公开(公告)号：US06260880B1

公开(公告)日：2001-07-17

申请号：US09413340

申请日：1999-10-12

申请人： Satoshi Hada ,  Yoichi Sugimoto ,  Shoji Ichikawa ,  Yoshihiro Urai

发明人： Satoshi Hada ,  Yoichi Sugimoto ,  Shoji Ichikawa ,  Yoshihiro Urai

IPC分类号： B60R2132

CPC分类号： B60R21/01516 ,  B60R21/01536 ,  B60R21/01546 ,  B60R21/01554 ,  B60T7/22

摘要： A vehicle travel safety device carries out automatic braking in order to prevent a subject vehicle from coming into contact with an object, and proximate expansion of an air bag is reliably prevented. When there is a possibility of a subject vehicle coming into contact with an object, automatic braking is carried out in order to prevent the contact. If a seat belt wear state sensor detects that an occupant is not wearing a seat belt and an air bag expansion possibility estimating means estimates that there is a possibility of an air bag expanding, by means of an automatic braking means, the deceleration rate of the automatic braking is reduced so that the occupant is prevented from moving forwards due to the inertia accompanying the braking and causing proximate expansion. When the speed of the subject vehicle at the time when automatic braking is started is high, the relative speed between the subject vehicle and the object at the time when automatic braking is started is high. Thus, the time taken for the subject vehicle to come into contact with the object is short or the speed of the subject vehicle at which it will come into contact with the object is high. Therefore, the air bag expansion possibility estimating means estimates that there is a possibility of the air bag expanding.

摘要翻译： 车辆行驶安全装置进行自动制动，以防止本车辆与物体接触，并且可靠地防止气囊的靠近膨胀。 当目标车辆与物体接触的可能性时，为了防止接触，进行自动制动。 如果安全带磨损状态传感器检测到乘员没有佩戴安全带，并且气囊膨胀可能性估计装置通过自动制动装置估计有可能使气囊膨胀，则减速率 减少自动制动，使得乘员由于伴随制动的惯性而被阻止向前移动并引起接近的膨胀。 当自动制动开始时本车辆的速度高时，当车辆与自动制动开始时的物体之间的相对速度高时， 因此，本车辆与物体接触所花费的时间短或与物体接触的本车辆的速度很快。 因此，气囊膨胀可能性估计装置估计有可能使气囊膨胀。

公开(公告)号：US06203120B1

公开(公告)日：2001-03-20

申请号：US09251424

申请日：1999-02-17

申请人： Yoshihiro Urai ,  Yoichi Sugimoto ,  Satoshi Hada ,  Shoji Ichikawa

发明人： Yoshihiro Urai ,  Yoichi Sugimoto ,  Satoshi Hada ,  Shoji Ichikawa

IPC分类号： B60T886

CPC分类号： B60T13/662 ,  B60T7/12 ,  B60T7/22 ,  B60T8/4827 ,  B60T2201/02 ,  Y10S367/909

摘要： When the behavior of a vehicle becomes unstable during an automatic braking operation for avoiding contact of the vehicle with an object, the restoring of the unstable state backed up to effectively avoid the contact of the vehicle with the object. When a radar device in the vehicle, detects the object exist ahead of the vehicle in the direction of movement of the vehicle, the possibility of the contact of the vehicle with the object is determined by a determining device from the relative positional relationship between the vehicle and the object, based on the result of the detection. When it is determined that there is the possibility of the contact, an automatic braking device operates a vacuum booster to carry out an automatic braking operation. When the unstable state of the vehicle is detected by an unstable state detector during the automatic braking operation by the automatic braking device, the automatic braking device forcibly continues the automatic braking operation, until the vehicle reaches a state in which the unstable state is not detected, whether or not it is determined that there is the possibility of the contact of the vehicle with the object. Thus, it is possible to precisely control the continuation and finishing of the automatic braking operation to reliably achieve the avoidance of the contact of the vehicle with the object, while preventing the behavior of the vehicle from further becoming unstable due to the discontinuation of the automatic braking operation.

摘要翻译： 当在自动制动操作期间车辆的行为变得不稳定以避免车辆与物体的接触时，恢复支撑的不稳定状态以有效地避免车辆与物体的接触。 当车辆中的雷达装置检测到车辆在车辆的移动方向上存在的物体时，车辆与物体接触的可能性由确定装置根据车辆之间的相对位置关系确定 并根据检测结果对象。 当确定存在接触的可能性时，自动制动装置操作真空助力器以执行自动制动操作。 当在自动制动装置的自动制动操作期间由不稳定状态检测器检测到车辆的不稳定状态时，自动制动装置强制地继续自动制动操作，直到车辆达到未检测到不稳定状态的状态 是否确定存在车辆与物体的接触的可能性。 因此，可以精确地控制自动制动操作的持续和完成，以可靠地实现避免车辆与物体的接触，同时防止车辆的行为由于自动停止而进一步变得不稳定 制动操作。

公开(公告)号：US6157294A

公开(公告)日：2000-12-05

申请号：US199337

申请日：1998-11-25

申请人： Yoshihiro Urai ,  Yoichi Sugimoto ,  Satoshi Hada ,  Shoji Ichikawa

发明人： Yoshihiro Urai ,  Yoichi Sugimoto ,  Satoshi Hada ,  Shoji Ichikawa

IPC分类号： G01B11/30 ,  B60Q1/52 ,  B60W30/00 ,  G01B21/00 ,  G01S7/03 ,  G01S7/481 ,  G01S7/497 ,  G01S13/93 ,  G01S17/87 ,  G01S17/93 ,  G08G1/00 ,  G08G1/16 ,  B60Q1/00

CPC分类号： G01S17/936 ,  B60Q1/52 ,  G01S17/875 ,  G01S7/4813 ,  G01S7/4972 ,  B60G2400/82 ,  B60G2401/00

摘要： A vehicle control system for detecting an obstacle present ahead on the road in the course of travel of a vehicle, comprising a first laser radar mounted on the vehicle which emits an electromagnetic beam to detect the obstacle present ahead on the road, and second and third laser radars which measures distances between the first laser radar and the road surface at different angles. The system determines whether the first laser radar is mounted on the vehicle such that the laser beam central axis is horizontal or inclines upward or downward relative to the road surface or vehicle body, based on the distances, a height of the first laser radar from the road surface, the angles at which the distances are measured and reference values. The system may correct the inclination if determined. With the arrangement, the system ensures detection of an obstacle on the road without fail and conduction of a desired obstacle avoidance control.

摘要翻译： 一种车辆控制系统，用于在车辆行驶过程中检测在道路上存在的障碍物，其包括安装在车辆上的第一激光雷达，其发射电磁波束以检测在道路上存在的障碍物，以及第二和第三 激光雷达，其以不同的角度测量第一激光雷达和路面之间的距离。 该系统基于距离，确定第一激光雷达是否安装在车辆上，使得激光束中心轴线相对于路面或车身向上或向下倾斜， 路面，测量距离的角度和参考值。 如果确定，系统可以纠正倾斜度。 通过这种安排，该系统可确保在道路上无障碍地检测障碍物，并导致所需的障碍物避免控制。

公开(公告)号：US6061015A

公开(公告)日：2000-05-09

申请号：US225569

申请日：1999-01-05

申请人： Yoichi Sugimoto

发明人： Yoichi Sugimoto

IPC分类号： G01C3/06 ,  B60K31/00 ,  B60R21/00 ,  B60T7/22 ,  B60T8/17 ,  B60W30/00 ,  F02D29/02 ,  F02D41/12 ,  F16H61/02 ,  G01S13/34 ,  G01S13/86 ,  G01S13/93 ,  G01S17/93 ,  G05D1/02 ,  G01S13/60 ,  G01S13/58

CPC分类号： G01S17/936 ,  B60K31/0008 ,  B60T7/22 ,  G01S13/865 ,  G01S13/931 ,  G01S13/345 ,  G01S2013/9321 ,  G01S2013/9325 ,  G01S2013/9346 ,  G01S2013/9353 ,  G01S2013/9375

摘要： A vehicle obstacle detecting system having a combination of different kinds of detectors, such as a laser radar and a millimeter-waver radar, to detect an obstacle present ahead of the course of vehicle travel. The system determines whether the detection output of the laser radar is similar to that of the millimeter-wave radar. When the result is positive, obstacle avoidance control is conducted based on the output of either the laser radar or the millimeter-wave radar. When the result is negative, it is determined that the laser radar (the detector normally of superior performance) is degraded and, based on the output of the millimeter-radar, obstacle avoidance control is conducted. With this, the outputs of the different kinds of detectors are fused and unified optimally, enabling effective obstacle avoidance control.

摘要翻译： 一种车辆障碍物检测系统，其具有诸如激光雷达和毫米波雷达的不同种类的检测器的组合，以检测在车辆行驶过程之前存在的障碍物。 该系统确定激光雷达的检测输出是否类似于毫米波雷达的检测输出。 当结果为正时，基于激光雷达或毫米波雷达的输出进行障碍物回避控制。 当结果为负时，确定激光雷达（通常具有优异性能的检测器）劣化，并且基于毫米雷达的输出进行障碍物回避控制。 由此，不同种类的检测器的输出最优化地融合和统一，从而实现有效的避障控制。

公开(公告)号：US6021375A

公开(公告)日：2000-02-01

申请号：US225570

申请日：1999-01-05

申请人： Yoshihiro Urai ,  Yoichi Sugimoto ,  Satoshi Hada ,  Shoji Ichikawa ,  Shohei Matsuda

发明人： Yoshihiro Urai ,  Yoichi Sugimoto ,  Satoshi Hada ,  Shoji Ichikawa ,  Shohei Matsuda

IPC分类号： B60R21/00 ,  B60T7/12 ,  B60T7/22 ,  B60W30/00 ,  B60W30/09 ,  G01S13/93 ,  G08G1/16 ,  G06F13/376

CPC分类号： B60T7/22

摘要： A system for controlling running safety of a vehicle having at least a brake, a steering mechanism manipulated by a vehicle operator, a laser radar for detecting an obstacle present ahead on a course of travel of the vehicle, and a brake actuator mechanism actuating the brake independently of the vehicle operator manipulation. In the system, a first threshold value (defined in terms of relative distance between the vehicle and the obstacle) for avoiding contact with the obstacle by steering and a second threshold value for avoiding contact by operating the brake actuator mechanism are determined and are compared with the detected relative distance. When the detected relative distance is less than the first threshold value, the brake actuator mechanism is immediately operated to generate a relatively small deceleration, thereby enabling effective obstacle avoidance to well meet the intention and desires of the vehicle operator, without causing a problem of interference with the steering of the vehicle operator, while preventing the control accuracy from being degraded.

摘要翻译： 一种用于控制至少具有制动器的车辆的运行安全性的系统，由车辆操作者操纵的转向机构，用于检测在车辆行驶过程中存在的障碍物的激光雷达以及致动所述制动器的制动致动器机构 独立于车辆操纵者操纵。 在该系统中，确定用于避免通过转向与障碍物接触的第一阈值（以车辆与障碍物之间的相对距离定义），以及通过操作制动致动器机构避免接触的第二阈值，并将其与 检测到的相对距离。 当检测到的相对距离小于第一阈值时，立即操作制动器致动器机构以产生相对小的减速度，从而能够有效地避免障碍以很好地满足车辆操作者的意图和期望，而不会引起干扰问题 同时防止控制精度降低。

公开(公告)号：US5995037A

公开(公告)日：1999-11-30

申请号：US105997

申请日：1998-06-29

申请人： Shohei Matsuda ,  Yoichi Sugimoto ,  Satoshi Hada ,  Shoji Ichikawa ,  Yoshihiro Urai

发明人： Shohei Matsuda ,  Yoichi Sugimoto ,  Satoshi Hada ,  Shoji Ichikawa ,  Yoshihiro Urai

IPC分类号： B60R21/00 ,  B60T7/22 ,  B60W30/00 ,  G01S7/41 ,  G01S13/58 ,  G01S13/93 ,  G08G1/00 ,  G08G1/16

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。

公开(公告)号：US5855419A

公开(公告)日：1999-01-05

申请号：US665636

申请日：1996-06-19

申请人： Yoshihiro Urai ,  Yoichi Sugimoto

发明人： Yoshihiro Urai ,  Yoichi Sugimoto

IPC分类号： B60T8/24 ,  B60T8/1755 ,  B60T8/1764 ,  B60T8/1766 ,  B60T8/28 ,  B60T8/32 ,  B60T8/26

CPC分类号： B60T8/1764 ,  B60T8/1766 ,  Y10S303/07

摘要： In a process for controlling a braking-force distribution in a vehicle for front and rear wheel brakes by regulating a braking liquid pressure for at least one of front wheel brakes and rear wheel brakes, based on a comparison of a rear wheel speed and a wheel speed difference target value and a difference between a front wheel speed, amounts of load variation on the front and rear wheels are calculated during braking. Correction values, corresponding to an amount of wheel diameter varied from a preset wheel diameter as a result of the displacement of the loads, are determined based on the amount of load variation. At least one of the front and rear wheel speeds is corrected by the correction values. Thus, the braking-force distribution to the front and rear wheel brakes is controlled so that the braking force is sufficient in either of the front wheels or the rear wheels due to the variation in load during braking.

摘要翻译： 在通过调节用于前轮制动器和后轮制动器中的至少一个的制动液压来控制用于前轮和后轮制动器的车辆中的制动力分布的过程中，基于后轮速度和车轮的比较 在制动期间计算出速度差目标值和前轮速度，前后轮之间的负载变化量之差。 基于负载变化量确定对应于作为负载位移的结果的预设车轮直径的车轮直径的量的校正值。 通过校正值校正前后轮速度中的至少一个。 因此，控制前轮和后轮制动器的制动力分配，使得由于制动期间的负载变化而使前轮或后轮中的任一个制动力足够。

公开(公告)号：US5842755A

公开(公告)日：1998-12-01

申请号：US749693

申请日：1996-11-15

申请人： Yoichi Sugimoto ,  Yoshihiro Urai ,  Hideki Kubonoya

发明人： Yoichi Sugimoto ,  Yoshihiro Urai ,  Hideki Kubonoya

IPC分类号： B60T8/26 ,  B60T8/1766 ,  B60T8/32 ,  B60T8/82 ,  B60T8/34

CPC分类号： B60T8/1766

摘要： A braking force control system in a vehicle includes rotational speed sensors for detecting rotational speeds of front wheels and rear wheels, respectively, and braking force regulating devices capable of individually regulating braking forces for the front and rear wheels. In the braking force control system, the following two controls (1) and (2) are carried out: a front/rear braking force distribution control (1) for controlling the distribution of braking forces to front and rear wheel sides, such that a difference between front and rear wheel speeds is equalized to a target value; and an antilock brake control (2) for determining wheel locking tendencies individually in the front wheel side and the rear wheel side and controlling the braking force for the wheel determined to be in the locking tendency. When the antilock brake control is started in one of the front wheel side and the rear wheel side during execution of the front/rear braking force distribution control, the braking force distribution control is discontinued in the other of the front wheel side and the rear wheel side to increase the braking force of the other side at a defined increase rate. Thus, both of the braking force distribution control and the antilock control are feasible together and moreover, the switching-over between these controls can be smoothly achieved.

摘要翻译： 车辆中的制动力控制系统分别包括用于检测前轮和后轮的转速的转速传感器和能够单独调节前轮和后轮的制动力的制动力调节装置。 在制动力控制系统中，执行以下两个控制（1）和（2）：用于控制前轮和后轮侧的制动力分配的前/后制动力分配控制（1），使得 前轮和后轮之间的差异等于目标值; 以及防抱死制动控制器（2），用于分别确定前轮侧和后轮侧的车轮锁定倾向，并且控制被确定为锁定倾向的车轮的制动力。 在前/后制动力分配控制执行期间，当在前轮侧和后轮侧之一中开始防抱死制动控制时，制动力分配控制在前轮侧和后轮 侧以增加的速度增加另一侧的制动力。 因此，制动力分配控制和防抱死控制都可以一起使用，而且可以平稳地实现这些控制之间的切换。

公开(公告)号：US20120221171A1

公开(公告)日：2012-08-30

申请号：US13394891

申请日：2010-09-28

申请人： Tetsuro Shirakata ,  Yoichi Sugimoto ,  Hiroshi Tokutake

发明人： Tetsuro Shirakata ,  Yoichi Sugimoto ,  Hiroshi Tokutake

IPC分类号： G06F7/00

CPC分类号： G08B21/06 ,  B60W40/08 ,  B60W2040/0827 ,  B60W2040/0836 ,  B60W2050/0029 ,  B60W2420/42 ,  B60W2520/14 ,  B60W2540/18

摘要： A driver state assessment device is provided in which when driver model identification means (M2) identifies a driver model showing a driver's input/output relationship using a difference between a target azimuth and an actual azimuth as a driver's input and an actual steering angle as a driver's output, driver model amount of operation acquisition means (M3) acquires a driver model steering angle by inputting a current azimuth deviation into the driver model, and driver state assessment means (M4) calculates a difference between a current actual steering angle and a driver model steering angle as a residual error and assesses the driver's state based on the residual error. Therefore, since the residual error is an index that represents a fluctuation component, a noise component, a non-linear component, etc. obtained from the driver model, it is possible to assess, with high precision, the driver's state, in particular a low wakefulness state of the driver, based on this residual error.

摘要翻译： 提供了一种驾驶员状态评估装置，其中当驾驶员模型识别装置（M2）使用目标方位角和实际方位角之间的差作为驾驶员的输入和实际转向角来识别显示驾驶员的输入/输出关系的驾驶员模型时 驱动器输出，驾驶员型号操作量获取装置（M3）通过将当前方位偏差输入到驾驶员模型中来获取驾驶员模型转向角，并且驾驶员状态评估装置（M4）计算当前实际转向角与驾驶员之间的差 模型转向角作为残差，并根据剩余误差评估驾驶员的状态。 因此，由于残留误差是表示从驾驶员模型获得的波动成分，噪声成分，非线性分量等的指标，因此可以高精度地评估驾驶员的状态，特别是 基于这种残留误差，司机的低觉醒状态。

公开(公告)号：US07688221B2

公开(公告)日：2010-03-30

申请号：US11821691

申请日：2007-06-25

申请人： Takashi Watanabe ,  Kei Oshida ,  Yoichi Sugimoto

发明人： Takashi Watanabe ,  Kei Oshida ,  Yoichi Sugimoto

IPC分类号： G08G1/00 ,  B60Q1/00 ,  H04N7/18

CPC分类号： B60R1/00 ,  B60R2300/105 ,  B60R2300/106 ,  B60R2300/205 ,  B60R2300/207 ,  B60R2300/302 ,  B60R2300/306 ,  B60R2300/70 ,  B60R2300/8026 ,  B60R2300/8033 ,  B60R2300/8093 ,  G08G1/166 ,  G08G1/167

摘要： A driving support apparatus includes: an image sensing device that photographs side region of a vehicle and rearward region of a vehicle while altering an angle of view; a display unit that displays video images photographed by the image sensing device so as to be visible to a driver of the vehicle; a display determination device that determines a running state of the vehicle, and determines whether or not an alteration of the display angle of view is required; and an angle of view adjustment device that switches the angle of view of the image sensing device, in accordance with a display method decided by the display determination device, between either one of a wide angle that enables the side region and the rearward region to be photographed, and a narrow angle that only allows the rearward region to be photographed.

摘要翻译： 驾驶辅助装置包括：图像检测装置，其在改变视角的同时拍摄车辆的侧部区域和车辆的后方区域; 显示单元，其显示由所述图像感测装置拍摄的视频图像，以使其对于所述车辆的驾驶员可见; 确定车辆的行驶状态并确定是否需要改变显示视角的显示确定装置; 以及视角调整装置，其根据由显示判定装置决定的显示方式，使得能够使侧面区域和后方区域成为广角之一来切换摄像装置的视场角 拍摄，并且仅允许拍摄向后区域的窄角度。