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公开(公告)号：US5995037A
公开(公告)日：1999-11-30
申请号：US105997
申请日：1998-06-29
CPC分类号： B60T7/22 , G01S13/931 , G01S13/58 , G01S2013/9325 , G01S2013/9346 , G01S2013/9353 , G01S2013/9357 , G01S7/415
摘要： In an obstacle detection system for a vehicle which has a radar having an electromagnetic wave transmission device and a reflected wave reception device, the electromagnetic transmission device transmits electromagnetic waves in a direction in which the vehicle is traveling, and the reflected wave reception device receives reflected waves produced when the electromagnetic waves transmitted from the electromagnetic wave transmission device are reflected by an object present in the traveling direction of the vehicle. The system detects obstacles present in the traveling direction of the vehicle based on the result of a radar search operation, and it is possible to identify only those objects detrimental to the traveling of the vehicle as obstacles. An obstacle decision device decides whether or not the object detected by the radar is an obstacle, by using the detected value determined by a vehicle speed detection device which detects the speed of the vehicle, the calculated value determined by a relative distance calculation device that calculates a relative distance to the object present in the traveling direction of the vehicle based on the result of search operation by the radar, and the calculated value determined by an overlap calculation device that calculates an overlap in the width direction of the vehicle between the vehicle and the object according to the result of the search operation by the radar.
摘要翻译： 在具有电磁波传输装置和反射波接收装置的雷达的车辆的障碍物检测系统中，电磁传输装置沿车辆行驶方向发送电磁波，反射波接收装置 当从电磁波传输装置发射的电磁波被车辆行进方向上存在的物体反射时产生的波。 该系统基于雷达搜索操作的结果来检测车辆的行进方向上存在的障碍物，并且可以仅识别对作为障碍物的车辆行驶有害的那些物体。 障碍物判定装置通过使用由检测车速的车速检测装置决定的检测值来判定由雷达检测出的物体是否是障碍物，由计算出的相对距离计算装置确定的计算值 基于雷达的搜索操作的结果，存在于车辆行进方向上的物体的相对距离，以及由重叠计算装置确定的计算值，该重叠计算装置计算车辆和车辆的车辆宽度方向上的重叠 根据雷达搜索操作的结果对象。
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公开(公告)号：US06294987B1
公开(公告)日：2001-09-25
申请号：US09306514
申请日：1999-05-06
IPC分类号： B60Q100
摘要： A system for controlling running safety of a vehicle having an alarm and an automatic braking system. A plurality of decelerations &agr;2n of an obstacle such as another vehicle present ahead on the road is predicted and corresponding manipulated variables &agr;1n (braking amount) to be supplied to the vehicle which indicate possible deceleration of the vehicle are determined. Then threshold values L&agr;2n for alarming and automatic braking are determined corresponding to the predicted deceleration and are successively compared with the distance to the obstacle. When the distance falls below any of the threshold values, alarming or automatic braking is effected to avoid contact with the obstacle, thereby making the system relatively simple and enabling operation to match the driver's expectations.
摘要翻译： 一种用于控制具有报警和自动制动系统的车辆的行驶安全性的系统。 预测在道路上存在的其他车辆等障碍物的多个减速度α2n，并且确定要指示车辆可能的减速度的对应于车辆的相应的操作变量α1n（制动量）。 然后根据预测的减速度确定用于报警和自动制动的阈值Lalpha2n，并且与距离障碍物的距离相继进行比较。 当距离低于任何阈值时，进行报警或自动制动，以避免与障碍物接触，从而使系统相对简单，使操作符合驾驶员的期望。
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公开(公告)号：US06292753B1
公开(公告)日：2001-09-18
申请号：US09380626
申请日：1999-09-17
申请人： Yoichi Sugimoto , Shoji Ichikawa , Yoshihiro Urai , Satoshi Hada
发明人： Yoichi Sugimoto , Shoji Ichikawa , Yoshihiro Urai , Satoshi Hada
IPC分类号： G01S1393
CPC分类号： B60T13/72 , B60T7/22 , B60T8/3275
摘要： When a radar device S1 detects an object existing ahead of a vehicle in the movement direction of the vehicle, a determining device M1 determines a possibility of contact of the vehicle with the object from the relative positional relationship between the vehicle and the object, based on the result of such detection. If it is determined there is the possibility of contact, an automatic braking device M2 operates a vacuum booster 2 to carry out an automatic braking operation to avoid the contact of the vehicle with the object. When a braking-will detecting device M3 detects a driver's braking will during the automatic braking operation by the automatic braking device M2, an emergency-degree presuming device M4 presumes a degree of emergency in the driver's braking will, and the automatic braking device M2 generates the braking force corresponding to the degree of emergency to assist in the braking operation of the driver. This enables a smooth switch-over from the avoidance of the contact by the automatic braking operation to the avoidance of the contact by the driver's braking operation, and a high braking force assisted by the automatic braking operation can be generated to effectively avoid the contact.
摘要翻译： 当雷达装置S1检测到在车辆的移动方向上存在于车辆前方的物体时，确定装置M1基于车辆与物体之间的相对位置关系确定车辆与物体接触的可能性，基于 这种检测的结果。 如果确定存在接触的可能性，则自动制动装置M2操作真空助力器2以执行自动制动操作，以避免车辆与物体的接触。 当制动器检测装置M3在自动制动装置M2的自动制动操作期间检测到驾驶员的制动时，紧急度假定装置M4假设驾驶员的制动中的紧急程度，并且自动制动装置M2产生 对应于紧急程度的制动力来辅助驾驶员的制动操作。 这样可以通过自动制动操作避免接触而平滑地切换，避免驾驶员的制动操作的接触，并且可以产生由自动制动操作辅助的高制动力，以有效地避免接触。
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公开(公告)号：US06169478A
公开(公告)日：2001-01-02
申请号：US09199797
申请日：1998-11-25
申请人： Satoshi Hada , Shoji Ichikawa , Yoichi Sugimoto , Yoshihiro Urai
发明人： Satoshi Hada , Shoji Ichikawa , Yoichi Sugimoto , Yoshihiro Urai
IPC分类号： B60Q100
CPC分类号： G01S17/936 , B60K31/0008 , B60T7/22 , B60T8/172 , B60T2201/02 , B60W2050/143 , G01S13/865 , G01S13/931 , G01S2013/9325 , G01S2013/9346 , G01S2013/9353 , G01S2013/9375 , G08G1/16 , G08G1/166
摘要： A vehicle control system having a laser radar for detecting an obstacle present ahead on a course of travel of the vehicle; and control device for operating a brake or an alarm based on an output of the laser radar when a distance from the vehicle to the obstacle is less than a first predetermined value or is less than a third predetermined value. In the system, a millimeter-wave radar, which is inferior to the laser radar in position detection accuracy, but is superior in weather-proof operation, is provided. When the laser radar is inoperative, the control device operates the brake or alarm based on the output of the millimeter-wave radar when the distance is less than a second predetermined value (less than the first predetermined value) or is less than a forth predetermined value (greater than the third predetermined value), thereby expediting the alarm initiation to alert the vehicle driver at an appropriate time, while ensuring the proper brake initiation, so as not to cause the vehicle driver to experience annoyance.
摘要翻译： 一种具有激光雷达的车辆控制系统，用于检测在车辆行驶过程中向前存在的障碍物; 以及当从车辆到障碍物的距离小于第一预定值或小于第三预定值时，基于激光雷达的输出来操作制动器或报警器的控制装置。 在该系统中，提供了一种毫米波雷达，其在位置检测精度方面优于激光雷达，但是在防风雨操作方面是优异的。 当激光雷达不起作用时，当距离小于第二预定值（小于第一预定值）或小于第四预定值时，控制装置基于毫米波雷达的输出来操作制动或报警 值（大于第三预定值），从而在确保正确的制动器启动的同时，在适当的时间加快报警开始来警告车辆驾驶员，从而不会导致车辆驾驶员感到烦恼。
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公开(公告)号：US6157892A
公开(公告)日：2000-12-05
申请号：US329307
申请日：1999-06-10
申请人： Satoshi Hada , Yoichi Sugimoto , Yoshihiro Urai , Shoji Ichikawa
发明人： Satoshi Hada , Yoichi Sugimoto , Yoshihiro Urai , Shoji Ichikawa
IPC分类号： B60R21/00 , B60G17/016 , B60G17/0195 , B60T7/12 , B60T7/22 , B60T8/1755 , B60W10/00 , B60W10/20 , B60W30/00 , B60W30/02 , B60W30/045 , B60W30/09 , B60W30/095 , B60W30/14 , B62D6/00 , B62D7/14 , B62D7/15 , B62D101/00 , B62D105/00 , B62D111/00 , B62D113/00 , B62D137/00 , G01S17/93 , G08G1/16 , G01S13/93 , B60T8/00
CPC分类号： B60T8/17558 , B60T7/22 , B62D15/0265 , B62D7/159 , G08G1/161 , B60T2201/022 , B60T2260/022 , B60W2550/308 , G01S17/936
摘要： The avoidance of an obstacle by a vehicle is enhanced by effective balancing an automatic braking operation and a turnability increasing control operation assisting in a steering operation of the vehicle whereby the obstacle avoiding capability is enhanced to the maximum. If a vehicle is being automatically controlled and the steering operation is carried out by the driver and if it is determined an obstacle can be avoided by a turnability increasing control operation, and if an avoiding space exists in a direction of turning of the vehicle, the turnability increasing control operation is carried out to perform the avoidance of the obstacle by the steering operation. If no avoiding space exists in the direction of turning of the vehicle, the avoidance of the obstacle by the steering operation is not performed, and a stability increasing control operation is carried out to effectively perform the avoidance of the obstacle by the automatic braking operation.
摘要翻译： 通过有效平衡自动制动操作和辅助车辆的转向操作的可转向性增加控制操作来增强车辆的障碍物的避免，由此障碍物避免能力最大化。 如果车辆被自动控制，并且驾驶员进行转向操作，并且如果确定可以通过可转向性增加控制操作来避免障碍物，并且如果在车辆的转向方向上存在避免空间，则 执行转向增加控制操作以通过转向操作来执行障碍物的避免。 如果在车辆的转向方向上没有避免空间的情况，则不进行转向操作的避免障碍，进行稳定性增加控制操作，以通过自动制动操作有效地实现障碍物的避免。
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公开(公告)号：US06415897B1
公开(公告)日：2002-07-09
申请号：US09457676
申请日：1999-12-09
申请人： Yoichi Sugimoto , Shohei Matsuda , Shouji Suzuki , Takahiro Eguchi , Tetsuro Yamaguchi , Masaru Sasaguchi , Kazuaki Fukami
发明人： Yoichi Sugimoto , Shohei Matsuda , Shouji Suzuki , Takahiro Eguchi , Tetsuro Yamaguchi , Masaru Sasaguchi , Kazuaki Fukami
IPC分类号： B60T1100
CPC分类号： B60T7/122 , B60T8/4809 , B60T13/686 , B60W30/18118
摘要： A brake fluid pressure retaining unit for retaining brake fluid pressure within a wheel cylinder after releasing a brake pedal is disclosed. The brake fluid pressure retaining unit includes a brake fluid pressure reduction speed control device for retaining reduction speed of the brake fluid pressure within the wheel cylinder less than that of brake pedal load applied by a driver. The brake fluid pressure reduction speed control device may be formed by a restriction in a brake fluid pressure circuit arranged between a master cylinder at which the brake fluid pressure is generated in accordance with a brake pedal load applied by the driver and the wheel.
摘要翻译： 公开了一种用于在释放制动踏板之后将制动液压力保持在轮缸内的制动液压力保持单元。 制动液压保持单元包括制动液压减速控制装置，用于将车轮内的制动液压力的减速度保持得小于由驾驶员施加的制动踏板负荷的减速速度。 制动液减速控制装置可以通过制动液压力回路的制动来形成，该制动液压力回路配置在根据驾驶员施加的制动踏板负荷与车轮之间产生制动液压力的主缸之间。
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公开(公告)号：US07898458B2
公开(公告)日：2011-03-01
申请号：US12375856
申请日：2007-08-03
IPC分类号： G01S13/00
摘要： A ground surface as an image acquiring object is acquired by a synthetic aperture radar mounted on an artificial satellite at a usual time before occurrence of a disaster and thereby radar image data are obtained. After the occurrence of the disaster, an image of the ground surface as the image acquiring object is acquired within days shorter than the number of orbit returning days and by comparing this radar image data with the radar image data acquired at the usual time so as to try to early grasp a damaged situation. At a recovering and rebuilding time after the occurrence of the disaster, images of the image acquiring object are periodically acquired so as to prepare a recovering and rebuilding plan and prevent secondary disasters.
摘要翻译： 作为图像获取对象的地面由发生灾害前的通常时刻的安装在人造卫星上的合成孔径雷达获得，从而获得雷达图像数据。 发生灾害之后，在比轨道返回日数短的几天内获取作为图像获取对象的地面的图像，并且通过将该雷达图像数据与通常时间获取的雷达图像数据进行比较，以便 尽早把握一个损坏的情况。 在发生灾害后的恢复和重建时间周期性地获取图像采集对象的图像，以准备恢复和重建计划并防止二次灾难。
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公开(公告)号：US07729858B2
公开(公告)日：2010-06-01
申请号：US11511530
申请日：2006-08-29
申请人： Hiroyuki Koike , Yoichi Sugimoto , Yoshihiro Urai
发明人： Hiroyuki Koike , Yoichi Sugimoto , Yoshihiro Urai
CPC分类号： B60W30/08 , B60W10/06 , B60W10/10 , B60W10/18 , B60W30/09 , B60W30/095 , B60W40/04 , B60W2420/403 , B60W2420/52 , B60W2550/20
摘要： A travel safety apparatus for a vehicle, the apparatus includes: a first detector detecting an object in a first detection area; a second detector detecting the object in a second detection area; a braking device decelerating the vehicle; an alarm device which outputs an alarm to an occupant of the vehicle; a third detector measuring the traveling state of the vehicle; a collision determination device which determines a possibility of a collision between the vehicle and the object based on the traveling state; and a controller which operates at least one of the braking device and the alarm device when there is the possibility of collision, wherein the controller changes at least one of operation timing of the alarm device, operation timing of the braking device, and deceleration degree made by the braking device in accordance with whether or not the first detector and the second detector detect the object.
摘要翻译： 一种用于车辆的旅行安全装置，该装置包括：第一检测器，检测第一检测区域中的物体; 第二检测器，检测第二检测区域中的物体; 制动装置使车辆减速; 向车辆的乘员输出报警的报警装置; 第三检测器，测量车辆的行驶状态; 碰撞确定装置，其基于行驶状态确定车辆与物体之间的碰撞的可能性; 以及当存在碰撞的可能性时操作制动装置和报警装置中的至少一个的控制器，其中控制器改变报警装置的操作定时，制动装置的操作定时和减速度中的至少一个 根据第一检测器和第二检测器是否检测到物体，通过制动装置。
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19.发明授权公开(公告)号：US07671725B2
公开(公告)日：2010-03-02
申请号：US11717565
申请日：2007-03-13
IPC分类号： B60Q1/00
CPC分类号： G06K9/00369 , G06K9/00791
摘要： A vehicle surroundings monitoring apparatus, a vehicle surroundings monitoring method, and a vehicle surroundings monitoring program which can rapidly determine an object such as a pedestrian to be avoided which must be avoided from coming into contact with the vehicle from an image of the surroundings of the vehicle and can provide information to a driver or control the vehicle behaviors. The vehicle surroundings monitoring apparatus includes an object extraction process unit (11) which extracts objects existing around a vehicle (10) from images taken by infrared cameras (2R, 2L), a pedestrian extraction process unit (12) which extracts a pedestrian from the extracted objects, a posture determination process unit (13) which determines the posture of the extracted pedestrian, an object-to-be-avoided determination process unit (14) which determines whether the extracted object is an object to be avoided which must be avoided from coming into contact with the vehicle (10) by executing a determination algorithm including at least a first determination process on the posture of the pedestrian determined by the posture determination process unit (13), and a vehicle equipment control process unit (15) which controls equipment of the vehicle (10) at least according to the determination result of the object-to-be-avoided determination process unit (14).
摘要翻译： 一种车辆周边监视装置，车辆环境监视方法以及车辆周边监视程序，其能够快速地确定要避免的对象，所述对象应当避免与所述车辆的环境的图像接触而与车辆接触 车辆，并可向驾驶员提供信息或控制车辆行为。 车辆周边监视装置包括从红外线摄像机（2R，2L）拍摄的图像中提取车辆（10）周围存在的物体的物体提取处理单元（11），从步行者提取处理单元（12） 提取的对象，确定所提取的行人的姿势的姿势确定处理单元（13），确定提取的对象是否必须避免的对象的避免对象的确定处理单元（14） 通过执行至少包括由姿势判定处理单元（13）确定的行人姿势的第一确定处理的确定算法，以及车辆设备控制处理单元（15），与车辆（10）接触，车辆设备控制处理单元 至少根据对象对象确定处理单元（14）的确定结果控制车辆（10）的设备。
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公开(公告)号：US20060268110A1
公开(公告)日：2006-11-30
申请号：US11139120
申请日：2005-05-27
申请人： Hiroyuki Koike , Yoichi Sugimoto , Ichiro Masaki , Izumi Kondo , Shugo Kondo
发明人： Hiroyuki Koike , Yoichi Sugimoto , Ichiro Masaki , Izumi Kondo , Shugo Kondo
CPC分类号： G06T5/50 , G06T2207/30252
摘要： A support apparatus for sense of vision includes: a filter device that extracts low frequency components, and respective high frequency components in at least a horizontal direction and a vertical direction from original images obtained by image capture by a plurality of image pickup devices, a frequency component combining device that combines the low frequency components of each of the original images extracted by the filter device to generate a combined low frequency component, and combines the high frequency components of each of the original images extracted by the filter device in at least the horizontal direction and the vertical direction to generate a combined horizontal high frequency component and a combined vertical high frequency component; and a composite image formation device that combines the low combined frequency component, the combined horizontal high frequency component, and the combined vertical high frequency component, generated by the frequency component combining device, to generate a composite image.
摘要翻译： 用于感觉的支持装置包括：滤波器装置，其从通过多个图像拾取装置的图像捕获获得的原始图像至少在水平方向和垂直方向上提取低频分量以及相应的高频分量，频率 组合组合装置，其组合由滤波器装置提取的每个原始图像的低频分量，以产生组合的低频分量，并且将由滤波器装置提取的每个原始图像的高频分量组合在至少水平 方向和垂直方向，以产生组合的水平高频分量和组合的垂直高频分量; 以及合成图像形成装置，其组合由频率分量组合装置生成的低组合频率分量，组合水平高频分量和组合的垂直高频分量，以生成合成图像。
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