公开(公告)号：US08706352B2

公开(公告)日：2014-04-22

申请号：US12816019

申请日：2010-06-15

Applicant: Yasuhisa Hayakawa ,  Kou Satou ,  Masahiro Kobayashi ,  Hidekazu Nakajima

Inventor： Yasuhisa Hayakawa ,  Kou Satou ,  Masahiro Kobayashi ,  Hidekazu Nakajima

IPC: B62D6/00 ,  G05D1/00 ,  G06F7/00 ,  G08G1/16

CPC classification number: B60T8/17557 ,  B60T2201/083 ,  B60T2201/086 ,  B60W30/085 ,  B62D15/025 ,  B62D15/0265

Abstract: 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.

Abstract translation: 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。

公开(公告)号：US20100318263A1

公开(公告)日：2010-12-16

申请号：US12816019

申请日：2010-06-15

Applicant: Yasuhisa Hayakawa ,  Kou Satou ,  Masahiro Kobayashi ,  Hidekazu Nakajima

Inventor： Yasuhisa Hayakawa ,  Kou Satou ,  Masahiro Kobayashi ,  Hidekazu Nakajima

IPC: G08G1/16 ,  B62D6/00

CPC classification number: B60T8/17557 ,  B60T2201/083 ,  B60T2201/086 ,  B60W30/085 ,  B62D15/025 ,  B62D15/0265

Abstract: 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.

Abstract translation: 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。

公开(公告)号：US07539566B2

公开(公告)日：2009-05-26

申请号：US11313046

申请日：2005-12-20

Applicant: Satoshi Tange ,  Shinji Matsumoto

Inventor： Satoshi Tange ,  Shinji Matsumoto

IPC: B62D6/00

CPC classification number: B60T8/17557 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2201/086 ,  B60T2201/089

Abstract: A lane departure prevention system comprises a traveling status detecting unit for detecting current lateral displacement and current yaw angle of a vehicle relative to a lane of travel, a departure detecting unit for detecting whether the vehicle is tending to depart from the lane of travel on the basis of current lateral displacement of the vehicle relative to the lane of travel as detected by the traveling status detecting unit; and a departure avoidance control unit for controlling the vehicle to avoid lane departure when the departure detecting unit detects that the vehicle is tending to depart from the lane of travel. The departure avoidance control unit calculating the extent of control necessary to avoid lane departure on the basis of current yaw angle of the vehicle detected by the traveling status detecting unit. Provision is made for preventing lane departure on a curving as well as a straight road.

Abstract translation: 车道偏离预防系统包括：行驶状态检测单元，用于检测车辆相对于行车道的当前横向位移和当前偏航角;出发检测单元，用于检测车辆是否倾向于离开行驶车道 基于行驶状态检测单元检测到的车辆相对于行车道的当前横向位移; 以及离场回避控制单元，用于当出发检测单元检测到车辆倾向于离开行车道时，控制车辆以避免车道偏离。 离场回避控制单元基于由行驶状态检测单元检测到的车辆的当前偏航角来计算避免车道偏离所必需的程度。 规定用于防止弯道和直路上的车道偏离。

公开(公告)号：US20080147249A1

公开(公告)日：2008-06-19

申请号：US12068584

申请日：2008-02-08

Applicant: Nobuyuki Kuge ,  Tomohiro Yamamura ,  Dario Salvucci

Inventor： Nobuyuki Kuge ,  Tomohiro Yamamura ,  Dario Salvucci

IPC: G06F17/00

CPC classification number: B60W40/09 ,  B60T2201/08 ,  B60T2201/086 ,  B60W50/10

Abstract: An intention estimation and operation assistance system for estimating an operator's intention and providing assistance to operation of a machine. Reference data, such as the operation of a plurality of hypothetical operators, is provided for comparison with the operation of a real operator, to determine an estimated intention of the operator. The estimated operator is utilized to alter the operation of the machine, to provide a safer and/or smoother operation experience in operating the machine.

Abstract translation: 一种用于估计操作者意图并为机器操作提供帮助的意图估计和操作辅助系统。 提供参考数据，例如多个假设运算符的操作，用于与实际操作者的操作进行比较，以确定操作者的估计意图。 估计的操作者用于改变机器的操作，以便在操作机器时提供更安全和/或更平滑的操作体验。

公开(公告)号：US20050096829A1

公开(公告)日：2005-05-05

申请号：US10960974

申请日：2004-10-12

Applicant: Takashi Sugano ,  Yoshitaka Uemura

Inventor： Takashi Sugano ,  Yoshitaka Uemura

IPC: B60R21/00 ,  B60T7/12 ,  B60T7/14 ,  B60T8/17 ,  B60T8/1755 ,  B60W30/00 ,  B60W30/16 ,  G08G1/16 ,  G06F19/00

CPC classification number: B60T8/17557 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2201/086

Abstract: A lane departure prevention apparatus is configured to avoid lane departure even when the driver is not focused on driving operations, in a state in which the system-operating switch is OFF. The lane departure prevention apparatus has a driver condition detection section or device for detecting that the condition of the driver which is a condition in which the driver cannot perceive that the host vehicle is tending toward departure, and a lane departure avoidance control device for setting the braking control for avoiding departure in an operable state when the system-operating switch for the driver to instruct the operation of control braking for avoiding the lane departure is OFF, the braking control for avoiding departure is OFF, and the driver condition detection section or device has detected that the condition of the driver is a condition in which the driver cannot perceive that the host vehicle is tending toward departure.

Abstract translation: 车道偏离防止装置被配置为在系统操作开关关闭的状态下即使在驾驶员不关注驾驶操作时也避免行车偏离。 车道偏离防止装置具有驾驶员状态检测部或装置，用于检测作为驾驶员不能察觉到本车辆趋向出发的状况的驾驶员的状况，以及用于设定驾驶员的车道偏离回避控制装置 当用于指示用于避免车道偏离的控制制动的驾驶员的操作开关的系统操作开关为OFF时，用于避免出现在可操作状态的制动控制，用于避免偏离的制动控制为OFF，并且驾驶员状态检测部或装置 已经检测到驾驶员的状况是驾驶员不能察觉到本车辆趋向出发的状况。

公开(公告)号：US20040090319A1

公开(公告)日：2004-05-13

申请号：US10693984

申请日：2003-10-28

Applicant: NISSAN MOTOR CO., LTD.

Inventor： Takeshi Kimura ,  Tatsuya Suzuki ,  Naotaka Usui ,  Genpei Naito

IPC: B60Q001/00

CPC classification number: B60T7/22 ,  B60T2201/02 ,  B60T2201/08 ,  B60T2201/082 ,  B60T2201/086 ,  B60W2550/10 ,  G08G1/166 ,  G08G1/167

Abstract: A warning apparatus for a vehicle determines a contact possibility of the vehicle contacting with an object that is present in front of the vehicle according to a relative distance between the vehicle and the front object, a relative speed between the vehicle and the front object, and the like, and provides a contact possibility warning by changing at least one of the driving torque and braking torque of the vehicle according to the contact possibility. The warning apparatus detects, an intention of the driver of the vehicle to bring the vehicle closer to the front object in a steady driving state of the vehicle by, for example, changing a lane of the vehicle. The warning apparatus calculates a correction value to change the driving torque or braking torque according to a result of the detection, delays the timing of providing the contact possibility warning, and controls braking force.

Abstract translation: 用于车辆的警告装置根据车辆与前方物体之间的相对距离，车辆与前方物体之间的相对速度，确定与车辆前方存在的物体接触的车辆的接触可能性，以及 通过根据接触可能性改变车辆的驱动转矩和制动转矩中的至少一个来提供接触可能性警告。 警报装置通过例如改变车辆的车道来检测车辆的驾驶员意图使车辆在车辆的稳定驾驶状态下靠近前方物体。 警报装置根据检测结果，计算出改变驱动转矩或制动转矩的修正值，延迟提供接触可能性警告的定时，并控制制动力。

公开(公告)号：US08812192B2

公开(公告)日：2014-08-19

申请号：US11777401

申请日：2007-07-13

Applicant: Youji Hamaguchi ,  Kou Satou ,  Yasuhisa Hayakawa

Inventor： Youji Hamaguchi ,  Kou Satou ,  Yasuhisa Hayakawa

IPC: 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 classification number: B60T8/17557 ,  B60T2201/08 ,  B60T2201/086 ,  B60W30/12 ,  B60W40/11 ,  B60W40/112 ,  B60W40/114 ,  B60W50/14 ,  B60W2040/0818

Abstract: 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.

Abstract translation: 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。

公开(公告)号：US07620497B2

公开(公告)日：2009-11-17

申请号：US10510398

申请日：2003-04-16

Applicant: Alexander Maass

Inventor： Alexander Maass

IPC: G08G1/16 ,  B62D6/00

CPC classification number: B62D15/025 ,  B60Q9/008 ,  B60T2201/08 ,  B60T2201/082 ,  B60T2201/086 ,  B60W2050/143 ,  B62D15/029 ,  G01S13/931 ,  G01S2013/9339 ,  G01S2013/9342 ,  G01S2013/9353 ,  G01S2013/9357 ,  G08G1/167

Abstract: A method and a device for driver information and for a reaction upon leaving the traffic lane by a vehicle. In this context, the course of at least one edge marking of the traffic lane is ascertained, the track of the vehicle that is to be expected is determined, and as a function of these variables the possible leaving of the traffic lane by the vehicle is ascertained. In the determination of the track of the vehicle, future reactions of the driver are taken into consideration.

Abstract translation: 一种用于驾驶员信息和车辆离开行车道时的反应的方法和装置。 在这种情况下，确定行车道的至少一个边缘标记的过程，确定要预期的车辆的轨道，并且作为这些变量的函数，车辆可能离开行车道是 确定 在确定车辆的轨道时，考虑驾驶员的未来反应。

公开(公告)号：US07440823B2

公开(公告)日：2008-10-21

申请号：US11012165

申请日：2004-12-16

Applicant: Tomohiro Yamamura ,  Nobuyuki Kuge

Inventor： Tomohiro Yamamura ,  Nobuyuki Kuge

IPC: G05D1/00

CPC classification number: G06K9/00798 ,  B60T7/12 ,  B60T2201/08 ,  B60T2201/086 ,  B60T2260/09 ,  B60W10/04 ,  B60W10/18 ,  B60W40/09 ,  G06K9/00335 ,  G06K9/00805 ,  G08G1/167

Abstract: An intention estimation system and method with confidence indication for providing operation assistance based on an operator's intention. A current operation performed by the operator is detected, and data related to an estimated intention of the operator is generated based on the detected operation. A confidence index of the estimated intention of the operator is then determined. The confidence index indicates, for example, the reliability or strength of the estimated intention. An operation assistance may be provided based on the estimated intention and the confidence index.

Abstract translation: 一种具有置信指示的意图估计系统和方法，用于基于操作者的意图提供操作帮助。 检测由操作者执行的当前操作，并且基于检测到的操作生成与操作者的估计意图相关的数据。 然后确定操作者的估计意图的置信指数。 信心指数例如表示估计意图的可靠性或强度。 可以基于估计的意图和置信指数来提供操作帮助。

公开(公告)号：US20080021613A1

公开(公告)日：2008-01-24

申请号：US11777401

申请日：2007-07-13

Applicant: Youji HAMAGUCHI ,  Kou SATOU ,  Yasuhisa HAYAKAWA

Inventor： Youji HAMAGUCHI ,  Kou SATOU ,  Yasuhisa HAYAKAWA

IPC: G05D1/08

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

Abstract: 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.

Abstract translation: 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。