公开(公告)号：US20050004731A1

公开(公告)日：2005-01-06

申请号：US10485163

申请日：2002-07-26

Applicant: Jurgen Bohm ,  Joachim Nell ,  Georg Geduld

Inventor： Jurgen Bohm ,  Joachim Nell ,  Georg Geduld

IPC: B60R21/00 ,  B60R1/00 ,  B60T8/1755 ,  B62D6/00 ,  B62D15/02 ,  B62D101/00 ,  B62D113/00 ,  G08G1/16 ,  G06F19/00

CPC classification number: B60T8/17557 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2201/087 ,  B60T2260/02 ,  B62D15/025

Abstract: A driver-assist system on a motor vehicle with a servo-assisted steering systems, whereby environmental data for an instantaneous traffic situation are detected or estimated, instantaneous movement data of the vehicle are detected or estimated, and the detected or estimated environmental data are compared with the movement data of the vehicle and the zero point of the characteristic curve for the steering action is displaced according to said comparison.

Abstract translation: 在具有伺服辅助转向系统的机动车辆上的驾驶员辅助系统，由此检测或估计用于瞬时交通状况的环境数据，检测或估计车辆的瞬时移动数据，并且比较检测或估计的环境数据 根据所述比较，车辆的运动数据和用于转向动作的特性曲线的零点被移位。

公开(公告)号：US20040230375A1

公开(公告)日：2004-11-18

申请号：US10828462

申请日：2004-04-21

Applicant: NISSAN MOTOR CO., LTD.

Inventor： Shinji Matsumoto ,  Satoshi Tange ,  Tatsuya Suzuki

IPC: G06G007/78

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 FLDnull0 where there is an increased tendency for the host vehicle to deviate from the driving lane. The control unit executes, based on a state Fdwnull0 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 Fcamreadynull0 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记线的信息，确定主车辆是否处于主车辆偏离增加趋势的状态FLD <> 0 从行车道。 控制单元基于主车辆在车道标线上或附近形成的预定的不规则行驶的状态Fdw <> 0执行，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 在道路标记非检测状态Fcamready = 0的情况下，行车道的中心位置处车道标线不在摄像允许区域之外。

公开(公告)号：US06748302B2

公开(公告)日：2004-06-08

申请号：US10042225

申请日：2002-01-11

Applicant: Hiroshi Kawazoe

Inventor： Hiroshi Kawazoe

IPC: G05D100

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

Abstract: A lane tracking control system for a vehicle includes a controller which is coupled to a road image detector for taking a view ahead of the vehicle, a vehicle behavior detector for detecting a behavior of the vehicle and a steering control mechanism for executing a steering control in response to a steering control signal. The controller is arrange to calculate a road shape on the basis of the view taken by the road image detector, to determine on the basis of the road shape and the vehicle behavior detected by the vehicle behavior detector whether the vehicle tends to depart from a lane traveled by the vehicle, and to output the steering control signal to the steering control mechanism so as to control the vehicle behavior at a desired behavior when the vehicle tends to depart from the lane.

Abstract translation: 一种用于车辆的车道跟踪控制系统，包括一个控制器，该控制器耦合到道路图像检测器，用于在车辆前方观察，车辆行为检测器，用于检测车辆的行为;以及转向控制机构，用于执行转向控制 对转向控制信号的响应。 控制器根据路面图像检测器的视图来计算道路形状，根据车辆行为检测器检测出的道路形状和车辆行为来确定车辆是否偏离车道 并且将转向控制信号输出到转向控制机构，以便当车辆倾向于离开车道时，以期望的行为来控制车辆行为。

公开(公告)号：US06691008B2

公开(公告)日：2004-02-10

申请号：US10231165

申请日：2002-08-30

Applicant: Satoshi Kondo ,  Shinnosuke Ishida ,  Jun Tanaka

Inventor： Satoshi Kondo ,  Shinnosuke Ishida ,  Jun Tanaka

IPC: B61F2300

CPC classification number: B62D1/28 ,  B60T2201/08 ,  B60T2201/082 ,  B60T2201/087

Abstract: Whether a driver is driving intentionally is determined rapidly and accurately when steering control is performed such that a vehicle travels along recognized travel partitioning lines. A torque value deviation absolute value is calculated using the absolute value of a difference between the torque value from the previous processing and the torque value from the current processing, and is stored in a ring buffer. A torque value deviation sum value is calculated by adding all the torque value deviation absolute values stored in the ring buffer, and when a state in which the torque value deviation sum value is equal to or less than a predetermined driving intention determination threshold continues for a predetermined first threshold time (for example, several seconds; e.g. 5 seconds) or longer, it is determined that there is a decrease in the driving intention.

Abstract translation: 当执行转向控制使得车辆沿着识别的行驶分隔线行进时，是否迅速且准确地确定驾驶员是否有意驾驶。 使用来自前次处理的转矩值与来自当前处理的转矩值之间的差的绝对值来计算转矩值偏差绝对值，并存储在环形缓冲器中。 通过将存储在环形缓冲器中的所有转矩值偏差绝对值相加来计算转矩值偏差和值，并且当转矩值偏差和值等于或小于预定驾驶意图判定阈值的状态持续到 预定的第一阈值时间（例如，几秒，例如5秒）或更长时间，则确定驾驶意图有所减少。

公开(公告)号：US06681170B2

公开(公告)日：2004-01-20

申请号：US10105703

申请日：2002-03-25

Applicant: Hermann Winner ,  Winfried Koenig

Inventor： Hermann Winner ,  Winfried Koenig

IPC: H04N718

CPC classification number: B60W30/16 ,  B60K31/0008 ,  B60K31/042 ,  B60T2201/08 ,  B60T2201/081 ,  B60T2201/087 ,  B60W2540/10 ,  B60W2540/20 ,  B62D15/025

Abstract: A tracking and driving speed regulating device for motor vehicles, having a sensor device for detecting lane tracking, a steering regulator for evaluating signals from sensor device and for issuing steering commands to a steering actuator, and a speed regulator, acting upon the driving system of the vehicle, which may be switched to an operating state by a main switch and may be activated in the operating state by an actuation signal generated by an operating element, wherein the steering regulator may be switched to the operating state by a separate main switch independent of the speed regulator, and may be activated in the operating state by the same actuation signal as the speed regulator.

Abstract translation: 一种用于机动车辆的跟踪和驾驶速度调节装置，具有用于检测车道跟踪的传感器装置，用于评估来自传感器装置的信号和用于向转向致动器发出转向命令的转向调节器以及作用在驱动系统上的速度调节器 车辆，其可以通过主开关切换到操作状态，并且可以通过由操作元件产生的致动信号在操作状态下被激活，其中转向调节器可以通过独立的主开关独立地切换到操作状态 的速度调节器，并且可以通过与速度调节器相同的致动信号在操作状态下被激活。

公开(公告)号：US20030078712A1

公开(公告)日：2003-04-24

申请号：US10220305

申请日：2002-09-13

Inventor： Masayasu Shimakage ,  Hiroshi Kawazoe ,  On Sadano ,  Shigeki Satou

IPC: G06F007/00

CPC classification number: B62D1/286 ,  B60T2201/08 ,  B60T2201/087 ,  B62D15/025

Abstract: A method for lane-keeping control of a lane-keeping support system provides a current command indicative of steering torque assist needed to steer a vehicle in following a target line between lane markings on a roadway during driving in lane-keeping control (LKC) mode. A map has two sets of limit data against a range of values of lateral acceleration to which the vehicle is subject, between which sets of limit data there is a range of values of the command during various phases of steering the vehicle to turn in the LKC mode. In order to compensate for undesired effect caused by any deviation of the range of values of the current command due to the presence of continuous disturbance, the two sets of limit data are corrected. To determine driver steering intervention, the instantaneous value of the current command is compared to two limit values established out of the corrected two sets of limit data.

Abstract translation: 车道保持支撑系统的车道保持控制的方法提供指示在车道保持控制（LKC）模式驾驶期间驾驶车辆在道路上的车道标记之间跟随目标线所需的转向转矩辅助所需的电流指令 。 地图具有与车辆所对向的横向加速度值的范围的两组限制数据，在这些限制数据集之间存在在车辆转向LKC的各个阶段期间的命令的值的范围 模式。 为了补偿由于连续扰动的存在而导致的电流指令的值的范围的任何偏差引起的不期望的影响，校正了两组限制数据。 为了确定驾驶员转向干预，将当前命令的瞬时值与由修正的两组限制数据建立的两个极限值进行比较。

公开(公告)号：US20020169531A1

公开(公告)日：2002-11-14

申请号：US09930168

申请日：2001-08-16

Applicant: NISSAN MOTOR CO., LTD.

Inventor： Hiroshi Kawazoe ,  Masayasu Shimakage ,  On Sadano ,  Shigeki Sato

IPC: B62D006/00

CPC classification number: B62D15/025 ,  B60T2201/08 ,  B60T2201/087 ,  B62D1/286 ,  B62D5/0463

Abstract: In lane keeping assistance system and method for an automotive vehicle, a control current (Iout) to be outputted to a motor during an automatic steering mode is detected, a filter is provided for the detected control current to pass only signal components of the detected control current whose frequencies are lower than a predetermined cut-off frequency value (fstr, fstr_low, fstr_mid, fstr_hi) to derive a filtered control current (Iout_lpf), a determination of whether a manual steering intervention to the automatic steering occurs is made according to a magnitude of the filtered control current, and the control current outputted to the motor is reduced toward zero when the manual steering intervention is determined to occur according to a result of determination that the magnitude of the filtered control current (Iout_lpf) is in excess of a predetermined threshold current value (Iout_lpf_th).

Abstract translation: 在车辆的车道保持辅助系统和方法中，检测在自动转向模式期间输出到电动机的控制电流（Iout），为检测到的控制电流提供滤波器，以仅通过检测到的控制信号的信号分量 频率低于预定截止频率值（fstr，fstr_low，fstr_mid，fstr_hi）以导出滤波后的控制电流（Iout_lpf）的电流，判定是否发生对自动转向的手动转向干预是根据 滤波后的控制电流的大小以及输出到电动机的控制电流根据判断结果确定为手动转向干预被确定为过滤控制电流（Iout_lpf）的大小超过 预定阈值电流值（Iout_lpf_th）。

公开(公告)号：US06463369B2

公开(公告)日：2002-10-08

申请号：US09875157

申请日：2001-06-07

Applicant: On Sadano ,  Hiroshi Kawazoe ,  Masayasu Shimakage

Inventor： On Sadano ,  Hiroshi Kawazoe ,  Masayasu Shimakage

IPC: G01C2100

CPC classification number: B62D1/28 ,  B60T2201/08 ,  B60T2201/087

Abstract: In accordance with a vehicle running condition along a lane and an actual steering angle, a control unit determine a target steering angle to follow the lane, and controls an actual steering torque with an actuator to a target steering torque to achieve the target steering angle. The control unit limits the target steering torque by setting a target torque limit determined in accordance with a sensed longitudinal acceleration of the vehicle.

Abstract translation: 根据沿着车道的车辆行驶状态和实际转向角度，控制单元确定跟随车道的目标转向角，并且将致动器的实际转向转矩控制为目标转向扭矩以实现目标转向角。 控制单元通过设定根据感测到的车辆的纵向加速度确定的目标转矩极限来限制目标转向转矩。

公开(公告)号：US20020022927A1

公开(公告)日：2002-02-21

申请号：US09923252

申请日：2001-08-02

Inventor： Jerome H. Lemelson ,  Robert D. Pedersen

IPC: G08G001/16

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）。 在一个车辆中的神经网络（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 其在模糊逻辑关联存储器（484）中确定，其产生控制信号，其以协调的方式致动一个车辆的多个控制系统，以横向和纵向地操纵它以避免每次碰撞危险， 碰撞是不可避免的，以尽量减少伤害或伤害。 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：US20020013647A1

公开(公告)日：2002-01-31

申请号：US09876134

申请日：2001-06-08

Applicant: NISSAN MOTOR CO., LTD.

Inventor： Hiroshi Kawazoe ,  On Sadano ,  Masayasu Shimakage

IPC: B62D006/00

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

Abstract: In accordance with a vehicle running condition along a lane and an actual steering angle, a control unit determine a target steering angle to follow the lane, and controls an actual steering torque with an actuator to a target steering torque to achieve the target steering angle. The control unit limits the target steering torque by setting a target torque limit determined in dependence on whether the control steering direction is a steer direction away from a straight ahead neutral position or a return direction toward the straight ahead neutral position, to take account of a self aligning torque.

Abstract translation: 根据沿着车道的车辆行驶状态和实际转向角度，控制单元确定跟随车道的目标转向角，并且将致动器的实际转向转矩控制为目标转向扭矩以实现目标转向角。 控制单元通过设定根据控制转向方向是否是远离直前中性位置或返回方向的转向方向而确定的目标转矩极限来限制目标转向转矩朝向直线中立位置，以考虑到 自调心扭矩。