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公开(公告)号：US08086372B2
公开(公告)日：2011-12-27
申请号：US12374755
申请日：2007-08-06
CPC分类号： B62D15/025 , B62D5/0466
摘要： The present invention aims at providing a steering assistance apparatus which can accurately detect a curve exit of a running path and perform steering assistance control with an excellent running path following capability. The steering assistance apparatus of the present invention is a steering assistance apparatus 1 for providing a steering mechanism with a steering torque such that a vehicle runs along a running path according to an image capturing the running path in front of the vehicle, which estimates a curve direction of the running path by processing the image, estimates a steering direction of a driver of the vehicle according to a steering operation of the driver, and determines that the vehicle is running through a curve exit according to a fact that the estimated curve direction and steering direction do not coincide with each other. This makes it possible to determine the curve exit of the running path accurately and perform appropriate steering assistance control.
摘要翻译： 本发明的目的在于提供一种能够精确地检测行驶路径的曲线出口并且以优异的行驶路径跟随能力执行转向辅助控制的转向辅助装置。 本发明的转向辅助装置是一种转向辅助装置1，其用于向转向机构提供转向转矩，使得车辆沿着行驶路径沿着行驶路线行驶，该图像捕获车辆前方的行驶路径，该图像估计曲线 通过处理图像来运行路径的方向，根据驾驶员的转向操作来估计车辆的驾驶员的转向方向，并且根据估计的曲线方向和事实上的曲线出口来确定车辆正在行驶 转向方向不一致。 这使得可以精确地确定运行路径的曲线出口并执行适当的转向辅助控制。
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2.发明申请Apparatus for estimating of deviation from lane, and apparatus for warning of same and method for same 有权用于估计与车道偏差的装置，以及用于警告的装置及其方法公开(公告)号：US20050273261A1
公开(公告)日：2005-12-08
申请号：US11136449
申请日：2005-05-25
CPC分类号： B62D15/029 , B60T2201/08 , B60T2201/082 , B60W10/20 , B60W50/14 , B62D15/025
摘要： An apparatus for warning deviation from a lane has a deviation evaluation ECU 1. The deviation evaluation ECU 1 has a deviation evaluator 14 for performing an evaluation on a deviation by comparing a future position of a host vehicle with a lane future position. Before this deviation evaluation, a mask processor 13 determines whether a yaw angle of the host vehicle and a lateral position of the vehicle relative to a driving lane exceed their respective thresholds preliminarily determined. When either one or the both are not more than the thresholds, the mask processor 13 performs a mask process, without performing the deviation evaluation. A deviation evaluator 14 performs the deviation evaluation when the yaw angle and the lateral position relative to the driving lane both exceed their respective thresholds.
摘要翻译： 用于警告偏离车道的装置具有偏差评估ECU 1。 偏差评估ECU1具有用于通过将本车辆的未来位置与车道未来位置进行比较来对偏差进行评价的偏差评估器14。 在该偏差评估之前，掩模处理器13确定主车辆的偏航角和车辆相对于行驶车道的横向位置是否超过其预先确定的各自的阈值。 当任何一个或两者都不大于阈值时，掩模处理器13执行掩模处理，而不执行偏差评估。 当偏航角和相对于行驶车道的横向位置都超过它们各自的阈值时，偏差评估器14执行偏差评估。
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公开(公告)号：US20050267684A1
公开(公告)日：2005-12-01
申请号：US11135287
申请日：2005-05-24
IPC分类号： B60R21/00 , B60K31/00 , B60K31/04 , B60W10/00 , B60W10/04 , B60W10/20 , B62D15/02 , G08G1/16
CPC分类号： B60K31/04 , B60K2350/1084 , B62D15/025 , B62D15/026 , B62D15/029
摘要： A driving control apparatus of the present invention has a driving road keeping device for providing a torque to a steering mechanism so as to keep a vehicle traveling at a predetermined position on a driving road, a setting device for setting a need or no need for execution of a control of the driving road keeping device, and a cruise control device for controlling a driving force or speed of the vehicle so as to keep the vehicle in a predetermined driving state. A need or no need for execution of the control of the driving road keeping device is determined based on a setting state of the setting device and a control state of the cruise control device. A display indicating that the control of the driving road keeping device is ready is presented when the control of the driving road keeping device is in an executable state upon a state change of either the setting state of the setting device or the control state of the cruise control device. Therefore, with the display indicating the ready state, a driver can initiate the control of the driving road keeping device by changing the setting state of the setting device or the control state of the cruise control device in accordance with the content of the display.
摘要翻译： 本发明的驱动控制装置具有驱动道路保持装置，用于向转向机构提供扭矩，以使车辆行驶在行驶道路上的预定位置，设定需要或不需要执行的设定装置 驾驶道路保持装置的控制，以及用于控制车辆的驱动力或速度以使车辆保持在预定驾驶状态的巡航控制装置。 基于设定装置的设定状态和巡航控制装置的控制状态来决定是否需要执行驾驶道路维护装置的控制。 当驾驶道路保持装置的控制在设定装置的设定状态或巡航的控制状态的状态改变时处于可执行状态时，呈现指示驾驶道路保持装置的控制准备就绪的显示 控制装置 因此，在显示表示就绪状态的情况下，驾驶员可以根据显示内容，通过改变设定装置的设定状态或巡航控制装置的控制状态，来开始驾驶道路保持装置的控制。
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公开(公告)号：US20090048738A1
公开(公告)日：2009-02-19
申请号：US12085779
申请日：2006-11-30
CPC分类号： B62D15/025 , B62D1/28
摘要： In a driving assistance system having an actuator (16) for steering steered wheels of a vehicle, a positional deviation detecting unit (9) detects a deviation of a position of the vehicle from a forward travel path of the vehicle based on information around the vehicle. A steering control variable determination unit (2) determines a steering control variable to cancel the deviation. If a vehicle speed detected by a vehicle speed detecting unit is equal to or greater than a predetermined speed, the steering control variable determined by a steering control variable determination unit (2) decreases with an increase of the vehicle speed under the condition that the deviation of the position of the vehicle from the forward travel path is same. The driving assistance system can reduce a driver's discomfort caused by the steering control through the actuator (16) when the vehicle is running at a high speed.
摘要翻译： 在具有用于车辆的转向轮的致动器（16）的驾驶辅助系统中，位置偏差检测单元（9）根据车辆周围的信息来检测车辆的前方行驶路径的位置偏离 。 转向控制变量确定单元（2）确定转向控制变量以消除偏差。 如果由车速检测部检测到的车速等于或大于预定速度，则由转向控制变量确定单元（2）确定的转向控制变量随着车速的增加而减小， 车辆从前进行驶路径的位置是相同的。 当车辆高速行驶时，驾驶辅助系统可以通过致动器（16）减小驾驶员对转向控制引起的不适。
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公开(公告)号：US20090030613A1
公开(公告)日：2009-01-29
申请号：US11887535
申请日：2006-05-26
IPC分类号： G08G1/16
CPC分类号： G08G1/167 , B60W30/12 , G06K9/00798
摘要： Lane width information Winf acquired by a traffic lane detector is retrieved (step S1); when a value of the lane width information Winf is within a predetermined range of change amount relative to a lane width output Wout_old at a previous time step, i.e., not less than (Wout_old+Wdec) nor more than (Wout_old+Winc), Winf is used directly as the lane width output Wout (steps S5→S9→S11→S8); when the value of lane width information Winf is off the predetermined range, i.e., less than (Wout_old+Wdec), (Wout_old+Wdec) is outputted as the lane width output value Wout (steps S5→S9→S10→S8); when the value of lane width information Winf exceeds (Wout_old+Winc), (Wout_old+Winc) is outputted as the lane width output Wout (steps S5→S6→S8).
摘要翻译： 检索由行车道检测器获取的车道宽度信息Winf（步骤S1）; 当车道宽度信息Winf的值相对于前一时间步长的车道宽度输出Wout_old处于预定的变化量范围内时，即不小于（Wout_old + Wdec）或不大于（Wout_old + Winc）时，Winf 直接用作车道宽度输出Wout（步骤S5-> S9-> S11-> S8）; 当车道宽度信息Winf的值偏离预定范围（即，小于（Wout_old + Wdec））时，输出（Wout_old + Wdec）作为车道宽度输出值Wout（步骤S5-> S9-> S10-> S8 ）; 当车道宽度信息Winf的值超过（Wout_old + Winc）时，输出Wout_old + Winc作为车道宽度输出Wout（步骤S5-> S6-> S8）。
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公开(公告)号：US07477951B2
公开(公告)日：2009-01-13
申请号：US11474440
申请日：2006-06-26
IPC分类号： G05B13/02
CPC分类号： B62D15/025 , B62D1/28 , G05B11/42
摘要： When an integral calculation of a physical quantity representing a state of a controlled system is performed, two integral calculations, that is, a positive-integral calculation and a negative-integral calculation are performed. In this way, differentiated information can be obtained, depending on the control conditions. A selection of which one of the integral value obtained by the positive-integral calculation and the integral value obtained by the negative-integral calculation is used, is made on the basis of an actual control value and a desired control value when control is performed so that a value representing the state of the controlled system becomes equal to the desired control value. In this way, a control parameter which has been judged to include a phase delay is removed. Thus, the phase delay in the overall control can be suppressed, and an appropriate steering assist control can be performed, for example.
摘要翻译： 当执行表示受控系统的状态的物理量的积分计算时，执行两个积分计算，即正积分计算和负积分计算。 以这种方式，可以根据控制条件获得差分信息。 根据实际的控制值和控制时的期望控制值，选择通过正积分计算得到的积分值和通过负积分计算得到的积分值中的哪一个进行选择 表示受控系统的状态的值变得等于期望的控制值。 以这种方式，已经判断为包括相位延迟的控制参数被去除。 因此，可以抑制整体控制中的相位延迟，并且例如可以执行适当的转向辅助控制。
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公开(公告)号：US07454291B2
公开(公告)日：2008-11-18
申请号：US11135287
申请日：2005-05-24
IPC分类号： G06F17/10
CPC分类号： B60K31/04 , B60K2350/1084 , B62D15/025 , B62D15/026 , B62D15/029
摘要： A driving control apparatus of the present invention has a driving road keeping device for providing a torque to a steering mechanism so as to keep a vehicle traveling at a predetermined position on a driving road, a setting device for setting a need or no need for execution of a control of the driving road keeping device, and a cruise control device for controlling a driving force or speed of the vehicle so as to keep the vehicle in a predetermined driving state. A need or no need for execution of the control of the driving road keeping device is determined based on a setting state of the setting device and a control state of the cruise control device. A display indicating that the control of the driving road keeping device is ready is presented when the control of the driving road keeping device is in an executable state upon a state change of either the setting state of the setting device or the control state of the cruise control device. Therefore, with the display indicating the ready state, a driver can initiate the control of the driving road keeping device by changing the setting state of the setting device or the control state of the cruise control device in accordance with the content of the display.
摘要翻译： 本发明的驱动控制装置具有驱动道路保持装置，用于向转向机构提供扭矩，以使车辆行驶在行驶道路上的预定位置，设定需要或不需要执行的设定装置 驾驶道路保持装置的控制，以及用于控制车辆的驱动力或速度以使车辆保持在预定驾驶状态的巡航控制装置。 基于设定装置的设定状态和巡航控制装置的控制状态来决定是否需要执行驾驶道路维护装置的控制。 当驾驶道路保持装置的控制在设定装置的设定状态或巡航的控制状态的状态改变时处于可执行状态时，呈现指示驾驶道路保持装置的控制准备就绪的显示 控制装置 因此，在显示表示就绪状态的情况下，驾驶员可以根据显示内容，通过改变设定装置的设定状态或巡航控制装置的控制状态，来开始驾驶道路保持装置的控制。
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公开(公告)号：US07389167B2
公开(公告)日：2008-06-17
申请号：US11134301
申请日：2005-05-23
IPC分类号： A01B69/00
CPC分类号： B62D15/025 , B62D1/28 , B62D15/029
摘要： A driving support system according to the present invention is provided with an actuator for steering steered wheels of a vehicle and is used for supporting driving of the vehicle by making use of steering by means of the actuator. The driving support system has an image taking device for taking a forward image ahead the vehicle, a determiner for determining a controlled variable of the actuator on the basis of the forward image acquired by the image taking device, a limiter for limiting the controlled variable when a time change of the controlled variable of the actuator determined by the determiner is off a predetermined range, and a controller for controlling the actuator. The limiter sets a limit value for limiting the time change of the controlled variable of the actuator so that the limit value at a start (or at an end) of the driving support control is different from the limit value in continuation of the driving support control. In this configuration, the limit value to prevent a driver from sensing discomfort is set at the start (or at the end) of the driving support control, while the limit value suitable for the driving support control is set during continuous execution of the driving support control. This permits the system to achieve suppression of the discomfort at the start (or at the end) of the support control and improvement in performance of the support control in continuation of the control together.
摘要翻译： 根据本发明的驾驶辅助系统设置有用于车辆的转向转向轮的致动器，并且用于通过借助于致动器的转向来支持车辆的行驶。 驱动支撑系统具有用于在车辆前方拍摄正向图像的摄像装置，用于基于由摄像装置获取的前向图像确定致动器的受控变量的确定器，用于限制受控变量的限制器 由确定器确定的致动器的控制变量的时间变化已经超出预定范围，以及用于控制致动器的控制器。 限制器设置限制致动器的受控变量的时间变化的极限值，使驾驶辅助控制开始（或结束时）的极限值与持续驾驶支持控制的极限值不同 。 在该结构中，在驾驶辅助控制的开始（或结束）时设定防止驾驶员感觉到不适的极限值，而在驾驶辅助控制的连续执行期间设定适合驾驶辅助控制的极限值 控制。 这允许系统在支持控制的开始（或结束时）实现抑制不舒服，并且一起继续控制来支持控制的性能的提高。
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公开(公告)号：US20050278096A1
公开(公告)日：2005-12-15
申请号：US11134301
申请日：2005-05-23
IPC分类号： B60R21/00 , B62D1/28 , B62D5/04 , B62D6/00 , B62D15/02 , B62D101/00 , B62D113/00 , B62D137/00 , H04N7/18
CPC分类号： B62D15/025 , B62D1/28 , B62D15/029
摘要： A driving support system according to the present invention is provided with an actuator for steering steered wheels of a vehicle and is used for supporting driving of the vehicle by making use of steering by means of the actuator. The driving support system has an image taking device for taking a forward image ahead the vehicle, a determiner for determining a controlled variable of the actuator on the basis of the forward image acquired by the image taking device, a limiter for limiting the controlled variable when a time change of the controlled variable of the actuator determined by the determiner is off a predetermined range, and a controller for controlling the actuator. The limiter sets a limit value for limiting the time change of the controlled variable of the actuator so that the limit value at a start (or at an end) of the driving support control is different from the limit value in continuation of the driving support control. In this configuration, the limit value to prevent a driver from sensing discomfort is set at the start (or at the end) of the driving support control, while the limit value suitable for the driving support control is set during continuous execution of the driving support control. This permits the system to achieve suppression of the discomfort at the start (or at the end) of the support control and improvement in performance of the support control in continuation of the control together.
摘要翻译： 根据本发明的驾驶辅助系统设置有用于车辆的转向转向轮的致动器，并且用于通过借助于致动器的转向来支持车辆的行驶。 驱动支撑系统具有用于在车辆前方拍摄正向图像的摄像装置，用于基于由摄像装置获取的前向图像确定致动器的受控变量的确定器，用于限制受控变量的限制器 由确定器确定的致动器的控制变量的时间变化已经超出预定范围，以及用于控制致动器的控制器。 限制器设置限制致动器的受控变量的时间变化的极限值，使驾驶辅助控制开始（或结束时）的极限值与持续驾驶支持控制的极限值不同 。 在该结构中，在驾驶辅助控制的开始（或结束）时设定防止驾驶员感觉到不适的极限值，而在驾驶辅助控制的连续执行期间设定适合驾驶辅助控制的极限值 控制。 这允许系统在支持控制的开始（或结束时）实现抑制不舒服，并且一起继续控制来支持控制的性能的提高。
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公开(公告)号：US08118126B2
公开(公告)日：2012-02-21
申请号：US12310046
申请日：2007-08-21
IPC分类号： B62D6/00
CPC分类号： B62D1/286
摘要： A steering assist system for applying a steering torque reduces the influence of a time-dependent steering control amount on an assist steering torque when a predetermined driving operation by a driver is detected. Thus, the influence of the time-dependent steering control amount on the applied steering torque, which increases when the period of time over which actual moving state deviates from the target moving state increases is reduced when the driver makes the predetermined driving operation. Thus, it is possible to avoid the problem where steering feel degrades because the steering torque increases over time.
摘要翻译： 当检测到驾驶员的预定驾驶操作时，用于施加转向转矩的转向辅助系统减小了与时间有关的转向控制量对辅助转向转矩的影响。 因此，当驾驶员进行预定的驾驶操作时，当实际移动状态偏离目标移动状态的时间段增加时，随着时间的转向控制量对所施加的转向转矩的影响减小。 因此，可以避免由于转向扭矩随时间增加而导致转向感觉下降的问题。
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