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1.发明申请
公开(公告)号：WO2020014450A1
公开(公告)日：2020-01-16
申请号：PCT/US2019/041357
申请日：2019-07-11
Applicant: CONTINENTAL AUTOMOTIVE SYSTEMS, INC.
Inventor： BERKEMEIER, Matthew Donald , CARPENTER, Kyle P , IP, Julien , VERMA, Dhiren
Abstract: A method of calibrating a driver assistance system comprises entering a calibration mode for a driver assistance system, determining a first estimated position and heading of the vehicle at a first location, capturing an image from a camera and selecting at least one feature in the image. The method of calibrating also includes moving the vehicle to a second location and heading and determining a second estimated position and heading of the vehicle, capturing a second image from a camera and selecting at least one feature in the second image, where the selected feature in the second image the same feature as the selected feature in the first image. The method also includes calculating new vehicle motion parameter values based on the first estimated position and heading, second estimated position and heading, first recorded at least one feature data, and second recorded at least one feature data.
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公开(公告)号：WO2019217588A1
公开(公告)日：2019-11-14
申请号：PCT/US2019/031380
申请日：2019-05-08
Applicant: CONTINENTAL AUTOMOTIVE SYSTEMS, INC.
Inventor： BERKEMEIER, Matthew Donald , YU, Xin , VERMA, Dhiren , BYNUM, Danny , IP, Julien , LLANOS, Eduardo , ZAGROBA, Joseph
Abstract: A method for autonomously maneuvering a vehicle in a rearward direction towards a point of interest is provided. The method includes receiving one or more images from a camera positioned on a back portion of the vehicle. The method includes overlaying a path on the one or more images. In addition, the method includes receiving a command by way of a user interface. The command includes instructions to adjust the path. The method includes adjusting the path based on the received command. The method also includes transmitting a drive command to a drive system supported by the vehicle. The drive command causes the vehicle to autonomously maneuver along the adjusted path in a rearward direction.
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公开(公告)号：WO2021108802A1
公开(公告)日：2021-06-03
申请号：PCT/US2020/070811
申请日：2020-11-22
Applicant: CONTINENTAL AUTOMOTIVE SYSTEMS, INC.
Inventor： YU, Xin , BERKEMEIER, Matthew Donald , VERMA, Dhiren
Abstract: A system for locating a coupler of a trailer includes at least one camera positioned on a rear portion of a tow vehicle. A coupler detector module is constructed and arranged 1) to receive images of the coupler from the at least one camera and 2) to determining a two-dimensional (2D) pixel position of the coupler. A camera motion estimator module is constructed and arranged 1) to receive images from the at least one camera and data regarding motion of the tow vehicle and 2) determine a pose of the camera including a three-dimensional (3D) position and heading of the at least one camera. A coupler estimator module is constructed and arranged 1) to receive the pose of the camera and the 2D pixel position of the coupler and based thereon, 2) to determine an estimated 3D position of the coupler in real world coordinates.
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Patent Agency Ranking
公开(公告)号：WO2019217586A1
公开(公告)日：2019-11-14
申请号：PCT/US2019/031378
申请日：2019-05-08
Applicant: CONTINENTAL AUTOMOTIVE SYSTEMS, INC.
Inventor： BYNUM, Danny , BERKEMEIER, Matthew Donald , YU, Xin , VERMA, Dhiren
IPC: B60D1/36 , B60R1/00 , G05D1/02 , G06T7/246 , G06K9/62 , B60D1/62 , G01C11/00 , G01C21/16 , G05D1/00
Abstract: A method for tracking a trailer coupler (212) positioned behind a tow vehicle (100) is provided. The method includes receiving one or more images (143) from a camera (142) positioned on a back portion of the tow vehicle (100). The method also includes determining a trailer coupler position within the one or more images. The trailer coupler position associated with the trailer coupler (212). Additionally, the method includes receiving vehicle sensor data (141) from one or more vehicle sensors. The method includes determining vehicle motion data based on the received vehicle sensor data (141). The method also includes determining an updated coupler position based on the trailer coupler position and the vehicle motion data.
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公开(公告)号：WO2019195067A1
公开(公告)日：2019-10-10
申请号：PCT/US2019/024479
申请日：2019-03-28
Applicant: CONTINENTAL AUTOMOTIVE SYSTEMS, INC.
Inventor： YU, Xin , VERMA, Dhiren , FROEHLICH, Dominik
Abstract: A method for determining a distance between a camera (410) positioned on a rear portion of a tow vehicle (100) and a trailer coupler (212) supported by a trailer (200) positioned behind the tow vehicle as the tow vehicle approaches the trailer. The method includes identifying the trailer coupler of the trailer within one or more images of a rearward environment of the tow vehicle. The method also includes receiving sensor data from an inertial measurement unit (420) supported by the tow vehicle. The method includes determining a pixel-wise intensity difference between a current received image from the one or more images and a previously received image from the one or more images. The method includes determining the distance based on the identified trailer coupler, the sensor data, and the pixel-wise intensity difference, the distance includes a longitudinal distance (DLg), a lateral distance (DLt), and a vertical distance (HCC).
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公开(公告)号：WO2022147417A1
公开(公告)日：2022-07-07
申请号：PCT/US2021/073097
申请日：2021-12-23
Applicant: CONTINENTAL AUTOMOTIVE SYSTEMS, INC.
Inventor： IP, Julien , RAMIREZ LLANOS, Eduardo Jose , YU, Xin , VERMA, Dhiren , BOLDUC, Andrew Phillip
Abstract: An automated vehicle parking system for a motor vehicle is disclosed and includes at least one camera obtaining images proximate a vehicle, at least one sensor array detecting objects proximate the vehicle, and a controller configured to generate a mask of an area proximate the vehicle from the images obtained by the at least one camera including labeled features identified within the obtained images and project the generated mask onto an occupancy grid generated with information from the at least one sensor array, wherein the controller is configured to locate a parking space responsive to open spaces defined within the generated mask.
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公开(公告)号：WO2020028895A1
公开(公告)日：2020-02-06
申请号：PCT/US2019/045080
申请日：2019-08-05
Applicant: CONTINENTAL AUTOMOTIVE SYSTEMS, INC.
Inventor： BERKEMEIER, Matthew Donald , YU, Xin , BYNUM, Danny , IP, Julien , CARPENTER, Kyle P , LLANOS, Eduardo , VERMA, Dhiren
Abstract: A method of autonomously maneuvering a tow vehicle (100) towards a trailer (200) positioned behind the tow vehicle is provided. The method includes receiving one or more images from a camera (152) positioned on a back portion of the tow vehicle. The method also includes receiving, at the data processing hardware (160), a first user selection of a trailer representation within the one or more images. The method includes sending first instructions to a drive system (190) causing the tow vehicle to autonomously maneuver towards the trailer associated with the first user selection of the trailer representation. The method also includes receiving a second user selection of a coupler representation within the one or more images. The coupler representation associated with a trailer coupler (212) of the trailer. The method also includes sending second instructions to the drive system causing the tow vehicle (100) to autonomously maneuver towards the trailer coupler (212) associated with the second user selection.
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8.发明申请
公开(公告)号：WO2020028893A1
公开(公告)日：2020-02-06
申请号：PCT/US2019/045075
申请日：2019-08-05
Applicant: CONTINENTAL AUTOMOTIVE SYSTEMS, INC.
Inventor： BERKEMEIER, Matthew Donald , YU, Xin , BYNUM, Danny , IP, Julien , CARPENTER, Kyle P. , LLANOS, Eduardo , VERMA, Dhiren
Abstract: A method for autonomously driving a vehicle (100) in a rearward direction towards a point of interest is provided. The method includes receiving one or more images from a camera (142) positioned on a back portion of the vehicle and receiving a driver planned path (162) from a user interface (130). The driver planned path (162) includes a plurality of waypoints (168). The method also includes transmitting one or more commands to a drive system (110) causing the vehicle to autonomously maneuver along the driver planned path (162). The method also includes determining a current vehicle position and an estimated subsequent vehicle position. The method also includes determining a path adjustment from the current vehicle position to the estimated subsequent vehicle position. The method also includes transmitting instructions to the drive system (110) causing the vehicle (100) to autonomously maneuver towards the estimated subsequent vehicle position based on the path adjustment.
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