公开(公告)号：US6129025A

公开(公告)日：2000-10-10

申请号：US983292

申请日：1998-04-10

Applicant: Hiroyuki Minakami ,  Motoyuki Minakami

Inventor： Hiroyuki Minakami ,  Motoyuki Minakami

IPC: B60P3/07 ,  B61B13/08 ,  B62D1/26 ,  B62D37/00 ,  B62D39/00 ,  B61J3/00 ,  B61K1/00

CPC classification number: B60L15/38 ,  B60L11/1803 ,  B60L11/182 ,  B60L11/1831 ,  B60L11/1833 ,  B60L13/03 ,  B60L5/005 ,  B60L9/24 ,  B60P3/07 ,  B61B13/08 ,  B62D1/26 ,  B62D37/00 ,  B62D39/00 ,  B60L2200/26 ,  B60L2200/44 ,  B60L2240/70 ,  B60L2260/32 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2201/087 ,  Y02T10/7005 ,  Y02T10/7072 ,  Y02T10/7291 ,  Y02T30/30 ,  Y02T30/40 ,  Y02T90/12 ,  Y02T90/121 ,  Y02T90/122 ,  Y02T90/125 ,  Y02T90/14 ,  Y02T90/16

Abstract: In a transportation/logistics system in which a pallet/vehicle with an automobile/container mounted/fixed thereon travels, a normal steering operation is carried out by changing the direction of the wheels (including tires) by an electronically controlled automatic steering system on the basis of steering information, whereby comfortable travel and a smooth turns are obtained. When the pallet/vehicle is about to run off a lane on which it travels, the run-off thereof is prevented physically and mechanically since a fin provided on the pallet/vehicle is inserted in a groove provided in a road, whereby a safe traffic/transportation system is obtained. The pallet/vehicle obtains a driving force by a gap length regulated/controlled linear induction motor so that the pallet/vehicle can travel at high speeds. In diverging (branching) and merging (converging) points, the diverging (branching)/merging (converging) of the pallet/vehicles is practiced by steering the wheels (tires) by the automatic steering system, and the pallet/vehicle advances with the fin inserted in a groove in a main line or a ramp, whereby a reliable, safe traffic/transportation system adapted to practice high-speed diverging (branching) is obtained. At the exit/entrance of the present invention to/from a general road, a mode interchange is provided which is adapted to convert a traveling mode of an automobile/container, and mounts and fixes an automobile/container on the pallet/vehicle and unfastens such automobile/container.

Abstract translation: PCT No.PCT / JP95 / 01350 Sec。 371日期：1998年4月10日 102（e）1998年4月10日PCT PCT 1995年7月4日PCT公布。 公开号WO97 / 02167 日期1997年1月23日在运输/物流系统中，其上安装/固定其上的汽车/集装箱的托盘/车辆行进，通过电子控制来改变车轮（包括轮胎）的方向来进行正常的转向操作 基于转向信息的自动转向系统，从而获得舒适的行驶和平稳的转弯。 当托盘/车辆即将从其行进的车道上行驶时，由于设置在托盘/车辆上的翅片插入设置在道路中的槽中，所以其物理和机械的防止其被阻止，由此安全的交通 /运输系统。 托盘/车辆通过间隙长度调节/控制的线性感应电动机获得驱动力，使得托盘/车辆可以高速行驶。 在分叉（分支）和合并（收敛）点时，通过由自动转向系统转向轮子（轮胎）来实施托盘/车辆的发散（分支）/合并（收敛），并且托盘/车辆 翅片插入主线或斜坡的凹槽中，从而获得适于实施高速发散（分支）的可靠，安全的交通/运输系统。 在本发明的出入口处，从一般道路出来，提供了一种模式交换装置，其适于转换汽车/集装箱的行驶模式，并将汽车/集装箱安装并固定在货盘/车辆上并且松开 这样的汽车/集装箱。

公开(公告)号：US5938707A

公开(公告)日：1999-08-17

申请号：US696539

申请日：1996-08-14

Applicant: Yasuo Uehara

Inventor： Yasuo Uehara

IPC: B60R21/00 ,  B60W30/00 ,  B62D1/28 ,  B62D6/00 ,  G05D1/02 ,  G08G1/04 ,  G08G1/042 ,  G05D1/03

CPC classification number: B62D1/28 ,  G05D1/0261 ,  B60T2201/08 ,  B60T2201/087 ,  G05D2201/0213

Abstract: An automatic steering system which reduces formation of a wheel track by changing a relative position of a vehicle with respect to a road. A reference line is provided along a road so that a vehicle moves along the reference line. The vehicle moves on the road while an amount of shift from the reference line is controlled to be equal to a target amount of shift. The amount of shift is a distance between a predetermined position of the vehicle and the reference line. A moving line of the vehicle is fluctuated with respect to time in a direction substantially perpendicular to an extending direction of the reference line. Alternatively, the reference line may be shifted in a direction substantially perpendicular to the extending direction of the reference line.

Abstract translation: 一种自动转向系统，其通过改变车辆相对于道路的相对位置来减少轮轨的形成。 沿着道路提供参考线，使得车辆沿着基准线移动。 车辆在道路上移动，同时从参考线的换档量被控制为等于目标偏移量。 移动量是车辆的预定位置和基准线之间的距离。 车辆的移动线在与基准线的延伸方向大致垂直的方向上相对于时间波动。 或者，参考线可以在基本上垂直于参考线的延伸方向的方向上移动。

公开(公告)号：US5318143A

公开(公告)日：1994-06-07

申请号：US887069

申请日：1992-06-22

Applicant: Donald L. Parker ,  Philip Roan

Inventor： Donald L. Parker ,  Philip Roan

IPC: B60K31/00 ,  B62D1/28 ,  E01F9/00 ,  G01C21/26 ,  G01S17/66 ,  G01S17/74 ,  G01S17/87 ,  G05D1/02 ,  G08G1/0967

CPC classification number: G08G1/096716 ,  B60K31/0008 ,  B60K31/0058 ,  B62D1/28 ,  E01F9/30 ,  G01C21/26 ,  G01S17/66 ,  G01S17/74 ,  G01S17/87 ,  G05D1/0242 ,  G05D1/0244 ,  G08G1/096725 ,  G08G1/096758 ,  G08G1/096783 ,  B60T2201/08 ,  B60T2201/087 ,  G05D1/0274 ,  G05D1/028

Abstract: A lane sensing system (20) comprises a processor (22) operable to drive an infrared optical transmitter (24). Light is reflected by a center stripe (18) placed in the center of a highway lane. Reflected light is received in right and left receivers (26) and (28). The processor (22) uses the information to control a power steering control system (30) and a speed control system (32). Information may be encrypted into the center stripe (18) and used by processor (22) to control the speed of the vehicle (10) or to display information to an operator of the vehicle (10) through a display system (34).

Abstract translation: 车道感测系统（20）包括可操作以驱动红外光发送器（24）的处理器（22）。 光线被放置在公路车道中心的中心条纹（18）反射。 反射光被接收在左和右接收器（26）和（28）中。 处理器（22）使用该信息来控制动力转向控制系统（30）和速度控制系统（32）。 信息可以被加密到中心条纹（18）中并且由处理器（22）使用以通过显示系统（34）来控制车辆（10）的速度或者向车辆（10）的操作者显示信息。

公开(公告)号：KR20180033560A

公开(公告)日：2018-04-03

申请号：KR20187005369

申请日：2016-09-14

IPC: B60T8/1755

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

Abstract: 발명은, 특히측정된, 실제요 레이트가모델을사용하여계산되는설정치요 레이트 () 와비교되는, 주행안정성제어시스템을갖는브레이크시스템을구비한자동차의폐쇄루프제어를수행하기위한방법에관련되며, 주행안정성제어시스템에대한설정치요 레이트의계산동안, 차선안내또는차선유지또는횡단안내를위한보조시스템의차선폐쇄루프또는개방루프보조제어의요 모멘트 (M) 가고려된다. 발명은또한, 적어도하나의차량센서, 특히스티어링각도센서및/또는요 레이트센서및/또는휠 회전속도센서들에접속되고, 액츄에이터들의작동을통해, 자동차의개별휠들에서의제동력들의변조및 운전자독립증가를가져올수 있는, 전자식브레이크제어유닛에관련된다.

公开(公告)号：KR1020170115370A

公开(公告)日：2017-10-17

申请号：KR1020160042970

申请日：2016-04-07

Applicant: 엘지전자 주식회사

Inventor： 이진교

IPC: B60W10/18 ,  B60W10/20 ,  B60W40/02 ,  B60W40/105 ,  B60W30/08 ,  B60R21/0134 ,  B60C23/02 ,  B60W40/072

CPC classification number: B60W30/09 ,  B60T8/17557 ,  B60T2201/083 ,  B60T2201/087 ,  B60T2201/16 ,  B60T2210/32 ,  B60W10/18 ,  B60W10/20 ,  B60W2420/42 ,  B60W2510/207 ,  B60W2530/20 ,  B60W2540/12 ,  B60W2540/18 ,  B60W2550/308 ,  B60C23/02 ,  B60R21/0134 ,  B60W30/08 ,  B60W40/02 ,  B60W40/072 ,  B60W40/105 ,  B60W2422/70

Abstract: 본발명은, 차량외부영상을획득하는카메라; 인터페이스부; 및상기차량외부영상에서주행차선(lane)을검출하고, 차량의제동상태정보를획득하고, 차량의제동상태시, 상기주행차선내에서제동이이루어지도록상기인터페이스부를통해, 조향장치에차량조향을위한신호를제공하거나, 브레이크장치에편제동을위한신호를제공하는프로세서;를포함하는차량운전보조장치에관한것이다.

Abstract translation: 本发明涉及用于获取车辆的外部图像的照相机; 接口部分; 并检测所述图像之外的车辆中的行驶车道（泳道），并获得该车辆的制动状态，从而使行驶车道内的制动位置，当通过接口的车辆的制动状态时，车辆转向的转向系统 处理器用于提供用于制动制动装置的信号或提供用于制动制动装置的信号。

公开(公告)号：KR1020060074855A

公开(公告)日：2006-07-03

申请号：KR1020050129478

申请日：2005-12-26

Applicant: 닛산 지도우샤 가부시키가이샤

Inventor： 다께다유우야

IPC: B60W30/10 ,  B60R21/00

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: 본 발명의 과제는 운전자에게 위화감을 부여하지 않고, 주행 차선에 대한 차량의 주행 상태에 따라서 가장 적절하게 차선 일탈을 방지할 수 있는 것이다.
차선 일탈 방지 장치는 주행 차선에 대해 소정의 위치 관계로 설정된 제1 임계치와 주행 차선에 대한 차량의 위치 정보와의 비교 결과[감산치(│Xs│－ X
L )]를 기초로 하여 차량의 차선 일탈 판정을 한 경우, 차량에 대해 차선 일탈 방지용 요우 모멘트를 부여하는 동시에, 차선 일탈 판정 시의 차량의 주행 상태를 기초로 하여 차륜의 전타에 의해서만 요우 모멘트를 부여하는 것과, 차륜의 전타 및 차륜으로의 제동력 부여에 의해 요우 모멘트를 부여하는 것을 절환한다. 예를 들어, 노면(μ)에 따라서 변화되는 제어 가부 판정용 임계치(X
μ )와 상기 감산치의 비교 결과(스텝 S22)를 기초로 하여 상기 절환을 위한 제동차 제어 판단 플래그(Fgs)를 설정한다(스텝 S23, 스텝 S24).
차선 일탈 방지 장치, 제어기, 횔 실린더, 노면 추정 장치, 엔진

Abstract translation: 本发明的目的是根据车辆相对于行驶车道的行驶状态最适当地防止车道偏离，而不会给驾驶员带来不适感。

公开(公告)号：KR100540743B1

公开(公告)日：2006-01-10

申请号：KR1020030004788

申请日：2003-01-24

Applicant: 최용건 ,  최용준 ,  최인철

Inventor： 최용건 ,  최용준 ,  최인철

IPC: B62D6/00

CPC classification number: B60W10/20 ,  B60T2201/08 ,  B60T2201/087 ,  B62D1/28 ,  G05D1/0246 ,  G05D2201/0213

Abstract: 본 발명은 주행하는 차량의 전면에 설치된 영상촬영수단에서 얻어진 도로영상을 분석하여 차량의 조향각을 조절하고, 속도를 제어하므로써 무인 주행이 가능하게 하는 주행편차 보정에 의한 차량의 자동 주행장치 및 방법에 관한 것이다.
본 발명은 도로와 영상촬영장치 광축과의 가로편차(Δx)를 구한 후, 가로편차(Δx)와 차량축간 거리(L), 그리고 영상촬영수단과 수평거리(d)를 이용하여 차량의 조향각을 계산하고, 또한, 차량의 전방 영상데이터 중 세로편차(Δy)와 선행차량의 위치를 분석하여 브레이크와 엑셀러레이터를 구동하는 데이터를 생성하여 차량을 자동으로제어할 수 있다.
조향각, 가로편차, 세로편차, 속도조절, 차선검출. 선행차량

公开(公告)号：KR100460866B1

公开(公告)日：2004-12-09

申请号：KR1020010069166

申请日：2001-11-07

Applicant: 현대자동차주식회사

Inventor： 윤중락

IPC: B62D6/04

CPC classification number: B60T2201/08 ,  B60T2201/087

Abstract: PURPOSE: An auxiliary torque generator of a lane-keeping support system is provided to improve the shift quality, and to enhance comfortableness in steering by mechanically and constantly connecting a motor and a steering column. CONSTITUTION: A lane-keeping support system is composed of a torque sensor, a steering angle sensor, an auxiliary torque generator(100), a vehicle speed sensor, an ECU(Electronic Control Unit), and an image processing unit. The auxiliary torque generator has a motor(10) having a rotating shaft(21) assembled with a driving gear(23), a differential(28) including an output end(22) mounting a first deceleration gear(25) engaged with the driving gear and an output end gear(27) engaged with a second deceleration gear(31) and a free end(26) regulated selectively by a brake(24), and a steering wheel(30) rotated by a steering column(33). The driver is guided to keep the lane by generating auxiliary torque to the steering wheel at lane deviation.

Abstract translation: 目的：提供一种车道保持辅助系统的辅助扭矩发生器，以提高换档质量，并通过机械和持续地连接电机和转向柱来提高转向舒适性。 构成：车道保持支持系统由扭矩传感器，转向角度传感器，辅助转矩发生器（100），车速传感器，ECU（电子控制单元）和图像处理单元组成。 辅助转矩发生器具有：具有与驱动齿轮（23）组装在一起的旋转轴（21）的电动机（10）;包括安装有第一减速齿轮（25）的输出端（22）的差速器（28） 和与第二减速齿轮（31）啮合的输出端齿轮（27）和由制动器（24）选择性地调节的自由端（26），以及通过转向柱（33）旋转的方向盘（30）。 驾驶员通过在车道偏离时产生辅助转矩给方向盘来保持车道。

公开(公告)号：KR1020040067584A

公开(公告)日：2004-07-30

申请号：KR1020030004788

申请日：2003-01-24

Applicant: 최용건 ,  최용준 ,  최인철

Inventor： 최용건 ,  최용준 ,  최인철

IPC: B62D6/00

CPC classification number: B60W10/20 ,  B60T2201/08 ,  B60T2201/087 ,  B62D1/28 ,  G05D1/0246 ,  G05D2201/0213

Abstract: PURPOSE: A data forming device and a method for regulating the steering angle and speed of a vehicle by correcting traveling deviation are provided to drive with men by controlling the steering angle and speed of the vehicle by analyzing an image for the road obtained from an image-photographing unit installed to the front side of the vehicle. CONSTITUTION: A data forming device for regulating the steering angle and speed of a vehicle by correcting traveling deviation is composed of an image-photographing unit(10) mounted to the vehicle to photograph images for the forward road; an image data memory unit(20) for storing the photographed image data; a lane image extracting unit(30) for extracting a lane from the image data of the road stored in the image data memory unit; a unit(61) for assigning a horizontal distance and a wheelbase by the lane data extracted from the lane image extracting unit and computing a width deviation; a unit(62) for computing the steering angle based on the computed width deviation, horizontal distance, and wheelbase; a steering angle comparing unit(63) for comparing the computed target steering angle and the steering angle measured by a steering angle sensor(60a); and a steering information generating unit(64) for generating the steering information by using difference of the compared steering angle value.

Abstract translation: 目的：提供一种用于通过校正行驶偏差来调节车辆的转向角和速度的数据形成装置和方法，以通过分析从图像获得的道路图像来控制车辆的转向角和速度来驱动 摄像单元安装在车辆的前侧。 构成：用于通过校正行驶偏差来调节车辆的转向角和速度的数据形成装置由安装在车辆上的图像拍摄单元（10）组成，以拍摄前进道路的图像; 图像数据存储单元，用于存储所拍摄的图像数据; 车道图像提取单元，用于从存储在图像数据存储单元中的道路图像数据中提取车道; 用于通过从车道图像提取单元提取的车道数据来分配水平距离和轴距的单元（61），并计算宽度偏差; 基于计算出的宽度偏差，水平距离和轴距来计算转向角的单元（62）; 用于比较由转向角传感器（60a）测量的计算出的目标转向角和转向角的转向角比较单元（63）; 以及用于通过使用所比较的转向角值的差异来产生转向信息的转向信息生成单元（64）。

公开(公告)号：US20180056996A1

公开(公告)日：2018-03-01

申请号：US15481531

申请日：2017-04-07

Applicant: LG ELECTRONICS INC.

Inventor： Jinkyo LEE

IPC: B60W30/09 ,  B60W10/18 ,  B60W10/20

CPC classification number: B60W30/09 ,  B60T8/17557 ,  B60T2201/083 ,  B60T2201/087 ,  B60T2201/16 ,  B60T2210/32 ,  B60W10/18 ,  B60W10/20 ,  B60W2420/42 ,  B60W2510/207 ,  B60W2530/20 ,  B60W2540/12 ,  B60W2540/18 ,  B60W2550/308

Abstract: A driver assistance apparatus for a vehicle includes a camera configured to photograph an image of surroundings of a vehicle; an interface; and a processor. The processor is configured to detect, based on the image photographed by the camera, a lane in which the vehicle travels; acquire braking state information of the vehicle; and provide, to a steering apparatus, a signal for steering the vehicle or provide, to a brake apparatus, a signal for one-sided braking through the interface to maintain the vehicle within the lane in which the vehicle travels during a braking of the vehicle based on the acquired braking state information.