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1. 发明授权

US09738223B2 Dynamic guideline overlay with image cropping 有权
公开(公告)号：US09738223B2
公开(公告)日：2017-08-22
申请号：US13485368
申请日：2012-05-31
申请人： Wende Zhang , Bakhtiar Brian Litkouhi , Kent S. Lybecker
发明人： Wende Zhang , Bakhtiar Brian Litkouhi , Kent S. Lybecker
IPC分类号： H04N7/18 , B60R1/00 , G06T3/00 , H04N17/00 , G06T7/80
CPC分类号： B60R1/00 , B60R2300/302 , B60R2300/305 , B60R2300/306 , B60R2300/406 , B60R2300/50 , G06T3/00 , G06T3/0068 , G06T7/80 , G06T2207/10016 , G06T2207/30252 , H04N17/002
摘要： A method for dynamically registering a graphic upon a cropped image obtained from a camera device includes capturing an original image obtained from the camera device. Intrinsic calibration information for the camera device, extrinsic information for the camera device and vehicle information are monitored. The cropped image is generated based on cropping parameters to exclude undesirable content from the original image. The intrinsic calibration information is adjusted based on a relationship to the cropping parameters. The graphic is dynamically registered upon the cropped image based on the adjusted intrinsic calibration information for the camera device, the monitored extrinsic information for the camera device and the monitored vehicle information.

2. 发明授权

US09171409B2 System and method for vehicle driving style determination 有权
标题翻译：车辆驾驶风格确定的系统和方法
公开(公告)号：US09171409B2
公开(公告)日：2015-10-27
申请号：US13100930
申请日：2011-05-04
申请人： Jin-Woo Lee , Bakhtiar Brian Litkouhi
发明人： Jin-Woo Lee , Bakhtiar Brian Litkouhi
IPC分类号： G06G7/70 , G07C5/08 , G07C5/00 , G06F17/00
CPC分类号： G07C5/085 , B60W40/09 , B60W2050/146 , B60W2520/105 , B60W2540/10 , G06F17/00 , G07C5/008
摘要： In one embodiment, a system and method may collect acceleration data for a driver for a vehicle, compare the acceleration data for the driver to a set of acceleration data representing a plurality of sample drivers driving in the same type of vehicle as the vehicle, and based on the comparison, determining a driving style rating for the driver.
摘要翻译：在一个实施例中，系统和方法可以收集用于车辆的驾驶员的加速度数据，将驾驶员的加速度数据与表示在与车辆相同类型的车辆中驾驶的多个样本驾驶员的一组加速度数据进行比较，以及基于比较，确定驾驶员的驾驶风格评级。

3. 发明授权

US09139203B2 Lane tracking system 有权
标题翻译：车道跟踪系统
公开(公告)号：US09139203B2
公开(公告)日：2015-09-22
申请号：US13289517
申请日：2011-11-04
申请人： Nikolai K. Moshchuk , Shuqing Zeng , Xingping Chen , Bakhtiar Brian Litkouhi
发明人： Nikolai K. Moshchuk , Shuqing Zeng , Xingping Chen , Bakhtiar Brian Litkouhi
IPC分类号： G06F19/00 , B60W30/12
CPC分类号： B60W30/12 , B60W2420/42
摘要： A lane tracking system for tracking the position of a vehicle within a lane includes a camera configured to provide a video feed representative of a field of view and a video processor configured to receive the video feed from the camera and to generate latent video-based position data indicative of the position of the vehicle within the lane. The system further includes a vehicle motion sensor configured to generate vehicle motion data indicative of the motion of the vehicle, and a lane tracking processor. The lane tracking processor is configured to receive the video-based position data, updated at a first frequency; receive the sensed vehicle motion data, updated at a second frequency; estimate the position of the vehicle within the lane from the sensed vehicle motion data; and fuse the video-based position data with the estimate of the vehicle position within the lane using a Kalman filter.
摘要翻译：用于跟踪车道在车道内的位置的车道跟踪系统包括被配置为提供表示视野的视频馈送的照相机和被配置为从照相机接收视频馈送并且产生潜在视频的位置的视频处理器指示车辆在车道内的位置的数据。该系统还包括被配置为产生指示车辆的运动的车辆运动数据的车辆运动传感器和车道跟踪处理器。车道跟踪处理器被配置为接收以第一频率更新的基于视频的位置数据; 接收以第二频率更新的感测车辆运动数据; 从感测的车辆运动数据估计车道在车道内的位置; 并使用卡尔曼滤波器将基于视频的位置数据与车道内的车辆位置的估计融合。

4. 发明授权

US08965633B2 System and method for speed adaptive steering override detection during automated lane centering 有权
标题翻译：自动车道定心过程中速度自适应转向超越检测的系统和方法
公开(公告)号：US08965633B2
公开(公告)日：2015-02-24
申请号：US13224772
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： A01B69/00 , B62D6/00 , B62D1/28 , B62D6/02 , B62D15/02 , B60W50/10 , B60W30/12
CPC分类号： B62D1/286 , B60W30/12 , B60W50/10 , B62D6/00 , B62D6/02 , B62D15/025
摘要： One or more vehicle steering measurements of a vehicle may be measured. One or more 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 speed of the vehicle may be measured. One or more current threshold values may be calculated based on the measured speed, each of the current threshold values corresponding to one of the measured vehicle steering measurements and its corresponding calculated expected vehicle steering measurement. An automatic vehicle control system may be deactivated when one or more of the calculated differences exceeds its corresponding current threshold value.
摘要翻译：可以测量车辆的一个或多个车辆转向测量值。可以计算一个或多个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。可以测量车辆的速度。可以基于测量的速度来计算一个或多个当前阈值，每个当前阈值对应于所测量的车辆转向测量值之一和其对应的计算的预期车辆转向测量值。当计算出的一个或多个差异超过其对应的当前阈值时，可以停用自动车辆控制系统。

5. 发明授权

US08872645B2 Method for road grade estimation for enhancing the fuel economy index calculation 有权
标题翻译：用于提高燃油经济性指标计算的道路等级估算方法
公开(公告)号：US08872645B2
公开(公告)日：2014-10-28
申请号：US13036071
申请日：2011-02-28
申请人： Jin-Woo Lee , Bakhtiar Brian Litkouhi , Elizabeth S Nunning
发明人： Jin-Woo Lee , Bakhtiar Brian Litkouhi , Elizabeth S Nunning
IPC分类号： B60Q1/00 , G01C9/00 , B60W40/076
CPC分类号： G01C9/00 , B60W40/076 , B60W2510/0604 , B60W2510/0638 , B60W2510/0657 , B60W2510/105 , B60W2520/105 , B60W2530/10 , B60W2540/10
摘要： A method is provided of estimating a road grade of a current driven road. A nominal value of a vehicle operating parameter is measured during a nominal vehicle operating condition. The vehicle operating parameter is related to a vehicle thrust power. The nominal value of the vehicle operating condition is comprised of a nominal acceleration corresponding to the nominal value when the vehicle is driven on a substantially non-inclined road. The nominal value and nominal acceleration is stored in a memory. An actual value of the vehicle operating parameter is determined during a current vehicle operating condition. A vehicle acceleration corresponding to the actual value of the vehicle operating parameter is measured. The road grade of the current driven road is estimated as a function of a comparison between the measured acceleration value and the nominal acceleration that would be expected for the actual value of the vehicle operating parameter.
摘要翻译：提供一种估计当前驱动道路的道路等级的方法。车辆工作参数的标称值在标称车辆运行状态下测量。车辆操作参数与车辆推力相关。当车辆在基本上非倾斜的道路上行驶时，车辆操作条件的标称值包括对应于标称值的标称加速度。标称值和标称加速度存储在存储器中。车辆操作参数的实际值在当前车辆操作状态期间确定。测量对应于车辆操作参数的实际值的车辆加速度。当前行驶道路的道路等级是根据车辆操作参数的实际值预期的测量加速度值与标称加速度之间的比较来估计的。

6. 发明授权

US08862321B2 Directing vehicle into feasible region for autonomous and semi-autonomous parking 有权
标题翻译：引导车辆进入可行区域进行自主和半自动停车
公开(公告)号：US08862321B2
公开(公告)日：2014-10-14
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： B60G17/018 , B62C3/00 , B62D5/04
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。

7. 发明授权

US08706417B2 Anchor lane selection method using navigation input in road change scenarios 有权
标题翻译：在道路变化情景下使用导航输入的锚车道选择方法
公开(公告)号：US08706417B2
公开(公告)日：2014-04-22
申请号：US13561755
申请日：2012-07-30
申请人： Shuqing Zeng , Bakhtiar Brian Litkouhi , Xingping Chen , James N. Nickolaou , Daniel Gandhi , Joel Pazhayampallil
发明人： Shuqing Zeng , Bakhtiar Brian Litkouhi , Xingping Chen , James N. Nickolaou , Daniel Gandhi , Joel Pazhayampallil
IPC分类号： G05D1/00 , G08G1/137
CPC分类号： B60W30/12 , B60W2550/22 , B60W2550/306 , B60W2550/402 , G08G1/167
摘要： A method for selecting an anchor lane for tracking in a vehicle lane tracking system. Digital map data and leading vehicle trajectory data are used to predict lane information ahead of a vehicle. Left and right lane boundary markers are also detected, where available, using a vision system. The lane marker data from the vision system is combined with the lane information from the digital map data and the leading vehicle trajectory data in a lane curvature fusion calculation. The left and right lane marker data from the vision system are also evaluated for conditions such as parallelism and sudden jumps in offsets, while considering the presence of entrance or exit lanes as indicated by the map data. An anchor lane for tracking is selected based on the evaluation of the vision system data, using either the fused curvature calculation or the digital map and leading vehicle trajectory data.
摘要翻译：一种用于在车道跟踪系统中选择用于跟踪的锚车道的方法。数字地图数据和前导车辆轨迹数据用于预测车辆前方的车道信息。还可以使用视觉系统检测左右车道边界标记。来自视觉系统的车道标记数据与车道曲线融合计算中的数字地图数据和前车辆轨迹数据的车道信息相结合。考虑到地图数据所示的入口或出口通道的存在，还可以评估来自视觉系统的左右车道标记数据，例如平行度和偏移突然跳跃等条件。基于对视觉系统数据的评估，使用融合曲率计算或数字地图和前导车辆轨迹数据来选择用于跟踪的锚定车道。

8. 发明申请

US20140035775A1 FUSION OF OBSTACLE DETECTION USING RADAR AND CAMERA 有权
标题翻译：使用雷达和摄像机进行障碍物检测的融合
公开(公告)号：US20140035775A1
公开(公告)日：2014-02-06
申请号：US13563993
申请日：2012-08-01
申请人： Shuqing Zeng , Wende Zhang , Bakhtiar Brian Litkouhi
发明人： Shuqing Zeng , Wende Zhang , Bakhtiar Brian Litkouhi
IPC分类号： G01S13/86 , G01S13/93
CPC分类号： G01S13/931 , G01S13/867 , G06K9/00805 , G06K9/629
摘要： A vehicle obstacle detection system includes an imaging system for capturing objects in a field of view and a radar device for sensing objects in a substantially same field of view. The substantially same field of view is partitioned into an occupancy grid having a plurality of observation cells. A fusion module receives radar data from the radar device and imaging data from the imaging system. The fusion module projects the occupancy grid and associated radar data onto the captured image. The fusion module extracts features from each corresponding cell using sensor data from the radar device and imaging data from the imaging system. A primary classifier determines whether an extracted feature extracted from a respective observation cell is an obstacle.
摘要翻译：车辆障碍物检测系统包括用于在视野中捕获物体的成像系统和用于在基本相同的视场中感测物体的雷达装置。基本上相同的视场划分成具有多个观察单元的占用网格。融合模块从雷达装置接收雷达数据并从成像系统接收成像数据。融合模块将占用网格和相关的雷达数据投影到捕获的图像上。融合模块使用来自雷达装置的传感器数据和来自成像系统的成像数据从每个对应的小区中提取特征。主分类器确定从相应观察单元提取的提取特征是否是障碍物。

9. 发明授权

US08428843B2 Method to adaptively control vehicle operation using an autonomic vehicle control system 有权
标题翻译：使用自主车辆控制系统自适应控制车辆操作的方法
公开(公告)号：US08428843B2
公开(公告)日：2013-04-23
申请号：US12630113
申请日：2009-12-03
申请人： Jin-Woo Lee , Bakhtiar Brian Litkouhi
发明人： Jin-Woo Lee , Bakhtiar Brian Litkouhi
IPC分类号： G05D1/00 , B60W30/14 , B62D6/00
CPC分类号： B62D15/025 , B62D15/0255 , G01C21/12
摘要： A vehicle includes a vehicle monitoring system for estimating vehicle motion states, a spatial monitoring system, an adaptive cruise control system for vehicle speed and acceleration control, a steering controller for vehicle lateral motion control, a roadway estimator, and an autonomic control system. Commanded vehicle operation is adjusted to achieve a preferred travel path based upon a predicted travel path and an estimated roadway. The preferred travel path is adapted responsive to the estimated roadway.
摘要翻译：车辆包括用于估计车辆运动状态的车辆监控系统，空间监视系统，用于车辆速度和加速度控制的自适应巡航控制系统，用于车辆横向运动控制的转向控制器，道路估计器和自主控制系统。基于所预测的行驶路径和估计的道路，调整指令车辆的行驶以实现优选的行驶路径。优选的行进路径适应于估计的道路。

10. 发明授权

US08315764B2 Optimal corner control for vehicles 有权
标题翻译：车辆最佳角控制
公开(公告)号：US08315764B2
公开(公告)日：2012-11-20
申请号：US12876417
申请日：2010-09-07
申请人： Shih-Ken Chen , Youssef A. Ghoneim , Weiwen Deng , Nikolai K. Moshchuk , Bakhtiar Brian Litkouhi , Valery Pylypchuk
发明人： Shih-Ken Chen , Youssef A. Ghoneim , Weiwen Deng , Nikolai K. Moshchuk , Bakhtiar Brian Litkouhi , Valery Pylypchuk
IPC分类号： B60W10/00
CPC分类号： B60W30/18145 , B60W10/04 , B60W10/184 , B60W10/20 , B60W10/22 , B60W30/02 , B60W2530/10 , B60W2530/20 , B60W2710/182 , B60W2710/207 , B60W2720/28 , B60W2720/30
摘要： A method to control a vehicle having a plurality of wheels includes monitoring desired vehicle dynamics, determining a desired corner force and moment distribution based upon the desired vehicle dynamics and a real-time closed form dynamics optimization solution, and controlling the vehicle based upon the desired corner force and moment distribution. The real-time closed form dynamics optimization solution is based upon a minimized center of gravity force error component, a minimized control energy component, and a maximized tire force reserve component.
摘要翻译：控制具有多个车轮的车辆的方法包括监视所需的车辆动力学，基于期望的车辆动力学和实时闭合形式动力学优化解决方案来确定期望的角力和力矩分布，以及基于期望的车辆动力学优化解决方案来控制车辆角力和力矩分布。实时闭式动力学优化解决方案基于最小重心力误差分量，最小化的控制能量分量和最大轮胎力储备分量。

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