公开(公告)号：US20070256885A1

公开(公告)日：2007-11-08

申请号：US11587394

申请日：2005-04-14

申请人： Dieter Ammon ,  Ingo Dudeck ,  Axel Gern ,  Rainer Moebus ,  Volker Oltmann ,  Reinhold Schoeb ,  Bernd Woltermann ,  Zoltan Zomotor

发明人： Dieter Ammon ,  Ingo Dudeck ,  Axel Gern ,  Rainer Moebus ,  Volker Oltmann ,  Reinhold Schoeb ,  Bernd Woltermann ,  Zoltan Zomotor

IPC分类号： B62D5/06 ,  B62D5/04 ,  B62D6/00

CPC分类号： B62D5/008 ,  B62D5/0472 ,  B62D6/008 ,  Y10T74/19023

摘要： A steering system (1) of a vehicle, having a steering wheel (2) which is connected mechanically to the steerable vehicle wheels (11) via a steering column (3). A superimposition actuator (26) which can be actuated independently of the driver by a control device (25) is provided for generating a superimposition variable (U). A superimposition device (6) superimposes a steering wheel variable (δH) which describes the steering actuation of the steering wheel (2) and the superimposition variable (U) to form an output variable. A steering actuator (19) sets a steering angle (δL) at the steerable vehicle wheels (20) as a function of the output variable. An actuating device (27) is provided which is actuated by the control device (25) in order to generate an actuating device torque (MS) which acts on the steering column. Here, the control device (25) at the same time actuates the superimposition actuator (26) and the actuating device (27), with the result that the steering angle (δL) and a reaction moment (MR) which results from the superimposition variable (U) and the actuating device torque (MS) and feeds back on the steering wheel (2) are influenced independently of the driver.

摘要翻译： 一种车辆的转向系统（1），具有通过转向柱（3）机械连接到可转向车轮（11）的方向盘（2）。 提供了可以通过控制装置（25）独立于驱动器致动的叠加致动器（26），用于产生叠加变量（U）。 叠加装置（6）叠加描述方向盘（2）的转向驱动和叠加变量（U）的方向盘变量（ΔL），以形成输出变量。 转向致动器（19）根据输出变量设定可转向车轮（20）处的转向角（ΔLLL）。 提供致动装置（27），其由控制装置（25）致动，以便产生作用在转向柱上的致动装置扭矩（MS）。 这里，控制装置（25）同时致动重叠致动器（26）和致动装置（27），结果是转向角（ΔLLL）和反作用力矩 MR）由叠加变量（U）和致动装置扭矩（MS）产生并反馈在方向盘（2）上，与驾驶员无关。

公开(公告)号：US20060132295A1

公开(公告)日：2006-06-22

申请号：US11287612

申请日：2005-11-28

申请人： Axel Gern ,  Alfred Lotter ,  Rainer Moebus ,  Volker Oltmann ,  Bernd Woltermann ,  Zoltan Zomotor

发明人： Axel Gern ,  Alfred Lotter ,  Rainer Moebus ,  Volker Oltmann ,  Bernd Woltermann ,  Zoltan Zomotor

IPC分类号： B60Q1/00

CPC分类号： B60Q9/008

摘要： A driver assistance device for warning a driver of a motor vehicle of a risk of departure from the lane or from the lane is described, having at least one image-transmitting sensor, an evaluation device, connected to the image-transmitting sensor, for detecting edge-of-lane and/or lane markings and/or edges of lanes in the area sensed by the image-transmitting sensor, and a warning device which is connected to the evaluation device, in which driver assistance device in addition at least one distance-transmitting sensor is connected to the evaluation device, with which sensor the distance from objects which are elevated with respect to the surface of the lane can be determined in the region of the edge of the lane, in particular of a structural boundary of the edge of the lane.

摘要翻译： 描述了一种驾驶员辅助装置，用于警告具有离开车道或车道的风险的机动车辆的驾驶员，具有连接到图像传送传感器的至少一个图像传送传感器，评估装置，用于检测 在由图像传送传感器感测的区域中的车道边缘和/或车道标记和/或车道边缘以及连接到评估装置的警告装置，其中驾驶员辅助装置另外至少一个距离 传输传感器连接到评估装置，利用该传感器可以在车道边缘的区域中确定与物体相对于车道表面升高的距离，特别是在边缘的结构边界 的车道。

公开(公告)号：US08896433B2

公开(公告)日：2014-11-25

申请号：US12864335

申请日：2008-11-26

申请人： Bernd Danner ,  Uli Kolbe ,  Rainer Moebus ,  Markus Raab ,  Uwe Regensburger ,  Reinhold Schoeb ,  Anke Dorle Dudeck ,  Lars Dudeck ,  Sven Gerhard Dudeck

发明人： Bernd Danner ,  Uli Kolbe ,  Rainer Moebus ,  Markus Raab ,  Uwe Regensburger ,  Reinhold Schoeb ,  Ingo Dudeck

IPC分类号： B60Q1/00 ,  B62D15/02 ,  B60T8/1755

CPC分类号： B62D15/025 ,  B60T8/17557 ,  B60T2201/08 ,  B60T2201/082 ,  B60T2201/083 ,  B62D15/0265

摘要： In a method and apparatus for assisting the driver of a vehicle in maintaining a traffic lane limited by traffic lane markings, the traffic lane markings and the position of the vehicle in the traffic lane are detected. Upon an actual or impending change of traffic lanes a lane change warning is output to the driver of the vehicle in a first step, and a course correcting actuating intervention counteracting the lane change is carried out in a second step. The actuating intervention is carried out only if the change of traffic lanes is impermissible due to the type of traffic lane marking to be crossed during the traffic lane change, or if the lane change is not possible without danger due to collision-endangering objects present on the side of the traffic lane.

摘要翻译： 在用于辅助车辆的驾驶员维持由行车道标记限制的行车道的方法和装置中，检测行车道标记和车辆在行车道中的位置。 在实际或即将改变的行车道时，在第一步骤中将车道变更警告输出到车辆的驾驶员，并且在第二步骤中执行抵消车道改变的行驶校正致动干预。 执行干预只有在行车道变更不允许的情况下进行，这是由于在行车道改变期间要交叉的行车道标线的类型，或者如果由于碰撞危害物体不存在危险而无法进行车道更换 行车线的一侧。

公开(公告)号：US20060217866A1

公开(公告)日：2006-09-28

申请号：US10546592

申请日：2003-12-13

申请人： Rainer Moebus

发明人： Rainer Moebus

IPC分类号： G08G1/00

CPC分类号： B60K31/0008 ,  B60W2550/302 ,  B60W2550/304 ,  B60W2550/306 ,  B60W2720/106 ,  B60W2750/30

摘要： In a method for controlling the speed of a vehicle, a future traffic situation is predicted as a function of the acceleration of the controlled vehicle. The future traffic situation is then evaluated with a cost function which is defined in such a way that its value increases with the number and relevance of the other vehicles which are traveling in front and are relevant to the controlled vehicle. The value of the acceleration which minimizes the cost function is then determined as an acceleration setpoint value, and the acceleration of the vehicle is adjusted to this value.

摘要翻译： 在一种用于控制车辆速度的方法中，预测未来的交通状况是受控车辆的加速度的函数。 未来的交通状况然后用成本函数进行评估，成本函数的定义是使其值随着前面行驶并与受控车辆相关的其他车辆的数量和相关性而增加。 然后将成本函数最小化的加速度值确定为加速度设定值，并将车辆的加速度调整为该值。

公开(公告)号：US20110234390A1

公开(公告)日：2011-09-29

申请号：US12864335

申请日：2008-11-26

申请人： Bernd Danner ,  Uli Kolbe ,  Rainer Moebus ,  Markus Raab ,  Uwe Regensburger ,  Reinhold Schoeb ,  Ingo Dudeck ,  Lars Dudeck ,  Anke Dorle Dudeck ,  Sven Gerhard Dudeck

发明人： Bernd Danner ,  Uli Kolbe ,  Rainer Moebus ,  Markus Raab ,  Uwe Regensburger ,  Reinhold Schoeb ,  Ingo Dudeck ,  Lars Dudeck ,  Anke Dorle Dudeck ,  Sven Gerhard Dudeck

IPC分类号： G08B23/00 ,  G06F7/00 ,  B60T7/12

CPC分类号： B62D15/025 ,  B60T8/17557 ,  B60T2201/08 ,  B60T2201/082 ,  B60T2201/083 ,  B62D15/0265

摘要： In a method and apparatus for assisting the driver of a vehicle in maintaining a traffic lane limited by traffic lane markings, the traffic lane markings and the position of the vehicle in the traffic lane are detected. Upon an actual or impending change of traffic lanes a lane change warning is output to the driver of the vehicle in a first step, and a course correcting actuating intervention counteracting the lane change is carried out in a second step. The actuating intervention is carried out only if the change of traffic lanes is impermissible due to the type of traffic lane marking to be crossed during the traffic lane change, or if the lane change is not possible without danger due to collision-endangering objects present on the side of the traffic lane.

摘要翻译： 在用于辅助车辆的驾驶员维持由行车道标记限制的行车道的方法和装置中，检测行车道标记和车辆在行车道中的位置。 在实际或即将改变的行车道时，在第一步骤中将车道变更警告输出到车辆的驾驶员，并且在第二步骤中执行抵消车道改变的行驶校正致动干预。 执行干预只有在行车道变更不允许的情况下进行，这是由于在行车道改变期间要交叉的行车道标线的类型，或者如果由于碰撞危害物体不存在危险而无法进行车道更换 行车线的一侧。

公开(公告)号：US07586402B2

公开(公告)日：2009-09-08

申请号：US10586502

申请日：2005-03-21

申请人： Edgar Bihler ,  Ingo Dudeck ,  Uwe Franke ,  Axel Gern ,  Reinhard Janssen ,  Carsten Knoeppel ,  Frank-Werner Mohn ,  Rainer Moebus ,  Volker Oltmann ,  Uwe Regensburger ,  Helmut Schittenhelm ,  Reinhold Schoeb ,  Avshalom Suissa ,  Bernd Woltermann ,  Zoltan Zomotor

发明人： Edgar Bihler ,  Ingo Dudeck ,  Uwe Franke ,  Axel Gern ,  Reinhard Janssen ,  Carsten Knoeppel ,  Frank-Werner Mohn ,  Rainer Moebus ,  Volker Oltmann ,  Uwe Regensburger ,  Helmut Schittenhelm ,  Reinhold Schoeb ,  Avshalom Suissa ,  Bernd Woltermann ,  Zoltan Zomotor

IPC分类号： B60Q1/00

CPC分类号： E05B77/12 ,  B60Q9/008 ,  B60R21/0134 ,  E05C17/006

摘要： The opening of vehicle doors often leads to collisions with stationary obstacles that are not visible to the occupants or with moving obstacles that approach the vehicle without being noticed. Thus to avoid collisions when vehicle doors are opened, the aim of the invention is to take any modifications to the environmental situation of the vehicle as a result of a movement of the vehicle and the detected objects into consideration. This allows a collision of the vehicle doors with the objects to be reliably avoided. To achieve this, in a first step the probable trajectory of a vehicle is determined. In an additional step, the objects in the vicinity of the vehicle are detected and probable trajectories of said detected objects are determined. Respective probability ranges are then defined both for the vehicle and the pivoting zone of the vehicle doors and for the detected objects. The probability ranges of the pivoting zones of the vehicle doors are respectively compared with the individual probability ranges of the objects, in order to determine whether they overlap. If an overlap is identified, a response; signal that indicates the risk of a collision is generated.

摘要翻译： 车门的打开通常导致与固定的障碍物的碰撞，对于乘客而言，或者在没有被注意到的情况下接近车辆的移动障碍物是不可见的。 因此，为了避免车门打开时的碰撞，本发明的目的是考虑到车辆和检测对象的移动，对车辆的环境状况进行任何修改。 这允许车门与要被可靠地避免的物体碰撞。 为了实现这一点，在第一步骤中，确定车辆的可能轨迹。 在附加步骤中，检测车辆附近的物体，并且确定所检测物体的可能的轨迹。 然后，对于车辆门和车门的枢转区域以及检测到的对象，都定义了各自的概率范围。 将车门的枢转区域的概率范围分别与对象的单个概率范围进行比较，以便确定它们是否重叠。 如果确定重叠，则应答; 产生指示碰撞风险的信号。

公开(公告)号：US20050273264A1

公开(公告)日：2005-12-08

申请号：US11141158

申请日：2005-05-31

申请人： Axel Gern ,  Rainer Moebus ,  Volker Oltmann ,  Bernd Woltermann ,  Zoltan Zomotor

发明人： Axel Gern ,  Rainer Moebus ,  Volker Oltmann ,  Bernd Woltermann ,  Zoltan Zomotor

IPC分类号： B60W30/12 ,  B60W40/08 ,  B60W50/08 ,  B62D15/02 ,  G01C21/26 ,  G05D1/02

CPC分类号： B62D15/029 ,  B60T2201/08 ,  B60T2201/082 ,  B60W40/08 ,  B60W50/14 ,  B60W2540/22

摘要： A method and device for warning a driver of lane departure, wherein a first analyzer is used to detect the vehicle's lane departure based on image data and/or vehicle data and/or driver activity. The driver then receives a warning as a function of the detection by the first analyzer. In addition, a second analyzer for evaluating the driving situation is provided, which either performs the evaluation of the driving situation after the detection and via which the warning is suppressed as a function of the evaluation, or which alternatively performs an evaluation of the driving situation before the detection and via which a detection of lane departure is suppressed as a function of the evaluation. As a result, the driver receives highly reliable warnings of lane departure, and furthermore thanks to the evaluation of the driving situation erroneous warnings may be recognized highly reliably and as a result suppressed, so that the driver is not distracted unnecessarily and the product enjoys a high acceptance level among users.

摘要翻译： 一种用于警告车道离开驾驶员的方法和装置，其中第一分析器用于基于图像数据和/或车辆数据和/或驾驶员活动来检测车辆的车道偏离。 然后，驱动器接收到作为第一分析器检测的功能的警告。 此外，提供了用于评估驾驶状况的第二分析器，其对检测之后的驾驶状况进行评估，并且作为评估的函数来抑制警告，或者替代地执行驾驶状况的评估 在检测之前，通过其作为评估的函数抑制车道偏离的检测。 结果，驾驶员接收高可靠性的车道偏离警报，此外，由于驾驶状况的评估，可以高度可靠地识别错误警告，结果被抑制，使得驾驶员不会不必要地分心，产品享有 用户接受程度高。

公开(公告)号：US07424364B2

公开(公告)日：2008-09-09

申请号：US11141158

申请日：2005-05-31

申请人： Axel Gern ,  Rainer Moebus ,  Volker Oltmann ,  Bernd Woltermann ,  Zoltan Zomotor

发明人： Axel Gern ,  Rainer Moebus ,  Volker Oltmann ,  Bernd Woltermann ,  Zoltan Zomotor

IPC分类号： G01C21/26

CPC分类号： B62D15/029 ,  B60T2201/08 ,  B60T2201/082 ,  B60W40/08 ,  B60W50/14 ,  B60W2540/22

摘要： A method and device for warning a driver of lane departure, wherein a first analyzer is used to detect the vehicle's lane departure based on image data and/or vehicle data and/or driver activity. The driver then receives a warning as a function of the detection by the first analyzer. In addition, a second analyzer for evaluating the driving situation is provided, which either performs the evaluation of the driving situation after the detection and via which the warning is suppressed as a function of the evaluation, or which alternatively performs an evaluation of the driving situation before the detection and via which a detection of lane departure is suppressed as a function of the evaluation. As a result, the driver receives highly reliable warnings of lane departure, and furthermore thanks to the evaluation of the driving situation erroneous warnings may be recognized highly reliably and as a result suppressed, so that the driver is not distracted unnecessarily and the product enjoys a high acceptance level among users.

摘要翻译： 一种用于警告车道离开驾驶员的方法和装置，其中第一分析器用于基于图像数据和/或车辆数据和/或驾驶员活动来检测车辆的车道偏离。 然后，驱动器接收到作为第一分析器检测的功能的警告。 此外，提供了用于评估驾驶状况的第二分析器，其对检测之后的驾驶状况进行评估，并且作为评估的函数来抑制警告，或者替代地执行驾驶状况的评估 在检测之前，通过其作为评估的函数抑制车道偏离的检测。 结果，驾驶员接收高可靠性的车道偏离警报，此外，由于驾驶状况的评估，可以高度可靠地识别错误警告，结果被抑制，使得驾驶员不会不必要地分心，产品享有 用户接受程度高。

公开(公告)号：US07411486B2

公开(公告)日：2008-08-12

申请号：US11287612

申请日：2005-11-28

申请人： Axel Gern ,  Alfred Lotter ,  Rainer Moebus ,  Volker Oltmann ,  Bernd Woltermann ,  Zoltan Zomotor

发明人： Axel Gern ,  Alfred Lotter ,  Rainer Moebus ,  Volker Oltmann ,  Bernd Woltermann ,  Zoltan Zomotor

IPC分类号： B60Q1/00 ,  G08G1/00 ,  G08G1/04 ,  G08G1/14 ,  G08G1/17 ,  H04N7/00 ,  H04N7/18 ,  G05D1/00 ,  G05D1/02 ,  G06F17/10

CPC分类号： B60Q9/008

摘要： A driver assistance device for warning a driver of a motor vehicle of a risk of departure from the lane or from the lane is described, having at least one image-transmitting sensor, an evaluation device, connected to the image-transmitting sensor, for detecting edge-of-lane and/or lane markings and/or edges of lanes in the area sensed by the image-transmitting sensor, and a warning device which is connected to the evaluation device, in which driver assistance device in addition at least one distance-transmitting sensor is connected to the evaluation device, with which sensor the distance from objects which are elevated with respect to the surface of the lane can be determined in the region of the edge of the lane, in particular of a structural boundary of the edge of the lane.

摘要翻译： 描述了一种驾驶员辅助装置，用于警告具有离开车道或车道的风险的机动车辆的驾驶员，具有连接到图像传送传感器的至少一个图像传送传感器，评估装置，用于检测 在由图像传送传感器感测的区域中的车道边缘和/或车道标记和/或车道边缘以及连接到评估装置的警告装置，其中驾驶员辅助装置另外至少一个距离 传输传感器连接到评估装置，利用该传感器可以在车道边缘的区域中确定与物体相对于车道表面升高的距离，特别是在边缘的结构边界 的车道。

公开(公告)号：US20070188312A1

公开(公告)日：2007-08-16

申请号：US10586502

申请日：2005-03-21

申请人： Edgar Bihler ,  Ingo Dudeck ,  Uwe Franke ,  Axel Gern ,  Reinhard Janssen ,  Carsten Knoeppel ,  Frank-Werner Mohn ,  Rainer Moebus ,  Volker Oltmann ,  Uwe Regensburger ,  Helmut Schittenhelm ,  Reinhold Schoeb ,  Avshalom Suissa ,  Bernd Woltermann ,  Zoltan Zomotor

发明人： Edgar Bihler ,  Ingo Dudeck ,  Uwe Franke ,  Axel Gern ,  Reinhard Janssen ,  Carsten Knoeppel ,  Frank-Werner Mohn ,  Rainer Moebus ,  Volker Oltmann ,  Uwe Regensburger ,  Helmut Schittenhelm ,  Reinhold Schoeb ,  Avshalom Suissa ,  Bernd Woltermann ,  Zoltan Zomotor

IPC分类号： B60Q1/00 ,  E05F15/00

CPC分类号： E05B77/12 ,  B60Q9/008 ,  B60R21/0134 ,  E05C17/006

摘要： The opening of vehicle doors often leads to collisions with stationary obstacles that are not visible to the occupants or with moving obstacles that approach the vehicle without being noticed. Thus to avoid collisions when vehicle doors are opened, the aim of the invention is to take any modifications to the environmental situation of the vehicle as a result of a movement of the vehicle and the detected objects into consideration. This allows a collision of the vehicle doors with the objects to be reliably avoided. To achieve this, in a first step the portable trajectory of a vehicle is determnined. In an additional step, the objects in the vicinity of the vehicle are detected and probable trajectories of said detected objects are determined. Respective probability ranges are then defined both for the vehicle and the pivoting zone of the vehicle doors and for the detected objects. The probability ranges of the pivoting zones of the vehicle doors are respectively compared with the individual probability ranges of the objects, in order to determine whether they overlap. If an overlap is identified, a response; signal that indicates the risk of a collision is generated.

摘要翻译： 车门的打开通常导致与固定的障碍物的碰撞，对于乘客而言，或者在没有被注意到的情况下接近车辆的移动障碍物是不可见的。 因此，为了避免车门打开时的碰撞，本发明的目的是考虑到车辆和检测对象的移动，对车辆的环境状况进行任何修改。 这允许车门与要被可靠地避免的物体碰撞。 为了实现这一点，在第一步中确定车辆的便携式轨迹。 在附加步骤中，检测车辆附近的物体，并且确定所检测物体的可能的轨迹。 然后，对于车辆门和车门的枢转区域以及检测到的对象，都定义了各自的概率范围。 将车门的枢转区域的概率范围分别与对象的单个概率范围进行比较，以便确定它们是否重叠。 如果确定重叠，则应答; 产生指示碰撞风险的信号。