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11. 发明申请

US20100014714A1 Camera-based lane marker detection 失效
标题翻译：基于相机的车道标记检测
公开(公告)号：US20100014714A1
公开(公告)日：2010-01-21
申请号：US12175631
申请日：2008-07-18
申请人： Wende Zhang , Varsha Sadekar
发明人： Wende Zhang , Varsha Sadekar
IPC分类号： G06K9/78 , G06K9/00 , G05D1/02 , G06F17/00 , G06K9/46
CPC分类号： G06K9/00798
摘要： A method is provided for detecting road lane markers in a vehicle road using an imaging device. Road input data is captured using the imaging device. Lighting normalization is applied to the road input data. The method detects the road lane markers in a few main orientations in the normalized input data. In each main orientation, the normalized input data is convolved with an oriented edge detection filter for generating an oriented edge-based filter response. The normalized input data is convolved with an oriented line detection filter for generating an oriented line-based filter response. Candidate lane markers are selected in response to the edge-based filter response and line-based filter response in each main orientation. A transformation technique is applied to the candidate lane markers for identifying the lane markings in each main orientation.
摘要翻译：提供一种用于使用成像装置来检测车辆道路中的道路车道标记的方法。使用成像设备捕获道路输入数据。照明归一化应用于道路输入数据。该方法在标准化输入数据中的几个主要方向上检测道路车道标记。在每个主要取向中，归一化输入数据与用于产生基于边缘的基于滤波器响应的定向边缘检测滤波器进行卷积。归一化输入数据与用于生成基于定向的线路滤波器响应的定向线路检测滤波器进行卷积。响应于每个主要方向上的基于边缘的滤波器响应和基于线路的滤波器响应来选择候选车道标记。将候选车道标记应用于转换技术，用于识别每个主要取向中的车道标记。

12. 发明申请

US20070168113A1 Map-aided vision-based lane sensing 有权
标题翻译：地图辅助基于视觉的车道感测
公开(公告)号：US20070168113A1
公开(公告)日：2007-07-19
申请号：US11335248
申请日：2006-01-19
申请人： Bakhtiar Litkouhi , Varsha Sadekar
发明人： Bakhtiar Litkouhi , Varsha Sadekar
IPC分类号： G01C21/26
CPC分类号： G01C21/26
摘要： A method for map-aided vision-based lane sensing. The method includes receiving map information corresponding to a current geographic position of a vehicle on a roadway. The map information includes the number of lanes on the roadway. Information about the number of lanes crossed by the vehicle on the roadway is received. It is determined which of the lanes on the roadway is currently occupied by the vehicle based on the map information and the number of lanes crossed by the vehicle on the roadway.
摘要翻译：一种用于地图辅助基于视觉的车道感测的方法。该方法包括接收与道路上的车辆的当前地理位置相对应的地图信息。地图信息包括道路上的车道数。有关车辆在道路上穿过的车道数量的信息被收到。根据车辆在道路上穿过的地图信息和车道数量，确定道路上哪条车道当前被车辆占据。

13. 发明授权

US08204277B2 Apparatus and method for camera-bases lane marker detection 失效
标题翻译：相机底座车道标记检测装置及方法
公开(公告)号：US08204277B2
公开(公告)日：2012-06-19
申请号：US12175631
申请日：2008-07-18
申请人： Wende Zhang , Varsha Sadekar
发明人： Wende Zhang , Varsha Sadekar
IPC分类号： G06K9/00
CPC分类号： G06K9/00798
摘要： A method is provided for detecting road lane markers in a vehicle road using an imaging device. Road input data is captured using the imaging device. Lighting normalization is applied to the road input data. The method detects the road lane markers in a few main orientations in the normalized input data. In each main orientation, the normalized input data is convolved with an oriented edge detection filter for generating an oriented edge-based filter response. The normalized input data is convolved with an oriented line detection filter for generating an oriented line-based filter response. Candidate lane markers are selected in response to the edge-based filter response and line-based filter response in each main orientation. A transformation technique is applied to the candidate lane markers for identifying the lane markings in each main orientation.
摘要翻译：提供一种用于使用成像装置来检测车辆道路中的道路车道标记的方法。使用成像设备捕获道路输入数据。照明归一化应用于道路输入数据。该方法在标准化输入数据中的几个主要方向上检测道路车道标记。在每个主要取向中，归一化输入数据与用于产生基于边缘的基于滤波器响应的定向边缘检测滤波器进行卷积。归一化输入数据与用于生成基于定向的线路滤波器响应的定向线路检测滤波器进行卷积。响应于每个主要方向上的基于边缘的滤波器响应和基于线路的滤波器响应来选择候选车道标记。将候选车道标记应用于转换技术，用于识别每个主要取向中的车道标记。

14. 发明授权

US08194927B2 Road-lane marker detection using light-based sensing technology 失效
标题翻译：使用基于光的感测技术的道路标记检测
公开(公告)号：US08194927B2
公开(公告)日：2012-06-05
申请号：US12175622
申请日：2008-07-18
申请人： Wende Zhang , Varsha Sadekar , Christopher Paul Urmson
发明人： Wende Zhang , Varsha Sadekar , Christopher Paul Urmson
IPC分类号： G06K9/00
CPC分类号： G06K9/00798
摘要： A method is provided for detecting road lane markers using a light-based sensing device. Reflectivity data is captured using the light-based sensing device. A light intensity signal is generated based on the captured reflectivity data. The light intensity signal is convolved with a differential filter for generating a filter response that identifies a candidate lane marker region and ground segment regions juxtaposed on each side of the candidate lane marker region. A weighted standard deviation of the data points within the identified candidate lane marker region and weighted standard deviation of the data points within the ground segment regions are calculated. An objective value is determined as a function of the respective weighted standard deviations. The objective value is compared to a respective threshold for determining whether the identified candidate lane marker region is a lane marker.
摘要翻译：提供了一种使用基于光的感测装置来检测道路标记的方法。使用基于光的感测装置捕获反射率数据。基于捕获的反射率数据生成光强度信号。光强度信号与差分滤波器卷积，用于产生识别在候选车道标记区域的每一侧上并列的候选车道标记区域和地面段区域的过滤器响应。计算所识别的候选车道标记区域内的数据点的加权标准偏差和地面段区域内的数据点的加权标准偏差。作为各加权标准偏差的函数确定客观值。将目标值与用于确定所识别的候选车道标记区域是否是车道标记的相应阈值进行比较。

15. 发明申请

US20100014713A1 Road-lane marker detection 失效
标题翻译：道路标记检测
公开(公告)号：US20100014713A1
公开(公告)日：2010-01-21
申请号：US12175622
申请日：2008-07-18
申请人： Wende Zhang , Varsha Sadekar , Christopher Paul Urmson
发明人： Wende Zhang , Varsha Sadekar , Christopher Paul Urmson
IPC分类号： G06K9/00
CPC分类号： G06K9/00798
摘要： A method is provided for detecting road lane markers using a light-based sensing device. Reflectivity data is captured using the light-based sensing device. A light intensity signal is generated based on the captured reflectivity data. The light intensity signal is convolved with a differential filter for generating a filter response that identifies a candidate lane marker region and ground segment regions juxtaposed on each side of the candidate lane marker region. A weighted standard deviation of the data points within the identified candidate lane marker region and weighted standard deviation of the data points within the ground segment regions are calculated. An objective value is determined as a function of the respective weighted standard deviations. The objective value is compared to a respective threshold for determining whether the identified candidate lane marker region is a lane marker.
摘要翻译：提供了一种使用基于光的感测装置来检测道路标记的方法。使用基于光的感测装置捕获反射率数据。基于捕获的反射率数据生成光强度信号。光强度信号与差分滤波器卷积，用于产生识别在候选车道标记区域的每一侧上并列的候选车道标记区域和地面段区域的过滤器响应。计算所识别的候选车道标记区域内的数据点的加权标准偏差和地面段区域内的数据点的加权标准偏差。作为各加权标准偏差的函数确定客观值。将目标值与用于确定所识别的候选车道标记区域是否是车道标记的相应阈值进行比较。

16. 发明申请

US20070082689A1 Alert notification network 审中-公开
标题翻译：提醒通知网络
公开(公告)号：US20070082689A1
公开(公告)日：2007-04-12
申请号：US11244761
申请日：2005-10-06
申请人： Timothy Talty , Andrew MacDonald , Varsha Sadekar
发明人： Timothy Talty , Andrew MacDonald , Varsha Sadekar
IPC分类号： H04Q7/38 , H04B7/00
CPC分类号： H04W4/12 , H04L12/189 , H04L12/1895 , H04W4/10 , H04W76/45
摘要： A network server is presented operable to communicate time-critical information over a wireless communications system, comprising a location manager, an alert notification manager, and a message delivery notification manager. The communications system is a push-to-talk over cellular system, including a wireless carrier core IP network, which may connected to a private intranet service. Location manager identifies and locates recipients within a known geographical area. Message delivery notification manager schedules and formats delivery of alert messages, based upon geographic location and direction of travel of each recipient. The network utilizes existing systems to communicate the information utilizing a push-to-talk cellular networking system, to immediately provide such information to the subscriber without inquiry seeking such information.
摘要翻译：网络服务器被提供可操作以通过无线通信系统传送时间关键信息，包括位置管理器，警报通知管理器和消息传递通知管理器。通信系统是一键通蜂窝式系统，包括可连接到专用内联网服务的无线运营商核心IP网络。位置管理器识别并定位已知地理区域内的收件人。消息传递通知管理器根据每个接收者的地理位置和旅行方向安排和格式发送警报消息。该网络利用现有的系统来利用一键通蜂窝网络系统来传送信息，以便立即向用户提供这样的信息，而无需寻求这样的信息。

17. 发明申请

US20050258977A1 Collision avoidance system 有权
标题翻译：碰撞避免系统
公开(公告)号：US20050258977A1
公开(公告)日：2005-11-24
申请号：US11035416
申请日：2005-01-13
申请人： Raymond Kiefer , Donald Grimm , Bakhtiar Litkouhi , Varsha Sadekar
发明人： Raymond Kiefer , Donald Grimm , Bakhtiar Litkouhi , Varsha Sadekar
IPC分类号： B60N2/90 , G08G1/16
CPC分类号： G08G1/16 , G08G1/167 , G08G1/168
摘要： A method of collision avoidance. The method includes receiving a signal indicative of a potential collision of a vehicle. The method also includes generating a haptic collision alert in response to the signal.
摘要翻译：一种避免碰撞的方法。该方法包括接收指示车辆的潜在碰撞的信号。该方法还包括响应于该信号产生触觉碰撞警报。

18. 发明授权

US09459113B2 Visual guidance for vehicle navigation system 有权
标题翻译：车辆导航系统视觉指导
公开(公告)号：US09459113B2
公开(公告)日：2016-10-04
申请号：US12276050
申请日：2008-11-21
申请人： Wende Zhang , Varsha Sadekar
发明人： Wende Zhang , Varsha Sadekar
IPC分类号： G01C21/36
CPC分类号： G01C21/36 , G01C21/3647
摘要： A system and method that provide a video-based vehicle navigation system. The system positions an arrow on the video display that shows the specific turning direction for the vehicle for route guidance purposes. To determine the proper position of the guidance arrow, the process determines a distance from the current vehicle position to the location where the vehicle needs to turn using any suitable information, such as GPS position, range measurements and map information. The process then positions the guidance arrow on the ground at the turning location in world coordinates, and projects the guidance arrow onto the image. The camera can be calibrated to the ground using various techniques, such as an online automatic calibration process that uses detected objects in the scene around the vehicle.
摘要翻译：一种提供基于视频的车载导航系统的系统和方法。系统在视频显示器上放置一个箭头，显示车辆的特定转向方向，用于路线引导目的。为了确定导向箭头的正确位置，该过程使用诸如GPS位置，距离测量和地图信息之类的任何合适的信息确定从当前车辆位置到车辆需要转动的位置的距离。然后，该过程将引导箭头定位在世界坐标中的转动位置的地面上，并将引导箭头投影到图像上。摄像机可以使用各种技术进行校准，例如使用车辆周围场景中检测到的物体的在线自动校准过程。

19. 发明授权

US08676492B2 Map-aided vision-based lane sensing 有权
标题翻译：地图辅助基于视觉的车道感测
公开(公告)号：US08676492B2
公开(公告)日：2014-03-18
申请号：US11335248
申请日：2006-01-19
申请人： Bakhtiar Brian Litkouhi , Varsha Sadekar
发明人： Bakhtiar Brian Litkouhi , Varsha Sadekar
IPC分类号： G01C21/28
CPC分类号： G01C21/26
摘要： A method for map-aided vision-based lane sensing. The method includes receiving map information corresponding to a current geographic position of a vehicle on a roadway. The map information includes the number of lanes on the roadway. Information about the number of lanes crossed by the vehicle on the roadway is received. It is determined which of the lanes on the roadway is currently occupied by the vehicle based on the map information and the number of lanes crossed by the vehicle on the roadway.
摘要翻译：一种用于地图辅助基于视觉的车道感测的方法。该方法包括接收与道路上的车辆的当前地理位置相对应的地图信息。地图信息包括道路上的车道数。有关车辆在道路上穿过的车道数量的信息被收到。根据车辆在道路上穿过的地图信息和车道数量，确定道路上哪条车道当前被车辆占据。

20. 发明申请

US20120150437A1 Systems and Methods for Precise Sub-Lane Vehicle Positioning 有权
标题翻译：精确子车道定位系统与方法
公开(公告)号：US20120150437A1
公开(公告)日：2012-06-14
申请号：US12966032
申请日：2010-12-13
申请人： Shuqing Zeng , Varsha Sadekar
发明人： Shuqing Zeng , Varsha Sadekar
IPC分类号： G01C21/32 , G01S19/50
CPC分类号： G01S19/50 , B60W30/12 , B60W2520/14 , B60W2550/146 , B60W2550/402 , G01C21/30 , G01S13/931 , G01S19/48 , G01S2013/9353 , G01S2013/9367
摘要： A vehicle having an on-board computer, vehicle sensors, a satellite-positioning unit, a database storing a lane-level map performs a method to determine a new pose of the vehicle using map matching. The method includes the on-board computer of the vehicle receiving new data from at least one of the vehicle sensors and collecting measurements from the vehicle sensors. The method also includes the on-board computer of the vehicle computing propagation of vehicle pose with respect to consecutive time instances and performing a curve-fitting process. The method further includes the on-board computer of the vehicle performing a sub-routine of updating at least one observation model based on results of the curve-fitting process, performing a tracking sub-routine including using a probability distribution to update the vehicle pose in terms of data particles, and performing a particle filtering sub-routine based on the data particles to compute the new vehicle pose.
摘要翻译：具有车载计算机，车辆传感器，卫星定位单元，存储车道级地图的数据库的车辆执行使用地图匹配来确定车辆的新姿态的方法。该方法包括车辆的车载计算机从车辆传感器中的至少一个接收新数据并从车辆传感器收集测量值。该方法还包括车载计算机对车辆姿态相对于连续时间实例的传播并执行曲线拟合处理。该方法还包括车辆的车载计算机，其执行基于曲线拟合处理的结果来更新至少一个观察模型的子程序，执行包括使用概率分布来更新车辆姿态的跟踪子程序在数据粒子方面，并且基于数据粒子执行粒子滤波子程序以计算新的车辆姿态。

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