公开(公告)号：US5835880A

公开(公告)日：1998-11-10

申请号：US503943

申请日：1995-07-19

申请人： Zhongxue Gan ,  Wei-Ping Wang ,  Oing Tang ,  Ruiming Zhang ,  John Moh

发明人： Zhongxue Gan ,  Wei-Ping Wang ,  Oing Tang ,  Ruiming Zhang ,  John Moh

IPC分类号： G01S5/16 ,  G05D1/02 ,  G06T7/00 ,  G06K9/00 ,  G08G1/017

CPC分类号： G06K9/00791 ,  G01S5/16 ,  G05D1/0251 ,  G06K9/3216 ,  G06K9/3241 ,  G06T7/0075 ,  G06K2209/23

摘要： In an apparatus and method for automatic vehicle following, a pair of video cameras are mounted on the front portion of a following vehicle, and each camera generates image data indicative of a respective image of a distinctive mark located on a rearward portion of a lead vehicle. An image processor generates two one-dimensional image-intensity distributions for each mark image based on the image data, and in turn generates a respective edge-intensity distribution based on each image-intensity distribution. The edge-intensity distributions are each generated by taking the first derivative of the respective image-intensity distribution. The image processor in turn generates a respective feature vector based on each edge-intensity distribution, wherein the vector components of each feature vector define select characteristics of the respective mark image. The center points of the two corresponding mark images are determined based on the feature vectors, and a signal processor generates signals indicative of the following distance and the heading angle of the lead vehicle based on the image center points. A window enclosing each mark image is moved upon generating a new mark image to the approximate center point of the preceding image, to substantially follow image movements from one camera image frame to the next, and thereby suppress noise and enhance the image-processing speed of the apparatus.

摘要翻译： 在用于自动车辆跟随的装置和方法中，一对摄像机安装在后续车辆的前部，并且每个摄像机产生指示位于引导车辆的后部上的特征标记的各自图像的图像数据 。 图像处理器基于图像数据为每个标记图像生成两个一维图像强度分布，并且依次生成基于每个图像强度分布的相应边缘强度分布。 边缘强度分布各自通过取出各个图像强度分布的一阶导数来产生。 图像处理器又基于每个边缘强度分布产生相应的特征向量，其中每个特征向量的向量分量定义相应标记图像的选择特征。 基于特征矢量确定两个对应的标记图像的中心点，并且信号处理器基于图像中心点产生指示跟随距离和前导车辆的前进角度的信号。 在产生新的标记图像到前一图像的近似中心点的同时移动包围每个标记图像的窗口，以基本上跟随从一个相机图像帧到下一个图像帧的图像移动，从而抑制噪声并提高图像处理速度 该装置。

公开(公告)号：US5572449A

公开(公告)日：1996-11-05

申请号：US245865

申请日：1994-05-19

申请人： Qing Tang ,  Wei-Ping Wang ,  Zhongxue Gan ,  Ruiming Zhang ,  John Moh

发明人： Qing Tang ,  Wei-Ping Wang ,  Zhongxue Gan ,  Ruiming Zhang ,  John Moh

IPC分类号： B60K31/00 ,  B60T7/22 ,  G01S13/93 ,  B60T7/16

CPC分类号： B60T7/22 ,  B60K31/0008 ,  B60W2550/402 ,  G01S2013/9321

摘要： An automatic vehicle following system is provided for controlling a following vehicle to maintain at least a predetermined distance behind a preceding vehicle and to substantially follow the path of the preceding vehicle. An on-line measurement system of the preceding vehicle generates signals indicative of the velocity (having speed and directional components) of the preceding vehicle, and a communication system transmits the velocity signals to the following vehicle. The following vehicle likewise has a communication system for receiving the signals from the preceding vehicle, and an on-line measurement system for providing signals indicative of the velocity of the following vehicle and signals indicative of the distance between the two vehicles. A signal processing system of the following vehicle is coupled to the communication system and on-line measurement system for estimating motion trajectory of the preceding vehicle based on the difference in the velocities of the preceding and following vehicles and the following distance. A control system generates control signals and takes action so as to perform speed control and maintain at least a predetermined safe following distance between the two vehicles, and steering control to substantially follow the path of the preceding vehicle.

摘要翻译： 提供了一种自动车辆跟随系统，用于控制后续车辆至少保持在前一车辆后面的预定距离并且基本上跟随前方车辆的路径。 前一车辆的在线测量系统产生指示前一车辆的速度（具有速度和方向分量）的信号，并且通信系统将速度信号发送到随后的车辆。 以下车辆同样具有用于接收来自前一车辆的信号的通信系统和用于提供表示随后车辆的速度的信号的在线测量系统以及指示两车辆之间的距离的信号。 以下车辆的信号处理系统耦合到通信系统和在线测量系统，用于基于前一车辆和后续车辆的速度的差异以及随后的距离来估计前一车辆的运动轨迹。 控制系统产生控制信号并采取动作以便执行速度控制并且保持两辆车辆之间至少预定的安全跟随距离，并且转向控制基本上跟随前方车辆的路径。

公开(公告)号：US06327219B1

公开(公告)日：2001-12-04

申请号：US09407795

申请日：1999-09-29

申请人： Ruiming Zhang ,  John Moh

发明人： Ruiming Zhang ,  John Moh

IPC分类号： G01S380

CPC分类号： G01S17/74 ,  G01S13/74 ,  G01S13/86 ,  G01S15/025 ,  G01S15/74 ,  G05D1/0255 ,  G05D2201/0204

摘要： An automated object following system includes a tracker associated with a following device, and a guider associated with an object to be followed. The tracker includes a first processor, and at least two transducers for generating an encoded ultrasonic signal. Each transducer has a control input communicating with the first processor for emitting an encoded ultrasonic signal generally toward the guider in response to a command signal from the first processor. The encoded ultrasonic signals carry signal source identification information. A radio frequency (RF) receiver communicates with the first processor for receiving from the guider an encoded RF signal carrying distance and direction information of the guider relative to the tracker to be used for steering the following device toward the object to be followed.

摘要翻译： 自动对象跟随系统包括与跟随设备相关联的跟踪器以及与要遵循的对象相关联的引导器。 跟踪器包括第一处理器和用于产生经编码的超声波信号的至少两个换能器。 每个换能器具有与第一处理器通信的控制输入，用于响应于来自第一处理器的命令信号，大致向引导器发射编码的超声波信号。 编码的超声波信号携带信号源识别信息。 射频（RF）接收机与第一处理器进行通信，用于从导向器接收编码的RF信号，该RF信号携带导体相对于跟踪器的距离和方向信息，以用于将跟随装置朝向要跟随的对象转向。