公开(公告)号：US06226389B1

公开(公告)日：2001-05-01

申请号：US09473350

申请日：1999-12-28

Applicant: Jerome H. Lemelson ,  Robert Pedersen

Inventor： Jerome H. Lemelson ,  Robert Pedersen

IPC: G06K900

CPC classification number: G01S19/11 ,  B60T2201/022 ,  B60T2201/024 ,  B60T2201/08 ,  B60T2201/082 ,  B60T2201/083 ,  B60T2201/085 ,  B60T2201/087 ,  G01S5/009 ,  G01S13/867 ,  G01S13/931 ,  G01S17/023 ,  G01S17/936 ,  G01S2013/9321 ,  G01S2013/9325 ,  G01S2013/9342 ,  G01S2013/9346 ,  G01S2013/935 ,  G01S2013/9353 ,  G01S2013/9357 ,  G01S2013/936 ,  G01S2013/9367 ,  G07C5/0891 ,  G08G1/164 ,  G08G1/165 ,  G08G1/166

Abstract: A system and method assist the driver of a motor vehicle in preventing accidents or minimizing the effects of same. In one form, a television camera is mounted on a vehicle and scans the roadway ahead of the vehicle as the vehicle travels. Continuously generated video picture signals output by the camera are electronically processed and analyzed by an image analyzing computer, which generates codes, that serve to identify obstacles. A decision computer mounted in the controlled vehicle receives such code signals along with code signals generated by the speedometer or one or more sensors sensing steering mechanism operation and generates control signals. Such code signals maybe displayed, and as synthetic speech or special sound generating and warning means used to warn the driver of the vehicle of approaching and existing hazards. The system may also use the control signals, particularly through application of fuzzy logic, to control the operation of the brakes and steering mechanism of the vehicle to avoid or lessen the effects of a collision. In a particular form, the decision computer may select the evasive action taken from a number of choices, depending on whether and where the detection device senses other vehicles or obstacles.

Abstract translation: 一种系统和方法帮助机动车辆的驾驶员防止事故或最小化其影响。 在一种形式中，电视摄像机安装在车辆上，并在车辆行驶时扫描车辆前方的道路。 由相机输出的连续生成的视频图像信号由图像分析计算机进行电子处理和分析，图像分析计算机产生用于识别障碍物的代码。 安装在受控车辆中的判定计算机接收这样的代码信号以及由速度计产生的代码信号或感测转向机构操作的一个或多个传感器，并产生控制信号。 可以显示这样的代码信号，并且作为合成语音或特殊声音产生和警告装置用于警告车辆的驾驶员接近和存在的危险。 系统还可以使用控制信号，特别是通过应用模糊逻辑来控制车辆的制动器和转向机构的操作，以避免或减轻碰撞的影响。 在特定形式中，决定计算机可以根据检测装置是否检测其他车辆或障碍物以及在何处检测其他车辆或障碍物来选择从多个选择中采取的回避动作。

公开(公告)号：US11820370B2

公开(公告)日：2023-11-21

申请号：US17683649

申请日：2022-03-01

Applicant: Dr. Ing. h.c. F. Porsche Aktiengesellschaft

Inventor： Florian Strecker ,  Georg Warth ,  Georg von Tardy-Tuch

IPC: B60W30/12 ,  B60W40/10 ,  B62D15/02 ,  B62D6/00 ,  B60W10/20 ,  G08G1/16

CPC classification number: B60W30/12 ,  B60W10/20 ,  B60W40/10 ,  B62D6/002 ,  B62D15/021 ,  B62D15/025 ,  G08G1/167 ,  B60T2201/08 ,  B60T2201/087 ,  B60W2540/18

Abstract: Apparatus for controlling dynamics of a vehicle determines a current course angle (α) of the vehicle. A desired course angle (αpsi) is defined and assigned to a first point on a temporal profile of a desired driving line. The first point is on the desired driving line at a first preview time from a location assigned to an instantaneous vehicle position. A course angle deviation of the current course angle (α) from the desired course angle (αpsi) is determined. A target angle (αta) is defined and assigned to a second point on the temporal profile of the desired driving line. The second point is on the desired driving line at a distance of a second preview time from the location. A steering wheel angle (δ) is determined as a total of the target angle (αta) reinforced with a first parameter and the course angle deviation reinforced with a second parameter.

公开(公告)号：US20190202499A1

公开(公告)日：2019-07-04

申请号：US16328537

申请日：2017-09-08

Applicant: KNORR-BREMSE SYSTEME FUER NUTZFAHRZEUGE GMBH

Inventor： Kornel Straub ,  Markus Klein ,  Levente Balogh ,  Jonas Leibbrand ,  Tamas Rozsa

IPC: B62D11/08 ,  B62D15/02

CPC classification number: B62D11/08 ,  B60T8/17557 ,  B60T2201/081 ,  B60T2201/083 ,  B60T2201/087 ,  B60W30/12 ,  B60W30/17 ,  B62D15/0255

Abstract: A steering control system for a commercial vehicle having braking and steering systems. The braking system brakes dissymetrically side wheels of the vehicle. The steering system steers the vehicle based on a steering signal. The steering control system includes selection and control modules. The selection module switches between first and second steering modes. The first mode indicates steering of the vehicle by turning vehicle wheels. The second mode indicates steering of the vehicle by generating a braking signal for at least one wheel providing a yaw moment applied to the vehicle. The control module generates the first signal indicating a steering demand in the first mode and a second signal indicating a steering demand in the second mode. The control module provides the first signal to the steering system and the second signal to the braking system to brake the vehicle dissymetrically to steer the vehicle with the yaw moment.

公开(公告)号：US20190202455A1

公开(公告)日：2019-07-04

申请号：US16327911

申请日：2017-08-09

Applicant: KNORR-BREMSE SYSTEME FUER NUTZFAHRZEUGE GMBH

Inventor： Ulrich Guecker ,  Markus Klein ,  Jan Meyer

IPC: B60W30/12 ,  B60W50/14 ,  B60W10/18 ,  B60W10/20

CPC classification number: B60W30/12 ,  B60K28/066 ,  B60T7/14 ,  B60T7/22 ,  B60T8/17557 ,  B60T2201/022 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2201/087 ,  B60W10/18 ,  B60W10/20 ,  B60W50/14 ,  B60W50/16 ,  B60W2420/42 ,  B60W2420/52 ,  B60W2420/62 ,  B60W2550/406 ,  B60W2710/18 ,  B60W2710/20 ,  B62D15/025

Abstract: A method for open-loop or closed-loop control of a driver assistance system of a vehicle, including: a) using a first sensor device to detect from a roadway at least one lane and a roadway marking that separates the lane from an edge of the roadway; b) using a second sensor device to detect operation of at least one operating device of the vehicle that influences the driving dynamics of the vehicle by virtue of the driver; c) using steering actuators and/or brake actuators to influence the driving dynamics of the vehicle; and d) outputting, if there is a threat of the vehicle leaving the lane, as detected by the first sensor device, a first warning signal. A related driver assistance system is also described.

公开(公告)号：US20160152232A1

公开(公告)日：2016-06-02

申请号：US14896733

申请日：2014-06-03

Applicant: HITACHI AUTOMOTIVE SYSTEMS, LTD.

Inventor： Akira TAKAHASHI ,  Jun KUBO ,  Mitsuo SASAKI

IPC: B60W30/02 ,  B60W10/20 ,  B60W10/184 ,  B60T8/1755 ,  B62D5/04

CPC classification number: B60W30/02 ,  B60T8/17 ,  B60T8/1755 ,  B60T8/17557 ,  B60T2201/083 ,  B60T2201/085 ,  B60T2201/087 ,  B60T2201/089 ,  B60T2210/13 ,  B60W10/18 ,  B60W10/184 ,  B60W10/20 ,  B60W30/08 ,  B60W30/09 ,  B60W30/0953 ,  B60W40/114 ,  B60W2420/42 ,  B60W2420/52 ,  B60W2520/00 ,  B60W2520/10 ,  B60W2520/14 ,  B60W2550/10 ,  B60W2710/18 ,  B60W2710/202 ,  B62D5/0463 ,  B62D15/025

Abstract: There is provided a vehicle control system capable of ensuring stability even if a vehicle spins slowly. The invention recognizes a travel-path defining line of a travel path from information about an area located in the traveling direction of an ego vehicle, recognizes a traveling-direction virtual line extending from the ego vehicle in the traveling direction, and controls vehicle motion to reduce a formed angle between the traveling-direction virtual line and the travel-path defining line at least when the formed angle increases.

Abstract translation: 提供了即使车辆缓慢旋转也能够确保稳定性的车辆控制系统。 本发明从关于位于自主车辆的行进方向的区域的信息识别行进路径的行进路线定义线，识别从行车方向上的自我车辆延伸的行进方向虚拟线路，并且控制车辆运动 至少当所形成的角度增加时，减小行进方向假想线与行进路限定线之间的形成角度。

公开(公告)号：US09211910B2

公开(公告)日：2015-12-15

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: B62D15/02 ,  B60W30/12

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：US09051008B2

公开(公告)日：2015-06-09

申请号：US11875456

申请日：2007-10-19

Applicant: Joachim Schiehlen ,  Jan Felten ,  Soeren Hohmann ,  Mihiar Ayoubi

Inventor： Joachim Schiehlen ,  Jan Felten ,  Soeren Hohmann ,  Mihiar Ayoubi

IPC: B62D6/00 ,  G01S13/00 ,  B60Q1/00 ,  B62D15/02 ,  B60W30/08 ,  B60W40/02

CPC classification number: B62D15/029 ,  B60T2201/08 ,  B60T2201/087 ,  B60W30/08 ,  B60W40/02 ,  B62D15/025 ,  B62D15/0265

Abstract: A driving aid system is provided for assisting a motor vehicle during a change of lane. The system includes a device monitoring the lateral side space and a device monitoring the directional stability. The lateral space monitoring device is designed to determine the degree of risk (for example, two levels: dangerous/not dangerous, or three levels: low/medium/high risk) represented by a change of lane. At the high risk level, a first driving aid reaction occurs, at least in the form of a counter-steering, which is regulated by a link existing between the lateral space monitoring device and the directional stability monitoring device and is expressed by a reorientation towards the specific traffic lane or by maintaining the directional stability. At the low risk level, a second driving-aid reaction is triggered, which is less perceptible and depends on the degree of likelihood of the intention to change lane.

Abstract translation: 提供驾驶辅助系统，用于在车道改变期间辅助机动车辆。 该系统包括监视侧面空间的装置和监视方向稳定性的装置。 横向空间监测装置旨在确定由车道变化所代表的风险程度（例如两级：危险/非危险，或三级：低/中/高风险）。 在高风险级别，首先发生驾驶辅助反应，至少以逆向转向的形式，其由侧向空间监测装置和方向稳定性监测装置之间存在的连杆来调节，并且通过重定向 具体行车道或维持方向稳定。 在低风险水平下，引发第二次驾驶辅助反应，这种反应较不可察觉，并且取决于改变车道意图的可能性程度。

公开(公告)号：US09031743B2

公开(公告)日：2015-05-12

申请号：US12446897

申请日：2008-03-26

Applicant: Toshinori Okita

Inventor： Toshinori Okita

IPC: B60T7/22 ,  B62D5/04 ,  B60W30/09 ,  B60W40/072 ,  B60W40/076 ,  B62D15/02

CPC classification number: B60T7/22 ,  B60T2201/022 ,  B60T2201/08 ,  B60T2201/087 ,  B60W30/09 ,  B60W40/072 ,  B60W40/076 ,  B60W2420/52 ,  B62D5/0463 ,  B62D15/0265 ,  G08G1/165 ,  G08G1/166

Abstract: A collision avoidance ECU estimates a traveling locus based on an estimated curve radius of an own vehicle in a basic traveling locus estimating unit, and in a changed traveling locus estimating unit, obtains separation distances between an own vehicle and white lines based on the relative positional relationship between an own vehicle and the white lines, and estimates, as a changed traveling locus, a route along the white lines with the obtained separation distances maintained. In a collision judging unit, when auto-steering control and departure warning control are not performed, collision judgment is performed based on the basic traveling locus estimated in the basic traveling locus estimating unit, and when the auto-steering control and departure warning control are performed, the traveling locus is changed to the changed traveling locus estimated in the changed traveling locus estimating unit and collision judgment is performed.

Abstract translation: 碰撞避免ECU基于基本行驶轨迹估计单元中的本车辆的估计曲线半径来估计行驶轨迹，并且在改变的行驶轨迹估计单元中，基于相对位置获得本车和白线之间的距离 估计本车辆与白线之间的关系，并且作为改变的行驶轨迹，估计保持所获得的间隔距离沿着白线的路线。 在碰撞判断单元中，当不执行自动转向控制和离场警告控制时，基于在基本行驶轨迹估计单元中估计的基本行驶轨迹进行碰撞判断，并且当自动转向控制和离开警告控制为 行驶轨迹被改变为在改变的行驶轨迹估计单元中估计的改变的行驶轨迹，并进行碰撞判断。

公开(公告)号：US08849514B2

公开(公告)日：2014-09-30

申请号：US13123373

申请日：2009-10-06

Applicant: Toshiharu Sugawara ,  Atsushi Yokoyama

Inventor： Toshiharu Sugawara ,  Atsushi Yokoyama

IPC: A01B69/00 ,  B62D6/00 ,  B62D11/00 ,  B60T8/1755 ,  B60T7/22 ,  B60T7/04 ,  B62D15/02 ,  B60W30/12

CPC classification number: B60W30/12 ,  B60T7/042 ,  B60T7/22 ,  B60T8/17557 ,  B60T8/17558 ,  B60T2201/083 ,  B60T2201/087 ,  B60W2720/14 ,  B62D6/003 ,  B62D15/025 ,  B62D15/0265

Abstract: A conventional brake control can generate only a small yaw moment compared with a steering control, so that reliable avoidance of obstacles cannot be obtained. With a steering control, the driver gets behind the wheel every time when crossing a lane and has an uncomfortable feeling. To solve these problems, a traveling aid device comprises: a detection unit for detecting the traveling state of a vehicle, the position of a lane marker, and the positions and types of obstacles around the vehicle; a calculation unit for calculating, based on the traveling state of the vehicle, the position of the lane marker, and the positions and types of the surrounding obstacles, a target yaw moment so as to prevent a departure from the lane marker and a collision with the surrounding obstacles; and a distribution unit for distributing, based on at least one of the traveling state of the vehicle, the position of the lane marker, and the positions and types of the surrounding obstacles, the target moment to a first actuator for controlling the driving/braking force and a second actuator for controlling the steering.

Abstract translation: 与转向控制相比，传统的制动控制只能产生小的横摆力矩，从而不可能获得可靠的避障障碍。 在转向控制下，驾驶员每次穿过车道时都会落在车轮的后方，感觉不舒服。 为了解决这些问题，行驶辅助装置包括：检测单元，用于检测车辆的行驶状态，车道标记的位置以及车辆周围的障碍物的位置和类型; 计算单元，用于基于车辆的行驶状态来计算车道标记的位置，以及周围障碍物的位置和类型，目标横摆力矩，以防止偏离车道标记和与车道标记的碰撞 周围的障碍物; 以及分配单元，用于基于车辆的行驶状态中的至少一个，车道标记的位置以及周围障碍物的位置和类型来分配到用于控制驾驶/制动的第一致动器的目标力矩 力和用于控制转向的第二致动器。

公开(公告)号：US08775060B2

公开(公告)日：2014-07-08

申请号：US13938696

申请日：2013-07-10

Applicant: Volvo Car Corporation

Inventor： Stefan Solyom ,  Badr Bin Salamah ,  Arash Idelchi

IPC: G06F19/00 ,  G08G1/00 ,  B60T8/1755 ,  B60W30/12

CPC classification number: G08G1/22 ,  B60T8/17557 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2201/087 ,  B60W30/12 ,  B60W2550/30 ,  G05D1/0257 ,  G05D1/0293 ,  G05D2201/0213

Abstract: An apparatus and method are described for lateral control of a host vehicle (F) during travel in a vehicle platoon. The apparatus and method include acquiring a control signal u and a lateral error ε relative to a target vehicle (L) of a preceding vehicle (T) travelling in the vehicle platoon, filtering the received lateral error ε, filtering the received control signal u, and executing via a processor a control algorithm for actuating lateral control of the host vehicle (F).

Abstract translation: 描述了用于在车辆行驶中的主车辆（F）的横向控制的装置和方法。 该装置和方法包括获取控制信号u和横向误差＆ 相对于在车辆排中行驶的前一车辆（T）的目标车辆（L），对接收到的横向误差进行滤波，对接收到的控制信号u进行滤波，并且经由处理器执行控制算法， 主机（F）。