公开(公告)号：US20120109465A1

公开(公告)日：2012-05-03

申请号：US13380942

申请日：2009-06-29

Applicant: Jan-Inge Svensson ,  Jochen Pohl ,  Sten Ragnhult

Inventor： Jan-Inge Svensson ,  Jochen Pohl ,  Sten Ragnhult

IPC: B62D6/00

CPC classification number: B60W30/12 ,  B60T8/1708 ,  B60T8/17557 ,  B60T2201/083 ,  B60W10/18 ,  B60W10/20 ,  B62D5/0472 ,  B62D6/008 ,  B62D15/025

Abstract: A method for changing a vehicle's trajectory, wherein the vehicle includes a steering arrangement including a manual steering device, at least one pair of ground engaging members and a mechanical interconnection therebetween, includes the steps of applying a braking force to at least one of the ground engaging members so that the vehicle's trajectory is changed, and simultaneously suppressing steering device disturbances resulting from the mechanical interconnection.

Abstract translation: 一种用于改变车辆轨迹的方法，其中所述车辆包括包括手动转向装置的转向装置，至少一对地面接合构件和它们之间的机械互连，包括以下步骤：向至少一个地面施加制动力 使车辆轨迹变化，同时抑制由机械互连引起的转向装置的干扰。

公开(公告)号：US08073595B2

公开(公告)日：2011-12-06

申请号：US12125424

申请日：2008-05-22

Applicant: Yoshiaki Tabata ,  Kou Satou

Inventor： Yoshiaki Tabata ,  Kou Satou

IPC: G06G7/76

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

Abstract: An apparatus to prevent a vehicle from deviating from a lane of travel includes an acquisition device configured to measure a yaw angle between the vehicle and the lane of travel, a lane deviation controller configured to output a yaw moment to maintain the vehicle in the lane of travel, a restriction device configured to restrict the yaw moment output when the measured yaw angle exceeds a first angle limit, and a correction device configured to adjust the first angle limit in response to a measured condition.

Abstract translation: 一种用于防止车辆偏离行驶通道的装置包括被配置成测量车辆与行车道之间的偏航角的采集装置，车道偏离控制器，被配置为输出横摆力矩以将车辆维持在 行驶，限制装置，被配置为当测量的偏航角超过第一角度限制时限制横摆力矩输出;以及校正装置，被配置为响应于测量条件来调节第一角度限制。

公开(公告)号：US20110282549A1

公开(公告)日：2011-11-17

申请号：US13105413

申请日：2011-05-11

Applicant: Jae Bum Choi

Inventor： Jae Bum Choi

IPC: B60T8/17 ,  G06F7/00

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：US20110231095A1

公开(公告)日：2011-09-22

申请号：US13043984

申请日：2011-03-09

Applicant: Yuki NAKADA ,  Toshiya Oosawa ,  Akira Takahashi

Inventor： Yuki NAKADA ,  Toshiya Oosawa ,  Akira Takahashi

IPC: G06F19/00

CPC classification number: B60W30/12 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2201/087 ,  B62D15/025

Abstract: A vehicle control apparatus includes a first section that recognizes a lane boundary line of a lane in which a vehicle is traveling. A second section recognizes a present position of a predetermined reference point of the vehicle. A third section calculates a predicted position of the reference point, wherein the predicted position is a predetermined interval ahead of the present position. A fourth calculates an imaginary lane boundary line, wherein the imaginary lane boundary line is tangent to the lane boundary line at a point close to the predicted position. A fifth section performs a control of preventing the vehicle from deviating from the lane by controlling the vehicle depending on positional relationship between the vehicle and the lane boundary line. A sixth section selectively permits and suppresses the control depending on positional relationship among the imaginary lane boundary line, the present position, and the predicted position.

Abstract translation: 车辆控制装置包括识别车辆行驶的车道的车道边界线的第一部分。 第二部分识别车辆的预定参考点的当前位置。 第三部分计算参考点的预测位置，其中预测位置是在当前位置之前的预定间隔。 第四计算虚拟车道边界线，其中虚拟车道边界线在靠近预测位置的点处与车道边界线相切。 第五部分通过根据车辆与车道边界线之间的位置关系控制车辆来执行防止车辆偏离车道的控制。 第六部分根据虚拟车道边界线，当前位置和预测位置之间的位置关系选择性地允许和抑制控制。

公开(公告)号：US20100332050A1

公开(公告)日：2010-12-30

申请号：US12867605

申请日：2009-01-09

Applicant: Sachio Kobayashi

Inventor： Sachio Kobayashi

IPC: G06F7/00

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。

公开(公告)号：US07778759B2

公开(公告)日：2010-08-17

申请号：US11049972

申请日：2005-02-04

Applicant: Satoshi Tange ,  Genpei Naito ,  Shinji Matsumoto ,  Masayasu Shimakage ,  Hidekazu Nakajima

Inventor： Satoshi Tange ,  Genpei Naito ,  Shinji Matsumoto ,  Masayasu Shimakage ,  Hidekazu Nakajima

IPC: G08G1/16 ,  G06G7/00

CPC classification number: B60W10/04 ,  B60T8/17557 ,  B60T2201/08 ,  B60T2201/083 ,  B60W10/18 ,  B60W30/12

Abstract: A lane deviation avoidance system is arranged to execute a lane deviation avoidance control of controlling a vehicle behavior of the host vehicle so as to avoid the host vehicle from deviating from a traveling lane when the lane deviation tendency is detected, to suppress the driving force when the lane deviation tendency is detected, and to set a controlled variable of the lane deviation avoidance control according to a degree of the suppression of the driving force.

Abstract translation: 车道偏离避免系统被布置成执行车道偏离避免控制，以控制本车辆的车辆行为，以便在检测到车道偏离倾向时避免主车辆偏离行车道，以抑制当 检测车道偏离倾向，根据驱动力的抑制程度来设定车道偏离避免控制的受控变量。

公开(公告)号：US07680569B2

公开(公告)日：2010-03-16

申请号：US10828462

申请日：2004-04-21

Applicant: Shinji Matsumoto ,  Satoshi Tange ,  Tatsuya Suzuki

Inventor： Shinji Matsumoto ,  Satoshi Tange ,  Tatsuya Suzuki

IPC: G06F19/00

CPC classification number: B60T8/17557 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2201/087 ,  B60T2201/089 ,  B60W10/06 ,  B60W10/18 ,  B60W10/20 ,  B60W30/12 ,  B62D15/025

Abstract: An automotive lane deviation prevention (LDP) apparatus includes a control unit connected to a yawing-motion control actuator for LDP control purposes. The control unit determines, based on information regarding a lane marking line detected based on a picture image in front of a host vehicle, whether the host vehicle is in a state FLD≠0 where there is an increased tendency for the host vehicle to deviate from the driving lane. The control unit executes, based on a state Fdw≠0 where the host vehicle is traveling on predetermined irregularities formed on or close to the lane marking line and the information regarding the lane marking line, vehicle yawing motion control by which the host vehicle returns to a central position of the driving lane, in a lane-marking non-detecting state Fcamready=0 where the lane marking line is out of an image pick-up enabling area.

Abstract translation: 汽车车道偏离防止（LDP）装置包括连接到用于LDP控制目的的偏航运动控制致动器的控制单元。 控制单元基于关于基于主车辆前方的图像图像检测到的车道线标线的信息，确定主车辆是否处于FLD≠0的状态，其中主车辆的倾向增加 行车道。 控制单元基于本车辆在车道标线上或附近形成的规定的不规则行驶的状态Fdw≠0，以及关于车道标线的信息，主车辆返回的车辆偏航运动控制 行车道的中心位置，车道标记非检测状态Fcamready = 0，其中车道标线不在图像拾取使能区域之外。

公开(公告)号：US07433769B2

公开(公告)日：2008-10-07

申请号：US10713354

申请日：2003-11-17

Applicant: Satoshi Tange ,  Genpei Naito ,  Shinji Matsumoto

Inventor： Satoshi Tange ,  Genpei Naito ,  Shinji Matsumoto

IPC: B62D6/00 ,  B62D6/04 ,  G06F7/00

CPC classification number: B60W30/12 ,  B60T8/17557 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2201/087 ,  B60W10/184 ,  B60W10/20 ,  B62D6/003 ,  B62D15/025

Abstract: A system for preventing lane deviation of a vehicle is provided. The system comprises a lane detecting device, a running condition detecting device, a deviation judging device, and a vehicle behavior control device. The vehicle behavior control device controls a behavior of the vehicle so as to generate a yaw moment in the direction to prevent the vehicle from deviating from the running lane. The lane detecting device detects the running lane based on a variation in a running direction of the vehicle due to the yaw moment generated by the vehicle behavior control device. A method for preventing lane deviation of a vehicle is also provided.

Abstract translation: 提供一种用于防止车辆的车道偏离的系统。 该系统包括车道检测装置，行驶状态检测装置，偏差判定装置和车辆行为控制装置。 车辆行为控制装置控制车辆的行为，以便在防止车辆偏离行驶车道的方向上产生横摆力矩。 车道检测装置基于由车辆行为控制装置产生的横摆力矩，基于车辆的行驶方向的变化来检测行驶车道。 还提供了用于防止车辆的车道偏离的方法。

公开(公告)号：US20070203617A1

公开(公告)日：2007-08-30

申请号：US11701025

申请日：2007-01-31

Applicant: Karsten Haug

Inventor： Karsten Haug

IPC: G06F7/00

CPC classification number: B62D15/025 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2201/087 ,  B60W10/184 ,  B60W10/20 ,  B60W50/14 ,  B60W2050/0071 ,  B60W2050/0073 ,  B60W2420/40 ,  B60W2420/403 ,  B60W2550/12 ,  B60W2710/20 ,  B60W2720/403 ,  B62D15/029

Abstract: A driver assistance system 1 includes at least driver assistance functions such as LDW (lane departure warning) and LKS (lane keeping support). The activation and deactivation of the driver assistance functions (LDW, LKS) are a function of a confidence level V.

Abstract translation: 驾驶员辅助系统1至少包括驾驶员辅助功能，例如LDW（车道偏离警告）和LKS（车道保持支持）。 驾驶员辅助功能（LDW，LKS）的激活和停用是置信水平V的函数。

公开(公告)号：US07206684B2

公开(公告)日：2007-04-17

申请号：US11318201

申请日：2005-12-23

Applicant: Yuya Takeda

Inventor： Yuya Takeda

IPC: G06F19/00

CPC classification number: B60T8/17557 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2201/085 ,  B60T2201/087 ,  B60W10/18 ,  B60W10/20 ,  B60W30/12 ,  B60W40/064 ,  B60W2520/14 ,  B62D6/003 ,  B62D7/159

Abstract: The present lane departure prevention system comprises a position detector means for detecting positional information of a vehicle with respect to a lane of travel, a determining unit for comparing the positional information with a first threshold value indicating a predetermined positional relation with respect to the lane of travel, and determining a departure of the vehicle from the lane of travel on the basis of the comparison result, and a yaw moment applying unit for applying a yaw moment to the vehicle and switching a first process of applying the yaw moment to the vehicle only by steering wheels and a second process of applying the yaw moment to the vehicle by steering the wheels and applying a braking power to the wheels, on the basis of a traveling condition of the vehicle, when the determining unit determines that the vehicle departs from the lane of travel.

Abstract translation: 目前的车道偏离防止系统包括：位置检测装置，用于检测车辆相对于行车道的位置信息;确定单元，用于将位置信息与指示相对于车道行驶的车道的预定位置关系的第一阈值进行比较; 基于比较结果确定车辆离开行车道的偏航力矩施加单元和用于向车辆施加横摆力矩的横摆力矩施加单元，并且将仅向车辆施加横摆力矩的第一处理切换 通过方向盘和通过转向车轮并且基于车辆的行驶状况向车轮施加制动力向车辆施加横摆力矩的第二过程，当确定单元确定车辆离开车辆时 行车线