公开(公告)号：EP1945494A1

公开(公告)日：2008-07-23

申请号：EP06793631.0

申请日：2006-09-19

申请人： ROBERT BOSCH GMBH

发明人： SCHERL, Michael ,  WEILKES, Michael ,  BUERKLE, Lutz ,  RENTSCHLER, Tobias

IPC分类号： B62D15/02

CPC分类号： B62D15/025 ,  B60T2201/08 ,  B60T2201/087 ,  B60W30/12

摘要： The invention relates to an apparatus for keeping a vehicle (8) in its lane (10), comprising a reference model (13) which receives from a lane identification system (7) geometric data relating to the position of the vehicle (8) in the lane (10), as well as data relating to the lane profile, and uses this to calculate a set variable (δRef) for control of the vehicle position. In order to allow the cutting of turns, the guidance response of the control system (11) is modified during turning, in such a manner that no steering forces, or only minor steering forces, are exerted on the steering (6) when there is a discrepancy between the movement path of the vehicle (8) and the set movement path in the direction of the inside of the turn.

公开(公告)号：EP2079618B1

公开(公告)日：2014-10-08

申请号：EP07788366.8

申请日：2007-08-10

申请人： Robert Bosch GmbH

发明人： BUERKLE, Lutz ,  RENTSCHLER, Tobias ,  APP, Thomas

IPC分类号： B62D15/02 ,  B60T8/1755 ,  B60W30/12

CPC分类号： B60T8/17557 ,  B60T2201/08 ,  B60T2201/087 ,  B60T2210/32 ,  B62D15/025

公开(公告)号：EP2190711B1

公开(公告)日：2012-10-24

申请号：EP08786298.3

申请日：2008-07-22

申请人： Robert Bosch GmbH

发明人： BUERKLE, Lutz ,  RENTSCHLER, Tobias ,  APP, Thomas

IPC分类号： B62D1/28 ,  B60W40/072 ,  B60W40/076 ,  B62D15/02 ,  B60T8/1755 ,  G05D1/02

CPC分类号： B60T8/17557 ,  B60T2201/08 ,  B60T2201/089 ,  B60W40/072 ,  B60W40/076 ,  B62D15/025

公开(公告)号：EP2318244A1

公开(公告)日：2011-05-11

申请号：EP09782313.2

申请日：2009-08-28

申请人： Robert Bosch GmbH

发明人： BUERKLE, Lutz ,  RENTSCHLER, Tobias ,  APP, Thomas

IPC分类号： B60T8/1755 ,  B62D15/02 ,  B60W30/12

CPC分类号： B60T8/1755 ,  B60T2201/08 ,  B60T2201/087 ,  B60W30/12 ,  B62D1/28

摘要： Method for preventing an instability/stabilization for an LKS system, wherein a vehicle lateral guide control system with a limit is fed back to a target curvature, characterized in that a limit difference is applied to the target curvature by way of a feedback branch such that said target curvature corresponds to the maximum linearly controllable curvature.

公开(公告)号：EP1910150B1

公开(公告)日：2008-12-10

申请号：EP06763800.7

申请日：2006-06-20

申请人： ROBERT BOSCH GMBH

发明人： HECKEL, Joerg ,  MAASS, Alexander ,  BUERKLE, Lutz

IPC分类号： B62D5/04

CPC分类号： B62D15/025

摘要： The invention relates to a servo steering system for motor vehicles, comprising a steering adjuster (11) by means of which a supporting moment (M u ) can be applied to the steering mechanism (12) of the vehicle (1), a lane recognition system (13) for recognizing information regarding the course of the lane, a reference model (3) that calculates a reference steering angle (d Ref ) in accordance with the data received from the lane recognition system (13), and a transmitting member (16) that determines the supporting moment (M u ) transmitted to the steering mechanism (12) by the steering adjuster (11) in accordance with the driving condition. The transmitting member (16) is designed such that the neutral position of the steering characteristics (17) is identical to the reference steering angle (d Ref ) and moves along with the reference steering angle (d Ref ) in accordance with the course (15) of the lane.

公开(公告)号：EP1888394B1

公开(公告)日：2008-07-16

申请号：EP06754861.0

申请日：2006-04-26

申请人： ROBERT BOSCH GMBH

发明人： SCHERL, Michael ,  WEILKES, Michael ,  BUERKLE, Lutz ,  RENTSCHLER, Tobias

IPC分类号： B62D15/02

CPC分类号： B62D15/0255 ,  B60T2201/08 ,  B60T2201/081 ,  B60T2201/087 ,  B60W30/12 ,  B60W2540/20 ,  B62D15/025

摘要： The invention relates to a lane holding assistant for motor vehicles comprising a sensor unit for detecting the lanes (26, 28) on the carriageway, a control unit, which exerts a force (F) on the steering system of the vehicle (34) by means of an actuator, in order to maintain the vehicle in its lane and a unit for identifying the driver's intention to change lanes. The assistant is characterised in that the control unit is configured to modify the force (F; 40) that is exerted on the steering system asymmetrically in order to change lanes, when the intention to change lanes has been identified. The force is reduced, in particular to zero, in the direction of the target lane (28). The force remains unchanged in the opposite direction.

公开(公告)号：EP1888394A1

公开(公告)日：2008-02-20

申请号：EP06754861.0

申请日：2006-04-26

申请人： ROBERT BOSCH GMBH

发明人： SCHERL, Michael ,  WEILKES, Michael ,  BUERKLE, Lutz ,  RENTSCHLER, Tobias

IPC分类号： B62D15/02

CPC分类号： B62D15/0255 ,  B60T2201/08 ,  B60T2201/081 ,  B60T2201/087 ,  B60W30/12 ,  B60W2540/20 ,  B62D15/025

摘要： The invention relates to a lane holding assistant for motor vehicles comprising a sensor unit for detecting the lanes (26, 28) on the carriageway, a control unit, which exerts a force (F) on the steering system of the vehicle (34) by means of an actuator, in order to maintain the vehicle in its lane and a unit for identifying the driver's intention to change lanes. The assistant is characterised in that the control unit is configured to modify the force (F; 40) that is exerted on the steering system asymmetrically in order to change lanes, when the intention to change lanes has been identified. The force is reduced, in particular to zero, in the direction of the target lane (28). The force remains unchanged in the opposite direction.

公开(公告)号：EP2507111B1

公开(公告)日：2014-10-08

申请号：EP10790369.2

申请日：2010-11-30

申请人： Robert Bosch GmbH

发明人： BUERKLE, Lutz ,  FISCHER, Michael ,  MAURER, Thomas

IPC分类号： B62D1/28 ,  B62D15/02 ,  B60W30/045 ,  B60W30/12

CPC分类号： B62D15/025 ,  B60W30/045 ,  B60W30/12 ,  B62D1/28

公开(公告)号：EP2632784A1

公开(公告)日：2013-09-04

申请号：EP11758475.5

申请日：2011-09-21

申请人： Robert Bosch GmbH

发明人： BUERKLE, Lutz ,  APP, Thomas ,  GLASER, Thomas

IPC分类号： B60W30/12

CPC分类号： B62D6/00 ,  B60W10/20 ,  B60W30/10 ,  B60W30/18145 ,  B60W50/0098 ,  B60W2050/0062 ,  B60W2520/10 ,  B60W2550/146 ,  B60W2550/402 ,  B62D15/025

摘要： A method for determining a transversal controller parameterization for transversal control of a vehicle on a route segment to be instantaneously traveled on by the vehicle, having a step for determining the parameter based on a piece of information about a curvature of the route segment to be instantaneously traveled on.

公开(公告)号：EP2250611A2

公开(公告)日：2010-11-17

申请号：EP08872119.6

申请日：2008-11-11

申请人： Robert Bosch GmbH

发明人： BUERKLE, Lutz ,  WITT, Katharina ,  RENTSCHLER, Tobias ,  LAUER, Paul-Sebastian ,  SIMON, Andreas ,  HAUG, Matthias ,  APP, Thomas

IPC分类号： G06K9/00

CPC分类号： G06K9/00798 ,  G06K9/48

摘要： The invention relates to a lane information-based driver assistance method and driver assistance device. According to said method, driver information and/or an action is or are triggered depending on the lane information and the lane information is derived from at least two pieces of information that characterise the lane (10), said information being obtained by means of an on-board sensor system that comprises in particular at least one video sensor. In order to more accurately detect the curve of the lane (10), discrete shape points (1.1, 1.2, 1.3, X
P0 , X
P1 , 1.n) that are assigned to the lane (1) and curve values that are assigned to each shape point are taken from a digital map of the lane (10). The curve of the lane (10) is determined by merging the data obtained from the on-board sensor system of the vehicle (2) with the data taken from the digital map.