公开(公告)号：US06926374B2

公开(公告)日：2005-08-09

申请号：US10333594

申请日：2001-07-12

Applicant: Ingo Dudeck ,  Rainer Freitag ,  Gerhard Kurz ,  Wofgang Lauer ,  Thomas Roehrig-Gericke ,  Reinhold Schoeb ,  Harry Troester ,  Andy Yap ,  Richard Zimmer

Inventor： Ingo Dudeck ,  Rainer Freitag ,  Gerhard Kurz ,  Wofgang Lauer ,  Thomas Roehrig-Gericke ,  Reinhold Schoeb ,  Harry Troester ,  Andy Yap ,  Richard Zimmer

IPC: B60R21/00 ,  B60T7/12 ,  B60T7/22 ,  B60W10/00 ,  B60W10/04 ,  B60W10/18 ,  B60W10/20 ,  B60W30/08 ,  B62D1/28 ,  B62D6/00 ,  B62D101/00 ,  B62D137/00 ,  F02D29/02 ,  G05D1/02 ,  G08G1/16 ,  B60Q1/22

CPC classification number: B62D15/0265 ,  B60T7/22 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2201/087 ,  B60W10/18 ,  B60W10/20 ,  B60W30/08 ,  B60W30/09 ,  B60W30/0953 ,  B60W30/0956 ,  G05D1/0257 ,  G05D1/0278 ,  G05D2201/0213

Abstract: An automatic brake and steering system and method for a vehicle contains a sensor unit for sensing vehicle state and characteristic variables, and ambient conditions. Furthermore, a control unit and actuator devices are provided for setting the vehicle brake system and/or the vehicle steering system. In order to be able to carry out automatic avoidance maneuvers with maximum safety, an avoidance route is determined if there is an obstacle in the path of the vehicle. Thereby, if there is a further obstacle on the avoidance route, the strategy for determining the avoidance route is applied once more. If it is not possible to find a collision-free avoidance route, that route on which the difference between the remaining braking distance and the remaining distance from the obstacle is smallest is selected.

Abstract translation: 用于车辆的自动制动和转向系统和方法包括用于感测车辆状态和特性变量以及环境条件的传感器单元。 此外，设置有用于设置车辆制动系统和/或车辆转向系统的控制单元和致动器装置。 为了能够以最大的安全性进行自动回避机动，如果在车辆的路径中存在障碍，则确定回避路线。 因此，如果在回避路线上存在进一步的障碍，则再次应用用于确定回避路线的策略。 如果不可能找到无碰撞的回避路线，则选择剩余制动距离与距离障碍物的剩余距离之间的差最小的路线。

公开(公告)号：US20050115753A1

公开(公告)日：2005-06-02

申请号：US10500806

申请日：2003-01-09

Applicant: Martin Pemberton ,  Roger Aylward

Inventor： Martin Pemberton ,  Roger Aylward

IPC: B62D1/28 ,  G01C21/26 ,  G05D1/00 ,  G08G1/16 ,  B62D1/24

CPC classification number: B62D1/28 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2201/087 ,  G01C21/26 ,  G05D1/0077 ,  G08G1/164

Abstract: A vehicle steering system, with multiple independent systems, employing different route referencing, such as a primary system (10), referring to a physical reference line (30), or multiple discrete markers; and a secondary system (20), referring to an independent reference store (18), expressed as a sequential instruction table, configured as an emergency backup, implemented upon failure of the primary system; the system allows coordinated vehicle steering and braking, for adherence to a prescribe route; multiple discrete route markers (66) allow route banding (62), and multiple routes (60A, 60B).

Abstract translation: 具有多个独立系统的车辆转向系统，采用不同的路线参考，诸如主系统（10），参考物理参考线（30）或多个离散标记; 以及辅助系统（20），参考独立参考存储器（18），其表示为被配置为紧急备份的顺序指令表，其在主系统故障时实现; 该系统允许协调的车辆转向和制动，以遵守处方路线; 多个离散路线标记（66）允许路线条带（62）和多条路线（60A，60B）。

公开(公告)号：US20050071084A1

公开(公告)日：2005-03-31

申请号：US10502968

申请日：2002-12-07

Applicant: Michael Knoop ,  Michael Weilkes ,  Fred Oechsle

Inventor： Michael Knoop ,  Michael Weilkes ,  Fred Oechsle

IPC: B60R21/00 ,  B60T7/22 ,  B60T8/1755 ,  B62D1/28 ,  B62D6/00 ,  B62D15/02 ,  B62D101/00 ,  B62D111/00 ,  B62D117/00 ,  B62D137/00 ,  G08G1/16 ,  G01S1/00

CPC classification number: B60T8/17557 ,  B60T7/22 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2201/085 ,  B60T2260/08 ,  B60W10/18 ,  B60W10/20 ,  B60W30/02 ,  B62D1/286 ,  B62D15/0265

Abstract: A method for influencing a system that controls or regulates the position and/or the orientation of a motor vehicle with respect to a traffic lane is provided. The system is deactivated if a danger of collision with an obstacle in the traffic lane is detected, and that the system is activated only if a potentially dangerous situation with respect to the driving dynamics of the motor vehicle is detected.

Abstract translation: 提供了一种用于影响控制或调节机动车辆相对于行车道的位置和/或姿态的系统的方法。 如果检测到与行车道中的障碍物碰撞的危险，则系统被停用，并且仅当检测到相对于机动车辆的行驶动力学的潜在危险情况时才启动系统。

公开(公告)号：US06789008B2

公开(公告)日：2004-09-07

申请号：US10400623

申请日：2003-03-28

Applicant: Hiroaki Kato ,  Minekazu Momiyama ,  Yoshiyuki Yasui ,  Wataru Tanaka ,  Kenji Asano ,  Eiichi Ono ,  Yuji Muragishi

Inventor： Hiroaki Kato ,  Minekazu Momiyama ,  Yoshiyuki Yasui ,  Wataru Tanaka ,  Kenji Asano ,  Eiichi Ono ,  Yuji Muragishi

IPC: G06F700

CPC classification number: B62D6/003 ,  B60T2201/08 ,  B60T2201/082 ,  B60T2201/083 ,  B60T2201/087 ,  B60T2260/024 ,  B62D1/286

Abstract: A vehicle control device incorporating an electric power steering is provided, wherein an extraordinary yaw motion acting on a vehicle is detected and is suppressed or moderated, so that the stability of the vehicle in a straight-ahead steering is improved. The causes of the extraordinary yaw motion are one of lateral wind, asymmetrical surface state of the road, lateral slant of the road and the like. A countermeasure against the extraordinary yaw motion is taken by applying a counter (opposite direction) yaw motion on the vehicle or switching over the control mode from a proportional control to a proportional integral control.

Abstract translation: 提供了一种结合电动助力转向装置的车辆控制装置，其中检测到作用在车辆上的异常偏航运动并被抑制或缓和，使得车辆在直行转向中的稳定性得到改善。 异常偏航运动的原因是侧风，道路的不对称表面状态，道路的侧倾等。 通过在车辆上施加计数器（相反方向）偏航运动或者将控制模式从比例控制切换到比例积分控制来采取对非常偏航运动的对策。

公开(公告)号：US20040090117A1

公开(公告)日：2004-05-13

申请号：US10333594

申请日：2003-06-19

Inventor： Ingo Dudeck ,  Rainer Freitag ,  Gerhard Kurz ,  Wofgang Lauer ,  Thomas Roehrig-Gericke ,  Reinhold Schoeb ,  Harry Troester ,  Andy Yap ,  Richard Zimmer

IPC: B60T008/32

CPC classification number: B62D15/0265 ,  B60T7/22 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2201/087 ,  B60W10/18 ,  B60W10/20 ,  B60W30/08 ,  B60W30/09 ,  B60W30/0953 ,  B60W30/0956 ,  G05D1/0257 ,  G05D1/0278 ,  G05D2201/0213

Abstract: An automatic brake and steering system for a vehicle containing a sensor unit for sensing vehicle state variables and vehicle characteristic variables and ambient conditions. Furthermore, a control unit and actuator devices are provided for setting the vehicle brake system and/or the vehicle steering system. In order to be able to carry out automatic avoidance manoeuvres with maximum safety, an avoidance route is determined if there is an obstacle in the path of the vehicle, in which case, if there is a further obstacle on the avoidance route, the strategy for determining the avoidance route is applied once more. If it is not possible to find a collision-free avoidance route, that route on which the difference between the remaining braking distance and the remaining distance from the obstacle is smallest is selected.

Abstract translation: 一种用于车辆的自动制动和转向系统，其包含用于感测车辆状态变量和车辆特性变量和环境条件的传感器单元。 此外，设置有用于设置车辆制动系统和/或车辆转向系统的控制单元和致动器装置。 为了能够以最大的安全性进行自动回避机动，如果在车辆的路径中存在障碍物，则确定回避路线，在这种情况下，如果在回避路线上有进一步的障碍，则策略 再次应用确定回避路线。 如果不可能找到无碰撞的回避路线，则选择剩余制动距离与距离障碍物的剩余距离之间的差最小的路线。

公开(公告)号：US20030116373A1

公开(公告)日：2003-06-26

申请号：US10203127

申请日：2002-10-25

Inventor： Steven Allan Miller ,  Robert Alan Williams ,  Philip Alexander Barber

IPC: B62D001/24 ,  B60T007/16

CPC classification number: B60T8/17557 ,  B60R21/0134 ,  B60R2021/01311 ,  B60T7/22 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2201/087 ,  B60T2210/36 ,  B60T2260/02 ,  B60W10/12 ,  B60W10/18 ,  B60W10/20 ,  B60W30/10 ,  B62D6/00

Abstract: A motor vehicle having a plurality of road engaging wheels (7-10), a braking system (3, 14-18) linked to the wheels (7-10) by which a driver of the vehicle (1) may brake the vehicle, a motive means (50) linked to one or more of the wheels (7-10) by which a driver of the vehicle may control vehicle speed, and a dynamic stability control system that includes a means (12-17, 20-22, 24) for deducing the position and orientation of the vehicle system (12-17, 20-22, 24) for predicting the trajectory (TP) of the motor vehicle (1) with respect to the roadway (4) and for identifying when the predicted trajectory (TP) would place the vehicle in danger, and a wheel slip detection system (14-18, 51) for detecting loss of traction of one or more of the wheels (12-17). The dynamic stability control system monitors wheel slip and the predicted trajectory (TP) of the vehicle (1), and, if loss of wheel traction is detected when the predicted trajectory (TP) would place the vehicle (1) in danger, acts to alter (TC) the predicted trajectory, for example by controlling the braking system (14-18) and/or the motive means (50) in such a way that the identified danger is reduced or eliminated.

Abstract translation: 一种具有多个道路接合轮（7-10）的机动车辆，与车辆（1）的驾驶员可以通过该车轮制动的车轮（7-10）连接的制动系统（3,14-18） 与车辆的驾驶员可以控制车辆速度的一个或多个车轮（7-10）连接的动力装置（50），以及动态稳定性控制系统，其包括装置（12-17,20-22， 24），用于推断用于预测机动车辆（1）相对于道路（4）的轨迹（TP）的车辆系统（12-17,20-22,24）的位置和方向，并且用于识别何时 预测轨迹（TP）将使车辆处于危险之中，以及用于检测一个或多个车轮（12-17）的牵引力的车轮滑移检测系统（14-18,51）。 动态稳定性控制系统监测车辆滑移和车辆（1）的预测轨迹（TP），并且如果当预测轨迹（TP）将车辆（1）置于危险中时检测到车轮牵引力的损失，则动作 改变（TC）预测轨迹，例如通过以确定的危险被减少或消除的方式控制制动系统（14-18）和/或动力装置（50）。

公开(公告)号：US20030097206A1

公开(公告)日：2003-05-22

申请号：US10288363

申请日：2002-11-06

Applicant: NISSAN MOTOR CO., LTD.

Inventor： Shinji Matsumoto ,  Satoshi Tange

IPC: G06F017/00

CPC classification number: B60T8/17557 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2260/09 ,  B62D1/28 ,  B62D15/025

Abstract: A lane-keep control system for a host vehicle is arranged to execute a lane-keep control of controlling the host vehicle toward a deviation-preventing direction of preventing the lane deviation according to a vehicle traveling condition when there is a tendency of the lane deviation and to limit the lane-keep control when a determination as to the tendency of the lane deviation is made under a condition that the host vehicle is traveling a lane-deviation area deviated from a traveling lane.

Abstract translation: 本车辆的车道保持控制系统被配置为当存在车道偏离的倾向时，执行根据车辆行驶状况来防止主车辆朝向防止偏斜的方向的车道保持控制 并且当在本车辆行驶偏离行车道的车道偏离区域的条件下进行关于车道偏离的倾向的判定时，限制车道保持控制。

公开(公告)号：US20030060936A1

公开(公告)日：2003-03-27

申请号：US10226232

申请日：2002-08-23

Inventor： Tomohiro Yamamura ,  Satoshi Kitazaki ,  Shunsuke Hijikata

IPC: G06F017/00

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：US06487500B2

公开(公告)日：2002-11-26

申请号：US09923252

申请日：2001-08-02

Applicant: Jerome H. Lemelson ,  Robert D. Pedersen

Inventor： Jerome H. Lemelson ,  Robert D. Pedersen

IPC: G01C2126

CPC classification number: G01S19/11 ,  B60T2201/022 ,  B60T2201/08 ,  B60T2201/082 ,  B60T2201/083 ,  B60T2201/085 ,  B60T2201/087 ,  G01S5/009 ,  G01S13/86 ,  G01S13/931 ,  G01S17/023 ,  G01S17/936 ,  G01S2013/9321 ,  G01S2013/9325 ,  G01S2013/9339 ,  G01S2013/9342 ,  G01S2013/9346 ,  G01S2013/935 ,  G01S2013/9353 ,  G01S2013/9357 ,  G01S2013/936 ,  G07C5/0891 ,  G08G1/164 ,  G08G1/20 ,  H04W4/046

Abstract: GPS satellite (4) ranging signals (6) received (32) on comm1, and DGPS auxiliary range correction signals and pseudolite carrier phase ambiguity resolution signals (8) from a fixed known earth base station (10) received (34) on comm2, at one of a plurality of vehicles/aircraft/automobiles (2) are computer processed (36) to continuously determine the one's kinematic tracking position on a pathway (14) with centimeter accuracy. That GPS-based position is communicated with selected other status information to each other one of the plurality of vehicles (2), to the one station (10), and/or to one of a plurality of control centers (16), and the one vehicle receives therefrom each of the others' status information and kinematic tracking position. Objects (22) are detected from all directions (300) by multiple supplemental mechanisms, e.g., video (54), radar/lidar (56), laser and optical scanners. Data and information are computer processed and analyzed (50,52,200,452) in neural networks (132, FIGS. 6-8) in the one vehicle to identify, rank, and evaluate collision hazards/objects, an expert operating response to which is determined in a fuzzy logic associative memory (484) which generates control signals which actuate a plurality of control systems of the one vehicle in a coordinated manner to maneuver it laterally and longitudinally to avoid each collision hazard, or, for motor vehicles, when a collision is unavoidable, to minimize injury or damage therefrom. The operator is warned by a heads up display and other modes and may override. An automotive auto-pilot mode is provided.

Abstract translation: GPS卫星（4）在comm1上接收（32）的测距信号（6），以及来自在comm2上接收（34）的固定的已知地球基站（10）的DGPS辅助范围校正信号和伪卫星载波相位模糊度分辨率信号（8） 在多个车辆/飞行器/汽车（2）中的一个被计算机处理（36）以以厘米的精度连续地确定在路径（14）上的运动学跟踪位置。 将基于GPS的位置与所选择的其他状态信息彼此通信到多个车辆（2）中的一个，一个站（10）和/或多个控制中心（16）中的一个，并且 一辆车从其中接收其他人的状态信息和运动跟踪位置。 通过多个补充机制（例如视频（54）），雷达/激光雷达（56），激光和光学扫描仪从所有方向（300）检测物体（22）。 在一辆车辆中的神经网络（132，图6-8）中对数据和信息进行计算机处理和分析（50,52,200,452）以识别，排序和评估碰撞危险/对象，专家操作响应在 模拟逻辑关联存储器（484），其产生控制信号，其以协调的方式致动所述一个车辆的多个控制系统，以横向和纵向地操纵所述控制信号，以避免每次碰撞危险，或者对于机动车辆，当碰撞不可避免时 ，以减少伤害或损坏。 操作员被抬头显示和其他模式警告，并可以覆盖。 提供汽车自动驾驶模式。

公开(公告)号：US06275773B1

公开(公告)日：2001-08-14

申请号：US09436097

申请日：1999-11-08

Applicant: Jerome H. Lemelson ,  Robert D. Pedersen

Inventor： Jerome H. Lemelson ,  Robert D. Pedersen

IPC: G01C2126

CPC classification number: G01S19/11 ,  B60T2201/022 ,  B60T2201/08 ,  B60T2201/082 ,  B60T2201/083 ,  B60T2201/085 ,  B60T2201/087 ,  G01S5/009 ,  G01S13/86 ,  G01S13/931 ,  G01S17/023 ,  G01S17/936 ,  G01S2013/9321 ,  G01S2013/9325 ,  G01S2013/9339 ,  G01S2013/9342 ,  G01S2013/9346 ,  G01S2013/935 ,  G01S2013/9353 ,  G01S2013/9357 ,  G01S2013/936 ,  G07C5/0891 ,  G08G1/164 ,  G08G1/20 ,  H04W4/046

Abstract: GPS satellite (4) ranging signals (6) received (32) on comm1, and DGPS auxiliary range correction signals and pseudolite carrier phase ambiguity resolution signals (8) from a fixed known earth base station (10) received (34) on comm2, at one of a plurality of vehicles/aircraft/automobiles (2) are computer processed (36) to continuously determine the one's kinematic tracking position on a pathway (14) with centimeter accuracy. That GPS-based position is communicated with selected other status information to each other one of the plurality of vehicles (2), to the one station (10), and/or to one of a plurality of control centers (16), and the one vehicle receives therefrom each of the others' status information and kinematic tracking position. Objects (22) are detected from all directions (300) by multiple supplemental mechanisms, e.g., video (54), radar/lidar (56), laser and optical scanners. Data and information are computer processed and analyzed (50,52,200,452) in neural networks (132, FIGS. 6-8) in the one vehicle to identify, rank, and evaluate collision hazards/objects, an expert operating response to which is determined in a fuzzy logic associative memory (484) which generates control signals which actuate a plurality of control systems of the one vehicle in a coordinated manner to maneuver it laterally and longitudinally to avoid each collision hazard, or, for motor vehicles, when a collision is unavoidable, to minimize injury or damage therefrom. The operator is warned by a heads up display and other modes and may override. An automotive auto-pilot mode is provided.

Abstract translation: GPS卫星（4）在comm1上接收（32）的测距信号（6），以及来自在comm2上接收（34）的固定的已知地球基站（10）的DGPS辅助范围校正信号和伪卫星载波相位模糊度分辨率信号（8） 在多个车辆/飞行器/汽车（2）中的一个被计算机处理（36）以以厘米的精度连续地确定在路径（14）上的运动学跟踪位置。 将基于GPS的位置与所选择的其他状态信息彼此通信到多个车辆（2）中的一个，一个站（10）和/或多个控制中心（16）中的一个，并且 一辆车从其中接收其他人的状态信息和运动跟踪位置。 通过多个补充机制（例如视频（54）），雷达/激光雷达（56），激光和光学扫描仪从所有方向（300）检测物体（22）。 在一辆车辆中的神经网络（132，图6-8）中对数据和信息进行计算机处理和分析（50,52,200,452）以识别，排序和评估碰撞危险/对象，专家操作响应在 模拟逻辑关联存储器（484），其产生控制信号，其以协调的方式致动所述一个车辆的多个控制系统，以横向和纵向地操纵所述控制信号，以避免每次碰撞危险，或者对于机动车辆，当碰撞不可避免时 ，以减少伤害或损坏。 操作员被抬头显示和其他模式警告，并可以覆盖。 提供汽车自动驾驶模式。