公开(公告)号：US5963148A

公开(公告)日：1999-10-05

申请号：US929010

申请日：1997-09-08

申请人： Hiroshi Sekine ,  Nobuyoshi Asanuma

发明人： Hiroshi Sekine ,  Nobuyoshi Asanuma

IPC分类号： G09B29/00 ,  B60R21/00 ,  B60W30/00 ,  G01C21/00 ,  G01C21/26 ,  G01W1/00 ,  G06K9/00 ,  G08G1/00 ,  G08G1/0962 ,  G08G1/0967 ,  G08G1/16 ,  G08G1/09

CPC分类号： G06K9/00664 ,  G01C21/26 ,  G06K9/00798 ,  G06K9/00805 ,  G08G1/096716 ,  G08G1/09675 ,  G08G1/096791 ,  G08G1/0969 ,  G08G1/166

摘要： An image of a road area ahead of a vehicle is formed based on road data read from a navigation system, or based on an image shot by a camera means such as a video camera. A temperature profile ahead of the vehicle detected by a temperature detecting means such as an infrared camera is superposed on the image of the road area. As a result, if a low-temperature zone is detected on the road area, it is determined that there is snow or ice existing on the road area, or if a high-temperature zone is detected, it is determined that there is a person or animal existing on the road area, thereby informing a driver by an alarm means or a display means to avoid such an obstruction or hazard. Thus, it is possible to perceive snow, ice, a person and an animal existing on a road ahead of the vehicle without relying on a driver's visual judgment, and to give an alarm so that the driver may timely take an appropriate countermeasure to avoid the obstruction or hazardous situation.

摘要翻译： 基于从导航系统读取的道路数据，或者基于由诸如摄像机的摄像机装置拍摄的图像，形成车辆前方的道路区域的图像。 由诸如红外摄像机的温度检测装置检测到的车辆前方的温度分布叠加在道路区域的图像上。 结果，如果在路面上检测到低温区域，则判断出存在于道路区域上的雪或冰，或者如果检测到高温区域，则确定存在人 或存在于道路区域上的动物，从而通过报警装置或显示装置通知驾驶员以避免这种障碍或危险。 因此，可以不依赖驾驶员的视觉判断来感知存在于车辆前方的道路上的雪，冰，人和动物，并且发出警报，以便驾驶员可以及时采取适当的对策来避免 阻塞或危险情况。

公开(公告)号：US5742240A

公开(公告)日：1998-04-21

申请号：US389109

申请日：1995-02-15

申请人： Nobuyoshi Asanuma ,  Hiroshi Sekine

发明人： Nobuyoshi Asanuma ,  Hiroshi Sekine

IPC分类号： G01C21/00 ,  B60K31/00 ,  B60W30/00 ,  G01C21/26 ,  G08G1/0969 ,  G08G1/16 ,  G08G1/123

CPC分类号： B60K31/0058 ,  G01C21/26 ,  G08G1/0969 ,  B60W2550/143 ,  B60W2550/402

摘要： A course travel judging device judges based on outputs from a map information outputting device and a subject vehicle position outputting device whether a subject vehicle is traveling on a course set by a course setting device. If the subject vehicle is traveling on the set course, a vehicle speed is controlled by a travel control device, so that the subject vehicle can safely pass through a curve ahead thereof. If the subject vehicle has deviated from the set course, an alarm is given to an occupant by an alarm device, and the control of vehicle speed by the travel control device is stopped. If a departing possibility judging device judges that there is a possibility of departing of the subject vehicle from the set course, a deviatable course is set by a deviatable course determining device, and the vehicle speed is controlled by the travel control device, so that the subject vehicle can safely pass through a curve having a severest passing condition on either of the set course or the deviatable course. Therefore, even if a vehicle has deviated from a course determined through a navigation system, an appropriate control of vehicle speed can be carried out.

摘要翻译： 课程行驶判断装置根据地图信息输出装置和被摄动车位置输出装置的输出判断本车辆是否在路线设定装置设定的路线上行驶。 如果本车辆在设定路线上行驶，则车速由行驶控制装置控制，使得车辆可以安全地通过其前方的曲线。 如果本车辆偏离了设定路线，则通过报警装置向乘员发出报警，并且停止由行驶控制装置控制车速。 如果脱离可能性判断装置判断为存在可能离开本车辆的可能性，则通过偏离路线确定装置设定偏离路线，并且车速由行驶控制装置控制，使得 主体车辆可以安全地通过在设定路线或偏离路线中的任一个上具有最严重通过条件的曲线。 因此，即使车辆偏离通过导航系统确定的路线，也可以进行适当的车速控制。

公开(公告)号：US5586028A

公开(公告)日：1996-12-17

申请号：US353979

申请日：1994-12-06

申请人： Hiroshi Sekine ,  Shintaro Yokoyama ,  Ichiro Harada ,  Nobuyoshi Asanuma ,  Yorihisa Yamamoto ,  Yutaka Horiuchi ,  Shohei Matsuda ,  Makoto Otabe ,  Atsushi Itakagi ,  Hideki Kubonoya

发明人： Hiroshi Sekine ,  Shintaro Yokoyama ,  Ichiro Harada ,  Nobuyoshi Asanuma ,  Yorihisa Yamamoto ,  Yutaka Horiuchi ,  Shohei Matsuda ,  Makoto Otabe ,  Atsushi Itakagi ,  Hideki Kubonoya

IPC分类号： B60T8/172 ,  B60T8/174 ,  B60T8/1763 ,  G01N19/02 ,  B60T8/58

CPC分类号： B60T8/174 ,  B60T8/172 ,  B60T8/17636 ,  B60T2210/122 ,  Y10S706/905

摘要： A road surface condition-detecting system for a vehicle detects a road surface condition from road noise generated by a vehicle wheel. The road surface condition is determined based on parameter data of frequency components of the road noise, by a neural network. The road noise may be corrected by eliminating therefrom a disturbance, such as audio output and exhaust noise. A present state of the road surface condition may be determined based on at least two consecutive determinations made based on the road noise detected at regular time intervals. Exclusive neural networks may be used for respective road surface condition types. One of a plurality of neural networks provided for respective vehicle speed ranges may be selected according to an actual vehicle speed. Detected sound pressure levels of the road noise extracted by frequency analysis may be normalized within respective ranges defined by upper and lower limits set corresponding to predetermined frequency ranges before being supplied to the neural network.

摘要翻译： 用于车辆的路面状况检测系统根据车轮产生的道路噪声检测路面状况。 通过神经网络，根据道路噪声频率分量的参数数据确定路面状况。 道路噪声可以通过消除诸如音频输出和排气噪声之类的干扰来校正。 可以基于基于以规则时间间隔检测到的道路噪声进行的至少两次连续确定来确定路面状况的当前状态。 专用神经网络可用于相应的路面状况类型。 可以根据实际车速来选择为各车速范围提供的多个神经网络中的一个。 通过频率分析提取的道路噪声的检测声压级可以在被提供给神经网络之前在对应于预定频率范围设定的上限和下限限定的相应范围内被归一化。

公开(公告)号：US5878361A

公开(公告)日：1999-03-02

申请号：US127933

申请日：1998-08-03

申请人： Hiroshi Sekine ,  Nobuyoshi Asanuma

发明人： Hiroshi Sekine ,  Nobuyoshi Asanuma

IPC分类号： B62D1/28 ,  B62D6/00 ,  G01C21/26 ,  G01C21/28 ,  G01S5/14 ,  G01S13/93 ,  G01S19/14 ,  G01C21/20

CPC分类号： G01C21/28 ,  B62D1/28 ,  B62D6/00 ,  G01C21/26 ,  G01S13/931 ,  G01S2013/9321 ,  G01S2013/9325 ,  G01S2013/9342 ,  G01S2013/9353 ,  G01S2013/9357 ,  G01S2013/9375 ,  G01S2013/9385

摘要： An azimuth change quantity .theta. of a road during traveling of a vehicle for a time .delta.t is calculated based on road data provided by a navigation system and a vehicle speed provided by a vehicle speed sensor (at step S3 in FIG. 2). On the other hand, an azimuth change quantity .THETA. of the vehicle is calculated by integrating a yaw rate .gamma. obtained from a yaw rate sensor over the time .delta.t (at step S5). A deviation D between the azimuth change quantity .theta. of the road and the azimuth change quantity .THETA. of the vehicle is calculated (at step S6). When the deviation D becomes equal to or larger than a reference value .beta., it is determined that there is a possibility that the vehicle will depart from the road (at step S9), and a predetermined steering torque is applied to a steering device, so that the deviation is converged into zero (at steps S10 and S11).

摘要翻译： 根据由导航系统提供的道路数据和由车速传感器提供的车速（在图2中的步骤S3），计算在车辆行驶期间的时间段Δt的道路的方位角变化量θ。 另一方面，车辆的方位角变化量THETA通过对从时差Δt得到的横摆率传感器的偏航率γ进行积分来计算（步骤S5）。 计算道路的方位角变化量θ与车辆的方位角变化量THETA之间的偏差D（步骤S6）。 当偏差D变得等于或大于参考值β时，确定存在车辆将离开道路的可能性（在步骤S9），并且将预定的转向扭矩施加到转向装置，因此 偏差收敛于零（步骤S10和S11）。

公开(公告)号：US5761630A

公开(公告)日：1998-06-02

申请号：US620192

申请日：1996-03-22

申请人： Hiroshi Sekine ,  Nobuyoshi Asanuma

发明人： Hiroshi Sekine ,  Nobuyoshi Asanuma

IPC分类号： G01C21/00 ,  B60K31/00 ,  B60W30/00 ,  B60W40/04 ,  B62D6/00 ,  G05D1/02 ,  G08G1/07 ,  G08G1/09 ,  G08G1/0967 ,  G08G1/16

CPC分类号： B60W40/04 ,  G05D1/0278 ,  G05D1/0289 ,  G08G1/075 ,  G08G1/163 ,  B60K31/0008 ,  B60W2550/402 ,  G05D2201/0213

摘要： When a subject vehicle is traveling on a main line which is a preferential road, the number of lanes of the main line and a lane on which the subject vehicle is traveling are detected (at steps S1 and S2). When there is a merging section with a subordinate line (at step S3), an information transmitted from another vehicle is received (at step S4). If another vehicle which will merge to the subject vehicle exists on the subordinate line (at step S5), an approach degree between the subject vehicle and the other vehicle at the merging section is determined based on the vehicle speed of the subject vehicle and the information of the other vehicle (at steps S6 and S7). If the approach degree is large, namely, there is a possibility that the subject vehicle may interfere with the other vehicle (at step S8), a vehicle traveling behind the subject vehicle is detected by a radar or the like (at step S9). If no vehicle exists behind the subject vehicle, and it is possible for the subject vehicle to change the lane (at step S10), the lane change is indicated to a driver (at step S11). If the lane change is impossible (at step S10), a warning is given to the driver (at step S12). Thus, it is possible for the subject vehicle to smoothly merge at the merging section of a road.

摘要翻译： 当主车辆是在优先道路的主线路上行驶时，检测主车线的行车道数和车辆行驶的车道（步骤S1和S2）。 当存在具有下级线路的合并部分（步骤S3）时，接收从其他车辆发送的信息（步骤S4）。 如果在下属线路上存在合并到本车辆的另一车辆（步骤S5），则根据本车辆的车速和信息确定本车辆与合流部分的另一车辆之间的接近程度 （在步骤S6和S7）。 如果接近程度大，即本车辆可能与其他车辆有干扰（步骤S8），则通过雷达等检测在车辆后方行驶的车辆（步骤S9）。 如果本车辆之后没有车辆，并且本车辆可以改变车道（在步骤S10），车道改变被指示给驾驶员（在步骤S11）。 如果车道改变不可能（步骤S10），则向驾驶员发出警告（步骤S12）。 因此，本车辆可以在道路的合流部分平稳地合并。

公开(公告)号：US5854987A

公开(公告)日：1998-12-29

申请号：US620193

申请日：1996-03-22

申请人： Hiroshi Sekine ,  Nobuyoshi Asanuma

发明人： Hiroshi Sekine ,  Nobuyoshi Asanuma

IPC分类号： B62D1/28 ,  B62D6/00 ,  G01C21/26 ,  G01C21/28 ,  G01S5/14 ,  G01S13/93 ,  G01S19/14 ,  G01C21/20

CPC分类号： G01C21/28 ,  B62D1/28 ,  B62D6/00 ,  G01C21/26 ,  G01S13/931 ,  G01S2013/9321 ,  G01S2013/9325 ,  G01S2013/9342 ,  G01S2013/9353 ,  G01S2013/9357 ,  G01S2013/9375 ,  G01S2013/9385

摘要： An azimuth change quantity .theta. of a road during traveling of a vehicle for a time .delta.t is calculated based on road data provided by a navigation system and a vehicle speed provided by a vehicle speed sensor (at step S3 in FIG. 2). On the other hand, an azimuth change quantity .THETA. of the vehicle is calculated by integrating a yaw rate .gamma. obtained from a yaw rate sensor over the time .delta.t (at step S5). A deviation D between the azimuth change quantity .theta. of the road and the azimuth change quantity .THETA. of the vehicle is calculated (at step S6). When the deviation D becomes equal to or larger than a reference value .beta., it is determined that there is a possibility that the vehicle will depart from the road (at step S9), and a predetermined steering torque is applied to a steering device, so that the deviation is converged into zero (at steps S10 and S11).

摘要翻译： 根据由导航系统提供的道路数据和由车速传感器提供的车速（在图2中的步骤S3），计算在车辆行驶期间的时间段Δt的道路的方位角变化量θ。 另一方面，车辆的方位角变化量THETA通过对从时差Δt得到的横摆率传感器的偏航率γ进行积分来计算（步骤S5）。 计算道路的方位角变化量θ与车辆的方位角变化量THETA之间的偏差D（步骤S6）。 当偏差D变得等于或大于参考值β时，确定存在车辆将离开道路的可能性（在步骤S9），并且将预定的转向扭矩施加到转向装置，因此 偏差收敛于零（步骤S10和S11）。

公开(公告)号：US5928299A

公开(公告)日：1999-07-27

申请号：US127934

申请日：1998-08-03

申请人： Hiroshi Sekine ,  Nobuyoshi Asanuma

发明人： Hiroshi Sekine ,  Nobuyoshi Asanuma

IPC分类号： B62D1/28 ,  B62D6/00 ,  G01C21/26 ,  G01C21/28 ,  G01S5/14 ,  G01S13/93 ,  G01S19/14 ,  G06F19/00 ,  G01C21/20

CPC分类号： G01C21/28 ,  B62D1/28 ,  B62D6/00 ,  G01C21/26 ,  G01S13/931 ,  G01S2013/9321 ,  G01S2013/9325 ,  G01S2013/9342 ,  G01S2013/9353 ,  G01S2013/9357 ,  G01S2013/9375 ,  G01S2013/9385

摘要： An azimuth change quantity .theta. of a road during traveling of a vehicle for a time .delta.t is calculated based on road data provided by a navigation system and a vehicle speed provided by a vehicle speed sensor (at step S3 in FIG. 2). On the other hand, an azimuth change quantity .THETA. of the vehicle is calculated by integrating a yaw rate .gamma. obtained from a yaw rate sensor over the time .delta.t (at step S5). A deviation D between the azimuth change quantity .theta. of the road and the azimuth change quantity .THETA. of the vehicle is calculated (at step S6). When the deviation D becomes equal to or larger than a reference value .beta., it is determined that there is a possibility that the vehicle will depart from the road (at step S9), and a predetermined steering torque is applied to a steering device, so that the deviation is converged into zero (at steps S10 and S11).

摘要翻译： 根据由导航系统提供的道路数据和由车速传感器提供的车速（在图2中的步骤S3），计算在车辆行驶期间的时间段Δt的道路的方位角变化量θ。 另一方面，车辆的方位角变化量THETA通过对从时差Δt得到的横摆率传感器的偏航率γ进行积分来计算（步骤S5）。 计算道路的方位角变化量θ与车辆的方位角变化量THETA之间的偏差D（步骤S6）。 当偏差D变得等于或大于参考值β时，确定存在车辆将离开道路的可能性（在步骤S9），并且将预定的转向扭矩施加到转向装置，因此 偏差收敛于零（步骤S10和S11）。

公开(公告)号：US5878362A

公开(公告)日：1999-03-02

申请号：US128001

申请日：1998-08-03

申请人： Hiroshi Sekine ,  Nobuyoshi Asanuma

发明人： Hiroshi Sekine ,  Nobuyoshi Asanuma

IPC分类号： B62D1/28 ,  B62D6/00 ,  G01C21/26 ,  G01C21/28 ,  G01S5/14 ,  G01S13/93 ,  G01S19/14 ,  G01C21/20

CPC分类号： G01C21/28 ,  B62D1/28 ,  B62D6/00 ,  G01C21/26 ,  G01S13/931 ,  G01S2013/9321 ,  G01S2013/9325 ,  G01S2013/9342 ,  G01S2013/9353 ,  G01S2013/9357 ,  G01S2013/9375 ,  G01S2013/9385

摘要： An azimuth change quantity .theta. of a road during traveling of a vehicle for a time .delta.t is calculated based on road data provided by a navigation system and a vehicle speed provided by a vehicle speed sensor (at step S3 in FIG. 2). On the other hand, an azimuth change quantity .THETA. of the vehicle is calculated by integrating a yaw rate .gamma. obtained from a yaw rate sensor over the time .delta.t (at step S5). A deviation D between the azimuth change quantity .theta. of the road and the azimuth change quantity .THETA. of the vehicle is calculated (at step S6). When the deviation D becomes equal to or larger than a reference value .beta., it is determined that there is a possibility that the vehicle will depart from the road (at step S9) , and a predetermined steering torque is applied to a steering device, so that the deviation is converged into zero (at steps S10 and S11).

摘要翻译： 根据由导航系统提供的道路数据和由车速传感器提供的车速（在图2中的步骤S3），计算在车辆行驶期间的时间段Δt的道路的方位角变化量θ。 另一方面，车辆的方位角变化量THETA通过对从时差Δt得到的横摆率传感器的偏航率γ进行积分来计算（步骤S5）。 计算道路的方位角变化量θ与车辆的方位角变化量THETA之间的偏差D（步骤S6）。 当偏差D变得等于或大于参考值β时，确定存在车辆将离开道路的可能性（在步骤S9），并且将预定的转向扭矩施加到转向装置，因此 偏差收敛于零（步骤S10和S11）。

公开(公告)号：US5539397A

公开(公告)日：1996-07-23

申请号：US213682

申请日：1994-03-16

申请人： Nobuyoshi Asanuma ,  Hiroshi Sekine ,  Yoshikazu Tsuchiya ,  Kazuya Tamura ,  Hiroyuki Kamiya

发明人： Nobuyoshi Asanuma ,  Hiroshi Sekine ,  Yoshikazu Tsuchiya ,  Kazuya Tamura ,  Hiroyuki Kamiya

IPC分类号： G01C21/30 ,  G08G1/0967 ,  G08G1/0968 ,  G08G1/00

CPC分类号： G01C21/30 ,  G08G1/096725 ,  G08G1/096758 ,  G08G1/096791

摘要： A driving control system for a vehicle includes a map information output device for outputting a map, a vehicle position detecting device for detecting a vehicle position of a subject vehicle on the map, a vehicle speed detecting device for detecting a vehicle speed, a passable area determining device for determining a passable area on the map on the basis of the detected vehicle speed, and a passability/impassability judging device for deciding that the vehicle may pass through a portion of road when a road which is in front of the vehicle position in a traveling direction is included in the passable area on the map. The road which is in front of the vehicle position in the traveling direction is compared with the determined passable area, and when the road is included in the passable area, it is decided that the vehicle may pass through the portion of road. Thus, it is possible to properly judge whether or not the vehicle may pass through the portion of road by a simple calculation not including a complex and poor-accuracy calculation of the radius of curvature of a road.

摘要翻译： 车辆的驾驶控制系统包括：地图信息输出装置，用于输出地图，车辆位置检测装置，用于检测车辆在地图上的位置，车速检测装置，用于检测车速;通过区域 确定装置，用于基于检测到的车辆速度来确定地图上的可通过区域;以及通过/不通行性判断装置，用于当车辆位于前方的道路处于决定车辆可能经过道路的一部分时 行驶方向包含在地图上的可通过区域中。 将在行驶方向上的车辆位置前方的道路与确定的可通过区域进行比较，并且当道路被包括在可通过区域中时，判定车辆可以通过道路部分。 因此，可以通过不包括道路曲率半径的复杂且精度不足的简单计算来适当地判断车辆是否可以通过道路部分。

公开(公告)号：US5996978A

公开(公告)日：1999-12-07

申请号：US877403

申请日：1997-06-17

申请人： Nobuyoshi Asanuma ,  Yukio Hayakawa ,  Satoshi Kondo

发明人： Nobuyoshi Asanuma ,  Yukio Hayakawa ,  Satoshi Kondo

IPC分类号： B60G17/04 ,  B60G21/073 ,  F16F9/06 ,  F16F9/096 ,  F16F9/42 ,  F16F9/58 ,  B60G11/56

CPC分类号： F16F9/096 ,  B60G17/0408 ,  B60G21/073 ,  F16F9/06 ,  F16F9/42 ,  F16F9/585 ,  B60G2202/154 ,  B60G2202/312 ,  B60G2204/82 ,  B60G2204/8304 ,  B60G2206/40 ,  B60G2500/20 ,  B60G2500/326 ,  B60G2800/012

摘要： In a first type, there is provided, inside an inner tube of a twin-tube type of damper, a pressurizing chamber to be defined by a free piston which is slidably fit onto an outer surface of a rod. A fluid pressure from an outside pressure source is supplied to the pressurizing chamber to push down a damper piston via the free piston to thereby forcibly contract the damper. In a second type, there is provided inside an inner tube a cylinder which is slidably fit onto an outer surface of a rod, and a piston mounted on the rod is inserted into the cylinder. A fluid pressure from the pressure source is supplied to the pressurizing chamber inside the cylinder to push down the rod via the piston to thereby forcibly contract the damper. In a third type, a rod is slidably inserted into a partition wall in an intermediate portion of a damper main body of a mono-tube type of damper. A free piston which is prevented by a stopper member from dropping out of position downwards is slidably mounted onto an outer surface of a rod portion below the partition wall. A fluid pressure from a pressure source is supplied to a pressurizing chamber to be defined between the partition wall and the free piston. The rod is pushed down via the free piston and the stopper member to thereby forcibly contract the damper.

摘要翻译： 在第一类型中，在双管式阻尼器的内管内部设置有由可滑动地配合到杆的外表面上的自由活塞限定的加压室。 来自外部压力源的流体压力被供给到加压室，以通过自由活塞推压阻尼器活塞，从而强制地收缩阻尼器。 在第二类型中，在内管的内部设置有可滑动地配合到杆的外表面上的气缸，并且安装在杆上的活塞插入气缸中。 来自压力源的流体压力被供应到气缸内部的加压室，以通过活塞推动杆，从而强制地收缩阻尼器。 在第三种类型中，杆可滑动地插入单管式阻尼器的阻尼器主体的中间部分中的分隔壁中。 通过止动构件防止其自由落下的自由活塞可滑动地安装在分隔壁下方的杆部分的外表面上。 来自压力源的流体压力被供给到限定在分隔壁和自由活塞之间的加压室。 杆通过自由活塞和止动件被向下压，从而强制收缩阻尼器。