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公开(公告)号：US07117076B2
公开(公告)日：2006-10-03
申请号：US10982878
申请日：2004-11-08
CPC分类号： B62D15/025 , B60T2201/08 , B60T2201/082 , B60T2201/087 , G08G1/167
摘要： In lane keep control apparatus and method for an automotive vehicle, a traveling state of the vehicle is detected, a determination is made on whether the vehicle has a tendency of a deviation from the traveling traffic lane according to the detected traveling state, a deviation avoidance control is executed for the vehicle in a direction to avoid the deviation according to the traveling state, steering angles before and after a start of the deviation avoidance control are detected, and a controlled variable of the deviation avoidance control is detected on the basis of a deviation between a steering angle before the start of deviation avoidance control and that after the start of deviation avoidance control when a determination is made that the vehicle has the tendency of the deviation.
摘要翻译： 在机动车辆的车道保持控制装置和方法中，检测车辆的行驶状态，根据检测到的行驶状态来确定车辆是否具有偏离行驶车道的倾向，偏离避免 根据行驶状态避免偏差的方向对车辆进行控制，检测出偏差避免控制开始前后的转向角度，并且基于以下方式检测偏差避免控制的受控变量 当确定车辆具有偏差的倾向时，在偏离避免控制开始之前的转向角与开始偏差避免控制之后的转向角之间的偏差。
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公开(公告)号：US20050177308A1
公开(公告)日：2005-08-11
申请号：US11049972
申请日：2005-02-04
CPC分类号： B60W10/04 , B60T8/17557 , B60T2201/08 , B60T2201/083 , B60W10/18 , B60W30/12
摘要： A lane deviation avoidance system is arranged to execute a lane deviation avoidance control of controlling a vehicle behavior of the host vehicle so as to avoid the host vehicle from deviating from a traveling lane when the lane deviation tendency is detected, to suppress the driving force when the lane deviation tendency is detected, and to set a controlled variable of the lane deviation avoidance control according to a degree of the suppression of the driving force.
摘要翻译： 车道偏离避免系统被布置成执行车道偏离避免控制，以控制本车辆的车辆行为，以便在检测到车道偏离倾向时避免主车辆偏离行车道，以抑制当 检测车道偏离倾向，根据驱动力的抑制程度来设定车道偏离避免控制的受控变量。
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公开(公告)号：US07778759B2
公开(公告)日：2010-08-17
申请号：US11049972
申请日：2005-02-04
CPC分类号： B60W10/04 , B60T8/17557 , B60T2201/08 , B60T2201/083 , B60W10/18 , B60W30/12
摘要： A lane deviation avoidance system is arranged to execute a lane deviation avoidance control of controlling a vehicle behavior of the host vehicle so as to avoid the host vehicle from deviating from a traveling lane when the lane deviation tendency is detected, to suppress the driving force when the lane deviation tendency is detected, and to set a controlled variable of the lane deviation avoidance control according to a degree of the suppression of the driving force.
摘要翻译： 车道偏离避免系统被布置成执行车道偏离避免控制，以控制本车辆的车辆行为，以便在检测到车道偏离倾向时避免主车辆偏离行车道，以抑制当 检测车道偏离倾向，根据驱动力的抑制程度来设定车道偏离避免控制的受控变量。
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公开(公告)号：US07433769B2
公开(公告)日：2008-10-07
申请号：US10713354
申请日：2003-11-17
申请人： Satoshi Tange , Genpei Naito , Shinji Matsumoto
发明人： Satoshi Tange , Genpei Naito , Shinji Matsumoto
CPC分类号： B60W30/12 , B60T8/17557 , B60T2201/08 , B60T2201/083 , B60T2201/087 , B60W10/184 , B60W10/20 , B62D6/003 , B62D15/025
摘要： A system for preventing lane deviation of a vehicle is provided. The system comprises a lane detecting device, a running condition detecting device, a deviation judging device, and a vehicle behavior control device. The vehicle behavior control device controls a behavior of the vehicle so as to generate a yaw moment in the direction to prevent the vehicle from deviating from the running lane. The lane detecting device detects the running lane based on a variation in a running direction of the vehicle due to the yaw moment generated by the vehicle behavior control device. A method for preventing lane deviation of a vehicle is also provided.
摘要翻译： 提供一种用于防止车辆的车道偏离的系统。 该系统包括车道检测装置，行驶状态检测装置，偏差判定装置和车辆行为控制装置。 车辆行为控制装置控制车辆的行为，以便在防止车辆偏离行驶车道的方向上产生横摆力矩。 车道检测装置基于由车辆行为控制装置产生的横摆力矩，基于车辆的行驶方向的变化来检测行驶车道。 还提供了用于防止车辆的车道偏离的方法。
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公开(公告)号：US07107137B2
公开(公告)日：2006-09-12
申请号：US10798405
申请日：2004-03-12
申请人： Satoshi Tange , Genpei Naito , Shinji Matsumoto
发明人： Satoshi Tange , Genpei Naito , Shinji Matsumoto
IPC分类号： G06F7/70
CPC分类号： B60W30/12 , B60T8/17557 , B60T2201/08 , B60T2201/083 , B60W10/18 , B60W40/06 , G08G1/167
摘要： An automotive lane deviation prevention apparatus sets and determines a yaw moment allotted amount corresponding to a yaw-moment-control lane-deviation-avoidance (LDA) controlled variable used to avoid a host vehicle's lane deviation by yaw moment control and a deceleration rate allotted amount corresponding to a deceleration-control LDA controlled variable used to avoid the host vehicle's lane deviation by deceleration control, based on a host vehicle's yaw angle, when the host vehicle has a tendency to deviate from a driving lane. A desired yaw moment is calculated based on the yaw moment allotted amount so that a yaw moment is produced in a direction in which the host vehicle's lane-deviation tendency is avoided. A controlled variable for deceleration control is calculated based on the deceleration rate allotted amount. A braking force of each individual road wheel is controlled based on the desired yaw moment and the controlled variable for deceleration control.
摘要翻译： 汽车车道偏离防止装置设定并确定与通过横摆力矩控制避免本车辆车道偏离的偏航力矩控制车道偏离避免（LDA）控制变量对应的偏航力矩分配量，以及减速率分配量 对应于减速控制LDA控制变量，用于当主车辆倾向于偏离行驶车道时，基于主车辆的偏航角度，通过减速控制来避免主车辆的车道偏离。 基于横摆力矩分配量计算出期望的横摆力矩，使得在避免本车辆的车道偏离倾向的方向上产生横摆力矩。 基于减速率分配量计算减速控制的控制量。 基于期望的横摆力矩和用于减速控制的受控变量来控制各个车轮的制动力。
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公开(公告)号：US06868324B2
公开(公告)日：2005-03-15
申请号：US10361558
申请日：2003-02-11
申请人： Shinji Matsumoto , Genpei Naito , Satoshi Tange
发明人： Shinji Matsumoto , Genpei Naito , Satoshi Tange
IPC分类号： G01C21/00 , B60K31/00 , B60R21/00 , B60T7/12 , B60T8/1755 , B60W10/00 , B60W10/04 , B60W10/06 , B60W10/10 , B60W30/00 , F02D29/02 , F16H59/44 , F16H59/66 , F16H61/02 , F16H63/50 , G01C21/26 , G08G1/16 , B60T8/00
CPC分类号： B60T8/1755 , B60K31/0066 , B60T2201/16 , B60T2210/24 , B60T2210/36 , B60W2520/125 , B60W2550/143 , B60W2720/125
摘要： A vehicle travel control system is arranged to obtain curve information as to a curve of a road ahead of the vehicle, to obtain a vehicle driving condition produced by a vehicle occupant, to obtain a curve entering degree of the vehicle into the curve on the basis of the driving condition, to obtain a vehicle speed, and to decelerate the vehicle on the basis of the curve information and the curve entering degree and the vehicle speed.
摘要翻译： 车辆行驶控制系统被配置为获得关于车辆前方的道路的曲线的曲线信息，以获得由乘客乘车员生成的车辆驾驶状况，从而基于车辆的曲线进入曲线 以获得车速，并且基于曲线信息和曲线进入程度和车速来减速车辆。
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公开(公告)号：US06708098B2
公开(公告)日：2004-03-16
申请号：US10228042
申请日：2002-08-27
IPC分类号： G06G776
CPC分类号： B60T8/17557 , B60T2201/08 , B60T2201/083 , B60W2050/143 , B60W2720/14 , F16H2059/443
摘要： A lane-keep control system for a host-vehicle is arranged to detect a traveling condition of the host-vehicle, to detect a tendency of a lane deviation of the host-vehicle on the basis of the traveling condition, to calculate a driving/braking force controlled variable of each wheel according to the traveling condition so as to generate a yawing moment directed toward a direction of preventing the lane deviation when the tendency of the lane deviation is detected, to control a driving/braking force according to the driving/braking force controlled variable, to detect a steering state quantity indicative of a quantity of state of a steering wheel, and to correct the driving/braking force controlled variable on the basis of the steering state quantity.
摘要翻译： 主车辆的车道保持控制系统被配置为根据行驶状况来检测主车辆的行驶状况，以检测主车辆的车道偏离的倾向，以计算驾驶/ 根据行驶状态，各车轮的制动力控制变量，以便在检测到车道偏离的倾向时，产生朝向防止车道偏离的方向的偏转力矩，根据驾驶/ 制动力控制变量，以检测表示方向盘的状态量的转向状态量，并且基于转向状态量来校正驱动/制动力控制变量。
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公开(公告)号：US07580785B2
公开(公告)日：2009-08-25
申请号：US12111710
申请日：2008-04-29
申请人： Shinji Matsumoto , Genpei Naito , Satoshi Tange
发明人： Shinji Matsumoto , Genpei Naito , Satoshi Tange
IPC分类号： B60K31/00
CPC分类号： B60W10/20 , B60T8/17557 , B60T2201/08 , B60T2201/083 , B60T2201/087 , B60W10/06 , B60W10/18 , B60W30/12 , B60W30/16 , B62D6/003 , B62D15/025
摘要： In a vehicle dynamics control apparatus capable of balancing a vehicle dynamics stability control system and a lane deviation prevention control system, a cooperative control section is provided to make a cooperative control between lane deviation prevention control (LDP) and vehicle dynamics stability control (VDC). When a direction of yawing motion created by LDP control is opposite to a direction of yawing motion created by VDC control, the cooperative control section puts a higher priority on VDC control rather than LDP control. Conversely when the direction of yawing motion created by LDP control is identical to the direction of yawing motion created by VDC control, a higher one of the LDP desired yaw moment and the VDC desired yaw moment is selected as a final desired yaw moment, to prevent over-control, while keeping the effects obtained by both of VDC control and LDP control.
摘要翻译： 在能够平衡车辆动力学稳定性控制系统和车道偏离防止控制系统的车辆动力学控制装置中，提供协调控制部分，以在车道偏离防止控制（LDP）和车辆动力学稳定性控制（VDC）之间进行协调控制， 。 当通过LDP控制产生的偏航运动的方向与由VDC控制产生的偏航运动的方向相反时，协作控制部分对VDC控制而不是LDP控制具有更高的优先级。 相反，当通过LDP控制产生的偏航运动的方向与由VDC控制产生的偏航运动的方向相同时，LDP期望的横摆力矩和VDC期望的横摆力矩中较高的一个被选作最终期望的横摆力矩，以防止 过度控制，同时保持由VDC控制和LDP控制两者获得的效果。
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公开(公告)号：US07236870B2
公开(公告)日：2007-06-26
申请号：US10798407
申请日：2004-03-12
申请人： Satoshi Tange , Genpei Naito , Shinji Matsumoto
发明人： Satoshi Tange , Genpei Naito , Shinji Matsumoto
IPC分类号： G06F19/00
CPC分类号： B60T8/17557 , B60K31/04 , B60T2201/08 , B60T2201/083 , B60T2260/09 , B60W2720/106
摘要： In lane keep control apparatus and method for an automotive vehicle, a deceleration controlled variable is calculated on the basis of a state of a tendency of a vehicular deviation from a traffic lane on which the vehicle is traveling and a braking force acted upon each of driven wheels of the vehicle is controlled on the basis of the calculated deceleration controlled variable.
摘要翻译： 在车辆的车道保持控制装置和方法中，基于车辆偏离车辆行驶的行车道的倾向的状态和作用于每个被驱动的行驶的制动力的状态来计算减速度控制变量 基于计算出的减速度控制变量来控制车辆的车轮。
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公开(公告)号：US07058494B2
公开(公告)日：2006-06-06
申请号：US10735778
申请日：2003-12-16
申请人： Shinji Matsumoto , Genpei Naito , Satoshi Tange
发明人： Shinji Matsumoto , Genpei Naito , Satoshi Tange
CPC分类号： B60W30/045 , B60T8/17552 , B60T8/17557 , B60T2201/08 , B60T2201/087 , B60T2230/02 , B60W30/12 , B62D6/003 , B62D15/0255
摘要： In a vehicle dynamics control apparatus enabling vehicle dynamics control and lane deviation prevention control, a processor of a control unit is programmed for determining a driving stability including a vehicle driveability and a vehicle stability, based on at least a steer angle, and for executing the vehicle dynamics control by producing a yaw moment corresponding to a controlled variable of the vehicle dynamics control when the driving stability is deteriorated, and for executing the lane deviation prevention control by producing a yaw moment corresponding to a controlled variable of the lane deviation prevention control when there is a possibility of lane deviation. The processor is further programmed for softening a criterion, which is used to determine the driving stability, based on the controlled variable of the lane deviation prevention control, only when the vehicle dynamics control is inoperative.
摘要翻译： 在实现车辆动力学控制和车道偏离防止控制的车辆动力学控制装置中，控制单元的处理器被编程用于基于至少一个转向角来确定包括车辆行驶性能和车辆稳定性在内的行驶稳定性，并且用于执行 通过在驾驶稳定性劣化时产生与车辆动力学控制的受控变量相对应的偏航力矩的车辆动力学控制，以及通过产生与车道偏离防止控制的控制变量对应的横摆力矩来执行车道偏离防止控制， 有车道偏差的可能性。 只有当车辆动力学控制不起作用时，处理器进一步被编程为基于车道偏离防止控制的控制变量来软化用于确定驾驶稳定性的标准。
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