IP Library › Granted Patent US 12,367,687
Granted Patent B2
US 12,367,687 · App. 18/464,357 · Granted Jul 22, 2025

Vehicular lane keeping system

Inventors: William J. Chundrlik, Jr. (Rochester Hills, MI); Dominik Raudszus (Aachen, DE); Christopher L. Van Dan Elzen (Rochester, MI)
Assignee: MAGNA ELECTRONICS INC.
G06V20/588G08G1/0962G08G1/165G08G1/166G08G1/167B60R2300/302B60R2300/607B60R2300/804B60R2300/8093
View Patent ↗
Loading inventors, assignments & file history…
Monitor This Case
Get email alerts when status or documents change.
Order Certified Copies
Most orders are placed with the USPTO same day — all within 24 business hours.
Order via The Patent Place →
Pre-filled with this patent's details
Quick Facts
Patent No.
US 12,367,687
App. No.
18/464,357
Granted
Jul 22, 2025
Kind
B2
Abstract

A vehicular lane keeping system includes a forward-viewing camera disposed at a windshield of a vehicle and an electronic control unit (ECU). The ECU is operable to (i) process map data relating to a current geographic location of the vehicle and (ii) process vehicle information relating to current operation of the vehicle in a traffic lane of a road. Responsive to (i) processing of image data captured by the forward-viewing camera and (ii) processing of the map data and (iii) processing of the vehicle information, the vehicular lane keeping system determines a path of travel for the vehicle that keeps the vehicle in the traffic lane during situations where lane markings are not readily determinable. The vehicular lane keeping system determines the path of travel even when no lane markings are present on the road. The vehicular lane keeping system maintains the vehicle along the determined path of travel.

Claims (56)

1. A vehicular lane keeping system, said vehicular lane keeping system comprising:

a forward-viewing camera disposed at a windshield of a vehicle equipped with said vehicular lane keeping system, said forward-viewing camera viewing through the windshield forward of the equipped vehicle;

wherein said forward-viewing camera comprises a lens and an imaging array;

wherein said imaging array comprises at least one million photosensor elements arranged in rows and columns;

an electronic control unit (ECU) comprising an image processor;

wherein image data captured by said forward-viewing camera is provided to said ECU;

wherein said ECU is operable to process image data captured by said forward-viewing camera;

wherein map data relating to a current geographic location of the equipped vehicle is provided to said ECU;

wherein said ECU is operable to process the map data relating to the current geographic location of the equipped vehicle;

wherein vehicle information relating to current operation of the equipped vehicle in a traffic lane of a road that the equipped vehicle is travelling along is provided to said ECU;

wherein said ECU is operable to process the vehicle information relating to current operation of the equipped vehicle;

wherein, responsive to processing at said ECU of image data captured by said forward-viewing camera and responsive to processing at said ECU of map data relating to the current geographic location of the equipped vehicle and responsive to processing at said ECU of vehicle information relating to the current operation of the equipped vehicle, said vehicular lane keeping system determines a path of travel for the equipped vehicle that keeps the equipped vehicle in the traffic lane in which the equipped vehicle is traveling along during situations where lane markings demarcating the traffic lane in which the equipped vehicle is traveling along are not readily determinable;

wherein said vehicular lane keeping system determines the path of travel of the equipped vehicle even when no lane markings are present on the road ahead of the equipped vehicle;

wherein said vehicular lane keeping system maintains the equipped vehicle along the determined path of travel that keeps the equipped vehicle in the traffic lane in which the equipped vehicle is traveling along; and

wherein image data captured by said forward-viewing camera is processed at said ECU by said image processor for a traffic sign recognition system of the equipped vehicle and for a headlamp control system of the equipped vehicle and for a pedestrian detection system of the equipped vehicle and for a collision avoidance system of the equipped vehicle and for a lane centering system of the equipped vehicle.

2. The vehicular lane keeping system of claim 1 , wherein, responsive to processing at said ECU of image data captured by said forward-viewing camera and responsive to processing at said ECU of map data relating to the current geographic location of the equipped vehicle and responsive to processing at said ECU of vehicle information relating to the current operation of the equipped vehicle, said vehicular lane keeping system maintains the equipped vehicle along the determined path of travel that keeps the equipped vehicle in the traffic lane in which the equipped vehicle is traveling along during situations where the lane markings demarcating the traffic lane in which the equipped vehicle is traveling along are lost by said forward-viewing camera for a period of time.

3. The vehicular lane keeping system of claim 1 , wherein, responsive to processing at said ECU of image data captured by said forward-viewing camera and responsive to at least one of (i) a map input from a digital map to said ECU and (ii) a location input from a global positioning system to said ECU, said ECU determines the path of travel for the equipped vehicle that keeps the equipped vehicle in the traffic lane in which the equipped vehicle is traveling along during situations where the lane markings demarcating the traffic lane in which the equipped vehicle is traveling along are lost by said forward-viewing camera as the equipped vehicle crosses an intersection.

4. The vehicular lane keeping system of claim 1 , wherein, responsive to processing at said ECU of image data captured by said forward-viewing camera and responsive to processing at said ECU of map data relating to the current geographic location of the equipped vehicle and responsive to processing at said ECU of vehicle information relating to the current operation of the equipped vehicle, said ECU determines the path of travel for the equipped vehicle that keeps the equipped vehicle in the traffic lane in which the equipped vehicle is traveling along during situations where lane markings are erroneously determined by processing at said ECU of captured image data alone.

5. The vehicular lane keeping system of claim 1 , wherein, responsive to processing at said ECU of image data captured by said forward-viewing camera and responsive to processing at said ECU of map data relating to the current geographic location of the equipped vehicle and responsive to processing at said ECU of vehicle information relating to the current operation of the equipped vehicle, said ECU determines the path of travel for the equipped vehicle that keeps the equipped vehicle in the traffic lane in which the equipped vehicle is traveling along during situations where processing at said ECU of image data alone determines lane markings that are not demarcating the traffic lane in which the equipped vehicle is traveling along.

6. The vehicular lane keeping system of claim 1 , wherein the map data relating to the current geographic location of the equipped vehicle is provided from a digital map pertaining to the road along which the equipped vehicle is traveling.

7. The vehicular lane keeping system of claim 1 , wherein the vehicle information relating to the current operation of the equipped vehicle comprises at least one selected from the group consisting of (i) vehicle speed, (ii) vehicle differential wheel speeds, (iii) vehicle steering data and (iv) vehicle yaw rate.

8. The vehicular lane keeping system of claim 7 , wherein the vehicle information relating to the current operation of the equipped vehicle is provided to said ECU via a vehicle communication bus of the equipped vehicle.

9. The vehicular lane keeping system of claim 8 , wherein said vehicle communication bus comprises a Controller Area Network (CAN) communication bus.

10. The vehicular lane keeping system of claim 1 , wherein said vehicular lane keeping system adjusts processing at said ECU of image data captured by said forward-viewing camera responsive at least in part to a driving situation that the equipped vehicle is in.

11. The vehicular lane keeping system of claim 10 , wherein the driving situation comprises at least one driving situation selected from the group consisting of (i) the equipped vehicle cresting a hill, (ii) the equipped vehicle crossing an intersection, (iii) the equipped vehicle passing an entrance ramp and (iv) the equipped vehicle passing an exit ramp.

12. The vehicular lane keeping system of claim 1 , wherein image data captured by said forward-viewing camera is processed at said ECU by said image processor for a plurality of driver assistance systems of the equipped vehicle.

13. The vehicular lane keeping system of claim 12 , wherein said image processor comprises an image processing chip.

14. A vehicular lane keeping system, said vehicular lane keeping system comprising:

a forward-viewing camera disposed at a windshield of a vehicle equipped with said vehicular lane keeping system, said forward-viewing camera viewing through the windshield forward of the equipped vehicle;

wherein said forward-viewing camera comprises a lens and an imaging array;

wherein said imaging array comprises at least one million photosensor elements arranged in rows and columns;

an electronic control unit (ECU) comprising an image processor;

wherein image data captured by said forward-viewing camera is provided to said ECU;

wherein said ECU is operable to process image data captured by said forward-viewing camera;

wherein map data relating to a current geographic location of the equipped vehicle is provided to said ECU;

wherein said ECU is operable to process the map data relating to the current geographic location of the equipped vehicle;

wherein vehicle information relating to current operation of the equipped vehicle in a traffic lane of a road that the equipped vehicle is travelling along is provided to said ECU;

wherein the vehicle information relating to the current operation of the equipped vehicle is provided to said ECU via a vehicle communication bus of the equipped vehicle;

wherein said ECU is operable to process the vehicle information relating to current operation of the equipped vehicle;

wherein the vehicle information relating to the current operation of the equipped vehicle comprises at least one selected from the group consisting of (i) vehicle speed, (ii) vehicle differential wheel speeds, (iii) vehicle steering data and (iv) vehicle yaw rate;

wherein, responsive to processing at said ECU of image data captured by said forward-viewing camera and responsive to processing at said ECU of map data relating to the current geographic location of the equipped vehicle and responsive to processing at said ECU of vehicle information relating to the current operation of the equipped vehicle, said vehicular lane keeping system determines a path of travel for the equipped vehicle that keeps the equipped vehicle in the traffic lane in which the equipped vehicle is traveling along during situations where lane markings demarcating the traffic lane in which the equipped vehicle is traveling along are not readily determinable;

wherein said vehicular lane keeping system determines the path of travel of the equipped vehicle even when no lane markings are present on the road ahead of the equipped vehicle;

wherein said vehicular lane keeping system maintains the equipped vehicle along the determined path of travel that keeps the equipped vehicle in the traffic lane in which the equipped vehicle is traveling along; and

wherein image data captured by said forward-viewing camera is processed at said ECU by said image processor for a traffic sign recognition system of the equipped vehicle and for a headlamp control system of the equipped vehicle and for a pedestrian detection system of the equipped vehicle and for a collision avoidance system of the equipped vehicle and for a lane centering system of the equipped vehicle.

15. The vehicular lane keeping system of claim 14 , wherein, responsive to processing at said ECU of image data captured by said forward-viewing camera and responsive to processing at said ECU of map data relating to the current geographic location of the equipped vehicle and responsive to processing at said ECU of vehicle information relating to the current operation of the equipped vehicle, said vehicular lane keeping system maintains the equipped vehicle along the determined path of travel that keeps the equipped vehicle in the traffic lane in which the equipped vehicle is traveling along during situations where the lane markings demarcating the traffic lane in which the equipped vehicle is traveling along are lost by said forward-viewing camera for a period of time.

16. The vehicular lane keeping system of claim 14 , wherein, responsive to processing at said ECU of image data captured by said forward-viewing camera and responsive to at least one of (i) a map input from a digital map to said ECU and (ii) a location input from a global positioning system to said ECU, said ECU determines the path of travel for the equipped vehicle that keeps the equipped vehicle in the traffic lane in which the equipped vehicle is traveling along during situations where the lane markings demarcating the traffic lane in which the equipped vehicle is traveling along are lost by said forward-viewing camera as the equipped vehicle crosses an intersection.

17. The vehicular lane keeping system of claim 14 , wherein, responsive to processing at said ECU of image data captured by said forward-viewing camera and responsive to processing at said ECU of map data relating to the current geographic location of the equipped vehicle and responsive to processing at said ECU of vehicle information relating to the current operation of the equipped vehicle, said ECU determines the path of travel for the equipped vehicle that keeps the equipped vehicle in the traffic lane in which the equipped vehicle is traveling along during situations where lane markings are erroneously determined by processing at said ECU of captured image data alone.

18. The vehicular lane keeping system of claim 14 , wherein, responsive to processing at said ECU of image data captured by said forward-viewing camera and responsive to processing at said ECU of map data relating to the current geographic location of the equipped vehicle and responsive to processing at said ECU of vehicle information relating to the current operation of the equipped vehicle, said ECU determines the path of travel for the equipped vehicle that keeps the equipped vehicle in the traffic lane in which the equipped vehicle is traveling along during situations where processing at said ECU of image data alone determines lane markings that are not demarcating the traffic lane in which the equipped vehicle is traveling along.

19. The vehicular lane keeping system of claim 14 , wherein the map data relating to the current geographic location of the equipped vehicle is provided from a digital map pertaining to the road along which the equipped vehicle is traveling.

20. The vehicular lane keeping system of claim 14 , wherein the vehicle information relating to the current operation of the equipped vehicle comprises vehicle speed and vehicle steering data.

21. The vehicular lane keeping system of claim 20 , wherein the vehicle information relating to the current operation of the equipped vehicle comprises vehicle yaw rate.

22. The vehicular lane keeping system of claim 14 , wherein said vehicle communication bus comprises a Controller Area Network (CAN) communication bus.

23. The vehicular lane keeping system of claim 14 , wherein said vehicular lane keeping system adjusts processing at said ECU of image data captured by said forward-viewing camera responsive at least in part to a driving situation that the equipped vehicle is in.

24. The vehicular lane keeping system of claim 23 , wherein the driving situation comprises at least one driving situation selected from the group consisting of (i) the equipped vehicle cresting a hill, (ii) the equipped vehicle crossing an intersection, (iii) the equipped vehicle passing an entrance ramp and (iv) the equipped vehicle passing an exit ramp.

25. The vehicular lane keeping system of claim 14 , wherein image data captured by said forward-viewing camera is processed at said ECU by said image processor for a plurality of driver assistance systems of the equipped vehicle.

26. The vehicular lane keeping system of claim 25 , wherein said image processor comprises an image processing chip.

Continuity (6)
Continuation 17656064 · Mar 23, 2022
Continuation 16946279 · Jun 15, 2020
Continuation 16105218 · Aug 20, 2018
Continuation 15446221 · Mar 1, 2017
Provisional Application 62305216 · Mar 8, 2016
Related Publication 20230419689A1 · Dec 28, 2023
References Cited (306)
US 5168378A · Black · 1992 [cited by applicant]
US 5170374A · Shimohigashi et al. · 1992 [cited by applicant]
US 5172235A · Wilm et al. · 1992 [cited by applicant]
US 5177685A · Davis et al. · 1993 [cited by applicant]
US 5182502A · Slotkowski et al. · 1993 [cited by applicant]
US 5184956A · Langlais et al. · 1993 [cited by applicant]
US 5189561A · Hong · 1993 [cited by applicant]
US 5193000A · Lipton et al. · 1993 [cited by applicant]
US 5289182A · Brillard et al. · 1994 [cited by applicant]
US 5289321A · Secor · 1994 [cited by applicant]
US 5305012A · Faris · 1994 [cited by applicant]
US 5307136A · Saneyoshi · 1994 [cited by applicant]
US 5309137A · Kajiwara · 1994 [cited by applicant]
US 5313072A · Vachss · 1994 [cited by applicant]
US 5325096A · Pakett · 1994 [cited by applicant]
US 5325386A · Jewell et al. · 1994 [cited by applicant]
US 5329206A · Slotkowski et al. · 1994 [cited by applicant]
US 5331312A · Kudoh · 1994 [cited by applicant]
US 5336980A · Levers · 1994 [cited by applicant]
US 5341437A · Nakayama · 1994 [cited by applicant]
US 5351044A · Mathur et al. · 1994 [cited by applicant]
US 5355118A · Fukuhara · 1994 [cited by applicant]
US 5374852A · Parkes · 1994 [cited by applicant]
US 5386285A · Asayama · 1995 [cited by applicant]
US 5394333A · Kao · 1995 [cited by applicant]
US 5410346A · Saneyoshi et al. · 1995 [cited by applicant]
US 5414257A · Stanton · 1995 [cited by applicant]
US 5414461A · Kishi et al. · 1995 [cited by applicant]
US 5416478A · Morinaga · 1995 [cited by applicant]
US 5424952A · Asayama · 1995 [cited by applicant]
US 5426294A · Kobayashi et al. · 1995 [cited by applicant]
US 5430431A · Nelson · 1995 [cited by applicant]
US 5434407A · Bauer et al. · 1995 [cited by applicant]
US 5440428A · Hegg et al. · 1995 [cited by applicant]
US 5444478A · Lelong et al. · 1995 [cited by applicant]
US 5451822A · Bechtel et al. · 1995 [cited by applicant]
US 5457493A · Leddy et al. · 1995 [cited by applicant]
US 5461357A · Yoshioka et al. · 1995 [cited by applicant]
US 5461361A · Moore · 1995 [cited by applicant]
US 5469298A · Suman et al. · 1995 [cited by applicant]
US 5471515A · Fossum et al. · 1995 [cited by applicant]
US 5475494A · Nishida et al. · 1995 [cited by applicant]
US 5498866A · Bendicks et al. · 1996 [cited by applicant]
US 5500766A · Stonecypher · 1996 [cited by applicant]
US 5510983A · Lino · 1996 [cited by applicant]
US 5515448A · Nishitani · 1996 [cited by applicant]
US 5521633A · Nakajima et al. · 1996 [cited by applicant]
US 5528698A · Kamei et al. · 1996 [cited by applicant]
US 5529138A · Shaw et al. · 1996 [cited by applicant]
US 5530240A · Larson et al. · 1996 [cited by applicant]
US 5530420A · Tsuchiya et al. · 1996 [cited by applicant]
US 5535314A · Alves et al. · 1996 [cited by applicant]
US 5537003A · Bechtel et al. · 1996 [cited by applicant]
US 5539397A · Asanuma et al. · 1996 [cited by applicant]
US 5541590A · Nishio · 1996 [cited by applicant]
US 5550677A · Schofield et al. · 1996 [cited by applicant]
US 5555555A · Sato et al. · 1996 [cited by applicant]
US 5568027A · Teder · 1996 [cited by applicant]
US 5574443A · Hsieh · 1996 [cited by applicant]
US 5581464A · Woll et al. · 1996 [cited by applicant]
US 5594222A · Caldwell · 1997 [cited by applicant]
US 5610756A · Lynam et al. · 1997 [cited by applicant]
US 5614788A · Mullins · 1997 [cited by applicant]
US 5619370A · Guinosso · 1997 [cited by applicant]
US 5632092A · Blank et al. · 1997 [cited by applicant]
US 5634709A · Iwama · 1997 [cited by applicant]
US 5642299A · Hardin et al. · 1997 [cited by applicant]
US 5648835A · Uzawa · 1997 [cited by applicant]
US 5650944A · Kise · 1997 [cited by applicant]
US 5660454A · Mori et al. · 1997 [cited by applicant]
US 5661303A · Teder · 1997 [cited by applicant]
US 5666028A · Bechtel et al. · 1997 [cited by applicant]
US 5670935A · Schofield et al. · 1997 [cited by applicant]
US 5677851A · Kingdon et al. · 1997 [cited by applicant]
US 5699044A · Van Lente et al. · 1997 [cited by applicant]
US 5724316A · Brunts · 1998 [cited by applicant]
US 5732379A · Eckert et al. · 1998 [cited by applicant]
US 5737226A · Olson et al. · 1998 [cited by applicant]
US 5760828A · Cortes · 1998 [cited by applicant]
US 5760931A · Saburi et al. · 1998 [cited by applicant]
US 5760962A · Schofield et al. · 1998 [cited by applicant]
US 5761094A · Olson et al. · 1998 [cited by applicant]
US 5765116A · Wilson-Jones et al. · 1998 [cited by applicant]
US 5765118A · Fukatani · 1998 [cited by applicant]
US 5781437A · Wiemer et al. · 1998 [cited by applicant]
US 5790403A · Nakayama · 1998 [cited by applicant]
US 5790973A · Blaker et al. · 1998 [cited by applicant]
US 5793308A · Rosinski et al. · 1998 [cited by applicant]
US 5793420A · Schmidt · 1998 [cited by applicant]
US 5796094A · Schofield et al. · 1998 [cited by applicant]
US 5837994A · Stam et al. · 1998 [cited by applicant]
US 5844505A · Van Ryzin · 1998 [cited by applicant]
US 5844682A · Kiyomoto et al. · 1998 [cited by applicant]
US 5845000A · Breed et al. · 1998 [cited by applicant]
US 5848802A · Breed et al. · 1998 [cited by applicant]
US 5850176A · Kinoshita et al. · 1998 [cited by applicant]
US 5850254A · Takano et al. · 1998 [cited by applicant]
US 5867591A · Onda · 1999 [cited by applicant]
US 5877707A · Kowalick · 1999 [cited by applicant]
US 5877897A · Schofield et al. · 1999 [cited by applicant]
US 5878357A · Sivashankar et al. · 1999 [cited by applicant]
US 5878370A · Olson · 1999 [cited by applicant]
US 5883739A · Ashihara et al. · 1999 [cited by applicant]
US 5884212A · Lion · 1999 [cited by applicant]
US 5890021A · Onoda · 1999 [cited by applicant]
US 5896085A · Mori et al. · 1999 [cited by applicant]
US 5899956A · Chan · 1999 [cited by applicant]
US 5915800A · Hiwatashi et al. · 1999 [cited by applicant]
US 5923027A · Stam et al. · 1999 [cited by applicant]
US 5924212A · Domanski · 1999 [cited by applicant]
US 5929786A · Schofield et al. · 1999 [cited by applicant]
US 5949331A · Schofield et al. · 1999 [cited by applicant]
US 5959555A · Furuta · 1999 [cited by applicant]
US 5963247A · Banitt · 1999 [cited by applicant]
US 5990469A · Bechtel et al. · 1999 [cited by applicant]
US 5990649A · Nagao et al. · 1999 [cited by applicant]
US 6020704A · Buschur · 2000 [cited by applicant]
US 6049171A · Stam et al. · 2000 [cited by applicant]
US 6097024A · Stam et al. · 2000 [cited by applicant]
US 6144022A · Tenenbaum et al. · 2000 [cited by applicant]
US 6175300B1 · Kendrick · 2001 [cited by applicant]
US 6178034B1 · Allemand et al. · 2001 [cited by applicant]
US 6185492B1 · Kagawa et al. · 2001 [cited by applicant]
US 6223114B1 · Boros et al. · 2001 [cited by applicant]
US 6266082B1 · Yonezawa et al. · 2001 [cited by applicant]
US 6266442B1 · Laumeyer et al. · 2001 [cited by applicant]
US 6285393B1 · Shimoura et al. · 2001 [cited by applicant]
US 6297781B1 · Turnbull et al. · 2001 [cited by applicant]
US 6302545B1 · Schofield et al. · 2001 [cited by applicant]
US 6310611B1 · Caldwell · 2001 [cited by applicant]
US 6317057B1 · Lee · 2001 [cited by applicant]
US 6320282B1 · Caldwell · 2001 [cited by applicant]
US 6333759B1 · Mazzilli · 2001 [cited by applicant]
US 6353392B1 · Schofield et al. · 2002 [cited by applicant]
US 6370329B1 · Teuchert · 2002 [cited by applicant]
US 6392315B1 · Jones et al. · 2002 [cited by applicant]
US 6396397B1 · Bos et al. · 2002 [cited by applicant]
US 6420975B1 · DeLine et al. · 2002 [cited by applicant]
US 6424273B1 · Gutta et al. · 2002 [cited by applicant]
US 6430303B1 · Naoi et al. · 2002 [cited by applicant]
US 6442465B2 · Breed et al. · 2002 [cited by applicant]
US 6477464B2 · McCarthy et al. · 2002 [cited by applicant]
US 6487501B1 · Jeon · 2002 [cited by applicant]
US 6497503B1 · Dassanayake et al. · 2002 [cited by applicant]
US 6498620B2 · Schofield et al. · 2002 [cited by applicant]
US 6516664B2 · Lynam · 2003 [cited by applicant]
US 6539306B2 · Turnbull · 2003 [cited by applicant]
US 6547133B1 · Devries, Jr. et al. · 2003 [cited by applicant]
US 6553130B1 · Lemelson et al. · 2003 [cited by applicant]
US 6559435B2 · Schofield et al. · 2003 [cited by applicant]
US 6574033B1 · Chui et al. · 2003 [cited by applicant]
US 6589625B1 · Kothari et al. · 2003 [cited by applicant]
US 6594583B2 · Ogura et al. · 2003 [cited by applicant]
US 6611202B2 · Schofield et al. · 2003 [cited by applicant]
US 6611610B1 · Stam et al. · 2003 [cited by applicant]
US 6636258B2 · Strumolo · 2003 [cited by applicant]
US 6672731B2 · Schnell et al. · 2004 [cited by applicant]
US 6678614B2 · McCarthy et al. · 2004 [cited by applicant]
US 6690268B2 · Schofield et al. · 2004 [cited by applicant]
US 6700605B1 · Toyoda et al. · 2004 [cited by applicant]
US 6704621B1 · Stein et al. · 2004 [cited by applicant]
US 6711474B1 · Treyz et al. · 2004 [cited by applicant]
US 6714331B2 · Lewis et al. · 2004 [cited by applicant]
US 6735506B2 · Breed et al. · 2004 [cited by applicant]
US 6744353B2 · Sjonell · 2004 [cited by applicant]
US 6762867B2 · Lippert et al. · 2004 [cited by applicant]
US 6795221B1 · Urey · 2004 [cited by applicant]
US 6802617B2 · Schofield et al. · 2004 [cited by applicant]
US 6806452B2 · Bos et al. · 2004 [cited by applicant]
US 6819231B2 · Berberich et al. · 2004 [cited by applicant]
US 6822563B2 · Bos et al. · 2004 [cited by applicant]
US 6823241B2 · Shirato et al. · 2004 [cited by applicant]
US 6824281B2 · Schofield et al. · 2004 [cited by applicant]
US 6889161B2 · Winner et al. · 2005 [cited by applicant]
US 6891563B2 · Schofield et al. · 2005 [cited by applicant]
US 6909753B2 · Meehan et al. · 2005 [cited by applicant]
US 6946978B2 · Schofield · 2005 [cited by applicant]
US 6953253B2 · Schofield et al. · 2005 [cited by applicant]
US 6968736B2 · Lynam · 2005 [cited by applicant]
US 6975775B2 · Rykowski et al. · 2005 [cited by applicant]
US 6989736B2 · Berberich et al. · 2006 [cited by applicant]
US 7004606B2 · Schofield · 2006 [cited by applicant]
US 7005974B2 · McMahon et al. · 2006 [cited by applicant]
US 7038577B2 · Pawlicki et al. · 2006 [cited by applicant]
US 7062300B1 · Kim · 2006 [cited by applicant]
US 7065432B2 · Moisel et al. · 2006 [cited by applicant]
US 7079017B2 · Lang et al. · 2006 [cited by applicant]
US 7085637B2 · Breed et al. · 2006 [cited by applicant]
US 7092548B2 · Laumeyer et al. · 2006 [cited by applicant]
US 7111968B2 · Bauer et al. · 2006 [cited by applicant]
US 7116246B2 · Winter et al. · 2006 [cited by applicant]
US 7123168B2 · Schofield · 2006 [cited by applicant]
US 7145519B2 · Takahashi et al. · 2006 [cited by applicant]
US 7149613B2 · Stam et al. · 2006 [cited by applicant]
US 7161616B1 · Okamoto et al. · 2007 [cited by applicant]
US 7167796B2 · Taylor et al. · 2007 [cited by applicant]
US 7195381B2 · Lynam et al. · 2007 [cited by applicant]
US 7202776B2 · Breed · 2007 [cited by applicant]
US 7205904B2 · Schofield · 2007 [cited by applicant]
US 7227459B2 · Bos et al. · 2007 [cited by applicant]
US 7227611B2 · Hull et al. · 2007 [cited by applicant]
US 7311406B2 · Schofield et al. · 2007 [cited by applicant]
US 7325934B2 · Schofield et al. · 2008 [cited by applicant]
US 7325935B2 · Schofield et al. · 2008 [cited by applicant]
US 7338177B2 · Lynam · 2008 [cited by applicant]
US 7355524B2 · Schofield · 2008 [cited by applicant]
US 7355526B2 · Huang · 2008 [cited by applicant]
US 7380948B2 · Schofield et al. · 2008 [cited by applicant]
US 7388182B2 · Schofield et al. · 2008 [cited by applicant]
US 7400236B2 · Kade et al. · 2008 [cited by applicant]
US 7424364B2 · Gern et al. · 2008 [cited by applicant]
US 7425076B2 · Schofield et al. · 2008 [cited by applicant]
US 7446650B2 · Scholfield et al. · 2008 [cited by applicant]
US 7460951B2 · Altan · 2008 [cited by applicant]
US 7480149B2 · DeWard et al. · 2009 [cited by applicant]
US 7490007B2 · Taylor et al. · 2009 [cited by applicant]
US 7492281B2 · Lynam et al. · 2009 [cited by applicant]
US 7510038B2 · Kaufmann et al. · 2009 [cited by applicant]
US 7526103B2 · Schofield et al. · 2009 [cited by applicant]
US 7532981B2 · Kataoka et al. · 2009 [cited by applicant]
US 7561032B2 · Huang et al. · 2009 [cited by applicant]
US 7561181B2 · Schofield et al. · 2009 [cited by applicant]
US 7581859B2 · Lynam · 2009 [cited by applicant]
US 7592928B2 · Chinomi et al. · 2009 [cited by applicant]
US 7616781B2 · Schofield et al. · 2009 [cited by applicant]
US 7619508B2 · Lynam et al. · 2009 [cited by applicant]
US 7639149B2 · Katoh · 2009 [cited by applicant]
US 7681960B2 · Wanke et al. · 2010 [cited by applicant]
US 7711464B2 · Kaufmann · 2010 [cited by applicant]
US 7720580B2 · Higgins-Luthman · 2010 [cited by applicant]
US 7777611B2 · Desai · 2010 [cited by applicant]
US 7881496B2 · Camilleri et al. · 2011 [cited by applicant]
US 7885730B2 · Kaufmann et al. · 2011 [cited by applicant]
US 7914187B2 · Higgins-Luthman et al. · 2011 [cited by applicant]
US 8027029B2 · Lu et al. · 2011 [cited by applicant]
US 8164628B2 · Stein et al. · 2012 [cited by applicant]
US 8670903B2 · Lee et al. · 2014 [cited by applicant]
US 8694224B2 · Chundrlik, Jr. et al. · 2014 [cited by applicant]
US 8818606B2 · Lee et al. · 2014 [cited by applicant]
US 8930081B2 · Bolourchi et al. · 2015 [cited by applicant]
US 8965633B2 · Lee et al. · 2015 [cited by applicant]
US 9120486B1 · Mallinger · 2015 [cited by applicant]
US 9180908B2 · Van Dan Elzen et al. · 2015 [cited by applicant]
US 9264673B2 · Chundrlik, Jr. et al. · 2016 [cited by applicant]
US 10055651B2 · Chundrlik, Jr. et al. · 2018 [cited by applicant]
US 10685243B2 · Chundrlik, Jr. et al. · 2020 [cited by applicant]
US 11288890B2 · Chundrlik, Jr. et al. · 2022 [cited by applicant]
US 11756316B2 · Chundrlik, Jr. et al. · 2023 [cited by applicant]
US 20020113873A1 · Williams · 2002 [cited by applicant]
US 20030137586A1 · Lewellen · 2003 [cited by applicant]
US 20030222982A1 · Hamdan et al. · 2003 [cited by applicant]
US 20040098197A1 · Matsumoto et al. · 2004 [cited by applicant]
US 20040107035A1 · Tange et al. · 2004 [cited by applicant]
US 20040114381A1 · Salmeen et al. · 2004 [cited by applicant]
US 20040128065A1 · Taylor et al. · 2004 [cited by applicant]
US 20040183663A1 · Shimakage · 2004 [cited by applicant]
US 20040200948A1 · Bos et al. · 2004 [cited by applicant]
US 20040230375A1 · Matsumoto et al. · 2004 [cited by applicant]
US 20040252020A1 · Matsumoto et al. · 2004 [cited by applicant]
US 20050015203A1 · Nishira · 2005 [cited by applicant]
US 20050078389A1 · Kulas et al. · 2005 [cited by applicant]
US 20050107931A1 · Shimakage et al. · 2005 [cited by applicant]
US 20050125153A1 · Matsumoto et al. · 2005 [cited by applicant]
US 20050264891A1 · Uken et al. · 2005 [cited by applicant]
US 20060018511A1 · Stam et al. · 2006 [cited by applicant]
US 20060018512A1 · Stam et al. · 2006 [cited by applicant]
US 20060050018A1 · Hutzel et al. · 2006 [cited by applicant]
US 20060091813A1 · Stam et al. · 2006 [cited by applicant]
US 20060103727A1 · Tseng · 2006 [cited by applicant]
US 20060250501A1 · Wildmann et al. · 2006 [cited by applicant]
US 20070091173A1 · Kade et al. · 2007 [cited by applicant]
US 20070104476A1 · Yasutomi et al. · 2007 [cited by applicant]
US 20070176080A1 · Schofield et al. · 2007 [cited by applicant]
US 20080061952A1 · Maass · 2008 [cited by applicant]
US 20080091318A1 · Deng et al. · 2008 [cited by applicant]
US 20080180529A1 · Taylor et al. · 2008 [cited by applicant]
US 20080183342A1 · Kaufmann et al. · 2008 [cited by applicant]
US 20090113509A1 · Tseng et al. · 2009 [cited by applicant]
US 20090132125A1 · Yonezawa et al. · 2009 [cited by applicant]
US 20090234553A1 · Sekiguchi · 2009 [cited by applicant]
US 20090243824A1 · Peterson et al. · 2009 [cited by applicant]
US 20090244361A1 · Gebauer et al. · 2009 [cited by applicant]
US 20090299573A1 · Thrun et al. · 2009 [cited by applicant]
US 20100020170A1 · Higgins-Luthman et al. · 2010 [cited by applicant]
US 20100045797A1 · Schofield et al. · 2010 [cited by applicant]
US 20100082195A1 · Lee et al. · 2010 [cited by applicant]
US 20100097469A1 · Blank et al. · 2010 [cited by applicant]
US 20100114431A1 · Switkes et al. · 2010 [cited by applicant]
US 20100121532A1 · Urai et al. · 2010 [cited by applicant]
US 20100228420A1 · Lee · 2010 [cited by applicant]
US 20100228437A1 · Hanzawa et al. · 2010 [cited by applicant]
US 20100231718A1 · Nakamori et al. · 2010 [cited by applicant]
US 20100295668A1 · Kataoka · 2010 [cited by applicant]
US 20110231095A1 · Nakada et al. · 2011 [cited by applicant]
US 20120057757A1 · Oyama · 2012 [cited by applicant]
US 20120062743A1 · Lynam et al. · 2012 [cited by applicant]
US 20120221168A1 · Zeng · 2012 [cited by examiner]
US 20120316730A1 · Zhang et al. · 2012 [cited by applicant]
US 20130173115A1 · Gunia et al. · 2013 [cited by applicant]
US 20130231825A1 · Chundrlik, Jr. et al. · 2013 [cited by applicant]
US 20130231830A1 · Van Dan Elzen et al. · 2013 [cited by applicant]
US 20130253767A1 · Lee et al. · 2013 [cited by applicant]
US 20140176716A1 · Wallat et al. · 2014 [cited by applicant]
US 20150353085A1 · Lee · 2015 [cited by applicant]
US 20160046290A1 · Aharony et al. · 2016 [cited by applicant]
US 20170323493A1 · Chundrlik, Jr. et al. · 2017 [cited by applicant]