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1. 发明授权

US07392120B2 Vehicle dynamics control apparatus 有权
标题翻译：车辆动力学控制装置
公开(公告)号：US07392120B2
公开(公告)日：2008-06-24
申请号：US10769069
申请日：2004-02-02
申请人： Shinji Matsumoto , Genpei Naito , Satoshi Tange
发明人： Shinji Matsumoto , Genpei Naito , Satoshi Tange
IPC分类号： G06F7/00 , G06F17/00 , G06F19/00
CPC分类号： B60W10/20 , B60T8/17557 , B60T2201/08 , B60T2201/083 , B60T2201/087 , B60W10/06 , B60W10/18 , B60W30/12 , B60W30/16 , B62D6/003 , B62D15/025
摘要： 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.
摘要翻译：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。

2. 发明申请

US20050113999A1 Automotive lane deviation prevention apparatus 有权
公开(公告)号：US20050113999A1
公开(公告)日：2005-05-26
申请号：US10994319
申请日：2004-11-23
申请人： Satoshi Tange , Shinji Matsumoto , Masayasu Shimakage
发明人： Satoshi Tange , Shinji Matsumoto , Masayasu Shimakage
IPC分类号： B60T8/1755 , B60W10/18 , B62D15/02 , B62D6/00
CPC分类号： B60T8/17557 , B60T2201/08 , B60T2201/083 , B60T2201/087 , B60T2260/02 , B60W10/18 , B60W10/20 , B60W30/12 , B62D15/025
摘要： In an automotive lane deviation prevention (LDP) apparatus capable of executing LDP control by which a host vehicle is avoided from deviating from a driving lane, a control unit includes an LDP control allotted amount calculation section that calculates, responsively to a host vehicle's turning state, a steering-control allotted amount for LDP control and a braking-force-control allotted amount for LDP control, in presence of the host vehicle's lane-deviation tendency from the driving lane. In order to avoid the host vehicle's lane-deviation tendency, steering torque is controlled responsively to a steering-torque-control controlled variable determined based on the steering-control allotted amount, whereas braking forces applied to respective road wheels are controlled responsively to braking-force-control controlled variables determined based on the braking-force-control allotted amount.

3. 发明授权

US06792345B2 Lane-keep control system for vehicle 有权
标题翻译：车辆车道保持控制系统
公开(公告)号：US06792345B2
公开(公告)日：2004-09-14
申请号：US10300775
申请日：2002-11-21
申请人： Shinji Matsumoto , Satoshi Tange , Hiroyuki Yoshizawa
发明人： Shinji Matsumoto , Satoshi Tange , Hiroyuki Yoshizawa
IPC分类号： G06F770
CPC分类号： B60T8/17557 , B60K31/0008 , B60T2201/08 , B60T2201/081 , B60T2201/087 , B60W30/12 , B60W30/16 , B60W2720/14 , B62D15/026 , G08G1/167
摘要： A lane-keep control system is installed in a host vehicle equipped with an inter-vehicle distance control system. The lane-keep control system is arranged to decrease a threshold to be compared with the vehicle traveling condition for determining the tendency of the lane deviation when the inter-vehicle distance is being executed, so that the deviation avoidance control during execution of the inter-vehicle distance control is started earlier than the deviation avoidance control during inexecution of the inter-vehicle distance is started.
摘要翻译：在配备有车辆间距离控制系统的主车辆中安装车道保持控制系统。车道保持控制系统被设置为减少与车辆行驶状况相比较的阈值，以便在执行车间距离时确定车道偏离的倾向，从而在执行车间间隔期间的偏差避免控制，车辆距离控制比在车辆间距离的执行开始时的偏离避免控制提前开始。

4. 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。

5. 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。

6. 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。

7. 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。

8. 发明授权

US07034698B2 Warning system with vibration and lane deviation prevention system with the warning system for automotive vehicle 有权
标题翻译：带有车辆预警系统的带振动和车道偏差预防系统的预警系统
公开(公告)号：US07034698B2
公开(公告)日：2006-04-25
申请号：US10830104
申请日：2004-04-23
申请人： Shinji Matsumoto , Satoshi Tange , Tatsuya Suzuki , Naotaka Usui
发明人： Shinji Matsumoto , Satoshi Tange , Tatsuya Suzuki , Naotaka Usui
IPC分类号： G08B23/00
CPC分类号： B60T8/17557 , B60T2201/08 , B60T2201/082 , B60W50/16 , B62D15/029
摘要： A warning system for an automotive vehicle produces a vibration in the vehicle simulating a rumble strip to inform a driver of various events. A vibration with braking torque is produced by controlling individually brake fluid pressure in each wheel brake cylinder, independently of manual braking operations. The warning system is applied to a lane deviation prevention (LDP) system. The LDP system provides a warning with vibration and a control effort of yawing moment by wheel torque or steering torque.
摘要翻译：用于汽车的警告系统在车辆中产生模拟隆隆带的振动，以通知驾驶员各种事件。通过独立于手动制动操作独立地控制每个车轮制动缸中的制动液压力来产生具有制动转矩的振动。警告系统适用于车道偏离防止（LDP）系统。 LDP系统通过车轮扭矩或转向扭矩提供振动警告和偏航力矩控制。

9. 发明授权

US06973380B2 Lane keep control apparatus and method for automotive vehicle 失效
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：US06973380B2
公开(公告)日：2005-12-06
申请号：US10695799
申请日：2003-10-30
申请人： Satoshi Tange , Shinji Matsumoto
发明人： Satoshi Tange , Shinji Matsumoto
IPC分类号： B60R21/00 , B60K31/00 , B60T7/12 , B60T8/17 , B60T8/1755 , G05D1/02 , G08G1/16
CPC分类号： B62D15/025 , B60K31/0066 , B60T7/12 , B60T8/1755 , B60T2201/08 , B60T2201/083 , B60T2260/09 , B60W2520/14 , G05D1/0246 , G05D2201/0213
摘要： In lane keep control apparatus and method for an automotive vehicle, a behavior of the vehicle is controlled in such a manner that a yaw moment is developed in a direction to avoid a deviation of the vehicle from the traffic lane in accordance with the traveling state of the vehicle when determining that the vehicle has a tendency of the deviation of the vehicle from the traffic lane and lane markers are detected, each lane marker representing one side of the traffic lane, and the behavior of the vehicle is controlled on the basis of the detected lane marker at one side of the traffic lane when a detection state of the lane markers is transferred from a state in which both of the lane markers at both sides of the traffic lane are detected to a state in which the lane marker only at one side of the traffic lane is detected.
摘要翻译：在机动车辆的车道保持控制装置和方法中，以如下方式控制车辆的行为：横摆力矩沿着避免车辆与行车道偏离的方向发展，根据行驶状态车辆当确定车辆具有车辆与行车道偏离的倾向和车道标记的倾向时，表示行车道一侧的每个车道标记，并且基于车辆的行为来控制车辆的行为当车道标记的检测状态从检测到行车道两侧的两条车道标志被检测到的状态被转移到车道标记仅在一处的状态时，在行车道的一侧检测车道标记检测到行车道的一侧。

10. 发明授权

US06970777B2 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：US06970777B2
公开(公告)日：2005-11-29
申请号：US10994319
申请日：2004-11-23
申请人： Satoshi Tange , Shinji Matsumoto , Masayasu Shimakage
发明人： Satoshi Tange , Shinji Matsumoto , Masayasu Shimakage
IPC分类号： B60T8/1755 , B60W10/18 , B62D15/02 , G06F7/00
CPC分类号： B60T8/17557 , B60T2201/08 , B60T2201/083 , B60T2201/087 , B60T2260/02 , B60W10/18 , B60W10/20 , B60W30/12 , B62D15/025
摘要： In an automotive lane deviation prevention (LDP) apparatus capable of executing LDP control by which a host vehicle is avoided from deviating from a driving lane, a control unit includes an LDP control allotted amount calculation section that calculates, responsively to a host vehicle's turning state, a steering-control allotted amount for LDP control and a braking-force-control allotted amount for LDP control, in presence of the host vehicle's lane-deviation tendency from the driving lane. In order to avoid the host vehicle's lane-deviation tendency, steering torque is controlled responsively to a steering-torque-control controlled variable determined based on the steering-control allotted amount, whereas braking forces applied to respective road wheels are controlled responsively to braking-force-control controlled variables determined based on the braking-force-control allotted amount.
摘要翻译：在能够执行主车辆避免偏离行驶车道的LDP控制的汽车车道偏离防止（LDP）装置中，控制单元包括：LDP控制分配量计算部，其响应于本车辆的转弯状态在主车辆与行车道的车道偏离倾向的情况下，用于LDP控制的转向控制分配量和用于LDP控制的制动力控制分配量。为了避免主车辆的车道偏离倾向，根据转向控制分配量确定的转向转矩控制控制变量控制转向转矩，而响应于制动 - 基于制动力控制分配量确定的力控制控制变量。

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