公开(公告)号：US06487500B2

公开(公告)日：2002-11-26

申请号：US09923252

申请日：2001-08-02

Applicant: Jerome H. Lemelson ,  Robert D. Pedersen

Inventor： Jerome H. Lemelson ,  Robert D. Pedersen

IPC: G01C2126

CPC classification number: G01S19/11 ,  B60T2201/022 ,  B60T2201/08 ,  B60T2201/082 ,  B60T2201/083 ,  B60T2201/085 ,  B60T2201/087 ,  G01S5/009 ,  G01S13/86 ,  G01S13/931 ,  G01S17/023 ,  G01S17/936 ,  G01S2013/9321 ,  G01S2013/9325 ,  G01S2013/9339 ,  G01S2013/9342 ,  G01S2013/9346 ,  G01S2013/935 ,  G01S2013/9353 ,  G01S2013/9357 ,  G01S2013/936 ,  G07C5/0891 ,  G08G1/164 ,  G08G1/20 ,  H04W4/046

Abstract: GPS satellite (4) ranging signals (6) received (32) on comm1, and DGPS auxiliary range correction signals and pseudolite carrier phase ambiguity resolution signals (8) from a fixed known earth base station (10) received (34) on comm2, at one of a plurality of vehicles/aircraft/automobiles (2) are computer processed (36) to continuously determine the one's kinematic tracking position on a pathway (14) with centimeter accuracy. That GPS-based position is communicated with selected other status information to each other one of the plurality of vehicles (2), to the one station (10), and/or to one of a plurality of control centers (16), and the one vehicle receives therefrom each of the others' status information and kinematic tracking position. Objects (22) are detected from all directions (300) by multiple supplemental mechanisms, e.g., video (54), radar/lidar (56), laser and optical scanners. Data and information are computer processed and analyzed (50,52,200,452) in neural networks (132, FIGS. 6-8) in the one vehicle to identify, rank, and evaluate collision hazards/objects, an expert operating response to which is determined in a fuzzy logic associative memory (484) which generates control signals which actuate a plurality of control systems of the one vehicle in a coordinated manner to maneuver it laterally and longitudinally to avoid each collision hazard, or, for motor vehicles, when a collision is unavoidable, to minimize injury or damage therefrom. The operator is warned by a heads up display and other modes and may override. An automotive auto-pilot mode is provided.

Abstract translation: GPS卫星（4）在comm1上接收（32）的测距信号（6），以及来自在comm2上接收（34）的固定的已知地球基站（10）的DGPS辅助范围校正信号和伪卫星载波相位模糊度分辨率信号（8） 在多个车辆/飞行器/汽车（2）中的一个被计算机处理（36）以以厘米的精度连续地确定在路径（14）上的运动学跟踪位置。 将基于GPS的位置与所选择的其他状态信息彼此通信到多个车辆（2）中的一个，一个站（10）和/或多个控制中心（16）中的一个，并且 一辆车从其中接收其他人的状态信息和运动跟踪位置。 通过多个补充机制（例如视频（54）），雷达/激光雷达（56），激光和光学扫描仪从所有方向（300）检测物体（22）。 在一辆车辆中的神经网络（132，图6-8）中对数据和信息进行计算机处理和分析（50,52,200,452）以识别，排序和评估碰撞危险/对象，专家操作响应在 模拟逻辑关联存储器（484），其产生控制信号，其以协调的方式致动所述一个车辆的多个控制系统，以横向和纵向地操纵所述控制信号，以避免每次碰撞危险，或者对于机动车辆，当碰撞不可避免时 ，以减少伤害或损坏。 操作员被抬头显示和其他模式警告，并可以覆盖。 提供汽车自动驾驶模式。

公开(公告)号：US06473678B1

公开(公告)日：2002-10-29

申请号：US09628686

申请日：2000-07-28

Applicant: Shigeki Satoh ,  Kenya Uenuma ,  Hiroshi Mouri ,  Hiroyuki Furusho ,  Masayasu Shimakage

Inventor： Shigeki Satoh ,  Kenya Uenuma ,  Hiroshi Mouri ,  Hiroyuki Furusho ,  Masayasu Shimakage

IPC: B60J832

CPC classification number: B62D1/28 ,  B60T2201/08 ,  B60T2201/087 ,  B62D15/025 ,  G05D1/0246 ,  G05D2201/0213

Abstract: An apparatus for vehicle lane following in which a look ahead sensor including a CCD camera and an image processor detects a lane marking on the surface of a roadway. The image processor estimates a lateral displacement of a point at a preview distance in front of a vehicle from a target line. The target line is a line between lane markings defining a lane. An electric motor coupled to the steering mechanism is used to provide a bias (a torque input) to the steering, which may either assist or oppose to the steering torque from the driver. A steering controller is designed to assist the driver to maintain the vehicle's lane position by holding the vehicle at the target line using a biasing torque if the lane following is selected by the driver. In order to reflect the driver preference in the lane following, the controller collects a sufficient number of measures of the vehicle lateral displacement when the lane following is not selected. Based on the collected data, the controller updates the target line position. In the subsequent lane following, the driver is assisted to maintain the vehicle at this updated target line.

Abstract translation: 一种用于车道追踪的装置，其中包括CCD照相机和图像处理器的前视传感器检测道路表面上的车道标记。 图像处理器估计在车辆前方的预览距离处的点与目标线的横向位移。 目标线是定义车道的车道标记之间的一条线。 耦合到转向机构的电动机用于向转向提供偏置（转矩输入），其可以辅助或反对来自驾驶员的转向转矩。 转向控制器被设计成通过驾驶员选择车道跟踪时，使用偏置扭矩来保持驾驶员保持车辆的车道位置。 为了反映车道追踪中的驾驶员偏好，当没有选择车道跟踪时，控制器收集足够数量的车辆横向位移的措施。 基于收集的数据，控制器更新目标线位置。 在随后的车道中，辅助驾驶员将车辆保持在该更新的目标线上。

公开(公告)号：US06324452B1

公开(公告)日：2001-11-27

申请号：US09599607

申请日：2000-06-23

Applicant: Manabu Ikegaya

Inventor： Manabu Ikegaya

IPC: B62D504

CPC classification number: B62D1/286 ,  B60T2201/08 ,  B60T2201/087

Abstract: A vehicle steering control system for conducting a steering assistance control, in which it is determined whether the vehicle operator has the intention to drive the vehicle by himself. This is done by discriminating the intention using the vehicle lateral deviation, the steering torque and the steering torque change. When it is discriminated that the vehicle operator does not have the intention in two or more discriminations, it is finally determined that the vehicle operator does not have the intention and the vehicle operator is alerted and/or the steering assistance control is discontinued, thereby preventing the vehicle operator from depending on the steer assist torque control excessively.

Abstract translation: 一种用于进行转向辅助控制的车辆转向控制系统，其中确定车辆驾驶员是否具有自己驾驶车辆的意图。 这是通过使用车辆横向偏离，转向扭矩和转向扭矩变化来区分意图来完成的。 当识别出车辆操作者不具有两个或多个鉴别中的意图时，最终确定车辆操作者不具有意图，并且警告车辆操作者和/或停止转向辅助控制，从而防止 车辆操作者根据转向辅助转矩控制过大。

公开(公告)号：US06275773B1

公开(公告)日：2001-08-14

申请号：US09436097

申请日：1999-11-08

Applicant: Jerome H. Lemelson ,  Robert D. Pedersen

Inventor： Jerome H. Lemelson ,  Robert D. Pedersen

IPC: G01C2126

CPC classification number: G01S19/11 ,  B60T2201/022 ,  B60T2201/08 ,  B60T2201/082 ,  B60T2201/083 ,  B60T2201/085 ,  B60T2201/087 ,  G01S5/009 ,  G01S13/86 ,  G01S13/931 ,  G01S17/023 ,  G01S17/936 ,  G01S2013/9321 ,  G01S2013/9325 ,  G01S2013/9339 ,  G01S2013/9342 ,  G01S2013/9346 ,  G01S2013/935 ,  G01S2013/9353 ,  G01S2013/9357 ,  G01S2013/936 ,  G07C5/0891 ,  G08G1/164 ,  G08G1/20 ,  H04W4/046

Abstract: GPS satellite (4) ranging signals (6) received (32) on comm1, and DGPS auxiliary range correction signals and pseudolite carrier phase ambiguity resolution signals (8) from a fixed known earth base station (10) received (34) on comm2, at one of a plurality of vehicles/aircraft/automobiles (2) are computer processed (36) to continuously determine the one's kinematic tracking position on a pathway (14) with centimeter accuracy. That GPS-based position is communicated with selected other status information to each other one of the plurality of vehicles (2), to the one station (10), and/or to one of a plurality of control centers (16), and the one vehicle receives therefrom each of the others' status information and kinematic tracking position. Objects (22) are detected from all directions (300) by multiple supplemental mechanisms, e.g., video (54), radar/lidar (56), laser and optical scanners. Data and information are computer processed and analyzed (50,52,200,452) in neural networks (132, FIGS. 6-8) in the one vehicle to identify, rank, and evaluate collision hazards/objects, an expert operating response to which is determined in a fuzzy logic associative memory (484) which generates control signals which actuate a plurality of control systems of the one vehicle in a coordinated manner to maneuver it laterally and longitudinally to avoid each collision hazard, or, for motor vehicles, when a collision is unavoidable, to minimize injury or damage therefrom. The operator is warned by a heads up display and other modes and may override. An automotive auto-pilot mode is provided.

Abstract translation: GPS卫星（4）在comm1上接收（32）的测距信号（6），以及来自在comm2上接收（34）的固定的已知地球基站（10）的DGPS辅助范围校正信号和伪卫星载波相位模糊度分辨率信号（8） 在多个车辆/飞行器/汽车（2）中的一个被计算机处理（36）以以厘米的精度连续地确定在路径（14）上的运动学跟踪位置。 将基于GPS的位置与所选择的其他状态信息彼此通信到多个车辆（2）中的一个，一个站（10）和/或多个控制中心（16）中的一个，并且 一辆车从其中接收其他人的状态信息和运动跟踪位置。 通过多个补充机制（例如视频（54）），雷达/激光雷达（56），激光和光学扫描仪从所有方向（300）检测物体（22）。 在一辆车辆中的神经网络（132，图6-8）中对数据和信息进行计算机处理和分析（50,52,200,452）以识别，排序和评估碰撞危险/对象，专家操作响应在 模拟逻辑关联存储器（484），其产生控制信号，其以协调的方式致动所述一个车辆的多个控制系统，以横向和纵向地操纵所述控制信号，以避免每次碰撞危险，或者对于机动车辆，当碰撞不可避免时 ，以减少伤害或损坏。 操作员被抬头显示和其他模式警告，并可以覆盖。 提供汽车自动驾驶模式。

公开(公告)号：US06212453B1

公开(公告)日：2001-04-03

申请号：US09393963

申请日：1999-09-10

Applicant: Hiroyuki Kawagoe ,  Shinnosuke Ishida

Inventor： Hiroyuki Kawagoe ,  Shinnosuke Ishida

IPC: B62D504

CPC classification number: G05D1/0278 ,  B60T2201/08 ,  B60T2201/087 ,  B62D5/0463 ,  B62D6/008 ,  B62D15/025 ,  G05D1/0246 ,  G05D1/0257 ,  G05D1/027 ,  G05D1/0274 ,  G05D2201/0213

Abstract: A system for controlling steering of a vehicle, including an electric motor used for power-steering torque assist control. In the system, the lane-keeping-steering assist torque TLK for causing the vehicle to run along the center of a road existing ahead of the vehicle is calculated, while the power-steering assist torque TPS for assisting the vehicle driver's steering is calculated. Then, ratios RTO1 and RTO2 are calculated based on the detected steering torque. The assist torques TLK, TPS are corrected by multiplication with the ratios RTO1, RTO2 respectively and are added together to determine a final assist torque TA, and based on the final assist torques TA, a motor current to be supplied to the electric motor is determined, thereby enabling to effectively prevent the two kinds of control from interfering with each other so as not to adversely affect the vehicle driver's perception of vehicle steering response. Additional ratios are determined based on the detected steering torque change and the vehicle speed.

Abstract translation: 一种用于控制车辆转向的系统，包括用于动力转向转矩辅助控制的电动机。 在该系统中，计算用于使车辆沿着存在于车辆前方的道路的中心行驶的车道保持转向辅助转矩TLK，同时计算用于辅助车辆驾驶员转向的动力转向辅助转矩TPS。 然后，基于检测到的转向转矩来计算比率RTO1和RTO2。 辅助转矩TLK，TPS分别通过与比率RTO1，RTO2相乘来校正，并且相加在一起以确定最终辅助转矩TA，并且基于最终辅助转矩TA，确定要提供给电动机的电动机电流 从而能够有效地防止两种控制相互干扰，从而不会不利地影响车辆驾驶员对车辆转向响应的感知。 基于检测到的转向转矩变化和车辆速度来确定额外的比率。

公开(公告)号：US6138062A

公开(公告)日：2000-10-24

申请号：US887335

申请日：1997-07-02

Applicant: Masayuki Usami

Inventor： Masayuki Usami

IPC: B62D6/00 ,  B60W30/00 ,  B62D15/02 ,  G01S13/93 ,  G05D1/02 ,  G06T1/00 ,  G08G1/04 ,  G08G1/16 ,  G01C22/00 ,  G05D1/00

CPC classification number: G05D1/0246 ,  B62D15/026 ,  B62D15/0265 ,  G05D1/0238 ,  G05D1/0257 ,  B60T2201/08 ,  B60T2201/087 ,  G05D1/0253 ,  G05D2201/0213

Abstract: An automatic travel controlling device capable of reliably guiding a vehicle along a lane even if the white lane lines cannot be detected. A laser radar device for detecting the distance to a side wall of the lane is provided to the left and right in addition to a CCD camera for detecting the white lane lines. An image from the CCD camera is supplied to a image processor ECU, and an extracted white line is supplied to a vehicle controlling ECU. A vehicle controlling ECU drives a steering actuator to perform steering control based on two white lines of the lane when detected. However, when the white lines cannot be detected, steering control based on the distances to the side walls is performed. If an obstacle is detected ahead by the laser radar device, the vehicle position is detected based on the distances to the side walls and a lane change is performed to evade the obstacle.

Abstract translation: 即使不能检测白车道线，也能够沿车道可靠地引导车辆的自动行驶控制装置。 除了用于检测白车道线的CCD照相机之外，还向左右设置用于检测与车道侧壁的距离的激光雷达装置。 来自CCD摄像机的图像被提供给图像处理器ECU，并且提取的白线被提供给车辆控制ECU。 车辆控制ECU驱动转向致动器，以在检测到时基于车道的两条白线执行转向控制。 然而，当不能检测白线时，执行基于与侧壁的距离的转向控制。 如果激光雷达装置前方检测到障碍物，则基于与侧壁的距离来检测车辆位置，并执行车道改变以逃避障碍物。

公开(公告)号：US6129025A

公开(公告)日：2000-10-10

申请号：US983292

申请日：1998-04-10

Applicant: Hiroyuki Minakami ,  Motoyuki Minakami

Inventor： Hiroyuki Minakami ,  Motoyuki Minakami

IPC: B60P3/07 ,  B61B13/08 ,  B62D1/26 ,  B62D37/00 ,  B62D39/00 ,  B61J3/00 ,  B61K1/00

CPC classification number: B60L15/38 ,  B60L11/1803 ,  B60L11/182 ,  B60L11/1831 ,  B60L11/1833 ,  B60L13/03 ,  B60L5/005 ,  B60L9/24 ,  B60P3/07 ,  B61B13/08 ,  B62D1/26 ,  B62D37/00 ,  B62D39/00 ,  B60L2200/26 ,  B60L2200/44 ,  B60L2240/70 ,  B60L2260/32 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2201/087 ,  Y02T10/7005 ,  Y02T10/7072 ,  Y02T10/7291 ,  Y02T30/30 ,  Y02T30/40 ,  Y02T90/12 ,  Y02T90/121 ,  Y02T90/122 ,  Y02T90/125 ,  Y02T90/14 ,  Y02T90/16

Abstract: In a transportation/logistics system in which a pallet/vehicle with an automobile/container mounted/fixed thereon travels, a normal steering operation is carried out by changing the direction of the wheels (including tires) by an electronically controlled automatic steering system on the basis of steering information, whereby comfortable travel and a smooth turns are obtained. When the pallet/vehicle is about to run off a lane on which it travels, the run-off thereof is prevented physically and mechanically since a fin provided on the pallet/vehicle is inserted in a groove provided in a road, whereby a safe traffic/transportation system is obtained. The pallet/vehicle obtains a driving force by a gap length regulated/controlled linear induction motor so that the pallet/vehicle can travel at high speeds. In diverging (branching) and merging (converging) points, the diverging (branching)/merging (converging) of the pallet/vehicles is practiced by steering the wheels (tires) by the automatic steering system, and the pallet/vehicle advances with the fin inserted in a groove in a main line or a ramp, whereby a reliable, safe traffic/transportation system adapted to practice high-speed diverging (branching) is obtained. At the exit/entrance of the present invention to/from a general road, a mode interchange is provided which is adapted to convert a traveling mode of an automobile/container, and mounts and fixes an automobile/container on the pallet/vehicle and unfastens such automobile/container.

Abstract translation: PCT No.PCT / JP95 / 01350 Sec。 371日期：1998年4月10日 102（e）1998年4月10日PCT PCT 1995年7月4日PCT公布。 公开号WO97 / 02167 日期1997年1月23日在运输/物流系统中，其上安装/固定其上的汽车/集装箱的托盘/车辆行进，通过电子控制来改变车轮（包括轮胎）的方向来进行正常的转向操作 基于转向信息的自动转向系统，从而获得舒适的行驶和平稳的转弯。 当托盘/车辆即将从其行进的车道上行驶时，由于设置在托盘/车辆上的翅片插入设置在道路中的槽中，所以其物理和机械的防止其被阻止，由此安全的交通 /运输系统。 托盘/车辆通过间隙长度调节/控制的线性感应电动机获得驱动力，使得托盘/车辆可以高速行驶。 在分叉（分支）和合并（收敛）点时，通过由自动转向系统转向轮子（轮胎）来实施托盘/车辆的发散（分支）/合并（收敛），并且托盘/车辆 翅片插入主线或斜坡的凹槽中，从而获得适于实施高速发散（分支）的可靠，安全的交通/运输系统。 在本发明的出入口处，从一般道路出来，提供了一种模式交换装置，其适于转换汽车/集装箱的行驶模式，并将汽车/集装箱安装并固定在货盘/车辆上并且松开 这样的汽车/集装箱。

公开(公告)号：US5938707A

公开(公告)日：1999-08-17

申请号：US696539

申请日：1996-08-14

Applicant: Yasuo Uehara

Inventor： Yasuo Uehara

IPC: B60R21/00 ,  B60W30/00 ,  B62D1/28 ,  B62D6/00 ,  G05D1/02 ,  G08G1/04 ,  G08G1/042 ,  G05D1/03

CPC classification number: B62D1/28 ,  G05D1/0261 ,  B60T2201/08 ,  B60T2201/087 ,  G05D2201/0213

Abstract: An automatic steering system which reduces formation of a wheel track by changing a relative position of a vehicle with respect to a road. A reference line is provided along a road so that a vehicle moves along the reference line. The vehicle moves on the road while an amount of shift from the reference line is controlled to be equal to a target amount of shift. The amount of shift is a distance between a predetermined position of the vehicle and the reference line. A moving line of the vehicle is fluctuated with respect to time in a direction substantially perpendicular to an extending direction of the reference line. Alternatively, the reference line may be shifted in a direction substantially perpendicular to the extending direction of the reference line.

Abstract translation: 一种自动转向系统，其通过改变车辆相对于道路的相对位置来减少轮轨的形成。 沿着道路提供参考线，使得车辆沿着基准线移动。 车辆在道路上移动，同时从参考线的换档量被控制为等于目标偏移量。 移动量是车辆的预定位置和基准线之间的距离。 车辆的移动线在与基准线的延伸方向大致垂直的方向上相对于时间波动。 或者，参考线可以在基本上垂直于参考线的延伸方向的方向上移动。

公开(公告)号：US5318143A

公开(公告)日：1994-06-07

申请号：US887069

申请日：1992-06-22

Applicant: Donald L. Parker ,  Philip Roan

Inventor： Donald L. Parker ,  Philip Roan

IPC: B60K31/00 ,  B62D1/28 ,  E01F9/00 ,  G01C21/26 ,  G01S17/66 ,  G01S17/74 ,  G01S17/87 ,  G05D1/02 ,  G08G1/0967

CPC classification number: G08G1/096716 ,  B60K31/0008 ,  B60K31/0058 ,  B62D1/28 ,  E01F9/30 ,  G01C21/26 ,  G01S17/66 ,  G01S17/74 ,  G01S17/87 ,  G05D1/0242 ,  G05D1/0244 ,  G08G1/096725 ,  G08G1/096758 ,  G08G1/096783 ,  B60T2201/08 ,  B60T2201/087 ,  G05D1/0274 ,  G05D1/028

Abstract: A lane sensing system (20) comprises a processor (22) operable to drive an infrared optical transmitter (24). Light is reflected by a center stripe (18) placed in the center of a highway lane. Reflected light is received in right and left receivers (26) and (28). The processor (22) uses the information to control a power steering control system (30) and a speed control system (32). Information may be encrypted into the center stripe (18) and used by processor (22) to control the speed of the vehicle (10) or to display information to an operator of the vehicle (10) through a display system (34).

Abstract translation: 车道感测系统（20）包括可操作以驱动红外光发送器（24）的处理器（22）。 光线被放置在公路车道中心的中心条纹（18）反射。 反射光被接收在左和右接收器（26）和（28）中。 处理器（22）使用该信息来控制动力转向控制系统（30）和速度控制系统（32）。 信息可以被加密到中心条纹（18）中并且由处理器（22）使用以通过显示系统（34）来控制车辆（10）的速度或者向车辆（10）的操作者显示信息。

公开(公告)号：US20180056996A1

公开(公告)日：2018-03-01

申请号：US15481531

申请日：2017-04-07

Applicant: LG ELECTRONICS INC.

Inventor： Jinkyo LEE

IPC: B60W30/09 ,  B60W10/18 ,  B60W10/20

CPC classification number: B60W30/09 ,  B60T8/17557 ,  B60T2201/083 ,  B60T2201/087 ,  B60T2201/16 ,  B60T2210/32 ,  B60W10/18 ,  B60W10/20 ,  B60W2420/42 ,  B60W2510/207 ,  B60W2530/20 ,  B60W2540/12 ,  B60W2540/18 ,  B60W2550/308

Abstract: A driver assistance apparatus for a vehicle includes a camera configured to photograph an image of surroundings of a vehicle; an interface; and a processor. The processor is configured to detect, based on the image photographed by the camera, a lane in which the vehicle travels; acquire braking state information of the vehicle; and provide, to a steering apparatus, a signal for steering the vehicle or provide, to a brake apparatus, a signal for one-sided braking through the interface to maintain the vehicle within the lane in which the vehicle travels during a braking of the vehicle based on the acquired braking state information.