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：US6067497A

公开(公告)日：2000-05-23

申请号：US961476

申请日：1997-10-31

申请人： Hiroshi Sekine ,  Shohei Matsuda

发明人： Hiroshi Sekine ,  Shohei Matsuda

IPC分类号： G09B29/10 ,  B60K28/10 ,  B60W30/00 ,  B60W30/14 ,  G01C21/00 ,  G01C21/26 ,  G08G1/0969 ,  G08G1/16 ,  G08G1/09

CPC分类号： G01C21/26 ,  B60K28/10 ,  B60W2550/10 ,  Y02T10/84

摘要： A vehicle control system reduces the arithmetic operations for deciding the passableness of the vehicle through an upcoming curve and also avoids unnecessarily effecting automatic deceleration and warning, which are not completely indispensable in a system for performing the warning or automatic deceleration, so that the vehicle may pass through a curve at a proper vehicle speed and with minimum distraction to the vehicle occupants. Assuming that the driver performs a voluntary deceleration at a predetermined deceleration from the current vehicle speed, the system calculates an estimated passage speed of a tentative position N.sub.k, as set on a road ahead of an actual position P.sub.0. The system then sets a passable zone Z.sub.1, a warning zone Z.sub.2 and an automatic deceleration zone Z.sub.3 on the basis of turnable radii R.sub.1 and R.sub.2, at which a predetermined transverse acceleration is established at the estimated passage speed, as well as an arc C.sub.1 ' defining a range of a predetermined distance from the tentative position N.sub.k. The driver is warned by the system, when any of nodes N.sub.k+1, - - - , and soon ahead of the tentative position N.sub.k is present in the warning zone Z.sub.2, and the vehicle is automatically decelerated by the system when any of the nodes is present in the automatic deceleration zone Z.sub.3.

摘要翻译： 车辆控制系统通过即将到来的曲线减少用于决定车辆通行性的算术运算，并且还避免不必要地实现在用于执行警告或自动减速的系统中不完全必要的自动减速和警告，使得车辆可以 以适当的车速通过曲线，并以最小的分心给车辆乘客。 假设驾驶员从当前车速以预定的减速度进行自主减速，则系统计算在实际位置P0之前的道路上设定的临时位置Nk的推定通过速度。 然后，该系统基于在可估计的通过速度处建立预定横向加速度的可转动半径R1和R2以及弧C1'设定可通过区域Z1，警告区域Z2和自动减速区间Z3， 定义与临时位置Nk的预定距离的范围。 驾驶员被系统警告，当任何节点Nk + 1， - - - 并且在临时位置Nk之前不久就出现在警告区Z2中时，并且当任何节点上的车辆被系统自动减速时 存在于自动减速区Z3中。

公开(公告)号：US06547344B2

公开(公告)日：2003-04-15

申请号：US09879089

申请日：2001-06-13

申请人： Satoshi Hada ,  Keisuke Katsuta ,  Hirohiko Totsuka ,  Shohei Matsuda ,  Tetsuro Yamaguchi ,  Kazuaki Fukami

发明人： Satoshi Hada ,  Keisuke Katsuta ,  Hirohiko Totsuka ,  Shohei Matsuda ,  Tetsuro Yamaguchi ,  Kazuaki Fukami

IPC分类号： B60T832

CPC分类号： B60K6/543 ,  B60T7/122 ,  Y10S188/02 ,  Y10S903/903 ,  Y10S903/918 ,  Y10S903/947

摘要： A braking apparatus for vehicles BU, in which plurality systems of individually separated brake fluid pressure passages BC(A), BC(B) are arranged, and each passage is provided with at least one brake fluid pressure retaining means RU(A), RU(B) for continuously retaining brake fluid pressure within a wheel cylinder WC(A), WC(B) arranged in the brake fluid pressure passage after a depression of a brake pedal BP is released and for releasing the retained brake fluid pressure in response to an increase of a starting driving force of the vehicle, wherein the release of the retained brake fluid pressure is carried out in a time differential manner at each brake fluid pressure retaining means.

公开(公告)号：US6149249A

公开(公告)日：2000-11-21

申请号：US95606

申请日：1998-06-11

申请人： Shohei Matsuda

发明人： Shohei Matsuda

IPC分类号： B60T8/34 ,  B60T8/44 ,  B60T13/66 ,  B60T15/02 ,  B60T8/42

CPC分类号： B60T13/662 ,  B60T15/028 ,  B60T8/344 ,  B60T8/44

摘要： A brake system for a vehicle is provided which has liquid pressure supply units for outputting liquid pressure in response to braking operation, and wheel cylinders for braking wheels when actuated with supply of liquid pressure from the liquid pressure supply unit. The brake system is capable of actuating the wheel cylinders without delay despite a delay in the rise of the output liquid pressure of the liquid pressure supply units. The brake system has an accumulator, the output liquid pressure of which rises quicker than that of the liquid pressure supply unit, the output liquid pressure accumulated in the accumulator being supplied to the wheel cylinders with excellent response speed at the initial stage of braking operation.

摘要翻译： 提供一种用于车辆的制动系统，其具有用于响应于制动操作输出液压的液压供应单元，以及当从液压供应单元供应液体压力而致动时制动轮的轮缸。 制动系统能够毫无延迟地致动轮缸，尽管液压供应单元的输出液压的上升延迟。 制动系统具有储液器，其输出液压比液压供给单元的输出液压上升，在制动运转的初始阶段，累积在蓄能器中的输出液压以良好的响应速度供给到轮缸。

公开(公告)号：US5306075A

公开(公告)日：1994-04-26

申请号：US779475

申请日：1991-10-18

申请人： Shohei Matsuda ,  Kazutoshi Tashima ,  Kohichi Furuya ,  Masaaki Myoi ,  Makoto Horiuchi

发明人： Shohei Matsuda ,  Kazutoshi Tashima ,  Kohichi Furuya ,  Masaaki Myoi ,  Makoto Horiuchi

IPC分类号： B60T8/46 ,  B60T8/40 ,  B60T8/42 ,  B60T8/44 ,  B60T8/48 ,  B60T8/94 ,  B60T17/18 ,  B60T13/18

CPC分类号： B60T8/4081 ,  B60T8/4072 ,  B60T8/4225 ,  B60T8/441 ,  B60T8/4863 ,  B60T8/94

摘要： In a hydraulic braking pressure control system comprising a brake device (B.sub.FL, B.sub.FR, B.sub.RL, B.sub.RR), hydraulic pressure controller (4) for controlling the hydraulic pressure supply source (2) in accordance with the amount of operation of an operating member (1), an auxiliary hydraulic pressure generator (3) including a working piston (16, 17) operatively connected to the operating member to advance in response to operation of the operating member and being slidably received in a housing (14) with a front surface of the working piston facing a hydraulic pressure chamber (18, 19), a hydraulic pressure transmitter (134) comprising a free piston (132) slidably received in a cylinder body (133) and having opposite ends facing an input hydraulic pressure chamber (130) connected to the hydraulic pressure controller and an output hydraulic pressure chamber (131) leading to the brake device, respectively, and an on-off valve (135) interposed between the hydraulic pressure chamber (18, 19) in the auxiliary hydraulic pressure generator (3) and the brake device and adapted to be closed in response to an increase in output hydraulic pressure from the hydraulic pressure controller, there is further included valve-opening device (136) for forcedly opening the on-off valve in response to the movement of the free piston by a predetermined distance or more in a direction to reduce the volume of the output hydraulic pressure chamber. This ensures that when an abnormality such as wear of a pad or a vapor lock is produced on the side of the brake device in a condition in which the hydraulic pressure supply source is normal, a deficiency of hydraulic pressure can be compensated for, and when a leak of fluid is produced, this can be detected promptly.

摘要翻译： 在包括制动装置（BFL，BFR，BRL，BRR）的液压制动压力控制系统中，根据操作构件（1）的操作量控制液压供给源（2）的液压控制器（4） ），辅助液压发生器（3），其包括可操作地连接到所述操作构件的工作活塞（16,17），以响应于所述操作构件的操作而前进，并且可滑动地容纳在壳体（14）中，所述壳体（14）的前表面 所述工作活塞面向液压室（18,19），液压变送器（134）包括可滑动地容纳在缸体（133）中并具有面向输入液压室（130）的相对端的自由活塞（132） 分别连接到液压控制器和通向制动装置的输出液压室（131），以及插入在所述液压压力室（18,19）之间的开闭阀（135） 锂离子液压发生器（3）和制动装置，并且响应于来自液压控制器的输出液压的增加而被关闭，还包括用于强制打开开关阀的阀开启装置（136） 响应于在减小输出液压室的容积的方向上的自由活塞的移动预定距离或更大的距离。 这样可以确保在液压供给源正常的状态下，在制动装置一侧产生诸如焊盘或蒸气锁的磨损等异常的情况下，能够补偿液压不足， 产生液体泄漏，可以及时检测。