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1. 发明授权

EP2990290B1 Method and system for post-collision manoeuvre planning and vehicle equipped with such system 有权
公开(公告)号：EP2990290B1
公开(公告)日：2019-11-06
申请号：EP14183057.0
申请日：2014-09-01
申请人： Honda Research Institute Europe GmbH
发明人： Rebhan, Sven , Kastner, Robert
IPC分类号： B60W30/095 , B60W30/08

2. 发明公开

EP3381257A1 METHOD FOR GENERATING A REPRESENTATION OF A WORKING AREA OF AN AUTONOMOUS LAWN MOWER AND AUTONOMOUS LAWN MOWER SYSTEM 有权
公开(公告)号：EP3381257A1
公开(公告)日：2018-10-03
申请号：EP17163251.6
申请日：2017-03-28
申请人： Honda Research Institute Europe GmbH
发明人： Einecke, Nils , Rebhan, Sven , Franzius, Mathias , Deigmöller, Jörg Klaus , MURO, Keiji
IPC分类号： A01D34/00
CPC分类号： G05D1/0274 , A01D34/008 , A01D2101/00 , G05D1/0088 , G05D1/0219 , G05D1/0257 , G05D2201/0208
摘要： The invention regards a method for generating a representation of a working area of an autonomous lawn mower and a system including an autonomous lawn mower with at least one movement sensor, a base station and a boundary wire forming a closed loop and being connected with the base station. The autonomous lawn mower and the base station are capable to interact with each other such that the autonomous lawn mower can determine whether it is in its home position. The home position is a predetermined position that is always taken when the mower returns to the base station, for example for charging or pausing. The autonomous lawn mower further comprises a memory, for storing measured values from its at least one movement sensor. In its processor, a trajectory is generated based on the measured values, wherein the processor is further configured to calculate a total error between the position and orientation according to the calculated trajectory and the home position after reaching the home position again. This total position error and total orientation error is then used to correct the position and corresponding orientations of the calculated trajectory.

3. 发明公开

EP3091509A1 METHOD FOR IMPROVING PERFORMANCE OF A METHOD FOR COMPUTATIONALLY PREDICTING A FUTURE STATE OF A TARGET OBJECT, DRIVER ASSISTANCE SYSTEM, VEHICLE INCLUDING SUCH DRIVER ASSISTANCE SYSTEM AND RESPECTIVE PROGRAM STORAGE MEDIUM AND PROGRAM 无效
标题翻译：一种提高未来地位的目标点，驾驶辅助系统，车辆的回收名义预测的性能有了这样的驾驶员辅助系统和相关的程序存储介质和程序
公开(公告)号：EP3091509A1
公开(公告)日：2016-11-09
申请号：EP16168017.8
申请日：2016-05-03
申请人： Honda Research Institute Europe GmbH
发明人： Schmüdderich, Jens , Rebhan, Sven
IPC分类号： G06T7/20
CPC分类号： B60W30/0956 , B60W30/14 , B60W50/0097 , B60W2550/10 , B60W2550/30 , G06K9/00771 , G06K9/00805 , G06K9/3241 , G06N5/02
摘要： The invention regards a method for improving performance of a method for computationally predicting a future state of a target object, a driver assistance system and a vehicle with such driver assistance system. First data (10) describing a traffic environment including a target object (4) is acquired. On the basis of the acquired data at least one prediction step (2) for estimating a future state of an object in the traffic environment is performed and a signal (15) indicative of a prediction result describing an estimated future state of the target object (4) and/or an ego vehicle (19) is generated. An actual state of the target object and/or the ego vehicle is observed and quality of the prediction by comparing the observed actual state and the prediction result (20) is estimated. Finally the prediction result and/or parameters of the prediction algorithm (14) is adapted.
摘要翻译：本发明关于一种用于改进的方法的性能计算预测的目标对象，驾驶员辅助系统，并用求驾驶员辅助系统的车辆的未来状态。首先数据（10）描述一个交通环境包括目标对象（4- ）被获取。所获取的数据的用于在交通环境估计（一个对象的未来状态的基础的至少一个预测步骤（2）被执行并且描述的估计的未来的目标对象的状态的信号（15）指示的预测结果的 4）和/或到车辆自我（19）被产生。目标物体和/或自身车辆的实际状态进行观察，通过比较实际状态观察和预测结果（20）的预测的质量进行估计。最后预测结果和/或预测算法（14）的参数是angepasst。

4. 发明公开

EP2840007A1 Consistent behaviour generation of a predictive advanced driver assistant system 有权
标题翻译： Konsistente Verhaltenserzeugung eines erweiterten vorhersagbaren Fahrerhilfssystems
公开(公告)号：EP2840007A1
公开(公告)日：2015-02-25
申请号：EP13181312.3
申请日：2013-08-22
申请人： Honda Research Institute Europe GmbH
发明人： Rebhan, Sven
IPC分类号： B60W50/00 , B60W30/095 , B60W50/06 , B60T7/12
CPC分类号： B60W50/0097 , B60T7/12 , B60T7/22 , B60T2201/024 , B60W30/095 , B60W30/143 , B60W50/06 , B60W2050/0056 , B60W2550/302 , B60W2550/308
摘要： The invention relates to a driver assistance system and method for a vehicle (2), the vehicle comprising at least one sensor means (9), at least one actuating means (32) and a control means (10). The method comprises the steps of
- generating a decision signal (14) by a first evaluation of sensor data (38) acquired by the sensor means (9);
- generating an activation signal (23) for the actuating means (32) when the decision signal (14) exceeds a signal threshold (15);
- stabilizing the activation signal (23) in a temporal manner;
- generating a interrupt decision signal (28) based on a second evaluation;
- deciding based on the decision interrupt signal (28) if to interrupt stabilizing the activation signal (23); and
- interrupting stabilizing the activation signal (23), when it is decided to interrupt stabilizing the activation signal, thus creating a reliable stabilized activation signal (27).
摘要翻译：本发明涉及一种用于车辆（2）的驾驶员辅助系统和方法，所述车辆包括至少一个传感器装置（9），至少一个致动装置（32）和控制装置（10）。该方法包括以下步骤：通过传感器装置（9）获取的传感器数据（38）的第一次评估来产生判定信号（14）。 - 当所述判决信号（14）超过信号阈值（15）时，产生用于所述致动装置（32）的激活信号（23）。 - 以时间方式稳定所述激活信号（23）; - 基于第二评估产生中断判定信号（28）; - 如果中断稳定所述激活信号（23），则基于所述决定中断信号（28）进行判定; 以及当决定中断稳定激活信号时，中断稳定激活信号（23），从而产生可靠稳定的激活信号（27）。

5. 发明公开

EP3683643A1 SYSTEM COMPRISING AN AUTONOMOUS MOBILE DEVICE AND A BASE STATION COMMUNICATING VIA A BOUNDARY WIRE 有权
公开(公告)号：EP3683643A1
公开(公告)日：2020-07-22
申请号：EP19151832.3
申请日：2019-01-15
申请人： Honda Research Institute Europe GmbH
发明人： Einecke, Nils , Rebhan, Sven
IPC分类号： G05D1/02 , A01D34/00 , G08C17/02
摘要： A system comprising an autonomous mobile device (3) and a base station (2) connected to a boundary wire (14) is configured to transmit information from the base station to the autonomous mobile device (3). The base station (2) is configured to generate a radio signal to be emitted by the boundary wire (14), wherein the autonomous mobile device (14) is configured to autonomously drive within a working area based on the signal emitted by the boundary wire (14). The base station (2) on the other hand is configured to encode data and/or commands into the radio signal which is then emitted by the boundary wire (14). The autonomous mobile device (3) receive the emitted radio signal and is configured to decode the encoded data and/or commands in order to retrieve the original information.

6. 发明授权

EP2826687B1 Technique for lane assignment in a vehicle 有权
公开(公告)号：EP2826687B1
公开(公告)日：2019-03-06
申请号：EP13176640.4
申请日：2013-07-16
申请人： Honda Research Institute Europe GmbH
发明人： Rebhan, Sven , Einecke, Nils
IPC分类号： B60W40/04 , G01S13/93

7. 发明授权

EP2845779B1 Driving assistance technique for active vehicle control 有权
公开(公告)号：EP2845779B1
公开(公告)日：2018-08-01
申请号：EP13183492.1
申请日：2013-09-09
申请人： Honda Research Institute Europe GmbH
发明人： Rebhan, Sven , Dr. Schmüdderich, Jens , Kleinehagenbrock, Marcus , Kastner, Robert , Mori, Naoki , Kusuhara, Shunsuke , Kamiya, Hiroyuki
IPC分类号： B60W30/095 , B60W40/04
CPC分类号： B62D6/00 , B60W10/184 , B60W10/20 , B60W30/0956 , B60W30/12 , B60W30/16 , B60W30/18163 , B60W40/04 , B60W2710/207 , B60W2720/10 , B60W2720/106
摘要： The invention relates to a driving assistant (116) adapted for active control of a vehicle (102) based on predictions of a behavior of a detected object (104). A method aspect of the invention comprises accepting a first prediction of a behavior associated with the detected object (104) from a first prediction subsystem and a second prediction from a second prediction subsystem; determining a control signal based on a combination of the first prediction and the second prediction; and initiating active control of the vehicle (102) based on the control signal.

8. 发明公开

EP2826687A1 Technique for lane assignment in a vehicle 有权
标题翻译： TechnefürFahrspurzuweisung in einem Fahrzeug
公开(公告)号：EP2826687A1
公开(公告)日：2015-01-21
申请号：EP13176640.4
申请日：2013-07-16
申请人： Honda Research Institute Europe GmbH
发明人： Rebhan, Sven , Einecke, Nils
IPC分类号： B60W40/04 , G01S13/93
CPC分类号： G01C21/34 , B60W40/04 , B60W2420/52 , B60W2530/14 , B60W2550/306 , B60W2550/408 , G01S13/72 , G01S13/931 , G01S2013/936 , G08G1/017 , G08G1/20
摘要： A technique for assigning lanes (104, 106) on a road (102) to objects (120, 122, 124) moving in a vicinity of a vehicle (110) on the road (102) is proposed. A method embodiment of the invention comprises the steps of providing trajectories, wherein the or each trajectory represents a time sequence of positions of a moving object (120, 122, 124); selecting first and second objects and determining a distance between a current position of the first object and the trajectory of the second object; comparing the distance with a predefined threshold; and providing, based on a result of the comparison, a lane assignment indicating a lane to which the second object is assigned.
摘要翻译：提出了一种用于在道路（102）上将车道（104,106）分配到在道路（102）上的车辆（110）附近移动的物体（120,122,124）的技术。本发明的方法实施例包括提供轨迹的步骤，其中所述轨迹或每个轨迹表示运动物体（120,122,124）的位置的时间序列; 选择第一和第二对象并确定第一对象的当前位置与第二对象的轨迹之间的距离; 将距离与预定义的阈值进行比较; 并且基于比较的结果，提供指示第二对象被分配到的车道的车道分配。

9. 发明授权

EP2562060B1 A method and system for predicting movement behavior of a target traffic object 有权
标题翻译：方法和系统预测目标物体运输的运动行为
公开(公告)号：EP2562060B1
公开(公告)日：2014-10-01
申请号：EP11178252.0
申请日：2011-08-22
申请人： Honda Research Institute Europe GmbH
发明人： Schmüdderich, Dr. Jens , Rebhan, Sven
IPC分类号： B60W30/095 , G06K9/46 , B60W30/16 , B60W50/00
CPC分类号： B60W30/0956 , B60W30/16 , B60W50/0097 , G06K9/00798 , G06K9/00805 , G06K9/6293 , Y02T10/84

10. 发明公开

EP2562060A1 A method and system for predicting movement behavior of a target traffic object 有权
标题翻译： Verfahren und System zur Vorhersage des Bewegungsverhaltens eines Zielverkehrsobjekts
公开(公告)号：EP2562060A1
公开(公告)日：2013-02-27
申请号：EP11178252.0
申请日：2011-08-22
申请人： Honda Research Institute Europe GmbH
发明人： Schmüdderich, Dr. Jens , Rebhan, Sven
IPC分类号： B60W30/095 , G06K9/46 , B60W30/16 , B60W50/00
CPC分类号： B60W30/0956 , B60W30/16 , B60W50/0097 , G06K9/00798 , G06K9/00805 , G06K9/6293 , Y02T10/84
摘要： The invention proposes a method for computationally predicting future movement behaviors of at least one target object, such as e.g. vehicle, comprising the steps of:
- Producing sensor data by at least one sensor physically sensing the environment of a host vehicle,
- computing a plurality of movement behavior alternatives of a target object sensed by the sensor(s), by predicting movement behaviors of the traffic target vehicle applying a context based prediction step using indirect indicators and/or indicator combinations derived from said sensor data,
wherein said context based prediction step uses a set of classifiers, each classifier estimating a probability that said sensed target object will execute a movement behavior at a time, wherein the probability is calculated based on a feature vector calculated for each classifier,
- validating the movement behavior alternatives by a physical prediction comparing measured points with trajectories of situation models and determining at least one trajectory indicating at least one possible behavior of the traffic participant, wherein the at least one movement behavior is a sub-set of the possible movement behavior alternatives, and
- estimating at least one future position of the traffic participant based on the at least one trajectory,
- outputting a signal representing the estimate future position.
摘要翻译：本发明提出了一种用于计算地预测至少一个目标对象的未来移动行为的方法，例如，车辆，其包括以下步骤： - 通过物理地感测主车辆的环境的至少一个传感器产生传感器数据， - 通过预测由所述传感器感测的目标对象的多个运动行为替代物，通过预测所述传感器的运动行为所述交通目标车辆使用从所述传感器数据导出的间接指示符和/或指示符组合应用基于上下文的预测步骤，其中所述基于上下文的预测步骤使用一组分类器，每个分类器估计所述感测到的目标对象将执行移动的概率其中所述概率是基于为每个分类器计算的特征向量来计算的， - 通过将测量点与情境模型的轨迹进行比较的物理预测验证所述运动行为替代，并且确定至少一个指示至少一个可能行为的轨迹的交通参与者，其中所述至少一个移动行为是可能的运动行为替代方案的子集，以及 - 基于所述至少一个轨迹来估计所述交通参与者的至少一个未来位置， - 输出表示所述估计未来位置的信号。

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