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公开(公告)号：US07580785B2
公开(公告)日：2009-08-25
申请号：US12111710
申请日：2008-04-29
Applicant: Shinji Matsumoto , Genpei Naito , Satoshi Tange
Inventor： Shinji Matsumoto , Genpei Naito , Satoshi Tange
IPC: B60K31/00
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同时，LDP期望的横摆力矩和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。
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公开(公告)号：US07571053B2
公开(公告)日：2009-08-04
申请号：US11411928
申请日：2006-04-27
Applicant: Hisashi Ishikura
Inventor： Hisashi Ishikura
CPC classification number: B62D15/029 , B60T8/17551 , B60T8/17557 , B60T2201/083 , B60T2201/087 , B60W10/18 , B60W10/20 , B60W30/12 , B62D15/025 , G08G1/167
Abstract: There is provided a lane deviation prevention apparatus which can make a lane deviation prediction judgment more accurately. The lane deviation prevention apparatus includes driving lane shape recognition device to detect a lane mark on a road included in a front image within a lane mark detection distance range and to recognize a shape of a driving lane boundary, and a deviation prediction judgment device that judges, based on the shape of the driving lane boundary, whether the vehicle deviates from a driving lane after a previously set deviation prediction time and outputs a deviation prevention output in a case where it is judged that the vehicle deviates, and the driving lane shape recognition device that dynamically sets the position of the lane mark detection distance range in accordance with a vehicle speed of the vehicle and the deviation prediction time.
Abstract translation: 提供一种能够更准确地进行车道偏离预测判断的车道偏离防止装置。 车道偏离防止装置包括驾驶车道形状识别装置，用于检测道路标记检测距离范围内的前方图像中包含的道路上的车道线，并识别行驶车道边界的形状，以及判断驾驶车道边界的形状 基于驾驶车道边界的形状，在预先设定的偏差预测时间之后车辆是否偏离行驶车道，并且在判断为车辆偏离的情况下输出偏差防止输出，并且行驶车道形状识别 装置，其根据车辆的车速和偏差预测时间动态地设定车道线检测距离范围的位置。
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公开(公告)号：US20080208409A1
公开(公告)日：2008-08-28
申请号：US12111710
申请日：2008-04-29
Applicant: Shinji MATSUMOTO , Genpei NAITO , Satoshi TANGE
Inventor： Shinji MATSUMOTO , Genpei NAITO , Satoshi TANGE
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。
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公开(公告)号：US20080189012A1
公开(公告)日：2008-08-07
申请号：US12020102
申请日：2008-01-25
Applicant: Timothy W. Kaufmann
Inventor： Timothy W. Kaufmann
IPC: B62D6/00
CPC classification number: B62D1/286 , B60T2201/08 , B60T2201/082 , B60T2201/087 , B62D15/025 , B62D15/029
Abstract: A system for steering a vehicle including: an actuator disposed in a vehicle to apply torque to a steerable wheel; a driver input device receptive to driver commands for directing the vehicle; and a sensor for determining an intent of a driver and generating a signal indicative thereof. The system also includes: a lane keeping system for detecting a location of the vehicle relative to a lane marker and generating a lane position signal indicative thereof; a controller in operable communication with the actuator, the driver input device, the first sensor, and the lane keeping system. The controller provides a command to the actuator responsive to the intent of the driver, the lane position, and a desired lane position. The controller executes a lane keeping algorithm consisting of a single control loop based on at least one of the lane position and the lane position deviation.
Abstract translation: 一种用于转向车辆的系统，包括：致动器，设置在车辆中以向可转向车轮施加扭矩; 可接受用于引导车辆的驾驶员命令的驾驶员输入装置; 以及用于确定驾驶员意图并产生指示其的信号的传感器。 该系统还包括：车道保持系统，用于检测车辆相对于车道标记的位置并产生指示车道位置信号; 与致动器，驱动器输入装置，第一传感器和车道保持系统可操作地通信的控制器。 控制器响应于驾驶员的意图，车道位置和期望的车道位置向致动器提供命令。 控制器基于车道位置和车道位置偏差中的至少一个执行由单个控制回路组成的车道保持算法。
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公开(公告)号：US20080117033A1
公开(公告)日：2008-05-22
申请号：US12007239
申请日：2008-01-08
Applicant: Hiroaki Kataoka , Seiji Kawakami , Satoru Niwa , Katsuhiko Iwazaki
Inventor： Hiroaki Kataoka , Seiji Kawakami , Satoru Niwa , Katsuhiko Iwazaki
CPC classification number: B62D15/029 , B60T2201/08 , B60T2201/087 , B60W30/12 , B62D15/025
Abstract: In deviation prevention support ECU 10 in driving operation support system 1, an applied torque by steering torque applier 17 is set based on a vehicle speed of a vehicle. The applied torque is set to increase with increase of the vehicle speed. An upper limit according to the vehicle speed is set for this applied torque. Furthermore, in a Start interval in application of the applied torque, a rate of increasing to reach a maximum is determined according to the maximum of the applied torque. In a close interval, the applied torque is decreased at a rate different from that in the Start interval, and the absolute rate of increasing the torque in the Start interval is set to be larger than the absolute rate of decreasing the torque in the close interval.
Abstract translation: 在驾驶操作支援系统1的偏离防止支援ECU10中，基于车辆的车速设定转向扭矩施加器17所施加的转矩。 施加的转矩设定为随着车速的增加而增加。 针对该施加的扭矩设定根据车速的上限。 此外，在施加扭矩的起动间隔中，根据所施加的转矩的最大值来确定达到最大值的增加率。 在紧密间隔中，施加的转矩以与起动间隔不同的速率减小，并且将起动间隔中的转矩增加的绝对速度设定为大于在闭合间隔中减小转矩的绝对速度 。
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Patent Agency Ranking
公开(公告)号：US07233848B2
公开(公告)日：2007-06-19
申请号：US10507445
申请日：2002-10-09
Applicant: Goetz Braeuchle , Juergen Boecker
Inventor： Goetz Braeuchle , Juergen Boecker
CPC classification number: B62D15/0255 , B60T2201/08 , B60T2201/087
Abstract: Lane changing assistant for motor vehicles, controlling an automatic changing of the vehicle to a neighboring lane in response to a command by the driver as part of a lane keeping system of the motor vehicle and having an operating element that is movable in opposite directions out of a neutral position, wherein a sensor is assigned to the operating element for each adjustment direction and the sensor supplies a multi-valued output signal which corresponds to the operation of the operating element and determines the dynamics of the lane changing procedure.
Abstract translation: 响应驾驶员作为机动车辆的车道保持系统的一部分的指令，控制将车辆自动改变为相邻车道的车道换档助手，并且具有可在相反方向上移动的操作元件 中性位置，其中传感器被分配给每个调节方向的操作元件，并且传感器提供对应于操作元件的操作的多值输出信号并且确定车道改变过程的动力学。
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公开(公告)号：US07058494B2
公开(公告)日：2006-06-06
申请号：US10735778
申请日：2003-12-16
Applicant: Shinji Matsumoto , Genpei Naito , Satoshi Tange
Inventor： Shinji Matsumoto , Genpei Naito , Satoshi Tange
CPC classification number: B60W30/045 , B60T8/17552 , B60T8/17557 , B60T2201/08 , B60T2201/087 , B60T2230/02 , B60W30/12 , B62D6/003 , B62D15/0255
Abstract: In a vehicle dynamics control apparatus enabling vehicle dynamics control and lane deviation prevention control, a processor of a control unit is programmed for determining a driving stability including a vehicle driveability and a vehicle stability, based on at least a steer angle, and for executing the vehicle dynamics control by producing a yaw moment corresponding to a controlled variable of the vehicle dynamics control when the driving stability is deteriorated, and for executing the lane deviation prevention control by producing a yaw moment corresponding to a controlled variable of the lane deviation prevention control when there is a possibility of lane deviation. The processor is further programmed for softening a criterion, which is used to determine the driving stability, based on the controlled variable of the lane deviation prevention control, only when the vehicle dynamics control is inoperative.
Abstract translation: 在实现车辆动力学控制和车道偏离防止控制的车辆动力学控制装置中，控制单元的处理器被编程用于基于至少一个转向角来确定包括车辆行驶性能和车辆稳定性在内的行驶稳定性，并且用于执行 通过在驾驶稳定性劣化时产生与车辆动力学控制的受控变量相对应的偏航力矩的车辆动力学控制，以及通过产生与车道偏离防止控制的控制变量对应的横摆力矩来执行车道偏离防止控制， 有车道偏差的可能性。 只有当车辆动力学控制不起作用时，处理器进一步被编程为基于车道偏离防止控制的控制变量来软化用于确定驾驶稳定性的标准。
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公开(公告)号：US20050187713A1
公开(公告)日：2005-08-25
申请号：US11099583
申请日：2005-04-06
Applicant: Tomohiro Yamamura , Satoshi Kitazaki , Shunsuke Hijikata
Inventor： Tomohiro Yamamura , Satoshi Kitazaki , Shunsuke Hijikata
CPC classification number: B60K26/021 , B60G2400/823 , B60G2400/824 , B60G2401/16 , B60G2800/166 , B60G2800/704 , B60G2800/92 , B60G2800/96 , B60G2800/97 , B60G2800/982 , B60T2201/08 , B60T2201/083 , B60T2201/087 , B60T2201/089 , B60W50/087 , B60W50/14 , B60W50/16 , B62D15/0265 , B62D15/029 , G08G1/16 , G08G1/166 , G08G1/167
Abstract: A driving assist system for assisting effort by an operator to operate a vehicle in traveling is provided. The driving assist system receives data including information on vehicle state and information on environment in a field around the vehicle. A controller, mounted to the vehicle, determines future environment in the field, makes an operator response plan in response to the determined future environment to determine command, and generates the command. The operator response plan prompts the operator to operating the vehicle in a desired manner for the determined future environment. At least one actuator, mounted to the vehicle, prompts the operator in response to the command to operating the vehicle in the desired manner.
Abstract translation: 提供一种驾驶辅助系统，用于辅助操作者在行驶中操作车辆的努力。 驾驶辅助系统接收包括关于车辆状态的信息和关于车辆周围的场中的环境的信息的数据。 安装到车辆上的控制器确定现场的未来环境，根据确定的未来环境做出操作员响应计划以确定命令，并生成命令。 操作员响应计划提示操作者以所期望的方式对所确定的未来环境操作车辆。 安装到车辆的至少一个致动器响应于以期望的方式操作车辆的命令来提示操作者。
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公开(公告)号：US06934614B2
公开(公告)日：2005-08-23
申请号：US10226232
申请日：2002-08-23
Applicant: Tomohiro Yamamura , Satoshi Kitazaki , Shunsuke Hijikata
Inventor： Tomohiro Yamamura , Satoshi Kitazaki , Shunsuke Hijikata
CPC classification number: B60K26/021 , B60G2400/823 , B60G2400/824 , B60G2401/16 , B60G2800/166 , B60G2800/704 , B60G2800/92 , B60G2800/96 , B60G2800/97 , B60G2800/982 , B60T2201/08 , B60T2201/083 , B60T2201/087 , B60T2201/089 , B60W50/087 , B60W50/14 , B60W50/16 , B62D15/0265 , B62D15/029 , G08G1/16 , G08G1/166 , G08G1/167
Abstract: A driving assist system for assisting effort by an operator to operate a vehicle in traveling is provided. The assist system receives data including information on vehicle state and information on environment in a field around the vehicle. A controller, mounted to the vehicle, determines future environment in the field, makes an operator response plan in response to the determined future environment to determine command, and generates the command. The operator response plan prompts the operator to operating the vehicle in a desired manner for the determined future environment. At least one actuator, mounted to the vehicle, prompts the operator in response to the command to operating the vehicle in the desired manner.
Abstract translation: 提供一种驾驶辅助系统，用于辅助操作者在行驶中操作车辆的努力。 辅助系统接收包括关于车辆状态的信息和关于车辆周围环境的信息的数据。 安装到车辆上的控制器确定现场的未来环境，根据确定的未来环境做出操作员响应计划以确定命令，并生成命令。 操作员响应计划提示操作者以所期望的方式对所确定的未来环境操作车辆。 安装到车辆的至少一个致动器响应于以期望的方式操作车辆的命令来提示操作者。
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公开(公告)号：US20050155808A1
公开(公告)日：2005-07-21
申请号：US10507445
申请日：2002-10-09
Applicant: Goetz Braeuchle , Juergen Boecker
Inventor： Goetz Braeuchle , Juergen Boecker
IPC: B62D6/00 , B62D15/02 , B62D101/00 , B62D113/00 , B62D5/06
CPC classification number: B62D15/0255 , B60T2201/08 , B60T2201/087
Abstract: Lane changing assistant for motor vehicles, controlling an automatic changing of the vehicle to a neighboring lane in response to a command by the driver as part of a lane keeping system of the motor vehicle and having an operating element that is movable in opposite directions out of a neutral position, wherein a sensor is assigned to the operating element for each adjustment direction and the sensor supplies a multi-valued output signal which corresponds to the operation of the operating element and determines the dynamics of the lane changing procedure.
Abstract translation: 响应驾驶员作为机动车辆的车道保持系统的一部分的指令，控制将车辆自动改变为相邻车道的车道换档助手，并且具有可在相反方向上移动的操作元件 中性位置，其中传感器被分配给每个调节方向的操作元件，并且传感器提供对应于操作元件的操作的多值输出信号并且确定车道改变过程的动力学。
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