公开(公告)号：US06370466B1

公开(公告)日：2002-04-09

申请号：US09549165

申请日：2000-04-13

申请人： Satoshi Hada ,  Hirotoshi Inoue ,  Takahiro Eguchi ,  Toshiya Kanda ,  Yoichi Sugimoto

发明人： Satoshi Hada ,  Hirotoshi Inoue ,  Takahiro Eguchi ,  Toshiya Kanda ,  Yoichi Sugimoto

IPC分类号： B60K4124

CPC分类号： B60T7/122

摘要： A braking force retaining unit, which retains braking force until driving force for starting a vehicle increases to a certain value such that the braking force continues to act on the vehicle after releasing a brake pedal, wherein said braking force retaining unit having a device for decreasing the braking force in accordance with the increasing driving force.

摘要翻译： 制动力保持单元，其保持直到用于起动车辆的驱动力的制动力增加到一定值，使得在释放制动踏板之后制动力继续作用在车辆上，其中所述制动力保持单元具有用于减小的装置 制动力按照增加的驱动力。

公开(公告)号：US06346064B1

公开(公告)日：2002-02-12

申请号：US09634460

申请日：2000-08-07

申请人： Satoshi Hada ,  Takahiro Eguchi ,  Toshiya Kanda ,  Yoichi Sugimoto

发明人： Satoshi Hada ,  Takahiro Eguchi ,  Toshiya Kanda ,  Yoichi Sugimoto

IPC分类号： B60K4120

CPC分类号： B60K6/543 ,  B60L2240/486 ,  B60L2250/26 ,  B60T7/042 ,  B60T2201/06 ,  B60W10/06 ,  B60W10/101 ,  B60W10/18 ,  B60W30/18118 ,  B60W2050/021 ,  B60W2550/142 ,  B60W2710/105 ,  F16H61/66 ,  Y10S477/901 ,  Y10S903/918 ,  Y10T477/743 ,  Y10T477/747 ,  Y10T477/87

摘要： A driving force control unit for a vehicle, which allows transmission of driving force from a driving motor to driving wheels irrespective of releasing an accelerator pedal at a certain or lower vehicle speed when a transmission is set in a driving range, and which switches the magnitude of the driving force while the accelerator pedal is released at vehicle speed no more than the certain vehicle speed between a greater condition and a smaller condition in accordance with depression of the brake pedal so that the driving force is made lower at a depression of the brake pedal than at a release of the brake pedal. In the driving force control unit, the driving force value in said greater condition upon switching from said smaller condition to said greater condition, at a release of the brake pedal during the time the vehicle stops, is increased or decreased according to an inclination angle of the vehicle at the time of stopping. Meanwhile, the increasing rate of said driving force upon switching from said smaller condition to said greater condition, at a release of the brake pedal during the time the vehicle stops, is increased or decreased based on a vehicle inclination angle when the vehicle stops.

摘要翻译： 一种用于车辆的驱动力控制单元，其能够在将传动设定在驾驶范围内时将驱动电机的驱动力传递到驱动轮，而不管以一定或更低的车速释放加速器踏板，并且切换大小 的驱动力，同时根据制动踏板的下压，加速踏板在车速下不超过某一车辆速度在更大的状态和较小的状态之间被释放，使得驱动力在制动器的下压 踏板比刹车踏板释放。 在驱动力控制单元中，在从所述较小状态切换到所述较大状态时，在车辆停止期间在制动踏板的释放时，在所述较大状态下的驱动力值根据倾斜角度 车辆在停车时。 同时，当车辆停止时，在制动踏板释放时，从所述较小状态切换到所述较大状态的所述驱动力的增加率根据车辆停止时的车辆倾斜角度而增加或减少。

公开(公告)号：US06296592B1

公开(公告)日：2001-10-02

申请号：US09592116

申请日：2000-06-12

申请人： Takahiro Eguchi ,  Hirotoshi Inoue ,  Toshiya Kanda ,  Shouji Suzuki ,  Yoichi Sugimoto ,  Satoshi Hada

发明人： Takahiro Eguchi ,  Hirotoshi Inoue ,  Toshiya Kanda ,  Shouji Suzuki ,  Yoichi Sugimoto ,  Satoshi Hada

IPC分类号： B60K4128

CPC分类号： B60T7/045 ,  B60K6/48 ,  B60T7/04 ,  B60T7/12 ,  B60T13/662 ,  B60W10/06 ,  B60W10/08 ,  B60W10/101 ,  B60W20/00 ,  B60W30/18063 ,  B60W2540/12 ,  Y02T10/48 ,  Y02T10/6221 ,  Y02T10/6286 ,  Y10T477/26

摘要： A braking force control unit, which allows transmission of driving force from a motor to driving wheels irrespective of releasing an accelerator pedal under or equal to a certain vehicle speed when a transmission is selected to a driving range, and switches said driving force to be transmitted to the driving wheels between a strong condition and a weak condition in accordance with depression of a brake pedal such that when the brake pedal is depressed, said driving force is controlled to be less than the driving force upon releasing the brake pedal, wherein the braking force control unit comprises means for retaining braking force so as to continuously retain the braking force after releasing the brake pedal, and said means releases the braking force after releasing the brake pedal and in the process of increasing the driving force to the strong condition.

摘要翻译： 制动力控制单元，当将变速器选择为驱动范围时，允许将驱动力从电机传递到驱动轮，而不管释放加速踏板低于或等于一定车速，并且切换要传递的驱动力 根据制动踏板的下压，使驱动轮处于强状态和弱状态之间，使得当制动踏板被压下时，所述驱动力被控制为小于在释放制动踏板时的驱动力，其中制动 力控制单元包括用于保持制动力以在释放制动踏板之后连续保持制动力的装置，并且所述装置在释放制动踏板之后并且在将驱动力增加到强状态的过程中释放制动力。

公开(公告)号：US06336689B1

公开(公告)日：2002-01-08

申请号：US09517524

申请日：2000-03-02

申请人： Takahiro Eguchi ,  Hirotoshi Inoue ,  Toshiya Kanda ,  Masakazu Shiraishi ,  Shouji Suzuki ,  Yoichi Sugimoto

发明人： Takahiro Eguchi ,  Hirotoshi Inoue ,  Toshiya Kanda ,  Masakazu Shiraishi ,  Shouji Suzuki ,  Yoichi Sugimoto

IPC分类号： B60T862

CPC分类号： B60T17/16 ,  B60T7/122 ,  B60T13/686 ,  Y10S188/02 ,  Y10S303/90

摘要： A brake fluid pressure retaining unit for a vehicle comprises a solenoid valve SV arranged in a brake fluid passage FP between a master cylinder MC and a wheel cylinder WC so as to shut off or communicate the brake fluid passage FP. In the case that a transmission of the vehicle is shifted to a driving position, the solenoid valve SV is switched to a shut-off position when the vehicle stops with a brake pedal BP depressed. The solenoid valve SV is switched to a communicating position when driving force is exerted on the vehicle. Brake fluid pressure is retained within the wheel cylinder WC when the solenoid valve SV is in the shut-off position. The brake fluid pressure within the wheel cylinder is retained after releasing the brake pedal so that braking force continues to act on the vehicle. The brake fluid pressure retaining unit comprises control means CU such that when the solenoid valve is in the shut-off position and the transmission is shifted to a non-driving position, the solenoid valve SV is returned to the communicating position on condition that depression of the brake pedal BP is released.

摘要翻译： 一种用于车辆的制动液压力保持单元包括：在主缸MC和轮缸WC之间布置在制动流体通道FP中的电磁阀SV，以便切断或连通制动流体通道FP。 在车辆的变速器转移到驾驶位置的情况下，当制动踏板BP压下时车辆停止时，电磁阀SV切换到关闭位置。 当驱动力施加在车辆上时，电磁阀SV切换到连通位置。 当电磁阀SV处于关闭位置时，制动液压力保持在轮缸WC内。 在释放制动踏板之后，保持轮缸内的制动液压力，使得制动力继续作用在车辆上。 制动液压力保持单元包括控制装置CU，使得当电磁阀处于关闭位置并且变速器移动到非驱动位置时，电磁阀SV返回到连通位置， 制动踏板BP被释放。

公开(公告)号：US06408247B1

公开(公告)日：2002-06-18

申请号：US09559744

申请日：2000-04-27

申请人： Shoji Ichikawa ,  Yoichi Sugimoto ,  Satoshi Hada ,  Yoshihiro Urai

发明人： Shoji Ichikawa ,  Yoichi Sugimoto ,  Satoshi Hada ,  Yoshihiro Urai

IPC分类号： B61L110

CPC分类号： B60R21/0134 ,  B60R21/013 ,  G01S13/931 ,  G01S2013/9346 ,  G01S2013/9353 ,  G01S2013/9375

摘要： The accuracy of determination of a possibility of collision of a vehicle with an object is enhanced without the shortening of a period for detection of the object by an object detecting apparatus. A collision-possibility determining device determines the presence or absence of a possibility of collision of the vehicle with the obstacle by comparing a future locus of movement of the obstacle determined by an obstacle locus determining device based on an output from a radar device, with a future locus of movement of the vehicle determined by a vehicle locus determining apparatus based on outputs from wheel speed sensors and a yaw rate sensor. The period of the detection conducted by the radar device providing data about the obstacle to the obstacle locus determining apparatus is 100 msec, but the obstacle locus determining apparatus, the vehicle locus determining apparatus and the collision-possibility determining apparatus carry out the determination of the possibility of collision at a determination period shorter than the detection period of 100 msec. Thus, it is possible to carry out the determination of the possibility of collision at the shorter determination period without use of a large-sized and expensive radar device, thereby enhancing the determination accuracy.

摘要翻译： 在不用物体检测装置检测物体的周期缩短的情况下，能够提高确定车辆与物体的碰撞的可能性的准确性。 碰撞可能性确定装置通过将由障碍物轨迹确定装置确定的障碍物的未来运动轨迹基于雷达装置的输出进行比较，来确定车辆与障碍物的碰撞的存在或不存在，以及 基于来自车轮速度传感器和偏航率传感器的输出的由车辆轨迹确定装置确定的车辆的未来运动轨迹。 雷达装置向障碍物轨迹确定装置提供关于障碍物的数据进行的检测的周期为100毫秒，但是障碍物轨迹确定装置，车辆轨迹确定装置和碰撞可能性确定装置执行 在碰撞的可能性比检测周期短100毫秒的确定期间。 因此，可以在不使用大型和昂贵的雷达装置的情况下，在较短的确定时间内进行碰撞的可能性的确定，从而提高确定精度。

公开(公告)号：US06275772B1

公开(公告)日：2001-08-14

申请号：US09419797

申请日：1999-10-18

申请人： Yoichi Sugimoto ,  Satoshi Hada ,  Yoshihiro Urai ,  Shoji Ichikawa ,  Shohei Matsuda

发明人： Yoichi Sugimoto ,  Satoshi Hada ,  Yoshihiro Urai ,  Shoji Ichikawa ,  Shohei Matsuda

IPC分类号： B62D100

CPC分类号： B60T7/22 ,  B60T7/12

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

公开(公告)号：US06260880B1

公开(公告)日：2001-07-17

申请号：US09413340

申请日：1999-10-12

申请人： Satoshi Hada ,  Yoichi Sugimoto ,  Shoji Ichikawa ,  Yoshihiro Urai

发明人： Satoshi Hada ,  Yoichi Sugimoto ,  Shoji Ichikawa ,  Yoshihiro Urai

IPC分类号： B60R2132

CPC分类号： B60R21/01516 ,  B60R21/01536 ,  B60R21/01546 ,  B60R21/01554 ,  B60T7/22

摘要： A vehicle travel safety device carries out automatic braking in order to prevent a subject vehicle from coming into contact with an object, and proximate expansion of an air bag is reliably prevented. When there is a possibility of a subject vehicle coming into contact with an object, automatic braking is carried out in order to prevent the contact. If a seat belt wear state sensor detects that an occupant is not wearing a seat belt and an air bag expansion possibility estimating means estimates that there is a possibility of an air bag expanding, by means of an automatic braking means, the deceleration rate of the automatic braking is reduced so that the occupant is prevented from moving forwards due to the inertia accompanying the braking and causing proximate expansion. When the speed of the subject vehicle at the time when automatic braking is started is high, the relative speed between the subject vehicle and the object at the time when automatic braking is started is high. Thus, the time taken for the subject vehicle to come into contact with the object is short or the speed of the subject vehicle at which it will come into contact with the object is high. Therefore, the air bag expansion possibility estimating means estimates that there is a possibility of the air bag expanding.

摘要翻译： 车辆行驶安全装置进行自动制动，以防止本车辆与物体接触，并且可靠地防止气囊的靠近膨胀。 当目标车辆与物体接触的可能性时，为了防止接触，进行自动制动。 如果安全带磨损状态传感器检测到乘员没有佩戴安全带，并且气囊膨胀可能性估计装置通过自动制动装置估计有可能使气囊膨胀，则减速率 减少自动制动，使得乘员由于伴随制动的惯性而被阻止向前移动并引起接近的膨胀。 当自动制动开始时本车辆的速度高时，当车辆与自动制动开始时的物体之间的相对速度高时， 因此，本车辆与物体接触所花费的时间短或与物体接触的本车辆的速度很快。 因此，气囊膨胀可能性估计装置估计有可能使气囊膨胀。

公开(公告)号：US06203120B1

公开(公告)日：2001-03-20

申请号：US09251424

申请日：1999-02-17

申请人： Yoshihiro Urai ,  Yoichi Sugimoto ,  Satoshi Hada ,  Shoji Ichikawa

发明人： Yoshihiro Urai ,  Yoichi Sugimoto ,  Satoshi Hada ,  Shoji Ichikawa

IPC分类号： B60T886

CPC分类号： B60T13/662 ,  B60T7/12 ,  B60T7/22 ,  B60T8/4827 ,  B60T2201/02 ,  Y10S367/909

摘要： When the behavior of a vehicle becomes unstable during an automatic braking operation for avoiding contact of the vehicle with an object, the restoring of the unstable state backed up to effectively avoid the contact of the vehicle with the object. When a radar device in the vehicle, detects the object exist ahead of the vehicle in the direction of movement of the vehicle, the possibility of the contact of the vehicle with the object is determined by a determining device from the relative positional relationship between the vehicle and the object, based on the result of the detection. When it is determined that there is the possibility of the contact, an automatic braking device operates a vacuum booster to carry out an automatic braking operation. When the unstable state of the vehicle is detected by an unstable state detector during the automatic braking operation by the automatic braking device, the automatic braking device forcibly continues the automatic braking operation, until the vehicle reaches a state in which the unstable state is not detected, whether or not it is determined that there is the possibility of the contact of the vehicle with the object. Thus, it is possible to precisely control the continuation and finishing of the automatic braking operation to reliably achieve the avoidance of the contact of the vehicle with the object, while preventing the behavior of the vehicle from further becoming unstable due to the discontinuation of the automatic braking operation.

摘要翻译： 当在自动制动操作期间车辆的行为变得不稳定以避免车辆与物体的接触时，恢复支撑的不稳定状态以有效地避免车辆与物体的接触。 当车辆中的雷达装置检测到车辆在车辆的移动方向上存在的物体时，车辆与物体接触的可能性由确定装置根据车辆之间的相对位置关系确定 并根据检测结果对象。 当确定存在接触的可能性时，自动制动装置操作真空助力器以执行自动制动操作。 当在自动制动装置的自动制动操作期间由不稳定状态检测器检测到车辆的不稳定状态时，自动制动装置强制地继续自动制动操作，直到车辆达到未检测到不稳定状态的状态 是否确定存在车辆与物体的接触的可能性。 因此，可以精确地控制自动制动操作的持续和完成，以可靠地实现避免车辆与物体的接触，同时防止车辆的行为由于自动停止而进一步变得不稳定 制动操作。

公开(公告)号：US6157294A

公开(公告)日：2000-12-05

申请号：US199337

申请日：1998-11-25

申请人： Yoshihiro Urai ,  Yoichi Sugimoto ,  Satoshi Hada ,  Shoji Ichikawa

发明人： Yoshihiro Urai ,  Yoichi Sugimoto ,  Satoshi Hada ,  Shoji Ichikawa

IPC分类号： G01B11/30 ,  B60Q1/52 ,  B60W30/00 ,  G01B21/00 ,  G01S7/03 ,  G01S7/481 ,  G01S7/497 ,  G01S13/93 ,  G01S17/87 ,  G01S17/93 ,  G08G1/00 ,  G08G1/16 ,  B60Q1/00

CPC分类号： G01S17/936 ,  B60Q1/52 ,  G01S17/875 ,  G01S7/4813 ,  G01S7/4972 ,  B60G2400/82 ,  B60G2401/00

摘要： A vehicle control system for detecting an obstacle present ahead on the road in the course of travel of a vehicle, comprising a first laser radar mounted on the vehicle which emits an electromagnetic beam to detect the obstacle present ahead on the road, and second and third laser radars which measures distances between the first laser radar and the road surface at different angles. The system determines whether the first laser radar is mounted on the vehicle such that the laser beam central axis is horizontal or inclines upward or downward relative to the road surface or vehicle body, based on the distances, a height of the first laser radar from the road surface, the angles at which the distances are measured and reference values. The system may correct the inclination if determined. With the arrangement, the system ensures detection of an obstacle on the road without fail and conduction of a desired obstacle avoidance control.

摘要翻译： 一种车辆控制系统，用于在车辆行驶过程中检测在道路上存在的障碍物，其包括安装在车辆上的第一激光雷达，其发射电磁波束以检测在道路上存在的障碍物，以及第二和第三 激光雷达，其以不同的角度测量第一激光雷达和路面之间的距离。 该系统基于距离，确定第一激光雷达是否安装在车辆上，使得激光束中心轴线相对于路面或车身向上或向下倾斜， 路面，测量距离的角度和参考值。 如果确定，系统可以纠正倾斜度。 通过这种安排，该系统可确保在道路上无障碍地检测障碍物，并导致所需的障碍物避免控制。

公开(公告)号：US6021375A

公开(公告)日：2000-02-01

申请号：US225570

申请日：1999-01-05

申请人： Yoshihiro Urai ,  Yoichi Sugimoto ,  Satoshi Hada ,  Shoji Ichikawa ,  Shohei Matsuda

发明人： Yoshihiro Urai ,  Yoichi Sugimoto ,  Satoshi Hada ,  Shoji Ichikawa ,  Shohei Matsuda

IPC分类号： B60R21/00 ,  B60T7/12 ,  B60T7/22 ,  B60W30/00 ,  B60W30/09 ,  G01S13/93 ,  G08G1/16 ,  G06F13/376

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。