公开(公告)号：US07391304B2

公开(公告)日：2008-06-24

申请号：US11138307

申请日：2005-05-27

Applicant: Hiroaki Kataoka ,  Seiji Kawakami ,  Satoru Niwa ,  Katsuhiko Iwazaki ,  Chumsamutr Rattapon

Inventor： Hiroaki Kataoka ,  Seiji Kawakami ,  Satoru Niwa ,  Katsuhiko Iwazaki ,  Chumsamutr Rattapon

IPC: B60Q1/00

CPC classification number: B62D15/029 ,  B60T2201/08 ,  B60T2201/087 ,  B60W30/12 ,  B62D15/025

Abstract: 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.

Abstract translation: 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。 在关闭间隔中，施加的转矩以与起动间隔不同的速率减小，起动间隔中增加转矩的绝对速度设定为大于关闭间隔内的转矩减小绝对速度 。

公开(公告)号：US07266436B2

公开(公告)日：2007-09-04

申请号：US11110904

申请日：2005-04-21

Applicant: Ryota Shirato ,  Hiroshi Mouri

Inventor： Ryota Shirato ,  Hiroshi Mouri

IPC: G06F19/00

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

Abstract: A lane-keep control system includes a traveling condition detector and a controller. The controller includes a steering intention detecting section that detects whether a driver has an intention to steer a vehicle, a first steering torque control section that controls, when the driver has no intention to steer the vehicle, a steering torque according to the traveling condition so that the vehicle keeps a predetermined position between lane markings of a lane, and a second steering torque control section that controls, when the driver has an intention to steer the vehicle, the steering torque according to the traveling condition so that a steering operation of the driver is readily reflected on steering of the vehicle. A lane-keep control method is also provided.

Abstract translation: 车道保持控制系统包括行驶状态检测器和控制器。 控制器包括：转向意图检测部，其检测驾驶员是否具有转向车辆的意图;第一转向转矩控制部，其在驾驶员无意转向车辆时控制根据行驶状况的转向转矩， 车辆在车道的车道标记之间保持预定位置;以及第二转向转矩控制部分，当第二转向转矩控制部分根据行驶状态控制驾驶员有意转向车辆的转向转矩时，转向操作 司机很容易反映在车辆的转向上。 还提供车道保持控制方法。

公开(公告)号：US20070203617A1

公开(公告)日：2007-08-30

申请号：US11701025

申请日：2007-01-31

Applicant: Karsten Haug

Inventor： Karsten Haug

IPC: G06F7/00

CPC classification number: B62D15/025 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2201/087 ,  B60W10/184 ,  B60W10/20 ,  B60W50/14 ,  B60W2050/0071 ,  B60W2050/0073 ,  B60W2420/40 ,  B60W2420/403 ,  B60W2550/12 ,  B60W2710/20 ,  B60W2720/403 ,  B62D15/029

Abstract: A driver assistance system 1 includes at least driver assistance functions such as LDW (lane departure warning) and LKS (lane keeping support). The activation and deactivation of the driver assistance functions (LDW, LKS) are a function of a confidence level V.

Abstract translation: 驾驶员辅助系统1至少包括驾驶员辅助功能，例如LDW（车道偏离警告）和LKS（车道保持支持）。 驾驶员辅助功能（LDW，LKS）的激活和停用是置信水平V的函数。

公开(公告)号：US20070139176A1

公开(公告)日：2007-06-21

申请号：US11421494

申请日：2006-06-01

Applicant: Trent Victor ,  Johan Jarlengrip

Inventor： Trent Victor ,  Johan Jarlengrip

IPC: G08G1/16 ,  B60Q1/00

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：US07206684B2

公开(公告)日：2007-04-17

申请号：US11318201

申请日：2005-12-23

Applicant: Yuya Takeda

Inventor： Yuya Takeda

IPC: G06F19/00

CPC classification number: B60T8/17557 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2201/085 ,  B60T2201/087 ,  B60W10/18 ,  B60W10/20 ,  B60W30/12 ,  B60W40/064 ,  B60W2520/14 ,  B62D6/003 ,  B62D7/159

Abstract: The present lane departure prevention system comprises a position detector means for detecting positional information of a vehicle with respect to a lane of travel, a determining unit for comparing the positional information with a first threshold value indicating a predetermined positional relation with respect to the lane of travel, and determining a departure of the vehicle from the lane of travel on the basis of the comparison result, and a yaw moment applying unit for applying a yaw moment to the vehicle and switching a first process of applying the yaw moment to the vehicle only by steering wheels and a second process of applying the yaw moment to the vehicle by steering the wheels and applying a braking power to the wheels, on the basis of a traveling condition of the vehicle, when the determining unit determines that the vehicle departs from the lane of travel.

Abstract translation: 目前的车道偏离防止系统包括：位置检测装置，用于检测车辆相对于行车道的位置信息;确定单元，用于将位置信息与指示相对于车道行驶的车道的预定位置关系的第一阈值进行比较; 基于比较结果确定车辆离开行车道的偏航力矩施加单元和用于向车辆施加横摆力矩的横摆力矩施加单元，并且将仅向车辆施加横摆力矩的第一处理切换 通过方向盘和通过转向车轮并且基于车辆的行驶状况向车轮施加制动力向车辆施加横摆力矩的第二过程，当确定单元确定车辆离开车辆时 行车线

公开(公告)号：US20060142921A1

公开(公告)日：2006-06-29

申请号：US11318201

申请日：2005-12-23

Applicant: Yuya Takeda

Inventor： Yuya Takeda

IPC: G06F19/00

CPC classification number: B60T8/17557 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2201/085 ,  B60T2201/087 ,  B60W10/18 ,  B60W10/20 ,  B60W30/12 ,  B60W40/064 ,  B60W2520/14 ,  B62D6/003 ,  B62D7/159

Abstract: The present lane departure prevention system comprises a position detector means for detecting positional information of a vehicle with respect to a lane of travel, a determining unit for comparing the positional information with a first threshold value indicating a predetermined positional relation with respect to the lane of travel, and determining a departure of the vehicle from the lane of travel on the basis of the comparison result, and a yaw moment applying unit for applying a yaw moment to the vehicle and switching a first process of applying the yaw moment to the vehicle only by steering wheels and a second process of applying the yaw moment to the vehicle by steering the wheels and applying a braking power to the wheels, on the basis of a traveling condition of the vehicle, when the determining unit determines that the vehicle departs from the lane of travel.

Abstract translation: 目前的车道偏离防止系统包括：位置检测装置，用于检测车辆相对于行车道的位置信息;确定单元，用于将位置信息与指示相对于车道行驶的车道的预定位置关系的第一阈值进行比较; 基于比较结果确定车辆离开行车道的偏航力矩施加单元和用于向车辆施加横摆力矩的横摆力矩施加单元，并且将仅向车辆施加横摆力矩的第一处理切换 通过方向盘和通过转向车轮并且基于车辆的行驶状况向车轮施加制动力向车辆施加横摆力矩的第二过程，当确定单元确定车辆离开车辆时 行车线

公开(公告)号：US06970777B2

公开(公告)日：2005-11-29

申请号：US10994319

申请日：2004-11-23

Applicant: Satoshi Tange ,  Shinji Matsumoto ,  Masayasu Shimakage

Inventor： Satoshi Tange ,  Shinji Matsumoto ,  Masayasu Shimakage

IPC: B60T8/1755 ,  B60W10/18 ,  B62D15/02 ,  G06F7/00

CPC classification number: B60T8/17557 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2201/087 ,  B60T2260/02 ,  B60W10/18 ,  B60W10/20 ,  B60W30/12 ,  B62D15/025

Abstract: In an automotive lane deviation prevention (LDP) apparatus capable of executing LDP control by which a host vehicle is avoided from deviating from a driving lane, a control unit includes an LDP control allotted amount calculation section that calculates, responsively to a host vehicle's turning state, a steering-control allotted amount for LDP control and a braking-force-control allotted amount for LDP control, in presence of the host vehicle's lane-deviation tendency from the driving lane. In order to avoid the host vehicle's lane-deviation tendency, steering torque is controlled responsively to a steering-torque-control controlled variable determined based on the steering-control allotted amount, whereas braking forces applied to respective road wheels are controlled responsively to braking-force-control controlled variables determined based on the braking-force-control allotted amount.

Abstract translation: 在能够执行主车辆避免偏离行驶车道的LDP控制的汽车车道偏离防止（LDP）装置中，控制单元包括：LDP控制分配量计算部，其响应于本车辆的转弯状态 在主车辆与行车道的车道偏离倾向的情况下，用于LDP控制的转向控制分配量和用于LDP控制的制动力控制分配量。 为了避免主车辆的车道偏离倾向，根据转向控制分配量确定的转向转矩控制控制变量控制转向转矩，而响应于制动 - 基于制动力控制分配量确定的力控制控制变量。

公开(公告)号：US20050125153A1

公开(公告)日：2005-06-09

申请号：US11001185

申请日：2004-12-02

Applicant: Shinji Matsumoto ,  Satoshi Tange ,  Masayasu Shimakage ,  Hiroyuki Yoshizawa

Inventor： Shinji Matsumoto ,  Satoshi Tange ,  Masayasu Shimakage ,  Hiroyuki Yoshizawa

IPC: B60K31/00 ,  B60R16/02 ,  B60R21/00 ,  B60T7/12 ,  B60T8/172 ,  B60T8/1755 ,  B60W10/18 ,  B60W10/20 ,  B60W30/00 ,  B60W40/06 ,  B62D1/28 ,  B62D6/00 ,  B62D15/02 ,  B62D101/00 ,  B62D111/00 ,  B62D113/00 ,  G08G1/16 ,  G06F7/00 ,  G01S1/00

CPC classification number: B62D1/28 ,  B60T8/17557 ,  B60T2201/08 ,  B60T2201/081 ,  B60T2201/083 ,  B60T2201/087 ,  B60T2210/14 ,  B60W10/18 ,  B60W10/20 ,  B60W30/12 ,  B62D15/025

Abstract: An automotive lane deviation prevention (LDP) apparatus includes a control unit detecting whether a host vehicle is in a specific state where the host vehicle is traveling on road-surface irregularities formed on or close to a lane marking line. The control unit actively decelerates the host vehicle when the host vehicle is in the specific state where the host vehicle is traveling on the road-surface irregularities.

Abstract translation: 汽车车道偏离防止（LDP）装置包括控制单元，其检测本车辆是否处于主车辆在形成于道路标线上或车道标线上的路面不规则处行驶的特定状态。 当主车辆处于本车辆正在行驶的特定状态时，控制单元主动减速本车辆的路面不规则。

公开(公告)号：US20040225424A1

公开(公告)日：2004-11-11

申请号：US10759067

申请日：2004-01-20

Applicant: NISSAN MOTOR CO., LTD.

Inventor： Tomohiro Yamamura ,  Satoshi Kitazaki ,  Shunsuke Hijikata

IPC: G06F007/00

CPC classification number: B60K26/021 ,  B60G2400/823 ,  B60G2400/824 ,  B60G2401/16 ,  B60G2800/166 ,  B60G2800/704 ,  B60G2800/92 ,  B60G2800/96 ,  B60G2800/97 ,  B60G2800/982 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2201/087 ,  B60T2201/089 ,  B60W50/087 ,  B60W50/14 ,  B60W50/16 ,  B62D15/0265 ,  B62D15/029 ,  G08G1/16 ,  G08G1/166 ,  G08G1/167

Abstract: A driving assist system for assisting effort by an operator to operate a vehicle in traveling is provided. The driving assist system receives data including information on vehicle state and information on environment in a field around the vehicle. A controller, mounted to the vehicle, determines future environment in the field, makes an operator response plan in response to the determined future environment to determine command, and generates the command. The operator response plan prompts the operator to operating the vehicle in a desired manner for the determined future environment. At least one actuator, mounted to the vehicle, prompts the operator in response to the command to operating the vehicle in the desired manner.

Abstract translation: 提供一种驾驶辅助系统，用于辅助操作者在行驶中操作车辆的努力。 驾驶辅助系统接收包括关于车辆状态的信息和关于车辆周围的场中的环境的信息的数据。 安装到车辆上的控制器确定现场的未来环境，根据确定的未来环境做出操作员响应计划以确定命令，并生成命令。 操作员响应计划提示操作者以所期望的方式对所确定的未来环境操作车辆。 安装到车辆的至少一个致动器响应于以期望的方式操作车辆的命令来提示操作者。

公开(公告)号：US20040215393A1

公开(公告)日：2004-10-28

申请号：US10825108

申请日：2004-04-16

Applicant: NISSAN MOTOR CO. LTD.

Inventor： Shinji Matsumoto ,  Satoshi Tange ,  Tatsuya Suzuki

IPC: G06F017/10

CPC classification number: B60T8/17557 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2201/084 ,  B60T2201/087 ,  B60W10/06 ,  B60W10/18 ,  B60W10/20 ,  B60W30/12 ,  B62D15/025

Abstract: An automotive lane deviation prevention apparatus includes an electronic control unit configured to be electronically connected to a yawing-motion control actuator such as braking force actuators or a steering actuator for lane deviation prevention and vehicle yawing motion control purposes. The control unit has a processor programmed for determining whether or not a host vehicle is traveling on predetermined irregularities formed on or close to either one of a left-hand side lane marking line and a right-hand side lane marking line of a driving lane. The processor is further programmed for executing vehicle yawing motion control by which the host vehicle returns to a central position of the driving lane, when the host vehicle is traveling on the predetermined irregularities.

Abstract translation: 汽车车道偏离防止装置包括电子控制单元，其被配置为电连接到诸如制动力致动器的偏航运动控制致动器或用于车道偏离防止和车辆偏航运动控制目的的转向致动器。 控制单元具有处理器，其被编程用于确定主车辆是否在形成在行驶车道的左侧车道标记线和右侧车道线标记线上的任一侧上的预定不规则处行驶。 当主车辆以预定的不规则行驶时，处理器被进一步编程用于执行车辆横摆运动控制，当主车辆返回到驾驶车道的中心位置时，该偏航运动控制。