公开(公告)号：US20180201242A1

公开(公告)日：2018-07-19

申请号：US15919567

申请日：2018-03-13

Applicant: Continental Teves AG & Co. oHG

Inventor： Kai Bretzigheimer ,  Stefan Feick

IPC: B60T8/1755

CPC classification number: B60T8/17557 ,  B60T2201/083 ,  B60T2201/085 ,  B60T2201/087 ,  B60W2520/14

Abstract: A method for performing closed-loop control of a motor vehicle having a brake system with a stability control system comprises comparing an actual yaw rate with a setpoint yaw rate which is calculated using a model. A yaw moment of a closed-loop or open-loop assistance control of an assistance system for lane guidance or transverse guidance is taken into account during the calculation of the setpoint yaw rate. An electronic brake control unit which is suitable for carrying out the method and is connected to at least one vehicle sensor, in particular a steering angle sensor, yaw rate sensor and/or wheel rotational speed sensors. The brake control unit can bring about, through actuation of actuators, a driver-independent increase in and a modulation of the braking forces at the individual wheels of the vehicle.

公开(公告)号：US09604609B2

公开(公告)日：2017-03-28

申请号：US14275062

申请日：2014-05-12

Applicant: Ford Global Technologies, LLC

Inventor： Shane Elwart ,  Walter Joseph Talamonti ,  Doug Scott Rhode

IPC: B60W30/09 ,  B62D6/00 ,  G05D1/02 ,  B60W10/18 ,  B60W10/20 ,  B60T8/1755 ,  B60W30/10 ,  G08G1/16

CPC classification number: B60T8/1755 ,  B60T8/17557 ,  B60T2201/087 ,  B60W10/18 ,  B60W10/20 ,  B60W30/09 ,  B60W30/10 ,  B62D6/00 ,  G05D1/0246 ,  G05D1/0257 ,  G08G1/16 ,  G08G1/166 ,  G08G1/167

Abstract: An emergency in-lane steering assist system for use during a braking event comprises an object sensor for detecting the presence of an object in front of a motor vehicle and providing data from which the distance from the object to the motor vehicle is determined and a velocity sensor providing data from which the forward velocity of the motor vehicle is determined. A controller in communication with the object sensor and the velocity sensor calculates a Time to Contact (TTC) with the detected object and a steering system is responsive at least in part to operation by the controller. If the calculated TTC is less than a predetermined TTC, the controller provides a lateral steering input during the braking event to reduce the linear distance traveled by the motor vehicle relative to a predetermined path in the lane.

公开(公告)号：US09073576B2

公开(公告)日：2015-07-07

申请号：US13224803

申请日：2011-09-02

Applicant: Jin-Woo Lee ,  Bakhtiar Brian Litkouhi

Inventor： Jin-Woo Lee ,  Bakhtiar Brian Litkouhi

IPC: B60W40/08 ,  B62D1/28 ,  B62D6/00 ,  B62D15/02

CPC classification number: B62D1/286 ,  B60T2201/08 ,  B60T2201/087 ,  B60W40/08 ,  B60W2520/14 ,  B62D6/00 ,  B62D15/025

Abstract: Vehicle steering measurements of a vehicle may be measured. Expected vehicle steering measurements may be calculated, each calculated expected vehicle steering measurement corresponding to one of the measured vehicle steering measurements. At least one difference between one of the measured vehicle steering measurements and its corresponding calculated expected vehicle steering measurement may be calculated. A lower boundary and an upper boundary of at least one override transition zone, each of the override transition zones corresponding to one of the measured vehicle steering measurements and its corresponding calculated expected vehicle steering measurement, may be calculated. Steering control of the vehicle may be gradually transferred from an automatic vehicle control system to a driver of the vehicle over a predetermined period of time when one or more of the calculated differences lie between the calculated lower boundary and the calculated upper boundary of the corresponding override transition zone.

Abstract translation: 可以测量车辆的车辆转向测量。 可以计算预期的车辆转向测量值，每个计算的预期车辆转向测量值对应于所测量的车辆转向测量之一。 可以计算测量的车辆转向测量值中的一个与其对应的计算的预期车辆转向测量之间的至少一个差。 可以计算至少一个超控过渡区域的下边界和上边界，对应于所测量的车辆转向测量值之一的每个超控过渡区域及其对应的计算出的预期车辆转向测量值。 在计算出的下边界和计算出的下边界与所计算的相应覆盖的上边界之间的一个或多个计算的差异在预定的时间段内，车辆的转向控制可以从自动车辆控制系统逐渐转移到车辆的驾驶员 过渡区。

公开(公告)号：US08577553B2

公开(公告)日：2013-11-05

申请号：US13282766

申请日：2011-10-27

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

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

IPC: A01B69/00 ,  B62D6/00 ,  B62D5/04 ,  B60G17/018

CPC classification number: B60W50/045 ,  B60T8/17557 ,  B60T2201/087 ,  B60W10/184 ,  B60W10/20 ,  B60W30/02 ,  B60W50/035 ,  B60W50/14 ,  B60W2050/0095 ,  B60W2050/021 ,  B60W2540/18 ,  B62D1/286 ,  B62D6/003 ,  B62D15/025

Abstract: A lateral motion control apparatus for a vehicle includes a control stop determination unit that determines whether or not to stop the control for the control target by the control target control unit based on a steering operation amount inputted by a driver of the vehicle, and a degeneration control amount determination unit that determines a degeneration control amount for the control target such that the control amount for the control target degenerates after the time when the control stop determination unit has determined that the control for the control target is to be stopped. When the control stop determination unit has determined that the control for the control target is to be stopped, the control target control unit controls the control target based on the degeneration control amount determined by the degeneration control amount determination unit.

Abstract translation: 一种用于车辆的横向运动控制装置，包括控制停止确定单元，其基于由车辆的驾驶员输入的转向操作量来确定是否停止由控制目标控制单元执行的控制目标的控制，以及退化 控制量确定单元，其确定控制目标的退化控制量，使得控制目标的控制量在控制停止确定单元已经确定将要停止对控制目标的控制的时间之后退化。 当控制停止确定单元已经确定要停止对控制目标的控制时，控制目标控制单元基于由退化控制量确定单元确定的退化控制量来控制控制目标。

公开(公告)号：US08346427B2

公开(公告)日：2013-01-01

申请号：US12867643

申请日：2009-01-09

Applicant: Sachio Kobayashi

Inventor： Sachio Kobayashi

IPC: G05D1/00

CPC classification number: B62D15/025 ,  B60T8/17557 ,  B60T2201/083 ,  B60T2201/087 ,  B60W10/18 ,  B60W10/20 ,  B60W30/18172 ,  B60W50/08 ,  B60W2050/146 ,  B60W2520/10 ,  G08G1/167

Abstract: A vehicle travel support device is capable of properly controlling the operation of a steering device and the like from the viewpoint of supporting the travel of a vehicle stably even in a situation where a travel area is inappropriately demarcated by right and left lane marks at both sides. A virtual travel area can be set as a travel area when a first condition is satisfied, that is, when the separation between the right and the left lane marks in width direction of a road increases to an inappropriate extent from the viewpoint of demarcating the travel area because the separation therebetween gradually increases as the distance from the vehicle increases. The operation of a steering device and the like is controlled such that the vehicle will not depart from the virtual travel area set as the travel area.

Abstract translation: 车辆行驶辅助装置能够从支撑车辆的行驶稳定的观点来适当地控制转向装置等的动作，即使在行驶区域被两侧的左右车道标记不适当地划定的情况下 。 当满足第一条件时，也可以将道路的宽度方向上的左右车道标记之间的间隔从划分行驶的角度上升到适当的程度，将虚拟行驶区域设定为行驶区域 因为随着距离车辆的距离增加，它们之间的分离逐渐增加。 控制转向装置等的操作，使得车辆不会离开设置为行驶区域的虚拟行驶区域。

公开(公告)号：US08306700B2

公开(公告)日：2012-11-06

申请号：US12867605

申请日：2009-01-09

Applicant: Sachio Kobayashi

Inventor： Sachio Kobayashi

IPC: A01B69/00

CPC classification number: B62D15/025 ,  B60T8/17557 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2201/087 ,  B60W10/18 ,  B60W10/20 ,  B60W30/18172 ,  B60W50/08 ,  B60W2050/146 ,  B60W2520/10 ,  G08G1/167

Abstract: A vehicle travel support device capable of continuing operation even when the recognition accuracy of a lane mark has been degraded, and the like, wherein the degree of control on the operation of a steering device or the like is set higher as the reliability of a lane mark becomes higher. In a state in which the reliability of a travel area demarcated by the lane mark is high, a vehicle's travel is relatively strongly or actively supported so that the vehicle will not depart from the travel area. On the other hand, the degree of control on the operation of the steering device or the like is set lower as the reliability of the lane mark is lower. In a state in which the reliability of the travel area demarcated by the lane mark is low, the vehicle's travel is relatively weakly or passively supported so that the vehicle will not depart from the travel area.

Abstract translation: 即使当车道标识的识别精度已经劣化时能够继续操作的车辆行驶支持装置等，其中转向装置等的操作的控制程度被设置为更高，因为车道的可靠性 标记变得更高。 在车道标记划分的行驶区域的可靠性高的状态下，车辆的行驶相对强烈地或主动地被支撑，使得车辆不会离开行驶区域。 另一方面，由于车道标记的可靠性较低，所以对转向装置等的操作的控制程度降低。 在车道标记划定的行驶区域的可靠性低的状态下，车辆的行驶相对较弱或被动地支撑，车辆不会离开行驶区域。

公开(公告)号：US20110231095A1

公开(公告)日：2011-09-22

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: G06F19/00

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：US20100332050A1

公开(公告)日：2010-12-30

申请号：US12867605

申请日：2009-01-09

Applicant: Sachio Kobayashi

Inventor： Sachio Kobayashi

IPC: G06F7/00

CPC classification number: B62D15/025 ,  B60T8/17557 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2201/087 ,  B60W10/18 ,  B60W10/20 ,  B60W30/18172 ,  B60W50/08 ,  B60W2050/146 ,  B60W2520/10 ,  G08G1/167

Abstract: A vehicle travel support device capable of continuing operation even when the recognition accuracy of a lane mark has been degraded, and the like, wherein the degree of control on the operation of a steering device or the like is set higher as the reliability of a lane mark becomes higher. In a state in which the reliability of a travel area demarcated by the lane mark is high, a vehicle's travel is relatively strongly or actively supported so that the vehicle will not depart from the travel area. On the other hand, the degree of control on the operation of the steering device or the like is set lower as the reliability of the lane mark is lower. In a state in which the reliability of the travel area demarcated by the lane mark is low, the vehicle's travel is relatively weakly or passively supported so that the vehicle will not depart from the travel area.

Abstract translation: 即使当车道标识的识别精度已经劣化时能够继续操作的车辆行驶支持装置等，其中转向装置等的操作的控制程度被设置为更高，因为车道的可靠性 标记变得更高。 在车道标记划分的行驶区域的可靠性高的状态下，车辆的行驶相对强烈地或主动地被支撑，使得车辆不会离开行驶区域。 另一方面，由于车道标记的可靠性较低，所以对转向装置等的操作的控制程度降低。 在车道标记划定的行驶区域的可靠性低的状态下，车辆的行驶相对较弱或被动地支撑，车辆不会离开行驶区域。

公开(公告)号：US07680569B2

公开(公告)日：2010-03-16

申请号：US10828462

申请日：2004-04-21

Applicant: Shinji Matsumoto ,  Satoshi Tange ,  Tatsuya Suzuki

Inventor： Shinji Matsumoto ,  Satoshi Tange ,  Tatsuya Suzuki

IPC: G06F19/00

CPC classification number: B60T8/17557 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2201/087 ,  B60T2201/089 ,  B60W10/06 ,  B60W10/18 ,  B60W10/20 ,  B60W30/12 ,  B62D15/025

Abstract: An automotive lane deviation prevention (LDP) apparatus includes a control unit connected to a yawing-motion control actuator for LDP control purposes. The control unit determines, based on information regarding a lane marking line detected based on a picture image in front of a host vehicle, whether the host vehicle is in a state FLD≠0 where there is an increased tendency for the host vehicle to deviate from the driving lane. The control unit executes, based on a state Fdw≠0 where the host vehicle is traveling on predetermined irregularities formed on or close to the lane marking line and the information regarding the lane marking line, vehicle yawing motion control by which the host vehicle returns to a central position of the driving lane, in a lane-marking non-detecting state Fcamready=0 where the lane marking line is out of an image pick-up enabling area.

Abstract translation: 汽车车道偏离防止（LDP）装置包括连接到用于LDP控制目的的偏航运动控制致动器的控制单元。 控制单元基于关于基于主车辆前方的图像图像检测到的车道线标线的信息，确定主车辆是否处于FLD≠0的状态，其中主车辆的倾向增加 行车道。 控制单元基于本车辆在车道标线上或附近形成的规定的不规则行驶的状态Fdw≠0，以及关于车道标线的信息，主车辆返回的车辆偏航运动控制 行车道的中心位置，车道标记非检测状态Fcamready = 0，其中车道标线不在图像拾取使能区域之外。

公开(公告)号：US07656313B2

公开(公告)日：2010-02-02

申请号：US11421494

申请日：2006-06-01

Applicant: Trent Victor ,  Johan Jarlengrip

Inventor： Trent Victor ,  Johan Jarlengrip

IPC: G08G1/123

CPC classification number: B62D15/029 ,  B60K35/00 ,  B60K2350/1068 ,  B60K2350/2052 ,  B60Q9/008 ,  B60T2201/08 ,  B60T2201/082 ,  B60T2201/087 ,  G01C21/365 ,  G01C21/3652 ,  G01C21/3658 ,  G01C21/3697 ,  G02B27/01 ,  G02B27/017 ,  G02B2027/014 ,  G02B2027/0187

Abstract: Method and system for supporting path control are disclosed for supporting path control especially of a vehicle on a road or in an off-road environment, or of a ship or an airplane. The supporting of path control is especially provided by conducting at least one of the following steps (a) and (b): (a) estimating an actual future path of the vehicle on the basis of vehicle movement data and at least one of optically, acoustically, and tactilely indicating the estimated actual future path to the driver, (b) detecting the actual present path of the vehicle, estimating a present deviation of the detected actual present path from a desired present path and at least one of optically, acoustically, and tactilely indicating the estimated present deviation to the driver.

Abstract translation: 公开了用于支持路径控制的方法和系统，用于支持特别是道路或越野环境中的车辆，或者船舶或飞机的路径控制。 通过进行以下步骤（a）和（b）中的至少一个特别提供路径控制的支持：（a）基于车辆移动数据估计车辆的实际未来路径，并且至少一个光学， 声学地和触觉地指示驾驶员的估计的实际未来路径，（b）检测车辆的实际当前路径，估计所检测的实际当前路径与期望的当前路径的当前偏差，以及光学，声学， 并触觉地指示对司机的估计现在偏差。