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1. 发明申请

US20120271517A1 Perception Model for Trajectory Following Autonomous and Human Augmented Steering Control 有权
标题翻译：自主和人为增强转向控制的轨迹感知模型
公开(公告)号：US20120271517A1
公开(公告)日：2012-10-25
申请号：US13459138
申请日：2012-04-28
申请人： William Robert Norris , Bernard Edwin Romig , John Franklin Reid
发明人： William Robert Norris , Bernard Edwin Romig , John Franklin Reid
IPC分类号： B62D6/00
CPC分类号： B62D1/28 , B60W2050/0057 , G05B13/0275 , G05D1/0278
摘要： A steering control method including the steps of obtaining a heading error, obtaining a velocity value, obtaining a distance error, applying the heading error and defuzzifying an output from a steering rule base. The velocity value and the distance error are applied along with the heading error to fuzzy logic membership functions to produce an output that is applied to a steering rule base. An output from the steering rule base is defuzzified to produce a steering signal.
摘要翻译：一种转向控制方法，包括以下步骤：获得航向误差，获得速度值，获得距离误差，应用所述航向误差和去除来自转向规则基座的输出。将速度值和距离误差与标题误差一起应用于模糊逻辑隶属函数，以产生应用于转向规则库的输出。来自转向规则库的输出被去模糊化以产生转向信号。

2. 发明授权

US08150574B2 Method and system for guiding a vehicle with vision-based adjustment 有权
标题翻译：用于引导基于视觉调节的车辆的方法和系统
公开(公告)号：US08150574B2
公开(公告)日：2012-04-03
申请号：US11755992
申请日：2007-05-31
申请人： Shufeng Han , Terence Daniel Pickett , John Franklin Reid
发明人： Shufeng Han , Terence Daniel Pickett , John Franklin Reid
IPC分类号： A01B69/00
CPC分类号： G05D1/024 , A01B69/007 , G01S19/48 , G05D1/0278 , G06K9/00798
摘要： Preliminary guidance data is determined for the vehicle during an evaluation time window. A vision module collects vision data from a vision module during the evaluation time window. Vision guidance data is determined from the collected vision data. A vision quality estimator estimates vision quality data for at least one of the vision data and the vision guidance data during the evaluation time window. The vision quality data is based on a regression path and density grid points. An adjuster adjusts the preliminary guidance data to a revised guidance data based on the vision guidance data such that the revised guidance data is registered with or generally coextensive with the vision guidance data, if the vision quality data exceeds a minimum threshold.
摘要翻译：在评估时间窗口期间为车辆确定初步指导数据。视觉模块在评估时间窗口期间从视觉模块收集视觉数据。视觉指导数据是从收集的视力数据中确定的。在评估时间窗口期间，视觉质量估计器估计视觉数据和视觉指导数据中的至少一个的视觉质量数据。视觉质量数据基于回归路径和密度网格点。如果视觉质量数据超过最小阈值，则调节器基于视觉指导数据将初步指导数据调整为修改的指导数据，使得修改的指导数据与视觉指导数据一起登记或者与视觉指导数据大致共同延伸。

3. 发明授权

US07876927B2 Method and system for guiding a vehicle with vision-based adjustment 有权
标题翻译：用于引导基于视觉调节的车辆的方法和系统
公开(公告)号：US07876927B2
公开(公告)日：2011-01-25
申请号：US11755965
申请日：2007-05-31
申请人： Shufeng Han , Terence Daniel Pickett , John Franklin Reid
发明人： Shufeng Han , Terence Daniel Pickett , John Franklin Reid
IPC分类号： G06K9/00 , G08G1/095 , G08G5/00 , G08G1/123 , G01C22/00
CPC分类号： G06K9/00798 , A01B69/007 , G01S19/48 , G05D1/0246 , G05D1/0278 , G05D2201/0201
摘要： A preliminary guidance data is determined for the vehicle during an evaluation time window. A vision module collects vision data from a vision module during the evaluation time window. Vision guidance data is determined from the collected vision data. A vision quality estimator estimates vision quality data for at least one of the vision data and the vision guidance data during the evaluation time window. The vision quality data is based on a cross correlations and an r-squared value. An adjuster adjusts the preliminary guidance data to a revised guidance data based on the vision guidance data such that the revised guidance data is registered with or generally coextensive with the vision guidance data, if the vision quality data exceeds a minimum threshold.
摘要翻译：在评估时间窗口期间确定车辆的初步指导数据。视觉模块在评估时间窗口期间从视觉模块收集视觉数据。视觉指导数据是从收集的视力数据中确定的。在评估时间窗口期间，视觉质量估计器估计视觉数据和视觉指导数据中的至少一个的视觉质量数据。视觉质量数据基于互相关和r平方值。如果视觉质量数据超过最小阈值，则调节器基于视觉指导数据将初步指导数据调整为修改的指导数据，使得修改的指导数据与视觉指导数据一起登记或者与视觉指导数据大致共同延伸。

4. 发明授权

US07792607B2 Vision-aided system and method for guiding a vehicle 有权
标题翻译：视觉辅助系统和引导车辆的方法
公开(公告)号：US07792607B2
公开(公告)日：2010-09-07
申请号：US11106868
申请日：2005-04-15
申请人： Shufeng Han , John Franklin Reid , Francisco Rovira-Más
发明人： Shufeng Han , John Franklin Reid , Francisco Rovira-Más
IPC分类号： G06F19/00 , G08G1/123
CPC分类号： A01B69/001 , A01B69/008 , G01C21/20 , G01S7/497 , G01S17/023 , G01S17/42 , G01S17/87 , G01S19/41 , G05D1/0246 , G05D1/0278
摘要： A method and system for guiding a vehicle comprises a location determining receiver for collecting location data for the vehicle. A vision module collects vision data for the vehicle. A location quality estimator estimates the location quality data for the location data during an evaluation time window. A vision module estimates vision quality data for the vision data during the evaluation time window. A supervisor module selects a mixing ratio for the vision data and location data (or error signals associated therewith) based on the quality data.
摘要翻译：用于引导车辆的方法和系统包括用于收集车辆的位置数据的位置确定接收器。视觉模块收集车辆的视觉数据。位置质量估计器在评估时间窗口期间估计位置数据的位置质量数据。视觉模块在评估时间窗口期间估计视力数据的视觉质量数据。主管模块基于质量数据选择视觉数据和位置数据（或与其相关联的误差信号）的混合比。

5. 发明授权

US07587081B2 Method for processing stereo vision data using image density 有权
标题翻译：使用图像密度处理立体视觉数据的方法
公开(公告)号：US07587081B2
公开(公告)日：2009-09-08
申请号：US11343142
申请日：2006-01-30
申请人： Francisco Rovira-Mas , Qin Zhang , John Franklin Reid
发明人： Francisco Rovira-Mas , Qin Zhang , John Franklin Reid
IPC分类号： G06K9/00
CPC分类号： G06K9/00805 , G06T7/593 , G06T7/70
摘要： An image collection system collects stereo image data comprising left image data and right image data of a particular scene. An estimator estimates a reference three dimensional image density rating for corresponding reference volumetric cell within the particular scene at a reference range from an imaging unit. An image density compensator compensates for the change in image density rating between the reference volumetric cell and an evaluated volumetric cell by using a compensated three dimensional image density rating based on a range or relative displacement between the reference volumetric cell and the evaluated volumetric cell. An obstacle detector identifies a presence or absence of an obstacle in a particular compensated volumetric cell in the particular scene if the particular compensated volumetric cell meets or exceeds a minimum three dimensional image density rating
摘要翻译：图像采集系统收集包括特定场景的左图像数据和右图像数据的立体图像数据。估计器在来自成像单元的参考范围处估计在特定场景内的相应参考体积细胞的参考三维图像浓度等级。图像浓度补偿器通过使用基于参考体积细胞和评估的体积细胞之间的范围或相对位移的补偿的三维图像密度等级来补偿参考体积细胞和评估的体积细胞之间的图像浓度等级的变化。如果特定的补偿容积单元满足或超过最小三维图像密度等级，则障碍物检测器识别特定场景中的特定补偿容积单元中存在或不存在障碍物

6. 发明申请

US20080195569A1 HUMAN PERCEPTION MODEL FOR SPEED CONTROL PERFORMANCE 有权
标题翻译：用于速度控制性能的人员感知模型
公开(公告)号：US20080195569A1
公开(公告)日：2008-08-14
申请号：US11673638
申请日：2007-02-12
申请人： William Robert Norris , Bernard Edwin Rornig , John Franklin Reid , Brian Joseph Gilmore
发明人： William Robert Norris , Bernard Edwin Rornig , John Franklin Reid , Brian Joseph Gilmore
IPC分类号： G06F9/44 , G06F17/00
CPC分类号： F02D41/1404 , F02D2200/501 , F02D2200/606 , F02D2200/702
摘要： A human perception model for a speed control method including the steps of obtaining a steering angle, a velocity error and a distance error. The method further includes the steps of applying the steering angle, inputting a measure of operator aggressiveness and defuzzifying an output. The applying step includes applying the steering angle, the velocity error and the distance error to fuzzy logic membership functions to produce an output that is applied to a velocity rule base. The inputting step inputs a measure of operator aggressiveness to the velocity rule base. The defuzzifying step defuzzifies an output from the velocity rule base to produce a speed signal.
摘要翻译：一种用于速度控制方法的人感知模型，包括获得转向角，速度误差和距离误差的步骤。该方法还包括以下步骤：应用转向角，输入操作者积极性的度量和去模糊化输出。施加步骤包括将转向角，速度误差和距离误差应用于模糊逻辑隶属函数以产生应用于速度规则库的输出。输入步骤输入操作者对速度规则库的积极性的度量。去模糊步骤使来自速度规则库的输出模糊化以产生速度信号。

7. 发明授权

US07242791B2 Method and system for guiding a vehicle with vision enhancement 有权
标题翻译：用于引导具有视力增强的车辆的方法和系统
公开(公告)号：US07242791B2
公开(公告)日：2007-07-10
申请号：US11106783
申请日：2005-04-15
申请人： Shufeng Han , John Franklin Reid , Terence Daniel Pickett
发明人： Shufeng Han , John Franklin Reid , Terence Daniel Pickett
IPC分类号： G06K9/00 , H04N7/18 , H04N9/00 , G01C22/00 , G01C21/00 , G05D1/00
CPC分类号： G05D1/0278 , G05D1/0246
摘要： A method and system for guiding a-vehicle comprises a location module for collecting location data for the vehicle. A vision module collects vision data for the vehicle. A maximum allowable correction duration and a maximum allowable vision-derived displacement are established for correction of a position of a vehicle. A location quality estimator estimates location quality data for the corresponding collected location data during an evaluation time window. A vision module estimates vision quality data for the corresponding collected vision data during the evaluation time window. A selector selects the application of location data or vision data based on the quality data and at least one of the maximum allowable correction duration and the maximum allowable vision-derived displacement for the evaluation time window or for an application interval trailing the evaluation time window.
摘要翻译：用于引导车辆的方法和系统包括用于收集车辆的位置数据的位置模块。视觉模块收集车辆的视觉数据。建立最大允许校正持续时间和最大允许视觉取向位移，用于校正车辆的位置。位置质量估计器估计在评估时间窗口期间对应的收集的位置数据的位置质量数据。视觉模块在评估时间窗口期间估计相应的收集的视觉数据的视觉质量数据。选择器基于质量数据和评估时间窗口的最大可允许校正持续时间和最大可允许视觉导出位移中的至少一个或者在评估时间窗口之后的应用间隔中选择位置数据或视觉数据的应用。

8. 发明授权

US08737720B2 System and method for detecting and analyzing features in an agricultural field 有权
标题翻译：农业领域检测和分析特征的系统和方法
公开(公告)号：US08737720B2
公开(公告)日：2014-05-27
申请号：US10817901
申请日：2004-04-06
申请人： Francisco Rovira Mas , Qin Zhang , John Franklin Reid
发明人： Francisco Rovira Mas , Qin Zhang , John Franklin Reid
IPC分类号： G06K9/00 , G06T15/00
CPC分类号： G06K9/209 , G06K9/00664 , G06T7/593 , G06T7/97 , G06T2207/30128
摘要： A system and method for creating 3-dimensional agricultural field scene maps are disclosed comprising producing a pair of images using a stereo camera and creating a disparity images based on the pair of images, the disparity image being a 3-dimensional representation of the stereo images. Coordinate arrays can be produced from the disparity image and the coordinate arrays can be used to render a 3-dimensional local map of the agricultural field scene. Global maps can also be made by using geographic location information associated with various local maps to fuse together multiple local maps into a 3-dimensional global representation of the field scene. The disparity images can be used to analyze a variety of agricultural features.
摘要翻译：公开了一种用于创建三维农业场景地图的系统和方法，包括使用立体相机产生一对图像，并基于该对图像创建视差图像，视差图像是立体图像的三维表示。可以从视差图像产生坐标阵列，坐标阵列可用于渲染农田场景的三维局部地图。全球地图也可以通过使用与各种局部地图相关联的地理位置信息来将多个局部地图映射到场景的三维全局表示中。差异图像可用于分析各种农业特征。

9. 发明授权

US08498796B2 Perception model for trajectory following autonomous and human augmented speed control 有权
标题翻译：自主和人为增强速度控制的轨迹感知模型
公开(公告)号：US08498796B2
公开(公告)日：2013-07-30
申请号：US11673648
申请日：2007-02-12
申请人： William Robert Norris , Bernard Edwin Romig , John Franklin Reid
发明人： William Robert Norris , Bernard Edwin Romig , John Franklin Reid
IPC分类号： B60T7/12
CPC分类号： G05D1/0223 , B60W2050/0057
摘要： A speed control method of a vehicle including the steps of obtaining a steering angle, a velocity error and a distance error. The velocity and the distance error being determined by mathematical combinations of a GPS position, a required path and speed set points. The steering angle, velocity errors and distance error are applied to fuzzy logic membership functions to produce an output that is applied to a velocity rule base. An output from the velocity rule base is defuzzified to produce a speed signal.
摘要翻译：一种车辆的速度控制方法，包括获得转向角，速度误差和距离误差的步骤。速度和距离误差由GPS位置，所需路径和速度设定点的数学组合决定。将转向角，速度误差和距离误差应用于模糊逻辑隶属函数，以产生应用于速度规则库的输出。来自速度规则库的输出被去模糊化以产生速度信号。

10. 发明授权

US08195364B2 Perception model for trajectory following autonomous and human augmented steering control 有权
标题翻译：自主和人为增强转向控制的轨迹感知模型
公开(公告)号：US08195364B2
公开(公告)日：2012-06-05
申请号：US11673659
申请日：2007-02-12
申请人： William Robert Norris , Bernard Edwin Romig , John Franklin Reid
发明人： William Robert Norris , Bernard Edwin Romig , John Franklin Reid
IPC分类号： B62D2/00 , G05D1/00
CPC分类号： B62D1/28 , B60W2050/0057 , G05B13/0275 , G05D1/0278
摘要： A steering control method including the steps of obtaining a heading error, obtaining a velocity value, obtaining a distance error, applying the heading error and defuzzifying an output from a steering rule base. The velocity value and the distance error are applied along with the heading error to fuzzy logic membership functions to produce an output that is applied to a steering rule base. An output from the steering rule base is defuzzified to produce a steering signal.
摘要翻译：一种转向控制方法，包括以下步骤：获得航向误差，获得速度值，获得距离误差，应用所述航向误差和去除来自转向规则基座的输出。将速度值和距离误差与标题误差一起应用于模糊逻辑隶属函数，以产生应用于转向规则库的输出。来自转向规则库的输出被去模糊化以产生转向信号。

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