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1. 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。

2. 发明申请

US20130116854A1 LANE TRACKING SYSTEM 有权
标题翻译： LANE跟踪系统
公开(公告)号：US20130116854A1
公开(公告)日：2013-05-09
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： G06F7/00
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。

3. 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。

4. 发明申请

US20120283913A1 SYSTEM AND METHOD FOR ADJUSTING SMOOTHNESS FOR LANE CENTERING STEERING CONTROL 审中-公开
标题翻译：用于调整LANE CENTERING转向控制的平滑度的系统和方法
公开(公告)号：US20120283913A1
公开(公告)日：2012-11-08
申请号：US13101347
申请日：2011-05-05
申请人： Jin-Woo Lee , Bakhtiar Brian Litkouhi , Xingping Chen
发明人： Jin-Woo Lee , Bakhtiar Brian Litkouhi , Xingping Chen
IPC分类号： B62D6/00
CPC分类号： B62D1/28 , B62D15/025
摘要： A method and system may calculate a steering adjustment required for a vehicle traveling on a roadway to execute a transition to lane centering maneuver. A steering limit may be selected or calculated in accordance with a desired smoothness level for completing the maneuver. The steering limit may be applied to a steering adjustment to obtain a modified steering adjustment, and the modified steering adjustment may be applied to the vehicle.
摘要翻译：一种方法和系统可以计算在巷道上行驶的车辆所需的转向调节，以执行到车道居中操纵的过渡。可以根据期望的平滑度来选择或计算转向极限，以完成机动。可以将转向限制应用于转向调节以获得修改的转向调节，并且可以将修改的转向调节应用于车辆。

5. 发明授权

US08244408B2 Method to assess risk associated with operating an autonomic vehicle control system 有权
标题翻译：评估与自主车辆控制系统相关的风险的方法
公开(公告)号：US08244408B2
公开(公告)日：2012-08-14
申请号：US12400029
申请日：2009-03-09
申请人： Jin-Woo Lee , Jeremy A. Salinger , Xingping Chen
发明人： Jin-Woo Lee , Jeremy A. Salinger , Xingping Chen
IPC分类号： B60W30/095 , G08G1/16
CPC分类号： G05D1/0246 , B60W30/0953 , B60W30/0956 , B62D15/0255 , G05D1/0257 , G05D1/027 , G05D1/0272 , G05D2201/0213
摘要： A vehicle is configured to execute an autonomic lane change maneuver and is equipped with a spatial monitoring system. Each of a plurality of objects located proximate to the vehicle is monitored. Locations of each of the objects are predicted relative to a projected trajectory of the vehicle. A collision risk level between the vehicle and each of the objects is assessed.
摘要翻译：车辆被配置为执行自主车道改变机动并且配备有空间监控系统。监视位于车辆附近的多个物体中的每一个。相对于车辆的投影轨迹预测每个物体的位置。评估车辆与每个物体之间的碰撞风险等级。

6. 发明申请

US20100228419A1 METHOD TO ASSESS RISK ASSOCIATED WITH OPERATING AN AUTONOMIC VEHICLE CONTROL SYSTEM 有权
标题翻译：评估与操作自动化车辆控制系统相关的风险的方法
公开(公告)号：US20100228419A1
公开(公告)日：2010-09-09
申请号：US12400029
申请日：2009-03-09
申请人： Jin-Woo Lee , Jeremy A. Salinger , Xingping Chen
发明人： Jin-Woo Lee , Jeremy A. Salinger , Xingping Chen
IPC分类号： G05D1/00
CPC分类号： G05D1/0246 , B60W30/0953 , B60W30/0956 , B62D15/0255 , G05D1/0257 , G05D1/027 , G05D1/0272 , G05D2201/0213
摘要： A vehicle is configured to execute an autonomic lane change maneuver and is equipped with a spatial monitoring system. Each of a plurality of objects located proximate to the vehicle is monitored. Locations of each of the objects are predicted relative to a projected trajectory of the vehicle. A collision risk level between the vehicle and each of the objects is assessed.
摘要翻译：车辆被配置为执行自主车道改变机动并且配备有空间监控系统。监视位于车辆附近的多个物体中的每一个。相对于车辆的投影轨迹预测每个物体的位置。评估车辆与每个物体之间的碰撞风险等级。

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