СИСТЕМА И СПОСОБ ОПОВЕЩЕНИЯ ОТКЛОНЕНИЯ ОТ ПУТИ ДВИЖЕНИЯ

Группа изобретений относится к технике оповещения водителя о выезде из полосы движения. В предложенных технических решениях используют тормозную систему автомобиля для обеспечения осязаемой обратной связи для водителя. При реализации оповещения водителя определяют факт выезда автомобиля из полосы движения и притормаживают, например, одно из управляемых колес автомобиля, чтобы осуществить передачу усилия на рулевое колесо. В результате водитель воспринимает осязаемую обратную связь через рулевое колесо. Группа изобретений обеспечивает оповещение водителя простыми средствами с повышенной надежностью. 4 н. и 14 з.п. ф-лы, 3 ил.

УСТРОЙСТВО ОБНАРУЖЕНИЯ ТРЕХМЕРНЫХ ОБЪЕКТОВ

Изобретение относится к обнаружению трехмерных объектов. Техническим результатом является обеспечение обнаружения объекта, приближающегося к соседнему транспортному средству при относительно высокой скорости. Устройство содержит: средство захвата изображений; модуль задания областей обнаружения; средство преобразования изображений; модуль обнаружения трехмерных объектов; средство вычисления относительной скорости движения. 3 н. и 9 з.п. ф-лы, 23 ил.

СПОСОБ И УСТРОЙСТВО ПОМОЩИ ПРИ ВОЖДЕНИИ

Изобретение относится к способу помощи при вождении и оборудованию. Способ помощи при вождении содержит этапы, на которых извлекают пересекающую линию движения, пересекающую запланированный намеченный путь движения рассматриваемого транспортного средства, выбирают пересекающую линию движения из числа извлеченных пересекающих линий движения на основе формы дороги, правила дорожного движения и дорожной ситуации, определяют действие при вождении рассматриваемого транспортного средства в ответ на другое транспортное средство, перемещающееся вдоль выбранной пересекающей линии движения, и когда состояние светофора изменяется из состояния разрешения проезда на состояние запрещения проезда, переключают выбранную пересекающую линию движения на невыбранную пересекающую линию движения посредством уменьшения длины выбранной пересекающей линии движения. Оборудование помощи при вождении содержит процессор, выполненный с возможностью определять действие при вождении рассматриваемого транспортного средства ...

СПОСОБ И ТРАНСПОРТНОЕ СРЕДСТВО ДЛЯ ОКАЗАНИЯ СОДЕЙСТВИЯ ВОДИТЕЛЯМ ПРИ СМЕНЕ ПОЛОС ДВИЖЕНИЯ НА ПРОЕЗЖЕЙ ЧАСТИ ДОРОГИ

Изобретение относится к оперативному управлению транспортными средствами, а конкретнее к оказанию содействия водителям при смене полос движения на проезжей части дороги. Способ для оказания содействия смене полосы движения на проезжей части дороги из текущей полосы движения содержит несколько этапов. Вначале определяется возможность передвижения в других полосах движения эффективнее на основании скорости и ускорения других транспортных средств на проезжей части дороги. Затем на ветровом стекле транспортного средства представляется отображение в реальном времени проезжей части, которое изображает конфигурацию проезжей части, транспортное средство и другие транспортные средства. После указания водителя переместиться на другую полосу движения рассчитывается скорость для поддержания транспортным средством. Для перестроения в другую полосу движения транспортного средства указывается на отображении в реальном времени на ветровом стекле, когда это уместно. Повышается безопасность при эксплуатации ...

СИСТЕМА ЗАМЕЩЕНИЯ ЗЕРКАЛ ДЛЯ ТРАНСПОРТНОГО СРЕДСТВА

Изобретение относится к системе замещения зеркал для транспортного средства. Система замещения зеркал для транспортного средства содержит устройство захвата изображений, устройство отображения изображения, водительский датчик, рабочий контроллер и контроллер устройства захвата изображений. Устройство захвата изображений выполнено для установки вблизи внешней поверхности транспортного средства и для захвата изображений обзорной зоны вокруг транспортного средства. Устройство отображения изображения выполнено для видимой для водителя установки. Водительский датчик выполнен для обнаружения информационной команды от водителя. Рабочий контроллер выполнен для управления переформатирующими параметрами на основе водительских параметров, полученных от водительского датчика. Контроллер устройства захвата изображений выполнен для переформатирования видеоданных, полученных от устройства захвата изображений, в соответствии с переформатирующими параметрами и для направления переформатированных видеоданных ...

СПОСОБ ОПРЕДЕЛЕНИЯ СЛЕПОЙ ЗОНЫ ТРАНСПОРТНОГО СРЕДСТВА С БУКСИРУЕМЫМ ПРИЦЕПОМ И ТРАНСПОРТНОЕ СРЕДСТВО

Группа изобретений относится к способу определения слепой зоны для транспортного средства и к транспортному средству. Транспортное средство содержит кузов, двигатель, тормоза, сцепное устройство, процессор соединений с датчиками, выполненный с возможностью обнаруживать прицепленный прицеп. В ответ на обнаружение прицепа суммируют по отдельности длины сцепного устройства, прицепа, буферной зоны и транспортного средства. Идентифицируют позиции объектов на основании сигналов датчиков. Запускают первый отклик, когда позиции находятся в пределах суммированной зоны. Кроме того, разрешают только пользовательскую регулировку длины буферной зоны выше предварительно заданной стандартной длины. Обеспечивается более точное определение слепой зоны транспортного средства с прицепом. 2 н. и 14 з.п. ф-лы. 5 ил.

УСТРОЙСТВО ОБНАРУЖЕНИЯ ТРЕХМЕРНЫХ ОБЪЕКТОВ

Изобретение относится к устройству обнаружения трехмерных объектов. Техническим результатом является повышение точности обнаружения движущегося позади транспортного средства. Устройство содержит: средство захвата изображений; средство преобразования изображений; средство обнаружения трехмерных объектов для совмещения; средство обнаружения источников света; средство оценки степени достоверности; и средство управления для задания первого порогового значения или второго порогового значения. 3 н. и 10 з.п. ф-лы, 34 ил.

УСТРОЙСТВО ОБНАРУЖЕНИЯ ТРЕХМЕРНЫХ ОБЪЕКТОВ

Изобретение относится к устройству обнаружения трехмерных объектов. Техническим результатом является обеспечение определения расстояния и положения объекта относительно транспортного средства. Устройство содержит: средство захвата изображений; средство преобразования изображений; модуль совмещения; средство обнаружения трехмерных объектов; средство обнаружения источников света; средство управления. 3 н. и 4 з.п. ф-лы, 34 ил.

СИСТЕМА ВИДЕОНАБЛЮДЕНИЯ

Предложена система видеонаблюдения для боковой зоны на стороне пассажира грузового транспортного средства. Система видеонаблюдения содержит блоки обработки изображений (111, 112), линии (115) передачи данных между блоками (111, 112) обработки изображений. Блоки (111, 112) обработки изображений выполнены с возможностью независимо друг от друга обрабатывать визуальные данные, чтобы обеспечивать возможность дублирующей регистрации изображений для боковой зоны. Блоки обработки изображений (111, 112) сравнивают визуальные данные перекрываемых зон регистрации и обнаруживают ошибку системы видеонаблюдения, осуществляют трансформацию визуальных данных с блоков (121, 122, 123) камер для уменьшения искажений в горизонтальных зонах изображений, идентифицируют разметку проезжей части в визуальных данных с блоков (121, 122, 123) камер для поддержания следования полосе движения. Предложены также грузовое транспортное средство, способ обнаружения ошибки системы видеонаблюдения, считываемый компьютером ...

СПОСОБ ПОДДЕРЖКИ ВОЖДЕНИЯ И УСТРОЙСТВО ПОДДЕРЖКИ ВОЖДЕНИЯ

Изобретение относится к способу поддержки вождения. Способ поддержки вождения для поддержки вождения основного транспортного средства в окружении движения, в котором путь основного транспортного средства и путь первого другого транспортного средства, которым является путь, пересекаются друг с другом в точке пересечения, и второе другое транспортное средство, которое отличается от первого другого транспортного средства, прибывает в точку быстрее, чем первое другое транспортное средство. Причем эта точка является точкой на пути первого транспортного средства до прибытия первого другого транспортного средства в точку пересечения и является точкой, в которой путь первого другого транспортного средства и путь второго другого транспортного средства. Способ поддержки вождения также содержит определение, может ли основное транспортное средство въехать в точку пересечения, на основе времени преграждения и требуемого времени въезда, которое представляет собой время с момента, когда основное транспортное ...

СПОСОБ ПОМОЩИ ПРИ ВОЖДЕНИИ И УСТРОЙСТВО УПРАВЛЕНИЯ ТРАНСПОРТНЫМ СРЕДСТВОМ

Изобретение относится к способу управления транспортным средством и устройству управления транспортным средством. Способ помощи при движении для транспортного средства, исполняемый процессором, содержит этап обнаружения точки слияния, в которую полоса движения, которая осуществляет слияние, и полоса движения, с которой осуществляется слияние, сливаются, причем полоса движения, которая осуществляет слияние, является полосой движения, в которой движется рассматриваемое транспортное средство, а полоса движения, с которой осуществляется слияние, прилегает к полосе движения, которая осуществляет слияние. Однако когда обнаруживается другое транспортное средство, движущееся по полосе движения, с которой осуществляется слияние, по направлению к точке слияния, установку, позади этого другого транспортного средства, позиции вливания рассматриваемого транспортного средства в точке слияния, чтобы исполнить управление слиянием, когда длина полосы движения, которая осуществляет слияние, меньше предопределенной ...

СПОСОБ УПРАВЛЕНИЯ ДВИЖЕНИЕМ ТРАНСПОРТНОГО СРЕДСТВА И УСТРОЙСТВО УПРАВЛЕНИЯ ДВИЖЕНИЕМ ТРАНСПОРТНОГО СРЕДСТВА

Изобретение относится к системам управления движением транспортного средства. Представлен способ управления движением транспортного средства для управления рассматриваемым транспортным средством так, что оно следует за движущимся впереди транспортным средством, содержит этапы вычисления первой области, определения области возможного движения рассматриваемого транспортного средства вплоть до предыдущего времени в качестве второй области, задания области возможного движения суммированием первой области и второй области, формирования целевой траектории движения рассматриваемого транспортного средства в пределах заданной области возможного движения и управления рассматриваемым транспортным средством по сформированной целевой траектории движения. В первой области рассматриваемое транспортное средство может вероятно двигаться. Первую область вычисляют из траектории движения нового движущегося впереди транспортного средства при обнаружении вклинивания нового движущегося впереди транспортного средства ...

СПОСОБ АВТОМАТИЗИРОВАННОГО УПРАВЛЕНИЯ СМЕНОЙ ПОЛОСЫ И УСТРОЙСТВО АВТОМАТИЗИРОВАННОГО УПРАВЛЕНИЯ СМЕНОЙ ПОЛОСЫ

Изобретение относится к способу и устройству для автоматизированного управления сменой полосы. Способ автоматизированного управления сменой полосы содержит этапы, на которых обнаруживают впередиидущее транспортное средство, определяют, удовлетворено или нет предварительно заданное условие, на основе взаимосвязи между эксплуатируемым транспортным средством и впередиидущим транспортным средством и выполняют автоматическую смену полосы посредством эксплуатируемого транспортного средства через автоматизированное управление после истечения первого предварительно заданного времени. При этом способ управления оценивает, соответствует или нет предыдущая смена полосы намерению водителя, устанавливает второе предварительно заданное время, которое продолжительнее первого предварительно заданного времени, в качестве времени, в течение которого запрещена смена полосы, которая должна быть осуществлена посредством автоматизированного управления, и запрещает смену полосы, осуществляемую посредством автоматизированного ...

Бортовое устройство связи транспортного средства и транспортное средство

Изобретение относится к системам безопасности транспортного средства. Бортовое устройство связи транспортного средства содержит модуль связи, модуль инструкций и модуль уведомления. Модуль связи передает и принимает через беспроводную связь между рассматриваемым транспортным средством и другими транспортными средствами, расположенными в его окрестности, информацию намерений, связанную с намерением пассажира транспортного средства. Модуль инструкций принимает инструкции передачи от пассажира рассматриваемого транспортного средства и предписывает передачу информации намерений в модуль связи. Модуль уведомления уведомляет пассажира рассматриваемого транспортного средства в отношении информации намерений пассажира другого транспортного средства, принимаемой посредством модуля связи. Достигается повышение безопасности эксплуатации транспортного средства. 2 н. и 13 з.п. ф-лы, 22 ил.

СИСТЕМА ПРЕДУПРЕЖДЕНИЯ

... 1. Система (2) предупреждения для транспортного средства, при этом система содержитпо меньшей мере одно устройство (4) визуального наблюдения с поверхностью (6) визуального наблюдения, выполненной с возможностью представления объектов (8), которые находятся поблизости от транспортного средства,блок (10) обработки, выполненный с возможностью приема одного или более сигналов (12) датчиков от одного или более датчиков, которые выполнены с возможностью измерения одного или более заданных параметров объектов поблизости от транспортного средства и использования упомянутых параметров в качестве основания для определения того, имеется ли объект в заданной зоне (22) обгона,отличающаяся тем, чтосистема предупреждения содержит по меньшей мере одно средство (14) индикации, расположенное близко к упомянутому устройству (4) визуального наблюдения и выполненное с возможностью формирования по меньшей мере одной индикации (16) обгона для представления на поверхности (6) визуального наблюдения устройства ...

СИСТЕМА ПРЕДУПРЕЖДЕНИЯ

... 1. Система (2) предупреждения для транспортного средства, причем система содержитпо меньшей мере одно устройство (4) наблюдения с поверхностью (6) наблюдения, выполненное с возможностью представления объектов (8), которые находятся вблизи транспортного средства, блок (10) обработки, выполненный с возможностью приема одного или более сигналов (12) датчиков от одного или более датчиков, которые выполнены с возможностью измерения по меньшей мере скорости объекта вблизи транспортного средства, вычисления разности Δv, которая представляет собой разность между соответствующими скоростями упомянутого объекта и рассматриваемого транспортного средства, и сравнения разности Δv по меньшей мере с одним пороговым значением v,отличающаяся тем, что система предупреждения содержит по меньшей мере одно средство (14) индикации, расположенное рядом с упомянутым устройством (4) наблюдения и выполненное с возможностью формирования по меньшей мере одной предупреждающей индикации (16) для представления на поверхности ...

УСТРОЙСТВО КОНТРОЛЯ ПОМЕХ

Изобретение относится к устройствам управления транспортными средствами. Устройство контроля помех содержит блок получения карты, блок вычисления пропорции, блок определения поведения и блок управления транспортным средством. Блок получения карты получает картографические данные, в которых один или более критериев обнаружения тщательного наблюдения заданы заранее и в которых присутствие или отсутствие движущегося объекта должно тщательно наблюдаться. Блок вычисления пропорции вычисляет пропорцию слепой зоны для рассматриваемого транспортного средства относительно критерия обнаружения тщательного наблюдения. Блок определения поведения определяет практическое поведение рассматриваемого транспортного средства на основе пропорции. Блок управления транспортным средством выполняет управление движением рассматриваемого транспортного средства в соответствии с упомянутым определенным практическим поведением. Достигается повышение безопасности управления транспортным средством. 8 з.п. ф-лы, 18 ил ...

УСТРОЙСТВО ПОМОЩИ ПРИ ВОЖДЕНИИ И СПОСОБ ОБНАРУЖЕНИЯ ТРАНСПОРТНОГО СРЕДСТВА РЯДОМ С НИМ

... 1. Устройство помощи при вождении, которое предоставляет водителю различные фрагменты информации из результата захвата изображений около собственного транспортного средства, содержащее:- блок захвата изображений, смонтированный на собственном транспортном средстве, чтобы захватывать изображения позади с боку от собственного транспортного средства;- блок задания области обнаружения, который задает область обнаружения для обнаружения, из данных изображений, захваченных посредством блока захвата изображений, наличия находящегося рядом транспортного средства на соседней полосе движения;- детектор светопроецирующего объекта кандидата, который обнаруживает светопроецирующий объект кандидата, который проецирует свет с яркостью, равной или превышающей первое пороговое значение;- блок определения причин, который определяет, существует ли или нет светопроецирующий объект кандидата, который указывает, что свет, проецируемый из области обнаружения, заданной блоком задания области обнаружения, является ...

ОПЕРАТИВНОЕ УПРАВЛЕНИЕ АВТОНОМНЫМ ТРАНСПОРТНЫМ СРЕДСТВОМ

Изобретение относится к оперативному управлению автономным транспортным средством. Способ оперативного управления автономным транспортным средством при перемещении по сети движения транспортных средств содержит этап, на котором осуществляют перемещение посредством автономного транспортного средства по сети движения транспортных средств. Перемещение по сети движения транспортных средств включает в себя этапы, на которых осуществляют работу экземпляра модуля оценки оперативного управления для конкретного сценария, причем экземпляр модуля оценки оперативного управления для конкретного сценария представляет собой экземпляр модуля оценки оперативного управления для конкретного сценария, созданный для отдельного оперативного сценария транспортного средства, принимают возможное действие по управлению транспортным средством от экземпляра модуля оценки оперативного управления для конкретного сценария и осуществляют перемещение по участку сети движения транспортных средств на основе возможного действия ...

УПРАВЛЕНИЕ ОПЕРАТИВНЫМ УПРАВЛЕНИЕМ АВТОНОМНЫМ ТРАНСПОРТНЫМ СРЕДСТВОМ

Изобретение относится к способу перемещения по сети движения транспортных средств. Способ для использования при перемещении по сети движения транспортных средств содержит этап, на котором осуществляют перемещение посредством автономного транспортного средства по сети движения транспортных средств. Автономное транспортное средство содержит контроллер оперативного управления, принимающий от датчика автономного транспортного средства информацию, соответствующую внешнему объекту в пределах заданного расстояния от автономного транспортного средства, определяющий отдельный оперативный сценарий транспортного средства в ответ на прием информации, создающий экземпляр модуля оценки оперативного управления для конкретного сценария, принимающий возможное действие по управлению транспортным средством от экземпляра модуля оценки оперативного управления для конкретного сценария и управляющий автономным транспортным средством для перемещения по участку сети движения транспортных средств на основе возможного ...

УСТРОЙСТВО ОБНАРУЖЕНИЯ ТРЕХМЕРНЫХ ОБЪЕКТОВ

Изобретение относится к средствам обнаружения препятствий при движении транспортного средства. Техническим результатом является повышение точности обнаружения движущегося объекта при движении транспортного средства. Устройство содержит средство захвата изображений правосторонней и левосторонней областей обнаружения позади транспортного средства, средство обнаружения трехмерных объектов на основе полученного изображения, средство оценки областей с высокой яркостью, соответствующей предварительно определенному эталону в указанных областях обнаружения, средство управления остановкой обнаружения трехмерного объекта и стимулирования обнаружения трехмерного объекта на основе информации изображений в указанных областях обнаружения. 11 з.п. ф-лы, 23 ил.

СПОСОБ УПРАВЛЕНИЯ ТРАНСПОРТНЫМ СРЕДСТВОМ И УСТРОЙСТВО УПРАВЛЕНИЯ ТРАНСПОРТНЫМ СРЕДСТВОМ

Способ управления транспортным средством включает в себя: обнаружение блокирующего объекта, который находится в позиции, в которой блокирующий объект перегораживает движение отслеживаемого транспортного средства в полосе движения, в которой движется отслеживаемое транспортное средство, и который скрывает, по меньшей мере, часть полосы движения от датчика, и встречного транспортного средства, движущегося в направлении к отслеживаемому транспортному средству по встречной полосе движения, противоположной относительно полосы движения; и замедление транспортного средства, когда встречное транспортное средство замедляется. Повышается безопасность движения. 2 н. и 5 з.п. ф-лы, 8 ил.

ТРАНСПОРТНОЕ СРЕДСТВО, СПОСОБ И МАТЕРИАЛЬНЫЙ МАШИНОЧИТАЕМЫЙ НОСИТЕЛЬ ДЛЯ УЛУЧШЕНИЯ ПОЛЯ ОБЗОРА НА ПЕРЕКРЕСТКАХ

ВЫБОР ЦЕЛИ НА ПУТИ ВО ВРЕМЯ СМЕНЫ ПОЛОСЫ ДВИЖЕНИЯ

СПОСОБ И УСТРОЙСТВО ОБНАРУЖЕНИЯ ПОЛОС ДВИЖЕНИЯ

СИСТЕМА И СПОСОБ ВИДЕОЗАХВАТА ЗАДНЕЙ ЧАСТИ ТРАНСПОРТНОГО СРЕДСТВА

СИСТЕМЫ И СПОСОБЫ ОБНАРУЖЕНИЯ СЛЕПЫХ ЗОН

УСТРОЙСТВО ПОМОЩИ ПРИ ВОЖДЕНИИ ТРАНСПОРТНОГО СРЕДСТВА

... 1. Устройство помощи при вождении транспортного средства, содержащее:модуль обнаружения формы дороги для обнаружения формы дороги в предварительно установленной области впереди, которая является предварительно определенной областью, заданной перед транспортным средством;модуль обнаружения величины руления для обнаружения величины руления в зависимости от рабочей величины поворота руля водителем;модуль обнаружения препятствия для обнаружения препятствия, имеющегося в области обнаружения препятствия, включающей в себя, по меньшей мере, область сзади и сбоку от транспортного средства;модуль определения намерений водителя для определения того, имеет ли водитель намерение сменить полосу движения, на основе формы дороги, обнаруженной посредством модуля обнаружения формы дороги, и величины руления, обнаруженной посредством модуля обнаружения величины руления;модуль определения начала управления для определения того, что управление недопущением приближения для помощи в недопущении приближения транспортного ...

СИСТЕМА И СПОСОБ УПРАВЛЕНИЯ АВТОНОМНЫМ ТРАНСПОРТНЫМ CРЕДСТВОМ

СПОСОБ И СИСТЕМА ДЛЯ ВИРТУАЛЬНОГО ПУТИ ДЛЯ РУЛЕНИЯ

СИСТЕМА ТРАНСПОРТНОГО СРЕДСТВА (ВАРИАНТЫ) И СПОСОБ

СУРРОГАТНЫЕ ДАТЧИКИ ТРАНСПОРТНОГО СРЕДСТВА

УПРАВЛЕНИЕ ЧЕЛОВЕКО-МАШИННЫМ ИНТЕРФЕЙСОМ ТРАНСПОРТНОГО СРЕДСТВА

ЭКСПЛУАТАЦИЯ СИСТЕМЫ СЛЕПОЙ ЗОНЫ ТРАНСПОРТНОГО СРЕДСТВА С БУКСИРУЕМЫМ ПРИЦЕПОМ

СИСТЕМА АВАРИЙНОГО РУЛЕВОГО УПРАВЛЕНИЯ ТРАНСПОРТНОГО СРЕДСТВА

... 1. Система аварийного рулевого управления в пределах полосы для удержания движущегося со скоростью автомобильного транспортного средства в пределах полосы движения во время торможения, включающая в себя:датчик объекта для обнаружения наличия объекта на расстоянии от автомобильного транспортного средства на текущей траектории движения автомобильного транспортного средства, с помощью которого может быть определено расстояние от автомобильного транспортного средства до объекта; причем датчик объекта передает сигнал в ответ на обнаружение наличия объекта перед автомобильным транспортным средством и предоставляет данные, на основании которых определяется расстояние от автомобильного транспортного средства до объекта;датчик скорости, передающий сигнал и предоставляющий данные, на основании которых определяется скорость автомобильного транспортного средства;контроллер, связанный с датчиком объекта и датчиком скорости и рассчитывающий время до контакта (ТТС) с обнаруженным объектом, исистему рулевого ...

Fahrunterstützungssystem für Fahrzeuge

Eine Form eines Fahrweges (S) eines entgegenkommenden Fahrzeugs (50) wird auf der Basis von Markierungsliniendaten erkannt. Eine Geschwindigkeitskomponente des entgegenkommenden Fahrzeugs (50) in Bezug auf den Fahrweg (Route) wird durch Wichten einer lateralen Geschwindigkeitskomponente (vy) orthogonal zu der Route (S) sowie einer der Route folgenden Geschwindigkeitskomponente berechnet, und zwar mittels eines Geschwindigkeitskorrekturkoeffizienten (k), der in Abhängigkeit von einer relativen Distanz (L) zwischen einem betreffenden Fahrzeug (1) und dem entgegenkommenden Fahrzeug (50) vorgegeben wird. Eine Änderung in dem Verhalten des entgegenkommenden Fahrzeugs (50) wird vorhergesagt, und es wird eine Möglichkeit einer Kollision gegen das betreffende Fahrzeug (1) festgestellt. Wenn festgestellt wird, dass eine Kollisionsmöglichkeit besteht, wird ein Alarm zum Warnen eines Fahrers hinsichtlich der Möglichkeit einer Kollision abgegeben.

Spurwechselassistenzsystem

Spurwechselassistenzsystem (1) für Kraftfahrzeuge für einen Spurwechsel eines Egofahrzeuges (21) von seiner Eigenfahrspur (22) auf eine Zielfahrspur (23) mit – einer Umfelderfassungseinheit (2), die zum Erfassen von in der Umgebung des Egofahrzeuges (21) befindlichen Fremdfahrzeugen (24, 25a bis 25c) und deren jeweiliger Fahrzeugzustand eingerichtet ist, – einer Lückenermittlungseinheit (5), die zum Ermitteln mindestens einer Einscherlücke (26a, 26b) auf der Zielfahrspur (23) in Abhängigkeit von den erfassten Fremdfahrzeugen und deren jeweiliger Fahrzeugzustand eingerichtet ist, – einer Spurwechselbewertungseinheit, die eingerichtet ist, – für jede ermittelte Einscherlücke (26a, 26b), ausgehend von der Position des Egofahrzeuges (21), eine Mehrzahl von Zieltrajektorien bezüglicher verschiedener Zielpositionen (A1 bis A5, B1 bis B5) innerhalb der jeweiligen Einscherlücke (26a, 26b) zu bestimmen, – einen longitudinalen Aktionsraum (31) des Egofahrzeuges (21) in Abhängigkeit von fahrdynamischen ...

VERFAHREN UND VORRICHTUNG ZUM ERFASSEN EINER STRAßENBEGRENZUNG

Ein Verfahren und eine Vorrichtung zum Erfassen einer Straßenbegrenzung sind bereitgestellt. Das Verfahren beinhaltet: Senden, bei einem aktuellen Erfassungsmoment, von mehreren Erfassungsstrahlen zu einer Straße, auf der sich ein Zielfahrzeug befindet, indem eine Erfassungsvorrichtung, die am Zielfahrzeug montiert ist, verwendet wird; Erhalten von Echosignalen der Erfassungsstrahlen, die von der Straße reflektiert werden; Bestimmen von Zielkoordinaten von Erfassungspunkten auf der Straße, die den Erfassungsstrahlen in dem gleichen Koordinatensystem entsprechen, basierend auf den Echosignalen der Erfassungsstrahlen; und Bestimmen einer Straßenbegrenzung auf der Straße basierend auf den Zielkoordinaten der Erfassungspunkte.

Verfahren zum Betreiben eines Sicherheitssystems für ein Kraftfahrzeug; Sicherheitssystem und Computerprogrammprodukt

Die Erfindung betrifft ein Verfahren zum Betreiben Sicherheitssystems (19) für ein Kraftfahrzeug (1). Zum Steigern eines Sicherheitsniveaus werden die folgenden Schritte vorgesehen:- Erfassen von Straßenkreuzungsdaten, die anzeigen, ob ein von dem Kraftfahrzeug (1) benutzter Weg eine in Fahrtrichtung dem Kraftfahrzeug (1) vorausliegende Straßenkreuzung (25) aufweist,- Bestimmen einer Blickrichtung (2) eines Fahrers (23) des Kraftfahrzeugs (1),- Bestimmen eines Abbiegewahrscheinlichkeitswertes abhängig von der Blickrichtung (2) des Fahrers (23) und der Straßenkreuzungsdaten, wobei der Abbiegewahrscheinlichkeitswert eine Wahrscheinlichkeit für den Fahrer (23) angibt, an der vorausliegenden Straßenkreuzung (25) abzubiegen,- Erfassen eines Fremdobjektes (3) in einem Umgebungsbereich des Kraftfahrzeugs (1) und Bereitstellen einer entsprechenden Ausgabe,- Vorhersagen einer möglichen Kollision (6) zwischen dem Fremdobjekt (3) und dem Kraftfahrzeug (1) anhand der Ausgabe und des Abbiegewahrscheinlichkeitswertes ...

PROJEKTIONSINFORMATIONS-ERKENNUNGSVORRICHTUNG AUF BASIS EINES KÜNSTLICHEN NEURONALEN NETZWERKS UND VERFAHREN DERSELBEN

Eine auf einem künstlichen neutralen Netzwerk basierende Projektionsinformations-Erkennungsverrichtung für ein Fahrzeug ist in der Lage, Informationen (Projektionsinformationen), die auf eine Straßenoberfläche von einem benachbarten Fahrzeug projiziert werden, auf der Grundlage eines künstlichen neuronalen Netzwerks zu lernen, und auch Informationen zu erkennen, die auf einen Bereich von Interesse (ROI) projiziert werden, der auf der Grundlage einer Fahrtrichtung des Fahrzeugs bestimmt wird. Die Vorrichtung umfasst: Eine Objekterfassungsvorrichtung, um ein Objekt in einem Bild auf der Grundlage eines ersten faltenden neuronalen Netzwerks (Convolution Neural Network - CNN) zu erfassen, eine Projektionsinformations-Klassifizierungsvorrichtung, um auf einer Straßenoberfläche befindliche Projektionsinformationen unter von der Objekterfassungsvorrichtung erfassten Objekten zu klassifizieren, und eine Steuerung, die die in einem Bereich von Interesse (ROI) befindlichen Projektionsinformationen ...

Verfahren zur Steuerung automatisiert fahrender Fahrzeuge

Die Erfindung betrifft ein Verfahren zur Steuerung einer Mehrzahl automatisiert fahrender Fahrzeuge (1, 2), welche entlang einer gemeinsamen Fahrtroute Güter zu einem Hub (H) transportieren. Erfindungsgemäß ist vorgesehen, dass- während eines Fahrbetriebes der Fahrzeuge (1, 2) eine Priorisierung der Fahrzeuge (1, 2) in Abhängigkeit einer bestimmten Ankunftsreihenfolge am Hub (H) vorgenommen wird und- die Reihenfolge durch zwischen den Fahrzeugen (1, 2) aufeinander abgestimmte Überholvorgänge hergestellt wird.

Sicherheitssystem für ein Fahrzeug mit einer individuell an einen Fahrer anpassten Sicherheitsfunktion

Die Erfindung betrifft ein Sicherheitssystem (1) für ein Fahrzeug (2), das Sicherheitssystem (1) aufweisend zumindest eine Steuereinheit (4) mit einer Sicherheitsfunktion (11), wobei die Steuereinheit (4) ausgebildet und eingerichtet ist, einen Ausgabewert (111) der Sicherheitsfunktion (11) in Abhängigkeit von einem Wert eines ersten Parameters (113) der Sicherheitsfunktion (11) und in Abhängigkeit von von einem Objekt (3) in einer Umgebung des Fahrzeugs (2) ausgesendeten Daten (202) zu ermitteln, wobei der Wert des ersten Parameters (113) an eine individuelle fahrerbezogene Information (101) angepasst ist und das Sicherheitssystem (1) in dem Fahrzeug (2) unter Einwirkung des Ausgabewertes (111) der Sicherheitsfunktion (11) auf zumindest eine Sicherheitskomponente (6) des Fahrzeugs (2) betreibbar ist.

Electronic circuit for car accident prevention and impact protection has pulse transmitters and receivers on both sides at front of vehicle, with logic gates, flip-flops and monostables

The circuit has a combination of pulse transmitters (Sli,..) and receivers (El1,..) on the left and right of the vehicle's front. The receivers drive amplifiers whose gain is affected by speed sensors. The circuit contains a combination of logic gates, flip-flops and monostables.

FAHRUNTERSTÜTZUNGSVORRICHTUNG

Eine Fahrunterstützungsvorrichtung enthält eine Positionserlangungseinheit, die eine Position eines eigenen Fahrzeugs, eine Position einer Mautstelle vor der Position des eigenen Fahrzeugs und eine Position einer Zielspur auf einer Straße nach der Mautstelle erlangt, eine Planfahrroutenerzeugungseinheit, die eine geplante Fahrroute von der Position des eigenen Fahrzeugs über die Position der Mautstelle zu der Position des Zielfahrzeugs erzeugt, und eine Fahrsteuerungseinheit, die das eigene Fahrzeug derart steuert, dass dieses entlang der geplanten Fahrroute fährt.

SYSTEM UND VERFAHREN FÜR DIE BESTIMMUNG EINES KOLLISIONSVERMEIDUNGSMANÖVERWEGS MIT RUCKGRENZWERT

In einem Fahrzeug kann eine optimale Wegkrümmung, die durch eine oder mehrere Beschränkungen begrenzt ist, bestimmt werden. Die Beschränkungen können sich auf den Querruck und auf eine oder mehrere Fahrzeugdynamikbeschränkungen beziehen. Auf der Grundlage der optimalen Wegkrümmung kann ein optimaler Fahrzeugweg um ein Objekt bestimmt werden. Der optimale Fahrzeugweg kann an ein Kollisionsvermeidungs-Steuersystem ausgegeben werden. Das Kollisionsvermeidungs-Steuersystem kann veranlassen, dass das Fahrzeug einen bestimmten Weg nimmt.

Spurhalteassistenzsystem für ein Fahrzeug und Verfahren zu dessen Steuerung

Die vorliegende Erfindung betrifft ein Spurhalteassistenzsystem (SHAS), das das Verlassen einer Fahrspur verhindert, indem es einen Heckabschnitt eines Fahrzeugs entsprechend einer Länge des Fahrzeugs berücksichtigt, und ein Verfahren zu dessen Steuerung.

VERFAHREN UND GERÄT ZUR BEWERTUNG DER FUNKTION EINES BORDNAVIGATIONSSYSTEMS FÜR EIN FAHRZEUG UNTER NUTZUNG VON LATERALVERSATZDATEN

Es wird ein Verfahren zur Bewertung der Funktion eines Navigationssystems an Bord eines Fahrzeugs vorgestellt. Das Verfahren ermittelt eine sensorgestützte Lateralversatzänderung unter Nutzung von fahrzeuginternen Sensordaten; ermittelt eine zweite Lateralversatzänderung unter Nutzung von Navigationssystemdaten; berechnet eine Differenz zwischen der sensorgestützten lateralen Versatzänderung und der zweiten lateralen Versatzänderung; führt sekundäre Berechnungen unter Einbeziehung der Differenz aus, um ein Ergebnis zu erzielen; und generiert eine Fehlermeldung, wenn das Ergebnis höher ist als ein Fehlerschwellwert.

Verfahren und Steuereinheit in einer Gruppe von koordinierten Fahrzeugen

Verfahren (500) und Steuereinheit (410) zum Erleichtern des Austritts aus einer Fahrzeugkolonne (110) eines in der Kolonne (110) umfassten Fahrzeugs (100-2) durch Wechseln der Fahrspuren (210, 220). Das Verfahren umfasst: Berechnen (501) einer ersten Zeitdauer, die das Fahrzeug (100-2) benötigt, um Fahrspuren (210, 220) zu wechseln; Detektieren (502) eines sich nähernden Fahrzeugs in der Zielfahrspur (220); Schätzen (503) einer zweiten Zeitdauer, die das detektierte (502) sich nähernde Fahrzeug (200) in der Zielfahrspur (220) braucht, um zum Fahrzeug (100-2) aufzuschließen; und Ausgeben (505) der Information in Bezug auf den Fahrspurwechsel an den Fahrer des Fahrzeugs (100-2) basierend auf der Zeitdifferenz zwischen der berechneten (501) ersten Zeitdauer und der geschätzten (503) zweiten Zeitdauer.

Gefahrerkennung bei beabsichtigtem Spurwechsel

Verfahren (100) zur Ermittlung des Gefährdungspotentials eines Spurwechsels eines Ego-Fahrzeugs (1) von der aktuell benutzten Fahrspur (2a, 2b, 2c) in eine benachbarte Fahrspur (2a, 2b, 2c), wobei ein Erfassungsbereich (3) im Außenraum des Ego-Fahrzeugs (1) beobachtet wird (110) und wobei die Auswirkung von im Erfassungsbereich (3) erkannten Objekten (4) auf das Gefährdungspotential ausgewertet wird (120), wobei aus Positionen und Geschwindigkeiten von im Erfassungsbereich 3 erkannten Innen-Fremdfahrzeugen (4) ausgewertet wird (130), ob ein Zielgebiet (5), in dem sich das Ego-Fahrzeug (1) nach dem beabsichtigten Spurwechsel befindet, für außerhalb des Erfassungsbereichs (3) befindliche Außen-Fremdfahrzeuge (6) erreichbar ist.Verfahren (200) zur zumindest teilautomatisierten Steuerung eines Ego-Fahrzeugs (1), wobei bei einem beabsichtigten Spurwechsel das Gefährdungspotential dieses Spurwechsels mit dem Verfahren (100) gemäß der Erfindung bewertet wird (210), wobei der Spurwechsel unterbunden ...

Verfahren zur Prädiktion einer optimalen Fahrspur auf einer mehrspurigen Straße

Bereitgestellt wird ein Verfahren zur Prädiktion einer optimalen Fahrspur auf einer mehrspurigen Straße durch ein trainiertes Machine Learning Modell, wobei die Prädiktion der optimalen Fahrspur erfolgt, indem in einem ersten Schritt zumindest die aktuelle Verkehrssituation und die spurgenaue Position des Fahrzeugs in Echtzeit als Eingangsdaten über fahrzeuginterne und fahrzeugexterne Erfassungseinrichtungen erfasst werden. In einem zweiten Schritt verarbeitet das Machine Learning Modell die Daten derart, dass für vorgegebene Streckenabschnitte für jede Spur der mehrspurigen Straße eine Zeit für das Zurücklegen jedes Streckenabschnitts bestimmt wird. In einem dritten Schritt wird die optimale prädizierte Spur abhängig von vorgegebenen Bedingungen für jeden Streckenabschnitt ausgegeben.

Verfahren zum Unterstützen eines Fahrzeuges

Die Erfindung betrifft ein Verfahren zum Unterstützen eines Fahrzeuges (1) bei einem Einfädeln in eine Fahrspur (F), wobei erfindungsgemäß vorgesehen ist, dass- das im autonomen Fahrbetrieb bewegte Fahrzeug (1) am Beginn einer Auffahrspur (A) automatisch wartet bis ein Wechsel auf die Fahrspur (F) möglich ist und in Abhängigkeit eines fahrzeugseitig erfassten Freiraumes auf die Fahrspur (F) wechselt und/oder- mittels einer infrastrukturellen Sensorik (S1 bis S5) in Abhängigkeit von übermittelten Fahrzeugparametern ein passender Freiraum auf der Fahrspur (F) ermittelt wird und das im autonomen Fahrbetrieb bewegte Fahrzeug (1) nach einer infrastrukturellen Signalisierung (Si) einen Fahrspurwechsel von der Auffahrspur (A) auf die Fahrspur (F) durchführt.

TOTWINKEL-ERKENNUNGSSYSTEME UND VERFAHREN

Beispielhafte Totwinkel-Erkennungssysteme und Verfahren sind beschrieben. In einer Implementierung erkennt ein primäres Fahrzeug ein sekundäres Fahrzeug vor dem primären Fahrzeug in einer benachbarten Fahrspur. Ein Verfahren bestimmt Abmessungen des sekundären Fahrzeugs und schätzt eine Fahrzeugklasse, die dem sekundären Fahrzeug zugeordnet ist, basierend auf den Abmessungen des sekundären Fahrzeugs. Das Verfahren identifiziert auch eine Seitenspiegelposition an dem sekundären Fahrzeug und bestimmt einen Totwinkel, der dem sekundären Fahrzeug zugeordnet ist, basierend auf der Fahrzeugklasse und der Seitenspiegelposition.

Verfahren und Vorrichtung zum Leisten von Unterstützung für einen Fahrer beim Treffen von Entscheidungen vor einem Überholen

Verfahren und Vorrichtung zum Leisten von Unterstützung für einen Fahrer eines Trägerfahrzeugs für Entscheidungen vor einem Überholen eines vorausfahrenden Fahrzeugs. Das Verfahren umfasst das Empfangen einer Geschwindigkeit vset, welche die gewünschte Geschwindigkeit des Trägerfahrzeugs angibt, und das Bestimmen einer Geschwindigkeit vf des vorausfahrenden Fahrzeugs. Darauf folgt das Berechnen einer Differenz Δv zwischen vset und vf und durch Verwenden der berechneten Differenz Δv als eine Basis zum Berechnen für wenigstens ein Segment S1 der Fahrt, wie viel mehr Zeit Δt1 das Trägerfahrzeug zum Zurücklegen des Segments S1 bei der Geschwindigkeit vf statt vset benötigen würde. Die Zeit Δt1 wird anschließend dem Fahrer des Trägerfahrzeugs präsentiert.

Fahrzeuganzeigesteuervorrichtung

Eine Fahrzeuganzeigesteuervorrichtung (1) weist einen Anzeigesteuerabschnitt (18) auf, der eine Head-up-Anzeigevorrichtung (4) steuert. Die Fahrzeuganzeigesteuervorrichtung (1) weist einen Bedingungsbestimmungsabschnitt (S2, S21, S41, S61, S82, S101, S121) auf, der bestimmt, ob eine vorbestimmte Bedingung erfüllt ist. Wenn die vorbestimmte Bedingung erfüllt ist, verwendet der Anzeigesteuerabschnitt (18) die Head-up-Anzeigevorrichtung (4), um auf einer Straße ein Objekt, das tatsächlich nicht vorhanden ist, in Überlagerung mit der Ansicht, die für einen Fahrer durch eine Windschutzscheibe sichtbar ist, als ein Illusionsbild anzuzeigen.

Fahrunterstützungsvorrichtung und Verfahren eines Steuerns/Regelns einer Fahrunterstützungsvorrichtung

Bereitgestellt sind eine Fahrunterstützungsvorrichtung, welche dazu fähig ist, in einer bevorzugten Weise Warnvibrationen zu erzeugen, welche eine Abweichung eines Fahrzeugs in Bezug auf einen Fahrweg melden, und ein Verfahren zum Steuern/Regeln dieser. Eine Fahrunterstützungsvorrichtung (14) umfasst eine Fahrunterstützungs-Steuerungsvorrichtung/Fahrunterstützungs-Regelungsvorrichtung (140), die einen Fahrer von einer Gegen-Abweichungsrichtung oder einer Abweichungsrichtung durch Hervorrufen einer Lenkwinkelbeschleunigung (aθ) in der Abweichungsrichtung und der Lenkwinkelbeschleunigung (aθ) in der Gegen-Abweichungsrichtung, die voneinander unterschiedlich sind, wenn Warnvibrationen erzeugt werden, in Kenntnis setzt, wobei ein nach der Zeit abgeleiteter Wert eines Lenkwinkels (θstr) eines Lenkrades (20) als eine Lenkwinkelgeschwindigkeit (Vθ) definiert ist und ein nach der Zeit abgeleiteter Wert der Lenkwinkelgeschwindigkeit (Vθ) als die Lenkwinkelbeschleunigung (aθ) definiert ist.

FAHRUNTERSTÜTZUNGSVORRICHTUNG, FAHRUNTERSTÜTZUNGSSYSTEM, FAHRUNTERSTÜTZUNGSVERFAHREN, FAHRUNTERSTÜTZUNGSPROGRAMM, UND AUTOMATISCH ANGETRIEBENES FAHRZEUG

Ein Fahrer kann intuitiv und bequem eine Bedienung zum Anweisen eines Fahrspurwechsels an einem Fahrzeug durchführen. In einer Fahrunterstützungsvorrichtung (10) gibt eine Bildausgabeeinheit (14) ein Bild, welches ein eigenes Fahrzeugobjekt, welches ein eigenes Fahrzeug zeigt, und eine Vielzahl von Fahrspuren umfasst, an eine Anzeigeeinheit (31) aus. Eine Bedienungssignaleingabeeinheit (14) erhält eine Bedienung eines Benutzers zum Bewegen des eigenen Fahrzeugobjekts in dem auf der Anzeigeeinheit (31) angezeigten Bild von einer ersten Fahrspur zu einer zweiten Fahrspur. Eine Befehlsausgabeeinheit (14) gibt an eine automatische Fahrsteuereinheit 20, welche das automatische Fahren steuert, einen Befehl zum Anweisen eines Wechsels einer Fahrspur des eigenen Fahrzeugs von der ersten Fahrspur zu der zweiten Fahrspur aus., wenn die Bedienung erhalten worden ist.

Verfahren zur Warnung eines Fahrzeugnutzers eines Fahrzeuges vor einem Objekt

Die Erfindung betrifft ein Verfahren zur Warnung eines Fahrzeugnutzers eines Fahrzeuges (1) vor einem Objekt, welches sich in einem seitlichen Warnbereich des Fahrzeuges (1) befindet, wobei der Warnbereich in Abhängigkeit einer momentanen Fahrgeschwindigkeit (v), einer momentanen Giergeschwindigkeit und einem Status eines Fahrtrichtungsanzeigers (3) vorgegeben wird. Erfindungsgemäß ist vorgesehen, dass- auf einer Fahrzeuglängsseite, in deren Richtung ein Lenkrad und/oder der Fahrtrichtungsanzeiger (3) betätigt wird, ein Abbiegewarnbereich (A) und/oder ein Überholwarnbereich (U) als Warnbereiche des Fahrzeuges (1) vorgegeben werden, wobei- der Abbiegewarnbereich (A) derart vorgegeben wird, dass dieser einen von einer Fahrzeughinterachse (4) zu einer Fahrzeugfront (5) in Bezug auf eine Breite (b1, b2) zunehmenden Verlauf aufweist, wobei die Breite (b1, b2) geschwindigkeitsabhängig und/oder lenkwinkelabhängig angepasst wird und- der Überholwarnbereich (U) derart vorgegeben wird, dass dieser ...

DREHMOMENTBASIERTE FAHRZEUGPFADVORHERSAGE

Ein Lenksystem umfasst einen Motor und einen Prozessor, der ausgestaltet ist, um ein Verfahren durchzuführen. Das Verfahren umfasst, dass durch einen Prozessor ein vorhergesagter Lenkwinkel zu einem zukünftigen Zeitschritt berechnet wird. Das Verfahren umfasst ferner, dass durch den Prozessor eine vorhergesagte Fahrzeugposition zu dem zukünftigen Zeitschritt basierend auf dem vorhergesagten Lenkwinkel ermittelt wird. Das Verfahren umfasst ferner, dass durch den Prozessor eine Nähe zu einem Objekt zu dem zukünftigen Zeitschritt basierend auf der vorhergesagten Fahrzeugposition detektiert wird. Das Verfahren umfasst ferner, dass durch den Prozessor in Ansprechen darauf, dass die Nähe unterhalb eines vorbestimmten Schwellenwerts liegt, ein Einschreitungssignal erzeugt wird.

Fahrzeugkameramodul und Steuerverfahren davon

Ein Fahrzeugkameramodul kann umfassen: einen Bildsensor; und einen Bildübertragungsprozessor, der ausgebildet ist, um ein durch den Bildsensor aufgenommenes Bild gemäß dem Format des Bilds oder einer voreingestellten Option zu komprimieren oder nicht zu komprimieren, und das komprimierte oder nicht-komprimierte Bild an eine externe Bildausgabevorrichtung auszugeben. Der Bildsensor und der Bildübertragungsprozessor können als ein integriertes Modul umgesetzt sein.

SYSTEM UND VERFAHREN ZUR MAGNETDETEKTION DER ANWESENHEIT VON OBJEKTEN IN EINEM TOTWINKEL EINES KRAFTFAHRZEUGS

Fahrzeugführungseinrichtung, Fahrzeugführungsverfahren und Fahrzeugführungsprogramm

Eine Fahrzeugführungsvorrichtung umfasst: eine Zwischenfahrzeugdistanzspezifiziereinheit, die eine Zwischenfahrzeugdistanz spezifiziert, die eine Zwischenfahrzeugdistanz auf einer vorbestimmten Fahrspur zwischen Fahrzeugen bis zu einem Referenzpunkt einer Fahrspuränderung ist; eine Spezifiziereinheit einer empfohlenen Sektion, die basierend auf der spezifizierten Zwischenfahrzeugdistanz eine empfohlene Sektion spezifiziert, in der eine Fahrspuränderung auf die vorbestimmte Fahrspur vor Erreichen des Referenzpunkts durchgeführt werden sollte; und eine Kommunikationseinheit, die auf der Grundlage der spezifizierten empfohlenen Sektion Führungsinformationen hinsichtlich der Fahrspuränderung auf die vorbestimmte Fahrspur ausgibt.

Evakuierungssteuervorrichtung und Evakuierungssteuerverfahren

Eine Evakuierungssteuervorrichtung (1) weist eine Verringerungserfassungseinheit (11), eine hintere Überwachungseinheit (4) und eine Evakuierungssteuereinheit (18) auf. Die Verringerungserfassungseinheit (11) erfasst eine Verringerung beim Bewusstseinspegel eines Fahrers eines eigenen Fahrzeuges. Die hintere Überwachungseinheit (4) überwacht einen Zustand hinter dem eigenen Fahrzeug. Die Evakuierungssteuereinheit (18) gibt Steuerinformationen aus, damit das eigene Fahrzeug dazu gebracht wird, eine Notbremsung auszuführen, und zwar auf der Grundlage von Überwachungsergebnissen der hinteren Überwachungseinheit (4), wenn die Verringerungserfassungseinheit (11) eine Verringerung beim Bewusstseinspegel des Fahrers erfasst.

Überholunterstützungsvorrichtung

Eine Überholunterstützungsvorrichtung (1) enthält eine Erfassungseinheit (9), eine Überholsteuerungseinheit (11), eine Geschwindigkeitseinstelleinheit (13) und eine Aufhebungseinheit (15). Wenn die Geschwindigkeit eines eigenen Fahrzeugs, die von der Geschwindigkeitseinstelleinheit eingestellt wird, niedriger als eine voreingestellte Geschwindigkeit ist, wenn das eigene Fahrzeug auf einer Überholspur fährt, hebt die Aufhebungseinheit eine Fahrspuränderung von der Überholspur in eine befahrene Fahrspur durch die Überholsteuerungseinheit auf.

Vorrichtung zur Anzeige einer Aufnahme der Umgebung eines Fahrzeugs

Bei der Vorrichtung zur Anzeige einer Aufnahme der Umgebung eines Fahrzeugs 1 wird eine Aufnahme der Umgebung des eigenen Fahrzeugs 42 um ein Übersichtsbild des eigenen Fahrzeugs 41 herum angezeigt und, wenn ein Hindernis in einer Umgebung des eigenen Fahrzeugs detektiert wird, wird eine Hindernisanzeigelinie 45, die eine detektierte Position des Hindernisses um das eigene Fahrzeug und einen Abstand zwischen einem eigenen Fahrzeug und dem Hindernis anzeigt, näher an dem Übersichtsbild des eigenen Fahrzeugs 41 als an der Aufnahme der Umgebung des eigenen Fahrzeugs 42 angezeigt.

Motor vehicle traffic monitoring system, with sensors, has a computer to generate a report on traffic in the environment for display in real time

The system to inform the driver of a motor vehicle of the traffic situation has a computer (CPU) with an input (I) for the signals from at least one sensor (S) in the vehicle (KFZ). The generated traffic situation is shown on a display (AUS) or by an acoustic or sensory alert. An input (EIN) can amend the traffic situation at the computer. The communication link (C) between the sensors and the computer uses camera signals.

Motor vehicle adaptive cruise control system incorporates a method for adjusting vehicle speed prior to the approach to a curve so that it is within a safe limit

The method for adaptive cruise control for a motor vehicle in which the path of a curve in front of a vehicle is established and the instantaneous vehicle velocity is compared with a calculated safe velocity for the curve. If necessary the vehicle velocity is reduced. The distance to the curve can be determined directly from a road traffic information system or a navigation system.

Detektionsgerät von mobilen Einheiten

FAHRGESCHWINDIGKEITSREGLER FÜR AUTOMOBILE

Parking aid device in which a corrected set steering angle is determined at intervals based on the difference between actual and set vehicle trajectories

Parking aid device has a control unit with which a deviation of the actual vehicle trajectory from the set trajectory is measured for at least one trajectory parameter. The control unit has a controller with which at least a corrected set steering angle is determined dependent on the difference of the actual trajectory from the set trajectory. An independent claim is made for a method for determining the trajectory of a motor vehicle being parked.

Optimaler Blickort an Anzeige für gesamte Frontscheibe

Verfahren zum Anzeigen einer registrierten Graphik an einer im Wesentlichen transparenten Frontscheiben-Head-Up-Anzeige in einem Quellenfahrzeug, wobei das Verfahren die Schritte umfasst, dass:- eine Betriebsumgebung des Quellenfahrzeugs überwacht wird;- mit einem Fahrerregistrierungseingang der Blickort eines Bedieners des Fahrzeugs überwacht wird;- auf der Grundlage der Betriebsumgebung und des Fahrerregistrierungseingangs ein empfohlener kontinuierlicher Blickort ermittelt wird;- ein Auftreten eines Spiegelblicks auf der Grundlage des Bedienerblickorts ermittelt wird, wobei ermittelt wird, wie oft der Bediener in einen Rückspiegel schaut;- aus dem Auftreten der Spiegelblicke eine Unaufmerksamkeit des Bedieners hinsichtlich des Rückspiegels ermittelt wird,- bei Ermittlung der Unaufmerksamkeit des Bedieners hinsichtlich des Rückspiegels die registrierte Graphik angepasst wird, um dem Bediener zu empfehlen, in den Rückspiegel zu blicken, wobei die registrierte Graphik den empfohlenen kontinuierlichen ...

Verfahren und Vorrichtung zum Signalisieren eines visuell zumindest teilweise verdeckten Verkehrsobjekts für einen Fahrer eines Fahrzeugs

Es wird ein Verfahren (200) zum Signalisieren eines visuell zumindest teilweise verdeckten Verkehrsobjekts für einen Fahrer eines Fahrzeugs vorgeschlagen. Das Verfahren (200) weist einen Schritt (210) des Einlesens einer Objektinformation auf, die ein erfasstes Verkehrsobjekt repräsentiert, das entlang einem von dem Fahrzeug zu befahrenden Straßenabschnitt angeordnet ist. Auch weist das Verfahren (200) einen Schritt (220) des Bestimmens auf, ob das erfasste Verkehrsobjekt für den Fahrer des Fahrzeugs durch zumindest ein Verdeckungsobjekt visuell zumindest teilweise verdeckt ist. Dabei erfolgt der Schritt (220) des Bestimmens unter Verwendung der Objektinformation und von Umgebungsdaten des Fahrzeugs, um eine Verdeckungsinformation zu erzeugen. Ferner weist das Verfahren (200) einen Schritt (230) des Generierens eines Hinweissignals zum Signalisieren des visuell zumindest teilweise verdeckten Verkehrsobjekts auf. Hierbei erfolgt der Schritt (230) des Generierens in Abhängigkeit von der Objektinformation ...

Verfahren zur Vermeidung einer Kollision eines Kraftfahrzeugs mit einem falschfahrenden Fahrzeug und Steuer- und Erfassungseinrichtung für ein Kraftfahrzeug zur Vermeidung einer Kollision des Kraftfahrzeugs mit einem falschfahrenden Fahrzeug

Es wird ein Verfahren zur Vermeidung einer Kollision eines Kraftfahrzeugs (5) mit einem falschfahrenden Fahrzeug (6) beschrieben, bei dem eine Falschfahrerwarnung durch das Kraftfahrzeug empfangen wird, die Verkehrssituation vor und neben dem Kraftfahrzeug (5) mittels Sensorik des Kraftfahrzeugs erfasst wird, basierend auf der erfassten Verkehrssituation geprüft wird, ob ein Ausweichmanöver des Kraftfahrzeugs (5) eingeleitet werden kann und ein automatisches Ausweichmanöver des Kraftfahrzeugs (5) in Abhängigkeit von der Prüfung eingeleitet wird. Ferner wird eine Steuer- und Erfassungseinrichtung für ein Kraftfahrzeug (5) zur Vermeidung einer Kollision des Kraftfahrzeugs mit einem falschfahrenden Fahrzeug (6) vorgeschlagen, mit Mitteln zum Empfangen einer Falschfahrerwarnung, Mitteln (8) zum Erfassen der Verkehrssituation vor und neben dem Kraftfahrzeug, Mitteln zum Prüfen, eingerichtet zum Prüfen basierend auf der erfassten Verkehrssituation, ob ein Ausweichmanöver des Kraftfahrzeugs (5 ...

Verfahren zum Erzeugen eines Anzeigebildes

Die vorliegende Erfindung betrifft ein Verfahren zum Erzeugen eines Anzeigebildes (5), umfassend die Schritte: Fortwährendes Aufnehmen und Speichern von Bildern (4) einer Umgebung (40) durch ein Bildaufnahmegerät (2, 3), Feststellen, dass bei einem aufgenommenen Bild (4) zumindest ein vordefinierter Bildparameter innerhalb des aufgenommenen Bildes (4) nicht konstant ist, Feststellen, dass zumindest ein erster Bildbereich (7) in dem aufgenommen Bild vorhanden ist, wobei in dem ersten Bildbereich der Bildparameter einen vordefinierten Schwellenwert unterschreitet, Feststellen, dass zumindest ein zweiter Bildbereich in gespeicherten Bildern vorhanden ist, wobei der zweite Bildbereich denselben Bereich der Umgebung (40) zeigt wie der erste Bildbereich (7) und der Bildparameter in dem zweiten Bildbereich den Schwellenwert nicht unterschreitet, Erzeugen eines Anzeigebildes (5) aus dem aufgenommen Bild, wobei der erste Bildbereich (7) durch den zweiten Bildbereich ersetzt wird.

System zur Unterstützung eines sicheren Überholungsvorgangs

Verfahren zum Bestimmen, ob ein Überholvorgang zwischen zwei Fahrzeugen (10, 12) sicher durchgeführt werden kann, wobei das Verfahren die Schritte umfasst: Aufbauen einer Kommunikationsverbindung (24) zwischen zwei hintereinander fahrenden Fahrzeugen (10, 12), Abfragen von fahrzeugspezifischen Daten auf Basis derer bestimmt wird, ob ein Überholvorgang zwischen den zwei Fahrzeugen (10, 12) sicher durchgeführt werden kann, und Anzeigen einer Empfehlung, ob der Überholvorgang sicher durchgeführt werden kann.

Verfahren und Vorrichtung zum Betreiben eines Fahrzeugs

Die Erfindung betrifft ein Verfahren zum Betreiben eines Fahrzeugs (1), wobei das Fahrzeug (1) für eine Weiterfahrt nach einem Abstellen auf einem Parkplatz (22) automatisch auf eine Zielfahrspur (28) geführt wird. Der Parkplatz (22) liegt an einer Straße (20), welche die Zielfahrspur (28) und eine an den Parkplatz (22) angrenzende Fahrspur (26) aufweist. Bei dem Verfahren ist vorgesehen, eine erste Verkehrssituation auf der an den Parkplatz (22) angrenzenden Fahrspur (26) unter Verwendung mindestens eines Sensors (2) zu erfassen, abhängig von einer Beurteilung der erfassten ersten Verkehrssituation einen ersten Fahrzug freizugeben und auszuführen, wobei der erste Fahrzug das Fahrzeug (1) vom Parkplatz (22) auf die angrenzende Fahrspur (26) in eine Zwischenposition (104) führt. Anschließend wird eine zweite Verkehrssituation auf der Zielfahrspur (28) erfasst und abhängig von einer Beurteilung der zweiten Verkehrssituation ein zweiter Fahrzug freigegeben und ausgeführt, der das Fahrzeug ...

Head-up-Display-Vorrichtung für ein Kraftfahrzeug, Verfahren, Vorrichtung und computerlesbares Speichermedium mit Instruktionen zur Steuerung einer Anzeige einer Head-up-Display-Vorrichtung

Eine Head-up-Display-Vorrichtung für ein Kraftfahrzeug sowie ein Verfahren, eine Vorrichtung und ein computerlesbares Speichermedium mit Instruktionen zur Steuerung einer Anzeige einer Head-up-Display-Vorrichtung für ein Kraftfahrzeug. In einem ersten Schritt wird ein Straßenverlauf vor dem Kraftfahrzeug bestimmt (10). Die von der Head-up-Display-Vorrichtung dargestellten Inhalte werden dann entsprechend dem bestimmten Straßenverlauf verschoben (11).

Verfahren zum Betrieb eines Assistenzsystems eines Fahrzeuges

Die Erfindung betrifft ein Verfahren zum Betrieb eines Assistenzsystems eines Fahrzeuges (1) zur Durchführung eines Überholvorganges. Erfindungsgemäß ist vorgesehen, dass der Überholvorgang im autonomen Fahrbetrieb des Fahrzeuges (1) eingeleitet wird, wenn- ein vorausfahrendes Fahrzeug (2) erfasst wird, dessen momentane Fahrgeschwindigkeit eine momentane Fahrgeschwindigkeit des Fahrzeuges (1) um einen vorgegebenen ersten Wert unterschreitet,- eine ermittelte Relativgeschwindigkeit (v) einen vorgegebenen zweiten Wert überschreitet,- die momentane Fahrgeschwindigkeit des Fahrzeuges (1) aufgrund einer Topologie (T) eines vorausliegenden Fahrbahnabschnittes (F) einen vorgegebenen dritten Wert nicht unterschreitet,- ermittelt wird, dass Überholen erlaubt ist,- ein ausreichend großer Freiraum zur Durchführung eines Fahrspurwechsels erfasst wird und- erfasst wird, dass für den Überholvorgang geeignete Wetter- und Sichtverhältnisse (W) vorliegen.

Autonome Unterstützung für Straßenauffahrt

Ein System für eine autonome Unterstützung des Betriebs eines Trägerfahrzeuges, welches in einer ersten Spur einer Straße fährt, beinhaltet zumindest eine Kameraanordnung zum Detektieren der Anwesenheit und Geschwindigkeit eines in die erste Spur auffahrenden Fahrzeuges. Ein Umgebungssensor überwacht die Distanz zwischen dem Trägerfahrzeug und dem auffahrenden Fahrzeug. Eine Steuerung ist elektrisch mit der zumindest einen Kameraanordnung und dem Umgebungssensor verbunden und aktiviert entsprechend von der zumindest einen Kameraanordnung und dem Umgebungssensor erhaltenen Signalen eine Steuereinrichtung für eine Seitwärtsbewegung des Trägerfahrzeuges von der ersten Spur in eine zweite Spur auf der Straße, um einem auffahrenden Fahrzeug die Auffahrt in die erste Spur zu ermöglichen.

Vehicle i.e. lorry, has sensor arranged such that surrounding area of vehicle is detectable, where surrounding area extends in sections along long side, runs over entire length of long side and runs in sections in region before front side

The vehicle i.e. lorry (2), has a control device (12) for monitoring a surrounding area (10) of vehicle and comprising a sensor (7) that is arranged in a corner region (8) formed by a front side (5) and a long side (6) of the vehicle. The sensor is arranged such that the surrounding area of the vehicle is detectable, where the surrounding area extends in sections along the long side, runs over entire length (S) of the long side and runs in sections in a region (9) before the front side. A warning apparatus provides optical and/or acoustic warning to a vehicle operator. The sensor is designed as a radar detector, laser scanner or a camera.

Methode zum Anzeigen des Fahrzeug-Sicherheitsabstandes

Verfahren zum Anzeigen des Fahrzeug-Sicherheitsabstandes, die eine Fahrzeugsicherheitswarnvorrichtung (7) verwendet, die ein Display (71), ein Bilderkennungsmodul (72), ein Abstandserkennungsmodul (73) und ein Fahrgeschwindigkeits-Erkennungsmodul (75) umfasst, wobei die verschiedenen Situationen auf der Straße mit verschiedenen Symbolen auf dem Display (71) angezeigt werden und die Schritte zum Anzeigen die folgenden Schritte umfassen: A) Auf dem Display (71) werden parallele Vertikallinien (51) angezeigt; B) Auf dem Display (71) wird ein erstes Symbol (52) des Fahrzeugstandortes angezeigt, wobei mit diesem ersten Symbol (52) des Fahrzeugstandortes der Standort des Fahrzeuges dargestellt und dieses erste Symbol (52) des Fahrzeugstandortes in der Mitte der parallelen Vertikallinien (51) angezeigt wird und dieses erste Symbol (52) des Fahrzeugstandortes je nach dem mit dem Bilderkennungsmodul (72) erkannten tatsächlichen Standort des Fahrzeuges entsprechend nach links und rechts verschoben ...

Vorrichtung und Verfahren zur Unterstützung eines Fahrers eines Fahrzeugs, insbesondere eines Nutzfahrzeugs

Die Erfindung betrifft eine Vorrichtung zur Unterstützung eines Fahrers eines Fahrzeugs, insbesondere eines Nutzfahrzeugs, mit einer, in Fahrzeug-Querrichtung (y) gesehen, seitlich außen an einer ersten Außenseite (7) des Fahrzeugs (3) angeordneten ersten Bild-Erfassungseinrichtung (9), insbesondere einer Kamera, und einer gegenüberliegend zu der ersten Außenseite (7) an einer zweiten Außenseite (11) des Fahrzeugs (3) angeordneten zweiten Bild-Erfassungseinrichtung (13), insbesondere einer Kamera, wobei mittels jeder Bild-Erfassungseinrichtung (9, 13) jeweils ein, in Fahrzeug-Querrichtung (y) gesehen, seitlich neben dem Fahrzeug (3) und, in Fahrzeug-Längsrichtung (x) gesehen, hinter einem Fahrer des Fahrzeugs (3) liegender Fahrstreckenbereich (15, 17) bildlich und/oder filmisch erfassbar ist, und mit einer Anzeigeeinrichtung (19), insbesondere einem Bildschirm, mittels der dem Fahrer zumindest ein Teil der erfassten Fahrstreckenbereiche (15, 17) anzeigbar ist. Erfindungsgemäß ist eine datenübertragend ...

Verfahren zum Verfolgen eines sich einem Kraftfahrzeug nähernden Zielfahrzeugs mittels eines Kamerasystems des Kraftfahrzeugs, Kamerasystem und Kraftfahrzeug

Die Erfindung betrifft ein Verfahren zum Verfolgen eines sich einem Kraftfahrzeug (1) nähernden Zielfahrzeugs (9) mittels eines Kamerasystems (2) des Kraftfahrzeugs (1). Es wird eine zeitliche Sequenz von Bildern (10) eines Umgebungsbereichs des Kraftfahrzeugs (1) mittels zumindest einer Kamera (3) des Kamerasystems (5) bereitgestellt. Das Zielfahrzeug (9) wird in einem Bild (10) der Sequenz mittels einer Bildverarbeitungseinrichtung (5) des Kamerasystems (5) anhand eines Merkmals einer Front (11) oder eines Hecks des Zielfahrzeugs (9) detektiert und dann wird das Zielfahrzeug (9) über nachfolgende Bilder (10) der Sequenz anhand des detektierten Merkmals verfolgt. Wobei zumindest ein vorbestimmtes Merkmal einer Seitenflanke (14) des Zielfahrzeugs (9) in einem der nachfolgenden Bilder (10) der Sequenz durch die Bildverarbeitungseinrichtung (5) detektiert wird und nach Detektion des Merkmals der Seitenflanke (14) das Zielfahrzeugs (9) über weitere Bilder (10) der Sequenz anhand des Merkmals ...

Einrichtung zur Prüfung der Funktionsweise einer Abstandsregeleinrichtung eines Kraftfahrzeuges

Einrichtung zur Prüfung der Funktionsweise einer Abstandsregeleinrichtung eines Kraftfahrzeuges, wobei die Abstandsregeleinrichtung während der Fahrt des Kraftfahrzeuges mit Hilfe der von ihr bestimmten regelspezifischen Daten den Abstand des Kraftfahrzeuges zu einem vorausfahrenden Fahrzeug einstellt, dadurch gekennzeichnet, dass die nicht im Kraftfahrzeug (1) eingebaute und vom Kraftfahrzeug (1) entkoppelt im Reglermode betriebene Abstandsregeleinrichtung (3) mit einer Simulationseinrichtung (S) verbunden ist, welcher Fahrzeugbedienungssignale über eine Eingabeeinrichtung (27, 28) zuführbar sind und in der tatsächliche, während einer Fahrt des Kraftfahrzeuges (1) aufgenommene Daten eines Abstandssensors (30) gespeichert sind, wobei die Simulationseinrichtung (S) mittels eines Simulationsprogramms physikalische Werte des Kraftfahrzeuges (1) bestimmt, welche gemeinsam mit den aufgenommenen Daten des Abstandssensors (30) an die Abstandsregeleinrichtung (3) ausgegeben werden, aus denen die ...

Steuerungs-System und Verfahren zum Unterstützen eines sicheren Einscherens von Kraftfahrzeugen nach einem Überholvorgang

Steuerungs-System, das zum Einsatz in einem Kraftfahrzeug eingerichtet und bestimmt ist, basierend auf aus einem oder mehreren an dem Kraftfahrzeug befindlichen Umfeldsensor/en gewonnenen Umfelddaten einen Zeitpunkt zu bestimmen, ab dem ein sicherer Spurwechsel von einer Überhol-Fahrspur in eine daneben liegende langsamere Fahrspur möglich ist. Die Umfeldsensoren sind dazu eingerichtet, einer elektronischen Steuerung des Steuerungs-Systems die den Bereich seitlich vor, seitlich neben und/oder seitlich hinter dem Fahrzeug wiedergebenden Umfelddaten bereitzustellen. Das Steuerungs-System ist wenigstens dazu eingerichtet und bestimmt, während einer vorbestimmten Zeitspanne oder kontinuierlich in der elektronischen Steuerung die Fahrsituation des eigenen Kraftfahrzeugs wiedergebende Fahrdaten aus im eigenen Kraftfahrzeug vorhandenen Signalgebern zu ermitteln. Während der vorbestimmten Zeitspanne oder kontinuierlich werden ein oder mehrere am Verkehr teilnehmende andere Fahrzeuge seitlich vor ...

FAHRASSISTENZVORRICHTUNG UND SPEICHERMEDIUM

Eine Fahrassistenzvorrichtung (100) zum Unterstützen eines Fahrens eines Fahrzeugs umfasst eine Unverstopfter-Zustand-Berechnungseinheit (16) und eine Absichtsbenachrichtigungssteuereinheit. Die Unverstopfter-Zustand-Berechnungseinheit ist konfiguriert zum Berechnen eines unverstopften Zustands von einer Vielzahl von dynamischen Hindernissen in der Nähe des Fahrzeugs. Die Absichtsbenachrichtigungssteuereinheit (18) ist konfiguriert zum Steuern einer Benachrichtigungsvorrichtung, sodass eine Benachrichtigung einer Absicht des Fahrzeugs zum Passieren basierend auf dem durch die Unverstopfter-Zustand-Berechnungseinheit (16) berechneten unverstopften Zustand durchgeführt wird, nachdem das Fahrzeug sich verlangsamt oder angehalten hat.

Verfahren zur Vorbereitung und/oder Durchführung eines Spurwechsels oder eines Überholmanövers und Fahrassistenzsystem zur Durchführung des Verfahrens

Die vorliegende Erfindung betrifft ein Verfahren zur automatisierten Vorbereitung und/oder Durchführung eines Spurwechsels im fließenden Verkehr auf einer mehrspurigen Straße oder eines Überholmanövers mit einem Egofahrzeug sowie ein Fahrassistenzsystem zur Durchführung des Verfahrens. Um ein Verfahren vorzuschlagen, das verkehrssituationsabhängig ein flüssiges Einfädeln auf einer Zielspur oder ein flüssiges Überholen eines langsameren Fahrzeugs ermöglicht, wird erfindungsgemäß vorgeschlagen, dass das Egofahrzeug ein Fahrassistenzsystem mit einer Sensoreinheit zur Überwachung und Auswertung der Verkehrssituation und der vorausliegenden Streckenführung besitzt, wobei das Fahrassistenzsystem des Egofahrzeugs auf einer ersten Spur einen im Wesentlichen konstanten Folgeabstand zum vorausfahrenden Fahrzeug einstellt, bis das Fahrassistenzsystem eine Spurwechsel- oder Überholabsicht registriert, wonach der Folgeabstand zum vorausfahrenden Fahrzeug situationsadäquat vergrößert wird und anschließend ...

SYSTEM ZUR BILDANALYSE

Verfahren und Vorrichtung zum Betreiben eines automatisierten Fahrzeugs

Verfahren (300) und Vorrichtung (100) zum Betreiben (350) eines automatisierten Fahrzeugs (200), umfassend einen Schritt des Empfangens (310) einer Position (201) des automatisierten Fahrzeugs (200), einen Schritt des Bereitstellens (320) einer Karte, abhängig von der Position (201), einen Schritt des Empfangens (330) von Umgebungsdatenwerten, welche eine Umgebung (210) des automatisierten Fahrzeugs (200) repräsentieren, abhängig von der Position (201), einen Schritt des Erstellens (340) eines Umfeldmodells, abhängig von der Umgebung (210), basierend auf der Karte, und einen Schritt des Betreibens (350) des automatisierten Fahrzeugs (200), abhängig von dem Umfeldmodell.

Verfahren zur Erstellung eines Umfeldmodells eines Fahrzeugs

Die vorliegende Erfindung betrifft ein Verfahren zur Erstellung eines Umfeldmodells eines Fahrzeuges, wobei basierend auf Objekten und/oder Freiraumgrenzen und/oder Fahrbahnbegrenzungen eine Gasse ermittelt wird, wobei die Gasse den frei befahrbaren Bereich um das Fahrzeug herum angibt, wobei die Gasse mindestens ein Gassensegment umfasst, wobei das Gassensegment mindestens eine Gassensegmentgrenze, insbesondere eine vordere Gassensegmentgrenze, eine hintere Gassensegmentgrenze, eine linke Gassensegmentgrenze und eine rechte Gassensegmentgrenze, umfasst, wobei zu der Gassensegmentgrenze der fahrzeugbezogene Abstand bestimmt wird, und wobei die Gasse einem Fahrerassistenzsystem zur Verfügung gestellt wird.

Fahrbahnmarkierungsbezogene Fahrassistenz

Die Erfindung betrifft ein Fahrassistenzverfahren für ein Straßenfahrzeug, insbesondere für ein Kraftfahrzeug, Dabei wird auf der Basis von Daten welche die räumliche Lage einer Fahrbahnmarkierung im Fahrzeugvorfeld kennzeichnen, festgestellt, ob das Fahrzeug bei einem schon eingeleiteten oder geplanten Fahrmanöver die Fahrbahnmarkierung voraussichtlich mit wenigstens einem Fahrzeugrad überfahren wird. Wenn dies der Fall ist, wird wenigstens eines der folgenden Signale am Fahrzeug ausgegeben: ein Warnsignal für den Fahrer; wenigstens ein Steuersignal an eine oder mehrere Fahrzeugkomponenten zur automatischen Beeinflussung des Fahrmanövers so, dass dabei die erkannte Fahrbahnmarkierung nicht oder nur in gegenüber dem Fall ohne eine solche Beeinflussung reduziertem Maße von einem Rad des Fahrzeugs überfahren wird. Die Erfindung umfasst auch entsprechendes Fahrassistenzsystem sowie ein damit ausgerüstetes Straßenfahrzeug.

Automatisierte Fahrsysteme und Steuerlogik für die Cloud-basierte Szenarienplanung autonomer Fahrzeuge

Präsentiert werden Szenarienplanungs- und Routenerzeugungssysteme, Verfahren zum Betreiben/Konstruieren dieser Systeme und Fahrzeuge mit Szenarienplanauswahl und Echtzeit-Trajektorienplanungsfunktionen. Ein Verfahren zum Steuern des Betriebs eines Kraftfahrzeugs beinhaltet das Bestimmen von Fahrzeugzustandsdaten, wie beispielsweise einer aktuellen Position und Geschwindigkeit des Fahrzeugs, und von Wegplandaten, wie beispielsweise einem Ausgangspunkt und einem gewünschten Ziel des Fahrzeugs. Ein entfernter Rechenknoten außerhalb des Kraftfahrzeugs erzeugt eine Liste von Trajektorienplankandidaten basierend auf den Fahrzeugzustandsdaten, den Wegplandaten und den aktuellen Daten des Straßenszenarios. Der entfernte Rechenknoten berechnet dann für jeden Kandidaten in der Liste der Trajektorienplankandidaten entsprechende Fahrtkosten und sortiert die Liste von den niedrigsten zu den höchsten Fahrtkosten. Der Kandidat mit den niedrigsten Fahrtkosten wird an eine residierende Fahrzeugsteuerung ...

Fahrassistenzsystem für einen Kraftwagen, Kraftwagen und Verfahren zum Betreiben eines Kraftwagens

Die Erfindung betrifft ein Fahrassistenzsystem (7) für einen Kraftwagen (4), den Kraftwagen (4) und ein Verfahren (10) zu dessen Betrieb. Die Erfindung sieht vor, dass anhand von Umgebungsdaten ein Hindernis (5) detektiert und unter Berücksichtigung von Fahrzustandsdaten eine Kollisionsgefahr ermittelt wird. Weiter wird dann eine Ausweichtrajektorie (16, 17, 18) zur Vermeidung einer Kollision des Kraftwagens (4) mit dem Hindernis (5) bestimmt. Das Fahrassistenzsystem (7) ist dazu eingerichtet, als das Hindernis (5) entgegenkommendes Fremdfahrzeug (5) zu detektieren, für welches die Kollisionsgefahr größer als ein vorgegebener erster Schwellenwert ist. Weiter ist das Fahrassistenzsystem (7) dazu eingerichtet, zu überprüfen, ob ein Steuereingriff eines Fahrers (6) des Kraftwagens (4) diesen entlang der bestimmten Ausweichtrajektorie (16, 17, 18) führt und wenn dies nicht der Fall ist, den Steuereingriff des Fahrers (6) automatisch zu modifizieren, sodass der Kraftwagen (4) durch den modifizierten ...

Vorrichtung zur Kollisionsvermeidung

Vorrichtung zur Kollisionsvermeidung, die zum Einbau in einem ersten Fahrzeug (11, 12, 14) vorgesehen ist und eine Detektionseinrichtung (2, 3, 4) zum Bereitstellen von das Umfeld des ersten Fahrzeugs betreffender Informationen, eine Auswerteeinheit (1) zum Erkennen einer eventuell bevorstehenden Kollision des ersten (11, 12, 14) und wenigstens eines zweiten Fahrzeugs (12, 14) anhand der Informationen der Detektionseinrichtung (2, 3, 4), eine Kommunikationsschnittstelle (4) für die Kommunikation mit dem zweiten Fahrzeug (12, 11) und eine Warnsignalanzeige (5, 6) umfasst, wobei die Auswerteeinheit (1) eingerichtet ist, zu entscheiden, ob ein Fahrmanöver des ersten oder des zweiten Fahrzeugs für die Kollisionsmöglichkeit ursächlich ist, und eine Warnung an die Warnsignalanzeige (5, 6) auszugeben, wenn ein Fahrmanöver des ersten Fahrzeugs (11, 12, 14) ursächlich ist, und eine Warnung über die Kommunikationsschnittstelle (4) an das zweite Fahrzeug (12, 11) auszugeben, wenn ein Fahrmanöver des ...

Spurverlassenswarn- und Vermeidungssystem mit Warnungmodifikationskriterien

Ein Spurverlassensdetektions-/-vermeidungs- und Datenzusammenführungssystem, das zur Verwendung bei einem Fahrzeug und durch einen Bediener geeignet ist, umfasst mindestens einen Spurmarkierungssensor, mindestens einen Zustandssensor und einen Controller, der kommunikativ mit den Sensoren gekoppelt ist und ausgestaltet ist, um eine Zustandsabweichung zu ermitteln und die Zustandsabweichung mit einem vorbestimmten Zustandsschwellenwert zu vergleichen, um eine Systemidentifikation eines Einstellens durch einen Bediener, eine Spurverlassensdetektion bei Kurven und eine Detektion einer Leistungsverschlechterung zu verbessern.

Verfahren zur Ermittlung eines Spurverlaufes einer Fahrstrecke

Die Erfindung betrifft ein Verfahren zur Ermittlung eines Spurverlaufes einer Verbindungsfahrstrecke (5) zwischen einem ersten Fahrzeug (1) und einem zweiten Fahrzeug (2), wobei das erste Fahrzeug (1) dem zweiten Fahrzeug (2) vorausfährt und Spurverlaufserfassungsmittel zur Bestimmung des Spurverlaufes einer von ihm zurückgelegten Fahrstrecke aufweist. Dabei wird für das erste Fahrzeug (1) der Spurverlauf einer von ihm zurückgelegten Fahrstrecke (3) ermittelt und an das zweite Fahrzeug (2) übermittelt. Der Spurverlauf der Verbindungsfahrstrecke (5) zwischen den beiden Fahrzeugen (1, 2) wird durch Bestimmung einer Position des zweiten Fahrzeugs (2) auf dem übermittelten Spurverlauf ermittelt.

Method for guiding vehicle on track, involves operating or disabling vehicle guidance system for guiding the vehicle on track, based on coordinate dependent release information in database

The method involves controlling the movement of vehicle on track based on route-specific information. A vehicle guidance system (4) is operated or disabled for guiding the vehicle on track, based on coordinate-dependent release information in a database (5). An independent claim is included for arrangement for guiding vehicle on track.

Vorrichtung und Verfahren zum Überprüfen von Streckendaten

Vorrichtung (101, 302, 405) zum Überprüfen von Streckendaten, umfassend eine Vergleichseinrichtung (103, 413) zum Vergleichen von jeweiligen Streckendaten gleicher Streckenposition aus mehreren Sätzen von einer gemeinsamen Strecke zugeordneten Streckendaten und einer Bereitstellungseinrichtung (105, 415) zum Bereitstellen von zumindest einigen voneinander abweichenden Streckendaten und der Strecke zugeordneten Referenzstreckendaten (417) der gleicher Streckenposition bei einer Abweichung für eine weitere Überprüfung.

Fahrzeugsteuersystem für einen Kraftwagen

Die Erfindung betrifft ein Fahrzeugsteuersystem für einen Kraftwagen (10), mit: (a) mindestens einem Fahrdatensensor (20) zum Erfassen von einen Fahrzustand des Kraftwagens charakterisierenden Fahrdaten, (b) mindestens einer Kamera (24, 30) zum Erfassen von Umfeldbildern und (c) einem Unfalldatenschreiber (28), der eingerichtet ist zum gepufferten Aufzeichnen der Umfeldbilder und (d) einer elektrischen Steuerung (26) zum Steuern des Fahrdatensensors (20), der Kamera (24, 30) und des Unfalldatenschreibers (28), die ausgebildet ist, um beim Vorliegen von vorbestimmten Fahrdaten und/oder Umfeldbildern eine autonome Bremsung des Kraftwagens (10) auszulösen. Erfindungsgemäß ist vorgesehen, dass die elektrische Steuerung (26) ausgebildet ist, um beim Vorliegen von vorbestimmten Fahrdaten und/oder Umfeldbildern eine autonome Bremsung des Kraftwagens (10) auszulösen.

Rear vision system for a vehicle

A rear vision system for a vehicle includes a rear backup video camera and a display device. A control activates display of captured video images by the display device when a transmission of the vehicle is shifted into reverse gear and deactivates display of the video images upon shifting of the vehicle transmission out of reverse gear once a threshold deactivation condition is met. The threshold deactivation condition is at least one of (a) forward travel of the vehicle exceeding a threshold speed of forward movement after the vehicle transmission has been shifted out of reverse gear, (b) forward travel of the vehicle exceeding a threshold distance of forward movement after the vehicle transmission has been shifted out of reverse gear and (c) a threshold period of time elapsing after the vehicle transmission has been shifted out of reverse gear, the threshold period of time constituting a linger time.

Imaging system for vehicle

An imaging system for a vehicle includes a camera, an image processor and a control. The field of view of the camera is in a forward direction of travel of the equipped vehicle, and the camera is operable to capture frames of image data. The image processor is operable to process the image data. The control is operable to adjust a light beam emanating from a forward facing light of the equipped vehicle responsive to image processing of frames of image data. The control, responsive to the image processing, is operable to control at least one of (a) adjustment of a beam direction of a light beam emanating from the forward facing light, (b) adjustment of a visible intensity of a light beam emanating from the forward facing light and (c) adjustment of a range of a light beam emanating from the forward facing light.

Method and apparatus to mitigate multipath in rfid

A distance between at least one antenna of an interrogation system and a transponder, such as an RFID tag, is determined based on derivatives with respect to frequency of the phase and the signal strength of responses transmitted by the transponder and received at the at least one antenna. The derivatives of the phase and the signal strength facilitate compensating for sources of multipath interference. Determining changes in distance may further facilitate determining location, speed, or bearing of the transponder by the interrogation system.

Vehicle Having Active Blind Spot Lighting and Method

In order to provide better monitoring for the side environment of a vehicle a lighting unit to light up a vehicle environment and a detection unit for detecting an object in the vehicle environment are provided. The lighting unit is automatically switched on if the detection unit has detected an object in the vehicle environment.

System and Method for Responding to Driver Behavior

Methods of assessing driver behavior include monitoring vehicle systems and driver monitoring systems to accommodate for a driver's slow reaction time, attention lapse and/or alertness. When it is determined that a driver is drowsy, for example, the response system may modify the operation of one or more vehicle systems. The systems that may be modified include: visual devices, audio devices, tactile devices, antilock brake systems, automatic brake prefill systems, brake assist systems, auto cruise control systems, electronic stability control systems, collision warning systems, lane keep assist systems, blind spot indicator systems, electronic pretensioning systems and climate control systems.

Driving assist device

A driving assist device detects the position of a vehicle 13 in a direction of the width of a road by using both distance data on both right and left sides of the vehicle and road width data on the width of the road, specifies distance data having a time-varying change equal to or larger than a predetermined threshold from among the distance data showing the vehicle position detected to correct the vehicle position in such a way that the vehicle position is shown by the distance data from which the distance data specified are removed when the travelling path of the vehicle 13 shows a straight ahead movement, determines the travelling state of the vehicle 13 from a time-varying change of the vehicle position corrected, and notifies a content according to the travelling state determined.

Vehicle surroundings monitoring device

A vehicle surroundings monitoring device includes a moving direction determining unit 20 which determines whether a physical body is moving in a traveling direction of a self vehicle or a transverse direction orthogonal to the traveling direction, from a change in a detection position of the physical body by a laser radar 8 , wherein a classification determining unit 21 executes a first classification determining process of determining the physical body determined to be moving in the traveling direction as a four-wheel vehicle when dimensions of the physical body obtained from the detected position by the laser radar 8 is within a range of A 1 , and a second classification determining process of determining the physical body determined to be moving in the transverse direction as the four-wheel vehicle when the dimensions of the physical body obtained from the detected position by the laser radar 8 is within a range of B 1.

Method and control device for highlighting an expected movement path of a vehicle

A method for highlighting an expected movement path of a vehicle, the method including a step of determining a traffic situation using an item of information concerning a surrounding environment of the vehicle. In addition, the method includes a step of determining the expected movement path based on the traffic situation. In addition, the method includes a step of providing a control signal for controlling a roadway marking device using the movement path in order to highlight the expected movement path.

Highway Merge Assistant and Control

A vehicle merge control system includes a host communication system in a host vehicle for exchanging vehicle position and kinematics data with a remote communication system in at least one remote vehicle. A vehicle host processor determines respective positions and paths of travel of the at least one remote vehicle and the host vehicle. The host processor determines a time to intersect based on the positions and predicted paths of travel between the host vehicle and remote vehicle during a merging maneuver. A host vehicle is configured to transmit a host vehicle intention message from the host communication system to the remote communication system for negotiating a merging position between the host vehicle and the at least one remote vehicle. The host vehicle executes the merging maneuver using the negotiated merging position.

Driving assistance device and method of detecting vehicle adjacent thereto

A driving assistance device includes a camera, a moving object detector, a candidate reflection region detector, a predetermined position brightness detector and a cause determiner. The moving object detector and the candidate reflection region detector sets a detection region for detecting, from image data captured by the camera, existence of an adjacent vehicle in an adjacent lane. The predetermined position brightness detector detects a candidate light projecting object which projects light with brightness equal to or higher than a predetermined threshold value. The cause determiner determines whether or not there exists a candidate light projecting object which indicates existence of the adjacent vehicle in the detection region.

Method and system for identifying a directional heading of a vehicle

A system for verifying a route segment that a vehicle is traveling along includes a magnetic sensor and a control unit. The magnetic sensor generates an output signal based on an orientation of the sensor relative to an external magnetic field. The control unit receives an operator-designated route segment. The operator-designated route segment represents a selected route segment of the route segments that is identified by the operator as being the route segment on which the vehicle is traveling. The control unit identifies a directional heading of the vehicle based on the output signal from the magnetic sensor and determines an actual route segment of the routes segments in the network that the vehicle is actually traveling along based on the directional heading of the vehicle. The control unit verifies that the actual route segment on which the vehicle is actually traveling is the selected route segment.

Systems and methods for obtaining and using traffic flow information

A method of determining historical lane speed profiles for each of a plurality of individual lanes of a multi-lane road section is described. The plurality of individual lanes are lanes for the same given direction of travel. The method involves collecting vehicle probe data relating to the movement of individual vehicles on the road section for a specific time of day, and using the probe data to derive an aggregate speed profile for travel along each lane at the relevant time. The method may involve using the historical lane speed profiles to provide lane guidance instructions to the user of a navigation apparatus.

APPARATUS AND METHOD FOR DISPLAYING A BLIND SPOT

The aim of the present invention is to provide an apparatus and method for displaying a blind spot, which involve displaying at least one image of the surroundings of a vehicle, said image being provided by an imaging unit including a camera, a GPS navigation system, and/or a street-view receiver, so as to provide a driver with information on the blind spots of a front portion, a rear portion, and a side portion of a vehicle that are hidden by said vehicle and thus not easily seen within the field of view of the drive during the travel of the vehicle. 1. An apparatus for displaying a blind spot , comprising:an imaging unit or detecting surrounding images of a vehicle;a control unit for outputting at least one image captured by the imaging unit at a specific point of time or before the specific point of time as an image for display and displaying a vehicle icon indicative of a current position of the vehicle on the outputted image for display in a contour form or semi-transparently so that a blind spot covered by a vehicle body of the vehicle is displayed; anda screen display unit for displaying the image for display and the vehicle icon outputted from the control unit.2. The apparatus according to claim 1 , wherein the outputted image for display is any one of an original image of the captured image and an image obtained by converting a point of time of the original image.3. The apparatus according to claim 2 , wherein the outputted image for display is any one of an original image of the captured image claim 2 , an image obtained by composing several images whose points of time have been converted claim 2 , and a combination of some of several images.4. The apparatus according to claim 1 , wherein the blind spot covered by the vehicle body comprises a lower part of the vehicle.5. The apparatus according to claim 4 , wherein the imaging unit is any one of a camera installed in the vehicle and configured to capture the surrounding images of the vehicle and provide ...

Motorcycle and helmet providing advance driver assistance

A safety system for motorcycle comprises at least one sensor mounted to the motorcycle to sense a feature of an environment surrounding the vehicle. An electronic control unit is configured to receive a signal from the at least one sensor and determine a probability that a safety incident may occur based upon the at least one feature. The probability is compared to at least a first threshold and the electronic control unit is configured to send at least one indicator signal when the at least one feature is above the first threshold. The indicator signal may be displayed on a helmet display. The safety system may be one of blind spot detection, forward collision alert, rear collision alert, cross-traffic alert, merging-traffic alert, lane departure warning, and traffic sign recognition.

DRIVER ASSISTANCE SYSTEM FOR A VEHICLE

A driver assistance system for a vehicle includes a forward facing and a control having an image processor that processes image data captured by the camera. At least in part responsive to processing by the image processor, an alert to a driver of the equipped vehicle is generated based upon at least one of (i) detection of an inappropriate lane change maneuver of the equipped vehicle and (ii) a detection of a potential impact with another vehicle. The image processor processes image data captured by the forward facing camera to detect a traffic control device present within the field of view of the forward facing camera, and the system may generate an alert to the driver when it is determined that the vehicle is not appropriately responding to the detected traffic control device. 1. A driver assistance system for a vehicle , said driver assistance system comprising:a forward facing camera having a field of view that encompasses the road ahead of the equipped vehicle;said forward facing camera comprising a CMOS imaging sensor;wherein said forward facing camera views lane markers on the road being traveled by the equipped vehicle;a control comprising an image processor;wherein image data captured by said forward facing camera is processed by said image processor;wherein said image processor processes data at a processing speed of at least about 5 MIPS;wherein, at least in part responsive to processing by said image processor of image data captured by said forward facing camera, an alert to a driver of the equipped vehicle is generated based upon at least one of (i) detection of an inappropriate lane change maneuver of the equipped vehicle and (ii) a detection of a potential impact with another vehicle;wherein said control receives vehicle data relating to the equipped vehicle via a vehicle bus of the equipped vehicle;wherein said image processor processes image data captured by said forward facing camera to detect a traffic control device present within the field of ...

SYSTEM AND METHOD FOR LANE DEPARTURE WARNING

A lane departure warning system and method are provided. The lane departure warning system includes a camera, a tunnel recognition module, a virtual lane module, and a determination/warning module. The camera captures a front image of a vehicle. The tunnel recognition module determines whether a current position of the vehicle is in a tunnel section, using the front image captured by the camera. The virtual lane module determines whether two or more lanes are detected from the front image when the current position is in the tunnel section and, when only one lane is detected, generates a virtual lane at a position corresponding to the one lane using a pre-calculated road width. The determination/warning module determines whether the vehicle departs from a lane, using the one lane and the virtual lane or the two or more lanes detected, and warns of lane departures accordingly. 1. A lane departure warning system , comprising:a camera capturing a front image of a vehicle;a tunnel recognition module determining whether a current position of the vehicle is in a tunnel section, using the front image captured by the camera;a virtual lane module determining whether two or more lanes are detected from the front image when the current position is in the tunnel section and, when only one lane is detected, generating a virtual lane at a position corresponding to the one lane using a pre-calculated road width; anda determination/warning module determining whether the vehicle departs from a lane using the one lane detected and the virtual lane or the two or more lanes detected and, when it is determined that the vehicle departs from the lane, warning of lane departure.2. The lane departure warning system of claim 1 , wherein claim 1 ,the tunnel recognition module receives GPS coordinates of the current position from a navigation system, and compares the GPS coordinates with a pre-stored tunnel position coordinates to determine whether the current position is in the tunnel section, ...

Periodic stationary object detection system and periodic stationary object detection method

A periodic stationary object detection system extracts a feature point of a three-dimensional object from image data on a predetermined region of a bird's eye view image for each of multiple sub regions included in the predetermined region, calculates waveform data corresponding to a distribution of the feature points in the predetermined region on the bird's eye view image, and judges whether or not the three-dimensional object having the extracted feature point is a periodic stationary object candidate on the basis of whether or not peak information of the waveform data is equal to or larger than a predetermined threshold value.

LANE DEPARTURE WARNING/ASSISTANCE METHOD AND SYSTEM HAVING A THRESHOLD ADJUSTED BASED ON DRIVER IMPAIRMENT DETERMINATION USING PUPIL SIZE AND DRIVING PATTERNS

A method/system for lane departure warning/assistance that warns the driver that the vehicle is about to leave a current lane and enter an adjacent lane. The driver is identified, and a corresponding profile is accessed. The driver's pupils may be measured and compared to pupil size baseline data stored in the accessed profile. If the difference in pupil size exceeds a pupil size baseline by more than a deviation level, the method/system may adjust a lane departure warning/assistance threshold of a lane departure detector that warns the driver each time the vehicle is getting too close to an adjacent lane, thus alerting the driver that the vehicle may drift into the next lane. Driving patterns, such as steering angles and braking force, may also be used to adjust the lane departure warning/assistance threshold and determine whether the driver may benefit from lane departure warning/assistance. 1. A method comprising:identifying a driver of a vehicle;determining that a completed profile is available corresponding to the driver;retrieving the completed profile from a corresponding vehicle memory;collecting impairment indication data;comparing the impairment indication data to data corresponding to the retrieved completed profile;determining, based on the comparison of the impairment indication data to the data corresponding to the completed profile, that the driver is to be treated as an impaired driver;adjusting a lane departure warning/assistance threshold of a lane departure detector based on the comparison of the impairment indication data to the data corresponding to the retrieved completed profile data; andoutputting a warning or providing lane departure assistance based on the adjusted lane departure warning/assistance threshold.2. The method of further comprising:in response to identifying the driver as a new driver, inviting the driver to create a profile;in response to receiving input that the driver accepts the invitation to create a new profile, creating a ...

LANE DEPARTURE WARNING SYSTEM AND LANE DEPARTURE WARNING METHOD

Disclosed are a lane departure warning system and a lane departure warning method. The lane departure warning system includes an image photographing unit attached to a front of a vehicle to photograph an object in a forward direction of the vehicle; a driving unit that receives image data from the image photographing unit to search for a lane pair by filtering the image data using a predetermined mask, and calculates a time of lane change from the lane pair to the vehicle to generate a warning generating signal; and a warning unit receiving the warning generating signal to generate a lane departure warning signal. 1. A lane departure warning system comprising:an image photographing unit attached to a front of a vehicle to photograph an object in a forward direction of the vehicle;a driving unit that receives image data from the image photographing unit to search for a lane pair by filtering the image data using a predetermined mask, and calculates a time of lane change from the lane pair to the vehicle to generate a warning generating signal; anda warning unit receiving the warning generating signal to generate a lane departure warning signal.2. The lane departure warning system of claim 1 , wherein the driving unit comprises:a preprocessing unit filtering the image data to extract candidate lane regions, and grouping the candidate lane regions based on features of the extracted candidate lane regions;a lane searching unit searching for a lane pair from the grouped candidate lane regions from the preprocessing unit; anda warning generating unit to calculate the time of lane change between the lane and the vehicle based on the lane pair in order to generate the warning generating signal.3. The lane departure warning system of claim 2 , wherein the driving unit further includes a lane tracking unit to track a current lane pair based on the lane pair of previous image data.4. The lane departure warning system of claim 3 , wherein the preprocessing unit selects a region ...

LANE DEPARTURE WARNING SYSTEM AND LANE DEPARTURE WARNING METHOD

Disclosed is a lane departure warning system. The lane departure warning system includes an image photographing unit attached to a front of a vehicle to photograph an object in a forward direction of the vehicle; a driving unit receiving image data from the image photographing unit, filtering the image data to search for a lane pair, converting an image coordinate of the image data into a real coordinate to calculate a lateral distance between the lane pair and the vehicle and to calculate a lateral speed of the vehicle, and generating a warning generating signal as a time of lane change elapses by obtaining the time of lane change; and a warning unit receiving the warning generating signal to generate a lane departure warning signal. The time of lane change can be acquired by calculating the lateral distance between the vehicle and the lane after converting the image coordinate into the real coordinate, so that the failure can be reduced, thereby improving reliability. In addition, the calculation can be performed depending on a state of the lane so that the failure can be reduced. 1. A lane departure warning system comprising:an image photographing unit attached to a front of a vehicle to photograph an object in a forward direction of the vehicle;a driving unit receiving image data from the image photographing unit, filtering the image data to search for a lane pair, converting an image coordinate of the image data into a real coordinate to calculate a lateral distance between the lane pair and the vehicle and to calculate a lateral speed of the vehicle, and generating a warning generating signal as a time of lane change elapses by obtaining the time of lane change; anda warning unit receiving the warning generating signal to generate a lane departure warning signal.2. The lane departure warning system of claim 1 , wherein the driving unit comprises:a preprocessing unit filtering the image data to extract candidate lane regions, and grouping the candidate lane ...

Environment Recognition Device

An environment recognition device includes: an image acquisition unit; a light spot feature amount extraction unit that extracts a feature amount of a light spot from the image; a lens dirtiness judgment unit that judges dirt adhering to a surface of a lens of the imaging unit; a headlight detection condition setting unit that sets, based on result of judgment by the lens dirtiness judgment unit, in a parameter that is preliminarily related, a detection condition under which a light spot extracted by the light spot feature amount extraction unit is judged to be a headlight; an approaching headlight judgment unit that judges a particular light spot out of the light spots that corresponds to the parameter as an approaching headlight based on the parameter; and a vehicle annunciation signal outputting unit that outputs a vehicle annunciation signal based on detection result of the approaching headlight judgment unit.

STAND ALONE BLIND SPOT DETECTION SYSTEM

A blind spot detection system for a vehicle having an external rearview device including a substrate having an at least partially transmissive portion. An imaging device positioned behind the at least partially transmissive portion and including a field of view that extends through the substrate at an angle away from the vehicle in the general direction of a vehicle blind spot. 1. A blind spot detection system for a vehicle comprising:an external rearview device including a substrate having an at least partially transmissive portion; andan imaging device positioned behind the at least partially transmissive portion and including a field of view that extends through the substrate at an angle away from the vehicle in the general direction of a vehicle blind spot.2. The blind spot detection system of claim 1 , further comprising:a carrier plate that includes a circuit board coupled to a vehicle interface system.3. The blind spot detection system of claim 2 , further comprising:a circuit board coupled to a blind spot detection indicator proximate an outer edge of the substrate.4. The blind spot detection system of claim 1 , wherein the imaging device includes a field of view that extends approximately 40 degrees.5. The blind spot detection system of claim 1 , wherein the imaging device is directed approximately 20 degrees downward.6. The blind spot detection system of claim 1 , further comprising:a heater assembly disposed proximate the imaging device.7. The blind spot detection system of claim 1 , wherein the imaging device includes one of a single element lens and a multi element lens.8. The blind spot detection system of claim 1 , further comprising:at least one of a hydrophobic coating and a hydrophilic coating applied to the substrate.9. The blind spot detection system of claim 1 , wherein the substrate includes an electrochromic mirror construction having a first element claim 1 , a second element claim 1 , and an electrochromic material disposed therebetween.10. ...

Vehicle and Mobile Device Traffic Hazard Warning Techniques

A computer-implemented method includes monitoring an environment external to a vehicle via a sensor of the vehicle or a mobile device. The monitoring includes recording audio or video signals based on an output of the sensor. Audio or image recognition is performed via the mobile device based on the audio or video signals. Based on results of the audio or image recognition, objects in an area through which the vehicle is to pass are detected. The method includes determining which ones of the detected objects satisfy a predetermined criteria. The predetermined criteria includes object features that are indiscernible or marginally discernible to a vehicle operator with a perception deficiency. Selected ones of the detected objects that satisfy the predetermined criteria are monitored. The vehicle operator is alerted of the selected ones of the detected objects with an alert predetermined to be discernible to the vehicle operator.

BLIND SPOT WARNING SYSTEM AND METHOD

The present invention relates to a blind spot warning system and method for sensing a vehicle in a blind spot of a vehicle and warning thereof in advance, the blind spot warning system comprising a line-to-line space-generating unit that generates, in real time, line-to-line space data, which changes when the host vehicle is driven; a distance-measuring unit, which measures the distance between the host vehicle and a target vehicle located in a blind spot of the host vehicle; an input unit, which receives the line-to-line space data and the distance measurement information; a comparison unit, which compares the target vehicle distance data with the line-to-line space data to decide whether the target vehicle is located within the threshold vehicle-to-vehicle distance; and a warning output unit for outputting a warning if the target vehicle is located within the threshold vehicle-to-vehicle distance in the blind spot. 1. A blind spot warning system for warning whether a target vehicle is located in a blind spot formed at a posterolateral area of a host vehicle , comprising;a line-to-line space-generating unit generating line-to-line space data with respect to a lane width, which changes when the host vehicle is driven, in real time;at least one distance-measuring unit measuring a distance between the host vehicle and a target vehicle located in a side zone or a rear zone of the host vehicle;an input unit receiving the line-to-line space data from the line-to-line space-generating unit and receiving the distance measurement information from the distance-measuring unit;a comparison unit comparing the target vehicle distance data based on the distance measurement information transferred from the distance-measuring unit with the line-to-line space data to decide whether the target vehicle is located within the threshold vehicle-to-vehicle distance determined based on the line-to-line space data; anda warning output unit for outputting a warning if the target vehicle is ...

LANE CHANGE ASSIST INFORMATION VISUALIZATION SYSTEM

A lane change assist information visualization system allows a vehicle driver to change lanes with minimum effort and stress by displaying a lane change option that suits the particular lane changing situation in an intuitively understandable manner, and information on the surrounding vehicles adequate for the vehicle driver to make a reasonable decision in changing lanes. The system includes a lane change program computing device () that computes at least (a) a lane change possibility, (b) a time period that has to elapse before a lane change is allowed if a lane change possibility does not currently exists, or a time period in which a lane change should be made if a lane change possibility currently exists, and (c) a need for acceleration or deceleration, and a display unit () for displaying this information. 1. A lane change assist information visualization system , comprising:{'b': '4', 'an ego vehicle sensing device () configured to detect a velocity of an ego vehicle;'}{'b': '2', 'a object vehicle sensing device () configured to detect at least a distance to the ego vehicle and a velocity of a surrounding vehicle;'}{'b': '5', "a driver intention detecting device () configured to detect a driver's intention to change lanes;"}{'b': '9', 'a lane change program computing device () for computing, according to signals from the ego vehicle sensing device, object vehicle sensing device and driver intention detecting device,'}(a) a lane change possibility,(b) a time period that has to elapse before a lane change is allowed if a lane change possibility does not currently exists, or a time period in which a lane change should be made if a lane change possibility currently exists; and(c) a need for acceleration or deceleration; and{'b': '10', 'a display unit () configured to indicate the lane change possibility, the time period and the need for acceleration or deceleration computed by the lane change program computing device.'}2. The lane change assist information ...

METHOD FOR DETERMINING AN EVASION TRAJECTORY FOR A MOTOR VEHICLE, AND SAFETY DEVICE OR SAFETY SYSTEM

A method for determination of an optimized evasion trajectory by a safety device or a safety system, in particular a lane change assistance system and/or evasion assistance system, of a motor vehicle, the optimized evasion trajectory being outputted to a vehicle driver, and/or a trajectory of the motor vehicle being optionally partially adapted to the optimized evasion trajectory, by way of the method, the optimized evasion trajectory being determined by optimization of a transverse-dynamic quality factor (J), for which a transverse acceleration (a) and/or a transverse jerk (a) of the motor vehicle is/are utilized. Also described is a safety device or a safety system, in particular to a lane change assistance system and/or an evasion assistance system for a motor vehicle, a method being executable and/or being executed by the safety device or the safety system. The method further relates to a use of a method, of a safety device, or of a safety system in a driver assistance system in order to enhance active and/or passive safety in road traffic. 1. A method for determination of an optimized evasion trajectory by one of a safety device and a safety system of a motor vehicle , comprising: outputting the optimized evasion trajectory to a vehicle driver, and', 'partially adapting a trajectory of the motor vehicle to the optimized evasion trajectory; and, 'at least one ofdetermining the optimized evasion trajectory by optimization of a transverse-dynamic quality factor, for which at least one of a transverse acceleration and a transverse jerk of the motor vehicle is utilized.2. The method as recited in claim 1 , further comprising:determining a plurality of transverse-dynamic quality factors for a family of evasion trajectories, wherein the optimized evasion trajectory is characterized by a minimum of the determined transverse-dynamic quality factors.3. The method as recited in claim 1 , further comprising:performing a path-dependent weighting in the transverse-dynamic ...

Vehicle safety system using audio/visual cues

A system may include one or more data modules operable to receive, process, and transmit data associated with one or more audio and/or visual cues from surroundings of a user. The system may also include one or more cameras and one or more microphones communicatively coupled to the one or more data modules, where the one or more cameras and the one or more microphones are operable to: record, respectively, the one or more audio and/or visual cues; and transmit, respectively, the data associated with the one or more audio and/or visual cues to the one or more data modules. Also, the system may include one or more speakers driven by audio signals received from the one or more data modules.

Image-Processing Camera System and Image-Processing Camera Control Method

An image pickup device that acquires images is controlled by an image pickup device controller that accepts image acquisition requests from multiple application programs, and an application scheduler selects application programs to be executed. Information indicative of the image data volumes and image data acquisition rates required for each of the multiple application programs is stored and used to select multiple concurrently executable application programs on the basis of the image data volumes and image data acquisition rates. An image acquisition scheduler determines the timing and intervals at which the multiple executable application programs repeat receiving image data from the image pickup device, without overlapping in terms of time. In addition, an operations section, which explicitly presents concurrently executable application programs to a user and commands the startup of these programs, is displayed on a navigation screen menu. 1. An image-processing camera , comprising:an image pickup device mounted on a vehicle, said image pickup device having a lens, an image pickup element, and an optical system controller that controls said lens and said image pickup element;a memory storage that stores a plurality of applications which perform image processing for running of the vehicle using an image acquired by said image pickup device based on one or more different camera parameters; and acquires the image used by the plurality of applications from said image pickup device used in common, has a schedule for acquiring repeatedly the image data used by the plurality of applications in a state which does not overlap in time based on each rate set up for every application, and executing the plurality of applications as a function of time; and', 'sets up the optical system controller based on predetermined camera parameters, according to said schedule;, 'a controller thatwherein the selection of the plurality of application programs operating is restricted, and/ ...

METHOD AND APPARATUS FOR DETECTING VEHICLE RUNNING IN BLIND SPOT, AND METHOD AND APPARATUS FOR GIVING WARNING IN CHANGING CRUISING LANE

An apparatus for detecting a vehicle running in a blind spot detects, with a predetermined accuracy, a first target position of a target which is present in a first detection area that extends obliquely rearward of the vehicle, detects, with an accuracy lower than the predetermined accuracy, a second target position related to a target which is present in a second detection area adjacent to the first detection area; calculates a first estimated position that corresponds to a subsequent position of the target that has been detected by the detection section as the first target position; and adopts the first estimated position as a position of the target when the first estimated position is included in a predetermined range centering on the second target position, adopts the second target position as a position of the target when the first estimated position is outside the predetermined range. 1. An apparatus for detecting a vehicle running in a blind spot , comprising:a detection section which detects, with a predetermined accuracy, a first target position related to a target which is present in a first detection area that extends obliquely rearward of the vehicle, and also detects, with an accuracy lower than the predetermined accuracy, a second target position related to a target which is present in a second detection area adjacent to the first detection area;an estimation section which calculates a first estimated position which corresponds to a subsequent position related to the target that has been detected by the detection section as the first target position; anda determination section which adopts the first estimated position as a position of the target when the first estimated position is included in a predetermined range centering on the second target position, and also adopts the second target position as a position of the target when the first estimated position is outside the predetermined range.2. The apparatus for detecting a vehicle running in a blind ...

Motor Vehicle Artificial Intelligence Expert System Dangerous Driving Warning And Control System And Method

Specifically programmed, integrated motor vehicle dangerous driving warning and control system and methods comprising at least one specialized communication computer machine including electronic artificial intelligence expert system decision making capability further comprising one or more motor vehicle electronic sensors for monitoring the motor vehicle and for monitoring activities of the driver and/or passengers including activities related to the use of cellular telephones and/or other wireless communication devices and further comprising electronic communications transceiver assemblies for communications with external sensor networks for monitoring dangerous driving situations, weather conditions, roadway conditions, pedestrian congestion and motor vehicle traffic congestion conditions to derive warning and/or control signals for warning the driver of dangerous driving situations and/or for controlling the motor vehicle driver use of a cellular telephone and/or other wireless communication devices. 1. An artificial intelligence motor vehicle danger driving warning and control system comprising;a. an electronic, specifically programmed, specialized device control communication computer machine including expert system decision making capability;b. integration of said artificial intelligence motor vehicle danger driving warning and control system with a motor vehicle information processing and display system;c. monitoring said motor vehicle and a driver of said vehicle and/or a vehicle passenger with electronic sensors including monitoring said driver with a vehicle camera sensor and image analysis software wherein said vehicle camera sensor is positioned in front of said driver and provides input to said artificial intelligence motor vehicle danger driving warning and control system;d. monitoring with a lane tracking sensor said motor vehicle lane violations and swerving or excessive lane changing wherein said lane tracking sensor provides input to said ...

Method and Apparatus for Avoidance Control of Vehicle, Electronic Device and Storage Medium

Embodiments of the present disclosure disclose a method and apparatus for avoidance control of a vehicle, an electronic device, and a storage medium, where the method includes: obtaining behavior information of a moving obstacle, where the moving obstacle is located in a direction of movement of the vehicle and a distance between the moving obstacle and the vehicle satisfies a preset avoidance distance; determining an avoidance strategy for the vehicle based on the behavior information of the moving obstacle; and controlling movement of the vehicle based on the avoidance strategy. The method in the embodiments of the present disclosure considers the behavior information of the moving obstacle in the process of avoidance control of the vehicle, and the vehicle can be controlled to travel when the moving obstacle takes an avoidance action, thereby improving the accuracy of avoidance for the vehicle and the practicality of intelligent driving. 1. A method , comprising:obtaining behavior information of a moving obstacle, wherein the moving obstacle is located in a direction of movement of the vehicle, and a distance between the moving obstacle and the vehicle satisfies a preset avoidance distance;determining an avoidance strategy for the vehicle based on the behavior information of the moving obstacle; andcontrolling movement of the vehicle based on the avoidance strategy.2. The method according to claim 1 , wherein the determining the avoidance strategy for the vehicle based on the behavior information of the moving obstacle comprises:obtaining, based on the behavior information of the moving obstacle, a target avoidance strategy corresponding to the behavior information of the moving obstacle from a preset mapping relationship, wherein the mapping relationship comprises a correspondence relationship between the behavior information of the moving obstacle and the avoidance strategy for the vehicle; andusing the target avoidance strategy as the avoidance strategy for ...

Testing Predictions For Autonomous Vehicles

Aspects of the disclosure relate to testing predictions of an autonomous vehicle relating to another vehicle or object in a roadway. For instance, one or more processors may plan to maneuver the autonomous vehicle to complete an action and predict that the other vehicle will take a responsive action. The autonomous vehicle is then maneuvered towards completing the action in a way that would allow the autonomous vehicle to cancel completing the action without causing a collision between the first vehicle and the second vehicle, and in order to indicate to the second vehicle or a driver of the second vehicle that the first vehicle is attempting to complete the action. Thereafter, when the first vehicle is determined to be able to take the action, the action is completed by controlling the first vehicle autonomously using the determination of whether the second vehicle begins to take the particular responsive action. 1. A method of controlling a first vehicle autonomously , the method comprising:storing, in at least one memory device by one or more processors, first instructions for the first vehicle to initiate a maneuver and second instructions for the first vehicle to complete the maneuver;controlling, by the one or more processors, the first vehicle to initiate the maneuver according to one or more of the first instructions;predicting, by the one or more processors, whether the maneuver can be safely completed; andwhen the predicting indicates that the maneuver can be safely completed, controlling, by the one or more processors, the first vehicle to complete the maneuver according to one or more of the second instructions.2. The method of claim 1 , further comprising:planning, by the one or more processors, to perform the maneuver; anddividing, by the one or more processors, the maneuver into a first portion and a second portion,wherein the one or more of the first instructions correspond to the first portion of the maneuver and the one or more of the second ...

Neural network with lane aggregation for lane selection prediction of moving objects during autonomous driving

In one embodiment, an autonomous driving system of an ADV perceives a driving environment surrounding the ADV based on sensor data obtained from various sensors, including detecting one or more lanes and at least a moving obstacle or moving object. For each of the lanes identified, an NN lane feature encoder is applied to the lane information of the lane to extract a set of lane features. For a given moving obstacle, an NN obstacle feature encoder is applied to the obstacle information of the obstacle to extract a set of obstacle features. Thereafter, a lane selection predictive model is applied to the lane features of each lane and the obstacle features of the moving obstacle to predict which of the lanes the moving obstacle intends to select.

Efficiency improvement for machine learning of vehicle control using traffic state estimation

A method of improving efficiency of a vehicle behavior controller using a traffic state estimation network is described. The method includes feeding an input of a feature extraction network of the vehicle behavior controller with a sequence of images. The sequence of images include a highway section and corresponding traffic data. The method also includes disentangling an estimated behavior of a controlled ego vehicle. by the traffic state estimation network. The traffic state estimate network disentangles the estimated of the controlled ego vehicle from extracted traffic state features of the input provided by the feature extraction network. The method further includes selecting an action to adjust an autonomous behavior of the controlled ego vehicle according to the estimated behavior of the controlled ego vehicle.

Prediction device, prediction method, computer program product, and vehicle control system

A prediction device includes a lane information obtaining unit, an estimating unit, and a predicting unit. The observation-value-obtaining unit obtains an observation value of mobile object' movement. The lane information obtaining unit obtains lane information regarding lanes within a threshold distance of the mobile object. Based on the observation value and the lane information, the estimating unit estimates temporal change volume and likelihood information. The predicting unit identifies target lanes based on the likelihood information, and for the identified target lanes, based on current-state information indicating one or more states of the mobile object indicated by the observation value obtained at the reference time and based on the temporal change volume, calculates predicted-state information indicating one or more states of the mobile object after the reference time when the mobile object moves to the target lane.

Lane departure warning determination method using driver state monitoring

Disclosed is a lane departure warning determination method using driver state monitoring, which includes (a) recognizing a lane around a vehicle from an image photographed by a lane recognition camera and extracting lane information; (b) extracting facial feature points of a driver from an image photographed by a driver recognition camera; (c) determining from the lane information whether the vehicle is in a lane departure state or a lane approaching state; (d) when it is determined in step (c) that the vehicle is in the lane departure state, generating a warning when a face tilt of the driver exceeds a first angle; and (e) when it is determined in step (c) that the vehicle is in the lane approaching state, generating a warning when the face tilt of the driver exceeds a second angle.

VEHICULAR CAMERA WITH PCB FOCUS TUNING

A camera for a vehicular vision system includes a circuit board having a first surface and a second surface opposite the first surface. The circuit board has a first coefficient of thermal expansion (CTE). An imager is disposed at the first surface of the circuit board, and a lens assembly is at the imager. A bend-countering element is disposed at one of the first side and the second side of the circuit board. The bend-countering element has a second CTE that is different from the first CTE of the circuit board. The bend-countering element is selected so that, with the camera disposed at the vehicle, the bend-countering element counters temperature-induced bending of the circuit board to maintain focus of the lens assembly at the imager. 1. A camera for a vehicular vision system , said camera configured to be disposed at a vehicle so as to have a field of view exterior of the vehicle , said camera comprising:a circuit board having a first side and a second side opposite said first side and separated from said first side by a thickness dimension of said circuit board, said circuit board having a first coefficient of thermal expansion (CTE);an imager disposed at said first side of said circuit board;a lens assembly optically aligned with said imager, said lens assembly accommodating at least one lens in focus at said imager;a bend-countering element disposed at one of said first and second sides of said circuit board, said bend-countering element having a second CTE that is different from the first CTE of said circuit board; andwherein said bend-countering element is selected so that, with said camera disposed at the vehicle, said bend-countering element counters temperature-induced bending of said circuit board to maintain focus of said at least one lens at the imager.2. The camera of claim 1 , wherein claim 1 , when said camera is disposed at the vehicle and exposed to a high temperature greater than 40 degrees C. or a low temperature less than −20 degrees C. claim ...

A VEHICLE ASSISTANCE SYSTEM

A vehicle assistance system for a vehicle is provided. A corresponding computer implemented method and computer program product are also provided. 2. The vehicle assistance system according to claim 1 , wherein the operation of the first vehicle is based on features extracted from the acquired image feed.3. The vehicle assistance system according to claim 1 , wherein the vehicle scenario including information relating to a current location of the first vehicle.4. The vehicle assistance system according to claim 1 , wherein the vehicle scenario is selected from a predetermined set of vehicle scenarios claim 1 , and at least one safety requirement is predetermined for each vehicle scenario of the set of vehicle scenarios.5. The vehicle assistance system according to claim 1 , wherein the correlation of the image feed produced by the at least one external camera and the safety requirement for the vehicle scenario is further based on a coverage area for the at least one external camera.6. The vehicle assistance system according to claim 1 , wherein the vehicle information extracted from the internal source of the first vehicle is generated by at least one controllable vehicle component comprised with the first vehicle.7. The vehicle assistance system according to claim 1 , further comprising a display screen connected to the control unit claim 1 , wherein the control unit when operating the first vehicle based on the image feed displays the image feed to a driver of the vehicle viewing the display screen.8. The vehicle assistance system according to claim 1 , wherein the vehicle information extracted from the internal network of the first vehicle comprises road map data.9. The vehicle assistance system according to claim 1 , wherein the control unit receives a location of the first vehicle claim 1 , from a GNSS receiver comprised with first vehicle.10. The vehicle assistance system according to claim 1 , wherein the vehicle information extracted from the internal source ...

DEVICE AND METHOD FOR STABILIZING A MOTOR VEHICLE

A device for stabilizing a vehicle after a collision against a lateral carriageway boundary, includes a lane recognition system, with which information relating to the course of the lane is determined or detected. A collision detection unit identifies a collision of the vehicle against the lateral lane carriageway boundary on the basis of signals from at least one sensor or on the basis of a driving state variable. The device also includes a steering actuator for steering a steering system and a brake actuator for controlling one or more wheel brakes. A target path determination unit determines a target path for the vehicle on the basis of the course of the lane determined or detected before or at the time of the collision. A controller guides the vehicle onto the target path and/or stabilizes the vehicle via a steering intervention and/or individual wheel brake interventions. 1. A device for stabilizing a motor vehicle , comprising:a driving lane recognition system configured to determine or detect the course of a driving lane utilizing information relating to the course of the driving lane;a collision detection unit configured to identify a collision of the vehicle utilizing signals from at least one sensor or on the basis of a driving state variable;an electrically controllable steering actuator configured to actuate a steering system;an electrically controllable brake actuator configured to actuate one or a number of wheel brakes;a target path determination unit configured to determine a target path for the vehicle on the basis of the course of the driving lane as determined before or at the time of the collision; anda controller configured to guide the vehicle onto the target path and/or stabilize the vehicle by a steering intervention including actuating the steering system and/or a braking intervention including actuating the brake actuator on individual wheels.2. The device as claimed in claim 1 , wherein a curve in the course of the driving lane is ...

VEHICLE CRUISE CONTROL DEVICE AND CRUISE CONTROL METHOD

A cruise control device is applied to a vehicle in which an imaging device is mounted. The cruise control device includes: a white line recognition unit which recognizes a white line as a lane boundary that defines an own lane that is a travel lane of an own vehicle , on the basis of images acquired by the imaging device ; and a cutting-in/deviation determination unit which performs cutting-in determination and deviation determination, in which the forward vehicle traveling on an adjacent lane is determined to be a cutting-in vehicle that cuts into the own lane, and the forward vehicle traveling on the own lane is determined to be a deviating vehicle that deviates from the own lane on the basis of a relative position with respect to the white line in a vehicle width direction of a forward vehicle 1. A vehicle cruise control device in which an imaging device for imaging a region in front of an own vehicle is mounted , the vehicle cruise control device comprising:a boundary recognition means recognizing a lane boundary that defines an own lane that is a travel lane of the own vehicle on the basis of an image acquired by the imaging device; anda vehicle determination means performing cutting-in determination and deviation determination with regard to a forward vehicle traveling ahead of the own vehicle, in which the forward vehicle traveling on an adjacent lane adjacent to the own lane is determined to be a cutting-in vehicle that cuts into the own lane, and the forward vehicle traveling on the own lane is determined to be a deviating vehicle that deviates from the own lane, on the basis of a relative position (VL) with respect to a recognized boundary that is the lane boundary recognized by the boundary recognition means in a vehicle width direction of the forward vehicle.2. The vehicle cruise control device according to claim 1 , wherein the vehicle determination means performs the cutting-in determination and deviation determination on the basis of an amount of ...

VEHICLE LANE OPERATION

A computer includes a processor and a memory, the memory storing instructions executable by the processor to move a vehicle within a roadway lane according to an emergency lane procedure to form an emergency lane when a longitudinal speed of the vehicle is below a specified speed and end the emergency lane procedure when the longitudinal speed is at least a second specified speed. 114-. (canceled)15. A method , comprising:moving a vehicle within a roadway lane according to an emergency lane procedure to form an emergency lane when a longitudinal speed of the vehicle is below a specified speed; andending the emergency lane procedure when the longitudinal speed is at least a second specified speed.16. The method of claim 15 , wherein the specified speed and the second specified speed are the same.17. The method of claim 15 , further comprising determining an offset distance from a center line of the roadway lane and moving the vehicle away from the center line of the roadway lane by at least the offset distance.18. The method of claim 17 , wherein the offset distance is determined based on at least one of the longitudinal speed of the vehicle claim 17 , a width of the roadway lane claim 17 , a marking of the roadway lane claim 17 , a width of the vehicle claim 17 , or a minimum distance of the vehicle from the marking of the traffic lane.19. The method of claim 15 , further comprising moving across a marking of the roadway lane to form the emergency lane.20. A system comprising a computer including a processor and a memory claim 15 , the memory storing instructions executable by the processor to:move a vehicle within a roadway lane according to an emergency lane procedure to form an emergency lane when a longitudinal speed of the vehicle is below a specified speed; andend the emergency lane procedure when the longitudinal speed is at least a second specified speed.21. The system of claim 21 , wherein the specified speed and the second specified speed are the same.22. ...

Three-dimenisional object detection device

A three-dimensional object detection device includes an image capturing unit, an image conversion unit, a three-dimensional object detection unit, a light source detection unit and a control unit. The image conversion unit converts a viewpoint of the images obtained by the image capturing unit to create bird's-eye view images. The three-dimensional object detection unit detects a presence of a three-dimensional object within the adjacent lane. The three-dimensional object detection unit determines the presence of the three-dimensional object within the adjacent lane-when the difference waveform information is at a threshold value or higher. The control unit set a threshold value higher so that the three-dimensional object is more difficult to detect in a forward area than rearward area with respect to a line connecting the light source and the image capturing unit when the light source has been detected.

DRIVING SUPPORT APPARATUS

A driving support apparatus according to the invention estimates the position of a moving body by controlling a position estimation unit when the tracking-target moving body leaves a first area or a second area to enter a blind spot area and detects the position of the moving body by controlling a position detection unit when the moving body leaves the blind spot area to enter the first area or the second area. In this manner, the trajectory of the tracking-target moving body is calculated so that the trajectory of the moving body detected in the first area or the second area and the trajectory of the moving body estimated in the blind spot area are continuous to each other and driving support is executed based on the calculated trajectory of the tracking-target moving body. 1. A driving support apparatus comprising:a first sensor provided at a front side of a subject vehicle and configured to detect a situation of a first area on a front side of the subject vehicle;a second sensor provided at a rear side of the subject vehicle and configured to detect a situation of a second area on a rear side of the subject vehicle, the second area being an area different from the first area;a position detection unit configured to detect a position of a tracking-target moving body moving in the first area and the second area;a position estimation unit configured to estimate a position of the tracking-target moving body moving in a blind spot area based on the position of the tracking-target moving body detected in any one of the first area and the second area by the position detection unit, the blind spot area being an area on a side of the subject vehicle and being an area other than the first area and the second area; calculate a trajectory of the tracking-target moving body, so that a trajectory of the tracking-target moving body detected in at least one of the first area and the second area and a trajectory of the tracking-target moving body estimated in the blind spot area ...

COURSE EVALUATION APPARATUS AND COURSE EVALUATION METHOD

A course evaluation apparatus includes an estimated-course-group generation portion that generates a plurality of estimated course groups for a movable body; and a course evaluation portion that performs a course evaluation on the plurality of estimated course groups with respect to at least two different evaluation criteria. 1. A movable body comprising:a travel information obtaining portion configured to obtain a travel information that includes travel information of the movable body, surrounding area information of the movable body, or map information;an estimated course generation portion configured to generate a plurality of courses based on the travel information;a grouping portion configured to set a course group by grouping the plurality of courses;a course evaluation portion configured to perform a course evaluation of the course group with respect to a first criterion and a second criterion, wherein the first criterion has a higher weighting than the second criterion;an output portion configured to select a course along which the movable body should travel based on the result of the course evaluation and provide information on the selected course; anda driving support system configured to provide an instruction on a driving operation so that the movable body travels along the selected course.2. The movable body according to claim 1 , wherein the first criterion having the higher weighting is a degree of driving safety.3. The movable body according to claim 1 , wherein the course evaluation is performed based on whether an evaluation value of each estimated course included in the course group with respect to each of the first criterion and the second criterion is equal to or higher than a predetermined threshold value.4. The movable body according to claim 1 , wherein the course evaluation is performed based on: (i) whether a first evaluation value of each estimated course included in the course group with respect to the first criterion is equal to or ...

MULTI-LEVEL NAVIGATION MONITORING AND CONTROL

Multi-level navigation monitoring and control is provided. A system includes a lane marking manager determining a first boundary line, a second boundary line, and a centerline of a current lane of travel. The system also includes a confidence level determiner assigning a first confidence level to the first boundary line, a second confidence level to the second boundary line, and a third confidence level to the centerline. Further, the system includes a user interface outputting representations of the first boundary line, the second boundary line, and the centerline based, at least in part, on the first confidence level, the second confidence level, and the third confidence level. 1. A system for multi-level navigation monitoring and control , comprising:a memory; and a navigation manager generating a route between a first location and a second location;', 'a map displayer outputting a map that includes the route and is indicative of distances of one or more surfaces, objects, obstructions, or geometries in an area around the vehicle; and', 'a modification controller altering at least a portion of the route based on an indication of a change received at a user interface or a sensor,', 'wherein the navigation manager regenerates the route between the first location and the second location as a function of the indication of the change and the map displayer outputs a revised map based on the regenerated route., 'a processor that executes the following computer executable components stored in the memory2. The system of claim 1 , wherein the indication of the change is based on a gesture detected by the user interface or the sensor.3. The system of claim 1 , wherein the indication of the change is based on a verbal command detected by the user interface or the sensor.4. The system of claim 1 , comprising a lane marking manager determining lane boundaries and a center steering trajectory of a lane of traffic.5. The system of claim 4 , comprising a confidence level ...

Apparatus and Method for Warning of an Oncoming Vehicle

Apparatus and methods for warning of an oncoming vehicle are disclosed. The apparatus comprises one or more sensors for detecting an oncoming vehicle, and a light emitting unit controllable to signal to a vehicle behind whether an oncoming vehicle has been detected, the light emitting unit being mounted so as to be visible to the vehicle behind. A controller detects an oncoming vehicle in dependence on information received from the one or more sensors, and controls the light emitting unit in dependence on whether an oncoming vehicle is detected. 1. Apparatus for warning of an oncoming vehicle , the apparatus comprising:one or more sensors for detecting an oncoming vehicle;a light emitting unit controllable to signal to a vehicle behind whether an oncoming vehicle has been detected, the light emitting unit being disposed so as to be visible to the vehicle behind; anda controller configured to detect an oncoming vehicle in dependence on information received from the one or more sensors, and control the light emitting unit in dependence on whether an oncoming vehicle is detected.2. The apparatus according to claim 1 , wherein the light emitting unit is controllable to selectively emit light of a first wavelength to signal to the vehicle behind whether an oncoming vehicle has been detected claim 1 , and the controller is configured to control the light emitting unit to emit light of the first wavelength in dependence on whether an oncoming vehicle is detected.3. The apparatus according to claim 2 , wherein the light emitting unit is further controllable to emit light of a second wavelength claim 2 , andwherein the controller is configured to control the light emitting unit to emit light of the first wavelength in response to an oncoming vehicle being detected, and to emit light of the second wavelength in response to no oncoming vehicle being detected.4. The apparatus according to wherein the light emitting unit is further controllable to emit light of a third ...

Information presentation device, on-vehicle device, information presentation system, and information presentation method

An information presentation device according to embodiment includes acquisition unit, generation unit, and output unit. Acquisition unit acquires information of driving history with respect to driving position in driving lane of vehicle, where information is generated by on-vehicle device based on image captured by imaging device that is mounted on vehicle. Generation unit generates information of graph that indicates transition of positional change of vehicle in driving lane, based on information of driving history acquired by acquisition unit. Output unit outputs information of graph generated by generation unit to display device. Acquisition unit acquires information of driving history that includes distances of right and left edge of driving lane with respect to vehicle. Generation unit generates information of graph based on difference between distances of right and left edge of driving lane with respect to vehicle that is included in information of driving history acquired by acquisition unit.

HIERARCHICAL PATH DECISION SYSTEM FOR PLANNING A PATH FOR AN AUTONOMOUS DRIVING VEHICLE

According to one embodiment, during a first planning cycle, a first lane boundary of a driving environment perceived by an ADV is determined using a first lane boundary determination scheme (e.g., current lane boundary), which has been designated as a current lane boundary determination scheme. A first trajectory is planned based on the first lane boundary to drive the ADV to navigate through the driving environment. The first trajectory is evaluated against a predetermined set of safety rules (e.g., whether it will collide or get too close to an object) to avoid a collision with an object detected in the driving environment. In response to determining that the first trajectory fails to satisfy the safety rules, a second lane determination boundary of the driving environment is determined using a second lane boundary determination scheme and a second trajectory is planned based on the second lane boundary to drive the ADV. 1. A computer-implemented method for operating an autonomous driving vehicle (ADV) , the method comprising:determining, during a first planning cycle, a first lane boundary of a driving environment perceived by an ADV using a first lane boundary determination scheme designated as a current lane boundary determination scheme;planning a first trajectory based on the first lane boundary to drive the ADV navigating through the driving environment;evaluating whether the first trajectory satisfies a set of safety rules to avoid a collision with an object detected in the driving environment; and determining a second lane boundary of the driving environment using a second lane boundary determination scheme, and', 'planning a second trajectory based on the second lane boundary to drive the ADV., 'in response to determining that the first trajectory fails to satisfy the set of safety rules,'}2. The method of claim 1 , further comprising designating the second lane boundary determination scheme as the current lane boundary determination scheme claim 1 , such ...

LANE-CENTRIC ROAD NETWORK MODEL FOR NAVIGATION

A geographic database storing map data is provided. The geographic database is stored in a non-transitory computer readable medium. The geographic database comprises a plurality of records corresponding to drivable surfaces of a road network. The plurality of records comprise a plurality of lane records corresponding to particular lanes of the road network. Each first record of the plurality of records comprises a plurality of instances of adjacency information. Each instance of adjacency information/data (a) links the first record corresponding to a first drivable surface of the road network to a second record of the plurality of records corresponding to a second drivable surface of the road network. The first drivable surface is adjacent to the second drivable surface. Each instance of adjacency information/data indicates crossing parameters between the first drivable surface and the second drivable surface. 1. An apparatus comprising: a plurality of lane records, wherein each lane record corresponds to a drivable surface of a particular lane of the road network, and', 'a plurality of open drivable surface records, wherein each open drivable surface record corresponds to a drivable surface of a particular open drivable surface of the road network, wherein the particular open drivable surface is a portion of a surface of the road network where a lane-level topology of the road network changes; and, 'a plurality of data records corresponding to drivable surfaces of a road network, the plurality of data records comprising, 'at least one memory, the at least one memory storing a geographic database storing map data, the geographic database comprising access one or more data records of the plurality of data records, the one or more data records comprising at least one open drivable surface record of the plurality of open drivable surface records; and', 'based on information stored in the one or more data records, perform a navigation function., 'at least one processor, ...

METHOD AND APPARATUS FOR DETERMINING LANE IDENTIFICATION IN A ROADWAY

A lane identity in a roadway in which a vehicle is traveling can be determined. The roadway can include a plurality of lanes. The determining can include generating a lane identification confidence belief indicating a probability that the vehicle is in a particular lane of the plurality of lanes of the roadway. Generating the lane identification confidence belief can be based on: any detected lane crossings, the number of lanes in the roadway, the lane marker type to a left side and to a right side of the vehicle at the current position of the vehicle or ahead of the current position of the vehicle in a forward direction of travel of the vehicle, and a weighted average of an instantaneous lane identification confidence belief and a lane identification confidence belief prior to a current sample time period. 1. A method of determining a lane identity in a roadway in which a vehicle is traveling , the roadway including a plurality of lanes , the method comprising:obtaining, using one or more sensors, a lane marker type to a left side and to a right side of the vehicle at a current position of the vehicle or ahead of the current position of the vehicle in a forward direction of travel of the vehicle;obtaining, using one or more sensors, an instantaneous position of the vehicle on the roadway;determining, using map data, a number of lanes in the roadway at the instantaneous position of the vehicle;detecting, using one or more sensors, lane crossings of the vehicle between the plurality of lanes in the roadway; and any detected lane crossings,', 'the number of lanes in the roadway,', 'the lane marker type to a left side and to a right side of the vehicle at the current position of the vehicle or ahead of the current position of the vehicle in a forward direction of travel of the vehicle; and', 'a weighted average of an instantaneous lane identification confidence belief and a lane identification confidence belief prior to a current sample time period., 'generating a lane ...

ECU, AUTONOMOUS VEHICLE INCLUDING ECU, AND METHOD OF CONTROLLING LANE CHANGE FOR THE SAME

A method of controlling lane change of an autonomous vehicle is provided. The method includes determining a type of a command for lane change by an autonomous driving logic of an electronic control unit (ECU) in response to the command for lane change being generated. When the command for lane change is not a specific command for lane change, attributes of each of at least one region included in a change target region is determined using information regarding the change target region. The attributes of each of the at least one region are corrected using information regarding a lane in which the autonomous vehicle is driven and a lane change region is determined from the at least one region based on the corrected attributes of each of the at least one region. 1. A method of controlling lane change of an autonomous vehicle , comprising:determining, by a controller, a type of a command for lane change using an autonomous driving logic in response to the command for lane change being generated;when the command for lane change is not a specific command for lane change, determining, by the controller, attributes of each of at least one region included in a change target region using information on the change target region;correcting, by the controller, the attributes of each of the at least one region using information regarding a lane in which the autonomous vehicle is being driven; anddetermining, by the controller, a lane change region from the at least one region based on the corrected attributes of each of the at least one region.2. The method according to claim 1 , wherein the type of the command for lane change is classified into commands for lane change according to first to fourth scenarios; and wherein the determining of the attributes of each of the at least one region is performed for commands for lane change according to second to fourth scenarios.3. The method according to claim 2 , wherein the first scenario is a situation in which lane change is not needed ...

ADVANCED DRIVER ASSISTANCE SYSTEM, VEHICLE HAVING THE SAME AND METHOD FOR CONTROLLING THE VEHICLE

An advanced driver assistance apparatus, a vehicle having the same, and a method of controlling the vehicle are provided. The vehicle may acquire a first image of a road by a first image acquisition unit while traveling, acquire a second image of the road by a second image acquisition unit while traveling, recognize a first lane in the first image by a first lane recognizer, recognize a second lane in the second image by a second lane recognizer, determine whether at least one of the first lane recognizer or the first image acquisition unit has a failure by comparing the first lane with the second lane, and output failure information when at least one of the first lane recognizer or the first image acquisition unit is determined to have the failure. 1. An advanced driver assistance device , comprising:a plurality of image acquisition units configured to acquire images of a road; connect to the plurality of image acquisition units, respectively; and', 'recognize lanes from the acquired images of the road;, 'a plurality of lane recognizers configured to determine whether at least one lane recognizer of the plurality of lane recognizers and the image acquisition unit have a failure by comparing each of lane information recognized by the plurality of lane recognizers; and', 'control failure information when at least one lane recognizer of the plurality of lane recognizers and the image acquisition unit are determined to have the failure; and, 'a controller configured toan output unit configured to output the failure information.2. The advanced driver assistance device of claim 1 , wherein the device further comprises:a position receiver configured to receive current position information of at least one image acquisition unit of the plurality of image acquisition units; and store distance information between at least one image acquisition unit of the plurality of image acquisition units and remaining image acquisition units of the plurality of image acquisition units; ...

VEHICULAR DRIVER ASSIST SYSTEM

A vehicular driver assistance system includes a camera disposed at a vehicle and a control having an image processor that processes image data captured by the camera to determine lane markings demarcating a traffic lane in which the vehicle is traveling and to estimate a path of travel for the vehicle to maintain the vehicle in the traffic lane in which the vehicle is traveling in situations where the lane markings demarcating the traffic lane in which the vehicle is traveling are not readily determinable. The control estimates the path of travel for the vehicle at least responsive to vehicle information. The system updates the estimated path of travel ahead of the vehicle even when no lane markings are determined present on the road ahead of the vehicle. The control adjusts processing of captured image data responsive at least in part to a driving situation that the vehicle is in. 1. A driver assistance system for a vehicle , said driver assistance system comprising:a camera disposed at a vehicle and having a field of view forward of the vehicle;a control comprising an image processor that is operable to process image data captured by said camera;wherein, responsive to processing by said image processor of image data captured by said camera, said control determines lane markings demarcating a traffic lane in which the vehicle is traveling;wherein, responsive to processing by said image processor of image data captured by said camera, said control estimates a path of travel for the vehicle to maintain the vehicle in the traffic lane in which the vehicle is traveling in situations where the lane markings demarcating the traffic lane in which the vehicle is traveling are not readily determinable;wherein said control estimates the path of travel for the vehicle at least responsive to vehicle information, and wherein the vehicle information comprises at least one selected from the group consisting of (i) vehicle speed, (ii) vehicle differential wheel speeds and (iii) ...

VISION SYSTEM

A vision system for a motor vehicle and a method for providing information to a driver of a motor vehicle, where the system includes at least one video camera, including a lens, adapted and configured to be mounted on a side of the vehicle with the lens facing forward, the lens having an angle of view that provides a field of view for allowing capture, simultaneously, of images of a view alongside the vehicle and of at least part of the side of the vehicle from the rear towards the front of the vehicle, and a processor coupled to the at least one video camera, the processor adapted and configured to process the captured images and provide processed images for display on a monitor and/or vehicle orientation information to a computerized vehicle operation system. 1. A vision system for a motor vehicle , the system comprising:at least one video camera, including a lens, adapted and configured to be mounted on a side of the vehicle with the lens facing forward;said lens having an angle of view that provides a field of view for allowing capture, simultaneously, of images of a view alongside the vehicle and of at least part of the side of the vehicle from the rear towards the front of the vehicle; and processed images including vehicle orientation data for display on a monitor; and', 'vehicle orientation information to a computerized vehicle operation system., 'a processor coupled to said at least one video camera, the processor adapted and configured to process said captured images and provide at least one of2. The system according to claim 1 , further comprising a monitor adapted and configured for displaying said processed images.3. The system according to claim 2 , wherein said monitor is disposed on the vehicle in a location permitting said processed images to be viewed by the driver while driving.4. The system according to claim 2 , wherein said at least one video camera includes a first video camera and a second video camera claim 2 , each adapted and configured to ...

System and method for smartphone communication during vehicle mode

A device is provided for use with a vehicle and with a communication device. The communication device can transmit a first vehicle mode signal and a subsequent signal. The device includes a processing component, an indicator component, a transmitting component and a receiving component. The processing component can operate in a vehicle mode and can operate in a second mode. The indicator component can provide a vehicle mode indication signal when the processing component is operating in the vehicle mode. The transmitting component can transmit a second vehicle mode signal based on the vehicle mode indication signal. The receiving component can receive the first vehicle mode signal and can receive the subsequent signal. The processing component can further perform a function while in the vehicle mode and based on the first vehicle mode signal and the subsequent signal.

LANE CHANGE ASSISTANCE DEVICE AND LANE CHANGE ASSISTANCE METHOD

Disclosed herein is a lane change assistance device, including: a change time setting unit configured to set a change time required for the lane change; a yaw angle acquisition unit configured to acquire a yaw angle of an own vehicle before starting the lane change; and a steering control unit configured to control a steering unit of the own vehicle to perform the lane change in the change time set by the change time setting unit, wherein when the yaw angle acquired by the yaw angle acquisition unit is a yaw angle in a state where the own vehicle approaches a target lane designated during the lane change, the change time setting unit sets the change time shorter than in other states, and when the yaw angle acquired by the yaw angle acquisition unit is a yaw angle in a state where the own vehicle stays away from the target lane, the change time setting unit sets the change time longer than in the other states. 1. A lane change assistance device for assisting a lane change of an own vehicle , comprising:a change time setting unit configured to set a change time required for the lane change;a yaw angle acquisition unit configured to acquire a yaw angle of the own vehicle before starting the lane change; anda steering control unit configured to control a steering unit of the own vehicle to perform the lane change in the change time set by the change time setting unit,wherein when the yaw angle acquired by the yaw angle acquisition unit is a yaw angle in a state where the own vehicle approaches a target lane desired during the lane change, the change time setting unit sets the change time shorter than in other states, and when the yaw angle acquired by the yaw angle acquisition unit is a yaw angle in a state where the own vehicle stays away from the target lane, the change time setting unit sets the change time longer than in the other states.2. The lane change assistance device according to claim 1 , further comprising:a moving distance acquisition unit configured to ...

Processor and processing method for rider-assistance system of straddle-type vehicle, rider-assistance system of straddle-type vehicle, and straddle-type vehicle

The present invention obtains a processor and a processing method, a rider-assistance system, and a straddle-type vehicle capable of improving a rider's safety.A processor (20) includes: an acquisition section that acquires surrounding environment information about a straddle-type vehicle (100); a determination section that determines necessity of assistance operation executed by a rider-assistance system (1) to assist with the rider's operation; and a control section that makes an execution device (P) execute the assistance operation in the case where the determination section determines that the assistance operation is necessary. The determination section determines the necessity of the assistance operation by using: a collision index value that is an index value of a collision possibility of a following vehicle against the traveling straddle-type vehicle (100); and a stability index value that is an index value of a stability degree of a relative distance of the following vehicle to the traveling straddle-type vehicle (100).

AUTONOMOUS VEHICLE NAVIGATION BASED ON RECOGNIZED LANDMARKS

A system for autonomously navigating a vehicle along a road segment is disclosed. The system may have at least one processor. The processor may be programmed to receive from an image capture device at least one image representative of an environment of the vehicle. The processor may also be programmed to analyze the at least one image to identify at least one recognized landmark. Further, the processor may be programmed to determine a current location of the vehicle relative to a predetermined road model trajectory associated with the road segment based, at least in part, on a predetermined location of the recognized landmark. In addition, the processor may be programmed to determine an autonomous steering action for the vehicle based on a direction of the predetermined road model trajectory at the determined current location of the vehicle relative to the predetermined road model trajectory. 128-. (canceled)29. A system for autonomously navigating a vehicle along a road segment , the system comprising: receive from an image capture device at least one image representative of an environment of the vehicle;', 'analyze the at least one image to identify at least one recognized landmark;', 'determine a current location of the vehicle relative to a predetermined road model trajectory associated with the road segment based, at least in part, on a predetermined location of the recognized landmark; and', 'determine an autonomous steering action for the vehicle based on a direction of the predetermined road model trajectory at the determined current location of the vehicle relative to the predetermined road model trajectory., 'at least one processor programmed to30. The system of claim 29 , wherein the recognized landmark includes at least one of a traffic sign claim 29 , an arrow marking claim 29 , a lane marking claim 29 , a dashed lane marking claim 29 , a traffic light claim 29 , a stop line claim 29 , a directional sign claim 29 , a reflector claim 29 , a landmark ...

Display device and non-transitory computer-readable storage medium for display control on head-up display

In a display control for a head-up display of a vehicle, offset information is acquired from a lane keeping control unit that controls the vehicle to travel within a subject vehicle lane on which the vehicle travels. The offset information indicates an offset control to move a traveling position from a center portion of the subject vehicle lane to one of right and left sides. Based on the offset information, an offset content indicating fulfillment of the offset control is superimposedly displayed on a road surface in a foreground.

TURNED-WHEEL DETECTION FOR YIELDING DURING LOW-SPEED LANE CHANGES

Systems, components, and methodologies are provided for improvements in operation of automotive vehicles by enabling monitoring analysis and reaction to subtle sources of information that aid in prediction and response of vehicle control systems across a range of automation levels. Such systems, components, and methodologies include wheel-turn detection equipment for detecting a wheel angle of another vehicle to trigger a vehicle control system to perform an operation based on the detected wheel angle of the other vehicle. 1. An automotive vehicle for operation on roadways , the automotive vehicle comprising:a vehicle base including a chassis and a drive train coupled to the chassis to propel the chassis along the roadways, anda vehicle control system for controlling operation of the vehicle on the roadways, the vehicle control system being mounted to the vehicle base and in communication with the drive train and including wheel-turn detection means for detecting a wheel angle of another vehicle to trigger the vehicle control system to perform an operation based on the detected wheel angle of the another vehicle, wherein the operation of the vehicle control system comprises issuing an alert to a driver of the vehicle and/or controlling operation of the vehicle to yield in response to determination that the another vehicle intends to change lanes.2. The automotive vehicle of claim 1 , wherein the automotive vehicle is an automated vehicle.3. The automotive vehicle of claim 1 , wherein the vehicle control system determines whether the another vehicle is indicating an intention to change lanes on the roadway based on the detected wheel angle.4. The automotive vehicle of claim 3 , wherein the vehicle control system determines whether the another vehicle is indicating an intention to change lanes based on a determination that the detected wheel angle exceeds a threshold wheel angle.5. The automotive vehicle of claim 4 , wherein the vehicle control system determines the ...

COGNITIVE LOAD DRIVING ASSISTANT

In one embodiment, a cognitive load driving assistant increases driving safety based on cognitive loads. In operation, the cognitive load driving assistant computes a current cognitive load of a driver based on sensor data. If the current cognitive load exceeds a threshold cognitive load, then the cognitive load driving assistant modifies the driving environment to reduce the cognitive load required to perform the primary driving task and/secondary task(s), such as texting via a cellular phone. The cognitive load driving assistant may modify the driving environment indirectly via sensory feedback to the driver or directly through reducing the complexity of the primary driving task and/or secondary tasks. In particular, if the driver is exhibiting elevated cognitive loads typically associated with distracted driving, then the cognitive load driving assistant modifies the driving environment to allow the driver to devote appropriate mental resources to the primary driving task, thereby increasing driving safety. 1. A computer-readable storage medium including instructions that , when executed by a processor , cause the processor to perform the steps of:computing a current cognitive load associated with a driver while the driver is operating a vehicle based on data received via one or more sensors;determining that the current cognitive load exceeds a threshold cognitive load; andin response, causing one or more actions to occur that are intended to reduce the current cognitive load associated with the driver.2. The computer-readable storage medium of claim 1 , wherein causing one or more actions to occur comprises configuring a display screen to display the current cognitive load.3. The computer-readable storage medium of claim 1 , wherein causing one or more actions to occur comprises configuring an entertainment subsystem to reduce the volume of an audio signal.4. The computer-readable storage medium of claim 1 , wherein causing one or more actions to occur comprises ...

LANE-CENTERING ASSISTANCE

A vehicle control system includes a computer including a processor and a memory storing instruction executable by the processor to, in response to detecting hands being off a steering wheel for a threshold time while a lane-centering assist operation is active, steer a vehicle including the steering wheel from a center of a lane to a lateral position between the center of the lane and an edge of the lane; then steer the vehicle from the lateral position to the center of the lane; and then maintain the vehicle at the center of the lane. 1. A vehicle control system comprising a computer comprising a processor and a memory storing instructions executable by the processor to:in response to detecting hands being off a steering wheel of a vehicle for a threshold time while a lane-centering assist operation is active, steer the vehicle from a center of a lane to a lateral position between the center of the lane and an edge of the lane;then steer the vehicle from the lateral position to the center of the lane; andthen maintain the vehicle at the center of the lane.2. The vehicle control system of claim 1 , wherein steering the vehicle from the center of the lane to the lateral position includes generating a path along which a control module guides the vehicle.3. The vehicle control system of claim 2 , wherein the path is represented by a polynomial function.4. The vehicle control system of claim 3 , wherein the polynomial function is a function of a lookahead distance.5. The vehicle control system of claim 2 , wherein generating the path includes generating a plurality of paths to a series of intermediate lateral positions between the center of the lane and the lateral position.6. The vehicle control system of claim 1 , wherein the instructions further include to claim 1 , while steering the vehicle from the center of the lane to the lateral position claim 1 , refrain from outputting a warning to an occupant of the vehicle.7. The vehicle control system of claim 1 , wherein ...

FLEET-BASED AVERAGE LANE CHANGE AND DRIVER-SPECIFIC BEHAVIOR MODELLING FOR AUTONOMOUS VEHICLE LANE CHANGE OPERATION

Systems and methods are provided for creating more organic lane change models for autonomous or semi-autonomous operation of a vehicle. A plurality of data associated with a plurality of driver-performed lane change maneuvers is collected from a plurality of different vehicle. Driver-performed lane change maneuvers are discarded when determined to fall outside a threshold of safety. A generic model is generated from the non-discarded data for average lane change maneuvers. Specific models can be generated for different drivers, vehicle types, and other metrics by comparison with the generic model. 1. A method comprising:collecting, by a lane change modelling system, a plurality of data associated with a plurality of driver-performed lane change maneuvers;discarding, by the lane change modelling system, one or more driver-performed lane change maneuvers determined by the organizer to be unsafe lane change maneuvers; andgenerating, by the lane change modelling system, a generic lane change model configured to control performance of a lane change maneuver by an autonomous driving system,wherein the generated generic lane change model comprises a model of an average lane change maneuver based on the plurality of driver-performed lane change maneuvers.2. The method of claim 1 , collecting the plurality of data comprising:receiving, by a network interface of the lane change modelling system, the plurality of data over a plurality of data streams from the plurality of connected vehicles; andtagging, by an organizer of the lane change modelling system, a subset of the plurality of data to each of the plurality of driver-performed lane change maneuvers using an identifier.3. The method of claim 2 , wherein tagging each subset of the plurality of data comprises one or more of adding a metadata tag to the subset claim 2 , a times stamp indicating when the subset was received by the lane change modelling system claim 2 , or a name of the connected vehicle from which the subset ...

Crowd sourcing data for autonomous vehicle navigation

A method of processing vehicle navigation information for use in autonomous vehicle navigation is provided. The method includes receiving, by a server, navigation information from a plurality of vehicles. The navigation information from the plurality of vehicles is associated with a common road segment. The method also includes storing, by the server, the navigation information associated with the common road segment. The method also includes generating, by the server, at least a portion of an autonomous vehicle road navigation model for the common road segment based on the navigation information from the plurality of vehicles. The method further includes distributing, by the server, the autonomous vehicle road navigation model to one or more autonomous vehicles for use in autonomously navigating the one or more autonomous vehicles along the common road segment.

Systems and methods for identifying landmarks

A system for identifying a landmark for use in autonomous vehicle navigation is provided. The system includes at least one processor programmed to receive at least one identifier associated with the landmark; associate the landmark with a corresponding road segment; update an autonomous vehicle road navigation model relative to the corresponding road segment to include the at least one identifier associated with the landmark; and distribute the updated autonomous vehicle road navigation model to a plurality of autonomous vehicles. The at least one identifier is determined based on acquisition, from a camera associated with a host vehicle, of at least one image representative of an environment of the host vehicle; analysis of the at least one image to identify the landmark in the environment of the host vehicle; and analysis of the at least one image to determine the at least one identifier associated with the landmark.

U-TURN ASSISTANCE BASED ON DIFFICULTY IN MANEUVERING

Methods, devices and apparatuses pertaining to U-turn assistance. The method may include obtaining, by a computing device, geographic obtaining of a location designated for an operation of a U-turn. The computing device may further obtain vehicle information of a vehicle performing the U-turn, and collect user information of an operator of the vehicle. Based on the geographic information, the vehicle information and the user information, the computing device may determine a level of difficulty of the U-turn and assist the operator with the operation of the U-turn based on the level of difficulty. 1. A method comprising:obtaining geographic information of a location designated for an operation of a U-turn;obtaining vehicle information of a vehicle performing the U-turn;collecting user information of an operator of the vehicle;determining a level of difficulty of the U-turn based on the geographic information, the vehicle information and the user information; andassisting the operator with the operation of the U-turn based on the level of difficulty.2. The method of claim 1 , wherein the obtaining of the geographic information of the location comprises obtaining the geographic information of the location using a free space sensing technique and a motion planning technique.3. The method of claim 1 , wherein the obtaining of the geographic information of the location comprising:generating a feasible path of the U-turn at the location based on the vehicle information and the geographic information;identifying one or more obstructions in the feasible path; andcollecting information of an oncoming traffic at the location to identify one or more potential collisions associated with the feasible path.4. The method of claim 3 , wherein the identifying of the one or more obstructions in the feasible path comprises identifying the one or more obstructions in the feasible path using one or more sensors attached to the vehicle claim 3 , pre-stored geographic information ...

VEHICLE CONTROL APPARATUS, VEHICLE CONTROL METHOD, AND VEHICLE CONTROL PROGRAM

A vehicle control apparatus includes: an estimation part that estimates a lane change by a peripheral vehicle which is traveling around a vehicle; a virtual vehicle-setting part that sets a virtual vehicle, which virtually simulates the peripheral vehicle as a target of the estimation, on a lane of a lane change destination of the peripheral vehicle when the lane change of the peripheral vehicle is estimated by the estimation part; a control plan generation part that generates a control plan of the vehicle based on the virtual vehicle which is set by the virtual vehicle-setting part; and a travel control part that controls acceleration, deceleration, or steering of the vehicle based on the control plan which is generated by the control plan generation part. 1. A vehicle control apparatus that is provided on a vehicle , the apparatus comprising:an estimation part that estimates a lane change by a peripheral vehicle which is traveling around the vehicle;a virtual vehicle-setting part that sets a virtual vehicle, which virtually simulates the peripheral vehicle as a target of the estimation, on a lane of a lane change destination of the peripheral vehicle when the lane change by the peripheral vehicle is estimated by the estimation part;a control plan generation part that generates a control plan of the vehicle based on the virtual vehicle which is set by the virtual vehicle-setting part; anda travel control part that controls acceleration, deceleration, or steering of the vehicle based on the control plan which is generated by the control plan generation part.2. The vehicle control apparatus according to claim 1 ,wherein the virtual vehicle-setting part sets a state of the virtual vehicle based on information relating to a speed of the peripheral vehicle as the target of the estimation when the lane change by the peripheral vehicle is estimated by the estimation part.3. The vehicle control apparatus according to claim 1 ,wherein the virtual vehicle-setting part ...

TRAVELLING ASSIST APPARATUS

A travelling assist apparatus executing a collision avoidance control between other vehicle and an own vehicle is provided with an approach determination unit determining whether the other vehicle will enter an own lane from an adjacent lane of the own lane; a passing determination unit determining whether the other vehicle is able to pass across the own lane; an interruption determination unit determining whether the other vehicle interrupts the own lane; and a collision avoidance unit executing the collision avoidance control under a condition where the interruption determination unit determines that the other vehicle interrupts the own lane and the passing determination unit determines that the other vehicle is able to pass across the own lane, and executes the collision avoidance control regardless of a determination of the interruption determination unit, when the passing determination unit determines that the other vehicle is unable to pass across the own lane. 1. A travelling assist apparatus adapted for a vehicle provided with an object detection apparatus that detects an object near an own vehicle , an approach determination unit that determines whether the other vehicle will enter an own lane where the own vehicle travels, from an adjacent lane which is adjacent to the own lane;', 'a passing determination unit that determines whether the other vehicle is able to pass across the own lane;', 'an interruption determination unit that determines whether the other vehicle interrupts the own lane; and', 'a collision avoidance unit that executes the collision avoidance control, under a condition where the interruption determination unit has determined that the other vehicle will interrupt the own lane, when the passing determination unit determines that the other vehicle is able to pass across the own lane, and executes the collision avoidance control regardless of a determination of the interruption determination unit, when the passing determination unit ...

Autonomous vehicle tail alignment navigation

A system for navigating an autonomous vehicle along a road segment is disclosed. The system may have at least one processor. The processor may be programmed to receive from an image capture device, images representative of an environment of the autonomous vehicle. The processor may also be programmed to determine a travelled trajectory along the road segment based on analysis of the images. Further, the processor may be programmed to determine a current location of the autonomous vehicle along a predetermined road model trajectory based on analysis of one or more of the plurality of images. The processor may also be programmed to determine a heading direction based on the determined traveled trajectory. In addition, the processor may be programmed to determine a steering direction, relative to the heading direction, by comparing the traveled trajectory to the predetermined road model trajectory at the current location of the autonomous vehicle.

Sparse map for autonomous vehicle navigation

A non-transitory computer-readable medium is provided. The computer-readable medium includes a sparse map for autonomous vehicle navigation along a road segment. The sparse map includes a polynomial representation of a target trajectory for the autonomous vehicle along the road segment, and a plurality of predetermined landmarks associated with the road segment. The plurality of predetermined landmarks are spaced apart by at least 50 meters, and the sparse map has a data density of no more than 1 megabyte per kilometer.

Self-aware system for adaptive navigation

Systems and methods are provided for self-aware adaptive navigation. In one implementation, a navigation system for a vehicle may include at least one processor. The at least one processor may be programmed to determine a navigational maneuver for the vehicle based, at least in part, on a comparison of a motion of the vehicle with respect to a predetermined model representative of a road segment. The at least one processor may be further programmed to receive, from a camera, at least one image representative of an environment of the vehicle. The at least one processor may be further programmed to determine, based on analysis of the at least one image, an existence in the environment of the vehicle of an navigational adjustment condition, cause the vehicle to adjust the navigational maneuver based on the existence of the navigational adjustment condition, and store information relating to the navigational adjustment condition.

Bypass assistance

A method for bypass alert, the method may include obtaining sensed information about an environment of the first vehicle, by one of more vehicle sensors of a first vehicle; wherein the environment of the first vehicle comprises a passing lane and a current lane in which the first vehicle is positioned; determining whether a driver initiates a bypass of another vehicle to be bypassed, wherein the determining is made by a first machine learning process, and is based on at least one out of first vehicle parameters and the sensed information about the environment; determining that the first vehicle entered the passing lane; determining, by a second machine learning process, a determined time to collision (TTC) to an incoming vehicle that is located at the passing lane and drives towards the first vehicle; determining, based on at least on the determined TTC and an allowable TTC to provide a safety parameter of the bypass; and responding to the safety parameter.

REAL-TIME SYSTEM FOR AIDING DRIVERS DURING VEHICLE BACKUP AND IMAGE CAPTURE AND TRANSMITTER UNIT FOR USE THEREIN

A real-time surveillance system for aiding vehicle drivers and portable first unit for use therein is provided. The unit includes an image sensor that generates a sequence of images from received light. The system further includes a support to detachably support the unit on the vehicle so that the sensor is capable of receiving light from obstacles, hazards or individuals located in a blind spot region of the vehicle. A display is supported on the vehicle so that the images are viewable by a driver of the vehicle in real time. The system further includes a mechanism to authenticate a person desirous of using the system or removing the unit from the vehicle as an authorized person based, at least in part, on an authenticator. The authenticator includes at least one of a password, a passphrase, a personal identification number, a security token, a security card, and a biometric identifier. 128-. (canceled)29. For use with an on-board vehicle security system having capability to receive remote image data and inform the vehicle operator of an object or hazard out of the field of view of the operator based on the image data , a portable unit for aiding the operator , comprising:an image sensor that generates the remote image data from received light;a transmitter, operatively coupled to the image sensor, to transmit to the on-board vehicle security system a carrier signal modulated with the image data acquired within the field of view of the image sensor; andan authenticator for authenticating to the on-board vehicle security system the use of the portable unit with such security system.30. The unit of claim 29 , wherein the authenticator acts on at least one of a password claim 29 , a passphrase claim 29 , a personal identification number claim 29 , a security token claim 29 , and a biometric identifier.31. The unit of claim 30 , wherein the biometric identifier includes at least one of a fingerprint claim 30 , a retinal pattern claim 30 , an infrared vein pattern claim ...

Lane change system for platoon of vehicles

A platoon control system includes a platoon control in communication with a plurality of individual platoon vehicle controls associated with respective platoon vehicles of a platoon of vehicles traveling along an initial traffic lane. The platoon control determines if there is sufficient clearance in another lane for the platoon of vehicles. Responsive to the platoon control, the individual platoon vehicle controls control the respective platoon vehicles to maneuver the platoon vehicles from the initial traffic lane to the other lane in a manner that limits or substantially precludes other vehicles from interrupting the platoon of vehicles. Responsive to the platoon control, the individual platoon vehicle controls control the respective platoon vehicles so that the last platoon vehicle of the platoon of vehicles enters the other lane first and then the other platoon vehicles enter the other lane ahead of the last vehicle in a predetermined controlled manner.

DEMARCATION LINE RECOGNITION APPARATUS

A demarcation line recognition apparatus () is applied to a vehicle in which an imaging apparatus () that captures an image of an area ahead of the vehicle is mounted. The demarcation line recognition apparatus () includes: a demarcation line recognizing unit () that recognizes a traveling demarcation line that demarcates a traveling lane of the vehicle based on an image acquired by the imaging apparatus (); and a demarcation line estimating unit () that estimates a shape of the traveling demarcation line in a range that cannot be recognized by the demarcation line recognizing unit (), based on the traveling demarcation line recognized by the demarcation line recognizing unit (). The demarcation line recognition apparatus () determines a reliability level of the traveling demarcation line recognized by the demarcation line recognizing unit () and invalidates the estimation of the shape of the traveling demarcation line by the demarcation line estimating unit () based on the determination result. 1. A demarcation line recognition apparatus that is applied to a vehicle in which an imaging apparatus that captures an image of an area ahead of the vehicle is mounted , the demarcation line recognition apparatus comprising:a demarcation line recognizing unit that recognizes a traveling demarcation line that demarcates a traveling lane of the vehicle based on an image of the area ahead of the vehicle acquired by the imaging apparatus;a demarcation line estimating unit that estimates a shape of the traveling demarcation line in a range that cannot be recognized by the demarcation line recognizing unit, based on the traveling demarcation line recognized by the demarcation line recognizing unit;a reliability level determining unit that determines a reliability level of the traveling demarcation line recognized by the demarcation line recognizing unit; andan estimation invalidating unit that invalidates the estimation of the shape of the traveling demarcation line by the ...

Moving body recognition system

Using communication unit positional information acquired using infrastructure communication and moving body positional information detected using millimeter-wave radar, a moving body existing in a blind spot of a radar detection region is recognized, and behavior is predicted from movement information of the moving body, by deleting the moving body information detected by millimeter-wave radar from the communication unit information acquired using infrastructure communication.

Vehicle Collision Avoidance System and Method

A vehicle control system is disclosed that includes a forward-facing signal sensor operable to detect transmitted data signals reflecting a presence, relative distance and relative location of a first forward obstruction in front of a vehicle, an on-board vehicle status sensor configured to generate a status signal reflecting the speed of the vehicle, a processor to receive the transmitted data signals the forward obstruction and (2) the status sensor signals and (3) a relay signal receiver adapted to receive a signal from the forward obstruction and originating from a source remote from the forward obstruction, and a signal transmitter adapted to transmit information to a following vehicle, wherein the information includes the status signal and information from said forward facing signal sensor and the relay signal and the processor creates a vehicle control signal in response to a collision avoidance algorithm run by the processor that uses data from said forward facing signal detectors, the status signal and the relay signal in the event that said algorithm determines that a collision is imminent. 1. A system for providing input to a control system of a vehicle ,said system comprising a forward-facing signal sensor, said forward facing signal sensor operable to detect transmitted data signals reflecting a presence, relative distance and relative location of a first forward obstruction in or near a travel lane in front of said operating vehicle;an on-board vehicle status sensor configured to generate a status signal, wherein said status signal comprises the speed of said vehicle;a processor configured to receive said transmitted data signals from said forward Obstruction with a forward facing signal sensor and said status sensor and said processor adapted to process said transmitted data and said status operating information signal to determine a separate distance, a speed, and an acceleration or a deceleration of said forward obstruction with respect to said ...

Smart Tutorial that Learns and Adapts

An adaptive smart tutorial that assists in operating a vehicle is described. A situational profile for the vehicle including driver identity data is generated. The driver identity data includes respective usage frequency values corresponding to a plurality of assistance instructions. The situational profile is compared to a plurality of assistance profiles including aggregate identity data corresponding to the driver identity data, Based on the comparison, a plurality of similarity values corresponding to the plurality of assistance profiles indicating a level of similarity between the situational profile for the vehicle and a respective assistance profile of the plurality of assistance profiles is generated. An assistance instruction of the plurality of assistance instructions is selected depending upon a similarity value and a usage frequency value that corresponds to the assistance instruction. The assistance instruction is associated with one or more control system inputs for changing a control state of the vehicle. 1. A method of operating a vehicle , the method comprising:generating, by a processor, a situational profile for the vehicle including driver identity data, wherein the driver identity data includes respective usage frequency values corresponding to a plurality of assistance instructions;comparing, by the processor, the situational profile for the vehicle to a plurality of assistance profiles including aggregate identity data corresponding to the driver identity data;generating, by the processor and based on comparing the situational profile for the vehicle to the plurality of assistance profiles, a plurality of similarity values corresponding to the plurality of assistance profiles indicating a level of similarity between the situational profile for the vehicle and a respective assistance profile of the plurality of assistance profiles; andselecting, by the processor, an assistance instruction of the plurality of assistance instructions depending ...

Feedback system for vehicular end-to-end driving

The disclosure includes embodiments for improving driving commands for vehicular end-to-end driving. In some embodiments, a method for a connected vehicle includes receiving command data describing one or more driving commands for the connected vehicle. The method includes correcting the one or more driving commands to generate modified command data that describes one or more modified driving commands. The one or more modified driving commands control an operation of the connected vehicle to satisfy a trajectory safety requirement. The method includes modifying an operation of a vehicle control system of the connected vehicle based on the modified command data so that the connected vehicle operates based on the one or more modified driving commands.

V2X COMMUNICATION DEVICE AND METHOD FOR TRANSMITTING AND RECEIVING V2X MESSAGE THEREOF

Disclosed is a method for transmitting a vehicle-to-everything (V2X) message by a V2X communication device of a vehicle. The method for transmitting a V2X message by a V2X communication device of a vehicle comprises the steps of detecting a lane change of a target vehicle followed by the subject vehicle; setting a CACC mode on the basis of a preset operation determination for a lane change when the lane change of the target vehicle is detected; and transmitting a V2X message including information on the set CACC mode, wherein the CACC mode includes a single-lane CACC mode for providing a single-lane CACC service and a multi-lane CACC mode for providing a multi-lane CACC service. 1. A method of transmitting , by a vehicle-to-everything (V2X) communication device of a subject vehicle , a V2X message , the method comprising:detecting a lane change of a target vehicle followed by the subject vehicle;upon detecting the lane change of the target vehicle, setting a CACC mode based on a preset operation decision on the lane change; andtransmitting the V2X message including information for the set CACC mode, wherein the CACC mode includes a single lane CACC mode for providing a single lane CACC service and a multi-lane CACC mode for providing a multi-lane CACC service.2. The method of claim 1 , wherein the preset operation decision includes at least one of a decision not to follow the target vehicle having changed lanes claim 1 , a decision to keep following the target vehicle having changed lanes in the single lane CACC mode claim 1 , or a decision to keep following the target vehicle having changed lanes in the multi-lane CACC mode.3. The method of claim 1 , wherein the V2X message further includes target vehicle ID information for identifying an ID of the target vehicle.4. The method of claim 2 , further comprising:determining whether to change a lane based on the preset operation decision.5. The method of claim 4 , wherein determining whether to change the lane includes: ...

METAMATERIAL-BASED ADVANCED DETECTION AND WARNING SYSTEM

Embodiments of the present invention provide a vehicle-mountable advanced detection and warning system comprising at least one warning response and a wave transmitter having an emitter, a wave detector, and a metamaterial lens configured to bend and focus electromagnetic waves. The metamaterial lens focuses transmitted detection waves produced by the emitter in a specific range and frequency defined by a user. The transmitter forms a detection area. Once an object is detected within the detection area, the transmitter engages a warning indicator to alert the user of the object. A plurality of transmitters may also be attached to a vehicle and configured with variable detection ranges to form a proximity detection area surrounding the vehicle. 1. A vehicle-mountable advanced detection and warning system comprising:a. a transmitter having an emitter, a wave detector, and a metamaterial lens;b. at least one warning response in connection with the transmitter;c. wherein the emitter is configured to emit radio waves or microwaves.d. wherein the wave detector is configured to receive reflected waves originating from the emitter.e. wherein the metamaterial lens is configured to bend and focus transmitted detection waves produced by the emitter; andf. wherein the emitter, wave detector, and metamaterial lens of the transmitter form a detection area of the transmitter.2. The warning system of claim 1 , wherein the metamaterial lens comprises an overall plano-concave shape.3. The warning system of claim 2 , wherein the metamaterial lens is configured to focus electromagnetic waves at a specific frequency and a specific angle claim 2 , the frequency and the angle being defined by a user.4. The warning system of claim 3 , wherein the transmitter is configured to detect a velocity of an object located within the detection area of the transmitter.5. The warning system of claim 4 , wherein the transmitter is configured to detect a position of an object located within the detection ...

ROADSIDE DEVICE, ON-BOARD DEVICE, AND VEHICLE

A roadside device is configured to adapt to a vehicle road including at least a first lane and a second lane. The roadside device includes an input circuit configured to receive input of traffic light information of a traffic light for the first lane and an output circuit. The output circuit outputs the traffic light information, first road information corresponding to the first lane, second road information at least partially corresponding the second lane, and information that the second road information is substituted for the first road information. 1. A roadside device that is configured to adapt to a vehicle road including at least a first lane and a second lane , the roadside device comprising:an input circuit configured to receive input of traffic light information of a traffic light for the first lane; andan output circuit,wherein the output circuit outputs the traffic light information, first road information corresponding to the first lane, second road information at least partially corresponding the second lane, and information that the second road information is substituted for the first road information.2. The roadside device according to claim 1 , further comprisinga control circuit,wherein the control circuit executes control that the output circuit outputs the traffic light information, the first road information corresponding to the first lane, the second road information at least partially corresponding the second lane, and the information that the second road information is substituted for the first road information.3. The roadside device according to claim 1 , further comprisinga storage circuit,wherein the storage circuit stores the first road information and/or the second road information.4. The roadside device according to claim 1 , whereinthe output circuit includes an antenna, andthe antenna outputs the first road information, the second road information, and the information that the second road information is substituted for the first road ...

Vehicular trailer hitching assist system

A vehicular trailer hitching assist system includes a rear backup camera disposed at a rear portion of a vehicle and a control disposed in the vehicle. A display device includes a video display screen operable to display video images for viewing by a driver of the vehicle. During a hitching maneuver event undertaken by the driver to hitch a trailer hitch of the vehicle to a trailer tongue of a trailer, and while the driver of the vehicle is maneuvering the vehicle to hitch the vehicle to the trailer, the control outputs video images derived from image data captured by the rear backup camera for display by the video display screen. At least one overlay overlays the displayed video images to guide the driver during the hitching maneuver. The at least one overlay aids in guiding connection of the trailer hitch of the vehicle to the trailer tongue of the trailer.

INFORMATION DISPLAY SYSTEM

An information display system displaying different information on each of a plurality of display units includes: a sight line specifying portion that specifies a line of sight of a driver; a cognition display unit specifying portion that specifies, as a cognition display unit, one of the display units being in a direction of the line of sight; a non-cognition display unit specifying portion that specifies, as a non-cognition display unit, a different one of the display units; a priority order assignment portion that assigns a priority order to the non-cognition display unit or displayed information; and a guide process execution portion that executes a guide process in which the line of sight is guided to the non-cognition display unit or the display unit. 1. An information display system displaying different information on each of a plurality of display units , the information display system comprising:a sight line specifying portion that specifies a line of sight of a driver;a cognition display unit specifying portion that specifies, as a cognition display unit perceived by the driver, one of the display units being in a direction of the line of sight specified by the sight line specifying portion;a non-cognition display unit specifying portion that specifies, as a non-cognition display unit, a different one of the display units being not specified as the cognition display unit;a priority order assignment portion that assigns a priority order to the non-cognition display unit or displayed information displayed on the non-cognition display unit based on information displayed on the non-cognition display unit; anda guide process execution portion that, when the line of sight of the driver specified by the sight line specifying portion is not directed to the non-cognition display unit having a higher priority order or a display unit displaying the displayed information having a higher priority order after the priority order assignment portion has assigned the ...

IMAGE SENSORS FOR ADVANCED DRIVER ASSISTANCE SYSTEMS UTILIZING SAFETY PIXELS TO DETECT MALFUNCTIONS

An electronic device includes an array of image pixels, with the array of image pixels having inputs coupled to control lines and outputs coupled to output lines, and at least one array of dummy pixels, with the at least one array of dummy pixels having inputs coupled to the control lines. Each dummy pixel of the at least one array of dummy pixels is configured to provide a certain output signal in an absence of a fault with at least one of the control lines or of a fault with at least one of the output lines, such that a lack of output of the certain output signal by one or more of the dummy pixels of the at least one array of dummy pixels indicates the fault. 1. An electronic device , comprising:an array of image pixels having inputs coupled to control lines and outputs coupled to output lines;at least one array of dummy pixels having inputs coupled to the control lines;wherein each dummy pixel of the at least one array of dummy pixels is configured to provide a certain output signal in an absence of a fault with at least one of the control lines or in an absence of a fault with at least one of the output lines, such that a lack of output of the certain output signal by one or more of the dummy pixels of the at least one array of dummy pixels indicates the fault.2. The electronic device of claim 1 , wherein each pixel of the array of image pixels includes at least one photodiode claim 1 , each pixel of the array of image pixels being configured to generate an output voltage at its output as a function of light impinging upon the at least one photodiode; and wherein each pixel of the at least one array of dummy pixels includes an input receiving a different reference voltage that ultimately results in that pixel providing the certain output signal in an absence of the fault.3. The electronic device of claim 2 , further comprising a voltage divider coupled between first and second reference voltages and producing the different reference voltages that are received as ...

VEHICLE CONTROL DEVICE, VEHICLE CONTROL METHOD, AND VEHICLE CONTROL PROGRAM

A vehicle control device includes: a recognition unit configured to recognize a position of a neighboring vehicle traveling around a host vehicle; a target position setting unit configured to set a target position for lane change to a lane of a lane change destination to which the host vehicle changes a lane; a lane changeability determining unit configured to determine that it is possible to change lane when one or both of a first condition in which the neighboring vehicle is not present in a forbidden area which is set on a lateral side of the host vehicle and on the lane of the lane change destination and a second condition in which a collision margin time between the host vehicle and the neighboring vehicle present before or after the target position is larger than a threshold are satisfied; and a control unit configured to cause the host vehicle to change lane to the lane of the lane change destination when the lane changeability determining unit determines that it is possible to change the lane. 1. A vehicle control device comprising:a recognition unit configured to recognize a position of a neighboring vehicle traveling around a host vehicle;a target position setting unit configured to set a target position for lane change to a lane of a lane change destination to which the host vehicle changes a lane;a lane changeability determining unit configured to determine that it is possible to change lane when one or both of a first condition in which the neighboring vehicle is not present in a forbidden area which is set on a lateral side of the host vehicle and on the lane of the lane change destination such that a predetermined distance margin is set on a front side and a rear side in relation to the host vehicle and the distance margin on the front side is longer than the distance margin on the rear side and a second condition in which a collision margin time between the host vehicle and the neighboring vehicle present before or after the target position is larger ...

VEHICLE CONTROL DEVICE, VEHICLE CONTROL METHOD, AND VEHICLE CONTROL PROGRAM

This vehicle control device is provided with: a detection unit configured to detect surrounding vehicles traveling in the surroundings of the host vehicle; a first estimation unit configured to estimate the future position in the travelling direction of the aforementioned surrounding vehicles detected by the detection unit; a correction unit configured to correct the distribution of the future position in the travelling direction of the surrounding vehicles estimated by the first estimation unit; said distribution having a spread in the travelling direction with an elapse of time; and a control unit configured to, on the basis of the distribution of the surrounding vehicles corrected by the correction unit, generate a target trajectory of the host vehicle for changing lanes while avoiding the aforementioned surrounding vehicles which are traveling in adjacent lanes adjacent to the host vehicle. 1. A vehicle control device comprising:a detection unit configured to detect surrounding vehicles traveling around a host vehicle;a first estimation unit configured to estimate future locations in a travelling direction of the surrounding vehicles detected by the detection unit;a correction unit configured to correct a distribution of the future locations in the travelling direction of the surrounding vehicles estimated by the first estimation unit, the distribution having a spread in the travelling direction with an elapse of time; anda control unit configured to, on the basis of the distribution of the surrounding vehicles corrected by the correction unit, generate a target trajectory of the host vehicle for changing lanes while avoiding the surrounding vehicles traveling on lanes adjacent to a host lane.2. The vehicle control device according to claim 1 , wherein the correction unit corrects the distribution such that an edge of the distribution approaches a side which interferes with a lane change destination of the host vehicle on the basis of relative locations between ...

VEHICLE PARKING ASSIST SYSTEM WITH VISION-BASED PARKING SPACE DETECTION

A parking assist system of a vehicle includes a camera that, when disposed at the vehicle, has a field of view exterior of the vehicle. An image processor is operable to process image data captured by the camera to detect parking space markers indicative of a parking space and to identify empty or available parking spaces. The image processor includes a parking space detection algorithm that detects parking space markers by (i) extracting low level features from captured image data, (ii) classifying pixels as being part of a parking space line or not part of a parking space line, (iii) performing spatial line fitting to find lines in the captured images and to apply parking space geometry constraints, and (iv) detecting and selecting rectangles in the captured images. 1. A parking assist system of a vehicle , said parking assist system comprising:a camera configured to be disposed at a vehicle, wherein said camera, when disposed at the vehicle, has a field of view exterior of the vehicle;an image processor operable to process image data captured by said camera;wherein said image processor processes captured image data to detect parking space markers indicative of a parking space and to identify empty or available parking spaces; andwherein said image processor comprises a parking space detection algorithm that detects parking space markers by (i) extracting low level features from captured image data, (ii) classifying pixels as being part of a parking space line or not part of a parking space line, (iii) performing spatial line fitting to find lines in the captured images and to apply parking space geometry constraints, and (iv) detecting and selecting rectangles in the captured images.2. The parking assist system of claim 1 , wherein said camera comprises a pixelated imaging array having a plurality of photosensing elements.3. The parking assist system of claim 2 , wherein said camera comprises a grayscale camera.4. The parking assist system of claim 1 , wherein ...

ROAD SHOULDER-DETECTING SYSTEM AND TRANSPORTATION VEHICLE FOR MINING

To provide a road shoulder-detecting system which can accurately measure the orientation of a vehicle relative to a road shoulder and the distance to the road shoulder. The present invention includes road shoulder-detecting units to scan a road surface A in front of a vehicle in the traveling direction of the vehicle and detect a road shoulder B located on the road surface A and a road shoulder-measuring device to measure the orientation of the vehicle relative to the road shoulder B detected by the road shoulder-detecting units and the distance to the road shoulder B; and the two road shoulder-detecting units are installed on the traveling direction side of the vehicle . The two road shoulder-detecting units are installed in a higher position than the upper ends of front wheels d. 1. A road shoulder-detecting system comprising:a road shoulder-detecting unit configured to scan, in a traveling direction of a vehicle, a road surface in front of the vehicle and detect a road shoulder located on the road surface; anda road shoulder-measuring unit configured to measure an orientation of the vehicle relative to the road shoulder detected by the road shoulder-detecting unit and a distance to the road shoulder, whereintwo units of the road shoulder-detecting unit are installed on a traveling direction side of the vehicle.2. The road shoulder-detecting system according to claim 1 , whereinthe two road shoulder-detecting units are each structured to linearly scan a distance to the road surface in front of the vehicle in the traveling direction at every given angle with each of the road shoulder-detecting units as a center and are installed so that a scanning line on the road surface by one of the road shoulder-detecting units and a scanning line on the road surface by the other road shoulder-detecting unit intersect each other.3. The road shoulder-detecting system according to claim 1 , further comprising:a memory unit storing a road shoulder shape of a road on which the ...

AUTOMATIC DRIVE ASSIST DEVICE, METHOD, AND PROGRAM FOR A VEHICLE

Automated drive assisting devices, methods, and programs for a vehicle acquire road information including information on a lane change prohibited section of a road on which the vehicle travels, and determine whether a lane change is to be made at a branch point for guidance positioned ahead of the vehicle during automated drive. The devices, methods, and programs determine, based on the road information, whether the vehicle is traveling on a road with the lane change prohibited section. When it is determined that a lane change is to be made at the branch point for guidance and the vehicle is traveling on the road on with the lane change prohibited section, the devices, methods, and programs cause the vehicle to make a lane change in a section other than the lane change prohibited section before the branch point for guidance. 1. An automated drive assist device for a vehicle , the device comprising: acquire road information that includes information on a lane change prohibited section of a road on which the vehicle travels;', 'determine whether or not a lane change is to be made at a branch point for guidance positioned ahead of the vehicle during automated drive;', 'determine, on the basis of the road information, whether or not the vehicle is traveling on a road on which the lane change prohibited section is present; and, 'a processor programmed to prohibit the vehicle from making a lane change in the lane change prohibited section; and', 'cause the vehicle to make a lane change in a section other than the lane change prohibited section before the branch point for guidance., 'in the case where it is determined that a lane change is to be made at the branch point for guidance and the vehicle is traveling on the road on which the lane change prohibited section is present2. The automated drive assist device according to claim 1 , wherein the processor is programmed to:determine whether or not a distance of a section from the vehicle to the branch point for guidance ...

VEHICLE CONTROL DEVICE MOUNTED ON VEHICLE AND METHOD FOR CONTROLLING THE VEHICLE

A vehicle control device for a vehicle includes: a communication unit configured to receive vehicle-to-everything (V2X) information, the V2X information including position data; and a control unit configured to generate a control signal associated with driving of the vehicle based on the V2X information. The control unit generates the control signal associated with driving of the vehicle by: determining an expected driving route of the vehicle; based on the determination of the expected driving route of the vehicle, determining a region of interest; and based on the determination of the region of interest, selectively receiving first V2X information associated with the region of interest by: transmitting, through the communication unit, a request for transmission of the first V2X information associated with the region of interest to communication-enabled devices; and receiving, through the communication unit, the first V2X information transmitted by the communication-enabled devices. 1. A vehicle control device for a vehicle , the vehicle control device comprising:a communication unit configured to receive vehicle-to-everything (V2X) information, the V2X information comprising position data; anda control unit configured to generate a control signal associated with driving of the vehicle based on the V2X information, determining an expected driving route of the vehicle;', 'based on the determination of the expected driving route of the vehicle, determining a region of interest; and', transmitting, through the communication unit, a request for transmission of the first V2X information associated with the region of interest to communication-enabled devices; and', 'receiving, through the communication unit, the first V2X information transmitted by the communication-enabled devices., 'based on the determination of the region of interest, selectively receiving first V2X information associated with the region of interest by], 'wherein the control unit generates the control ...

METHOD AND APPARATUS FOR INDICATING VEHICLE MOVING STATE

The present disclosure discloses embodiments of methods and apparatuses for indicating a vehicle moving state. In some embodiments, a method includes receiving a vehicle driving instruction; detecting a driving environment outside the vehicle; determining a driving strategy for executing the vehicle driving instruction in the driving environment; determining a driving track instructed by the driving strategy; and projecting the driving track on a road when the driving environment satisfies a preset condition. This implementation can clearly indicate the position that a vehicle is about to occupy, thereby improving the effect of interaction between the vehicle and other vehicles or pedestrians. 1. A method for indicating a vehicle moving state , comprising:receiving a vehicle driving instruction;detecting a driving environment outside the vehicle;determining a driving strategy for executing the vehicle driving instruction in the driving environment;determining a driving track instructed by the driving strategy; andprojecting the driving track on a road when the driving environment satisfies a preset condition.2. The method according to claim 1 , wherein detecting the driving environment outside the vehicle comprises:detecting a current position of the vehicle, information about a road the vehicle being on, and a position of an obstacle outside the vehicle by using a detecting apparatus disposed on the vehicle.3. The method according to claim 2 , wherein determining the driving strategy for executing the vehicle driving instruction in the driving environment comprises:determining a target position to be reached by executing the vehicle driving instruction; anddetermining a vehicle driving distance and a vehicle turning angle required for avoiding the obstacle during driving from the current position to the target position, based on the current position, the position of the obstacle, and the target position.4. The method according to claim 3 , wherein determining the ...

Driving system for vehicle and vehicle

Disclosed is a driving system for a vehicle, including: an object detector configured to generate object information which is information about an object located outside the vehicle; and a processor configured to determine a driving lane for the vehicle based on a preset priority order and the object information, and when it is determined that a preset event has occurred, change the priority order based on the object information.

APPARATUS AND METHOD FOR REMINDING VEHICLE LANE CHANGE AND VEHICLE

This disclosure provides an apparatus and method for reminding a vehicle lane change and a vehicle. The apparatus for reminding a vehicle lane change comprises: an image capturing member configured to capture an identification code image of a target vehicle; an image processing member configured to determine an identification code of the target vehicle based on the identification code image; an input member configured to receive lane change direction information input by a user; and a first communication member configured to send lane change information including the identification code of the target vehicle and the lane change direction information. 1. An apparatus for reminding a vehicle lane change comprising:an image capturing member configured to capture an identification code image of a target vehicle;an image processing member configured to determine an identification code of the target vehicle based on the identification code image;an input member configured to receive lane change direction information input by a user; anda first communication member configured to send lane change information including the identification code of the target vehicle and the lane change direction information.2. The apparatus for reminding a vehicle lane change according to claim 1 ,wherein the first communication member is further configured to receive the lane change information sent by other vehicles, and the apparatus for reminding a vehicle lane change further comprises:a reminding member configured to send a lane change reminder; anda control member configured to encode the identification code of the target vehicle in the lane change information sent by other vehicles to generate identification code information of the target vehicle, and determine whether to control the reminding member to start based on the identification code information of the target vehicle and preset identification code information of the present vehicle.3. The apparatus for reminding a vehicle lane ...

Vision system for vehicle

A vision system for a vehicle includes a forward viewing camera. Responsive at least in part to processing by an image processor of image data captured by the forward viewing camera, at least one road characteristic of a road along which the vehicle is traveling is detected. Responsive at least in part to processing by the image processor of image data captured by the forward viewing camera, other vehicles exterior the equipped vehicle are detected. Responsive at least in part to processing by the image processor of image data captured by the forward viewing camera, road curvature of the road along which the vehicle is traveling is determined. Data derived from image data captured by the forward viewing camera may be wirelessly communicated from the vehicle to a remote data receiver located remote from the vehicle.

Method, System, and Device for Forward Vehicular Vision

A method, system, and device for forward vehicular vision, permitting a user to view forward of the vehicle. The device provides the visual field forward of the vehicle and also extends the visual field to view areas, regions, and/or objects which are positioned forwardly to allow a line of sight that might otherwise be blocked by an obstruction causing a blocked angle. 1. A method for obtaining and displaying at least one forward image to be viewed by a user , said method comprising:providing at least one image input apparatus;disposing said at least one image input apparatus upon a vehicle, effective to obtain an image or images;providing at least one image output means;presenting said at least one image output means in a manner effective to display at least a portion of the image or images;whereby said image or images directly display to the user a visual field forward of the vehicle, the visual field forward of the vehicle including areas that would otherwise be blocked by an obstruction in front of the vehicle.2. A system of forward-viewing for a user , comprising:at least one image input apparatus attached to a vehicle and having a field of view directed substantially forwardly of the vehicle;at least one image output means viewable by the user, which displays a field of view directed substantially forwardly of the vehicle;whereby said image or images directly display to the user a visual field forward of the vehicle, the visual field forward of the vehicle including areas that would otherwise be blocked by an obstruction in front of the vehicle.3. A forward-view device for permitting a user to see forward of a vehicle , the device comprising:at least one image input apparatus attached to said vehicle which obtains a field of view directed substantially forwardly of the vehicle;at least one image output means viewable by the user which displays a field of view directed substantially forwardly of the vehicle;whereby said image or images directly display to the ...

ENHANCED VEHICLE OPERATION

A computer includes a processor and a memory, the memory storing instructions executable by the processor to collect steering, speed, and position data about a plurality of vehicles from one or more infrastructure sensors, identify a vehicle that varies from a specified position in a roadway lane relative to a roadway lane marker or exceeds a threshold speed based on the collected data, instruct the identified vehicle to move to a side of a roadway, and send a message to a central server including an identification of the vehicle. 1. A system , comprising a computer including a processor and a memory , the memory storing instructions executable by the processor to:collect steering, speed, and position data about a plurality of vehicles from one or more infrastructure sensors;identify a vehicle that varies from a specified position in a roadway lane relative to a roadway lane marker or exceeds a threshold speed based on the collected data;instruct the identified vehicle to move to a side of a roadway; andsend a message to a central server including an identification of the vehicle.2. The system of claim 1 , wherein the instructions further include instructions to identify the vehicle when the speed of one of the plurality of vehicles exceeds a posted speed limit.3. The system of claim 1 , wherein the instructions further include instructions to identify the vehicle when one of the plurality of vehicles moves toward a first roadway lane marking and then moves toward a second roadway lane marking laterally disposed from the first roadway lane marking.4. The system of claim 1 , wherein the instructions further include instructions to identify the vehicle when one of the plurality of vehicles moves into a portion of a roadway where vehicles are not permitted to operate.5. The system of claim 1 , wherein the instructions further include instructions to collect data about the plurality of vehicles from one or more of the plurality of vehicles.6. The system of claim 1 , ...

BEAM TRACKING METHOD AND APPARATUS

A beam tracking method and apparatus, describes that, during vehicle platooning, following vehicles have a low reliability of receiving a beam signal and a low speed of discovering a beam signal. Said method includes: receiving first position information of a designated vehicle obtaining, on the basis of the first position information and second position information of a following vehicle, relative position information of the designated vehicle and the following vehicle; and tracking, according to the relative position information, a beam transmitted by the designated vehicle. 1. A beam tracking method , applied to a following vehicle in vehicle platooning and comprising:receiving first position information of a designated vehicle;obtaining relative position information of the designated vehicle and the following vehicle based on the first position information and second position information of the following vehicle;tracking a beam sent by the designated vehicle based on the relative position information.2. The method of claim 1 , wherein the first position information and the second position information each comprises at least one of:longitude and latitude information;lane information; orheight information;wherein the height information is a height of the designated vehicle or the following vehicle relative to a preset horizontal position.3. The method of claim 2 , wherein the obtaining relative position information of the designated vehicle and the following vehicle based on the first position information and second position information of the following vehicle claim 2 , comprises:calculating a vector angle of the following vehicle relative to the designated vehicle based on longitude and latitude information in the first position information and longitude and latitude information in the second position information to obtain the relative position information.4. The method of claim 2 , wherein the obtaining relative position information of the designated vehicle ...

METHODS AND SYSTEMS FOR DETERMINING LANE HEALTH FROM AN AUTONOMOUS VEHICLE

Systems and method are provided for controlling an autonomous vehicle. In one embodiment, a method includes: receiving, by a processor, sensor data associated with an environment of a first autonomous vehicle; determining, by a processor, lane health information based on the sensor data; and selectively controlling, by a processor, a second autonomous vehicle based on the lane health information. 1. A method of controlling an autonomous vehicle , comprising:receiving, by a processor, sensor data associated with an environment of a first autonomous vehicle;determining, by a processor, lane health information based on the sensor data; andselectively controlling, by a processor, a second autonomous vehicle based on the lane health information.2. The method of claim 1 , wherein the sensor data is obtained by at least one of a lidar claim 1 , a radar claim 1 , and a camera that senses an environment of the autonomous vehicle.3. The method of claim 1 , further comprising processing the sensor data to determine map data associated with the environment claim 1 , and wherein the determining the lane health is based on the map data associated with the environment.4. The method of claim 1 , further comprising processing the sensor data to determine observation data associated with the vehicle claim 1 , wherein the observation data includes at least one of vehicle data claim 1 , road data claim 1 , and activity data.5. The method of claim 1 , further comprising processing the sensor data to determine object data associated with the environment claim 1 , and wherein the determining the lane health is based on the object data associated with the environment.6. The method of claim 5 , wherein the object data includes at least one of object speed data claim 5 , object acceleration data claim 5 , and object classification data.7. The method of claim 1 , further comprising processing the sensor data to determine vehicle location data in relation to the environment claim 1 , and ...

Adaptive vehicle control systems and methods of altering a condition of a vehicle using the same

An adaptive vehicle control system that includes processors, memory modules communicatively coupled to the processors, and machine readable instructions stored in the one or more memory modules that cause the adaptive vehicle control system to determine an autonomous operation profile of a target vehicle positioned in a vehicle operating environment, wherein the vehicle operating environment includes a roadway having one or more lanes, determine an autonomous operation profile of one of more neighboring vehicles positioned within the vehicle operating environment, compare the autonomous operation profile of at least one of the one or more neighboring vehicles with the autonomous operation profile of the target vehicle, and alter a condition of the target vehicle such that the autonomous operation profile of the target vehicle matches an autonomous operation profile of an individual neighboring vehicle of the one or more neighboring vehicles positioned in the same lane as the target vehicle.