公开(公告)号：US20040186650A1

公开(公告)日：2004-09-23

申请号：US10798405

申请日：2004-03-12

Applicant: NISSAN MOTOR CO., LTD.

Inventor： Satoshi Tange ,  Genpei Naito ,  Shinji Matsumoto

IPC: G06G007/76

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：US20040158377A1

公开(公告)日：2004-08-12

申请号：US10769069

申请日：2004-02-02

Applicant: NISSAN MOTOR CO., LTD.

Inventor： Shinji Matsumoto ,  Genpei Naito ,  Satoshi Tange

IPC: G06F019/00

CPC classification number: B60W10/20 ,  B60T8/17557 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2201/087 ,  B60W10/06 ,  B60W10/18 ,  B60W30/12 ,  B60W30/16 ,  B62D6/003 ,  B62D15/025

Abstract: In a vehicle dynamics control apparatus capable of balancing a vehicle dynamics stability control system and a lane deviation prevention control system, a cooperative control section is provided to make a cooperative control between lane deviation prevention control (LDP) and vehicle dynamics stability control (VDC). When a direction of yawing motion created by LDP control is opposite to a direction of yawing motion created by VDC control, the cooperative control section puts a higher priority on VDC control rather than LDP control. Conversely when the direction of yawing motion created by LDP control is identical to the direction of yawing motion created by VDC control, a higher one of the LDP desired yaw moment and the VDC desired yaw moment is selected as a final desired yaw moment, to prevent over-control, while keeping the effects obtained by both of VDC control and LDP control.

Abstract translation: 在能够平衡车辆动力学稳定性控制系统和车道偏离防止控制系统的车辆动力学控制装置中，提供协调控制部分，以在车道偏离防止控制（LDP）和车辆动力学稳定性控制（VDC）之间进行协调控制， 。 当通过LDP控制产生的偏航运动的方向与由VDC控制产生的偏航运动的方向相反时，协作控制部分对VDC控制而不是LDP控制具有更高的优先级。 相反，当由LDP控制产生的偏航运动的方向与由VDC控制产生的偏航运动的方向相同时，LDP期望的偏航力矩和VDC期望的横摆力矩中较高的一个被选作最终期望的横摆力矩，以防止 过度控制，同时保持由VDC控制和LDP控制两者获得的效果。

公开(公告)号：US20040158366A1

公开(公告)日：2004-08-12

申请号：US10469895

申请日：2004-02-06

Inventor： Werner Dieterle

IPC: G01C021/26

CPC classification number: G08G1/096827 ,  B60K31/0008 ,  B60K31/0058 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2201/087 ,  B60W30/16 ,  B60W2550/14 ,  B60W2550/142 ,  B60W2550/22 ,  B60W2550/402 ,  B62D15/026 ,  G01C21/26 ,  G08G1/096725 ,  G08G1/096741 ,  G08G1/096775 ,  G08G1/096844

Abstract: The invention relates to an automatic vehicle guidance method according to which infrastructure data are wirelessly transmitted to the vehicle (10) and vehicle guidance instructions are calculated by using this infrastructure data. The method is characterized in that the infrastructure data for at least one segment of the route (40) located immediately ahead is loaded into an on-board memory (44), in that the actual position of the vehicle (10) is continuously determined by a precise positioning system (14), and in that the instructions are calculated by using the position data and the stored infrastructure data.

Abstract translation: 本发明涉及一种自动车辆引导方法，根据该自动车辆引导方法，将基础设施数据无线发送到车辆（10），并且通过使用该基础设施数据来计算车辆引导指令。 该方法的特征在于，用于至少位于前方的路线（40）的至少一个段的基础设施数据被加载到车载存储器（44）中，因为车辆（10）的实际位置由 精确的定位系统（14），并且通过使用位置数据和所存储的基础设施数据来计算指令。

公开(公告)号：US20040107035A1

公开(公告)日：2004-06-03

申请号：US10713354

申请日：2003-11-17

Applicant: NISSAN MOTOR CO., LTD.

Inventor： Satoshi Tange ,  Genpei Naito ,  Shinji Matsumoto

IPC: G06F019/00

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：US20040102884A1

公开(公告)日：2004-05-27

申请号：US10695799

申请日：2003-10-30

Applicant: NISSAN MOTOR CO., LTD.

Inventor： Satoshi Tange ,  Shinji Matsumoto

IPC: G05D001/00

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：US06708098B2

公开(公告)日：2004-03-16

申请号：US10228042

申请日：2002-08-27

Applicant: Shinji Matsumoto ,  Genpei Naito ,  Satoshi Tange ,  Hiroyuki Yoshizawa

Inventor： Shinji Matsumoto ,  Genpei Naito ,  Satoshi Tange ,  Hiroyuki Yoshizawa

IPC: G06G776

CPC classification number: B60T8/17557 ,  B60T2201/08 ,  B60T2201/083 ,  B60W2050/143 ,  B60W2720/14 ,  F16H2059/443

Abstract: A lane-keep control system for a host-vehicle is arranged to detect a traveling condition of the host-vehicle, to detect a tendency of a lane deviation of the host-vehicle on the basis of the traveling condition, to calculate a driving/braking force controlled variable of each wheel according to the traveling condition so as to generate a yawing moment directed toward a direction of preventing the lane deviation when the tendency of the lane deviation is detected, to control a driving/braking force according to the driving/braking force controlled variable, to detect a steering state quantity indicative of a quantity of state of a steering wheel, and to correct the driving/braking force controlled variable on the basis of the steering state quantity.

Abstract translation: 主车辆的车道保持控制系统被配置为根据行驶状况来检测主车辆的行驶状况，以检测主车辆的车道偏离的倾向，以计算驾驶/ 根据行驶状态，各车轮的制动力控制变量，以便在检测到车道偏离的倾向时，产生朝向防止车道偏离的方向的偏转力矩，根据驾驶/ 制动力控制变量，以检测表示方向盘的状态量的转向状态量，并且基于转向状态量来校正驱动/制动力控制变量。

公开(公告)号：US20030062769A1

公开(公告)日：2003-04-03

申请号：US10228042

申请日：2002-08-27

Applicant: NISSAN MOTOR CO., LTD.

Inventor： Shinji Matsumoto ,  Genpei Naito ,  Satoshi Tange ,  Hiroyuki Yoshizawa

IPC: B60T008/60

CPC classification number: B60T8/17557 ,  B60T2201/08 ,  B60T2201/083 ,  B60W2050/143 ,  B60W2720/14 ,  F16H2059/443

Abstract: A lane-keep control system for a host-vehicle is arranged to detect a traveling condition of the host-vehicle, to detect a tendency of a lane deviation of the host-vehicle on the basis of the traveling condition, to calculate a driving/braking force controlled variable of each wheel according to the traveling condition so as to generate a yawing moment directed toward a direction of preventing the lane deviation when the tendency of the lane deviation is detected, to control a driving/braking force according to the driving/braking force controlled variable, to detect a steering state quantity indicative of a quantity of state of a steering wheel, and to correct the driving/braking force controlled variable on the basis of the steering state quantity.

Abstract translation: 主车辆的车道保持控制系统被配置为根据行驶状况来检测主车辆的行驶状况，以检测主车辆的车道偏离的倾向，以计算驾驶/ 根据行驶状态，各车轮的制动力控制变量，以便在检测到车道偏离的倾向时，产生朝向防止车道偏离的方向的偏转力矩，根据驾驶/ 制动力控制变量，以检测表示方向盘的状态量的转向状态量，并且基于转向状态量来校正驱动/制动力控制变量。

公开(公告)号：US06226389B1

公开(公告)日：2001-05-01

申请号：US09473350

申请日：1999-12-28

Applicant: Jerome H. Lemelson ,  Robert Pedersen

Inventor： Jerome H. Lemelson ,  Robert Pedersen

IPC: G06K900

CPC classification number: G01S19/11 ,  B60T2201/022 ,  B60T2201/024 ,  B60T2201/08 ,  B60T2201/082 ,  B60T2201/083 ,  B60T2201/085 ,  B60T2201/087 ,  G01S5/009 ,  G01S13/867 ,  G01S13/931 ,  G01S17/023 ,  G01S17/936 ,  G01S2013/9321 ,  G01S2013/9325 ,  G01S2013/9342 ,  G01S2013/9346 ,  G01S2013/935 ,  G01S2013/9353 ,  G01S2013/9357 ,  G01S2013/936 ,  G01S2013/9367 ,  G07C5/0891 ,  G08G1/164 ,  G08G1/165 ,  G08G1/166

Abstract: A system and method assist the driver of a motor vehicle in preventing accidents or minimizing the effects of same. In one form, a television camera is mounted on a vehicle and scans the roadway ahead of the vehicle as the vehicle travels. Continuously generated video picture signals output by the camera are electronically processed and analyzed by an image analyzing computer, which generates codes, that serve to identify obstacles. A decision computer mounted in the controlled vehicle receives such code signals along with code signals generated by the speedometer or one or more sensors sensing steering mechanism operation and generates control signals. Such code signals maybe displayed, and as synthetic speech or special sound generating and warning means used to warn the driver of the vehicle of approaching and existing hazards. The system may also use the control signals, particularly through application of fuzzy logic, to control the operation of the brakes and steering mechanism of the vehicle to avoid or lessen the effects of a collision. In a particular form, the decision computer may select the evasive action taken from a number of choices, depending on whether and where the detection device senses other vehicles or obstacles.

Abstract translation: 一种系统和方法帮助机动车辆的驾驶员防止事故或最小化其影响。 在一种形式中，电视摄像机安装在车辆上，并在车辆行驶时扫描车辆前方的道路。 由相机输出的连续生成的视频图像信号由图像分析计算机进行电子处理和分析，图像分析计算机产生用于识别障碍物的代码。 安装在受控车辆中的判定计算机接收这样的代码信号以及由速度计产生的代码信号或感测转向机构操作的一个或多个传感器，并产生控制信号。 可以显示这样的代码信号，并且作为合成语音或特殊声音产生和警告装置用于警告车辆的驾驶员接近和存在的危险。 系统还可以使用控制信号，特别是通过应用模糊逻辑来控制车辆的制动器和转向机构的操作，以避免或减轻碰撞的影响。 在特定形式中，决定计算机可以根据检测装置是否检测其他车辆或障碍物以及在何处检测其他车辆或障碍物来选择从多个选择中采取的回避动作。