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    Lane deviation prevention device
    1.
    发明授权
    Lane deviation prevention device 有权
    车道偏离防止装置

    公开(公告)号：US08073595B2

    公开(公告)日：2011-12-06

    申请号：US12125424

    申请日：2008-05-22

    申请人： Yoshiaki Tabata ,  Kou Satou

    发明人： Yoshiaki Tabata ,  Kou Satou

    IPC分类号： G06G7/76

    CPC分类号： B60T8/17557 ,  B60T2201/08 ,  B60T2201/083

    摘要： An apparatus to prevent a vehicle from deviating from a lane of travel includes an acquisition device configured to measure a yaw angle between the vehicle and the lane of travel, a lane deviation controller configured to output a yaw moment to maintain the vehicle in the lane of travel, a restriction device configured to restrict the yaw moment output when the measured yaw angle exceeds a first angle limit, and a correction device configured to adjust the first angle limit in response to a measured condition.

    摘要翻译： 一种用于防止车辆偏离行驶通道的装置包括被配置成测量车辆与行车道之间的偏航角的采集装置，车道偏离控制器，被配置为输出横摆力矩以将车辆维持在 行驶，限制装置，被配置为当测量的偏航角超过第一角度限制时限制横摆力矩输出;以及校正装置，被配置为响应于测量条件来调节第一角度限制。

    LANE DEVIATION PREVENTION DEVICE
    2.
    发明申请
    LANE DEVIATION PREVENTION DEVICE 有权
    防范偏差设备

    公开(公告)号：US20090005933A1

    公开(公告)日：2009-01-01

    申请号：US12125424

    申请日：2008-05-22

    申请人： Yoshiaki Tabata ,  Kou Satou

    发明人： Yoshiaki Tabata ,  Kou Satou

    IPC分类号： G06F17/00

    CPC分类号： B60T8/17557 ,  B60T2201/08 ,  B60T2201/083

    摘要： An apparatus to prevent a vehicle from deviating from a lane of travel includes an acquisition device configured to measure a yaw angle between the vehicle and the lane of travel, a lane deviation controller configured to output a yaw moment to maintain the vehicle in the lane of travel, a restriction device configured to restrict the yaw moment output when the measured yaw angle exceeds a first angle limit, and a correction device configured to adjust the first angle limit in response to a measured condition.

    摘要翻译： 一种用于防止车辆偏离行驶通道的装置包括被配置成测量车辆与行车道之间的偏航角的采集装置，车道偏离控制器，被配置为输出横摆力矩以将车辆维持在 行驶，限制装置，被配置为当测量的偏航角超过第一角度限制时限制横摆力矩输出;以及校正装置，被配置为响应于测量条件来调节第一角度限制。

    Lane departure prevention system
    3.
    发明授权
    Lane departure prevention system 有权
    车道离场预防系统

    公开(公告)号：US08812192B2

    公开(公告)日：2014-08-19

    申请号：US11777401

    申请日：2007-07-13

    申请人： Youji Hamaguchi ,  Kou Satou ,  Yasuhisa Hayakawa

    发明人： Youji Hamaguchi ,  Kou Satou ,  Yasuhisa Hayakawa

    IPC分类号： A01B69/00 ,  B62D6/00 ,  B62D11/00 ,  B62D12/00 ,  B63G8/20 ,  B63H25/04 ,  G05D1/00 ,  G06F7/00 ,  G06F17/00 ,  G06F19/00 ,  G05D1/02 ,  G06F17/10 ,  B60W40/114 ,  B60W40/112 ,  B60W40/11 ,  B60T8/1755 ,  B60W50/14 ,  B60W30/12 ,  B60W40/08

    CPC分类号： B60T8/17557 ,  B60T2201/08 ,  B60T2201/086 ,  B60W30/12 ,  B60W40/11 ,  B60W40/112 ,  B60W40/114 ,  B60W50/14 ,  B60W2040/0818

    摘要： A lane departure prevention system is provided with a lane departure tendency detection section, a yaw moment calculating section and a yaw moment control section. The lane departure tendency detection section detects a degree of a lane departure tendency of a host vehicle exhibiting a tendency of departing from its driving lane. The yaw moment calculating section calculates a base yaw moment to be applied to the host vehicle based on the degree of the lane departure tendency. The yaw moment control section applies the base yaw moment calculated by the yaw moment calculating section to the host vehicle when the base yaw moment is equal to or larger than a first prescribed minimum yaw moment, which is greater than zero, and applies the first prescribed minimum yaw moment to the host vehicle if the base yaw moment is smaller than the first prescribed minimum yaw moment.

    摘要翻译： 行车道偏离防止系统具备车道偏离倾向检测部，横摆力矩计算部和横摆力矩控制部。 车道偏离倾向检测部检测出显示倾向于其行驶车道的主车辆的车道偏离倾向的程度。 横摆力矩计算部根据车道偏离倾向的程度来计算应用于本车辆的基准横摆力矩。 当基准横摆力矩大于等于或大于大于零的第一规定最小横摆力矩时，横摆力矩控制部将由横摆力矩计算部计算出的基准横摆力矩应用于主车辆，并施加第一规定 如果基准横摆力矩小于第一规定的最小横摆力矩，则与主车辆的最小横摆力矩。

    VEHICLE DRIVING SUPPORT SYSTEM AND VEHICLE DRIVING SUPPORT METHOD
    5.
    发明申请
    VEHICLE DRIVING SUPPORT SYSTEM AND VEHICLE DRIVING SUPPORT METHOD 有权
    车辆驾驶支持系统和车辆驾驶支持方法

    公开(公告)号：US20100318263A1

    公开(公告)日：2010-12-16

    申请号：US12816019

    申请日：2010-06-15

    申请人： Yasuhisa Hayakawa ,  Kou Satou ,  Masahiro Kobayashi ,  Hidekazu Nakajima

    发明人： Yasuhisa Hayakawa ,  Kou Satou ,  Masahiro Kobayashi ,  Hidekazu Nakajima

    IPC分类号： G08G1/16 ,  B62D6/00

    CPC分类号： B60T8/17557 ,  B60T2201/083 ,  B60T2201/086 ,  B60W30/085 ,  B62D15/025 ,  B62D15/0265

    摘要： When an obstacle is sensed on a side of a vehicle, the future position of the vehicle after a prescribed time is predicted. When the predicted vehicle future position reaches a prescribed lateral position in the lane width direction, a decision to start a control is made, and the vehicle is controlled in a direction to prevent it from coming too close to the obstacle. If a state occurs in which the obstacle is sensed after not being sensed (i.e., it is first sensed), a decision to start the control is suppressed.

    摘要翻译： 当在车辆的一侧感测到障碍物时，预测在规定时间之后的车辆的未来位置。 当预测车辆未来位置在车道宽度方向上达到规定的横向位置时，进行开始控制的决定，并且将车辆控制在防止其太靠近障碍物的方向上。 如果在没有感测到障碍物（即，首先感测到）之后发生障碍物的状态，则抑制开始控制的决定。

    LANE DEVIATION PREVENTION CONTROLLER
    6.
    发明申请
    LANE DEVIATION PREVENTION CONTROLLER 有权
    LANE偏差预防控制器

    公开(公告)号：US20090005934A1

    公开(公告)日：2009-01-01

    申请号：US12143102

    申请日：2008-06-20

    申请人： Takeshi Iwasaka ,  Kou Satou

    发明人： Takeshi Iwasaka ,  Kou Satou

    IPC分类号： B62D6/00

    CPC分类号： B60T8/17557 ,  B60T2201/08 ,  B60T2201/083

    摘要： A deviation controller to prevent deviation of a vehicle from a lane of travel includes a displacement estimator configured to estimate a future lateral displacement of the vehicle with respect to the lane of travel, a detecting device configured to detect a tendency of the vehicle to deviate from the lane of travel, a prevention controller configured to apply a yaw moment to correct a travel path of the vehicle when the tendency of the vehicle to deviate from the lane of travel is detected, a correction canceling device configured to cancel the yaw moment of the prevention controller when a steering angle exceeds a canceling threshold, and a threshold adjusting device configured to adjust the canceling threshold in response to the estimated future lateral displacement.

    摘要翻译： 用于防止车辆偏离行车道的偏差控制器包括被配置为估计车辆相对于行车道的未来横向位移的位移估计器，被配置为检测车辆偏离的倾向的检测装置 行驶车道，被配置为当车辆偏离行车道的倾向时，应用横摆力矩来校正车辆的行驶路径的防止控制装置被配置为消除车辆偏离行车道的偏航力矩 所述阈值调节装置被配置为响应于所述估计的未来横向位移来调整所述抵消阈值。

    Lane deviation prevention controller
    8.
    发明授权
    Lane deviation prevention controller 有权
    车道偏差防止控制器

    公开(公告)号：US08239099B2

    公开(公告)日：2012-08-07

    申请号：US12143102

    申请日：2008-06-20

    申请人： Takeshi Iwasaka ,  Kou Satou

    发明人： Takeshi Iwasaka ,  Kou Satou

    IPC分类号： B62D6/00 ,  G05D1/00

    CPC分类号： B60T8/17557 ,  B60T2201/08 ,  B60T2201/083

    摘要： A deviation controller to prevent deviation of a vehicle from a lane of travel includes a displacement estimator configured to estimate a future lateral displacement of the vehicle with respect to the lane of travel, a detecting device configured to detect a tendency of the vehicle to deviate from the lane of travel, a prevention controller configured to apply a yaw moment to correct a travel path of the vehicle when the tendency of the vehicle to deviate from the lane of travel is detected, a correction canceling device configured to cancel the yaw moment of the prevention controller when a steering angle exceeds a canceling threshold, and a threshold adjusting device configured to adjust the canceling threshold in response to the estimated future lateral displacement.

    摘要翻译： 用于防止车辆偏离行车道的偏差控制器包括被配置为估计车辆相对于行车道的未来横向位移的位移估计器，被配置为检测车辆偏离的倾向的检测装置 行驶车道，被配置为当车辆偏离行车道的倾向时，应用横摆力矩来校正车辆的行驶路径的防止控制装置被配置为消除车辆偏离行车道的偏航力矩 所述阈值调节装置被配置为响应于所述估计的未来横向位移来调整所述抵消阈值。

    LANE DEVIATION PREVENTION DEVICE AND METHOD
    10.
    发明申请
    LANE DEVIATION PREVENTION DEVICE AND METHOD 有权
    LANE偏差预防装置和方法

    公开(公告)号：US20090132125A1

    公开(公告)日：2009-05-21

    申请号：US12273747

    申请日：2008-11-19

    申请人： Takeshi Yonezawa ,  Kou Satou ,  Yasuhisa Hayakawa

    发明人： Takeshi Yonezawa ,  Kou Satou ,  Yasuhisa Hayakawa

    IPC分类号： G06F17/00

    CPC分类号： B60W30/12

    摘要： Disclosed herein are embodiments of controllers and methods of control to enable prevention of departure of vehicle even when the degree of the tendency of the vehicle to depart from the travel lane is low. One such controller comprises a lane departure tendency determining device configured to determine a departure tendency of the vehicle to depart from a travel lane, a yaw moment computing device configured to compute a reference yaw moment based on the departure tendency, a yaw moment correction device configured to compute a target yaw moment based on at least the reference yaw moment and a controller configured to apply the target yaw moment to the vehicle. When the reference yaw moment is lower than a prescribed threshold, the yaw moment correction device gradually increases the target yaw moment over time until the target yaw moment is greater than the prescribed threshold.

    摘要翻译： 这里公开了控制器和控制方法的实施例，即使当车辆离开行车道的趋势程度低时，也能够防止车辆离开。 一个这样的控制器包括：车道偏离倾向确定装置，被配置为确定车辆离开行车道的偏离倾向;偏航力矩计算装置，被配置为基于偏离倾向计算参考横摆力矩;偏航力矩校正装置 至少基于所述参考横摆力矩来计算目标横摆力矩，以及被配置为将所述目标横摆力矩应用于所述车辆的控制器。 当基准横摆力矩低于规定的阈值时，横摆力矩校正装置随着时间逐渐增加目标横摆力矩，直到目标横摆力矩大于规定的阈值。