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1. 发明授权

US11726763B2 Autonomous vehicle automatic parking 有权
公开(公告)号：US11726763B2
公开(公告)日：2023-08-15
申请号：US17078640
申请日：2020-10-23
申请人： State Farm Mutual Automobile Insurance Company
发明人： Brian Mark Fields , Chien Che Huang , Mohamed A. Wazeer , Shawn C. Bennett , Steven C. Cielocha , Ronny S. Bryant , Stephen Kohaus , Terry Quakenbush , Richard A. Novak , Aaron Scott Chan , Craig M. Main , Weixin Wu , Torri Wollenschlager , Carol Marie Csanda , Stacey Gorsuch , Todd Binion
IPC分类号： B62D15/02 , G01C21/34 , G05D1/02 , G06Q40/08 , G08G1/14 , G06Q30/0207 , A61B5/00 , A61B5/02 , B60K35/00 , B60W10/04 , B60W30/06 , B60W30/09 , B60W30/095 , B60W40/02 , B60W40/08 , B60W40/09 , B60W50/02 , B60W50/04 , B60W50/12 , B60W50/14 , B60W60/00 , G05D1/00 , G06F8/65 , G06Q30/0201 , G08G1/09 , G08G1/0962 , G08B25/10 , G07C5/02 , G07C5/08 , G06Q30/0217 , B60W50/00
CPC分类号： G06F8/65 , A61B5/02028 , A61B5/4064 , A61B5/4094 , A61B5/6893 , A61B5/7282 , B60K35/00 , B60W10/04 , B60W30/06 , B60W30/09 , B60W30/0956 , B60W40/02 , B60W40/08 , B60W40/09 , B60W50/02 , B60W50/0205 , B60W50/045 , B60W50/12 , B60W50/14 , B60W60/0059 , B62D15/0285 , G01C21/3407 , G05D1/0055 , G05D1/0061 , G05D1/0088 , G05D1/0214 , G05D1/0278 , G06Q30/0206 , G06Q30/0207 , G06Q30/0217 , G06Q40/08 , G07C5/02 , G07C5/0808 , G08B25/10 , G08G1/091 , G08G1/0962 , G08G1/14 , B60W2040/0809 , B60W2040/0818 , B60W2050/0071 , B60W2050/0073 , B60W2050/0075 , B60W2050/0215 , B60W2050/046 , B60W2050/143 , B60W2540/043 , B60W2540/22 , B60W2540/26 , B60W2556/45 , B60W2900/00
摘要： Methods and systems for monitoring use, determining risk, and pricing insurance policies for a vehicle having autonomous or semi-autonomous operation features are provided. According to certain aspects, vehicle operation safety may be enhanced. An environmental or weather condition (e.g., hail, storm, wind) may be identified that presents a hazard to an autonomous or semi-autonomous vehicle. With the customer's permission, when it is determined that the vehicle is parked in an unprotected location, a protected or covered location to park the vehicle may be identified, a route to that location may be determined, and the vehicle may be directed to travel automatically to the protected location under the operation of autonomous operation features. Insurance discounts or cost savings may be provided to risk averse insurance customers based upon the self-parking functionality that will reduce or mitigate damage to insured vehicles caused by adverse conditions, falling trees or power lines, hail, etc.

2. 发明申请

US20170369058A1 LANE KEEPING SYSTEM AND LANE CENTERING SYSTEM 审中-公开
公开(公告)号：US20170369058A1
公开(公告)日：2017-12-28
申请号：US15700272
申请日：2017-09-11
申请人： MAGNA ELECTRONICS INC.
发明人： Christopher L. Van Dan Elzen , Ka Chai Cheok , Micho Radovnikovich
IPC分类号： B60W30/12 , B60W30/16 , B60W50/14 , B62D15/02 , B60W10/04 , B62D6/00 , B60W10/20 , B60W50/16 , B60W50/00
CPC分类号： B60W30/12 , B60W10/04 , B60W10/20 , B60W30/16 , B60W50/14 , B60W50/16 , B60W2050/0008 , B60W2050/0037 , B60W2050/0071 , B60W2050/0073 , B60W2420/42 , B62D6/00 , B62D15/025
摘要： A lane centering system for use in a vehicle driving in a lane on a road includes a camera and a controller. Based on processing by a processor of image data captured by the camera, the controller determines the position of a left lane delimiter on the road on a left side of the vehicle and the position of a right lane delimiter on the road on a right side of the vehicle. The controller is operable to control a steering system of the vehicle that is configured to steer the vehicle. The controller is operable to determine a target path for the vehicle based on processing by the processor of image data captured by the camera. The determined target path maintains the longitudinal centerline of the vehicle centered between the left lane delimiter and the right lane delimiter.

3. 发明授权

US09785145B2 Controlling driving modes of self-driving vehicles 有权
公开(公告)号：US09785145B2
公开(公告)日：2017-10-10
申请号：US14820620
申请日：2015-08-07
申请人： INTERNATIONAL BUSINESS MACHINES CORPORATION
发明人： Michael S. Gordon , James R. Kozloski , Ashish Kundu , Peter K. Malkin , Clifford A. Pickover
IPC分类号： G01C22/00 , G05D1/00 , B60W40/09 , G08G1/01 , G08G1/0967 , G07C5/00
CPC分类号： G05D1/0061 , B60W40/04 , B60W40/06 , B60W40/09 , B60W50/0097 , B60W50/08 , B60W50/12 , B60W2050/0073 , B60W2050/0295 , B60W2540/00 , B60W2540/04 , B60W2540/30 , B60W2550/141 , B60W2550/20 , B60W2550/22 , B60W2550/402 , G05D2201/0213 , G07C5/008 , G08G1/0112 , G08G1/012 , G08G1/0129 , G08G1/0133 , G08G1/096725 , G08G1/096741 , G08G1/096775
摘要： A computer-implemented method, system, and/or computer program product controls a driving mode of a self-driving vehicle (SDV). Sensor readings describe a current condition of a roadway, which is part of a planned route of a self-driving vehicle (SDV). One or more processors compare a control processor competence level of the on-board SDV control processor that autonomously controls the SDV to a human driver competence level of a human driver in controlling the SDV under the current condition of the roadway. One or more processors then selectively assign control of the SDV to the on-board SDV control processor or to the human driver based on which of the control processor competence level and the human driver competence level is relatively higher to the other.

4. 发明申请

US20170038773A1 Controlling Driving Modes of Self-Driving Vehicles 有权
标题翻译：控制自驾车的驾驶模式
公开(公告)号：US20170038773A1
公开(公告)日：2017-02-09
申请号：US14820620
申请日：2015-08-07
申请人： International Business Machines Corporation
发明人： Michael S. Gordon , James R. Kozloski , Ashish Kundu , Peter K. Malkin , Clifford A. Pickover
IPC分类号： G05D1/00 , B60W40/09 , G08G1/01
CPC分类号： G05D1/0061 , B60W40/04 , B60W40/06 , B60W40/09 , B60W50/0097 , B60W50/08 , B60W50/12 , B60W2050/0073 , B60W2050/0295 , B60W2540/00 , B60W2540/04 , B60W2540/30 , B60W2550/141 , B60W2550/20 , B60W2550/22 , B60W2550/402 , G05D2201/0213 , G07C5/008 , G08G1/0112 , G08G1/012 , G08G1/0129 , G08G1/0133 , G08G1/096725 , G08G1/096741 , G08G1/096775
摘要： A computer-implemented method, system, and/or computer program product controls a driving mode of a self-driving vehicle (SDV). Sensor readings describe a current condition of a roadway, which is part of a planned route of a self-driving vehicle (SDV). One or more processors compare a control processor competence level of the on-board SDV control processor that autonomously controls the SDV to a human driver competence level of a human driver in controlling the SDV under the current condition of the roadway. One or more processors then selectively assign control of the SDV to the on-board SDV control processor or to the human driver based on which of the control processor competence level and the human driver competence level is relatively higher to the other.
摘要翻译：计算机实现的方法，系统和/或计算机程序产品控制自驾车（SDV）的驾驶模式。传感器读数描述道路的当前状况，这是自驾车（SDV）的计划路线的一部分。一个或多个处理器将在车道SDV控制处理器的控制处理器能力水平进行比较，该控制处理器能够在目前的道路状况下自动控制SDV与人类驾驶员在控制SDV中的驾驶员能力水平。然后，一个或多个处理器根据控制处理器能力级别中的哪一个和人的驱动器能力级别相对较高地选择性地将SDV的控制分配给板载SDV控制处理器或人类驱动程序。

5. 发明申请

US20160059856A1 LANE KEEPING SYSTEM AND LANE CENTERING SYSTEM 审中-公开
标题翻译： LANE保持系统和LANE中心系统
公开(公告)号：US20160059856A1
公开(公告)日：2016-03-03
申请号：US14935700
申请日：2015-11-09
申请人： Magna Electronics Inc.
发明人： Christopher L. Van Dan Elzen , Ka Chai Cheok , Micho Radovnikovich
IPC分类号： B60W30/12 , B60W10/20 , B60W10/04 , B60W30/16
CPC分类号： B60W30/12 , B60W10/04 , B60W10/20 , B60W30/16 , B60W50/14 , B60W50/16 , B60W2050/0008 , B60W2050/0037 , B60W2050/0071 , B60W2050/0073 , B60W2420/42 , B62D6/00 , B62D15/025
摘要： A lane centering system for use in a vehicle driving in a lane on a road includes a lane delimiter detection device having a camera with a field of view that encompasses the road ahead of the vehicle. Based on processing of captured image data, a controller determines the positions of left and right lane delimiters on the road. The controller is operable to establish a target path for the vehicle that maintains the longitudinal centerline of the vehicle generally centered between the left lane delimiter and the right lane delimiter. The controller is automatically activated to control steering the vehicle along the target path when the speed of the vehicle is at or above a first speed level. When having activated control of steering, the controller automatically deactivates control of steering when the speed of the vehicle falls to at or below a second speed level.
摘要翻译：用于在道路上行驶的车辆中的车道定心系统包括具有包含车辆前方道路的视场相机的车道限位器检测装置。基于捕获的图像数据的处理，控制器确定道路上左右车道分界符的位置。控制器可操作以建立车辆的目标路径，其保持车辆的纵向中心线通常居于左车道限界器和右车道限位器之间的中心。当车辆的速度处于或高于第一速度水平时，控制器被自动地启动以控制沿着目标路径转向车辆。当已经启动转向控制时，当车辆的速度下降到等于或低于第二速度水平时，控制器自动地停用对转向的控制。

6. 发明授权

US09180908B2 Lane keeping system and lane centering system 有权
标题翻译：车道保持系统和车道定心系统
公开(公告)号：US09180908B2
公开(公告)日：2015-11-10
申请号：US13884752
申请日：2011-11-17
申请人： Christopher L. Van Dan Elzen , Ka Chai Cheok , Micho Radovnikovich
发明人： Christopher L. Van Dan Elzen , Ka Chai Cheok , Micho Radovnikovich
IPC分类号： B62D6/00 , B60W30/12 , B60W50/14 , B60W50/16 , B62D15/02
CPC分类号： B60W30/12 , B60W10/04 , B60W10/20 , B60W30/16 , B60W50/14 , B60W50/16 , B60W2050/0008 , B60W2050/0037 , B60W2050/0071 , B60W2050/0073 , B60W2420/42 , B62D6/00 , B62D15/025
摘要： A lane keeping system for a vehicle sets a safe zone in which the driver can drive the vehicle. If the system determines that the driver is at risk of leaving the safe zone, the system takes a corrective action, such as notifying the driver or applying a steering correction to the vehicle. The system adjusts the width of the safe zone depending on the driver's capability to stay within the safe zone. A lane centering system may be capable of autonomously steering the vehicle to remain within a lane. The lane centering system may include a controller that determines a target path for the vehicle depending on certain parameters. The controller may model each of the lane delimiters in a simplified form. This facilitates the determination of one of the target paths (the centerline of the lane). The simplified form may be a 3rd order polynomial equation.
摘要翻译：用于车辆的车道保持系统设置驾驶员驾驶车辆的安全区域。如果系统确定驾驶员有离开安全区域的风险，则系统采取纠正措施，例如通知驾驶员或向车辆应用转向校正。系统根据驾驶员停留在安全区域的能力来调整安全区域的宽度。车道定心系统可能能够自主地转向车辆以保持在车道内。车道对中系统可以包括根据某些参数来确定车辆的目标路径的控制器。控制器可以以简化的形式对每个通道分隔符进行建模。这有助于确定目标路径之一（车道的中心线）。简化形式可以是三阶多项式方程。

7. 发明申请

US20150070160A1 METHOD AND ARRANGEMENT FOR HANDOVER WARNING IN A VEHICLE HAVING AUTONOMOUS DRIVING CAPABILITIES 有权
标题翻译：具有自主驾驶能力的车辆中的切换警告的方法和装置
公开(公告)号：US20150070160A1
公开(公告)日：2015-03-12
申请号：US14478618
申请日：2014-09-05
申请人： VOLVO CAR CORPORATION
发明人： Staffan DAVIDSSON , Sicheng CHEN
IPC分类号： B60K28/10 , B60K28/02
CPC分类号： G05D1/0061 , B60K28/06 , B60W50/14 , B60W2050/0025 , B60W2050/0072 , B60W2050/0073 , B60W2050/0096
摘要： A method and arrangement are described for handover warning in a vehicle having autonomous driving capabilities and a vehicle controller configured to control unmanned autonomous travel. A processor may be configured to monitor if there is a need to transition from unmanned autonomous travel to manual control of the vehicle. A detecting arrangement may be configured to monitor a vehicle driver and evaluate the vehicle driver's readiness to assume the act of driving the vehicle. A warning arrangement may be configured to provide warning information when driver-handover is requested by the processor, which warning arrangement may be further configured to adapt warning information timing in respect to the evaluated vehicle driver's readiness to assume the act of driving the vehicle. A warning output system may be configured to output the time adapted warning information to a vehicle passenger compartment.
摘要翻译：描述了具有自主驾驶能力的车辆中的切换警告的方法和装置，以及被配置为控制无人自主旅行的车辆控制器。处理器可以被配置为监视是否需要从无人自行旅行转换到车辆的手动控制。检测装置可以被配置为监视车辆驾驶员并评估车辆驾驶员是否愿意承担驾驶车辆的动作。警告装置可以被配置为当处理器请求驾驶员切换时提供警告信息，该警告装置可以被进一步配置为适应关于评估的车辆驾驶员准备好承担驾驶车辆的行为的警告信息定时。警告输出系统可以被配置为将时间适应警告信息输出到车辆乘客舱。

8. 发明申请

US20150006012A1 Method for Safely Parking a METHOD FOR SAFELY PARKING A VEHICLE IN AN EMERGENCY SITUATION 有权
标题翻译：安全停车方法，在紧急情况下安全停放车辆的方法
公开(公告)号：US20150006012A1
公开(公告)日：2015-01-01
申请号：US14357456
申请日：2012-09-17
申请人： ROBERT BOSCH GMBH
发明人： Soeren Kammel , Jan Becker , Werner Poechmueller , Stefan Nordbruch , Gunther Schaaf , Peter Busch , Kurt Eckert
IPC分类号： B60W30/06
CPC分类号： B60W30/06 , B60K28/066 , B60W30/12 , B60W30/143 , B60W30/18109 , B60W50/087 , B60W50/14 , B60W2050/0071 , B60W2050/0073 , B60W2050/143 , B60W2520/10 , B60W2540/22 , B60W2540/24 , B60W2540/26 , B60W2550/10 , B60W2550/30 , B60W2550/402 , B60Y2302/05
摘要： In a method for safely parking a vehicle, it is checked whether an emergency situation is present, and the vehicle is driven by the driver assistance system to a road shoulder upon recognition of an emergency situation. In controlling the driving operation, information is requested from an external database and taken into account by the driver assistance system.
摘要翻译：在安全地停放车辆的方法中，检查是否存在紧急情况，并且在识别到紧急情况时，车辆由驾驶员辅助系统驱动到道路肩部。在控制驾驶操作时，从外部数据库请求信息，并由驾驶员辅助系统考虑。

9. 发明申请

US20110282549A1 LANE MAINTENANCE CONTROL METHOD 有权
标题翻译： LANE维护控制方法
公开(公告)号：US20110282549A1
公开(公告)日：2011-11-17
申请号：US13105413
申请日：2011-05-11
申请人： Jae Bum Choi
发明人： Jae Bum Choi
IPC分类号： B60T8/17 , G06F7/00
CPC分类号： B60W30/12 , B60T8/17557 , B60T2201/083 , B60W10/06 , B60W10/182 , B60W10/184 , B60W30/02 , B60W50/10 , B60W2050/0073 , B60W2540/18 , B60W2540/20 , B60W2710/182 , B60W2720/14
摘要： Disclosed herein is a lane maintenance control method to control a vehicle to travel while accurately remaining in a given lane. The lane maintenance control method performs brake steering control in which, when a vehicle departs from a lane, a brake torque is applied to wheels of the vehicle close to the lane to generate an appropriate moment for lane maintenance, which allows the vehicle to finally move in an opposite direction of a direction in which the vehicle departs from the lane, resulting in accurate lane maintenance.
摘要翻译：这里公开了一种车道维护控制方法，用于控制车辆行驶，同时精确地保留在给定车道中。车道维修控制方法进行制动转向控制，其中，当车辆离开车道时，制动转矩被施加到靠近车道的车辆的车轮，以产生用于车道维护的适当时刻，这允许车辆最终移动在车辆离开车道的方向相反的方向，导致准确的车道维修。

10. 发明授权

US08060308B2 Weather monitoring techniques 失效
标题翻译：天气监测技术
公开(公告)号：US08060308B2
公开(公告)日：2011-11-15
申请号：US12032774
申请日：2008-02-18
申请人： David S. Breed
发明人： David S. Breed
IPC分类号： G01W1/02 , G01W1/00 , G06F19/00 , G06F17/40
CPC分类号： B60N2/2863 , B60W10/06 , B60W10/18 , B60W10/20 , B60W30/02 , B60W30/04 , B60W30/14 , B60W30/16 , B60W30/18154 , B60W30/18172 , B60W40/06 , B60W40/072 , B60W40/076 , B60W50/00 , B60W50/14 , B60W2050/0071 , B60W2050/0073 , B60W2050/0078 , B60W2550/402 , G01C21/28 , G01S13/931 , G01S17/023 , G01S17/89 , G01S19/17 , G01S19/41 , G01S19/42 , G01S19/50 , G01S2007/4975 , G01S2013/9321 , G01S2013/9332 , G01S2013/9339 , G01S2013/9342 , G01S2013/9346 , G01S2013/935 , G01S2013/9353 , G01S2013/9357 , G01S2013/936 , G01S2013/9375 , G01S2013/9378 , G01S2013/9382 , G01W1/00 , G05D1/0221 , G05D1/0225 , G05D1/0246 , G05D1/0257 , G05D1/027 , G05D1/0274 , G05D1/0278 , G05D2201/0213 , G08G1/161 , G08G1/163 , G08G1/164 , G08G1/165 , G08G1/166 , G08G1/167
摘要： Arrangement and method for monitoring weather includes a sensor system arranged in vehicles for obtaining information about the weather in the vicinity of the vehicle, a communication system arranged in each vehicle and coupled to a respective sensor system for communicating the obtained weather information to a control station or other remote facility, and a transmission system arranged at the control station for transmitting weather conditions in an area in which the vehicles travel based on the information obtained by the vehicles. A positioning system may be arranged on each vehicle to determine its position so that the communication systems transmit the position of each vehicle along with the obtained information. A display may be arranged in each vehicle for displaying the transmitted weather conditions to an occupant of the vehicle.
摘要翻译：用于监测天气的布置和方法包括布置在车辆中的传感器系统，用于获得关于车辆附近的天气的信息;布置在每个车辆中的通信系统，并且耦合到相应的传感器系统，用于将获得的天气信息传送到控制站或其他远程设施，以及布置在控制站处的传输系统，用于根据车辆获得的信息来发送车辆行驶区域中的天气状况。可以在每个车辆上布置定位系统以确定其位置，使得通信系统与所获得的信息一起发送每个车辆的位置。可以在每个车辆中布置显示器，以将所发送的天气状况显示给车辆的乘员。

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