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1. 发明授权

EP3176013B1 PREDICTIVE SUSPENSION CONTROL FOR A VEHICLE USING A STEREO CAMERA SENSOR 有权
公开(公告)号：EP3176013B1
公开(公告)日：2019-07-17
申请号：EP15201963.4
申请日：2015-12-22
申请人： Honda Research Institute Europe GmbH
发明人： Deigmöller, Jörg , Janssen, Herbert , Einecke, Nils , Fuchs, Oliver
IPC分类号： G06K9/00 , H04N13/204 , B60G17/0165 , B60G17/019 , B62J99/00 , B62K25/04

2. 发明公开

EP2363251A1 Robot with Behavioral Sequences on the basis of learned Petri Net Representations 审中-公开
标题翻译： Petri-Netz-Darstellungen机器人技术研究所
公开(公告)号：EP2363251A1
公开(公告)日：2011-09-07
申请号：EP10155045.7
申请日：2010-03-01
申请人： Honda Research Institute Europe GmbH
发明人： Janssen, Herbert , Moringen, Jan , Wachsmuth, Sven
IPC分类号： B25J9/16
CPC分类号： B25J9/1671 , G05B2219/36442 , G05B2219/40116
摘要： This invention relates to a computer system, a robot system, and a driver assistance system that is required to interact with its environment in order to recognize and anticipate tasks or to provide support or assistance or initiate actions. The invention also relates to a software program product for such a system. In general the invention can be used for purposes such as (intention) recognition, prediction or action generation (imitation/cooperation) which is applied in the above mentioned areas as well as computer games or agents therefore.
摘要翻译：本发明涉及计算机系统，机器人系统和驾驶员辅助系统，其需要与其环境交互以便识别和预测任务或提供支持或协助或启动动作。本发明还涉及一种用于这种系统的软件程序产品。通常，本发明可以用于上述领域中应用的（意图）识别，预测或动作产生（模仿/合作），因此也可以用于计算机游戏或代理。

3. 发明公开

EP2014425A1 Method and device for controlling a robot 有权
标题翻译： Verfahren und Vorrichtung zur Steuerung eines Roboters
公开(公告)号：EP2014425A1
公开(公告)日：2009-01-14
申请号：EP07112444.0
申请日：2007-07-13
申请人： Honda Research Institute Europe GmbH
发明人： Goerick, Christian , Bolder, Bram , Janssen, Herbert , Kirstein, Stephan , Wersing, Heiko , Gienger, Michael , Sugiura, Hisashi , Mikhailova, Inna , Rodemann, Tobias
IPC分类号： B25J9/16
CPC分类号： B25J9/161
摘要： A robot controller comprises a multitude of simultaneously working robot controller units, wherein each unit (U n ) comprises means for receiving an input signal, means for receiving top-down information (T n ), means for executing an internal process or dynamics (D n ), means for storing at least one representation (R n ), means for sending top-down information (T n ), means for issuing motor commands (M n ), wherein each motor command has a priority (P n ) and wherein the robot controller further comprises means for selecting one or several motor commands (M n ) issued by one or several units, based on their priority (P n ). According to the invention, each unit is enabled to read representations (R m ) stored in other units (U m ).
摘要翻译：机器人控制器包括多个同时工作的机器人控制器单元，其中每个单元（U n）包括用于接收输入信号的装置，用于接收自顶向下信息（T n）的装置，用于执行内部过程或动态（D n），用于存储至少一个表示（R n）的装置，用于发送自上而下信息的装置（T n），用于发出电动机命令的装置（M n），其中每个电动机命令具有优先级（P n），并且其中机器人控制器还包括用于基于它们的优先级（P n）来选择由一个或多个单元发出的一个或多个电动机命令（M n）的装置。根据本发明，每个单元能够读取以其他单元（U m）存储的表示（R m）。

4. 发明公开

EP1972415A1 Robots with collision avoidance functionality 有权
标题翻译： Roboter mit Kollisionsvermeidungsfunktion
公开(公告)号：EP1972415A1
公开(公告)日：2008-09-24
申请号：EP07104815.1
申请日：2007-03-23
申请人： Honda Research Institute Europe GmbH
发明人： Sugiura, Hisashi , Janssen, Herbert , Gienger, Michael
IPC分类号： B25J9/16
CPC分类号： B25J9/1666 , G05B2219/39082 , G05B2219/39088 , G05B2219/39096 , G05B2219/40477 , G05B2219/40492
摘要： A robot is provided with a motion control unit. The motion control unit of the robot comprises
- a distance computing module calculating the two closest points of different segments of the robot connected to each other via at least one joint, or a segment of the robot and another object, and outputting
- a whole body control module,
- a collision avoidance module supplied with an output signal from the distance computing module,
- a blending control unit for combining the weighted output control signals of the whole body control module and the collision avoidance control module,

wherein the weight of the whole body control output signal is the higher the lower a calculated collision risk, and
wherein the weight of the collision avoidance control output signal is the higher the higher the calculated collision risk.
The collision avoidance module is designed for
- calculating the two closest points of different segments of the robot connected to each other via at least one joint, or a segment of the robot and another object, and
- controlling a collision avoidance action only in the dimension along the connection line between the closest points.
摘要翻译：机器人设有运动控制单元。机器人的运动控制单元包括 - 距离计算模块，其经由至少一个关节或机器人的另一个物体的一个或多个部分计算彼此连接的机器人的不同段的两个最近点，并输出 - 全身控制模块， - 提供有距离计算模块的输出信号的防撞模块， - 混合控制单元，用于组合全身控制模块的加权输出控制信号和避碰控制模块，其中整体的重量身体控制输出信号越高，计算碰撞风险越低，并且其中碰撞避免控制输出信号的权重越高，计算的碰撞风险越高。防撞模块设计用于 - 通过至少一个关节或机器人和另一个物体的一个部分计算彼此连接的机器人不同段的两个最近点，以及 - 仅在维度中控制碰撞回避动作沿着最近点之间的连接线。

5. 发明公开

EP3882114A1 SYSTEM FOR ESTIMATING RIDING POSTURE 有权
公开(公告)号：EP3882114A1
公开(公告)日：2021-09-22
申请号：EP20164241.0
申请日：2020-03-19
申请人： Honda Research Institute Europe GmbH
发明人： Janssen, Herbert , Hofmann, Marius , Winner, Hermann
IPC分类号： B62J45/416 , B62J99/00 , G06K9/00
摘要： The present invention relates to a system for determining a posture of an operator of a device that transmits vibrations to the operator, wherein the system comprises at least one vibration sensor (2, 12, 13) for measuring vibrations at at least one location on the body of the operator and/or the vehicle, and a posture determining means (4) for detecting one or more characteristics of the measured vibrations assigned to a predetermined posture and for determining the predetermined posture as the posture of the operator when the characteristic is detected.

6. 发明公开

EP3219567A1 METHOD, SYSTEM AND VEHICLE FOR ANALYZING A RIDER PERFORMANCE 审中-公开
标题翻译：用于分析车辆性能的方法，系统和车辆
公开(公告)号：EP3219567A1
公开(公告)日：2017-09-20
申请号：EP16180118.8
申请日：2016-07-19
申请人： Honda Research Institute Europe GmbH
发明人： Heckmann, Martin , Winner, Hermann , Janssen, Herbert , Magiera, Nils
IPC分类号： B60W40/09
CPC分类号： B60W40/10 , B60W30/02 , B60W30/18 , B60W30/18145 , B60W40/09 , B60W50/14 , B60W2050/146 , B60W2300/36 , B60W2420/52 , B60W2520/00 , B60W2520/10 , B60W2520/14 , B60W2520/18 , B60W2540/30 , B60W2550/14 , B60W2550/20 , B60W2550/402 , B60W2600/00 , B60W2750/40 , B62K2207/02 , G07C5/0808 , G07C5/085
摘要： The invention regards a method, a system and a vehicle for analyzing a rider performance. The vehicle is any vehicle that employs a roll angle change for changing its driving direction. Firstly, physical motion parameters of the vehicle in motion are sensed and the measured data is supplied to computing unit. In the computing unit, segments in a time series of measured data are determined by processing the measured data in the computing unit. Each segment corresponds to a rider control behavior and the plurality of such consecutive rider control behavior build a riding maneuver. In the computing unit, the measured data within one segment for at least one of the segments is analyzed by computing at least one characteristic value for the respective segment and/or the sequence of determined segments is analyzed. Finally, an analysis result indicating the rider performance or rider skills is output.
摘要翻译：本发明涉及用于分析骑手表现的方法，系统和车辆。车辆是采用侧倾角改变来改变其行驶方向的任何车辆。首先，感测运动中的车辆的物理运动参数并将测量的数据提供给计算单元。在计算单元中，通过处理计算单元中的测量数据来确定测量数据的时间序列中的分段。每个片段对应于骑手控制行为并且多个这样的连续骑手控制行为构建骑乘操纵。在计算单元中，通过计算相应段的至少一个特征值和/或分析确定的段的序列来分析至少一个段的一个段内的测量数据。最后，输出指示骑手表现或骑手技能的分析结果。

7. 发明公开

EP3176013A1 PREDICTIVE SUSPENSION CONTROL FOR A VEHICLE USING A STEREO CAMERA SENSOR 有权
标题翻译：一种车载摄像机传感器的预测悬架控制
公开(公告)号：EP3176013A1
公开(公告)日：2017-06-07
申请号：EP15201963.4
申请日：2015-12-22
申请人： Honda Research Institute Europe GmbH
发明人： Deigmöller, Jörg Dr. , Janssen, Herbert , Einecke, Nils Dr. , Fuchs, Oliver
IPC分类号： B60G17/0165 , B60G17/019 , B62D15/02 , B62K25/04 , B62J99/00
CPC分类号： B60G17/0165 , B60G17/019 , B60G17/01908 , B60G2300/12 , B60G2400/20 , B60G2400/82 , B60G2400/821 , B60G2401/14 , B60G2401/28 , B60G2500/00 , B62J2099/002 , B62K2025/044 , B62K2207/02 , G06K9/00805 , H04N13/204
摘要： The invention addresses the area of predictive suspension control system for a vehicle, particularly a two-wheel vehicle such as a motor cycle or a scooter. The system for adapting a suspension includes a stereo sensor unit which for generating image data, a computing unit which extracts a relevant image portion from the image data based on future vehicle path data, and calculates road unevenness on a future vehicle path of the vehicle based on the generated image data. A suspension control unit generates an adaptation signal for adapting the suspension based on the calculated road unevenness. The computing unit adapts a search direction of a stereo algorithm or a correlation area of the stereo algorithm based on a lean angle of the vehicle to generate the three-dimensional partial image data from the relevant image portion, and fits a road model to the three-dimensional partial image data to calculate the road unevenness.
摘要翻译：本发明针对车辆，特别是诸如摩托车或小型摩托车的两轮车辆的预测悬架控制系统的区域。用于适配悬架的系统包括用于生成图像数据的立体传感器单元，基于未来车辆路径数据从图像数据中提取相关图像部分并基于车辆的未来车辆路径计算道路不平度的计算单元在生成的图像数据上。悬架控制单元基于计算出的道路不平度生成用于适配悬架的自适应信号。计算单元基于车辆的倾斜角来调整立体算法的搜索方向或立体算法的相关区域以从相关图像部分生成三维部分图像数据，并且将道路模型拟合至三个三维局部图像数据来计算道路不平坦度。

8. 发明授权

EP1972415B1 Robots with collision avoidance functionality 有权
公开(公告)号：EP1972415B1
公开(公告)日：2019-01-02
申请号：EP07104815.1
申请日：2007-03-23
申请人： Honda Research Institute Europe GmbH
发明人： Sugiura, Hisashi , Janssen, Herbert , Gienger, Michael
IPC分类号： B25J9/16

9. 发明授权

EP2014425B1 Method and device for controlling a robot 有权
标题翻译：用于控制机器人的方法和装置
公开(公告)号：EP2014425B1
公开(公告)日：2013-02-20
申请号：EP07112444.0
申请日：2007-07-13
申请人： Honda Research Institute Europe GmbH
发明人： Goerick, Christian , Bolder, Bram , Janssen, Herbert , Kirstein, Stephan , Wersing, Heiko , Gienger, Michael , Sugiura, Hisashi , Mikhailova, Inna , Rodemann, Tobias
IPC分类号： B25J9/16
CPC分类号： B25J9/161

10. 发明公开

EP2110777A1 Method and device for controlling an interactive robot 审中-公开
标题翻译： Verfahren und Vorrichtung zur Steuerung eines interaktiven Roboters
公开(公告)号：EP2110777A1
公开(公告)日：2009-10-21
申请号：EP08007314.1
申请日：2008-04-14
申请人： Honda Research Institute Europe GmbH
发明人： Mikhailova, Inna , Goerick, Christian , Bolder, Bram , Janssen, Herbert
IPC分类号： G06N3/04 , G06N3/00
CPC分类号： G06N3/008 , G06N3/0445
摘要： A device for controlling an interactive robot, wherein the robot comprises at least one controller mapping sensory inputs to motor commands, comprises:
- means for generating an expectation of the robot's own state and/or the robot's environment;
- means for sensing the robot's actual state and/or environment;
- means for comparing the actual state and/or environment with the generated expectation;
- means for modulating the controller's behaviour, if the robot's actual state and/or environment differ/differs from the expectation; and
- means for operating the controller without modulation otherwise.
摘要翻译：一种用于控制交互式机器人的装置，其中所述机器人包括至少一个将感测输入映射到电动机命令的控制器，所述至少一个控制器包括： - 用于产生机器人自身状态和/或机器人环境的期望的装置; - 用于感测机器人的实际状态和/或环境的手段; - 将实际状态和/或环境与产生的期望进行比较的手段; - 如果机器人的实际状态和/或环境与预期不同/不同，则调节控制器行为的方法; 以及 - 用于操作所述控制器的装置，否则不进行调制。

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