公开(公告)号：US09051008B2

公开(公告)日：2015-06-09

申请号：US11875456

申请日：2007-10-19

Applicant: Joachim Schiehlen ,  Jan Felten ,  Soeren Hohmann ,  Mihiar Ayoubi

Inventor： Joachim Schiehlen ,  Jan Felten ,  Soeren Hohmann ,  Mihiar Ayoubi

IPC: B62D6/00 ,  G01S13/00 ,  B60Q1/00 ,  B62D15/02 ,  B60W30/08 ,  B60W40/02

CPC classification number: B62D15/029 ,  B60T2201/08 ,  B60T2201/087 ,  B60W30/08 ,  B60W40/02 ,  B62D15/025 ,  B62D15/0265

Abstract: A driving aid system is provided for assisting a motor vehicle during a change of lane. The system includes a device monitoring the lateral side space and a device monitoring the directional stability. The lateral space monitoring device is designed to determine the degree of risk (for example, two levels: dangerous/not dangerous, or three levels: low/medium/high risk) represented by a change of lane. At the high risk level, a first driving aid reaction occurs, at least in the form of a counter-steering, which is regulated by a link existing between the lateral space monitoring device and the directional stability monitoring device and is expressed by a reorientation towards the specific traffic lane or by maintaining the directional stability. At the low risk level, a second driving-aid reaction is triggered, which is less perceptible and depends on the degree of likelihood of the intention to change lane.

Abstract translation: 提供驾驶辅助系统，用于在车道改变期间辅助机动车辆。 该系统包括监视侧面空间的装置和监视方向稳定性的装置。 横向空间监测装置旨在确定由车道变化所代表的风险程度（例如两级：危险/非危险，或三级：低/中/高风险）。 在高风险级别，首先发生驾驶辅助反应，至少以逆向转向的形式，其由侧向空间监测装置和方向稳定性监测装置之间存在的连杆来调节，并且通过重定向 具体行车道或维持方向稳定。 在低风险水平下，引发第二次驾驶辅助反应，这种反应较不可察觉，并且取决于改变车道意图的可能性程度。

公开(公告)号：US09031743B2

公开(公告)日：2015-05-12

申请号：US12446897

申请日：2008-03-26

Applicant: Toshinori Okita

Inventor： Toshinori Okita

IPC: B60T7/22 ,  B62D5/04 ,  B60W30/09 ,  B60W40/072 ,  B60W40/076 ,  B62D15/02

CPC classification number: B60T7/22 ,  B60T2201/022 ,  B60T2201/08 ,  B60T2201/087 ,  B60W30/09 ,  B60W40/072 ,  B60W40/076 ,  B60W2420/52 ,  B62D5/0463 ,  B62D15/0265 ,  G08G1/165 ,  G08G1/166

Abstract: A collision avoidance ECU estimates a traveling locus based on an estimated curve radius of an own vehicle in a basic traveling locus estimating unit, and in a changed traveling locus estimating unit, obtains separation distances between an own vehicle and white lines based on the relative positional relationship between an own vehicle and the white lines, and estimates, as a changed traveling locus, a route along the white lines with the obtained separation distances maintained. In a collision judging unit, when auto-steering control and departure warning control are not performed, collision judgment is performed based on the basic traveling locus estimated in the basic traveling locus estimating unit, and when the auto-steering control and departure warning control are performed, the traveling locus is changed to the changed traveling locus estimated in the changed traveling locus estimating unit and collision judgment is performed.

Abstract translation: 碰撞避免ECU基于基本行驶轨迹估计单元中的本车辆的估计曲线半径来估计行驶轨迹，并且在改变的行驶轨迹估计单元中，基于相对位置获得本车和白线之间的距离 估计本车辆与白线之间的关系，并且作为改变的行驶轨迹，估计保持所获得的间隔距离沿着白线的路线。 在碰撞判断单元中，当不执行自动转向控制和离场警告控制时，基于在基本行驶轨迹估计单元中估计的基本行驶轨迹进行碰撞判断，并且当自动转向控制和离开警告控制为 行驶轨迹被改变为在改变的行驶轨迹估计单元中估计的改变的行驶轨迹，并进行碰撞判断。

公开(公告)号：US08849514B2

公开(公告)日：2014-09-30

申请号：US13123373

申请日：2009-10-06

Applicant: Toshiharu Sugawara ,  Atsushi Yokoyama

Inventor： Toshiharu Sugawara ,  Atsushi Yokoyama

IPC: A01B69/00 ,  B62D6/00 ,  B62D11/00 ,  B60T8/1755 ,  B60T7/22 ,  B60T7/04 ,  B62D15/02 ,  B60W30/12

CPC classification number: B60W30/12 ,  B60T7/042 ,  B60T7/22 ,  B60T8/17557 ,  B60T8/17558 ,  B60T2201/083 ,  B60T2201/087 ,  B60W2720/14 ,  B62D6/003 ,  B62D15/025 ,  B62D15/0265

Abstract: A conventional brake control can generate only a small yaw moment compared with a steering control, so that reliable avoidance of obstacles cannot be obtained. With a steering control, the driver gets behind the wheel every time when crossing a lane and has an uncomfortable feeling. To solve these problems, a traveling aid device comprises: a detection unit for detecting the traveling state of a vehicle, the position of a lane marker, and the positions and types of obstacles around the vehicle; a calculation unit for calculating, based on the traveling state of the vehicle, the position of the lane marker, and the positions and types of the surrounding obstacles, a target yaw moment so as to prevent a departure from the lane marker and a collision with the surrounding obstacles; and a distribution unit for distributing, based on at least one of the traveling state of the vehicle, the position of the lane marker, and the positions and types of the surrounding obstacles, the target moment to a first actuator for controlling the driving/braking force and a second actuator for controlling the steering.

Abstract translation: 与转向控制相比，传统的制动控制只能产生小的横摆力矩，从而不可能获得可靠的避障障碍。 在转向控制下，驾驶员每次穿过车道时都会落在车轮的后方，感觉不舒服。 为了解决这些问题，行驶辅助装置包括：检测单元，用于检测车辆的行驶状态，车道标记的位置以及车辆周围的障碍物的位置和类型; 计算单元，用于基于车辆的行驶状态来计算车道标记的位置，以及周围障碍物的位置和类型，目标横摆力矩，以防止偏离车道标记和与车道标记的碰撞 周围的障碍物; 以及分配单元，用于基于车辆的行驶状态中的至少一个，车道标记的位置以及周围障碍物的位置和类型来分配到用于控制驾驶/制动的第一致动器的目标力矩 力和用于控制转向的第二致动器。

公开(公告)号：US08775060B2

公开(公告)日：2014-07-08

申请号：US13938696

申请日：2013-07-10

Applicant: Volvo Car Corporation

Inventor： Stefan Solyom ,  Badr Bin Salamah ,  Arash Idelchi

IPC: G06F19/00 ,  G08G1/00 ,  B60T8/1755 ,  B60W30/12

CPC classification number: G08G1/22 ,  B60T8/17557 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2201/087 ,  B60W30/12 ,  B60W2550/30 ,  G05D1/0257 ,  G05D1/0293 ,  G05D2201/0213

Abstract: An apparatus and method are described for lateral control of a host vehicle (F) during travel in a vehicle platoon. The apparatus and method include acquiring a control signal u and a lateral error ε relative to a target vehicle (L) of a preceding vehicle (T) travelling in the vehicle platoon, filtering the received lateral error ε, filtering the received control signal u, and executing via a processor a control algorithm for actuating lateral control of the host vehicle (F).

Abstract translation: 描述了用于在车辆行驶中的主车辆（F）的横向控制的装置和方法。 该装置和方法包括获取控制信号u和横向误差＆ 相对于在车辆排中行驶的前一车辆（T）的目标车辆（L），对接收到的横向误差进行滤波，对接收到的控制信号u进行滤波，并且经由处理器执行控制算法， 主机（F）。

公开(公告)号：US08655549B2

公开(公告)日：2014-02-18

申请号：US12497787

申请日：2009-07-06

Applicant: Yasuhisa Hayakawa ,  Masahiro Kobayashi ,  Ko Sato ,  Shuhei Nishimaki

Inventor： Yasuhisa Hayakawa ,  Masahiro Kobayashi ,  Ko Sato ,  Shuhei Nishimaki

IPC: B62D6/00

CPC classification number: B60W30/12 ,  B60T8/17557 ,  B60T2201/08 ,  B60T2201/087 ,  B60W30/08

Abstract: A vehicle driving control apparatus is provided with a lane detecting device, a future position estimating device and a vehicle control device. The lane detecting device detects a lane marker of a lane. The future position estimating device estimates a future transverse position of a host vehicle after a prescribed amount of time. The vehicle control device executes a vehicle control such that a yaw moment is imparted to the host vehicle toward a middle of the lane. The yaw moment is imparted upon determining that the future transverse position is positioned laterally farther toward an outside of the lane from the middle of the lane than a prescribed widthwise lane position that is determined in advance using the lane marker as a reference. The vehicle control device suppresses an impartation of the yaw moment device when a recognition degree of the lane marker is lower than a prescribed value.

Abstract translation: 车辆行驶控制装置具备车道检测装置，未来位置估计装置和车辆控制装置。 车道检测装置检测车道的车道标记。 未来位置估计装置在规定的时间量之后估计本车辆的未来横向位置。 车辆控制装置执行车辆控制，使得向主车辆向车道的中心施加横摆力矩。 在确定未来横向位置比从预先使用车道标记作为参考确定的规定的宽度方向车道位置横向更远离车道中部的车道中间位置时，赋予偏航力矩。 当车道标记的识别度低于规定值时，车辆控制装置抑制偏航力矩装置的赋予。

公开(公告)号：US20130166151A9

公开(公告)日：2013-06-27

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。

公开(公告)号：US20130103264A1

公开(公告)日：2013-04-25

申请号：US13806894

申请日：2010-06-30

Applicant: Toru Takashima ,  Norihisa Nishikawa ,  Mitsutaka Tanimoto ,  Tetsuhiro Narita

Inventor： Toru Takashima ,  Norihisa Nishikawa ,  Mitsutaka Tanimoto ,  Tetsuhiro Narita

IPC: B62D6/00

CPC classification number: B62D6/00 ,  B60T8/17557 ,  B60T2201/08 ,  B60T2201/087 ,  B60W10/184 ,  B60W10/20 ,  B60W30/12 ,  B60W2510/202 ,  B60W2710/182 ,  B62D5/008 ,  B62D5/0472

Abstract: A control apparatus for controlling a vehicle which is provided with a braking/driving force varying device capable of individually changing a braking/driving force acting on each of wheels (FL, FR, RL, RR) with respect to each wheel. The control apparatus includes a target state quantity setting device for setting a target state quantity corresponding to a target motion state of the vehicle; and a target braking/driving force setting device for setting a target braking/driving force, which is a target value of the braking/driving force, such that a state quantity corresponding to the target state quantity and a steering reaction force transmitted to a steering apparatus from the wheel are the set target state quantity and a predetermined target steering reaction force, respectively, on the basis of a relative relation, which is set in advance, between the state quantity and the steering reaction force, and a left-right braking/driving force difference of front wheels and a braking/driving force difference of rear wheels.

Abstract translation: 一种用于控制车辆的控制装置，其具有能够相对于每个车轮分别改变作用在每个车轮（FL，FR，RL，RR）上的制动/驱动力的制动/驱动力改变装置。 控制装置包括：目标状态量设定装置，用于设定与车辆的目标运动状态对应的目标状态量; 以及目标制动/驱动力设定装置，用于设定作为制动/驱动力的目标值的目标制动/驱动力，使得与目标状态量相对应的状态量和传递到转向的转向反作用力 基于预先设定的状态量和转向反作用力之间的相对关系和左右制动的相对关系，来自车轮的装置分别是设定目标状态量和预定目标转向反作用力 前轮的驱动力差和后轮的制动/驱动力差。

公开(公告)号：US20120265403A1

公开(公告)日：2012-10-18

申请号：US13380937

申请日：2009-06-29

Applicant: Jan-Inge Svensson ,  Jochen Pohl ,  Sten Ragnhult ,  Johan Hultén

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

IPC: B60W30/12

CPC classification number: B62D15/025 ,  B60K31/0008 ,  B60T8/17557 ,  B60T2201/087 ,  B62D15/0265

Abstract: A method for assisting a driver of a vehicle during operation in order to avoid an undesired situation based on a current driving scenario includes predicting if a first guiding force to a vehicle steering device is desired in order to avoid the undesired situation and, if the first guiding force is desired, predicting a total guiding force comprising the first guiding force, which would be applied to the steering device for avoiding the undesired situation, comparing the predicted total guiding force with a limit value, and if the predicted total guiding force exceeds the limit value, in advance, deciding whether to apply the predicted total guiding force to the steering device for avoiding the undesired situation or not.

Abstract translation: 一种用于在操作期间辅助车辆的驾驶员以避免基于当前驾驶场景的不期望的情况的方法包括预测是否需要对车辆转向装置的第一引导力以避免不期望的情况，并且如果第一 期望引导力，预测包括第一引导力的总引导力，其将施加到转向装置以避免不期望的情况，将预测的总引导力与极限值进行比较，并且如果预测的总引导力超过 预先决定是否将预测的总引导力应用于转向装置以避免不期望的情况。

公开(公告)号：US20110257845A1

公开(公告)日：2011-10-20

申请号：US13139730

申请日：2009-10-23

Applicant: Keitaro Niki ,  Yoji Kunihiro ,  Yoshiaki Suzuki

Inventor： Keitaro Niki ,  Yoji Kunihiro ,  Yoshiaki Suzuki

IPC: B62D6/00

CPC classification number: B62D6/003 ,  B60T2201/08 ,  B60T2201/087 ,  B62D5/046 ,  B62D5/0466 ,  B62D5/0472 ,  B62D15/025

Abstract: A coordinate-control-gain calculation section 61 calculates a coordinate-control final control torque T_C required to properly control the traveling behavior of a vehicle, and determines a coordinate control gain Kg on the basis of the magnitude of this torque T_C. An arbitration-request determination section 62 determines the value of an arbitration request flag FRG_A on the basis of the magnitude of the torque T_C and the value of a flag FRG_L output so as to properly control the traveling behavior of a vehicle. On the basis of the value of the flag FRG_A and the magnitude of the coordinate-control arbitration torque Tr determined by use of the gain Kg, an arbitration section 63 selects the torque T_C or the torque Tr to be output as a post-arbitration control torque T_F. A post-arbitration drive control section 64 supplies to an electric motor a drive current corresponding to the determined torque T_F.

Abstract translation: 坐标控制增益计算部61计算适当地控制车辆的行驶行为所需的坐标控制最终控制扭矩T_C，并基于该转矩T_C的大小来确定坐标控制增益Kg。 仲裁请求确定部分62基于转矩T_C的大小和输出的标志FRG_L的值来确定仲裁请求标志FRG_A的值，以便适当地控制车辆的行驶行为。 基于标志FRG_A的值和通过使用增益Kg确定的坐标控制仲裁转矩Tr的大小，仲裁部63选择要输出的转矩T_C或转矩Tr作为仲裁后控制 扭矩T_F。 后置仲裁驱动控制部64向电动机提供与所确定的转矩T_F对应的驱动电流。

公开(公告)号：US07603215B2

公开(公告)日：2009-10-13

申请号：US11001156

申请日：2004-12-02

Applicant: Shinji Matsumoto ,  Satoshi Tange ,  Masayasu Shimakage

Inventor： Shinji Matsumoto ,  Satoshi Tange ,  Masayasu Shimakage

IPC: B62D6/00 ,  G06F17/00

CPC classification number: G08G1/167 ,  B60T8/1755 ,  B60T2201/08 ,  B60T2201/084 ,  B60T2201/087 ,  B60W30/12 ,  B62D15/029

Abstract: In lane keep control apparatus and method for an automotive vehicle, a deviation tendency detecting section detects whether the vehicle has a tendency of a deviation from a traveling traffic lane and a deviation avoidance controlling section performs a control for the vehicle to travel on a road surface which is parallel to the traveling traffic lane when the deviation tendency detecting section detects that the vehicle has the tendency of the deviation from the traveling traffic lane and, thereafter, performs a control to prevent a yaw angle of the vehicle with respect to the traveling traffic lane from increasing in a direction in which the tendency of the deviation becomes large.

Abstract translation: 在用于机动车辆的车道保持控制装置和方法中，偏差趋势检测部分检测车辆是否具有偏离行驶车道的倾向，并且偏离避免控制部分执行车辆在路面上行驶的控制 当偏差倾向检测部检测到车辆偏离行驶车道的倾向时，该行驶道路平行于行驶车道，之后进行防止车辆相对于行驶车辆的偏航角的控制 在偏离趋势变大的方向上增加。