公开(公告)号：US20050107931A1

公开(公告)日：2005-05-19

申请号：US10982878

申请日：2004-11-08

Applicant: Masayasu Shimakage ,  Shinji Matsumoto ,  Satoshi Tange ,  Genpei Naito

Inventor： Masayasu Shimakage ,  Shinji Matsumoto ,  Satoshi Tange ,  Genpei Naito

IPC: B60R21/00 ,  B60W10/00 ,  B60W10/04 ,  B60W10/06 ,  B60W10/10 ,  B60W10/18 ,  B60W10/184 ,  B60W10/20 ,  B60W30/00 ,  B60W30/02 ,  B60W30/12 ,  B62D6/00 ,  B62D15/02 ,  G08G1/16 ,  G06F7/00

CPC classification number: B62D15/025 ,  B60T2201/08 ,  B60T2201/082 ,  B60T2201/087 ,  G08G1/167

Abstract: In lane keep control apparatus and method for an automotive vehicle, a traveling state of the vehicle is detected, a determination is made on whether the vehicle has a tendency of a deviation from the traveling traffic lane according to the detected traveling state, a deviation avoidance control is executed for the vehicle in a direction to avoid the deviation according to the traveling state, steering angles before and after a start of the deviation avoidance control are detected, and a controlled variable of the deviation avoidance control is detected on the basis of a deviation between a steering angle before the start of deviation avoidance control and that after the start of deviation avoidance control when a determination is made that the vehicle has the tendency of the deviation.

Abstract translation: 在机动车辆的车道保持控制装置和方法中，检测车辆的行驶状态，根据检测到的行驶状态来确定车辆是否具有偏离行驶车道的倾向，偏离避免 根据行驶状态避免偏差的方向对车辆进行控制，检测出偏差避免控制开始前后的转向角度，并且基于以下方式检测偏差避免控制的受控变量 当确定车辆具有偏差的倾向时，在偏离避免控制开始之前的转向角与开始偏差避免控制之后的转向角之间的偏差。

公开(公告)号：US06853902B2

公开(公告)日：2005-02-08

申请号：US10203127

申请日：2001-01-30

Applicant: Steven Allan Miller ,  Robert Alan Williams ,  Philip Alexander Barber

Inventor： Steven Allan Miller ,  Robert Alan Williams ,  Philip Alexander Barber

IPC: B60R21/01 ,  B60R21/013 ,  B60R21/0134 ,  B60T7/22 ,  B60T8/1755 ,  B62D6/00 ,  B60T8/00 ,  G05D1/02

CPC classification number: B60T8/17557 ,  B60R21/0134 ,  B60R2021/01311 ,  B60T7/22 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2201/087 ,  B60T2210/36 ,  B60T2260/02 ,  B60W10/12 ,  B60W10/18 ,  B60W10/20 ,  B60W30/10 ,  B62D6/00

Abstract: A motor vehicle having a plurality of road engaging wheels (7-10), a braking system (3, 14-18) linked to the wheels (7-10) by which a driver of the vehicle (1) may brake the vehicle, a motive means (50) linked to one or more of the wheels (7-10) by which a driver of the vehicle may control vehicle speed, and a dynamic stability control system that includes a means (12-17, 20-22, 24) for deducing the position and orientation of the vehicle system (12-17, 20-22, 24) for predicting the trajectory (TP) of the motor vehicle (1) with respect to the roadway (4) and for identifying when the predicted trajectory (TP) would place the vehicle in danger, and a wheel slip detection system (14-18, 51) for detecting loss of traction of one or more of the wheels (12-17). The dynamic stability control system monitors wheel slip and the predicted trajectory (TP) of the vehicle (1), and, if loss of wheel traction is detected when the predicted trajectory (TP) would place the vehicle (1) in danger, acts to alter (TC) the predicted trajectory, for example by controlling the braking system (14-18) and/or the motive means (50) in such a way that the identified danger is reduced or eliminated.

Abstract translation: 一种具有多个道路接合轮（7-10）的机动车辆，与车辆（1）的驾驶员可以通过该车轮制动的车轮（7-10）连接的制动系统（3,14-18） 与车辆的驾驶员可以控制车辆速度的一个或多个车轮（7-10）连接的动力装置（50），以及动态稳定性控制系统，其包括装置（12-17,20-22， 24），用于推断用于预测机动车辆（1）相对于道路（4）的轨迹（TP）的车辆系统（12-17,20-22,24）的位置和方向，并且用于识别何时 预测轨迹（TP）将使车辆处于危险之中，以及用于检测一个或多个车轮（12-17）的牵引力的车轮滑移检测系统（14-18,51）。 动态稳定性控制系统监测车辆滑移和车辆（1）的预测轨迹（TP），并且如果当预测轨迹（TP）将车辆（1）置于危险中时检测到车轮牵引力的损失，则动作 改变（TC）预测轨迹，例如通过以确定的危险被减少或消除的方式控制制动系统（14-18）和/或动力装置（50）。

公开(公告)号：US20040262063A1

公开(公告)日：2004-12-30

申请号：US10865208

申请日：2004-06-10

Inventor： Timothy W. Kaufmann ,  Charmaine M. Wittig

IPC: B62D001/24

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。

公开(公告)号：US06778890B2

公开(公告)日：2004-08-17

申请号：US10220305

申请日：2002-09-13

Applicant: Masayasu Shimakage ,  Hiroshi Kawazoe ,  On Sadano ,  Shigeki Satou

Inventor： Masayasu Shimakage ,  Hiroshi Kawazoe ,  On Sadano ,  Shigeki Satou

IPC: B62D504

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

Abstract: A method for lane-keeping control of a lane-keeping support system provides a current command indicative of steering torque assist needed to steer a vehicle in following a target line between lane markings on a roadway during driving in lane-keeping control (LKC) mode. A map has two sets of limit data against a range of values of lateral acceleration to which the vehicle is subject, between which sets of limit data there is a range of values of the command during various phases of steering the vehicle to turn in the LKC mode. In order to compensate for undesired effect caused by any deviation of the range of values of the current command due to the presence of continuous disturbance, the two sets of limit data are corrected. To determine driver steering intervention, the instantaneous value of the current command is compared to two limit values established out of the corrected two sets of limit data.

Abstract translation: 车道保持支撑系统的车道保持控制的方法提供指示在车道保持控制（LKC）模式驾驶期间驾驶车辆在道路上的车道标记之间跟随目标线所需的转向转矩辅助所需的电流指令 。 地图具有与车辆所对向的横向加速度值的范围的两组限制数据，在这些限制数据集之间存在在车辆转向LKC的各个阶段期间的命令的值的范围 模式。 为了补偿由于连续扰动的存在而导致的电流指令的值的范围的任何偏差引起的不期望的影响，校正了两组限制数据。 为了确定驾驶员转向干预，将当前命令的瞬时值与由修正的两组限制数据建立的两个极限值进行比较。

公开(公告)号：US20030213640A1

公开(公告)日：2003-11-20

申请号：US10400623

申请日：2003-03-28

Applicant: TOYODA KOKI KABUSHIKI KAISHA ,  ADVICS CO., LTD.

Inventor： Hiroaki Kato ,  Minekazu Momiyama ,  Yoshiyuki Yasui ,  Wataru Tanaka ,  Kenji Asano ,  Eiichi Ono ,  Yuji Muragishi

IPC: B62D005/04

CPC classification number: B62D6/003 ,  B60T2201/08 ,  B60T2201/082 ,  B60T2201/083 ,  B60T2201/087 ,  B60T2260/024 ,  B62D1/286

Abstract: A vehicle control device incorporating an electric power steering is provided, wherein an extraordinary yaw motion acting on a vehicle is detected and is suppressed or moderated, so that the stability of the vehicle in a straight-ahead steering is improved. The causes of the extraordinary yaw motion are one of lateral wind, asymmetrical surface state of the road, lateral slant of the road and the like. A countermeasure against the extraordinary yaw motion is taken by applying a counter (opposite direction) yaw motion on the vehicle or switching over the control mode from a proportional control to a proportional integral control.

Abstract translation: 提供了一种结合电动助力转向装置的车辆控制装置，其中检测到作用在车辆上的异常偏航运动并被抑制或缓和，使得车辆在直行转向中的稳定性得到改善。 异常偏航运动的原因是侧风，道路的不对称表面状态，道路的侧倾等。 通过在车辆上施加计数器（相反方向）偏航运动或者将控制模式从比例控制切换到比例积分控制来采取对非常偏航运动的对策。

公开(公告)号：US20030120414A1

公开(公告)日：2003-06-26

申请号：US10300775

申请日：2002-11-21

Applicant: NISSAN MOTOR CO., LTD.

Inventor： Shinji Matsumoto ,  Satoshi Tange ,  Hiroyuki Yoshizawa

IPC: B60K031/00 ,  G08G001/16

CPC classification number: B60T8/17557 ,  B60K31/0008 ,  B60T2201/08 ,  B60T2201/081 ,  B60T2201/087 ,  B60W30/12 ,  B60W30/16 ,  B60W2720/14 ,  B62D15/026 ,  G08G1/167

Abstract: A lane-keep control system is installed in a host vehicle equipped with an inter-vehicle distance control system. The lane-keep control system is arranged to decrease a threshold to be compared with the vehicle traveling condition for determining the tendency of the lane deviation when the inter-vehicle distance is being executed, so that the deviation avoidance control during execution of the inter-vehicle distance control is started earlier than the deviation avoidance control during inexecution of the inter-vehicle distance is started.

Abstract translation: 在配备有车辆间距离控制系统的主车辆中安装车道保持控制系统。 车道保持控制系统被设置为减少与车辆行驶状况相比较的阈值，以便在执行车间距离时确定车道偏离的倾向，从而在执行车间间隔期间的偏差避免控制， 车辆距离控制比在车辆间距离的执行开始时的偏离避免控制提前开始。

公开(公告)号：US06553130B1

公开(公告)日：2003-04-22

申请号：US08671853

申请日：1996-06-28

Applicant: Jerome H. Lemelson ,  Robert Pedersen

Inventor： Jerome H. Lemelson ,  Robert Pedersen

IPC: G06K900

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：US06338015B1

公开(公告)日：2002-01-08

申请号：US09151760

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: B62D504

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

Abstract: A system for controlling steering of a vehicle, including a steering means such as a steering wheel with an electric motor which assists steering of the driven wheels of the vehicle, first steering control means 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 means 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 means by the driver, and second steering control means for calculating a torque command to be output to the first steering control means based on the steering assist torque calculated by the steering assist torque calculating means and the actual steering torque such that the torque command decreases. In the system, the second steering control means transfers to the first steering control means an index indicative of a condition under which the steering assist torque was calculated, or an index indicative of an order in which the values of the steering assist torque are tansferred, thereby ensuring appropriate and highly reliable communication between the two control means.

Abstract translation: 一种用于控制车辆的转向系统，包括诸如具有辅助车辆的从动轮的转向的电动机的转向装置的转向装置，用于控制电动机的第一转向控制装置，用于检测车道条件的CCD照相机 车辆行驶的道路的偏航率传感器，用于检测车辆的运动的偏航率传感器，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装置，用于检测手动施加到车道的实际转向转矩的转矩传感器 以及第二转向控制装置，用于基于由转向辅助转矩计算装置计算的转向辅助转矩和实际转向转矩来计算要输出到第一转向控制装置的转矩指令，使得转矩指令减小 。 在该系统中，第二转向控制单元向第一转向控制单元转移表示计算转向辅助转矩的条件的指标，或指示转向辅助转矩的值被调整的顺序的指标， 从而确保两个控制装置之间的适当和高度可靠的通信。

公开(公告)号：US06263270B1

公开(公告)日：2001-07-17

申请号：US08970421

申请日：1997-11-14

Applicant: Kunihito Sato ,  Takeshi Goto ,  Yuichi Kubota

Inventor： Kunihito Sato ,  Takeshi Goto ,  Yuichi Kubota

IPC: G06F700

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

Abstract: A steering control apparatus prevents interference between a steering operation of a driver and a steering control operation of the steering control apparatus by detecting a steering operation so as to decrease an amount of the steering control operation when the steering operation is performed by the driver. A guide line provided on a vehicle moving lane on which the vehicle is moving is recognized so as to set a target position on the vehicle moving lane based on a result of recognition of the guide line. A steering control operation is performed so that the vehicle moves to trace the target position. An amount of each component of a steering operation applied to a steering wheel is detected by a steering angle sensor and a steering torque sensor. An amount of the steering control operation is corrected so that the amount of the steering control operation is decreased in accordance with the amount of each component of the steering operation.

Abstract translation: 转向控制装置通过检测转向操作来防止驾驶员的转向操作和转向控制装置的转向控制操作之间的干扰，以便当驾驶员执行转向操作时减少转向控制操作的量。 识别在车辆移动通道上设置的引导线，以便基于引导线的识别结果在车辆移动通道上设定目标位置。 执行转向控制操作，使得车辆移动以跟踪目标位置。 通过转向角传感器和转向转矩传感器检测施加到方向盘的转向操作的每个部件的量。 对转向控制动作的量进行修正，根据转向操作的各成分的数量，使转向控制动作的数量减少。

公开(公告)号：US06256561B1

公开(公告)日：2001-07-03

申请号：US09414545

申请日：1999-10-08

Applicant: Nobuyoshi Asanuma

Inventor： Nobuyoshi Asanuma

IPC: G06F700

CPC classification number: B62D1/286 ,  B60T2201/08 ,  B60T2201/087 ,  B62D6/003 ,  B62D15/025

Abstract: A system for controlling steering of a vehicle, including an electric motor used for power-steering torque assist control. The system has an navigation system whose output is used to correct the detected steering angle input by the vehicle driver. A desired yaw rate is determined based on the corrected steering angle and the detected vehicle speed using a yaw rate model, thereby enabling to conduct the aforesaid lane-keeping-steering torque assist control in a more appropriate manner. Further, if the vehicle driver expresses a positive intention to steer the vehicle by himself, for example, so as to avoid an obstacle present on the road, the control is discontinue to meet the wishes of the vehicle driver. Furthermore, the system monitors the steering of the vehicle driver to prevent the vehicle driver from relying upon this steering assist control to an excessive extent.

Abstract translation: 一种用于控制车辆转向的系统，包括用于动力转向转矩辅助控制的电动机。 该系统具有导航系统，其输出用于校正车辆驾驶员输入的检测到的转向角。 基于使用偏航率模型的修正后的转向角和检测到的车速来确定期望的偏航率，从而能够以更适当的方式进行上述的车道保持转向转矩辅助控制。 此外，如果车辆驾驶员表达了自己驾驶车辆的积极意图，例如，以避免存在于道路上的障碍物，则控制停止满足车辆驾驶员的愿望。 此外，系统监视车辆驾驶员的转向，以防止车辆驾驶员过度依赖该转向辅助控制。