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1. 发明授权

EP2977296B1 ELECTRIC POWER STEERING DEVICE 有权
公开(公告)号：EP2977296B1
公开(公告)日：2018-07-18
申请号：EP14880581.5
申请日：2014-01-29
申请人： NSK Ltd.
发明人： TSUBAKI Takahiro
IPC分类号： B62D6/00 , B62D5/04 , B62D101/00 , B62D113/00 , B62D119/00
CPC分类号： B62D5/0463 , B62D1/28 , B62D5/0472 , B62D6/002 , B62D6/008 , B62D6/02 , B62D6/08
摘要： [Problem] An object of the present invention is to provide an electric power steering apparatus that is capable of obtaining a safe and comfortable steering performance by realizing an easy tuning and achieving suppression of the brake judder and the shimmy and accurately steering in accordance with the calculated target steering angle in the automatic steering mode, is capable of smoothly steering even if the target steering angle is a rapid steering and following up the target steering angle by raising the responsibility or a steady-state deviation even in a low vehicle velocity. [Means for solving the problem] An electric power steering apparatuscomprising:asteering angle control section that calculates a motor current command value and a switching section that inputs the motor current command value to switch, wherein the steering angle control section comprises a feedback control section that generates a feedback control current command value; an SAT compensating section that generates an SAT compensation current command value; and an output section that generates the motor current command value from the feedback control current command value and the SAT compensation current command value, wherein the switching section is switched depending on a switching command of an automatic steering mode and a manual steering mode, a motor is drive-controlled based on the motor current command value in the automatic steering mode.

2. 发明公开

EP3299238A1 DETERMINING AND DISPLAYING AUTO DRIVE LANES IN AN AUTONOMOUS VEHICLE 有权
标题翻译：确定和显示自动驾驶车辆的自动驾驶车道
公开(公告)号：EP3299238A1
公开(公告)日：2018-03-28
申请号：EP17188592.4
申请日：2013-11-18
申请人： WAYMO LLC
发明人： NEMEC, Philip , CULLINANE, Brian , CLEMENT, Manuel Christian , MARIET, Robertus Christianus Elisabeth
IPC分类号： B60W30/12 , G06T7/00 , G01C21/00 , B62D1/28 , B62D15/02 , G01C21/36 , B60T7/12 , G08G1/16 , B60T7/22 , G08G1/0969 , B60T17/22
CPC分类号： G01C21/3673 , B60T7/12 , B60T7/22 , B60T17/221 , B60T2201/022 , B60T2201/08 , B62D1/28 , B62D15/025 , B62D15/0295 , G05D1/021 , G08G1/0969 , G08G1/16 , G08G1/167
摘要： Aspects of the present disclosure relate generally to identifying and displaying traffic lanes that are available for autonomous driving. This information may be displayed to a driver of a vehicle 101 having an autonomous driving mode, in order to inform the driver of where he or she can use the autonomous driving mode. In one example, the display 152, 810, 820 may visually distinguish between lanes that are available for auto-drive from those that are not. The display 152, 810, 820 may also include an indicator 850 of the position of a lane 836 (autodrive or not) currently occupied by the vehicle. In addition, if that lane is an autodrive lane the display 1010 may include information 1060 indicating how much further the vehicle may continue in the autonomous driving mode in that particular lane.
摘要翻译：本公开的各方面一般涉及识别和显示可用于自动驾驶的交通车道。该信息可以显示给具有自主驾驶模式的车辆101的驾驶员，以便通知驾驶员他或她可以使用自主驾驶模式的位置。在一个示例中，显示器152,810,820可以在视觉上区分可用于自动驾驶的车道与不可用的车道。显示器152,810,820还可以包括当前由车辆占用的车道836（自动驾驶或不驾驶）的位置的指示符850。另外，如果该车道是自动驾驶车道，则显示器1010可以包括指示车辆在该特定车道中可以继续处于自主驾驶模式多少的信息1060。

3. 发明公开

EP3223256A1 AUTOMATIC DRIVING SYSTEM 有权转让
标题翻译：自动驾驶系统
公开(公告)号：EP3223256A1
公开(公告)日：2017-09-27
申请号：EP15860992.5
申请日：2015-09-24
申请人： Hitachi Automotive Systems, Ltd.
发明人： OOTSUJI, Shinya
IPC分类号： G08G1/00 , B60R21/00
CPC分类号： G08G1/096725 , B60K28/066 , B60K31/0058 , B60R21/00 , B60W30/00 , B60W50/0205 , B60W2050/0072 , B60W2050/0089 , B60W2550/10 , B60W2750/40 , B62D1/02 , B62D1/28 , B62D12/02 , G05D1/0061 , G07C5/085 , G08G1/00 , G08G1/096758
摘要： The present invention provides an automatic driving system capable of clearly identifying the factors responsible for causing an abnormality such as an accident or malfunction of a vehicle during automatic driving after the fact. The automatic driving system automatically selects, from each automatic driving function provided in the vehicle or each level of driving automation into which each automatic driving function is classified, an automatic driving function or a level of driving automation according to the circumstances surrounding the vehicle or the driving state of the vehicle, automatically performs a part of or the entirety of a vehicle driving operation to automatically drive the vehicle, and, remembers the time of automatic driving and information indicating the selected automatic driving function or level of driving automation at that time.
摘要翻译：本发明提供了一种自动驾驶系统，其能够清楚地识别事故发生后在自动驾驶期间引起诸如车辆事故或故障等异常的因素。自动驾驶系统从车辆中提供的每个自动驾驶功能或每个自动驾驶功能被分类到的每个级别的驾驶自动化中自动选择根据车辆周围环境的自动驾驶功能或驾驶自动化水平自动执行车辆驾驶操作的一部分或全部以自动驾驶车辆，并且记住当时的自动驾驶时间和表示所选择的自动驾驶功能或驾驶自动化水平的信息。

4. 发明公开

EP3180225A1 LENKRAD EINES KRAFTFAHRZEUGS MIT EINER IM LENKRADKRANZ VORGESEHENEN ANZEIGE 有权
公开(公告)号：EP3180225A1
公开(公告)日：2017-06-21
申请号：EP15747140.0
申请日：2015-07-29
申请人： Bayerische Motoren Werke Aktiengesellschaft
发明人： PITZER, Franz
IPC分类号： B62D1/04 , B62D15/02 , B62D1/28 , B60Q1/00
CPC分类号： B62D1/046 , B60Q3/283 , B62D1/28 , B62D15/02 , B62D15/021 , B62D15/025 , B62D15/029 , G05D1/0088
摘要： The invention relates to a motor vehicle steering wheel comprising a display unit which is provided in the steering wheel rim and gives the motor vehicle driver an indication on the vehicle steering angle in the manner of a scalar display, the display unit being active at least when the motor vehicle is in an autonomous or highly automated driving move in which the steering wheel does not move, not even when the vehicle negotiates curves. The display unit can operate in a slightly anticipatory manner so as to be able to give an indication on the vehicle steering angle to be set by a control system for the autonomous driving mode on a stretch of road that lies ahead and is visible to the driver. In certain boundary conditions, the display unit can display a vehicle steering angle that is too great or too small, depending on the traveling speed of the vehicle.
摘要翻译：汽车方向盘具有显示单元，该显示单元设置在方向盘轮缘中并且以标量显示的方式向驾驶员提供车辆转向角度的指示。至少当机动车辆处于自主或高度自动化的驾驶行驶中时，该方向盘不移动，即使当车辆通过弯道时，显示单元也是有效的。显示单元可以以稍微预期的方式操作，以便能够在驾驶员可见的前方道路上的一段道路上给出关于由自主驾驶模式的控制系统设定的车辆转向角度的指示。在某些边界条件下，取决于车辆的行驶速度，显示单元可以显示太高或太小的车辆转向角度。

5. 发明授权

EP2116440B1 Spurführungssystem 有权转让
公开(公告)号：EP2116440B1
公开(公告)日：2012-10-31
申请号：EP09004639.2
申请日：2009-03-31
申请人： MAN Truck & Bus AG
发明人： Schwertberger, Walter , Brummer, Markus , Heyes, Daniel , Ewers, Marcel
IPC分类号： B60W30/08 , B62D1/28
CPC分类号： B62D1/28 , B62D15/025 , B62D15/0265 , B62D15/029

6. 发明公开

EP2350760A2 METHOD FOR AUTOMATIC GUIDANCE OF THE MOTOR VEHICLES ON ROADS AND AUTOMATIC TRANSPORT SYSTEM 失效
标题翻译：程序对在道路上行驶的机动车自动管理和自动运输系统
公开(公告)号：EP2350760A2
公开(公告)日：2011-08-03
申请号：EP08872938.9
申请日：2008-11-14
申请人： Sitar, Branislav
发明人： Sitar, Branislav
IPC分类号： G05D1/02 , B60W50/00
CPC分类号： B62D1/28 , B60W30/0956 , B60W30/16 , G05D1/0244 , G05D1/0263 , G05D1/0297 , G05D2201/0213 , G08G1/22
摘要： A method for automatic guidance of the motor vehicles on roads is based on the guidance of motor vehicles (1) with electric actuator (2) on roads (4) is executed only by a board computer (9), which coordinates direction guidance, driving parameters and vehicle (1) actuator (2) in interaction with a mobile data transfer either from a stationary central computer (12) and/or from other locally present board computers (9) of the surrounding motor vehicles (1). Steering the vehicle (1) is derived from the optical scanning of the guideline (6) situated on or in the surface of the road (4) by an optical guideline imaging device (3.1) located on the vehicle (1). Driving parameters of the vehicle (1) are derived from the optical and/or radiof requency scanning of the info-line (7) situated on or in the surface of the road (4) by optical and/or radiof requency info-line imaging devices (3.2, 3.3) located on the vehicle (1). Driving parameters for at least one electric actuator (2) and/or battery (13) of the vehicle (1) are derived the electric energy take-off through at least one electric power bus (5) fixed on the vehicle (1) and at least on one section oriented towards the road (4) and/or to the road barrier (14) from electric traction (8) located on the elevated part of the road (4) and/or in the road barrier (14).

7. 发明授权

EP1422584B1 CONTROL APPARATUS FOR PLANT 有权
标题翻译：控制系统对工厂
公开(公告)号：EP1422584B1
公开(公告)日：2010-10-06
申请号：EP03730650.3
申请日：2003-05-28
申请人： Honda Giken Kogyo K. K.
发明人： Mizuno, Takahide , Yasui, Yuji , Iwaki, Yoshihisa
IPC分类号： B62D1/28
CPC分类号： G05B13/042 , B62D1/28 , F02D41/14 , F02D41/1402 , F02D41/1456 , F02D41/1458 , F02D41/2477 , F02D2041/1433 , F02D2200/0404 , F02D2200/0406 , F02D2200/0414 , F02D2200/703 , G05B5/01

8. 发明公开

EP2216224A1 VEHICLE CONTROL DEVICE AND VEHICLE CONTROL METHOD 有权转让
标题翻译：车辆控制装置和车辆控制方法
公开(公告)号：EP2216224A1
公开(公告)日：2010-08-11
申请号：EP08844987.1
申请日：2008-10-30
申请人： Toyota Jidosha Kabushiki Kaisha
发明人： TAGUCHI, Koji
IPC分类号： B60W30/02 , B60W50/06 , G08G1/16
CPC分类号： B60W30/02 , B60T8/1755 , B60W30/10 , B60W40/02 , B60W2050/0008 , B60W2710/207 , B60W2720/103 , B62D1/28 , B62D6/006
摘要： Disclosed are a vehicle control device and a vehicle control method capable of performing appropriate traveling control while exhibiting the capability of a control system. Feedback control is performed according to a traveling target set in advance. At the time of the feedback control, when a vehicle traveling trace is deviated, when a tire friction circle is exceeded, or when a vehicle acceleration or a jerk exceeds a set value, if a control deviation exceeds a set value, a traveling target is regenerated. This enables appropriate traveling control while sufficiently exhibiting the capability of the control system until the control deviation exceeds the set value. When the control deviation exceeds the set value, a traveling target is regenerated, such that traveling control appropriate for the traveling environment can be performed.
摘要翻译：公开了一种能够在展现控制系统的能力的同时执行适当的行驶控制的车辆控制装置和车辆控制方法。根据预先设定的行驶目标进行反馈控制。在反馈控制时，当车辆行驶轨迹偏离时，当超过轮胎摩擦圆时，或者当车辆加速度或加加速度超过设定值时，如果控制偏差超过设定值，则行驶目标是再生。由此，能够充分发挥控制系统的能力，直到控制偏差超过设定值为止进行适当的行驶控制。当控制偏差超过设定值时，行驶目标被再生，从而可以执行适合行驶环境的行驶控制。

9. 发明公开

EP2213546A1 STEERING CONTROL DEVICE 有权
标题翻译： LENKSTEUERVORRICHTUNG
公开(公告)号：EP2213546A1
公开(公告)日：2010-08-04
申请号：EP07832562.8
申请日：2007-11-27
申请人： Mitsubishi Electric Corporation
发明人： ENDO, Masaya , KURISHIGE, Masahiko , OGAWA, Kenji
IPC分类号： B62D6/00 , B62D5/04 , B62D101/00 , B62D113/00 , B62D119/00
CPC分类号： B62D1/28 , B62D5/0463 , B62D15/0285
摘要： A steering control device capable of smooth automatic steering control by suppressing, during automatic steering, fluctuation of a target current for electric power assist, caused by inertia torque acting on a steering wheel, including: an section (71) for calculating the target current for a motor for electric power assist control; an section (72) for calculating a target current for automatic steering for the motor for automatic steering control of wheels; a (73) for controlling a motor current according to a sum of the target currents for electric power assist and automatic steering at a time of the automatic steering control; a section (711) for extracting a predetermined frequency component that contains a driver's steering frequency of the target current for assist and don't contain a fluctuation component a frequency caused by inertia torque of the steering wheel, and correcting the target current for assist based on the extracted frequency component.
摘要翻译：一种转向控制装置，其能够通过在自动转向期间抑制作用于方向盘的惯性转矩引起的用于电力辅助的目标电流的波动而平滑地进行自动转向控制，所述转向控制装置包括：用于计算目标电流的部分（71）用于电力辅助控制的电动机; 用于计算用于车轮的自动转向控制的电动机的自动转向的目标电流的部分（72） a（73），用于根据用于电力辅助的目标电流和自动转向控制时的自动转向之和来控制电动机电流; 用于提取包含用于辅助的目标电流的驾驶员转向频率的预定频率分量的部分（711），并且不包含由方向盘的惯性转矩引起的频率的波动分量，并且基于辅助的方式校正目标电流在提取的频率分量上。

10. 发明授权

EP1840000B1 Lane keeping assistance equipment for automotive vehicles 有权转让
标题翻译：汽车车道辅助设备
公开(公告)号：EP1840000B1
公开(公告)日：2010-01-20
申请号：EP07105111.4
申请日：2007-03-28
申请人： Fuji Jukogyo Kabushiki Kaisha
发明人： Saito, Toru , Kudo, Shinya , Oyama, Hajime
IPC分类号： B62D15/02 , B62D1/28
CPC分类号： B62D15/025 , B62D1/28 , B62D1/286

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