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1.发明申请Apparatus for estimating of deviation from lane, and apparatus for warning of same and method for same 有权用于估计与车道偏差的装置，以及用于警告的装置及其方法公开(公告)号：US20050273261A1
公开(公告)日：2005-12-08
申请号：US11136449
申请日：2005-05-25
CPC分类号： B62D15/029 , B60T2201/08 , B60T2201/082 , B60W10/20 , B60W50/14 , B62D15/025
摘要： An apparatus for warning deviation from a lane has a deviation evaluation ECU 1. The deviation evaluation ECU 1 has a deviation evaluator 14 for performing an evaluation on a deviation by comparing a future position of a host vehicle with a lane future position. Before this deviation evaluation, a mask processor 13 determines whether a yaw angle of the host vehicle and a lateral position of the vehicle relative to a driving lane exceed their respective thresholds preliminarily determined. When either one or the both are not more than the thresholds, the mask processor 13 performs a mask process, without performing the deviation evaluation. A deviation evaluator 14 performs the deviation evaluation when the yaw angle and the lateral position relative to the driving lane both exceed their respective thresholds.
摘要翻译： 用于警告偏离车道的装置具有偏差评估ECU 1。 偏差评估ECU1具有用于通过将本车辆的未来位置与车道未来位置进行比较来对偏差进行评价的偏差评估器14。 在该偏差评估之前，掩模处理器13确定主车辆的偏航角和车辆相对于行驶车道的横向位置是否超过其预先确定的各自的阈值。 当任何一个或两者都不大于阈值时，掩模处理器13执行掩模处理，而不执行偏差评估。 当偏航角和相对于行驶车道的横向位置都超过它们各自的阈值时，偏差评估器14执行偏差评估。
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公开(公告)号：US20050267684A1
公开(公告)日：2005-12-01
申请号：US11135287
申请日：2005-05-24
IPC分类号： B60R21/00 , B60K31/00 , B60K31/04 , B60W10/00 , B60W10/04 , B60W10/20 , B62D15/02 , G08G1/16
CPC分类号： B60K31/04 , B60K2350/1084 , B62D15/025 , B62D15/026 , B62D15/029
摘要： A driving control apparatus of the present invention has a driving road keeping device for providing a torque to a steering mechanism so as to keep a vehicle traveling at a predetermined position on a driving road, a setting device for setting a need or no need for execution of a control of the driving road keeping device, and a cruise control device for controlling a driving force or speed of the vehicle so as to keep the vehicle in a predetermined driving state. A need or no need for execution of the control of the driving road keeping device is determined based on a setting state of the setting device and a control state of the cruise control device. A display indicating that the control of the driving road keeping device is ready is presented when the control of the driving road keeping device is in an executable state upon a state change of either the setting state of the setting device or the control state of the cruise control device. Therefore, with the display indicating the ready state, a driver can initiate the control of the driving road keeping device by changing the setting state of the setting device or the control state of the cruise control device in accordance with the content of the display.
摘要翻译： 本发明的驱动控制装置具有驱动道路保持装置，用于向转向机构提供扭矩，以使车辆行驶在行驶道路上的预定位置，设定需要或不需要执行的设定装置 驾驶道路保持装置的控制，以及用于控制车辆的驱动力或速度以使车辆保持在预定驾驶状态的巡航控制装置。 基于设定装置的设定状态和巡航控制装置的控制状态来决定是否需要执行驾驶道路维护装置的控制。 当驾驶道路保持装置的控制在设定装置的设定状态或巡航的控制状态的状态改变时处于可执行状态时，呈现指示驾驶道路保持装置的控制准备就绪的显示 控制装置 因此，在显示表示就绪状态的情况下，驾驶员可以根据显示内容，通过改变设定装置的设定状态或巡航控制装置的控制状态，来开始驾驶道路保持装置的控制。
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公开(公告)号：US07692534B2
公开(公告)日：2010-04-06
申请号：US12007239
申请日：2008-01-08
IPC分类号： B60Q1/00
CPC分类号： B62D15/029 , B60T2201/08 , B60T2201/087 , B60W30/12 , B62D15/025
摘要： In deviation prevention support ECU 10 in driving operation support system 1, an applied torque by steering torque applier 17 is set based on a vehicle speed of a vehicle. The applied torque is set to increase with increase of the vehicle speed. An upper limit according to the vehicle speed is set for this applied torque. Furthermore, in a Start interval in application of the applied torque, a rate of increasing to reach a maximum is determined according to the maximum of the applied torque. In a close interval, the applied torque is decreased at a rate different from that in the Start interval, and the absolute rate of increasing the torque in the Start interval is set to be larger than the absolute rate of decreasing the torque in the close interval.
摘要翻译： 在驾驶操作支援系统1的偏离防止支援ECU10中，基于车辆的车速设定转向扭矩施加器17所施加的转矩。 施加的转矩设定为随着车速的增加而增加。 针对该施加的扭矩设定根据车速的上限。 此外，在施加扭矩的起动间隔中，根据所施加的转矩的最大值来确定达到最大值的增加率。 在紧密间隔中，施加的转矩以与起动间隔不同的速率减小，并且将起动间隔中的转矩增加的绝对速度设定为大于在闭合间隔中减小转矩的绝对速度 。
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公开(公告)号：US20050273262A1
公开(公告)日：2005-12-08
申请号：US11136450
申请日：2005-05-25
CPC分类号： B62D15/025 , B62D15/026 , B62D15/029
摘要： A driving control apparatus of the present invention has a driving road keeping device for providing a torque to a steering mechanism so as to keep a vehicle traveling at a predetermined position on a driving road; a driving road departure warning device for issuing a warning of a departure from the driving road on the basis of a position of the vehicle relative to the driving road; and a setting device for setting a need or no need for execution of a control of the driving road keeping device or the driving road departure warning device. Where the setting device sets a need for execution of the control, the control of the driving road keeping device is executed when an activation condition of the driving road keeping device is met and when a cruise control device is active. Where the setting device sets a need for execution of the control, the control of the driving road departure warning device is executed when the activation condition of the driving road keeping device is not met or when the cruise control device is inactive. According to the present invention, a lane departure warning function and a lane-keep assist function are selectively executed in conjunction with activation/deactivation of the cruise control device and the activation condition of the driving road keeping device, whereby, even with an automatic stop of operation of either one of the functions, the other function can prevent the vehicle from departing from the lane.
摘要翻译： 本发明的驱动控制装置具有驱动道路保持装置，用于向转向机构提供扭矩，以保持车辆行驶在行驶道路上的预定位置; 基于车辆相对于驾驶道路的位置发出离开驾驶道路的警告的驾驶道路离境警告装置; 以及设置装置，用于设置需要或不需要执行驾驶道路保持装置或驾驶道路离境警告装置的控制。 在设置装置需要执行控制的情况下，当满足驾驶道路维护装置的启动条件和巡航控制装置有效时，执行驾驶道路保养装置的控制。 在设置装置需要执行控制的情况下，当驾驶道路保持装置的启动条件不满足或巡航控制装置不活动时，执行驾驶道路离境警告装置的控制。 根据本发明，结合巡航控制装置的启动/停止以及驾驶道路保持装置的启动条件选择性地执行车道偏离警告功能和车道保持辅助功能，由此即使具有自动停止 任何一个功能的操作，另一个功能可以防止车辆离开车道。
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公开(公告)号：US07391304B2
公开(公告)日：2008-06-24
申请号：US11138307
申请日：2005-05-27
IPC分类号： B60Q1/00
CPC分类号： B62D15/029 , B60T2201/08 , B60T2201/087 , B60W30/12 , B62D15/025
摘要： In deviation prevention support ECU 10 in driving operation support system 1, an applied torque by steering torque applier 17 is set based on a vehicle speed of a vehicle. The applied torque is set to increase with increase of the vehicle speed. An upper limit according to the vehicle speed is set for this applied torque. Furthermore, in a Start interval in application of the applied torque, a rate of increasing to reach a maximum is determined according to the maximum of the applied torque. In a Close interval, the applied torque is decreased at a rate different from that in the Start interval, and the absolute rate of increasing the torque in the Start interval is set to be larger than the absolute rate of decreasing the torque in the Close interval.
摘要翻译： 在驾驶操作支援系统1的偏离防止支援ECU10中，基于车辆的车速设定转向扭矩施加器17所施加的转矩。 施加的转矩设定为随着车速的增加而增加。 针对该施加的扭矩设定根据车速的上限。 此外，在施加扭矩的起动间隔中，根据所施加的转矩的最大值来确定达到最大值的增加率。 在关闭间隔中，施加的转矩以与起动间隔不同的速率减小，起动间隔中增加转矩的绝对速度设定为大于关闭间隔内的转矩减小绝对速度 。
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公开(公告)号：US20050273234A1
公开(公告)日：2005-12-08
申请号：US11138432
申请日：2005-05-27
IPC分类号： B60R11/04 , B62D1/28 , B62D5/04 , B62D5/30 , B62D6/00 , B62D6/04 , B62D15/02 , B62D101/00 , B62D111/00 , B62D113/00 , B62D137/00
摘要： Characteristic lines A to D of lateral acceleration G-required torque T in determination of required torque T are used as switched according to increase/decrease of the absolute value of the lateral acceleration, and the direction thereof. The lines A, C used in increase of the absolute value of the lateral acceleration G are so set that the absolute value of required torque T becomes larger at the same lateral acceleration G (G≠0) than that with the lines B, D used in decrease of the absolute value of the lateral acceleration G. The difference between line A and line B (the difference between line C and line D as well) at the same lateral acceleration G is so set that the difference near the lateral acceleration of 0 is smaller than that in the other regions. Particularly, it is preferable to set the required torque T to 0 at the lateral acceleration G of 0.
摘要翻译： 根据横向加速度的绝对值的增加/减小及其方向，使用横向加速度G的特征线A至D来确定所需扭矩T的所需扭矩T。 用于增加横向加速度G的绝对值的线A，C被设定为使得所需转矩T的绝对值在与线B，D相同的横向加速度G（G <> 0）时变大 用于降低横向加速度G的绝对值。在相同的横向加速度G处，线A与线B之间的差（以及线C与线D之间的差）也被设定为使得横向加速度 0小于其他区域。 特别地，优选的是在横向加速度G为0的情况下将所需转矩T设定为0。
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公开(公告)号：US20050267661A1
公开(公告)日：2005-12-01
申请号：US11134318
申请日：2005-05-23
IPC分类号： B60R21/00 , B62D1/28 , B62D5/04 , B62D6/00 , B62D101/00 , B62D119/00 , B62D137/00 , G05D1/00 , G05D1/02 , H04N7/18
CPC分类号： B62D1/286
摘要： A driving support system according to the present invention is provided with an actuator for steering steered wheels and performs a driving support control of a vehicle to apply an additional torque to a steering mechanism incorporating the steered wheels, by means of the actuator to steer the steered wheels. The driving support system has an image taking device for taking a forward image ahead the vehicle, a controller for driving the actuator to generate the torque on the steering mechanism on the basis of the forward image acquired by the image taking device, to perform the driving support control, a steering wheel torque detector for detecting a steering wheel torque on a steering wheel, and a control suppressor for prioritizing a steering operation by a driver to the driving support control when a magnitude of the steering wheel torque is not less than a predetermined value. The control suppressor sets the predetermined value so that the predetermined value in a case where a direction of the steering torque for the driving support control agrees with a direction of the steering wheel torque by the driver is larger than the predetermined value in a case where the direction of the steering torque does not agree with the direction of the steering wheel torque. This configuration enables the system to accurately grasp a driver's intension and to prioritize the steering operation by the driver more accurately when the steering operation by the driver should be prioritized to the driving support control.
摘要翻译： 根据本发明的驾驶辅助系统设置有用于转向转向轮的致动器，并且执行车辆的驾驶支持控制以通过致动器向转向轮施加额外的扭矩以向包括转向轮的转向机构施加转向 车轮。 驱动支撑系统具有用于在车辆前方拍摄前进图像的摄像装置，用于驱动致动器的控制器，其基于由摄像装置获取的前向图像在转向机构上产生转矩，以执行驾驶 支撑控制，用于检测方向盘上的方向盘扭矩的方向盘扭矩检测器，以及控制抑制器，用于在方向盘转矩的大小不小于预定值时将驾驶员的驾驶员的转向操作优先于驾驶支持控制 值。 控制抑制器设定预定值，使得在驾驶辅助控制的转向转矩的方向与驾驶员的方向盘转矩的方向一致的情况下的预定值大于预定值， 转向转矩的方向与方向盘转矩的方向不一致。 该配置使得当驾驶员的转向操作应当被优先考虑驾驶支持控制时，系统能够更准确地准确地掌握驾驶员的意图并且驾驶员更准确地确定驾驶员的转向操作的优先级。
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公开(公告)号：US07454291B2
公开(公告)日：2008-11-18
申请号：US11135287
申请日：2005-05-24
IPC分类号： G06F17/10
CPC分类号： B60K31/04 , B60K2350/1084 , B62D15/025 , B62D15/026 , B62D15/029
摘要： A driving control apparatus of the present invention has a driving road keeping device for providing a torque to a steering mechanism so as to keep a vehicle traveling at a predetermined position on a driving road, a setting device for setting a need or no need for execution of a control of the driving road keeping device, and a cruise control device for controlling a driving force or speed of the vehicle so as to keep the vehicle in a predetermined driving state. A need or no need for execution of the control of the driving road keeping device is determined based on a setting state of the setting device and a control state of the cruise control device. A display indicating that the control of the driving road keeping device is ready is presented when the control of the driving road keeping device is in an executable state upon a state change of either the setting state of the setting device or the control state of the cruise control device. Therefore, with the display indicating the ready state, a driver can initiate the control of the driving road keeping device by changing the setting state of the setting device or the control state of the cruise control device in accordance with the content of the display.
摘要翻译： 本发明的驱动控制装置具有驱动道路保持装置，用于向转向机构提供扭矩，以使车辆行驶在行驶道路上的预定位置，设定需要或不需要执行的设定装置 驾驶道路保持装置的控制，以及用于控制车辆的驱动力或速度以使车辆保持在预定驾驶状态的巡航控制装置。 基于设定装置的设定状态和巡航控制装置的控制状态来决定是否需要执行驾驶道路维护装置的控制。 当驾驶道路保持装置的控制在设定装置的设定状态或巡航的控制状态的状态改变时处于可执行状态时，呈现指示驾驶道路保持装置的控制准备就绪的显示 控制装置 因此，在显示表示就绪状态的情况下，驾驶员可以根据显示内容，通过改变设定装置的设定状态或巡航控制装置的控制状态，来开始驾驶道路保持装置的控制。
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公开(公告)号：US07389167B2
公开(公告)日：2008-06-17
申请号：US11134301
申请日：2005-05-23
IPC分类号： A01B69/00
CPC分类号： B62D15/025 , B62D1/28 , B62D15/029
摘要： A driving support system according to the present invention is provided with an actuator for steering steered wheels of a vehicle and is used for supporting driving of the vehicle by making use of steering by means of the actuator. The driving support system has an image taking device for taking a forward image ahead the vehicle, a determiner for determining a controlled variable of the actuator on the basis of the forward image acquired by the image taking device, a limiter for limiting the controlled variable when a time change of the controlled variable of the actuator determined by the determiner is off a predetermined range, and a controller for controlling the actuator. The limiter sets a limit value for limiting the time change of the controlled variable of the actuator so that the limit value at a start (or at an end) of the driving support control is different from the limit value in continuation of the driving support control. In this configuration, the limit value to prevent a driver from sensing discomfort is set at the start (or at the end) of the driving support control, while the limit value suitable for the driving support control is set during continuous execution of the driving support control. This permits the system to achieve suppression of the discomfort at the start (or at the end) of the support control and improvement in performance of the support control in continuation of the control together.
摘要翻译： 根据本发明的驾驶辅助系统设置有用于车辆的转向转向轮的致动器，并且用于通过借助于致动器的转向来支持车辆的行驶。 驱动支撑系统具有用于在车辆前方拍摄正向图像的摄像装置，用于基于由摄像装置获取的前向图像确定致动器的受控变量的确定器，用于限制受控变量的限制器 由确定器确定的致动器的控制变量的时间变化已经超出预定范围，以及用于控制致动器的控制器。 限制器设置限制致动器的受控变量的时间变化的极限值，使驾驶辅助控制开始（或结束时）的极限值与持续驾驶支持控制的极限值不同 。 在该结构中，在驾驶辅助控制的开始（或结束）时设定防止驾驶员感觉到不适的极限值，而在驾驶辅助控制的连续执行期间设定适合驾驶辅助控制的极限值 控制。 这允许系统在支持控制的开始（或结束时）实现抑制不舒服，并且一起继续控制来支持控制的性能的提高。
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公开(公告)号：US20050278096A1
公开(公告)日：2005-12-15
申请号：US11134301
申请日：2005-05-23
IPC分类号： B60R21/00 , B62D1/28 , B62D5/04 , B62D6/00 , B62D15/02 , B62D101/00 , B62D113/00 , B62D137/00 , H04N7/18
CPC分类号： B62D15/025 , B62D1/28 , B62D15/029
摘要： A driving support system according to the present invention is provided with an actuator for steering steered wheels of a vehicle and is used for supporting driving of the vehicle by making use of steering by means of the actuator. The driving support system has an image taking device for taking a forward image ahead the vehicle, a determiner for determining a controlled variable of the actuator on the basis of the forward image acquired by the image taking device, a limiter for limiting the controlled variable when a time change of the controlled variable of the actuator determined by the determiner is off a predetermined range, and a controller for controlling the actuator. The limiter sets a limit value for limiting the time change of the controlled variable of the actuator so that the limit value at a start (or at an end) of the driving support control is different from the limit value in continuation of the driving support control. In this configuration, the limit value to prevent a driver from sensing discomfort is set at the start (or at the end) of the driving support control, while the limit value suitable for the driving support control is set during continuous execution of the driving support control. This permits the system to achieve suppression of the discomfort at the start (or at the end) of the support control and improvement in performance of the support control in continuation of the control together.
摘要翻译： 根据本发明的驾驶辅助系统设置有用于车辆的转向转向轮的致动器，并且用于通过借助于致动器的转向来支持车辆的行驶。 驱动支撑系统具有用于在车辆前方拍摄正向图像的摄像装置，用于基于由摄像装置获取的前向图像确定致动器的受控变量的确定器，用于限制受控变量的限制器 由确定器确定的致动器的控制变量的时间变化已经超出预定范围，以及用于控制致动器的控制器。 限制器设置限制致动器的受控变量的时间变化的极限值，使驾驶辅助控制开始（或结束时）的极限值与持续驾驶支持控制的极限值不同 。 在该结构中，在驾驶辅助控制的开始（或结束）时设定防止驾驶员感觉到不适的极限值，而在驾驶辅助控制的连续执行期间设定适合驾驶辅助控制的极限值 控制。 这允许系统在支持控制的开始（或结束时）实现抑制不舒服，并且一起继续控制来支持控制的性能的提高。
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