公开(公告)号：US06493619B2

公开(公告)日：2002-12-10

申请号：US09930168

申请日：2001-08-16

Applicant: Hiroshi Kawazoe ,  Masayasu Shimakage ,  On Sadano ,  Shigeki Sato

Inventor： Hiroshi Kawazoe ,  Masayasu Shimakage ,  On Sadano ,  Shigeki Sato

IPC: G06F16500

CPC classification number: B62D15/025 ,  B60T2201/08 ,  B60T2201/087 ,  B62D1/286 ,  B62D5/0463

Abstract: In lane keeping assistance system and method for an automotive vehicle, a control current (Iout) to be outputted to a motor during an automatic steering mode is detected, a filter is provided for the detected control current to pass only signal components of the detected control current whose frequencies are lower than a predetermined cut-off frequency value (fstr, fstr_low, fstr_mid, fstr_hi) to derive a filtered control current (Iout_lpf), a determination of whether a manual steering intervention to the automatic steering occurs is made according to a magnitude of the filtered control current, and the control current outputted to the motor is reduced toward zero when the manual steering intervention is determined to occur according to a result of determination that the magnitude of the filtered control current (Iout_lpf) is in excess of a predetermined threshold current value (Iout_lpf_th).

Abstract translation: 在车辆的车道保持辅助系统和方法中，检测在自动转向模式期间输出到电动机的控制电流（Iout），为检测到的控制电流提供滤波器，以仅通过检测到的控制信号的信号分量 频率低于预定截止频率值（fstr，fstr_low，fstr_mid，fstr_hi）以导出滤波后的控制电流（Iout_lpf）的电流，判定是否发生对自动转向的手动转向干预是根据 滤波后的控制电流的大小以及输出到电动机的控制电流根据判断结果确定为手动转向干预被确定为过滤控制电流（Iout_lpf）的大小超过 预定阈值电流值（Iout_lpf_th）。

公开(公告)号：US20020095246A1

公开(公告)日：2002-07-18

申请号：US10042225

申请日：2002-01-11

Applicant: NISSAN MOTOR CO., LTD.

Inventor： Hiroshi Kawazoe

IPC: G06F017/00

CPC classification number: B62D15/025 ,  B60T2201/08 ,  B60T2201/087 ,  G05D1/0246 ,  G05D2201/0213

Abstract: A lane tracking control system for a vehicle includes a controller which is coupled to a road image detector for taking a view ahead of the vehicle, a vehicle behavior detector for detecting a behavior of the vehicle and a steering control mechanism for executing a steering control in response to a steering control signal. The controller is arrange to calculate a road shape on the basis of the view taken by the road image detector, to determine on the basis of the road shape and the vehicle behavior detected by the vehicle behavior detector whether the vehicle tends to depart from a lane traveled by the vehicle, and to output the steering control signal to the steering control mechanism so as to control the vehicle behavior at a desired behavior when the vehicle tends to depart from the lane.

Abstract translation: 一种用于车辆的车道跟踪控制系统，包括一个控制器，该控制器耦合到道路图像检测器，用于在车辆前方观察，车辆行为检测器，用于检测车辆的行为;以及转向控制机构，用于执行转向控制 对转向控制信号的响应。 控制器根据路面图像检测器的视图来计算道路形状，根据车辆行为检测器检测出的道路形状和车辆行为来确定车辆是否偏离车道 并且将转向控制信号输出到转向控制机构，以便当车辆倾向于离开车道时，以期望的行为来控制车辆行为。

公开(公告)号：US06321159B1

公开(公告)日：2001-11-20

申请号：US09418967

申请日：1999-10-14

Applicant: Shinya Nohtomi ,  Shinichiro Horiuchi

Inventor： Shinya Nohtomi ,  Shinichiro Horiuchi

IPC: B60K3100

CPC classification number: B62D15/025 ,  B60G2400/0523 ,  B60G2400/104 ,  B60G2400/41 ,  B60G2400/824 ,  B60G2401/142 ,  B60G2800/24 ,  B60T2201/08 ,  B60T2201/087 ,  B60T2201/089 ,  B60T2260/02 ,  B62D1/28

Abstract: Preview information is obtained by processing data from image data of a CCD camera, and it is treated as a known disturbance. Then, models for a vehicle and a target road path, typically consisting of DARMA (deterministic auto-regressive moving average) models are prepared so as to give a relationship between a front wheel steering angle command and a lateral deviation of the vehicle. An extended generalized predictive control theory is applied to these models so as to compensate for tracking errors that may arise as a result of the known disturbance. Thus, a favorable tracking capability can be achieved with a relatively simple structure, by executing a prediction control which requires only such variable that can be measured both easily and accurately.

Abstract translation: 通过从CCD照相机的图像数据处理数据获得预览信息，并将其视为已知的干扰。 然后，准备通常由DARMA（确定性自回归移动平均）模型组成的车辆和目标道路路径的模型，以便给出前轮转向角度指令与车辆的横向偏差之间的关系。 扩展的广义预测控制理论应用于这些模型，以补偿由于已知扰动而可能出现的跟踪误差。 因此，通过执行仅需要容易且准确地测量的这样的变量的预测控制，可以通过相对简单的结构实现良好的跟踪能力。

公开(公告)号：US06269307B1

公开(公告)日：2001-07-31

申请号：US09368673

申请日：1999-08-05

Applicant: Tomoyuki Shinmura ,  Kenji Kodaka ,  Yoichi Sugimoto

Inventor： Tomoyuki Shinmura ,  Kenji Kodaka ,  Yoichi Sugimoto

IPC: B60Q100

CPC classification number: G01S13/931 ,  B60Q9/008 ,  B60T2201/08 ,  B60T2201/087 ,  B60W50/16 ,  B62D15/0265 ,  G01S2013/9342 ,  G01S2013/9353 ,  G01S2013/9375

Abstract: A lateral deviation &dgr;d which is a lateral distance between an intrinsic appropriate course R for a vehicle Ai and a contact position P at which the vehicle Ai will come into contact with an on-coming vehicle Ao, is calculated based on a relative angle &thgr;, a relative distance L and a relative speed Vs which are detected by a radar device, and based on a vehicle speed Vi of the vehicle Ai detected by vehicle speed sensors. When the lateral deviation &dgr;d is in a range of &dgr;dn

Abstract translation: 基于相对角度θ来计算作为车辆Ai的固有适当路线R与车辆Ai将与前进车辆Ao接触的接触位置P之间的横向距离的横向偏差增量， 由雷达装置检测的相对距离L和相对速度Vs，并且基于由车速传感器检测到的车辆Ai的车速Vi。 当横向偏差Δttad在deltadn

公开(公告)号：US06226389B1

公开(公告)日：2001-05-01

申请号：US09473350

申请日：1999-12-28

Applicant: Jerome H. Lemelson ,  Robert Pedersen

Inventor： Jerome H. Lemelson ,  Robert Pedersen

IPC: G06K900

CPC classification number: G01S19/11 ,  B60T2201/022 ,  B60T2201/024 ,  B60T2201/08 ,  B60T2201/082 ,  B60T2201/083 ,  B60T2201/085 ,  B60T2201/087 ,  G01S5/009 ,  G01S13/867 ,  G01S13/931 ,  G01S17/023 ,  G01S17/936 ,  G01S2013/9321 ,  G01S2013/9325 ,  G01S2013/9342 ,  G01S2013/9346 ,  G01S2013/935 ,  G01S2013/9353 ,  G01S2013/9357 ,  G01S2013/936 ,  G01S2013/9367 ,  G07C5/0891 ,  G08G1/164 ,  G08G1/165 ,  G08G1/166

Abstract: A system and method assist the driver of a motor vehicle in preventing accidents or minimizing the effects of same. In one form, a television camera is mounted on a vehicle and scans the roadway ahead of the vehicle as the vehicle travels. Continuously generated video picture signals output by the camera are electronically processed and analyzed by an image analyzing computer, which generates codes, that serve to identify obstacles. A decision computer mounted in the controlled vehicle receives such code signals along with code signals generated by the speedometer or one or more sensors sensing steering mechanism operation and generates control signals. Such code signals maybe displayed, and as synthetic speech or special sound generating and warning means used to warn the driver of the vehicle of approaching and existing hazards. The system may also use the control signals, particularly through application of fuzzy logic, to control the operation of the brakes and steering mechanism of the vehicle to avoid or lessen the effects of a collision. In a particular form, the decision computer may select the evasive action taken from a number of choices, depending on whether and where the detection device senses other vehicles or obstacles.

Abstract translation: 一种系统和方法帮助机动车辆的驾驶员防止事故或最小化其影响。 在一种形式中，电视摄像机安装在车辆上，并在车辆行驶时扫描车辆前方的道路。 由相机输出的连续生成的视频图像信号由图像分析计算机进行电子处理和分析，图像分析计算机产生用于识别障碍物的代码。 安装在受控车辆中的判定计算机接收这样的代码信号以及由速度计产生的代码信号或感测转向机构操作的一个或多个传感器，并产生控制信号。 可以显示这样的代码信号，并且作为合成语音或特殊声音产生和警告装置用于警告车辆的驾驶员接近和存在的危险。 系统还可以使用控制信号，特别是通过应用模糊逻辑来控制车辆的制动器和转向机构的操作，以避免或减轻碰撞的影响。 在特定形式中，决定计算机可以根据检测装置是否检测其他车辆或障碍物以及在何处检测其他车辆或障碍物来选择从多个选择中采取的回避动作。

公开(公告)号：US11820370B2

公开(公告)日：2023-11-21

申请号：US17683649

申请日：2022-03-01

Applicant: Dr. Ing. h.c. F. Porsche Aktiengesellschaft

Inventor： Florian Strecker ,  Georg Warth ,  Georg von Tardy-Tuch

IPC: B60W30/12 ,  B60W40/10 ,  B62D15/02 ,  B62D6/00 ,  B60W10/20 ,  G08G1/16

CPC classification number: B60W30/12 ,  B60W10/20 ,  B60W40/10 ,  B62D6/002 ,  B62D15/021 ,  B62D15/025 ,  G08G1/167 ,  B60T2201/08 ,  B60T2201/087 ,  B60W2540/18

Abstract: Apparatus for controlling dynamics of a vehicle determines a current course angle (α) of the vehicle. A desired course angle (αpsi) is defined and assigned to a first point on a temporal profile of a desired driving line. The first point is on the desired driving line at a first preview time from a location assigned to an instantaneous vehicle position. A course angle deviation of the current course angle (α) from the desired course angle (αpsi) is determined. A target angle (αta) is defined and assigned to a second point on the temporal profile of the desired driving line. The second point is on the desired driving line at a distance of a second preview time from the location. A steering wheel angle (δ) is determined as a total of the target angle (αta) reinforced with a first parameter and the course angle deviation reinforced with a second parameter.

公开(公告)号：US20190202499A1

公开(公告)日：2019-07-04

申请号：US16328537

申请日：2017-09-08

Applicant: KNORR-BREMSE SYSTEME FUER NUTZFAHRZEUGE GMBH

Inventor： Kornel Straub ,  Markus Klein ,  Levente Balogh ,  Jonas Leibbrand ,  Tamas Rozsa

IPC: B62D11/08 ,  B62D15/02

CPC classification number: B62D11/08 ,  B60T8/17557 ,  B60T2201/081 ,  B60T2201/083 ,  B60T2201/087 ,  B60W30/12 ,  B60W30/17 ,  B62D15/0255

Abstract: A steering control system for a commercial vehicle having braking and steering systems. The braking system brakes dissymetrically side wheels of the vehicle. The steering system steers the vehicle based on a steering signal. The steering control system includes selection and control modules. The selection module switches between first and second steering modes. The first mode indicates steering of the vehicle by turning vehicle wheels. The second mode indicates steering of the vehicle by generating a braking signal for at least one wheel providing a yaw moment applied to the vehicle. The control module generates the first signal indicating a steering demand in the first mode and a second signal indicating a steering demand in the second mode. The control module provides the first signal to the steering system and the second signal to the braking system to brake the vehicle dissymetrically to steer the vehicle with the yaw moment.

公开(公告)号：US20190202455A1

公开(公告)日：2019-07-04

申请号：US16327911

申请日：2017-08-09

Applicant: KNORR-BREMSE SYSTEME FUER NUTZFAHRZEUGE GMBH

Inventor： Ulrich Guecker ,  Markus Klein ,  Jan Meyer

IPC: B60W30/12 ,  B60W50/14 ,  B60W10/18 ,  B60W10/20

CPC classification number: B60W30/12 ,  B60K28/066 ,  B60T7/14 ,  B60T7/22 ,  B60T8/17557 ,  B60T2201/022 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2201/087 ,  B60W10/18 ,  B60W10/20 ,  B60W50/14 ,  B60W50/16 ,  B60W2420/42 ,  B60W2420/52 ,  B60W2420/62 ,  B60W2550/406 ,  B60W2710/18 ,  B60W2710/20 ,  B62D15/025

Abstract: A method for open-loop or closed-loop control of a driver assistance system of a vehicle, including: a) using a first sensor device to detect from a roadway at least one lane and a roadway marking that separates the lane from an edge of the roadway; b) using a second sensor device to detect operation of at least one operating device of the vehicle that influences the driving dynamics of the vehicle by virtue of the driver; c) using steering actuators and/or brake actuators to influence the driving dynamics of the vehicle; and d) outputting, if there is a threat of the vehicle leaving the lane, as detected by the first sensor device, a first warning signal. A related driver assistance system is also described.

公开(公告)号：US20160152232A1

公开(公告)日：2016-06-02

申请号：US14896733

申请日：2014-06-03

Applicant: HITACHI AUTOMOTIVE SYSTEMS, LTD.

Inventor： Akira TAKAHASHI ,  Jun KUBO ,  Mitsuo SASAKI

IPC: B60W30/02 ,  B60W10/20 ,  B60W10/184 ,  B60T8/1755 ,  B62D5/04

CPC classification number: B60W30/02 ,  B60T8/17 ,  B60T8/1755 ,  B60T8/17557 ,  B60T2201/083 ,  B60T2201/085 ,  B60T2201/087 ,  B60T2201/089 ,  B60T2210/13 ,  B60W10/18 ,  B60W10/184 ,  B60W10/20 ,  B60W30/08 ,  B60W30/09 ,  B60W30/0953 ,  B60W40/114 ,  B60W2420/42 ,  B60W2420/52 ,  B60W2520/00 ,  B60W2520/10 ,  B60W2520/14 ,  B60W2550/10 ,  B60W2710/18 ,  B60W2710/202 ,  B62D5/0463 ,  B62D15/025

Abstract: There is provided a vehicle control system capable of ensuring stability even if a vehicle spins slowly. The invention recognizes a travel-path defining line of a travel path from information about an area located in the traveling direction of an ego vehicle, recognizes a traveling-direction virtual line extending from the ego vehicle in the traveling direction, and controls vehicle motion to reduce a formed angle between the traveling-direction virtual line and the travel-path defining line at least when the formed angle increases.

Abstract translation: 提供了即使车辆缓慢旋转也能够确保稳定性的车辆控制系统。 本发明从关于位于自主车辆的行进方向的区域的信息识别行进路径的行进路线定义线，识别从行车方向上的自我车辆延伸的行进方向虚拟线路，并且控制车辆运动 至少当所形成的角度增加时，减小行进方向假想线与行进路限定线之间的形成角度。

公开(公告)号：US09211910B2

公开(公告)日：2015-12-15

申请号：US12084355

申请日：2006-09-19

Applicant: Lutz Buerkle ,  Michael Weilkes ,  Michael Scherl ,  Tobias Rentschler

Inventor： Lutz Buerkle ,  Michael Weilkes ,  Michael Scherl ,  Tobias Rentschler

IPC: B62D15/02 ,  B60W30/12

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

Abstract: A device for keeping a vehicle in its lane, including a reference model, which obtains geometric data regarding the position of the vehicle in the lane as well as data relating to the course of the lane from a lane detection system, and from these calculates a setpoint variable for controlling the vehicle position. In order to allow for corners to be cut, the guiding behavior of the control system is modified in such a way when cornering that, in the event of a deviation of the path of motion of the vehicle from the setpoint path of motion in the direction of the inside of the curve, no or only low steering forces are applied to the steering system.

Abstract translation: 一种用于将车辆保持在其车道中的装置，包括参考模型，其获取关于车道在车道中的位置的几何数据以及与车道检测系统相关的车道行驶的数据，并且从这些计算机 用于控制车辆位置的设定值变量。 为了允许角落被切割，控制系统的引导行为以这种方式被修改，当转弯时，在车辆的运动路径与设定的运动路径在方向上偏离的情况下 的曲线内部，没有或只有低的转向力被施加到转向系统。