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1. 发明授权

US07230640B2 Three-dimensional perception of environment 有权
标题翻译：环境三维感知
公开(公告)号：US07230640B2
公开(公告)日：2007-06-12
申请号：US10106599
申请日：2002-03-26
申请人： Uwe Regensburger , Alexander Schanz , Thomas Stahs
发明人： Uwe Regensburger , Alexander Schanz , Thomas Stahs
IPC分类号： H04N7/18
CPC分类号： G01S17/936 , B60T2201/10 , G01S13/931 , G01S17/89 , G01S2013/9314 , G01S2013/9367 , G01S2013/9375 , G01S2013/9378 , G01S2013/9385 , G01S2013/9396 , G06K9/00812
摘要： A vehicle-useful, high-resolution 3D-detection of the environment of a street vehicle with environment scanning sensors is not possible today. Depending on application the first commercially available vehicle integrated systems may be a comprise between resolution of the sensors and size of the sampled area. With the inventive two dimensional distance resolution sensor device it becomes possible, in contrast to those which are known, to produce a system which, installed in a street vehicle, detects and preferably processes complex dynamics scenarios such for example street traffic, from the prospective of the active dynamic moving vehicle. Therein a three dimensional image of the environment is produced using a distance sensor, which produces a two dimensional distance profile (depth profile), and on the other hand, using a data processing and a storage unit, which process and store sequential distance profiles and sequence a series of distance profiles into the three dimensional image of the environment.
摘要翻译：目前，无法通过环境扫描传感器对车辆环境进行车辆有效的高分辨率3D检测。根据应用，第一市售车辆集成系统可以包括传感器的分辨率和采样区域的大小之间。利用本发明的二维距离分辨率传感器装置，与已知的二维距离分辨率传感器装置相比，可以产生一种安装在街道车辆中的系统，从系统的前景来检测并优选地处理诸如街道交通的复杂动态场景主动动态车辆。其中使用距离传感器产生环境的三维图像，其产生二维距离轮廓（深度轮廓），另一方面，使用数据处理和存储单元，其处理和存储顺序距离轮廓，以及将一系列距离轮廓序列化为环境的三维图像。

2. 发明授权

US08896433B2 Driver assistance system and method for supporting the driver of a vehicle in maintaining a traffic lane limited by traffic lane markings 有权
标题翻译：驾驶员辅助系统和方法，用于支持车辆驾驶员维护由行车道标记限制的行车道
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。

3. 发明授权

US06388565B1 Guidance system for assisting lane change of a motor vehicle 有权
标题翻译：协助车辆换车的指导系统
公开(公告)号：US06388565B1
公开(公告)日：2002-05-14
申请号：US09567058
申请日：2000-05-08
申请人： Werner Bernhard , Uwe Regensburger , Carsten Knoeppel , Gerhard Noecker
发明人： Werner Bernhard , Uwe Regensburger , Carsten Knoeppel , Gerhard Noecker
IPC分类号： B60Q100
CPC分类号： B62D15/029 , B60Q9/008 , B60T2201/08 , B60T2201/082 , G01S19/14
摘要： A vehicle guidance system for assisting a driving lane change includes an object detection unit for detecting objects in a laterally adjacent rearward side space area of the vehicle. An analysis unit receives signals from the object detection unit and determines whether an object is situated in a dead angle section (blind spot) of the monitored rearward side space, or whether any such object in a section of the monitored rearward side space which is rearward beyond a dead angle section is moving forward at a higher speed than the system vehicle. If so, and if, in addition, it detects at the same time a lane change request pertaining to the corresponding side area, it activates a warning indicating unit for emitting a warning signal. According to the invention, a position detection device is provided which determines path data of the obstacle vehicle and the road geometry data, as well as the position of the system vehicle on the road. When the object detection unit detects an obstacle vehicle which is following in the rearward side space, corresponding to the covered distance recorded by the position detection device and the road geometry, a position assignment of the vehicle which is following is determined relative to the road.
摘要翻译：用于辅助驾驶车道改变的车辆引导系统包括用于检测车辆的横向相邻后方空间区域中的物体的物体检测单元。分析单元接收来自物体检测单元的信号，并且确定物体是否位于被监测的后侧空间的死角区域（盲点）中，或者是否在被监测的向后空间的一部分中的任何这样的物体超过死角部分以比系统车辆更高的速度向前移动。如果是这样，并且如果同时检测到与相应的侧面区域相关的车道改变请求，则它激活用于发出警告信号的警告指示单元。根据本发明，提供一种位置检测装置，其确定障碍物车辆的路径数据和道路几何数据以及系统车辆在道路上的位置。当物体检测单元检测到与由位置检测装置记录的覆盖距离和道路几何形状相对应的后方空间中跟随的障碍物车辆时，相对于道路确定跟随的车辆的位置分配。

4. 发明申请

US20110234390A1 Driver Assistance System and Method for Supporting the Driver of a Vehicle in Maintaining a Traffic Lane Limited by Traffic Lane Markings 有权
标题翻译：驾驶员辅助系统和方法，用于支持车辆驾驶员维护交通巷道行车道标记
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。

5. 发明授权

US07586402B2 Process and device for avoiding collision while opening vehicle doors 失效
标题翻译：在打开车门时避免碰撞的过程和装置
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。

6. 发明授权

US06564123B2 Process and device for moving a motor vehicle into a target position 有权
标题翻译：将机动车辆移动到目标位置的过程和装置
公开(公告)号：US06564123B2
公开(公告)日：2003-05-13
申请号：US10117331
申请日：2002-04-08
申请人： Stefan Hahn , Uwe Regensburger , Erwin Schmid
发明人： Stefan Hahn , Uwe Regensburger , Erwin Schmid
IPC分类号： G05D100
CPC分类号： B62D15/0285 , B60T2201/10
摘要： A process for moving a motor vehicle into a target position includes placing the motor vehicle in a starting position near the target position; following a first driver-side activation, scanning the environment of the motor vehicle continuously at least for detection of the target position, and determining continuously the current motor vehicle position; determining control data for moving the motor vehicle into the target position with the aid of the determined environment and position information; and after a second driver-side activation, delivering control data-dependent control commands to at least one of a drive train, a brake system and a steering system of the motor vehicle, thus driving the motor vehicle driver-independently into the target position.
摘要翻译：将机动车辆移动到目标位置的处理包括将机动车辆置于接近目标位置的起始位置; 在第一驱动器侧激活之后，至少连续检测机动车辆的环境以检测目标位置，并连续地确定当前的机动车位置; 确定用于借助于确定的环境和位置信息将机动车辆移动到目标位置的控制数据; 并且在第二驱动器侧激活之后，向机动车辆的传动系，制动系统和转向系统中的至少一个传递与控制数据相关的控制命令，从而将机动车辆驾驶员独立地驱动到目标位置。

7. 发明申请

US20070188312A1 Process and device for avoiding collision while opening vehicle doors 失效
标题翻译：在打开车门时避免碰撞的过程和装置
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。

8. 发明申请

US20070083309A1 Method for controlling the longitudinal movement of a motor vehicle 审中-公开
标题翻译：用于控制机动车辆纵向运动的方法
公开(公告)号：US20070083309A1
公开(公告)日：2007-04-12
申请号：US10578513
申请日：2004-09-11
申请人： Bernd Danner , Ingo Dudeck , Helmut Eisele , Wolfgang Lauer , Uwe Regensburger
发明人： Bernd Danner , Ingo Dudeck , Helmut Eisele , Wolfgang Lauer , Uwe Regensburger
IPC分类号： B62D6/00
CPC分类号： B60W30/16 , B60K31/0008
摘要： In a method for controlling the longitudinal movement of a vehicle (3), in particular by means of a longitudinal movement control system, wherein, for vehicle speeds above a threshold speed, the vehicle speed is adjusted to a higher selected set speed if no vehicle (8) traveling in front is detected, and if a vehicle (8) traveling in front is detected the distance from this vehicle (8) traveling in front is adjusted, below the threshold speed the longitudinal movement of the vehicle (3) is controlled only if a vehicle (8) traveling in front is detected. As a result, an inter-vehicle distance control system can be implemented over a relatively large speed range.
摘要翻译：在用于控制车辆（3）的纵向运动的方法中，特别是通过纵向移动控制系统，其中，对于车速超过阈值速度，如果没有车辆，车速被调整到更高的选定设定速度检测到前方行驶的车辆（8），并且如果检测到在前方行驶的车辆（8），则从前方行驶的车辆（8）的距离被调节到低于阈值速度，车辆（3）的纵向移动被控制只有在前方行驶的车辆（8）被检测到的情况下。结果，可以在相对较大的速度范围内实现车间距离控制系统。

9. 发明授权

US07046822B1 Method of detecting objects within a wide range of a road vehicle 有权
标题翻译：在道路车辆的宽范围内检测物体的方法
公开(公告)号：US07046822B1
公开(公告)日：2006-05-16
申请号：US10009596
申请日：2000-06-09
申请人： Carsten Knoeppel , Uwe Regensburger
发明人： Carsten Knoeppel , Uwe Regensburger
IPC分类号： G06K9/00
CPC分类号： B60W30/16 , G01S11/12 , G06K9/00805 , G06K9/3241 , G06K2209/23 , G06T7/11 , G06T7/174 , G06T2207/10012 , G06T2207/30236 , G08G1/165 , G08G1/166 , G08G1/167 , H04N13/10 , H04N13/307 , H04N2013/0081 , H04N2013/0092
摘要： The invention relates to a method of detecting objects within a wide range of a road vehicle. According to said method, the distance between a moving or stationary vehicle and one or more objects is calculated by distance-based image segmentation using stereoscopic image processing techniques and the properties of the detected objects are determined by object recognition in the segmented image areas. Image areas of three-dimensional and/or flat objects are detected and said three-dimensional and/or flat objects are detected by clustering 3D pixels according to defined criteria. Three-dimensional objects are determined by features with similar distance values and flat objects by features with similar height values.
摘要翻译：本发明涉及一种在道路车辆的广泛范围内检测物体的方法。根据所述方法，通过使用立体图像处理技术的基于距离的图像分割来计算移动车辆或固定车辆与一个或多个物体之间的距离，并且通过在分割图像区域中的物体识别来确定检测到的物体的属性。检测三维和/或平面物体的图像区域，并且根据定义的标准通过聚类3D像素来检测所述三维和/或平面物体。三维物体由具有相似距离值的特征和具有相似高度值的特征的平坦物体确定。

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