公开(公告)号：US20050107939A1

公开(公告)日：2005-05-19

申请号：US10960724

申请日：2004-10-08

申请人： On Sadano ,  Masahiro Ozaki ,  Yoshitaka Uemura

发明人： On Sadano ,  Masahiro Ozaki ,  Yoshitaka Uemura

IPC分类号： F16H61/28 ,  B60T8/1755 ,  B60W10/02 ,  F16H61/32 ,  G05D1/02 ,  G06F19/00

CPC分类号： B60T8/17557 ,  B60T2201/08 ,  B60T2201/083 ,  G05D1/0244 ,  G05D2201/0213

摘要： A lane departure prevention apparatus is configured to conduct a course correction in a lane departure avoidance direction when the controller determines that there is a potential for a vehicle to depart from a driving lane. The lane departure prevention apparatus has a driving road detecting section and a lane departure avoidance control section. The driving road detecting section is configured to determine at least one of a road slope direction and a road curvature direction of a driving road upon which a host vehicle is traveling. The lane departure avoidance control section is configured to start lane departure avoidance control based on a driving direction of the host vehicle and at least one of a road slope direction and a road curvature direction detected by the driving road detecting section.

摘要翻译： 车道偏离防止装置被配置为当控制器确定有可能使车辆离开行驶车道时进行行车道偏离避免方向的行驶路线校正。 车道偏离防止装置具有驾驶道路检测部和车道偏离回避控制部。 驾驶道路检测部被配置为确定本车辆行驶的行驶道路的道路坡度方向和道路曲率方向中的至少一个。 车道偏离回避控制部被配置为基于主车辆的行驶方向和由驾驶道路检测部检测到的道路坡度方向和道路曲率方向中的至少一个来开始车道偏离回避控制。

公开(公告)号：US06778890B2

公开(公告)日：2004-08-17

申请号：US10220305

申请日：2002-09-13

申请人： Masayasu Shimakage ,  Hiroshi Kawazoe ,  On Sadano ,  Shigeki Satou

发明人： Masayasu Shimakage ,  Hiroshi Kawazoe ,  On Sadano ,  Shigeki Satou

IPC分类号： B62D504

CPC分类号： B62D1/286 ,  B60T2201/08 ,  B60T2201/087 ,  B62D15/025

摘要： A method for lane-keeping control of a lane-keeping support system provides a current command indicative of steering torque assist needed to steer a vehicle in following a target line between lane markings on a roadway during driving in lane-keeping control (LKC) mode. A map has two sets of limit data against a range of values of lateral acceleration to which the vehicle is subject, between which sets of limit data there is a range of values of the command during various phases of steering the vehicle to turn in the LKC mode. In order to compensate for undesired effect caused by any deviation of the range of values of the current command due to the presence of continuous disturbance, the two sets of limit data are corrected. To determine driver steering intervention, the instantaneous value of the current command is compared to two limit values established out of the corrected two sets of limit data.

摘要翻译： 车道保持支撑系统的车道保持控制的方法提供指示在车道保持控制（LKC）模式驾驶期间驾驶车辆在道路上的车道标记之间跟随目标线所需的转向转矩辅助所需的电流指令 。 地图具有与车辆所对向的横向加速度值的范围的两组限制数据，在这些限制数据集之间存在在车辆转向LKC的各个阶段期间的命令的值的范围 模式。 为了补偿由于连续扰动的存在而导致的电流指令的值的范围的任何偏差引起的不期望的影响，校正了两组限制数据。 为了确定驾驶员转向干预，将当前命令的瞬时值与由修正的两组限制数据建立的两个极限值进行比较。

公开(公告)号：US06853884B2

公开(公告)日：2005-02-08

申请号：US10173653

申请日：2002-06-19

申请人： On Sadano

发明人： On Sadano

IPC分类号： B60R21/00 ,  B60K31/00 ,  B62D1/28 ,  B62D6/00 ,  B62D15/02 ,  B62D101/00 ,  B62D113/00 ,  F02D29/02 ,  G08G1/16 ,  G06F7/00

CPC分类号： B62D15/0265 ,  B60T2201/08 ,  B60T2201/087 ,  B62D1/286

摘要： A lane-keep control system for a host-vehicle is arranged to execute a lane-keep control for moving the host-vehicle in a traveling lane, to determine whether there is an approaching-vehicle behind the host-vehicle, to increase an intervention threshold when there is the approaching vehicle behind the host-vehicle, and to suspend the lane-keep control when a steering control indicative value due to driver intervention is greater than the intervention threshold.

摘要翻译： 主车辆的车道保持控制系统被布置成执行用于在行驶车道中移动主车辆的车道保持控制，以确定在主车辆之后是否存在接近车辆，以增加干预 当主车辆后方有接近的车辆时，当由于驾驶员干预导致的转向控​​制指示值大于干预门限时，暂停车道保持控制。

公开(公告)号：US06580987B2

公开(公告)日：2003-06-17

申请号：US09961239

申请日：2001-09-25

申请人： On Sadano ,  Hiroshi Kawazoe ,  Masayasu Shimakage

发明人： On Sadano ,  Hiroshi Kawazoe ,  Masayasu Shimakage

IPC分类号： B62D1500

CPC分类号： B62D15/025 ,  B60T2201/08 ,  B60T2201/087 ,  B62D5/0463 ,  B62D5/0478

摘要： A driver assistance system (10) assists the driver in controlling the direction of a moving vehicle along a contrived centerline between lane markings by regulating a steering bias applied to a steering system of the vehicle. An electric motor (22) coupled to the steering mechanism provides a torque input to the steering in response to an estimate of electric current provided by an observer. The observer has a friction term matrix element (a55), which is correlated with friction in the steering mechanism. A controller (24) is provided, which establishes a desired or ideal frequency function of lateral displacement data (102), samples lateral displacement to provide a real frequency function of lateral displacement data (104), compares the real frequency function with the ideal frequency function (106), and updates or leaves unaltered the friction term (a55) based on the result of comparison.

公开(公告)号：US07444224B2

公开(公告)日：2008-10-28

申请号：US10960724

申请日：2004-10-08

申请人： On Sadano ,  Masahiro Ozaki ,  Yoshitaka Uemura

发明人： On Sadano ,  Masahiro Ozaki ,  Yoshitaka Uemura

IPC分类号： B60T8/172 ,  B60T8/175

CPC分类号： B60T8/17557 ,  B60T2201/08 ,  B60T2201/083 ,  G05D1/0244 ,  G05D2201/0213

摘要： A lane departure prevention apparatus is configured to conduct a course correction in a lane departure avoidance direction when the controller determines that there is a potential for a vehicle to depart from a driving lane. The lane departure prevention apparatus has a driving road detecting section and a lane departure avoidance control section. The driving road detecting section is configured to determine at least one of a road slope direction and a road curvature direction of a driving road upon which a host vehicle is traveling. The lane departure avoidance control section is configured to start lane departure avoidance control based on a driving direction of the host vehicle and at least one of a road slope direction and a road curvature direction detected by the driving road detecting section.

摘要翻译： 车道偏离防止装置被配置为当控制器确定有可能使车辆离开行驶车道时进行行车道偏离避免方向的行驶路线校正。 车道偏离防止装置具有驾驶道路检测部和车道偏离回避控制部。 驾驶道路检测部被配置为确定本车辆行驶的行驶道路的道路坡度方向和道路曲率方向中的至少一个。 车道偏离回避控制部被配置为基于主车辆的行驶方向和由驾驶道路检测部检测到的道路坡度方向和道路曲率方向中的至少一个来开始车道偏离回避控制。

公开(公告)号：US07212901B2

公开(公告)日：2007-05-01

申请号：US10960706

申请日：2004-10-08

申请人： On Sadano ,  Yoshitaka Uemura ,  Masahiro Ozaki

发明人： On Sadano ,  Yoshitaka Uemura ,  Masahiro Ozaki

IPC分类号： G06F19/00

CPC分类号： B60T8/17557 ,  B60T7/22 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2201/085

摘要： A lane departure prevention apparatus is configured to conduct a course correction in a lane departure avoidance direction when the controller 8 determines that there is a potential for a vehicle to depart from a driving lane. The controller 8 combines yaw control and deceleration control to conduct departure prevention control to avoid lane departure. The yaw control is not actuated if the opposite direction from the steering direction coincides with the lane departure direction (steps S10 and S11). Preferably, the controller 8 sets the timing of yaw moment and the deceleration of the vehicle on the basis of the acceleration or deceleration of the vehicle, and performs braking control so that these settings are achieved (steps S7 to S9). Preferably, the controller 8 calculates the target yaw moment in the lane departure-avoidance direction on the basis of the running state of the vehicle, and calculates the deceleration amount by taking into account the driver braking operation amount.

摘要翻译： 车道偏离防止装置被配置为当控制器8确定有可能使车辆从行驶车道偏离时，以车道偏离避免方向进行路线校正。 控制器8组合了偏航控制和减速控制，以进行离开预防控制，以避免车道偏离。 如果与转向方向相反的方向与车道偏离方向一致，则偏航控制不被致动（步骤S10和S11）。 优选地，控制器8基于车辆的加速或减速来设定车辆的横摆力矩和减速度的定时，并进行制动控制，从而实现这些设定（步骤S7〜S9）。 优选地，控制器8基于车辆的行驶状态来计算车道偏离避开方向上的目标横摆力矩，并且通过考虑驾驶员制动操作量来计算减速度。

公开(公告)号：US06542800B2

公开(公告)日：2003-04-01

申请号：US09876134

申请日：2001-06-08

申请人： Hiroshi Kawazoe ,  On Sadano ,  Masayasu Shimakage

发明人： Hiroshi Kawazoe ,  On Sadano ,  Masayasu Shimakage

IPC分类号： B62D600

CPC分类号： B62D1/28 ,  B60T2201/08 ,  B60T2201/087 ,  G05D2201/0213

摘要： In accordance with a vehicle running condition along a lane and an actual steering angle, a control unit determine a target steering angle to follow the lane, and controls an actual steering torque with an actuator to a target steering torque to achieve the target steering angle. The control unit limits the target steering torque by setting a target torque limit determined in dependence on whether the control steering direction is a steer direction away from a straight ahead neutral position or a return direction toward the straight ahead neutral position, to take account of a self aligning torque.

公开(公告)号：US20050096827A1

公开(公告)日：2005-05-05

申请号：US10960706

申请日：2004-10-08

申请人： On Sadano ,  Yoshitaka Uemura ,  Masahiro Ozaki

发明人： On Sadano ,  Yoshitaka Uemura ,  Masahiro Ozaki

IPC分类号： B60R21/00 ,  B60T7/22 ,  B60T8/1755 ,  G08G1/16 ,  G06F19/00

CPC分类号： B60T8/17557 ,  B60T7/22 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2201/085

摘要： A lane departure prevention apparatus is configured to conduct a course correction in a lane departure avoidance direction when the controller 8 determines that there is a potential for a vehicle to depart from a driving lane. The controller 8 combines yaw control and deceleration control to conduct departure prevention control to avoid lane departure. The yaw control is not actuated if the opposite direction from the steering direction coincides with the lane departure direction (steps S10 and S11). Preferably, the controller 8 sets the timing of yaw moment and the deceleration of the vehicle on the basis of the acceleration or deceleration of the vehicle, and performs braking control so that these settings are achieved (steps S7 to S9). Preferably, the controller 8 calculates the target yaw moment in the lane departure-avoidance direction on the basis of the running state of the vehicle, and calculates the deceleration amount by taking into account the driver braking operation amount.

摘要翻译： 车道偏离防止装置被配置为当控制器8确定有可能使车辆从行驶车道偏离时，以车道偏离避免方向进行路线校正。 控制器8组合了偏航控制和减速控制，以进行离开预防控制，以避免车道偏离。 如果与转向方向相反的方向与车道偏离方向一致，则偏航控制不被致动（步骤S10和S11）。 优选地，控制器8基于车辆的加速或减速来设定车辆的横摆力矩和减速度的定时，并进行制动控制，从而实现这些设定（步骤S7〜S9）。 优选地，控制器8基于车辆的行驶状态来计算车道偏离避开方向上的目标横摆力矩，并且通过考虑驾驶员制动操作量来计算减速度。

公开(公告)号：US06493619B2

公开(公告)日：2002-12-10

申请号：US09930168

申请日：2001-08-16

申请人： Hiroshi Kawazoe ,  Masayasu Shimakage ,  On Sadano ,  Shigeki Sato

发明人： Hiroshi Kawazoe ,  Masayasu Shimakage ,  On Sadano ,  Shigeki Sato

IPC分类号： G06F16500

CPC分类号： B62D15/025 ,  B60T2201/08 ,  B60T2201/087 ,  B62D1/286 ,  B62D5/0463

摘要： In lane keeping assistance system and method for an automotive vehicle, a control current (Iout) to be outputted to a motor during an automatic steering mode is detected, a filter is provided for the detected control current to pass only signal components of the detected control current whose frequencies are lower than a predetermined cut-off frequency value (fstr, fstr_low, fstr_mid, fstr_hi) to derive a filtered control current (Iout_lpf), a determination of whether a manual steering intervention to the automatic steering occurs is made according to a magnitude of the filtered control current, and the control current outputted to the motor is reduced toward zero when the manual steering intervention is determined to occur according to a result of determination that the magnitude of the filtered control current (Iout_lpf) is in excess of a predetermined threshold current value (Iout_lpf_th).

摘要翻译： 在车辆的车道保持辅助系统和方法中，检测在自动转向模式期间输出到电动机的控制电流（Iout），为检测到的控制电流提供滤波器，以仅通过检测到的控制信号的信号分量 频率低于预定截止频率值（fstr，fstr_low，fstr_mid，fstr_hi）以导出滤波后的控制电流（Iout_lpf）的电流，判定是否发生对自动转向的手动转向干预是根据 滤波后的控制电流的大小以及输出到电动机的控制电流根据判断结果确定为手动转向干预被确定为过滤控制电流（Iout_lpf）的大小超过 预定阈值电流值（Iout_lpf_th）。

公开(公告)号：US07424357B2

公开(公告)日：2008-09-09

申请号：US10883782

申请日：2004-07-06

申请人： Masahiro Ozaki ,  On Sadano ,  Takashi Sugano ,  Yoshitaka Uemura

发明人： Masahiro Ozaki ,  On Sadano ,  Takashi Sugano ,  Yoshitaka Uemura

IPC分类号： G06F7/70

CPC分类号： B60T8/17557 ,  B60T2201/08 ,  B60T2201/081 ,  B60T2201/086 ,  B60T2260/09 ,  B60W10/184 ,  B60W30/12 ,  B60W2720/14 ,  G08G1/04 ,  G08G1/161

摘要： A lane departure prevention apparatus is configured for reducing risk of a vehicle while preventing lane departure. The lane departure prevention apparatus basically comprises a lane departure tendency determining section, a running condition determining section and a braking force control section. The lane departure tendency determining section determines a lane departure tendency of the host vehicle from a driving lane. The running condition determining section determines a running condition of the host vehicle. The braking force control section controls a braking force to selectively produce at least one of a yaw moment on the host vehicle in accordance with the lane departure tendency of the host vehicle to avoid departure of the host vehicle from the driving lane, and a deceleration on the host vehicle in accordance with the running condition of the host vehicle.

摘要翻译： 车道偏离防止装置被配置为在防止车道偏离的同时降低车辆的风险。 车道偏离防止装置基本上包括车道偏离倾向判定部，行驶条件判定部和制动力控制部。 车道偏离倾向确定部分确定主车辆与行驶车道的车道偏离倾向。 运行条件确定部分确定主车辆的行驶状态。 制动力控制部控制制动力，以根据本车辆的车道偏离倾向选择性地产生本车辆的横摆力矩中的至少一个，以避免主车辆离开行车道，并且减速 本车根据本车的运行状况。