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公开(公告)号：US09758041B2
公开(公告)日：2017-09-12
申请号：US14566705
申请日：2014-12-10
发明人： Kazuya Hieda
CPC分类号： B60K31/0083 , B60W30/18145 , B60W30/18172 , B60W2300/36 , B60W2510/0657 , B60W2520/18 , B60W2520/26 , B60W2520/28 , B60W2520/30 , B60W2540/10 , B60W2710/0605 , F02D11/105 , F02D11/106 , F02D41/0002 , F02D41/021 , F02D41/10 , F02D2011/102 , F02D2200/50 , F02D2200/501 , F02D2200/602 , F02D2250/18
摘要： A driving force control system according to an embodiment of the present invention includes: an absolute bank angle detector configured to detect an absolute bank angle that is the absolute value of a vehicle's bank angle; a calculation circuit configured to calculate a relative bank angle that is the vehicle's relative angle with respect to a maximum absolute bank angle that is the maximum value of the absolute bank angle; and a controller configured to control driving force based on the relative bank angle.
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2.发明授权公开(公告)号：US07512475B2
公开(公告)日：2009-03-31
申请号：US10804745
申请日：2004-03-19
CPC分类号： B60K31/0083 , B60W10/04 , B60W10/18 , B60W30/16 , B60W30/17 , B60W2520/125 , B60W2520/14 , B60W2550/10 , B60W2550/306
摘要： The present invention provides a system and method for enabling a vehicle having adaptive cruise control to reduce its speed in a turn according to the vehicle's position within the turn as well as ignoring objects detected during the turn that are not in the vehicle's path. The method of the present invention includes the steps of operating the vehicle in an adaptive cruise control mode such that the vehicle is traveling at a set speed; determining whether the vehicle is in a turn in the vehicle's path by detecting change in the vehicle's lateral acceleration; and when the vehicle is determined to be in the turn, reducing the vehicle's speed according to the vehicle's position in the turn, monitoring for objects and maintaining the vehicle's speed if an object is positioned out of the path of the vehicle.
摘要翻译： 本发明提供了一种能够使具有自适应巡航控制的车辆能够根据车辆在转弯内的位置而一度降低其速度以及忽略在车辆路径内的转弯期间检测到的物体的系统和方法。 本发明的方法包括以自适应巡航控制模式操作车辆使得车辆以设定速度行驶的步骤; 通过检测车辆的横向加速度的变化来确定车辆是否在车辆的路径中转弯; 并且当车辆被确定为转弯时，如果物体位于车辆的路径之外，则根据车辆的转弯位置降低车辆的速度，监视物体并保持车辆的速度。
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公开(公告)号：US20050216162A1
公开(公告)日：2005-09-29
申请号：US11072415
申请日：2005-03-07
申请人： Tatsuya Suzuki , Genpei Naitou , Shinji Matsumoto
发明人： Tatsuya Suzuki , Genpei Naitou , Shinji Matsumoto
IPC分类号： B60T8/1755 , B60K31/00 , B60K31/04 , B60T8/172 , B60T8/1763 , B60W10/00 , B60W10/06 , B60W30/00 , B60W30/14 , G06F7/70
CPC分类号： B60W40/105 , B60K31/0083 , B60W10/06 , B60W10/18 , B60W10/184 , B60W30/143 , B60W30/16 , B60W40/06 , B60W40/068 , B60W40/08 , B60W40/10 , B60W2510/20 , B60W2520/125 , B60W2520/14 , B60W2520/28 , B60W2540/10 , B60W2550/148 , B60W2710/0605 , B60W2720/106 , B60W2720/125
摘要： There is provided a deceleration control apparatus for an automotive vehicle, including a target vehicle speed calculation unit that calculates a target vehicle speed and a deceleration control unit that performs deceleration control on the vehicle so that the vehicle reaches the target vehicle speed. The target vehicle speed calculation unit has a first target vehicle speed calculating section to give as the target vehicle speed a first target vehicle speed value by dividing a multiplication product of an estimated road friction coefficient and a predetermined target lateral acceleration limit by a determined actual yaw rate, and a target vehicle speed correcting section to correct the target vehicle speed depending on an accelerator pedal depression and a detected actual lateral acceleration, so as to adjust the amount of deceleration control on the vehicle.
摘要翻译： 提供了一种用于机动车辆的减速控制装置，包括计算目标车速的目标车速计算单元和对车辆进行减速控制以使车辆达到目标车速的减速控制单元。 目标车速计算单元具有第一目标车速计算部，通过将估计道路摩擦系数和预定目标横向加速度极限的乘积除以确定的实际偏航量来给出作为目标车速的第一目标车速值 速度和目标车速校正部分，用于根据加速器踏板下压和检测到的实际横向加速度校正目标车速，以便调整对车辆的减速控制量。
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公开(公告)号：US06691014B2
公开(公告)日：2004-02-10
申请号：US10097235
申请日：2002-03-13
申请人： Thomas Reich , Georg Schmidt
发明人： Thomas Reich , Georg Schmidt
IPC分类号： B62D3700
CPC分类号： B60W30/02 , B60G2400/104 , B60G2400/204 , B60G2600/02 , B60G2600/09 , B60G2600/11 , B60G2600/14 , B60G2600/17 , B60G2800/016 , B60G2800/24 , B60G2800/70 , B60K31/0083 , B60T2201/16 , B60T2230/02 , B60W30/14 , B60W2520/10 , B60W2520/125 , B60W2520/14 , B60W2520/20 , B60W2710/0672 , B60W2720/14
摘要： The invention relates to a method and a device for controlling the cornering speed of a vehicle, with determination of the lateral acceleration and of the speed of the vehicle. In order to achieve a simple but effective capability of adjusting the vehicle speed to an optimum value, the yaw angular velocity is additionally determined, and a body slip angle is determined from the lateral acceleration, yaw angular velocity and vehicle speed. The body slip angle is compared with a threshold value. If the body slip angle exceeds this threshold, the set speed of the vehicle is reduced from the instantaneous actual speed, in a manner proportional to the body slip angle. If the body slip angle is below the threshold, the speed is released once again, or in other words the set speed is carried to the actual value of the speed; the driver can then accelerate once again. Adjustment of the set speed is achieved via adaptation of the engine torque. If the actual and set speeds differ, the engine torque is varied by a PD controller in such a way that the actual speed is adjusted to the set speed.
摘要翻译： 本发明涉及一种通过确定车辆的横向加速度和速度来控制车辆的转弯速度的方法和装置。 为了实现将车辆速度调节到最佳值的简单但有效的能力，另外确定偏航角速度，并且根据横向加速度，偏航角速度和车辆速度确定车身滑移角。 将身体滑移角度与阈值进行比较。 如果车身滑动角度超过该阈值，则车辆的设定速度以与车身滑移角成正比的方式从瞬时实际速度减小。 如果车身滑移角度低于阈值，则再次释放速度，换句话说，设定速度被传送到速度的实际值; 司机可以再次加速。 通过适应发动机扭矩来实现设定速度的调节。 如果实际和设定的速度不同，则发动机扭矩由PD控制器改变，使得实际速度被调整到设定速度。
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公开(公告)号：US06208927B1
公开(公告)日：2001-03-27
申请号：US09150194
申请日：1998-09-09
申请人： Atsushi Mine , Koji Matsuno
发明人： Atsushi Mine , Koji Matsuno
IPC分类号： B60T712
CPC分类号： B60K31/0058 , B60K31/0083 , B60W2520/125 , B60W2550/142 , B60W2550/143 , B60W2550/402
摘要： A vehicle maneuvering control device is disclosed. A curve of a road is detected to calculate curve data including a distance between a vehicle and the curve, and a physical quantity indicating a degree of the curve. An allowable deceleration is set at which the vehicle can travel in accordance with conditions of the road. An allowable lateral acceleration is set at which the vehicle can travel in accordance with the conditions of the road. An allowable approaching speed is set at which the vehicle can approaches the curve based on the physical quantity and the lateral acceleration. A deceleration judging speed is calculated for judging whether a present speed at which the vehicle is traveling should be decreased based on the distance, the allowable deceleration and the allowable approaching speed. And, the present speed is decreased when it is higher than the deceleration judging speed.
摘要翻译： 公开了一种车辆操纵控制装置。 检测道路的曲线，计算包括车辆和曲线之间的距离的曲线数据以及表示曲线的程度的物理量。 设定车辆可以根据道路的条件行驶的容许减速度。 设定车辆可以根据道路的条件行驶的允许横向加速度。 设定允许的接近速度，其中车辆可以基于物理量和横向加速度接近曲线。 根据距离，容许减速度和允许的接近速度，判断车辆行驶的当前速度是否应当减小的减速判定速度。 而当速度高于减速判定速度时，当前速度降低。
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公开(公告)号：US3437167A
公开(公告)日：1969-04-08
申请号：US3437167D
申请日：1967-01-03
申请人： EATON YALE & TOWNE
发明人： MUELLER ROBERT S
IPC分类号： B60K31/00
CPC分类号： B60K31/0083
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公开(公告)号：US20160311384A1
公开(公告)日：2016-10-27
申请号：US14696759
申请日：2015-04-27
发明人： Aaron Acuna , Anthony Dwayne Cooprider , Karl William Wojcik , James Michael Weinfurther , David James Tippy , Barb LeMaigre
IPC分类号： B60R16/03
CPC分类号： B60R16/03 , B60K31/00 , B60K31/0083
摘要： A vehicle system includes a processing device programmed to determine an ignition state and a vehicle speed. The processing device powers at least one vehicle subsystem if the ignition state is off and the vehicle speed is above a predetermined threshold. The processing device may disable the vehicle subsystem when the vehicle speed falls below the predetermined threshold.
摘要翻译： 车辆系统包括被编程以确定点火状态和车辆速度的处理装置。 如果点火状态关闭并且车速高于预定阈值，则处理装置为至少一个车辆子系统供电。 当车速低于预定阈值时，处理装置可以禁用车辆子系统。
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公开(公告)号：US07522091B2
公开(公告)日：2009-04-21
申请号：US11022265
申请日：2004-12-24
CPC分类号： B60K31/0066 , B60K31/0008 , B60K31/0083 , B60T2210/24 , B60T2260/08 , B60W2520/14 , B60W2550/143 , B60W2550/302 , B60W2550/304 , B60W2550/306 , G01C21/26 , G01S7/411 , G01S13/58 , G01S13/723 , G01S13/86 , G01S13/931 , G01S2013/9325 , G01S2013/9353 , G01S2013/9375
摘要： A processor using a first Kalman filter estimates a host vehicle state from speed and yaw rate, the latter of which may be from a yaw rate sensor if speed is greater than a threshold, and, if less, from a steer angle sensor and speed. Road curvature parameters are estimated from a curve fit of a host vehicle trajectory or from a second Kalman filter for which a state variable may be responsive to a plurality of host state variables. Kalman filters may incorporate adaptive sliding windows. Curvature of a most likely road type is estimated with an interacting multiple model (IMM) algorithm using models of different road types. A road curvature fusion subsystem provides for fusing road curvature estimates from a plurality of curvature estimators using either host vehicle state, a map database responsive to vehicle location, or measurements of a target vehicle with a radar system.
摘要翻译： 使用第一卡尔曼滤波器的处理器从速度和偏航率估计主车辆状态，如果速度大于阈值，则处理器的状态可以来自偏航率传感器，并且如果较小，则从转向角传感器和速度估计。 道路曲率参数根据主车辆轨迹的曲线拟合或来自状态变量可响应于多个主机状态变量的第二卡尔曼滤波器来估计。 卡尔曼滤波器可以包括自适应滑动窗口。 使用不同道路类型的模型，使用交互式多模型（IMM）算法估计最可能的道路类型的曲率。 道路曲率融合子系统使用主车辆状态，响应于车辆位置的地图数据库或具有雷达系统的目标车辆的测量，提供来自多个曲率估计器的道路曲率估计的融合。
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公开(公告)号：US20070150157A1
公开(公告)日：2007-06-28
申请号：US11297906
申请日：2005-12-09
申请人： Yong Lee , Weiwen Deng
发明人： Yong Lee , Weiwen Deng
IPC分类号： G06F7/00
CPC分类号： B60K31/0066 , B60K31/0083 , B60W10/06 , B60W10/184 , B60W2550/143
摘要： A vehicle curve speed control system (10) adapted for use with a vehicle (12) having an operator (14), includes a map database (16) representing a current vehicle path, and a locator device (20) communicatively coupled to the database (16) and configured to determine the location of the vehicle (12) on the path. The system (10) further includes a controller (36) configured to identify approaching curve points of a curve (18a) in terms of curvature or radius, and determine a desired speed profile based on operator preference and/or vehicle characteristic input. An acceleration profile is determined, based on the current vehicle speed, and desired speed profile. An acceleration/deceleration command at the present control loop is modified towards achieving an optimal curve speed, and is delivered to either a brake or acceleration module (40,42) to automatically accelerate or decelerate the vehicle (12) accordingly.
摘要翻译： 一种适于与具有操作员（14）的车辆（12）一起使用的车辆曲线速度控制系统（10），包括表示当前车辆路径的地图数据库（16）和通信地耦合到数据库的定位装置（20） （16）并且被配置为确定所述车辆（12）在所述路径上的位置。 系统（10）还包括控制器（36），其被配置为基于曲率或半径来识别曲线（18a）的接近曲线点，并且基于操作者偏好和/或车辆特性输入来确定期望的速度曲线。 基于当前车辆速度和期望的速度曲线来确定加速度曲线。 当前控制回路处的加速/减速命令被修改以实现最佳的曲线速度，并被传送到制动器或加速模块（40,42），以相应地自动加速或减速车辆（12）。
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10.发明申请公开(公告)号：US20050209766A1
公开(公告)日：2005-09-22
申请号：US10804745
申请日：2004-03-19
申请人： Robert Perisho , Jeremy Greene
发明人： Robert Perisho , Jeremy Greene
CPC分类号： B60K31/0083 , B60W10/04 , B60W10/18 , B60W30/16 , B60W30/17 , B60W2520/125 , B60W2520/14 , B60W2550/10 , B60W2550/306
摘要： The present invention provides a system and method for enabling a vehicle having adaptive cruise control to reduce its speed in a turn according to the vehicle's position within the turn as well as ignoring objects detected during the turn that are not in the vehicle's path. The method of the present invention includes the steps of operating the vehicle in an adaptive cruise control mode such that the vehicle is traveling at a set speed; determining whether the vehicle is in a turn in the vehicle's path by detecting change in the vehicle's lateral acceleration; and when the vehicle is determined to be in the turn, reducing the vehicle's speed according to the vehicle's position in the turn, monitoring for objects and maintaining the vehicle's speed if an object is positioned out of the path of the vehicle.
摘要翻译： 本发明提供了一种能够使具有自适应巡航控制的车辆能够根据车辆在转弯内的位置而一度降低其速度以及忽略在车辆路径内的转弯期间检测到的物体的系统和方法。 本发明的方法包括以自适应巡航控制模式操作车辆使得车辆以设定速度行驶的步骤; 通过检测车辆的横向加速度的变化来确定车辆是否在车辆的路径中转弯; 并且当车辆被确定为转弯时，如果物体位于车辆的路径之外，则根据车辆的转弯位置降低车辆的速度，监视物体并保持车辆的速度。
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