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公开(公告)号：US5467283A
公开(公告)日：1995-11-14
申请号：US138022
申请日：1993-10-19
申请人： Tetsuro Butsuen , Tohru Yoshioka , Hiroki Uemura , Tadayuki Niibe , Ayumu Doi , Ken-ichi Okuda , Tomohiko Adachi , Satoshi Morioka
发明人： Tetsuro Butsuen , Tohru Yoshioka , Hiroki Uemura , Tadayuki Niibe , Ayumu Doi , Ken-ichi Okuda , Tomohiko Adachi , Satoshi Morioka
CPC分类号： G05D1/0257 , B60T8/17558 , G01S13/931 , B60T2201/02 , B60T2201/022 , B60T2210/32 , G01S2013/9346 , G01S2013/9353 , G01S2013/9364 , G01S2013/9375 , G08G1/16
摘要： An obstacle sensing apparatus for vehicles is provided in which detection of obstacles is performed efficiently by predicting the traveling path of the vehicle appropriately when detection of obstacles by a radar unit is limited to a region along the traveling path. The apparatus is provided with a radar unit for transmitting radar waves ahead of the vehicle and sensing obstacles present ahead of the vehicle, a steering angle sensor for sensing the steering angle of the vehicle, and a yaw rate sensor for sensing the yaw rate produced by the vehicle. First traveling-path predicting device predicts a traveling path of the vehicle based upon the steering angle, and second traveling-path predicting device predicts a traveling path of the vehicle based upon the yaw rate. One of these traveling paths is selected in dependence upon the operating state of the vehicle and detection of articles by the radar unit is carried out within a limited region along the traveling path selected.
摘要翻译： 提供了一种用于车辆的障碍物检测装置，其中当雷达单元的障碍物的检测被限制在沿着行进路径的区域时，通过适当地预测车辆的行进路径来有效地执行障碍物的检测。 该装置设置有用于在车辆之前发射雷达波并且感测存在于车辆前方的障碍物的雷达单元，用于感测车辆的转向角的转向角传感器以及用于感测由车辆的转向角度产生的横摆率的偏航率传感器 机动车。 第一行进路径预测装置基于转向角预测车辆的行驶路径，第二行驶路径预测装置基于横摆率预测车辆的行驶路径。 根据车辆的运行状态选择这些行驶路径中的一个，并且沿着所选择的行驶路径在有限的区域内执行雷达单元的物品的检测。
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公开(公告)号：US5680097A
公开(公告)日：1997-10-21
申请号：US162468
申请日：1993-12-07
申请人： Hiroki Uemura , Tadayuki Niibe , Ayumu Doi , Tohru Yoshioka , Ken-ichi Okuda , Yasunori Yamamoto , Satoshi Morioka , Tomohiko Adachi
发明人： Hiroki Uemura , Tadayuki Niibe , Ayumu Doi , Tohru Yoshioka , Ken-ichi Okuda , Yasunori Yamamoto , Satoshi Morioka , Tomohiko Adachi
CPC分类号： B60T7/22 , G01S13/931 , B60W2050/143 , B60W2550/10 , B60W2550/308 , G01S2013/9346 , G01S2013/9353 , G01S2013/9357 , G01S2013/9367 , G01S2013/9375
摘要： When information of an obstacle is not outputted from a radar device, a presumption device presumes at least a present value of a distance between a vehicle and the obstacle based on information in a memory part obtained until the time, and a contact-possibility judgment device judges a possibility of contact of the vehicle with the obstacle based on the information from the presumption device. A detection device is provided for detecting conditions at the time when the information of the obstacle is not outputted from the radar device, for example, a relation of relative position of the obstacle to the vehicle. Further, a restriction device is provided for restricting the presumption by the presumption device according to the relation of relative position. Thus, a possibility of contact of the vehicle with the obstacle running forward of the vehicle is appropriately judged and mis-operations of an alarm, an automatic braking and the like are prevented, while ensuring running safety.
摘要翻译： 当不从雷达装置输出障碍物的信息时，推测装置根据直到该时刻获得的存储器部分中的信息，至少假设车辆与障碍物之间的距离的当前值，以及接触可能性判断装置 基于来自推定装置的信息判断车辆与障碍物的接触的可能性。 提供一种检测装置，用于检测障碍物的信息不从雷达装置输出时的状况，例如障碍物与车辆的相对位置的关系。 此外，提供限制装置，用于根据相对位置的关系来限制推定装置的推定。 因此，在确保行驶安全性的同时，适当地判断车辆与行驶在车辆前方的障碍物接触的可能性，并且防止报警，自动制动等的误操作。
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3.发明授权
公开(公告)号：US5495254A
公开(公告)日：1996-02-27
申请号：US153976
申请日：1993-11-18
申请人： Hiroki Uemura , Tadayuki Niibe , Ayumu Doi , Tohru Yoshioka , Ken-ichi Okuda , Yasunori Yamamoto , Satoshi Morioka , Tomohiko Adachi
发明人： Hiroki Uemura , Tadayuki Niibe , Ayumu Doi , Tohru Yoshioka , Ken-ichi Okuda , Yasunori Yamamoto , Satoshi Morioka , Tomohiko Adachi
CPC分类号： G01S13/931 , G01S7/4026 , G01S7/4052 , G01S2007/403 , G01S2007/4091 , G01S2013/9339 , G01S2013/9346 , G01S2013/9353 , G01S2013/9364 , G01S2013/9367 , G01S2013/9375 , G01S7/4972 , G01S7/52004
摘要： A method to determine a horizontal error of a radar device mounted on a vehicle along with the mounting error or imbalance in the diameters of wheels based on an echo signal from a reflector provided on a road. A vehicle's traveling locus is stored in advance as a reference locus obtained from the distance L between the vehicle and reflector and the direction .theta..sub.R. A traveling locus when the vehicle is actually traveling in a straight line where the steering handle is kept in a neutral position is compared with the previously stored reference locus. A horizontal error is obtained from the traveling locus on the coordinate axis .theta..sub.R and the shift from the reference locus.
摘要翻译： 基于来自设置在道路上的反射器的回波信号，确定安装在车辆上的雷达装置的水平误差以及车轮直径的安装误差或不平衡的方法。 车辆的行驶轨迹被预先存储为从车辆和反射器之间的距离L和方向θR获得的参考轨迹。当车辆实际上在转向手柄保持在中立的直线上行进时的行驶轨迹 将位置与先前存储的参考轨迹进行比较。 从坐标轴θR上的行进轨迹和从基准轨迹的偏移获得水平误差。
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公开(公告)号：US5530651A
公开(公告)日：1996-06-25
申请号：US101318
申请日：1993-08-03
申请人： Hiroki Uemura , Tetsuro Butsuen , Tohru Yoshioka , Ayumu Doi , Naotsugu Masuda , Kenichi Okuda , Tadayuki Niibe , Yasunori Yamamoto , Satoshi Morioka , Tomohiko Adachi
发明人： Hiroki Uemura , Tetsuro Butsuen , Tohru Yoshioka , Ayumu Doi , Naotsugu Masuda , Kenichi Okuda , Tadayuki Niibe , Yasunori Yamamoto , Satoshi Morioka , Tomohiko Adachi
IPC分类号： B60T7/22 , G01S13/86 , G01S13/93 , G01S15/93 , G06F165/00
CPC分类号： G01S15/931 , B60T7/22 , G01S13/931 , G01S15/025 , G01S2007/4039 , G01S2013/9325 , G01S2013/9339 , G01S2013/9346 , G01S2013/9353 , G01S2013/9357 , G01S2013/9364 , G01S2013/9375
摘要： The vehicle is provided with a radar unit for detecting an obstacle existing ahead in the course of the running way along which the vehicle is running. When the radar unit detects a variation in its detectable region, such as a detectable distance or a detectable area range in left and right directions, from the detectable region to be detectable during ordinary running, a safety unit such as an alarm unit or an automatic brake unit is operated. A control logic for operating a collision-avoiding system for avoiding a collision with the obstacle existing ahead, such as an alarm unit or an automatic brake unit, is altered to a safe side on which safety in driving the vehicle is improved, when the detectable region is varied.
摘要翻译： 该车辆设置有雷达单元，用于在车辆行驶的行驶过程中检测存在于前方的障碍物。 当雷达单元检测到其可检测区域（例如在左右方向上的可检测距离或可检测区域范围）从正常运行中可检测的可检测区域的变化时，可以使用安全单元，例如报警单元或自动 制动单元运行。 用于操作防碰撞系统的控制逻辑，用于避免与诸如警报单元或自动制动单元之类的先前存在的障碍物的碰撞，被改变为在驾驶车辆时安全性得到改善的安全侧，当可检测 地区变化。
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公开(公告)号：US5467284A
公开(公告)日：1995-11-14
申请号：US247206
申请日：1994-05-20
申请人： Tohru Yoshioka , Hiroki Uemura , Tadayuki Niibe , Ayumu Doi , Ken-ichi Okuda , Yasunori Yamamoto , Tomohiko Adachi , Naotsugu Masuda
发明人： Tohru Yoshioka , Hiroki Uemura , Tadayuki Niibe , Ayumu Doi , Ken-ichi Okuda , Yasunori Yamamoto , Tomohiko Adachi , Naotsugu Masuda
IPC分类号： B60R21/00 , B60W30/00 , B62D1/28 , G01S13/86 , G01S13/93 , G01S17/93 , G05D1/02 , G08G1/00 , G08G1/16 , G06F165/00
CPC分类号： G01S17/936 , B62D1/28 , G01S13/867 , G01S13/931 , G05D1/0246 , G05D1/0257 , G05D1/027 , G05D1/0289 , G01S13/86 , G01S2013/9346 , G01S2013/9353 , G01S2013/9375 , G05D2201/0213
摘要： An obstacle detection apparatus for a motor vehicle detects another vehicle traveling in front of the vehicle as an obstacle. The apparatus has a first unit, providing a course on which the vehicle is supposed to travel, a second unit, providing a reserve course located outside of the course, an obstacle detector detecting the other vehicle traveling in the course or the reserve course as an obstacle, and an obstacle detection continuation unit continuously detecting the other vehicle until a predetermined condition has been satisfied when the other vehicle moves from the course to the reserve course.
摘要翻译： 用于机动车辆的障碍物检测装置检测在车辆前方行驶的另一车辆作为障碍物。 该装置具有第一单元，其提供车辆应该行进的路线，第二单元，提供位于路线外部的预留路线;障碍物检测器，检测在该路线中行驶的其他车辆或预留路线作为 障碍物和障碍物检测继续单元连续地检测其他车辆，直到另一车辆从行驶路线移动到预定路线已经满足预定条件。
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公开(公告)号：US5585798A
公开(公告)日：1996-12-17
申请号：US271468
申请日：1994-07-07
申请人： Tohru Yoshioka , Hiroki Uemura , Tadayuki Niibe , Ayumu Doi , Kenichi Okuda , Yasunori Yamamoto , Tomohiko Adachi , Naotsugu Masuda
发明人： Tohru Yoshioka , Hiroki Uemura , Tadayuki Niibe , Ayumu Doi , Kenichi Okuda , Yasunori Yamamoto , Tomohiko Adachi , Naotsugu Masuda
CPC分类号： G01S17/936 , B60T8/172 , B60T2201/02 , B60W2550/10
摘要： An obstacle detection system for an automotive vehicle detects obstacles ahead of the vehicle and finds the dynamic relativity between the vehicle and each of the obstacles. Based on the dynamic relativity, information relating to a danger level between the vehicle and each obstacle is operated on so as to make a danger judgement. A frequency, at which the operations on the information relating to danger level are made, is increasingly or decreasingly varied according to the danger levels of the obstacles.
摘要翻译： 用于机动车辆的障碍物检测系统检测车辆前方的障碍物，并且发现车辆与每个障碍物之间的动态相对性。 基于动态相对性，对与车辆与各障碍物之间的危险程度有关的信息进行操作，以进行危险判断。 根据危险程度的危险程度，对危险程度信息进行操作的频率越来越多地变化。
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公开(公告)号：US5483453A
公开(公告)日：1996-01-09
申请号：US50560
申请日：1993-04-20
申请人： Hiroki Uemura , Tetsuro Butsuen , Tohru Yoshioka , Ayumu Doi , Kenichi Okuda , Yasunori Yamamoto , Tomohiko Adachi , Naotsugu Masuda
发明人： Hiroki Uemura , Tetsuro Butsuen , Tohru Yoshioka , Ayumu Doi , Kenichi Okuda , Yasunori Yamamoto , Tomohiko Adachi , Naotsugu Masuda
CPC分类号： G05D1/0255 , G05D1/0246 , B60T2201/08 , B60T2201/087 , G05D1/0234 , G05D2201/0213
摘要： When the vehicle has deviated or is deviating from a lane on which the vehicle has been or is running, the deviation of the vehicle from the lane can be suppressed, for example, by allowing the steering wheel to be operatively rotated prior to an intention of the operator. The timing of suppressing the deviation of the vehicle can be altered in accordance with conditions including, for example, the existence of a lane in the direction of deviation of the vehicle on which another vehicle is running in the same direction, the existence of an obstacle in the direction of deviation of the vehicle, the existence of an adjacent lane in the direction of deviation of the vehicle on which another vehicle is running in the opposite direction, a state of the lane on which the vehicle is running, such as a curved lane or a straight lane, a direction of deviation is outside or inside the curved lane or a lane width, a vehicle speed, a steering angle of a steering wheel, an extent of vision, and so on.
摘要翻译： 当车辆已经偏离或偏离车辆已经或正在行驶的车道时，可以例如通过允许方向盘可操作地旋转，从而可以抑制车辆与车道的偏离， 操作员。 可以根据包括例如车辆在相同方向上行驶的车辆的偏离方向上存在车道的情况来改变抑制车辆偏离的定时，障碍物的存在 在车辆偏离的方向上，在相反方向的另一车辆行驶的车辆的偏离方向上存在相邻车道的存在，车辆行驶的车道的状态，例如弯曲 车道或直通车道，偏离方向在曲线车道的外侧或内部，或车道宽度，车速，方向盘的转向角度，视野范围等。
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公开(公告)号：US5540298A
公开(公告)日：1996-07-30
申请号：US302239
申请日：1994-09-07
申请人： Tohru Yoshioka , Kenichi Okuda , Hiroki Uemura , Yasunori Yamamoto , Tomohiko Adachi , Tetsuro Butsuen , Toshihiro Hara , Kazuki Fujise
发明人： Tohru Yoshioka , Kenichi Okuda , Hiroki Uemura , Yasunori Yamamoto , Tomohiko Adachi , Tetsuro Butsuen , Toshihiro Hara , Kazuki Fujise
IPC分类号： B60G17/015 , B60G17/0195 , B60R21/00 , B60T7/12 , B60T7/22 , B60T8/172 , B60T8/1764 , B60T8/48 , B60T8/58 , B60W30/00 , B62D5/06 , B62D6/00 , B62D17/00 , B62D101/00 , B62D105/00 , B62D111/00 , B62D113/00 , B62D137/00 , G01D1/02 , G01S7/484 , G01S15/93 , G01S17/02 , G01S17/93 , G05D1/02
CPC分类号： B60T7/22 , B60G17/0195 , B60T8/48 , B62D17/00 , B62D5/06 , B62D6/00 , G01S17/023 , G01S17/936 , B60G2200/44 , B60G2200/462 , B60G2202/154 , B60G2400/106 , B60G2400/204 , B60G2400/41 , B60G2400/822 , B60G2401/176 , B60G2600/02 , B60G2600/044 , B60G2600/182 , B60G2800/012 , B60G2800/21 , B60G2800/22 , B60G2800/24 , B60G2800/912 , B60G2800/92 , B60G2800/93 , B60G2800/96 , B60G2800/962 , G01S15/931 , G01S7/484
摘要： An integrated controller for a vehicle comprises a contact preventive device for detecting a distance between a vehicle and an obstacle and a relative speed, and deciding whether the vehicle may come in contact with the obstacle based on the results of detection so as to perform automatic braking or automatic steering, and a characteristic changing device for causing the suspension or steering characteristic of the vehicle to be changed. The control part of the characteristic changing device changes the suspension or steering characteristic based on information from the control part of the contact preventive device when operating the contact preventive device. In case the characteristic changing device is an active suspension device, the control part changes the suspension characteristic so as to increase a control gain when performing automatic braking and to inhibit the vehicle from being rolled when performing automatic steering. Consequently, it is possible to early change the suspension characteristic when operating the contact preventive device. Thus, the running stability of the vehicle can be enhanced.
摘要翻译： 一种用于车辆的集成控制器，包括用于检测车辆与障碍物之间的距离的接触预防装置和相对速度，并且基于检测结果来判定车辆是否可能与障碍物接触以进行自动制动 或自动转向，以及用于改变车辆的悬架或转向特性的特征改变装置。 特征改变装置的控制部分在操作接触防止装置时，基于来自接触防止装置的控制部分的信息来改变悬架或转向特性。 在特征改变装置是主动悬挂装置的情况下，控制部件改变悬架特性，以在执行自动制动时增加控制增益，并且在执行自动转向时禁止车辆滚动。 因此，可以在操作接触防止装置时早期改变悬架特性。 因此，能够提高车辆的行驶稳定性。
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公开(公告)号：US5805103A
公开(公告)日：1998-09-08
申请号：US718908
申请日：1996-09-24
申请人： Ayumu Doi , Hiroki Uemura , Yasunori Yamamoto , Tomohiko Adachi , Tohru Yoshioka
发明人： Ayumu Doi , Hiroki Uemura , Yasunori Yamamoto , Tomohiko Adachi , Tohru Yoshioka
CPC分类号： G01S13/931 , B60K31/0008 , B60T7/22 , G08G1/166 , B60W2550/302 , B60W2750/308 , G01S2013/9321 , G01S2013/9325 , G01S2013/9346 , G01S2013/935 , G01S2013/9353 , G01S2013/9357 , G01S2013/9375
摘要： A distance monitoring system of a vehicle monitors a distance to a preceding vehicle traveling directly ahead of the vehicle to determines whether the preceding vehicle is decelerating by comparing a change in the vehicle speed with a reference value which is varied according to various driving condition in relation in particular to dangers such as collisions against the preceding vehicle.
摘要翻译： 车辆的距离监视系统监视与直接在车辆前方行驶的前一车辆的距离，以通过将车速的变化与根据各种驾驶状况相关的参考值进行比较来确定前一车辆是否正在减速 特别是与前方车辆的碰撞等危险。
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公开(公告)号：US5479173A
公开(公告)日：1995-12-26
申请号：US207365
申请日：1994-03-08
CPC分类号： G05D1/0246 , B60T7/22 , G01S13/867 , G01S13/931 , G05D1/0257 , G01S2013/9346 , G01S2013/9353 , G01S2013/9375 , G05D2201/0213
摘要： An obstacle sensing apparatus for vehicles which enables efficient obstacle sensing and improves sensing precision. The apparatus comprises a section for predicting a deduced traveling-passage on which the vehicle will travel, based on a steering angle, a yaw rate and a velocity of the vehicle, a section having a CCD camera, for detecting a current traveling-passage on which the vehicle is currently moving, a scanning-type radar unit for sensing obstacles within a predetermined area, and a danger level judging section for judging danger levels of the sensed obstacles, based on the deduced traveling-passage and the current traveling-passage. The danger level judging section sets the danger level of the obstacle sensed within an area, where the deduced traveling-passage and the current traveling-passage overlap with each other, to the highest danger level; the obstacle sensed in an area within the current traveling-passage and without the deduced traveling-passage, to an intermediate danger level; the obstacle sensed in an area within the deduced traveling-passage and without the current traveling-passage, to a lower danger level; and the obstacle sensed in an area without the current and deduced traveling-passages, to the lowest danger level.
摘要翻译： 一种用于车辆的障碍物感测装置，其能够进行有效的障碍物感测并提高感测精度。 该装置包括：用于基于车辆的转向角，偏航角速度和速度来预测车辆将行驶的推导行驶通道的部分，具有CCD相机的部分，用于检测当前行驶通道 车辆当前正在移动的扫描型雷达单元，用于感测预定区域内的障碍物的扫描型雷达单元，以及用于根据推导出的行进通路和当前行驶通路来判断感测到的障碍物的危险等级的危险等级判定部。 危险程度判定部将将推断出的行驶路和当前行驶路相互重叠的区域内的障碍物的危险程度设定为最高危险度; 在当前行驶通道内的区域内感测到的障碍物，并且没有推断行驶通道，达到中间危险程度; 在推断的行驶通道内的区域内感测到的障碍物并且没有当前的行驶通道，处于较低的危险水平; 在没有当前和推断的行驶通道的地区感测到的障碍达到最低的危险程度。
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