公开(公告)号：US20040022416A1

公开(公告)日：2004-02-05

申请号：US10420395

申请日：2003-04-21

Inventor： Jerome H. Lemelson ,  Robert D. Pedersen ,  Dorothy Lemelson

IPC: G06K009/00

CPC classification number: G01S19/11 ,  B60T2201/022 ,  B60T2201/024 ,  B60T2201/08 ,  B60T2201/082 ,  B60T2201/083 ,  B60T2201/085 ,  B60T2201/087 ,  G01S5/009 ,  G01S13/867 ,  G01S13/931 ,  G01S17/023 ,  G01S17/936 ,  G01S2013/9321 ,  G01S2013/9325 ,  G01S2013/9342 ,  G01S2013/9346 ,  G01S2013/935 ,  G01S2013/9353 ,  G01S2013/9357 ,  G01S2013/936 ,  G01S2013/9367 ,  G07C5/0891 ,  G08G1/164 ,  G08G1/165 ,  G08G1/166

Abstract: A system and method assists the driver of a motor vehicle in preventing accidents or minimizing the effects of same. In one form, a television camera is mounted on a vehicle and scans the roadway ahead of the vehicle as the vehicle travels. Continuously generated video picture signals output by the camera are electronically processed and analyzed by an image analyzing computer, which generates codes that serve to identify obstacles. A decision computer mounted in the controlled vehicle receives such code signals along with code signals generated by the speedometer or one or more sensors sensing steering mechanism operation and generates control signals. Such code signals may be displayed, and a synthetic speech or special sound generating and warning means used, to warn the driver of the vehicle of approaching and existing hazards. The system may also use the control signals, particularly through application of fuzzy logic, to control the operation of the brakes and steering mechanism of the vehicle to avoid or lessen the effects of a collision. In a particular form, the decision computer may select the evasive action taken from a number of choices, depending on whether and where the detection device senses other vehicles or obstacles.

Abstract translation: 一种系统和方法帮助机动车辆的驾驶员防止事故或最小化其效果。 在一种形式中，电视摄像机安装在车辆上，并在车辆行驶时扫描车辆前方的道路。 相机输出的连续生成的视频图像信号由图像分析计算机进行电子处理和分析，图像分析计算机产生用于识别障碍物的代码。 安装在受控车辆中的判定计算机接收这样的代码信号以及由速度计产生的代码信号或感测转向机构操作的一个或多个传感器，并产生控制信号。 可以显示这样的代码信号，并且使用合成语音或特殊声音产生和警告装置来警告车辆的驾驶员接近和存在的危险。 系统还可以使用控制信号，特别是通过应用模糊逻辑来控制车辆的制动器和转向机构的操作，以避免或减轻碰撞的影响。 在特定形式中，决定计算机可以根据检测装置是否检测其他车辆或障碍物以及在何处检测其他车辆或障碍物来选择从多个选择中采取的回避动作。

公开(公告)号：US06580987B2

公开(公告)日：2003-06-17

申请号：US09961239

申请日：2001-09-25

Applicant: On Sadano ,  Hiroshi Kawazoe ,  Masayasu Shimakage

Inventor： On Sadano ,  Hiroshi Kawazoe ,  Masayasu Shimakage

IPC: B62D1500

CPC classification number: B62D15/025 ,  B60T2201/08 ,  B60T2201/087 ,  B62D5/0463 ,  B62D5/0478

Abstract: A driver assistance system (10) assists the driver in controlling the direction of a moving vehicle along a contrived centerline between lane markings by regulating a steering bias applied to a steering system of the vehicle. An electric motor (22) coupled to the steering mechanism provides a torque input to the steering in response to an estimate of electric current provided by an observer. The observer has a friction term matrix element (a55), which is correlated with friction in the steering mechanism. A controller (24) is provided, which establishes a desired or ideal frequency function of lateral displacement data (102), samples lateral displacement to provide a real frequency function of lateral displacement data (104), compares the real frequency function with the ideal frequency function (106), and updates or leaves unaltered the friction term (a55) based on the result of comparison.

公开(公告)号：US06556909B2

公开(公告)日：2003-04-29

申请号：US09838581

申请日：2001-04-20

Applicant: Shinji Matsumoto ,  Takeshi Kimura ,  Taku Takahama ,  Hiromitsu Toyota

Inventor： Shinji Matsumoto ,  Takeshi Kimura ,  Taku Takahama ,  Hiromitsu Toyota

IPC: B62D600

CPC classification number: B62D7/159 ,  B60G2400/0523 ,  B60G2400/104 ,  B60G2400/106 ,  B60G2400/204 ,  B60G2400/208 ,  B60G2400/41 ,  B60G2400/47 ,  B60G2400/824 ,  B60G2401/142 ,  B60G2600/1877 ,  B60G2800/962 ,  B60K23/0808 ,  B60T2201/08 ,  B60T2201/087 ,  B60T2260/09 ,  B60W30/02 ,  B60W2520/10 ,  B60W2520/125 ,  B62D1/28 ,  B62D6/003

Abstract: A vehicle includes a first actuating system having an automatic steering actuator to bring the front wheel steer angle to a calculated target front wheel steer angle for lane keeping, and a second actuating system such as a front and rear roll stiffness distribution control system, a front and rear driving force distribution control system, a rear wheel steering system, and a differential limiting force control system. By controlling the second actuating system in accordance with the automatic steering operation, a control unit adjusts the steering characteristic of the vehicle in a direction to improve the yawing response or in a direction to improve the running stability.

公开(公告)号：US20030045983A1

公开(公告)日：2003-03-06

申请号：US10231165

申请日：2002-08-30

Applicant: HONDA GIKEN KOGYO KABUSHIKI KAISHA

Inventor： Satoshi Kondo ,  Shinnosuke Ishida ,  Jun Tanaka

IPC: G06F007/00

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：US20030014162A1

公开(公告)日：2003-01-16

申请号：US10173653

申请日：2002-06-19

Applicant: NISSAN MOTOR CO., LTD.

Inventor： On Sadano

IPC: G06F017/00

CPC classification number: B62D15/0265 ,  B60T2201/08 ,  B60T2201/087 ,  B62D1/286

Abstract: A lane-keep control system for a host-vehicle is arranged to execute a lane-keep control for moving the host-vehicle in a traveling lane, to determine whether there is an approaching-vehicle behind the host-vehicle, to increase an intervention threshold when there is the approaching vehicle behind the host-vehicle, and to suspend the lane-keep control when a steering control indicative value due to driver intervention is greater than the intervention threshold.

Abstract translation: 主车辆的车道保持控制系统被布置成执行用于在行驶车道中移动主车辆的车道保持控制，以确定在主车辆之后是否存在接近车辆，以增加干预 当主车辆后方有接近的车辆时，当由于驾驶员干预导致的转向控​​制指示值大于干预门限时，暂停车道保持控制。

公开(公告)号：US20020177935A1

公开(公告)日：2002-11-28

申请号：US10105703

申请日：2002-03-25

Inventor： Hermann Winner ,  Winfried Koenig

IPC: B60K031/00

CPC classification number: B60W30/16 ,  B60K31/0008 ,  B60K31/042 ,  B60T2201/08 ,  B60T2201/081 ,  B60T2201/087 ,  B60W2540/10 ,  B60W2540/20 ,  B62D15/025

Abstract: A tracking and driving speed regulating device for motor vehicles, having a sensor device for detecting lane tracking, a steering regulator for evaluating signals from sensor device and for issuing steering commands to a steering actuator, and a speed regulator, acting upon the driving system of the vehicle, which may be switched to an operating state by a main switch and may be activated in the operating state by an actuation signal generated by an operating element, wherein the steering regulator may be switched to the operating state by a separate main switch independent of the speed regulator, and may be activated in the operating state by the same actuation signal as the speed regulator.

Abstract translation: 一种用于机动车辆的跟踪和驾驶速度调节装置，具有用于检测车道跟踪的传感器装置，用于评估来自传感器装置的信号和用于向转向致动器发出转向命令的转向调节器以及作用在驱动系统上的速度调节器 车辆，其可以通过主开关切换到操作状态，并且可以通过由操作元件产生的致动信号在操作状态下被激活，其中转向调节器可以通过独立的主开关独立地切换到操作状态 的速度调节器，并且可以通过与速度调节器相同的致动信号在操作状态下被激活。

公开(公告)号：US06487501B1

公开(公告)日：2002-11-26

申请号：US10028691

申请日：2001-12-28

Applicant: Yong-Won Jeon

Inventor： Yong-Won Jeon

IPC: B60Q100

CPC classification number: G05D1/0061 ,  B60T2201/08 ,  B60T2201/087 ,  B62D15/025 ,  G05D2201/0213

Abstract: A system for preventing lane deviation of a vehicle and a control method thereof are provided, in which control is performed to prevent the vehicle from inadvertently deviating from a lane. The system comprises a detector including a lane marker detector for detector lane markers that define a lane in the road, and a lane marker ECU for determining a transverse position of the vehicle using signals of the lane marker detector; a controller for determining if the vehicle is deviating from the lane by receiving information transmitted by the detector, determining steering control angle and steering control time according to a vehicle speed and a heading angle at the instant the vehicle is deviating from the lane, and outputting control signals following lane deviation prevention such that an automatic drive mode is realized until the vehicle reaches a center of the lane; and a steering driver controlled by the control signals output from the controller.

Abstract translation: 提供一种用于防止车辆的车道偏离的系统及其控制方法，其中进行控制以防止车辆不经意地偏离车道。 该系统包括检测器，其包括用于在道路中限定车道的检测器车道标记的车道标记检测器，以及车道标记ECU，用于使用车道标记检测器的信号确定车辆的横向位置; 用于通过接收由检测器发送的信息来确定车辆是否偏离车道的控制器，根据车辆偏离车道时的车速和行驶角度确定转向控制角度和转向控制时间，并输出 控制信号遵循车道偏离防止，使得实现自动驾驶模式，直到车辆到达车道的中心; 以及由控制器输出的控制信号控制的转向驱动器。

公开(公告)号：US06370471B1

公开(公告)日：2002-04-09

申请号：US09719071

申请日：2001-01-08

Applicant: Herbert Lohner ,  Peter Dominke ,  Chi-Thuan Cao ,  Klaus-Dieter Leimbach ,  Werner Harter ,  Mathias Hommel

Inventor： Herbert Lohner ,  Peter Dominke ,  Chi-Thuan Cao ,  Klaus-Dieter Leimbach ,  Werner Harter ,  Mathias Hommel

IPC: G06F16500

CPC classification number: B60W30/10 ,  B60G2800/166 ,  B60K31/0008 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2201/085 ,  B60T2201/086 ,  B60T2201/087 ,  B60W10/20 ,  B60W30/16 ,  B60W2750/30 ,  G05D1/024 ,  G05D1/0246 ,  G05D1/0257 ,  G05D2201/0213

Abstract: The invention concerns a system for automatic following guidance, particularly for heavy-traffic automatic following guidance, of a motor vehicle (1), designed to ease the burden on the driver in heavy-traffic situations both by taking over lateral guidance by means of an automatic steering regulation system and by maintaining a set distance from a leading vehicle. The latter function requires an adaptive cruise and braking regulation system with “stop” and “go” function. According to the invention, selection and decision means (5, 6, 7, 8, 9) are provided that select both the regulating parameters and the types of controllers [sic], e.g., following guidance of the motor vehicle (1) on the basis of lane markings recognized by means of a video camera or on the basis of a recognized leading vehicle. The system is divided into hierarchical levels I-IV, the driver always being in the monitoring and adaptation loop assigned to the top level IV of the hierarchy, so that he has the highest priority and can override the system at any time.

Abstract translation: 本发明涉及一种用于自动跟随指导的系统，特别是用于机动车辆（1）的重型交通自动跟随指导的系统，其被设计成通过以下方式通过接管横向引导来减轻驾驶员在重型交通情况下的负担 自动转向调节系统，并保持与前方车辆的距离。 后一种功能需要具有“停止”和“去”功能的自适应巡航和制动调节系统。 根据本发明，提供了选择和确定装置（5,6,7,8,9），其选择调节参数和控制器的类型，例如，在机动车辆（1）的引导下 通过摄像机或基于认可的领先车辆识别的车道标记的基础。 该系统被分为I-IV级别，驱动程序始终处于分配给层次结构的顶层IV的监控和适配循环中，以便他具有最高优先级，并可随时覆盖系统。

公开(公告)号：US20020040265A1

公开(公告)日：2002-04-04

申请号：US09961239

申请日：2001-09-25

Applicant: NISSAN MOTOR CO., LTD.

Inventor： On Sadano ,  Hiroshi Kawazoe ,  Masayasu Shimakage

IPC: B62D006/00

CPC classification number: B62D15/025 ,  B60T2201/08 ,  B60T2201/087 ,  B62D5/0463 ,  B62D5/0478

Abstract: A driver assistance system (10) assists the driver in controlling the direction of a moving vehicle along a contrived centerline between lane markings by regulating a steering bias applied to a steering system of the vehicle. An electric motor (22) coupled to the steering mechanism provides a torque input to the steering in response to an estimate of electric current provided by an observer. The observer has a friction term matrix element (a55), which is correlated with friction in the steering mechanism. A controller (24) is provided, which establishes a desired or ideal frequency function of lateral displacement data (102), samples lateral displacement to provide a real frequency function of lateral displacement data (104), compares the real frequency function with the ideal frequency function (106), and updates or leaves unaltered the friction term (a55) based on the result of comparison.

Abstract translation: 驾驶员辅助系统（10）通过调节施加到车辆的转向系统的转向偏压来帮助驾驶员沿车道标记之间的设计中心线控制移动车辆的方向。 耦合到转向机构的电动机（22）响应于由观察者提供的电流的估计而向转向提供转矩输入。 观察者具有与转向机构中的摩擦相关的摩擦项矩阵元素（a55）。 提供了一种控制器（24），其建立横向位移数据（102）的期望或理想的频率函数，对横向位移数据（104）进行横向移位以提供实际频率函数，将实际频率函数与理想频率进行比较 功能（106），并根据比较结果更新或保留摩擦项（a55）。

公开(公告)号：US06343247B2

公开(公告)日：2002-01-29

申请号：US09134522

申请日：1998-08-14

Applicant: Eishi Jitsukata ,  Sachio Kobayashi ,  Kazuya Tamura

Inventor： Eishi Jitsukata ,  Sachio Kobayashi ,  Kazuya Tamura

IPC: G01C2200

CPC classification number: G05D1/0246 ,  B60T2201/08 ,  B60T2201/087 ,  G01C21/26 ,  G05D1/0257 ,  G05D1/0261 ,  G05D1/027 ,  G05D1/0274 ,  G05D1/0278 ,  G05D2201/0213

Abstract: In an automatic drive control system in a road environment in which an infrastructure has been constructed so as to automatically steer a vehicle, the automatic steering of the vehicle is performed irrespective of lane markers attached on the road surface. A running command and a running course are determined on the basis of an obstacle detection signal, a vehicle position signal, road data, and traffic information signal for automatic driving. A target running locus is obtained on the basis of the set running course. The vehicle is automatically steered so as to trace and run along the obtained running target locus.

Abstract translation: 在其中已经构造基础设施以便自动地引导车辆的道路环境中的自动驾驶控制系统中，执行车辆的自动转向，而不管附接在路面上的车道标记。 基于用于自动驾驶的障碍物检测信号，车辆位置信号，道路数据和交通信息信号来确定运行命令和运行路线。 基于设定的运行路线获得目标运行轨迹。 车辆被自动转向，以沿着获得的行驶目标轨迹进行跟踪和行驶。