公开(公告)号：US06185492B2

公开(公告)日：2001-02-06

申请号：US09106111

申请日：1998-06-29

Applicant: Kazunori Kagawa ,  Takeshi Goto ,  Kunihito Satoh

Inventor： Kazunori Kagawa ,  Takeshi Goto ,  Kunihito Satoh

IPC: B62D600

CPC classification number: B62D15/025 ,  B60T2201/08 ,  B60T2201/087 ,  G05D1/0246 ,  G05D1/0274 ,  G05D1/0278 ,  G05D2201/0213

Abstract: A vehicle steering control apparatus which controls a steering torque to move the vehicle toward a line desired by a driver or appropriate for circumstances of the vehicle. The vehicle steering control apparatus recognizes a lane on which a vehicle is moving, and controls a steering torque of the vehicle so that the vehicle moves along the lane. A plurality of reference lines, which extend along the lane and are arranged parallel to each other in a direction of a width of the lane, are set. A target moving line is selected from among the plurality of reference lines in accordance with a state of movement of the vehicle. A steering torque is generated for shifting a moving line of the vehicle toward the target moving line.

Abstract translation: 一种车辆转向控制装置，其控制转向转矩以将车辆朝向驾驶员期望的线路或适合于车辆的情况移动。 车辆转向控制装置识别车辆正在移动的车道，并且控制车辆的转向扭矩，使得车辆沿车道移动。 设置沿着车道延伸并且在车道的宽度方向上彼此平行布置的多个参考线。 根据车辆的移动状态，从多个基准线中选择目标移动线。 产生用于使车辆的移动线向目标移动线移动的转向转矩。

公开(公告)号：US06173222B2

公开(公告)日：2001-01-09

申请号：US09169253

申请日：1998-10-09

Applicant: Jae-hyung Seo ,  Gi-seok Kim

Inventor： Jae-hyung Seo ,  Gi-seok Kim

IPC: G06F700

CPC classification number: B62D1/28 ,  B60T2201/08 ,  B60T2201/087 ,  B60T2201/089 ,  G05D1/0246 ,  G05D2201/0213

Abstract: Disclosed is a steering control system and method for autonomous intelligent vehicles. The system includes image input means for supplying images of in front of the vehicle; a plurality of image grabbers which receive images from the image input means and capture image signals corresponding to the road; a first controller determining if the vehicle is being driven within the lane using near image signals received from the image grabbers; a second controller determining a driving direction of the vehicle and detecting curves in the road using distant image signals received from the image grabbers; a steering controller analyzing the information received from the first and second controllers to determine a steering angle and direction, and which outputs control signals corresponding to the analysis; and drive means for driving a steering system of the vehicle in a direction and angle corresponding to the control signals received from the steering controller.

Abstract translation: 公开了一种用于自主智能车辆的转向控制系统和方法。 该系统包括用于提供车辆前方图像的图像输入装置; 多个图像获取器，其从图像输入装置接收图像并捕获对应于道路的图像信号; 第一控制器，使用从图像采集器接收的近似图像信号来确定车辆是否在车道内被驱动; 确定车辆的驾驶方向的第二控制器，并使用从图像采集器接收到的远距离图像信号来检测道路中的曲线; 分析从第一控制器和第二控制器接收的信息以确定转向角和方向的转向控制器，并输出与分析对应的控制信号; 以及用于以与从转向控制器接收到的控制信号相对应的方向和角度来驱动车辆的转向系统的驱动装置。

公开(公告)号：US6134491A

公开(公告)日：2000-10-17

申请号：US151759

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: B62D1/28 ,  B62D5/04 ,  B62D6/00 ,  B62D15/02 ,  A01B69/00

CPC classification number: B62D15/025 ,  B62D1/286 ,  B62D5/0481 ,  B62D5/0484 ,  B60T2201/08 ,  B60T2201/087

Abstract: A system for controlling steering of a vehicle, including a steering unit having an electric motor which steers driven wheels of the vehicle, a first steering control unit (EPS ECU 76) for controlling the actuator, a CCD camera for detecting a condition of a lane on a road on which the vehicle travels, a steering assist torque determining unit for determining a steering assist torque necessary for holding a positional relationship between the vehicle and the lane condition, a torque sensor for detecting a steering torque manually applied to the steering unit by the driver, second steering control unit for calculating a torque command to be output to the first steering control unit based on the steering assist torque calculated by the steering assist torque calculating unit and the detected steering torque to control the motor such that the torque command decreases. In the system, a failure detecting unit is provided for detecting whether a failure has occurred at least in determination of the steering assist torque, and the control by the second control unit is discontinued, or is switched to the control by the first control unit when the failure is detected, thereby enabling to detect or discriminate the occurrence of failure with accuracy and to take a necessary countermeasure to cope with the failures condition.

Abstract translation: 一种用于控制车辆的转向的系统，包括具有转向车辆的从动轮的电动机的转向单元，用于控制致动器的第一转向控制单元（EPS ECU 76），用于检测车道状况的CCD照相机 在车辆行驶的道路上，用于确定保持车辆和车道状态之间的位置关系所需的转向辅助转矩的转向辅助转矩确定单元，用于检测手动施加到转向单元的转向转矩的转矩传感器， 驾驶员第二转向控制单元，用于基于由转向辅助转矩计算单元计算的转向辅助转矩和检测到的转向转矩来计算要输出到第一转向控制单元的转矩指令，以控制电动机，使得转矩指令减小 。 在该系统中，提供故障检测单元，用于至少在确定转向辅助转矩时检测是否发生了故障，并且第二控制单元的控制被中断，或者被切换到第一控制单元的控制 检测到故障，从而能够精确地检测或辨别故障的发生，并采取必要的对策来应对故障状况。

公开(公告)号：US5375057A

公开(公告)日：1994-12-20

申请号：US753594

申请日：1991-09-03

Applicant: Jurgen Ackermann

Inventor： Jurgen Ackermann

IPC: B62D6/00 ,  B62D7/14 ,  B62D7/15 ,  B62D101/00 ,  B62D103/00 ,  B62D113/00 ,  B62D137/00 ,  B62D6/04

CPC classification number: B62D7/159 ,  B60T2201/08 ,  B60T2201/087

Abstract: A method of steering road vehicles having front-wheel and rear-wheel steering is provided in which by an integrating feedback of a measured yaw rate signal to the front-wheel steering the yaw motion is decoupled from the lateral motion of the front axle, the problem of steering thereby being split into two subproblems to be solved separately, that is into a lateral track guiding of the front axle by a signal which a driver generates with the steering wheel, and into an automatic control of the yaw motion, and the eigenvalues of the yaw motion can be shifted as desired by feedback of the measured yaw rate signal to the rear-wheel steering in such a manner that the choice of the yaw eigenvalues has no influence on the steering transfer function from the steering wheel to the lateral motion of the front axle.When employing the steering method according to the invention the driver no longer has to worry at all about the yaw motion of his vehicle; it is stable. Furthermore, via the rear-wheel steering eigenvalues of the yaw motion can be fixed as desired in adaption to the desired driving mode, such as sporting or comfortable.

Abstract translation: 提供一种转向具有前轮和后轮转向的道路车辆的方法，其中通过将测量的横摆速率信号与前轮转向的积分反馈，偏航运动与前轴的横向运动分离， 转向问题被分为两个子问题，分别解决，即通过驾驶员与方向盘产生的信号进入前轴的侧向导轨，并进入偏航运动的自动控制以及特征值 偏航运动的偏移可以通过将所测量的横摆角速度信号反馈到后轮转向，以使得偏航特征值的选择对从方向盘到侧向运动的转向传递函数没有影响的方式来移动 的前轴。 当采用根据本发明的转向方法时，驾驶员不再需要担心他的车辆的偏航运动; 它是稳定的 此外，经由偏转运动的后轮转向特征值可以根据需要固定，以适应期望的驾驶模式，例如运动或舒适。

公开(公告)号：US20180304883A1

公开(公告)日：2018-10-25

申请号：US15571383

申请日：2016-03-11

Applicant: AUDI AG

Inventor： Christoph MUELLER

IPC: B60W30/02 ,  B62D15/02 ,  G05D1/02 ,  B60W10/184 ,  B60W10/20 ,  B60T7/12 ,  B60T8/1755 ,  B62D6/00

CPC classification number: B60W30/02 ,  B60T7/12 ,  B60T8/17557 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2201/087 ,  B60T2260/022 ,  B60T2260/06 ,  B60W10/18 ,  B60W10/184 ,  B60W10/20 ,  B60W50/14 ,  B60W2520/125 ,  B60W2710/18 ,  B60W2710/20 ,  B60W2720/18 ,  B60Y2300/82 ,  B62D6/00 ,  B62D15/025 ,  B62D15/0255 ,  G05D1/0268

Abstract: The invention relates to a method for operating a transversal guidance system of a motor vehicle through two independent channels to perform automatic transversal guidance interventions. Through the first channel, transversal interventions are performed via a first transversal guidance actuator controlled by means of a driver-operated steering handle. Through the second channel, a vehicle system sets a target roll angle, and a second transversal guidance actuator is controlled by a transversal guidance system that performs a transversal guidance intervention based on the roll angle. The vehicle system displays the roll angle as a notification to the driver of the transversal guidance intervention. The invention also relates to a motor vehicle configured to perform the method.

公开(公告)号：US20180247537A1

公开(公告)日：2018-08-30

申请号：US15677842

申请日：2017-08-15

Applicant: HYUNDAI MOTOR COMPANY ,  KIA MOTORS CORPORATION

Inventor： Youngchul Oh ,  Haeryong Lee ,  TaeDong Oh ,  Wanjae Lee

IPC: G08G1/16 ,  G08G1/0967 ,  G01C21/36 ,  G05D1/00 ,  G01S19/40

CPC classification number: G08G1/161 ,  B60T2201/087 ,  B60W30/095 ,  B60W40/00 ,  B60W2550/308 ,  B60W2750/306 ,  G01C21/30 ,  G01C21/3658 ,  G01S5/0263 ,  G01S19/40 ,  G01S19/48 ,  G05D1/0088 ,  G05D1/0293 ,  G05D2201/0213 ,  G08G1/096791 ,  G08G1/163 ,  G08G1/166 ,  H04W84/18

Abstract: Described are apparatus and method for estimating a position of a vehicle, and a vehicle using the same. A vehicle location estimation apparatus includes a vehicle sensor configured to detect a vehicle, a communication unit configured to receive traveling information of a further vehicle from the further vehicle, and a controller configured to detect a position of the vehicle and a traveling trajectory of the further vehicle based on information of vehicles detected by the vehicle sensor and traveling information of the further vehicle transmitted from the further vehicle, and to predict a traveling route of the further vehicle, to match the predicted traveling route of the further vehicle with an expected traveling route on a map, thereby correcting the position of the vehicle.

公开(公告)号：US20180201242A1

公开(公告)日：2018-07-19

申请号：US15919567

申请日：2018-03-13

Applicant: Continental Teves AG & Co. oHG

Inventor： Kai Bretzigheimer ,  Stefan Feick

IPC: B60T8/1755

CPC classification number: B60T8/17557 ,  B60T2201/083 ,  B60T2201/085 ,  B60T2201/087 ,  B60W2520/14

Abstract: A method for performing closed-loop control of a motor vehicle having a brake system with a stability control system comprises comparing an actual yaw rate with a setpoint yaw rate which is calculated using a model. A yaw moment of a closed-loop or open-loop assistance control of an assistance system for lane guidance or transverse guidance is taken into account during the calculation of the setpoint yaw rate. An electronic brake control unit which is suitable for carrying out the method and is connected to at least one vehicle sensor, in particular a steering angle sensor, yaw rate sensor and/or wheel rotational speed sensors. The brake control unit can bring about, through actuation of actuators, a driver-independent increase in and a modulation of the braking forces at the individual wheels of the vehicle.

公开(公告)号：US09604609B2

公开(公告)日：2017-03-28

申请号：US14275062

申请日：2014-05-12

Applicant: Ford Global Technologies, LLC

Inventor： Shane Elwart ,  Walter Joseph Talamonti ,  Doug Scott Rhode

IPC: B60W30/09 ,  B62D6/00 ,  G05D1/02 ,  B60W10/18 ,  B60W10/20 ,  B60T8/1755 ,  B60W30/10 ,  G08G1/16

CPC classification number: B60T8/1755 ,  B60T8/17557 ,  B60T2201/087 ,  B60W10/18 ,  B60W10/20 ,  B60W30/09 ,  B60W30/10 ,  B62D6/00 ,  G05D1/0246 ,  G05D1/0257 ,  G08G1/16 ,  G08G1/166 ,  G08G1/167

Abstract: An emergency in-lane steering assist system for use during a braking event comprises an object sensor for detecting the presence of an object in front of a motor vehicle and providing data from which the distance from the object to the motor vehicle is determined and a velocity sensor providing data from which the forward velocity of the motor vehicle is determined. A controller in communication with the object sensor and the velocity sensor calculates a Time to Contact (TTC) with the detected object and a steering system is responsive at least in part to operation by the controller. If the calculated TTC is less than a predetermined TTC, the controller provides a lateral steering input during the braking event to reduce the linear distance traveled by the motor vehicle relative to a predetermined path in the lane.

公开(公告)号：US09073576B2

公开(公告)日：2015-07-07

申请号：US13224803

申请日：2011-09-02

Applicant: Jin-Woo Lee ,  Bakhtiar Brian Litkouhi

Inventor： Jin-Woo Lee ,  Bakhtiar Brian Litkouhi

IPC: B60W40/08 ,  B62D1/28 ,  B62D6/00 ,  B62D15/02

CPC classification number: B62D1/286 ,  B60T2201/08 ,  B60T2201/087 ,  B60W40/08 ,  B60W2520/14 ,  B62D6/00 ,  B62D15/025

Abstract: Vehicle steering measurements of a vehicle may be measured. Expected vehicle steering measurements may be calculated, each calculated expected vehicle steering measurement corresponding to one of the measured vehicle steering measurements. At least one difference between one of the measured vehicle steering measurements and its corresponding calculated expected vehicle steering measurement may be calculated. A lower boundary and an upper boundary of at least one override transition zone, each of the override transition zones corresponding to one of the measured vehicle steering measurements and its corresponding calculated expected vehicle steering measurement, may be calculated. Steering control of the vehicle may be gradually transferred from an automatic vehicle control system to a driver of the vehicle over a predetermined period of time when one or more of the calculated differences lie between the calculated lower boundary and the calculated upper boundary of the corresponding override transition zone.

Abstract translation: 可以测量车辆的车辆转向测量。 可以计算预期的车辆转向测量值，每个计算的预期车辆转向测量值对应于所测量的车辆转向测量之一。 可以计算测量的车辆转向测量值中的一个与其对应的计算的预期车辆转向测量之间的至少一个差。 可以计算至少一个超控过渡区域的下边界和上边界，对应于所测量的车辆转向测量值之一的每个超控过渡区域及其对应的计算出的预期车辆转向测量值。 在计算出的下边界和计算出的下边界与所计算的相应覆盖的上边界之间的一个或多个计算的差异在预定的时间段内，车辆的转向控制可以从自动车辆控制系统逐渐转移到车辆的驾驶员 过渡区。

公开(公告)号：US08577553B2

公开(公告)日：2013-11-05

申请号：US13282766

申请日：2011-10-27

Applicant: Hirofumi Nitta ,  Yuichi Mizutani ,  Mitsuhiro Tokimasa ,  Junpei Tatsukawa ,  Yasuhiko Mukai ,  Yoshihisa Ogata ,  Hajime Kumabe ,  Masatoshi Hanzawa ,  Masaki Maruyama

Inventor： Hirofumi Nitta ,  Yuichi Mizutani ,  Mitsuhiro Tokimasa ,  Junpei Tatsukawa ,  Yasuhiko Mukai ,  Yoshihisa Ogata ,  Hajime Kumabe ,  Masatoshi Hanzawa ,  Masaki Maruyama

IPC: A01B69/00 ,  B62D6/00 ,  B62D5/04 ,  B60G17/018

CPC classification number: B60W50/045 ,  B60T8/17557 ,  B60T2201/087 ,  B60W10/184 ,  B60W10/20 ,  B60W30/02 ,  B60W50/035 ,  B60W50/14 ,  B60W2050/0095 ,  B60W2050/021 ,  B60W2540/18 ,  B62D1/286 ,  B62D6/003 ,  B62D15/025

Abstract: A lateral motion control apparatus for a vehicle includes a control stop determination unit that determines whether or not to stop the control for the control target by the control target control unit based on a steering operation amount inputted by a driver of the vehicle, and a degeneration control amount determination unit that determines a degeneration control amount for the control target such that the control amount for the control target degenerates after the time when the control stop determination unit has determined that the control for the control target is to be stopped. When the control stop determination unit has determined that the control for the control target is to be stopped, the control target control unit controls the control target based on the degeneration control amount determined by the degeneration control amount determination unit.

Abstract translation: 一种用于车辆的横向运动控制装置，包括控制停止确定单元，其基于由车辆的驾驶员输入的转向操作量来确定是否停止由控制目标控制单元执行的控制目标的控制，以及退化 控制量确定单元，其确定控制目标的退化控制量，使得控制目标的控制量在控制停止确定单元已经确定将要停止对控制目标的控制的时间之后退化。 当控制停止确定单元已经确定要停止对控制目标的控制时，控制目标控制单元基于由退化控制量确定单元确定的退化控制量来控制控制目标。