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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：US06269307B1
公开(公告)日：2001-07-31
申请号：US09368673
申请日：1999-08-05
申请人： Tomoyuki Shinmura , Kenji Kodaka , Yoichi Sugimoto
发明人： Tomoyuki Shinmura , Kenji Kodaka , Yoichi Sugimoto
IPC分类号： B60Q100
CPC分类号： G01S13/931 , B60Q9/008 , B60T2201/08 , B60T2201/087 , B60W50/16 , B62D15/0265 , G01S2013/9342 , G01S2013/9353 , G01S2013/9375
摘要： A lateral deviation &dgr;d which is a lateral distance between an intrinsic appropriate course R for a vehicle Ai and a contact position P at which the vehicle Ai will come into contact with an on-coming vehicle Ao, is calculated based on a relative angle &thgr;, a relative distance L and a relative speed Vs which are detected by a radar device, and based on a vehicle speed Vi of the vehicle Ai detected by vehicle speed sensors. When the lateral deviation &dgr;d is in a range of &dgr;dn
摘要翻译： 基于相对角度θ来计算作为车辆Ai的固有适当路线R与车辆Ai将与前进车辆Ao接触的接触位置P之间的横向距离的横向偏差增量， 由雷达装置检测的相对距离L和相对速度Vs，并且基于由车速传感器检测到的车辆Ai的车速Vi。 当横向偏差Δttad在deltadn
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公开(公告)号：US06574559B2
公开(公告)日：2003-06-03
申请号：US09111781
申请日：1998-07-08
申请人： Tomoyuki Shinmura , Kenji Kodaka , Yoichi Sugimoto
发明人： Tomoyuki Shinmura , Kenji Kodaka , Yoichi Sugimoto
IPC分类号： B62D600
CPC分类号： B60W30/09 , B60T7/22 , B60T8/17558 , B60T2201/02 , B60T2201/022 , B60T2260/02 , B60T2260/09 , B60W10/184 , B60W10/20 , B60W30/02 , B60W30/08 , B60W2550/147 , B62D6/006
摘要： A collision avoiding system is provided to enhance a collision avoiding effect by stabilizing a vehicle behavior during automatic braking. Steering controlling apparatus includes not only an ordinary electric power steering control unit but also an active steering reaction calculating unit for driving a motor of a steering system to compensate for the influence of disturbances, if the vehicle is shocked by an unusual bounce from an uneven road or the like. When obstacle detecting apparatus such as a laser-radar detects an obstacle which requires operation of automatic braking, a control parameter changing unit receives the automatic braking activating signal to make a change in the control parameters for an active steering reaction control. As a result, the steering control apparatus controls steering to suppress the influence of the disturbances more substantially during automatic control of the vehicle than otherwise, so that the turbulence of the vehicle can be prevented to retain a sufficient braking force, thereby enhancing the collision avoiding effect.
摘要翻译： 提供防碰撞系统以通过在自动制动期间稳定车辆行为来增强碰撞避免效果。 转向控制装置不仅包括普通电动助力转向控制单元，而且还包括主动转向反作用计算单元，用于驱动转向系统的电动机以补偿扰动的影响，如果车辆被不平坦道路的异常反弹震惊 或类似物。 当诸如激光雷达的障碍物检测装置检测到需要自动制动的操作的障碍物时，控制参数改变单元接收自动制动激活信号以改变主动转向反作用控制的控制参数。 结果，转向控制装置控制转向，以便在车辆的自动控制期间更大幅度地抑制干扰的影响，从而可以防止车辆的湍流保持足够的制动力，从而增强碰撞避免 影响。
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公开(公告)号：US06317693B2
公开(公告)日：2001-11-13
申请号：US09842018
申请日：2001-04-26
申请人： Kenji Kodaka , Tomoyuki Shinmura , Yoichi Sugimoto
发明人： Kenji Kodaka , Tomoyuki Shinmura , Yoichi Sugimoto
IPC分类号： G08G116
CPC分类号： B62D15/0265 , G01S13/867 , G01S13/931 , G01S2013/9342 , G01S2013/9353 , G01S2013/9357 , G01S2013/9375
摘要： In a safety running system, a transverse travelling distance resulting when a subject vehicle travels to a current position of an oncoming vehicle is calculated based on the vehicle velocity and yaw rate of the subject vehicle, a relative transverse distance of the oncoming vehicle relative to a vehicle body axis of the subject vehicle is calculated based on a relative distance, relative velocity and relative angle between the subject vehicle and the oncoming vehicle detected by a radar information processor. When a relative transverse deviation obtained by subtracting the transverse travelling distance from the relative transverse distance resides within a range and that state continues to exist over a predetermined time period, it is judged that there is a collision possibility of the subject vehicle with the oncoming vehicle, and automatic steering is performed so as to avoid a collision.
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公开(公告)号：US06317692B2
公开(公告)日：2001-11-13
申请号：US09842009
申请日：2001-04-26
申请人： Kenji Kodaka , Tomoyuki Shinmura , Yoichi Sugimoto
发明人： Kenji Kodaka , Tomoyuki Shinmura , Yoichi Sugimoto
IPC分类号： G08G116
CPC分类号： B62D15/0265 , G01S13/867 , G01S13/931 , G01S2013/9342 , G01S2013/9353 , G01S2013/9357 , G01S2013/9375
摘要： In a safety running system, a transverse travelling distance resulting when a subject vehicle travels to a current position of an oncoming vehicle is calculated based on the vehicle velocity and yaw rate of the subject vehicle, a relative transverse distance of the oncoming vehicle relative to a vehicle body axis of the subject vehicle is calculated based on a relative distance, relative velocity and relative angle between the subject vehicle and the oncoming vehicle detected by a radar information processor. When a relative transverse deviation obtained by subtracting the transverse travelling distance from the relative transverse distance resides within a range and that state continues to exist over a predetermined time period, it is judged that there is a collision possibility of the subject vehicle with the oncoming vehicle, and automatic steering is performed so as to avoid a collision.
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公开(公告)号：US06269308B1
公开(公告)日：2001-07-31
申请号：US09377105
申请日：1999-08-19
申请人： Kenji Kodaka , Tomoyuki Shinmura , Yoichi Sugimoto
发明人： Kenji Kodaka , Tomoyuki Shinmura , Yoichi Sugimoto
IPC分类号： B60R2100
CPC分类号： B62D15/0265 , G01S13/867 , G01S13/931 , G01S2013/9342 , G01S2013/9353 , G01S2013/9357 , G01S2013/9375
摘要： In a safety running system, a transverse travelling distance resulting when a subject vehicle travels to a current position of an oncoming vehicle is calculated based on the vehicle velocity and yaw rate of the subject vehicle, a relative transverse distance of the oncoming vehicle relative to a vehicle body axis of the subject vehicle is calculated based on a relative distance, relative velocity and relative angle between the subject vehicle and the oncoming vehicle detected by a radar information processor. When a relative transverse deviation obtained by subtracting the transverse travelling distance from the relative transverse distance resides within a range and that state continues to exist over a predetermined time period, it is judged that there is a collision possibility of the subject vehicle with the oncoming vehicle, and automatic steering is performed so as to avoid a collision.
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公开(公告)号：US06338022B1
公开(公告)日：2002-01-08
申请号：US09591485
申请日：2000-06-12
申请人： Tomoyuki Shinmura , Kenji Kodaka
发明人： Tomoyuki Shinmura , Kenji Kodaka
IPC分类号： G08G116
CPC分类号： B62D15/0265 , B60T2201/022 , B62D6/003
摘要： The operational burden and uncomfortable feeling given to a driver by automatically restoring the disturbance in the vehicle attitude of a vehicle caused by a collision avoidance control, is reduced when avoiding a collision between the vehicle and an oncoming vehicle by automatic steering. When there is a possibility of a collision between the vehicle and an oncoming vehicle, the collision with the oncoming vehicle is avoided by supplying a lateral movement control current I1 having a sinusoidal shape to the actuator of the electric power steering device, to move the vehicle laterally. The yaw angle of the vehicle is detected by integrating the yaw rate simultaneously with the start of the lateral movement, and in order to return the vehicle attitude of the vehicle to its original state by converging the yaw angle to 0 in the final stage of the lateral movement, a yaw angle correction control current I2 is superimposed on the lateral movement control current I1 and supplied to the actuator. Thus, after avoiding a collision with the oncoming vehicle, the disturbance in the vehicle attitude can automatically be restored and the operational burden and uncomfortable feeling given to the driver can be reduced.
摘要翻译： 当通过自动转向避免车辆和迎面而来的车辆之间的碰撞时，通过自动恢复由碰撞避免控制引起的车辆的车辆姿态的扰动而给驾驶者带来的操作负担和不适感。 当存在车辆与迎面而来的车辆碰撞的可能性时，通过向电动助力转向装置的致动器供给具有正弦形状的横向移动控制电流I1来避免与迎面而来的车辆的碰撞，以使车辆 横向。 通过将横摆率与横向运动的开始同时地积分来检测车辆的偏航角，并且为了将车辆的车辆姿态通过在最后阶段中将偏航角会聚到0，将车辆的车辆姿态返回到其原始状态 侧向运动时，偏航角校正控制电流I2叠加在横向运动控制电流I1上并提供给致动器。 因此，在避免与迎面而来的车辆碰撞之后，可以自动恢复车辆姿态的干扰，能够减轻给驾驶者的操作负担和不适感。
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公开(公告)号：US06571176B1
公开(公告)日：2003-05-27
申请号：US09593812
申请日：2000-06-15
申请人： Tomoyuki Shinmura , Kenji Kodaka
发明人： Tomoyuki Shinmura , Kenji Kodaka
IPC分类号： G06F13376
CPC分类号： B62D15/0265 , B60T7/22 , B60T8/17558 , B60T2201/022 , B60T2260/02
摘要： A steering actuator is prevented from generating excess steering torque that gives an uncomfortable feeling to a driver who is holding a steering wheel when a collision between a vehicle and an oncoming vehicle is avoided by automatic steering by the actuator. When there is a possibility of a collision between the vehicle and an oncoming vehicle, the collision with the oncoming vehicle is avoided by supplying a lateral movement control current having a sinusoidal shape to the actuator of an electric power steering device to move the vehicle laterally. The yaw angle of the vehicle is detected by integrating the yaw rate simultaneously with the start of the lateral movement, and in order to return the vehicle attitude of the vehicle to its original state by converging the yaw angle to 0 in the final stage of the lateral movement, a yaw angle correction control current is superimposed on the lateral movement control current and supplied to the actuator. By using the current supplied to the actuator (that is, the steering torque generated by the actuator) as the steering target value for avoiding a collision instead of the steering angle, the actuator can be prevented from generating excess steering torque which gives an uncomfortable feeling to a driver.
摘要翻译： 防止转向致动器产生过多的转向扭矩，当通过致动器的自动转向避免车辆和迎面而来的车辆之间的碰撞时，保持方向盘的驾驶员感觉到不舒适的感觉。 当存在车辆与迎面而来的车辆碰撞的可能性时，通过向电动助力转向装置的致动器提供具有正弦形状的横向移动控制电流来避免与迎面而来的车辆的碰撞，以使车辆横向移动。 通过将横摆率与横向运动的开始同时地积分来检测车辆的偏航角，并且为了将车辆的车辆姿态通过在最后阶段中将偏航角会聚到0，将车辆的车辆姿态返回到其原始状态 侧向运动时，偏航角校正控制电流叠加在横向运动控制电流上并提供给致动器。 通过使用提供给致动器的电流（即，由致动器产生的转向扭矩）作为用于避免碰撞的转向目标值而不是转向角，可以防止致动器产生过度的转向扭矩，这导致不舒适的感觉 给司机
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