公开(公告)号：US06370471B1

公开(公告)日：2002-04-09

申请号：US09719071

申请日：2001-01-08

Applicant: Herbert Lohner ,  Peter Dominke ,  Chi-Thuan Cao ,  Klaus-Dieter Leimbach ,  Werner Harter ,  Mathias Hommel

Inventor： Herbert Lohner ,  Peter Dominke ,  Chi-Thuan Cao ,  Klaus-Dieter Leimbach ,  Werner Harter ,  Mathias Hommel

IPC: G06F16500

CPC classification number: B60W30/10 ,  B60G2800/166 ,  B60K31/0008 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2201/085 ,  B60T2201/086 ,  B60T2201/087 ,  B60W10/20 ,  B60W30/16 ,  B60W2750/30 ,  G05D1/024 ,  G05D1/0246 ,  G05D1/0257 ,  G05D2201/0213

Abstract: The invention concerns a system for automatic following guidance, particularly for heavy-traffic automatic following guidance, of a motor vehicle (1), designed to ease the burden on the driver in heavy-traffic situations both by taking over lateral guidance by means of an automatic steering regulation system and by maintaining a set distance from a leading vehicle. The latter function requires an adaptive cruise and braking regulation system with “stop” and “go” function. According to the invention, selection and decision means (5, 6, 7, 8, 9) are provided that select both the regulating parameters and the types of controllers [sic], e.g., following guidance of the motor vehicle (1) on the basis of lane markings recognized by means of a video camera or on the basis of a recognized leading vehicle. The system is divided into hierarchical levels I-IV, the driver always being in the monitoring and adaptation loop assigned to the top level IV of the hierarchy, so that he has the highest priority and can override the system at any time.

Abstract translation: 本发明涉及一种用于自动跟随指导的系统，特别是用于机动车辆（1）的重型交通自动跟随指导的系统，其被设计成通过以下方式通过接管横向引导来减轻驾驶员在重型交通情况下的负担 自动转向调节系统，并保持与前方车辆的距离。 后一种功能需要具有“停止”和“去”功能的自适应巡航和制动调节系统。 根据本发明，提供了选择和确定装置（5,6,7,8,9），其选择调节参数和控制器的类型，例如，在机动车辆（1）的引导下 通过摄像机或基于认可的领先车辆识别的车道标记的基础。 该系统被分为I-IV级别，驱动程序始终处于分配给层次结构的顶层IV的监控和适配循环中，以便他具有最高优先级，并可随时覆盖系统。

公开(公告)号：US5983161A

公开(公告)日：1999-11-09

申请号：US717807

申请日：1996-09-24

Applicant: Jerome H. Lemelson ,  Robert D. Pedersen

Inventor： Jerome H. Lemelson ,  Robert D. Pedersen

IPC: G01S5/14 ,  G01S13/86 ,  G01S13/93 ,  G01S17/02 ,  G01S17/93 ,  G01S19/11 ,  G01S19/48 ,  G07C5/08 ,  G08G1/123 ,  G08G1/16 ,  G06F165/00

CPC classification number: G01S19/11 ,  G07C5/0891 ,  G08G1/164 ,  G08G1/20 ,  B60T2201/022 ,  B60T2201/08 ,  B60T2201/082 ,  B60T2201/083 ,  B60T2201/085 ,  B60T2201/087 ,  G01S13/86 ,  G01S13/931 ,  G01S17/023 ,  G01S17/936 ,  G01S2013/9321 ,  G01S2013/9325 ,  G01S2013/9339 ,  G01S2013/9342 ,  G01S2013/9346 ,  G01S2013/935 ,  G01S2013/9353 ,  G01S2013/9357 ,  G01S2013/936 ,  G01S5/009

Abstract: GPS satellite (4) ranging signals (6) received (32) on comm1, and DGPS auxiliary range correction signals and pseudolite carrier phase ambiguity resolution signals (8) from a fixed known earth base station (10) received (34) on comm2, at one of a plurality of vehicles/aircraft/automobiles (2) are computer processed (36) to continuously determine the one's kinematic tracking position on a pathway (14) with centimeter accuracy. That GPS-based position is communicated with selected other status information to each other one of the plurality of vehicles (2), to the one station (10), and/or to one of a plurality of control centers (16), and the one vehicle receives therefrom each of the others' status information and kinematic tracking position. Objects (22) are detected from all directions (300) by multiple supplemental mechanisms, e.g., video (54), radar/lidar (56), laser and optical scanners. Data and information are computer processed and analyzed (50,52,200,452) in neural networks (132, FIGS. 6-8) in the one vehicle to identify, rank, and evaluate collision hazards/objects, an expert operating response to which is determined in a fuzzy logic associative memory (484) which generates control signals which actuate a plurality of control systems of the one vehicle in a coordinated manner to maneuver it laterally and longitudinally to avoid each collision hazard, or, for motor vehicles, when a collision is unavoidable, to minimize injury or damage therefrom. The operator is warned by a heads up display and other modes and may override. An automotive auto-pilot mode is provided.

公开(公告)号：US5369591A

公开(公告)日：1994-11-29

申请号：US29722

申请日：1993-03-11

Applicant: Charles Broxmeyer

Inventor： Charles Broxmeyer

IPC: G05D1/02 ,  G08G1/16 ,  G06F15/50

CPC classification number: G08G1/22 ,  G05D1/0261 ,  G05D1/027 ,  G05D1/0272 ,  G08G1/164 ,  B60T2201/022 ,  B60T2201/08 ,  B60T2201/083 ,  G05D2201/0213

Abstract: This invention provides automatic longitudinal control of vehicles on highways, including speed control and protection against collision. The invention also provides for lane changing, following highway directional changes, route control, and transitions between the operator-controlled and the automatically controlled states. The invention is ideally configured to be employed jointly and cooperatively with previously developed means of automatic lateral control. Groups of permanent magnets are embedded in the highway surface at regular intervals. Permanent magnet sensors are installed in vehicles so that proximity and polarity indications of embedded magnets are obtained as a vehicle proceeds along the highway. Each group of magnets encodes a pseudo-random number that is sensed by the vehicle equipment and transmitted, via a radio link, to wayside computing equipment which determines vehicle longitudinal position and vehicle separation distances that are used as the basis of safety commands which are transmitted to the vehicles from the wayside. The system is configured to provide the highest possible reliability and fail-safe operation through employment of triply redundant communication and computation elements.

Abstract translation: 本发明提供高速公路上车辆的自动纵向控制，包括速度控制和防碰撞保护。 本发明还提供车道改变，跟随公路方向改变，路线控制以及操作员控制和自动控制状态之间的转换。 本发明理想地构造成与以前开发的自动横向控制装置共同使用。 永久磁铁组以规律的间隔嵌入高速公路表面。 永磁传感器被安装在车辆中，使得随着车辆沿高速公路行驶，获得嵌入式磁体的接近和极性指示。 每组磁体编码由车辆设备感测并通过无线电链路传送到路边计算设备的伪随机数，该路线计算设备确定用作传输的安全命令的基础的车辆纵向位置和车辆间隔距离 从路边的车辆。 该系统配置为通过使用三重冗余通信和计算元件提供最高可靠性和故障安全操作。

公开(公告)号：US20170355355A1

公开(公告)日：2017-12-14

申请号：US15346887

申请日：2016-11-09

Applicant: Hyundai Motor Company

Inventor： Il Young CHANG

IPC: B60T8/1755 ,  G05D1/02 ,  B60T7/12

CPC classification number: B60T8/17557 ,  B60T7/12 ,  B60T7/22 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2250/03 ,  G05D1/021 ,  G05D2201/0213

Abstract: A lane keeping control method for a vehicle may include determining, by a controller, whether a wheel speed difference exists between predetermined wheels, during braking while the vehicle travels straight, determining, by the controller, a reference wheel and a control wheel, based on the wheel speed difference between the predetermined wheels, and reducing, by the controller, a wheel speed difference between the reference wheel and the control wheel by performing pre-decompression control for the control wheel, when the wheel speed difference exists.

公开(公告)号：US09227633B2

公开(公告)日：2016-01-05

申请号：US14040625

申请日：2013-09-28

Applicant: VOLVO LASTVAGNAR AB

Inventor： Jan-Inge Svensson ,  Jochen Pohl ,  Sten Ragnhult

IPC: B60W30/12 ,  B60W10/18 ,  B60W10/20 ,  B60T8/17 ,  B60T8/1755 ,  B62D5/04 ,  B62D6/00 ,  B62D15/02

CPC classification number: B60W30/12 ,  B60T8/1708 ,  B60T8/17557 ,  B60T2201/083 ,  B60W10/18 ,  B60W10/20 ,  B62D5/0472 ,  B62D6/008 ,  B62D15/025

Abstract: A method for changing a vehicle's trajectory, wherein the vehicle includes a steering arrangement including a manual steering device, at least one pair of ground engaging members and a mechanical interconnection therebetween, includes the steps of applying a braking force to at least one of the ground engaging members so that the vehicle's trajectory is changed, and simultaneously suppressing steering device disturbances resulting from the mechanical interconnection.

Abstract translation: 一种用于改变车辆轨迹的方法，其中所述车辆包括包括手动转向装置的转向装置，至少一对地面接合构件和它们之间的机械互连，包括以下步骤：向至少一个地面施加制动力 使车辆轨迹变化，同时抑制由机械互连引起的转向装置的干扰。

公开(公告)号：US08896433B2

公开(公告)日：2014-11-25

申请号：US12864335

申请日：2008-11-26

Applicant: Bernd Danner ,  Uli Kolbe ,  Rainer Moebus ,  Markus Raab ,  Uwe Regensburger ,  Reinhold Schoeb ,  Anke Dorle Dudeck ,  Lars Dudeck ,  Sven Gerhard Dudeck

Inventor： Bernd Danner ,  Uli Kolbe ,  Rainer Moebus ,  Markus Raab ,  Uwe Regensburger ,  Reinhold Schoeb ,  Ingo Dudeck

IPC: B60Q1/00 ,  B62D15/02 ,  B60T8/1755

CPC classification number: B62D15/025 ,  B60T8/17557 ,  B60T2201/08 ,  B60T2201/082 ,  B60T2201/083 ,  B62D15/0265

Abstract: In a method and apparatus for assisting the driver of a vehicle in maintaining a traffic lane limited by traffic lane markings, the traffic lane markings and the position of the vehicle in the traffic lane are detected. Upon an actual or impending change of traffic lanes a lane change warning is output to the driver of the vehicle in a first step, and a course correcting actuating intervention counteracting the lane change is carried out in a second step. The actuating intervention is carried out only if the change of traffic lanes is impermissible due to the type of traffic lane marking to be crossed during the traffic lane change, or if the lane change is not possible without danger due to collision-endangering objects present on the side of the traffic lane.

Abstract translation: 在用于辅助车辆的驾驶员维持由行车道标记限制的行车道的方法和装置中，检测行车道标记和车辆在行车道中的位置。 在实际或即将改变的行车道时，在第一步骤中将车道变更警告输出到车辆的驾驶员，并且在第二步骤中执行抵消车道改变的行驶校正致动干预。 执行干预只有在行车道变更不允许的情况下进行，这是由于在行车道改变期间要交叉的行车道标线的类型，或者如果由于碰撞危害物体不存在危险而无法进行车道更换 行车线的一侧。

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：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：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。