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公开(公告)号：US20120091787A1
公开(公告)日：2012-04-19
申请号：US13340106
申请日：2011-12-29
IPC分类号： B60T13/58 , B60T13/128 , B60T13/66
CPC分类号： B60T8/442 , B60T7/042 , B60T8/4872 , B60T13/147 , B60T13/161 , B60T13/686 , B60T13/745
摘要： A brake control apparatus for a vehicle includes: a master cylinder for raising a wheel cylinder pressure according to operation of a brake pedal; a booster for raising the wheel cylinder pressure by operating the master cylinder independently of operation of the brake pedal; a pressure regulator provided with a hydraulic pump for raising the wheel cylinder pressure independently of operation of the master cylinder; and a control section including: a first controller for controlling the booster; and a second controller for controlling the pressure regulator. The control section detects that at least one of the booster and the first controller is in a state of malfunction; selects one of backup modes according to the state of malfunction, wherein the backup modes restrict operation of at least one of the booster and the pressure regulator in different manners; and controls the wheel cylinder pressure in the selected backup mode.
摘要翻译： 一种用于车辆的制动控制装置，包括：主缸，用于根据制动踏板的操作提升轮缸压力; 用于通过独立于制动踏板的操作操作主缸来提高轮缸压力的助力器; 设置有液压泵的压力调节器，用于独立于主缸的操作而提升轮缸压力; 以及控制部，包括：用于控制所述助力器的第一控制器; 以及用于控制压力调节器的第二控制器。 控制部分检测到升压器和第一控制器中的至少一个处于故障状态; 根据故障状态选择一种备份模式，其中备用模式以不同的方式限制至少一个助力器和压力调节器的操作; 并在所选备份模式下控制轮缸压力。
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公开(公告)号：US08167383B2
公开(公告)日：2012-05-01
申请号：US12188942
申请日：2008-08-08
CPC分类号： B60T8/442 , B60T7/042 , B60T8/4872 , B60T13/147 , B60T13/161 , B60T13/686 , B60T13/745
摘要： A brake control apparatus for a vehicle includes: a master cylinder for raising a wheel cylinder pressure according to operation of a brake pedal; a booster for raising the wheel cylinder pressure by operating the master cylinder independently of operation of the brake pedal; a pressure regulator provided with a hydraulic pump for raising the wheel cylinder pressure independently of operation of the master cylinder; and a control section including: a first controller for controlling the booster; and a second controller for controlling the pressure regulator. The control section detects that at least one of the booster and the first controller is in a state of malfunction; selects one of backup modes according to the state of malfunction, wherein the backup modes restrict operation of at least one of the booster and the pressure regulator in different manners; and controls the wheel cylinder pressure in the selected backup mode.
摘要翻译： 一种用于车辆的制动控制装置，包括：主缸，用于根据制动踏板的操作提升轮缸压力; 用于通过独立于制动踏板的操作操作主缸来提高轮缸压力的助力器; 设置有液压泵的压力调节器，用于独立于主缸的操作而提升轮缸压力; 以及控制部，包括：用于控制所述助力器的第一控制器; 以及用于控制压力调节器的第二控制器。 控制部分检测到升压器和第一控制器中的至少一个处于故障状态; 根据故障状态选择一种备份模式，其中备用模式以不同的方式限制至少一个助力器和压力调节器的操作; 并在所选备份模式下控制轮缸压力。
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公开(公告)号：US07644998B2
公开(公告)日：2010-01-12
申请号：US11837177
申请日：2007-08-10
申请人： Kimio Nishino , Toshiharu Sugawara , Kenichiro Matsubara , Toshiyuki Innami , Hitoshi Kobayashi
发明人： Kimio Nishino , Toshiharu Sugawara , Kenichiro Matsubara , Toshiyuki Innami , Hitoshi Kobayashi
IPC分类号： B60T8/60
CPC分类号： B60T8/1755 , B60T8/3255 , B60T8/4072 , B60T8/885 , B60T17/22 , B60T17/221 , B60T2270/402
摘要： Even in the case that at least one braking force generating function fails, it is possible to secure a maximum braking force as well as suppressing a yaw moment generated on the basis of the failure as much as possible even at a time when whatever braking force is requested, A target braking force to a normal brake apparatus is calculated on the basis of a result of detection by a malfunction detecting portion, in such a manner that a total of braking forces generated in the brake apparatuses in respective wheels becomes as equal as possible to a requested braking force, at a time when a malfunction is generated in the brake apparatus or a braking force control portion.
摘要翻译： 即使在至少一个制动力产生功能失效的情况下，也可以确保最大的制动力，并且能够尽可能地抑制基于故障而产生的横摆力矩，即使在任何制动力为 根据故障检测部的检测结果，对各个车轮中的制动装置中产生的制动力的总和变得相等，来计算向正常制动装置的目标制动力 在制动装置或制动力控制部分中产生故障时，要求制动力。
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公开(公告)号：US08849514B2
公开(公告)日：2014-09-30
申请号：US13123373
申请日：2009-10-06
CPC分类号： B60W30/12 , B60T7/042 , B60T7/22 , B60T8/17557 , B60T8/17558 , B60T2201/083 , B60T2201/087 , B60W2720/14 , B62D6/003 , B62D15/025 , B62D15/0265
摘要： A conventional brake control can generate only a small yaw moment compared with a steering control, so that reliable avoidance of obstacles cannot be obtained. With a steering control, the driver gets behind the wheel every time when crossing a lane and has an uncomfortable feeling. To solve these problems, a traveling aid device comprises: a detection unit for detecting the traveling state of a vehicle, the position of a lane marker, and the positions and types of obstacles around the vehicle; a calculation unit for calculating, based on the traveling state of the vehicle, the position of the lane marker, and the positions and types of the surrounding obstacles, a target yaw moment so as to prevent a departure from the lane marker and a collision with the surrounding obstacles; and a distribution unit for distributing, based on at least one of the traveling state of the vehicle, the position of the lane marker, and the positions and types of the surrounding obstacles, the target moment to a first actuator for controlling the driving/braking force and a second actuator for controlling the steering.
摘要翻译： 与转向控制相比，传统的制动控制只能产生小的横摆力矩，从而不可能获得可靠的避障障碍。 在转向控制下，驾驶员每次穿过车道时都会落在车轮的后方，感觉不舒服。 为了解决这些问题，行驶辅助装置包括：检测单元，用于检测车辆的行驶状态，车道标记的位置以及车辆周围的障碍物的位置和类型; 计算单元，用于基于车辆的行驶状态来计算车道标记的位置，以及周围障碍物的位置和类型，目标横摆力矩，以防止偏离车道标记和与车道标记的碰撞 周围的障碍物; 以及分配单元，用于基于车辆的行驶状态中的至少一个，车道标记的位置以及周围障碍物的位置和类型来分配到用于控制驾驶/制动的第一致动器的目标力矩 力和用于控制转向的第二致动器。
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公开(公告)号：US08165776B2
公开(公告)日：2012-04-24
申请号：US12194887
申请日：2008-08-20
申请人： Toshiharu Sugawara , Atsushi Yokoyama , Takaomi Nishigaito , Masatoshi Hoshino , Tatsuya Yoshida , Jun Kubo , Shinjiro Saito
发明人： Toshiharu Sugawara , Atsushi Yokoyama , Takaomi Nishigaito , Masatoshi Hoshino , Tatsuya Yoshida , Jun Kubo , Shinjiro Saito
IPC分类号： B60T7/12
CPC分类号： B60W30/12 , B60T2201/022
摘要： A drive assist system includes an assist starting part starting assist, a detection part detecting relative distances and speeds between a vehicles, a calculation part calculating collision risks when changing a lane by the basis of the relative distances and speeds, a first judgment part judging whether the lane can be changed by the relative distances, speeds and the collision risks, a decision part deciding a target space for lane change by the relative distances and speeds when the lane cannot be changed, a second judgment part judging whether a lane changeable space is in the target space, a setting part setting a target speed for the vehicle go to a lane change waiting position when no space and to setting a target speed the vehicle enters a lane changeable position when there is the space, and a control part controlling a speed of the vehicle reaches the target speed.
摘要翻译： 驱动辅助系统包括辅助起动部起动辅助，检测车辆之间的相对距离和速度的检测部，基于相对距离和速度来改变车道时的碰撞风险的计算部，第一判断部判断是否 可以通过相对距离，速度和碰撞风险来改变车道，决定部件通过车道不能改变时的相对距离和速度来确定车道变换的目标空间，第二判断部分判断车道可变空间是否为 在目标空间中，当没有空间时，设定车辆的目标速度的设定部分进入车道变更等待位置，并且当存在空间时设定车辆进入车道可变位置的目标速度，以及控制部 车速达到目标速度。
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公开(公告)号：US08682533B2
公开(公告)日：2014-03-25
申请号：US13512953
申请日：2010-12-03
申请人： Takao Kojima , Toshiharu Sugawara
发明人： Takao Kojima , Toshiharu Sugawara
IPC分类号： A01B69/00
CPC分类号： B62D15/025 , B60T8/17557 , B60T2201/08 , B60T2201/086 , B60W30/12 , B60W50/087 , B60W2540/18
摘要： A lane departure prevention device includes departure prevention control means that performs control to prevent deviation from a lane based on a result of detection means such as sensors and a camera, driver's intention determination means that determines driver's steering intention and actuator activation limiting means that limits activation of an actuator based on the driver's steering intention from the driver's intention determination means. The driver's intention determination means calculates a variation ΔTh in the steering torque detected and a variation ΔTs in the control command value to a steering actuator, and determines that, when |ΔTh|−|ΔTs| is a threshold or more, driver's operational intention is present and limits the activation of the departure prevention control. This can avoid the interruption of departure prevention control in response to activation of an actuator for lane departure avoidance that a driver does not intend because of erroneous detection that a driver intends as such.
摘要翻译： 车道偏离防止装置包括防脱离控制装置，其根据诸如传感器和照相机的检测装置的结果执行控制以防止偏离车道，驾驶员意图确定装置确定驾驶员的转向意图以及限制激活的驾驶员激活限制装置 基于来自驾驶员意图确定装置的驾驶员转向意图的致动器。 驾驶者意图判定单元计算检测到的转向转矩的变化量Dgr和Th以及控制指令值对转向执行器的变化量＆Dgr; Ts，并确定当|＆Dgr; Th | - |＆Dgr; Ts | 是门槛以上，驾驶员的操作意图是存在的，并限制了起飞预防控制的激活。 这可以避免驾驶员由于驾驶员意图错误地检测驾驶员不想要的用于车道偏离避免的致动器的启动而中断防脱离控制。
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公开(公告)号：US20120239255A1
公开(公告)日：2012-09-20
申请号：US13512953
申请日：2010-12-03
申请人： Takao Kojima , Toshiharu Sugawara
发明人： Takao Kojima , Toshiharu Sugawara
CPC分类号： B62D15/025 , B60T8/17557 , B60T2201/08 , B60T2201/086 , B60W30/12 , B60W50/087 , B60W2540/18
摘要： A lane departure prevention device includes departure prevention control means that performs control to prevent deviation from a lane based on a result of detection means such as sensors and a camera, driver's intention determination means that determines driver's steering intention and actuator activation limiting means that limits activation of an actuator based on the driver's steering intention from the driver's intention determination means. The driver's intention determination means calculates a variation ΔTh in the steering torque detected and a variation ΔTs in the control command value to a steering actuator, and determines that, when |ΔTh|−|ΔTs| is a threshold or more, driver's operational intention is present and limits the activation of the departure prevention control. This can avoid the interruption of departure prevention control in response to activation of an actuator for lane departure avoidance that a driver does not intend because of erroneous detection that a driver intends as such.
摘要翻译： 车道偏离防止装置包括防脱离控制装置，其根据诸如传感器和照相机的检测装置的结果执行控制以防止偏离车道，驾驶员意图确定装置确定驾驶员的转向意图以及限制激活的驾驶员激活限制装置 基于来自驾驶员意图确定装置的驾驶员转向意图的致动器。 驾驶者意图判定单元计算检测到的转向转矩的变化量Dgr和Th以及控制指令值对转向执行器的变化量＆Dgr; Ts，并确定当|＆Dgr; Th | - |＆Dgr; Ts | 是门槛以上，驾驶员的操作意图是存在的，并限制了起飞预防控制的激活。 这可以避免驾驶员由于驾驶员意图错误地检测驾驶员不想要的用于车道偏离避免的致动器的启动而中断防脱离控制。
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公开(公告)号：US08600657B2
公开(公告)日：2013-12-03
申请号：US12920396
申请日：2009-07-28
CPC分类号： B60T7/22 , B60T2201/08 , B60W30/09 , B60W30/0956 , B60W30/12 , B60W2720/406 , B62D15/0265
摘要： According to conventional art, if there is an obstacle on the left of a vehicle, a control threshold value is set so as to avoid the obstacle. If the control threshold value is exceeded, the vehicle is controlled in accordance with a deviation quantity so as to return to a position where the control threshold avoids being exceeded. However, even if a risky oncoming vehicle is approaching the vehicle on the right, the vehicle is controllably moved toward the oncoming vehicle. Thus, disadvantageously, a driver has a sense of fear or discomfort. A vehicle control apparatus according to the present invention includes a calculation section configured to calculate a first risk level present on the left of the vehicle and a second risk level present on the right of the vehicle, a setting section configured to set a first control threshold for the left of the vehicle based on the first risk level and to set a second control threshold for the right of the vehicle based on the second risk level, a change section configured to change at least one of the first and second control thresholds based on the first and second risk levels, and a control section configured to control the vehicle based on the changed control threshold.
摘要翻译： 根据现有技术，如果在车辆的左侧存在障碍物，则设定控制阈值以避免障碍物。 如果超过了控制阈值，则根据偏差量来控制车辆，以返回到避免超过控制阈值的位置。 然而，即使有危险的迎面而来的车辆正在靠近右边的车辆，车辆也可以被控制地朝向迎面而来的车辆移动。 因此，不利的是，驾驶员有恐惧感或不适感。 根据本发明的车辆控制装置包括计算部件，其被配置为计算存在于车辆左侧的第一风险等级和存在于车辆右侧的第二风险等级，设置部件，其被配置为设定第一控制阈值 基于所述第一风险等级对所述车辆的左侧进行基于所述第二风险等级的所述车辆的右侧的第二控制阈值，基于所述第二风险等级来设定所述车辆右侧的第二控制阈值， 第一和第二风险等级，以及控制部，被配置为基于改变的控制阈值来控制车辆。
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公开(公告)号：US20110276227A1
公开(公告)日：2011-11-10
申请号：US13123373
申请日：2009-10-06
CPC分类号： B60W30/12 , B60T7/042 , B60T7/22 , B60T8/17557 , B60T8/17558 , B60T2201/083 , B60T2201/087 , B60W2720/14 , B62D6/003 , B62D15/025 , B62D15/0265
摘要： A conventional brake control can generate only a small yaw moment compared with a steering control, so that reliable avoidance of obstacles cannot be obtained. With a steering control, the driver gets behind the wheel every time when crossing a lane and has an uncomfortable feeling. To solve these problems, a traveling aid device comprises: a detection unit for detecting the traveling state of a vehicle, the position of a lane marker, and the positions and types of obstacles around the vehicle; a calculation unit for calculating, based on the traveling state of the vehicle, the position of the lane marker, and the positions and types of the surrounding obstacles, a target yaw moment so as to prevent a departure from the lane marker and a collision with the surrounding obstacles; and a distribution unit for distributing, based on at least one of the traveling state of the vehicle, the position of the lane marker, and the positions and types of the surrounding obstacles, the target moment to a first actuator for controlling the driving/braking force and a second actuator for controlling the steering.
摘要翻译： 与转向控制相比，传统的制动控制只能产生小的横摆力矩，从而不可能获得可靠的避障障碍。 在转向控制下，驾驶员每次穿过车道时都会落在车轮的后方，感觉不舒服。 为了解决这些问题，行驶辅助装置包括：检测单元，用于检测车辆的行驶状态，车道标记的位置以及车辆周围的障碍物的位置和类型; 计算单元，用于基于车辆的行驶状态来计算车道标记的位置，以及周围障碍物的位置和类型，目标横摆力矩，以防止偏离车道标记和与车道标记的碰撞 周围的障碍物; 以及分配单元，用于基于车辆的行驶状态中的至少一个，车道标记的位置以及周围障碍物的位置和类型来分配到用于控制驾驶/制动的第一致动器的目标力矩 力和用于控制转向的第二致动器。
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公开(公告)号：US20110187515A1
公开(公告)日：2011-08-04
申请号：US12920396
申请日：2009-07-28
CPC分类号： B60T7/22 , B60T2201/08 , B60W30/09 , B60W30/0956 , B60W30/12 , B60W2720/406 , B62D15/0265
摘要： According to conventional art, if there is an obstacle on the left of a vehicle, a control threshold value is set so as to avoid the obstacle. If the control threshold value is exceeded, the vehicle is controlled in accordance with a deviation quantity so as to return to a position where the control threshold avoids being exceeded. However, even if a risky oncoming vehicle is approaching the vehicle on the right, the vehicle is controllably moved toward the oncoming vehicle. Thus, disadvantageously, a driver has a sense of fear or discomfort. A vehicle control apparatus according to the present invention includes a calculation section configured to calculate a first risk level present on the left of the vehicle and a second risk level present on the right of the vehicle, a setting section configured to set a first control threshold for the left of the vehicle based on the first risk level and to set a second control threshold for the right of the vehicle based on the second risk level, a change section configured to change at least one of the first and second control thresholds based on the first and second risk levels, and a control section configured to control the vehicle based on the changed control threshold.
摘要翻译： 根据现有技术，如果在车辆的左侧存在障碍物，则设定控制阈值以避免障碍物。 如果超过了控制阈值，则根据偏差量来控制车辆，以返回到避免超过控制阈值的位置。 然而，即使有危险的迎面而来的车辆正在靠近右边的车辆，车辆也可以被控制地朝向迎面而来的车辆移动。 因此，不利的是，驾驶员有恐惧感或不适感。 根据本发明的车辆控制装置包括计算部件，其被配置为计算存在于车辆左侧的第一风险等级和存在于车辆右侧的第二风险等级，设置部件，其被配置为设定第一控制阈值 基于所述第一风险等级对所述车辆的左侧进行基于所述第二风险等级的所述车辆的右侧的第二控制阈值，基于所述第二风险等级来设定所述车辆右侧的第二控制阈值， 第一和第二风险等级，以及控制部，被配置为基于改变的控制阈值来控制车辆。
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