公开(公告)号：US20040158377A1

公开(公告)日：2004-08-12

申请号：US10769069

申请日：2004-02-02

Applicant: NISSAN MOTOR CO., LTD.

Inventor： Shinji Matsumoto ,  Genpei Naito ,  Satoshi Tange

IPC: G06F019/00

CPC classification number: B60W10/20 ,  B60T8/17557 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2201/087 ,  B60W10/06 ,  B60W10/18 ,  B60W30/12 ,  B60W30/16 ,  B62D6/003 ,  B62D15/025

Abstract: In a vehicle dynamics control apparatus capable of balancing a vehicle dynamics stability control system and a lane deviation prevention control system, a cooperative control section is provided to make a cooperative control between lane deviation prevention control (LDP) and vehicle dynamics stability control (VDC). When a direction of yawing motion created by LDP control is opposite to a direction of yawing motion created by VDC control, the cooperative control section puts a higher priority on VDC control rather than LDP control. Conversely when the direction of yawing motion created by LDP control is identical to the direction of yawing motion created by VDC control, a higher one of the LDP desired yaw moment and the VDC desired yaw moment is selected as a final desired yaw moment, to prevent over-control, while keeping the effects obtained by both of VDC control and LDP control.

Abstract translation: 在能够平衡车辆动力学稳定性控制系统和车道偏离防止控制系统的车辆动力学控制装置中，提供协调控制部分，以在车道偏离防止控制（LDP）和车辆动力学稳定性控制（VDC）之间进行协调控制， 。 当通过LDP控制产生的偏航运动的方向与由VDC控制产生的偏航运动的方向相反时，协作控制部分对VDC控制而不是LDP控制具有更高的优先级。 相反，当由LDP控制产生的偏航运动的方向与由VDC控制产生的偏航运动的方向相同时，LDP期望的偏航力矩和VDC期望的横摆力矩中较高的一个被选作最终期望的横摆力矩，以防止 过度控制，同时保持由VDC控制和LDP控制两者获得的效果。

公开(公告)号：US20040158366A1

公开(公告)日：2004-08-12

申请号：US10469895

申请日：2004-02-06

Inventor： Werner Dieterle

IPC: G01C021/26

CPC classification number: G08G1/096827 ,  B60K31/0008 ,  B60K31/0058 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2201/087 ,  B60W30/16 ,  B60W2550/14 ,  B60W2550/142 ,  B60W2550/22 ,  B60W2550/402 ,  B62D15/026 ,  G01C21/26 ,  G08G1/096725 ,  G08G1/096741 ,  G08G1/096775 ,  G08G1/096844

Abstract: The invention relates to an automatic vehicle guidance method according to which infrastructure data are wirelessly transmitted to the vehicle (10) and vehicle guidance instructions are calculated by using this infrastructure data. The method is characterized in that the infrastructure data for at least one segment of the route (40) located immediately ahead is loaded into an on-board memory (44), in that the actual position of the vehicle (10) is continuously determined by a precise positioning system (14), and in that the instructions are calculated by using the position data and the stored infrastructure data.

Abstract translation: 本发明涉及一种自动车辆引导方法，根据该自动车辆引导方法，将基础设施数据无线发送到车辆（10），并且通过使用该基础设施数据来计算车辆引导指令。 该方法的特征在于，用于至少位于前方的路线（40）的至少一个段的基础设施数据被加载到车载存储器（44）中，因为车辆（10）的实际位置由 精确的定位系统（14），并且通过使用位置数据和所存储的基础设施数据来计算指令。

公开(公告)号：US20040107035A1

公开(公告)日：2004-06-03

申请号：US10713354

申请日：2003-11-17

Applicant: NISSAN MOTOR CO., LTD.

Inventor： Satoshi Tange ,  Genpei Naito ,  Shinji Matsumoto

IPC: G06F019/00

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。

公开(公告)号：US06718241B2

公开(公告)日：2004-04-06

申请号：US10231135

申请日：2002-08-30

Applicant: Satoshi Kondo ,  Shinnosuke Ishida ,  Jun Tanaka

Inventor： Satoshi Kondo ,  Shinnosuke Ishida ,  Jun Tanaka

IPC: B62D600

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

Abstract: The invention carries out appropriate travel control so that a vehicle travels along recognized lane markings, and at the same time, prevents making the driver feel discomfort during travel control. In the case that the white line recognition becomes not possible, the delay time TD is shortened depending on a previous continuous time interval of a recognition state. In the case that the white line recognition flag becomes possible, the delay time TD is extended depending on the previous continuous time interval. In the case that the count value of the ON time measuring counter TON is equal to or greater than the delay time TD and the white line recognizing is possible, the compensation control is permitted, and reversion to the ON state of the travel control based on recognized white lines is permitted.

Abstract translation: 本发明进行适当的行驶控制，使得车辆沿着识别的车道标记行驶，并且同时防止驾驶员在行驶控制期间感到不适。 在白线识别不可能的情况下，延迟时间TD根据识别状态的先前连续时间间隔而缩短。 在白线识别标志成为可能的情况下，延迟时间TD根据先前的连续时间间隔而延长。 在ON时间测量计数器TON的计数值等于或大于延迟时间TD并且可以进行白线识别的情况下，允许补偿控制，并且基于以下步骤返回到行驶控制的ON状态 允许识别白线。

公开(公告)号：US20030045982A1

公开(公告)日：2003-03-06

申请号：US10231135

申请日：2002-08-30

Applicant: HONDA GIKEN KOGYO KABUSHIKI KAISHA

Inventor： Satoshi Kondo ,  Shinnosuke Ishida ,  Jun Tanaka

IPC: B62D006/00

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

Abstract: The invention carries out appropriate travel control so that a vehicle travels along recognized lane markings, and at the same time, prevents making the driver feel discomfort during travel control. In the case that the white line recognition becomes not possible, the delay time TD is shortened depending on a previous continuous time interval of a recognition state. In the case that the white line recognition flag becomes possible, the delay time TD is extended depending on the previous continuous time interval. In the case that the count value of the ON time measuring counter TON is equal to or greater than the delay time TD and the white line recognizing is possible, the compensation control is permitted, and reversion to the ON state of the travel control based on recognized white lines is permitted.

Abstract translation: 本发明进行适当的行驶控制，使得车辆沿着识别的车道标记行驶，并且同时防止驾驶员在行驶控制期间感到不适。 在白线识别不可能的情况下，延迟时间TD根据识别状态的先前连续时间间隔而缩短。 在白线识别标志成为可能的情况下，延迟时间TD根据先前的连续时间间隔而延长。 在ON时间测量计数器TON的计数值等于或大于延迟时间TD并且可以进行白线识别的情况下，允许补偿控制，并且基于行程控制的ON状态返回到ON状态 允许识别白线。

公开(公告)号：US20020188404A1

公开(公告)日：2002-12-12

申请号：US10028691

申请日：2001-12-28

Inventor： Yong-Won Jeon

IPC: G06G007/78

CPC classification number: G05D1/0061 ,  B60T2201/08 ,  B60T2201/087 ,  B62D15/025 ,  G05D2201/0213

Abstract: A system for preventing lane deviation of a vehicle and a control method thereof are provided, in which control is performed to prevent the vehicle from inadvertently deviating from a lane. The system comprises a detector including a lane marker detector for detector lane markers that define a lane in the road, and a lane marker ECU for determining a transverse position of the vehicle using signals of the lane marker detector; a controller for determining if the vehicle is deviating from the lane by receiving information transmitted by the detector, determining steering control angle and steering control time according to a vehicle speed and a heading angle at the instant the vehicle is deviating from the lane, and outputting control signals following lane deviation prevention such that an automatic drive mode is realized until the vehicle reaches a center of the lane; and a steering driver controlled by the control signals output from the controller.

Abstract translation: 提供一种用于防止车辆的车道偏离的系统及其控制方法，其中进行控制以防止车辆不经意地偏离车道。 该系统包括检测器，其包括用于在道路中限定车道的检测器车道标记的车道标记检测器，以及车道标记ECU，用于使用车道标记检测器的信号确定车辆的横向位置; 用于通过接收由检测器发送的信息来确定车辆是否偏离车道的控制器，根据车辆偏离车道时的车速和行驶角度确定转向控制角度和转向控制时间，并输出 控制信号遵循车道偏离防止，使得实现自动驾驶模式，直到车辆到达车道的中心; 以及由控制器输出的控制信号控制的转向驱动器。

公开(公告)号：US06493619B2

公开(公告)日：2002-12-10

申请号：US09930168

申请日：2001-08-16

Applicant: Hiroshi Kawazoe ,  Masayasu Shimakage ,  On Sadano ,  Shigeki Sato

Inventor： Hiroshi Kawazoe ,  Masayasu Shimakage ,  On Sadano ,  Shigeki Sato

IPC: G06F16500

CPC classification number: B62D15/025 ,  B60T2201/08 ,  B60T2201/087 ,  B62D1/286 ,  B62D5/0463

Abstract: In lane keeping assistance system and method for an automotive vehicle, a control current (Iout) to be outputted to a motor during an automatic steering mode is detected, a filter is provided for the detected control current to pass only signal components of the detected control current whose frequencies are lower than a predetermined cut-off frequency value (fstr, fstr_low, fstr_mid, fstr_hi) to derive a filtered control current (Iout_lpf), a determination of whether a manual steering intervention to the automatic steering occurs is made according to a magnitude of the filtered control current, and the control current outputted to the motor is reduced toward zero when the manual steering intervention is determined to occur according to a result of determination that the magnitude of the filtered control current (Iout_lpf) is in excess of a predetermined threshold current value (Iout_lpf_th).

Abstract translation: 在车辆的车道保持辅助系统和方法中，检测在自动转向模式期间输出到电动机的控制电流（Iout），为检测到的控制电流提供滤波器，以仅通过检测到的控制信号的信号分量 频率低于预定截止频率值（fstr，fstr_low，fstr_mid，fstr_hi）以导出滤波后的控制电流（Iout_lpf）的电流，判定是否发生对自动转向的手动转向干预是根据 滤波后的控制电流的大小以及输出到电动机的控制电流根据判断结果确定为手动转向干预被确定为过滤控制电流（Iout_lpf）的大小超过 预定阈值电流值（Iout_lpf_th）。

公开(公告)号：US20020095246A1

公开(公告)日：2002-07-18

申请号：US10042225

申请日：2002-01-11

Applicant: NISSAN MOTOR CO., LTD.

Inventor： Hiroshi Kawazoe

IPC: G06F017/00

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

Abstract: A lane tracking control system for a vehicle includes a controller which is coupled to a road image detector for taking a view ahead of the vehicle, a vehicle behavior detector for detecting a behavior of the vehicle and a steering control mechanism for executing a steering control in response to a steering control signal. The controller is arrange to calculate a road shape on the basis of the view taken by the road image detector, to determine on the basis of the road shape and the vehicle behavior detected by the vehicle behavior detector whether the vehicle tends to depart from a lane traveled by the vehicle, and to output the steering control signal to the steering control mechanism so as to control the vehicle behavior at a desired behavior when the vehicle tends to depart from the lane.

Abstract translation: 一种用于车辆的车道跟踪控制系统，包括一个控制器，该控制器耦合到道路图像检测器，用于在车辆前方观察，车辆行为检测器，用于检测车辆的行为;以及转向控制机构，用于执行转向控制 对转向控制信号的响应。 控制器根据路面图像检测器的视图来计算道路形状，根据车辆行为检测器检测出的道路形状和车辆行为来确定车辆是否偏离车道 并且将转向控制信号输出到转向控制机构，以便当车辆倾向于离开车道时，以期望的行为来控制车辆行为。

公开(公告)号：US06321159B1

公开(公告)日：2001-11-20

申请号：US09418967

申请日：1999-10-14

Applicant: Shinya Nohtomi ,  Shinichiro Horiuchi

Inventor： Shinya Nohtomi ,  Shinichiro Horiuchi

IPC: B60K3100

CPC classification number: B62D15/025 ,  B60G2400/0523 ,  B60G2400/104 ,  B60G2400/41 ,  B60G2400/824 ,  B60G2401/142 ,  B60G2800/24 ,  B60T2201/08 ,  B60T2201/087 ,  B60T2201/089 ,  B60T2260/02 ,  B62D1/28

Abstract: Preview information is obtained by processing data from image data of a CCD camera, and it is treated as a known disturbance. Then, models for a vehicle and a target road path, typically consisting of DARMA (deterministic auto-regressive moving average) models are prepared so as to give a relationship between a front wheel steering angle command and a lateral deviation of the vehicle. An extended generalized predictive control theory is applied to these models so as to compensate for tracking errors that may arise as a result of the known disturbance. Thus, a favorable tracking capability can be achieved with a relatively simple structure, by executing a prediction control which requires only such variable that can be measured both easily and accurately.

Abstract translation: 通过从CCD照相机的图像数据处理数据获得预览信息，并将其视为已知的干扰。 然后，准备通常由DARMA（确定性自回归移动平均）模型组成的车辆和目标道路路径的模型，以便给出前轮转向角度指令与车辆的横向偏差之间的关系。 扩展的广义预测控制理论应用于这些模型，以补偿由于已知扰动而可能出现的跟踪误差。 因此，通过执行仅需要容易且准确地测量的这样的变量的预测控制，可以通过相对简单的结构实现良好的跟踪能力。

公开(公告)号：US06269307B1

公开(公告)日：2001-07-31

申请号：US09368673

申请日：1999-08-05

Applicant: Tomoyuki Shinmura ,  Kenji Kodaka ,  Yoichi Sugimoto

Inventor： Tomoyuki Shinmura ,  Kenji Kodaka ,  Yoichi Sugimoto

IPC: B60Q100

CPC classification number: G01S13/931 ,  B60Q9/008 ,  B60T2201/08 ,  B60T2201/087 ,  B60W50/16 ,  B62D15/0265 ,  G01S2013/9342 ,  G01S2013/9353 ,  G01S2013/9375

Abstract: A lateral deviation &dgr;d which is a lateral distance between an intrinsic appropriate course R for a vehicle Ai and a contact position P at which the vehicle Ai will come into contact with an on-coming vehicle Ao, is calculated based on a relative angle &thgr;, a relative distance L and a relative speed Vs which are detected by a radar device, and based on a vehicle speed Vi of the vehicle Ai detected by vehicle speed sensors. When the lateral deviation &dgr;d is in a range of &dgr;dn

Abstract translation: 基于相对角度θ来计算作为车辆Ai的固有适当路线R与车辆Ai将与前进车辆Ao接触的接触位置P之间的横向距离的横向偏差增量， 由雷达装置检测的相对距离L和相对速度Vs，并且基于由车速传感器检测到的车辆Ai的车速Vi。 当横向偏差Δttad在deltadn