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公开(公告)号：US06929082B2
公开(公告)日：2005-08-16
申请号：US10336407
申请日：2003-01-06
申请人： Hiroaki Kataoka , Hisashi Satonaka , Seiji Kawakami , Mitsuhiko Morita , Tomohiko Endo , Katsuhiko Iwazaki , Yoshifumi Iwata , Yuu Tanaka
发明人： Hiroaki Kataoka , Hisashi Satonaka , Seiji Kawakami , Mitsuhiko Morita , Tomohiko Endo , Katsuhiko Iwazaki , Yoshifumi Iwata , Yuu Tanaka
CPC分类号： B60Q9/004 , B60T2201/10 , B62D15/0285 , B62D15/029
摘要： In a parking assist apparatus that assists with moving, by automatic steering, a vehicle from an arbitrary stopping position to a target parking position set by the driver, a setting portion (i.e., a parking assist ECU) sets both a path from the stopping position to the target parking position and a steering operation necessary to bring the vehicle along that path. When this path cannot be set with the steering angle in the stopping position set as the initial steering angle, and when the path can be set with another steering angle as the initial steering angle, an instruction portion (i.e., a monitor or a speaker) instructs the driver to turn the steering wheel to this other steering angle.
摘要翻译： 在辅助移动的停车辅助装置中，通过自动转向将车辆从任意停止位置移动到由驾驶员设定的目标停车位置，设定部（即，停车辅助ECU）将从停止位置 到目标停车位置以及使车辆沿着该路径所必需的转向操作。 当不能以设定为初始转向角的停止位置中的转向角设定该路径时，并且当路径可以以另一转向角设定为初始转向角时，指示部（即，监视器或扬声器） 指示驾驶员将方向盘转到另一转向角。
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公开(公告)号：US08086372B2
公开(公告)日：2011-12-27
申请号：US12374755
申请日：2007-08-06
CPC分类号： B62D15/025 , B62D5/0466
摘要： The present invention aims at providing a steering assistance apparatus which can accurately detect a curve exit of a running path and perform steering assistance control with an excellent running path following capability. The steering assistance apparatus of the present invention is a steering assistance apparatus 1 for providing a steering mechanism with a steering torque such that a vehicle runs along a running path according to an image capturing the running path in front of the vehicle, which estimates a curve direction of the running path by processing the image, estimates a steering direction of a driver of the vehicle according to a steering operation of the driver, and determines that the vehicle is running through a curve exit according to a fact that the estimated curve direction and steering direction do not coincide with each other. This makes it possible to determine the curve exit of the running path accurately and perform appropriate steering assistance control.
摘要翻译： 本发明的目的在于提供一种能够精确地检测行驶路径的曲线出口并且以优异的行驶路径跟随能力执行转向辅助控制的转向辅助装置。 本发明的转向辅助装置是一种转向辅助装置1，其用于向转向机构提供转向转矩，使得车辆沿着行驶路径沿着行驶路线行驶，该图像捕获车辆前方的行驶路径，该图像估计曲线 通过处理图像来运行路径的方向，根据驾驶员的转向操作来估计车辆的驾驶员的转向方向，并且根据估计的曲线方向和事实上的曲线出口来确定车辆正在行驶 转向方向不一致。 这使得可以精确地确定运行路径的曲线出口并执行适当的转向辅助控制。
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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
CPC分类号： B62D15/029 , B60T2201/08 , B60T2201/087 , B60W30/12 , B62D15/025
摘要： 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.
摘要翻译： 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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34.发明申请Apparatus for estimating of deviation from lane, and apparatus for warning of same and method for same 有权用于估计与车道偏差的装置，以及用于警告的装置及其方法公开(公告)号：US20050273261A1
公开(公告)日：2005-12-08
申请号：US11136449
申请日：2005-05-25
CPC分类号： B62D15/029 , B60T2201/08 , B60T2201/082 , B60W10/20 , B60W50/14 , B62D15/025
摘要： An apparatus for warning deviation from a lane has a deviation evaluation ECU 1. The deviation evaluation ECU 1 has a deviation evaluator 14 for performing an evaluation on a deviation by comparing a future position of a host vehicle with a lane future position. Before this deviation evaluation, a mask processor 13 determines whether a yaw angle of the host vehicle and a lateral position of the vehicle relative to a driving lane exceed their respective thresholds preliminarily determined. When either one or the both are not more than the thresholds, the mask processor 13 performs a mask process, without performing the deviation evaluation. A deviation evaluator 14 performs the deviation evaluation when the yaw angle and the lateral position relative to the driving lane both exceed their respective thresholds.
摘要翻译： 用于警告偏离车道的装置具有偏差评估ECU 1。 偏差评估ECU1具有用于通过将本车辆的未来位置与车道未来位置进行比较来对偏差进行评价的偏差评估器14。 在该偏差评估之前，掩模处理器13确定主车辆的偏航角和车辆相对于行驶车道的横向位置是否超过其预先确定的各自的阈值。 当任何一个或两者都不大于阈值时，掩模处理器13执行掩模处理，而不执行偏差评估。 当偏航角和相对于行驶车道的横向位置都超过它们各自的阈值时，偏差评估器14执行偏差评估。
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公开(公告)号：US20050267684A1
公开(公告)日：2005-12-01
申请号：US11135287
申请日：2005-05-24
IPC分类号： B60R21/00 , B60K31/00 , B60K31/04 , B60W10/00 , B60W10/04 , B60W10/20 , B62D15/02 , G08G1/16
CPC分类号： B60K31/04 , B60K2350/1084 , B62D15/025 , B62D15/026 , B62D15/029
摘要： A driving control apparatus of the present invention has a driving road keeping device for providing a torque to a steering mechanism so as to keep a vehicle traveling at a predetermined position on a driving road, a setting device for setting a need or no need for execution of a control of the driving road keeping device, and a cruise control device for controlling a driving force or speed of the vehicle so as to keep the vehicle in a predetermined driving state. A need or no need for execution of the control of the driving road keeping device is determined based on a setting state of the setting device and a control state of the cruise control device. A display indicating that the control of the driving road keeping device is ready is presented when the control of the driving road keeping device is in an executable state upon a state change of either the setting state of the setting device or the control state of the cruise control device. Therefore, with the display indicating the ready state, a driver can initiate the control of the driving road keeping device by changing the setting state of the setting device or the control state of the cruise control device in accordance with the content of the display.
摘要翻译： 本发明的驱动控制装置具有驱动道路保持装置，用于向转向机构提供扭矩，以使车辆行驶在行驶道路上的预定位置，设定需要或不需要执行的设定装置 驾驶道路保持装置的控制，以及用于控制车辆的驱动力或速度以使车辆保持在预定驾驶状态的巡航控制装置。 基于设定装置的设定状态和巡航控制装置的控制状态来决定是否需要执行驾驶道路维护装置的控制。 当驾驶道路保持装置的控制在设定装置的设定状态或巡航的控制状态的状态改变时处于可执行状态时，呈现指示驾驶道路保持装置的控制准备就绪的显示 控制装置 因此，在显示表示就绪状态的情况下，驾驶员可以根据显示内容，通过改变设定装置的设定状态或巡航控制装置的控制状态，来开始驾驶道路保持装置的控制。
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公开(公告)号：US08118126B2
公开(公告)日：2012-02-21
申请号：US12310046
申请日：2007-08-21
IPC分类号： B62D6/00
CPC分类号： B62D1/286
摘要： A steering assist system for applying a steering torque reduces the influence of a time-dependent steering control amount on an assist steering torque when a predetermined driving operation by a driver is detected. Thus, the influence of the time-dependent steering control amount on the applied steering torque, which increases when the period of time over which actual moving state deviates from the target moving state increases is reduced when the driver makes the predetermined driving operation. Thus, it is possible to avoid the problem where steering feel degrades because the steering torque increases over time.
摘要翻译： 当检测到驾驶员的预定驾驶操作时，用于施加转向转矩的转向辅助系统减小了与时间有关的转向控制量对辅助转向转矩的影响。 因此，当驾驶员进行预定的驾驶操作时，当实际移动状态偏离目标移动状态的时间段增加时，随着时间的转向控制量对所施加的转向转矩的影响减小。 因此，可以避免由于转向扭矩随时间增加而导致转向感觉下降的问题。
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37.发明授权Driving control apparatus and method having a lane keep function and a lane departure warning function 有权具有车道保持功能和车道偏离警告功能的驾驶控制装置和方法公开(公告)号：US07542840B2
公开(公告)日：2009-06-02
申请号：US11136450
申请日：2005-05-25
IPC分类号： B60W30/12
CPC分类号： B62D15/025 , B62D15/026 , B62D15/029
摘要： A driving control apparatus of the present invention has a driving road keeping device for providing a torque to a steering mechanism so as to keep a vehicle traveling at a predetermined position on a driving road; a driving road departure warning device for issuing a warning of a departure from the driving road on the basis of a position of the vehicle relative to the driving road; and a setting device for setting a need or no need for execution of a control of the driving road keeping device or the driving road departure warning device. Where the setting device sets a need for execution of the control, the control of the driving road keeping device is executed when an activation condition of the driving road keeping device is met and when a cruise control device is active. Where the setting device sets a need for execution of the control, the control of the driving road departure warning device is executed when the activation condition of the driving road keeping device is not met or when the cruise control device is inactive. According to the present invention, a lane departure warning function and a lane-keep assist function are selectively executed in conjunction with activation/deactivation of the cruise control device and the activation condition of the driving road keeping device, whereby, even with an automatic stop of operation of either one of the functions, the other function can prevent the vehicle from departing from the lane.
摘要翻译： 本发明的驱动控制装置具有驱动道路保持装置，用于向转向机构提供扭矩，以保持车辆行驶在行驶道路上的预定位置; 基于车辆相对于驾驶道路的位置发出离开驾驶道路的警告的驾驶道路离境警告装置; 以及设置装置，用于设置需要或不需要执行驾驶道路保持装置或驾驶道路离境警告装置的控制。 在设置装置需要执行控制的情况下，当满足驾驶道路维护装置的启动条件和巡航控制装置有效时，执行驾驶道路保养装置的控制。 在设置装置需要执行控制的情况下，当驾驶道路保持装置的启动条件不满足或巡航控制装置不活动时，执行驾驶道路离境警告装置的控制。 根据本发明，结合巡航控制装置的启动/停止以及驾驶道路保持装置的启动条件选择性地执行车道偏离警告功能和车道保持辅助功能，由此即使具有自动停止 任何一个功能的操作，另一个功能可以防止车辆离开车道。
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38.发明授权Apparatus for estimating of deviation from lane, and apparatus for warning of same and method for same 有权用于估计与车道偏差的装置，以及用于警告的装置及其方法公开(公告)号：US07509211B2
公开(公告)日：2009-03-24
申请号：US11136449
申请日：2005-05-25
IPC分类号： G08G1/16
CPC分类号： B62D15/029 , B60T2201/08 , B60T2201/082 , B60W10/20 , B60W50/14 , B62D15/025
摘要： An apparatus for warning deviation from a lane has a deviation evaluation ECU 1. The deviation evaluation ECU 1 has a deviation evaluator 14 for performing an evaluation on a deviation by comparing a future position of a host vehicle with a lane future position. Before this deviation evaluation, a mask processor 13 determines whether a yaw angle of the host vehicle and a lateral position of the vehicle relative to a driving lane exceed their respective thresholds preliminarily determined. When either one or the both are not more than the thresholds, the mask processor 13 performs a mask process, without performing the deviation evaluation. A deviation evaluator 14 performs the deviation evaluation when the yaw angle and the lateral position relative to the driving lane both exceed their respective thresholds.
摘要翻译： 用于警告偏离车道的装置具有偏差评估ECU 1.偏差评估ECU1具有偏差评估器14，用于通过将本车辆的未来位置与车道未来位置进行比较来对偏差进行评估。 在该偏差评估之前，掩模处理器13确定主车辆的偏航角和车辆相对于行驶车道的横向位置是否超过其预先确定的各自的阈值。 当任何一个或两者都不大于阈值时，掩模处理器13执行掩模处理，而不执行偏差评估。 当偏航角和相对于行驶车道的横向位置都超过它们各自的阈值时，偏差评估器14执行偏差评估。
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公开(公告)号：US07501962B2
公开(公告)日：2009-03-10
申请号：US11887817
申请日：2006-05-30
IPC分类号： G08G1/01
摘要： A vehicle speed V is compared with a threshold Vth; when V is less than Vth, TLC is set to an initial value t0; when V is not less than Vth, TLC is set shorter with increase in V. Then TLC is compared with a predetermined value t th, and when TLC is less than t th, TLC is replaced by t th being a lower limit. This improves compatibility between a reduction in an occurrence frequency of needless warnings and a guarantee of a deviation margin time.
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公开(公告)号：US07373230B2
公开(公告)日：2008-05-13
申请号：US11138432
申请日：2005-05-27
IPC分类号： B62D6/04
摘要： Characteristic lines A to D of lateral acceleration G-required torque T in determination of required torque T are used as switched according to increase/decrease of the absolute value of the lateral acceleration, and the direction thereof. The lines A, C used in increase of the absolute value of the lateral acceleration G are so set that the absolute value of required torque T becomes larger at the same lateral acceleration G (G≠0) than that with the lines B, D used in decrease of the absolute value of the lateral acceleration G. The difference between line A and line B (the difference between line C and line D as well) at the same lateral acceleration G is so set that the difference near the lateral acceleration of 0 is smaller than that in the other regions. Particularly, it is preferable to set the required torque T to 0 at the lateral acceleration G of 0.
摘要翻译： 根据横向加速度的绝对值的增加/减小及其方向，使用横向加速度G的特征线A至D来确定所需扭矩T的所需扭矩T。 用于增加横向加速度G的绝对值的线A，C被设定为使得所需转矩T的绝对值在与线B，D相同的横向加速度G（G <> 0）时变大 用于降低横向加速度G的绝对值。在相同的横向加速度G处，线A与线B之间的差（以及线C与线D之间的差）也被设定为使得横向加速度 0小于其他区域。 特别地，优选的是在横向加速度G为0的情况下将所需转矩T设定为0。
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