公开(公告)号：EP1676764A1

公开(公告)日：2006-07-05

申请号：EP05257952.1

申请日：2005-12-22

Applicant: NISSAN MOTOR CO., LTD.

Inventor： Ozaki, Masahiro c/o Nissan Motor Co., Ltd ,  Tanaka, Tomonori c/o Nissan Motor Co., Ltd ,  Imaizumi, Takashi c/o Nissan Motor Co., Ltd

IPC: B60T8/1755 ,  B60K31/00

CPC classification number: B60W10/18 ,  B60T8/17557 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2201/085 ,  B60T2201/088 ,  B60W10/16 ,  B60W10/20 ,  B60W40/064 ,  B60W40/068 ,  B60W2520/10 ,  B60W2550/402 ,  B60W2710/12 ,  B60W2710/18 ,  B62D5/0472

Abstract: A lane departure prevention system comprises a driving-power difference generating unit for generating a driving power difference between left and right driving wheels, a braking power difference generating unit for generating a braking power difference between left and right wheels, a departure tendency determining unit for determining a tendency of departure of a vehicle from a lane of travel, and a yaw moment applying unit for switching a departure avoidance control for applying, to the vehicle, a yaw moment generated by the driving-power difference generating unit and a departure avoidance control for applying, to the vehicle, the yaw moment generated by the braking-power difference generating unit, on the basis of a driving state of the vehicle (vehicle speed, road-surface friction coefficient) when the departure tendency determining unit determines that the vehicle has a tendency to depart from the lane of travel.

Abstract translation: 车道偏离防止系统包括用于产生左右驱动轮之间的驱动力差的驱动力差产生单元，用于产生左右两车轮之间的制动功率差的制动力差产生单元，用于 确定车辆离开行车道的偏离的倾向;以及横摆力矩施加单元，用于切换用于向车辆施加由驾驶功率差产生单元产生的横摆力矩和离开避免控制的离场回避控制 基于车辆的行驶状态（车速，路面摩擦系数），由制动力差产生单元产生的横摆力矩向车辆施加，当出发倾向确定单元确定车辆 有偏离旅途的倾向。

公开(公告)号：EP1527972A1

公开(公告)日：2005-05-04

申请号：EP04256471.6

申请日：2004-10-20

Applicant: NISSAN MOTOR COMPANY, LIMITED

Inventor： Sadano, On ,  Uemura, Yoshitaka ,  Ozaki, Masahiro

IPC: B60T8/00 ,  G08G1/16 ,  G05D1/02 ,  B60T7/22

CPC classification number: B60T8/17557 ,  B60T7/22 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2201/085

Abstract: A lane departure prevention apparatus is configured to conduct a course correction in a lane departure avoidance direction when a controller (8) determines that there is a potential for a vehicle to depart from a driving lane. The controller (8) combines yaw control and deceleration control to conduct departure prevention control to avoid lane departure. The yaw control is not actuated if the opposite direction from the steering direction coincides with the lane departure direction (steps S10 and S11). Preferably, the controller (8) sets the timing of yaw moment and the deceleration of the vehicle on the basis of the acceleration or deceleration of the vehicle, and performs braking control so that these settings are achieved (steps S7 to S9). Preferably, the controller (8) calculates the target yaw moment in the lane departure-avoidance direction on the basis of the running state of the vehicle, and calculates the deceleration amount by taking into account the driver braking operation amount.

Abstract translation: 车道偏离防止装置被配置为当控制器（8）确定车辆具有离开行驶车道的可能性时，在避开车道偏离方向上进行路线校正。 控制器（8）结合偏航控制和减速控制进行偏离防止控制以避免车道偏离。 如果与转向方向相反的方向与车道偏离方向一致（步骤S10和S11），则偏航控制不被致动。 优选地，控制器（8）基于车辆的加速度或减速度设定车辆的横摆力矩和车辆的减速度的时刻，并且执行制动控制以实现这些设定（步骤S7至S9）。 优选地，控制器（8）基于车辆的行驶状态计算车道偏离避开方向上的目标横摆力矩，并且通过考虑驾驶员制动操作量来计算减速量。

公开(公告)号：EP1103023B1

公开(公告)日：2003-01-29

申请号：EP00936607.1

申请日：2000-04-06

Applicant: ROBERT BOSCH GMBH

Inventor： LOHNER, Herbert ,  DOMINKE, Peter ,  CAO, Chi-Thuan ,  LEIMBACH, Klaus-Dieter ,  HARTER, Werner ,  HOMMEL, Mathias

IPC: G05D1/00

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 relates to a system for automatic following-distance control, notably in congested traffic, in a motor vehicle (1) so as to facilitate driving in congested traffic by both taking over transverse steering by means of an automatic steering system and ensuring that a given distance is maintained to a vehicle driving ahead. The latter function calls for an adaptive driving and brake control system with a 'stop' and 'go' function. According to the invention selection and decision means (5, 6, 7, 8, 9) are provided for which are able to selected both control parameters and control types, for example following-distance control of the motor vehicle (1) in accordance with road markings recognized by video camera or in accordance with a detected leading vehicle. The system is divided into hierarchical levels (I-IV). The driver always remains in the monitoring and adaptation circuit assigned to the highest hierarchical level (IV) so that he has the highest priority and can overrule the system at any time.

公开(公告)号：US09505401B2

公开(公告)日：2016-11-29

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 ,  B60W10/184 ,  B60W30/12 ,  B62D6/00 ,  B62D15/02

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 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ΔY单独控制，以便不允许车辆 超越行车道。

公开(公告)号：US20060142922A1

公开(公告)日：2006-06-29

申请号：US11318678

申请日：2005-12-27

Applicant: Masahiro Ozaki ,  Takashi Imaizumi ,  Tomonori Tanaka

Inventor： Masahiro Ozaki ,  Takashi Imaizumi ,  Tomonori Tanaka

IPC: G06F19/00

CPC classification number: B60W10/18 ,  B60T8/17557 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2201/085 ,  B60T2201/088 ,  B60W10/16 ,  B60W10/20 ,  B60W40/064 ,  B60W40/068 ,  B60W2520/10 ,  B60W2550/402 ,  B60W2710/12 ,  B60W2710/18 ,  B62D5/0472

Abstract: The present lane departure prevention system comprises a driving-power difference generating unit for generating a driving power difference between left and right driving wheels, a braking power difference generating unit for generating a braking power difference between left and right wheels, a departure tendency determining unit for determining a tendency of departure of a vehicle from a lane of travel, and a yaw moment applying unit for switching a departure avoidance control for applying, to the vehicle, a yaw moment generated by the driving-power difference generating unit and a departure avoidance control for applying, to the vehicle, the yaw moment generated by the braking-power difference generating unit, on the basis of a driving state of the vehicle when the departure tendency determining unit determines that the vehicle has a tendency to depart from the lane of travel.

Abstract translation: 本车道偏离防止系统包括用于产生左右驱动轮之间的驱动力差的驱动力差产生单元，用于产生左右车轮之间的制动功率差的制动力差产生单元，偏离倾向确定单元 用于确定车辆离开行车道的偏离的倾向;以及横摆力矩施加单元，用于切换用于向车辆施加由驾驶功率差产生单元产生的横摆力矩和离开避免的离开避免控制 基于车辆的行驶状态，当出发倾向确定单元确定车辆具有偏离车道的倾向时，向车辆施加由制动力差产生单元产生的横摆力矩的控制; 旅行。

公开(公告)号：US20050246101A1

公开(公告)日：2005-11-03

申请号：US11119537

申请日：2005-04-29

Applicant: William Courtenay ,  Mark Tucker

Inventor： William Courtenay ,  Mark Tucker

IPC: B60T8/1755 ,  B60T8/1764 ,  B62D6/00 ,  B62D15/02 ,  G05D1/02 ,  G01S1/00

CPC classification number: G05D1/0246 ,  B60T8/17557 ,  B60T8/1764 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2201/085 ,  B60T2201/087 ,  B60T2201/089 ,  B62D6/003 ,  B62D6/008 ,  B62D15/025 ,  G05D2201/0213

Abstract: A stability control system for road vehicles comprising a limit handling assistance controller which uses video lane detection measurements in conjunction with vehicle dynamics information, including inertial brakes and steering measurements to control vehicle EPS and VSC systems to assist the driver stabilize the vehicle and correct for any lane offset prior to and/or during of understeer, oversteer, split-μ and heavy breaking conditions, and lane changes.

Abstract translation: 一种用于公路车辆的稳定性控制系统，包括限制处理辅助控制器，其使用视频车道检测测量结合车辆动态信息，包括惯性制动器和转向测量以控制车辆EPS和VSC系统，以协助驾驶员稳定车辆并纠正任何 在转向不足，过度转向，分裂和重型条件之前和/或期间车道偏移以及车道变化。

公开(公告)号：US20040098197A1

公开(公告)日：2004-05-20

申请号：US10693946

申请日：2003-10-28

Applicant: NISSAN MOTOR CO., LTD.

Inventor： Shinji Matsumoto ,  Genpei Naito ,  Satoshi Tange

IPC: G08G001/16

CPC classification number: B60T8/17557 ,  B60T2201/02 ,  B60T2201/08 ,  B60T2201/081 ,  B60T2201/085 ,  B62D1/286

Abstract: In an automotive lane deviation avoidance system that prevents a host vehicle from deviating from its driving lane by correcting the host vehicle's course in a direction that avoids the host vehicle's lane deviation in the presence of a possibility of the host vehicle's lane deviation, the system calculates a desired yawing moment needed to avoid the host vehicle's lane deviation from the driving lane. The system compensates for the desired yawing moment by a correction factor or a gain, which is determined based on a throttle opening of the host vehicle.

Abstract translation: 在汽车车道偏离避免系统中，通过在存在主车辆车道偏离的可能性的情况下通过在避免主车辆的车道偏离的方向上校正主车辆的行驶来防止主车辆偏离其行驶车道，该系统计算 需要避免主车辆与驾驶车道偏离的期望的偏航力矩。 系统通过基于主车辆的节气门开度确定的校正因子或增益来补偿期望的横摆力矩。

公开(公告)号：US20020022927A1

公开(公告)日：2002-02-21

申请号：US09923252

申请日：2001-08-02

Inventor： Jerome H. Lemelson ,  Robert D. Pedersen

IPC: G08G001/16

CPC classification number: G01S19/11 ,  B60T2201/022 ,  B60T2201/08 ,  B60T2201/082 ,  B60T2201/083 ,  B60T2201/085 ,  B60T2201/087 ,  G01S5/009 ,  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 ,  G07C5/0891 ,  G08G1/164 ,  G08G1/20 ,  H04W4/046

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.

Abstract translation: GPS卫星（4）在comm1上接收（32）的测距信号（6），以及来自在comm2上接收（34）的固定的已知地球基站（10）的DGPS辅助范围校正信号和伪卫星载波相位模糊度分辨率信号（8） 在多个车辆/飞行器/汽车（2）中的一个被计算机处理（36）以以厘米的精度连续地确定在路径（14）上的运动学跟踪位置。 将基于GPS的位置与所选择的其他状态信息彼此通信到多个车辆（2）中的一个，一个站（10）和/或多个控制中心（16）中的一个，并且 一辆车从其中接收其他人的状态信息和运动跟踪位置。 通过多个补充机制（例如视频（54）），雷达/激光雷达（56），激光和光学扫描仪从所有方向（300）检测物体（22）。 在一个车辆中的神经网络（132，图6-8）中对数据和信息进行计算机处理和分析（50,52,200,452），以识别，排序和评估碰撞危险/对象，专家操作响应 其在模糊逻辑关联存储器（484）中确定，其产生控制信号，其以协调的方式致动一个车辆的多个控制系统，以横向和纵向地操纵它以避免每次碰撞危险， 碰撞是不可避免的，以尽量减少伤害或伤害。 操作员被抬头显示和其他模式警告，并可以覆盖。 提供汽车自动驾驶模式。

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：US07206684B2

公开(公告)日：2007-04-17

申请号：US11318201

申请日：2005-12-23

Applicant: Yuya Takeda

Inventor： Yuya Takeda

IPC: G06F19/00

CPC classification number: B60T8/17557 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2201/085 ,  B60T2201/087 ,  B60W10/18 ,  B60W10/20 ,  B60W30/12 ,  B60W40/064 ,  B60W2520/14 ,  B62D6/003 ,  B62D7/159

Abstract: The present lane departure prevention system comprises a position detector means for detecting positional information of a vehicle with respect to a lane of travel, a determining unit for comparing the positional information with a first threshold value indicating a predetermined positional relation with respect to the lane of travel, and determining a departure of the vehicle from the lane of travel on the basis of the comparison result, and a yaw moment applying unit for applying a yaw moment to the vehicle and switching a first process of applying the yaw moment to the vehicle only by steering wheels and a second process of applying the yaw moment to the vehicle by steering the wheels and applying a braking power to the wheels, on the basis of a traveling condition of the vehicle, when the determining unit determines that the vehicle departs from the lane of travel.

Abstract translation: 目前的车道偏离防止系统包括：位置检测装置，用于检测车辆相对于行车道的位置信息;确定单元，用于将位置信息与指示相对于车道行驶的车道的预定位置关系的第一阈值进行比较; 基于比较结果确定车辆离开行车道的偏航力矩施加单元和用于向车辆施加横摆力矩的横摆力矩施加单元，并且将仅向车辆施加横摆力矩的第一处理切换 通过方向盘和通过转向车轮并且基于车辆的行驶状况向车轮施加制动力向车辆施加横摆力矩的第二过程，当确定单元确定车辆离开车辆时 行车线