公开(公告)号：US06294987B1

公开(公告)日：2001-09-25

申请号：US09306514

申请日：1999-05-06

申请人： Shohei Matsuda ,  Satoshi Hada ,  Yoichi Sugimoto ,  Yoshihiro Urai ,  Shoji Ichikawa

发明人： Shohei Matsuda ,  Satoshi Hada ,  Yoichi Sugimoto ,  Yoshihiro Urai ,  Shoji Ichikawa

IPC分类号： B60Q100

CPC分类号： B60T17/22 ,  B60T7/12

摘要： A system for controlling running safety of a vehicle having an alarm and an automatic braking system. A plurality of decelerations &agr;2n of an obstacle such as another vehicle present ahead on the road is predicted and corresponding manipulated variables &agr;1n (braking amount) to be supplied to the vehicle which indicate possible deceleration of the vehicle are determined. Then threshold values L&agr;2n for alarming and automatic braking are determined corresponding to the predicted deceleration and are successively compared with the distance to the obstacle. When the distance falls below any of the threshold values, alarming or automatic braking is effected to avoid contact with the obstacle, thereby making the system relatively simple and enabling operation to match the driver's expectations.

摘要翻译： 一种用于控制具有报警和自动制动系统的车辆的行驶安全性的系统。 预测在道路上存在的其他车辆等障碍物的多个减速度α2n，并且确定要指示车辆可能的减速度的对应于车辆的相应的操作变量α1n（制动量）。 然后根据预测的减速度确定用于报警和自动制动的阈值Lalpha2n，并且与距离障碍物的距离相继进行比较。 当距离低于任何阈值时，进行报警或自动制动，以避免与障碍物接触，从而使系统相对简单，使操作符合驾驶员的期望。

公开(公告)号：US06275772B1

公开(公告)日：2001-08-14

申请号：US09419797

申请日：1999-10-18

申请人： Yoichi Sugimoto ,  Satoshi Hada ,  Yoshihiro Urai ,  Shoji Ichikawa ,  Shohei Matsuda

发明人： Yoichi Sugimoto ,  Satoshi Hada ,  Yoshihiro Urai ,  Shoji Ichikawa ,  Shohei Matsuda

IPC分类号： B62D100

CPC分类号： B60T7/22 ,  B60T7/12

摘要： In a vehicle safety running system, while a contact probability estimation section estimates that there is a probability that a subject vehicle comes into contact with an object and an automatic braking section performs automatic braking, when the driver voluntarily performs a steering operation to avoid the contact, an automatic braking cancellation gradient is calculated based on the contact probability detected with the contact probability estimation section and the steering operation amount detected with the steering operation amount detection section, whereby automatic braking is cancelled at a speed corresponding to the automatic braking cancellation gradient so calculated. When the contact is easily avoided through the steering operation, the automatic braking cancellation gradient is set large so as to cancel automatic braking quickly, while when the contact is difficult to be avoided, the automatic braking cancellation gradient is set small so as to cancel automatic braking moderately.

摘要翻译： 在车辆安全运行系统中，当接触概率估计部估计出本体车辆与物体接触的可能性和自动制动部分进行自动制动时，当驾驶员自主地进行转向操作以避免接触时 基于由接触概率估计部检测到的接触概率和用转向操作量检测部检测到的转向操作量来计算自动制动抵消梯度，由此以与自动制动抵消梯度相对应的速度消除自动制动 计算。 当通过转向操作容易地避免接触时，自动制动抵消梯度被设置得很大以便快速取消自动制动，而当难以避免接触时，自动制动抵消梯度被设置得较小以便自动取消 适度制动

公开(公告)号：US6021375A

公开(公告)日：2000-02-01

申请号：US225570

申请日：1999-01-05

申请人： Yoshihiro Urai ,  Yoichi Sugimoto ,  Satoshi Hada ,  Shoji Ichikawa ,  Shohei Matsuda

发明人： Yoshihiro Urai ,  Yoichi Sugimoto ,  Satoshi Hada ,  Shoji Ichikawa ,  Shohei Matsuda

IPC分类号： B60R21/00 ,  B60T7/12 ,  B60T7/22 ,  B60W30/00 ,  B60W30/09 ,  G01S13/93 ,  G08G1/16 ,  G06F13/376

CPC分类号： B60T7/22

摘要： A system for controlling running safety of a vehicle having at least a brake, a steering mechanism manipulated by a vehicle operator, a laser radar for detecting an obstacle present ahead on a course of travel of the vehicle, and a brake actuator mechanism actuating the brake independently of the vehicle operator manipulation. In the system, a first threshold value (defined in terms of relative distance between the vehicle and the obstacle) for avoiding contact with the obstacle by steering and a second threshold value for avoiding contact by operating the brake actuator mechanism are determined and are compared with the detected relative distance. When the detected relative distance is less than the first threshold value, the brake actuator mechanism is immediately operated to generate a relatively small deceleration, thereby enabling effective obstacle avoidance to well meet the intention and desires of the vehicle operator, without causing a problem of interference with the steering of the vehicle operator, while preventing the control accuracy from being degraded.

摘要翻译： 一种用于控制至少具有制动器的车辆的运行安全性的系统，由车辆操作者操纵的转向机构，用于检测在车辆行驶过程中存在的障碍物的激光雷达以及致动所述制动器的制动致动器机构 独立于车辆操纵者操纵。 在该系统中，确定用于避免通过转向与障碍物接触的第一阈值（以车辆与障碍物之间的相对距离定义），以及通过操作制动致动器机构避免接触的第二阈值，并将其与 检测到的相对距离。 当检测到的相对距离小于第一阈值时，立即操作制动器致动器机构以产生相对小的减速度，从而能够有效地避免障碍以很好地满足车辆操作者的意图和期望，而不会引起干扰问题 同时防止控制精度降低。

公开(公告)号：US5995037A

公开(公告)日：1999-11-30

申请号：US105997

申请日：1998-06-29

申请人： Shohei Matsuda ,  Yoichi Sugimoto ,  Satoshi Hada ,  Shoji Ichikawa ,  Yoshihiro Urai

发明人： Shohei Matsuda ,  Yoichi Sugimoto ,  Satoshi Hada ,  Shoji Ichikawa ,  Yoshihiro Urai

IPC分类号： B60R21/00 ,  B60T7/22 ,  B60W30/00 ,  G01S7/41 ,  G01S13/58 ,  G01S13/93 ,  G08G1/00 ,  G08G1/16

CPC分类号： B60T7/22 ,  G01S13/931 ,  G01S13/58 ,  G01S2013/9325 ,  G01S2013/9346 ,  G01S2013/9353 ,  G01S2013/9357 ,  G01S7/415

摘要： In an obstacle detection system for a vehicle which has a radar having an electromagnetic wave transmission device and a reflected wave reception device, the electromagnetic transmission device transmits electromagnetic waves in a direction in which the vehicle is traveling, and the reflected wave reception device receives reflected waves produced when the electromagnetic waves transmitted from the electromagnetic wave transmission device are reflected by an object present in the traveling direction of the vehicle. The system detects obstacles present in the traveling direction of the vehicle based on the result of a radar search operation, and it is possible to identify only those objects detrimental to the traveling of the vehicle as obstacles. An obstacle decision device decides whether or not the object detected by the radar is an obstacle, by using the detected value determined by a vehicle speed detection device which detects the speed of the vehicle, the calculated value determined by a relative distance calculation device that calculates a relative distance to the object present in the traveling direction of the vehicle based on the result of search operation by the radar, and the calculated value determined by an overlap calculation device that calculates an overlap in the width direction of the vehicle between the vehicle and the object according to the result of the search operation by the radar.

摘要翻译： 在具有电磁波传输装置和反射波接收装置的雷达的车辆的障碍物检测系统中，电磁传输装置沿车辆行驶方向发送电磁波，反射波接收装置 当从电磁波传输装置发射的电磁波被车辆行进方向上存在的物体反射时产生的波。 该系统基于雷达搜索操作的结果来检测车辆的行进方向上存在的障碍物，并且可以仅识别对作为障碍物的车辆行驶有害的那些物体。 障碍物判定装置通过使用由检测车速的车速检测装置决定的检测值来判定由雷达检测出的物体是否是障碍物，由计算出的相对距离计算装置确定的计算值 基于雷达的搜索操作的结果，存在于车辆行进方向上的物体的相对距离，以及由重叠计算装置确定的计算值，该重叠计算装置计算车辆和车辆的车辆宽度方向上的重叠 根据雷达搜索操作的结果对象。

公开(公告)号：US06292753B1

公开(公告)日：2001-09-18

申请号：US09380626

申请日：1999-09-17

申请人： Yoichi Sugimoto ,  Shoji Ichikawa ,  Yoshihiro Urai ,  Satoshi Hada

发明人： Yoichi Sugimoto ,  Shoji Ichikawa ,  Yoshihiro Urai ,  Satoshi Hada

IPC分类号： G01S1393

CPC分类号： B60T13/72 ,  B60T7/22 ,  B60T8/3275

摘要： When a radar device S1 detects an object existing ahead of a vehicle in the movement direction of the vehicle, a determining device M1 determines a possibility of contact of the vehicle with the object from the relative positional relationship between the vehicle and the object, based on the result of such detection. If it is determined there is the possibility of contact, an automatic braking device M2 operates a vacuum booster 2 to carry out an automatic braking operation to avoid the contact of the vehicle with the object. When a braking-will detecting device M3 detects a driver's braking will during the automatic braking operation by the automatic braking device M2, an emergency-degree presuming device M4 presumes a degree of emergency in the driver's braking will, and the automatic braking device M2 generates the braking force corresponding to the degree of emergency to assist in the braking operation of the driver. This enables a smooth switch-over from the avoidance of the contact by the automatic braking operation to the avoidance of the contact by the driver's braking operation, and a high braking force assisted by the automatic braking operation can be generated to effectively avoid the contact.

摘要翻译： 当雷达装置S1检测到在车辆的移动方向上存在于车辆前方的物体时，确定装置M1基于车辆与物体之间的相对位置关系确定车辆与物体接触的可能性，基于 这种检测的结果。 如果确定存在接触的可能性，则自动制动装置M2操作真空助力器2以执行自动制动操作，以避免车辆与物体的接触。 当制动器检测装置M3在自动制动装置M2的自动制动操作期间检测到驾驶员的制动时，紧急度假定装置M4假设驾驶员的制动中的紧急程度，并且自动制动装置M2产生 对应于紧急程度的制动力来辅助驾驶员的制动操作。 这样可以通过自动制动操作避免接触而平滑地切换，避免驾驶员的制动操作的接触，并且可以产生由自动制动操作辅助的高制动力，以有效地避免接触。

公开(公告)号：US06169478A

公开(公告)日：2001-01-02

申请号：US09199797

申请日：1998-11-25

申请人： Satoshi Hada ,  Shoji Ichikawa ,  Yoichi Sugimoto ,  Yoshihiro Urai

发明人： Satoshi Hada ,  Shoji Ichikawa ,  Yoichi Sugimoto ,  Yoshihiro Urai

IPC分类号： B60Q100

CPC分类号： G01S17/936 ,  B60K31/0008 ,  B60T7/22 ,  B60T8/172 ,  B60T2201/02 ,  B60W2050/143 ,  G01S13/865 ,  G01S13/931 ,  G01S2013/9325 ,  G01S2013/9346 ,  G01S2013/9353 ,  G01S2013/9375 ,  G08G1/16 ,  G08G1/166

摘要： A vehicle control system having a laser radar for detecting an obstacle present ahead on a course of travel of the vehicle; and control device for operating a brake or an alarm based on an output of the laser radar when a distance from the vehicle to the obstacle is less than a first predetermined value or is less than a third predetermined value. In the system, a millimeter-wave radar, which is inferior to the laser radar in position detection accuracy, but is superior in weather-proof operation, is provided. When the laser radar is inoperative, the control device operates the brake or alarm based on the output of the millimeter-wave radar when the distance is less than a second predetermined value (less than the first predetermined value) or is less than a forth predetermined value (greater than the third predetermined value), thereby expediting the alarm initiation to alert the vehicle driver at an appropriate time, while ensuring the proper brake initiation, so as not to cause the vehicle driver to experience annoyance.

摘要翻译： 一种具有激光雷达的车辆控制系统，用于检测在车辆行驶过程中向前存在的障碍物; 以及当从车辆到障碍物的距离小于第一预定值或小于第三预定值时，基于激光雷达的输出来操作制动器或报警器的控制装置。 在该系统中，提供了一种毫米波雷达，其在位置检测精度方面优于激光雷达，但是在防风雨操作方面是优异的。 当激光雷达不起作用时，当距离小于第二预定值（小于第一预定值）或小于第四预定值时，控制装置基于毫米波雷达的输出来操作制动或报警 值（大于第三预定值），从而在确保正确的制动器启动的同时，在适当的时间加快报警开始来警告车辆驾驶员，从而不会导致车辆驾驶员感到烦恼。

公开(公告)号：US06408247B1

公开(公告)日：2002-06-18

申请号：US09559744

申请日：2000-04-27

申请人： Shoji Ichikawa ,  Yoichi Sugimoto ,  Satoshi Hada ,  Yoshihiro Urai

发明人： Shoji Ichikawa ,  Yoichi Sugimoto ,  Satoshi Hada ,  Yoshihiro Urai

IPC分类号： B61L110

CPC分类号： B60R21/0134 ,  B60R21/013 ,  G01S13/931 ,  G01S2013/9346 ,  G01S2013/9353 ,  G01S2013/9375

摘要： The accuracy of determination of a possibility of collision of a vehicle with an object is enhanced without the shortening of a period for detection of the object by an object detecting apparatus. A collision-possibility determining device determines the presence or absence of a possibility of collision of the vehicle with the obstacle by comparing a future locus of movement of the obstacle determined by an obstacle locus determining device based on an output from a radar device, with a future locus of movement of the vehicle determined by a vehicle locus determining apparatus based on outputs from wheel speed sensors and a yaw rate sensor. The period of the detection conducted by the radar device providing data about the obstacle to the obstacle locus determining apparatus is 100 msec, but the obstacle locus determining apparatus, the vehicle locus determining apparatus and the collision-possibility determining apparatus carry out the determination of the possibility of collision at a determination period shorter than the detection period of 100 msec. Thus, it is possible to carry out the determination of the possibility of collision at the shorter determination period without use of a large-sized and expensive radar device, thereby enhancing the determination accuracy.

摘要翻译： 在不用物体检测装置检测物体的周期缩短的情况下，能够提高确定车辆与物体的碰撞的可能性的准确性。 碰撞可能性确定装置通过将由障碍物轨迹确定装置确定的障碍物的未来运动轨迹基于雷达装置的输出进行比较，来确定车辆与障碍物的碰撞的存在或不存在，以及 基于来自车轮速度传感器和偏航率传感器的输出的由车辆轨迹确定装置确定的车辆的未来运动轨迹。 雷达装置向障碍物轨迹确定装置提供关于障碍物的数据进行的检测的周期为100毫秒，但是障碍物轨迹确定装置，车辆轨迹确定装置和碰撞可能性确定装置执行 在碰撞的可能性比检测周期短100毫秒的确定期间。 因此，可以在不使用大型和昂贵的雷达装置的情况下，在较短的确定时间内进行碰撞的可能性的确定，从而提高确定精度。

公开(公告)号：US06260880B1

公开(公告)日：2001-07-17

申请号：US09413340

申请日：1999-10-12

申请人： Satoshi Hada ,  Yoichi Sugimoto ,  Shoji Ichikawa ,  Yoshihiro Urai

发明人： Satoshi Hada ,  Yoichi Sugimoto ,  Shoji Ichikawa ,  Yoshihiro Urai

IPC分类号： B60R2132

CPC分类号： B60R21/01516 ,  B60R21/01536 ,  B60R21/01546 ,  B60R21/01554 ,  B60T7/22

摘要： A vehicle travel safety device carries out automatic braking in order to prevent a subject vehicle from coming into contact with an object, and proximate expansion of an air bag is reliably prevented. When there is a possibility of a subject vehicle coming into contact with an object, automatic braking is carried out in order to prevent the contact. If a seat belt wear state sensor detects that an occupant is not wearing a seat belt and an air bag expansion possibility estimating means estimates that there is a possibility of an air bag expanding, by means of an automatic braking means, the deceleration rate of the automatic braking is reduced so that the occupant is prevented from moving forwards due to the inertia accompanying the braking and causing proximate expansion. When the speed of the subject vehicle at the time when automatic braking is started is high, the relative speed between the subject vehicle and the object at the time when automatic braking is started is high. Thus, the time taken for the subject vehicle to come into contact with the object is short or the speed of the subject vehicle at which it will come into contact with the object is high. Therefore, the air bag expansion possibility estimating means estimates that there is a possibility of the air bag expanding.

摘要翻译： 车辆行驶安全装置进行自动制动，以防止本车辆与物体接触，并且可靠地防止气囊的靠近膨胀。 当目标车辆与物体接触的可能性时，为了防止接触，进行自动制动。 如果安全带磨损状态传感器检测到乘员没有佩戴安全带，并且气囊膨胀可能性估计装置通过自动制动装置估计有可能使气囊膨胀，则减速率 减少自动制动，使得乘员由于伴随制动的惯性而被阻止向前移动并引起接近的膨胀。 当自动制动开始时本车辆的速度高时，当车辆与自动制动开始时的物体之间的相对速度高时， 因此，本车辆与物体接触所花费的时间短或与物体接触的本车辆的速度很快。 因此，气囊膨胀可能性估计装置估计有可能使气囊膨胀。

公开(公告)号：US06203120B1

公开(公告)日：2001-03-20

申请号：US09251424

申请日：1999-02-17

申请人： Yoshihiro Urai ,  Yoichi Sugimoto ,  Satoshi Hada ,  Shoji Ichikawa

发明人： Yoshihiro Urai ,  Yoichi Sugimoto ,  Satoshi Hada ,  Shoji Ichikawa

IPC分类号： B60T886

CPC分类号： B60T13/662 ,  B60T7/12 ,  B60T7/22 ,  B60T8/4827 ,  B60T2201/02 ,  Y10S367/909

摘要： When the behavior of a vehicle becomes unstable during an automatic braking operation for avoiding contact of the vehicle with an object, the restoring of the unstable state backed up to effectively avoid the contact of the vehicle with the object. When a radar device in the vehicle, detects the object exist ahead of the vehicle in the direction of movement of the vehicle, the possibility of the contact of the vehicle with the object is determined by a determining device from the relative positional relationship between the vehicle and the object, based on the result of the detection. When it is determined that there is the possibility of the contact, an automatic braking device operates a vacuum booster to carry out an automatic braking operation. When the unstable state of the vehicle is detected by an unstable state detector during the automatic braking operation by the automatic braking device, the automatic braking device forcibly continues the automatic braking operation, until the vehicle reaches a state in which the unstable state is not detected, whether or not it is determined that there is the possibility of the contact of the vehicle with the object. Thus, it is possible to precisely control the continuation and finishing of the automatic braking operation to reliably achieve the avoidance of the contact of the vehicle with the object, while preventing the behavior of the vehicle from further becoming unstable due to the discontinuation of the automatic braking operation.

摘要翻译： 当在自动制动操作期间车辆的行为变得不稳定以避免车辆与物体的接触时，恢复支撑的不稳定状态以有效地避免车辆与物体的接触。 当车辆中的雷达装置检测到车辆在车辆的移动方向上存在的物体时，车辆与物体接触的可能性由确定装置根据车辆之间的相对位置关系确定 并根据检测结果对象。 当确定存在接触的可能性时，自动制动装置操作真空助力器以执行自动制动操作。 当在自动制动装置的自动制动操作期间由不稳定状态检测器检测到车辆的不稳定状态时，自动制动装置强制地继续自动制动操作，直到车辆达到未检测到不稳定状态的状态 是否确定存在车辆与物体的接触的可能性。 因此，可以精确地控制自动制动操作的持续和完成，以可靠地实现避免车辆与物体的接触，同时防止车辆的行为由于自动停止而进一步变得不稳定 制动操作。

公开(公告)号：US6157294A

公开(公告)日：2000-12-05

申请号：US199337

申请日：1998-11-25

申请人： Yoshihiro Urai ,  Yoichi Sugimoto ,  Satoshi Hada ,  Shoji Ichikawa

发明人： Yoshihiro Urai ,  Yoichi Sugimoto ,  Satoshi Hada ,  Shoji Ichikawa

IPC分类号： G01B11/30 ,  B60Q1/52 ,  B60W30/00 ,  G01B21/00 ,  G01S7/03 ,  G01S7/481 ,  G01S7/497 ,  G01S13/93 ,  G01S17/87 ,  G01S17/93 ,  G08G1/00 ,  G08G1/16 ,  B60Q1/00

CPC分类号： G01S17/936 ,  B60Q1/52 ,  G01S17/875 ,  G01S7/4813 ,  G01S7/4972 ,  B60G2400/82 ,  B60G2401/00

摘要： A vehicle control system for detecting an obstacle present ahead on the road in the course of travel of a vehicle, comprising a first laser radar mounted on the vehicle which emits an electromagnetic beam to detect the obstacle present ahead on the road, and second and third laser radars which measures distances between the first laser radar and the road surface at different angles. The system determines whether the first laser radar is mounted on the vehicle such that the laser beam central axis is horizontal or inclines upward or downward relative to the road surface or vehicle body, based on the distances, a height of the first laser radar from the road surface, the angles at which the distances are measured and reference values. The system may correct the inclination if determined. With the arrangement, the system ensures detection of an obstacle on the road without fail and conduction of a desired obstacle avoidance control.

摘要翻译： 一种车辆控制系统，用于在车辆行驶过程中检测在道路上存在的障碍物，其包括安装在车辆上的第一激光雷达，其发射电磁波束以检测在道路上存在的障碍物，以及第二和第三 激光雷达，其以不同的角度测量第一激光雷达和路面之间的距离。 该系统基于距离，确定第一激光雷达是否安装在车辆上，使得激光束中心轴线相对于路面或车身向上或向下倾斜， 路面，测量距离的角度和参考值。 如果确定，系统可以纠正倾斜度。 通过这种安排，该系统可确保在道路上无障碍地检测障碍物，并导致所需的障碍物避免控制。