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11. 发明授权

US07539566B2 Lane departure prevention system 有权
标题翻译：车道离场预防系统
公开(公告)号：US07539566B2
公开(公告)日：2009-05-26
申请号：US11313046
申请日：2005-12-20
申请人： Satoshi Tange , Shinji Matsumoto
发明人： Satoshi Tange , Shinji Matsumoto
IPC分类号： B62D6/00
CPC分类号： B60T8/17557 , B60T2201/08 , B60T2201/083 , B60T2201/086 , B60T2201/089
摘要： 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.
摘要翻译：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。

12. 发明授权

US07236870B2 Lane keep control apparatus and method for automotive vehicle 有权
标题翻译：车道保持机动车辆的控制装置和方法
公开(公告)号：US07236870B2
公开(公告)日：2007-06-26
申请号：US10798407
申请日：2004-03-12
申请人： Satoshi Tange , Genpei Naito , Shinji Matsumoto
发明人： Satoshi Tange , Genpei Naito , Shinji Matsumoto
IPC分类号： G06F19/00
CPC分类号： B60T8/17557 , B60K31/04 , B60T2201/08 , B60T2201/083 , B60T2260/09 , B60W2720/106
摘要： In lane keep control apparatus and method for an automotive vehicle, a deceleration controlled variable is calculated on the basis of a state of a tendency of a vehicular deviation from a traffic lane on which the vehicle is traveling and a braking force acted upon each of driven wheels of the vehicle is controlled on the basis of the calculated deceleration controlled variable.
摘要翻译：在车辆的车道保持控制装置和方法中，基于车辆偏离车辆行驶的行车道的倾向的状态和作用于每个被驱动的行驶的制动力的状态来计算减速度控制变量基于计算出的减速度控制变量来控制车辆的车轮。

13. 发明授权

US07058494B2 Vehicle dynamics control apparatus 有权
标题翻译：车辆动力学控制装置
公开(公告)号：US07058494B2
公开(公告)日：2006-06-06
申请号：US10735778
申请日：2003-12-16
申请人： Shinji Matsumoto , Genpei Naito , Satoshi Tange
发明人： Shinji Matsumoto , Genpei Naito , Satoshi Tange
IPC分类号： B60W40/12 , B60T8/24
CPC分类号： B60W30/045 , B60T8/17552 , B60T8/17557 , B60T2201/08 , B60T2201/087 , B60T2230/02 , B60W30/12 , B62D6/003 , B62D15/0255
摘要： In a vehicle dynamics control apparatus enabling vehicle dynamics control and lane deviation prevention control, a processor of a control unit is programmed for determining a driving stability including a vehicle driveability and a vehicle stability, based on at least a steer angle, and for executing the vehicle dynamics control by producing a yaw moment corresponding to a controlled variable of the vehicle dynamics control when the driving stability is deteriorated, and for executing the lane deviation prevention control by producing a yaw moment corresponding to a controlled variable of the lane deviation prevention control when there is a possibility of lane deviation. The processor is further programmed for softening a criterion, which is used to determine the driving stability, based on the controlled variable of the lane deviation prevention control, only when the vehicle dynamics control is inoperative.
摘要翻译：在实现车辆动力学控制和车道偏离防止控制的车辆动力学控制装置中，控制单元的处理器被编程用于基于至少一个转向角来确定包括车辆行驶性能和车辆稳定性在内的行驶稳定性，并且用于执行通过在驾驶稳定性劣化时产生与车辆动力学控制的受控变量相对应的偏航力矩的车辆动力学控制，以及通过产生与车道偏离防止控制的控制变量对应的横摆力矩来执行车道偏离防止控制，有车道偏差的可能性。只有当车辆动力学控制不起作用时，处理器进一步被编程为基于车道偏离防止控制的控制变量来软化用于确定驾驶稳定性的标准。

14. 发明授权

US06970787B2 Automotive lane deviation avoidance system 有权
标题翻译：汽车车道偏离回避系统
公开(公告)号：US06970787B2
公开(公告)日：2005-11-29
申请号：US10693946
申请日：2003-10-28
申请人： Shinji Matsumoto , Genpei Naito , Satoshi Tange
发明人： Shinji Matsumoto , Genpei Naito , Satoshi Tange
IPC分类号： B60R21/00 , B60T7/12 , B60T8/17 , B60T8/1755 , B60W10/00 , B60W10/04 , B60W10/06 , B60W10/18 , B60W10/184 , B60W10/20 , B62D1/28 , B62D6/00 , B62D101/00 , B62D103/00 , B62D113/00 , B62D137/00 , G06F17/10 , B60K31/00
CPC分类号： B60T8/17557 , B60T2201/02 , B60T2201/08 , B60T2201/081 , B60T2201/085 , B62D1/286
摘要： 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.
摘要翻译：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。

15. 发明申请

US20050107931A1 Lane keep control apparatus and method for automotive vehicle 有权
标题翻译：车道保持机动车辆的控制装置和方法
公开(公告)号：US20050107931A1
公开(公告)日：2005-05-19
申请号：US10982878
申请日：2004-11-08
申请人： Masayasu Shimakage , Shinji Matsumoto , Satoshi Tange , Genpei Naito
发明人： Masayasu Shimakage , Shinji Matsumoto , Satoshi Tange , Genpei Naito
IPC分类号： B60R21/00 , B60W10/00 , B60W10/04 , B60W10/06 , B60W10/10 , B60W10/18 , B60W10/184 , B60W10/20 , B60W30/00 , B60W30/02 , B60W30/12 , B62D6/00 , B62D15/02 , G08G1/16 , G06F7/00
CPC分类号： B62D15/025 , B60T2201/08 , B60T2201/082 , B60T2201/087 , G08G1/167
摘要： In lane keep control apparatus and method for an automotive vehicle, a traveling state of the vehicle is detected, a determination is made on whether the vehicle has a tendency of a deviation from the traveling traffic lane according to the detected traveling state, a deviation avoidance control is executed for the vehicle in a direction to avoid the deviation according to the traveling state, steering angles before and after a start of the deviation avoidance control are detected, and a controlled variable of the deviation avoidance control is detected on the basis of a deviation between a steering angle before the start of deviation avoidance control and that after the start of deviation avoidance control when a determination is made that the vehicle has the tendency of the deviation.
摘要翻译：在机动车辆的车道保持控制装置和方法中，检测车辆的行驶状态，根据检测到的行驶状态来确定车辆是否具有偏离行驶车道的倾向，偏离避免根据行驶状态避免偏差的方向对车辆进行控制，检测出偏差避免控制开始前后的转向角度，并且基于以下方式检测偏差避免控制的受控变量当确定车辆具有偏差的倾向时，在偏离避免控制开始之前的转向角与开始偏差避免控制之后的转向角之间的偏差。

16. 发明授权

US06879890B2 Lane keep control apparatus and method for automotive vehicle 有权
标题翻译：车道保持机动车辆的控制装置和方法
公开(公告)号：US06879890B2
公开(公告)日：2005-04-12
申请号：US10312578
申请日：2002-08-09
申请人： Shinji Matsumoto , Genpei Naito , Satoshi Tange
发明人： Shinji Matsumoto , Genpei Naito , Satoshi Tange
IPC分类号： B60R21/00 , B60T7/12 , B60T8/17 , B60T8/1755 , G08G1/16 , B60T8/00
CPC分类号： B60T8/17557 , B60T2201/08 , B60T2201/082 , B60W2720/14
摘要： In lane keep control apparatus and method for an automotive vehicle, such a determination is made as to whether a tendency of a divergence of the vehicle from a traffic lane on which the vehicle is traveling occurs according to a detected travel state of the vehicle, a driving force controlled variable for each road wheel to develop a yaw moment in a direction in which the divergence of the vehicle from the traffic lane is avoided is calculated in accordance with the detected travel state, the driving force controlled variable of each road wheel is corrected in such a manner that the yaw moment developed in a direction in which the divergence of the vehicle from the traffic lane is avoided is increased in accordance with a history of a control executed to avoid the divergence of the vehicle from the traffic lane.
摘要翻译：在机动车辆的车道保持控制装置和方法中，根据检测到的车辆的行驶状态，判定车辆是否发生车辆的行驶道路的发散的趋势，根据检测到的行驶状态来计算每个车轮的驱动力控制变量，以便根据检测到的行驶状态来计算在车辆从行车道的发散方向上产生的横摆力矩，校正每个车轮的驱动力控制变量以使得避免车辆从行车道的发散方向产生的横摆力矩根据执行的控制历史来增加，以避免车辆与行车道的分离。

17. 发明授权

US07778759B2 Lane deviation avoidance system 有权
标题翻译：车道偏离避免系统
公开(公告)号：US07778759B2
公开(公告)日：2010-08-17
申请号：US11049972
申请日：2005-02-04
申请人： Satoshi Tange , Genpei Naito , Shinji Matsumoto , Masayasu Shimakage , Hidekazu Nakajima
发明人： Satoshi Tange , Genpei Naito , Shinji Matsumoto , Masayasu Shimakage , Hidekazu Nakajima
IPC分类号： G08G1/16 , G06G7/00
CPC分类号： B60W10/04 , B60T8/17557 , B60T2201/08 , B60T2201/083 , B60W10/18 , B60W30/12
摘要： A lane deviation avoidance system is arranged to execute a lane deviation avoidance control of controlling a vehicle behavior of the host vehicle so as to avoid the host vehicle from deviating from a traveling lane when the lane deviation tendency is detected, to suppress the driving force when the lane deviation tendency is detected, and to set a controlled variable of the lane deviation avoidance control according to a degree of the suppression of the driving force.
摘要翻译：车道偏离避免系统被布置成执行车道偏离避免控制，以控制本车辆的车辆行为，以便在检测到车道偏离倾向时避免主车辆偏离行车道，以抑制当检测车道偏离倾向，根据驱动力的抑制程度来设定车道偏离避免控制的受控变量。

18. 发明授权

US07680569B2 Automotive lane deviation prevention apparatus 失效
标题翻译：汽车车道偏离防止装置
公开(公告)号：US07680569B2
公开(公告)日：2010-03-16
申请号：US10828462
申请日：2004-04-21
申请人： Shinji Matsumoto , Satoshi Tange , Tatsuya Suzuki
发明人： Shinji Matsumoto , Satoshi Tange , Tatsuya Suzuki
IPC分类号： G06F19/00
CPC分类号： B60T8/17557 , B60T2201/08 , B60T2201/083 , B60T2201/087 , B60T2201/089 , B60W10/06 , B60W10/18 , B60W10/20 , B60W30/12 , B62D15/025
摘要： An automotive lane deviation prevention (LDP) apparatus includes a control unit connected to a yawing-motion control actuator for LDP control purposes. The control unit determines, based on information regarding a lane marking line detected based on a picture image in front of a host vehicle, whether the host vehicle is in a state FLD≠0 where there is an increased tendency for the host vehicle to deviate from the driving lane. The control unit executes, based on a state Fdw≠0 where the host vehicle is traveling on predetermined irregularities formed on or close to the lane marking line and the information regarding the lane marking line, vehicle yawing motion control by which the host vehicle returns to a central position of the driving lane, in a lane-marking non-detecting state Fcamready=0 where the lane marking line is out of an image pick-up enabling area.
摘要翻译：汽车车道偏离防止（LDP）装置包括连接到用于LDP控制目的的偏航运动控制致动器的控制单元。控制单元基于关于基于主车辆前方的图像图像检测到的车道线标线的信息，确定主车辆是否处于FLD≠0的状态，其中主车辆的倾向增加行车道。控制单元基于本车辆在车道标线上或附近形成的规定的不规则行驶的状态Fdw≠0，以及关于车道标线的信息，主车辆返回的车辆偏航运动控制行车道的中心位置，车道标记非检测状态Fcamready = 0，其中车道标线不在图像拾取使能区域之外。

19. 发明授权

US07433769B2 System and method for preventing lane deviation of vehicle 失效
标题翻译：防止车辆车道偏离的系统和方法
公开(公告)号：US07433769B2
公开(公告)日：2008-10-07
申请号：US10713354
申请日：2003-11-17
申请人： Satoshi Tange , Genpei Naito , Shinji Matsumoto
发明人： Satoshi Tange , Genpei Naito , Shinji Matsumoto
IPC分类号： B62D6/00 , B62D6/04 , G06F7/00
CPC分类号： B60W30/12 , B60T8/17557 , B60T2201/08 , B60T2201/083 , B60T2201/087 , B60W10/184 , B60W10/20 , B62D6/003 , B62D15/025
摘要： A system for preventing lane deviation of a vehicle is provided. The system comprises a lane detecting device, a running condition detecting device, a deviation judging device, and a vehicle behavior control device. The vehicle behavior control device controls a behavior of the vehicle so as to generate a yaw moment in the direction to prevent the vehicle from deviating from the running lane. The lane detecting device detects the running lane based on a variation in a running direction of the vehicle due to the yaw moment generated by the vehicle behavior control device. A method for preventing lane deviation of a vehicle is also provided.
摘要翻译：提供一种用于防止车辆的车道偏离的系统。该系统包括车道检测装置，行驶状态检测装置，偏差判定装置和车辆行为控制装置。车辆行为控制装置控制车辆的行为，以便在防止车辆偏离行驶车道的方向上产生横摆力矩。车道检测装置基于由车辆行为控制装置产生的横摆力矩，基于车辆的行驶方向的变化来检测行驶车道。还提供了用于防止车辆的车道偏离的方法。

20. 发明授权

US07107137B2 Automotive lane deviation prevention apparatus 有权
标题翻译：汽车车道偏离防止装置
公开(公告)号：US07107137B2
公开(公告)日：2006-09-12
申请号：US10798405
申请日：2004-03-12
申请人： Satoshi Tange , Genpei Naito , Shinji Matsumoto
发明人： Satoshi Tange , Genpei Naito , Shinji Matsumoto
IPC分类号： G06F7/70
CPC分类号： B60W30/12 , B60T8/17557 , B60T2201/08 , B60T2201/083 , B60W10/18 , B60W40/06 , G08G1/167
摘要： An automotive lane deviation prevention apparatus sets and determines a yaw moment allotted amount corresponding to a yaw-moment-control lane-deviation-avoidance (LDA) controlled variable used to avoid a host vehicle's lane deviation by yaw moment control and a deceleration rate allotted amount corresponding to a deceleration-control LDA controlled variable used to avoid the host vehicle's lane deviation by deceleration control, based on a host vehicle's yaw angle, when the host vehicle has a tendency to deviate from a driving lane. A desired yaw moment is calculated based on the yaw moment allotted amount so that a yaw moment is produced in a direction in which the host vehicle's lane-deviation tendency is avoided. A controlled variable for deceleration control is calculated based on the deceleration rate allotted amount. A braking force of each individual road wheel is controlled based on the desired yaw moment and the controlled variable for deceleration control.
摘要翻译：汽车车道偏离防止装置设定并确定与通过横摆力矩控制避免本车辆车道偏离的偏航力矩控制车道偏离避免（LDA）控制变量对应的偏航力矩分配量，以及减速率分配量对应于减速控制LDA控制变量，用于当主车辆倾向于偏离行驶车道时，基于主车辆的偏航角度，通过减速控制来避免主车辆的车道偏离。基于横摆力矩分配量计算出期望的横摆力矩，使得在避免本车辆的车道偏离倾向的方向上产生横摆力矩。基于减速率分配量计算减速控制的控制量。基于期望的横摆力矩和用于减速控制的受控变量来控制各个车轮的制动力。

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