公开(公告)号：US20110015850A1

公开(公告)日：2011-01-20

申请号：US12920733

申请日：2008-12-10

申请人： Satoshi Tange ,  Takeshi Kimura ,  Yuya Takeda ,  Yukinori Nishida

发明人： Satoshi Tange ,  Takeshi Kimura ,  Yuya Takeda ,  Yukinori Nishida

IPC分类号： G06F7/00

CPC分类号： B62D15/025 ,  B60T8/17557 ,  B60W30/12

摘要： Lateral displacement reference positions LXL, LXR are set on left and right from a center in a width direction of a traffic lane L where a vehicle travels. Then, at least in a case where the vehicle is positioned on an inner side of the left and right lateral displacement reference position LXL, LXR, the vehicle is feedback-controlled so as to decrease a yaw angle deviation. Further, in a case where the vehicle is positioned at an outer side of the left and right lateral displacement reference position LXL, LXR with respect to the traffic lane center, the feedback control is performed so as to decrease the angle deviation and a lateral displacement deviation.

摘要翻译： 横向位移基准位置LXL，LXR从车辆行驶的行车道L的宽度方向的中心的左右方向设定。 然后，至少在车辆位于左右横向位移基准位置LXL，LXR的内侧的情况下，对车辆进行反馈控制，以减少偏航角偏差。 此外，在车辆位于相对于行车道中心的左右横向位移基准位置LXL，LXR的外侧的情况下，进行反馈控制，以减小角度偏差和横向位移 偏差。

公开(公告)号：US08457868B2

公开(公告)日：2013-06-04

申请号：US12920733

申请日：2008-12-10

申请人： Satoshi Tange ,  Takeshi Kimura ,  Yuya Takeda ,  Yukinori Nishida

发明人： Satoshi Tange ,  Takeshi Kimura ,  Yuya Takeda ,  Yukinori Nishida

IPC分类号： G06F7/00

CPC分类号： B62D15/025 ,  B60T8/17557 ,  B60W30/12

摘要： Lateral displacement reference positions LXL, LXR are set on left and right from a center in a width direction of a traffic lane L where a vehicle travels. Then, at least in a case where the vehicle is positioned on an inner side of the left and right lateral displacement reference position LXL, LXR, the vehicle is feedback-controlled so as to decrease a yaw angle deviation. Further, in a case where the vehicle is positioned at an outer side of the left and right lateral displacement reference position LXL, LXR with respect to the traffic lane center, the feedback control is performed so as to decrease the angle deviation and a lateral displacement deviation.

摘要翻译： 横向位移基准位置LXL，LXR从车辆行驶的行车道L的宽度方向的中心的左右方向设定。 然后，至少在车辆位于左右横向位移基准位置LXL，LXR的内侧的情况下，对车辆进行反馈控制，以减少偏航角偏差。 此外，在车辆相对于行车道中心位于左右横向位移基准位置LXL，LXR的外侧的情况下，进行反馈控制，以减小角度偏差和横向位移 偏差。

公开(公告)号：US07206684B2

公开(公告)日：2007-04-17

申请号：US11318201

申请日：2005-12-23

申请人： Yuya Takeda

发明人： Yuya Takeda

IPC分类号： G06F19/00

CPC分类号： B60T8/17557 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2201/085 ,  B60T2201/087 ,  B60W10/18 ,  B60W10/20 ,  B60W30/12 ,  B60W40/064 ,  B60W2520/14 ,  B62D6/003 ,  B62D7/159

摘要： The present lane departure prevention system comprises a position detector means for detecting positional information of a vehicle with respect to a lane of travel, a determining unit for comparing the positional information with a first threshold value indicating a predetermined positional relation with respect to the lane of travel, and determining a departure of the vehicle from the lane of travel on the basis of the comparison result, and a yaw moment applying unit for applying a yaw moment to the vehicle and switching a first process of applying the yaw moment to the vehicle only by steering wheels and a second process of applying the yaw moment to the vehicle by steering the wheels and applying a braking power to the wheels, on the basis of a traveling condition of the vehicle, when the determining unit determines that the vehicle departs from the lane of travel.

摘要翻译： 目前的车道偏离防止系统包括：位置检测装置，用于检测车辆相对于行车道的位置信息;确定单元，用于将位置信息与指示相对于车道行驶的车道的预定位置关系的第一阈值进行比较; 基于比较结果确定车辆离开行车道的偏航力矩施加单元和用于向车辆施加横摆力矩的横摆力矩施加单元，并且将仅向车辆施加横摆力矩的第一处理切换 通过方向盘和通过转向车轮并且基于车辆的行驶状况向车轮施加制动力向车辆施加横摆力矩的第二过程，当确定单元确定车辆离开车辆时 行车线

公开(公告)号：US20060142921A1

公开(公告)日：2006-06-29

申请号：US11318201

申请日：2005-12-23

申请人： Yuya Takeda

发明人： Yuya Takeda

IPC分类号： G06F19/00

CPC分类号： B60T8/17557 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2201/085 ,  B60T2201/087 ,  B60W10/18 ,  B60W10/20 ,  B60W30/12 ,  B60W40/064 ,  B60W2520/14 ,  B62D6/003 ,  B62D7/159

摘要： The present lane departure prevention system comprises a position detector means for detecting positional information of a vehicle with respect to a lane of travel, a determining unit for comparing the positional information with a first threshold value indicating a predetermined positional relation with respect to the lane of travel, and determining a departure of the vehicle from the lane of travel on the basis of the comparison result, and a yaw moment applying unit for applying a yaw moment to the vehicle and switching a first process of applying the yaw moment to the vehicle only by steering wheels and a second process of applying the yaw moment to the vehicle by steering the wheels and applying a braking power to the wheels, on the basis of a traveling condition of the vehicle, when the determining unit determines that the vehicle departs from the lane of travel.

摘要翻译： 目前的车道偏离防止系统包括：位置检测装置，用于检测车辆相对于行车道的位置信息;确定单元，用于将位置信息与指示相对于车道行驶的车道的预定位置关系的第一阈值进行比较; 基于比较结果确定车辆离开行车道的偏航力矩施加单元和用于向车辆施加横摆力矩的横摆力矩施加单元，并且将仅向车辆施加横摆力矩的第一处理切换 通过方向盘和通过转向车轮并且基于车辆的行驶状况向车轮施加制动力向车辆施加横摆力矩的第二过程，当确定单元确定车辆离开车辆时 行车线

公开(公告)号：US08423246B2

公开(公告)日：2013-04-16

申请号：US12174140

申请日：2008-07-16

申请人： Yuya Takeda ,  Takeshi Kimura ,  Taku Takahama ,  Tomoyuki Kashiwaya ,  Yukinori Nishida

发明人： Yuya Takeda ,  Takeshi Kimura ,  Taku Takahama ,  Tomoyuki Kashiwaya ,  Yukinori Nishida

IPC分类号： B62D6/00 ,  B62D5/04

CPC分类号： B62D15/025 ,  B60W50/16 ,  B62D5/006 ,  B62D6/008

摘要： The in-lane running support system includes a steering input device and a steering input detector. The in-lane running support system further comprises a reaction force device that changes a condition of the steering input device between a normal operation mode that provides a normal reaction force to the driver, and a hapthic operation mode that performs a notification operation to the driver, a turning output device that is in a state mechanically disconnected from the steering input device and that turns steerable wheels, and a turning output controller. A running state detecting device acquires information of a running state of the vehicle with respect to a lane. An in-lane running support device controls the turning output device and the haptic device based on the information of the running state such that the vehicle runs in the lane, and has a first control mode that controls the turning output control device and causes the reaction force device to operate in the normal operation mode, and a second control mode that controls the turning output control device and causes the reaction force device to operate in the haptic operation mode.

摘要翻译： 车内行驶支持系统包括转向输入装置和转向输入检测器。 车内行驶辅助系统还包括反作用力装置，其将转向输入装置的状态改变为向司机提供正常反作用力的正常操作模式和向驾驶员执行通知操作的触觉操作模式 转向输出装置，其处于与转向输入装置机械断开并转向可转向轮的状态和转向输出控制器。 运行状态检测装置获取关于车道的行驶状态的信息。 车内行驶辅助装置根据运行状态的信息来控制车削输出装置和触觉装置，使得车辆在车道中行驶，并且具有控制车削输出控制装置并引起反作用的第一控制模式 力装置在正常运行模式下运行，第二控制模式控制转向输出控制装置，并使反力装置在触觉操作模式下运行。

公开(公告)号：US20100222965A1

公开(公告)日：2010-09-02

申请号：US12710504

申请日：2010-02-23

申请人： Takeshi KIMURA ,  Genpei Naito ,  Tomohiro Yamamura ,  Satoshi Tange ,  Taku Suzuki ,  Yosuke Kobayashi ,  Toshiyuki Murata ,  Tomoyuki Kashiwaya ,  Yuya Takeda

发明人： Takeshi KIMURA ,  Genpei Naito ,  Tomohiro Yamamura ,  Satoshi Tange ,  Taku Suzuki ,  Yosuke Kobayashi ,  Toshiyuki Murata ,  Tomoyuki Kashiwaya ,  Yuya Takeda

IPC分类号： G06F7/00 ,  B62D6/00 ,  G08G1/16

CPC分类号： B62D15/025 ,  B60W30/025 ,  B60W2520/10 ,  B60W2530/14 ,  B60W2550/308

摘要： A motor vehicle includes a vehicle driving operation support system. The vehicle driving operation support system senses an environment surrounding the motor vehicle; senses a traveling condition of the motor vehicle; calculates a risk potential of the motor vehicle on a basis of the sensed environment and the sensed traveling condition; controls the motor vehicle on a basis of a control setpoint. The vehicle driving operation support system sets on a basis of the calculated risk potential the control setpoint to a provisional setpoint effective for reducing the risk potential; senses driver's operation in reaction to the controlling operation with the control setpoint set to the provisional setpoint; and sets the control setpoint to a normal setpoint on a basis of the sensed driver's operation.

摘要翻译： 机动车辆包括车辆驾驶操作支撑系统。 车辆驾驶操作支持系统感测机动车辆周围的环境; 感觉机动车辆的行驶状况; 根据感测到的环境和感测到的行驶状况计算机动车辆的潜在风险; 在控制设定点的基础上控制机动车辆。 车辆驾驶操作支持系统基于所计算的风险潜力将控制设定点设置为有效降低风险潜力的临时设定点; 通过将控制设定值设定为临时设定值来感测驾驶员对控制操作的操作; 并且基于感测到的驾驶员的操作将控制设定值设定为正常设定值。

公开(公告)号：US08359155B2

公开(公告)日：2013-01-22

申请号：US12710504

申请日：2010-02-23

申请人： Takeshi Kimura ,  Genpei Naito ,  Tomohiro Yamamura ,  Satoshi Tange ,  Taku Suzuki ,  Yosuke Kobayashi ,  Toshiyuki Murata ,  Tomoyuki Kashiwaya ,  Yuya Takeda

发明人： Takeshi Kimura ,  Genpei Naito ,  Tomohiro Yamamura ,  Satoshi Tange ,  Taku Suzuki ,  Yosuke Kobayashi ,  Toshiyuki Murata ,  Tomoyuki Kashiwaya ,  Yuya Takeda

IPC分类号： F41G9/00 ,  G06F7/00 ,  G06F7/70 ,  G06F17/10 ,  B60T7/12 ,  B60T7/16 ,  G05D1/02 ,  B60Q1/00 ,  G08G1/16 ,  B60K31/00

CPC分类号： B62D15/025 ,  B60W30/025 ,  B60W2520/10 ,  B60W2530/14 ,  B60W2550/308

摘要： A motor vehicle includes a vehicle driving operation support system. The vehicle driving operation support system senses an environment surrounding the motor vehicle; senses a traveling condition of the motor vehicle; calculates a risk potential of the motor vehicle on a basis of the sensed environment and the sensed traveling condition; controls the motor vehicle on a basis of a control setpoint. The vehicle driving operation support system sets on a basis of the calculated risk potential the control setpoint to a provisional setpoint effective for reducing the risk potential; senses driver's operation in reaction to the controlling operation with the control setpoint set to the provisional setpoint; and sets the control setpoint to a normal setpoint on a basis of the sensed driver's operation.

摘要翻译： 机动车辆包括车辆驾驶操作支撑系统。 车辆驾驶操作支持系统感测机动车辆周围的环境; 感觉机动车辆的行驶状况; 根据感测到的环境和感测到的行驶状况计算机动车辆的潜在风险; 在控制设定点的基础上控制机动车辆。 车辆驾驶操作支持系统基于所计算的风险潜力将控制设定点设置为有效降低风险潜力的临时设定点; 通过将控制设定值设定为临时设定值来感测驾驶员对控制操作的操作; 并且基于感测到的驾驶员的操作将控制设定值设定为正常设定值。

公开(公告)号：US20090024279A1

公开(公告)日：2009-01-22

申请号：US12174140

申请日：2008-07-16

申请人： Yuya TAKEDA ,  Takeshi Kimura ,  Taku Takahama ,  Tomoyuki Kashiwaya ,  Yukinori Nishida

发明人： Yuya TAKEDA ,  Takeshi Kimura ,  Taku Takahama ,  Tomoyuki Kashiwaya ,  Yukinori Nishida

IPC分类号： B62D6/00

CPC分类号： B62D15/025 ,  B60W50/16 ,  B62D5/006 ,  B62D6/008

摘要： The in-lane running support system includes a steering input device and a steering input detector. The in-lane running support system further comprises a reaction force device that changes a condition of the steering input device between a normal operation mode that provides a normal reaction force to the driver, and a hapthic operation mode that performs a notification operation to the driver, a turning output device that is in a state mechanically disconnected from the steering input device and that turns steerable wheels, and a turning output controller. A running state detecting device acquires information of a running state of the vehicle with respect to a lane. An in-lane running support device controls the turning output device and the haptic device based on the information of the running state such that the vehicle runs in the lane, and has a first control mode that controls the turning output control device and causes the reaction force device to operate in the normal operation mode, and a second control mode that controls the turning output control device and causes the reaction force device to operate in the haptic operation mode.

摘要翻译： 车内行驶支持系统包括转向输入装置和转向输入检测器。 车内行驶辅助系统还包括反作用力装置，其将转向输入装置的状态改变为向司机提供正常反作用力的正常操作模式和向驾驶员执行通知操作的触觉操作模式 转向输出装置，其处于与转向输入装置机械断开并转向可转向轮的状态和转向输出控制器。 运行状态检测装置获取关于车道的行驶状态的信息。 车内行驶辅助装置根据运行状态的信息来控制车削输出装置和触觉装置，使得车辆在车道中行驶，并且具有控制车削输出控制装置并引起反作用的第一控制模式 力装置在正常运行模式下运行，第二控制模式控制转向输出控制装置，并使反力装置在触觉操作模式下运行。