公开(公告)号：US20110313665A1

公开(公告)日：2011-12-22

申请号：US13201020

申请日：2010-03-04

申请人： Stefan Lueke ,  Ken Schmitt ,  Rolf Isermann ,  Stefan Habenicht ,  Andree Hohm ,  Roman Mannale ,  Christian Wojek ,  Hermann Winner ,  Bernt Schiele

发明人： Stefan Lueke ,  Ken Schmitt ,  Rolf Isermann ,  Stefan Habenicht ,  Andree Hohm ,  Roman Mannale ,  Christian Wojek ,  Hermann Winner ,  Bernt Schiele

IPC分类号： B60W30/08

CPC分类号： G01S13/931 ,  G01S2013/9325 ,  G01S2013/9346 ,  G01S2013/9353

摘要： The invention relates to a method for automatically detecting a driving maneuver of a motor vehicle (A), in particular an overtaking maneuver or an evasive maneuver, in which the surroundings of the vehicle are covered and an electronic image thereof is created, the electronic image is used for the detection of a traffic lane and/or of a road as well as of-objects (B, C) in the surroundings of the vehicle, longitudinal-dynamics and lateral-dynamics movement information ({dot over (ψ)}, αy, δH, ωFL, ωFR, ωRL, ωRR) of motor vehicle (A) is determined, and the position ({circumflex over (X)}) of motor vehicle (A) is odometrically estimated on the basis of the data (bLane, yLane, θ, c0) of lane detection and/or road detection and/or of the movement information ({dot over (ψ)}, αy, δH, ωFL, ωFR, ωRL, ωRR) of motor vehicle (A), wherein the invention provides that a) the following indicator quantities are formed from the estimated position data ({circumflex over (X)}) of motor vehicle (A): a value of the lateral distance (LOL, LOR) of motor vehicle (A) from a road marking or traffic line (L), a time-to-collision value (TTCA,B) relative to the distance (d) from the object (B) located in the direction of motion, in particular from the vehicle driving ahead (B), a longitudinal-dynamics overtaking-or-evasive-maneuver indicator (I) formed from the indicator quantity (TTCA,B) of the time-to-collision value and from a value that corresponds to the position (FPS) of the gas pedal of motor vehicle (A), and b) that threshold values (Ith, TTCA,B,th) are determined for said indicator quantities (LOL, LOR, TTCA,B, I), which threshold values are used as criteria for detecting partial maneuvers of an overtaking or evasive maneuver, in particular a maneuver to follow a vehicle driving ahead, a lane change, a maneuver to pass the stationary or moving object (B) and a maneuver to cut into the lane of the overtaken object (B), as well as for detecting transitions between said partial maneuvers.

公开(公告)号：US20130085976A1

公开(公告)日：2013-04-04

申请号：US13702218

申请日：2010-06-18

申请人： Sven Bone ,  Hermann Winner ,  Stefan Habenicht ,  Jan-Christoph Goos ,  Fabian Regh

发明人： Sven Bone ,  Hermann Winner ,  Stefan Habenicht ,  Jan-Christoph Goos ,  Fabian Regh

IPC分类号： G06N5/02

CPC分类号： G06N5/02 ,  B60W30/18163 ,  B60W50/10 ,  B60W2550/308 ,  G08G1/167

摘要： Provided is a system for predicting a driver's intention to change lanes at a high accuracy involving a minimum amount of time delay. A driver's intention to change lanes is predicted by a prediction unit (9) by comparing motivators and inhibitors (7, 8) which may be determined from the speed of the traffic in particular the vehicle traveling ahead of the vehicle and the traffic in the adjacent lanes in relation to the traveling speed of the ego vehicle by using an ego vehicle sensor (1) and an environmental sensor (3, 4, 5) that may comprise a radio wave, optical or acoustic radar. The criteria for the motivators and inhibitors may be empirically or statistically determined, preferably by conducting a large number of tests on roads. As they can be determined before the vehicle operator starts a lane changing maneuver, the prediction made by the prediction unit may be used on a real time basis in a warning system or steering/acceleration assist system.

摘要翻译： 提供了一种用于以涉及最小量的时间延迟的高精度来预测驾驶员改变车道意图的系统。 驾驶员改变车道的意图由预测单元（9）通过比较可以从车辆的速度，特别是在车辆前方行驶的车辆和相邻车辆中的行驶来确定的动机和抑制器（7,8）进行比较来预测 通过使用自主车辆传感器（1）和可包括无线电波，光学或声学雷达的环境传感器（3,4,5），相对于自我车辆的行驶速度的车道。 激励因子和抑制剂的标准可以经验地或统计上确定，优选通过在道路上进行大量测试。 由于可以在车辆操作者开始车道变换机动之前确定，所以可以在警告系统或转向/加速辅助系统中实时地使用由预测单元进行的预测。

公开(公告)号：US09159023B2

公开(公告)日：2015-10-13

申请号：US13702218

申请日：2010-06-18

申请人： Sven Bone ,  Hermann Winner ,  Stefan Habenicht ,  Jan-Christoph Goos ,  Fabian Regh

发明人： Sven Bone ,  Hermann Winner ,  Stefan Habenicht ,  Jan-Christoph Goos ,  Fabian Regh

IPC分类号： G06F17/00 ,  G06N5/02 ,  B60W30/18 ,  G08G1/16 ,  B60W50/10

CPC分类号： G06N5/02 ,  B60W30/18163 ,  B60W50/10 ,  B60W2550/308 ,  G08G1/167

摘要： Provided is a system for predicting a driver's intention to change lanes at a high accuracy involving a minimum amount of time delay. A driver's intention to change lanes is predicted by a prediction unit (9) by comparing motivators and inhibitors (7, 8) which may be determined from the speed of the traffic in particular the vehicle traveling ahead of the vehicle and the traffic in the adjacent lanes in relation to the traveling speed of the ego vehicle by using an ego vehicle sensor (1) and an environmental sensor (3, 4, 5) that may comprise a radio wave, optical or acoustic radar. The criteria for the motivators and inhibitors may be empirically or statistically determined, preferably by conducting a large number of tests on roads. As they can be determined before the vehicle operator starts a lane changing maneuver, the prediction made by the prediction unit may be used on a real time basis in a warning system or steering/acceleration assist system.

摘要翻译： 提供了一种用于以涉及最小量的时间延迟的高精度来预测驾驶员改变车道意图的系统。 驾驶员改变车道的意图由预测单元（9）通过比较可以从车辆的速度，特别是在车辆前方行驶的车辆和相邻车辆中的行驶来确定的动机和抑制器（7,8）进行比较来预测 通过使用自主车辆传感器（1）和可包括无线电波，光学或声学雷达的环境传感器（3,4,5），相对于自我车辆的行驶速度的车道。 激励因子和抑制剂的标准可以经验地或统计上确定，优选通过在道路上进行大量测试。 由于可以在车辆操作者开始车道变换机动之前确定，所以可以在警告系统或转向/加速辅助系统中实时地使用由预测单元进行的预测。

公开(公告)号：US09092987B2

公开(公告)日：2015-07-28

申请号：US14113520

申请日：2011-05-20

申请人： Sven Bone ,  Hermann Winner ,  Stefan Habenicht ,  Jewgeni Selinski

发明人： Sven Bone ,  Hermann Winner ,  Stefan Habenicht ,  Jewgeni Selinski

IPC分类号： G06F17/10 ,  G08G1/16

CPC分类号： G08G1/167

摘要： A lane change assist information visualization system allows a vehicle driver to change lanes with minimum effort and stress by displaying a lane change option that suits the particular lane changing situation in an intuitively understandable manner, and information on the surrounding vehicles adequate for the vehicle driver to make a reasonable decision in changing lanes. The system includes a lane change program computing device (9) that computes at least (a) a lane change possibility, (b) a time period that has to elapse before a lane change is allowed if a lane change possibility does not currently exists, or a time period in which a lane change should be made if a lane change possibility currently exists, and (c) a need for acceleration or deceleration, and a display unit (10) for displaying this information.

摘要翻译： 车道改变辅助信息可视化系统允许车辆驾驶员以最小的努力和压力来改变车道，通过以直观可理解的方式显示适合特定车道变化情况的车道变换选项，以及适合于车辆驾驶员的周围车辆的信息 在改变车道方面做出合理的决定。 该系统包括至少计算（a）车道改变可能性的车道改变程序计算设备（9），（b）如果车道改变可能性当前不存在则允许车道改变之前必须经过的时间段， 或者如果当前存在车道变更可能性时应当进行车道更换的时间段，以及（c）需要加速或减速的显示单元（10）。

公开(公告)号：US20140074356A1

公开(公告)日：2014-03-13

申请号：US14113523

申请日：2011-05-20

申请人： Sven Bone ,  Jens Gayko ,  Hermann Winner ,  Stefan Habenicht

发明人： Sven Bone ,  Jens Gayko ,  Hermann Winner ,  Stefan Habenicht

IPC分类号： B62D15/02

CPC分类号： B62D15/0255 ,  G08G1/167

摘要： A lane change assist system allows a vehicle driver to change lanes with minimum effort and stress by offering appropriate lane change options depending on the conditions of an ego vehicle and surrounding vehicles. The system includes a driving assessment device (6) configured to determine one of a plurality of driving alternatives according to signals from an ego vehicle sensing device (4), an object vehicle sensing device (2) and a driver intention detecting device (5), the driving alternatives including at least staying on a current lane, changing lanes before the object vehicle and changing lanes behind the object vehicle. The system further comprises a lane change program selection device (7) configured to select one of a plurality of pre-set lane change programs according to the determined driving alternative and other data.

摘要翻译： 车道改变辅助系统允许车辆驾驶员以最小的努力和压力改变车道，通过根据自我车辆和周围车辆的状况提供适当的车道变换选项。 该系统包括驾驶评估装置（6），其被配置为根据来自自驾车辆感测装置（4），目标车辆感知装置（2）和驾驶员意图检测装置（5）的信号来确定多个驾驶替代方案之一， 驾驶的选择包括至少停留在当前车道上，在目标车辆之前改变车道并改变车辆后面的车道。 该系统还包括车道改变程序选择装置（7），其被配置为根据所确定的驾驶替代方案和其他数据来选择多个预设车道改变程序中的一个。

公开(公告)号：US20140067250A1

公开(公告)日：2014-03-06

申请号：US14113520

申请日：2011-05-20

申请人： Sven Bone ,  Hermann Winner ,  Stefan Habenicht ,  Jewgeni Selinski

发明人： Sven Bone ,  Hermann Winner ,  Stefan Habenicht ,  Jewgeni Selinski

IPC分类号： G08G1/16

CPC分类号： G08G1/167

摘要： A lane change assist information visualization system allows a vehicle driver to change lanes with minimum effort and stress by displaying a lane change option that suits the particular lane changing situation in an intuitively understandable manner, and information on the surrounding vehicles adequate for the vehicle driver to make a reasonable decision in changing lanes. The system includes a lane change program computing device (9) that computes at least (a) a lane change possibility, (b) a time period that has to elapse before a lane change is allowed if a lane change possibility does not currently exists, or a time period in which a lane change should be made if a lane change possibility currently exists, and (c) a need for acceleration or deceleration, and a display unit (10) for displaying this information.

摘要翻译： 车道改变辅助信息可视化系统允许车辆驾驶员以最小的努力和压力来改变车道，通过以直观可理解的方式显示适合特定车道变化情况的车道变换选项，以及适合于车辆驾驶员的周围车辆的信息 在改变车道方面做出合理的决定。 该系统包括至少计算（a）车道改变可能性的车道改变程序计算设备（9），（b）如果车道改变可能性当前不存在则允许车道改变之前必须经过的时间段， 或者如果当前存在车道变更可能性时应当进行车道更换的时间段，以及（c）需要加速或减速的显示单元（10）。