公开(公告)号：US08055445B2

公开(公告)日：2011-11-08

申请号：US12284721

申请日：2008-09-24

Applicant: Jan K. Schiffmann ,  David A. Schwartz

Inventor： Jan K. Schiffmann ,  David A. Schwartz

IPC: G01S13/93

CPC classification number: G01S13/931 ,  B60T2201/08 ,  G01S13/726 ,  G01S13/867 ,  G01S2013/9321 ,  G01S2013/9353 ,  G01S2013/9375

Abstract: An improved probabilistic lane assignment method for detected objects in the scene forward of a host vehicle. Road/lane model parameters, preferably including an angular orientation of the host vehicle in its lane, are estimated from host vehicle sensor systems, taking into account measurement uncertainty in each of the constituent parameters. A probabilistic assignment of the object's lane is then assessed based on the road/lane model parameters and object measurements, again taking into account measurement uncertainty in both the road/lane model and object measurements. According to a first embodiment, the probabilistic assignment is discrete in nature, indicating a confidence or degree-of-belief that the detected object resides in each of a number of lanes. According to a second embodiment, the probabilistic assignment is continuous in nature, providing a lateral separation distance between the host vehicle and the object, and a confidence or degree-of-belief in the lateral separation distance.

Abstract translation: 一种用于本车辆前方的检测对象的改进的概率车道分配方法。 考虑到每个构成参数中的测量不确定性，从主车辆传感器系统估计道路/车道模型参数，优选地包括主车辆在其车道中的角度定向。 然后根据道路/车道模型参数和物体测量值，再次考虑道路/车道模型和物体测量中的测量不确定度来评估对象车道的概率分配。 根据第一实施例，概率分配本质上是离散的，指示所检测到的对象驻留在多个通道中的每一个中的置信度或置信度。 根据第二实施例，概率分配本质上是连续的，提供主车辆和物体之间的横向间隔距离，以及在横向间隔距离中的置信度或信度。

公开(公告)号：US20080272958A1

公开(公告)日：2008-11-06

申请号：US12072239

申请日：2008-02-25

Applicant: Jan K. Schiffmann ,  Sandeep D. Punater

Inventor： Jan K. Schiffmann ,  Sandeep D. Punater

IPC: G01S13/48

CPC classification number: G01S13/878 ,  G01S13/588 ,  G01S13/726 ,  G01S13/931 ,  G01S2013/9321 ,  G01S2013/9375 ,  G01S2013/9389

Abstract: A collision detection system and method of estimating a crossing location are provided. The system includes a first sensor for sensing an object in a field of view and sensing a first range defined as the distance between the object and the first sensor. The system also includes a second sensor for sensing the object in the field of view and sensing a second range defined by the distance between the object and the second sensor. The system further includes a controller for processing the first and second range measurements and estimating a crossing location of the object as a function of the first and second range measurements. The crossing location is estimated using range and range rate in a W-plane in one embodiment and using a time domain approach in another embodiment.

公开(公告)号：US07016782B2

公开(公告)日：2006-03-21

申请号：US10158550

申请日：2002-05-30

Applicant: Jan K. Schiffmann

Inventor： Jan K. Schiffmann

IPC: G08G1/16

CPC classification number: G01S13/931 ,  G01S13/505 ,  G01S2013/9375

Abstract: A collision detection system and method of estimating a miss distance are provided. The collision detection system includes a sensor for sensing an object in a field of view. The sensor measures range and range rate of the object. The collision detection system further includes a controller for estimating a miss distance as a function of the measured range and range rate, without requiring a measured azimuth angle measurement.

公开(公告)号：US06678631B2

公开(公告)日：2004-01-13

申请号：US10092037

申请日：2002-03-06

Applicant: Jan K. Schiffmann

Inventor： Jan K. Schiffmann

IPC: G01C1700

CPC classification number: B60R21/0133 ,  B60R21/0132 ,  B60R21/01336 ,  B60R21/01338 ,  B60R2021/01304 ,  B60R2021/01325 ,  B60R2021/01327 ,  B60T8/172 ,  B60T2210/14 ,  B60T2230/02 ,  B60T2230/03 ,  B60T2250/06

Abstract: An attitude angle estimator and method of estimating attitude angle of a vehicle having an angular attitude rate sensor sensing angular attitude rate of a vehicle, a vertical accelerometer sensing vertical acceleration, and a lateral accelerometer sensing lateral acceleration. An attitude angle estimate is produced and is updated as a function of the sensed angular attitude rate. An acceleration-based attitude angle is determined as a function of the sensed accelerations, and a blending coefficient is provided. A current vehicle attitude angle estimate is generated as a function of the updated attitude angle estimate, the acceleration-based attitude angle, and the blending coefficient.

Abstract translation: 姿态角估计器和估计具有感测车辆的角度姿态速率的角度姿态速率传感器的车辆姿态角的方法，垂直加速度计感测垂直加速度和感测横向加速度的侧向加速度计的方法。 产生姿态角度估计并根据感测的角度姿态速率更新。 作为感测加速度的函数确定基于加速度的姿态角，并且提供混合系数。 作为更新的姿态角估计，基于加速度的姿态角和混合系数的函数产生当前车辆姿态角估计。

公开(公告)号：US20100076684A1

公开(公告)日：2010-03-25

申请号：US12284721

申请日：2008-09-24

Applicant: Jan K. Schiffmann ,  David A. Schwartz

Inventor： Jan K. Schiffmann ,  David A. Schwartz

IPC: G08G1/16

CPC classification number: G01S13/931 ,  B60T2201/08 ,  G01S13/726 ,  G01S13/867 ,  G01S2013/9321 ,  G01S2013/9353 ,  G01S2013/9375

Abstract: An improved probabilistic lane assignment method for detected objects in the scene forward of a host vehicle. Road/lane model parameters, preferably including an angular orientation of the host vehicle in its lane, are estimated from host vehicle sensor systems, taking into account measurement uncertainty in each of the constituent parameters. A probabilistic assignment of the object's lane is then assessed based on the road/lane model parameters and object measurements, again taking into account measurement uncertainty in both the road/lane model and object measurements. According to a first embodiment, the probabilistic assignment is discrete in nature, indicating a confidence or degree-of-belief that the detected object resides in each of a number of lanes. According to a second embodiment, the probabilistic assignment is continuous in nature, providing a lateral separation distance between the host vehicle and the object, and a confidence or degree-of-belief in the lateral separation distance.

Abstract translation: 一种用于本车辆前方的检测对象的改进的概率车道分配方法。 考虑到每个构成参数中的测量不确定性，从主车辆传感器系统估计道路/车道模型参数，优选地包括主车辆在其车道中的角度定向。 然后根据道路/车道模型参数和物体测量值，再次考虑道路/车道模型和物体测量中的测量不确定度来评估对象车道的概率分配。 根据第一实施例，概率分配本质上是离散的，指示所检测到的对象驻留在多个通道中的每一个中的置信度或置信度。 根据第二实施例，概率分配本质上是连续的，提供主车辆和物体之间的横向间隔距离，以及在横向间隔距离中的置信度或信度。

公开(公告)号：US07162340B2

公开(公告)日：2007-01-09

申请号：US10754113

申请日：2004-01-08

Applicant: Peter J. Schubert ,  Jan K. Schiffmann

Inventor： Peter J. Schubert ,  Jan K. Schiffmann

IPC: B60G17/016

CPC classification number: B60R21/01332 ,  B60G2800/9124 ,  B60R21/0132 ,  B60R2021/0018 ,  B60R2021/01313 ,  B60R2021/01327 ,  B60T8/17551 ,  B60T2230/03 ,  B60W30/02 ,  B60W30/04 ,  B60W2030/043

Abstract: A rollover detection apparatus and method are provided for anticipating a potential vehicle rollover event. The apparatus includes an input for receiving a plurality of input signals including sensed parameters of the vehicle. A first memory buffer stores data representative of one or more predetermined driving scenarios that represent possible rollover scenarios. A second memory buffer stores data representative of a history of recent conditions of the vehicle based on the plurality of sensed vehicle parameters. The apparatus further includes a processor for comparing the data representative of a history of recent driving events to the data representative of one or more predetermined driving scenarios. The processor further determines a possible rollover event of the vehicle based on the comparison and generates an output signal indicative thereof.

Abstract translation: 提供了一种翻转检测装置和方法，用于预测潜在的车辆翻车事件。 该装置包括用于接收包括车辆的感测参数的多个输入信号的输入。 第一存储器缓冲器存储代表可能的翻转场景的一个或多个预定驾驶场景的数据。 第二存储器缓冲器基于多个感测的车辆参数存储表示车辆的最近条件的历史的数据。 该装置还包括处理器，用于将表示最近驾驶事件的历史的数据与表示一个或多个预定驾驶场景的数据进行比较。 处理器还基于比较来确定车辆的可能的翻转事件并产生指示该车辆的输出信号。

公开(公告)号：US06714848B2

公开(公告)日：2004-03-30

申请号：US10319325

申请日：2002-12-13

Applicant: Peter J. Schubert ,  Edward J Wallner ,  David J. Nichols ,  Jan K. Schiffmann

Inventor： Peter J. Schubert ,  Edward J Wallner ,  David J. Nichols ,  Jan K. Schiffmann

IPC: B60R2200

CPC classification number: B60R21/013 ,  B60G2800/9124 ,  B60R2021/0018 ,  B60R2021/01306 ,  B60R2021/01325 ,  B60R2021/01327

Abstract: A vehicle rollover detection apparatus and method are provided for detecting an overturn condition of the vehicle. The rollover detection apparatus includes an angular rate sensor sensing angular rate of the vehicle, and a vertical accelerometer for sensing vertical acceleration of the vehicle. A controller processes the sensed angular rate signal and integrates it to produce an attitude angle. The vertical acceleration signal is processed to determine an inclination angle of the vehicle. The rollover detection apparatus adjusts the attitude angle as a function of the inclination angle and compares the adjusted attitude angle and the processed angular rate signal to a threshold level to provide a vehicle overturn condition output signal. Additionally, the rollover detection apparatus detects a near-rollover event and adjusts the variable threshold in response thereto to prevent deployment of a vehicle overturn condition, thus providing immunity to such events.

Abstract translation: 提供车辆翻转检测装置和方法，用于检测车辆的翻倒状况。 翻转检测装置包括检测车辆的角速度的角速度传感器和用于感测车辆的垂直加速度的垂直加速度计。 控制器处理感测的角速率信号并将其积分以产生姿态角。 处理垂直加速度信号以确定车辆的倾斜角度。 翻转检测装置根据倾斜角度调整姿态角度，并将调整后的姿势角与经处理的角速度信号进行比较，以提供车辆翻转状态输出信号。 此外，翻转检测装置检测近侧翻转事件并响应于此而调整可变阈值，以防止车辆翻倒状况的部署，从而提供对这种事件的抵抗力。

公开(公告)号：US20080109118A1

公开(公告)日：2008-05-08

申请号：US11592824

申请日：2006-11-03

Applicant: David A. Schwartz ,  Jan K. Schiffmann ,  Lisa R. Hamilton

Inventor： David A. Schwartz ,  Jan K. Schiffmann ,  Lisa R. Hamilton

IPC: G06F17/00

CPC classification number: G06K9/4609 ,  G06K9/00798

Abstract: A method of lane marker detection and lane fitting is provided for lane tracking. A lane marker is modeled and split into left and right steps. A filter response is calculated from a cumulative row sum, and normalized for filter pixel size, lane marker brightness and road brightness. A lane marker response is peak detected for positive and negative peaks and checked for having a magnitude above a threshold and being a local peak in a five point neighborhood. A Hough transform is extended to multiple planes to use lane marker features to determine a best line. Lane marker features include a mean and variance of lane marker brightness, lane marker width, lane marker parallelism to a host vehicle direction of travel, and consistence with a predicted lane marker characteristic. A closest lane marker line to a host vehicle is identified, and refitted to account for any curvature.

Abstract translation: 提供车道跟踪检测方法和车道配合。 车道标记被建模并分为左右步骤。 从累积行和计算滤波器响应，并对滤波器像素大小，车道标记亮度和道路亮度进行归一化。 车道标记响应是正峰值和负峰值的峰值，并且检查幅度高于阈值，并且是五点邻域中的局部峰值。 霍夫变换扩展到多个平面以使用车道标记功能来确定最佳线。 车道标记特征包括道路标记亮度的平均值和方差，车道标记宽度，与主车辆行驶方向的车道标记平行度，以及预测车道标记特征的一致性。 识别到主车辆的最近的车道标记线，并且重新设计以考虑任何曲率。

公开(公告)号：US07369941B2

公开(公告)日：2008-05-06

申请号：US10780845

申请日：2004-02-18

Applicant: Jan K. Schiffmann ,  Sandeep D. Punater

Inventor： Jan K. Schiffmann ,  Sandeep D. Punater

IPC: G08G1/16 ,  B60Q1/00

CPC classification number: G01S13/878 ,  G01S13/588 ,  G01S13/726 ,  G01S13/931 ,  G01S2013/9321 ,  G01S2013/9375 ,  G01S2013/9389

Abstract: A collision detection system and method of estimating a crossing location are provided. The system includes a first sensor for sensing an object in a field of view and sensing a first range defined as the distance between the object and the first sensor. The system also includes a second sensor for sensing the object in the field of view and sensing a second range defined by the distance between the object and the second sensor. The system further includes a controller for processing the first and second range measurements and estimating a crossing location of the object as a function of the first and second range measurements. The crossing location is estimated using range and range rate in a W-plane in one embodiment and using a time domain approach in another embodiment.

Abstract translation: 提供了一种用于估计交叉位置的碰撞检测系统和方法。 该系统包括用于感测视场中的物体的第一传感器，并感测被定义为物体与第一传感器之间的距离的第一范围。 该系统还包括第二传感器，用于在视野中感测物体并感测由物体和第二传感器之间的距离限定的第二范围。 该系统还包括用于处理第一和第二范围测量并根据第一和第二范围测量值估计对象的交叉位置的控制器。 在一个实施例中，使用W平面中的范围和范围速率估计交叉位置，并且在另一实施例中使用时域方法。

公开(公告)号：US07876926B2

公开(公告)日：2011-01-25

申请号：US11592824

申请日：2006-11-03

Applicant: David A. Schwartz ,  Jan K. Schiffmann ,  Lisa R. Hamilton

Inventor： David A. Schwartz ,  Jan K. Schiffmann ,  Lisa R. Hamilton

IPC: G05D1/00 ,  G06K9/00

CPC classification number: G06K9/4609 ,  G06K9/00798

Abstract: A method of lane marker detection and detection fitting is provided for lane tracking. A lane marker is modeled and split into left and right steps. A filter response is calculated from a cumulative row sum, and normalized for filter pixel size, lane marker brightness and road brightness. A lane marker response is peak detected for positive and negative peaks and checked for having a magnitude above a threshold and being a local peak in a five point neighborhood. A Hough transform is extended to multiple planes to use lane marker features to determine a best line. Lane marker features include a mean and variance of lane marker brightness, lane marker width, lane marker parallelism to a host vehicle direction of travel, and consistence with a predicted lane marker characteristic. A closest lane marker line to a host vehicle is identified, and refitted to account for any curvature.

Abstract translation: 提供车道跟踪检测和检测配合方法。 车道标记被建模并分为左右步骤。 从累积行和计算滤波器响应，并对滤波器像素大小，车道标记亮度和道路亮度进行归一化。 车道标记响应是正峰值和负峰值的峰值，并且检查幅度高于阈值，并且是五点邻域中的局部峰值。 霍夫变换扩展到多个平面以使用车道标记功能来确定最佳线。 车道标记特征包括道路标记亮度的平均值和方差，车道标记宽度，与主车辆行驶方向的车道标记平行度，以及预测车道标记特征的一致性。 识别到主车辆的最近的车道标记线，并且重新设计以考虑任何曲率。