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公开(公告)号：US20100070139A1
公开(公告)日：2010-03-18
申请号：US12584734
申请日：2009-09-11
申请人： Kenichi Ohshima , Yukihiro Fujiwara , Yoshitaka Katashima , Hiroyuki Kawagoe , Shigenobu Saigusa , Yasushi Shoda , Manabu Shimizu , Yasuhiro Konishi
发明人： Kenichi Ohshima , Yukihiro Fujiwara , Yoshitaka Katashima , Hiroyuki Kawagoe , Shigenobu Saigusa , Yasushi Shoda , Manabu Shimizu , Yasuhiro Konishi
IPC分类号： G06F7/00
CPC分类号： B62D15/0275 , B60R1/00 , B60R2300/105 , B60R2300/303 , B60R2300/305 , B60R2300/607 , B60R2300/806 , B62D15/028
摘要： The vehicle maneuver assistance device includes: a plurality of external environment imaging units; a converter that performs a view point conversion; a display unit provided in an interior of the present-vehicle; a steering angle status value detector which detects status values of the steering angle representing an actual steering angle of the present-vehicle, and outputs a steering angle status value; a display controller that causes the display unit to display the converted image, and, overlaid thereon, a guidance display which assists a parking maneuver of the present-vehicle, wherein the display controller controls the guidance display according to the steering angle status value, so that the guidance display includes: an initial positioning guide line representing an initial location of the present-vehicle at the beginning of the parking maneuver; and a steering-switching start positioning guide line representing a starting location of a quick steering direction switching.
摘要翻译： 车辆操纵辅助装置包括：多个外部环境成像单元; 执行视点转换的转换器; 设置在本车内部的显示单元; 转向角状态值检测器，其检测表示本车辆的实际转向角的转向角的状态值，并输出转向角状态值; 显示控制器，其使显示单元显示转换的图像，并且覆盖有辅助本车的停车操作的引导显示，其中显示控制器根据转向角状态值来控制引导显示，因此， 引导显示包括：在停车操作开始时代表当前车辆的初始位置的初始定位引导线; 以及表示快速转向方向切换的起始位置的转向切换开始定位引导线。
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公开(公告)号：US06338015B1
公开(公告)日：2002-01-08
申请号：US09151760
申请日：1998-09-11
IPC分类号： B62D504
CPC分类号： B62D1/286 , B60T2201/08 , B60T2201/087 , B62D15/025
摘要： A system for controlling steering of a vehicle, including a steering means such as a steering wheel with an electric motor which assists steering of the driven wheels of the vehicle, first steering control means for controlling the motor, a CCD camera for detecting a lane condition of a road on which the vehicle travels, a yaw rate sensor for detecting motion of the vehicle, steering assist torque calculating means for calculating a steering assist torque necessary for holding the lane, a torque sensor for detecting an actual steering torque manually applied to the steering means by the driver, and second steering control means for calculating a torque command to be output to the first steering control means based on the steering assist torque calculated by the steering assist torque calculating means and the actual steering torque such that the torque command decreases. In the system, the second steering control means transfers to the first steering control means an index indicative of a condition under which the steering assist torque was calculated, or an index indicative of an order in which the values of the steering assist torque are tansferred, thereby ensuring appropriate and highly reliable communication between the two control means.
摘要翻译： 一种用于控制车辆的转向系统，包括诸如具有辅助车辆的从动轮的转向的电动机的转向装置的转向装置，用于控制电动机的第一转向控制装置，用于检测车道条件的CCD照相机 车辆行驶的道路的偏航率传感器，用于检测车辆的运动的偏航率传感器，用于计算保持车道所需的转向辅助转矩的转向辅助转矩计算装置，用于检测手动施加到车道的实际转向转矩的转矩传感器 以及第二转向控制装置，用于基于由转向辅助转矩计算装置计算的转向辅助转矩和实际转向转矩来计算要输出到第一转向控制装置的转矩指令，使得转矩指令减小 。 在该系统中，第二转向控制单元向第一转向控制单元转移表示计算转向辅助转矩的条件的指标，或指示转向辅助转矩的值被调整的顺序的指标， 从而确保两个控制装置之间的适当和高度可靠的通信。
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公开(公告)号：US6134491A
公开(公告)日：2000-10-17
申请号：US151759
申请日：1998-09-11
CPC分类号： B62D15/025 , B62D1/286 , B62D5/0481 , B62D5/0484 , B60T2201/08 , B60T2201/087
摘要： A system for controlling steering of a vehicle, including a steering unit having an electric motor which steers driven wheels of the vehicle, a first steering control unit (EPS ECU 76) for controlling the actuator, a CCD camera for detecting a condition of a lane on a road on which the vehicle travels, a steering assist torque determining unit for determining a steering assist torque necessary for holding a positional relationship between the vehicle and the lane condition, a torque sensor for detecting a steering torque manually applied to the steering unit by the driver, second steering control unit for calculating a torque command to be output to the first steering control unit based on the steering assist torque calculated by the steering assist torque calculating unit and the detected steering torque to control the motor such that the torque command decreases. In the system, a failure detecting unit is provided for detecting whether a failure has occurred at least in determination of the steering assist torque, and the control by the second control unit is discontinued, or is switched to the control by the first control unit when the failure is detected, thereby enabling to detect or discriminate the occurrence of failure with accuracy and to take a necessary countermeasure to cope with the failures condition.
摘要翻译： 一种用于控制车辆的转向的系统，包括具有转向车辆的从动轮的电动机的转向单元，用于控制致动器的第一转向控制单元（EPS ECU 76），用于检测车道状况的CCD照相机 在车辆行驶的道路上，用于确定保持车辆和车道状态之间的位置关系所需的转向辅助转矩的转向辅助转矩确定单元，用于检测手动施加到转向单元的转向转矩的转矩传感器， 驾驶员第二转向控制单元，用于基于由转向辅助转矩计算单元计算的转向辅助转矩和检测到的转向转矩来计算要输出到第一转向控制单元的转矩指令，以控制电动机，使得转矩指令减小 。 在该系统中，提供故障检测单元，用于至少在确定转向辅助转矩时检测是否发生了故障，并且第二控制单元的控制被中断，或者被切换到第一控制单元的控制 检测到故障，从而能够精确地检测或辨别故障的发生，并采取必要的对策来应对故障状况。
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公开(公告)号：US08675069B2
公开(公告)日：2014-03-18
申请号：US12584870
申请日：2009-09-14
IPC分类号： H04N7/00
CPC分类号： B60R1/12 , B60R1/00 , B60R1/074 , B60R2001/1253 , B60R2300/101 , B60R2300/102 , B60R2300/103 , B60R2300/105 , B60R2300/106 , B60R2300/207 , B60R2300/302 , B60R2300/303 , B60R2300/305 , B60R2300/602 , B60R2300/607 , B60R2300/802
摘要： A vehicle surroundings monitoring apparatus includes: a plurality of imaging units which capture an external region of a present-vehicle and output images; a display unit which is installed in an interior of the present-vehicle; an image combined unit which combines the images output from the imaging units and outputs a combined image; and a display control unit which displays the combined image output from the image combined unit on the display unit, wherein at least one of the imaging units is installed at a retractable side mirror of the present-vehicle, and the image combined unit extracts extracted images of an extraction range determined for respective images output from the imaging units, combines the extracted images to generate the combined image, and changes the extraction range and a boundary position between the extracted images constituting the combined image depending on extension and retraction of the side mirror.
摘要翻译： 车辆周边监视装置包括：多个成像单元，其捕获本车辆的外部区域并输出图像; 安装在本车内部的显示单元; 图像合成单元，其组合从所述成像单元输出的图像并输出组合图像; 以及显示控制单元，其将从所述图像组合单元输出的组合图像显示在所述显示单元上，其中所述成像单元中的至少一个安装在所述本车辆的可伸缩侧视镜处，并且所述图像组合单元提取提取的图像 对于从成像单元输出的各个图像确定的提取范围，组合所提取的图像以生成组合图像，并且根据侧视镜的扩展和缩回改变构成组合图像的提取图像之间的提取范围和边界位置 。
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公开(公告)号：US06178365B1
公开(公告)日：2001-01-23
申请号：US09151761
申请日：1998-09-11
IPC分类号： G06F1900
CPC分类号： B62D1/286 , B60T2201/08 , B60T2201/087 , B62D15/025
摘要： A system for controlling steering of a vehicle, including a steering device such as a steering wheel with an electric motor which assists steering of driven wheels of the vehicle, first steering control unit for controlling the motor, a CCD camera for detecting a lane condition of a road on which the vehicle travels, a yaw rate sensor for detecting motion of the vehicle, steering assist torque calculating unit for calculating a steering assist torque necessary for holding the lane, a torque sensor for detecting an actual steering torque manually applied to the steering device by the driver, and second steering control unit for calculating a torque command to be output to the first steering control unit based on the steering assist torque calculated by the steering assist torque calculating unit and the detected steering torque to control the actuator such that the torque command decreases. In the system, a switching device is provided for switching between modes of control by the first steering control unit and the second steering control unit gradually with respect to time, thereby ensuring to switch the mode of control smoothly and preventing the occurrence of disadvantages including that the vehicle driver experiences annoyance upon sensing a change in steering assist.
摘要翻译： 一种用于控制车辆的转向的系统，包括具有辅助车辆的从动轮的转向的电动机等方向盘的转向装置，用于控制电动机的第一转向控制单元，用于检测车辆状况的CCD摄像机 车辆行驶的道路，用于检测车辆的运动的横摆率传感器，用于计算保持车道所需的转向辅助转矩的转向辅助转矩计算单元，用于检测手动施加到转向器的实际转向转矩的转矩传感器 以及第二转向控制单元，用于基于由转向辅助转矩计算单元计算的转向辅助转矩和检测到的转向转矩来计算要输出到第一转向控制单元的转矩指令，以控制致动器，使得 转矩指令减小。 在该系统中，提供了一种开关装置，用于相对于时间逐渐地切换由第一转向控制单元和第二转向控制单元的控制模式，从而确保平滑地切换控制模式，并防止出现诸如 车辆驾驶员在感测到转向辅助的变化时经历烦恼。
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公开(公告)号：US6154696A
公开(公告)日：2000-11-28
申请号：US184971
申请日：1998-11-03
申请人： Yutaka Nishi , Yasuharu Oyama , Yasuji Shibahata , Takashi Nishimori , Kazushige Sugamata , Hiroyuki Kawagoe
发明人： Yutaka Nishi , Yasuharu Oyama , Yasuji Shibahata , Takashi Nishimori , Kazushige Sugamata , Hiroyuki Kawagoe
IPC分类号： B62D5/04 , B62D6/00 , B62D6/04 , B62D119/00 , B62D137/00 , G06F7/00 , G06F17/00 , G06F19/00
CPC分类号： B62D5/0472 , B60T2260/024
摘要： In a steering control system for controlling torque steer in a vehicle equipped with an electric power steering device and a torque split arrangement for individually controlling traction and/or braking force of right and left wheels, a difference in traction and/or braking force between the right and left wheels which may be produced by the torque split arrangement may give rise to torque steer depending on the geometry of the wheel suspension system of the vehicle. The control unit for the electric power steering device additionally receives an additional signal for providing an additional steering torque which is required for canceling the torque steer. Thus, the torque steer can be eliminated both economically and reliably without requiring to modify the wheel suspension system.
摘要翻译： 在配备有电动助力转向装置的车辆中用于控制扭矩转向的转向控制系统和用于单独控制左右车轮的牵引力和/或制动力的转矩分配装置中，牵引力和/或制动力之间的差异 可以通过扭矩分配装置产生的左右车轮可以根据车辆的车轮悬挂系统的几何形状产生扭矩转向。 用于电动助力转向装置的控制单元另外接收附加信号以提供用于消除扭矩转向所需的附加转向转矩。 因此，在不需要修改车轮悬架系统的情况下，可以经济地和可靠地消除扭矩转向。
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公开(公告)号：US08340870B2
公开(公告)日：2012-12-25
申请号：US12584734
申请日：2009-09-11
申请人： Kenichi Ohshima , Yukihiro Fujiwara , Yoshitaka Katashima , Hiroyuki Kawagoe , Shigenobu Saigusa , Yasushi Shoda , Manabu Shimizu , Yasuhiro Konishi
发明人： Kenichi Ohshima , Yukihiro Fujiwara , Yoshitaka Katashima , Hiroyuki Kawagoe , Shigenobu Saigusa , Yasushi Shoda , Manabu Shimizu , Yasuhiro Konishi
IPC分类号： G06F7/00
CPC分类号： B62D15/0275 , B60R1/00 , B60R2300/105 , B60R2300/303 , B60R2300/305 , B60R2300/607 , B60R2300/806 , B62D15/028
摘要： The vehicle maneuver assistance device includes: a plurality of external environment imaging units; a converter that performs a view point conversion; a display unit provided in an interior of the present-vehicle; a steering angle status value detector which detects status values of the steering angle representing an actual steering angle of the present-vehicle, and outputs a steering angle status value; a display controller that causes the display unit to display the converted image, and, overlaid thereon, a guidance display which assists a parking maneuver of the present-vehicle, wherein the display controller controls the guidance display according to the steering angle status value, so that the guidance display includes: an initial positioning guide line representing an initial location of the present-vehicle at the beginning of the parking maneuver; and a steering-switching start positioning guide line representing a starting location of a quick steering direction switching.
摘要翻译： 车辆操纵辅助装置包括：多个外部环境成像单元; 执行视点转换的转换器; 设置在本车内部的显示单元; 转向角状态值检测器，其检测表示本车辆的实际转向角的转向角的状态值，并输出转向角状态值; 显示控制器，其使显示单元显示转换的图像，并且覆盖有辅助本车的停车操作的引导显示，其中显示控制器根据转向角状态值来控制引导显示，因此， 引导显示包括：在停车操作开始时代表当前车辆的初始位置的初始定位引导线; 以及表示快速转向方向切换的起始位置的转向切换开始定位引导线。
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公开(公告)号：US06431872B1
公开(公告)日：2002-08-13
申请号：US09457707
申请日：1999-12-10
申请人： Shuji Shiraishi , Yuichi Hashimoto , Yutaka Nishi , Mitsuya Serizawa , Osamu Yamamoto , Takashi Nishihara , Hiroyuki Kawagoe , Nobuharu Kuriki , Takuya Sakai , Hidenori Ishihama , Toyotaka Torii , Akihiko Ohtsu
发明人： Shuji Shiraishi , Yuichi Hashimoto , Yutaka Nishi , Mitsuya Serizawa , Osamu Yamamoto , Takashi Nishihara , Hiroyuki Kawagoe , Nobuharu Kuriki , Takuya Sakai , Hidenori Ishihama , Toyotaka Torii , Akihiko Ohtsu
IPC分类号： G09B905
CPC分类号： G09B9/05
摘要： A cockpit is supported by a motion base in a state of being capable of making swinging movement. A host computer calculate vehicle motion information in accordance with operation of various operation equipments performed by a driver accommodated in the cockpit. A simulation image is formed, the cockpit is controlled for swinging movement, and various meters or the like in the cockpit are controlled on the basis of an obtained result of the calculation. Thus, the drive simulation is carried out in a state approximate to that of a real vehicle.
摘要翻译： 驾驶舱由能够进行摆动的状态下的运动基座支撑。 主计算机根据驾驶舱内的驾驶员所执行的各种操作设备的操作来计算车辆运动信息。 形成模拟图像，驾驶舱被控制为摆动运动，并且基于获得的计算结果来控制驾驶舱中的各种仪表等。 因此，驱动模拟以与实际车辆接近的状态进行。
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公开(公告)号：US20100066833A1
公开(公告)日：2010-03-18
申请号：US12584870
申请日：2009-09-14
IPC分类号： H04N7/18
CPC分类号： B60R1/12 , B60R1/00 , B60R1/074 , B60R2001/1253 , B60R2300/101 , B60R2300/102 , B60R2300/103 , B60R2300/105 , B60R2300/106 , B60R2300/207 , B60R2300/302 , B60R2300/303 , B60R2300/305 , B60R2300/602 , B60R2300/607 , B60R2300/802
摘要： A vehicle surroundings monitoring apparatus includes: a plurality of imaging units which capture an external region of a present-vehicle and output images; a display unit which is installed in an interior of the present-vehicle; an image combined unit which combines the images output from the imaging units and outputs a combined image; and a display control unit which displays the combined image output from the image combined unit on the display unit, wherein at least one of the imaging units is installed at a retractable side mirror of the present-vehicle, and the image combined unit extracts extracted images of an extraction range determined for respective images output from the imaging units, combines the extracted images to generate the combined image, and changes the extraction range and a boundary position between the extracted images constituting the combined image depending on extension and retraction of the side mirror.
摘要翻译： 车辆周边监视装置包括：多个成像单元，其捕获本车辆的外部区域并输出图像; 安装在本车内部的显示单元; 图像合成单元，其组合从所述成像单元输出的图像并输出组合图像; 以及显示控制单元，其将从所述图像组合单元输出的组合图像显示在所述显示单元上，其中所述成像单元中的至少一个安装在所述本车辆的可伸缩侧视镜处，并且所述图像组合单元提取提取的图像 对于从成像单元输出的各个图像确定的提取范围，组合所提取的图像以生成组合图像，并且根据侧视镜的扩展和缩回改变构成组合图像的提取图像之间的提取范围和边界位置 。
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公开(公告)号：US06212453B1
公开(公告)日：2001-04-03
申请号：US09393963
申请日：1999-09-10
IPC分类号： B62D504
CPC分类号： G05D1/0278 , B60T2201/08 , B60T2201/087 , B62D5/0463 , B62D6/008 , B62D15/025 , G05D1/0246 , G05D1/0257 , G05D1/027 , G05D1/0274 , G05D2201/0213
摘要： A system for controlling steering of a vehicle, including an electric motor used for power-steering torque assist control. In the system, the lane-keeping-steering assist torque TLK for causing the vehicle to run along the center of a road existing ahead of the vehicle is calculated, while the power-steering assist torque TPS for assisting the vehicle driver's steering is calculated. Then, ratios RTO1 and RTO2 are calculated based on the detected steering torque. The assist torques TLK, TPS are corrected by multiplication with the ratios RTO1, RTO2 respectively and are added together to determine a final assist torque TA, and based on the final assist torques TA, a motor current to be supplied to the electric motor is determined, thereby enabling to effectively prevent the two kinds of control from interfering with each other so as not to adversely affect the vehicle driver's perception of vehicle steering response. Additional ratios are determined based on the detected steering torque change and the vehicle speed.
摘要翻译： 一种用于控制车辆转向的系统，包括用于动力转向转矩辅助控制的电动机。 在该系统中，计算用于使车辆沿着存在于车辆前方的道路的中心行驶的车道保持转向辅助转矩TLK，同时计算用于辅助车辆驾驶员转向的动力转向辅助转矩TPS。 然后，基于检测到的转向转矩来计算比率RTO1和RTO2。 辅助转矩TLK，TPS分别通过与比率RTO1，RTO2相乘来校正，并且相加在一起以确定最终辅助转矩TA，并且基于最终辅助转矩TA，确定要提供给电动机的电动机电流 从而能够有效地防止两种控制相互干扰，从而不会不利地影响车辆驾驶员对车辆转向响应的感知。 基于检测到的转向转矩变化和车辆速度来确定额外的比率。
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