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1. 发明专利

JP2010095184A Steering assist device 审中-公开
标题翻译：转向辅助装置
公开(公告)号：JP2010095184A
公开(公告)日：2010-04-30
申请号：JP2008268705
申请日：2008-10-17
申请人： Toyota Motor Corp , トヨタ自動車株式会社
发明人： RATTAPON CHUMSAMUTR
IPC分类号： B62D6/00 , B60R21/00 , B62D101/00 , B62D119/00 , B62D137/00
摘要： PROBLEM TO BE SOLVED: To provide a steering assist device capable of accurately performing steering assist by effectively using of information before interrupted when steering assist is resumed after interrupted.
SOLUTION: In a target steering torque calculation unit 14, after lane keeping control is interrupted in an interruption determination unit 12, when the lane keeping control is resumed, a steering control ECU 1 employs a steering output integral value when the lane keeping control is interrupted in the case when the travel line of the vehicle is common. At this time, it is determined based on the interruption time of the steering control whether the travel line of the vehicle is common before and after the lane keeping control is interrupted. At this time, the traveling direction of the vehicle and inclining direction of road camber of the road on which the vehicle travels are employed. Therefore when the traveling direction of the vehicle coincides with down direction of the road camber, a timer threshold value is elongated when it is determined that the travel line of the vehicle coincides after and before the lane keeping control is interrupted.
COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：提供一种能够在中断后重新开始转向辅助时有效地使用中断前的信息来精确地执行转向辅助的转向辅助装置。解决方案：在目标转向转矩计算单元14中，在中断确定单元12中中断车道保持控制之后，当车道保持控制恢复时，转向控制ECU1在车道保持时采用转向输出积分值在车辆的行驶线是共同的情况下，控制被中断。此时，基于转向控制的中断时间确定车道行驶线路在车道保持控制中断之前和之后是否共同。此时，车辆的行驶方向和车辆行驶的道路的路面倾斜方向被采用。因此，当车辆的行进方向与道路弯度的下降方向一致时，当确定车辆的行驶线在车道保持控制被中断之前和之前一致时，定时器阈值被拉长。版权所有（C）2010，JPO＆INPIT

2. 发明专利

JP2008168905A Vehicle deviation prevention device 有权
标题翻译：车辆偏差预防装置
公开(公告)号：JP2008168905A
公开(公告)日：2008-07-24
申请号：JP2008087905
申请日：2008-03-28
申请人： Toyota Motor Corp , トヨタ自動車株式会社
发明人： KATAOKA HIROAKI , KAWAKAMI SEIJI , IWASAKI KATSUHIKO , RATTAPON CHUMSAMUTR
IPC分类号： B62D6/00 , B60R1/00 , B62D5/04 , B62D101/00 , B62D109/00 , B62D111/00 , B62D119/00 , B62D133/00 , B62D137/00
摘要： PROBLEM TO BE SOLVED: To provide a vehicle deviation prevention device that makes it possible to give a warning torque of a proper strength according to traveling conditions of a vehicle and peripheral conditions. SOLUTION: This vehicle deviation prevention device comprises a deviation judgment means, which detects a traffic lane where the one's own vehicle is traveling and judges whether or not the vehicle deviates from the traffic lane based on the positional relation between the traffic lane and the vehicle, and a warning means, which gives to a steering gear the torque for emitting a warning to a driver. This device also has a traveling environment grasping means, which grasps information on the lane width as a road traveling environment. The warning means sets the torque for emitting the warning to the driver based on the grasped road-traveling environment. COPYRIGHT: (C)2008,JPO&INPIT
摘要翻译：解决的问题：提供一种车辆偏离防止装置，其能够根据车辆的行驶状况和周边条件给出适当强度的警告转矩。解决方案：该车辆偏离防止装置包括：偏差判断装置，其检测自身车辆行驶的行车道，并基于行车道与行车道之间的位置关系判断车辆是否偏离行车道; 车辆和警告装置，其向舵机提供用于向驾驶员发出警告的扭矩。该装置还具有行驶环境握持装置，其将车道宽度的信息作为道路行驶环境进行掌握。警告装置基于所掌握的道路行驶环境设定向驾驶员发出警告的扭矩。版权所有（C）2008，JPO＆INPIT

3. 发明专利

JP2007168662A Vehicular steering assistance device 有权
标题翻译：车辆转向辅助装置
公开(公告)号：JP2007168662A
公开(公告)日：2007-07-05
申请号：JP2005370549
申请日：2005-12-22
申请人： Toyota Motor Corp , トヨタ自動車株式会社
发明人： RATTAPON CHUMSAMUTR , KAWAKAMI SEIJI , IWASAKI KATSUHIKO , KATAOKA HIROAKI
IPC分类号： B62D6/00 , B62D5/04 , B62D101/00 , B62D119/00 , B62D137/00
摘要： PROBLEM TO BE SOLVED: To provide a vehicular steering assistance device capable of quickly and certainly returning the vehicle to a traveling lane when there is risk that the vehicle is deviated from the traveling lane. SOLUTION: When a lane offset D of the vehicle relative to a center line LC of the traveling lane TL exceeds a predetermined threshold value and there is risk that the vehicle 1 is deviated, for example, from the traveling lane TL to a left side, a direction of steering assistance is retained in an increase-operation direction to an inherent right direction. Accordingly, since steering torque set to a large degree at steering assistance performing turning so as to increase-operates the steering in a right direction is given to the steering mechanism of the vehicle 1, the vehicle 1 is quickly and certainly returned to the traveling lane. COPYRIGHT: (C)2007,JPO&INPIT
摘要翻译：要解决的问题：提供一种车辆转向辅助装置，当车辆偏离行驶车道的风险时，能够快速且肯定地将车辆返回到行车道。
解决方案：当车辆相对于行驶车道TL的中心线LC的车道偏移量D超过预定阈值时，例如车辆1例如从行驶车道TL偏离到左侧，转向辅助方向在向内固定方向的增大操作方向上被保持。因此，在车辆1的转向机构上，由于在转向辅助执行转向而使向右方向转向增大操作的转向转矩很大程度地设定，所以车辆1快速且确定地返回行驶车道。版权所有（C）2007，JPO＆INPIT

4. 发明专利

JP2007168593A Steering device 有权
标题翻译：转向装置
公开(公告)号：JP2007168593A
公开(公告)日：2007-07-05
申请号：JP2005368574
申请日：2005-12-21
申请人： Toyota Motor Corp , トヨタ自動車株式会社
发明人： RATTAPON CHUMSAMUTR , KAWAKAMI SEIJI , IWASAKI KATSUHIKO , KATAOKA HIROAKI
IPC分类号： B62D6/00 , B60R21/00 , B62D101/00 , B62D119/00 , B62D137/00
摘要： PROBLEM TO BE SOLVED: To provide a steering device capable of performing suitable steering control during turning on a curve.
SOLUTION: The steering device 1 for detecting a traveling road of a vehicle by traveling road detection means 20, 21 and controlling a steering mechanism such that the vehicle travels along a predetermined position of the traveling road is provided with a curve direction detection means 30 for detecting a curving direction of the curve road; and a steering control direction detection means 30 for detecting a steering control direction. An output characteristic for controlling the steering mechanism is changed depending on whether the steering control direction detected by the steering control direction detection means 30 is the same direction or an opposite direction to the curving direction of the curve road detected by the curve direction detection means 30.
COPYRIGHT: (C)2007,JPO&INPIT
摘要翻译：要解决的问题：提供能够在打开曲线时执行适当的转向控制的转向装置。解决方案：用于通过行驶道路检测装置20,21检测车辆的行驶道路的转向装置1，并且控制车辆沿着行驶道路的预定位置行驶的转向机构，设置有弯道方向检测用于检测弯道的弯曲方向的装置30; 以及用于检测转向控制方向的转向控制方向检测装置30。用于控制转向机构的输出特性根据由转向控制方向检测装置30检测到的转向控制方向是否与曲线方向检测装置30检测到的曲线路的弯曲方向相同或相反的方向而改变。版权所有（C）2007，JPO＆INPIT

5. 发明专利

JP2007008218A Steering support device 有权
标题翻译：转向支持设备
公开(公告)号：JP2007008218A
公开(公告)日：2007-01-18
申请号：JP2005188500
申请日：2005-06-28
申请人： Toyota Motor Corp , トヨタ自動車株式会社
发明人： RATTAPON CHUMSAMUTR , KAWAKAMI SEIJI , NIWA SATORU , IWASAKI KATSUHIKO , KATAOKA HIROAKI
IPC分类号： B62D6/00 , B60W30/00 , B60W30/12 , B60W40/10 , B60W40/109 , B62D5/04 , B62D101/00 , B62D111/00 , B62D113/00 , B62D137/00
摘要： PROBLEM TO BE SOLVED: To provide a steering support device capable of giving proper assist torque in correspondence with a steering state without deteriorating steering feeling and a lane follow-up property. SOLUTION: Characteristic charts of target lateral acceleration G-steering torque T in finding the steering torque T are changed over to each other between A to B in increasing and decreasing an absolute value of the target lateral acceleration G and in correspondence with its direction. Hereby, the charts A, C used when the absolute value of the target lateral acceleration G increases are set so that an absolute value of the steering torque becomes large against the same target lateral acceleration G(G≠0) in comparison with the charts B, D used when it decreases. The characteristic charts are changed when an increasing state or a decreasing state continues and variation exceeds a target lateral acceleration variable threshold value ΔG after increase and decrease of the target lateral acceleration G are changed over to each other. Hereby, this target lateral acceleration variable threshold value ΔG is set larger than when curvature is small when the curvature of a travelling road is large. COPYRIGHT: (C)2007,JPO&INPIT
摘要翻译：要解决的问题：提供一种转向支撑装置，其能够在不改变转向感和车道追随性的情况下，与转向状态相对应地提供适当的辅助转矩。解决方案：求出转向转矩T的目标横向加速度G转向转矩T的特征图在A至B之间相互改变，以增加和减少目标横向加速度G的绝对值，并与其对应方向。因此，与目标横向加速度G的绝对值增加相对应的图A，C设定为相对于相同的目标横向加速度G（G≠0），转向转矩的绝对值变大，D当它减少时使用。当增加状态或降低状态持续并且在目标横向加速度G的增加和减小之后变化超过目标横向加速度可变阈值ΔG时，特性图被改变。因此，当行驶道路的曲率大时，将该目标横向加速度可变阈值ΔG设定为大于曲率小的情况。版权所有（C）2007，JPO＆INPIT

6. 发明专利

JP2005343306A Lane deviation preventive device 有权
标题翻译： LANE偏差预防性设备
公开(公告)号：JP2005343306A
公开(公告)日：2005-12-15
申请号：JP2004165035
申请日：2004-06-02
申请人： Toyota Motor Corp , トヨタ自動車株式会社
发明人： KATAOKA HIROAKI , KAWAKAMI SEIJI , NIWA SATORU , IWASAKI KATSUHIKO , RATTAPON CHUMSAMUTR
IPC分类号： B60R21/00 , B60R1/00 , G08G1/16
摘要： PROBLEM TO BE SOLVED: To provide a lane deviation preventive device capable of preventing hunting of limitation and non-limitation of generation of the steering torque, reducing the sense of incongruity given to a driver, and preventing generation of wasteful warning operation.
SOLUTION: The lane deviation preventive device 1 has a deviation prevention supporting ECU 10. When deviation is determined, the deviation prevention supporting ECU 10 is set in an operation prohibiting state in which provision of the steering torque by an electric motor is prohibited when a driver gives the operational torque of the predetermined magnitude to the steering. In this operation prohibiting state, the steering torque in a self vehicle is equal to or less than a predetermined value, and a curve R is equal to or more than a predetermined value, return from the operation prohibiting state to an operation enabling state is not prohibited. On the contrary, if the steering torque is more than the predetermined value, or if the curve R is less than the predetermined value, the return from the operation prohibiting state to the operation enabling state is prohibited.
COPYRIGHT: (C)2006,JPO&NCIPI
摘要翻译：要解决的问题：提供一种能够防止产生转向转矩的限制和限制的车道偏离防止装置，减少给予驾驶员的不协调感，并且防止产生浪费的警告操作。车道偏离防止装置1具有偏差防止支援ECU10，在判定为偏差的情况下，将偏差防止支援ECU10设定为禁止通过电动机提供转向转矩的动作禁止状态当驾驶员向转向器施加预定幅度的操作扭矩时。在该操作禁止状态下，自车辆中的转向转矩等于或小于预定值，并且曲线R等于或大于预定值，从操作禁止状态返回到操作使能状态不是禁止。相反，如果转向转矩大于预定值，或者曲线R小于预定值，则禁止从操作禁止状态返回到运转使能状态。版权所有（C）2006，JPO＆NCIPI

7. 发明专利

JP2008308091A Vehicle control device 审中-公开
标题翻译：车辆控制装置
公开(公告)号：JP2008308091A
公开(公告)日：2008-12-25
申请号：JP2007159235
申请日：2007-06-15
申请人： Toyota Motor Corp , トヨタ自動車株式会社
发明人： KATAOKA HIROAKI , IWASAKI KATSUHIKO , RATTAPON CHUMSAMUTR , OKUDA YUJI , NGUYEN VAN QUY HUNG
IPC分类号： B62D6/00 , B60R21/00 , B62D5/04 , B62D101/00 , B62D119/00 , G08G1/16
摘要： PROBLEM TO BE SOLVED: To execute a vehicle control for lane departure prevention according to the irradiation state of a white line recognition range with illumination.
SOLUTION: A vehicle control device 10 comprises a white line detection means 32 for detecting a white line by processing an image part in a white line recognition range included in an image obtained by photographing the front of a vehicle, an attitude angle detection means 33 for detecting an attitude angle of a vehicle, an irradiation state estimation means 34 for estimating the irradiation state of the white line recognition range with illumination on the basis of the attitude angle of a vehicle detected by the attitude angle detection means and a departure prevention control means 35 for executing vehicle control for lane departure prevention on the basis of the white line detected by the white line detection means and for adjusting control sensitivity of the vehicle control for the lane departure prevention in response to the irradiation state estimated by the irradiation state estimation means.
COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：根据照明的白线识别范围的照射状态执行车道偏离防止的车辆控制。解决方案：车辆控制装置10包括白线检测装置32，用于通过处理包括在通过拍摄车辆前方获得的图像中的白线识别范围中的图像部分来检测白线，姿态角检测用于检测车辆姿态角的装置33;照射状态估计装置34，用于基于由姿态角检测装置检测到的车辆的姿态角度和出发点估计白线识别范围的照射状态; 防止控制装置35，用于根据由白线检测装置检测到的白线执行车道偏离防止的车辆控制，并且响应于通过照射估计的照射状态来调整车道偏离防止的车辆控制的控制灵敏度状态估计手段。版权所有（C）2009，JPO＆INPIT

8. 发明专利

JP2008290679A Steering assist device 审中-公开
标题翻译：转向辅助装置
公开(公告)号：JP2008290679A
公开(公告)日：2008-12-04
申请号：JP2007140824
申请日：2007-05-28
申请人： Toyota Motor Corp , トヨタ自動車株式会社
发明人： RATTAPON CHUMSAMUTR
IPC分类号： B62D6/00 , B62D119/00
摘要： PROBLEM TO BE SOLVED: To provide a steering assist device capable of preventing any mistaken determination for presence/absence of the steering operation. SOLUTION: The steering assist device 1 comprises a camera 9 for picking up an image of a traveling passage in front of a vehicle, a torque sensor 11 for detecting the steering torque applied to the steering, and an ECU 12. The ECU 12 has a lane maintenance control unit 13 which controls an EPS motor 8 so as to acquire the assist torque to allow the vehicle to travel along a lane based on the picked-up image by the camera 9, and control an EPS motor 8 so as to apply this assist torque to a steering mechanism, and a steering operation determination unit 14 for determining whether or not a driver performs the steering operation based on the data of the friction force generated in a gear of the steering mechanism and the friction force generated in a steering column, the assist torque value obtained by the lane maintenance control unit 13, and the detected value of the torque sensor 11 and its duration. COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：提供一种能够防止对转向操作的存在/不存在的任何错误判定的转向辅助装置。解决方案：转向辅助装置1包括用于拾取车辆前方行进通道的图像的摄像机9，用于检测施加到转向的转向转矩的转矩传感器11和ECU 12。ECU 12具有车道维护控制单元13，其控制EPS电动机8，以获得辅助转矩，以允许车辆基于摄像机9拍摄的图像沿着车道行驶，并且控制EPS电动机8，以便将该辅助转矩施加到转向机构，以及转向操作判定单元14，用于基于在转向机构的齿轮中产生的摩擦力的数据和产生的摩擦力来确定驾驶员是否执行转向操作转向柱，由车道维修控制单元13获得的辅助扭矩值，以及扭矩传感器11的检测值及其持续时间。版权所有（C）2009，JPO＆INPIT

9. 发明专利

JP2008222230A Drive support device 有权
标题翻译：驱动支持设备
公开(公告)号：JP2008222230A
公开(公告)日：2008-09-25
申请号：JP2008136954
申请日：2008-05-26
申请人： Toyota Motor Corp , トヨタ自動車株式会社
发明人： KATAOKA HIROAKI , KAWAKAMI SEIJI , NIWA SATORU , IWASAKI KATSUHIKO , RATTAPON CHUMSAMUTR
IPC分类号： B62D6/00 , B60R21/00 , B62D101/00 , B62D109/00 , B62D119/00 , G08G1/16
摘要： PROBLEM TO BE SOLVED: To provide a drive support device capable of reducing movement felt by a driver during control at a low vehicle speed and enhancing a feeling to a departure allowance time and a reaction time of the driver, and further a feeling to alarm torque when performing the control for preventing lane departure.
SOLUTION: A departure preventive support ECU 10 in a travel support device 1 sets the torque applied to a steering torque application means 17 based on the vehicle speed of a vehicle. The torque to be applied is set to be larger as the vehicle speed is higher. An upper limit value according to the vehicle speed is set to the torque to be applied. In addition, in a Start section when applying the torque, the rate of a change before reaching a maximum value is determined according to maximum torque. Further, in a Close section, the torque is reduced by the rate of a change different from that in the Start section, and set so that the absolute value of the torque in the Start section is larger than that of the torque in the Close section.
COPYRIGHT: (C)2008,JPO&INPIT
摘要翻译：要解决的问题：提供一种驱动支持装置，其能够减少驾驶员在低车速控制期间感觉到的运动，并且增强驾驶员的离场允许时间和反作用时间的感觉，并且还具有感觉在执行用于防止车道偏离的控制时报警转矩。解决方案：旅行支持装置1中的防偏离支援ECU10基于车辆的车速设定施加于转向转矩施加单元17的转矩。被施加的转矩被设定为随着车速越高越大。将车速的上限值设定为要施加的转矩。另外，在施加扭矩的起动部中，根据最大转矩来确定达到最大值之前的变化率。此外，在关闭部分中，转矩减小与起动部分不同的变化率，并且设定为使得起动部分中的转矩绝对值大于关闭部分中转矩的绝对值。版权所有（C）2008，JPO＆INPIT

10. 发明专利

JP2008037273A Steering support device 有权
标题翻译：转向支持设备
公开(公告)号：JP2008037273A
公开(公告)日：2008-02-21
申请号：JP2006214754
申请日：2006-08-07
申请人： Toyota Motor Corp , トヨタ自動車株式会社
发明人： OKUDA YUJI , KAWAKAMI SEIJI , IWASAKI KATSUHIKO , KATAOKA HIROAKI , RATTAPON CHUMSAMUTR
IPC分类号： B62D6/00 , B62D5/04 , B62D101/00 , B62D119/00
CPC分类号： B62D15/025 , B62D5/0466
摘要： PROBLEM TO BE SOLVED: To provide a steering support device enabling steering support control capable of accurately detecting a curve exit of a traveling passage and having excellent traveling passage following characteristics.
SOLUTION: The steering support device 1 applies steering torque to a steering mechanism so that a vehicle travels along the traveling passage based on images of the traveling passage in front of a vehicle. By processing the images, the curve direction of the traveling passage is estimated, and based on steering operation by a driver of the vehicle, the steering direction of the driver is estimated. Based on the fact that the estimated curve direction does not correspond to the steering direction, it is determined that the vehicle travels at the curve exit. Thus, the curve exit of the traveling passage can be accurately determined and appropriate steering support control can be performed.
COPYRIGHT: (C)2008,JPO&INPIT
摘要翻译：要解决的问题：提供一种能够精确地检测行驶通道的曲线出口并具有优异行进通道跟随特性的转向支撑控制的转向支撑装置。解决方案：转向支撑装置1对转向机构施加转向转矩，使得车辆基于行驶通道在车辆前方的图像行进。通过处理图像，估计行驶路径的曲线方向，并且基于车辆的驾驶员的转向操作，推定驾驶员的转向方向。基于估计的曲线方向与转向方向不对应的事实，确定车辆在曲线出口处行驶。因此，可以精确地确定行驶通道的曲线出口，并且可以执行适当的转向支持控制。版权所有（C）2008，JPO＆INPIT

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