公开(公告)号：US5532678A

公开(公告)日：1996-07-02

申请号：US395694

申请日：1995-02-28

申请人： Keiyu Kin ,  Yoshimitsu Akuta ,  Yuji Sakaki

发明人： Keiyu Kin ,  Yoshimitsu Akuta ,  Yuji Sakaki

IPC分类号： G01M17/007 ,  G01P3/48 ,  G01P15/00 ,  B60Q1/00

CPC分类号： G01P3/48 ,  B60T2210/13

摘要： A hydroplaning detection system comprising AM specific frequency component extraction AM, which comprises a band-pass filter for extracting signal components PS in a main frequency band corresponding to the wheel rotation speed or the vehicle speed from wheel rotation speed signals, and a band-pass filters for respectively extracting signal components PL in other frequency bands, and AM determining the occurrence of hydroplaning based on the ratio PL/PS between the signal components PS in the main frequency band and the signal components PL in other frequency bands.

摘要翻译： 一种包括AM特定频率分量提取AM的滑水检测系统，其包括用于从与车轮转速信号对应的车轮转速或车速的主频带中提取信号分量PS的带通滤波器和带通滤波器 用于分别提取其他频带中的信号分量PL的滤波器，以及基于主频带中的信号分量PS与其他频带中的信号分量PL之间的比率PL / PS来确定滑水的发生的AM。

公开(公告)号：US5493893A

公开(公告)日：1996-02-27

申请号：US296414

申请日：1994-08-26

申请人： Keiyu Kin ,  Yuji Sakaki

发明人： Keiyu Kin ,  Yuji Sakaki

IPC分类号： G01P15/00 ,  B60T8/172 ,  G01M17/007 ,  G01P3/54 ,  G01N19/02

CPC分类号： B60T8/172 ,  B60T2210/13

摘要： An apparatus for detecting a wheel grip on a road has a wheel speed sensor for detecting a revolution speed of a wheel of a vehicle, a plurality of band-pass filters for filtering an output of the wheel speed sensor at a plurality of frequency bands, and a reference value memory device for storing in memory reference values dependent on the revolution speed of the wheel. The reference values are set for each of the frequency bands of the plurality of band-pass filters. The wheel grip on road is detected based on the correlation between that signal output for each of the frequency bands which is obtained through the band-pass filters and that reference value for each of the frequency bands which is stored in memory in the reference value memory device.

摘要翻译： 一种用于检测道路上的车轮抓握的装置具有用于检测车辆的车轮的转速的车轮速度传感器，用于对多个频带的车轮速度传感器的输出进行过滤的多个带通滤波器， 以及参考值存储装置，用于存储取决于车轮的转速的参考值。 为多个带通滤波器的每个频带设置参考值。 基于通过带通滤波器获得的每个频带的信号输出与存储在参考值存储器中的每个频带的参考值之间的相关性来检测道路上的车轮抓地力 设备。

公开(公告)号：US06230083B1

公开(公告)日：2001-05-08

申请号：US09351297

申请日：1999-07-12

申请人： Shohei Matsuda ,  Makoto Otabe ,  Yuji Sakaki

发明人： Shohei Matsuda ,  Makoto Otabe ,  Yuji Sakaki

IPC分类号： G08G109

CPC分类号： G01C21/26

摘要： A road shape predicting method includes the steps of: selecting three positions of positions of a plurality of nodes constituting road map data and an own vehicle position on a road; and predicting the road shape on the basis of a crossing angle formed by a link connecting a first position and a second position of the selected three positions and another link connecting the second and a third position thereof, and a link length between the second and the third positions. In case that the link length between the second and the third positions is not larger than a reference link length set in accordance with the crossing angle, the third position is excluded, and the position of a node further forward is adopted in place of the third position, to thereby predict the road shape.

摘要翻译： 道路形状预测方法包括以下步骤：在道路上选择构成道路地图数据和本车位置的多个节点的位置的三个位置; 并且基于由连接所选择的三个位置的第一位置和第二位置的连杆形成的交叉角以及连接其所选择的三个位置的另一个连杆以及第二和第三位置之间的连杆长度来预测道路形状 第三职位 在第二和第三位置之间的链路长度不大于根据交叉角设置的参考链路长度的情况下，排除第三位置，并且采用更前进的节点的位置来代替第三位置 位置，从而预测道路形状。

公开(公告)号：US6125324A

公开(公告)日：2000-09-26

申请号：US56242

申请日：1998-04-07

申请人： Shohei Matsuda ,  Makoto Otabe ,  Yuji Sakaki

发明人： Shohei Matsuda ,  Makoto Otabe ,  Yuji Sakaki

IPC分类号： G01C21/00 ,  B60K31/00 ,  B60W10/00 ,  B60W30/00 ,  F02D29/02 ,  G01C21/26 ,  G08G1/16 ,  G06F165/00

CPC分类号： B60K31/0083 ,  B60K31/0066 ,  G01C21/26 ,  B60W2520/125 ,  B60W2520/14 ,  B60W2550/143 ,  B60W2550/402 ,  Y02T10/84

摘要： A vehicle control apparatus is operative so as to prevent a chattering of initiation and termination of vehicle control, such as automatic deceleration, on the basis of a variation in a predicted passing speed. The apparatus comprises a maximum passable speed calculating mechanism M5 which calculates a maximum passable speed of a forward curve ahead of the vehicle on the basis of a road shape determined by a road shape decision mechanism M11, and a predicted passing speed calculating mechanism M7 calculates a predicted passing speed for the forward curve on the basis of a vehicle speed detected by a vehicle speed detector M6. The maximum passable speed includes a control initiation speed and a control termination speed larger than the control initiation speed, and a passage-possible/impossible determining mechanism M8 initiates operations of a warning mechanism M9 and a vehicle speed regulating mechanism M10 if the predicted passing speed exceeds the control initiation speed, and terminates the operations of the warning mechanism M9 and the vehicle speed regulating mechanism M10 if the predicted passing speed falls below the control termination speed.

摘要翻译： 操作车辆控制装置，以便基于预测通过速度的变化来防止诸如自动减速的车辆控制的起动和终止的颤动。 该装置包括最大通过速度计算机构M5，该最大通过速度计算机构M5基于由道路形状判定机构M11确定的道路形状来计算前方的前方曲线的最大通过速度，并且预测通过速度计算机构M7计算 基于由车速检测器M6检测到的车速，预测前进曲线的通过速度。 最大通过速度包括控制开始速度和大于控制启动速度的控制终止速度，并且通过可能/不可能确定机构M8启动警告机构M9和车速调节机构M10的操作，如果预测通过速度 如果预测通过速度低于控制终止速度，则结束警告机构M9和车速调节机构M10的动作。

公开(公告)号：US06169952A

公开(公告)日：2001-01-02

申请号：US09056244

申请日：1998-04-07

申请人： Shohei Matsuda ,  Makoto Otabe ,  Yuji Sakaki

发明人： Shohei Matsuda ,  Makoto Otabe ,  Yuji Sakaki

IPC分类号： G06F16500

CPC分类号： B60K31/0066 ,  B60K31/0083 ,  B60W2520/125 ,  B60W2520/14 ,  B60W2550/143 ,  B60W2550/402 ,  G01C21/26

摘要： A system for determining the passability of a vehicle through a section of road ahead of the vehicle is controlled based on coordinates of a plurality of nodes NN (N1, N2, N3, N4 . . . ) constituting the road section ahead of a subject vehicle. The system calculates a passing-state determination amount &thgr;N/LN for each of the nodes NN, and based on the passing-state determination amount &thgr;N/LN, the system then determines whether the vehicle can positively or safely pass through the road section. The passing-state determination amount &thgr;N/LN serves as an indicator which represents a degree of difficulty in the passage of the vehicle through the nodes NN and which is obtained, for example, by dividing an angle &thgr;N formed by a line segment connecting the adjacent nodes NN by a distance LN between the adjacent nodes NN. Even if only one or two nodes NN exist on a curve, it is possible to accurately determine whether the vehicle can pass the curve by using the passing-state determination amount &thgr;N/LN.

摘要翻译： 基于构成本车辆前方的路段的多个节点NN（N1，N2，N3，N4 ...）的坐标来控制车辆通过车辆前方的路段的通过性的系统 。 系统为每个节点NN计算通过状态确定量θN/ LN，并且基于通过状态判定量θN/ LN，系统然后确定车辆是否可以正确地或安全地通过道路部分。 通过状态判定量θN/ LN用作表示车辆通过节点NN的困难程度的指示器，其通过例如将连接相邻的车辆的线段形成的角度θN除以 节点NN在相邻节点之间的距离LN。 即使曲线上仅存在一个或两个节点NN，也可以通过使用通过状态判定量thetaN / LN来准确地判断车辆是否能够通过该曲线。

公开(公告)号：US6163741A

公开(公告)日：2000-12-19

申请号：US56245

申请日：1998-04-07

申请人： Shohei Matsuda ,  Yuji Sakaki ,  Makoto Otabe

发明人： Shohei Matsuda ,  Yuji Sakaki ,  Makoto Otabe

IPC分类号： B60K31/00 ,  G01C21/26 ,  G06F165/00

CPC分类号： B60K31/0083 ,  B60K31/0066 ,  B60W2520/125 ,  B60W2550/143 ,  B60W2550/402 ,  G01C21/26

摘要： A system for determining the passability of a vehicle passing through a curved road section. The system provides road information, detects the position of a subject vehicle on the road and determines whether a node, representing road data, exists on a curved or straight section of road. If it is determined that the node exists on a curve, it is then determined whether the curve is a simple curve or an S-shaped curve. Based upon these determinations, the system determines whether the vehicle can safely pass through the curve.

摘要翻译： 一种用于确定通过弯曲路段的车辆的通过性的系统。 该系统提供道路信息，检测道路上的车辆的位置，并且确定表示道路数据的节点是否存在于道路的弯曲或直线部分上。 如果确定节点存在于曲线上，则确定该曲线是简单曲线还是S形曲线。 基于这些确定，系统确定车辆是否可以安全地通过曲线。

公开(公告)号：US6141617A

公开(公告)日：2000-10-31

申请号：US56243

申请日：1998-04-07

申请人： Shohei Matsuda ,  Hiroshi Sekine ,  Makoto Otabe ,  Yuji Sakaki

发明人： Shohei Matsuda ,  Hiroshi Sekine ,  Makoto Otabe ,  Yuji Sakaki

IPC分类号： G09B29/10 ,  B60K31/00 ,  B60R21/00 ,  B60W30/00 ,  B62D1/28 ,  G01C21/00 ,  G01C21/26 ,  G08G1/16 ,  G06F165/00

CPC分类号： G01C21/3697 ,  B60K31/0066 ,  B60K31/0083 ,  B62D1/28 ,  G01C21/26 ,  B60W2520/125 ,  B60W2520/14 ,  B60W2550/143 ,  B60W2550/402 ,  Y02T10/84

摘要： Vehicle control apparatus enables a vehicle to positively and safely pass a curve present in a forward road ahead of the vehicle, irrespective of any error in road data used by the apparatus and any error in a detected vehicle position. The apparatus calculates a predicted passing speed for a curve on the basis of a vehicle speed and a vehicle position, and compares same with a maximum passable speed for the curve which is calculated on the basis of map information and the vehicle position to thereby determine whether the vehicle can positively and safely pass the curve. If the apparatus determines that the vehicle cannot positively and safely pass the curve, warning, automatic deceleration and/or automatic steering is executed by a control mechanism of the apparatus. At this time, the apparatus compares an actual transverse acceleration or an actual yaw rate detected by a transverse acceleration sensor or a yaw rate sensor with a reference transverse acceleration or a reference yaw rate presumed from a road shape determined by a passage-state decision quantity calculating mechanism, and a regulating mechanism regulates a controlled variable and a control timing for effecting the warning, the automatic deceleration and/or the automatic steering, thereby compensating for any error in the road data and any error in the vehicle position.

摘要翻译： 车辆控制装置能够使车辆能够正确地且安全地通过车辆前方的前方道路中存在的曲线，而不管装置使用的道路数据的任何错误以及检测到的车辆位置的任何错误。 该装置基于车速和车辆位置计算曲线的预测通过速度，并将其与基于地图信息和车辆位置计算出的曲线的最大通过速度进行比较，从而确定是否 车辆可以正确安全地通过曲线。 如果装置确定车辆不能正确地和安全地通过曲线，则通过装置的控制机构执行警告，自动减速和/或自动转向。 此时，该装置将由横向加速度传感器或横摆率传感器检测到的实际横向加速度或实际横摆率与从由通过状态判定量确定的道路形状推定的基准横向加速度或参考横摆率进行比较 计算机构，调节机构调节受控变量和进行警告，自动减速和/或自动转向的控制定时，从而补偿道路数据中的任何错误和车辆位置的任何误差。