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    Lane departure prevention system
    1.
    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。

    LANE DEVIATION PREVENTION DEVICE AND METHOD
    3.
    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。

    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。

    Vehicle driving control apparatus and vehicle driving control method
    8.
    发明授权
    Vehicle driving control apparatus and vehicle driving control method 有权
    车辆驾驶控制装置和车辆驾驶控制方法

    公开(公告)号：US08655549B2

    公开(公告)日：2014-02-18

    申请号：US12497787

    申请日：2009-07-06

    申请人： Yasuhisa Hayakawa ,  Masahiro Kobayashi ,  Ko Sato ,  Shuhei Nishimaki

    发明人： Yasuhisa Hayakawa ,  Masahiro Kobayashi ,  Ko Sato ,  Shuhei Nishimaki

    IPC分类号： B62D6/00

    CPC分类号： B60W30/12 ,  B60T8/17557 ,  B60T2201/08 ,  B60T2201/087 ,  B60W30/08

    摘要： A vehicle driving control apparatus is provided with a lane detecting device, a future position estimating device and a vehicle control device. The lane detecting device detects a lane marker of a lane. The future position estimating device estimates a future transverse position of a host vehicle after a prescribed amount of time. The vehicle control device executes a vehicle control such that a yaw moment is imparted to the host vehicle toward a middle of the lane. The yaw moment is imparted upon determining that the future transverse position is positioned laterally farther toward an outside of the lane from the middle of the lane than a prescribed widthwise lane position that is determined in advance using the lane marker as a reference. The vehicle control device suppresses an impartation of the yaw moment device when a recognition degree of the lane marker is lower than a prescribed value.

    摘要翻译： 车辆行驶控制装置具备车道检测装置，未来位置估计装置和车辆控制装置。 车道检测装置检测车道的车道标记。 未来位置估计装置在规定的时间量之后估计本车辆的未来横向位置。 车辆控制装置执行车辆控制，使得向主车辆向车道的中心施加横摆力矩。 在确定未来横向位置比从预先使用车道标记作为参考确定的规定的宽度方向车道位置横向更远离车道中部的车道中间位置时，赋予偏航力矩。 当车道标记的识别度低于规定值时，车辆控制装置抑制偏航力矩装置的赋予。

    Vehicle driving assistant and vehicle driving assisting method
    9.
    发明授权
    Vehicle driving assistant and vehicle driving assisting method 有权
    车辆驾驶助理和车辆驾驶辅助方法

    公开(公告)号：US08577515B2

    公开(公告)日：2013-11-05

    申请号：US13384017

    申请日：2010-07-15

    申请人： Masahiro Kobayashi ,  Yasuhisa Hayakawa ,  Kou Sato

    发明人： Masahiro Kobayashi ,  Yasuhisa Hayakawa ,  Kou Sato

    IPC分类号： G05D1/00 ,  G05D3/00 ,  G06F7/00 ,  G06F17/00

    CPC分类号： B60T8/17558 ,  B60K2350/1084 ,  B60T7/22 ,  B60T2201/08 ,  B60T2210/32 ,  B60W30/08 ,  B60W2550/10 ,  G08G1/166 ,  G08G1/167

    摘要： A driving assisting system for a vehicle comprises a side obstacle detector configured to detect an obstacle present in an obstacle detection area; an obstacle approach prevention controller configured to implement an obstacle approach prevention control which assists an approach prevention for preventing the vehicle from approaching an obstacle detected by the side obstacle detector; an overtaking state detector configured to detect an overtaking state which is at least one of a first state where the vehicle is overtaking the obstacle detected by the side obstacle detector and a second state where the vehicle is estimated to overtake the obstacle. The overtaking state detector is configured to detect the overtaking state based at least on (i) a distance between the vehicle and the obstacle, (ii) a speed of the vehicle relative to the obstacle, and (iii) a detection angle of the obstacle relative to the vehicle.

    摘要翻译： 一种用于车辆的驾驶辅助系统，包括：侧障碍物检测器，被配置为检测障碍物检测区域中存在的障碍物; 障碍物进近防止控制器，被配置为实现障碍物进近防止控制，其辅助防止车辆接近由侧面障碍物检测器检测到的障碍物的防止接近; 超车状态检测器，被配置为检测超车状态，所述超车状态是车辆超越侧障碍物检测器检测到的障碍物的第一状态和估计车辆超过障碍物的第二状态中的至少一个。 超车状态检测器被配置为至少基于（i）车辆与障碍物之间的距离，（ii）车辆相对于障碍物的速度，以及（iii）障碍物的检测角度来检测超车状态 相对于车辆。

    RUNNING CONTROL DEVICE, AND RUNNING CONTROL METHOD
    10.
    发明申请
    RUNNING CONTROL DEVICE, AND RUNNING CONTROL METHOD 失效
    运行控制装置和运行控制方法

    公开(公告)号：US20110137487A1

    公开(公告)日：2011-06-09

    申请号：US13055979

    申请日：2009-06-12

    申请人： Shuhei Nishimaki ,  Yasuhisa Hayakawa ,  Masahiro Kobayashi ,  Ko Sato

    发明人： Shuhei Nishimaki ,  Yasuhisa Hayakawa ,  Masahiro Kobayashi ,  Ko Sato

    IPC分类号： G08G1/16 ,  G06F7/00

    CPC分类号： G01S13/931 ,  B60T7/22 ,  B60W10/18 ,  B60W10/184 ,  B60W10/20 ,  B60W30/08 ,  B60W30/0956 ,  B60W30/12 ,  B60W2720/14 ,  B62D6/002 ,  B62D15/025 ,  B62D15/0265 ,  G01S2013/9342 ,  G08G1/16 ,  G08G1/167

    摘要： [Object] An object of the present invention is to restrict an unnecessary control intervention at a scene where a vehicle avoids an obstacle etc. ahead of the vehicle by steering.[Means to Solve] A lateral object that exists on a side of the vehicle is detected (step S3), a later-arriving lateral position Xf at which the vehicle arrives after a lapse of a headway time Tt, with respect to a traffic lane, is estimated, and when the later-arriving lateral position Xf reaches a predetermined threshold value XL under the condition in which the lateral object is detected, a lane change of the vehicle in a direction to a side of the lateral object is suppressed. When detecting that the vehicle moves laterally in a direction opposite to a side of a side vehicle, an avoidance flag is set to Fa=1 (step S6). Subsequently, when the vehicle starts a lateral movement in a direction to the side of the side vehicle, a return flag is set to Fr=1 (step S7). When the return flag is set to Fr=1 in this way, a suppression flag is set to F=0 until a setting time Tm elapses, then the suppression of the lateral movement is forbidden (step S9).

    摘要翻译： 本发明的目的是通过转向来限制车辆在车辆前方的障碍物等的场合的不必要的控制干预。 [解决方法]检测存在于车辆一侧的横向物体（步骤S3），相对于行车道，车辆到达后的车辆到达的后方侧向位置Xf ，并且当在检测到侧面物体的条件下后来到达的横向位置Xf达到预定阈值XL时，车辆沿横向物体侧的方向的车道改变被抑制。 当检测到车辆在与侧车辆的侧面相反的方向上横向移动时，将回避标志设置为Fa = 1（步骤S6）。 随后，当车辆沿着侧车辆侧面的方向开始横向移动时，将返回标志设定为Fr = 1（步骤S7）。 当以这种方式将返回标志设置为Fr = 1时，抑制标志被设置为F = 0，直到经过设定时间Tm，则禁止横向移动的抑制（步骤S9）。