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    Road shape estimation apparatus and curve approach control apparatus
    2.
    发明授权
    Road shape estimation apparatus and curve approach control apparatus 有权
    道路形状估计装置和曲线进近控制装置

    公开(公告)号：US06343253B1

    公开(公告)日：2002-01-29

    申请号：US09665673

    申请日：2000-09-20

    申请人： Munenori Matsuura ,  Akira Takahashi

    发明人： Munenori Matsuura ,  Akira Takahashi

    IPC分类号： G08G116

    CPC分类号： B60K31/0066 ,  B60W2550/143

    摘要： A curve's radius of curvature that approximates the actual curve is calculated, and an appropriate allowable curve approach speed even when the node interval is extremely short is set. Although the node c with a relatively large positional deviation on the curve is not out of the actual road width, the road geometry indicated by a series of nodes is locally bent like a concave at around the node c, constituting a curve that cannot exist in reality. The interval between nodes b and c is short, so that calculating the curve's radius of curvature at nodes b and c may result in a very small curve's radius of curvature which is far smaller than the actual curve geometry. Therefore, at least one of the nodes is taken as the curve's radius of curvature calculation removal point and is not used for the calculation of the curve's radius of curvature.

    摘要翻译： 计算曲线近似实际曲线的曲率半径，即使节点间隔非常短，设定适当的允许曲线逼近速度。 虽然曲线上位置偏差相对较大的节点c不在实际道路宽度之外，但由一系列节点指示的道路几何局部弯曲成像节点c周围的凹陷，构成不能存在的曲线 现实。 节点b和c之间的间隔很短，因此在节点b和c处计算曲线的曲率半径可能导致非常小的曲线曲率半径远小于实际曲线几何。 因此，将节点中的至少一个作为曲线的曲率半径计算去除点，并且不用于计算曲线的曲率半径。

    Vehicle controlling apparatus and method
    6.
    发明授权
    Vehicle controlling apparatus and method 有权

    公开(公告)号：US06567749B2

    公开(公告)日：2003-05-20

    申请号：US10126650

    申请日：2002-04-22

    申请人： Munenori Matsuura

    发明人： Munenori Matsuura

    IPC分类号： G06F1710

    CPC分类号： B60T8/17558 ,  B60G2400/823 ,  B60G2800/226 ,  B60G2800/242 ,  B60K2350/1084 ,  B60K2350/2013 ,  B60T7/22 ,  B60T2201/02 ,  B60T2201/022 ,  B60T2260/02 ,  B60W30/09 ,  B62D1/28 ,  B62D6/00 ,  B62D7/159

    摘要： An obstacle existing ahead of a vehicle is recognized to detect information on the obstacle. Information on travelling conditions of the vehicle is detected. The steering performance of the vehicle is changed for controlling behaviors of the vehicle. It is determined whether the vehicle can avoid collision with the obstacle only by a driver's braking operation based on at least the information on the obstacle and the vehicle. The vehicle enters into an evasive driving mode in accordance with a driver's steering operation when it is determined that the vehicle cannot avoid collision with the obstacle only by the driver's braking operation. The steering performance of the vehicle is changed for controlling behaviors of the vehicle. A preliminary information is given to the driver to indicate that the vehicle will enter into the evasive driving mode. The driver is then informed that the vehicle has entered into the evasive driving mode.

    Curve approaching mode controller
    7.
    发明授权
    Curve approaching mode controller 失效
    曲线逼近模式控制器

    公开(公告)号：US06424904B1

    公开(公告)日：2002-07-23

    申请号：US09664736

    申请日：2000-09-19

    申请人： Akira Takahashi ,  Munenori Matsuura

    发明人： Akira Takahashi ,  Munenori Matsuura

    IPC分类号： G01C2100

    CPC分类号： G01C21/3697 ,  B60K31/0083 ,  B60W2520/125 ,  G01C21/34

    摘要： A curve approaching mode controller is capable of continuing vehicle control operations for the longest possible time even if curve information is not available from a navigation system. The navigation system provides curve information about a curve on a road stretching ahead of a vehicle. A control unit estimates a curve approaching mode in which the vehicle will approach the curve on the basis of the curve information and, when necessary, gives a warning and executes a decelerating control operation. If only insufficient curve information is available from the navigation system, a road attribute calculating and storing unit stores the normal node information received immediately before receiving the insufficient node information (curve information) without updating the same, and informs a warning speed calculating and storing unit of a fact that the node information is insufficient. A warning speed calculating and storing unit calculates a warning speed that serves as a reference for warning on the basis of the normal node information received immediately before receiving the insufficient node information, taking a distance traveled by the vehicle after the insufficient node information has been received.

    摘要翻译： 曲线逼近模式控制器能够在尽可能长的时间内持续车辆控制操作，即使曲线信息不能从导航系统获得。 导航系统提供关于在车辆前方延伸的道路上的曲线的曲线信息。 控制单元估计曲线接近模式，其中车辆将基于曲线信息接近曲线，并且在必要时给出警告并执行减速控制操作。 如果导航系统只有曲线信息不足，则道路属性计算和存储单元将接收到不足的节点信息（曲线信息）之前立即接收的正常节点信息存储在不更新的情况下，通知警告速度计算和存储单元 节点信息不足的事实。 警报速度计算和存储单元基于在接收到不足的节点信息之前立即接收到的正常节点信息来计算作为用于警告的参考的警告速度，在接收到不足的节点信息之后取得车辆行驶的距离 。

    Braking force control system for turning having correction parameters capabilities and method thereof
    8.
    发明授权
    Braking force control system for turning having correction parameters capabilities and method thereof 失效
    具有校正参数功能的车削制动力控制系统及其方法

    公开(公告)号：US6074020A

    公开(公告)日：2000-06-13

    申请号：US748410

    申请日：1996-11-13

    申请人： Akira Takahashi ,  Yutaka Hiwatashi ,  Koji Matsuno ,  Munenori Matsuura

    发明人： Akira Takahashi ,  Yutaka Hiwatashi ,  Koji Matsuno ,  Munenori Matsuura

    IPC分类号： B60T8/1755 ,  B60T8/06

    CPC分类号： B60T8/1755

    摘要： A braking force control system and method of a vehicle includes a vehicle speed detecting section, a steering angle detecting section, a yaw rate detecting section, a target yaw rate calculating section, a yaw rate deviation calculating section, turning requirement detecting means for detecting a driver's requirement to turn the vehicle, brake pressure correction coefficient generating section, a target braking force calculating section, a braking force correction section for correcting the braking force according to the driver's requirement to turn the vehicle, a braking wheel determining section for determining an object wheel to apply brakes, an output judging section, a brake signal outputting section and a brake drive apparatus for applying brake pressure to the wheel cylinder of the object wheel. Whereby, the driver can make a sharp turn even when the normal braking force control is operative.

    摘要翻译： 车辆的制动力控制系统和方法包括车速检测部，转向角检测部，横摆率检测部，目标横摆率计算部，横摆率偏差计算部，转弯要求检测单元， 驾驶员要求转动车辆，制动压力校正系数产生部分，目标制动力计算部分，用于根据驾驶员要求转动车辆来校正制动力的制动力校正部分，用于确定物体的制动轮确定部分 用于施加制动的车轮，输出判断部分，制动信号输出部分和用于对车轮的轮缸施加制动压力的制动驱动装置。 由此，即使正常的制动力控制可操作，驾驶员也可以急转弯。

    System for controlling braking of an automotive vehicle
    9.
    发明授权
    System for controlling braking of an automotive vehicle 失效
    用于控制汽车制动的系统

    公开(公告)号：US5915800A

    公开(公告)日：1999-06-29

    申请号：US664009

    申请日：1996-06-14

    申请人： Yutaka Hiwatashi ,  Akira Takahashi ,  Koji Matsuno ,  Munenori Matsuura

    发明人： Yutaka Hiwatashi ,  Akira Takahashi ,  Koji Matsuno ,  Munenori Matsuura

    IPC分类号： B60T8/1755 ,  B60T8/58

    CPC分类号： B60T8/1755

    摘要： A braking force control system comprises a yaw rate sensor for detecting an actual yaw rate of a vehicle, a target yaw rate calculating section for detecting a vehicle speed and a steering angle to calculate a target yaw rate, a yaw-rate difference calculating section for calculating a difference in yaw rate by subtracting the target yaw rate from the actual yaw rate, and a braked-wheel discriminating section for selecting a rear-inside wheel as a braked wheel when the sign of the actual yaw rate is different from that of the difference in yaw rate, and for selecting a front-outside wheel as the braked wheel when the sign of the actual yaw rate is the same as that of the difference in yaw rate. Therefore, when the vehicle is in an under-steering tendency, the rear-inside wheel is selected, and when it is in an over-steering tendency, the front-outside wheel is selected. In addition, the system may further comprise an output discriminating section for comparing the difference in yaw rate with a discriminating threshold to discriminate as to whether the difference in yaw rate is within a control region. A first threshold is set as the discriminating threshold. After the under-steering tendency is changed to the over-steering tendency, a set period of time and a second threshold, the absolute value of which is smaller than that of the first threshold, are set. With this construction, it is possible to smoothly perform the control without giving uncomfortable feeling to a driver, and it is also possible to restrain the control by a rear wheel.

    摘要翻译： 一种制动力控制系统，包括用于检测车辆的实际横摆角速度的偏航率传感器，用于检测车速的目标横摆率计算部和用于计算目标横摆率的转向角;偏航率差计算部， 通过从实际横摆率减去目标横摆角速度来计算偏航率的差异;以及制动轮识别部，用于当实际横摆率的符号与实际横摆率的符号不同时，选择作为制动轮的后内轮 偏航率的差异，以及当实际横摆率的符号与横摆率的差异相同时，用于选择作为制动轮的前外轮。 因此，当车辆处于转向不足的倾向时，选择后内侧轮，并且当处于过度转向倾向时，选择前外轮。 此外，该系统还可以包括输出鉴别部分，用于将偏航率的差异与识别阈值进行比较，以区分横摆率的差异是否在控制区域内。 将第一阈值设置为鉴别阈值。 在转向不足的倾向变为过度转向倾向之后，设定其绝对值小于第一阈值的设定时间段和第二阈值。 利用这种结构，可以平稳地执行控制而不会给驾驶员带来不舒适的感觉，并且还可以抑制后轮的控制。