公开(公告)号：US20110022285A1

公开(公告)日：2011-01-27

申请号：US12933537

申请日：2009-03-12

Applicant: Takeshi Yonezawa ,  Kou Sato

Inventor： Takeshi Yonezawa ,  Kou Sato

IPC: G06F7/00 ,  B60T8/17

CPC classification number: B60T8/17557 ,  B60T2201/08 ,  B60T2201/083

Abstract: When a target yaw moment Ms is computed, an estimated lateral acceleration GH and estimated deceleration GT of a host vehicle are determined beforehand according to target yaw moment Ms, and when the estimated lateral acceleration GH is smaller than a threshold preset on the basis of the estimated deceleration GT the target yaw moment Ms is corrected to a smaller limit value Msm.

Abstract translation: 当计算目标横摆力矩Ms时，根据目标横摆力矩Ms预先确定主车辆的推定侧向加速度GH和推定减速度GT，并且当估计横向加速度GH小于基于 估计减速度GT将目标横摆力矩Ms校正为较小的极限值Msm。

公开(公告)号：US20090005934A1

公开(公告)日：2009-01-01

申请号：US12143102

申请日：2008-06-20

Applicant: Takeshi Iwasaka ,  Kou Satou

Inventor： Takeshi Iwasaka ,  Kou Satou

IPC: B62D6/00

CPC classification number: B60T8/17557 ,  B60T2201/08 ,  B60T2201/083

Abstract: A deviation controller to prevent deviation of a vehicle from a lane of travel includes a displacement estimator configured to estimate a future lateral displacement of the vehicle with respect to the lane of travel, a detecting device configured to detect a tendency of the vehicle to deviate from the lane of travel, a prevention controller configured to apply a yaw moment to correct a travel path of the vehicle when the tendency of the vehicle to deviate from the lane of travel is detected, a correction canceling device configured to cancel the yaw moment of the prevention controller when a steering angle exceeds a canceling threshold, and a threshold adjusting device configured to adjust the canceling threshold in response to the estimated future lateral displacement.

Abstract translation: 用于防止车辆偏离行车道的偏差控制器包括被配置为估计车辆相对于行车道的未来横向位移的位移估计器，被配置为检测车辆偏离的倾向的检测装置 行驶车道，被配置为当车辆偏离行车道的倾向时，应用横摆力矩来校正车辆的行驶路径的防止控制装置被配置为消除车辆偏离行车道的偏航力矩 所述阈值调节装置被配置为响应于所述估计的未来横向位移来调整所述抵消阈值。

公开(公告)号：US20090005933A1

公开(公告)日：2009-01-01

申请号：US12125424

申请日：2008-05-22

Applicant: Yoshiaki Tabata ,  Kou Satou

Inventor： Yoshiaki Tabata ,  Kou Satou

IPC: G06F17/00

CPC classification number: B60T8/17557 ,  B60T2201/08 ,  B60T2201/083

Abstract: An apparatus to prevent a vehicle from deviating from a lane of travel includes an acquisition device configured to measure a yaw angle between the vehicle and the lane of travel, a lane deviation controller configured to output a yaw moment to maintain the vehicle in the lane of travel, a restriction device configured to restrict the yaw moment output when the measured yaw angle exceeds a first angle limit, and a correction device configured to adjust the first angle limit in response to a measured condition.

Abstract translation: 一种用于防止车辆偏离行驶通道的装置包括被配置成测量车辆与行车道之间的偏航角的采集装置，车道偏离控制器，被配置为输出横摆力矩以将车辆维持在 行驶，限制装置，被配置为当测量的偏航角超过第一角度限制时限制横摆力矩输出;以及校正装置，被配置为响应于测量条件来调节第一角度限制。

公开(公告)号：US07444224B2

公开(公告)日：2008-10-28

申请号：US10960724

申请日：2004-10-08

Applicant: On Sadano ,  Masahiro Ozaki ,  Yoshitaka Uemura

Inventor： On Sadano ,  Masahiro Ozaki ,  Yoshitaka Uemura

IPC: B60T8/172 ,  B60T8/175

CPC classification number: B60T8/17557 ,  B60T2201/08 ,  B60T2201/083 ,  G05D1/0244 ,  G05D2201/0213

Abstract: A lane departure prevention apparatus is configured to conduct a course correction in a lane departure avoidance direction when the controller determines that there is a potential for a vehicle to depart from a driving lane. The lane departure prevention apparatus has a driving road detecting section and a lane departure avoidance control section. The driving road detecting section is configured to determine at least one of a road slope direction and a road curvature direction of a driving road upon which a host vehicle is traveling. The lane departure avoidance control section is configured to start lane departure avoidance control based on a driving direction of the host vehicle and at least one of a road slope direction and a road curvature direction detected by the driving road detecting section.

Abstract translation: 车道偏离防止装置被配置为当控制器确定有可能使车辆离开行驶车道时进行行车道偏离避免方向的行驶路线校正。 车道偏离防止装置具有驾驶道路检测部和车道偏离回避控制部。 驾驶道路检测部被配置为确定本车辆行驶的行驶道路的道路坡度方向和道路曲率方向中的至少一个。 车道偏离回避控制部被配置为基于主车辆的行驶方向和由驾驶道路检测部检测到的道路坡度方向和道路曲率方向中的至少一个来开始车道偏离回避控制。

公开(公告)号：US20070100551A1

公开(公告)日：2007-05-03

申请号：US11411928

申请日：2006-04-27

Applicant: Hisashi Ishikura

Inventor： Hisashi Ishikura

IPC: B62D6/00 ,  G06F17/10

CPC classification number: B62D15/029 ,  B60T8/17551 ,  B60T8/17557 ,  B60T2201/083 ,  B60T2201/087 ,  B60W10/18 ,  B60W10/20 ,  B60W30/12 ,  B62D15/025 ,  G08G1/167

Abstract: There is provided a lane deviation prevention apparatus which can make a lane deviation prediction judgment more accurately. The lane deviation prevention apparatus includes driving lane shape recognition means to detect a lane mark on a road included in a front image within a lane mark detection distance range and to recognize a shape of a driving lane boundary, and a deviation prediction judgment means that judges, based on the shape of the driving lane boundary, whether the vehicle deviates from a driving lane after a previously set deviation prediction time and outputs a deviation prevention output in a case where it is judged that the vehicle deviates, and the driving lane shape recognition means dynamically sets the position of the lane mark detection distance range in accordance with a vehicle speed of the vehicle and the deviation prediction time.

Abstract translation: 提供一种能够更准确地进行车道偏离预测判断的车道偏离防止装置。 车道偏离防止装置包括驾驶车道形状识别装置，用于检测车道标记检测距离范围内的前方车道中包含的道路上的车道线，并识别行驶车道边界的形状;以及偏差预测判断装置，其判断 基于驾驶车道边界的形状，在预先设定的偏差预测时间之后车辆是否偏离行驶车道，并且在判断为车辆偏离的情况下输出偏差防止输出，并且行驶车道形状识别 意味着根据车辆的车速和偏差预测时间来动态地设定车道线检测距离范围的位置。

公开(公告)号：US07212901B2

公开(公告)日：2007-05-01

申请号：US10960706

申请日：2004-10-08

Applicant: On Sadano ,  Yoshitaka Uemura ,  Masahiro Ozaki

Inventor： On Sadano ,  Yoshitaka Uemura ,  Masahiro Ozaki

IPC: G06F19/00

CPC classification number: B60T8/17557 ,  B60T7/22 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2201/085

Abstract: A lane departure prevention apparatus is configured to conduct a course correction in a lane departure avoidance direction when the controller 8 determines that there is a potential for a vehicle to depart from a driving lane. The controller 8 combines yaw control and deceleration control to conduct departure prevention control to avoid lane departure. The yaw control is not actuated if the opposite direction from the steering direction coincides with the lane departure direction (steps S10 and S11). Preferably, the controller 8 sets the timing of yaw moment and the deceleration of the vehicle on the basis of the acceleration or deceleration of the vehicle, and performs braking control so that these settings are achieved (steps S7 to S9). Preferably, the controller 8 calculates the target yaw moment in the lane departure-avoidance direction on the basis of the running state of the vehicle, and calculates the deceleration amount by taking into account the driver braking operation amount.

Abstract translation: 车道偏离防止装置被配置为当控制器8确定有可能使车辆从行驶车道偏离时，以车道偏离避免方向进行路线校正。 控制器8组合了偏航控制和减速控制，以进行离开预防控制，以避免车道偏离。 如果与转向方向相反的方向与车道偏离方向一致，则偏航控制不被致动（步骤S10和S11）。 优选地，控制器8基于车辆的加速或减速来设定车辆的横摆力矩和减速度的定时，并进行制动控制，从而实现这些设定（步骤S7〜S9）。 优选地，控制器8基于车辆的行驶状态来计算车道偏离避开方向上的目标横摆力矩，并且通过考虑驾驶员制动操作量来计算减速度。

公开(公告)号：US07177760B2

公开(公告)日：2007-02-13

申请号：US10923428

申请日：2004-08-20

Applicant: Shinya Kudo

Inventor： Shinya Kudo

IPC: B60W10/00 ,  B60W30/10 ,  G01C21/00

CPC classification number: B60T8/17557 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2201/087 ,  B60T2210/36 ,  B60W30/09 ,  B62D1/286

Abstract: In the event that the differential value of the target node deviation is equal to or greater than a deviation threshold, and the absolute value of the steering torque is equal to or greater than a steering torque threshold, the system outputs signals to a brake control device such that deceleration of the vehicle is made with a predetermined deceleration, and outputs signals to an electric power steering control device so as to cancel automatic steering, whereby the system enters a normal power steering mode, and the automatic driving mode is canceled. Thus, abnormal situations are precisely detected during automatic driving, giving consideration to the control error and the intent of the user, thereby enabling driving control matching the intent of the user.

Abstract translation: 在目标节点偏差的差值等于或大于偏差阈值并且转向转矩的绝对值等于或大于转向转矩阈值的情况下，系统将信号输出到制动控制装置 使得以预定的减速度进行车辆的减速，并且将信号输出到电动助力转向控制装置以取消自动转向，由此系统进入正常的动力转向模式，并且取消自动驾驶模式。 因此，在自动驾驶期间精确地检测到异常情况，考虑到用户的控制误差和意图，从而使驾驶控制能够匹配用户的意图。

公开(公告)号：US20060224293A1

公开(公告)日：2006-10-05

申请号：US11094323

申请日：2005-03-31

Applicant: Hiroshi Kawazoe ,  Hiroshi Tsuda

Inventor： Hiroshi Kawazoe ,  Hiroshi Tsuda

IPC: G06F19/00

CPC classification number: B60T7/22 ,  B60T2201/08 ,  B60T2201/083 ,  B60W40/064 ,  B60W2550/12 ,  B62D6/00

Abstract: A device adapted to automatically control the effective output of a vehicle control system/component that, for example, automatically applies braking and/or steering control, in response to tire contact with a rumble strip. The device includes a processor configured to receive a first signal indicative of contact of a vehicle tire with a rumble strip. The processor also includes logic to determine that at least one vehicle tire is in contact with a rumble strip based at least on the first signal. If the processor has received the first signal and has determined that the at least one vehicle tire is in contact with the rumble strip, the processor then issues a command to control the effective output of at least one of a vehicle control component or a vehicle control system. For example, an automatically applied braking force may be reduced to ½ its normal applied force.

公开(公告)号：US20060149448A1

公开(公告)日：2006-07-06

申请号：US11313046

申请日：2005-12-20

Applicant: Satoshi Tange ,  Shinji Matsumoto

Inventor： Satoshi Tange ,  Shinji Matsumoto

IPC: B62D6/00

CPC classification number: B60T8/17557 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2201/086 ,  B60T2201/089

Abstract: A lane departure prevention system comprises a traveling status detecting unit for detecting current lateral displacement and current yaw angle of a vehicle relative to a lane of travel, a departure detecting unit for detecting whether the vehicle is tending to depart from the lane of travel on the basis of current lateral displacement of the vehicle relative to the lane of travel as detected by the traveling status detecting unit; and a departure avoidance control unit for controlling the vehicle to avoid lane departure when the departure detecting unit detects that the vehicle is tending to depart from the lane of travel. The departure avoidance control unit calculating the extent of control necessary to avoid lane departure on the basis of current yaw angle of the vehicle detected by the traveling status detecting unit. Provision is made for preventing lane departure on a curving as well as a straight road.

公开(公告)号：US20050177308A1

公开(公告)日：2005-08-11

申请号：US11049972

申请日：2005-02-04

Applicant: Satoshi Tange ,  Genpei Naito ,  Shinji Matsumoto ,  Masayasu Shimakage ,  Hidekazu Nakajima

Inventor： Satoshi Tange ,  Genpei Naito ,  Shinji Matsumoto ,  Masayasu Shimakage ,  Hidekazu Nakajima

IPC: B60K31/00 ,  B60Q1/52 ,  B60T8/1755 ,  B60W10/04 ,  B60W10/18 ,  B60W30/12 ,  G06F19/00

CPC classification number: B60W10/04 ,  B60T8/17557 ,  B60T2201/08 ,  B60T2201/083 ,  B60W10/18 ,  B60W30/12

Abstract: A lane deviation avoidance system is arranged to execute a lane deviation avoidance control of controlling a vehicle behavior of the host vehicle so as to avoid the host vehicle from deviating from a traveling lane when the lane deviation tendency is detected, to suppress the driving force when the lane deviation tendency is detected, and to set a controlled variable of the lane deviation avoidance control according to a degree of the suppression of the driving force.

Abstract translation: 车道偏离避免系统被布置成执行车道偏离避免控制，以控制本车辆的车辆行为，以便在检测到车道偏离倾向时避免主车辆偏离行车道，以抑制当 检测车道偏离倾向，根据驱动力的抑制程度来设定车道偏离避免控制的受控变量。