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1. 发明申请

US20120316730A1 LANE SENSING THROUGH LANE MARKER IDENTIFICATION FOR LANE CENTERING/KEEPING 有权
标题翻译：通过LANE标记识别LANE CENTERING / KEEPING的LANE SENSING
公开(公告)号：US20120316730A1
公开(公告)日：2012-12-13
申请号：US13156974
申请日：2011-06-09
申请人： Wende Zhang , Bakhtiar Brian Litkouhi , Jin-Woo Lee
发明人： Wende Zhang , Bakhtiar Brian Litkouhi , Jin-Woo Lee
IPC分类号： B62D6/00
CPC分类号： B60W30/12 , B60W10/20 , B60W40/06 , B60W2420/42 , B60W2710/202 , B60W2710/207 , B60W2720/14
摘要： A method for adjusting a vehicle's position in a roadway lane. A camera mounted on the vehicle generates a current image of the lane and the method identifies a current lane-center line in the current image. A reference image is generated and the method identifies a reference lane-center line in the reference image. The method then calculates an error between the current lane-center line and the reference lane-center line and provide steering commands to adjust the position of the vehicle so that the error is reduced.
摘要翻译：一种用于调整车道在道路车道中的位置的方法。安装在车辆上的照相机产生车道的当前图像，并且该方法识别当前图像中的当前车道中心线。生成参考图像，并且该方法识别参考图像中的参考车道中心线。然后，该方法计算当前车道中心线和参考车道中心线之间的误差，并提供转向命令以调整车辆的位置，从而减小误差。

2. 发明申请

US20120314070A1 LANE SENSING ENHANCEMENT THROUGH OBJECT VEHICLE INFORMATION FOR LANE CENTERING/KEEPING 审中-公开
标题翻译： LANE CENTERING / KEEPING通过对象车辆信息进行LANE感应增强
公开(公告)号：US20120314070A1
公开(公告)日：2012-12-13
申请号：US13157124
申请日：2011-06-09
申请人： Wende Zhang , Bakhtiar Brian Litkouhi , Jin-Woo Lee
发明人： Wende Zhang , Bakhtiar Brian Litkouhi , Jin-Woo Lee
IPC分类号： H04N7/18 , G06K9/60
CPC分类号： B60W40/00 , B60W30/12 , B60W30/18163 , B60W2420/42 , B60W2550/304
摘要： A system and method for accurately estimating a lane in which a vehicle is traveling. A sensor mounted on the vehicle generates sensor data including lane information that is processed by several lane detection sub-systems to generate two or more estimated lanes with corresponding lane confidence information. A combining processor combines the estimated lanes based upon the confidence information to determine a combined estimated lane.
摘要翻译：一种用于准确估计车辆行驶的车道的系统和方法。安装在车辆上的传感器产生包括由多个车道检测子系统处理的车道信息的传感器数据，以生成具有对应车道置信度的两个或多个估计车道。组合处理器基于置信度信息组合估计的车道以确定组合的估计车道。

3. 发明授权

US09751529B2 Lane sensing through lane marker identification for lane centering/keeping 有权
公开(公告)号：US09751529B2
公开(公告)日：2017-09-05
申请号：US13156974
申请日：2011-06-09
申请人： Wende Zhang , Bakhtiar Brian Litkouhi , Jin-Woo Lee
发明人： Wende Zhang , Bakhtiar Brian Litkouhi , Jin-Woo Lee
IPC分类号： B62D6/00 , B60W30/12 , B62D15/02 , B60W10/20 , B60W40/06
CPC分类号： B60W30/12 , B60W10/20 , B60W40/06 , B60W2420/42 , B60W2710/202 , B60W2710/207 , B60W2720/14
摘要： A method for adjusting a vehicle's position in a roadway lane. A camera mounted on the vehicle generates a current image of the lane and the method identifies a current lane-center line in the current image. A reference image is generated and the method identifies a reference lane-center line in the reference image. The method then calculates an error between the current lane-center line and the reference lane-center line and provide steering commands to adjust the position of the vehicle so that the error is reduced.

4. 发明授权

US09168924B2 System diagnosis in autonomous driving 有权
标题翻译：自主驾驶系统诊断
公开(公告)号：US09168924B2
公开(公告)日：2015-10-27
申请号：US13430258
申请日：2012-03-26
申请人： Jin-Woo Lee , Bakhtiar Brian Litkouhi
发明人： Jin-Woo Lee , Bakhtiar Brian Litkouhi
IPC分类号： B62D6/00 , G06F7/00 , B60W30/12 , B60W50/04 , B62D15/02
CPC分类号： B60W30/12 , B60W50/04 , B60W2540/18 , B62D15/025
摘要： A lane controller system installed on a vehicle may include components for self-diagnosing malfunctions on the vehicle. The system may include a desired path generator for generating a desired path that keeps the vehicle within a road lane; a steering controller for providing steering a steering correction to keep the vehicle within the road lane; a vehicle state estimator for estimating the state of the vehicle; a lane marking detector for detecting position of road lane markings; a path predictor for predicting a path actively followed by the vehicle; a virtual dynamics module for modeling the anticipated path of the vehicle following input of the steering controller; a comparer that compares the results of actual steering corrections applied with those predicted by the virtual dynamics module, and a diagnostic system that determines a root cause of malfunctions, based on the comparison by the comparer.
摘要翻译：安装在车辆上的车道控制器系统可以包括用于自行诊断车辆故障的部件。系统可以包括用于产生将车辆保持在道路车道内的期望路径的期望的路径发生器; 转向控制器，用于提供转向转向校正以将车辆保持在道路车道内; 用于估计车辆状态的车辆状态估计器; 用于检测道路车道标记的位置的车道标记检测器; 用于预测车辆主动跟踪的路径的路径预测器; 虚拟动力学模块，用于对转向控制器的输入之后的车辆的预期路径进行建模; 比较应用于虚拟动力学模块预测的实际转向校正的结果的比较器，以及基于比较器的比较确定故障根本原因的诊断系统。

5. 发明授权

US08977419B2 Driving-based lane offset control for lane centering 有权
标题翻译：车道定心系统基于驾驶的车道偏移控制
公开(公告)号：US08977419B2
公开(公告)日：2015-03-10
申请号：US12977912
申请日：2010-12-23
申请人： Jin-Woo Lee , Bakhtiar Brian Litkouhi
发明人： Jin-Woo Lee , Bakhtiar Brian Litkouhi
IPC分类号： B62D6/00 , B62D15/00 , B60W30/12 , B60W50/08 , B62D1/28 , B60W50/00
CPC分类号： B60W30/12 , B60W50/08 , B60W2050/0073 , B60W2050/0074 , B60W2540/04 , B62D1/28 , B62D1/286
摘要： A system and method for providing adaptive lane centering in an autonomous or semi-autonomous vehicle driving system includes activating a lane centering control system, detecting a driver steering override of the lane centering control system, monitoring a lane centering offset when a driver override condition is detected, determining if the lane centering offset represents a driver bias and adjusting the lane centering offset in the lane centering control system to compensate for the driver bias.
摘要翻译：一种用于在自主或半自主车辆驾驶系统中提供自适应车道对中的系统和方法包括激活车道对中控制系统，检测车道居中控制系统的驾驶员转向超控，当驾驶员超驰条件为检测到，确定车道中心偏移是否表示驾驶员偏差并且调整车道居中控制系统中的车道对中偏移以补偿驾驶员偏差。

6. 发明申请

US20130179036A1 LANE TRACKING SYSTEM WITH ACTIVE REAR-STEER 有权
标题翻译：具有主动后转器的LANE跟踪系统
公开(公告)号：US20130179036A1
公开(公告)日：2013-07-11
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： G05D1/00
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。

7. 发明申请

US20100228417A1 DRIVER HANDS ON/OFF DETECTION DURING AUTOMATED LANE CENTERING/CHANGING MANEUVER 审中-公开
标题翻译：驾驶员在自动化LANE中心/更改MANEUVER时的开/关检测
公开(公告)号：US20100228417A1
公开(公告)日：2010-09-09
申请号：US12399290
申请日：2009-03-06
申请人： Jin-Woo Lee , Yong H. Lee , Bakhtiar Brian Litkouhi
发明人： Jin-Woo Lee , Yong H. Lee , Bakhtiar Brian Litkouhi
IPC分类号： G06F7/00 , G05D1/00
CPC分类号： B62D15/025 , B60W50/16
摘要： A system and method for determining whether a vehicle driver is holding a steering wheel of the vehicle while the vehicle is in an autonomous driving mode. The vehicle will include an electric power steering (EPS) system and may include an active front steering (AFS) system, both of which include a motor that can apply a high frequency and low amplitude perturbation signal to the steering wheel of the vehicle that is not felt by the vehicle driver and does not cause the vehicle to turn, but is able to be detected by a steering angle sensor. The method subtracts a steering angle command signal from the steering angle signal and removes road disturbances, and then determines whether the induced perturbation signal is present in the steering angle sensor signal. If the perturbation signal is present, then the system knows that the vehicle driver is not holding the steering wheel.
摘要翻译：一种用于在车辆处于自主驾驶模式的过程中确定车辆驾驶员是否正在保持车辆的方向盘的系统和方法。车辆将包括电动助力转向（EPS）系统，并且可以包括主动前转向（AFS）系统，这两个系统包括可以向车辆的方向盘施加高频和低振幅扰动信号的电动机，不被车辆驾驶员感觉到并且不会导致车辆转动，而是能够由转向角传感器检测到。该方法从转向角信号中减去转向角指令信号，去除道路干扰，然后判定感应扰动信号是否存在于转向角传感器信号中。如果存在扰动信号，则系统知道车辆驾驶员没有握住方向盘。

8. 发明申请

US20100017071A1 AUTOMATIC REARVIEW MIRROR ADJUSTMENT SYSTEM FOR VEHICLE 有权
标题翻译：汽车后视镜自动调整系统
公开(公告)号：US20100017071A1
公开(公告)日：2010-01-21
申请号：US12174146
申请日：2008-07-16
申请人： Jihan Ryu , Kwang-Keun Shin , Jin-Woo Lee , Bakhtiar Brian Litkouhi
发明人： Jihan Ryu , Kwang-Keun Shin , Jin-Woo Lee , Bakhtiar Brian Litkouhi
IPC分类号： G02B5/08
CPC分类号： B60R1/02
摘要： Mirrors on a motor vehicle are adjusted by monitoring the position of a first, preferably manually adjusted, mirror and adjusting the position of additional mirrors based on the monitored position of the first one of the mirrors.
摘要翻译：通过监测第一个，最好是手动调节的镜子的位置，并根据第一个反射镜的监视位置调整附加镜子的位置来调整机动车辆上的镜子。

9. 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。

10. 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。

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