公开(公告)号：US07200478B2

公开(公告)日：2007-04-03

申请号：US10960703

申请日：2004-10-08

Applicant: Takeshi Iwasaka ,  Masahiro Ozaki ,  Yoshitaka Uemura

Inventor： Takeshi Iwasaka ,  Masahiro Ozaki ,  Yoshitaka Uemura

IPC: G06F19/00

CPC classification number: B60T8/17557 ,  B60T2201/08 ,  B60T2201/083 ,  B60W2520/14 ,  B60W2720/14

Abstract: A lane departure prevention apparatus is configured to conduct a course correction in a lane departure avoidance direction when the controller determines that there is a potential for a vehicle to depart from a driving lane. The controller combines yaw control and deceleration control to conduct departure prevention control in accordance with the lane departure condition and the running condition. Preferably, a target yaw moment in a lane departure avoidance direction is calculated which takes in consideration the running condition of the vehicle such as disturbances changing the vehicle behavior and the road surface friction coefficient of the driving lane, and a deceleration amount of a necessary minimum for suppressing a feeling of discomfort in the passengers stemming from the yaw moment provided to the vehicle is calculated based on the basis of the running condition of the vehicle.

Abstract translation: 车道偏离防止装置被配置为当控制器确定有可能使车辆离开行驶车道时进行行车道偏离避免方向的行驶路线校正。 控制器结合了偏航控制和减速控制，根据车道偏离情况和运行状况进行防偏离控制。 优选地，考虑车辆的行驶状况来计算车道偏离避免方向上的目标横摆力矩，例如改变车辆行为的干扰和行驶车道的路面摩擦系数，以及必要最小值的减速量 基于车辆的行驶状况的基础来计算用于抑制由提供给车辆的横摆力矩引起的乘客对不舒服的感觉。

公开(公告)号：US07107137B2

公开(公告)日：2006-09-12

申请号：US10798405

申请日：2004-03-12

Applicant: Satoshi Tange ,  Genpei Naito ,  Shinji Matsumoto

Inventor： Satoshi Tange ,  Genpei Naito ,  Shinji Matsumoto

IPC: G06F7/70

CPC classification number: B60W30/12 ,  B60T8/17557 ,  B60T2201/08 ,  B60T2201/083 ,  B60W10/18 ,  B60W40/06 ,  G08G1/167

Abstract: An automotive lane deviation prevention apparatus sets and determines a yaw moment allotted amount corresponding to a yaw-moment-control lane-deviation-avoidance (LDA) controlled variable used to avoid a host vehicle's lane deviation by yaw moment control and a deceleration rate allotted amount corresponding to a deceleration-control LDA controlled variable used to avoid the host vehicle's lane deviation by deceleration control, based on a host vehicle's yaw angle, when the host vehicle has a tendency to deviate from a driving lane. A desired yaw moment is calculated based on the yaw moment allotted amount so that a yaw moment is produced in a direction in which the host vehicle's lane-deviation tendency is avoided. A controlled variable for deceleration control is calculated based on the deceleration rate allotted amount. A braking force of each individual road wheel is controlled based on the desired yaw moment and the controlled variable for deceleration control.

Abstract translation: 汽车车道偏离防止装置设定并确定与通过横摆力矩控制避免本车辆车道偏离的偏航力矩控制车道偏离避免（LDA）控制变量对应的偏航力矩分配量，以及减速率分配量 对应于减速控制LDA控制变量，用于当主车辆倾向于偏离行驶车道时，基于主车辆的偏航角度，通过减速控制来避免主车辆的车道偏离。 基于横摆力矩分配量计算出期望的横摆力矩，使得在避免本车辆的车道偏离倾向的方向上产生横摆力矩。 基于减速率分配量计算减速控制的控制量。 基于期望的横摆力矩和用于减速控制的受控变量来控制各个车轮的制动力。

公开(公告)号：US20060142921A1

公开(公告)日：2006-06-29

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

公开(公告)号：US06973380B2

公开(公告)日：2005-12-06

申请号：US10695799

申请日：2003-10-30

Applicant: Satoshi Tange ,  Shinji Matsumoto

Inventor： Satoshi Tange ,  Shinji Matsumoto

IPC: B60R21/00 ,  B60K31/00 ,  B60T7/12 ,  B60T8/17 ,  B60T8/1755 ,  G05D1/02 ,  G08G1/16

CPC classification number: B62D15/025 ,  B60K31/0066 ,  B60T7/12 ,  B60T8/1755 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2260/09 ,  B60W2520/14 ,  G05D1/0246 ,  G05D2201/0213

Abstract: In lane keep control apparatus and method for an automotive vehicle, a behavior of the vehicle is controlled in such a manner that a yaw moment is developed in a direction to avoid a deviation of the vehicle from the traffic lane in accordance with the traveling state of the vehicle when determining that the vehicle has a tendency of the deviation of the vehicle from the traffic lane and lane markers are detected, each lane marker representing one side of the traffic lane, and the behavior of the vehicle is controlled on the basis of the detected lane marker at one side of the traffic lane when a detection state of the lane markers is transferred from a state in which both of the lane markers at both sides of the traffic lane are detected to a state in which the lane marker only at one side of the traffic lane is detected.

Abstract translation: 在机动车辆的车道保持控制装置和方法中，以如下方式控制车辆的行为：横摆力矩沿着避免车辆与行车道偏离的方向发展，根据行驶状态 车辆当确定车辆具有车辆与行车道偏离的倾向和车道标记的倾向时，表示行车道一侧的每个车道标记，并且基于车辆的行为来控制车辆的行为 当车道标记的检测状态从检测到行车道两侧的两条车道标志被检测到的状态被转移到车道标记仅在一处的状态时，在行车道的一侧检测车道标记 检测到行车道的一侧。

公开(公告)号：US06970777B2

公开(公告)日：2005-11-29

申请号：US10994319

申请日：2004-11-23

Applicant: Satoshi Tange ,  Shinji Matsumoto ,  Masayasu Shimakage

Inventor： Satoshi Tange ,  Shinji Matsumoto ,  Masayasu Shimakage

IPC: B60T8/1755 ,  B60W10/18 ,  B62D15/02 ,  G06F7/00

CPC classification number: B60T8/17557 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2201/087 ,  B60T2260/02 ,  B60W10/18 ,  B60W10/20 ,  B60W30/12 ,  B62D15/025

Abstract: In an automotive lane deviation prevention (LDP) apparatus capable of executing LDP control by which a host vehicle is avoided from deviating from a driving lane, a control unit includes an LDP control allotted amount calculation section that calculates, responsively to a host vehicle's turning state, a steering-control allotted amount for LDP control and a braking-force-control allotted amount for LDP control, in presence of the host vehicle's lane-deviation tendency from the driving lane. In order to avoid the host vehicle's lane-deviation tendency, steering torque is controlled responsively to a steering-torque-control controlled variable determined based on the steering-control allotted amount, whereas braking forces applied to respective road wheels are controlled responsively to braking-force-control controlled variables determined based on the braking-force-control allotted amount.

Abstract translation: 在能够执行主车辆避免偏离行驶车道的LDP控制的汽车车道偏离防止（LDP）装置中，控制单元包括：LDP控制分配量计算部，其响应于本车辆的转弯状态 在主车辆与行车道的车道偏离倾向的情况下，用于LDP控制的转向控制分配量和用于LDP控制的制动力控制分配量。 为了避免主车辆的车道偏离倾向，根据转向控制分配量确定的转向转矩控制控制变量控制转向转矩，而响应于制动 - 基于制动力控制分配量确定的力控制控制变量。

公开(公告)号：US06930595B2

公开(公告)日：2005-08-16

申请号：US10412254

申请日：2003-04-14

Applicant: Ryo Nitta

Inventor： Ryo Nitta

IPC: G09B9/04 ,  B60R16/02 ,  B60R16/023 ,  G09B29/10 ,  B60Q1/00

CPC classification number: B60R16/0232 ,  B60T2201/08 ,  B60T2201/082 ,  B60T2201/083

Abstract: A system and method for controlling onboard equipments, which can make a driver certainly understand operations of alarms corresponding to various functions of a vehicle, and which can make the functions of the vehicle give full effects. When drive guide data corresponding to a set vehicle condition and simulated vehicle condition data concerning the set vehicle condition are stored in a memory (700), and a navigation device (400) plays the drive guide data stored in the memory (700), a system control unit (100) makes a vehicle condition advise unit (200) warn a driver of the set vehicle condition by a simulation on the basis of the simulated vehicle condition data. Accordingly, the driver can know an alarm operation of the vehicle condition advise unit corresponding to the set vehicle condition by the simulation.

Abstract translation: 一种用于控制车载设备的系统和方法，其可以使驾驶员肯定地了解与车辆的各种功能相对应的报警的操作，并且可以使车辆的功能发挥全部效果。 当与设定的车辆条件相对应的驾驶员指导数据和关于所设定的车辆状态的模拟车辆状态数据被存储在存储器（700）中时，导航装置（400）播放存储在存储器（700）中的驾驶指南数据， 系统控制单元（100）通过基于模拟车辆状态数据的模拟，使车辆状态建议单元（200）向驾驶员警告设定的车辆状况。 因此，驾驶员可以通过模拟知道与设定的车辆状况对应的车辆状况建议单元的报警动作。

公开(公告)号：US20050125153A1

公开(公告)日：2005-06-09

申请号：US11001185

申请日：2004-12-02

Applicant: Shinji Matsumoto ,  Satoshi Tange ,  Masayasu Shimakage ,  Hiroyuki Yoshizawa

Inventor： Shinji Matsumoto ,  Satoshi Tange ,  Masayasu Shimakage ,  Hiroyuki Yoshizawa

IPC: B60K31/00 ,  B60R16/02 ,  B60R21/00 ,  B60T7/12 ,  B60T8/172 ,  B60T8/1755 ,  B60W10/18 ,  B60W10/20 ,  B60W30/00 ,  B60W40/06 ,  B62D1/28 ,  B62D6/00 ,  B62D15/02 ,  B62D101/00 ,  B62D111/00 ,  B62D113/00 ,  G08G1/16 ,  G06F7/00 ,  G01S1/00

CPC classification number: B62D1/28 ,  B60T8/17557 ,  B60T2201/08 ,  B60T2201/081 ,  B60T2201/083 ,  B60T2201/087 ,  B60T2210/14 ,  B60W10/18 ,  B60W10/20 ,  B60W30/12 ,  B62D15/025

Abstract: An automotive lane deviation prevention (LDP) apparatus includes a control unit detecting whether a host vehicle is in a specific state where the host vehicle is traveling on road-surface irregularities formed on or close to a lane marking line. The control unit actively decelerates the host vehicle when the host vehicle is in the specific state where the host vehicle is traveling on the road-surface irregularities.

Abstract translation: 汽车车道偏离防止（LDP）装置包括控制单元，其检测本车辆是否处于主车辆在形成于道路标线上或车道标线上的路面不规则处行驶的特定状态。 当主车辆处于本车辆正在行驶的特定状态时，控制单元主动减速本车辆的路面不规则。

公开(公告)号：US20050096827A1

公开(公告)日：2005-05-05

申请号：US10960706

申请日：2004-10-08

Applicant: On Sadano ,  Yoshitaka Uemura ,  Masahiro Ozaki

Inventor： On Sadano ,  Yoshitaka Uemura ,  Masahiro Ozaki

IPC: B60R21/00 ,  B60T7/22 ,  B60T8/1755 ,  G08G1/16 ,  G06F19/00

CPC classification number: B60T8/17557 ,  B60T7/22 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2201/085

Abstract: A lane departure prevention apparatus is configured to conduct a course correction in a lane departure avoidance direction when the controller 8 determines that there is a potential for a vehicle to depart from a driving lane. The controller 8 combines yaw control and deceleration control to conduct departure prevention control to avoid lane departure. The yaw control is not actuated if the opposite direction from the steering direction coincides with the lane departure direction (steps S10 and S11). Preferably, the controller 8 sets the timing of yaw moment and the deceleration of the vehicle on the basis of the acceleration or deceleration of the vehicle, and performs braking control so that these settings are achieved (steps S7 to S9). Preferably, the controller 8 calculates the target yaw moment in the lane departure-avoidance direction on the basis of the running state of the vehicle, and calculates the deceleration amount by taking into account the driver braking operation amount.

Abstract translation: 车道偏离防止装置被配置为当控制器8确定有可能使车辆从行驶车道偏离时，以车道偏离避免方向进行路线校正。 控制器8组合了偏航控制和减速控制，以进行离开预防控制，以避免车道偏离。 如果与转向方向相反的方向与车道偏离方向一致，则偏航控制不被致动（步骤S10和S11）。 优选地，控制器8基于车辆的加速或减速来设定车辆的横摆力矩和减速度的定时，并进行制动控制，从而实现这些设定（步骤S7〜S9）。 优选地，控制器8基于车辆的行驶状态来计算车道偏离避开方向上的目标横摆力矩，并且通过考虑驾驶员制动操作量来计算减速度。

公开(公告)号：US20040225424A1

公开(公告)日：2004-11-11

申请号：US10759067

申请日：2004-01-20

Applicant: NISSAN MOTOR CO., LTD.

Inventor： Tomohiro Yamamura ,  Satoshi Kitazaki ,  Shunsuke Hijikata

IPC: G06F007/00

CPC classification number: B60K26/021 ,  B60G2400/823 ,  B60G2400/824 ,  B60G2401/16 ,  B60G2800/166 ,  B60G2800/704 ,  B60G2800/92 ,  B60G2800/96 ,  B60G2800/97 ,  B60G2800/982 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2201/087 ,  B60T2201/089 ,  B60W50/087 ,  B60W50/14 ,  B60W50/16 ,  B62D15/0265 ,  B62D15/029 ,  G08G1/16 ,  G08G1/166 ,  G08G1/167

Abstract: A driving assist system for assisting effort by an operator to operate a vehicle in traveling is provided. The driving assist system receives data including information on vehicle state and information on environment in a field around the vehicle. A controller, mounted to the vehicle, determines future environment in the field, makes an operator response plan in response to the determined future environment to determine command, and generates the command. The operator response plan prompts the operator to operating the vehicle in a desired manner for the determined future environment. At least one actuator, mounted to the vehicle, prompts the operator in response to the command to operating the vehicle in the desired manner.

Abstract translation: 提供一种驾驶辅助系统，用于辅助操作者在行驶中操作车辆的努力。 驾驶辅助系统接收包括关于车辆状态的信息和关于车辆周围的场中的环境的信息的数据。 安装到车辆上的控制器确定现场的未来环境，根据确定的未来环境做出操作员响应计划以确定命令，并生成命令。 操作员响应计划提示操作者以所期望的方式对所确定的未来环境操作车辆。 安装到车辆的至少一个致动器响应于以期望的方式操作车辆的命令来提示操作者。

公开(公告)号：US20040215393A1

公开(公告)日：2004-10-28

申请号：US10825108

申请日：2004-04-16

Applicant: NISSAN MOTOR CO. LTD.

Inventor： Shinji Matsumoto ,  Satoshi Tange ,  Tatsuya Suzuki

IPC: G06F017/10

CPC classification number: B60T8/17557 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2201/084 ,  B60T2201/087 ,  B60W10/06 ,  B60W10/18 ,  B60W10/20 ,  B60W30/12 ,  B62D15/025

Abstract: An automotive lane deviation prevention apparatus includes an electronic control unit configured to be electronically connected to a yawing-motion control actuator such as braking force actuators or a steering actuator for lane deviation prevention and vehicle yawing motion control purposes. The control unit has a processor programmed for determining whether or not a host vehicle is traveling on predetermined irregularities formed on or close to either one of a left-hand side lane marking line and a right-hand side lane marking line of a driving lane. The processor is further programmed for executing vehicle yawing motion control by which the host vehicle returns to a central position of the driving lane, when the host vehicle is traveling on the predetermined irregularities.

Abstract translation: 汽车车道偏离防止装置包括电子控制单元，其被配置为电连接到诸如制动力致动器的偏航运动控制致动器或用于车道偏离防止和车辆偏航运动控制目的的转向致动器。 控制单元具有处理器，其被编程用于确定主车辆是否在形成在行驶车道的左侧车道标记线和右侧车道线标记线上的任一侧上的预定不规则处行驶。 当主车辆以预定的不规则行驶时，处理器被进一步编程用于执行车辆横摆运动控制，当主车辆返回到驾驶车道的中心位置时，该偏航运动控制。