公开(公告)号：US07580785B2

公开(公告)日：2009-08-25

申请号：US12111710

申请日：2008-04-29

Applicant: Shinji Matsumoto ,  Genpei Naito ,  Satoshi Tange

Inventor： Shinji Matsumoto ,  Genpei Naito ,  Satoshi Tange

IPC: B60K31/00

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同时，LDP期望的横摆力矩和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：US07539566B2

公开(公告)日：2009-05-26

申请号：US11313046

申请日：2005-12-20

Applicant: Satoshi Tange ,  Shinji Matsumoto

Inventor： Satoshi Tange ,  Shinji Matsumoto

IPC: B62D6/00

CPC classification number: B60T8/17557 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2201/086 ,  B60T2201/089

Abstract: A lane departure prevention system comprises a traveling status detecting unit for detecting current lateral displacement and current yaw angle of a vehicle relative to a lane of travel, a departure detecting unit for detecting whether the vehicle is tending to depart from the lane of travel on the basis of current lateral displacement of the vehicle relative to the lane of travel as detected by the traveling status detecting unit; and a departure avoidance control unit for controlling the vehicle to avoid lane departure when the departure detecting unit detects that the vehicle is tending to depart from the lane of travel. The departure avoidance control unit calculating the extent of control necessary to avoid lane departure on the basis of current yaw angle of the vehicle detected by the traveling status detecting unit. Provision is made for preventing lane departure on a curving as well as a straight road.

Abstract translation: 车道偏离预防系统包括：行驶状态检测单元，用于检测车辆相对于行车道的当前横向位移和当前偏航角;出发检测单元，用于检测车辆是否倾向于离开行驶车道 基于行驶状态检测单元检测到的车辆相对于行车道的当前横向位移; 以及离场回避控制单元，用于当出发检测单元检测到车辆倾向于离开行车道时，控制车辆以避免车道偏离。 离场回避控制单元基于由行驶状态检测单元检测到的车辆的当前偏航角来计算避免车道偏离所必需的程度。 规定用于防止弯道和直路上的车道偏离。

公开(公告)号：US07479892B2

公开(公告)日：2009-01-20

申请号：US10571037

申请日：2004-08-31

Applicant: Fredrik Ling ,  Fredrik Billberg

Inventor： Fredrik Ling ,  Fredrik Billberg

IPC: G08B23/00

CPC classification number: B60Q9/008 ,  B60T2201/08 ,  B60T2201/082

Abstract: A method and a system for automatically detecting unintended lane departures of vehicles are described. A lane departure warning system comprises a lane departure recognition unit (10), an alarm generation unit (12), and a driver activity monititoring unit (14). The driver activity monitoring unit (14) is configured to monitor one or more vehicle-related parameters like the steer angle that change continuously in response to a control intervention of a driver. The alarm generation unit (12) generates an alarm if an actual or forthcoming lane departure is detected and if additionally an evaluation of the one or more parameters indicates a low or no driver activity.

Abstract translation: 描述了用于自动检测车辆的非预期车道偏离的方法和系统。 车道偏离警报系统包括车道偏离识别单元（10），报警生成单元（12）和驾驶员活动监视单元（14）。 驾驶员活动监视单元（14）被配置为监视响应于驾驶员的控制干预而连续变化的转向角度的一个或多个车辆相关参数。 如果检测到实际或即将出现的车道偏离，则报警产生单元（12）产生警报，并且另外一个或多个参数的评估指示驾驶员的活动不足或不起作用。

公开(公告)号：US20080208409A1

公开(公告)日：2008-08-28

申请号：US12111710

申请日：2008-04-29

Applicant: Shinji MATSUMOTO ,  Genpei NAITO ,  Satoshi TANGE

Inventor： Shinji MATSUMOTO ,  Genpei NAITO ,  Satoshi TANGE

IPC: B60W30/12 ,  B62D6/00

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：US20080189012A1

公开(公告)日：2008-08-07

申请号：US12020102

申请日：2008-01-25

Applicant: Timothy W. Kaufmann

Inventor： Timothy W. Kaufmann

IPC: B62D6/00

CPC classification number: B62D1/286 ,  B60T2201/08 ,  B60T2201/082 ,  B60T2201/087 ,  B62D15/025 ,  B62D15/029

Abstract: A system for steering a vehicle including: an actuator disposed in a vehicle to apply torque to a steerable wheel; a driver input device receptive to driver commands for directing the vehicle; and a sensor for determining an intent of a driver and generating a signal indicative thereof. The system also includes: a lane keeping system for detecting a location of the vehicle relative to a lane marker and generating a lane position signal indicative thereof; a controller in operable communication with the actuator, the driver input device, the first sensor, and the lane keeping system. The controller provides a command to the actuator responsive to the intent of the driver, the lane position, and a desired lane position. The controller executes a lane keeping algorithm consisting of a single control loop based on at least one of the lane position and the lane position deviation.

Abstract translation: 一种用于转向车辆的系统，包括：致动器，设置在车辆中以向可转向车轮施加扭矩; 可接受用于引导车辆的驾驶员命令的驾驶员输入装置; 以及用于确定驾驶员意图并产生指示其的信号的传感器。 该系统还包括：车道保持系统，用于检测车辆相对于车道标记的位置并产生指示车道位置信号; 与致动器，驱动器输入装置，第一传感器和车道保持系统可操作地通信的控制器。 控制器响应于驾驶员的意图，车道位置和期望的车道位置向致动器提供命令。 控制器基于车道位置和车道位置偏差中的至少一个执行由单个控制回路组成的车道保持算法。

公开(公告)号：US20080147249A1

公开(公告)日：2008-06-19

申请号：US12068584

申请日：2008-02-08

Applicant: Nobuyuki Kuge ,  Tomohiro Yamamura ,  Dario Salvucci

Inventor： Nobuyuki Kuge ,  Tomohiro Yamamura ,  Dario Salvucci

IPC: G06F17/00

CPC classification number: B60W40/09 ,  B60T2201/08 ,  B60T2201/086 ,  B60W50/10

Abstract: An intention estimation and operation assistance system for estimating an operator's intention and providing assistance to operation of a machine. Reference data, such as the operation of a plurality of hypothetical operators, is provided for comparison with the operation of a real operator, to determine an estimated intention of the operator. The estimated operator is utilized to alter the operation of the machine, to provide a safer and/or smoother operation experience in operating the machine.

Abstract translation: 一种用于估计操作者意图并为机器操作提供帮助的意图估计和操作辅助系统。 提供参考数据，例如多个假设运算符的操作，用于与实际操作者的操作进行比较，以确定操作者的估计意图。 估计的操作者用于改变机器的操作，以便在操作机器时提供更安全和/或更平滑的操作体验。

公开(公告)号：US20080117033A1

公开(公告)日：2008-05-22

申请号：US12007239

申请日：2008-01-08

Applicant: Hiroaki Kataoka ,  Seiji Kawakami ,  Satoru Niwa ,  Katsuhiko Iwazaki

Inventor： Hiroaki Kataoka ,  Seiji Kawakami ,  Satoru Niwa ,  Katsuhiko Iwazaki

IPC: B62D15/00 ,  B62D6/00

CPC classification number: B62D15/029 ,  B60T2201/08 ,  B60T2201/087 ,  B60W30/12 ,  B62D15/025

Abstract: In deviation prevention support ECU 10 in driving operation support system 1, an applied torque by steering torque applier 17 is set based on a vehicle speed of a vehicle. The applied torque is set to increase with increase of the vehicle speed. An upper limit according to the vehicle speed is set for this applied torque. Furthermore, in a Start interval in application of the applied torque, a rate of increasing to reach a maximum is determined according to the maximum of the applied torque. In a close interval, the applied torque is decreased at a rate different from that in the Start interval, and the absolute rate of increasing the torque in the Start interval is set to be larger than the absolute rate of decreasing the torque in the close interval.

Abstract translation: 在驾驶操作支援系统1的偏离防止支援ECU10中，基于车辆的车速设定转向扭矩施加器17所施加的转矩。 施加的转矩设定为随着车速的增加而增加。 针对该施加的扭矩设定根据车速的上限。 此外，在施加扭矩的起动间隔中，根据所施加的转矩的最大值来确定达到最大值的增加率。 在紧密间隔中，施加的转矩以与起动间隔不同的速率减小，并且将起动间隔中的转矩增加的绝对速度设定为大于在闭合间隔中减小转矩的绝对速度 。

公开(公告)号：US07295682B2

公开(公告)日：2007-11-13

申请号：US10271944

申请日：2002-10-17

Applicant: Yuji Otsuka ,  Shoji Muramatsu ,  Hiroshi Takenaga ,  Jiro Takezaki ,  Tatsuhiko Monjii

Inventor： Yuji Otsuka ,  Shoji Muramatsu ,  Hiroshi Takenaga ,  Jiro Takezaki ,  Tatsuhiko Monjii

IPC: G06K9/00

CPC classification number: G06K9/3241 ,  B60T2201/08 ,  B60T2201/089 ,  G05D1/0246 ,  G05D2201/0213 ,  G06K9/00798 ,  G06K9/4604 ,  G06K9/6814

Abstract: A driving lane recognition system which can improve the lane recognition accuracy by stably detecting the various kinds of lane markers is disclosed. An image processing means 6 for image-processing a road image taken by a camera 5 has a plurality of different kinds of image processing algorithms 9 to 11. A driving lane is detected by selecting an image processing algorithm suitable for the driving lane out of the plurality of different kinds of image processing algorithms 9 to 11 corresponding to a road on which a vehicle is running.

Abstract translation: 公开了能够通过稳定地检测各种车道标记来提高车道识别精度的驾驶车道识别系统。 用于图像处理由照相机5拍摄的道路图像的图像处理装置6具有多种不同种类的图像处理算法9至11。 通过选择适合于与车辆行驶的道路相对应的多种不同种类的图像处理算法9至11中的行驶车道的图像处理算法来检测行驶车道。

公开(公告)号：US07292920B2

公开(公告)日：2007-11-06

申请号：US10801344

申请日：2004-03-15

Applicant: Alexander Maass ,  Klaus-Guenther Fleischer

Inventor： Alexander Maass ,  Klaus-Guenther Fleischer

IPC: B60Q1/00 ,  G08G1/123 ,  G06F19/00

CPC classification number: B62D15/029 ,  B60T2201/08 ,  B60T2201/082 ,  B60W2550/402 ,  G05D1/0246 ,  G05D1/0278 ,  G05D2201/0213 ,  G08G1/0962

Abstract: The present invention relates to a method and a device for the lateral guidance of a vehicle. A warning device that outputs a warning signal when straying from a traffic lane is able to be turned off by a switching means when driving on a road that is not suitable for lateral guidance, in particular an inner-city road, and be turned on again when reaching a road that is suitable for lateral guidance.

Abstract translation: 本发明涉及一种用于车辆的侧向引导的方法和装置。 当在不适合横向引导的道路，特别是城市内道路上行驶时，可以通过切换装置关闭从行车道偏离时输出报警信号的报警装置，并再次打开 到达适合横向引导的道路时。

公开(公告)号：US07269493B2

公开(公告)日：2007-09-11

申请号：US10960973

申请日：2004-10-12

Applicant: Yoshitaka Uemura ,  Takashi Sugano

Inventor： Yoshitaka Uemura ,  Takashi Sugano

IPC: G06F19/00

CPC classification number: B60T8/17557 ,  B60T2201/08 ,  B60T2201/082

Abstract: A lane departure prevention apparatus is provided to improve safety while preventing lane departure. The lane departure prevention apparatus determines whether or not the driver is holding the steering wheel steady, determines whether or not the host vehicle has a tendency to depart from its driving lane, and, on the basis of these determination results, outputs a warning and performs braking control for avoiding the lane departure of the host vehicle when the host vehicle has a tendency to depart from its driving lane, and the driver is not holding the steering wheel steady.

Abstract translation: 提供车道偏离防止装置以提高安全性，同时防止车道偏离。 车道偏离防止装置判定驾驶员是否稳定地保持方向盘，判断本车是否具有偏离行驶车道的倾向，并且基于这些确定结果输出警告并执行 制动控制，以避免主车辆偏离行驶车道的倾向，并且驾驶员不保持方向盘稳定时主车辆的车道偏离。