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41. 发明公开

EP1602552A2 Driving support system and method 有权
标题翻译： Fahrunterstützungssystemund -verfahren
公开(公告)号：EP1602552A2
公开(公告)日：2005-12-07
申请号：EP05011499.0
申请日：2005-05-27
申请人： Toyota Jidosha Kabushiki Kaisha
发明人： Kawakami, Seiji , Niwa, Satoru , Iwazaki, Katsuhiko , Kataoka, Hiroaki , Rattapon, Chumsamutr
IPC分类号： B62D1/28
CPC分类号： B62D1/286
摘要： A driving support system according to the present invention is provided with an actuator (15) for steering steered wheels (FL,FR) and performs a driving support control of a vehicle to apply an additional torque to a steering mechanism (5) incorporating the steered wheels (FL,FR), by means of the actuator (15) to steer the steered wheels (FL,FR). The driving support system has an image taking device (8) for taking a forward image ahead the vehicle, a controller (2) for driving the actuator (15) to generate the torque on the steering mechanism (5) on the basis of the forward image acquired by the image taking device (8), to perform the driving support control, a steering wheel torque detector (10) for detecting a steering wheel torque on a steering wheel (3), and a control suppressor for prioritizing a steering operation by a driver to the driving support control when a magnitude of the steering wheel torque is not less than a predetermined value. The control suppressor sets the predetermined value so that the predetermined value in a case where a direction of the steering torque for the driving support control agrees with a direction of the steering wheel torque by the driver is larger than the predetermined value in a case where the direction of the steering torque does not agree with the direction of the steering wheel torque. This configuration enables the system to accurately grasp a driver's intention and to prioritize the steering operation by the driver more accurately when the steering operation by the driver should be prioritized to the driving support control.
摘要翻译：根据本发明的驾驶支撑系统设置有用于转向转向轮（FL，FR）的致动器（15），并且执行车辆的驾驶支持控制以向附加转向的转向机构（5）施加附加转矩车轮（FL，FR）通过致动器（15）转向转向轮（FL，FR）。驱动支撑系统具有用于在车辆前方拍摄前方图像的图像摄取装置（8），用于驱动致动器（15）的控制器（2），以基于向前的方向在转向机构（5）上产生转矩通过图像摄取装置（8）获取的图像，执行驾驶支持控制，用于检测方向盘（3）上的方向盘扭矩的方向盘扭矩检测器（10），以及控制抑制器，用于通过当方向盘扭矩的大小不小于预定值时，用于驾驶支持控制的驾驶员。控制抑制器设定预定值，使得在驾驶辅助控制的转向转矩的方向与驾驶员的方向盘转矩的方向一致的情况下的预定值大于预定值，在转向转矩的方向与方向盘转矩的方向不一致。这种配置使驾驶员的驾驶员的驾驶操作优先于驾驶辅助控制时，可以更准确地掌握驾驶员的意图，并且更精确地确定驾驶员的转向操作的优先级。

42. 发明公开

EP1346901A2 Automatic steering control system and method 有权
标题翻译：自动化Lenkregelsystem und -verfahren
公开(公告)号：EP1346901A2
公开(公告)日：2003-09-24
申请号：EP03006085.9
申请日：2003-03-19
申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA
发明人： Iwazaki, Katsuhiko
IPC分类号： B62D15/02 , B62D1/28
CPC分类号： B62D1/28 , B62D6/002
摘要： The steering angle with respect to the running distance is changed by changing the steering angular velocity in accordance with the steering angle and the vehicle speed (line A') such that the turning rate has a linear relationship with the moving distance (line B').
摘要翻译：通过根据转向角和车速（线A'）改变转向角速度使得转向速度与移动距离（线B'）具有线性关系，来改变相对于行驶距离的转向角度。

43. 发明授权

EP1375278B8 Automatic braking during vehicle creep control 有权
标题翻译：一个车辆的爬行期间自动制动
公开(公告)号：EP1375278B8
公开(公告)日：2010-11-17
申请号：EP03013733.5
申请日：2003-06-17
申请人： Toyota Jidosha Kabushiki Kaisha
发明人： Iwazaki, Katsuhiko
IPC分类号： B60T7/12 , B60K31/00
CPC分类号： B60W10/06 , B60K31/04 , B60T7/12 , B60W10/04 , B60W10/18 , B60W30/18063 , B60W30/1819 , B60W2520/105 , B60W2710/065 , B60W2720/106 , F16H2312/06

44. 发明授权

EP1602561B1 Driving control apparatus 有权转让
标题翻译：系统用于车辆和跟踪系统的自动控制
公开(公告)号：EP1602561B1
公开(公告)日：2010-01-20
申请号：EP05011498.2
申请日：2005-05-27
申请人： Toyota Jidosha Kabushiki Kaisha
发明人： Kawakami, Seiji , Niwa, Satoru , Iwazaki, Katsuhiko , Kataoka, Hiroaki , Rattapon, Chumsamutr
IPC分类号： B62D15/02
CPC分类号： B60K31/04 , B60K2350/1084 , B62D15/025 , B62D15/026 , B62D15/029

45. 发明授权

EP1602558B1 Steering assist apparatus and method for vehicle 有权
标题翻译：转向辅助装置和方法的用于车辆
公开(公告)号：EP1602558B1
公开(公告)日：2007-12-12
申请号：EP05011853.8
申请日：2005-06-01
申请人： Toyota Jidosha Kabushiki Kaisha
发明人： Rattapon, Chumsamutr , Kawakami, Seiji , Niwa, Satoru , Iwazaki, Katsuhiko , Kataoka, Hiroaki
IPC分类号： B62D6/00 , B62D15/02
CPC分类号： B62D1/28 , B62D6/00 , B62D6/001 , B62D6/04

46. 发明公开

EP1742124A1 Servo controller comprising two integrators for reducing phase delay 有权
标题翻译： Regler mit zwei Integratoren zur Reduzierung der Phasenverschiebung
公开(公告)号：EP1742124A1
公开(公告)日：2007-01-10
申请号：EP06013157.0
申请日：2006-06-26
申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA
发明人： Iwazaki, Katsuhiko , Kawakami, Seiji , Kataoka, Hiroaki , Rattapon, Chumsamutr
IPC分类号： G05B11/42 , B62D6/00 , G05D1/02 , B62D1/00
CPC分类号： B62D15/025 , B62D1/28 , G05B11/42
摘要： When an integral calculation of a physical quantity representing a state of a controlled system is performed, two integral calculations, that is, a positive-integral calculation (S104) and a negative-integral calculation (S107) are performed. In this way, differentiated information can be obtained, depending on the control conditions. A selection of which one of the integral value obtained by the positive-integral calculation (S104) and the integral value obtained by the negative-integral calculation (S107) is used, is made on the basis of an actual control value and a desired control value when control is performed so that a value representing the state of the controlled system becomes equal to the desired control value (S110). In this way, a control parameter which has been judged to include a phase delay is removed. Thus, the phase delay in the overall control can be suppressed, and an appropriate steering assist control can be performed, for example.
摘要翻译：当执行表示受控系统的状态的物理量的积分计算时，执行两个积分计算，即正积分计算（S104）和负积分计算（S107）。以这种方式，可以根据控制条件获得差分信息。使用通过正积分计算获得的积分值中的哪一个（S104）和通过负积分计算获得的积分值（S107）的选择是基于实际控制值和期望控制执行控制使得表示受控系统的状态的值变为等于期望控制值的值（S110）。以这种方式，已经判断为包括相位延迟的控制参数被去除。因此，可以抑制整体控制中的相位延迟，并且例如可以执行适当的转向辅助控制。

47. 发明公开

EP1327553A3 Running control system, parking assist system, and method for running control 有权
标题翻译：设备巡航控制，泊车辅助和方法速度控制
公开(公告)号：EP1327553A3
公开(公告)日：2006-08-02
申请号：EP03000350.3
申请日：2003-01-09
申请人： Toyota Jidosha Kabushiki Kaisha
发明人： Iwazaki, Katsuhiko
IPC分类号： B60K31/00 , B60K41/20
CPC分类号： B60W10/04 , B60K31/10 , B60T7/12 , B60T7/122 , B60T2201/04 , B60T2201/10 , B60W10/18 , B60W30/06 , B60W30/1819 , B60W2540/12 , B60W2550/142 , B62D15/0285
摘要： A running control portion (10) of a parking assist ECU (1) determines an inclination of a road surface based on information such as outputs of a wheel speed sensor (32) and an acceleration sensor (33), and a brake hydraulic pressure which an actuator (34) applies to a wheel cylinder (38). The running control portion (10) execute a vehicle speed control by controlling a braking force applied by the wheel cylinder (38) while increasing a torque of an engine (22). The operation of the vehicle speed control is prohibited when conditions for operating the vehicle speed control are not fulfilled.

48. 发明公开

EP1602552A3 Driving support system and method 有权
标题翻译：驾驶辅助系统及方法
公开(公告)号：EP1602552A3
公开(公告)日：2006-01-11
申请号：EP05011499.0
申请日：2005-05-27
申请人： Toyota Jidosha Kabushiki Kaisha
发明人： Kawakami, Seiji , Niwa, Satoru , Iwazaki, Katsuhiko , Kataoka, Hiroaki , Rattapon, Chumsamutr
IPC分类号： B62D1/28 , G05D1/02
CPC分类号： B62D1/286
摘要： A driving support system according to the present invention is provided with an actuator (15) for steering steered wheels (FL,FR) and performs a driving support control of a vehicle to apply an additional torque to a steering mechanism (5) incorporating the steered wheels (FL,FR), by means of the actuator (15) to steer the steered wheels (FL,FR). The driving support system has an image taking device (8) for taking a forward image ahead the vehicle, a controller (2) for driving the actuator (15) to generate the torque on the steering mechanism (5) on the basis of the forward image acquired by the image taking device (8), to perform the driving support control, a steering wheel torque detector (10) for detecting a steering wheel torque on a steering wheel (3), and a control suppressor for prioritizing a steering operation by a driver to the driving support control when a magnitude of the steering wheel torque is not less than a predetermined value. The control suppressor sets the predetermined value so that the predetermined value in a case where a direction of the steering torque for the driving support control agrees with a direction of the steering wheel torque by the driver is larger than the predetermined value in a case where the direction of the steering torque does not agree with the direction of the steering wheel torque. This configuration enables the system to accurately grasp a driver's intention and to prioritize the steering operation by the driver more accurately when the steering operation by the driver should be prioritized to the driving support control.

49. 发明公开

EP1602553A2 Driving support system and method 有权
标题翻译： Fahrunterstützungssystemund -verfahren
公开(公告)号：EP1602553A2
公开(公告)日：2005-12-07
申请号：EP05011500.5
申请日：2005-05-27
申请人： Toyota Jidosha Kabushiki Kaisha
发明人： Kawakami, Seiji , Niwa, Satoru , Iwazaki, Katsuhiko , Kataoka, Hiroaki , Rattapon, Chumsamutr
IPC分类号： B62D1/28
CPC分类号： B62D15/025 , B62D1/28 , B62D15/029
摘要： A driving support system according to the present invention is provided with an actuator (15) for steering steered wheels (FL,FR) of a vehicle and is used for supporting driving of the vehicle by making use of steering by means of the actuator (15). The driving support system has an image taking device (8) for taking a forward image ahead the vehicle, a determiner for determining a controlled variable of the actuator (15) on the basis of the forward image acquired by the image taking device (8), a limiter for limiting the controlled variable when a time change of the controlled variable of the actuator (15) determined by the determiner is off a predetermined range, and a controller (14) for controlling the actuator. The limiter sets a limit value for limiting the time change of the controlled variable of the actuator (15) so that the limit value at a start (or at an end) of the driving support control is different from the limit value in continuation of the driving support control. In this configuration, the limit value to prevent a driver from sensing discomfort is set at the start (or at the end) of the driving support control, while the limit value suitable for the driving support control is set during continuous execution of the driving support control. This permits the system to achieve suppression of the discomfort at the start (or at the end) of the support control and improvement in performance of the support control in continuation of the control together.
摘要翻译：根据本发明的驾驶辅助系统设置有用于转向车辆的转向轮（FL，FR）的致动器（15），并且用于通过借助于致动器（15）的转向来支持车辆的行驶）。驱动支撑系统具有用于在车辆前方拍摄前方图像的摄像装置（8），基于由摄像装置（8）获取的前方图像确定致动器（15）的受控变量的判定器，，当由所述确定器确定的所述致动器（15）的受控变量的时间变化处于预定范围时限制所述受控变量的限制器;以及用于控制所述致动器的控制器（14）。限制器设定用于限制致动器（15）的受控变量的时间变化的极限值，使得驾驶支持控制的开始（或结束）处的极限值与继续执行器的控制变量的极限值不同驾驶支持控制。在该结构中，在驾驶辅助控制的开始（或结束）时设定防止驾驶员感觉不适的极限值，而在驾驶辅助控制的持续执行期间设定适合驾驶辅助控制的极限值控制。这允许系统在支持控制的开始（或结束时）实现抑制不舒服，并且一起继续控制来支持控制的性能的改善。

50. 发明授权

EP1602557B1 Driving support system and method 有权转让
标题翻译：驾驶辅助系统及方法
公开(公告)号：EP1602557B1
公开(公告)日：2013-07-24
申请号：EP05011852.0
申请日：2005-06-01
申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA
发明人： Kataoka, Hiroaki , Kawakami, Seiji , Niwa, Satoru , Iwazaki, Katsuhiko , Rattapon, Chumsamutr
IPC分类号： B60W30/12 , B62D15/02
CPC分类号： B62D15/029 , B60T2201/08 , B60T2201/087 , B60W30/12 , B62D15/025

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