公开(公告)号：WO01056849A1

公开(公告)日：2001-08-09

申请号：PCT/GB2001/000359

申请日：2001-01-30

IPC: B60R21/01 ,  B60R21/013 ,  B60R21/0134 ,  B60T7/22 ,  B60T8/1755 ,  B62D6/00 ,  B60T8/00 ,  G05D1/02

CPC classification number: B60T8/17557 ,  B60R21/0134 ,  B60R2021/01311 ,  B60T7/22 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2201/087 ,  B60T2210/36 ,  B60T2260/02 ,  B60W10/12 ,  B60W10/18 ,  B60W10/20 ,  B60W30/10 ,  B62D6/00

Abstract: A motor vehicle comprises a plurality of road engaging wheels (7-10), a braking system (3, 14-18) linked to the wheels (7-10) by which a driver of the vehicle (1) may brake the vehicle, a motive means (50) linked to one or more of the wheels (7-10) by which a driver of the vehicle may control vehicle sped, and a dynamic stability control system that includes a means (12-17, 20-22, 24) for deducing the position and orientation of the vehicle (1) with respect to a roadway (4) on which the vehicle travels, a path prediction system ( 12-17, 20-22, 24) for predicting the trajectory (Tp) of the motor vehicle (1) with respect to the roadway (4) and for identifying when the predicted trajectory (Tp) would place the vehicle in danger, and a wheel slip detection system (14-18, 51) for detecting loss of traction of one or more of the wheels (12-17). The dynamic stability control system monitors wheel slip and the predicted trajectory (Tp) of the vehicle (1), and, if loss of wheel traction is detected when the predicted trajectory (Tp) would place the vehicle (1) in danger, acts to alter (Tc) the predicted trajectory, for example by controlling the braking system (14-18) and/or the motive means (50) in such a way that the identified danger is reduced or eliminated.

Abstract translation: 机动车辆包括多个道路接合轮（7-10），连接到车轮（7-10）的制动系统（3,14-18），车辆（1）的驾驶员可以通过该制动系统来制动车辆， 与车辆的驾驶员可以控制车辆行驶的一个或多个车轮（7-10）连接的动力装置（50），以及动态稳定性控制系统，其包括装置（12-17,20-22， 24），用于推定车辆（1）相对于车辆行驶的道路（4）的位置和方向，用于预测轨迹（Tp）的路径预测系统（12-17,20-22,24） 以及用于识别所述预测轨迹（Tp）何时将所述车辆置于危险中的车辆滑行检测系统（14-18,51），用于检测所述机动车辆（1）相对于所述道路（4） 一个或多个轮（12-17）。 动态稳定控制系统监测车辆滑移和车辆（1）的预测轨迹（Tp），并且如果当预测轨迹（Tp）将车辆（1）置于危险中时检测到车轮牵引力的损失，则动作 改变（Tc）预测轨迹，例如通过以确定的危险被减少或消除的方式控制制动系统（14-18）和/或动力装置（50）。

公开(公告)号：WO1997002167A1

公开(公告)日：1997-01-23

申请号：PCT/JP1995001350

申请日：1995-07-04

Applicant: MINAKAMI, Hiroyuki ,  MINAKAMI, Motoyuki

IPC: B61B13/00

CPC classification number: B60L15/38 ,  B60L5/005 ,  B60L9/24 ,  B60L11/1803 ,  B60L11/182 ,  B60L11/1831 ,  B60L11/1833 ,  B60L13/03 ,  B60L2200/26 ,  B60L2200/44 ,  B60L2240/70 ,  B60L2260/32 ,  B60P3/07 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2201/087 ,  B61B13/08 ,  B62D1/26 ,  B62D37/00 ,  B62D39/00 ,  Y02P90/60 ,  Y02T10/7005 ,  Y02T10/7072 ,  Y02T10/7291 ,  Y02T30/30 ,  Y02T30/40 ,  Y02T90/12 ,  Y02T90/121 ,  Y02T90/122 ,  Y02T90/125 ,  Y02T90/14 ,  Y02T90/16

Abstract: In a traffic/transportation system in which a truck with an automobile/container mounted/fixed thereon travels, a normal steering operation is carried out by changing the direction of wheels (including tires) by an electronically controlled automatic steering system on the basis of steering information, whereby comfortable travel and a smooth turn are obtained. When the truck is about to run off a lane on which it travels, the run-off thereof is prevented physically and mechanically since a fin provided on the truck is inserted in a groove provided in a road, whereby a safe traffic/transportation system is obtained. The truck obtains a driving force by a gap length regulated/controlled linear induction motor so that the truck can travel at a high speed. In branching (diverging) and converging points, the branching (diverging)/converging of the trucks is practiced by steering the wheels (tires) by the automatic steering system, and the truck advances with the fin inserted in a groove in a main line or a ramp, whereby a reliable, safe traffic/transportation system adapted to practice high-speed branching (diverging) is obtained. At the exit/entrance of the present invention to/from a general road, a mode interchange is provided which is adapted to convert a travelling mode of automobile/container, and mount and fix an automobile/container on the truck and unfasten such automobile/container.

Abstract translation: 在其中安装有/固定其上的汽车/集装箱的卡车行进的交通/运输系统中，通过基于转向的电子控制的自动转向系统改变车轮（包括轮胎）的方向来进行正常的转向操作 信息，从而获得舒适的旅行和平稳的转弯。 当卡车即将跑出行驶的车道时，由于设在车上的翼片插入设在道路上的槽中，所以其物理和机械性能的防止其被防止，从而安全的交通/运输系统 获得。 卡车通过间隙长度调节/控制的线性感应电动机获得驱动力，使卡车能够高速行驶。 在分支（发散）和收敛点中，卡车的分支（发散）/收敛通过由自动转向系统转向轮子（轮胎）来实现，并且卡车前进，其中翅片插入主线中的凹槽中，或 获得适应于实施高速分支（发散）的可靠，安全的交通/运输系统的坡道。 在本发明的出入口处，从一般道路出来，提供了一种模式交换装置，其适于转换汽车/集装箱的行驶模式，并将汽车/集装箱安装和固定在卡车上并将该汽车/ 容器。

公开(公告)号：US20190210575A1

公开(公告)日：2019-07-11

申请号：US16310212

申请日：2017-04-12

Applicant: ROBERT BOSCH GMBH

Inventor： Alfred STREHLE ,  Markus MENGELKAMP ,  Thomas SCHMIDT

IPC: B60T8/1755

CPC classification number: B60T8/17557 ,  B60T8/17554 ,  B60T2201/087 ,  B60T2201/16 ,  B60T2270/402 ,  B60W30/02 ,  B62D15/025 ,  B62D15/0265

Abstract: A method for carrying out a driver-independent braking maneuver of a motor vehicle includes ascertaining a reference trajectory of the motor vehicle, ascertaining a lateral guidance force variable representing the lateral guidance force necessary for guidance of the motor vehicle on the reference trajectory, ascertaining, as a function of the lateral guidance force variable, a longitudinal force variable representing the maximum longitudinal force transferable in a longitudinal vehicle direction, and, based on the longitudinal force variable and driver-independently, establishing a braking force variable representing the braking force of the motor vehicle.

公开(公告)号：US20140172220A1

公开(公告)日：2014-06-19

申请号：US13895647

申请日：2013-05-16

Applicant: HYUNDAI MOTOR COMPANY

Inventor： Byung Yong You

IPC: B60W30/12

CPC classification number: G05D1/0297 ,  B60T2201/08 ,  B60T2201/087 ,  B60W30/12 ,  G01C21/3658 ,  G01S2013/9342 ,  G05D2201/0213

Abstract: An unmanned autonomous traveling service apparatus and method based on driving information database that allows an unmanned autonomous traveling vehicle to be autonomously operated stably without performing a large scale computing process in real time by allowing the unmanned autonomous traveling vehicle to be autonomously operated based on driving information generated in a database and allowing the unmanned autonomous traveling vehicle to be autonomously operated based on an installed sensor at the time of a traffic lane change or an unexpected situation. In particular, the driving information is collected from drivers throughout the world to create the database for the driving information.

Abstract translation: 基于驾驶信息数据库的无人自主旅行服务装置和方法，其允许无人驾驶的自动行驶车辆通过基于驾驶信息自主地运行而无需实时地执行大规模的计算处理，从而能够自主地运行无人自主行驶车辆 在数据库中产生并且允许无人自行行驶车辆在行车道改变时或者意外情况下基于安装的传感器自主操作。 特别是，驾驶信息从世界各地的司机收集，以创建驾驶信息的数据库。

公开(公告)号：US08565935B2

公开(公告)日：2013-10-22

申请号：US13283004

申请日：2011-10-27

Applicant: Yuichi Mizutani ,  Hirofumi Nitta ,  Yasuhiko Mukai ,  Mitsuhiro Tokimasa ,  Junpei Tatsukawa ,  Yoshihisa Ogata ,  Hajime Kumabe ,  Masatoshi Hanzawa ,  Masaki Maruyama

Inventor： Yuichi Mizutani ,  Hirofumi Nitta ,  Yasuhiko Mukai ,  Mitsuhiro Tokimasa ,  Junpei Tatsukawa ,  Yoshihisa Ogata ,  Hajime Kumabe ,  Masatoshi Hanzawa ,  Masaki Maruyama

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

CPC classification number: B62D6/003 ,  B60T8/17557 ,  B60T2201/087 ,  B60T2260/022 ,  B60W10/184 ,  B60W10/20 ,  B60W30/02 ,  B60W40/114 ,  B60W50/035 ,  B60W50/045 ,  B60W50/14 ,  B60W2050/0095 ,  B60W2050/021 ,  B60W2520/14 ,  B62D7/159

Abstract: The lateral motion control apparatus calculates lateral motion control amounts for a plurality of control targets that operate cooperatively in order to change the lateral motion amount of the vehicle based on a target value for the lateral motion amount of the vehicle, and control the plurality of control targets based on the calculated lateral motion control amounts. Meanwhile, it is determined whether or not the control of the plurality of control targets is to be stopped. When it has been determined that the control of the plurality of control targets is to be stopped, lateral motion degeneration control amounts are determined for each of the plurality of control targets so that the lateral motion control amounts of the plurality of control targets degenerate starting at that time, and the plurality of control targets are controlled based on the determined lateral motion degeneration control amounts.

Abstract translation: 横向运动控制装置计算用于协调运行的多个控制目标的横向运动控制量，以便基于车辆的横向运动量的目标值来改变车辆的横向运动量，并且控制多个控制 基于计算出的横向运动控制量的目标。 同时，确定是否停止对多个控制目标的控制。 当已经确定要停止对多个控制目标的控制时，为多个控制目标中的每一个确定横向运动变形控制量，使得多个控制目标的横向运动控制量从 该时间，并且基于所确定的横向运动退化控制量来控制多个控制目标。

公开(公告)号：US20130226409A1

公开(公告)日：2013-08-29

申请号：US13877114

申请日：2011-09-28

Applicant: Tomonori Akiyama ,  Shinji Igarashi ,  Yuki Yoshihama

Inventor： Tomonori Akiyama ,  Shinji Igarashi ,  Yuki Yoshihama

IPC: B60W30/02 ,  B60W10/20

CPC classification number: B60W30/02 ,  B60T8/17557 ,  B60T2201/083 ,  B60T2201/085 ,  B60T2201/087 ,  B60W10/184 ,  B60W10/20 ,  B60W30/12 ,  B60W2520/14 ,  B60W2720/14 ,  B62D6/003 ,  B62D15/025

Abstract: Disclosed is a driving support apparatus for setting a traveling lane in which a vehicle can travel on the basis of a road marking to indicate a lane boundary or a traveling-prohibited region and performing support by combining steering of the vehicle and deceleration of the vehicle so that the vehicle is allowed to travel in the traveling lane if the vehicle is to be departed from the traveling lane, wherein the steering of the vehicle and the deceleration of the vehicle, which are to be performed when the support is performed so that the vehicle is allowed to travel in the traveling lane, are individually controlled depending on a difference ΔY between a target yaw rate Ytrg and an actual yaw rate Yrea if the actual yaw rate Yrea is smaller than the target yaw rate Ytrg in order not to allow the vehicle to exceed the traveling lane.

Abstract translation: 公开了一种驾驶辅助装置，用于设置行驶车道，其中车辆可以基于道路标记行驶以指示车道边界或行驶禁止区域，并且通过组合车辆的转向和车辆的减速度来执行支撑 如果车辆要离开行车道，车辆被允许在行车道中行驶，其中车辆的转向和车辆的减速度将在执行支撑时执行，使得车辆 被允许在行驶车道中行驶，如果实际横摆率Yrea小于目标横摆角速度Ytrg，则根据目标横摆角速度Ytrg和实际横摆角速度Yrea之间的差ΔYY单独控制，以便不允许车辆 超越行车道。

公开(公告)号：US08521416B2

公开(公告)日：2013-08-27

申请号：US13043984

申请日：2011-03-09

Applicant: Yuki Nakada ,  Toshiya Oosawa ,  Akira Takahashi

Inventor： Yuki Nakada ,  Toshiya Oosawa ,  Akira Takahashi

IPC: F41G9/00 ,  G06F17/10 ,  G06G7/78

CPC classification number: B60W30/12 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2201/087 ,  B62D15/025

Abstract: A vehicle control apparatus includes a first section that recognizes a lane boundary line of a lane in which a vehicle is traveling. A second section recognizes a present position of a predetermined reference point of the vehicle. A third section calculates a predicted position of the reference point, wherein the predicted position is a predetermined interval ahead of the present position. A fourth calculates an imaginary lane boundary line, wherein the imaginary lane boundary line is tangent to the lane boundary line at a point close to the predicted position. A fifth section performs a control of preventing the vehicle from deviating from the lane by controlling the vehicle depending on positional relationship between the vehicle and the lane boundary line. A sixth section selectively permits and suppresses the control depending on positional relationship among the imaginary lane boundary line, the present position, and the predicted position.

Abstract translation: 车辆控制装置包括识别车辆行驶的车道的车道边界线的第一部分。 第二部分识别车辆的预定参考点的当前位置。 第三部分计算参考点的预测位置，其中预测位置是在当前位置之前的预定间隔。 第四计算虚拟车道边界线，其中虚拟车道边界线在靠近预测位置的点处与车道边界线相切。 第五部分通过根据车辆与车道边界线之间的位置关系控制车辆来执行防止车辆偏离车道的控制。 第六部分根据虚拟车道边界线，当前位置和预测位置之间的位置关系选择性地允许和抑制控制。

公开(公告)号：US20120323446A1

公开(公告)日：2012-12-20

申请号：US13328445

申请日：2011-12-16

Applicant: MICHAEL BÄR ,  KARL-HEINZ MEITINGER

Inventor： MICHAEL BÄR ,  KARL-HEINZ MEITINGER

IPC: B62D6/00

CPC classification number: B62D15/025 ,  B60T7/18 ,  B60T8/17557 ,  B60T2201/087 ,  B60T2210/36 ,  B60W10/20 ,  B60W30/10 ,  B60W2050/0045 ,  B60W2420/42 ,  B60W2520/18 ,  B60W2550/14 ,  B60W2550/143 ,  B60W2550/146 ,  B60W2550/402 ,  B60W2710/207 ,  B62D6/04

Abstract: In a method for the operation of a transverse guiding driver assist system of a motor vehicle, a road banking information is ascertained as a function of a change in a deviation of a transverse course of a road surface from a horizontal. A future road course is determined from environmental data and/or operating data of a motor vehicle, using the road banking information. A lateral track deviation is determined as a result of a change of a road banking, using the road banking information. At least one transverse guiding parameter is established from the future road course and the road banking information to determine a steering intervention. The lateral track deviation is then corrected by using the transverse guiding parameter.

Abstract translation: 在用于机动车辆的横向引导驾驶员辅助系统的操作的方法中，确定道路交通信息作为路面横向与水平方向的偏差变化的函数。 使用道路银行信息，根据汽车的环境数据和/或运行数据确定未来的道路路线。 使用道路银行信息，作为道路银行变更的结果确定横向轨道偏离。 从未来道路路线和道路银行信息建立至少一个横向引导参数，以确定转向干预。 然后使用横向引导参数来校正横向轨迹偏差。

公开(公告)号：US20120109416A1

公开(公告)日：2012-05-03

申请号：US13283004

申请日：2011-10-27

Applicant: Yuichi Mizutani ,  Hirofumi Nitta ,  Yasuhiko Mukai ,  Mitsuhiro Tokimasa ,  Junpei Tatsukawa ,  Yoshihisa Ogata ,  Hajime Kumabe ,  Masatoshi Hanzawa ,  Masaki Maruyama

Inventor： Yuichi Mizutani ,  Hirofumi Nitta ,  Yasuhiko Mukai ,  Mitsuhiro Tokimasa ,  Junpei Tatsukawa ,  Yoshihisa Ogata ,  Hajime Kumabe ,  Masatoshi Hanzawa ,  Masaki Maruyama

IPC: G06F7/00

CPC classification number: B62D6/003 ,  B60T8/17557 ,  B60T2201/087 ,  B60T2260/022 ,  B60W10/184 ,  B60W10/20 ,  B60W30/02 ,  B60W40/114 ,  B60W50/035 ,  B60W50/045 ,  B60W50/14 ,  B60W2050/0095 ,  B60W2050/021 ,  B60W2520/14 ,  B62D7/159

Abstract: The lateral motion control apparatus calculates lateral motion control amounts for a plurality of control targets that operate cooperatively in order to change the lateral motion amount of the vehicle based on a target value for the lateral motion amount of the vehicle, and control the plurality of control targets based on the calculated lateral motion control amounts. Meanwhile, it is determined whether or not the control of the plurality of control targets is to be stopped. When it has been determined that the control of the plurality of control targets is to be stopped, lateral motion degeneration control amounts are determined for each of the plurality of control targets so that the lateral motion control amounts of the plurality of control targets degenerate starting at that time, and the plurality of control targets are controlled based on the determined lateral motion degeneration control amounts.

Abstract translation: 横向运动控制装置计算用于协调运行的多个控制目标的横向运动控制量，以便基于车辆的横向运动量的目标值来改变车辆的横向运动量，并且控制多个控制 基于计算出的横向运动控制量的目标。 同时，确定是否停止对多个控制目标的控制。 当已经确定要停止对多个控制目标的控制时，为多个控制目标中的每一个确定横向运动变形控制量，使得多个控制目标的横向运动控制量从 该时间，并且基于所确定的横向运动退化控制量来控制多个控制目标。

公开(公告)号：US20110054741A1

公开(公告)日：2011-03-03

申请号：US12846174

申请日：2010-07-29

Applicant: Stephan STABREY

Inventor： Stephan STABREY

IPC: B62D6/00

CPC classification number: B62D6/003 ,  B60T8/1755 ,  B60T2201/083 ,  B60T2201/087 ,  B60T2201/16 ,  B60W10/16 ,  B60W10/18 ,  B60W10/20 ,  B60W30/08 ,  B60W2030/082 ,  B60W2520/14 ,  B62D15/0265

Abstract: A method for influencing the direction of travel of a vehicle. In order to lower the risk of accidents in driving situations in which the driver reacts incorrectly, for example because of being surprised, it is provided that the driving operation be monitored in reference to the occurrence of an event due to which the travel direction of the vehicle changes, deviating from the travel direction specified at the steering wheel, and when such an event is detected that an automatic intervention in the driving operation be performed whereby the vehicle is moved back approximately into the original direction of travel in which it was moving before the event occurred.

Abstract translation: 一种影响车辆行驶方向的方法。 为了降低驾驶员驾驶不正确的情况下的事故的风险，例如由于感到惊讶，就是根据事件的发生情况来监视驾驶操作，由此， 车辆变化，偏离方向盘指定的行进方向，并且当检测到这样的事件时，执行驾驶操作的自动干预，由此车辆大致移动到其移动之前的原始行进方向 事件发生了。