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31.发明授权公开(公告)号：US07925416B2
公开(公告)日：2011-04-12
申请号：US12371792
申请日：2009-02-16
CPC分类号： B60K31/0083 , B60W10/04 , B60W10/18 , B60W30/16 , B60W30/17 , B60W2520/125 , B60W2520/14 , B60W2550/10 , B60W2550/306
摘要： The present invention provides a system and method for enabling a vehicle having adaptive cruise control to reduce its speed in a turn according to the vehicle's position within the turn as well as ignoring objects detected during the turn that are not in the vehicle's path. The method of the present invention includes the steps of operating the vehicle in an adaptive cruise control mode such that the vehicle is traveling at a set speed; determining whether the vehicle is in a turn in the vehicle's path by detecting change in the vehicle's lateral acceleration; and when the vehicle is determined to be in the turn, reducing the vehicle's speed according to the vehicle's position in the turn, monitoring for objects and maintaining the vehicle's speed if an object is positioned out of the path of the vehicle.
摘要翻译： 本发明提供了一种使得具有自适应巡航控制的车辆能够根据车辆在转弯期间的位置一度降低其速度以及忽略在不在车辆路径中的转弯期间检测到的物体的系统和方法。 本发明的方法包括以自适应巡航控制模式操作车辆使得车辆以设定速度行驶的步骤; 通过检测车辆的横向加速度的变化来确定车辆是否在车辆的路径中转弯; 并且当车辆被确定为转弯时，如果物体位于车辆的路径之外，则根据车辆的转弯位置降低车辆的速度，监视物体并保持车辆的速度。
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公开(公告)号：US20090088941A1
公开(公告)日：2009-04-02
申请号：US12194767
申请日：2008-08-20
CPC分类号： B60W30/16 , B60K31/0075 , B60K31/0083 , B60W2520/125 , B60W2520/14 , B60W2550/143 , B60W2550/402 , B60W2720/106
摘要： A vehicle speed control system includes a road shape recognition unit which recognizes a road shape, a target speed setting unit which sets a target speed according to the road shape, a speed control unit which controls the host vehicle's speed according to the target speed, a parameter detecting unit which detects at least one of parameters representing the driver's steering rotation, a yaw rate of the host vehicle, and a lateral acceleration of the host vehicle, and a first acceleration determining unit which, after the speed control unit has decelerated, determines whether or not to accelerate the host vehicle according to reference parameters based on a road shape and the host vehicle's speed and parameters detected by the parameter detecting unit, wherein if the first acceleration determining unit has determined to accelerate, the target speed setting unit sets a target speed of the host vehicle according to a predetermined acceleration.
摘要翻译： 车速控制系统包括识别道路形状的道路形状识别单元，根据道路形状设定目标速度的目标速度设定单元，根据目标速度来控制本车辆速度的速度控制单元， 参数检测单元，其检测表示所述驾驶员的转向旋转，所述主车辆的偏航率，所述主车辆的横向加速度的参数中的至少一个以及所述速度控制单元减速后的第一加速度判定单元， 是否根据参考参数根据道路形状和本车辆的速度和参数检测单元检测到的参数加速本车辆，其中如果第一加速度确定单元已经确定加速，则目标速度设定单元设定 根据预定加速度，本车辆的目标速度。
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公开(公告)号：US20080183419A1
公开(公告)日：2008-07-31
申请号：US12060842
申请日：2008-04-01
IPC分类号： G01B21/20
CPC分类号： B60K31/0066 , B60K31/0008 , B60K31/0083 , B60T2210/24 , B60T2260/08 , B60W2520/14 , B60W2550/143 , B60W2550/302 , B60W2550/304 , B60W2550/306 , G01C21/26 , G01S7/411 , G01S13/58 , G01S13/723 , G01S13/86 , G01S13/931 , G01S2013/9325 , G01S2013/9353 , G01S2013/9375
摘要： A processor operatively coupled to a speed sensor adapted to generate a measure of a longitudinal speed of a vehicle on a roadway, and to a source of a measure of yaw rate of the vehicle, provides for selecting a most likely roadway model of a plurality of different roadway models and for outputting a corresponding associated at least one curvature parameter as an estimate of curvature of the roadway, wherein the processor incorporates a plurality of curvature estimators associated with the corresponding plurality of different roadway models.
摘要翻译： 可操作地耦合到速度传感器的处理器，其适于产生道路上的车辆的纵向速度的量度以及车辆的偏航率测量的来源，提供了选择多个 并且用于输出相应的相应的至少一个曲率参数作为所述道路的曲率的估计，其中所述处理器包括与相应的多个不同道路模型相关联的多个曲率估计器。
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34.发明授权公开(公告)号：US07400963B2
公开(公告)日：2008-07-15
申请号：US11297906
申请日：2005-12-09
申请人： Yong H. Lee , Weiwen Deng
发明人： Yong H. Lee , Weiwen Deng
CPC分类号： B60K31/0066 , B60K31/0083 , B60W10/06 , B60W10/184 , B60W2550/143
摘要： A vehicle curve speed control system (10) adapted for use with a vehicle (12) having an operator (14), includes a map database (16) representing a current vehicle path, and a locator device (20) communicatively coupled to the database (16) and configured to determine the location of the vehicle (12) on the path. The system (10) further includes a controller (36) configured to identify approaching curve points of a curve (18a) in terms of curvature or radius, and determine a desired speed profile based on operator preference and/or vehicle characteristic input. An acceleration profile is determined, based on the current vehicle speed, and desired speed profile. An acceleration/deceleration command at the present control loop is modified towards achieving an optimal curve speed, and is delivered to either a brake or acceleration module (40,42) to automatically accelerate or decelerate the vehicle (12) accordingly.
摘要翻译： 一种适于与具有操作员（14）的车辆（12）一起使用的车辆曲线速度控制系统（10），包括表示当前车辆路径的地图数据库（16）和通信地耦合到数据库的定位装置（20） （16）并且被配置为确定所述车辆（12）在所述路径上的位置。 系统（10）还包括控制器（36），其被配置为基于曲率或半径来识别曲线（18a）的接近曲线点，并且基于操作者偏好和/或车辆特性输入来确定期望的速度曲线。 基于当前车辆速度和期望的速度曲线来确定加速度曲线。 当前控制回路处的加速/减速命令被修改以实现最佳的曲线速度，并被传送到制动器或加速模块（40,42），以相应地自动加速或减速车辆（12）。
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公开(公告)号：US20080046166A1
公开(公告)日：2008-02-21
申请号：US11770021
申请日：2007-06-28
IPC分类号： G06F19/00
CPC分类号： B60K31/0083 , B60W40/072 , B60W40/076 , B60W2050/0077 , B60W2520/125
摘要： The invention relates to a method for detecting a driving situation ahead of a motor vehicle. In a first step, a first function (f—1) is evaluated, which calculates a variable path length ahead (I_vor) as a function of a current vehicle speed (v) and a current degree of sportiness (gsp). In a second step, a second function (f—2) is evaluated, which calculates the road course data (str_vor) at least as a function of the variable path length ahead (I_vor) and environment data (u). In a third step, a third function (f—3) is evaluated, which calculates a possible driving situation ahead (sit_cand) at least as a function of the road course data (str_vor), the vehicle speed (v) and the degree of sportiness (gsp). Finally, in a fourth step, a fourth function (f—4) is evaluated, by means of which a driving situation ahead (sit_vor) is detected at least as a function of the possible driving situation ahead (sit_cand). The detected driving situation ahead (sit_vor) can be used, for example, to influence electronic and/or mechanical vehicle systems, such as electronically controlled vehicle transmissions.
摘要翻译： 本发明涉及一种用于检测机动车辆前方驾驶状况的方法。 在第一步骤中，评估第一函数（f 1-1），其计算作为当前车辆速度（v）的函数的当前可变路径长度（I_vor）和当前运动程度 （gsp）。 在第二步骤中，评估至少根据前面的可变路径长度（I_vor）和环境数据（I_vor）的函数来计算道路路线数据（str_vor）的第二函数（f 2 - 2） 你） 在第三步骤中，评估第三功能（f 3 - 3），其至少根据道路路线数据（str_vor），车辆速度（str_vor）来计算前方的可能驾驶状况（sit_cand） （v）和运动程度（gsp）。 最后，在第四步骤中，评估第四功能（f>-4），借助于该功能至少根据可能的前进驾驶状况来检测驾驶状况（sit_vor）（sit_vor） sit_cand）。 检测到的驾驶状况（sit_vor）可以用于例如影响电子和/或机械车辆系统，例如电子控制车辆变速器。
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公开(公告)号：US06678602B2
公开(公告)日：2004-01-13
申请号：US10018151
申请日：2002-06-21
申请人： Hermann Winner , Jens Lueder
发明人： Hermann Winner , Jens Lueder
IPC分类号： B60K3100
CPC分类号： B60W30/16 , B60K31/0008 , B60K31/0083 , B60W2520/125 , B60W2720/106
摘要： In a method of controlling the speed of a vehicle, at least one vehicle traveling ahead in the same lane within a radar detection range is detected using a radar sensor and in which the transverse acceleration in the vehicle to be controlled is detected. Acceleration or a change in acceleration is limited in the vehicle to be controlled if, in addition to or instead of a transverse acceleration, it is evaluated that the vehicle to be controlled has reached the limit of the radar detection range and/or the vehicle traveling ahead has left the radar detection range when no change of lanes takes place.
摘要翻译： 在控制车辆速度的方法中，使用雷达传感器检测在雷达检测范围内在同一车道上行进的至少一辆车辆，并且检测要控制的车辆中的横向加速度。 如果除了横向加速度之外或代替横向加速度，评估被控制的车辆已经达到雷达检测范围和/或车辆行驶的极限，加速度或加速度变化受到限制 在没有改变车道的情况下，前方已经离开了雷达检测范围。
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公开(公告)号：US20020165657A1
公开(公告)日：2002-11-07
申请号：US10018151
申请日：2002-06-21
发明人： Hermann Winner , Jens Lueder
IPC分类号： B60T007/12
CPC分类号： B60W30/16 , B60K31/0008 , B60K31/0083 , B60W2520/125 , B60W2720/106
摘要： In a method of controlling the speed of a vehicle, at least one vehicle traveling ahead in the same lane within a radar detection range is detected using a radar sensor and in which the transverse acceleration in the vehicle to be controlled is detected. Acceleration or a change in acceleration is limited in the vehicle to be controlled if, in addition to or instead of a transverse acceleration, it is evaluated that the vehicle to be controlled has reached the limit of the radar detection range and/or the vehicle traveling ahead has left the radar detection range when no change of lanes takes place.
摘要翻译： 在控制车辆速度的方法中，使用雷达传感器检测在雷达检测范围内在同一车道上行进的至少一辆车辆，并且检测要控制的车辆中的横向加速度。 如果除了横向加速度之外或代替横向加速度，评估被控制的车辆已经达到雷达检测范围和/或车辆行驶的极限，加速度或加速度变化受到限制 在没有改变车道的情况下，前方已经离开了雷达检测范围。
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公开(公告)号：US06424904B1
公开(公告)日：2002-07-23
申请号：US09664736
申请日：2000-09-19
申请人： Akira Takahashi , Munenori Matsuura
发明人： Akira Takahashi , Munenori Matsuura
IPC分类号： G01C2100
CPC分类号： G01C21/3697 , B60K31/0083 , B60W2520/125 , G01C21/34
摘要： A curve approaching mode controller is capable of continuing vehicle control operations for the longest possible time even if curve information is not available from a navigation system. The navigation system provides curve information about a curve on a road stretching ahead of a vehicle. A control unit estimates a curve approaching mode in which the vehicle will approach the curve on the basis of the curve information and, when necessary, gives a warning and executes a decelerating control operation. If only insufficient curve information is available from the navigation system, a road attribute calculating and storing unit stores the normal node information received immediately before receiving the insufficient node information (curve information) without updating the same, and informs a warning speed calculating and storing unit of a fact that the node information is insufficient. A warning speed calculating and storing unit calculates a warning speed that serves as a reference for warning on the basis of the normal node information received immediately before receiving the insufficient node information, taking a distance traveled by the vehicle after the insufficient node information has been received.
摘要翻译： 曲线逼近模式控制器能够在尽可能长的时间内持续车辆控制操作，即使曲线信息不能从导航系统获得。 导航系统提供关于在车辆前方延伸的道路上的曲线的曲线信息。 控制单元估计曲线接近模式，其中车辆将基于曲线信息接近曲线，并且在必要时给出警告并执行减速控制操作。 如果导航系统只有曲线信息不足，则道路属性计算和存储单元将接收到不足的节点信息（曲线信息）之前立即接收的正常节点信息存储在不更新的情况下，通知警告速度计算和存储单元 节点信息不足的事实。 警报速度计算和存储单元基于在接收到不足的节点信息之前立即接收到的正常节点信息来计算作为用于警告的参考的警告速度，在接收到不足的节点信息之后取得车辆行驶的距离 。
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39.发明授权Method and system for controlling vehicle speed based on vehicle yaw rate and yaw acceleration 失效基于车辆横摆角速度和偏航加速度来控制车辆速度的方法和系统公开(公告)号：US06408241B1
公开(公告)日：2002-06-18
申请号：US09954878
申请日：2001-09-17
IPC分类号： B60T712
CPC分类号： B60T8/246 , B60K31/0066 , B60K31/0083 , B60T7/12 , B60T2201/02 , B60T2201/16 , B60T2210/24 , B60W2520/125 , B60W2520/14 , B60W2550/143 , G01S2013/9321 , G01S2013/9353
摘要： In an adaptive vehicle speed control system, a method and system for controlling the speed of the vehicle while the vehicle is traversing a curved path. The method and system include determining a yaw acceleration of the vehicle, and determining a maximum allowed speed of the vehicle on the curved path based on the yaw acceleration. The method and system also include limiting the speed of the vehicle on the curved path to a value no greater than the maximum allowed vehicle speed.
摘要翻译： 在自适应车速控制系统中，一种用于在车辆横过弯道时控制车辆速度的方法和系统。 该方法和系统包括确定车辆的偏航加速度，以及基于偏航加速度确定车辆在弯曲路径上的最大允许速度。 该方法和系统还包括将车辆在弯道上的速度限制在不大于最大允许车速的值。
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公开(公告)号：US06370469B1
公开(公告)日：2002-04-09
申请号：US09592831
申请日：2000-06-13
IPC分类号： G06F1700
CPC分类号： B60K31/0083 , B60K31/047 , B60W2520/125 , B60W2520/28 , B60W2710/0666
摘要： A method of controlling a cruise control system, comprising the steps of: assigning a low lateral acceleration limit; assigning a high lateral acceleration limit; determining a lateral acceleration of a vehicle; comparing the lateral acceleration to the low and high lateral acceleration limits; monitoring a torque command of a torque control computer at least where the lateral acceleration is above the low lateral acceleration limit; and compensating the torque command by setting the torque command equal to a minimum torque command where the lateral acceleration is between the low and high lateral acceleration limits and the torque command increases.
摘要翻译： 一种控制巡航控制系统的方法，包括以下步骤：分配低横向加速度极限; 分配高横向加速度极限; 确定车辆的横向加速度; 将横向加速度与低和高横向加速度极限进行比较; 至少在所述横向加速度高于所述低横向加速度极限的情况下监视扭矩控制计算机的转矩指令; 并且通过将转矩指令设定为横向加速度处于低和高横向加速度极限之间的最小转矩指令并且转矩指令增加来补偿转矩指令。
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