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公开(公告)号：US06289281B1
公开(公告)日：2001-09-11
申请号：US09199334
申请日：1998-11-25
IPC分类号： G06F1700
CPC分类号： B60T7/22
摘要： An integrated vehicle control system including: contact possibility determining means for determining whether a possibility of contact with an obstacle is great, first brake control means for controlling operation of the vehicle brake in response to the possibility of contact, vehicle behavior detecting means for detecting parameters such as the vehicle yaw rate, vehicle behavior control means for calculating a value such as the error between the detected yaw rate and a reference yaw rate and calculating a manipulated variable (braking force difference) such that the veerability of vehicle is enhanced, and second brake control means for controlling operation of the vehicle brake in response to the calculated manipulated variable. In the system, the vehicle behavior control means advances the timing of the calculation of the manipulated variable or increases the manipulated variable, when the possibility of contact is great, whereby effecting the vehicle behavior sufficient for avoiding an obstacle, while enhancing the vehicle veerability.
摘要翻译： 一种综合车辆控制系统，包括：接触可能性确定装置，用于确定与障碍物接触的可能性是否大;响应于接触可能性控制车辆制动器的操作的第一制动控制装置，用于检测参数的车辆行为检测装置 例如车辆横摆率，车辆行为控制装置，用于计算检测到的横摆角速度和参考横摆角速度之间的误差的值，并计算使车辆的可变性增强的操纵变量（制动力差），第二 制动控制装置，用于响应于所计算的操作变量控制车辆制动器的操作。 在该系统中，当接触的可能性大时，车辆行为控制装置提高操纵变量的计算的定时或增加操纵变量，从而在提高车辆可转换性的同时实现足以避免障碍物的车辆行为。
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公开(公告)号：US06272418B1
公开(公告)日：2001-08-07
申请号：US09199335
申请日：1998-11-25
IPC分类号： G06F1700
CPC分类号： B60T8/17558 , B60T7/22 , B60T8/17551 , B60T8/17552 , B60T8/241 , B60T8/246 , B60T2201/02 , B60T2201/022 , B60T2230/02
摘要： An integrated vehicle control system including: contact possibility determining means for determining whether a possibility of contact with an obstacle is great, first brake control means for controlling operation of the vehicle brake in response to the possibility of contact, vehicle behavior detecting means for detecting parameters such as the vehicle yaw rate, vehicle behavior control means for calculating a value such as the error between the detected yaw rate and a reference yaw rate and calculating a manipulated variable (braking force difference) to make vehicle behavior stable, and second brake control means for controlling operation of the vehicle brake in response to the calculated manipulated variable. In the system, the vehicle behavior control means advances the timing of the calculation of the manipulated variable or increases the manipulated variable, when the possibility of contact is great, whereby effecting the vehicle behavior sufficient for avoiding an obstacle, while ensuring stable vehicle behavior.
摘要翻译： 一种综合车辆控制系统，包括：接触可能性确定装置，用于确定与障碍物接触的可能性是否大;响应于接触可能性控制车辆制动器的操作的第一制动控制装置，用于检测参数的车辆行为检测装置 例如车辆横摆率，车辆行为控制装置，用于计算检测到的横摆角速度和参考横摆角速度之间的误差的值，并计算操纵变量（制动力差）以使车辆行为稳定;以及第二制动控制装置 用于响应于所计算的操作变量控制车辆制动器的操作。 在系统中，当接触的可能性大时，车辆行为控制装置提高操纵变量的计算的定时或增加操纵变量，从而在确保稳定的车辆行为的同时实现足以避免障碍物的车辆行为。
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公开(公告)号：US6148943A
公开(公告)日：2000-11-21
申请号：US232806
申请日：1999-01-19
IPC分类号： B60T7/12 , B60T7/22 , B60W10/00 , B60W10/08 , B60W10/20 , B60W30/00 , B62D5/04 , B62D6/00 , B62D6/04 , B62D101/00 , B62D109/00 , B62D113/00 , B62D119/00 , B62D137/00 , G01S13/93 , B62D1/24
CPC分类号： B62D5/0472 , B60T7/22 , B60T2260/02
摘要： A system for controlling behavior of a vehicle having a laser radar for detecting an obstacle present on a road on which the vehicle is traveling and operating the brake automatically to avoid contact with the obstacle, and having a power-assist steering actuator including an electric motor installed in the steering system. In the system, it is determined whether the vehicle is steered by the steering wheel as manipulated by the vehicle operator or the vehicle is steered by a force generated by the interplay between the tire and road due to the automatic braking and, when vehicle is steered by the force generated by the tire/road interplay, the electric motor of the steering actuator is controlled to drive in the direction to cancel the force, thereby preventing the vehicle behavior from degrading to deviate from the desired course of travel and preventing various disadvantages such as failure to achieve the desired obstacle detection necessary for an effective obstacle avoidance control.
摘要翻译： 一种用于控制具有用于检测存在于车辆行驶的道路上的障碍物并且自动操作制动器以避免与障碍物接触的激光雷达的车辆的行为的系统，并且具有包括电动马达的动力辅助转向致动器 安装在转向系统中。 在该系统中，确定车辆是否被车辆驾驶员操纵的方向盘转向，或车辆由于自动制动而由轮胎和道路之间的相互作用产生的力而转向，并且当车辆被转向时 通过由轮胎/道路相互作用产生的力，控制转向致动器的电动机以沿着取消该力的方向驱动，从而防止车辆行为退化以偏离期望的行驶路线，并且防止各种缺点 因为无法实现有效的避障控制所需的障碍物检测。
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公开(公告)号：US06415897B1
公开(公告)日：2002-07-09
申请号：US09457676
申请日：1999-12-09
申请人： Yoichi Sugimoto , Shohei Matsuda , Shouji Suzuki , Takahiro Eguchi , Tetsuro Yamaguchi , Masaru Sasaguchi , Kazuaki Fukami
发明人： Yoichi Sugimoto , Shohei Matsuda , Shouji Suzuki , Takahiro Eguchi , Tetsuro Yamaguchi , Masaru Sasaguchi , Kazuaki Fukami
IPC分类号： B60T1100
CPC分类号： B60T7/122 , B60T8/4809 , B60T13/686 , B60W30/18118
摘要： A brake fluid pressure retaining unit for retaining brake fluid pressure within a wheel cylinder after releasing a brake pedal is disclosed. The brake fluid pressure retaining unit includes a brake fluid pressure reduction speed control device for retaining reduction speed of the brake fluid pressure within the wheel cylinder less than that of brake pedal load applied by a driver. The brake fluid pressure reduction speed control device may be formed by a restriction in a brake fluid pressure circuit arranged between a master cylinder at which the brake fluid pressure is generated in accordance with a brake pedal load applied by the driver and the wheel.
摘要翻译： 公开了一种用于在释放制动踏板之后将制动液压力保持在轮缸内的制动液压力保持单元。 制动液压保持单元包括制动液压减速控制装置，用于将车轮内的制动液压力的减速度保持得小于由驾驶员施加的制动踏板负荷的减速速度。 制动液减速控制装置可以通过制动液压力回路的制动来形成，该制动液压力回路配置在根据驾驶员施加的制动踏板负荷与车轮之间产生制动液压力的主缸之间。
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公开(公告)号：US06294987B1
公开(公告)日：2001-09-25
申请号：US09306514
申请日：1999-05-06
IPC分类号： B60Q100
摘要： A system for controlling running safety of a vehicle having an alarm and an automatic braking system. A plurality of decelerations &agr;2n of an obstacle such as another vehicle present ahead on the road is predicted and corresponding manipulated variables &agr;1n (braking amount) to be supplied to the vehicle which indicate possible deceleration of the vehicle are determined. Then threshold values L&agr;2n for alarming and automatic braking are determined corresponding to the predicted deceleration and are successively compared with the distance to the obstacle. When the distance falls below any of the threshold values, alarming or automatic braking is effected to avoid contact with the obstacle, thereby making the system relatively simple and enabling operation to match the driver's expectations.
摘要翻译： 一种用于控制具有报警和自动制动系统的车辆的行驶安全性的系统。 预测在道路上存在的其他车辆等障碍物的多个减速度α2n，并且确定要指示车辆可能的减速度的对应于车辆的相应的操作变量α1n（制动量）。 然后根据预测的减速度确定用于报警和自动制动的阈值Lalpha2n，并且与距离障碍物的距离相继进行比较。 当距离低于任何阈值时，进行报警或自动制动，以避免与障碍物接触，从而使系统相对简单，使操作符合驾驶员的期望。
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公开(公告)号：US5700074A
公开(公告)日：1997-12-23
申请号：US667995
申请日：1996-06-19
申请人： Yoichi Sugimoto , Yoshihiro Urai , Shohei Matsuda
发明人： Yoichi Sugimoto , Yoshihiro Urai , Shohei Matsuda
IPC分类号： B60T8/1764 , B60T8/1766 , B60T8/26 , B60T8/32 , B60T8/34 , B60T8/42
CPC分类号： B60T8/266 , B60T8/1764 , B60T8/1766 , B60T8/346 , B60T8/4275 , B60T2240/08 , Y10S303/06
摘要： In a braking-force distribution control system for a vehicle, which is capable of controlling the ratio of a braking liquid pressure for front wheels to a braking liquid pressure for rear wheels based on a comparison of front and rear wheel speeds, a correcting factor is calculated in a correcting factor calculating device based on the ratio of front and rear wheel rotational speeds detected by front and rear wheel rotational speed sensors. At least one of front and rear wheel speeds, calculated in front and rear wheel speed calculating devices, is corrected by a wheel speed correcting device prior to the calculation of a control quantity in a control quantity calculating device. A control determining device determines whether the range of variation in correcting factor is equal to or larger than a preset value. When the range of variation in correcting factor is equal to or larger than the preset value, a signal indicative of a command to prohibit the calculation of the control quantity based on the result of the comparison of the front and rear wheel speeds in the control quantity calculating device is output from the control determining device. Thus, it is possible to perform an appropriate control of braking-force distribution taking a variation in dynamic radius of a tire into consideration.
摘要翻译： 在基于前轮和后轮速度的比较的车辆的制动力分配控制系统中，其能够控制前轮的制动液体压力与后轮的制动液体压力的比例，校正因子 基于由前轮和后轮转速传感器检测的前后轮转速的比率在校正因子计算装置中计算出的。 在前轮和后轮速度计算装置中计算的前后轮速度中的至少一个在控制量计算装置中的控制量的计算之前由车轮速度校正装置进行校正。 控制确定装置确定校正因子的变化范围是否等于或大于预设值。 当校正因子的变化范围等于或大于预设值时，基于控制量中的前轮和后轮速度的比较结果，指示禁止计算控制量的命令的信号 计算装置从控制确定装置输出。 因此，考虑到轮胎的动态半径的变化，可以进行适当的制动力分配的控制。
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公开(公告)号：US06275772B1
公开(公告)日：2001-08-14
申请号：US09419797
申请日：1999-10-18
IPC分类号： B62D100
摘要： In a vehicle safety running system, while a contact probability estimation section estimates that there is a probability that a subject vehicle comes into contact with an object and an automatic braking section performs automatic braking, when the driver voluntarily performs a steering operation to avoid the contact, an automatic braking cancellation gradient is calculated based on the contact probability detected with the contact probability estimation section and the steering operation amount detected with the steering operation amount detection section, whereby automatic braking is cancelled at a speed corresponding to the automatic braking cancellation gradient so calculated. When the contact is easily avoided through the steering operation, the automatic braking cancellation gradient is set large so as to cancel automatic braking quickly, while when the contact is difficult to be avoided, the automatic braking cancellation gradient is set small so as to cancel automatic braking moderately.
摘要翻译： 在车辆安全运行系统中，当接触概率估计部估计出本体车辆与物体接触的可能性和自动制动部分进行自动制动时，当驾驶员自主地进行转向操作以避免接触时 基于由接触概率估计部检测到的接触概率和用转向操作量检测部检测到的转向操作量来计算自动制动抵消梯度，由此以与自动制动抵消梯度相对应的速度消除自动制动 计算。 当通过转向操作容易地避免接触时，自动制动抵消梯度被设置得很大以便快速取消自动制动，而当难以避免接触时，自动制动抵消梯度被设置得较小以便自动取消 适度制动
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公开(公告)号：US6021375A
公开(公告)日：2000-02-01
申请号：US225570
申请日：1999-01-05
CPC分类号： B60T7/22
摘要： A system for controlling running safety of a vehicle having at least a brake, a steering mechanism manipulated by a vehicle operator, a laser radar for detecting an obstacle present ahead on a course of travel of the vehicle, and a brake actuator mechanism actuating the brake independently of the vehicle operator manipulation. In the system, a first threshold value (defined in terms of relative distance between the vehicle and the obstacle) for avoiding contact with the obstacle by steering and a second threshold value for avoiding contact by operating the brake actuator mechanism are determined and are compared with the detected relative distance. When the detected relative distance is less than the first threshold value, the brake actuator mechanism is immediately operated to generate a relatively small deceleration, thereby enabling effective obstacle avoidance to well meet the intention and desires of the vehicle operator, without causing a problem of interference with the steering of the vehicle operator, while preventing the control accuracy from being degraded.
摘要翻译： 一种用于控制至少具有制动器的车辆的运行安全性的系统，由车辆操作者操纵的转向机构，用于检测在车辆行驶过程中存在的障碍物的激光雷达以及致动所述制动器的制动致动器机构 独立于车辆操纵者操纵。 在该系统中，确定用于避免通过转向与障碍物接触的第一阈值（以车辆与障碍物之间的相对距离定义），以及通过操作制动致动器机构避免接触的第二阈值，并将其与 检测到的相对距离。 当检测到的相对距离小于第一阈值时，立即操作制动器致动器机构以产生相对小的减速度，从而能够有效地避免障碍以很好地满足车辆操作者的意图和期望，而不会引起干扰问题 同时防止控制精度降低。
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公开(公告)号：US5995037A
公开(公告)日：1999-11-30
申请号：US105997
申请日：1998-06-29
CPC分类号： B60T7/22 , G01S13/931 , G01S13/58 , G01S2013/9325 , G01S2013/9346 , G01S2013/9353 , G01S2013/9357 , G01S7/415
摘要： In an obstacle detection system for a vehicle which has a radar having an electromagnetic wave transmission device and a reflected wave reception device, the electromagnetic transmission device transmits electromagnetic waves in a direction in which the vehicle is traveling, and the reflected wave reception device receives reflected waves produced when the electromagnetic waves transmitted from the electromagnetic wave transmission device are reflected by an object present in the traveling direction of the vehicle. The system detects obstacles present in the traveling direction of the vehicle based on the result of a radar search operation, and it is possible to identify only those objects detrimental to the traveling of the vehicle as obstacles. An obstacle decision device decides whether or not the object detected by the radar is an obstacle, by using the detected value determined by a vehicle speed detection device which detects the speed of the vehicle, the calculated value determined by a relative distance calculation device that calculates a relative distance to the object present in the traveling direction of the vehicle based on the result of search operation by the radar, and the calculated value determined by an overlap calculation device that calculates an overlap in the width direction of the vehicle between the vehicle and the object according to the result of the search operation by the radar.
摘要翻译： 在具有电磁波传输装置和反射波接收装置的雷达的车辆的障碍物检测系统中，电磁传输装置沿车辆行驶方向发送电磁波，反射波接收装置 当从电磁波传输装置发射的电磁波被车辆行进方向上存在的物体反射时产生的波。 该系统基于雷达搜索操作的结果来检测车辆的行进方向上存在的障碍物，并且可以仅识别对作为障碍物的车辆行驶有害的那些物体。 障碍物判定装置通过使用由检测车速的车速检测装置决定的检测值来判定由雷达检测出的物体是否是障碍物，由计算出的相对距离计算装置确定的计算值 基于雷达的搜索操作的结果，存在于车辆行进方向上的物体的相对距离，以及由重叠计算装置确定的计算值，该重叠计算装置计算车辆和车辆的车辆宽度方向上的重叠 根据雷达搜索操作的结果对象。
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公开(公告)号：US06547344B2
公开(公告)日：2003-04-15
申请号：US09879089
申请日：2001-06-13
申请人： Satoshi Hada , Keisuke Katsuta , Hirohiko Totsuka , Shohei Matsuda , Tetsuro Yamaguchi , Kazuaki Fukami
发明人： Satoshi Hada , Keisuke Katsuta , Hirohiko Totsuka , Shohei Matsuda , Tetsuro Yamaguchi , Kazuaki Fukami
IPC分类号： B60T832
CPC分类号： B60K6/543 , B60T7/122 , Y10S188/02 , Y10S903/903 , Y10S903/918 , Y10S903/947
摘要： A braking apparatus for vehicles BU, in which plurality systems of individually separated brake fluid pressure passages BC(A), BC(B) are arranged, and each passage is provided with at least one brake fluid pressure retaining means RU(A), RU(B) for continuously retaining brake fluid pressure within a wheel cylinder WC(A), WC(B) arranged in the brake fluid pressure passage after a depression of a brake pedal BP is released and for releasing the retained brake fluid pressure in response to an increase of a starting driving force of the vehicle, wherein the release of the retained brake fluid pressure is carried out in a time differential manner at each brake fluid pressure retaining means.
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