公开(公告)号：US08346427B2

公开(公告)日：2013-01-01

申请号：US12867643

申请日：2009-01-09

Applicant: Sachio Kobayashi

Inventor： Sachio Kobayashi

IPC: G05D1/00

CPC classification number: B62D15/025 ,  B60T8/17557 ,  B60T2201/083 ,  B60T2201/087 ,  B60W10/18 ,  B60W10/20 ,  B60W30/18172 ,  B60W50/08 ,  B60W2050/146 ,  B60W2520/10 ,  G08G1/167

Abstract: A vehicle travel support device is capable of properly controlling the operation of a steering device and the like from the viewpoint of supporting the travel of a vehicle stably even in a situation where a travel area is inappropriately demarcated by right and left lane marks at both sides. A virtual travel area can be set as a travel area when a first condition is satisfied, that is, when the separation between the right and the left lane marks in width direction of a road increases to an inappropriate extent from the viewpoint of demarcating the travel area because the separation therebetween gradually increases as the distance from the vehicle increases. The operation of a steering device and the like is controlled such that the vehicle will not depart from the virtual travel area set as the travel area.

Abstract translation: 车辆行驶辅助装置能够从支撑车辆的行驶稳定的观点来适当地控制转向装置等的动作，即使在行驶区域被两侧的左右车道标记不适当地划定的情况下 。 当满足第一条件时，也可以将道路的宽度方向上的左右车道标记之间的间隔从划分行驶的角度上升到适当的程度，将虚拟行驶区域设定为行驶区域 因为随着距离车辆的距离增加，它们之间的分离逐渐增加。 控制转向装置等的操作，使得车辆不会离开设置为行驶区域的虚拟行驶区域。

公开(公告)号：US08306700B2

公开(公告)日：2012-11-06

申请号：US12867605

申请日：2009-01-09

Applicant: Sachio Kobayashi

Inventor： Sachio Kobayashi

IPC: A01B69/00

CPC classification number: B62D15/025 ,  B60T8/17557 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2201/087 ,  B60W10/18 ,  B60W10/20 ,  B60W30/18172 ,  B60W50/08 ,  B60W2050/146 ,  B60W2520/10 ,  G08G1/167

Abstract: A vehicle travel support device capable of continuing operation even when the recognition accuracy of a lane mark has been degraded, and the like, wherein the degree of control on the operation of a steering device or the like is set higher as the reliability of a lane mark becomes higher. In a state in which the reliability of a travel area demarcated by the lane mark is high, a vehicle's travel is relatively strongly or actively supported so that the vehicle will not depart from the travel area. On the other hand, the degree of control on the operation of the steering device or the like is set lower as the reliability of the lane mark is lower. In a state in which the reliability of the travel area demarcated by the lane mark is low, the vehicle's travel is relatively weakly or passively supported so that the vehicle will not depart from the travel area.

Abstract translation: 即使当车道标识的识别精度已经劣化时能够继续操作的车辆行驶支持装置等，其中转向装置等的操作的控制程度被设置为更高，因为车道的可靠性 标记变得更高。 在车道标记划分的行驶区域的可靠性高的状态下，车辆的行驶相对强烈地或主动地被支撑，使得车辆不会离开行驶区域。 另一方面，由于车道标记的可靠性较低，所以对转向装置等的操作的控制程度降低。 在车道标记划定的行驶区域的可靠性低的状态下，车辆的行驶相对较弱或被动地支撑，车辆不会离开行驶区域。

公开(公告)号：US20110231095A1

公开(公告)日：2011-09-22

申请号：US13043984

申请日：2011-03-09

Applicant: Yuki NAKADA ,  Toshiya Oosawa ,  Akira Takahashi

Inventor： Yuki NAKADA ,  Toshiya Oosawa ,  Akira Takahashi

IPC: G06F19/00

CPC classification number: B60W30/12 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2201/087 ,  B62D15/025

Abstract: A vehicle control apparatus includes a first section that recognizes a lane boundary line of a lane in which a vehicle is traveling. A second section recognizes a present position of a predetermined reference point of the vehicle. A third section calculates a predicted position of the reference point, wherein the predicted position is a predetermined interval ahead of the present position. A fourth calculates an imaginary lane boundary line, wherein the imaginary lane boundary line is tangent to the lane boundary line at a point close to the predicted position. A fifth section performs a control of preventing the vehicle from deviating from the lane by controlling the vehicle depending on positional relationship between the vehicle and the lane boundary line. A sixth section selectively permits and suppresses the control depending on positional relationship among the imaginary lane boundary line, the present position, and the predicted position.

Abstract translation: 车辆控制装置包括识别车辆行驶的车道的车道边界线的第一部分。 第二部分识别车辆的预定参考点的当前位置。 第三部分计算参考点的预测位置，其中预测位置是在当前位置之前的预定间隔。 第四计算虚拟车道边界线，其中虚拟车道边界线在靠近预测位置的点处与车道边界线相切。 第五部分通过根据车辆与车道边界线之间的位置关系控制车辆来执行防止车辆偏离车道的控制。 第六部分根据虚拟车道边界线，当前位置和预测位置之间的位置关系选择性地允许和抑制控制。

公开(公告)号：US20100332050A1

公开(公告)日：2010-12-30

申请号：US12867605

申请日：2009-01-09

Applicant: Sachio Kobayashi

Inventor： Sachio Kobayashi

IPC: G06F7/00

CPC classification number: B62D15/025 ,  B60T8/17557 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2201/087 ,  B60W10/18 ,  B60W10/20 ,  B60W30/18172 ,  B60W50/08 ,  B60W2050/146 ,  B60W2520/10 ,  G08G1/167

Abstract: A vehicle travel support device capable of continuing operation even when the recognition accuracy of a lane mark has been degraded, and the like, wherein the degree of control on the operation of a steering device or the like is set higher as the reliability of a lane mark becomes higher. In a state in which the reliability of a travel area demarcated by the lane mark is high, a vehicle's travel is relatively strongly or actively supported so that the vehicle will not depart from the travel area. On the other hand, the degree of control on the operation of the steering device or the like is set lower as the reliability of the lane mark is lower. In a state in which the reliability of the travel area demarcated by the lane mark is low, the vehicle's travel is relatively weakly or passively supported so that the vehicle will not depart from the travel area.

Abstract translation: 即使当车道标识的识别精度已经劣化时能够继续操作的车辆行驶支持装置等，其中转向装置等的操作的控制程度被设置为更高，因为车道的可靠性 标记变得更高。 在车道标记划分的行驶区域的可靠性高的状态下，车辆的行驶相对强烈地或主动地被支撑，使得车辆不会离开行驶区域。 另一方面，由于车道标记的可靠性较低，所以对转向装置等的操作的控制程度降低。 在车道标记划定的行驶区域的可靠性低的状态下，车辆的行驶相对较弱或被动地支撑，车辆不会离开行驶区域。

公开(公告)号：US07680569B2

公开(公告)日：2010-03-16

申请号：US10828462

申请日：2004-04-21

Applicant: Shinji Matsumoto ,  Satoshi Tange ,  Tatsuya Suzuki

Inventor： Shinji Matsumoto ,  Satoshi Tange ,  Tatsuya Suzuki

IPC: G06F19/00

CPC classification number: B60T8/17557 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2201/087 ,  B60T2201/089 ,  B60W10/06 ,  B60W10/18 ,  B60W10/20 ,  B60W30/12 ,  B62D15/025

Abstract: An automotive lane deviation prevention (LDP) apparatus includes a control unit connected to a yawing-motion control actuator for LDP control purposes. The control unit determines, based on information regarding a lane marking line detected based on a picture image in front of a host vehicle, whether the host vehicle is in a state FLD≠0 where there is an increased tendency for the host vehicle to deviate from the driving lane. The control unit executes, based on a state Fdw≠0 where the host vehicle is traveling on predetermined irregularities formed on or close to the lane marking line and the information regarding the lane marking line, vehicle yawing motion control by which the host vehicle returns to a central position of the driving lane, in a lane-marking non-detecting state Fcamready=0 where the lane marking line is out of an image pick-up enabling area.

Abstract translation: 汽车车道偏离防止（LDP）装置包括连接到用于LDP控制目的的偏航运动控制致动器的控制单元。 控制单元基于关于基于主车辆前方的图像图像检测到的车道线标线的信息，确定主车辆是否处于FLD≠0的状态，其中主车辆的倾向增加 行车道。 控制单元基于本车辆在车道标线上或附近形成的规定的不规则行驶的状态Fdw≠0，以及关于车道标线的信息，主车辆返回的车辆偏航运动控制 行车道的中心位置，车道标记非检测状态Fcamready = 0，其中车道标线不在图像拾取使能区域之外。

公开(公告)号：US07656313B2

公开(公告)日：2010-02-02

申请号：US11421494

申请日：2006-06-01

Applicant: Trent Victor ,  Johan Jarlengrip

Inventor： Trent Victor ,  Johan Jarlengrip

IPC: G08G1/123

CPC classification number: B62D15/029 ,  B60K35/00 ,  B60K2350/1068 ,  B60K2350/2052 ,  B60Q9/008 ,  B60T2201/08 ,  B60T2201/082 ,  B60T2201/087 ,  G01C21/365 ,  G01C21/3652 ,  G01C21/3658 ,  G01C21/3697 ,  G02B27/01 ,  G02B27/017 ,  G02B2027/014 ,  G02B2027/0187

Abstract: Method and system for supporting path control are disclosed for supporting path control especially of a vehicle on a road or in an off-road environment, or of a ship or an airplane. The supporting of path control is especially provided by conducting at least one of the following steps (a) and (b): (a) estimating an actual future path of the vehicle on the basis of vehicle movement data and at least one of optically, acoustically, and tactilely indicating the estimated actual future path to the driver, (b) detecting the actual present path of the vehicle, estimating a present deviation of the detected actual present path from a desired present path and at least one of optically, acoustically, and tactilely indicating the estimated present deviation to the driver.

Abstract translation: 公开了用于支持路径控制的方法和系统，用于支持特别是道路或越野环境中的车辆，或者船舶或飞机的路径控制。 通过进行以下步骤（a）和（b）中的至少一个特别提供路径控制的支持：（a）基于车辆移动数据估计车辆的实际未来路径，并且至少一个光学， 声学地和触觉地指示驾驶员的估计的实际未来路径，（b）检测车辆的实际当前路径，估计所检测的实际当前路径与期望的当前路径的当前偏差，以及光学，声学， 并触觉地指示对司机的估计现在偏差。

公开(公告)号：US20100004821A1

公开(公告)日：2010-01-07

申请号：US12084355

申请日：2006-09-19

Applicant: Lutz Buerkle ,  Michael Weilkes ,  Michael Scherl ,  Tobias Rentschler

Inventor： Lutz Buerkle ,  Michael Weilkes ,  Michael Scherl ,  Tobias Rentschler

IPC: B62D6/00

CPC classification number: B62D15/025 ,  B60T2201/08 ,  B60T2201/087 ,  B60W30/12

Abstract: A device for keeping a vehicle in its lane, including a reference model, which obtains geometric data regarding the position of the vehicle in the lane as well as data relating to the course of the lane from a lane detection system, and from these calculates a setpoint variable for controlling the vehicle position. In order to allow for corners to be cut, the guiding behavior of the control system is modified in such a way when cornering that, in the event of a deviation of the path of motion of the vehicle from the setpoint path of motion in the direction of the inside of the curve, no or only low steering forces are applied to the steering system.

Abstract translation: 一种用于将车辆保持在其车道中的装置，包括参考模型，其获取关于车道在车道中的位置的几何数据以及与车道检测系统相关的车道行驶的数据，并且从这些计算机 用于控制车辆位置的设定值变量。 为了允许角落被切割，控制系统的引导行为以这种方式被修改，当转弯时，在车辆的运动路径与设定的运动路径在方向上偏离的情况下 的曲线内部，没有或只有低的转向力被施加到转向系统。

公开(公告)号：US20090271071A1

公开(公告)日：2009-10-29

申请号：US12305166

申请日：2007-08-10

Applicant: Lutz Buerkel ,  Tobias Rentschler ,  Thomas App

Inventor： Lutz Buerkel ,  Tobias Rentschler ,  Thomas App

IPC: B60W30/12

CPC classification number: B60T8/17557 ,  B60T2201/08 ,  B60T2201/087 ,  B60T2210/32 ,  B62D15/025

Abstract: A method for controlling a driver assistance system having an LKS function of a vehicle is described. In the region of lane widening, a hypothetical lane which connects a starting lane to a destination lane is generated by the driver assistance system. In the region of the lane widening, the vehicle is guided along the hypothetical lane.

Abstract translation: 描述了一种用于控制具有车辆的LKS功能的驾驶员辅助系统的方法。 在车道加宽的区域中，通过驾驶员辅助系统生成将起跑车道与目的车道连接的假想车道。 在车道加宽的区域，车辆沿着假想车道被引导。

公开(公告)号：US07528730B2

公开(公告)日：2009-05-05

申请号：US10590947

申请日：2004-10-26

Applicant: Matthias Gut ,  Jurgen Trost

Inventor： Matthias Gut ,  Jurgen Trost

IPC: B60Q1/00 ,  G08B23/00 ,  A01B69/00 ,  B62D5/00

CPC classification number: B62D15/025 ,  B60T2201/08 ,  B60T2201/082 ,  B60T2201/087 ,  B62D15/029 ,  G08B21/06

Abstract: In a method for monitoring the condition of a vehicle driver, the markings (3) of the lane in which the vehicle is moving are detected and a direction of travel which the vehicle has to follow in order to stay in the lane is determined. In this case, the vehicle driver is assisted in staying in the lane by the steering wheel being automatically centered. If the vehicle exactly follows the determined direction of travel over a certain period of time, this is a sign that the vehicle driver is not actively steering the vehicle, and a warning signal is generated.

Abstract translation: 在监视车辆驾驶员的状态的方法中，检测车辆正在移动的车道的标记（3），并且确定车辆必须遵循以便停留在车道中的行驶方向。 在这种情况下，通过方向盘自动居中地辅助车辆驾驶员停留在车道中。 如果车辆在一段时间内精确地跟随所确定的行驶方向，则这表示车辆驾驶员没有主动地引导车辆，并且产生警告信号。

公开(公告)号：US07433769B2

公开(公告)日：2008-10-07

申请号：US10713354

申请日：2003-11-17

Applicant: Satoshi Tange ,  Genpei Naito ,  Shinji Matsumoto

Inventor： Satoshi Tange ,  Genpei Naito ,  Shinji Matsumoto

IPC: B62D6/00 ,  B62D6/04 ,  G06F7/00

CPC classification number: B60W30/12 ,  B60T8/17557 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2201/087 ,  B60W10/184 ,  B60W10/20 ,  B62D6/003 ,  B62D15/025

Abstract: A system for preventing lane deviation of a vehicle is provided. The system comprises a lane detecting device, a running condition detecting device, a deviation judging device, and a vehicle behavior control device. The vehicle behavior control device controls a behavior of the vehicle so as to generate a yaw moment in the direction to prevent the vehicle from deviating from the running lane. The lane detecting device detects the running lane based on a variation in a running direction of the vehicle due to the yaw moment generated by the vehicle behavior control device. A method for preventing lane deviation of a vehicle is also provided.

Abstract translation: 提供一种用于防止车辆的车道偏离的系统。 该系统包括车道检测装置，行驶状态检测装置，偏差判定装置和车辆行为控制装置。 车辆行为控制装置控制车辆的行为，以便在防止车辆偏离行驶车道的方向上产生横摆力矩。 车道检测装置基于由车辆行为控制装置产生的横摆力矩，基于车辆的行驶方向的变化来检测行驶车道。 还提供了用于防止车辆的车道偏离的方法。