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公开(公告)号：US07835865B2
公开(公告)日：2010-11-16
申请号：US11730426
申请日：2007-04-02
CPC分类号： G01S13/931 , B60R21/0134 , B60R2021/01272 , B60T7/22 , B60T2201/02 , B60W10/18 , B60W2550/20 , G01S13/42 , G01S2013/9346 , G01S2013/9353 , G01S2013/9375
摘要： An offset distance of an obstacle from a traveling-path center line of a vehicle at the time the obstacle is detected is calculated, and then this offset distance of the obstacle from the traveling-path center line of the vehicle is corrected based on a turning radius of the traveling vehicle detected at the time a specified period of time has lapsed. Thereby, even in a case where the vehicle travels on a road with a curve that changes a radius of curvature of the traveling-path center line (turning radius of the traveling vehicle) quickly during the specified period of traveling time, the above-described offset distance can be properly corrected based on an updated turning radius of the traveling vehicle. Thus, a relative position of the obstacle with respect to the vehicle can be predicted accurately.
摘要翻译： 计算障碍物在检测到障碍物时的车辆的行进中心线的偏移距离，然后根据车辆的行驶路径中心线来修正障碍物与车辆行驶中心线的偏移距离 在指定时间段内检测到的行驶车辆的半径已经过去。 因此，即使在行驶时间的规定时间内车辆在道路上行驶时，行驶路径中心线的曲率半径（行驶车辆的转弯半径）快速变化的情况下， 可以基于行驶车辆的更新的转弯半径适当地校正偏移距离。 因此，可以精确地预测障碍物相对于车辆的相对位置。
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公开(公告)号：US20080079629A1
公开(公告)日：2008-04-03
申请号：US11892689
申请日：2007-08-27
申请人： Takuji Oka , Hiroshi Ohmura , Haruki Okazaki , Sei Kobayashi , Takashi Nakagami , Takayuki Seto
发明人： Takuji Oka , Hiroshi Ohmura , Haruki Okazaki , Sei Kobayashi , Takashi Nakagami , Takayuki Seto
IPC分类号： G01S13/32
CPC分类号： G01S13/584 , G01S13/345 , G01S13/726 , G01S13/931
摘要： There are provided a radar device that transmits a frequency modulation-continuous wave (FM-CW) and outputs an up-beat frequency and a down-beat frequency, a pairing processing section that conducts pairing of the up-beat frequency and the down-beat frequency at specified sampling intervals, a target-object detecting section that detects target objects around the vehicle, obtaining a distance from the vehicle to the target object and a relative speed between the vehicle and the target object based on the up-beat frequency and down-beat frequency that are paired, and a prediction processing section that obtains a prediction data for each target object for a next sampling timing. The pairing processing section conducts the pairing with priority to a specified target object that has a high certainty of the prediction data. Thereby, the pairing of the up-beat and down-beat frequencies can be conducted precisely and quickly.
摘要翻译： 提供了发送频率调制连续波（FM-CW）并输出上变频和下拍频率的雷达装置，配对处理部，其对上行频率和下拍频率进行配对， 以指定的采样间隔拍摄频率，目标物体检测部，其检测车辆周围的目标物体，基于上拍频率获得从车辆到目标物体的距离以及车辆与目标物体之间的相对速度;以及 成对的下拍频率，以及对于下一个采样定时获取每个目标对象的预测数据的预测处理部。 配对处理部分优先对具有高预测数据确定性的指定目标对象进行配对。 因此，可以精确且快速地进行上拍和下拍频率的配对。
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公开(公告)号：US20070239358A1
公开(公告)日：2007-10-11
申请号：US11730426
申请日：2007-04-02
IPC分类号： G08G1/16
CPC分类号： G01S13/931 , B60R21/0134 , B60R2021/01272 , B60T7/22 , B60T2201/02 , B60W10/18 , B60W2550/20 , G01S13/42 , G01S2013/9346 , G01S2013/9353 , G01S2013/9375
摘要： An offset distance of an obstacle from a traveling-path center line of a vehicle at the time the obstacle is detected is calculated, and then this offset distance of the obstacle from the traveling-path center line of the vehicle is corrected based on a turning radius of the traveling vehicle detected at the time a specified period of time has lapsed. Thereby, even in a case where the vehicle travels on a road with a curve that changes a radius of curvature of the traveling-path center line (turning radius of the traveling vehicle) quickly during the specified period of traveling time, the above-described offset distance can be properly corrected based on an updated turning radius of the traveling vehicle. Thus, a relative position of the obstacle with respect to the vehicle can be predicted accurately.
摘要翻译： 计算障碍物在检测到障碍物时的车辆的行进中心线的偏移距离，然后根据车辆的行驶路径中心线来修正障碍物与车辆行驶中心线的偏移距离 在指定时间段内检测到的行驶车辆的半径已经过去。 因此，即使在行驶时间的规定时间内车辆在道路上行驶时，行驶路径中心线的曲率半径（行驶车辆的转弯半径）快速变化的情况下， 可以基于行驶车辆的更新的转弯半径适当地校正偏移距离。 因此，可以精确地预测障碍物相对于车辆的相对位置。
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公开(公告)号：US07652560B2
公开(公告)日：2010-01-26
申请号：US11730425
申请日：2007-04-02
申请人： Hiroshi Ohmura , Haruki Okazaki , Takuji Oka , Takashi Nakagami , Sei Kobayashi , Masanobu Fukushima , Takashi Terano
发明人： Hiroshi Ohmura , Haruki Okazaki , Takuji Oka , Takashi Nakagami , Sei Kobayashi , Masanobu Fukushima , Takashi Terano
IPC分类号： B60Q1/00
CPC分类号： G01S13/56 , G01S7/412 , G01S13/931 , G01S2013/9314 , G01S2013/9346 , G01S2013/9353 , G01S2013/9375
摘要： A radar device is configured to transmit an electric wave and receives a reflected wave that is generated by a reflection of the electric wave on an object, and to recognize the object is a potential obstacle that is to be hit by the vehicle when a received intensity of the reflected wave thereby is a specified threshold or more. And, the specified threshold has a plurality of preset values. Accordingly, a determination as to whether or not the obstacle detected by the radar device is the potential obstacle to be hit by the vehicle can be accurately made.
摘要翻译： 雷达装置被配置为发送电波并且接收由物体上的电波反射产生的反射波，并且当接收到的强度时识别物体是被车辆撞击的潜在障碍物 的反射波是指定的阈值以上。 并且，指定的阈值具有多个预设值。 因此，可以准确地确定由雷达装置检测到的障碍物是否是车辆撞击的潜在障碍物。
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公开(公告)号：US20070241870A1
公开(公告)日：2007-10-18
申请号：US11730425
申请日：2007-04-02
申请人： Hiroshi Ohmura , Haruki Okazaki , Takuji Oka , Takashi Nakagami , Sei Kobayashi , Masanobu Fukushima , Takashi Terano
发明人： Hiroshi Ohmura , Haruki Okazaki , Takuji Oka , Takashi Nakagami , Sei Kobayashi , Masanobu Fukushima , Takashi Terano
IPC分类号： B60Q1/00
CPC分类号： G01S13/56 , G01S7/412 , G01S13/931 , G01S2013/9314 , G01S2013/9346 , G01S2013/9353 , G01S2013/9375
摘要： A radar device is configured to transmit an electric wave and receives a reflected wave that is generated by a reflection of the electric wave on an object, and to recognize the object is a potential obstacle that is to be hit by the vehicle when a received intensity of the reflected wave thereby is a specified threshold or more. And, the specified threshold has a plurality of preset values. Accordingly, a determination as to whether or not the obstacle detected by the radar device is the potential obstacle to be hit by the vehicle can be accurately made.
摘要翻译： 雷达装置被配置为发送电波并且接收由物体上的电波反射产生的反射波，并且当接收到的强度时识别物体是被车辆撞击的潜在障碍物 的反射波是指定的阈值以上。 并且，指定的阈值具有多个预设值。 因此，可以准确地确定由雷达装置检测到的障碍物是否是车辆撞击的潜在障碍物。
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公开(公告)号：US5225983A
公开(公告)日：1993-07-06
申请号：US631924
申请日：1990-12-20
申请人： Hiroshi Ohmura , Takashi Nakashima , Takeshi Edahiro , Fumio Kageyama , Atuo Tomoda , Haruki Okazaki , Ryuya Akita , Takeshi Murai
发明人： Hiroshi Ohmura , Takashi Nakashima , Takeshi Edahiro , Fumio Kageyama , Atuo Tomoda , Haruki Okazaki , Ryuya Akita , Takeshi Murai
IPC分类号： B60T8/1755 , B60T8/42 , B62D7/15
CPC分类号： B62D7/159 , B60T8/1755 , B60T8/4291 , B60T2260/022 , B60T2260/024 , B60T2270/304
摘要： A rear steering control system for a motor vehicle includes an antiskid braking system which controls a braking force in a brake device in a respective wheel in accordance with a deceleration condition of the respective wheel so as to prevent wheel locking in a braking operation. The sytem includes a rear steering control system for establishing a ratio of steering amount of the rear wheels to that of the front wheels as a predetermined steering ratio characteristic. An input device inputs an operation condition of the antiskid braking system and an control condition of the brake device for the respective wheel conducted by the antiskid braking system to the rear steering control system. A device is provided in the system for amending the predetermined steering ratio characteristic in accordance with the control condition of the brake device for the respective wheel when the antiskid braking system is in operation.
摘要翻译： 用于机动车辆的后转向控制系统包括防滑制动系统，其根据相应车轮的减速条件控制各轮中的制动装置中的制动力，以防止制动操作中的车轮锁定。 该系统包括用于确定后轮的转向量与前轮的转向量的比率的后转向控制系统作为预定的转向比特性。 一个输入装置输入防滑制动系统的操作状态以及由防滑制动系统传导到各个车轮的制动装置的控制状态到后转向控制系统。 在防滑制动系统运行时，根据制动装置的控制条件，在系统中设置有用于修正预定转向比特性的装置。
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公开(公告)号：US07564343B2
公开(公告)日：2009-07-21
申请号：US11546249
申请日：2006-10-12
IPC分类号： B60Q1/00
CPC分类号： B60R21/0134 , B60R21/0132 , B60R2021/01197 , B60R2021/01259 , B60R2021/01272 , B60R2021/01313 , B60T7/22
摘要： A millimeter-wave radar (obstacle detecting device) detects an obstacle in front of a traveling vehicle. A driving-state detecting device detects a specified driving state of the vehicle. An operation-timing changing device changes an operation timing of operational devices according to detection results of the driving-state detecting device. A control unit (operation control device) operates the operational devices (warning device, brake device, seatbelt pre-tensioner) at the above operation timing. Thus, the safe and smooth vehicle driving can be attained without an improper detection of the obstacle.
摘要翻译： 毫米波雷达（障碍物检测装置）检测行驶车辆前方的障碍物。 驱动状态检测装置检测车辆的规定驾驶状态。 操作定时改变装置根据驱动状态检测装置的检测结果来改变操作装置的操作定时。 控制单元（操作控制装置）在上述操作时刻操作操作装置（警告装置，制动装置，安全带预张紧器）。 因此，可以在没有障碍物的不正确检测的情况下实现安全和平稳的车辆驾驶。
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公开(公告)号：US20070109110A1
公开(公告)日：2007-05-17
申请号：US11546249
申请日：2006-10-12
CPC分类号： B60R21/0134 , B60R21/0132 , B60R2021/01197 , B60R2021/01259 , B60R2021/01272 , B60R2021/01313 , B60T7/22
摘要： A millimeter-wave radar (obstacle detecting device) detects an obstacle in front of a traveling vehicle. A driving-state detecting device detects a specified driving state of the vehicle. An operation-timing changing device changes an operation timing of operational devices according to detection results of the driving-state detecting device. A control unit (operation control device) operates the operational devices (warning device, brake device, seatbelt pre-tensioner) at the above operation timing. Thus, the safe and smooth vehicle driving can be attained without an improper detection of the obstacle.
摘要翻译： 毫米波雷达（障碍物检测装置）检测行驶车辆前方的障碍物。 驱动状态检测装置检测车辆的规定驾驶状态。 操作定时改变装置根据驱动状态检测装置的检测结果来改变操作装置的操作定时。 控制单元（操作控制装置）在上述操作时刻操作操作装置（警告装置，制动装置，安全带预张紧器）。 因此，可以在没有障碍物的不正确检测的情况下实现安全和平稳的车辆驾驶。
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9.发明授权Control device for an automotive vehicle having an antiskid brake system and differentials 失效具有防滑制动系统和差速器的机动车辆的控制装置
公开(公告)号：US5651593A
公开(公告)日：1997-07-29
申请号：US523931
申请日：1995-09-06
申请人： Yuji Shitani , Haruki Okazaki , Seiji Miyamoto
发明人： Yuji Shitani , Haruki Okazaki , Seiji Miyamoto
IPC分类号： B60K17/35 , B60K17/346 , B60K23/04 , B60K23/08 , B60T8/172 , B60T8/1761 , B60T8/1763 , B60T8/58 , B60T8/88 , B60W50/02
CPC分类号： B60K23/04 , B60T8/17616 , B60T8/885 , B60K23/0808 , B60T2210/16 , B60W2050/021 , Y10S303/06
摘要： A control device for an automotive vehicle comprises a differential disposed between wheels or wheel axles of a vehicle an antiskid brake control device to control an antiskid brake device which is capable of adjusting a brake pressure applied to a brake device of the vehicle to prevent wheels of the vehicle from locking, a differential limiting control device having a differential limiting device being capable of controlling and transferring a differential limit to the differential, and operating to decrease the differential limit while the antiskid brake device is operating, such that when either the antiskid brake control device or said differential control device fails, the non-failing control device receives a failure signal from the failing control device and the non-failing control device controls the vehicle towards a stable condition or increases a brake force.
摘要翻译： 一种用于机动车辆的控制装置，包括一个布置在车辆的车轮或轮轴之间的差速器，用于控制防滑制动装置的防滑制动控制装置，所述防滑制动装置能够调节施加到车辆的制动装置的制动压力， 车辆从锁定，差速限制控制装置具有差速限制装置，其能够控制和转移差速器的差速器极限，并且在防滑制动装置运行时操作以减小差速器极限，使得当防滑制动器 控制装置或所述差速控制装置发生故障，则不故障控制装置从故障控制装置接收到故障信号，并且非故障控制装置将车辆控制到稳定状态或增加制动力。
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公开(公告)号：US5193888A
公开(公告)日：1993-03-16
申请号：US658753
申请日：1991-02-21
IPC分类号： B60T8/175 , B60T8/1761 , B60T8/48 , B60T8/58
摘要： A slip control system for a motor vehicle controls slippage of driving wheels and includes, a sensor for detecting a slip ratio of each driving wheel, a device for detecting a reduction in speed of each wheel, and a traction control system for decreasing a slip of each driving wheel by controlling brake fluid pressure in each driving wheel so that the slip ratio of each driving wheel is at least equal to a predetermined desired slip ratio when the slip ratio of each driving wheel becomes equal to the desired slip ratio. The system further includes an antiskid brake system for controlling brake fluid pressure, based on the reduction speed of each wheel, so as to cancel a lock condition of the wheel. The antiskid brake system has a first control device for controlling the brake pressure fluid in a condition in which a traction control operation is not carried out by the traction control system, and a second control device for controlling the brake pressure fluid in a condition in which a traction control operation is carried out by the traction control system.
摘要翻译： 用于机动车辆的滑动控制系统控制驱动轮的滑动，并且包括用于检测每个驱动轮的滑移率的传感器，用于检测每个车轮的速度降低的装置，以及用于减少滑动的牵引力控制系统 每个驱动轮通过控制每个驱动轮中的制动液压力使得当每个驱动轮的滑移比变得等于期望的滑移率时，每个驱动轮的滑移比至少等于预定的期望滑移率。 该系统还包括用于基于每个车轮的减速度控制制动液压力的防滑制动系统，以消除车轮的锁定状态。 防滑制动系统具有第一控制装置，用于在牵引控制系统不执行牵引控制操作的状态下控制制动压力流体;以及第二控制装置，用于在下述情况下控制制动压力流体： 牵引力控制系统由牵引力控制系统进行。
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