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1. 发明授权

US08209090B2 Method and device for performing a collision avoidance maneuver 有权
标题翻译：用于执行防撞机动的方法和装置
公开(公告)号：US08209090B2
公开(公告)日：2012-06-26
申请号：US12047467
申请日：2008-03-13
申请人： Maxim Arbitmann , Ulrich Stählin , Matthias Schorn , Rolf Isermann
发明人： Maxim Arbitmann , Ulrich Stählin , Matthias Schorn , Rolf Isermann
IPC分类号： B62D6/00 , G08G1/16 , G08G9/02
CPC分类号： B62D15/0265 , B60W10/06 , B60W10/20 , B60W30/09 , B60W30/10 , B60W30/16 , B60W40/10 , B60W2550/306 , Y02T10/56
摘要： Disclosed is a method of executing a collision avoidance maneuver ahead of an object in the surroundings, with which the vehicle is on a collision course. To allow determining the avoiding path in a simplest possible fashion and, in particular, a simplest possible parameterization of the path, the avoiding path is given by a sigmoid (ƒao(x); ƒao/2(x); ƒ2ao(x)), the shape of which is defined by at least one parameter (a; B; c) that is determined depending on the speed of the motor vehicle or a desired maneuver width of the collision avoidance maneuver. Also disclosed is a device which is suitable for implementing the method.
摘要翻译：公开了一种在车辆处于碰撞过程的环境中的物体之前执行碰撞避免机动的方法。为了允许以最简单的方式确定避免路径，特别是路径最简单的参数化，避开路径由S形（ƒao（x）;ƒao/ 2（x）;ƒ2ao（x））给出，其形状由至少一个根据机动车辆的速度确定的参数（a; B; c）或防碰撞机动的期望的机动宽度来定义。还公开了适合于实现该方法的装置。

2. 发明授权

US08340883B2 Method and apparatus for predicting a movement trajectory 有权
标题翻译：用于预测运动轨迹的方法和装置
公开(公告)号：US08340883B2
公开(公告)日：2012-12-25
申请号：US12066535
申请日：2006-09-15
申请人： Maxim Arbitmann , Matthias Schorn , Rolf Isermann , Ulrich Stählin
发明人： Maxim Arbitmann , Matthias Schorn , Rolf Isermann , Ulrich Stählin
IPC分类号： G06F7/00
CPC分类号： B62D15/0265 , B60W10/06 , B60W10/20 , B60W30/09 , B60W30/10 , B60W30/16 , B60W40/10 , B60W2550/306 , Y02T10/56
摘要： In order to be able to undertake a reliable prediction of a movement trajectory of an object moving in road traffic even for relatively long prediction periods, a method is proposed in which there is firstly determined (203) with the aid of an evaluation of a determined movement variable of the object a driving maneuver that is executed by the object. A model (2051; . . . ; 205N) of the movement of the object is then selected as a function of the determined driving maneuver, and the movement trajectory of the object is calculated with the aid of the selected model. There is also proposed an apparatus for predicting the movement trajectory of an object that is suitable for carrying out the method. The object can be both a motor vehicle and an object in the surroundings of the motor vehicle.
摘要翻译：为了能够进行即使在较长的预测期间在道路交通中移动的物体的运动轨迹的可靠预测，提出了一种方法，其中首先确定（203）借助于确定的对象的运动变量由对象执行的驾驶操纵。然后根据所确定的驾驶操作选择对象的运动的模型（2051; ...，205N），并且借助所选择的模型来计算对象的运动轨迹。还提出了一种用于预测适于执行该方法的物体的运动轨迹的装置。该物体可以是机动车辆和机动车辆周围的物体。

3. 发明申请

US20090076702A1 Method and Apparatus for Predicting a Movement Trajectory 有权
标题翻译：用于预测运动轨迹的方法和装置
公开(公告)号：US20090076702A1
公开(公告)日：2009-03-19
申请号：US12066535
申请日：2006-09-15
申请人： Maxim Arbitmann , Matthias Schorn , Rolf Isermann , Ulrich Stahlin
发明人： Maxim Arbitmann , Matthias Schorn , Rolf Isermann , Ulrich Stahlin
IPC分类号： G06F17/00
CPC分类号： B62D15/0265 , B60W10/06 , B60W10/20 , B60W30/09 , B60W30/10 , B60W30/16 , B60W40/10 , B60W2550/306 , Y02T10/56
摘要： In order to be able to undertake a reliable prediction of a movement trajectory of an object moving in road traffic even for relatively long prediction periods, a method is proposed in which there is firstly determined (203) with the aid of an evaluation of a determined movement variable of the object a driving maneuver that is executed by the object. A model (2051; . . . ; 205N) of the movement of the object is then selected as a function of the determined driving maneuver, and the movement trajectory of the object is calculated with the aid of the selected model. There is also proposed an apparatus for predicting the movement trajectory of an object that is suitable for carrying out the method. The object can be both a motor vehicle and an object in the surroundings of the motor vehicle.
摘要翻译：为了能够进行即使在较长的预测期间在道路交通中移动的物体的运动轨迹的可靠预测，提出了一种方法，其中首先确定（203）借助于确定的对象的运动变量由对象执行的驾驶操纵。然后根据所确定的驾驶操作选择对象的运动的模型（2051; ...，205N），并且借助所选择的模型来计算对象的运动轨迹。还提出了一种用于预测适于执行该方法的物体的运动轨迹的装置。该物体可以是机动车辆和机动车辆周围的物体。

4. 发明授权

US08355842B2 Method and device for steering a motor vehicle 有权
标题翻译：用于转向机动车辆的方法和装置
公开(公告)号：US08355842B2
公开(公告)日：2013-01-15
申请号：US12066695
申请日：2006-09-15
申请人： Maxim Arbitmann , Matthias Schorn , Rolf Isermann
发明人： Maxim Arbitmann , Matthias Schorn , Rolf Isermann
IPC分类号： B62D6/00 , B62D11/00 , B62D12/00 , G06F7/00 , G06F17/00 , G06F19/00
CPC分类号： B62D15/0265 , B60W10/06 , B60W10/20 , B60W30/09 , B60W30/10 , B60W30/16 , B60W40/10 , B60W2550/306 , Y02T10/56
摘要： A method for steering a motor vehicle in a collision avoidance maneuver ahead of an object in the front or lateral surroundings of the motor vehicle. It is arranged that a linear control method is employed, in which case one controller output signal (δLLM1; . . . ; δLLMN) each is determined in at least two linear controller modules depending on a deviation (e) between an actual position of the motor vehicle and a nominal position that is predetermined due to the avoiding path. The controller output signals (δLLM1; . . . ; δLLMN) are weighted with respectively one weighting factor (Φ1; . . . ; ΦN) that is established depending on the vehicle speed (v), and a steering angle of steerable wheels of the motor vehicle is established based on an arbitration of the weighted controller output signals. Furthermore, a device which is suitable to implement the method is provided.
摘要翻译：一种用于在机动车辆的前部或外侧周围的物体之前的碰撞避免机动中驾驶机动车辆的方法。布置为采用线性控制方法，在这种情况下，一个控制器输出信号（δLLM1...，δLLMN）各自在至少两个线性控制器模块中确定，这取决于两个线性控制器模块的实际位置之间的偏差（e）机动车辆和由于避免路径而被预先确定的标称位置。控制器输出信号（δLLM1...，δLLMN）分别根据车辆速度（v）建立一个加权因子（Φ1; ...，ΦN），以及转向轮的转向角基于加权控制器输出信号的仲裁建立机动车辆。此外，提供了适用于实现该方法的装置。

5. 发明申请

US20090222166A1 Method and Device for Steering a Motor Vehicle 有权
标题翻译：转向机动车辆的方法和装置
公开(公告)号：US20090222166A1
公开(公告)日：2009-09-03
申请号：US12066695
申请日：2006-09-15
申请人： Maxim Arbitmann , Matthias Schorn , Rolf Isermann
发明人： Maxim Arbitmann , Matthias Schorn , Rolf Isermann
IPC分类号： B62D6/00
CPC分类号： B62D15/0265 , B60W10/06 , B60W10/20 , B60W30/09 , B60W30/10 , B60W30/16 , B60W40/10 , B60W2550/306 , Y02T10/56
摘要： A method for steering a motor vehicle in a collision avoidance maneuver ahead of an object in the front or lateral surroundings of the motor vehicle. It is arranged that a linear control method is employed, in which case one controller output signal (δLLM1; . . . ; δLLMN) each is determined in at least two linear controller modules depending on a deviation (e) between an actual position of the motor vehicle and a nominal position that is predetermined due to the avoiding path. The controller output signals (δLLM1; . . . ; δLLMN) are weighted with respectively one weighting factor (Φ1; . . . ; ΦN) that is established depending on the vehicle speed (v), and a steering angle of steerable wheels of the motor vehicle is established based on an arbitration of the weighted controller output signals. Furthermore, a device which is suitable to implement the method is provided.
摘要翻译：一种用于在机动车辆的前部或外侧周围的物体之前的碰撞避免机动中驾驶机动车辆的方法。布置成采用线性控制方法，在这种情况下，每个控制器输出信号（deltaLLM1，...，ΔLLMN）在至少两个线性控制器模块中确定，这取决于在机动车辆和由于避免路径而被预先确定的标称位置。控制器输出信号（deltaLLM1，...，ΔLLMN）分别用根据车速（v）建立的一个加权因子（Phi1; ...，PhiN）进行加权，并且该转向轮的转向角基于加权控制器输出信号的仲裁建立机动车辆。此外，提供了适用于实现该方法的装置。

6. 发明申请

US20080208408A1 METHOD AND DEVICE FOR PERFORMING A COLLISION AVOIDANCE MANEUVER 有权
标题翻译：用于执行冲突避免的方法和装置
公开(公告)号：US20080208408A1
公开(公告)日：2008-08-28
申请号：US12047467
申请日：2008-03-13
申请人： Maxim Arbitmann , Ulrich Stahlin , Matthias Schorn , Rolf Isermann
发明人： Maxim Arbitmann , Ulrich Stahlin , Matthias Schorn , Rolf Isermann
IPC分类号： B62D6/00
CPC分类号： B62D15/0265 , B60W10/06 , B60W10/20 , B60W30/09 , B60W30/10 , B60W30/16 , B60W40/10 , B60W2550/306 , Y02T10/56
摘要： Disclosed is a method of executing a collision avoidance maneuver ahead of an object in the surroundings, with which the vehicle is on a collision course. To allow determining the avoiding path in a simplest possible fashion and, in particular, a simplest possible parameterization of the path, the avoiding path is given by a sigmoid (ƒao(x); ƒao/2(x); ƒ2ao(x)), the shape of which is defined by at least one parameter (a; B; c) that is determined depending on the speed of the motor vehicle or a desired maneuver width of the collision avoidance maneuver. Also disclosed is a device which is suitable for implementing the method.
摘要翻译：公开了一种在车辆处于碰撞过程的环境中的物体之前执行碰撞避免机动的方法。为了允许以最简单的可能方式确定避免路径，并且特别地，路径的最简单的可能参数化，避开路径由S形表示（S < （x）; f （x）; f （x）），其形状由至少一个参数（a; B; c）定义，其取决于机动车辆的速度或碰撞避免机动的所需机动宽度。还公开了适合于实现该方法的装置。

7. 发明授权

US09310210B2 Verification of digital maps 有权
标题翻译：数字地图的验证
公开(公告)号：US09310210B2
公开(公告)日：2016-04-12
申请号：US12740173
申请日：2008-10-28
申请人： Ulrich Stählin , Otmar Schreiner , Andreas Kircher , Enno Kelling , Matthias Schorn
发明人： Ulrich Stählin , Otmar Schreiner , Andreas Kircher , Enno Kelling , Matthias Schorn
IPC分类号： G01C21/32 , B60W40/02 , G01C21/30 , H04W4/04 , H04L29/08
CPC分类号： G01C21/32 , B60W40/02 , B60W2420/52 , G01C21/30 , H04L67/12 , H04W4/046
摘要： An assessment module for assessing data from a digital map for a vehicle. The assessment is made on the basis of a piece of dedicated map quality information and measurement data from an ambient sensor system in the vehicle. The connected driver assistance systems and safety systems in the vehicle use the digital map data on the basis of the assessment.
摘要翻译：用于评估车辆数字地图数据的评估模块。基于来自车辆中的环境传感器系统的专用地图质量信息和测量数据进行评估。车辆中连接的驾驶员辅助系统和安全系统在评估的基础上使用数字地图数据。

8. 发明申请

US20100241354A1 VERIFICATION OF DIGITAL MAPS 有权
标题翻译：数字图像的验证
公开(公告)号：US20100241354A1
公开(公告)日：2010-09-23
申请号：US12740173
申请日：2008-10-28
申请人： Ulrich Stählin , Otmar Schreiner , Andreas Kircher , Enno Kelling , Matthias Schorn
发明人： Ulrich Stählin , Otmar Schreiner , Andreas Kircher , Enno Kelling , Matthias Schorn
IPC分类号： G01C21/26
CPC分类号： G01C21/32 , B60W40/02 , B60W2420/52 , G01C21/30 , H04L67/12 , H04W4/046
摘要： An assessment module for assessing data from a digital map for a vehicle. The assessment is made on the basis of a piece of dedicated map quality information and measurement data from an ambient sensor system in the vehicle. The connected driver assistance systems and safety systems in the vehicle use the digital map data on the basis of the assessment.
摘要翻译：用于评估车辆数字地图数据的评估模块。基于来自车辆中的环境传感器系统的专用地图质量信息和测量数据进行评估。车辆中连接的驾驶员辅助系统和安全系统在评估的基础上使用数字地图数据。

9. 发明授权

US08363211B2 Sensor device and method for detecting the motion of a vehicle 有权
标题翻译：用于检测车辆的运动的传感器装置和方法
公开(公告)号：US08363211B2
公开(公告)日：2013-01-29
申请号：US12678403
申请日：2008-09-17
申请人： Stephan Groitzsch , Wilfried Mehr , Bernhard Schmid , Matthias Schorn , Christian Gutmann , Stefan Stözl , Frank Steinmeier , Artur Otto , Thomas Zuccaro
发明人： Stephan Groitzsch , Wilfried Mehr , Bernhard Schmid , Matthias Schorn , Christian Gutmann , Stefan Stözl , Frank Steinmeier , Artur Otto , Thomas Zuccaro
IPC分类号： G01C3/08
CPC分类号： G01S17/325 , G01S7/4916 , G01S13/60 , G01S13/62 , G01S17/58 , G01S2013/9353
摘要： A sensor device for detecting a motion state of a motor vehicle. The sensor device includes at least one laser unit having a light source for emitting coherent light which is transmitted in the direction of a roadway surface, and an interference detector which is designed to detect at least one measurement variable which characterizes interference between the light scattered at the surface and the light of the light source. The measurement variable represents a speed component of the sensor device and/or a distance between the sensor device and the roadway surface. The laser unit is coupled to an evaluation device which is designed to determine, from the measurement variable, at least one variable which characterizes the motion state of the vehicle, in particular a speed component of the center of gravity of the vehicle, a rotational angle or a rotation rate of the vehicle.
摘要翻译：一种用于检测机动车辆的运动状态的传感器装置。所述传感器装置包括至少一个激光单元，所述至少一个激光单元具有用于发射在道路表面方向上发射的相干光的光源;以及干涉检测器，其被设计成检测至少一个测量变量，所述至少一个测量变量表征在光源的表面和光。测量变量表示传感器装置的速度分量和/或传感器装置与道路表面之间的距离。激光单元耦合到评估装置，该评估装置被设计成从测量变量确定表征车辆的运动状态，特别是车辆重心的速度分量的至少一个变量，旋转角度或车辆的转速。

10. 发明授权

US09177212B2 Method for combining a road sign recognition system and a lane detection system of a motor vehicle 有权
标题翻译：用于组合道路标识识别系统和机动车辆的车道检测系统的方法
公开(公告)号：US09177212B2
公开(公告)日：2015-11-03
申请号：US13704364
申请日：2011-03-19
申请人： Urban Meis , Christian Gutmann , Matthias Schorn , Steen Kristensen
发明人： Urban Meis , Christian Gutmann , Matthias Schorn , Steen Kristensen
IPC分类号： G06K9/00 , G08G1/0967 , G08G1/16 , G08G1/0962
CPC分类号： G06K9/00798 , G08G1/09623 , G08G1/096716 , G08G1/096775 , G08G1/16 , G08G1/167
摘要： A method combines a road sign recognition system and a lane detection system of a motor vehicle. The road sign recognition system generates road sign information from sensor data of a camera-based or video-based sensor system and the lane detection system generates lane course information from the sensor data. Meaning-indicating data for road signs are generated from the lane course information, and are used to check the plausibility of and/or to interpret the road sign information. Data indicating the course of the lane are generated from the road sign information, and are used to check the plausibility of and/or to interpret the lane course information.
摘要翻译：一种组合道路标识识别系统和机动车辆的车道检测系统的方法。道路标识识别系统从基于摄像机或基于视频的传感器系统的传感器数据生成路标信息，并且车道检测系统从传感器数据生成车道路线信息。路线信息的含义指示数据是从车道路线信息生成的，用于检查道路标志信息的合理性和/或解释。从道路标志信息生成表示车道路线的数据，并用于检查车道路线信息的合理性和/或解释。

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