公开(公告)号：US09233692B2

公开(公告)日：2016-01-12

申请号：US14202497

申请日：2014-03-10

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Chad T. Zagorski

IPC: G05D3/00 ,  B60W40/114 ,  B60W40/068 ,  B62D6/04 ,  B60T7/12

CPC classification number: B60W40/114 ,  B60T7/12 ,  B60T7/22 ,  B60T8/17558 ,  B60T2201/083 ,  B60W40/068 ,  B62D6/003 ,  B62D6/006 ,  B62D6/04

Abstract: Methods, systems are provided for controlling a travel path of a vehicle. The method includes the steps of detecting a braking of the vehicle by a computing device, calculating a friction ellipse for the vehicle based on the current state of the vehicle, defecting an intended travel path of the vehicle, detecting an actual travel path of the motor vehicle during the braking and determining if there is a path error where the actual travel path is outside the intended travel path when the braking is detected. When the actual travel path is outside the intended travel path then the method calculates a prospective friction ellipse for the vehicle, determines a compensating yaw moment to correct the path error, determines a maximum acceleration based on the prospective friction ellipse, and transmits a command to the autonomous braking system based on the maximum acceleration and the compensating yaw moment.

Abstract translation: 提供了一种用于控制车辆行驶路径的系统。 该方法包括以下步骤：通过计算装置检测车辆的制动，基于车辆的当前状态计算车辆的摩擦椭圆，破坏车辆的预定行驶路径，检测电动机的实际行驶路径 并且当检测到制动时确定是否存在实际行进路径在预期行进路径之外的路径误差。 当实际行进路径在目标行驶路径之外时，该方法计算车辆的预期摩擦椭圆，确定补偿横摆力矩以校正路径误差，基于预期摩擦椭圆确定最大加速度，并将命令发送到 基于最大加速度和补偿横摆力矩的自主制动系统。

公开(公告)号：US08554438B2

公开(公告)日：2013-10-08

申请号：US13070981

申请日：2011-03-24

Applicant: Daisuke Nakayama

Inventor： Daisuke Nakayama

IPC: G06F19/00

CPC classification number: B60T8/17557 ,  B60T2201/08 ,  B60T2201/083 ,  B60W10/188 ,  B60W30/12

Abstract: A vehicular lane departure prevention control apparatus calculates first and second departure amounts based on lane line position information and obstacle position information, sets braking forces for lane departure prevention control based thereon, and outputs the braking forces to a brake control unit, the braking forces for generating a yaw moment and a deceleration to a subject vehicle and preventing the vehicle from departing with respect to the lane line and obstacle, while setting a departure level for target pump motor rotation speed setting based on a vehicle speed, a difference of the steering wheel angle from a crossing angle and the first departure amount, setting a target rotation speed for a pump motor of a hydraulic unit in a brake control unit based thereon, and then outputting the target rotation speed to the brake control unit so as to variably control the rotation speed of the pump motor.

Abstract translation: 车辆车道偏离防止控制装置基于车道线位置信息和障碍物位置信息来计算第一和第二出发量，基于此设定用于车道偏离防止控制的制动力，并将制动力输出到制动控制单元，制动力 产生对本车辆的横摆力矩和减速度，并且防止车辆相对于车道线和障碍物离开，同时基于车速设定目标泵马达转速设定的出发等级，方向盘 根据交叉角度和第一离开量，根据制动控制单元设定液压单元的泵电动机的目标转速，然后将目标转速输出到制动控制单元，以便可变地控制 泵电机的转速。

公开(公告)号：US08543292B2

公开(公告)日：2013-09-24

申请号：US13105413

申请日：2011-05-11

Applicant: Jae Bum Choi

Inventor： Jae Bum Choi

IPC: B60T8/17 ,  B60W30/12 ,  B60W50/10 ,  B60T8/1755

CPC classification number: B60W30/12 ,  B60T8/17557 ,  B60T2201/083 ,  B60W10/06 ,  B60W10/182 ,  B60W10/184 ,  B60W30/02 ,  B60W50/10 ,  B60W2050/0073 ,  B60W2540/18 ,  B60W2540/20 ,  B60W2710/182 ,  B60W2720/14

Abstract: Disclosed herein is a lane maintenance control method to control a vehicle to travel while accurately remaining in a given lane. The lane maintenance control method performs brake steering control in which, when a vehicle departs from a lane, a brake torque is applied to wheels of the vehicle close to the lane to generate an appropriate moment for lane maintenance, which allows the vehicle to finally move in an opposite direction of a direction in which the vehicle departs from the lane, resulting in accurate lane maintenance.

Abstract translation: 这里公开了一种车道维护控制方法，用于控制车辆行驶，同时精确地保留在给定车道中。 车道维修控制方法进行制动转向控制，其中，当车辆离开车道时，制动转矩被施加到靠近车道的车辆的车轮，以产生用于车道维护的适当时刻，这允许车辆最终移动 在车辆离开车道的方向相反的方向，导致准确的车道维修。

公开(公告)号：US20110276227A1

公开(公告)日：2011-11-10

申请号：US13123373

申请日：2009-10-06

Applicant: Toshiharu Sugawara ,  Atsushi Yokoyama

Inventor： Toshiharu Sugawara ,  Atsushi Yokoyama

IPC: B60W30/08 ,  B60W10/20 ,  B60W30/12 ,  B60W10/18

CPC classification number: B60W30/12 ,  B60T7/042 ,  B60T7/22 ,  B60T8/17557 ,  B60T8/17558 ,  B60T2201/083 ,  B60T2201/087 ,  B60W2720/14 ,  B62D6/003 ,  B62D15/025 ,  B62D15/0265

Abstract: A conventional brake control can generate only a small yaw moment compared with a steering control, so that reliable avoidance of obstacles cannot be obtained. With a steering control, the driver gets behind the wheel every time when crossing a lane and has an uncomfortable feeling. To solve these problems, a traveling aid device comprises: a detection unit for detecting the traveling state of a vehicle, the position of a lane marker, and the positions and types of obstacles around the vehicle; a calculation unit for calculating, based on the traveling state of the vehicle, the position of the lane marker, and the positions and types of the surrounding obstacles, a target yaw moment so as to prevent a departure from the lane marker and a collision with the surrounding obstacles; and a distribution unit for distributing, based on at least one of the traveling state of the vehicle, the position of the lane marker, and the positions and types of the surrounding obstacles, the target moment to a first actuator for controlling the driving/braking force and a second actuator for controlling the steering.

Abstract translation: 与转向控制相比，传统的制动控制只能产生小的横摆力矩，从而不可能获得可靠的避障障碍。 在转向控制下，驾驶员每次穿过车道时都会落在车轮的后方，感觉不舒服。 为了解决这些问题，行驶辅助装置包括：检测单元，用于检测车辆的行驶状态，车道标记的位置以及车辆周围的障碍物的位置和类型; 计算单元，用于基于车辆的行驶状态来计算车道标记的位置，以及周围障碍物的位置和类型，目标横摆力矩，以防止偏离车道标记和与车道标记的碰撞 周围的障碍物; 以及分配单元，用于基于车辆的行驶状态中的至少一个，车道标记的位置以及周围障碍物的位置和类型来分配到用于控制驾驶/制动的第一致动器的目标力矩 力和用于控制转向的第二致动器。

公开(公告)号：US20110010021A1

公开(公告)日：2011-01-13

申请号：US12867643

申请日：2009-01-09

Applicant: Sachio Kobayashi

Inventor： Sachio Kobayashi

IPC: G06F7/00

CPC classification number: B62D15/025 ,  B60T8/17557 ,  B60T2201/083 ,  B60T2201/087 ,  B60W10/18 ,  B60W10/20 ,  B60W30/18172 ,  B60W50/08 ,  B60W2050/146 ,  B60W2520/10 ,  G08G1/167

Abstract: A vehicle travel support device capable of properly controlling the operation of a steering device and the like from the viewpoint of supporting the travel of a vehicle stably even in a situation where a travel area is inappropriately demarcated by right and left lane marks at both sides, wherein a virtual travel area can be set as a travel area when a first condition is satisfied, that is, when the separation between the right and the left lane marks in width direction of a road increases to an inappropriate extent from the viewpoint of demarcating the travel area because the separation therebetween gradually increases as the distance from the vehicle increases. The operation of a steering device and the like is so controlled that the vehicle will not depart from the virtual travel area set as the travel area.

Abstract translation: 即使在行驶区域被两侧的左右车道标记不恰当地划定的情况下，也能够稳定地支撑车辆行驶的观点，从而能够适当地控制转向装置等的动作的车辆行驶辅助装置， 其中，当满足第一条件时，即，当从道路宽度方向上的左右车道标记之间的距离增加到不合适的程度时，可以将虚拟行驶区域设置为行驶区域 行驶区域因为与车辆的距离增加而逐渐增加。 转向装置等的操作受到控制，使得车辆不会离开设置为行驶区域的虚拟行驶区域。

公开(公告)号：US07693661B2

公开(公告)日：2010-04-06

申请号：US11318913

申请日：2005-12-27

Applicant: Takeshi Iwasaka

Inventor： Takeshi Iwasaka

IPC: G08G1/16 ,  F41G9/00

CPC classification number: B60T8/17557 ,  B60T8/1708 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2201/086

Abstract: The present lane departure prevention system can prevent a vehicle from departing from a lane of travel, even when the vehicle tows a towed vehicle. When the towed vehicle is detected, the lane departure prevention system changes a target yaw moment from that used in normal departure avoidance control operation. The change is based on a force input to the vehicle from the towed vehicle, which is caused by carrying out departure avoidance control, thereby controlling the vehicle so as not to depart from the lane using a corrected yaw moment.

Abstract translation: 现在的车道偏离预防系统可以防止车辆离开行车道，即使车辆拖曳拖车。 当检测到被牵引的车辆时，车道偏离防止系统将目标横摆力矩与正常离场回避控制操作中使用的偏航力矩相比改变。 改变是基于通过执行离场避免控制而从拖车引导到车辆的力，由此控制车辆以便不使用修正的横摆力矩离开车道。

公开(公告)号：US07477978B2

公开(公告)日：2009-01-13

申请号：US11094323

申请日：2005-03-31

Applicant: Hiroshi Kawazoe ,  Hiroshi Tsuda

Inventor： Hiroshi Kawazoe ,  Hiroshi Tsuda

IPC: G08B23/00 ,  G06F19/00

CPC classification number: B60T7/22 ,  B60T2201/08 ,  B60T2201/083 ,  B60W40/064 ,  B60W2550/12 ,  B62D6/00

Abstract: A device adapted to automatically control the effective output of a vehicle control system/component that, for example, automatically applies braking and/or steering control, in response to tire contact with a rumble strip. The device includes a processor configured to receive a first signal indicative of contact of a vehicle tire with a rumble strip. The processor also includes logic to determine that at least one vehicle tire is in contact with a rumble strip based at least on the first signal. If the processor has received the first signal and has determined that the at least one vehicle tire is in contact with the rumble strip, the processor then issues a command to control the effective output of at least one of a vehicle control component or a vehicle control system. For example, an automatically applied braking force may be reduced to ½ its normal applied force.

Abstract translation: 适于自动控制车辆控制系统/部件的有效输出的装置，其例如响应于与隆隆带的轮胎接触自动地应用制动和/或转向控制。 该设备包括处理器，其被配置为接收指示车辆轮胎与隆隆条接触的第一信号。 处理器还包括至少基于第一信号确定至少一个车辆轮胎与隆隆条接触的逻辑。 如果处理器已经接收到第一信号并且已经确定至少一个车辆轮胎与隆隆条接触，则处理器然后发出命令以控制车辆控制部件或车辆控制器中的至少一个的有效输出 系统。 例如，自动施加的制动力可以减小到其正常施加的力的1/2。

公开(公告)号：US07409279B2

公开(公告)日：2008-08-05

申请号：US10960974

申请日：2004-10-12

Applicant: Takashi Sugano ,  Yoshitaka Uemura

Inventor： Takashi Sugano ,  Yoshitaka Uemura

IPC: G06F19/00

CPC classification number: B60T8/17557 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2201/086

Abstract: A lane departure prevention apparatus is configured to avoid lane departure even when the driver is not focused on driving operations, in a state in which the system-operating switch is OFF. The lane departure prevention apparatus has a driver condition detection section or device for detecting that the condition of the driver which is a condition in which the driver cannot perceive that the host vehicle is tending toward departure, and a lane departure avoidance control device for setting the braking control for avoiding departure in an operable state when the system-operating switch for the driver to instruct the operation of control braking for avoiding the lane departure is OFF, the braking control for avoiding departure is OFF, and the driver condition detection section or device has detected that the condition of the driver is a condition in which the driver cannot perceive that the host vehicle is tending toward departure.

Abstract translation: 车道偏离防止装置被配置为在系统操作开关关闭的状态下即使在驾驶员不关注驾驶操作时也避免行车偏离。 车道偏离防止装置具有驾驶员状态检测部或装置，用于检测作为驾驶员不能察觉到本车辆趋向出发的状况的驾驶员的状况，以及用于设定驾驶员的车道偏离回避控制装置 当用于指示用于避免车道偏离的控制制动的驾驶员的操作开关的系统操作开关为OFF时，用于避免出现在可操作状态的制动控制，用于避免偏离的制动控制为OFF，并且驾驶员状态检测部或装置 已经检测到驾驶员的状况是驾驶员不能察觉到本车辆趋向出发的状况。

公开(公告)号：US07317973B2

公开(公告)日：2008-01-08

申请号：US10469895

申请日：2002-10-09

Applicant: Werner Dieterle

Inventor： Werner Dieterle

IPC: G08G1/09 ,  B60K31/00 ,  G06F17/00

CPC classification number: G08G1/096827 ,  B60K31/0008 ,  B60K31/0058 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2201/087 ,  B60W30/16 ,  B60W2550/14 ,  B60W2550/142 ,  B60W2550/22 ,  B60W2550/402 ,  B62D15/026 ,  G01C21/26 ,  G08G1/096725 ,  G08G1/096741 ,  G08G1/096775 ,  G08G1/096844

Abstract: A method for automatic vehicle guidance is provided, in which infrastructure data is wirelessly transmitted to the vehicle and vehicle guidance commands are calculated on the basis of the infrastructure data. In this method, the infrastructure data for at least a section of the travel route immediately ahead is loaded into an on-board memory, the current position of the vehicle is continuously determined using a precise position system, and the commands are calculated on the basis of the position data and the stored infrastructure data.

Abstract translation: 提供了一种用于自动车辆引导的方法，其中基础设施数据被无线地传输到车辆，并且基于基础设施数据计算车辆引导命令。 在该方法中，将前方的行驶路线的至少一部分的基础设施数据加载到车载存储器中，使用精确的位置系统连续地确定车辆的当前位置，并且基于 的位置数据和存储的基础设施数据。

公开(公告)号：US20070179697A1

公开(公告)日：2007-08-02

申请号：US11343740

申请日：2006-01-31

Applicant: Gusztav Holler

Inventor： Gusztav Holler

IPC: G06F19/00

CPC classification number: B60T8/17557 ,  B60T7/22 ,  B60T2201/082 ,  B60T2201/083 ,  B60W30/12 ,  B62D9/005 ,  B62D15/027 ,  G08G1/167

Abstract: A vehicle lane departure warning system and method uses the vehicle braking system to provide tactile feedback to the driver. In one embodiment, one of the steerable road wheels of the vehicle is braked, to cause force to be transmitted back to the vehicle steering wheel, resulting in the driver receiving tactile feedback through the steering wheel.

Abstract translation: 车道偏离警告系统和方法使用车辆制动系统向司机提供触觉反馈。 在一个实施例中，车辆的可转向车轮中的一个被制动，以使力被传回到车辆方向盘，导致驾驶员通过方向盘接收到触觉反馈。