公开(公告)号：US20170327149A1

公开(公告)日：2017-11-16

申请号：US15529439

申请日：2015-12-15

Applicant: Robert Bosch GmbH

Inventor： Marcus Schneider ,  Axel Stamm ,  Michael Helmle

IPC: B62D15/02 ,  B62D1/28 ,  B60W30/12 ,  B60W30/10 ,  B60W10/18 ,  B60W30/14 ,  B60W50/08

CPC classification number: B62D15/025 ,  B60T7/22 ,  B60T2201/022 ,  B60T2201/087 ,  B60W10/18 ,  B60W30/10 ,  B60W30/12 ,  B60W30/143 ,  B60W50/082 ,  B60W2540/04 ,  B60W2540/18 ,  B60W2710/202 ,  B62D1/28 ,  B62D1/286 ,  B62D5/008

Abstract: A method for providing assistance to a driver of a vehicle, the vehicle including a driver assistance system that enables at least temporary autonomous driving, and that, after the termination of the autonomous driving, requests the driver to take over at least the lateral guidance of the vehicle via a signal. It is further provided that the steering of the vehicle is stiffened for a specified time span after the request to take over the lateral guidance. A computer program and a device that are set up to carry out the method, are also described.

公开(公告)号：US20170305421A1

公开(公告)日：2017-10-26

申请号：US15516267

申请日：2015-11-02

Applicant: DENSO CORPORATION ,  NIPPON SOKEN, INC.

Inventor： Takatoshi SEKIZAWA ,  Youichirou SUZUKI ,  Masashi MORI ,  Akira TAKAOKA

IPC: B60W30/12 ,  B60W10/20 ,  B60W10/18 ,  B60C19/00 ,  B60W50/14

CPC classification number: B60W30/12 ,  B60C19/00 ,  B60C23/064 ,  B60C2019/004 ,  B60T7/12 ,  B60T7/22 ,  B60T8/17 ,  B60T8/1755 ,  B60T8/17557 ,  B60T2201/083 ,  B60T2201/087 ,  B60W10/18 ,  B60W10/20 ,  B60W40/068 ,  B60W50/14 ,  B60W2420/42 ,  B60W2550/12 ,  B60W2550/147 ,  B60W2550/148 ,  B60W2710/18 ,  B60W2710/20 ,  B62D6/00 ,  G08G1/167

Abstract: A road-surface-condition estimation device is configured by a tire-side device and a vehicle-side device so as to grasp a road surface condition based on road surface condition data transmitted from a tire-side device. As a result, the road surface condition or a road surface μ of a traveling road surface of a vehicle can be accurately detected, and a more accurate lane keeping control can be performed according to the detection result. In particular, since the tire-side device estimates the road surface condition by detecting the vibration of a ground contact surface of the tire, the road surface condition can be estimated more accurately. Therefore, the more accurate lane keeping control can be performed.

公开(公告)号：US09505401B2

公开(公告)日：2016-11-29

申请号：US13877114

申请日：2011-09-28

Applicant: Tomonori Akiyama ,  Shinji Igarashi ,  Yuki Yoshihama

Inventor： Tomonori Akiyama ,  Shinji Igarashi ,  Yuki Yoshihama

IPC: B60W30/02 ,  B60W10/20 ,  B60W10/184 ,  B60W30/12 ,  B62D6/00 ,  B62D15/02

CPC classification number: B60W30/02 ,  B60T8/17557 ,  B60T2201/083 ,  B60T2201/085 ,  B60T2201/087 ,  B60W10/184 ,  B60W10/20 ,  B60W30/12 ,  B60W2520/14 ,  B60W2720/14 ,  B62D6/003 ,  B62D15/025

Abstract: Disclosed is a driving support apparatus for setting a traveling lane in which a vehicle can travel on the basis of a road marking to indicate a lane boundary or a traveling-prohibited region and performing support by combining steering of the vehicle and deceleration of the vehicle so that the vehicle is allowed to travel in the traveling lane if the vehicle is to be departed from the traveling lane, wherein the steering of the vehicle and the deceleration of the vehicle, which are to be performed when the support is performed so that the vehicle is allowed to travel in the traveling lane, are individually controlled depending on a difference ΔY between a target yaw rate Ytrg and an actual yaw rate Yrea if the actual yaw rate Yrea is smaller than the target yaw rate Ytrg in order not to allow the vehicle to exceed the traveling lane.

Abstract translation: 公开了一种驾驶辅助装置，用于设置行驶车道，其中车辆可以基于道路标记行驶以指示车道边界或行驶禁止区域，并且通过组合车辆的转向和车辆的减速度来执行支撑 如果车辆要离开行车道，车辆被允许在行车道中行驶，其中车辆的转向和车辆的减速度将在执行支撑时执行，使得车辆 如果实际横摆率Yrea小于目标横摆角速度Ytrg，则根据目标横摆角速度Ytrg和实际横摆角速度Yrea之间的差ΔY单独控制，以便不允许车辆 超越行车道。

公开(公告)号：US20150321668A1

公开(公告)日：2015-11-12

申请号：US14275062

申请日：2014-05-12

Applicant: Ford Global Technologies, LLC

Inventor： Shane Elwart ,  Walter Joseph Talamonti ,  Doug Scott Rhode

IPC: B60W30/09 ,  B60W10/20 ,  B60W10/18 ,  B62D6/00 ,  G05D1/02

CPC classification number: B60T8/1755 ,  B60T8/17557 ,  B60T2201/087 ,  B60W10/18 ,  B60W10/20 ,  B60W30/09 ,  B60W30/10 ,  B62D6/00 ,  G05D1/0246 ,  G05D1/0257 ,  G08G1/16 ,  G08G1/166 ,  G08G1/167

Abstract: An emergency in-lane steering assist system for use during a braking event comprises an object sensor for detecting the presence of an object in front of a motor vehicle and providing data from which the distance from the object to the motor vehicle is determined and a velocity sensor providing data from which the forward velocity of the motor vehicle is determined. A controller in communication with the object sensor and the velocity sensor calculates a Time to Contact (TTC) with the detected object and a steering system is responsive at least in part to operation by the controller. If the calculated TTC is less than a predetermined TTC, the controller provides a lateral steering input during the braking event to reduce the linear distance traveled by the motor vehicle relative to a predetermined path in the lane.

Abstract translation: 在制动事件期间使用的紧急车内转向辅助系统包括用于检测机动车辆前方的物体的存在的物体传感器，并提供确定从物体到机动车辆的距离的数据，并且速度 传感器提供确定机动车辆前进速度的数据。 与对象传感器和速度传感器通信的控制器与检测到的物体一起计算接触时间（TTC），并且转向系统至少部分地响应于控制器的操作。 如果所计算的TTC小于预定TTC，​​则控制器在制动事件期间提供横向转向输入，以减少机动车辆相对于车道中的预定路径行进的线性距离。

公开(公告)号：US08989943B2

公开(公告)日：2015-03-24

申请号：US13895647

申请日：2013-05-16

Applicant: Hyundai Motor Company

Inventor： Byung Yong You

IPC: G01C22/00 ,  G05D1/02 ,  G01C21/36 ,  B60W30/12 ,  G01S13/93

CPC classification number: G05D1/0297 ,  B60T2201/08 ,  B60T2201/087 ,  B60W30/12 ,  G01C21/3658 ,  G01S2013/9342 ,  G05D2201/0213

Abstract: An unmanned autonomous traveling service apparatus and method based on driving information database that allows an unmanned autonomous traveling vehicle to be autonomously operated stably without performing a large scale computing process in real time by allowing the unmanned autonomous traveling vehicle to be autonomously operated based on driving information generated in a database and allowing the unmanned autonomous traveling vehicle to be autonomously operated based on an installed sensor at the time of a traffic lane change or an unexpected situation. In particular, the driving information is collected from drivers throughout the world to create the database for the driving information.

Abstract translation: 基于驾驶信息数据库的无人自主旅行服务装置和方法，其允许无人驾驶的自动行驶车辆通过基于驾驶信息自主地运行而无需实时地执行大规模的计算处理，从而能够自主地运行无人自主行驶车辆 在数据库中产生并且允许无人自行行驶车辆在行车道改变时或者意外情况下基于安装的传感器自主操作。 特别是，驾驶信息从世界各地的司机收集，以创建驾驶信息的数据库。

公开(公告)号：US08738230B2

公开(公告)日：2014-05-27

申请号：US13139730

申请日：2009-10-23

Applicant: Keitaro Niki ,  Yoji Kunihiro ,  Yoshiaki Suzuki

Inventor： Keitaro Niki ,  Yoji Kunihiro ,  Yoshiaki Suzuki

IPC: B62D6/00

CPC classification number: B62D6/003 ,  B60T2201/08 ,  B60T2201/087 ,  B62D5/046 ,  B62D5/0466 ,  B62D5/0472 ,  B62D15/025

Abstract: A coordinate-control-gain calculation section 61 calculates a coordinate-control final control torque T_C required to properly control the traveling behavior of a vehicle, and determines a coordinate control gain Kg on the basis of the magnitude of this torque T_C. An arbitration-request determination section 62 determines the value of an arbitration request flag FRG_A on the basis of the magnitude of the torque T_C and the value of a flag FRG_L output so as to properly control the traveling behavior of a vehicle. On the basis of the value of the flag FRG_A and the magnitude of the coordinate-control arbitration torque Tr determined by use of the gain Kg, an arbitration section 63 selects the torque T_C or the torque Tr to be output as a post-arbitration control torque T_F. A post-arbitration drive control section 64 supplies to an electric motor a drive current corresponding to the determined torque T_F.

Abstract translation: 坐标控制增益计算部61计算适当地控制车辆的行驶行为所需的坐标控制最终控制扭矩T_C，并基于该转矩T_C的大小来确定坐标控制增益Kg。 仲裁请求确定部分62基于转矩T_C的大小和输出的标志FRG_L的值来确定仲裁请求标志FRG_A的值，以便适当地控制车辆的行驶行为。 基于标志FRG_A的值和通过使用增益Kg确定的坐标控制仲裁转矩Tr的大小，仲裁部63选择要输出的转矩T_C或转矩Tr作为仲裁后控制 扭矩T_F。 后置仲裁驱动控制部64向电动机提供与所确定的转矩T_F对应的驱动电流。

公开(公告)号：US08645026B2

公开(公告)日：2014-02-04

申请号：US13328445

申请日：2011-12-16

Applicant: Michael Bär ,  Karl-Heinz Meitinger

Inventor： Michael Bär ,  Karl-Heinz Meitinger

IPC: B62D6/00

CPC classification number: B62D15/025 ,  B60T7/18 ,  B60T8/17557 ,  B60T2201/087 ,  B60T2210/36 ,  B60W10/20 ,  B60W30/10 ,  B60W2050/0045 ,  B60W2420/42 ,  B60W2520/18 ,  B60W2550/14 ,  B60W2550/143 ,  B60W2550/146 ,  B60W2550/402 ,  B60W2710/207 ,  B62D6/04

Abstract: In a method for the operation of a transverse guiding driver assist system of a motor vehicle, a road banking information is ascertained as a function of a change in a deviation of a transverse course of a road surface from a horizontal. A future road course is determined from environmental data and/or operating data of a motor vehicle, using the road banking information. A lateral track deviation is determined as a result of a change of a road banking, using the road banking information. At least one transverse guiding parameter is established from the future road course and the road banking information to determine a steering intervention. The lateral track deviation is then corrected by using the transverse guiding parameter.

Abstract translation: 在用于机动车辆的横向引导驾驶员辅助系统的操作的方法中，确定道路交通信息作为路面横向与水平方向的偏差变化的函数。 使用道路银行信息，根据汽车的环境数据和/或运行数据确定未来的道路路线。 使用道路银行信息，作为道路银行变更的结果确定横向轨道偏离。 从未来道路路线和道路银行信息建立至少一个横向引导参数，以确定转向干预。 然后使用横向引导参数来校正横向轨迹偏差。

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：US07765066B2

公开(公告)日：2010-07-27

申请号：US10512593

申请日：2002-12-11

Applicant: Goetz Braeuchle ,  Martin Heinebrodt

Inventor： Goetz Braeuchle ,  Martin Heinebrodt

IPC: B60W30/12 ,  B62D6/00 ,  G05D3/12

CPC classification number: B62D15/025 ,  B60T2201/08 ,  B60T2201/087 ,  B60W30/095 ,  B60W30/12 ,  B60W30/18163 ,  B60W2550/306 ,  G08G1/166 ,  G08G1/167

Abstract: Method for lane keeping support in motor vehicles, in which a setpoint value for the lateral position of the vehicle is determined, the actual position of the vehicle in relation to the boundaries of the lane in which the host vehicle is traveling is detected by a sensor device and an output signal for the lane keeping support is calculated by a setpoint-actual comparison, wherein objects are tracked in at least one neighboring lane and a setpoint value for the lateral position is varied as a function of tracking data of these objects.

Abstract translation: 机动车辆的行车道保持支援方法，其中确定了车辆横向位置的设定值，车辆相对于主车辆行驶的车道边界的实际位置由传感器 通过设定点 - 实际比较来计算用于车道保持支撑的装置和输出信号，其中对象在至少一个相邻车道中跟踪，并且用于横向位置的设定值作为跟踪这些对象的数据的函数而变化。