公开(公告)号：US5572428A

公开(公告)日：1996-11-05

申请号：US313991

申请日：1994-09-28

Applicant: Shinnosuke Ishida ,  Kenshiro Hashimoto

Inventor： Shinnosuke Ishida ,  Kenshiro Hashimoto

IPC: B60R21/00 ,  B60K31/00 ,  G01S13/93 ,  G01S15/93 ,  G01S17/93 ,  G05D1/02 ,  G06F165/00

CPC classification number: B60K31/0008 ,  G01S13/931 ,  B60W2520/14 ,  G01S2013/9321 ,  G01S2013/9346 ,  G01S2013/935 ,  G01S2013/9353

Abstract: An anti-collision system detects conditions of an object preceding a source vehicle, and parameters indicative of operating conditions of the source vehicle, and controls the source vehicle so as to prevent a collision with the object, based on the detected conditions of the object and the detected operating conditions of the source vehicle. The system estimates a path of travel of the source vehicle, based on the detected parameters, and sets an area of travel of the source vehicle to a first predetermined area lying about the estimated path of travel. Further, the system estimates a path of movement of the object, based on the detected conditions of the object, and sets an area of movement of the object to a second predetermined area lying the estimated path of movement. The system calculates a possibility of collision, based on the set area of travel and area of movement, to thereby control the velocity of the source vehicle.

Abstract translation: 防碰撞系统检测源车辆前的物体的状况，以及表示源车辆的运行状态的参数，并且控制源车辆，以便根据检测到的物体的状况来防止与物体的碰撞，并且 检测到源车辆的运行状况。 系统基于检测到的参数来估计源车辆的行驶路径，并且将源车辆的行驶区域设置在围绕估计行驶路径的第一预定区域。 此外，系统基于检测到的对象的条件来估计对象的移动路径，并且将对象的移动区域设置为位于估计的移动路径的第二预定区域。 系统基于设定的行驶区域和运动区域来计算碰撞的可能性，从而控制源车辆的速度。

公开(公告)号：US06212453B1

公开(公告)日：2001-04-03

申请号：US09393963

申请日：1999-09-10

Applicant: Hiroyuki Kawagoe ,  Shinnosuke Ishida

Inventor： Hiroyuki Kawagoe ,  Shinnosuke Ishida

IPC: B62D504

CPC classification number: G05D1/0278 ,  B60T2201/08 ,  B60T2201/087 ,  B62D5/0463 ,  B62D6/008 ,  B62D15/025 ,  G05D1/0246 ,  G05D1/0257 ,  G05D1/027 ,  G05D1/0274 ,  G05D2201/0213

Abstract: A system for controlling steering of a vehicle, including an electric motor used for power-steering torque assist control. In the system, the lane-keeping-steering assist torque TLK for causing the vehicle to run along the center of a road existing ahead of the vehicle is calculated, while the power-steering assist torque TPS for assisting the vehicle driver's steering is calculated. Then, ratios RTO1 and RTO2 are calculated based on the detected steering torque. The assist torques TLK, TPS are corrected by multiplication with the ratios RTO1, RTO2 respectively and are added together to determine a final assist torque TA, and based on the final assist torques TA, a motor current to be supplied to the electric motor is determined, thereby enabling to effectively prevent the two kinds of control from interfering with each other so as not to adversely affect the vehicle driver's perception of vehicle steering response. Additional ratios are determined based on the detected steering torque change and the vehicle speed.

Abstract translation: 一种用于控制车辆转向的系统，包括用于动力转向转矩辅助控制的电动机。 在该系统中，计算用于使车辆沿着存在于车辆前方的道路的中心行驶的车道保持转向辅助转矩TLK，同时计算用于辅助车辆驾驶员转向的动力转向辅助转矩TPS。 然后，基于检测到的转向转矩来计算比率RTO1和RTO2。 辅助转矩TLK，TPS分别通过与比率RTO1，RTO2相乘来校正，并且相加在一起以确定最终辅助转矩TA，并且基于最终辅助转矩TA，确定要提供给电动机的电动机电流 从而能够有效地防止两种控制相互干扰，从而不会不利地影响车辆驾驶员对车辆转向响应的感知。 基于检测到的转向转矩变化和车辆速度来确定额外的比率。

公开(公告)号：US5243524A

公开(公告)日：1993-09-07

申请号：US670742

申请日：1991-03-15

Applicant: Shinnosuke Ishida ,  Akihiko Takei

Inventor： Shinnosuke Ishida ,  Akihiko Takei

IPC: G01C21/00 ,  G01B21/22 ,  G05D1/02 ,  G06T1/00 ,  H04N7/18

CPC classification number: G05D1/0246 ,  G05D1/0212 ,  G05D2201/0213

Abstract: Disclosed is an automatic travelling apparatus which is capable of taking an image of an area ahead of a vehicle in its running direction by an image pick-up device fixed to the vehicle; determining, by processing the taken image, a permissible travel path in a X-Y coordinates having the Y-Axis corresponding to the axis of the vehicle's running direction; setting a target course in the determined permissible travel path; estimating a steering amount necessary for permitting the vehicle to follow the target course on the basis of the detected running condition of the vehicle; and steering the vehicle to follow the target course with reference to the steering amount; and also is capable of determining a side-slip angle of the vehicle and turning any one of patterns--image, permissible travel path and the target course--by the determined side-slip angle to coincide the actual running direction of the vehicle with the direction of the Y-axis.

公开(公告)号：US5172317A

公开(公告)日：1992-12-15

申请号：US873638

申请日：1992-04-23

Applicant: Nobuyoshi Asanuma ,  Shinnosuke Ishida ,  Hiroshi Hasegawa

Inventor： Nobuyoshi Asanuma ,  Shinnosuke Ishida ,  Hiroshi Hasegawa

IPC: G05D1/02

CPC classification number: G05D1/0212 ,  G05D1/0234 ,  G05D1/0246 ,  G05D1/0272 ,  G05D1/0274 ,  G05D2201/0213

Abstract: An automatic travelling apparatus which permits: determination of a permissible travelling area on the basis of images taken by an image pickup device or video camera, showing the sight of the area appearing ahead of the vehicle; steering control of the vehicle to go into a target course in the permissible travelling area; and selection of a predetermined way of a selected crossing or branch in the target course.For the image pickup device or video camera taking images of the area extending ahead of the vehicle for determining a permissible travelling area, a wide-angle camera, a telescopic range camera and an ordinary camera are selectively used to meet particular situations for example, taking pictures of a crossing, zigzag way or straight long way. This selective use of cameras of different characteristics permits correct identification of particular roads with those stored in the map storage.

Abstract translation: 一种自动行进装置，其允许：基于由图像拾取装置或摄像机拍摄的图像来确定容许行驶区域，显示出现在车辆前方的区域的视线; 车辆的转向控制进入允许行驶区域的目标路线; 以及在目标进程中选择所选交叉点或分支的预定方式。 对于图像拾取装置或摄像机拍摄延伸到车辆前方的区域的图像以确定容许的行驶区域，可以选择性地使用广角摄像机，望远镜摄像机和普通摄像机来满足特定情况，例如采取 十字路口的图片，曲折的方式或直的长途。 这种选择性使用不同特征的相机允许通过存储在地图存储器中的那些来正确识别特定道路。

公开(公告)号：US5027302A

公开(公告)日：1991-06-25

申请号：US392086

申请日：1989-08-10

Applicant: Nobuyoshi Asanuma ,  Shinnosuke Ishida ,  Hiroshi Hasegawa

Inventor： Nobuyoshi Asanuma ,  Shinnosuke Ishida ,  Hiroshi Hasegawa

IPC: B60G17/015 ,  B60G17/0195 ,  B60G21/08 ,  B60R16/02 ,  B62D15/00 ,  F02D17/02 ,  F02D29/02 ,  G08G1/09 ,  G08G1/0969

CPC classification number: B62D15/00 ,  B60G17/0195 ,  B60G21/08 ,  B60G2400/82 ,  B60G2400/824 ,  B60G2400/90 ,  B60G2400/922 ,  B60G2500/20 ,  B60G2500/30 ,  B60G2500/40 ,  B60G2600/04 ,  B60G2600/18 ,  B60G2600/20 ,  B60G2600/70

Abstract: A device for switching vehicle characteristics which includes means for setting information concerning a road, such as a highway, in the running path of the vehicle, means for detecting the fact that the vechicle comes to a designated road portion in the running path and for producing output information concerning said predetermined road portion and means for effecting switching of the vehicle characteristics in response to the output information concerning the road.

公开(公告)号：US20090024278A1

公开(公告)日：2009-01-22

申请号：US11886570

申请日：2006-03-16

Applicant: Satoshi Kondo ,  Shinnosuke Ishida

Inventor： Satoshi Kondo ,  Shinnosuke Ishida

IPC: B62D6/00

CPC classification number: B62D1/28 ,  B62D6/002 ,  B62D15/025

Abstract: A vehicle steering control device which prevents overshoot or a phase delay of a vehicle position from a target position when an actuator of a steering mechanism is controlled so that an integral control reduces a positional deviation of a vehicle from the reference position of a traffic lane. An FB control unit (60) which calculates a corrected steering assist torque (Tb) of a motor so as to reduce a positional deviation (Yd) and an angular deviation (Ah) includes an integral element determination unit (64), which determines an integral gain (Ki), by which the positional deviation (Yd) is multiplied in an integral gain operation unit (62), according to the positional deviation (Yd) and which determines a limit value (Icnt_lmt) of an integral controlled variable (Icnt) according to the positional deviation (Yd), and an integral controlled variable limiting unit (63) which limits the integral controlled variable (Icnt) to within a range set by the limit value (Icnt_lmt) and outputs the current integral controlled variable (Icnt_rel).

Abstract translation: 一种车辆转向控制装置，其当控制转向机构的致动器时，防止车辆位置从目标位置的过冲或相位延迟，使得整体控制减少车辆与行车道的参考位置的位置偏差。 计算马达的修正转向辅助转矩（Tb）以减小位置偏差（Yd）和角度偏差（Ah）的FB控制单元（60）包括：积分元件确定单元（64），其确定 根据位置偏差（Yd），在积分增益运算单元（62）中乘以位置偏差（Yd）的积分增益（Ki），并确定积分控制变量（Icnt）的极限值（Icnt_lmt） ），以及积分控制量限制单元（63），其将积分控制变量（Icnt）限制在由限制值（Icnt_lmt）设定的范围内，并输出当前积分控制变量（Icnt_rel ）。

公开(公告)号：US06718241B2

公开(公告)日：2004-04-06

申请号：US10231135

申请日：2002-08-30

Applicant: Satoshi Kondo ,  Shinnosuke Ishida ,  Jun Tanaka

Inventor： Satoshi Kondo ,  Shinnosuke Ishida ,  Jun Tanaka

IPC: B62D600

CPC classification number: B62D15/025 ,  B60T2201/08 ,  B60T2201/087

Abstract: The invention carries out appropriate travel control so that a vehicle travels along recognized lane markings, and at the same time, prevents making the driver feel discomfort during travel control. In the case that the white line recognition becomes not possible, the delay time TD is shortened depending on a previous continuous time interval of a recognition state. In the case that the white line recognition flag becomes possible, the delay time TD is extended depending on the previous continuous time interval. In the case that the count value of the ON time measuring counter TON is equal to or greater than the delay time TD and the white line recognizing is possible, the compensation control is permitted, and reversion to the ON state of the travel control based on recognized white lines is permitted.

Abstract translation: 本发明进行适当的行驶控制，使得车辆沿着识别的车道标记行驶，并且同时防止驾驶员在行驶控制期间感到不适。 在白线识别不可能的情况下，延迟时间TD根据识别状态的先前连续时间间隔而缩短。 在白线识别标志成为可能的情况下，延迟时间TD根据先前的连续时间间隔而延长。 在ON时间测量计数器TON的计数值等于或大于延迟时间TD并且可以进行白线识别的情况下，允许补偿控制，并且基于以下步骤返回到行驶控制的ON状态 允许识别白线。

公开(公告)号：US5350912A

公开(公告)日：1994-09-27

申请号：US5026

申请日：1993-01-15

Applicant: Shinnosuke Ishida

Inventor： Shinnosuke Ishida

IPC: A63F13/00 ,  B62D6/00 ,  G05D1/02 ,  G05D1/08 ,  G09B9/00 ,  G05B1/00

CPC classification number: B62D6/00 ,  G05D1/0221 ,  G05D1/0246 ,  G05D2201/0213

Abstract: A mobile body such as an automobile is controlled to move substantially along a target path by a control system. The control system determines a target point on the target path, a control quantity such as a yaw rate to reach the target point to cause the mobile body to reach the target point from an optional position, the direction in which the mobile body moves at the target point based on the control quantity to reach the target point, the angular difference between the direction and the target path at the target point as a target point angular difference, and a target control quantity such as a target yaw rate for the mobile body by correcting the control quantity to reach the target point based on the target point angular difference. The mobile body is controlled based on the target control quantity.

Abstract translation: 通过控制系统控制诸如汽车的移动体大致沿着目标路径移动。 控制系统确定目标路径上的目标点，诸如横摆角速度的控制量到达目标点，以使移动体从可选位置到达目标点，移动体在该位置移动的方向 基于到达目标点的控制量的目标点，目标点处的方向和目标路径之间的角度差作为目标点角度差，以及目标控制量，例如移动体的目标横摆角速度，由目标点 基于目标点角差校正控制量以达到目标点。 基于目标控制量来控制移动体。

公开(公告)号：US07894956B2

公开(公告)日：2011-02-22

申请号：US11886570

申请日：2006-03-16

Applicant: Satoshi Kondo ,  Shinnosuke Ishida

Inventor： Satoshi Kondo ,  Shinnosuke Ishida

IPC: A01B69/00

CPC classification number: B62D1/28 ,  B62D6/002 ,  B62D15/025

Abstract: A vehicle steering control device which prevents overshoot or a phase delay of a vehicle position from a target position when an actuator of a steering mechanism is controlled so that an integral control reduces a positional deviation of a vehicle from the reference position of a traffic lane. An FB control unit (60) which calculates a corrected steering assist torque (Tb) of a motor so as to reduce a positional deviation (Yd) and an angular deviation (Ah) includes an integral element determination unit (64), which determines an integral gain (Ki), by which the positional deviation (Yd) is multiplied in an integral gain operation unit (62), according to the positional deviation (Yd) and which determines a limit value (Icnt_lmt) of an integral controlled variable (Icnt) according to the positional deviation (Yd), and an integral controlled variable limiting unit (63) which limits the integral controlled variable (Icnt) to within a range set by the limit value (Icnt_lmt) and outputs the current integral controlled variable (Icnt_rel).

Abstract translation: 一种车辆转向控制装置，其当控制转向机构的致动器时，防止车辆位置从目标位置的过冲或相位延迟，使得整体控制减少车辆与行车道的参考位置的位置偏差。 计算马达的修正转向辅助转矩（Tb）以减小位置偏差（Yd）和角度偏差（Ah）的FB控制单元（60）包括：积分元件确定单元（64），其确定 根据位置偏差（Yd），在积分增益运算单元（62）中乘以位置偏差（Yd）的积分增益（Ki），并确定积分控制变量（Icnt）的极限值（Icnt_lmt） ），以及积分控制量限制单元（63），其将积分控制变量（Icnt）限制在由限制值（Icnt_lmt）设定的范围内，并输出当前积分控制变量（Icnt_rel ）。

公开(公告)号：US06338015B1

公开(公告)日：2002-01-08

申请号：US09151760

申请日：1998-09-11

Applicant: Hiroyuki Kawagoe ,  Shinnosuke Ishida ,  Tomoaki Teramoto ,  Kaoru Matsuno

Inventor： Hiroyuki Kawagoe ,  Shinnosuke Ishida ,  Tomoaki Teramoto ,  Kaoru Matsuno

IPC: B62D504

CPC classification number: B62D1/286 ,  B60T2201/08 ,  B60T2201/087 ,  B62D15/025

Abstract: A system for controlling steering of a vehicle, including a steering means such as a steering wheel with an electric motor which assists steering of the driven wheels of the vehicle, first steering control means for controlling the motor, a CCD camera for detecting a lane condition of a road on which the vehicle travels, a yaw rate sensor for detecting motion of the vehicle, steering assist torque calculating means for calculating a steering assist torque necessary for holding the lane, a torque sensor for detecting an actual steering torque manually applied to the steering means by the driver, and second steering control means for calculating a torque command to be output to the first steering control means based on the steering assist torque calculated by the steering assist torque calculating means and the actual steering torque such that the torque command decreases. In the system, the second steering control means transfers to the first steering control means an index indicative of a condition under which the steering assist torque was calculated, or an index indicative of an order in which the values of the steering assist torque are tansferred, thereby ensuring appropriate and highly reliable communication between the two control means.

Abstract translation: 一种用于控制车辆的转向系统，包括诸如具有辅助车辆的从动轮的转向的电动机的转向装置的转向装置，用于控制电动机的第一转向控制装置，用于检测车道条件的CCD照相机 车辆行驶的道路的偏航率传感器，用于检测车辆的运动的偏航率传感器，用于计算保持车道所需的转向辅助转矩的转向辅助转矩计算装置，用于检测手动施加到车道的实际转向转矩的转矩传感器 以及第二转向控制装置，用于基于由转向辅助转矩计算装置计算的转向辅助转矩和实际转向转矩来计算要输出到第一转向控制装置的转矩指令，使得转矩指令减小 。 在该系统中，第二转向控制单元向第一转向控制单元转移表示计算转向辅助转矩的条件的指标，或指示转向辅助转矩的值被调整的顺序的指标， 从而确保两个控制装置之间的适当和高度可靠的通信。