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31. 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。

32. 发明申请

US20140052336A1 DIRECTING VEHICLE INTO FEASIBLE REGION FOR AUTONOMOUS AND SEMI-AUTONOMOUS PARKING 有权
标题翻译：指导车辆进入自动和半自动停车场的可行区域
公开(公告)号：US20140052336A1
公开(公告)日：2014-02-20
申请号：US13586077
申请日：2012-08-15
申请人： Nikolai K. Moshchuk , Bakhtiar Brian Litkouhi , Shih-Ken Chen
发明人： Nikolai K. Moshchuk , Bakhtiar Brian Litkouhi , Shih-Ken Chen
IPC分类号： G06F17/00 , B62D6/00
CPC分类号： B62D5/0463 , B62D6/00 , B62D15/0285
摘要： A method of guiding a vehicle to a region for initiating a parallel parking maneuver. A region of feasible starting locations for successfully performing a parallel parking maneuver is determined by a processor. A position of the vehicle relative to the region of feasible starting locations is determined. A determination is made whether the vehicle is in a zero heading position. The vehicle is guided along an initial target path by controlling a steering actuator until the vehicle is in a zero heading position relative to the road of travel in response to the vehicle is not in the zero heading position. A planned path is generated that includes two arc-shaped trajectories extending between the vehicle at the zero heading position and a position within the region of feasible starting locations as determined by the processor. The steering actuator is controlled to follow the planned path to the feasible region.
摘要翻译：将车辆引导到用于启动平行停放机动的区域的方法。用于成功执行平行停车操纵的可行启动位置的区域由处理器确定。确定车辆相对于可行起始位置的区域的位置。确定车辆是否处于零行程位置。通过控制转向执行机构，车辆沿着初始目标路径被引导，直到车辆相对于车辆行驶道路处于零行程位置为止不在零行程位置时。生成包括两个在零行程位置的车辆之间延伸的两个弧形轨迹和由处理器确定的可行起始位置区域内的位置的计划路径。控制转向执行器以遵循到可行区域的计划路径。

33. 发明授权

US08605949B2 Vehicle-based imaging system function diagnosis and validation 有权
标题翻译：车载成像系统功能诊断与验证
公开(公告)号：US08605949B2
公开(公告)日：2013-12-10
申请号：US13307236
申请日：2011-11-30
申请人： Wende Zhang , Bakhtiar Brian Litkouhi
发明人： Wende Zhang , Bakhtiar Brian Litkouhi
IPC分类号： G06K9/00
CPC分类号： G06T7/246 , G06T2207/10016 , G06T2207/20164 , G06T2207/30261
摘要： A method of determining functionality of a vision-based imaging system for a vehicle includes capturing images by the vision-based imaging system. The images include landmarks that are identified in multiple images for distinguishing displacement of landmarks between the images. Edge maps for each of the images are generated. Like regions of at least two edge maps are compared for distinguishing displacement of a landmark between the at least two edge maps. Each pixel location of a first edge map is compared with a same pixel location of a second edge map for determining whether each compared pixel location has a different intensity value. An aggregate number of pixel locations having a different intensity value between the at least two edge maps is determined and compared to a threshold. An error message is generated in response to the aggregate number being less than the threshold.
摘要翻译：确定用于车辆的基于视觉的成像系统的功能的方法包括通过基于视觉的成像系统捕获图像。图像包括在多个图像中识别的地标，用于区分图像之间的界标位移。生成每个图像的边缘图。与至少两个边缘图相似的区域被比较以区分至少两个边缘图之间的地标的位移。将第一边缘图的每个像素位置与第二边缘图的相同像素位置进行比较，以确定每个比较的像素位置是否具有不同的强度值。确定在至少两个边缘图之间具有不同强度值的像素位置的总数，并与阈值进行比较。响应于总数小于阈值而生成错误消息。

34. 发明申请

US20130274985A1 SYSTEM AND METHOD FOR VEHICLE LATERAL CONTROL 有权
标题翻译：车辆横向控制系统与方法
公开(公告)号：US20130274985A1
公开(公告)日：2013-10-17
申请号：US13447800
申请日：2012-04-16
申请人： Jin-Woo LEE , Bakhtiar Brian Litkouhi
发明人： Jin-Woo LEE , Bakhtiar Brian Litkouhi
IPC分类号： G05D1/02
CPC分类号： G01S19/50 , B60W10/20 , B60W30/12 , B62D15/025 , G05D1/02
摘要： A method, system and computer readable medium to autonomously keep a vehicle in a lane. The method including, engaging a lane centering system configured to maintain the vehicle within the lane, at a specified lane position. Further engaging a lane keeping system when the lane centering system fails to keep the vehicle within the lane, the lane keeping system configured to return the vehicle to the lane, when the vehicle leaves or is leaving the lane. And, applying a cost function to determine the nature of engagement of the lane keeping system to return the vehicle to the lane.
摘要翻译：一种用于自动地将车辆保持在车道中的方法，系统和计算机可读介质。该方法包括，使配置成在车道内保持车辆的车道定心系统在指定的车道位置。当车道定心系统不能将车辆保持在车道内时，进一步参与车道保持系统，车道保持系统被配置为当车辆离开或离开车道时将车辆返回车道。并且，应用成本函数来确定车道保持系统的接合的性质以将车辆返回车道。

35. 发明申请

US20130179036A1 LANE TRACKING SYSTEM WITH ACTIVE REAR-STEER 有权
标题翻译：具有主动后转器的LANE跟踪系统
公开(公告)号：US20130179036A1
公开(公告)日：2013-07-11
申请号：US13348091
申请日：2012-01-11
申请人： Jin-Woo Lee , Nikolai K. Moshchuk , Shih-Ken Chen , Bakhtiar Brian Litkouhi
发明人： Jin-Woo Lee , Nikolai K. Moshchuk , Shih-Ken Chen , Bakhtiar Brian Litkouhi
IPC分类号： G05D1/00
CPC分类号： B62D15/0255
摘要： A lane tracking system for a vehicle includes a front steering controller, a rear steering controller, and a lane tracking processor. The front steering controller is configured to rotate a front wheel of the vehicle through a front steering angle in response to a front steering torque command, and the rear steering controller is configured to rotate a rear wheel of the vehicle through a rear steering angle in response to a rear steering torque command. The lane tracking processor is configured to determine a desired course of the vehicle along a roadway, estimate a trajectory of the vehicle based on sensed vehicle motion, compute an error between the determined desired course and the estimated trajectory, and provide a front steering torque command to the front steering controller, and a rear steering torque command to the rear steering controller to minimize the computed error.
摘要翻译：用于车辆的车道跟踪系统包括前转向控制器，后转向控制器和车道跟踪处理器。前转向控制器构造成响应于前转向转矩指令而通过前转向角旋转车辆的前轮，并且后转向控制器被配置为响应于后转向角来旋转车辆的后轮到后转向转矩指令。车道跟踪处理器被配置为确定沿着道路的车辆的期望路线，基于感测的车辆运动来估计车辆的轨迹，计算所确定的期望路线和估计的轨迹之间的误差，并且提供前转向转矩指令到后转向控制器的后转向转矩指令，以使计算出的误差最小化。

36. 发明申请

US20130099911A1 Highway Merge Assistant and Control 有权
标题翻译：公路合并助理与控制
公开(公告)号：US20130099911A1
公开(公告)日：2013-04-25
申请号：US13277263
申请日：2011-10-20
申请人： Upali Priyantha Mudalige , Bakhtiar Brian Litkouhi
发明人： Upali Priyantha Mudalige , Bakhtiar Brian Litkouhi
IPC分类号： B60Q1/00 , G05D1/02
CPC分类号： G08G1/163 , G08G1/166 , G08G1/167
摘要： A vehicle merge control system includes a host communication system in a host vehicle for exchanging vehicle position and kinematics data with a remote communication system in at least one remote vehicle. A vehicle host processor determines respective positions and paths of travel of the at least one remote vehicle and the host vehicle. The host processor determines a time to intersect based on the positions and predicted paths of travel between the host vehicle and remote vehicle during a merging maneuver. A host vehicle is configured to transmit a host vehicle intention message from the host communication system to the remote communication system for negotiating a merging position between the host vehicle and the at least one remote vehicle. The host vehicle executes the merging maneuver using the negotiated merging position.
摘要翻译：车辆合并控制系统包括主车辆中的主机通信系统，用于与至少一个远程车辆中的远程通信系统交换车辆位置和运动学数据。车辆主机处理器确定至少一个远程车辆和主车辆的相应位置和行驶路径。主机处理器在合并操作期间基于在主车辆和远程车辆之间的行驶位置和预测路径确定相交时间。主机被配置为将主机通信消息从主机通信系统发送到远程通信系统，用于协商主车辆与至少一个远程车辆之间的合并位置。主机使用协商合并位置执行合并操作。

37. 发明申请

US20130060414A1 SYSTEM AND METHOD FOR SMOOTH STEERING OVERRIDE TRANSITION DURING AUTOMATED LANE CENTERING 有权
标题翻译：自动路网中心过渡转向系统与方法
公开(公告)号：US20130060414A1
公开(公告)日：2013-03-07
申请号：US13224803
申请日：2011-09-02
申请人： Jin-Woo LEE , Bakhtiar Brian Litkouhi
发明人： Jin-Woo LEE , Bakhtiar Brian Litkouhi
IPC分类号： G05D1/02 , B62D6/00
CPC分类号： B62D1/286 , B60T2201/08 , B60T2201/087 , B60W40/08 , B60W2520/14 , B62D6/00 , B62D15/025
摘要： Vehicle steering measurements of a vehicle may be measured. Expected vehicle steering measurements may be calculated, each calculated expected vehicle steering measurement corresponding to one of the measured vehicle steering measurements. At least one difference between one of the measured vehicle steering measurements and its corresponding calculated expected vehicle steering measurement may be calculated. A lower boundary and an upper boundary of at least one override transition zone, each of the override transition zones corresponding to one of the measured vehicle steering measurements and its corresponding calculated expected vehicle steering measurement, may be calculated. Steering control of the vehicle may be gradually transferred from an automatic vehicle control system to a driver of the vehicle over a predetermined period of time when one or more of the calculated differences lie between the calculated lower boundary and the calculated upper boundary of the corresponding override transition zone.
摘要翻译：可以测量车辆的车辆转向测量。可以计算预期的车辆转向测量值，每个计算的预期车辆转向测量值对应于所测量的车辆转向测量之一。可以计算测量的车辆转向测量值中的一个与其对应的计算的预期车辆转向测量之间的至少一个差。可以计算至少一个超控过渡区域的下边界和上边界，对应于所测量的车辆转向测量值之一的每个超控过渡区域及其对应的计算出的预期车辆转向测量值。在计算出的下边界和计算出的下边界与所计算的相应覆盖的上边界之间的一个或多个计算的差异在预定的时间段内，车辆的转向控制可以从自动车辆控制系统逐渐转移到车辆的驾驶员过渡区。

38. 发明申请

US20130035117A1 SYSTEM AND METHOD FOR RESTRICTING DRIVER MOBILE DEVICE FEATURE USAGE WHILE VEHICLE IS IN MOTION 审中-公开
标题翻译：用于限制驾驶员移动设备特征的系统和方法在车辆运动时使用
公开(公告)号：US20130035117A1
公开(公告)日：2013-02-07
申请号：US13198176
申请日：2011-08-04
申请人： Bakhtiar Brian LITKOUHI , Donald K. Grimm
发明人： Bakhtiar Brian LITKOUHI , Donald K. Grimm
IPC分类号： H04W4/04
CPC分类号： H04M1/72577 , G06Q10/10 , H04L67/12 , H04M1/6075 , H04W4/027 , H04W4/48 , H04W4/50
摘要： A method and system may determine one or more mobile devices associated with a driver of a vehicle. The method and system may deactivate, if one or more vehicle parameters indicate the vehicle is configured for motion, one or more features of the one or more mobile devices associated with the driver of the vehicle. The method and system may reactivate, if the one or more vehicle parameters indicate the vehicle is no longer configured for motion, the one or more features of the one or more mobile devices associated with the driver of the vehicle. The one or more mobile devices may, in some embodiments, be mobile telephones and the one or more features may be text entry features.
摘要翻译：方法和系统可以确定与车辆的驾驶员相关联的一个或多个移动设备。如果一个或多个车辆参数指示车辆被配置为运动，则该方法和系统可以停用与车辆的驾驶员相关联的一个或多个移动设备的一个或多个特征。如果所述一个或多个车辆参数指示所述车辆不再被配置为运动，则所述方法和系统可以重新启动与所述车辆的驾驶员相关联的所述一个或多个移动设备的一个或多个特征。在一些实施例中，一个或多个移动设备可以是移动电话，并且一个或多个特征可以是文本输入特征。

39. 发明申请

US20120316730A1 LANE SENSING THROUGH LANE MARKER IDENTIFICATION FOR LANE CENTERING/KEEPING 有权
标题翻译：通过LANE标记识别LANE CENTERING / KEEPING的LANE SENSING
公开(公告)号：US20120316730A1
公开(公告)日：2012-12-13
申请号：US13156974
申请日：2011-06-09
申请人： Wende Zhang , Bakhtiar Brian Litkouhi , Jin-Woo Lee
发明人： Wende Zhang , Bakhtiar Brian Litkouhi , Jin-Woo Lee
IPC分类号： B62D6/00
CPC分类号： B60W30/12 , B60W10/20 , B60W40/06 , B60W2420/42 , B60W2710/202 , B60W2710/207 , B60W2720/14
摘要： A method for adjusting a vehicle's position in a roadway lane. A camera mounted on the vehicle generates a current image of the lane and the method identifies a current lane-center line in the current image. A reference image is generated and the method identifies a reference lane-center line in the reference image. The method then calculates an error between the current lane-center line and the reference lane-center line and provide steering commands to adjust the position of the vehicle so that the error is reduced.
摘要翻译：一种用于调整车道在道路车道中的位置的方法。安装在车辆上的照相机产生车道的当前图像，并且该方法识别当前图像中的当前车道中心线。生成参考图像，并且该方法识别参考图像中的参考车道中心线。然后，该方法计算当前车道中心线和参考车道中心线之间的误差，并提供转向命令以调整车辆的位置，从而减小误差。

40. 发明申请

US20100228417A1 DRIVER HANDS ON/OFF DETECTION DURING AUTOMATED LANE CENTERING/CHANGING MANEUVER 审中-公开
标题翻译：驾驶员在自动化LANE中心/更改MANEUVER时的开/关检测
公开(公告)号：US20100228417A1
公开(公告)日：2010-09-09
申请号：US12399290
申请日：2009-03-06
申请人： Jin-Woo Lee , Yong H. Lee , Bakhtiar Brian Litkouhi
发明人： Jin-Woo Lee , Yong H. Lee , Bakhtiar Brian Litkouhi
IPC分类号： G06F7/00 , G05D1/00
CPC分类号： B62D15/025 , B60W50/16
摘要： A system and method for determining whether a vehicle driver is holding a steering wheel of the vehicle while the vehicle is in an autonomous driving mode. The vehicle will include an electric power steering (EPS) system and may include an active front steering (AFS) system, both of which include a motor that can apply a high frequency and low amplitude perturbation signal to the steering wheel of the vehicle that is not felt by the vehicle driver and does not cause the vehicle to turn, but is able to be detected by a steering angle sensor. The method subtracts a steering angle command signal from the steering angle signal and removes road disturbances, and then determines whether the induced perturbation signal is present in the steering angle sensor signal. If the perturbation signal is present, then the system knows that the vehicle driver is not holding the steering wheel.
摘要翻译：一种用于在车辆处于自主驾驶模式的过程中确定车辆驾驶员是否正在保持车辆的方向盘的系统和方法。车辆将包括电动助力转向（EPS）系统，并且可以包括主动前转向（AFS）系统，这两个系统包括可以向车辆的方向盘施加高频和低振幅扰动信号的电动机，不被车辆驾驶员感觉到并且不会导致车辆转动，而是能够由转向角传感器检测到。该方法从转向角信号中减去转向角指令信号，去除道路干扰，然后判定感应扰动信号是否存在于转向角传感器信号中。如果存在扰动信号，则系统知道车辆驾驶员没有握住方向盘。

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