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1. 发明申请

US20180122244A1 METHOD, SYSTEM, AND COMPUTER PROGRAM PRODUCT FOR DETECTING A POSSIBLE LANE CHANGE OF A FELLOW VEHICLE, ALSO A VEHICLE 审中-公开
公开(公告)号：US20180122244A1
公开(公告)日：2018-05-03
申请号：US15801595
申请日：2017-11-02
申请人： HELLA GmbH & Co. KGaA
发明人： Bernhard MUELLER
IPC分类号： G08G1/16 , B60K31/00 , G06K9/00 , B60W30/16 , B60W30/12
CPC分类号： G08G1/167 , B60K31/0008 , B60K2031/0025 , B60T2201/089 , B60W30/12 , B60W30/16 , B60W2420/42 , B60W2420/52 , B60W2550/30 , G06K9/00805
摘要： A method for detecting a possible lane change of a fellow vehicle in the environment of a vehicle, wherein the vehicle is located in a first lane, is provided. A system is also provided having a control unit and at least one sensor device for detecting a possible lane change of a fellow vehicle in the environment of a vehicle, wherein the vehicle is located in a first lane. Furthermore, a vehicle is provided having a system for detecting a possible lane change of a fellow vehicle in the environment of the vehicle, as well as a computer program product for detecting a possible lane change of a fellow vehicle in the environment of a vehicle.

2. 发明申请

US20160152232A1 VEHICLE CONTROL SYSTEM 审中-公开
标题翻译：车辆控制系统
公开(公告)号：US20160152232A1
公开(公告)日：2016-06-02
申请号：US14896733
申请日：2014-06-03
申请人： HITACHI AUTOMOTIVE SYSTEMS, LTD.
发明人： Akira TAKAHASHI , Jun KUBO , Mitsuo SASAKI
IPC分类号： B60W30/02 , B60W10/20 , B60W10/184 , B60T8/1755 , B62D5/04
CPC分类号： B60W30/02 , B60T8/17 , B60T8/1755 , B60T8/17557 , B60T2201/083 , B60T2201/085 , B60T2201/087 , B60T2201/089 , B60T2210/13 , B60W10/18 , B60W10/184 , B60W10/20 , B60W30/08 , B60W30/09 , B60W30/0953 , B60W40/114 , B60W2420/42 , B60W2420/52 , B60W2520/00 , B60W2520/10 , B60W2520/14 , B60W2550/10 , B60W2710/18 , B60W2710/202 , B62D5/0463 , B62D15/025
摘要： There is provided a vehicle control system capable of ensuring stability even if a vehicle spins slowly. The invention recognizes a travel-path defining line of a travel path from information about an area located in the traveling direction of an ego vehicle, recognizes a traveling-direction virtual line extending from the ego vehicle in the traveling direction, and controls vehicle motion to reduce a formed angle between the traveling-direction virtual line and the travel-path defining line at least when the formed angle increases.
摘要翻译：提供了即使车辆缓慢旋转也能够确保稳定性的车辆控制系统。本发明从关于位于自主车辆的行进方向的区域的信息识别行进路径的行进路线定义线，识别从行车方向上的自我车辆延伸的行进方向虚拟线路，并且控制车辆运动至少当所形成的角度增加时，减小行进方向假想线与行进路限定线之间的形成角度。

3. 发明申请

US20160129840A1 DRIVER ASSISTANCE SYSTEM FOR A VEHICLE 审中-公开
标题翻译：车辆驾驶辅助系统
公开(公告)号：US20160129840A1
公开(公告)日：2016-05-12
申请号：US14997831
申请日：2016-01-18
申请人： MAGNA ELECTRONICS INC.
发明人： Kenneth Schofield
IPC分类号： B60R1/00 , B60R11/04 , G06K9/62 , H04N5/247 , G06K9/00
CPC分类号： B60Q9/008 , B60Q1/346 , B60R1/00 , B60R11/04 , B60R2300/804 , B60T2201/08 , B60T2201/089 , B62D15/029 , G01S13/931 , G01S2013/9325 , G01S2013/9332 , G01S2013/9353 , G01S2013/936 , G01S2013/9364 , G01S2013/9367 , G01S2013/9385 , G06K9/00798 , G06K9/00805 , G06K9/6267 , G08G1/163 , G08G1/167 , H04N5/247
摘要： A driver assistance system for a vehicle includes a forward facing camera and a control comprising an image processor that processes image data captured by the forward facing camera. The control receives vehicle data relating to the vehicle, including vehicle speed and vehicle steering angle, via a vehicle bus of the vehicle. Via processing by the image processor of image data captured by the forward facing camera, the control is operable to detect a road marking on the road being traveled by the vehicle and to the left of the vehicle. Responsive at least in part to processing of captured image data by the image processor, the control determines a driving condition of the vehicle, such as the type of lane markers present ahead of the vehicle, a traffic condition at or ahead of the vehicle, and/or a hazardous condition at or ahead of the vehicle.
摘要翻译：用于车辆的驾驶员辅助系统包括前向摄像机和包括处理由前向摄像机捕获的图像数据的图像处理器的控制。该控制经由车辆的车辆总线接收与车辆有关的车辆数据，包括车辆速度和车辆转向角度。通过由图像处理器处理由前方相机拍摄的图像数据，该控制可操作以检测由车辆行驶的道路上的道路标记和车辆的左侧。响应于至少部分地由图像处理器对捕获的图像数据的处理，控制确定车辆的驾驶状况，例如车辆前方的车道标记的类型，车辆的前方的交通状况，以及 /或车辆前方或前方的危险状况。

4. 发明申请

US20150332101A1 LANE BOUNDARY LINE RECOGNITION APPARATUS AND PROGRAM FOR RECOGNIZING LANE BOUNDARY LINE ON ROADWAY 有权
标题翻译：道路边界线识别装置和路线识别路边界线的程序
公开(公告)号：US20150332101A1
公开(公告)日：2015-11-19
申请号：US14698952
申请日：2015-04-29
申请人： DENSO CORPORATION
发明人： Masanari TAKAKI , Kenji KOBAYASHI
IPC分类号： G06K9/00 , B60R1/00 , H04N7/18
CPC分类号： B60R1/00 , B60R2300/105 , B60R2300/301 , B60R2300/804 , B60T7/22 , B60T2201/08 , B60T2201/089 , G06K9/00798 , G08G1/167 , H04N7/183
摘要： A boundary line recognition apparatus receives detection results transmitted from camera devices and a laser radar device performing different optical detection methods. These detection results indicate information regarding a lane boundary line of a vehicle lane on a roadway on which an own vehicle drives. The apparatus further obtains surrounding environmental information of the own vehicle on the roadway, and selects at least one of the camera devices and the laser radar device suitable for correctly recognizing the lane boundary line on the basis of the environmental information. The apparatus finally recognizes the lane boundary line with high accuracy on the basis of the detection result transmitted form one or more devices selected based on the environment information.
摘要翻译：边界线识别装置接收从相机装置发送的检测结果和执行不同光学检测方法的激光雷达装置。这些检测结果表示关于本车辆驱动的道路上的车道的车道边界线的信息。该装置进一步获取道路上的本车辆的周围环境信息，并根据环境信息选择适合于正确识别车道边界线的照相机装置和激光雷达装置中的至少一个。基于从基于环境信息选择的一个或多个设备发送的检测结果，该设备最终以高精度识别车道边界线。

5. 发明授权

US09171217B2 Vision system for vehicle 有权
标题翻译：车辆视觉系统
公开(公告)号：US09171217B2
公开(公告)日：2015-10-27
申请号：US14195137
申请日：2014-03-03
申请人： Magna Electronics Inc.
发明人： John A. Pawlicki , Martha A. McMahon , Steven G. Chinn , Joel S. Gibson
IPC分类号： B60Q1/00 , G06K9/00 , B60Q1/52 , B60Q9/00 , B60T7/22 , G01S11/12 , G06T7/00 , G08G1/16 , B60K31/00
CPC分类号： B60W30/18 , B60K31/00 , B60K31/0008 , B60Q1/525 , B60Q9/008 , B60R11/04 , B60R2011/004 , B60T7/22 , B60T2201/08 , B60T2201/082 , B60T2201/089 , B60T2210/34 , B60W10/04 , B60W10/20 , B60W30/09 , B60W30/12 , B60W30/143 , B60W30/16 , B60W50/14 , B60W2050/143 , B60W2420/42 , B60W2420/52 , B60W2550/12 , B60W2550/30 , B60W2550/306 , B60W2550/308 , B60W2550/406 , B60W2710/20 , B60W2720/10 , B62D15/025 , G01S11/12 , G01S13/867 , G01S13/931 , G06K9/00791 , G06K9/00798 , G06K9/00805 , G06K9/00818 , G06K9/00825 , G06K9/4604 , G06K9/52 , G06K2209/27 , G06T7/13 , G06T7/174 , G06T7/60 , G06T7/73 , G06T2207/30244 , G06T2207/30256 , G06T2207/30261 , G08G1/16 , G08G1/167 , H04N5/247
摘要： A vision system for a vehicle includes a single forward facing camera and a control having a processor, with the camera and processor disposed in a unitary module installed in the vehicle. The processor, responsive to processing of captured image data, detects headlights of oncoming vehicles and the control, responsive to the detection, provides an output for a headlamp control system of the vehicle. The processor, responsive to processing of captured image data, detects lane marks on a road being traveled by the vehicle and, responsive to the detection, provides an output for a lane departure warning system of the vehicle. The processor may estimate distance from the vehicle to an object or vehicle present exteriorly of the vehicle. The module is supplied by an automotive supplier to the vehicle manufacturer with software operable by the processor for a plurality of driver assistance systems of the vehicle.
摘要翻译：用于车辆的视觉系统包括单个前向摄像机和具有处理器的控制器，其中照相机和处理器设置在安装在车辆中的整体模块中。响应于捕获的图像数据的处理，处理器检测迎面而来的车辆的前灯和响应于该检测的控制，为车辆的前照灯控制系统提供输出。响应于捕获的图像数据的处理，处理器检测在车辆行驶的道路上的车道标记，并且响应于该检测，为车辆的车道偏离警告系统提供输出。处理器可以估计从车辆到存在于车辆外部的物体或车辆的距离。该模块由汽车供应商提供给车辆制造商，其具有可由处理器操作的用于车辆的多个驾驶员辅助系统的软件。

6. 发明申请

US20140204212A1 VISION SYSTEM FOR VEHICLE 审中-公开
标题翻译：车辆视觉系统
公开(公告)号：US20140204212A1
公开(公告)日：2014-07-24
申请号：US14195137
申请日：2014-03-03
申请人： MAGNA ELECTRONICS INC.
发明人： John A. Pawlicki , Martha A. McMahon , Steven G. Chinn , Joel S. Gibson
IPC分类号： G06K9/00 , G08G1/16
CPC分类号： B60W30/18 , B60K31/00 , B60K31/0008 , B60Q1/525 , B60Q9/008 , B60R11/04 , B60R2011/004 , B60T7/22 , B60T2201/08 , B60T2201/082 , B60T2201/089 , B60T2210/34 , B60W10/04 , B60W10/20 , B60W30/09 , B60W30/12 , B60W30/143 , B60W30/16 , B60W50/14 , B60W2050/143 , B60W2420/42 , B60W2420/52 , B60W2550/12 , B60W2550/30 , B60W2550/306 , B60W2550/308 , B60W2550/406 , B60W2710/20 , B60W2720/10 , B62D15/025 , G01S11/12 , G01S13/867 , G01S13/931 , G06K9/00791 , G06K9/00798 , G06K9/00805 , G06K9/00818 , G06K9/00825 , G06K9/4604 , G06K9/52 , G06K2209/27 , G06T7/13 , G06T7/174 , G06T7/60 , G06T7/73 , G06T2207/30244 , G06T2207/30256 , G06T2207/30261 , G08G1/16 , G08G1/167 , H04N5/247
摘要： A vision system for a vehicle includes a single forward facing camera and a control having a processor, with the camera and processor disposed in a unitary module installed in the vehicle. The processor, responsive to processing of captured image data, detects headlights of oncoming vehicles and the control, responsive to the detection, provides an output for a headlamp control system of the vehicle. The processor, responsive to processing of captured image data, detects lane marks on a road being traveled by the vehicle and, responsive to the detection, provides an output for a lane departure warning system of the vehicle. The processor may estimate distance from the vehicle to an object or vehicle present exteriorly of the vehicle. The module is supplied by an automotive supplier to the vehicle manufacturer with software operable by the processor for a plurality of driver assistance systems of the vehicle.
摘要翻译：用于车辆的视觉系统包括单个前向摄像机和具有处理器的控制器，其中照相机和处理器设置在安装在车辆中的整体模块中。响应于捕获的图像数据的处理，处理器检测迎面而来的车辆的前灯和响应于该检测的控制，为车辆的前照灯控制系统提供输出。响应于捕获的图像数据的处理，处理器检测在车辆行驶的道路上的车道标记，并且响应于该检测，为车辆的车道偏离警告系统提供输出。处理器可以估计从车辆到存在于车辆外部的物体或车辆的距离。该模块由汽车供应商提供给车辆制造商，其具有可由处理器操作的用于车辆的多个驾驶员辅助系统的软件。

7. 发明授权

US08665079B2 Vision system for vehicle 有权
标题翻译：车辆视觉系统
公开(公告)号：US08665079B2
公开(公告)日：2014-03-04
申请号：US13651659
申请日：2012-10-15
申请人： Donnelly Corporation
发明人： John A. Pawlicki , Martha A. McMahon , Joel S. Gibson , Steven G. Chinn
IPC分类号： B60Q1/00
CPC分类号： B60W30/18 , B60K31/00 , B60K31/0008 , B60Q1/525 , B60Q9/008 , B60R11/04 , B60R2011/004 , B60T7/22 , B60T2201/08 , B60T2201/082 , B60T2201/089 , B60T2210/34 , B60W10/04 , B60W10/20 , B60W30/09 , B60W30/12 , B60W30/143 , B60W30/16 , B60W50/14 , B60W2050/143 , B60W2420/42 , B60W2420/52 , B60W2550/12 , B60W2550/30 , B60W2550/306 , B60W2550/308 , B60W2550/406 , B60W2710/20 , B60W2720/10 , B62D15/025 , G01S11/12 , G01S13/867 , G01S13/931 , G06K9/00791 , G06K9/00798 , G06K9/00805 , G06K9/00818 , G06K9/00825 , G06K9/4604 , G06K9/52 , G06K2209/27 , G06T7/13 , G06T7/174 , G06T7/60 , G06T7/73 , G06T2207/30244 , G06T2207/30256 , G06T2207/30261 , G08G1/16 , G08G1/167 , H04N5/247
摘要： A vision system for a vehicle includes an imaging sensor operable to capture an image data set representative of a scene occurring in the exterior field of view of the imaging sensor. A processor processes the captured image data set via an edge detection algorithm, which is applied to a reduced image data set of the captured image data set to detect edges of objects present exteriorly of the equipped vehicle and within a target zone within the exterior field of view of the imaging sensor. The reduced data set is processed more than other image data of the captured image data set in order to detect objects present exteriorly of the equipped vehicle and within the target zone. The target zone encompasses a geographic area of the exterior scene where an object of interest to the driver of the equipped vehicle is realistically expected to be present.
摘要翻译：用于车辆的视觉系统包括成像传感器，其可操作以捕获表示在成像传感器的外部视野中出现的场景的图像数据集。处理器经由边缘检测算法处理所捕获的图像数据集，所述边缘检测算法被应用于所捕获的图像数据集的缩小图像数据集，以检测在装备的车辆外部存在的物体的边缘，并且在所述外部场内的目标区域内成像传感器的视图。处理缩小的数据集比捕获的图像数据集的其他图像数据更多地被处理，以便检测在装备的车辆外部和目标区域内存在的物体。目标区域包括外部场景的地理区域，其中实际上期望存在所配备的车辆的驾驶员感兴趣的对象。

8. 发明授权

US08543254B1 Vehicular imaging system and method for determining roadway width 有权
标题翻译：车道成像系统及确定道路宽度的方法
公开(公告)号：US08543254B1
公开(公告)日：2013-09-24
申请号：US13432250
申请日：2012-03-28
申请人： Jeremy A. Schut , David M. Falb
发明人： Jeremy A. Schut , David M. Falb
IPC分类号： G05D1/00 , B60T7/12 , G06K9/00 , H04N7/18
CPC分类号： B60T7/22 , B60T2201/089 , B60W30/12 , B60W2420/42 , G06K9/00798 , G06K9/00825
摘要： A vehicular imaging system for determining roadway width includes an image sensor for capturing images and an image processor for receiving the captured images. The image processor determines roadway width by identifying roadway marker signs and oncoming traffic in processed images captured by the image sensor and determining the number of lanes, vehicle location on the roadway based on the roadway size and/or width and location of oncoming traffic.
摘要翻译：用于确定道路宽度的车辆成像系统包括用于捕获图像的图像传感器和用于接收所捕获的图像的图像处理器。图像处理器通过识别由图像传感器捕获的处理图像中的道路标记标志和迎面而来的流量来确定道路宽度，并且基于道路尺寸和/或迎面而来的交通的宽度和位置来确定车道数量，道路上的车辆位置。

9. 发明授权

US08466806B2 Alert system for a vehicle 有权
标题翻译：车辆警报系统
公开(公告)号：US08466806B2
公开(公告)日：2013-06-18
申请号：US12483996
申请日：2009-06-12
申请人： Kenneth Schofield
发明人： Kenneth Schofield
IPC分类号： G08G1/16
CPC分类号： B60Q9/008 , B60Q1/346 , B60R1/00 , B60R11/04 , B60R2300/804 , B60T2201/08 , B60T2201/089 , B62D15/029 , G01S13/931 , G01S2013/9325 , G01S2013/9332 , G01S2013/9353 , G01S2013/936 , G01S2013/9364 , G01S2013/9367 , G01S2013/9385 , G06K9/00798 , G06K9/00805 , G06K9/6267 , G08G1/163 , G08G1/167 , H04N5/247
摘要： An alert system for a vehicle includes a forward facing camera having a field of view that encompasses the road ahead of and traveled on by the equipped vehicle, and may include a radar detector having a field of view to the side of and rearward of the equipped vehicle as it travels along the road and/or an image-based detector having a field of view to the side of and rearward of the equipped vehicle as it travels along the road. The alert system determines a lane change into a side lane by the equipped vehicle and detects a vehicle in that side lane, and an alert is generated to the driver of the equipped vehicle. The alert may be generated irrespective of the status of a turn signal of the equipped vehicle.
摘要翻译：用于车辆的警报系统包括前视摄像机，其具有包含装备的车辆前方和前方的道路的视场，并且可以包括雷达检测器，该雷达检测器具有在所配备的侧面和后面的视野车辆沿着道路行驶时，和/或基于图像的检测器，当其沿着道路行进时，其具有到配备的车辆的侧面和后面的视野。警报系统通过配备的车辆确定车道变成侧车道，并且检测该侧车道中的车辆，并且向配备的车辆的驾驶员生成警报。可以产生警报，而不管装备的车辆的转向信号的状态如何。

10. 发明授权

US08078373B2 Vehicle dynamics prediction with lane/path information using a preview-correction-prediction approach 有权
标题翻译：使用预览校正预测方法的车道/路径信息的车辆动力学预测
公开(公告)号：US08078373B2
公开(公告)日：2011-12-13
申请号：US12275978
申请日：2008-11-21
申请人： Weiwen Deng , Yong H. Lee
发明人： Weiwen Deng , Yong H. Lee
IPC分类号： G06F17/00
CPC分类号： B60T7/22 , B60T7/18 , B60T8/172 , B60T2201/089 , B60T2210/36 , Y10T477/693738 , Y10T477/69387
摘要： A method for predicting the dynamics of a vehicle using information about the path on which the vehicle is travelling that has particular application for enhancing active safety performance of the vehicle, to improve driver comfort and to improve vehicle dynamics control. The method includes generating a preview of a path to be followed by the vehicle where the preview of the path is generated based on actual values of a plurality of vehicle parameters. The method further includes obtaining a corrected value of at least one of the plurality of vehicle parameters corresponding to the actual values of each of the plurality of vehicle parameters, wherein the corrected value of the at least one of the vehicle parameters is obtained based on a target path to be followed by the vehicle on the road, and wherein the target path is obtained on the basis of a plurality of road parameters.
摘要翻译：使用关于车辆行驶的路径的信息来预测车辆的动力学的方法，其具有用于增强车辆的主动安全性能的特定应用，以提高驾驶员舒适性并改善车辆动态控制。该方法包括基于多个车辆参数的实际值生成路径预览所遵循的路径的预览。所述方法还包括获得与所述多个车辆参数中的每一个的实际值相对应的所述多个车辆参数中的至少一个的校正值，其中，所述车辆参数中的所述至少一个车辆参数的校正值基于在道路上跟随车辆的目标路径，并且其中基于多个道路参数获得目标路径。

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