公开(公告)号：US20010041953A1

公开(公告)日：2001-11-15

申请号：US09134522

申请日：1998-08-14

Inventor： EISHI JITSUKATA ,  SACHIO KOBAYASHI ,  KAZUYA TAMURA

IPC: G01C022/00 ,  G05D001/00

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。

公开(公告)号：US06314354B1

公开(公告)日：2001-11-06

申请号：US09566949

申请日：2000-05-08

Applicant: Youji Shimizu ,  Tatsuo Kuwabara

Inventor： Youji Shimizu ,  Tatsuo Kuwabara

IPC: G06F700

CPC classification number: B62D1/046 ,  B60Q1/0082 ,  B60T2201/08 ,  B60T2201/087 ,  B62D1/286

Abstract: An automatic lane following system for a vehicle is adapted to control the direction of a moving vehicle along a predetermined path. An associated controller estimates the vehicle's lateral position in relation to the lane markings (usually the white painted lines). An optical sub-system or a video camera or equivalent sensor is mounted on a vehicle and used to detect the lane markings. An actuator coupled to the steering mechanism is used to control the steering position of the front road wheels in response to a steering signal from a controller. An interruption switch is closed to enable the steering system actuator. An interruption switch actuator is displaceable between a rest or stored position in which the interruption switch is open and an operable position in which the interruption switch is closed.

Abstract translation: 用于车辆的自动车道跟随系统适于沿着预定路径来控制移动车辆的方向。 相关联的控制器估计车辆相对于车道标记的横向位置（通常为白色线条）。 光学子系统或摄像机或等效传感器安装在车辆上并用于检测车道标记。 耦合到转向机构的致动器用于响应于来自控制器的转向信号来控制前轮的转向位置。 中断开关关闭以使转向系统执行器能够使用。 中断开关致动器可在中断开关打开的静止位置或存储位置和中断开关闭合的可操作位置之间移动。

公开(公告)号：US6050359A

公开(公告)日：2000-04-18

申请号：US33009

申请日：1998-03-02

Applicant: Hiroshi Mouri ,  Hiroyuki Furusho

Inventor： Hiroshi Mouri ,  Hiroyuki Furusho

IPC: B60W30/00 ,  B62D1/28 ,  B62D6/00 ,  B62D7/14 ,  B62D7/15 ,  B62D101/00 ,  B62D117/00 ,  B62D137/00 ,  B62D7/09

CPC classification number: B62D7/159 ,  B62D1/28 ,  B62D6/00 ,  B60T2201/08 ,  B60T2201/087

Abstract: A vehicle steering system includes a first steering mechanism for a manual steering mode and a second steering mechanism for an automatic steering mode. A controller steers the vehicle in accordance with information on driving environment, with the second steering mechanism when the automatic mode is selected with a mode selector. There is further provided a holding device for holding the steering angle of the first steering mechanism when the automatic steering operation of the second steering mechanism is under way. In response to selection of the automatic mode, the controller performs the automatic steering control only when a sensor senses a straightforward neutral position of the first steering mechanism.

Abstract translation: 车辆转向系统包括用于手动转向模式的第一转向机构和用于自动转向模式的第二转向机构。 当用模式选择器选择自动模式时，控制器根据关于驾驶环境的信息转向车辆。 还有，当第二转向机构的自动转向操作正在进行时，还具有用于保持第一转向机构的转向角的保持装置。 响应于自动模式的选择，仅当传感器感测到第一转向机构的直接中立位置时，控制器执行自动转向控制。

公开(公告)号：US5983161A

公开(公告)日：1999-11-09

申请号：US717807

申请日：1996-09-24

Applicant: Jerome H. Lemelson ,  Robert D. Pedersen

Inventor： Jerome H. Lemelson ,  Robert D. Pedersen

IPC: G01S5/14 ,  G01S13/86 ,  G01S13/93 ,  G01S17/02 ,  G01S17/93 ,  G01S19/11 ,  G01S19/48 ,  G07C5/08 ,  G08G1/123 ,  G08G1/16 ,  G06F165/00

CPC classification number: G01S19/11 ,  G07C5/0891 ,  G08G1/164 ,  G08G1/20 ,  B60T2201/022 ,  B60T2201/08 ,  B60T2201/082 ,  B60T2201/083 ,  B60T2201/085 ,  B60T2201/087 ,  G01S13/86 ,  G01S13/931 ,  G01S17/023 ,  G01S17/936 ,  G01S2013/9321 ,  G01S2013/9325 ,  G01S2013/9339 ,  G01S2013/9342 ,  G01S2013/9346 ,  G01S2013/935 ,  G01S2013/9353 ,  G01S2013/9357 ,  G01S2013/936 ,  G01S5/009

Abstract: GPS satellite (4) ranging signals (6) received (32) on comm1, and DGPS auxiliary range correction signals and pseudolite carrier phase ambiguity resolution signals (8) from a fixed known earth base station (10) received (34) on comm2, at one of a plurality of vehicles/aircraft/automobiles (2) are computer processed (36) to continuously determine the one's kinematic tracking position on a pathway (14) with centimeter accuracy. That GPS-based position is communicated with selected other status information to each other one of the plurality of vehicles (2), to the one station (10), and/or to one of a plurality of control centers (16), and the one vehicle receives therefrom each of the others' status information and kinematic tracking position. Objects (22) are detected from all directions (300) by multiple supplemental mechanisms, e.g., video (54), radar/lidar (56), laser and optical scanners. Data and information are computer processed and analyzed (50,52,200,452) in neural networks (132, FIGS. 6-8) in the one vehicle to identify, rank, and evaluate collision hazards/objects, an expert operating response to which is determined in a fuzzy logic associative memory (484) which generates control signals which actuate a plurality of control systems of the one vehicle in a coordinated manner to maneuver it laterally and longitudinally to avoid each collision hazard, or, for motor vehicles, when a collision is unavoidable, to minimize injury or damage therefrom. The operator is warned by a heads up display and other modes and may override. An automotive auto-pilot mode is provided.

公开(公告)号：US5979581A

公开(公告)日：1999-11-09

申请号：US745121

申请日：1996-11-07

Applicant: Bahram Ravani ,  Ty A. Lasky

Inventor： Bahram Ravani ,  Ty A. Lasky

IPC: B60T7/16 ,  B62D1/28 ,  G05D1/02

CPC classification number: G05D1/024 ,  B60T7/16 ,  B62D1/28 ,  B62D15/025 ,  B60T2201/08 ,  B60T2201/087

Abstract: An apparatus for automated vehicle lane-keeping in which a laser sensor is used to detect three points on a retroreflective paint stripe, and the three points are used to estimate the position of the lane centerline relative to the vehicle, as well as the geometry of the roadway. The position of the lane centerline and the curvature of the roadway are then used to determine a lateral error signal for feedback control, and the roadway curvature for feedforward control, both of which are combined to produce a steering control signal for the vehicle.

Abstract translation: 一种用于自动车道保持的装置，其中使用激光传感器来检测回射涂料条纹上的三个点，并且三个点用于估计车道中心线相对于车辆的位置以及几何形状 巷道 然后使用车道中心线的位置和道路的曲率来确定用于反馈控制的横向误差信号，以及用于前馈控制的道路曲率，其两者被组合以产生用于车辆的转向控制信号。

公开(公告)号：US5957983A

公开(公告)日：1999-09-28

申请号：US805519

申请日：1997-02-26

Applicant: Hiroshi Tominaga

Inventor： Hiroshi Tominaga

IPC: B60K31/00 ,  B60W30/00 ,  B62D1/28 ,  G05D1/02 ,  G08G1/00 ,  G08G1/16 ,  G06F165/00 ,  G06K9/36 ,  G06F15/50

CPC classification number: B62D1/28 ,  G05D1/0246 ,  G05D1/0261 ,  B60T2201/08 ,  B60T2201/087 ,  G05D1/0242 ,  G05D2201/0213

Abstract: A traveling device for calculating the relative displacement of a vehicle in a road using a magnetic sensor and a CCD camera and performing automatic steering. The vehicle is equipped with a magnetic sensor and a CCD camera. A magnetic ECU processes a signal from the magnetic sensor, an image ECU processes a signal from the CCD camera and the resulting relative displacements are both output to a vehicle control computer. When a relative displacement output from the image ECU is not irregular, the vehicle control computer performs steering control after calculating an amount of corrective steering using this relative displacement and, when it is irregular, the vehicle control computer performs steering control after calculating an amount of corrective steering using the relative displacement output from the image ECU.

Abstract translation: 一种用于使用磁传感器和CCD照相机计算道路中的车辆的相对位移并执行自动转向的行驶装置。 车辆配备有磁性传感器和CCD摄像机。 磁性ECU处理来自磁传感器的信号，图像ECU处理来自CCD摄像机的信号，并且所得到的相对位移都被输出到车辆控制计算机。 当来自图像ECU的相对位移输出不是不规则时，车辆控制计算机在使用该相对位移计算校正转向量之后执行转向控制，并且当其不规则时，车辆控制计算机在计算了 使用来自图像ECU的相对位移输出的矫正转向。

公开(公告)号：US5925082A

公开(公告)日：1999-07-20

申请号：US800093

申请日：1997-02-12

Applicant: Yasuo Shimizu ,  Hiroyuki Tokunaga ,  Hiroshi Sekine

Inventor： Yasuo Shimizu ,  Hiroyuki Tokunaga ,  Hiroshi Sekine

IPC: B60W30/00 ,  B62D1/28 ,  B62D5/04 ,  B62D6/00 ,  G08G1/16 ,  B60K28/02

CPC classification number: B62D6/00 ,  B62D1/28 ,  B60T2201/08 ,  B60T2201/086 ,  B60T2201/087

Abstract: The alertness of the vehicle operator is determined from an operating condition of the vehicle such as the steering torque, the rack thrust, and/or the yaw rate, and the determined level of alertness of the vehicle operator is advantageously reflected in the control property of the steering control system. If the alertness of the vehicle operator is significantly low, and the vehicle operator may even have dozed off, the steering control system then maximizes its intervention in the steering control so that the vehicle is automatically forced to travel along the proper path of travel. If desired, the vehicle operator may be warned by applying a vibratory torque to the steering wheel. Conversely, when the alertness of the vehicle operator is high, the intervention of the control system in the steering control is minimized so that the intentional steering effort by the vehicle operator would not be resisted or opposed by the steering control system even when an extreme steering operation is carried out.

Abstract translation: 车辆操作者的警觉性由车辆的操作状态，如转向扭矩，机架推力和/或偏航率确定，并且所确定的车辆驾驶员的警觉水平有利地反映在车辆驾驶员的控制性能 转向控制系统。 如果车辆操作员的警觉性很低，并且车辆操作者甚至可以打瞌睡，则转向控制系统然后使其在转向控制中的干预最大化，使得车辆被自动地沿着适当的行进路线行驶。 如果需要，可以通过向方向盘施加振动扭矩来警告车辆操作者。 相反，当车辆操作员的警觉性高时，控制系统在转向控制中的干预被最小化，使得即使当极限转向时，车辆操作者的有意的转向力也不会被转向控制系统抵抗或相反 进行操作。