,  B60R2300/30 ,  B60R2300/305 ,  B60R2300/307 ,  B60R2300/8053 ,  B60R2300/8093 ,  B60T2201/08 ,  B60T2201/082 ,  B60T2201/089 ,  G08G1/166

Abstract: A vehicle environment monitoring system for an automotive vehicle is capable of accurately detecting the movement of an object existing in an environment of the vehicle, and determining the possibility of collision between the object and the vehicle, thereby appropriately warning the driver. A relative position of the object to the automotive vehicle is detected from the image obtained by a camera mounted on the vehicle to obtain position data. Positions of the object in a real space are calculated based on a plurality of time series items of the position data detected on the object, and a movement vector of the object is calculated based on the positions in the real space. It is determined based on the movement vector whether or not the object has a high possibility of collision against the automotive vehicle.

Abstract translation: 用于机动车辆的车辆环境监测系统能够精确地检测存在于车辆的环境中的物体的移动，并且确定物体与车辆之间的碰撞的可能性，从而适当地警告驾驶员。 从安装在车辆上的相机获得的图像中检测物体对机动车辆的相对位置，以获得位置数据。 基于在物体上检测到的位置数据的多个时间序列项目来计算物体在真实空间中的位置，并且基于实际空间中的位置来计算物体的运动矢量。 基于运动矢量确定物体是否具有与机动车辆碰撞的高可能性。

公开(公告)号：US5790403A

公开(公告)日：1998-08-04

申请号：US501232

申请日：1995-07-11

Applicant: Shigeto Nakayama

Inventor： Shigeto Nakayama

IPC: G06T7/00 ,  B60R21/00 ,  G05D1/02 ,  G06K9/46 ,  G06T1/00 ,  G06T7/60 ,  G06F165/00 ,  G06K9/36

CPC classification number: G06K9/00798 ,  G05D1/0246 ,  G05D1/0272 ,  G06K9/00805 ,  G06K9/4633 ,  B60T2201/08 ,  B60T2201/089 ,  G05D1/0251

Abstract: A lane image processing system for a vehicle to recognize the lane on which the vehicle travels. The system has a CCD camera mounted on the vehicle for viewing a roadway scene ahead of the vehicle to output image data of the roadway scene including the lane on which the vehicle travels. Obstacles such as preceding vehicle are detected and a region for image data processing is determined so as to avoid the position of the obstacle and the lane on which the vehicle travels is recognized based on the processed result. More specifically, lane boundary positions estimated up to a preceding cycle are stored as historical information and in the region Hough transformation is limited in areas determined based on the historical information and the horizon in the roadway scene.

Abstract translation: 一种用于车辆识别车辆行驶的车道的车道图像处理系统。 该系统具有安装在车辆上的CCD摄像机，用于观看车辆前方的道路场景，以输出包括车辆行驶的车道的道路场景的图像数据。 检测前方车辆等障碍物，根据处理结果确定图像数据处理区域，以避免障碍物的位置和车辆行驶的车道被识别。 更具体地，估计到前一周期的车道边界位置被存储为历史信息，并且在区域中霍夫变换被限制在基于道路场景中的历史信息和地平线确定的区域中。

公开(公告)号：US5448487A

公开(公告)日：1995-09-05

申请号：US224713

申请日：1994-04-08

Applicant: Kazumasa Arai

Inventor： Kazumasa Arai

IPC: B62D6/00 ,  B60W30/00 ,  B62D1/28 ,  B62D101/00 ,  B62D113/00 ,  B62D137/00 ,  G01C21/00 ,  G05D1/02 ,  G06T1/00 ,  G01C21/10

CPC classification number: G05D1/0246 ,  B62D1/28 ,  B60T2201/08 ,  B60T2201/089 ,  G05D2201/0213

Abstract: A vehicle navigation control system has primary prediction error width calculating means for calculating a primary near-distance error width between a forward extending line of the vehicle and a target path at a predetermined near-distance observing location and for calculating a primary far-distance error width between the forward extending line and the target path at a predetermined far-distance observing location. A secondary near-distance error width between a predicted path and the target path at the predetermined near-distance observing location, and a secondary far-distance error width between the predicted path and the target path at the predetermined far-distance observing location, are calculated by a secondary prediction error width calculation means. Steering angle calculating formula selecting means determines whether the target path is a straight path or a curved path with a large curvature, a constantly curved path, or other curved path in accordance with the error widths calculated by the primary and secondary prediction error width calculating means and selects an optimum formula from predetermined model formulas. Steering angle determining means substitutes the corresponding error widths into the selected model formula so as to determine a steering angle.

Abstract translation: 车辆导航控制系统具有主要预测误差宽度计算装置，用于计算车辆的前向延伸线和预定近距离观测位置处的目标路径之间的主要近距离误差宽度，并且用于计算初级远距离误差 在预定的远距离观察位置处的前向延伸线和目标路径之间的宽度。 在预定的近距离观测位置处的预测路径和目标路径之间的次级近距离误差宽度以及预定远距离观测位置处的预测路径和目标路径之间的次远距离误差宽度是 由二次预测误差宽度计算装置计算。 转向角计算公式选择装置根据由一次和二次预测误差宽度计算装置计算的误差宽度来确定目标路径是直线路径还是具有大曲率，恒定曲线路径或其它弯曲路径的曲线路径 并从预定模型公式中选择最优公式。 转向角确定装置将相应的误差宽度替换为所选择的模型公式，以便确定转向角。

公开(公告)号：US20180057054A1

公开(公告)日：2018-03-01

申请号：US15683585

申请日：2017-08-22

Applicant: DENSO CORPORATION

Inventor： Hirotaka TOKORO

IPC: B62D15/02 ,  B60K31/00 ,  B60R11/04 ,  B60T7/22 ,  B60W10/20 ,  G06K9/00 ,  G08G1/16

CPC classification number: B62D15/025 ,  B60K31/0008 ,  B60R11/04 ,  B60T7/18 ,  B60T7/22 ,  B60T8/1755 ,  B60T8/17557 ,  B60T2201/022 ,  B60T2201/089 ,  B60W10/20 ,  B62D6/002 ,  G06K9/00791 ,  G06K9/00805 ,  G06T2207/30261 ,  G08G1/167

Abstract: An apparatus for performing driving aid control to cause a travel trajectory of a mobile object to follow a setpoint trajectory (La) by transmitting a control command value (δ) to a yaw moment controller capable of controlling a yaw moment of the mobile object. In the apparatus, a setpoint trajectory setter is configured to set the setpoint trajectory (La) of the mobile object. A control command value calculator is configured to calculate the control command value (δ) based on an integrated value (δI) of a lateral error that is an error between a position of the mobile object and the setpoint trajectory. The control command value calculator is further configured to decrease the integrated value (δI) with decreasing a curvature (ρ) of a road on which the mobile object is traveling.

公开(公告)号：US20170028916A1

公开(公告)日：2017-02-02

申请号：US15289341

申请日：2016-10-10

Applicant: MAGNA ELECTRONICS INC.

Inventor： Kenneth Schofield

IPC: B60Q9/00 ,  B60Q1/34 ,  G06K9/00 ,  G01S13/93 ,  G08G1/16 ,  B60R1/00 ,  B60R11/04

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 driver assistance system for a vehicle includes a vision system, a sensing system and a control. The vision system includes a camera and the sensing system includes a radar sensor. Image data captured by the camera is provided to the control and is processed by an image processor of the control. Responsive to image processing of captured image data, lane markers on the road being traveled along by the equipped vehicle are detected and the control determines a lane being traveled by the equipped vehicle. Radar data generated by the radar sensor is provided to the control, which receives vehicle data relating to the equipped vehicle via a vehicle bus of the equipped vehicle. Responsive at least in part to processing of generated radar data and captured image data, the control detects another vehicle present on the road being traveled along by the equipped vehicle.

Abstract translation: 用于车辆的驾驶员辅助系统包括视觉系统，感测系统和控制器。 视觉系统包括摄像机，感测系统包括雷达传感器。 照相机拍摄的图像数据被提供给控制，并由控制的图像处理器处理。 响应于捕获的图像数据的图像处理，检测到由配备的车辆沿着行驶的道路上的车道标记，并且控制确定由配备的车辆行驶的车道。 由雷达传感器生成的雷达数据被提供给控制装置，该控制装置经由配备的车辆的车辆总线接收与配备的车辆有关的车辆数据。 至少部分地响应于产生的雷达数据和捕获的图像数据的处理，该控制检测存在于被配备的车辆行进的道路上的另一车辆。

公开(公告)号：US20160046288A1

公开(公告)日：2016-02-18

申请号：US14922640

申请日：2015-10-26

Applicant: Magna Electronics Inc.

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

IPC: B60W30/09 ,  G06K9/00 ,  G06T7/00 ,  G06K9/46 ,  B60W10/04 ,  G06K9/52 ,  B60W30/14 ,  B60W30/16 ,  B60W10/20 ,  B60R11/04 ,  G06T7/60

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: A forward-facing vision system for a vehicle includes a forward-facing camera disposed in a windshield electronics module attached at a windshield of the vehicle and viewing through the windshield. A control includes a processor that, responsive to processing of captured image data, detects taillights of leading vehicles during nighttime conditions and, responsive to processing of captured image data, detects lane markers on a road being traveled by the vehicle. The control, responsive to lane marker detection and a determination that the vehicle is drifting out of a traffic lane, may control a steering system of the vehicle to mitigate such drifting, with the steering system manually controllable by a driver of the vehicle irrespective of control by the control. The processor, based at least in part on detection of lane markers via processing of captured image data, determines curvature of the road being traveled by the vehicle.

Abstract translation: 用于车辆的前向视觉系统包括设置在安装在车辆的挡风玻璃上并通过挡风玻璃观察的挡风玻璃电子模块中的前向照相机。 控制器包括处理器，其响应于捕获的图像数据的处理，在夜间状况下检测领先车辆的尾灯，并且响应于捕获的图像数据的处理，检测由车辆行驶的道路上的车道标记。 响应于车道标记检测和车辆从行车道漂移的确定的控制可以控制车辆的转向系统以减轻这种漂移，其中转向系统可由车辆驾驶员手动控制，而不管控制 通过控制。 处理器至少部分地基于通过捕获的图像数据的处理来检测车道标记，确定车辆行驶的道路的曲率。