公开(公告)号：US5708427A

公开(公告)日：1998-01-13

申请号：US634659

申请日：1996-04-18

Applicant: E. William Bush

Inventor： E. William Bush

IPC: G05D1/02 ,  G08G1/01

CPC classification number: G05D1/0261 ,  B60T2201/08 ,  B60T2201/087 ,  G05D2201/0213

Abstract: A vehicle's position is determined, normally within .+-.0.37 inches, relative to an imaginary center line of a road lane along which are buried, normally about every 13 feet, completely passive resonant circuits, normally each a simple, inexpensive and durable 1-turn 11.5" diameter shallow loop of #12 copper wire in series with a proper capacitor, nominally 10 nanofarads, for resonance. In-lane positional determination is in and by a phase detection circuit, and process. A low-power r.f. electromagnetic field, normally 1.9432 MHz, is maintained in a (i) vertically- or (ii) horizontally-oriented first loop, normally a 6-turn 6-inch coil. Resonance is electromagnetically induced in nearby road coils; radiated fields are not involved. The induced r.f. field is itself then detected in a another, second, loop means within the vehicle. This second loop means may be a (i) horizontally-oriented 6-turn 6-inch coil, or, alternatively and for improved linearity of detection about lane center, (ii) two coils that are in the same plane, orthogonal relative to the first loop, and at any arbitrary angle (other than 90.degree.) relative to the first loop. As the vehicle proceeds down the highway lane a position detector circuit provides an output error signal voltage--equivalent to the phase difference between the maintained and the detected electromagnetic fields--that is (nominally) positive if the vehicle is on the left side of the road loops, or negative if the vehicle is on the right side of the road loops. When the vehicle reaches the center of the lane then the positional error voltage (i.e., the phase difference) nulls out. This error voltage is used to provide the driver with a "steer left" or "steer right" indication, normally in and by a meter. In expansion of the system to fully-automated lane-holding control, the developed positional error voltage signal is used to control the steering of the vehicle.

公开(公告)号：US5485378A

公开(公告)日：1996-01-16

申请号：US313981

申请日：1994-09-27

Applicant: Uwe Franke ,  Stefan Hahn ,  Avshalom Suissa

Inventor： Uwe Franke ,  Stefan Hahn ,  Avshalom Suissa

IPC: B62D6/00 ,  B60W30/00 ,  B62D1/28 ,  B62D101/00 ,  B62D113/00 ,  B62D137/00 ,  G05D1/02 ,  G08G1/09 ,  G06F165/00

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

Abstract: A device for steering and maintaining the course of a vehicle contains, in addition to a device for detecting the position of the vehicle, and a steering control device which acts on a steering angle adjustment device, a preselectable limitation of the steering angle setting requested by the control. A steering angle setting requested by the control is combined with the steering angle setting requested by the driver, and the steering angle adjustment device sets the steering angle in accordance with this combination.

Abstract translation: 用于转向和保持车辆路线的装置除了用于检测车辆位置的装置和作用在转向角调节装置上的转向控制装置之外，还包括由 控制。 由控制器请求的转向角度设定与驾驶员要求的转向角度设定相结合，转向角调节装置根据该组合设定转向角度。

公开(公告)号：US5483453A

公开(公告)日：1996-01-09

申请号：US50560

申请日：1993-04-20

Applicant: Hiroki Uemura ,  Tetsuro Butsuen ,  Tohru Yoshioka ,  Ayumu Doi ,  Kenichi Okuda ,  Yasunori Yamamoto ,  Tomohiko Adachi ,  Naotsugu Masuda

Inventor： Hiroki Uemura ,  Tetsuro Butsuen ,  Tohru Yoshioka ,  Ayumu Doi ,  Kenichi Okuda ,  Yasunori Yamamoto ,  Tomohiko Adachi ,  Naotsugu Masuda

IPC: B60R21/00 ,  B60W30/00 ,  G05D1/02 ,  G08G1/16 ,  G06F165/00 ,  B62D1/02

CPC classification number: G05D1/0255 ,  G05D1/0246 ,  B60T2201/08 ,  B60T2201/087 ,  G05D1/0234 ,  G05D2201/0213

Abstract: When the vehicle has deviated or is deviating from a lane on which the vehicle has been or is running, the deviation of the vehicle from the lane can be suppressed, for example, by allowing the steering wheel to be operatively rotated prior to an intention of the operator. The timing of suppressing the deviation of the vehicle can be altered in accordance with conditions including, for example, the existence of a lane in the direction of deviation of the vehicle on which another vehicle is running in the same direction, the existence of an obstacle in the direction of deviation of the vehicle, the existence of an adjacent lane in the direction of deviation of the vehicle on which another vehicle is running in the opposite direction, a state of the lane on which the vehicle is running, such as a curved lane or a straight lane, a direction of deviation is outside or inside the curved lane or a lane width, a vehicle speed, a steering angle of a steering wheel, an extent of vision, and so on.

Abstract translation: 当车辆已经偏离或偏离车辆已经或正在行驶的车道时，可以例如通过允许方向盘可操作地旋转，从而可以抑制车辆与车道的偏离， 操作员。 可以根据包括例如车辆在相同方向上行驶的车辆的偏离方向上存在车道的情况来改变抑制车辆偏离的定时，障碍物的存在 在车辆偏离的方向上，在相反方向的另一车辆行驶的车辆的偏离方向上存在相邻车道的存在，车辆行驶的车道的状态，例如弯曲 车道或直通车道，偏离方向在曲线车道的外侧或内部，或车道宽度，车速，方向盘的转向角度，视野范围等。

公开(公告)号：US5245422A

公开(公告)日：1993-09-14

申请号：US722661

申请日：1991-06-28

Applicant: Robert H. Borcherts ,  Jacek L. Jurzak ,  Shih-Ping Liou ,  Tse-Liang A. Yeh

Inventor： Robert H. Borcherts ,  Jacek L. Jurzak ,  Shih-Ping Liou ,  Tse-Liang A. Yeh

IPC: B62D1/28 ,  G05D1/02

CPC classification number: G05D1/0246 ,  B60T2201/08 ,  B60T2201/081 ,  B60T2201/087 ,  G05D2201/0213

Abstract: An automatic vehicle steering system is provided for automatically steering a vehicle along a lane in a road. A video sensor is included for generating a plurality of frames of video images of the road. A computer processor analyzes the frames to determine the lane boundaries of the road and the position of the vehicle. The system advantageously utilizes engagement of a cruise control switch and a steering control switch to initiate processing of the image data and automatic steering of the vehicle. In such manner, the reliability and efficiency of the system is increased while at the same time minimizing complexity and cost.

Abstract translation: 提供一种自动车辆转向系统，用于沿着道路中的车道自动地转向车辆。 包括视频传感器，用于产生道路的多个视频图像帧。 计算机处理器分析帧以确定道路的车道边界和车辆的位置。 该系统有利地利用巡航控制开关和转向控制开关的接合来启动图像数据的处理和车辆的自动转向。 以这种方式，系统的可靠性和效率得到提高，同时使复杂性和成本最小化。

公开(公告)号：US4437533A

公开(公告)日：1984-03-20

申请号：US338904

申请日：1982-01-12

Applicant: Hartwig Bierkarre ,  Gottfried Klinger ,  Jurgen Radeloff ,  Bernd-Hendrik Rust

Inventor： Hartwig Bierkarre ,  Gottfried Klinger ,  Jurgen Radeloff ,  Bernd-Hendrik Rust

IPC: B60K31/00 ,  B60T7/18 ,  B62D1/28 ,  G05D1/02 ,  B62D1/24

CPC classification number: G05D1/0265 ,  B60K31/0066 ,  B60T7/18 ,  B62D1/28 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2201/087

Abstract: A system for monitoring the course and braking means of a vehicle are provided, which is freely movable and particularly inductively steered. The vehicles comprise drive means and at least one steerable driven wheel, braking means, and a sensor for scanning a guideline. The system comprises an arrangement (25, 27), in which an emergency braking operation for stopping the vehicle within an emergency stopping distance is generated in dependence on a signal which corresponds to the angle between the longitudinal axis of the vehicle and the guideline, and another signal, which corresponds to the lateral departure of the longitudinal center line of the vehicle adjacent to the sensor from the guideline. The emergency stopping distance is shorter than the distance which the vehicle would travel to collide with an obstacle. Limiting values for a maximum or changing steering angle, the contour of the vehicle, the speed of travel and the braking distance under maximum load. The arrangement with its input and output terminals constitutes a self-contained module. A vehicle comprising such an arrangement is also provided.

Abstract translation: 提供一种用于监视车辆的车道和制动装置的系统，其可自由移动并且特别地感应转向。 车辆包括驱动装置和至少一个可操纵的从动轮，制动装置和用于扫描指南的传感器。 该系统包括一种布置（25,27），其中根据对应于车辆的纵向轴线与准线之间的角度的信号产生用于在紧急停止距离内停止车辆的紧急制动操作，以及 另一个信号，其对应于与传感器相邻的车辆的纵向中心线与准线的侧向偏离。 紧急停止距离短于车辆将与障碍物碰撞的距离。 限制最大或改变转向角，车辆轮廓，行驶速度和最大负载下的制动距离的值。 其输入和输出端子的布置构成了一个独立的模块。 还提供了包括这种布置的车辆。

公开(公告)号：US11951966B2

公开(公告)日：2024-04-09

申请号：US16328514

申请日：2017-09-08

Applicant: KNORR-BREMSE SYSTEME FUER NUTZFAHRZEUGE GMBH

Inventor： Levente Balogh ,  Markus Klein ,  Tamas Rozsa

IPC: B60T8/1755 ,  B60T8/26 ,  B60T8/28

CPC classification number: B60T8/17557 ,  B60T8/26 ,  B60T8/28 ,  B60T2201/087

Abstract: A steering control system for a commercial vehicle having a braking system to brake dissymmetrically wheels. The steering control system, including a sensor unit and a control module, is configured to detect a braking request or deceleration of the vehicle and/or to detect a lateral offset and to generate a brake indication signal and/or steering demand. The control module is configured to receive the brake indication signal and/or steering demand. If the steering demand is below a predetermined threshold value, the control module is configured to generate the steering signal only if the brake indication signal indicates a braking request. If the steering demand exceeds the predetermined threshold value, the control module is configured to generate the steering signal even if the brake indication signal indicates no braking request. The control module provides the steering signal to the braking system to brake the vehicle dissymmetrically to steer the vehicle.

公开(公告)号：US20170371350A1

公开(公告)日：2017-12-28

申请号：US15634002

申请日：2017-06-27

Applicant: SIEMENS AKTIENGESELLSCHAFT

Inventor： HENRIK ENGDAHL ,  JUERGEN FRANCKE ,  FRANK GERSTENBERG ,  OLIVER GRAEBNER ,  MICHAEL LEHMANN ,  GOERAN SAENGER ,  FLORIAN BUEHS

IPC: G05D1/02 ,  B60M1/12 ,  B60L9/00 ,  G08G1/00 ,  G01C21/34

CPC classification number: G05D1/0285 ,  B60K31/0058 ,  B60L5/24 ,  B60L9/00 ,  B60L2240/62 ,  B60M1/12 ,  B60T2201/08 ,  B60T2201/087 ,  B60W30/12 ,  B62D1/28 ,  B62D15/025 ,  G01C21/005 ,  G01C21/12 ,  G01C21/3407 ,  G05D1/0212 ,  G05D2201/0213 ,  G06K9/00798 ,  G06Q50/30 ,  G06T7/70 ,  G08G1/20

Abstract: A vehicle control facility for the automated control of an electrical road vehicle for a route system with an energy-supply system that includes a lane-bound energy supply line, in particular an overhead line system. A position-determining unit determines a geographical position of the electrical road vehicle. A specific-lane-determining unit determines position data for a specific lane assigned to the lane-bound energy supply line. A communication interface transmits current relative positions of infrastructure features with respect to the electrical road vehicle to an external central specific-lane-determining facility and receives position data. A vehicle-control unit controls the electrical road vehicle with respect to the determined specific lane in dependence on the determined relative position of the specific lane.

公开(公告)号：US20170158227A1

公开(公告)日：2017-06-08

申请号：US15367266

申请日：2016-12-02

Applicant: VOLVO CAR CORPORATION

Inventor： Diomidis KATZOURAKIS ,  Caspar HANSELAAR ,  Mathias LIDBERG

IPC: B62D5/04 ,  B62D6/00 ,  B62D6/04 ,  B62D6/10

CPC classification number: B62D6/006 ,  B60T2201/087 ,  B62D6/002 ,  B62D6/007 ,  B62D6/008 ,  B62D15/025

Abstract: A vehicle steering arrangement for a vehicle comprises a rack a position sensor, a steering column, a steering wheel, a torque sensor arranged to sense a torque applied onto the steering wheel and arranged to provide a torque signal representative thereof, an electronic control unit provided with a virtual steering model, a rack-mounted electromechanical actuator, and a force obtaining arrangement configured to obtain forces of steered wheels acting on the rack. The electronic control unit is configured to provide a virtual rack position based on the virtual steering model and at least a combination of the obtained forces and the torque signal, and is arranged to control the rack-mounted electromechanical actuator such that the current position of the rack is controlled towards the virtual rack position. The present disclosure also relates to an autonomous vehicle steering arrangement, a vehicle and a method of steering a vehicle.

公开(公告)号：US09540038B2

公开(公告)日：2017-01-10

申请号：US13806894

申请日：2010-06-30

Applicant: Toru Takashima ,  Norihisa Nishikawa ,  Mitsutaka Tanimoto ,  Tetsuhiro Narita

Inventor： Toru Takashima ,  Norihisa Nishikawa ,  Mitsutaka Tanimoto ,  Tetsuhiro Narita

IPC: B62D6/00 ,  B60T8/1764 ,  B60W10/184 ,  B60W10/20 ,  B60W30/12 ,  B62D5/00 ,  B62D5/04 ,  B60T8/1755

CPC classification number: B62D6/00 ,  B60T8/17557 ,  B60T2201/08 ,  B60T2201/087 ,  B60W10/184 ,  B60W10/20 ,  B60W30/12 ,  B60W2510/202 ,  B60W2710/182 ,  B62D5/008 ,  B62D5/0472

Abstract: A control apparatus for controlling a vehicle which is provided with a braking/driving force varying device capable of individually changing a braking/driving force acting on each of wheels (FL, FR, RL, RR) with respect to each wheel. The control apparatus includes a target state quantity setting device for setting a target state quantity corresponding to a target motion state of the vehicle; and a target braking/driving force setting device for setting a target braking/driving force, which is a target value of the braking/driving force, such that a state quantity corresponding to the target state quantity and a steering reaction force transmitted to a steering apparatus from the wheel are the set target state quantity and a predetermined target steering reaction force, respectively, on the basis of a relative relation, which is set in advance, between the state quantity and the steering reaction force, and a left-right braking/driving force difference of front wheels and a left-right braking/driving force difference of rear wheels.

Abstract translation: 一种用于控制车辆的控制装置，其具有能够相对于每个车轮分别改变作用在每个车轮（FL，FR，RL，RR）上的制动/驱动力的制动/驱动力改变装置。 控制装置包括：目标状态量设定装置，用于设定与车辆的目标运动状态对应的目标状态量; 以及目标制动/驱动力设定装置，用于设定作为制动/驱动力的目标值的目标制动/驱动力，使得与目标状态量相对应的状态量和传递到转向的转向反作用力 基于预先设定的状态量和转向反作用力之间的相对关系和左右制动的相对关系，来自车轮的装置分别是设定目标状态量和预定目标转向反作用力 前轮的驱动力差和后轮的左右制动/驱动力差。

公开(公告)号：US08958953B2

公开(公告)日：2015-02-17

申请号：US12846174

申请日：2010-07-29

Applicant: Stephan Stabrey

Inventor： Stephan Stabrey

IPC: G08G1/16 ,  B62D6/00 ,  B60T8/1755 ,  B60W10/16 ,  B60W10/18 ,  B60W10/20 ,  B60W30/08 ,  B62D15/02

CPC classification number: B62D6/003 ,  B60T8/1755 ,  B60T2201/083 ,  B60T2201/087 ,  B60T2201/16 ,  B60W10/16 ,  B60W10/18 ,  B60W10/20 ,  B60W30/08 ,  B60W2030/082 ,  B60W2520/14 ,  B62D15/0265

Abstract: A method for influencing the direction of travel of a vehicle. In order to lower the risk of accidents in driving situations in which the driver reacts incorrectly, for example because of being surprised, it is provided that the driving operation be monitored in reference to the occurrence of an event due to which the travel direction of the vehicle changes, deviating from the travel direction specified at the steering wheel, and when such an event is detected that an automatic intervention in the driving operation be performed whereby the vehicle is moved back approximately into the original direction of travel in which it was moving before the event occurred.

Abstract translation: 一种影响车辆行驶方向的方法。 为了降低驾驶员驾驶不正确的情况下的事故的风险，例如由于感到惊讶，就是根据事件的发生情况来监视驾驶操作，由此， 车辆变化，偏离方向盘指定的行进方向，并且当检测到这样的事件时，执行驾驶操作的自动干预，由此车辆大致移动到其移动之前的原始行进方向 事件发生了。