公开(公告)号：US06970777B2

公开(公告)日：2005-11-29

申请号：US10994319

申请日：2004-11-23

Applicant: Satoshi Tange ,  Shinji Matsumoto ,  Masayasu Shimakage

Inventor： Satoshi Tange ,  Shinji Matsumoto ,  Masayasu Shimakage

IPC: B60T8/1755 ,  B60W10/18 ,  B62D15/02 ,  G06F7/00

CPC classification number: B60T8/17557 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2201/087 ,  B60T2260/02 ,  B60W10/18 ,  B60W10/20 ,  B60W30/12 ,  B62D15/025

Abstract: In an automotive lane deviation prevention (LDP) apparatus capable of executing LDP control by which a host vehicle is avoided from deviating from a driving lane, a control unit includes an LDP control allotted amount calculation section that calculates, responsively to a host vehicle's turning state, a steering-control allotted amount for LDP control and a braking-force-control allotted amount for LDP control, in presence of the host vehicle's lane-deviation tendency from the driving lane. In order to avoid the host vehicle's lane-deviation tendency, steering torque is controlled responsively to a steering-torque-control controlled variable determined based on the steering-control allotted amount, whereas braking forces applied to respective road wheels are controlled responsively to braking-force-control controlled variables determined based on the braking-force-control allotted amount.

Abstract translation: 在能够执行主车辆避免偏离行驶车道的LDP控制的汽车车道偏离防止（LDP）装置中，控制单元包括：LDP控制分配量计算部，其响应于本车辆的转弯状态 在主车辆与行车道的车道偏离倾向的情况下，用于LDP控制的转向控制分配量和用于LDP控制的制动力控制分配量。 为了避免主车辆的车道偏离倾向，根据转向控制分配量确定的转向转矩控制控制变量控制转向转矩，而响应于制动 - 基于制动力控制分配量确定的力控制控制变量。

公开(公告)号：US20050125153A1

公开(公告)日：2005-06-09

申请号：US11001185

申请日：2004-12-02

Applicant: Shinji Matsumoto ,  Satoshi Tange ,  Masayasu Shimakage ,  Hiroyuki Yoshizawa

Inventor： Shinji Matsumoto ,  Satoshi Tange ,  Masayasu Shimakage ,  Hiroyuki Yoshizawa

IPC: B60K31/00 ,  B60R16/02 ,  B60R21/00 ,  B60T7/12 ,  B60T8/172 ,  B60T8/1755 ,  B60W10/18 ,  B60W10/20 ,  B60W30/00 ,  B60W40/06 ,  B62D1/28 ,  B62D6/00 ,  B62D15/02 ,  B62D101/00 ,  B62D111/00 ,  B62D113/00 ,  G08G1/16 ,  G06F7/00 ,  G01S1/00

CPC classification number: B62D1/28 ,  B60T8/17557 ,  B60T2201/08 ,  B60T2201/081 ,  B60T2201/083 ,  B60T2201/087 ,  B60T2210/14 ,  B60W10/18 ,  B60W10/20 ,  B60W30/12 ,  B62D15/025

Abstract: An automotive lane deviation prevention (LDP) apparatus includes a control unit detecting whether a host vehicle is in a specific state where the host vehicle is traveling on road-surface irregularities formed on or close to a lane marking line. The control unit actively decelerates the host vehicle when the host vehicle is in the specific state where the host vehicle is traveling on the road-surface irregularities.

Abstract translation: 汽车车道偏离防止（LDP）装置包括控制单元，其检测本车辆是否处于主车辆在形成于道路标线上或车道标线上的路面不规则处行驶的特定状态。 当主车辆处于本车辆正在行驶的特定状态时，控制单元主动减速本车辆的路面不规则。

公开(公告)号：US20040225424A1

公开(公告)日：2004-11-11

申请号：US10759067

申请日：2004-01-20

Applicant: NISSAN MOTOR CO., LTD.

Inventor： Tomohiro Yamamura ,  Satoshi Kitazaki ,  Shunsuke Hijikata

IPC: G06F007/00

CPC classification number: B60K26/021 ,  B60G2400/823 ,  B60G2400/824 ,  B60G2401/16 ,  B60G2800/166 ,  B60G2800/704 ,  B60G2800/92 ,  B60G2800/96 ,  B60G2800/97 ,  B60G2800/982 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2201/087 ,  B60T2201/089 ,  B60W50/087 ,  B60W50/14 ,  B60W50/16 ,  B62D15/0265 ,  B62D15/029 ,  G08G1/16 ,  G08G1/166 ,  G08G1/167

Abstract: A driving assist system for assisting effort by an operator to operate a vehicle in traveling is provided. The driving assist system receives data including information on vehicle state and information on environment in a field around the vehicle. A controller, mounted to the vehicle, determines future environment in the field, makes an operator response plan in response to the determined future environment to determine command, and generates the command. The operator response plan prompts the operator to operating the vehicle in a desired manner for the determined future environment. At least one actuator, mounted to the vehicle, prompts the operator in response to the command to operating the vehicle in the desired manner.

Abstract translation: 提供一种驾驶辅助系统，用于辅助操作者在行驶中操作车辆的努力。 驾驶辅助系统接收包括关于车辆状态的信息和关于车辆周围的场中的环境的信息的数据。 安装到车辆上的控制器确定现场的未来环境，根据确定的未来环境做出操作员响应计划以确定命令，并生成命令。 操作员响应计划提示操作者以所期望的方式对所确定的未来环境操作车辆。 安装到车辆的至少一个致动器响应于以期望的方式操作车辆的命令来提示操作者。

公开(公告)号：US20040215393A1

公开(公告)日：2004-10-28

申请号：US10825108

申请日：2004-04-16

Applicant: NISSAN MOTOR CO. LTD.

Inventor： Shinji Matsumoto ,  Satoshi Tange ,  Tatsuya Suzuki

IPC: G06F017/10

CPC classification number: B60T8/17557 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2201/084 ,  B60T2201/087 ,  B60W10/06 ,  B60W10/18 ,  B60W10/20 ,  B60W30/12 ,  B62D15/025

Abstract: An automotive lane deviation prevention apparatus includes an electronic control unit configured to be electronically connected to a yawing-motion control actuator such as braking force actuators or a steering actuator for lane deviation prevention and vehicle yawing motion control purposes. The control unit has a processor programmed for determining whether or not a host vehicle is traveling on predetermined irregularities formed on or close to either one of a left-hand side lane marking line and a right-hand side lane marking line of a driving lane. The processor is further programmed for executing vehicle yawing motion control by which the host vehicle returns to a central position of the driving lane, when the host vehicle is traveling on the predetermined irregularities.

Abstract translation: 汽车车道偏离防止装置包括电子控制单元，其被配置为电连接到诸如制动力致动器的偏航运动控制致动器或用于车道偏离防止和车辆偏航运动控制目的的转向致动器。 控制单元具有处理器，其被编程用于确定主车辆是否在形成在行驶车道的左侧车道标记线和右侧车道线标记线上的任一侧上的预定不规则处行驶。 当主车辆以预定的不规则行驶时，处理器被进一步编程用于执行车辆横摆运动控制，当主车辆返回到驾驶车道的中心位置时，该偏航运动控制。

公开(公告)号：US20040158377A1

公开(公告)日：2004-08-12

申请号：US10769069

申请日：2004-02-02

Applicant: NISSAN MOTOR CO., LTD.

Inventor： Shinji Matsumoto ,  Genpei Naito ,  Satoshi Tange

IPC: G06F019/00

CPC classification number: B60W10/20 ,  B60T8/17557 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2201/087 ,  B60W10/06 ,  B60W10/18 ,  B60W30/12 ,  B60W30/16 ,  B62D6/003 ,  B62D15/025

Abstract: In a vehicle dynamics control apparatus capable of balancing a vehicle dynamics stability control system and a lane deviation prevention control system, a cooperative control section is provided to make a cooperative control between lane deviation prevention control (LDP) and vehicle dynamics stability control (VDC). When a direction of yawing motion created by LDP control is opposite to a direction of yawing motion created by VDC control, the cooperative control section puts a higher priority on VDC control rather than LDP control. Conversely when the direction of yawing motion created by LDP control is identical to the direction of yawing motion created by VDC control, a higher one of the LDP desired yaw moment and the VDC desired yaw moment is selected as a final desired yaw moment, to prevent over-control, while keeping the effects obtained by both of VDC control and LDP control.

Abstract translation: 在能够平衡车辆动力学稳定性控制系统和车道偏离防止控制系统的车辆动力学控制装置中，提供协调控制部分，以在车道偏离防止控制（LDP）和车辆动力学稳定性控制（VDC）之间进行协调控制， 。 当通过LDP控制产生的偏航运动的方向与由VDC控制产生的偏航运动的方向相反时，协作控制部分对VDC控制而不是LDP控制具有更高的优先级。 相反，当由LDP控制产生的偏航运动的方向与由VDC控制产生的偏航运动的方向相同时，LDP期望的偏航力矩和VDC期望的横摆力矩中较高的一个被选作最终期望的横摆力矩，以防止 过度控制，同时保持由VDC控制和LDP控制两者获得的效果。

公开(公告)号：US20040158366A1

公开(公告)日：2004-08-12

申请号：US10469895

申请日：2004-02-06

Inventor： Werner Dieterle

IPC: G01C021/26

CPC classification number: G08G1/096827 ,  B60K31/0008 ,  B60K31/0058 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2201/087 ,  B60W30/16 ,  B60W2550/14 ,  B60W2550/142 ,  B60W2550/22 ,  B60W2550/402 ,  B62D15/026 ,  G01C21/26 ,  G08G1/096725 ,  G08G1/096741 ,  G08G1/096775 ,  G08G1/096844

Abstract: The invention relates to an automatic vehicle guidance method according to which infrastructure data are wirelessly transmitted to the vehicle (10) and vehicle guidance instructions are calculated by using this infrastructure data. The method is characterized in that the infrastructure data for at least one segment of the route (40) located immediately ahead is loaded into an on-board memory (44), in that the actual position of the vehicle (10) is continuously determined by a precise positioning system (14), and in that the instructions are calculated by using the position data and the stored infrastructure data.

Abstract translation: 本发明涉及一种自动车辆引导方法，根据该自动车辆引导方法，将基础设施数据无线发送到车辆（10），并且通过使用该基础设施数据来计算车辆引导指令。 该方法的特征在于，用于至少位于前方的路线（40）的至少一个段的基础设施数据被加载到车载存储器（44）中，因为车辆（10）的实际位置由 精确的定位系统（14），并且通过使用位置数据和所存储的基础设施数据来计算指令。

公开(公告)号：US20040107035A1

公开(公告)日：2004-06-03

申请号：US10713354

申请日：2003-11-17

Applicant: NISSAN MOTOR CO., LTD.

Inventor： Satoshi Tange ,  Genpei Naito ,  Shinji Matsumoto

IPC: G06F019/00

CPC classification number: B60W30/12 ,  B60T8/17557 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2201/087 ,  B60W10/184 ,  B60W10/20 ,  B62D6/003 ,  B62D15/025

Abstract: A system for preventing lane deviation of a vehicle is provided. The system comprises a lane detecting device, a running condition detecting device, a deviation judging device, and a vehicle behavior control device. The vehicle behavior control device controls a behavior of the vehicle so as to generate a yaw moment in the direction to prevent the vehicle from deviating from the running lane. The lane detecting device detects the running lane based on a variation in a running direction of the vehicle due to the yaw moment generated by the vehicle behavior control device. A method for preventing lane deviation of a vehicle is also provided.

Abstract translation: 提供一种用于防止车辆的车道偏离的系统。 该系统包括车道检测装置，行驶状态检测装置，偏差判定装置和车辆行为控制装置。 车辆行为控制装置控制车辆的行为，以便在防止车辆偏离行驶车道的方向上产生横摆力矩。 车道检测装置基于由车辆行为控制装置产生的横摆力矩，基于车辆的行驶方向的变化来检测行驶车道。 还提供了用于防止车辆的车道偏离的方法。

公开(公告)号：US06718241B2

公开(公告)日：2004-04-06

申请号：US10231135

申请日：2002-08-30

Applicant: Satoshi Kondo ,  Shinnosuke Ishida ,  Jun Tanaka

Inventor： Satoshi Kondo ,  Shinnosuke Ishida ,  Jun Tanaka

IPC: B62D600

CPC classification number: B62D15/025 ,  B60T2201/08 ,  B60T2201/087

Abstract: The invention carries out appropriate travel control so that a vehicle travels along recognized lane markings, and at the same time, prevents making the driver feel discomfort during travel control. In the case that the white line recognition becomes not possible, the delay time TD is shortened depending on a previous continuous time interval of a recognition state. In the case that the white line recognition flag becomes possible, the delay time TD is extended depending on the previous continuous time interval. In the case that the count value of the ON time measuring counter TON is equal to or greater than the delay time TD and the white line recognizing is possible, the compensation control is permitted, and reversion to the ON state of the travel control based on recognized white lines is permitted.

Abstract translation: 本发明进行适当的行驶控制，使得车辆沿着识别的车道标记行驶，并且同时防止驾驶员在行驶控制期间感到不适。 在白线识别不可能的情况下，延迟时间TD根据识别状态的先前连续时间间隔而缩短。 在白线识别标志成为可能的情况下，延迟时间TD根据先前的连续时间间隔而延长。 在ON时间测量计数器TON的计数值等于或大于延迟时间TD并且可以进行白线识别的情况下，允许补偿控制，并且基于以下步骤返回到行驶控制的ON状态 允许识别白线。

公开(公告)号：US20030045982A1

公开(公告)日：2003-03-06

申请号：US10231135

申请日：2002-08-30

Applicant: HONDA GIKEN KOGYO KABUSHIKI KAISHA

Inventor： Satoshi Kondo ,  Shinnosuke Ishida ,  Jun Tanaka

IPC: B62D006/00

CPC classification number: B62D15/025 ,  B60T2201/08 ,  B60T2201/087

Abstract: The invention carries out appropriate travel control so that a vehicle travels along recognized lane markings, and at the same time, prevents making the driver feel discomfort during travel control. In the case that the white line recognition becomes not possible, the delay time TD is shortened depending on a previous continuous time interval of a recognition state. In the case that the white line recognition flag becomes possible, the delay time TD is extended depending on the previous continuous time interval. In the case that the count value of the ON time measuring counter TON is equal to or greater than the delay time TD and the white line recognizing is possible, the compensation control is permitted, and reversion to the ON state of the travel control based on recognized white lines is permitted.

Abstract translation: 本发明进行适当的行驶控制，使得车辆沿着识别的车道标记行驶，并且同时防止驾驶员在行驶控制期间感到不适。 在白线识别不可能的情况下，延迟时间TD根据识别状态的先前连续时间间隔而缩短。 在白线识别标志成为可能的情况下，延迟时间TD根据先前的连续时间间隔而延长。 在ON时间测量计数器TON的计数值等于或大于延迟时间TD并且可以进行白线识别的情况下，允许补偿控制，并且基于行程控制的ON状态返回到ON状态 允许识别白线。

公开(公告)号：US20020188404A1

公开(公告)日：2002-12-12

申请号：US10028691

申请日：2001-12-28

Inventor： Yong-Won Jeon

IPC: G06G007/78

CPC classification number: G05D1/0061 ,  B60T2201/08 ,  B60T2201/087 ,  B62D15/025 ,  G05D2201/0213

Abstract: A system for preventing lane deviation of a vehicle and a control method thereof are provided, in which control is performed to prevent the vehicle from inadvertently deviating from a lane. The system comprises a detector including a lane marker detector for detector lane markers that define a lane in the road, and a lane marker ECU for determining a transverse position of the vehicle using signals of the lane marker detector; a controller for determining if the vehicle is deviating from the lane by receiving information transmitted by the detector, determining steering control angle and steering control time according to a vehicle speed and a heading angle at the instant the vehicle is deviating from the lane, and outputting control signals following lane deviation prevention such that an automatic drive mode is realized until the vehicle reaches a center of the lane; and a steering driver controlled by the control signals output from the controller.

Abstract translation: 提供一种用于防止车辆的车道偏离的系统及其控制方法，其中进行控制以防止车辆不经意地偏离车道。 该系统包括检测器，其包括用于在道路中限定车道的检测器车道标记的车道标记检测器，以及车道标记ECU，用于使用车道标记检测器的信号确定车辆的横向位置; 用于通过接收由检测器发送的信息来确定车辆是否偏离车道的控制器，根据车辆偏离车道时的车速和行驶角度确定转向控制角度和转向控制时间，并输出 控制信号遵循车道偏离防止，使得实现自动驾驶模式，直到车辆到达车道的中心; 以及由控制器输出的控制信号控制的转向驱动器。