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公开(公告)号：US08346436B2
公开(公告)日：2013-01-01
申请号：US13239073
申请日：2011-09-21
CPC分类号： B62D15/025 , B62D15/0265 , G08G1/165 , G08G1/166 , G08G1/167
摘要： A driving support system includes a lane detecting unit for detecting lanes around a vehicle, a route correcting unit for correcting a route along which the vehicle is expected to travel taking into consideration an obstacle on the route after the route has been recognized by lanes detected by the lane detecting unit, and a control unit for controlling the vehicle on the basis of the positional relation between the corrected route determined by the route correcting unit and the vehicle.
摘要翻译： 驾驶辅助系统包括：车道检测单元，用于检测车辆周围的车道，路线校正单元，用于在通过车道识别出路线之后考虑到路线上的障碍物来校正车辆预期行驶的路线， 车道检测单元，以及基于由路径校正单元确定的校正路线与车辆之间的位置关系来控制车辆的控制单元。
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公开(公告)号：US20120010808A1
公开(公告)日：2012-01-12
申请号：US13239073
申请日：2011-09-21
IPC分类号： G08G1/16
CPC分类号： B62D15/025 , B62D15/0265 , G08G1/165 , G08G1/166 , G08G1/167
摘要： A driving support system includes a lane detecting unit for detecting lanes around a vehicle, a route correcting unit for correcting a route along which the vehicle is expected to travel taking into consideration an obstacle on the route after the route has been recognized by lanes detected by the lane detecting unit, and a control unit for controlling the vehicle on the basis of the positional relation between the corrected route determined by the route correcting unit and the vehicle.
摘要翻译： 驾驶辅助系统包括：车道检测单元，用于检测车辆周围的车道，路线校正单元，用于在通过车道识别出路线之后考虑到路线上的障碍物来校正车辆预期行驶的路线， 车道检测单元，以及基于由路径校正单元确定的校正路线与车辆之间的位置关系来控制车辆的控制单元。
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公开(公告)号：US20110187515A1
公开(公告)日：2011-08-04
申请号：US12920396
申请日：2009-07-28
CPC分类号： B60T7/22 , B60T2201/08 , B60W30/09 , B60W30/0956 , B60W30/12 , B60W2720/406 , B62D15/0265
摘要： According to conventional art, if there is an obstacle on the left of a vehicle, a control threshold value is set so as to avoid the obstacle. If the control threshold value is exceeded, the vehicle is controlled in accordance with a deviation quantity so as to return to a position where the control threshold avoids being exceeded. However, even if a risky oncoming vehicle is approaching the vehicle on the right, the vehicle is controllably moved toward the oncoming vehicle. Thus, disadvantageously, a driver has a sense of fear or discomfort. A vehicle control apparatus according to the present invention includes a calculation section configured to calculate a first risk level present on the left of the vehicle and a second risk level present on the right of the vehicle, a setting section configured to set a first control threshold for the left of the vehicle based on the first risk level and to set a second control threshold for the right of the vehicle based on the second risk level, a change section configured to change at least one of the first and second control thresholds based on the first and second risk levels, and a control section configured to control the vehicle based on the changed control threshold.
摘要翻译： 根据现有技术，如果在车辆的左侧存在障碍物，则设定控制阈值以避免障碍物。 如果超过了控制阈值，则根据偏差量来控制车辆，以返回到避免超过控制阈值的位置。 然而，即使有危险的迎面而来的车辆正在靠近右边的车辆，车辆也可以被控制地朝向迎面而来的车辆移动。 因此，不利的是，驾驶员有恐惧感或不适感。 根据本发明的车辆控制装置包括计算部件，其被配置为计算存在于车辆左侧的第一风险等级和存在于车辆右侧的第二风险等级，设置部件，其被配置为设定第一控制阈值 基于所述第一风险等级对所述车辆的左侧进行基于所述第二风险等级的所述车辆的右侧的第二控制阈值，基于所述第二风险等级来设定所述车辆右侧的第二控制阈值， 第一和第二风险等级，以及控制部，被配置为基于改变的控制阈值来控制车辆。
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公开(公告)号：US20120179349A1
公开(公告)日：2012-07-12
申请号：US13395015
申请日：2010-08-02
IPC分类号： B60W30/045 , B60W10/119 , B60W10/184 , B60W10/04
CPC分类号： B60W10/04 , B60T8/1755 , B60T2270/302 , B60W10/08 , B60W10/119 , B60W10/18 , B60W10/184 , B60W30/045 , B60W2720/14 , B60W2720/30
摘要： There is provided a vehicle drive control system that feels less unnatural and that enables an improvement in safety performance. A vehicle motion control system capable of independently controlling a driving force and a braking force of four wheels comprises: a first mode (G-Vectoring control) in which substantially the same driving force and braking force are generated with respect to left and right wheels among the four wheels based on a longitudinal acceleration/deceleration control command that is coordinated with the vehicle's lateral motion; and a second mode (sideslip prevention control) in which different driving forces and braking forces are generated with respect to the left and right wheels among the four wheels based on a target yaw moment derived from the vehicle's sideslip information, wherein the first mode is selected when the target yaw moment is equal to or less than a pre-defined threshold, and the second mode is selected when the target yaw moment is greater than the threshold (FIG. 11).
摘要翻译： 提供了一种感觉不太自然的车辆驱动控制系统，并且能够提高安全性能。 能够独立地控制四个车轮的驱动力和制动力的车辆运动控制系统包括：第一模式（G矢量控制），其中相对于左右车轮产生大致相同的驱动力和制动力， 基于与车辆的横向运动协调的纵向加速/减速控制命令的四个车轮; 以及基于从车辆侧滑信息导出的目标横摆力矩，在四个车轮之间相对于左右车轮产生不同的驱动力和制动力的第二模式（侧滑防止控制），其中选择第一模式 当目标横摆力矩等于或小于预定阈值时，并且当目标横摆力矩大于阈值时选择第二模式（图11）。
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公开(公告)号：US08165776B2
公开(公告)日：2012-04-24
申请号：US12194887
申请日：2008-08-20
申请人： Toshiharu Sugawara , Atsushi Yokoyama , Takaomi Nishigaito , Masatoshi Hoshino , Tatsuya Yoshida , Jun Kubo , Shinjiro Saito
发明人： Toshiharu Sugawara , Atsushi Yokoyama , Takaomi Nishigaito , Masatoshi Hoshino , Tatsuya Yoshida , Jun Kubo , Shinjiro Saito
IPC分类号： B60T7/12
CPC分类号： B60W30/12 , B60T2201/022
摘要： A drive assist system includes an assist starting part starting assist, a detection part detecting relative distances and speeds between a vehicles, a calculation part calculating collision risks when changing a lane by the basis of the relative distances and speeds, a first judgment part judging whether the lane can be changed by the relative distances, speeds and the collision risks, a decision part deciding a target space for lane change by the relative distances and speeds when the lane cannot be changed, a second judgment part judging whether a lane changeable space is in the target space, a setting part setting a target speed for the vehicle go to a lane change waiting position when no space and to setting a target speed the vehicle enters a lane changeable position when there is the space, and a control part controlling a speed of the vehicle reaches the target speed.
摘要翻译： 驱动辅助系统包括辅助起动部起动辅助，检测车辆之间的相对距离和速度的检测部，基于相对距离和速度来改变车道时的碰撞风险的计算部，第一判断部判断是否 可以通过相对距离，速度和碰撞风险来改变车道，决定部件通过车道不能改变时的相对距离和速度来确定车道变换的目标空间，第二判断部分判断车道可变空间是否为 在目标空间中，当没有空间时，设定车辆的目标速度的设定部分进入车道变更等待位置，并且当存在空间时设定车辆进入车道可变位置的目标速度，以及控制部 车速达到目标速度。
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公开(公告)号：US08600657B2
公开(公告)日：2013-12-03
申请号：US12920396
申请日：2009-07-28
CPC分类号： B60T7/22 , B60T2201/08 , B60W30/09 , B60W30/0956 , B60W30/12 , B60W2720/406 , B62D15/0265
摘要： According to conventional art, if there is an obstacle on the left of a vehicle, a control threshold value is set so as to avoid the obstacle. If the control threshold value is exceeded, the vehicle is controlled in accordance with a deviation quantity so as to return to a position where the control threshold avoids being exceeded. However, even if a risky oncoming vehicle is approaching the vehicle on the right, the vehicle is controllably moved toward the oncoming vehicle. Thus, disadvantageously, a driver has a sense of fear or discomfort. A vehicle control apparatus according to the present invention includes a calculation section configured to calculate a first risk level present on the left of the vehicle and a second risk level present on the right of the vehicle, a setting section configured to set a first control threshold for the left of the vehicle based on the first risk level and to set a second control threshold for the right of the vehicle based on the second risk level, a change section configured to change at least one of the first and second control thresholds based on the first and second risk levels, and a control section configured to control the vehicle based on the changed control threshold.
摘要翻译： 根据现有技术，如果在车辆的左侧存在障碍物，则设定控制阈值以避免障碍物。 如果超过了控制阈值，则根据偏差量来控制车辆，以返回到避免超过控制阈值的位置。 然而，即使有危险的迎面而来的车辆正在靠近右边的车辆，车辆也可以被控制地朝向迎面而来的车辆移动。 因此，不利的是，驾驶员有恐惧感或不适感。 根据本发明的车辆控制装置包括计算部件，其被配置为计算存在于车辆左侧的第一风险等级和存在于车辆右侧的第二风险等级，设置部件，其被配置为设定第一控制阈值 基于所述第一风险等级对所述车辆的左侧进行基于所述第二风险等级的所述车辆的右侧的第二控制阈值，基于所述第二风险等级来设定所述车辆右侧的第二控制阈值， 第一和第二风险等级，以及控制部，被配置为基于改变的控制阈值来控制车辆。
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公开(公告)号：US20110087415A1
公开(公告)日：2011-04-14
申请号：US12920255
申请日：2009-07-28
IPC分类号： B60T8/1755
CPC分类号： B60T7/22 , B60T2201/16 , B60T2210/24 , B60T2210/36 , B60W10/06 , B60W10/184 , B60W30/02 , B60W30/18009 , B60W2540/10 , B60W2550/143 , B60W2720/106
摘要： A deceleration aiding device capable of achieving deceleration control which reflects a driver's intention more accurately according to a driver's intention to decelerate a vehicle, and by which the acceleration of the vehicle is difficult to exceed a road surface friction coefficient is provided. The deceleration aiding device includes: a road information acquisition unit (51) for acquiring information of a curved road in front of a vehicle; a curve information calculation unit (52) for calculating a section length from the vehicle to an entrance position of the curved road based on the information of the curved road; a start timing determination unit (54) for determining a start timing for starting deceleration control of the vehicle according to a driving state of the vehicle; a target deceleration calculation unit (55) for calculating a target deceleration in the deceleration control; and a deceleration control unit (56) for performing deceleration control on the vehicle based on the target deceleration, wherein the target deceleration calculation unit (55) calculates the target deceleration based on the section length and a vehicle speed at the start timing such that a deceleration of the vehicle in the deceleration control and a lateral acceleration of the vehicle when traveling along the curved road are larger as the section length is shorter.
摘要翻译： 提供一种能够实现减速控制的减速辅助装置，其根据驾驶员对车辆进行减速的意图更准确地反映驾驶员的意图，并且车辆的加速度难以超过路面摩擦系数。 减速辅助装置包括：道路信息获取单元，用于获取车辆前方的弯曲道路的信息; 曲线信息计算单元，用于根据弯曲道路的信息计算从车辆到弯曲道路的入口位置的段长度; 开始定时确定单元，用于根据车辆的驾驶状态来确定用于开始车辆的减速控制的开始定时; 用于计算减速控制中的目标减速度的目标减速度计算单元（55） 以及减速控制部（56），其基于所述目标减速度对所述车辆进行减速控制，其中，所述目标减速度计算部（55）基于所述开始时刻的所述截面长度和车速来计算所述目标减速度，使得 车辆在减速控制中的减速度以及当沿着弯曲的道路行驶时车辆的横向加速度随着截面长度越来越大。
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公开(公告)号：US20090088925A1
公开(公告)日：2009-04-02
申请号：US12194887
申请日：2008-08-20
申请人： Toshiharu SUGAWARA , Atsushi Yokoyama , Takaomi Nishigaito , Masatoshi Hoshino , Tatsuya Yoshida , Jun Kubo , Shinjiro Saito
发明人： Toshiharu SUGAWARA , Atsushi Yokoyama , Takaomi Nishigaito , Masatoshi Hoshino , Tatsuya Yoshida , Jun Kubo , Shinjiro Saito
CPC分类号： B60W30/12 , B60T2201/022
摘要： A drive assist system includes an assist starting part starting assist, a detection part detecting relative distances and speeds between a vehicles, a calculation part calculating collision risks when changing a lane by the basis of the relative distances and speeds, a first judgment part judging whether the lane can be changed by the relative distances, speeds and the collision risks, a decision part deciding a target space for lane change by the relative distances and speeds when the lane cannot be changed, a second judgment part judging whether a lane changeable space is in the target space, a setting part setting a target speed for the vehicle go to a lane change waiting position when no space and to setting a target speed the vehicle enters a lane changeable position when there is the space, and a control part controlling a speed of the vehicle reaches the target speed.
摘要翻译： 驱动辅助系统包括辅助起动部起动辅助，检测车辆之间的相对距离和速度的检测部，基于相对距离和速度来改变车道时的碰撞风险的计算部，第一判断部判断是否 可以通过相对距离，速度和碰撞风险来改变车道，决定部件通过车道不能改变时的相对距离和速度来确定车道变换的目标空间，第二判断部分判断车道可变空间是否为 在目标空间中，当没有空间时，设定车辆的目标速度的设定部分进入车道变更等待位置，并且当存在空间时设定车辆进入车道可变位置的目标速度，以及控制部 车速达到目标速度。
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公开(公告)号：US20120209489A1
公开(公告)日：2012-08-16
申请号：US13503249
申请日：2010-08-10
IPC分类号： G06F7/00
CPC分类号： B60W30/18009 , B60T7/042 , B60T13/662 , B60T2201/16 , B60W30/143 , B60W30/18145 , B60W50/0097 , B60W2520/125 , B60W2550/146 , B60W2720/106
摘要： There is provided a vehicle motion control device that defines a pre-curve entry deceleration amount taking the deceleration amount that occurs while traveling a curve into consideration. A vehicle motion control device 6 comprises: a lateral motion-coordinated acceleration/deceleration calculation means 11 that calculates lateral motion-coordinated acceleration/deceleration Gx_dGy, which is the longitudinal acceleration/deceleration of a vehicle 0 that is coordinated with lateral motion, in accordance with lateral jerk Gy_max that acts on the vehicle 0 at curve entry; and a vehicle speed control device 12, which calculates pre-curve entry deceleration Gx_preC that is to be generated with respect to the vehicle 0 before entering the curve, taking lateral motion-coordinated acceleration/deceleration Gx_dGy calculated by the lateral motion-coordinated acceleration/deceleration calculation device 11 into consideration. Thus, over-deceleration of pre-curve entry deceleration Gx_preC may be prevented, and the connection between pre-curve entry deceleration Gx_preC and lateral motion-coordinated acceleration/deceleration Gx_dGy made smooth, thereby mitigating the sense of unnaturalness experienced by the driver.
摘要翻译： 提供了一种车辆运动控制装置，其在考虑到曲线行进时发生的减速量来定义预弯曲进入减速量。 车辆运动控制装置6包括：横向运动协调加速/减速计算装置11，其计算作为与侧向运动协调的车辆0的纵向加速/减速度的横向运动协调加速/减速度Gx_dGy，根据 在曲线进入时作用于车辆0的侧向加加速度Gy_max; 以及车速控制装置12，其计算在进入曲线之前相对于车辆0生成的预弯曲进入减速度Gx_preC，采用横向运动协调加速/减速度Gx_dGy， 考虑减速计算装置11。 因此，可以防止预弯曲进入减速度Gx_preC的过度减速，并且预弯曲进入减速度Gx_preC和横向运动协调加速/减速度Gx_dGy之间的连接变得平滑，从而减轻驾驶员所经历的不自然感。
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公开(公告)号：US09260016B2
公开(公告)日：2016-02-16
申请号：US14240226
申请日：2012-05-10
申请人： Shinjiro Saito
发明人： Shinjiro Saito
IPC分类号： B60M7/00 , B60L9/00 , B60L5/08 , B60L5/36 , B60L9/22 , B60L15/20 , B60L5/04 , B62D6/00 , B60L11/00 , B60L11/12
CPC分类号： B60L9/00 , B60L5/04 , B60L5/08 , B60L5/36 , B60L9/22 , B60L11/005 , B60L11/123 , B60L15/20 , B60L2200/26 , B60L2200/36 , B60L2210/30 , B60L2210/40 , B60L2220/46 , B60L2240/12 , B60L2240/24 , B60L2240/421 , B60L2240/423 , B60L2240/441 , B60L2240/443 , B60L2240/461 , B60M7/00 , B62D6/003 , Y02T10/6217 , Y02T10/642 , Y02T10/645 , Y02T10/7022 , Y02T10/7077 , Y02T10/7241 , Y02T10/7275
摘要： A control device 200 which is formed of a vehicle control device 50, a controller 100, an inverter control device 30 and a steering control device 32 executes control to give a yaw moment to a vehicle 1 so that the vehicle 1 travels while tracing a first trolley wire 3R1/3L1 in a first traveling section before the vehicle 1 reaches a trolley wire linkage section C and the vehicle 1 travels while tracing a second trolley wire 3R2/3L2 in a second traveling section after the vehicle 1 passed through the trolley wire linkage section. In the trolley wire linkage section, a prescribed path is set from a representative point to a second target point and the control device 200 executes control to give a yaw moment to the vehicle 1 so that the vehicle 1 travels along the prescribed path and eventually tracing the second trolley wire 3R2/3L2.
摘要翻译： 由车辆控制装置50，控制器100，逆变器控制装置30和转向控制装置32构成的控制装置200进行控制，向车辆1赋予横摆力矩，使车辆1行驶，同时追踪第一 在车辆1到达电车线连接部C之前的第一行驶部中的车辆线3R1 / 3L1，车辆1在车辆1通过电车线联动器之后追踪第二行驶部中的第二行车线路行驶 部分。 在电车线连接部中，从代表点到第二目标点设定规定路径，并且控制装置200执行控制以向车辆1给出横摆力矩，使得车辆1沿着规定的路径行进并且最终跟踪 第二电车线3R2 / 3L2。
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