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1. 发明申请

US20090024278A1 Steering Control Device for Vehicles 有权
标题翻译：车辆转向控制装置
公开(公告)号：US20090024278A1
公开(公告)日：2009-01-22
申请号：US11886570
申请日：2006-03-16
申请人： Satoshi Kondo , Shinnosuke Ishida
发明人： Satoshi Kondo , Shinnosuke Ishida
IPC分类号： B62D6/00
CPC分类号： B62D1/28 , B62D6/002 , B62D15/025
摘要： A vehicle steering control device which prevents overshoot or a phase delay of a vehicle position from a target position when an actuator of a steering mechanism is controlled so that an integral control reduces a positional deviation of a vehicle from the reference position of a traffic lane. An FB control unit (60) which calculates a corrected steering assist torque (Tb) of a motor so as to reduce a positional deviation (Yd) and an angular deviation (Ah) includes an integral element determination unit (64), which determines an integral gain (Ki), by which the positional deviation (Yd) is multiplied in an integral gain operation unit (62), according to the positional deviation (Yd) and which determines a limit value (Icnt_lmt) of an integral controlled variable (Icnt) according to the positional deviation (Yd), and an integral controlled variable limiting unit (63) which limits the integral controlled variable (Icnt) to within a range set by the limit value (Icnt_lmt) and outputs the current integral controlled variable (Icnt_rel).
摘要翻译：一种车辆转向控制装置，其当控制转向机构的致动器时，防止车辆位置从目标位置的过冲或相位延迟，使得整体控制减少车辆与行车道的参考位置的位置偏差。计算马达的修正转向辅助转矩（Tb）以减小位置偏差（Yd）和角度偏差（Ah）的FB控制单元（60）包括：积分元件确定单元（64），其确定根据位置偏差（Yd），在积分增益运算单元（62）中乘以位置偏差（Yd）的积分增益（Ki），并确定积分控制变量（Icnt）的极限值（Icnt_lmt）），以及积分控制量限制单元（63），其将积分控制变量（Icnt）限制在由限制值（Icnt_lmt）设定的范围内，并输出当前积分控制变量（Icnt_rel ）。

2. 发明授权

US06718241B2 Vehicle travel control apparatus 有权
标题翻译：车辆行驶控制装置
公开(公告)号：US06718241B2
公开(公告)日：2004-04-06
申请号：US10231135
申请日：2002-08-30
申请人： Satoshi Kondo , Shinnosuke Ishida , Jun Tanaka
发明人： Satoshi Kondo , Shinnosuke Ishida , Jun Tanaka
IPC分类号： B62D600
CPC分类号： B62D15/025 , B60T2201/08 , B60T2201/087
摘要： The invention carries out appropriate travel control so that a vehicle travels along recognized lane markings, and at the same time, prevents making the driver feel discomfort during travel control. In the case that the white line recognition becomes not possible, the delay time TD is shortened depending on a previous continuous time interval of a recognition state. In the case that the white line recognition flag becomes possible, the delay time TD is extended depending on the previous continuous time interval. In the case that the count value of the ON time measuring counter TON is equal to or greater than the delay time TD and the white line recognizing is possible, the compensation control is permitted, and reversion to the ON state of the travel control based on recognized white lines is permitted.
摘要翻译：本发明进行适当的行驶控制，使得车辆沿着识别的车道标记行驶，并且同时防止驾驶员在行驶控制期间感到不适。在白线识别不可能的情况下，延迟时间TD根据识别状态的先前连续时间间隔而缩短。在白线识别标志成为可能的情况下，延迟时间TD根据先前的连续时间间隔而延长。在ON时间测量计数器TON的计数值等于或大于延迟时间TD并且可以进行白线识别的情况下，允许补偿控制，并且基于以下步骤返回到行驶控制的ON状态允许识别白线。

3. 发明授权

US07894956B2 Steering control device for vehicles 有权
标题翻译：车辆转向控制装置
公开(公告)号：US07894956B2
公开(公告)日：2011-02-22
申请号：US11886570
申请日：2006-03-16
申请人： Satoshi Kondo , Shinnosuke Ishida
发明人： Satoshi Kondo , Shinnosuke Ishida
IPC分类号： A01B69/00
CPC分类号： B62D1/28 , B62D6/002 , B62D15/025
摘要： A vehicle steering control device which prevents overshoot or a phase delay of a vehicle position from a target position when an actuator of a steering mechanism is controlled so that an integral control reduces a positional deviation of a vehicle from the reference position of a traffic lane. An FB control unit (60) which calculates a corrected steering assist torque (Tb) of a motor so as to reduce a positional deviation (Yd) and an angular deviation (Ah) includes an integral element determination unit (64), which determines an integral gain (Ki), by which the positional deviation (Yd) is multiplied in an integral gain operation unit (62), according to the positional deviation (Yd) and which determines a limit value (Icnt_lmt) of an integral controlled variable (Icnt) according to the positional deviation (Yd), and an integral controlled variable limiting unit (63) which limits the integral controlled variable (Icnt) to within a range set by the limit value (Icnt_lmt) and outputs the current integral controlled variable (Icnt_rel).
摘要翻译：一种车辆转向控制装置，其当控制转向机构的致动器时，防止车辆位置从目标位置的过冲或相位延迟，使得整体控制减少车辆与行车道的参考位置的位置偏差。计算马达的修正转向辅助转矩（Tb）以减小位置偏差（Yd）和角度偏差（Ah）的FB控制单元（60）包括：积分元件确定单元（64），其确定根据位置偏差（Yd），在积分增益运算单元（62）中乘以位置偏差（Yd）的积分增益（Ki），并确定积分控制变量（Icnt）的极限值（Icnt_lmt）），以及积分控制量限制单元（63），其将积分控制变量（Icnt）限制在由限制值（Icnt_lmt）设定的范围内，并输出当前积分控制变量（Icnt_rel ）。

4. 发明授权

US06691008B2 Steering control apparatus for a vehicle 有权
标题翻译：车辆转向控制装置
公开(公告)号：US06691008B2
公开(公告)日：2004-02-10
申请号：US10231165
申请日：2002-08-30
申请人： Satoshi Kondo , Shinnosuke Ishida , Jun Tanaka
发明人： Satoshi Kondo , Shinnosuke Ishida , Jun Tanaka
IPC分类号： B61F2300
CPC分类号： B62D1/28 , B60T2201/08 , B60T2201/082 , B60T2201/087
摘要： Whether a driver is driving intentionally is determined rapidly and accurately when steering control is performed such that a vehicle travels along recognized travel partitioning lines. A torque value deviation absolute value is calculated using the absolute value of a difference between the torque value from the previous processing and the torque value from the current processing, and is stored in a ring buffer. A torque value deviation sum value is calculated by adding all the torque value deviation absolute values stored in the ring buffer, and when a state in which the torque value deviation sum value is equal to or less than a predetermined driving intention determination threshold continues for a predetermined first threshold time (for example, several seconds; e.g. 5 seconds) or longer, it is determined that there is a decrease in the driving intention.
摘要翻译：当执行转向控制使得车辆沿着识别的行驶分隔线行进时，是否迅速且准确地确定驾驶员是否有意驾驶。使用来自前次处理的转矩值与来自当前处理的转矩值之间的差的绝对值来计算转矩值偏差绝对值，并存储在环形缓冲器中。通过将存储在环形缓冲器中的所有转矩值偏差绝对值相加来计算转矩值偏差和值，并且当转矩值偏差和值等于或小于预定驾驶意图判定阈值的状态持续到预定的第一阈值时间（例如，几秒，例如5秒）或更长时间，则确定驾驶意图有所减少。

5. 发明授权

US06308123B1 Vehicle steering control system 有权
标题翻译：车辆转向控制系统
公开(公告)号：US06308123B1
公开(公告)日：2001-10-23
申请号：US09599606
申请日：2000-06-23
申请人： Manabu Ikegaya , Shinnosuke Ishida , Satoshi Kondo , Jun Tanaka
发明人： Manabu Ikegaya , Shinnosuke Ishida , Satoshi Kondo , Jun Tanaka
IPC分类号： B62D504
CPC分类号： B62D15/025 , B60T2201/08 , B60T2201/087 , B62D1/28
摘要： A vehicle steering control system for conducting a steering assistance control in which a basic steering assist torque is determined based on a structural parameter relating to the lane structure such as its curvature. In parallel, corrective steering assist torques are determined based on positional parameters of the vehicle relating to the lane such as a lateral deviation from the lane center line and a vehicle heading angle, and are added to the basic steering assist torque to correct the same. Since the positional parameters are determined based on the image information at or close to the vehicle, this enables to determine the steering assist torque adequately, thereby enhancing the accuracy of the steering assistance control.
摘要翻译：一种用于进行转向辅助控制的车辆转向控制系统，其中基于与车道结构相关的结构参数（例如曲率）来确定基本转向辅助转矩。并行地，基于与车道相关的车辆的位置参数（例如与车道中心线的横向偏离）和车辆行驶方向角度来确定校正转向辅助转矩，并将其与基本转向辅助转矩相加以校正。由于基于车辆处或车辆附近的图像信息来确定位置参数，因此能够适当地确定转向辅助转矩，从而提高转向辅助控制的精度。

6. 发明授权

US06212453B1 Vehicle steering control system 有权
标题翻译：车辆转向控制系统
公开(公告)号：US06212453B1
公开(公告)日：2001-04-03
申请号：US09393963
申请日：1999-09-10
申请人： Hiroyuki Kawagoe , Shinnosuke Ishida
发明人： Hiroyuki Kawagoe , Shinnosuke Ishida
IPC分类号： B62D504
CPC分类号： G05D1/0278 , B60T2201/08 , B60T2201/087 , B62D5/0463 , B62D6/008 , B62D15/025 , G05D1/0246 , G05D1/0257 , G05D1/027 , G05D1/0274 , G05D2201/0213
摘要： A system for controlling steering of a vehicle, including an electric motor used for power-steering torque assist control. In the system, the lane-keeping-steering assist torque TLK for causing the vehicle to run along the center of a road existing ahead of the vehicle is calculated, while the power-steering assist torque TPS for assisting the vehicle driver's steering is calculated. Then, ratios RTO1 and RTO2 are calculated based on the detected steering torque. The assist torques TLK, TPS are corrected by multiplication with the ratios RTO1, RTO2 respectively and are added together to determine a final assist torque TA, and based on the final assist torques TA, a motor current to be supplied to the electric motor is determined, thereby enabling to effectively prevent the two kinds of control from interfering with each other so as not to adversely affect the vehicle driver's perception of vehicle steering response. Additional ratios are determined based on the detected steering torque change and the vehicle speed.
摘要翻译：一种用于控制车辆转向的系统，包括用于动力转向转矩辅助控制的电动机。在该系统中，计算用于使车辆沿着存在于车辆前方的道路的中心行驶的车道保持转向辅助转矩TLK，同时计算用于辅助车辆驾驶员转向的动力转向辅助转矩TPS。然后，基于检测到的转向转矩来计算比率RTO1和RTO2。辅助转矩TLK，TPS分别通过与比率RTO1，RTO2相乘来校正，并且相加在一起以确定最终辅助转矩TA，并且基于最终辅助转矩TA，确定要提供给电动机的电动机电流从而能够有效地防止两种控制相互干扰，从而不会不利地影响车辆驾驶员对车辆转向响应的感知。基于检测到的转向转矩变化和车辆速度来确定额外的比率。

7. 发明授权

US5243524A Method and apparatus for controlling a vehicle and accounting for side-slip angle 失效
标题翻译：用于控制侧滑角的车辆和会计的方法和装置
公开(公告)号：US5243524A
公开(公告)日：1993-09-07
申请号：US670742
申请日：1991-03-15
申请人： Shinnosuke Ishida , Akihiko Takei
发明人： Shinnosuke Ishida , Akihiko Takei
IPC分类号： G01C21/00 , G01B21/22 , G05D1/02 , G06T1/00 , H04N7/18
CPC分类号： G05D1/0246 , G05D1/0212 , G05D2201/0213
摘要： Disclosed is an automatic travelling apparatus which is capable of taking an image of an area ahead of a vehicle in its running direction by an image pick-up device fixed to the vehicle; determining, by processing the taken image, a permissible travel path in a X-Y coordinates having the Y-Axis corresponding to the axis of the vehicle's running direction; setting a target course in the determined permissible travel path; estimating a steering amount necessary for permitting the vehicle to follow the target course on the basis of the detected running condition of the vehicle; and steering the vehicle to follow the target course with reference to the steering amount; and also is capable of determining a side-slip angle of the vehicle and turning any one of patterns--image, permissible travel path and the target course--by the determined side-slip angle to coincide the actual running direction of the vehicle with the direction of the Y-axis.

8. 发明授权

US5172317A Automatic travelling apparatus 失效
标题翻译：自动旅行装置
公开(公告)号：US5172317A
公开(公告)日：1992-12-15
申请号：US873638
申请日：1992-04-23
申请人： Nobuyoshi Asanuma , Shinnosuke Ishida , Hiroshi Hasegawa
发明人： Nobuyoshi Asanuma , Shinnosuke Ishida , Hiroshi Hasegawa
IPC分类号： G05D1/02
CPC分类号： G05D1/0212 , G05D1/0234 , G05D1/0246 , G05D1/0272 , G05D1/0274 , G05D2201/0213
摘要： An automatic travelling apparatus which permits: determination of a permissible travelling area on the basis of images taken by an image pickup device or video camera, showing the sight of the area appearing ahead of the vehicle; steering control of the vehicle to go into a target course in the permissible travelling area; and selection of a predetermined way of a selected crossing or branch in the target course.For the image pickup device or video camera taking images of the area extending ahead of the vehicle for determining a permissible travelling area, a wide-angle camera, a telescopic range camera and an ordinary camera are selectively used to meet particular situations for example, taking pictures of a crossing, zigzag way or straight long way. This selective use of cameras of different characteristics permits correct identification of particular roads with those stored in the map storage.
摘要翻译：一种自动行进装置，其允许：基于由图像拾取装置或摄像机拍摄的图像来确定容许行驶区域，显示出现在车辆前方的区域的视线; 车辆的转向控制进入允许行驶区域的目标路线; 以及在目标进程中选择所选交叉点或分支的预定方式。对于图像拾取装置或摄像机拍摄延伸到车辆前方的区域的图像以确定容许的行驶区域，可以选择性地使用广角摄像机，望远镜摄像机和普通摄像机来满足特定情况，例如采取十字路口的图片，曲折的方式或直的长途。这种选择性使用不同特征的相机允许通过存储在地图存储器中的那些来正确识别特定道路。

9. 发明授权

US5027302A Device for switching vehicle operating characteristics 失效
标题翻译：用于切换车辆运行特性的装置
公开(公告)号：US5027302A
公开(公告)日：1991-06-25
申请号：US392086
申请日：1989-08-10
申请人： Nobuyoshi Asanuma , Shinnosuke Ishida , Hiroshi Hasegawa
发明人： Nobuyoshi Asanuma , Shinnosuke Ishida , Hiroshi Hasegawa
IPC分类号： B60G17/015 , B60G17/0195 , B60G21/08 , B60R16/02 , B62D15/00 , F02D17/02 , F02D29/02 , G08G1/09 , G08G1/0969
CPC分类号： B62D15/00 , B60G17/0195 , B60G21/08 , B60G2400/82 , B60G2400/824 , B60G2400/90 , B60G2400/922 , B60G2500/20 , B60G2500/30 , B60G2500/40 , B60G2600/04 , B60G2600/18 , B60G2600/20 , B60G2600/70
摘要： A device for switching vehicle characteristics which includes means for setting information concerning a road, such as a highway, in the running path of the vehicle, means for detecting the fact that the vechicle comes to a designated road portion in the running path and for producing output information concerning said predetermined road portion and means for effecting switching of the vehicle characteristics in response to the output information concerning the road.

10. 发明授权

US5350912A System for controlling movement of a mobile body along a target path 失效
标题翻译：用于控制移动体沿目标路径移动的系统
公开(公告)号：US5350912A
公开(公告)日：1994-09-27
申请号：US5026
申请日：1993-01-15
申请人： Shinnosuke Ishida
发明人： Shinnosuke Ishida
IPC分类号： A63F13/00 , B62D6/00 , G05D1/02 , G05D1/08 , G09B9/00 , G05B1/00
CPC分类号： B62D6/00 , G05D1/0221 , G05D1/0246 , G05D2201/0213
摘要： A mobile body such as an automobile is controlled to move substantially along a target path by a control system. The control system determines a target point on the target path, a control quantity such as a yaw rate to reach the target point to cause the mobile body to reach the target point from an optional position, the direction in which the mobile body moves at the target point based on the control quantity to reach the target point, the angular difference between the direction and the target path at the target point as a target point angular difference, and a target control quantity such as a target yaw rate for the mobile body by correcting the control quantity to reach the target point based on the target point angular difference. The mobile body is controlled based on the target control quantity.
摘要翻译：通过控制系统控制诸如汽车的移动体大致沿着目标路径移动。控制系统确定目标路径上的目标点，诸如横摆角速度的控制量到达目标点，以使移动体从可选位置到达目标点，移动体在该位置移动的方向基于到达目标点的控制量的目标点，目标点处的方向和目标路径之间的角度差作为目标点角度差，以及目标控制量，例如移动体的目标横摆角速度，由目标点基于目标点角差校正控制量以达到目标点。基于目标控制量来控制移动体。

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