公开(公告)号：US6141617A

公开(公告)日：2000-10-31

申请号：US56243

申请日：1998-04-07

申请人： Shohei Matsuda ,  Hiroshi Sekine ,  Makoto Otabe ,  Yuji Sakaki

发明人： Shohei Matsuda ,  Hiroshi Sekine ,  Makoto Otabe ,  Yuji Sakaki

IPC分类号： G09B29/10 ,  B60K31/00 ,  B60R21/00 ,  B60W30/00 ,  B62D1/28 ,  G01C21/00 ,  G01C21/26 ,  G08G1/16 ,  G06F165/00

CPC分类号： G01C21/3697 ,  B60K31/0066 ,  B60K31/0083 ,  B62D1/28 ,  G01C21/26 ,  B60W2520/125 ,  B60W2520/14 ,  B60W2550/143 ,  B60W2550/402 ,  Y02T10/84

摘要： Vehicle control apparatus enables a vehicle to positively and safely pass a curve present in a forward road ahead of the vehicle, irrespective of any error in road data used by the apparatus and any error in a detected vehicle position. The apparatus calculates a predicted passing speed for a curve on the basis of a vehicle speed and a vehicle position, and compares same with a maximum passable speed for the curve which is calculated on the basis of map information and the vehicle position to thereby determine whether the vehicle can positively and safely pass the curve. If the apparatus determines that the vehicle cannot positively and safely pass the curve, warning, automatic deceleration and/or automatic steering is executed by a control mechanism of the apparatus. At this time, the apparatus compares an actual transverse acceleration or an actual yaw rate detected by a transverse acceleration sensor or a yaw rate sensor with a reference transverse acceleration or a reference yaw rate presumed from a road shape determined by a passage-state decision quantity calculating mechanism, and a regulating mechanism regulates a controlled variable and a control timing for effecting the warning, the automatic deceleration and/or the automatic steering, thereby compensating for any error in the road data and any error in the vehicle position.

摘要翻译： 车辆控制装置能够使车辆能够正确地且安全地通过车辆前方的前方道路中存在的曲线，而不管装置使用的道路数据的任何错误以及检测到的车辆位置的任何错误。 该装置基于车速和车辆位置计算曲线的预测通过速度，并将其与基于地图信息和车辆位置计算出的曲线的最大通过速度进行比较，从而确定是否 车辆可以正确安全地通过曲线。 如果装置确定车辆不能正确地和安全地通过曲线，则通过装置的控制机构执行警告，自动减速和/或自动转向。 此时，该装置将由横向加速度传感器或横摆率传感器检测到的实际横向加速度或实际横摆率与从由通过状态判定量确定的道路形状推定的基准横向加速度或参考横摆率进行比较 计算机构，调节机构调节受控变量和进行警告，自动减速和/或自动转向的控制定时，从而补偿道路数据中的任何错误和车辆位置的任何误差。

公开(公告)号：US06230083B1

公开(公告)日：2001-05-08

申请号：US09351297

申请日：1999-07-12

申请人： Shohei Matsuda ,  Makoto Otabe ,  Yuji Sakaki

发明人： Shohei Matsuda ,  Makoto Otabe ,  Yuji Sakaki

IPC分类号： G08G109

CPC分类号： G01C21/26

摘要： A road shape predicting method includes the steps of: selecting three positions of positions of a plurality of nodes constituting road map data and an own vehicle position on a road; and predicting the road shape on the basis of a crossing angle formed by a link connecting a first position and a second position of the selected three positions and another link connecting the second and a third position thereof, and a link length between the second and the third positions. In case that the link length between the second and the third positions is not larger than a reference link length set in accordance with the crossing angle, the third position is excluded, and the position of a node further forward is adopted in place of the third position, to thereby predict the road shape.

摘要翻译： 道路形状预测方法包括以下步骤：在道路上选择构成道路地图数据和本车位置的多个节点的位置的三个位置; 并且基于由连接所选择的三个位置的第一位置和第二位置的连杆形成的交叉角以及连接其所选择的三个位置的另一个连杆以及第二和第三位置之间的连杆长度来预测道路形状 第三职位 在第二和第三位置之间的链路长度不大于根据交叉角设置的参考链路长度的情况下，排除第三位置，并且采用更前进的节点的位置来代替第三位置 位置，从而预测道路形状。

公开(公告)号：US6125324A

公开(公告)日：2000-09-26

申请号：US56242

申请日：1998-04-07

申请人： Shohei Matsuda ,  Makoto Otabe ,  Yuji Sakaki

发明人： Shohei Matsuda ,  Makoto Otabe ,  Yuji Sakaki

IPC分类号： G01C21/00 ,  B60K31/00 ,  B60W10/00 ,  B60W30/00 ,  F02D29/02 ,  G01C21/26 ,  G08G1/16 ,  G06F165/00

CPC分类号： B60K31/0083 ,  B60K31/0066 ,  G01C21/26 ,  B60W2520/125 ,  B60W2520/14 ,  B60W2550/143 ,  B60W2550/402 ,  Y02T10/84

摘要： A vehicle control apparatus is operative so as to prevent a chattering of initiation and termination of vehicle control, such as automatic deceleration, on the basis of a variation in a predicted passing speed. The apparatus comprises a maximum passable speed calculating mechanism M5 which calculates a maximum passable speed of a forward curve ahead of the vehicle on the basis of a road shape determined by a road shape decision mechanism M11, and a predicted passing speed calculating mechanism M7 calculates a predicted passing speed for the forward curve on the basis of a vehicle speed detected by a vehicle speed detector M6. The maximum passable speed includes a control initiation speed and a control termination speed larger than the control initiation speed, and a passage-possible/impossible determining mechanism M8 initiates operations of a warning mechanism M9 and a vehicle speed regulating mechanism M10 if the predicted passing speed exceeds the control initiation speed, and terminates the operations of the warning mechanism M9 and the vehicle speed regulating mechanism M10 if the predicted passing speed falls below the control termination speed.

摘要翻译： 操作车辆控制装置，以便基于预测通过速度的变化来防止诸如自动减速的车辆控制的起动和终止的颤动。 该装置包括最大通过速度计算机构M5，该最大通过速度计算机构M5基于由道路形状判定机构M11确定的道路形状来计算前方的前方曲线的最大通过速度，并且预测通过速度计算机构M7计算 基于由车速检测器M6检测到的车速，预测前进曲线的通过速度。 最大通过速度包括控制开始速度和大于控制启动速度的控制终止速度，并且通过可能/不可能确定机构M8启动警告机构M9和车速调节机构M10的操作，如果预测通过速度 如果预测通过速度低于控制终止速度，则结束警告机构M9和车速调节机构M10的动作。

公开(公告)号：US06169952A

公开(公告)日：2001-01-02

申请号：US09056244

申请日：1998-04-07

申请人： Shohei Matsuda ,  Makoto Otabe ,  Yuji Sakaki

发明人： Shohei Matsuda ,  Makoto Otabe ,  Yuji Sakaki

IPC分类号： G06F16500

CPC分类号： B60K31/0066 ,  B60K31/0083 ,  B60W2520/125 ,  B60W2520/14 ,  B60W2550/143 ,  B60W2550/402 ,  G01C21/26

摘要： A system for determining the passability of a vehicle through a section of road ahead of the vehicle is controlled based on coordinates of a plurality of nodes NN (N1, N2, N3, N4 . . . ) constituting the road section ahead of a subject vehicle. The system calculates a passing-state determination amount &thgr;N/LN for each of the nodes NN, and based on the passing-state determination amount &thgr;N/LN, the system then determines whether the vehicle can positively or safely pass through the road section. The passing-state determination amount &thgr;N/LN serves as an indicator which represents a degree of difficulty in the passage of the vehicle through the nodes NN and which is obtained, for example, by dividing an angle &thgr;N formed by a line segment connecting the adjacent nodes NN by a distance LN between the adjacent nodes NN. Even if only one or two nodes NN exist on a curve, it is possible to accurately determine whether the vehicle can pass the curve by using the passing-state determination amount &thgr;N/LN.

摘要翻译： 基于构成本车辆前方的路段的多个节点NN（N1，N2，N3，N4 ...）的坐标来控制车辆通过车辆前方的路段的通过性的系统 。 系统为每个节点NN计算通过状态确定量θN/ LN，并且基于通过状态判定量θN/ LN，系统然后确定车辆是否可以正确地或安全地通过道路部分。 通过状态判定量θN/ LN用作表示车辆通过节点NN的困难程度的指示器，其通过例如将连接相邻的车辆的线段形成的角度θN除以 节点NN在相邻节点之间的距离LN。 即使曲线上仅存在一个或两个节点NN，也可以通过使用通过状态判定量thetaN / LN来准确地判断车辆是否能够通过该曲线。

公开(公告)号：US6163741A

公开(公告)日：2000-12-19

申请号：US56245

申请日：1998-04-07

申请人： Shohei Matsuda ,  Yuji Sakaki ,  Makoto Otabe

发明人： Shohei Matsuda ,  Yuji Sakaki ,  Makoto Otabe

IPC分类号： B60K31/00 ,  G01C21/26 ,  G06F165/00

CPC分类号： B60K31/0083 ,  B60K31/0066 ,  B60W2520/125 ,  B60W2550/143 ,  B60W2550/402 ,  G01C21/26

摘要： A system for determining the passability of a vehicle passing through a curved road section. The system provides road information, detects the position of a subject vehicle on the road and determines whether a node, representing road data, exists on a curved or straight section of road. If it is determined that the node exists on a curve, it is then determined whether the curve is a simple curve or an S-shaped curve. Based upon these determinations, the system determines whether the vehicle can safely pass through the curve.

摘要翻译： 一种用于确定通过弯曲路段的车辆的通过性的系统。 该系统提供道路信息，检测道路上的车辆的位置，并且确定表示道路数据的节点是否存在于道路的弯曲或直线部分上。 如果确定节点存在于曲线上，则确定该曲线是简单曲线还是S形曲线。 基于这些确定，系统确定车辆是否可以安全地通过曲线。

公开(公告)号：US5586028A

公开(公告)日：1996-12-17

申请号：US353979

申请日：1994-12-06

申请人： Hiroshi Sekine ,  Shintaro Yokoyama ,  Ichiro Harada ,  Nobuyoshi Asanuma ,  Yorihisa Yamamoto ,  Yutaka Horiuchi ,  Shohei Matsuda ,  Makoto Otabe ,  Atsushi Itakagi ,  Hideki Kubonoya

发明人： Hiroshi Sekine ,  Shintaro Yokoyama ,  Ichiro Harada ,  Nobuyoshi Asanuma ,  Yorihisa Yamamoto ,  Yutaka Horiuchi ,  Shohei Matsuda ,  Makoto Otabe ,  Atsushi Itakagi ,  Hideki Kubonoya

IPC分类号： B60T8/172 ,  B60T8/174 ,  B60T8/1763 ,  G01N19/02 ,  B60T8/58

CPC分类号： B60T8/174 ,  B60T8/172 ,  B60T8/17636 ,  B60T2210/122 ,  Y10S706/905

摘要： A road surface condition-detecting system for a vehicle detects a road surface condition from road noise generated by a vehicle wheel. The road surface condition is determined based on parameter data of frequency components of the road noise, by a neural network. The road noise may be corrected by eliminating therefrom a disturbance, such as audio output and exhaust noise. A present state of the road surface condition may be determined based on at least two consecutive determinations made based on the road noise detected at regular time intervals. Exclusive neural networks may be used for respective road surface condition types. One of a plurality of neural networks provided for respective vehicle speed ranges may be selected according to an actual vehicle speed. Detected sound pressure levels of the road noise extracted by frequency analysis may be normalized within respective ranges defined by upper and lower limits set corresponding to predetermined frequency ranges before being supplied to the neural network.

摘要翻译： 用于车辆的路面状况检测系统根据车轮产生的道路噪声检测路面状况。 通过神经网络，根据道路噪声频率分量的参数数据确定路面状况。 道路噪声可以通过消除诸如音频输出和排气噪声之类的干扰来校正。 可以基于基于以规则时间间隔检测到的道路噪声进行的至少两次连续确定来确定路面状况的当前状态。 专用神经网络可用于相应的路面状况类型。 可以根据实际车速来选择为各车速范围提供的多个神经网络中的一个。 通过频率分析提取的道路噪声的检测声压级可以在被提供给神经网络之前在对应于预定频率范围设定的上限和下限限定的相应范围内被归一化。

公开(公告)号：US07412329B2

公开(公告)日：2008-08-12

申请号：US10832451

申请日：2004-04-27

申请人： Yoshihiro Urai ,  Makoto Otabe ,  Kenji Kodaka

发明人： Yoshihiro Urai ,  Makoto Otabe ,  Kenji Kodaka

IPC分类号： G06F17/10 ,  G06G7/78 ,  G08G1/16

CPC分类号： G01S17/936 ,  G01S13/931 ,  G01S2013/9325 ,  G01S2013/9342 ,  G01S2013/9346 ,  G01S2013/9353

摘要： In a travel safety system for a vehicle: a preceding vehicle V1 in a travel direction of a subject vehicle V is detected by a radar device; an overlap amount δ (smaller one of δ(L) and δ(R)), at which the preceding vehicle V1 overlaps a predicted course for the subject vehicle V, is calculated; and when time for which the over lap amount δ exceeding a predetermined value exceeds a predetermined period, it is determined that there is a possibility that the subject vehicle V comes into contact with the preceding vehicle V1, and a safety system comprising a warning or an automatic braking is actuated. Thus, if it is determined that there is a possibility of contact between the subject vehicle V and the preceding vehicle V1 due to course change of the subject vehicle V or the preceding vehicle, it is possible to prevent the safety system from being unnecessarily actuated to provide a sense of discomfort to a driver.

摘要翻译： 在车辆行驶安全系统中，由雷达装置检测出本车辆V的行驶方向上的前方车辆V1; 计算出先前车辆V 1与本车辆V的预测路线重叠的重叠量delta（delta（L）和delta（R）中较小的一个））; 并且当超过超过预定值的超过预定值的时间超过预定时间段时，确定存在本车辆V与前一车辆V 1接触的可能性，以及包括警告或 自动制动被启动。 因此，如果由于本车辆V或前一车辆的变化而确定本车辆V与前一车辆V 1之间存在接触的可能性，则可以防止安全系统被不必要的致动 给司机带来不适感。

公开(公告)号：US20050004760A1

公开(公告)日：2005-01-06

申请号：US10832451

申请日：2004-04-27

申请人： Yoshihiro Urai ,  Makoto Otabe ,  Kenji Kodaka

发明人： Yoshihiro Urai ,  Makoto Otabe ,  Kenji Kodaka

IPC分类号： B60R21/00 ,  B60K31/00 ,  B60T7/12 ,  G01S13/93 ,  G01S15/93 ,  G01S17/93 ,  G08G1/16

CPC分类号： G01S17/936 ,  G01S13/931 ,  G01S2013/9325 ,  G01S2013/9342 ,  G01S2013/9346 ,  G01S2013/9353

摘要： In a travel safety system for a vehicle: a preceding vehicle V1 in a travel direction of a subject vehicle V is detected by a radar device; an overlap amount δ (smaller one of δ(L) and δ(R)), at which the preceding vehicle V1 overlaps a predicted course for the subject vehicle V, is calculated; and when time for which the over lap amount δ exceeding a predetermined value exceeds a predetermined period, it is determined that there is a possibility that the subject vehicle V comes into contact with the preceding vehicle V1, and a safety system comprising a warning or an automatic braking is actuated. Thus, if it is determined that there is a possibility of contact between the subject vehicle V and the preceding vehicle V1 due to course change of the subject vehicle V or the preceding vehicle, it is possible to prevent the safety system from being unnecessarily actuated to provide a sense of discomfort to a driver.

摘要翻译： 在车辆行驶安全系统中，由雷达装置检测本车辆V的行进方向上的前方车辆V1; 计算前方车辆V1与本车辆V的预测路线重叠的重叠量δ（delta（L）和delta（R）中较小的一个））; 并且当超过超过预定值的超过预定值的时间超过预定时间段时，确定本车辆V与前一车辆V1接触的可能性，以及包括警告或 自动制动被启动。 因此，如果由于本车辆V或前一车辆的变化而确定本车辆V与前一车辆V1之间存在接触的可能性，则可以防止安全系统被不必要地致动 给司机带来不适感。

公开(公告)号：US5321619A

公开(公告)日：1994-06-14

申请号：US829071

申请日：1992-02-11

申请人： Kinji Matsuda ,  Makoto Otabe

发明人： Kinji Matsuda ,  Makoto Otabe

IPC分类号： B62D65/00 ,  G05B19/418 ,  G06F15/46

CPC分类号： B62D65/005 ,  G05B19/41865 ,  G05B2219/31086 ,  G05B2219/31283 ,  G05B2219/31296 ,  G05B2219/31297 ,  G05B2219/31298 ,  G05B2219/31299 ,  G05B2219/31301 ,  G05B2219/31302 ,  G05B2219/31303 ,  G05B2219/31432 ,  G05B2219/32066 ,  G05B2219/32067 ,  G05B2219/32068 ,  G05B2219/32069 ,  G05B2219/32121 ,  G05B2219/33192 ,  Y02P90/10 ,  Y02P90/12 ,  Y02P90/20

摘要： A method and a system of production control for a production line composed of a plurality of automatic machines, in which input of control data and change of contents of the data required for control of the automatic machine can easily and efficiently be made. Identification data fed from the host computer (30) are converted by a data converter (31) into control data for automatic machines (11) in each process and stored in a storage medium (20) so that each automatic machine may be controlled after the storage medium has been moved together with the workpiece, by control data read out from the storage medium in each process in the production line. The storage medium store not only control data for the workpiece moving together with this storage medium but also those for a plurality of work pieces positioned on the upstream side of the workpiece in the production line and, thereby, prepares the relative automatic machines to be ready for the subsequent stage of operation.

摘要翻译： PCT No.PCT / JP91 / 01231 Sec。 371日期：1992年2月11日 102（e）日期1992年2月11日PCT 1991年9月17日PCT公布。 第WO92 / 05012号公报 日期：1992年4月2日。一种用于由多台自动机械组成的生产线的生产控制方法和系统，其中控制数据的输入和控制所需数据的内容的变化可以容易地和 有效地制作。 从主计算机（30）馈送的识别数据由数据转换器（31）转换为每个处理中的自动机器（11）的控制数据，并存储在存储介质（20）中，使得每个自动机器可以在 通过在生产线中的每个过程中从存储介质读出的控制数据，存储介质已经与工件一起移动。 存储介质不仅存储与该存储介质一起移动的工件的控制数据，而且存储位于生产线中工件的上游侧的多个工件的控制数据，从而准备相对自动机器准备就绪 用于后续的操作阶段。

公开(公告)号：US5765119A

公开(公告)日：1998-06-09

申请号：US579274

申请日：1995-12-27

申请人： Makoto Otabe ,  Ichiro Harada ,  Yuuichi Okada ,  Atsushi Itagaki ,  Yorihisa Yamamoto

发明人： Makoto Otabe ,  Ichiro Harada ,  Yuuichi Okada ,  Atsushi Itagaki ,  Yorihisa Yamamoto

IPC分类号： G01P3/00 ,  B60T8/172 ,  G01M17/007 ,  G01N29/14 ,  G01N29/44 ,  G01P3/56 ,  G01N19/02

CPC分类号： G01N29/4481 ,  B60T8/172 ,  G01N29/14 ,  B60G2400/8222 ,  B60G2400/91 ,  B60G2800/702 ,  B60T2210/13

摘要： The hydroplaning-occurring speed of a vehicle is estimated by detecting an amount of water on a wet road surface on which the vehicle is traveling, and estimating a speed of the vehicle at and above which a hydroplaning phenomenon can occur, based on the detected amount of water. The possibility of occurrence of a hydroplaning phenomenon of a vehicle is detected by detecting an amount of water on a wet road surface on which the vehicle is traveling, detecting the speed of the vehicle, and determining whether there is a possibility that a hydroplaning phenomenon can occur, based on the detected amount of water and the detected speed of the vehicle.

摘要翻译： 通过检测车辆行驶的湿路面上的水量来估计车辆的滑水速度，并且基于检测到的量来估计可能发生滑水现象的车辆的速度 的水。 通过检测车辆行驶的湿路面上的水量，检测车辆的速度来检测车辆的滑水现象的可能性，并且判断是否存在滑水现象可能 基于检测到的水量和车辆的检测速度发生。