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1. 发明申请

US20070147660A1 Image processing system for motor vehicles 审中-公开
标题翻译：汽车图像处理系统
公开(公告)号：US20070147660A1
公开(公告)日：2007-06-28
申请号：US10546509
申请日：2004-02-20
申请人： Emrullah Durucan , Uwe Franke , Axel Gern , Stefan Hahn , Carsten Knoeppel , Michael Smuda Von Trzebiatowski
发明人： Emrullah Durucan , Uwe Franke , Axel Gern , Stefan Hahn , Carsten Knoeppel , Michael Smuda Von Trzebiatowski
IPC分类号： G06K9/00 , G01C22/00
CPC分类号： B60K35/00 , B60K2370/21 , B60K2370/828 , B60W2050/146 , G08G1/16
摘要： An image processing system for a motor vehicle, includes a camera system, an image processing module having a data interface for receiving image data produced by the camera system, a memory unit for storing an image processing program, an image processor unit for processing the image data, a display unit for displaying the processed image data, and a miniature computer. At least one of the image processor unit and the display unit are disposed in the miniature computer.
摘要翻译：一种用于机动车辆的图像处理系统，包括相机系统，具有用于接收由相机系统产生的图像数据的数据接口的图像处理模块，用于存储图像处理程序的存储单元，用于处理图像的图像处理器单元数据，用于显示处理后的图像数据的显示单元和微型计算机。图像处理器单元和显示单元中的至少一个设置在微型计算机中。

2. 发明申请

US20050278112A1 Process for predicting the course of a lane of a vehicle 审中-公开
标题翻译：用于预测车辆车道行驶的过程
公开(公告)号：US20050278112A1
公开(公告)日：2005-12-15
申请号：US11152640
申请日：2005-06-14
申请人： Axel Gern , Uwe Franke , Carsten Knoeppel
发明人： Axel Gern , Uwe Franke , Carsten Knoeppel
IPC分类号： B60W30/10 , B60W40/06 , G01C21/26
CPC分类号： B60W40/06 , B60W2550/402
摘要： The present invention relates to a method for estimating the course of a lane of a motor vehicle, where the course of the lane is detected by detecting the trajectory of a vehicle traveling in front in the lane, where the detected course of the trajectory subjected to filtering in order to obtain the actual course of the trajectory, where the course of the trajectory is evaluated by means of at least two different filters, where movements of the vehicle in the lateral direction in the lane are filtered on the basis of the output of a filter, and where movements of the vehicle which correspond to a lane change are detected on the basis of the output of a further filter.
摘要翻译：本发明涉及一种用于估计机动车辆的车道行驶方法，其中通过检测行驶在车道前方的车辆的轨迹来检测行车道的过程，其中所检测到的轨迹经过过滤以获得轨迹的实际过程，其中通过至少两个不同的过滤器来评估轨迹的过程，其中车辆在车道中的横向方向上的运动基于输出滤波器，并且其中基于另一滤波器的输出检测与车道变化相对应的车辆的移动。

3. 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。

4. 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。

5. 发明授权

US5890083A Apparatus for determining the distance of a vehicle from a roadway side marking 失效
标题翻译：用于确定车辆与道路侧标记距离的装置
公开(公告)号：US5890083A
公开(公告)日：1999-03-30
申请号：US612288
申请日：1996-03-07
申请人： Uwe Franke , Stefan Hahn
发明人： Uwe Franke , Stefan Hahn
IPC分类号： G01B11/14 , B60Q9/00 , B60W30/00 , G01S3/784 , G01S11/12 , G01S17/08 , G01S17/93 , G05D1/02 , G08G1/04 , G08G1/16
CPC分类号： G08G1/04 , G01S3/784 , G05D1/0246 , G05D1/0255 , B60T2201/08 , B60T2201/082 , G01S11/12
摘要： Apparatus is provided for determining the distance of a vehicle from a roadway side marking. An arrangement of light sensitive sensor elements is fitted to the vehicle for optically scanning a portion of the roadway located in front of the vehicle. An evaluation unit, connected downstream of the sensor element arrangement, is also provided. Only one or a few sensor element lines are used as the sensor element arrangement. Each line scans a narrow strip of the roadway which runs in front of the vehicle, not parallel to the vehicle longitudinal axis, and extends laterally as far as the roadway side marking. The evaluation unit reads each sensor element line sequentially and processes the received signals to determine the lateral distance of the vehicle from the roadway marking. The relatively small quantity of data which accumulates permits the processing of the data digitally in real time by a conventional microprocessor. The apparatus is used as sleep warning system or lane guard for motor vehicles.
摘要翻译：设置用于确定车辆与道路侧标记的距离的装置。光敏传感器元件的布置被安装到车辆上，用于光学扫描位于车辆前方的道路的一部分。还提供连接在传感器元件布置的下游的评估单元。仅使用一个或几个传感器元件线作为传感器元件布置。每条线扫描在车辆前方延伸的道路的窄条，不平行于车辆纵向轴线，并且横向延伸至道路侧标记的距离。评估单元依次读取每个传感器元件线，处理接收到的信号，以确定车辆与道路标记的横向距离。积累的相对少量的数据允许通过常规微处理器实时地数字地处理数据。该装置用作机动车辆的睡眠警告系统或车道护栏。

6. 发明申请

US20050002558A1 Camera based position recognition for a road vehicle 审中-公开
标题翻译：基于摄像头的道路车辆位置识别
公开(公告)号：US20050002558A1
公开(公告)日：2005-01-06
申请号：US10835130
申请日：2004-04-29
申请人： Uwe Franke , Stefan Hahn
发明人： Uwe Franke , Stefan Hahn
IPC分类号： B60R21/00 , B60R1/00 , G06K9/46 , G06T1/00 , G06T7/00 , G06T7/60 , G08G1/123 , G08G1/16 , H04N7/18 , G06K9/00
CPC分类号： G06K9/4604 , B60R1/00 , G06K9/00798 , G06K2209/23 , G06T7/74 , G08G1/123
摘要： A camera based position recognition system for a road vehicle. The environment in the direction of travel of the vehicle is acquired by a camera. Using the acquired image data, the position of the vehicle in its environment is determined with regard to an optical signature identified in the obtained image data. For determining the position of the vehicle, use is made of the knowledge of the relationship between the environment coordinate system of the optical signature and that of the camera coordinate system. In simplified manner, position determination occurs with regard to the optical signature on the basis of a template matching imposed on the image data. For this, a template or an optical signature recorded in memory is superimposed on the optical signature identified in the image data in the environment of the vehicle (template matching). From the parameters of this template matching (for example linear compression and rotation parameters) recognizing the existing coordinate system, the position of the vehicle relative to the optical signature can be directly deduced.
摘要翻译：一种用于道路车辆的基于摄像头的位置识别系统。通过照相机获取车辆行驶方向的环境。使用所获取的图像数据，根据获得的图像数据中识别的光学特征来确定车辆在其环境中的位置。为了确定车辆的位置，使用光学签名的环境坐标系与摄像机坐标系的环境坐标系之间的关系的知识。以简化的方式，基于对图像数据施加的模板匹配，针对光学签名进行位置确定。为此，记录在存储器中的模板或光学签名叠加在车辆环境中的图像数据中识别的光学签名（模板匹配）上。根据识别现有坐标系的该模板匹配（例如线性压缩和旋转参数）的参数，可以直接推导出车辆相对于光学签名的位置。

7. 发明授权

US5485378A Device for steering a vehicle with controlled course holding 失效
标题翻译：用于控制车辆的控制装置
公开(公告)号：US5485378A
公开(公告)日：1996-01-16
申请号：US313981
申请日：1994-09-27
申请人： Uwe Franke , Stefan Hahn , Avshalom Suissa
发明人： Uwe Franke , Stefan Hahn , Avshalom Suissa
IPC分类号： B62D6/00 , B60W30/00 , B62D1/28 , B62D101/00 , B62D113/00 , B62D137/00 , G05D1/02 , G08G1/09 , G06F165/00
CPC分类号： B62D15/025 , G05D1/0246 , B60T2201/08 , B60T2201/087 , G05D2201/0213
摘要： A device for steering and maintaining the course of a vehicle contains, in addition to a device for detecting the position of the vehicle, and a steering control device which acts on a steering angle adjustment device, a preselectable limitation of the steering angle setting requested by the control. A steering angle setting requested by the control is combined with the steering angle setting requested by the driver, and the steering angle adjustment device sets the steering angle in accordance with this combination.
摘要翻译：用于转向和保持车辆路线的装置除了用于检测车辆位置的装置和作用在转向角调节装置上的转向控制装置之外，还包括由控制。由控制器请求的转向角度设定与驾驶员要求的转向角度设定相结合，转向角调节装置根据该组合设定转向角度。

8. 发明授权

US07365831B2 Method and device for video-based observation and measurement of the lateral environment of a vehicle 有权
标题翻译：用于基于视频的观察和测量车辆的侧向环境的方法和装置
公开(公告)号：US07365831B2
公开(公告)日：2008-04-29
申请号：US10528810
申请日：2003-09-19
申请人： Thomas Hans Braeunl , Uwe Franke
发明人： Thomas Hans Braeunl , Uwe Franke
IPC分类号： G01C3/08
CPC分类号： G06K9/00812 , G06T7/593
摘要： The first commercially-available driver assist systems required a compromise between the resolution of the scanning and the extent of the scanned region, according to application. Conventional video-based systems have a good compromise between resolution and recording range, however do not generally provide direct distance information. According to the new arrangement of the object of the invention, it is possible to achieve a system, which, on installation in a road vehicle, can record complex dynamic scenes, for example the lateral 3D geometry to the road edge from the point of view of the dynamically operating vehicle and use the same to advantage on parking. According to the invention, the monitoring and measuring of the lateral environment of a vehicle is displayed on the one hand by means of a camera with the digital images and on the other hand with a computer unit which serves to provide the images with a time stamp and to buffer the same. The movements of the vehicle are further recorded, in order to select image pairs from the buffered images, based on the above data. A local 3D depth image of the lateral environment of a vehicle can thus be generated by an algorithm for stereo image processing.
摘要翻译：根据应用，第一个可商购的驾驶员辅助系统需要扫描分辨率和扫描区域的范围之间的折衷。常规的基于视频的系统在分辨率和记录范围之间具有很好的折中，但是通常不提供直接的距离信息。根据本发明的目的的新方案，可以实现一种系统，其可以在道路车辆的安装中记录复杂的动态场景，例如从侧面观察侧向3D几何形状到道路边缘的动态操作车辆，并在停车时使用相同的优势。根据本发明，一方面通过具有数字图像的照相机显示车辆的横向环境的监测和测量，另一方面通过计算机单元来显示，该计算机单元用于向图像提供时间戳并缓冲。进一步记录车辆的运动，以便根据上述数据从缓冲图像中选择图像对。因此，可以通过用于立体图像处理的算法来生成车辆的横向环境的局部3D深度图像。

9. 发明授权

US5937079A Method for stereo image object detection 失效
标题翻译：立体图像对象检测方法
公开(公告)号：US5937079A
公开(公告)日：1999-08-10
申请号：US923937
申请日：1997-09-05
申请人： Uwe Franke
发明人： Uwe Franke
IPC分类号： G01B11/00 , G06K9/00 , G06K9/32 , G06T1/00 , G06T7/20 , G08G1/04 , H04N13/00
CPC分类号： G06K9/209 , G06K9/00805 , G06T7/2086 , G08G1/04 , G06K2209/23 , G06T2207/10012 , H04N13/0239 , H04N2013/0081 , H04N2013/0085
摘要： In a method for detecting and tracking objects by stereo image evaluation a part of structure class images is initially generated from a recorded stereo image pair. Differences in brightness of selected pixels in the environment are determined for each pixel as digital values, which are combined to form a digital value group, with identical groups defining their own structure classes. Structure classes which lack a brightness change along the epipolar line are discarded. Corresponding disparity values are then determined for the pixels in the other structure classes and are collected in a disparity histogram with a given frequency increment. The pixel group that belongs to a given grouping point area of the histogram is then interpreted as an object to be detected.
摘要翻译：在通过立体图像评估来检测和跟踪对象的方法中，结构类图像的一部分最初从记录的立体图像对生成。对于每个像素，确定每个像素中的所选像素的亮度差异，其数字值被组合以形成数字值组，具有定义其自身结构类别的相同组。丢弃沿着线极线缺少亮度变化的结构类。然后对于其他结构类别中的像素确定相应的视差值，并且以具有给定频率增量的视差直方图被收集。然后将属于直方图的给定分组点区域的像素组解释为要检测的对象。

10. 发明申请

US20140205184A1 METHOD FOR REPRESENTING SURROUNDINGS 有权
标题翻译：表示环境的方法
公开(公告)号：US20140205184A1
公开(公告)日：2014-07-24
申请号：US14237590
申请日：2012-07-21
申请人： Uwe Franke , David Pfeiffer
发明人： Uwe Franke , David Pfeiffer
IPC分类号： G06K9/00
CPC分类号： G06K9/00201 , G06K9/00805 , G06T7/593
摘要： A method for environmental representation, in which two images of an environment (U) are taken respectively and a disparity image is determined by means of stereo image processing. An unobstructed free space (F) is identified in the disparity image, in that each pixel of the disparity image is allocated either to the unobstructed ground surface (B) or to one of several segments (S11 to Snu) depending on disparity values of the respective pixel. Segments (S11 to Snu) of the same width are formed from pixels of the same or similar distance to an image plane. An object (O1 to Ok) located outside of the free space (F) is modelled in the environment (U) using one segment (S11 to Snu) or several segments (S11 to Snu).
摘要翻译：一种用于环境表示的方法，其中分别采用环境（U）的两个图像，并且通过立体图像处理来确定视差图像。在视差图像中识别出无阻碍的空闲空间（F），因为视差图像的每个像素被分配给无障碍地面（B）或者分配给几个段（S11至Snu）中的一个，取决于视差图各自的像素。具有相同宽度的段（S11至Snu）由与像平面相同或相似距离的像素形成。位于自由空间（F）外的物体（O1〜Ok）利用一个段（S11〜Snu）或多个段（S11〜Snu）在环境（U）中建模。

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