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51. 发明申请

US20170322558A1 VEHICLE CONTROL APPARATUS 审中-公开
公开(公告)号：US20170322558A1
公开(公告)日：2017-11-09
申请号：US15522679
申请日：2015-10-27
申请人： DENSO CORPORATION
发明人： Kentaro TESHIMA , Tetsuya HARA , Daisuke TAKEMORI
IPC分类号： G05D1/02 , B60W10/20 , B60W30/09 , B60W40/08 , B60W50/12 , G05D1/00 , B60W10/18 , B60W50/14
CPC分类号： G05D1/0214 , B60K28/06 , B60Q3/20 , B60Q5/00 , B60T7/00 , B60W10/18 , B60W10/20 , B60W30/02 , B60W30/09 , B60W30/095 , B60W30/181 , B60W30/18109 , B60W30/18127 , B60W40/08 , B60W50/12 , B60W50/14 , B60W2040/0818 , B60W2050/143 , B60W2050/146 , B60W2420/42 , B60W2420/54 , B60W2420/62 , B60W2510/20 , B60W2510/244 , B60W2520/10 , B60W2540/00 , B60W2540/10 , B60W2540/22 , B60W2540/26 , B60W2550/12 , B60W2560/02 , B60W2710/18 , B60W2710/20 , B60W2720/10 , F02D41/042 , F02D41/08 , F02D41/22 , G01C21/20 , G05D1/0061 , G05D1/0088 , G05D1/0248 , G05D1/0255 , G05D2201/0213 , G07C5/008 , G07C5/0808 , G07C5/085 , G08B13/19647 , G08G1/205 , H04L67/00 , H04L67/04 , H04L67/12
摘要： A vehicle control apparatus is mounted on a vehicle including an emergency stop function to detect an abnormal state of a driver and automatically stop the vehicle. The vehicle control apparatus provides control at a time of stopping the vehicle and includes process execution sections and a process stop section. The process execution sections perform predetermined emergency processes in response to the emergency stop function stopping the vehicle; the emergency processes control instruments mounted on the vehicle and use a battery of the vehicle as a driving power source. The process stop section stepwise stops at least part of the emergency processes performed by the process execution sections based on a predetermined stop sequence.

52. 发明授权

US09797247B1 Command for underground 有权
公开(公告)号：US09797247B1
公开(公告)日：2017-10-24
申请号：US15452329
申请日：2017-03-07
申请人： Caterpillar Inc.
发明人： Anthony Keith Nathan Nelson , Shane A. May , Suneel Venkata Kandula
IPC分类号： B60W30/095 , E21C35/08 , G05D1/00 , G08G1/16 , E21C35/24 , G05D1/02 , B60W30/14
CPC分类号： E21C35/24 , B60W30/0956 , B60W30/146 , B60W2300/17 , B60W2420/42 , B60W2420/62 , B60W2510/188 , B60W2520/06 , B60W2550/40 , B60W2710/188 , B60W2720/24 , E21C35/08 , E21F13/02 , E21F17/18 , G05D1/0022 , G05D1/0033 , G05D1/0044 , G05D1/0248 , G05D1/028 , G08G1/165
摘要： A control system and related method for controlling the machine in a mine. The control system may comprise a LADAR, an interface device, a processor and an AECM. The LADAR may be configured to capture scan data of physical mine walls. The interface device may be configured to display a mine map illustrating a section of the mine. The processor may be configured to add a virtual wall to the mine map in response to a first user input. The processor may be configured to add a temporary wall to the mine map in response to a second user input. The temporary wall may be based on scan data of a physical mine wall captured by the LADAR. The AECM is configured to control an operation of the machine, based on the mine map, to avoid collision of the machine with the virtual wall or the temporary wall.

53. 发明申请

US20160368336A1 USE OF LASER SCANNER FOR AUTONOMOUS TRUCK OPERATION 审中-公开
标题翻译：使用激光扫描仪进行自动卡车操作
公开(公告)号：US20160368336A1
公开(公告)日：2016-12-22
申请号：US14745165
申请日：2015-06-19
申请人： William C. Kahn , A. Brent Hankins
发明人： William C. Kahn , A. Brent Hankins
IPC分类号： B60D1/36 , B60W30/18 , B60W30/06 , G01B11/26 , G01B11/24
CPC分类号： B60W30/18036 , B60D1/30 , B60D1/481 , B60D1/62 , B60W30/06 , B60W2300/14 , B60W2420/62 , B60W2520/22 , G01B11/24 , G01B11/26
摘要： A vehicle includes one or more laser scanners and an on-board vehicle computer system communicatively coupled to the laser scanners. The computer system uses information (e.g., coordinate points) obtained from the laser scanners to calculate a trailer angle (e.g., a cab-trailer angle) for the vehicle. The computer system may include a shape detection module that detects a trailer based on the information obtained from the laser scanners and an angle detection module that calculates an angle of the detected trailer relative to a laser scanner, calculates the orientation of the detected trailer based on that angle and dimensions (e.g., width and length) of the trailer, and calculates a cab-trailer angle based on the orientation of the trailer. The computer system may include an autonomous operation module configured to use the cab-trailer angle in an autonomous or computer-guided vehicle maneuver, such as a parking maneuver or backing maneuver.
摘要翻译：车辆包括一个或多个激光扫描器和通信地耦合到激光扫描器的车载车辆计算机系统。计算机系统使用从激光扫描器获得的信息（例如，坐标点）来计算车辆的拖车角度（例如，驾驶室 - 拖车角度）。计算机系统可以包括形状检测模块，该形状检测模块基于从激光扫描器获得的信息和角度检测模块来检测拖车，角度检测模块计算检测到的拖车相对于激光扫描仪的角度，基于拖车的角度和尺寸（例如宽度和长度），并根据拖车的方向计算驾驶室 - 拖车角度。计算机系统可以包括被配置为在自主或计算机引导的车辆操纵中使用驾驶室 - 拖车角度的自主操作模块，诸如停车操纵或后备操纵。

54. 发明授权

US09499172B2 Detecting road weather conditions 有权
公开(公告)号：US09499172B2
公开(公告)日：2016-11-22
申请号：US13623422
申请日：2012-09-20
申请人： Google Inc.
发明人： Christopher Paul Urmson , Michael Steven Montemerlo , Jiajun Zhu
IPC分类号： B60W30/00 , B60W40/06
CPC分类号： B60W40/06 , B60W2420/62
摘要： Aspects of the disclosure relate generally to detecting road weather conditions. Vehicle sensors including a laser, precipitation sensors, and/or camera may be used to detect information such as the brightness of the road, variations in the brightness of the road, brightness of the world, current precipitation, as well as the detected height of the road. Information received from other sources such as networked based weather information (forecasts, radar, precipitation reports, etc.) may also be considered. The combination of the received and detected information may be used to estimate the probability of precipitation such as water, snow or ice in the roadway. This information may then be used to maneuver an autonomous vehicle (for steering, accelerating, or braking) or identify dangerous situations.

55. 发明申请

US20150266488A1 VEHICLE, VEHICLE SYSTEM AND METHOD FOR INCREASING SAFETY AND/OR COMFORT DURING AUTONOMOUS DRIVING 有权
标题翻译：车辆，车辆系统和自动驾驶中增加安全和/或舒适的方法
公开(公告)号：US20150266488A1
公开(公告)日：2015-09-24
申请号：US14644405
申请日：2015-03-11
申请人： VOLVO CAR CORPORATION
发明人： Stefan SOLYOM , Erik COELINGH , Mattias Erik BRANNSTROM
IPC分类号： B60W50/029 , B60W10/20 , B60W10/18 , B60W50/00 , B60W50/02
CPC分类号： B60W50/029 , B60W10/04 , B60W10/18 , B60W10/20 , B60W50/0205 , B60W50/14 , B60W2050/0215 , B60W2420/42 , B60W2420/52 , B60W2420/54 , B60W2420/62 , B60W2550/12 , B60W2550/40
摘要： A vehicle, vehicle system and method for increasing at least one of safety and comfort during autonomous driving is provided. The vehicle system includes an autonomous drive arrangement with multiple sensors, a vehicle control arrangement and a positioning system. The vehicle system is configured to determine an estimated probability that at least one sensor will become unavailable, or an estimated time/distance ahead until at least one sensor is determined to become unavailable. The vehicle system is further configured to activate at least one countermeasure based on at least one of the estimated probability, the estimated time and the estimated distance.
摘要翻译：提供了一种用于在自主驾驶期间增加安全性和舒适性中的至少一种的车辆，车辆系统和方法。车辆系统包括具有多个传感器的自主驱动装置，车辆控制装置和定位系统。车辆系统被配置为确定至少一个传感器将变得不可用的估计概率，或者在确定至少一个传感器变得不可用之前的估计时间/距离。车辆系统还被配置为基于估计概率，估计时间和估计距离中的至少一个激活至少一个对策。

56. 发明申请

US20150197225A1 METHOD AND SYSTEM FOR PROMOTING A UNIFORM DRIVING STYLE 有权
标题翻译：促进均匀驾驶风格的方法和系统
公开(公告)号：US20150197225A1
公开(公告)日：2015-07-16
申请号：US14422521
申请日：2013-08-23
申请人： Continental Teves AG & Co. oHG
发明人： Thomas Raste , Peter Lauer , Alfred Eckert
IPC分类号： B60T8/1755
CPC分类号： B60T8/17554 , B60T8/17558 , B60T2201/09 , B60T2201/16 , B60T2210/12 , B60T2210/24 , B60T2220/02 , B60W10/06 , B60W10/184 , B60W30/18136 , B60W30/18145 , B60W40/109 , B60W50/085 , B60W50/14 , B60W2420/42 , B60W2420/52 , B60W2420/62 , B60W2520/10 , B60W2520/125 , B60W2550/146 , B60W2550/148 , B60W2550/402 , B60W2720/10 , B60W2720/106 , B60W2720/125
摘要： A method and system for promoting a uniform driving style. A longitudinal speed of a motor vehicle and a route section curvature radius lying ahead of the vehicle are determined when the vehicle approaches the route section. An expected lateral acceleration is determined from the curvature radius and longitudinal speed as the route section is driven through. The lateral acceleration is compared with a permanently predefined lateral acceleration limiting value which can be predefined by the driver. In the event the expected lateral acceleration is greater than at least one of the lateral acceleration limiting values, the longitudinal speed is lowered by an optical, acoustic and/or haptic request to the driver and/or by autonomous braking intervention. If the expected lateral acceleration is smaller than or equal to the lower of the two lateral acceleration limiting values the lowering of the longitudinal speed is reduced by decreasing the engine drag torque.
摘要翻译：促进统一驾驶风格的方法和系统。当车辆接近路线部分时，确定机动车辆的纵向速度和位于车辆前方的路线部分曲率半径。当路径部分被驱动通过时，从曲率半径和纵向速度确定预期的横向加速度。将横向加速度与可由驾驶员预定义的永久定义的横向加速度限制值进行比较。在预期横向加速度大于横向加速度限制值中的至少一个的情况下，通过对驾驶员的光学，声学和/或触觉请求和/或通过自主制动干预来降低纵向速度。如果预期的横向加速度小于或等于两个横向加速度限制值的较低值，则通过减小发动机拖动转矩来减小纵向速度的降低。

57. 发明申请

US20120271483A1 METHOD AND APPARATUS FOR RECOGNIZING SHAPE OF ROAD FOR VEHICLES 有权
标题翻译：用于识别车辆道路形状的方法和装置
公开(公告)号：US20120271483A1
公开(公告)日：2012-10-25
申请号：US13424735
申请日：2012-03-20
申请人： Yoshie Samukawa , Toyohito Nozawa , Mai Sakamoto , Hiroshi Ookata
发明人： Yoshie Samukawa , Toyohito Nozawa , Mai Sakamoto , Hiroshi Ookata
IPC分类号： G06F17/00
CPC分类号： B60W40/072 , B60W10/06 , B60W10/10 , B60W10/184 , B60W30/12 , B60W30/16 , B60W50/14 , B60W2050/143 , B60W2420/62 , B60W2510/0604 , B60W2520/10 , B60W2520/14 , B60W2540/12 , B60W2540/18 , B60W2550/306
摘要： An example of recognition of the shape of a road where a vehicle travels is provided. An object type as to whether an object is a moving or stationary object is determined according to a relative speed of the object and a speed of the vehicle. Object-unit data effective for recognizing a road shape is extracted according to the determination. The object-unit data is used for forming data of a roadside object group, based on which a road edge is recognized. A series of the processes is repeatedly performed at a predetermined cycle. After the extraction process, a data addition process is performed to add object-unit data obtained in the extraction process of the previous cycle to object-unit data obtained in the extraction process of the present cycle. In a recognition process, a road edge is recognized according to the object-unit data obtained in the data addition process.
摘要翻译：提供车辆行驶的道路的形状识别的一个例子。根据物体的相对速度和车辆的速度来确定物体是移动物体还是静止物体的物体类型。根据确定提取对识别道路形状有效的对象单位数据。对象单元数据用于形成路边对象组的数据，基于该数据识别道路边缘。以预定的周期重复执行一系列处理。在提取处理之后，执行数据添加处理以将在前一周期的提取处理中获得的对象单元数据添加到在本周期的提取处理中获得的对象单元数据。在识别处理中，根据在数据添加处理中获得的对象单位数据来识别路边。

58. 发明授权

US08260001B2 Method and system for recognizing target parking location of vehicle by detecting range data 有权
标题翻译：通过检测距离数据识别车辆目标停车位置的方法和系统
公开(公告)号：US08260001B2
公开(公告)日：2012-09-04
申请号：US12288928
申请日：2008-10-24
申请人： Ho-gi Jung
发明人： Ho-gi Jung
IPC分类号： G06K9/00 , B60Q1/48
CPC分类号： G01S7/4802 , B60W30/095 , B60W50/14 , B60W2420/52 , B60W2420/62 , G01S17/42 , G01S17/936 , G01S2013/9314
摘要： Disclosed is a method and a system for recognizing a target parking location of a vehicle. The system includes a scanning laser radar for detecting range data reflected and directed from a rear surface of the vehicle; a preprocessing unit for preprocessing the range data to extract effective clusters; a corner recognition unit for extracting obstacle corners from the effective clusters; and a parking location setting unit for recognizing a main reference corner, which is closest to a subjective vehicle and has an adjacent space satisfying an available parking space condition, and a sub reference corner, which exists toward the adjacent space in a direction opposite to a vehicle width direction from the main reference corner, and corresponds to a point on a closest effective cluster within a distance between a vehicle width and a vehicle length, from the obstacle corners to set a target parking location.
摘要翻译：公开了一种用于识别车辆的目标停车位置的方法和系统。该系统包括扫描激光雷达，用于检测从车辆的后表面反射和指向的范围数据; 预处理单元，用于预处理所述范围数据以提取有效簇; 用于从有效簇中提取障碍物角的角识别单元; 以及停车位置设定单元，用于识别最接近主观车辆并且具有满足可用停车位条件的相邻空间的主参考角以及与所述主参考角相反的方向朝向相邻的空间存在的副参考角车辆宽度方向，并且对应于从车辆宽度与车辆长度之间的距离内的最近的有效集群上的点与障碍物角落设置目标停车位置。

59. 发明授权

US07211781B2 Light receiver apparatus for mobile body 失效
标题翻译：用于移动体的光接收装置
公开(公告)号：US07211781B2
公开(公告)日：2007-05-01
申请号：US11093163
申请日：2005-03-29
申请人： Yoshiaki Hoashi
发明人： Yoshiaki Hoashi
IPC分类号： H01J40/14
CPC分类号： G02B26/127 , B60W30/08 , B60W30/14 , B60W30/16 , B60W50/14 , B60W2420/62 , B60W2550/20 , B60W2550/30 , B60W2550/306 , G01S7/4861 , G01S7/497 , G01S17/936
摘要： A light receiver apparatus for a vehicle comprises a photo diode for receiving an incident light form a surrounding environment, a FET connected in series with the photo diode and a filter for extracting an a.c. signal from a received light signal developed at a junction with the photo diode when a reverse-bias voltage is applied to the photo diode. The a.c. signal is produced by removing from the received light signal a signal corresponding to a background light in the incident light. The FET varies a resistance thereof in accordance with the received light signal so that a d.c. signal in the received light signal is regulated to a fixed level irrespective of the intensity of the background light in the received light.
摘要翻译：一种用于车辆的光接收装置包括用于接收周围环境的入射光的光电二极管，与光电二极管串联连接的FET，以及用于提取直流电流的滤波器。当向光电二极管施加反向偏置电压时，来自与光电二极管的结处产生的接收光信号的信号。 a.c. 通过从接收到的光信号中除去与入射光中的背景光相对应的信号来产生信号。 FET根据接收的光信号改变其电阻，使得直流无论收到的光中的背景光的强度如何，接收光信号中的信号被调节到固定的水平。

60. 发明申请

US20180356828A1 VEHICLE CONTROL APPARATUS 审中-公开
公开(公告)号：US20180356828A1
公开(公告)日：2018-12-13
申请号：US16023735
申请日：2018-06-29
申请人： DENSO CORPORATION
发明人： Kentaro TESHIMA , Tetsuya HARA , Daisuke TAKEMORI
IPC分类号： G05D1/02 , H04L29/08 , B60Q3/20 , G08G1/00 , B60K28/06 , B60Q5/00 , B60T7/00 , B60W10/18 , B60W10/20 , B60W30/02 , B60W30/09 , B60W30/095 , B60W30/18 , B60W40/08 , B60W50/12 , B60W50/14 , F02D41/04 , F02D41/08 , F02D41/22 , G05D1/00 , G07C5/08 , G07C5/00 , G08B13/196 , G01C21/20
CPC分类号： G05D1/0214 , B60K28/06 , B60Q3/20 , B60Q5/00 , B60T7/00 , B60W10/18 , B60W10/20 , B60W30/02 , B60W30/09 , B60W30/095 , B60W30/181 , B60W30/18109 , B60W30/18127 , B60W40/08 , B60W50/12 , B60W50/14 , B60W2040/0818 , B60W2050/143 , B60W2050/146 , B60W2420/42 , B60W2420/54 , B60W2420/62 , B60W2510/20 , B60W2510/244 , B60W2520/10 , B60W2540/00 , B60W2540/10 , B60W2540/22 , B60W2540/26 , B60W2550/12 , B60W2560/02 , B60W2710/18 , B60W2710/20 , B60W2720/10 , B60Y2302/05 , F02D41/042 , F02D41/08 , F02D41/22 , G01C21/20 , G05D1/0061 , G05D1/0088 , G05D1/0248 , G05D1/0255 , G05D2201/0213 , G07C5/008 , G07C5/0808 , G07C5/085 , G08B13/19647 , G08G1/205 , H04L67/00 , H04L67/04 , H04L67/12 , H04W4/029
摘要： A vehicle control apparatus is mounted on a vehicle including an emergency stop function to detect an abnormal state of a driver and automatically stop the vehicle. The vehicle control apparatus provides control at a time of stopping the vehicle and includes process execution sections and a process stop section. The process execution sections perform predetermined emergency processes in response to the emergency stop function stopping the vehicle; the emergency processes control instruments mounted on the vehicle and use a battery of the vehicle as a driving power source. The process stop section stepwise stops at least part of the emergency processes performed by the process execution sections based on a predetermined stop sequence.

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