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公开(公告)号：US09688273B2
公开(公告)日：2017-06-27
申请号：US14924560
申请日：2015-10-27
IPC分类号： B60W30/08
CPC分类号： B60W30/08 , B60W30/0953 , B60W30/0956 , B60W30/18145 , B60W2550/402 , B60W2550/404
摘要： A system and method for warning a vehicle driver of a potential collision when turning left or right at or near an intersection, where the system and method provide additional analysis to limit false positive and false negative warnings based on specialized circumstances. The method includes determining if the host vehicle is likely to turn at or near the intersection, and obtaining speed, velocity and position data of the host vehicle and any relevant remote vehicles. The method determines a predicted path of the host vehicle and the remote vehicles based on the speed, velocity and position data, and issues a warning to a driver of the host vehicle if the host vehicle and one of the remote vehicles may collide based on the predicted paths. If the host vehicle is in a specialized circumstance, the method provides additional collision analysis to reduce false positive warnings and/or false negative warnings.
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公开(公告)号：US20170048080A1
公开(公告)日：2017-02-16
申请号：US15222882
申请日：2016-07-28
CPC分类号： H04L12/40032 , B60R16/0231 , H04L41/0809 , H04L63/0823 , H04L63/12 , H04L67/12 , H04L2012/40215 , H04L2012/40234 , H04L2012/40241 , H04L2012/40273 , H04W4/046 , H04W12/10
摘要： An aftermarket vehicle communications device that that is part of a V2X communications system. The device can be a plug-in device, a wireless device separate from the vehicle, such as a key fob, wearable or a smart phone, or a permanent retrofit device mounted to the vehicle. The device is electrically coupled to the vehicle by, for example, an OBD connection, a USB connection, a CAN bus connection, an HDMI connection or wirelessly. The device includes a radio for transmitting and/or receiving communications signals, a memory for storing security information and vehicle application data, a location processor such as a global navigation satellite system receiver, a verification processor for verifying messages, and a communications processor configured to be put in electrical communication with a CAN bus on the vehicle, where the communications processor receives vehicle location signals from the location processor, files from the memory and signals from the radio.
摘要翻译： 作为V2X通信系统的一部分的售后车辆通信设备。 该设备可以是插入设备，与车辆分离的无线设备，例如钥匙扣，可佩戴的或智能电话，或者安装到车辆的永久性改装设备。 该设备通过例如OBD连接，USB连接，CAN总线连接，HDMI连接或无线地电耦合到车辆。 该设备包括用于发送和/或接收通信信号的无线电装置，用于存储安全信息和车辆应用数据的存储器，诸如全球导航卫星系统接收机的定位处理器，用于验证消息的验证处理器以及被配置为 与车辆上的CAN总线进行电气通信，其中通信处理器从位置处理器接收车辆位置信号，来自存储器的文件和来自无线电的信号。
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公开(公告)号：US09755851B2
公开(公告)日：2017-09-05
申请号：US15222882
申请日：2016-07-28
IPC分类号： G06F7/00 , H04L12/40 , H04L12/24 , H04W4/04 , H04W12/10 , B60R16/023 , H04L29/06 , H04L29/08
CPC分类号： H04L12/40032 , B60R16/0231 , H04L41/0809 , H04L63/0823 , H04L63/12 , H04L67/12 , H04L2012/40215 , H04L2012/40234 , H04L2012/40241 , H04L2012/40273 , H04W4/046 , H04W12/10
摘要： An aftermarket vehicle communications device that that is part of a V2X communications system. The device can be a plug-in device, a wireless device separate from the vehicle, such as a key fob, wearable or a smart phone, or a permanent retrofit device mounted to the vehicle. The device is electrically coupled to the vehicle by, for example, an OBD connection, a USB connection, a CAN bus connection, an HDMI connection or wirelessly. The device includes a radio for transmitting and/or receiving communications signals, a memory for storing security information and vehicle application data, a location processor such as a global navigation satellite system receiver, a verification processor for verifying messages, and a communications processor configured to be put in electrical communication with a CAN bus on the vehicle, where the communications processor receives vehicle location signals from the location processor, files from the memory and signals from the radio.
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4.发明申请VEHICLE POSITIONING IN INTERSECTION USING VISUAL CUES, STATIONARY OBJECTS, AND GPS 审中-公开使用视觉摄像机，静态对象和GPS进行交互的车辆定位公开(公告)号：US20160363647A1
公开(公告)日：2016-12-15
申请号：US14739789
申请日：2015-06-15
CPC分类号： G01S5/0263 , G01S13/02 , G01S13/42 , G01S15/02 , G01S19/42 , G01S19/45 , G06K9/00798 , G06K9/00818
摘要： A system and method for identifying the position and orientation of a vehicle. The method includes obtaining an environmental model of a particular location from, for example, a map database on the vehicle or a roadside unit. The method further includes detecting the position of the vehicle using GPS signals, determining range measurements from the vehicle to stationary objects at the location using radar sensors and detecting visual cues around the vehicle using cameras. The method includes registering the stationary objects and detected visual cues with stationary objects and visual cues in the environmental model, and using those range measurements to the stationary objects and visual cues that are matched in the environmental model to determine the position and orientation of the vehicle. The vehicle can update the environmental model based on the detected stationary objects and visual cues.
摘要翻译： 一种用于识别车辆的位置和方向的系统和方法。 该方法包括从例如车辆上的地图数据库或路侧单元获取特定位置的环境模型。 该方法还包括使用GPS信号检测车辆的位置，使用雷达传感器确定从车辆到静止物体的距离测量，并使用照相机检测车辆周围的视觉提示。 该方法包括在环境模型中将静止物体和检测到的视觉线索与静止物体和视觉线索对准，并将这些距离测量结果用于在环境模型中匹配的静止物体和视觉线索，以确定车辆的位置和方位 。 车辆可以根据检测到的静止物体和视觉线索来更新环境模型。
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5.发明申请EFFICIENT DATA FLOW ALGORITHMS FOR AUTONOMOUS LANE CHANGING, PASSING AND OVERTAKING BEHAVIORS 有权有效的数据流算法，用于自动更改，通过和超越行为公开(公告)号：US20140207325A1
公开(公告)日：2014-07-24
申请号：US13746243
申请日：2013-01-21
IPC分类号： G05D1/02
CPC分类号： B62D15/0255 , B60W10/20 , B60W2750/30 , B62D15/025 , B62D15/0265 , G05D1/0212 , G05D1/0274 , G05D1/0278
摘要： A system and method for providing lane changing maneuvers in an autonomously driven vehicle. The vehicle includes a navigation controller that provides a planned route for the vehicle to follow and a vehicle controller that receives route information from the navigation controller and provides steering, braking and throttle control for the vehicle to follow the route. Either the navigation controller or the vehicle controller may initiate a lane change maneuver to cause the vehicle to be steered from a travel lane to an adjacent lane. In response to the lane change requirement, the navigation controller provides a route segment to the vehicle controller and a lane-change zone so that the vehicle controller can steer the vehicle to the adjacent lane while in the lane-change zone.
摘要翻译： 一种用于在自主驱动的车辆中提供车道变换机动的系统和方法。 车辆包括导航控制器，其提供用于车辆跟随的计划路线，以及车辆控制器，其从导航控制器接收路线信息，并为车辆跟随路线提供转向，制动和节气门控制。 导航控制器或车辆控制器可以启动车道变换机动，以使车辆从行驶车道转向相邻车道。 响应于车道变更要求，导航控制器向车辆控制器和车道改变区域提供路线段，使得车辆控制器可以在车道变换区域中将车辆引向相邻车道。
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公开(公告)号：US20150057891A1
公开(公告)日：2015-02-26
申请号：US13973736
申请日：2013-08-22
IPC分类号： G08G1/16
CPC分类号： G08G1/166 , B60W10/00 , B60W10/18 , B60W10/20 , B60W2510/0604 , B60W2510/18 , B60W2510/20 , G08G1/161 , G08G1/165
摘要： A method for prioritizing potential threats identified by vehicle active safety systems. The method includes providing context information including map information, vehicle position information, traffic assessment information, road condition information, weather condition information, and vehicle state information. The method calculates a system context value for each active safety system using the context information. Each active safety system provides a system threat level value, a system braking value, a system steering value, and a system throttle value. The method calculates an overall threat level value using all of the system context values and all of the system threat level values. The method then provides a braking request value to vehicle brakes based on all of the system braking values, a throttle request value to a vehicle throttle based on all of the system throttle values, and a steering request value to vehicle steering based on all of the system steering values.
摘要翻译： 一种优先考虑车辆主动安全系统识别的潜在威胁的方法。 该方法包括提供包括地图信息，车辆位置信息，交通评估信息，道路状况信息，天气状况信息以及车辆状态信息的上下文信息。 该方法使用上下文信息来计算每个主动安全系统的系统上下文值。 每个主动安全系统提供系统威胁级别值，系统制动值，系统转向值和系统油门值。 该方法使用所有系统上下文值和所有系统威胁级别值来计算总体威胁级别值。 该方法然后基于所有系统制动值，基于所有系统节气门值的车辆节气门的节气门请求值以及基于所有系统节气门值的车辆转向的转向请求值，向车辆制动提供制动请求值 系统转向值。
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公开(公告)号：US09099006B2
公开(公告)日：2015-08-04
申请号：US13973736
申请日：2013-08-22
CPC分类号： G08G1/166 , B60W10/00 , B60W10/18 , B60W10/20 , B60W2510/0604 , B60W2510/18 , B60W2510/20 , G08G1/161 , G08G1/165
摘要： A method for prioritizing potential threats identified by vehicle active safety systems. The method includes providing context information including map information, vehicle position information, traffic assessment information, road condition information, weather condition information, and vehicle state information. The method calculates a system context value for each active safety system using the context information. Each active safety system provides a system threat level value, a system braking value, a system steering value, and a system throttle value. The method calculates an overall threat level value using all of the system context values and all of the system threat level values. The method then provides a braking request value to vehicle brakes based on all of the system braking values, a throttle request value to a vehicle throttle based on all of the system throttle values, and a steering request value to vehicle steering based on all of the system steering values.
摘要翻译： 一种优先考虑车辆主动安全系统识别的潜在威胁的方法。 该方法包括提供包括地图信息，车辆位置信息，交通评估信息，道路状况信息，天气状况信息以及车辆状态信息的上下文信息。 该方法使用上下文信息来计算每个主动安全系统的系统上下文值。 每个主动安全系统提供系统威胁级别值，系统制动值，系统转向值和系统油门值。 该方法使用所有系统上下文值和所有系统威胁级别值来计算总体威胁级别值。 该方法然后基于所有系统制动值，基于所有系统节气门值的车辆节气门的节气门请求值以及基于所有系统节气门值的车辆转向的转向请求值，向车辆制动提供制动请求值 系统转向值。
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公开(公告)号：US09751506B2
公开(公告)日：2017-09-05
申请号：US14924585
申请日：2015-10-27
CPC分类号： B60T7/22 , B60T2201/022 , G01S13/931 , G01S17/936 , G01S2013/9346 , G01S2013/9357 , G01S2013/936 , G08G1/07 , G08G1/09623 , G08G1/096783 , G08G1/163 , G08G1/166
摘要： A system and method for warning a driver of a host vehicle of a potential collision with other vehicles when turning at an intersection. The method includes determining if the host vehicle is likely to turn at the intersection, and if so, segmenting the intersection into a plurality of different regions, where each region has a different level of collision threat risk. The method obtains the speed, velocity and position of the host vehicle and any relevant remote vehicles in the intersection. The method determines a predicted path of the host vehicle and the predicted path of the remote vehicles. The method then determines whether the host vehicle and the remote vehicles will simultaneously occupy a collision zone in the intersection based on the predicted paths, and if so, issues a warning to the driver of the collision risk or apply vehicle controls to avoid or mitigate the collision risk.
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9.发明授权Unified motion planning algorithm for autonomous driving vehicle in obstacle avoidance maneuver 有权自主驾驶车辆在避障机动中的统一运动规划算法公开(公告)号：US09457807B2
公开(公告)日：2016-10-04
申请号：US14297493
申请日：2014-06-05
CPC分类号： B60W30/09 , B60W10/20 , B60W30/10 , B60W2550/402 , B60W2720/10
摘要： A method for automated lane centering and/or lane changing purposes for a vehicle traveling on a roadway that employs roadway points from a map database to determine a reference vehicle path and sensors on the vehicle for detecting static and moving objects to adjust the reference path. The method includes reducing the curvature of the reference path to generate a reduced curvature reference path that reduces the turning requirements of the vehicle and setting the speed of the vehicle from posted roadway speeds from the map database. The method also includes providing multiple candidate vehicle paths and vehicle speeds to avoid the static and moving objects in front of the vehicle.
摘要翻译： 一种用于在巷道上行驶的车辆的自动车道对中和/或车道改变目的的方法，该车辆采用来自地图数据库的道路点以确定参考车辆路径，并且在车辆上用于检测静态和移动物体以调整参考路径的传感器。 该方法包括减小参考路径的曲率，以产生减小车辆的转弯要求的减小的曲率基准路径，并且从地图数据库设置车辆的速度与公路车道速度。 该方法还包括提供多个候选车辆路径和车辆速度以避免车辆前方的静态和移动物体。
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10.发明授权Efficient data flow algorithms for autonomous lane changing, passing and overtaking behaviors 有权高效的数据流算法，用于自主车道切换，通过和超车行为公开(公告)号：US09096267B2
公开(公告)日：2015-08-04
申请号：US13746243
申请日：2013-01-21
CPC分类号： B62D15/0255 , B60W10/20 , B60W2750/30 , B62D15/025 , B62D15/0265 , G05D1/0212 , G05D1/0274 , G05D1/0278
摘要： A system and method for providing lane changing maneuvers in an autonomously driven vehicle. The vehicle includes a navigation controller that provides a planned route for the vehicle to follow and a vehicle controller that receives route information from the navigation controller and provides steering, braking and throttle control for the vehicle to follow the route. Either the navigation controller or the vehicle controller may initiate a lane change maneuver to cause the vehicle to be steered from a travel lane to an adjacent lane. In response to the lane change requirement, the navigation controller provides a route segment to the vehicle controller and a lane-change zone so that the vehicle controller can steer the vehicle to the adjacent lane while in the lane-change zone.
摘要翻译： 一种用于在自主驱动的车辆中提供车道变换机动的系统和方法。 车辆包括导航控制器，其提供用于车辆跟随的计划路线，以及车辆控制器，其从导航控制器接收路线信息，并为车辆跟随路线提供转向，制动和节气门控制。 导航控制器或车辆控制器可以启动车道变换机动，以使车辆从行驶车道转向相邻车道。 响应于车道变更要求，导航控制器向车辆控制器和车道改变区域提供路线段，使得车辆控制器可以在车道变换区域中将车辆引向相邻车道。
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