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1. 发明授权

US09389313B2 Parking assistance device 有权
标题翻译：停车辅助装置
公开(公告)号：US09389313B2
公开(公告)日：2016-07-12
申请号：US14420788
申请日：2013-08-23
申请人： AISIN SEIKI KABUSHIKI KAISHA
发明人： Takashi Hiramaki , Jun Adachi , Hiroyuki Tachibana , Tomohisa Yamashita , Kazuya Watanabe
IPC分类号： G01S13/93 , B62D15/02 , G01S7/539 , G01S15/08 , G01S15/93
CPC分类号： G01S13/931 , B62D15/027 , B62D15/028 , B62D15/0285 , G01S7/539 , G01S15/08 , G01S15/931 , G01S2013/9314 , G01S2015/934 , G01S2015/935
摘要： Provided is a parking assistance device that can obtain information regarding the height from a parking road surface of an object without acquiring height information of an object in advance. The parking assistance device includes: an emission unit configured to emit ultrasonic waves in at least an outward lateral direction of a vehicle; a reception unit configured to receive reflection waves from an object reflecting the emitted ultrasonic waves; and an object determination unit configured to receive the reflection waves from an object existing on a far side of a target parking region as the vehicle enters the target parking region, and determine a feature relating to the height of the object based on a change in a detection state of the object, which was specified based on the obtained reflection wave data.
摘要翻译：提供一种停车辅助装置，其能够事先获取物体的高度信息而能够从物体的停车路面获得关于高度的信息。所述停车辅助装置包括：发射单元，被配置为在车辆的至少外侧方向上发射超声波; 接收单元，被配置为从反射所发射的超声波的物体接收反射波; 以及物体确定单元，被配置为当车辆进入目标停车区域时从存在于目标停车区域的远侧的物体接收反射波，并且基于物体的变化来确定与物体的高度有关的特征基于获得的反射波数据指定对象的检测状态。

2. 发明授权

US08363511B2 Method and device for detection of surroundings 有权
标题翻译：用于检测周围环境的方法和装置
公开(公告)号：US08363511B2
公开(公告)日：2013-01-29
申请号：US12451992
申请日：2008-06-03
申请人： Michael Frank , Dirk Schmid
发明人： Michael Frank , Dirk Schmid
IPC分类号： G01S15/00
CPC分类号： G01S15/87 , G01S13/30 , G01S15/104 , G01S15/108 , G01S15/32 , G01S15/42 , G01S15/878 , G01S15/931 , G01S2013/9314 , G01S2013/9364 , G01S2013/9389 , G01S2015/934 , G01S2015/938
摘要： In a method and a device for detecting the surroundings, carrier waves in the form of transmission pulses are transmitted by at least one transducer, and reflections of the pulses are detected by the pulse-echo method. In this manner, the successive transmission pulses of one transducer or various transducers operated at the same time are differentiable by individual signal modulation.
摘要翻译：在用于检测周围环境的方法和装置中，传输脉冲形式的载波由至少一个换能器传输，脉冲回波法检测脉冲的反射。以这种方式，一个换能器或同时工作的各种换能器的连续传输脉冲可以通过单独的信号调制来区分。

3. 发明授权

US08244457B2 Device for a motor vehicle 有权
标题翻译：机动车辆装置
公开(公告)号：US08244457B2
公开(公告)日：2012-08-14
申请号：US11659516
申请日：2005-07-15
申请人： Andreas Milark , Michael Rohlfs , Sven Chlosta
发明人： Andreas Milark , Michael Rohlfs , Sven Chlosta
IPC分类号： G06F17/10 , F02D9/02
CPC分类号： G01S15/931 , G01S15/12 , G01S15/18 , G01S2013/9314 , G01S2013/9332 , G01S2013/9353 , G01S2013/9357 , G01S2013/9364 , G01S2013/9385 , G01S2013/9389 , G01S2015/934 , G01S2015/935
摘要： A device for a motor vehicle includes at least one distance sensor for recording a predominantly lateral clearance between the motor vehicle and objects, and a control device for controlling the distance sensor, the distance sensor emitting measuring signals during an activation time, and receiving measuring signal reflected by at least one object during a measurement receiving time. In the process, the measurement receiving time of the distance sensor is modifiable by the control device.
摘要翻译：用于机动车辆的装置包括至少一个距离传感器，用于在机动车辆和物体之间记录主要的横向间隙;以及控制装置，用于控制距离传感器，距离传感器在激活时间期间发射测量信号，以及接收测量信号在测量接收时间期间由至少一个物体反射。在该过程中，距离传感器的测量接收时间可由控制装置修改。

4. 发明申请

US20110013201A1 DEVICE AND METHOD FOR MEASURING A PARKING SPACE 失效
标题翻译：用于测量停车空间的装置和方法
公开(公告)号：US20110013201A1
公开(公告)日：2011-01-20
申请号：US12735341
申请日：2008-11-11
申请人： Michael Scherl , Uwe Zimmermann
发明人： Michael Scherl , Uwe Zimmermann
IPC分类号： G01B11/28
CPC分类号： G01S17/936 , G01S17/36 , G01S2013/9314 , G01S2015/934 , G01S2015/935
摘要： A device for measuring a parking space as a vehicle drives past the parking space includes a depth-measuring line scan camera movable together with the vehicle for acquiring individual images of the environment surrounding the vehicle transverse to a longitudinal direction of the vehicle, an arrangement for acquiring the movement of the vehicle, and an evaluation device. The individual images of the environment surrounding the vehicle contain depth information that is resolvable in a vertical direction.
摘要翻译：一种用于测量作为车辆的停车空间的装置驱动通过停车空间的装置包括与车辆一起移动的深度测量线扫描照相机，用于获取横向于车辆纵向方向的车辆周围环境的各种图像，获取车辆的运动，以及评估装置。围绕车辆的环境的各个图像包含可在垂直方向上解析的深度信息。

5. 发明申请

US20070075875A1 Method and device for determining the size and position of a parking space 有权
标题翻译：用于确定停车位的大小和位置的方法和装置
公开(公告)号：US20070075875A1
公开(公告)日：2007-04-05
申请号：US10570188
申请日：2004-08-18
申请人： Christian Danz , Michael Seiter
发明人： Christian Danz , Michael Seiter
IPC分类号： G08G1/14
CPC分类号： G01S15/931 , B60Q9/006 , G01S2013/9314 , G01S2013/9385 , G01S2015/934 , G01S2015/935
摘要： The present invention relates to a method and a device for determining the size and position of a parking space in relation to the position of a vehicle while the vehicle is driving past the parking space, the parking space extending longitudinally to the traffic lane and transversely to the traffic lane. It is the objective of the present invention to provide an ultrasound-based system for parking space measurement that operates more precisely than the known ultrasound-based systems for parking space measurement, even when passing the parking space at high speed and given high sensing depth of the parking space. Due to the fact that the width of the parking space is determined with the aid of a first ultrasonic sensor having a first sensitivity, and the depth of the parking space is detected with the aid of a second ultrasonic sensor having a second sensitivity, the sensitivity of the first ultrasonic sensor being lower than the sensitivity of the second ultrasonic sensor, it is possible to achieve higher accuracy in the parking space measurement.
摘要翻译：本发明涉及一种用于在车辆行驶通过停车空间时确定停车位相对于车辆位置的大小和位置的方法和装置，停车空间纵向延伸到行车道并横向于行车线。本发明的目的是提供一种用于停车位测量的基于超声波的系统，其比已知的用于停车位测量的基于超声的系统更精确地操作，即使当高速通过停车空间并且给定高的感测深度停车位。由于借助于具有第一灵敏度的第一超声波传感器来确定停车空间的宽度，借助于具有第二灵敏度的第二超声波传感器来检测停车空间的深度，所以灵敏度的第一超声波传感器的灵敏度低于第二超声波传感器的灵敏度时，可以在停车空间测量中获得更高的精度。

6. 发明申请

US20150219760A1 PARKING ASSISTANCE DEVICE 有权
标题翻译：停车辅助装置
公开(公告)号：US20150219760A1
公开(公告)日：2015-08-06
申请号：US14420788
申请日：2013-08-23
申请人： AISIN SEIKI KABUSHIKI KAISHA
发明人： Takashi Hiramaki , Jun Adachi , Hiroyuki Tachibana , Tomohisa Yamashita , Kazuya Watanabe
IPC分类号： G01S13/93 , B62D15/02
CPC分类号： G01S13/931 , B62D15/027 , B62D15/028 , B62D15/0285 , G01S7/539 , G01S15/08 , G01S15/931 , G01S2013/9314 , G01S2015/934 , G01S2015/935
摘要： Provided is a parking assistance device that can obtain information regarding the height from a parking road surface of an object without acquiring height information of an object in advance. The parking assistance device includes: an emission unit configured to emit ultrasonic waves in at least an outward lateral direction of a vehicle; a reception unit configured to receive reflection waves from an object reflecting the emitted ultrasonic waves; and an object determination unit configured to receive the reflection waves from an object existing on a far side of a target parking region as the vehicle enters the target parking region, and determine a feature relating to the height of the object based on a change in a detection state of the object, which was specified based on the obtained reflection wave data.
摘要翻译：提供一种停车辅助装置，其能够事先获取物体的高度信息而能够从物体的停车路面获得关于高度的信息。所述停车辅助装置包括：发射单元，被配置为在车辆的至少外侧方向上发射超声波; 接收单元，被配置为从反射所发射的超声波的物体接收反射波; 以及物体确定单元，被配置为当车辆进入目标停车区域时从存在于目标停车区域的远侧的物体接收反射波，并且基于物体的变化来确定与物体的高度有关的特征基于获得的反射波数据指定对象的检测状态。

7. 发明授权

US08422737B2 Device and method for measuring a parking space 失效
标题翻译：用于测量停车位的装置和方法
公开(公告)号：US08422737B2
公开(公告)日：2013-04-16
申请号：US12735341
申请日：2008-11-11
申请人： Michael Scherl , Uwe Zimmermann
发明人： Michael Scherl , Uwe Zimmermann
IPC分类号： G06K9/00
CPC分类号： G01S17/936 , G01S17/36 , G01S2013/9314 , G01S2015/934 , G01S2015/935
摘要： A device for measuring a parking space as a vehicle drives past the parking space includes a depth-measuring line scan camera movable together with the vehicle for acquiring individual images of the environment surrounding the vehicle transverse to a longitudinal direction of the vehicle, an arrangement for acquiring the movement of the vehicle, and an evaluation device. The individual images of the environment surrounding the vehicle contain depth information that is resolvable in a vertical direction.
摘要翻译：一种用于测量作为车辆的停车空间的装置驱动通过停车空间的装置包括与车辆一起移动的深度测量线扫描照相机，用于获取横向于车辆纵向方向的车辆周围环境的各种图像，获取车辆的运动，以及评估装置。围绕车辆的环境的各个图像包含可在垂直方向上解析的深度信息。

8. 发明授权

US08077024B2 Vehicle comprising a distance control system 有权
标题翻译：车辆包括距离控制系统
公开(公告)号：US08077024B2
公开(公告)日：2011-12-13
申请号：US11910586
申请日：2006-03-29
申请人： Martin Laufer , Robert Luftner , Christian Schmidt , Tim Weis
发明人： Martin Laufer , Robert Luftner , Christian Schmidt , Tim Weis
IPC分类号： B60Q1/00
CPC分类号： C07D263/46 , C07D263/48 , C07D263/58 , C07D413/04 , C07D413/12 , C07D413/14 , C07D417/12 , G01S15/931 , G01S2015/934 , G01S2015/935
摘要： The invention pertains to a vehicle (01) with a distance control system, wherein the distance control system features at least one distance sensor (08) for measuring the distance of the vehicle (01) from surrounding objects (02, 03, 05). A distance sensor (08) is arranged on at least one side of the vehicle (01) in the central region thereof, particularly in or on the exterior rearview mirror (06, 07).
摘要翻译：本发明涉及具有距离控制系统的车辆（01），其中距离控制系统具有用于测量车辆（01）与周围物体（02,03,05）的距离的至少一个距离传感器（08）。距离传感器（08）位于车辆（01）的中心区域的至少一侧，特别是在外后视镜（06,77）中或其上。

9. 发明申请

US20100302069A1 OBJECT CLASSIFICATION METHOD, PARKING ASSISTANCE METHOD, AND PARKING ASSISTANCE SYSTEM 有权
标题翻译：对象分类方法，停车辅助方法和停车辅助系统
公开(公告)号：US20100302069A1
公开(公告)日：2010-12-02
申请号：US12733458
申请日：2008-07-18
申请人： Michael Frank , Petko Faber
发明人： Michael Frank , Petko Faber
IPC分类号： B60Q1/48
CPC分类号： G01S15/931 , G01S7/527 , G01S7/539 , G01S2013/9314 , G01S2013/9317 , G01S2015/934
摘要： An object classification method in which a vehicle moves toward an object includes: (a) ascertaining a first characteristic quantity from the variation of a first signal received by a distance-measuring sensor; (b) ascertaining an additional characteristic quantity from the variation of a second signal received by the distance-measuring sensor; (c) ascertaining a distance traveled by the vehicle between step (a) and step (b); (d) ascertaining a predictive quantity associated with the distance ascertained in step (c); (e) comparing the predictive quantity with the additional characteristic quantity; and (f) generating an object classification signal.
摘要翻译：车辆向物体移动的物体分类方法包括：（a）根据距离测量传感器接收的第一信号的变化确定第一特征量; （b）根据距离测量传感器接收的第二信号的变化确定附加特征量; （c）确定车辆在步骤（a）和步骤（b）之间行驶的距离; （d）确定与步骤（c）中确定的距离相关联的预测量; （e）将预测量与附加特征量进行比较; 和（f）生成对象分类信号。

10. 发明申请

US20070177011A1 Movement control system 审中-公开
标题翻译：运动控制系统
公开(公告)号：US20070177011A1
公开(公告)日：2007-08-02
申请号：US10589498
申请日：2005-03-04
申请人： Andrew Lewin , Simon Woods , David Orchard
发明人： Andrew Lewin , Simon Woods , David Orchard
IPC分类号： H04N7/18
CPC分类号： B62D15/0285 , B60W2420/42 , G01S2013/9314 , G01S2015/934 , G01S2015/935
摘要： The present invention relates to a movement control system which can be used to control moving platforms such as vehicles or robotic arms. It especially applies to a driving aid for vehicles and to a parking aid capable of self-parking a vehicle. A three-dimensional camera (12) is located on the platform, say a car (102) and arranged to view (114) the environment around the platform. A processor (7) uses the three-dimensional information to create a model of the environment which is used to generate a movement control signal. Preferably the platform moves relative to the environment and acquires a plurality of images of the environment from different positions.
摘要翻译：本发明涉及一种可用于控制诸如车辆或机器人臂的移动平台的运动控制系统。它特别适用于车辆的驾驶辅助装置和能够自行停车的停车辅助装置。三维摄像机（12）位于平台上，例如汽车（102）并且布置成观察（114）围绕平台的环境。处理器（7）使用三维信息来创建用于产生移动控制信号的环境模型。优选地，平台相对于环境移动，并且从不同的位置获取环境的多个图像。

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