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    Vehicle run safety apparatus
    2.
    发明授权
    Vehicle run safety apparatus 失效
    车辆运行安全装置

    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

    IPC分类号： B60T7/22 ,  B60W50/08 ,  G01S13/93 ,  B60Q1/00

    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。

    Obstacle sensing apparatus for vehicles
    6.
    发明授权
    Obstacle sensing apparatus for vehicles 失效
    车辆障碍物检测装置

    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

    IPC分类号： B60R21/00 ,  B60W30/00 ,  G01S13/93 ,  G01S15/93 ,  G05D1/02 ,  G08G1/16 ,  G06F165/00

    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。

    Navigation control system with adaptive characteristics
    7.
    发明授权
    Navigation control system with adaptive characteristics 失效
    导航控制系统具有自适应特性

    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

    IPC分类号： B60R21/00 ,  B60W30/00 ,  G05D1/02 ,  G08G1/16 ,  G06F165/00 ,  B62D1/02

    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。

    Obstacle sensing apparatus for vehicles
    9.
    发明授权
    Obstacle sensing apparatus for vehicles 失效
    车辆障碍物检测装置

    公开(公告)号：US5479173A

    公开(公告)日：1995-12-26

    申请号：US207365

    申请日：1994-03-08

    申请人： Tohru Yoshioka ,  Yasunori Yamamoto ,  Tomohiko Adachi ,  Ken-ichi Okuda

    发明人： Tohru Yoshioka ,  Yasunori Yamamoto ,  Tomohiko Adachi ,  Ken-ichi Okuda

    IPC分类号： B60T7/22 ,  G01S13/86 ,  G01S13/93 ,  G05D1/02 ,  G06F15/50

    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。

    Traveling-path deduction apparatus and method for vehicles
    10.
    发明授权
    Traveling-path deduction apparatus and method for vehicles 失效
    车辆行驶路径扣除装置及方法

    公开(公告)号：US5841366A

    公开(公告)日：1998-11-24

    申请号：US683143

    申请日：1996-07-18

    申请人： Yasunori Yamamoto ,  Ayumu Doi ,  Tomohiko Adachi ,  Tohru Yoshioka

    发明人： Yasunori Yamamoto ,  Ayumu Doi ,  Tomohiko Adachi ,  Tohru Yoshioka

    IPC分类号： B60R21/00 ,  B60W30/00 ,  G01S13/93 ,  G01S17/93 ,  G05D1/02 ,  G08G1/16 ,  G08B1/00

    CPC分类号： G01S17/936 ,  G01S13/931 ,  G01S2013/9339 ,  G01S2013/9353 ,  G01S2013/9375

    摘要： A traveling-path temporary-setting unit 21 sets a plurality of temporary traveling paths with different curvatures, and a calculation unit 22 calculates distances between the temporary traveling paths and preceding vehicles detected by a radar unit 1. In case of a properly-set temporary traveling path, the path and running loci of the preceding vehicles are on a concentric circle. In this case, the preceding vehicles are running along this temporary traveling path, and a time change amount of calculated distances is approximately "0". A traveling-path determination unit 23 determines, one temporary traveling path having the minimum time change amount in the distances, as a traveling path of the vehicle.

    摘要翻译： 行驶路径临时设定单元21设定具有不同曲率的多个临时行进路径，计算单元22计算由雷达单元1检测到的临时行驶路径与前一车辆之间的距离。在适当设定的临时 行驶路径，前方车辆的路径和跑道位于同心圆上。 在这种情况下，前述车辆沿着该临时行驶路径行驶，计算出的距离的时间变化量大致为“0”。 行驶路径确定单元23确定具有距离中的最小时间变化量的一个临时行进路径作为车辆的行进路径。