公开(公告)号：US10053071B2

公开(公告)日：2018-08-21

申请号：US15346887

申请日：2016-11-09

Applicant: Hyundai Motor Company

Inventor： Il Young Chang

IPC: G09G5/00 ,  B60T8/1755 ,  B60T7/12 ,  G05D1/02 ,  B60T7/22

CPC classification number: B60T8/17557 ,  B60T7/12 ,  B60T7/22 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2250/03 ,  G05D1/021 ,  G05D2201/0213

Abstract: A lane keeping control method for a vehicle may include determining, by a controller, whether a wheel speed difference exists between predetermined wheels, during braking while the vehicle travels straight, determining, by the controller, a reference wheel and a control wheel, based on the wheel speed difference between the predetermined wheels, and reducing, by the controller, a wheel speed difference between the reference wheel and the control wheel by performing pre-decompression control for the control wheel, when the wheel speed difference exists.

公开(公告)号：US20180229700A1

公开(公告)日：2018-08-16

申请号：US15864588

申请日：2018-01-08

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Hironori ITO ,  Akira NAGAE ,  Ryo INOMATA ,  Masayuki IKEDA

IPC: B60T8/24 ,  B60T8/172 ,  B60T8/58

CPC classification number: B60T8/246 ,  B60T8/172 ,  B60T8/17557 ,  B60T8/58 ,  B60T2201/083 ,  B60T2201/16 ,  B60T2210/24 ,  B60T2250/03 ,  B60T2250/04

Abstract: A deflection control apparatus is configured to perform a deflection control in which a subject vehicle is deflected by a braking force difference between left and right wheels. The vehicle control apparatus is provided with: a calculator configured, in the deflection control, (i) to calculate a target yaw rate so that the subject vehicle drives on a target track by the deflection control, and (ii) to calculate a target yaw moment by dividing the calculated target yaw rate by a coefficient based on a velocity of the subject vehicle; and a controller configured to control a braking force of each wheel so that the target yaw moment is applied to the subject vehicle.

公开(公告)号：US20180201242A1

公开(公告)日：2018-07-19

申请号：US15919567

申请日：2018-03-13

Applicant: Continental Teves AG & Co. oHG

Inventor： Kai Bretzigheimer ,  Stefan Feick

IPC: B60T8/1755

CPC classification number: B60T8/17557 ,  B60T2201/083 ,  B60T2201/085 ,  B60T2201/087 ,  B60W2520/14

Abstract: A method for performing closed-loop control of a motor vehicle having a brake system with a stability control system comprises comparing an actual yaw rate with a setpoint yaw rate which is calculated using a model. A yaw moment of a closed-loop or open-loop assistance control of an assistance system for lane guidance or transverse guidance is taken into account during the calculation of the setpoint yaw rate. An electronic brake control unit which is suitable for carrying out the method and is connected to at least one vehicle sensor, in particular a steering angle sensor, yaw rate sensor and/or wheel rotational speed sensors. The brake control unit can bring about, through actuation of actuators, a driver-independent increase in and a modulation of the braking forces at the individual wheels of the vehicle.

公开(公告)号：US20180154871A1

公开(公告)日：2018-06-07

申请号：US15369980

申请日：2016-12-06

Applicant: Delphi Technologies, Inc.

Inventor： Premchand Krishna Prasad

IPC: B60T7/22 ,  G08G1/16

CPC classification number: B60T7/22 ,  B60T2201/022 ,  B60T2201/081 ,  B60T2201/083 ,  B60T2201/089 ,  B60T2210/36 ,  B60T2270/60 ,  G01S13/931 ,  G01S2013/9346 ,  G08G1/16

Abstract: A braking-system suitable for use on an automated vehicle includes a ranging-sensor, a braking-actuator and a controller in communication with the ranging-sensor and the braking-actuator. The ranging-sensor is used to detect an object proximate to a host-vehicle when the object resides in a field-of-view of the ranging-sensor. The field-of-view defines a bottom-edge of the field-of-view and a boundary of a conflict-zone, where the boundary corresponds to a portion of the bottom-edge. The a braking-actuator used to control movement of the host-vehicle. The controller determines a height of the object, determines a distance to the object, determines a range-rate of the object when the object is in the field-of-view, and activates the braking-actuator when an estimated-distance to the object is less than a distance-threshold, the height of the object is greater than a height-threshold, and the object has crossed the boundary and thereby enters the conflict-zone.

公开(公告)号：US20180001876A1

公开(公告)日：2018-01-04

申请号：US15604824

申请日：2017-05-25

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Yoshitaka OIKAWA

IPC: B60T8/1755 ,  B60T7/12

CPC classification number: B60T8/17557 ,  B60T7/12 ,  B60T7/22 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2210/36

Abstract: A lane departure prevention device includes: a travelling state recognition unit; a lane line recognition unit; a departure determination unit; a yaw moment calculation unit configured to calculate a target trajectory and a target yaw moment; a direction determination unit configured to determine the departure avoidance direction; a direction alignment determination unit configured to determine the turning direction of the vehicle by the target yaw moment coincides with the departure avoidance direction; and a braking force control unit configured to control the braking forces of the vehicle. In a case where the direction alignment determination unit determines that the results of determinations coincide with each other, the braking force control unit perform a braking force control, and in a case where the direction alignment determination unit doesn't determine that the results of determinations coincide with each other, the braking force control unit doesn't perform the braking force control.

公开(公告)号：US20160325721A1

公开(公告)日：2016-11-10

申请号：US15139413

申请日：2016-04-27

Applicant: VOLVO CAR CORPORATION

Inventor： Mats JONASSON ,  Mikael THOR

IPC: B60T8/24 ,  B60T8/172 ,  B60T7/12 ,  B60T8/171 ,  B62D6/00 ,  B62D5/04

CPC classification number: B60T8/246 ,  B60T7/12 ,  B60T8/171 ,  B60T8/172 ,  B60T8/17557 ,  B60T2201/083 ,  B60T2210/32 ,  B60T2260/02 ,  B60T2260/06 ,  B60T2270/402 ,  B62D5/0481 ,  B62D6/003 ,  B62D9/005 ,  B62D15/025

Abstract: A vehicle, a method, a secondary steering system unit and a secondary steering system are provided. The secondary steering system unit comprises: a fault determination arrangement arranged to determine the presence of a fault in the main steering system and a path controller arranged to generate an upcoming path for the host vehicle. The secondary steering system unit is arranged to steer the host vehicle along the path by differential braking upon determination that a fault is present in the main steering system. Furthermore, the secondary steering system is arranged to control the differential braking in dependence of both a yaw torque acting on the host vehicle as a result of the differential braking and a steering angle resulting from a generated alignment torque on a braked steerable wheel caused by the associated wheel suspension scrub radius.

Abstract translation: 提供车辆，方法，次要转向系统单元和次要转向系统。 次级转向系统单元包括：故障确定装置，被布置成确定主转向系统中的故障的存在;以及路径控制器，布置成生成用于主车辆的即将到达的路径。 次级转向系统单元被布置成在确定主转向系统中存在故障时通过差速制动沿着路径转向主车辆。 此外，辅助转向系统被布置成根据作为差速制动的结果的作用于主车辆的偏航力矩和由制动的可转向车轮上产生的对准转矩而产生的转向角来控制差速制动 相关轮悬挂磨砂半径。

公开(公告)号：US20150251664A1

公开(公告)日：2015-09-10

申请号：US14202497

申请日：2014-03-10

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： CHAD T. ZAGORSKI

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

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：US08364370B2

公开(公告)日：2013-01-29

申请号：US12933537

申请日：2009-03-12

Applicant: Takeshi Yonezawa ,  Kou Sato

Inventor： Takeshi Yonezawa ,  Kou Sato

IPC: G06F7/70

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

Abstract: When a target yaw moment Ms is computed, an estimated lateral acceleration GH and estimated deceleration GT of a host vehicle are determined beforehand according to target yaw moment Ms, and when the estimated lateral acceleration GH is smaller than a threshold preset on the basis of the estimated deceleration GT the target yaw moment Ms is corrected to a smaller limit value Msm.

Abstract translation: 当计算目标横摆力矩Ms时，根据目标横摆力矩Ms预先确定主车辆的推定侧向加速度GH和推定减速度GT，并且当估计横向加速度GH小于基于 估计减速度GT将目标横摆力矩Ms校正为较小的极限值Msm。

公开(公告)号：US08346427B2

公开(公告)日：2013-01-01

申请号：US12867643

申请日：2009-01-09

Applicant: Sachio Kobayashi

Inventor： Sachio Kobayashi

IPC: G05D1/00

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 is 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. 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 controlled such that the vehicle will not depart from the virtual travel area set as the travel area.

Abstract translation: 车辆行驶辅助装置能够从支撑车辆的行驶稳定的观点来适当地控制转向装置等的动作，即使在行驶区域被两侧的左右车道标记不适当地划定的情况下 。 当满足第一条件时，也可以将道路的宽度方向上的左右车道标记之间的间隔从划分行驶的角度上升到适当的程度，将虚拟行驶区域设定为行驶区域 因为随着距离车辆的距离增加，它们之间的分离逐渐增加。 控制转向装置等的操作，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：US08306700B2

公开(公告)日：2012-11-06

申请号：US12867605

申请日：2009-01-09

Applicant: Sachio Kobayashi

Inventor： Sachio Kobayashi

IPC: A01B69/00

CPC classification number: B62D15/025 ,  B60T8/17557 ,  B60T2201/08 ,  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 continuing operation even when the recognition accuracy of a lane mark has been degraded, and the like, wherein the degree of control on the operation of a steering device or the like is set higher as the reliability of a lane mark becomes higher. In a state in which the reliability of a travel area demarcated by the lane mark is high, a vehicle's travel is relatively strongly or actively supported so that the vehicle will not depart from the travel area. On the other hand, the degree of control on the operation of the steering device or the like is set lower as the reliability of the lane mark is lower. In a state in which the reliability of the travel area demarcated by the lane mark is low, the vehicle's travel is relatively weakly or passively supported so that the vehicle will not depart from the travel area.

Abstract translation: 即使当车道标识的识别精度已经劣化时能够继续操作的车辆行驶支持装置等，其中转向装置等的操作的控制程度被设置为更高，因为车道的可靠性 标记变得更高。 在车道标记划分的行驶区域的可靠性高的状态下，车辆的行驶相对强烈地或主动地被支撑，使得车辆不会离开行驶区域。 另一方面，由于车道标记的可靠性较低，所以对转向装置等的操作的控制程度降低。 在车道标记划定的行驶区域的可靠性低的状态下，车辆的行驶相对较弱或被动地支撑，车辆不会离开行驶区域。