公开(公告)号：US08655549B2

公开(公告)日：2014-02-18

申请号：US12497787

申请日：2009-07-06

Applicant: Yasuhisa Hayakawa ,  Masahiro Kobayashi ,  Ko Sato ,  Shuhei Nishimaki

Inventor： Yasuhisa Hayakawa ,  Masahiro Kobayashi ,  Ko Sato ,  Shuhei Nishimaki

IPC: B62D6/00

CPC classification number: B60W30/12 ,  B60T8/17557 ,  B60T2201/08 ,  B60T2201/087 ,  B60W30/08

Abstract: A vehicle driving control apparatus is provided with a lane detecting device, a future position estimating device and a vehicle control device. The lane detecting device detects a lane marker of a lane. The future position estimating device estimates a future transverse position of a host vehicle after a prescribed amount of time. The vehicle control device executes a vehicle control such that a yaw moment is imparted to the host vehicle toward a middle of the lane. The yaw moment is imparted upon determining that the future transverse position is positioned laterally farther toward an outside of the lane from the middle of the lane than a prescribed widthwise lane position that is determined in advance using the lane marker as a reference. The vehicle control device suppresses an impartation of the yaw moment device when a recognition degree of the lane marker is lower than a prescribed value.

Abstract translation: 车辆行驶控制装置具备车道检测装置，未来位置估计装置和车辆控制装置。 车道检测装置检测车道的车道标记。 未来位置估计装置在规定的时间量之后估计本车辆的未来横向位置。 车辆控制装置执行车辆控制，使得向主车辆向车道的中心施加横摆力矩。 在确定未来横向位置比从预先使用车道标记作为参考确定的规定的宽度方向车道位置横向更远离车道中部的车道中间位置时，赋予偏航力矩。 当车道标记的识别度低于规定值时，车辆控制装置抑制偏航力矩装置的赋予。

公开(公告)号：US20130166151A9

公开(公告)日：2013-06-27

申请号：US12846174

申请日：2010-07-29

Applicant: Stephan STABREY

Inventor： Stephan STABREY

IPC: B62D6/00

CPC classification number: B62D6/003 ,  B60T8/1755 ,  B60T2201/083 ,  B60T2201/087 ,  B60T2201/16 ,  B60W10/16 ,  B60W10/18 ,  B60W10/20 ,  B60W30/08 ,  B60W2030/082 ,  B60W2520/14 ,  B62D15/0265

Abstract: A method for influencing the direction of travel of a vehicle. In order to lower the risk of accidents in driving situations in which the driver reacts incorrectly, for example because of being surprised, it is provided that the driving operation be monitored in reference to the occurrence of an event due to which the travel direction of the vehicle changes, deviating from the travel direction specified at the steering wheel, and when such an event is detected that an automatic intervention in the driving operation be performed whereby the vehicle is moved back approximately into the original direction of travel in which it was moving before the event occurred.

Abstract translation: 一种影响车辆行驶方向的方法。 为了降低驾驶员驾驶不正确的情况下的事故的风险，例如由于感到惊讶，就是根据事件的发生情况来监视驾驶操作，由此， 车辆变化，偏离方向盘指定的行进方向，并且当检测到这样的事件时，执行驾驶操作的自动干预，由此车辆大致移动到其移动之前的原始行进方向 事件发生了。

公开(公告)号：US20130103264A1

公开(公告)日：2013-04-25

申请号：US13806894

申请日：2010-06-30

Applicant: Toru Takashima ,  Norihisa Nishikawa ,  Mitsutaka Tanimoto ,  Tetsuhiro Narita

Inventor： Toru Takashima ,  Norihisa Nishikawa ,  Mitsutaka Tanimoto ,  Tetsuhiro Narita

IPC: B62D6/00

CPC classification number: B62D6/00 ,  B60T8/17557 ,  B60T2201/08 ,  B60T2201/087 ,  B60W10/184 ,  B60W10/20 ,  B60W30/12 ,  B60W2510/202 ,  B60W2710/182 ,  B62D5/008 ,  B62D5/0472

Abstract: A control apparatus for controlling a vehicle which is provided with a braking/driving force varying device capable of individually changing a braking/driving force acting on each of wheels (FL, FR, RL, RR) with respect to each wheel. The control apparatus includes a target state quantity setting device for setting a target state quantity corresponding to a target motion state of the vehicle; and a target braking/driving force setting device for setting a target braking/driving force, which is a target value of the braking/driving force, such that a state quantity corresponding to the target state quantity and a steering reaction force transmitted to a steering apparatus from the wheel are the set target state quantity and a predetermined target steering reaction force, respectively, on the basis of a relative relation, which is set in advance, between the state quantity and the steering reaction force, and a left-right braking/driving force difference of front wheels and a braking/driving force difference of rear wheels.

Abstract translation: 一种用于控制车辆的控制装置，其具有能够相对于每个车轮分别改变作用在每个车轮（FL，FR，RL，RR）上的制动/驱动力的制动/驱动力改变装置。 控制装置包括：目标状态量设定装置，用于设定与车辆的目标运动状态对应的目标状态量; 以及目标制动/驱动力设定装置，用于设定作为制动/驱动力的目标值的目标制动/驱动力，使得与目标状态量相对应的状态量和传递到转向的转向反作用力 基于预先设定的状态量和转向反作用力之间的相对关系和左右制动的相对关系，来自车轮的装置分别是设定目标状态量和预定目标转向反作用力 前轮的驱动力差和后轮的制动/驱动力差。

公开(公告)号：US20120265403A1

公开(公告)日：2012-10-18

申请号：US13380937

申请日：2009-06-29

Applicant: Jan-Inge Svensson ,  Jochen Pohl ,  Sten Ragnhult ,  Johan Hultén

Inventor： Jan-Inge Svensson ,  Jochen Pohl ,  Sten Ragnhult ,  Johan Hultén

IPC: B60W30/12

CPC classification number: B62D15/025 ,  B60K31/0008 ,  B60T8/17557 ,  B60T2201/087 ,  B62D15/0265

Abstract: A method for assisting a driver of a vehicle during operation in order to avoid an undesired situation based on a current driving scenario includes predicting if a first guiding force to a vehicle steering device is desired in order to avoid the undesired situation and, if the first guiding force is desired, predicting a total guiding force comprising the first guiding force, which would be applied to the steering device for avoiding the undesired situation, comparing the predicted total guiding force with a limit value, and if the predicted total guiding force exceeds the limit value, in advance, deciding whether to apply the predicted total guiding force to the steering device for avoiding the undesired situation or not.

Abstract translation: 一种用于在操作期间辅助车辆的驾驶员以避免基于当前驾驶场景的不期望的情况的方法包括预测是否需要对车辆转向装置的第一引导力以避免不期望的情况，并且如果第一 期望引导力，预测包括第一引导力的总引导力，其将施加到转向装置以避免不期望的情况，将预测的总引导力与极限值进行比较，并且如果预测的总引导力超过 预先决定是否将预测的总引导力应用于转向装置以避免不期望的情况。

公开(公告)号：US20110257845A1

公开(公告)日：2011-10-20

申请号：US13139730

申请日：2009-10-23

Applicant: Keitaro Niki ,  Yoji Kunihiro ,  Yoshiaki Suzuki

Inventor： Keitaro Niki ,  Yoji Kunihiro ,  Yoshiaki Suzuki

IPC: B62D6/00

CPC classification number: B62D6/003 ,  B60T2201/08 ,  B60T2201/087 ,  B62D5/046 ,  B62D5/0466 ,  B62D5/0472 ,  B62D15/025

Abstract: A coordinate-control-gain calculation section 61 calculates a coordinate-control final control torque T_C required to properly control the traveling behavior of a vehicle, and determines a coordinate control gain Kg on the basis of the magnitude of this torque T_C. An arbitration-request determination section 62 determines the value of an arbitration request flag FRG_A on the basis of the magnitude of the torque T_C and the value of a flag FRG_L output so as to properly control the traveling behavior of a vehicle. On the basis of the value of the flag FRG_A and the magnitude of the coordinate-control arbitration torque Tr determined by use of the gain Kg, an arbitration section 63 selects the torque T_C or the torque Tr to be output as a post-arbitration control torque T_F. A post-arbitration drive control section 64 supplies to an electric motor a drive current corresponding to the determined torque T_F.

Abstract translation: 坐标控制增益计算部61计算适当地控制车辆的行驶行为所需的坐标控制最终控制扭矩T_C，并基于该转矩T_C的大小来确定坐标控制增益Kg。 仲裁请求确定部分62基于转矩T_C的大小和输出的标志FRG_L的值来确定仲裁请求标志FRG_A的值，以便适当地控制车辆的行驶行为。 基于标志FRG_A的值和通过使用增益Kg确定的坐标控制仲裁转矩Tr的大小，仲裁部63选择要输出的转矩T_C或转矩Tr作为仲裁后控制 扭矩T_F。 后置仲裁驱动控制部64向电动机提供与所确定的转矩T_F对应的驱动电流。

公开(公告)号：US07603215B2

公开(公告)日：2009-10-13

申请号：US11001156

申请日：2004-12-02

Applicant: Shinji Matsumoto ,  Satoshi Tange ,  Masayasu Shimakage

Inventor： Shinji Matsumoto ,  Satoshi Tange ,  Masayasu Shimakage

IPC: B62D6/00 ,  G06F17/00

CPC classification number: G08G1/167 ,  B60T8/1755 ,  B60T2201/08 ,  B60T2201/084 ,  B60T2201/087 ,  B60W30/12 ,  B62D15/029

Abstract: In lane keep control apparatus and method for an automotive vehicle, a deviation tendency detecting section detects whether the vehicle has a tendency of a deviation from a traveling traffic lane and a deviation avoidance controlling section performs a control for the vehicle to travel on a road surface which is parallel to the traveling traffic lane when the deviation tendency detecting section detects that the vehicle has the tendency of the deviation from the traveling traffic lane and, thereafter, performs a control to prevent a yaw angle of the vehicle with respect to the traveling traffic lane from increasing in a direction in which the tendency of the deviation becomes large.

Abstract translation: 在用于机动车辆的车道保持控制装置和方法中，偏差趋势检测部分检测车辆是否具有偏离行驶车道的倾向，并且偏离避免控制部分执行车辆在路面上行驶的控制 当偏差倾向检测部检测到车辆偏离行驶车道的倾向时，该行驶道路平行于行驶车道，之后进行防止车辆相对于行驶车辆的偏航角的控制 在偏离趋势变大的方向上增加。

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：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：US07117076B2

公开(公告)日：2006-10-03

申请号：US10982878

申请日：2004-11-08

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

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

IPC: G06F7/00 ,  G05D1/02

CPC classification number: B62D15/025 ,  B60T2201/08 ,  B60T2201/082 ,  B60T2201/087 ,  G08G1/167

Abstract: In lane keep control apparatus and method for an automotive vehicle, a traveling state of the vehicle is detected, a determination is made on whether the vehicle has a tendency of a deviation from the traveling traffic lane according to the detected traveling state, a deviation avoidance control is executed for the vehicle in a direction to avoid the deviation according to the traveling state, steering angles before and after a start of the deviation avoidance control are detected, and a controlled variable of the deviation avoidance control is detected on the basis of a deviation between a steering angle before the start of deviation avoidance control and that after the start of deviation avoidance control when a determination is made that the vehicle has the tendency of the deviation.

Abstract translation: 在机动车辆的车道保持控制装置和方法中，检测车辆的行驶状态，根据检测到的行驶状态来确定车辆是否具有偏离行驶车道的倾向，偏离避免 根据行驶状态避免偏差的方向对车辆进行控制，检测出偏差避免控制开始前后的转向角度，并且基于以下方式检测偏差避免控制的受控变量 当确定车辆具有偏差的倾向时，在偏离避免控制开始之前的转向角与开始偏差避免控制之后的转向角之间的偏差。

公开(公告)号：US20050240328A1

公开(公告)日：2005-10-27

申请号：US11110904

申请日：2005-04-21

Applicant: Ryota Shirato ,  Hiroshi Mouri

Inventor： Ryota Shirato ,  Hiroshi Mouri

IPC: B62D6/00 ,  B62D1/28 ,  B62D5/04 ,  B62D101/00 ,  B62D113/00 ,  B62D119/00 ,  B62D137/00 ,  G06F17/00

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 an 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 no 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，其在驾驶员具有转向车辆的意图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，其在驾驶者无意转向车辆时，根据行驶状况来控制转向转矩，使得转向操作 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。