公开(公告)号：US6134491A

公开(公告)日：2000-10-17

申请号：US151759

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: B62D1/28 ,  B62D5/04 ,  B62D6/00 ,  B62D15/02 ,  A01B69/00

CPC classification number: B62D15/025 ,  B62D1/286 ,  B62D5/0481 ,  B62D5/0484 ,  B60T2201/08 ,  B60T2201/087

Abstract: A system for controlling steering of a vehicle, including a steering unit having an electric motor which steers driven wheels of the vehicle, a first steering control unit (EPS ECU 76) for controlling the actuator, a CCD camera for detecting a condition of a lane on a road on which the vehicle travels, a steering assist torque determining unit for determining a steering assist torque necessary for holding a positional relationship between the vehicle and the lane condition, a torque sensor for detecting a steering torque manually applied to the steering unit by the driver, 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 motor such that the torque command decreases. In the system, a failure detecting unit is provided for detecting whether a failure has occurred at least in determination of the steering assist torque, and the control by the second control unit is discontinued, or is switched to the control by the first control unit when the failure is detected, thereby enabling to detect or discriminate the occurrence of failure with accuracy and to take a necessary countermeasure to cope with the failures condition.

Abstract translation: 一种用于控制车辆的转向的系统，包括具有转向车辆的从动轮的电动机的转向单元，用于控制致动器的第一转向控制单元（EPS ECU 76），用于检测车道状况的CCD照相机 在车辆行驶的道路上，用于确定保持车辆和车道状态之间的位置关系所需的转向辅助转矩的转向辅助转矩确定单元，用于检测手动施加到转向单元的转向转矩的转矩传感器， 驾驶员第二转向控制单元，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，以控制电动机，使得转矩指令减小 。 在该系统中，提供故障检测单元，用于至少在确定转向辅助转矩时检测是否发生了故障，并且第二控制单元的控制被中断，或者被切换到第一控制单元的控制 检测到故障，从而能够精确地检测或辨别故障的发生，并采取必要的对策来应对故障状况。

公开(公告)号：US5367457A

公开(公告)日：1994-11-22

申请号：US71222

申请日：1993-06-01

Applicant: Shinnosuke Ishida

Inventor： Shinnosuke Ishida

IPC: G01C21/00 ,  G05D1/02 ,  H04N7/18 ,  G06F15/50

CPC classification number: G05D1/0212 ,  G05D1/0246

Abstract: Disclosed is an automatic travelling apparatus which is capable of taking an image of an area ahead of a vehicle by an image pick-up means attached to the vehicle; sampling and processing the image data to extract therefrom continuous line segments; determining a permissible travelling area ahead of the vehicle on the basis of the continuous line segments extracted; setting a target course in the permissible travelling area thus determined; detecting the instantaneous running condition of the vehicle; estimating, on the basis of the instantaneous running condition, a steering amount to permit the vehicle to follow the target course; and steering the vehicle with reference to the steering amount, and furthermore of renewing, on the basis of the instantaneous running condition during a period of image sampling, the preceding position of the vehicle in the permissible travelling area and reset a target course in the permissible travelling area in relation to the renewed position.

Abstract translation: 公开了一种自动行驶装置，其能够通过安装在车辆上的图像拾取装置拍摄车辆前方的区域的图像; 采样和处理图像数据以从中提取连续线段; 基于所提取的连续线段来确定车辆前方的允许行驶区域; 在如此确定的允许行驶区域中设定目标路线; 检测车辆的瞬时运行状态; 基于瞬时运行状况估计允许车辆跟随目标路线的转向量; 并且参照转向量转向车辆，此外，基于图像采样期间的瞬时运行状态，更新车辆在允许行驶区域中的前一位置，并将目标路线重置在允许行驶区域中 相关更新职位的旅游区。

公开(公告)号：US06691008B2

公开(公告)日：2004-02-10

申请号：US10231165

申请日：2002-08-30

Applicant: Satoshi Kondo ,  Shinnosuke Ishida ,  Jun Tanaka

Inventor： Satoshi Kondo ,  Shinnosuke Ishida ,  Jun Tanaka

IPC: B61F2300

CPC classification number: B62D1/28 ,  B60T2201/08 ,  B60T2201/082 ,  B60T2201/087

Abstract: Whether a driver is driving intentionally is determined rapidly and accurately when steering control is performed such that a vehicle travels along recognized travel partitioning lines. A torque value deviation absolute value is calculated using the absolute value of a difference between the torque value from the previous processing and the torque value from the current processing, and is stored in a ring buffer. A torque value deviation sum value is calculated by adding all the torque value deviation absolute values stored in the ring buffer, and when a state in which the torque value deviation sum value is equal to or less than a predetermined driving intention determination threshold continues for a predetermined first threshold time (for example, several seconds; e.g. 5 seconds) or longer, it is determined that there is a decrease in the driving intention.

Abstract translation: 当执行转向控制使得车辆沿着识别的行驶分隔线行进时，是否迅速且准确地确定驾驶员是否有意驾驶。 使用来自前次处理的转矩值与来自当前处理的转矩值之间的差的绝对值来计算转矩值偏差绝对值，并存储在环形缓冲器中。 通过将存储在环形缓冲器中的所有转矩值偏差绝对值相加来计算转矩值偏差和值，并且当转矩值偏差和值等于或小于预定驾驶意图判定阈值的状态持续到 预定的第一阈值时间（例如，几秒，例如5秒）或更长时间，则确定驾驶意图有所减少。

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：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：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：US5172315A

公开(公告)日：1992-12-15

申请号：US873648

申请日：1992-04-23

Applicant: Nobuyoshi Asanuma ,  Shinnosuke Ishida ,  Hiroshi Hasegawa

Inventor： Nobuyoshi Asanuma ,  Shinnosuke Ishida ,  Hiroshi Hasegawa

IPC: G05D1/02

CPC classification number: G05D1/0274 ,  G05D1/0212 ,  G05D1/0234 ,  G05D1/0246 ,  G05D1/0272 ,  G05D2201/0213

Abstract: An automatic travelling apparatus which is capable of finding out a permissible travelling area from images taken by an image pick-up device to set a target course in the permissible travelling area; determining a steering amount appropriate for the purpose of permitting the vehicle to put itself on the target course, in consideration of the instantaneous travelling condition of the vehicle; and performing the exact steering control in terms of the steering amount. The exact travelling attained by the automatic travelling apparatus according to the present invention is attributable to a two-step determination in which first, a target course is set in a permissible area, and a tentative course is set appropriate for the purpose of permitting the vehicle to put itself on the target course.

Abstract translation: 一种自动行进装置，其能够从图像拾取装置拍摄的图像中找出容许行驶区域，以在容许行驶区域中设定目标路线; 考虑到车辆的瞬时行驶状况，确定适合于允许车辆自己进入目标路线的目的的转向量; 并根据转向量执行精确的转向控制。 由本发明的自动行驶装置实现的精确行驶归因于首先将目标路线设定在容许区域中的两步判定，并且为了允许车辆设定适当的暂定路线 把自己放在目标的过程上。

公开(公告)号：US4951207A

公开(公告)日：1990-08-21

申请号：US248869

申请日：1988-09-23

Applicant: Yoshimi Furukawa ,  Akihiko Takei ,  Shinnosuke Ishida ,  Nobuyuki Oono

Inventor： Yoshimi Furukawa ,  Akihiko Takei ,  Shinnosuke Ishida ,  Nobuyuki Oono

IPC: B62D1/00 ,  B62D5/00 ,  B62D6/00 ,  B62D6/04 ,  B62D7/08 ,  B62D7/15

CPC classification number: B62D5/008 ,  B62D6/003

Abstract: The method of the present invention improves the damping property of the yaw motion of the vehicle by feeding back a detected yaw rate value in a dynamic sense for compensating the front wheel steer angle so as to increase the damping coefficient of the yaw motion of the vehicle. By controlling the front wheel steer angle by accounting for not only the proportional term of the steering wheel input angle but also the derivative term which is proportional to the steering wheel input angular speed, in the feed-forward control of the front wheel steer angle in relation with the steering operation by the driver, and by appropriately varying the control parameters of the yaw rate feed-back and the steering wheel input feed-forward, the yaw response of the vehicle can be made proportional to the steering wheel input, and the response delay in the yaw rate against the steering wheel input can be reduced to substantially zero.