公开(公告)号：US20020007239A1

公开(公告)日：2002-01-17

申请号：US09838581

申请日：2001-04-20

Inventor： Shinji Matsumoto ,  Takeshi Kimura ,  Taku Takahama ,  Hiromitsu Toyota

IPC: A01B069/00

CPC classification number: B62D7/159 ,  B60G2400/0523 ,  B60G2400/104 ,  B60G2400/106 ,  B60G2400/204 ,  B60G2400/208 ,  B60G2400/41 ,  B60G2400/47 ,  B60G2400/824 ,  B60G2401/142 ,  B60G2600/1877 ,  B60G2800/962 ,  B60K23/0808 ,  B60T2201/08 ,  B60T2201/087 ,  B60T2260/09 ,  B60W30/02 ,  B60W2520/10 ,  B60W2520/125 ,  B62D1/28 ,  B62D6/003

Abstract: A vehicle includes a first actuating system having an automatic steering actuator to bring the front wheel steer angle to a calculated target front wheel steer angle for lane keeping, and a second actuating system such as a front and rear roll stiffness distribution control system, a front and rear driving force distribution control system, a rear wheel steering system, and a differential limiting force control system. By controlling the second actuating system in accordance with the automatic steering operation, a control unit adjusts the steering characteristic of the vehicle in a direction to improve the yawing response or in a direction to improve the running stability.

Abstract translation: 车辆包括具有自动转向致动器的第一致动系统，以使前轮转向角度达到用于车道保持的计算的目标前轮转向角度，以及第二致动系统，例如前后轮刚度分布控制系统，前侧 后驱动力分配控制系统，后轮转向系统和差速限制力控制系统。 通过根据自动转向操作来控制第二致动系统，控制单元在改善偏航响应的方向或改善行驶稳定性的方向上调节车辆的转向特性。

公开(公告)号：US20020007236A1

公开(公告)日：2002-01-17

申请号：US09875157

申请日：2001-06-07

Applicant: NISSAN MOTOR CO., LTD

Inventor： On Sadano ,  Hiroshi Kawazoe ,  Masayasu Shimakage

IPC: B62D006/00

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：US06308123B1

公开(公告)日：2001-10-23

申请号：US09599606

申请日：2000-06-23

Applicant: Manabu Ikegaya ,  Shinnosuke Ishida ,  Satoshi Kondo ,  Jun Tanaka

Inventor： Manabu Ikegaya ,  Shinnosuke Ishida ,  Satoshi Kondo ,  Jun Tanaka

IPC: B62D504

CPC classification number: B62D15/025 ,  B60T2201/08 ,  B60T2201/087 ,  B62D1/28

Abstract: A vehicle steering control system for conducting a steering assistance control in which a basic steering assist torque is determined based on a structural parameter relating to the lane structure such as its curvature. In parallel, corrective steering assist torques are determined based on positional parameters of the vehicle relating to the lane such as a lateral deviation from the lane center line and a vehicle heading angle, and are added to the basic steering assist torque to correct the same. Since the positional parameters are determined based on the image information at or close to the vehicle, this enables to determine the steering assist torque adequately, thereby enhancing the accuracy of the steering assistance control.

Abstract translation: 一种用于进行转向辅助控制的车辆转向控制系统，其中基于与车道结构相关的结构参数（例如曲率）来确定基本转向辅助转矩。 并行地，基于与车道相关的车辆的位置参数（例如与车道中心线的横向偏离）和车辆行驶方向角度来确定校正转向辅助转矩，并将其与基本转向辅助转矩相加以校正。 由于基于车辆处或车辆附近的图像信息来确定位置参数，因此能够适当地确定转向辅助转矩，从而提高转向辅助控制的精度。

公开(公告)号：US06279673B1

公开(公告)日：2001-08-28

申请号：US09376531

申请日：1999-08-18

Applicant: Hubert Bohner ,  Martin Moser ,  Wolfgang Schrock

Inventor： Hubert Bohner ,  Martin Moser ,  Wolfgang Schrock

IPC: B62D506

CPC classification number: B62D15/025 ,  B60T2201/08 ,  B60T2201/087 ,  B62D1/28

Abstract: In order to allow a traffic-lane following device in a vehicle to be used at relatively high vehicle speeds, a steering system is provided with a steering handle and a steering run which couples the steering handle to vehicle steered wheels. A servomotor is coupled to the steering run. A servovalve is arranged in the steering run and has a first control part (which is associated with a section on the steering handle side of the steering run) as well as a second control part (which is associated with a section on the vehicle steered wheel side of the steering run) to operate the servomotor as a function of relative movements between the control parts. An actuating drive is coupled to the section on the steering handle side of the steering run and is used to produce a steering force. A regulating and control arrangement uses a sensor system to determine required steering angle values which allow a traffic lane to be followed and uses a steering angle sensor to determine actual steering angle values. The actuating drive is operated as a function of a comparison of the required and actual steering angles, in which the steering angle sensor interacts with the section on the vehicle steered wheel side of the steering run.

Abstract translation: 为了允许车辆中的行车道跟随装置以相对较高的车速使用，转向系统设置有转向手柄和将转向手柄耦合到车辆转向轮的转向运行。 伺服电机与转向运行相连。 伺服阀设置在转向运行中，并且具有第一控制部分（与转向运行的转向手柄侧的部分相关联）以及第二控制部分（其与车辆转向轮上的部分相关联） 作为转向运行的一侧），作为控制部件之间的相对运动的函数来操作伺服电动机。 致动驱动器联接到转向运行的转向手柄侧的部分，并用于产生转向力。 调节和控制装置使用传感器系统来确定所需的转向角值，其允许跟随行车道并且使用转向角传感器来确定实际的转向角度值。 驱动驱动器是根据所需和实际的转向角的比较来操作的，其中转向角传感器与转向运行的车辆转向轮侧的部分相互作用。

公开(公告)号：US06178365B1

公开(公告)日：2001-01-23

申请号：US09151761

申请日：1998-09-11

Applicant: Hiroyuki Kawagoe ,  Shinnosuke Ishida ,  Tomoaki Teramoto ,  Kaoru Matsuno

Inventor： Hiroyuki Kawagoe ,  Shinnosuke Ishida ,  Tomoaki Teramoto ,  Kaoru Matsuno

IPC: G06F1900

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

Abstract: A system for controlling steering of a vehicle, including a steering device such as a steering wheel with an electric motor which assists steering of driven wheels of the vehicle, first steering control unit for controlling the motor, a CCD camera for detecting a lane condition of a road on which the vehicle travels, a yaw rate sensor for detecting motion of the vehicle, steering assist torque calculating unit for calculating a steering assist torque necessary for holding the lane, a torque sensor for detecting an actual steering torque manually applied to the steering device by the driver, and second steering control unit for calculating a torque command to be output to the first steering control unit based on the steering assist torque calculated by the steering assist torque calculating unit and the detected steering torque to control the actuator such that the torque command decreases. In the system, a switching device is provided for switching between modes of control by the first steering control unit and the second steering control unit gradually with respect to time, thereby ensuring to switch the mode of control smoothly and preventing the occurrence of disadvantages including that the vehicle driver experiences annoyance upon sensing a change in steering assist.

Abstract translation: 一种用于控制车辆的转向的系统，包括具有辅助车辆的从动轮的转向的电动机等方向盘的转向装置，用于控制电动机的第一转向控制单元，用于检测车辆状况的CCD摄像机 车辆行驶的道路，用于检测车辆的运动的横摆率传感器，用于计算保持车道所需的转向辅助转矩的转向辅助转矩计算单元，用于检测手动施加到转向器的实际转向转矩的转矩传感器 以及第二转向控制单元，用于基于由转向辅助转矩计算单元计算的转向辅助转矩和检测到的转向转矩来计算要输出到第一转向控制单元的转矩指令，以控制致动器，使得 转矩指令减小。 在该系统中，提供了一种开关装置，用于相对于时间逐渐地切换由第一转向控制单元和第二转向控制单元的控制模式，从而确保平滑地切换控制模式，并防止出现诸如 车辆驾驶员在感测到转向辅助的变化时经历烦恼。

公开(公告)号：US6092619A

公开(公告)日：2000-07-25

申请号：US852844

申请日：1997-05-07

Applicant: Masao Nishikawa ,  Kenshiro Hashimoto

Inventor： Masao Nishikawa ,  Kenshiro Hashimoto

IPC: B60W30/00 ,  B62D1/28 ,  B62D6/00 ,  G05D1/02 ,  B62D5/04

CPC classification number: B62D15/025 ,  G05D1/0246 ,  G05D1/0272 ,  B60T2201/08 ,  B60T2201/087 ,  G05D2201/0213

Abstract: A steering assist system in a vehicle, wherein the traveling of a vehicle along a reference lane can be realized by applying a reference induction force determined in accordance with the magnitude and direction of a deviation of the subject vehicle from a reference target course (zone) established within the reference lane, and moreover, the lane change can be easily and naturally performed by a driver. A second target course (zone) is established in a second lane along which the vehicle travels after the lane change. A second induction force applied to a steering means to realize the traveling of the vehicle along the second lane is set in accordance with the magnitude and direction of a deviation of the subject vehicle from the second target course (zone). The reference target course (zone) and the second target course (zone) are connected in a connection course (zone) in which the force applied from a driving means to the steering means during the lane change is substantially "0".

Abstract translation: 一种车辆中的转向辅助系统，其中，可以通过将根据本车辆的偏差的大小和方向确定的参考感应力与参考目标路线（区域）相对应，来实现车辆沿着参考车道的行驶， 建立在参考车道内，并且车道变化可以由驾驶员容易且自然地进行。 在第二车道上建立第二目标路线（区域），车道在车道改变之后沿车道行驶。 根据本车辆与第二目标路线（区域）的偏差的大小和方向，设定施加到转向装置以实现车辆沿着第二车道的行驶的第二感应力。 参考目标路线（区域）和第二目标路线（区域）连接在连接路线（区域）中，其中在车道改变期间从驱动装置施加到转向装置的力基本上为“0”。

公开(公告)号：US06053270A

公开(公告)日：2000-04-25

申请号：US743423

申请日：1996-11-01

Applicant: Masao Nishikawa ,  Shinnosuke Ishida ,  Kenshirou Hashimoto

Inventor： Masao Nishikawa ,  Shinnosuke Ishida ,  Kenshirou Hashimoto

IPC: B60R21/20 ,  B60R21/203 ,  B62D1/28 ,  B62D6/00 ,  B62D5/04

CPC classification number: B60R21/2037 ,  B62D1/10 ,  B62D15/025 ,  B60T2201/08 ,  B60T2201/087

Abstract: In a steering angle correcting system, a steering amount required to maintain a positional relationship of a subject vehicle to a road lane ahead of the subject vehicle is calculated in a steering amount calculating device based on outputs from a first detecting device for detecting the state of a lane of a road ahead of the vehicle or which the vehicle is traveling, and a second detecting device for detecting a current positional relationship of the subject vehicle to the road lane. A steering device is driven by a driving device mounted between a grasping portion of a steering wheel and the steering device so as to decrease the difference between a steering amount detected by a steering amount detecting device and a steering amount calculated in the steering amount calculating device. Whenever a driver's intention and the determination by the system are different from each other, a driver can operate the steering wheel to intervene in the steering. In addition, the driver can immediately intervene in the steering at all times, while normally maintaining a cooperating relationship with the system. Thus, the steering angle correcting system has a semi-automatic steering concept.

Abstract translation: 在转向角校正系统中，基于来自用于检测车辆的状态的第一检测装置的输出，在转向量计算装置中计算保持本车辆与本车辆前方的道路车道的位置关系所需的转向量 车辆前方或车辆行驶的道路的车道，以及用于检测本车辆与道路车道的当前位置关系的第二检测装置。 转向装置由安装在方向盘的把持部分和转向装置之间的驱动装置驱动，以便减小由转向量检测装置检测到的转向量与在转向量计算装置中计算的转向量之间的差异 。 每当驾驶员的意图和系统的确定彼此不同时，驾驶员可以操作方向盘来介入转向。 此外，司机可以随时干预转向，同时通常保持与系统的协调关系。 因此，转向角校正系统具有半自动转向概念。

公开(公告)号：US6009377A

公开(公告)日：1999-12-28

申请号：US995065

申请日：1997-12-19

Applicant: Yutaka Hiwatashi

Inventor： Yutaka Hiwatashi

IPC: B60W30/00 ,  B62D1/28 ,  B62D6/00 ,  G08G1/09 ,  G08G1/16 ,  G01S7/78

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

Abstract: When a vehicle is moving out of a lane of a road, an image processing computer unit judges the hazardous condition. Then, a power steering control computer unit calculates a correction reaction force based on the steering angular velocity and increases a steering reaction force so as to generate a large steering effort. This lane moving-out prevention system is constituted such that only when the steering angular velocity is large, i.e., when a driver turns a steering wheel sharply, the steering reaction force is increased, thereby no additional reaction force is produced when the driver makes a normal turn.

Abstract translation: 当车辆从道路的车道移出时，图像处理计算机单元判断危险状况。 然后，动力转向控制计算机单元基于转向角速度计算校正反作用力，并增加转向反作用力，以产生大的转向力。 该行车道移出防止系统构成为仅在转向角速度大的情况下，即，当驾驶员急剧转向方向盘时，转向反作用力增大，因此当司机制动时，不产生额外的反作用力 正常转弯

公开(公告)号：US5913375A

公开(公告)日：1999-06-22

申请号：US705219

申请日：1996-08-29

Applicant: Masao Nishikawa

Inventor： Masao Nishikawa

IPC: B60W30/00 ,  B62D6/00 ,  G01S13/86 ,  G01S13/93 ,  G05D1/02 ,  B60T7/16

CPC classification number: G01S13/931 ,  B62D6/00 ,  G05D1/0246 ,  G05D1/0257 ,  G05D1/027 ,  B60T2201/08 ,  B60T2201/087 ,  G01S13/86 ,  G01S2013/9342 ,  G01S2013/9346 ,  G01S2013/935 ,  G01S2013/9353 ,  G01S2013/9357 ,  G01S2013/9375 ,  G01S2013/9378 ,  G01S2013/9385 ,  G05D2201/0213

Abstract: A system for correcting the steering force of a vehicle having a steering wheel whose rotary motion exerted by a vehicle driver is converted into a turn motion of the steering wheels of the vehicle through a steering mechanism. The system is provided with sensors including a CCD camera for detecting the condition of the road ahead having at least one traffic lane on which the vehicle is traveling and a position of the vehicle with respect to the traffic lane. In the system the desired steering force is determined to be generated by the steering mechanism necessary for keeping the detected position of the vehicle with respect to the traffic lane based on the detected parameter and the steering mechanism is biased such that the steering mechanism generates the desired steering force. Conditions on the next adjacent lanes are monitored and the degree of danger is estimated to determine the biasing force. The system can be realized on muscular-energy steering systems or power-assisted steering systems.

Abstract translation: 用于校正具有由车辆驾驶员施加的旋转运动的方向盘的车辆的转向力的系统通过转向机构转换成车辆的方向盘的转向运动。 该系统设置有传感器，其包括用于检测具有车辆行驶的至少一个行车道的道路前方的状况的CCD摄像机以及车辆相对于行车道的位置。 在系统中，基于所检测到的参数，确定由保持车辆检测到的相对于行车道的位置所需的转向机构产生期望的转向力，并且转向机构被偏置，使得转向机构产生期望的 转向力。 监视下一个相邻车道的条件，并估计危险程度以确定偏置力。 该系统可以在肌力转向系统或动力辅助转向系统上实现。

公开(公告)号：US5765116A

公开(公告)日：1998-06-09

申请号：US715751

申请日：1996-09-19

Applicant: Russell Wilson-Jones ,  Raglan Horatio Andrew Harold Tribe ,  Michael Appleyard

Inventor： Russell Wilson-Jones ,  Raglan Horatio Andrew Harold Tribe ,  Michael Appleyard

IPC: B60R21/00 ,  B60K31/00 ,  B60W30/00 ,  B62D6/00 ,  G05D1/02 ,  G08G1/16 ,  B62D5/04

CPC classification number: B62D15/025 ,  G05D1/0246 ,  B60T2201/08 ,  B60T2201/087 ,  G05D1/0242 ,  G05D1/0255

Abstract: A video camera or equivalent sensor is mounted on a vehicle and used to detect the lane markings on the road (usually the white painted lines). An associated signal processor (11) estimates the vehicle's lateral position in relation to the lane markings. An electric motor (4) coupled to the steering mechanism (1) is used to provide a torque input to the steering which may either assist or oppose the steering torque from the driver. The processor (11) is designed to assist the driver to maintain the vehicle's lane position by holding the vehicle at a set-point using a biasing torque. This simulates the effect of the lane being cambered upwards towards the lane edges. However the driver is able to override or cancel the effect if the driver applied steering torque exceeds a prescribed torque threshold.

Abstract translation: 视频摄像机或等效传感器安装在车辆上，用于检测道路上的车道标记（通常为白色线条）。 相关联的信号处理器（11）相对于车道标记估计车辆的横向位置。 联接到转向机构（1）的电动机（4）用于向转向器提供扭矩输入，其可以辅助或反对来自驾驶员的转向扭矩。 处理器（11）被设计成通过使用偏置扭矩将车辆保持在设定点来辅助驾驶员来保持车辆的车道位置。 这样可以模拟向上弯曲的车道对车道边缘的影响。 然而，如果驾驶员施加的转向扭矩超过规定的扭矩阈值，则驾驶员能够覆盖或取消该效果。