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1. 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。

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

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。

5. 发明授权

US09429650B2 Fusion of obstacle detection using radar and camera 有权
标题翻译：使用雷达和摄像机融合障碍物检测
公开(公告)号：US09429650B2
公开(公告)日：2016-08-30
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 , G06K9/00 , G06K9/62
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。

6. 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。

7. 发明授权

US08903637B2 System and method for calculating an instantaneous fuel economy for a vehicle 有权
标题翻译：用于计算车辆瞬时燃油经济性的系统和方法
公开(公告)号：US08903637B2
公开(公告)日：2014-12-02
申请号：US13071390
申请日：2011-03-24
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： G06F7/00 , G07C5/08 , B60W50/00
CPC分类号： G07C5/085 , B60W50/0097 , B60W2520/10 , B60W2520/105
摘要： A system for calculating an instantaneous fuel economy for a vehicle is disclosed herein. The system includes, but is not limited to, a speed sensor that is configured to determine a current speed of the vehicle, an acceleration sensor that is configured to determine a current acceleration of the vehicle, a fuel sensor that is configured to determine a current fuel consumption rate of an internal combustion engine of the vehicle, a display unit, and a processor. The processor is communicatively coupled with the speed sensor, the acceleration sensor, and the fuel sensor, and is operatively coupled with the display unit. The processor is configured to determine the instantaneous fuel economy of the vehicle based on information obtained from the speed sensor, the acceleration sensor, and the fuel sensor. The processor is further configured to instruct the display unit to display the instantaneous fuel economy.
摘要翻译：本文公开了一种用于计算车辆的瞬时燃料经济性的系统。该系统包括但不限于被配置为确定车辆的当前速度的速度传感器，被配置为确定车辆的当前加速度的加速度传感器，被配置为确定车辆的当前速度的燃料传感器车辆的内燃机的燃料消耗率，显示单元和处理器。处理器与速度传感器，加速度传感器和燃料传感器通信地耦合，并且与显示单元可操作地耦合。处理器被配置为基于从速度传感器，加速度传感器和燃料传感器获得的信息来确定车辆的瞬时燃料经济性。处理器还被配置为指示显示单元显示瞬时燃料经济性。

8. 发明授权

US08903607B2 Lane tracking system with active rear-steer 有权
标题翻译：车道跟踪系统具有主动后转向
公开(公告)号：US08903607B2
公开(公告)日：2014-12-02
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： G05D1/02
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。

9. 发明授权

US08655528B2 Real-time allocation of actuator torque in a vehicle 有权
标题翻译：在车辆中实时分配执行器扭矩
公开(公告)号：US08655528B2
公开(公告)日：2014-02-18
申请号：US13017117
申请日：2011-01-31
申请人： Youssef A. Ghoneim , Shih-Ken Chen , Valery Pylypchuk , Nikolai K. Moshchuk , Bakhtiar Brian Litkouhi
发明人： Youssef A. Ghoneim , Shih-Ken Chen , Valery Pylypchuk , Nikolai K. Moshchuk , Bakhtiar Brian Litkouhi
IPC分类号： G06F19/00
CPC分类号： B60W10/08 , B60K7/0007 , B60K2007/0092 , B60W10/184 , B60W30/18145 , B60W50/0098 , B60W50/023 , B60W2050/0031 , B60W2720/403 , B60W2720/406 , Y02T10/7258
摘要： A method for allocating forces among the corners of a vehicle having a redundant actuator suite includes determining a set of desired forces at the center of gravity of the vehicle, and allocating the set of desired forces among the corners of the vehicle as virtual control commands using a controller. The method also includes mapping the virtual control commands at the corners to actual or true control commands at the corners, and controlling a plurality of actuators at the corners using the actual or true control commands. The actuators may include friction brakes and wheel motors. Mapping the virtual control commands may include using a Least Squares formulation. Control of the actuators may be prioritized with respect to each other using weighting matrices. A vehicle includes a controller having actuators and a controller configured for executing the above method.
摘要翻译：一种用于在具有冗余致动器套件的车辆角部之间分配力的方法包括确定在车辆重心处的一组期望的力，并且在车辆的角部之间分配所需的力集合作为虚拟控制命令，使用一个控制器该方法还包括将角落处的虚拟控制命令映射到角落处的实际或真实控制命令，并且使用实际或真实的控制命令来控制拐角处的多个致动器。致动器可以包括摩擦制动器和轮式电动机。映射虚拟控制命令可以包括使用最小二乘公式。致动器的控制可以使用加权矩阵相对于彼此来优先。车辆包括具有致动器的控制器和被配置为执行上述方法的控制器。

10. 发明申请

US20130289824A1 VEHICLE TURN ASSIST SYSTEM AND METHOD 审中-公开
标题翻译：车辆转向辅助系统和方法
公开(公告)号：US20130289824A1
公开(公告)日：2013-10-31
申请号：US13459565
申请日：2012-04-30
申请人： Upali Priyantha Mudalige , Bakhtiar Brian Litkouhi
发明人： Upali Priyantha Mudalige , Bakhtiar Brian Litkouhi
IPC分类号： G08G1/16 , G06F7/00 , B62D6/04
CPC分类号： G08G1/167 , B60W30/0956 , B60W30/18154 , B60W50/14 , G08G1/166
摘要： A turn assist system for a vehicle includes a transceiver configured to receive data corresponding to the location and motion of a nearby vehicle, a GPS receiver configured to generate location data representative of the location of the vehicle, a vehicle motion sensor configured to monitor one or more motion parameters of the vehicle, and a processor. The processor may be configured to: receive the location data and the vehicle motion data; maintain a plurality of motion paths within a database; map the location of the adjacent vehicle to one of the plurality of motion paths using the received data; and determine if the adjacent vehicle will obstruct the forward motion of the vehicle.
摘要翻译：用于车辆的转弯辅助系统包括：收发器，被配置为接收对应于附近车辆的位置和运动的数据; GPS接收器，被配置为生成表示车辆位置的位置数据;车辆运动传感器，被配置为监视一个或车辆的更多运动参数和处理器。处理器可以被配置为：接收位置数据和车辆运动数据; 保持数据库内的多个运动路径; 使用所接收的数据将相邻车辆的位置映射到多个运动路径之一; 并确定相邻的车辆是否会妨碍车辆的向前运动。

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