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1. 发明专利

JP2015225615A 運転支援装置有权
标题翻译：驾驶辅助系统
公开(公告)号：JP2015225615A
公开(公告)日：2015-12-14
申请号：JP2014111774
申请日：2014-05-29
申请人：トヨタ自動車株式会社
发明人：グェンヴァンクイフン , 早坂祥一
IPC分类号： B60R21/00 , B62D6/00 , B60W40/04 , B60W50/14 , B60W30/09 , B62D101/00 , B62D103/00 , B62D111/00 , B62D113/00 , B62D135/00 , B62D137/00 , G08G1/16
CPC分类号： B60W30/08 , G01S13/723 , G01S13/931 , G01S7/40 , G08G1/166 , G08G1/167 , B60W2550/30 , G01S2013/9332 , G01S2013/9385
摘要：【課題】追跡対象の移動体に対する運転支援の実施中において、車両側方を並走する他の移動体が複数のセンサ間の死角領域に移動した場合であっても、死角領域内を移動する移動体の位置を把握して追跡した移動体の軌跡に基づいて、運転支援を継続して実施可能な運転支援装置を提供することを課題とする。【解決手段】本発明の運転支援装置は、追跡対象の移動体が第1領域又は第2領域を外れて死角領域内に入ると、位置推定手段を制御して移動体の位置を推定し、当該移動体が死角領域を外れて第1領域又は第2領域内に入ると、位置検出手段を制御して移動体の位置を検出することで、第1領域又は第2領域内で検出された移動体の軌跡と死角領域内で推定された移動体の軌跡とが連続するように、追跡対象の移動体の軌跡を追跡し、追跡された追跡対象の移動体の軌跡に基づいて、運転支援を実施する。【選択図】図1
摘要翻译：要解决的问题：提供一种驱动辅助系统，其能够基于用作跟踪目标的移动体的跟踪轨迹连续地执行驱动辅助，并且通过抓握多个传感器的位置在多个传感器之间的死角区域中移动移动体，即使在车辆平行运动的另一个移动体在死角区域内移动的同时实现移动体的驱动辅助。本发明的驱动辅助系统控制位置估计装置来估计如果移动体偏离第一区域或第二区域并进入死角区域，则作为跟踪目标的移动体的位置; 控制位置检测装置，如果移动体偏离死角区域并且进入第一区域或第二区域，则检测移动体的位置，从而跟踪移动体的轨迹作为跟踪目标，在第一区域或第二区域中检测到的移动体连续到在死角区域中估计的运动区域的轨迹; 并且基于作为跟踪目标的移动体的跟踪轨迹来实现驱动辅助。

3. 发明专利

JP2000215395A DEVICE FOR SUPPORTING VEHICLE DRIVING 失效
公开(公告)号：JP2000215395A
公开(公告)日：2000-08-04
申请号：JP1750099
申请日：1999-01-26
申请人： MAZDA MOTOR
发明人： TERADA TETSUYA , OKUDA KENICHI , YAMAMOTO MASAFUMI , CHIBA MASAKI
IPC分类号： B60R21/00 , B60W30/00 , B62D6/00 , B62D101/00 , B62D135/00 , B62D137/00 , G08G1/16
摘要： PROBLEM TO BE SOLVED: To provide a driving supporting device for vehicle that optimally supports driving operation in accordance with the change of desired degree of a driver who tries to drive in the center of a traffic lane. SOLUTION: A controller finds a coefficient α1 corresponding to lane width and a coefficient α2 corresponding to a value (visibility deterioration index β) whose condition is the worst to a driving operation by a driver in each condition of an ambient weather state, the recognizability of a white line and the lighting state of headlights before calculating control torque T to be set to a steering actuator(SA) and decides a control gain (k) corresponding to the desired degree of the driver who tries to drive in a lane center by selecting the value whose condition is the worse between the coefficients α1 and α2 as a coefficient α to be adopted for the control of an actual SA (S8 to S16).

4. 发明专利

JPH0415168A HANDLING REACTION CONTROL DEVICE OF FOUR-WHEEL STEERING VEHICLE 失效
公开(公告)号：JPH0415168A
公开(公告)日：1992-01-20
申请号：JP11635790
申请日：1990-05-02
申请人： TOYOTA MOTOR CORP
发明人： SUGIYAMA MIZUHO
IPC分类号： B62D6/00 , B62D5/07 , B62D7/14 , B62D101/00 , B62D111/00 , B62D113/00 , B62D135/00
摘要： PURPOSE:To obtain the handling reaction control device of a four-wheel steering vehicle which does not make even a driver used to two-wheel steering vehicle feel strange when controlling a steering handle by canceling a change in reaction against handling caused by steering of rear wheels. CONSTITUTION:A four-wheel steering vehicle is provided with a front wheel steering device A for steering right and left front wheels FW1, FW2, a rear wheel steering device B for steering right and left rear wheels RW1, RW2, and an electric controller C for electrically controlling the front wheel steering device A and the rear wheel steering device B. The front wheel steering device A is provided with a rack bar 11 which is displaced in the direction of its axis to steer both the right and left front wheels FW1, FW2. The rack bar 11 is further supported to housing 12 in such a manner as capable of being displaced in the direction of its axis, and is connected to a handle 14 via a control valve A1 equipped with a reaction mechanism, and a steering shaft 13. The microcomputer 54 of the electric controller C controls steering of each of the right and left rear wheels RW1, RW2 and also controls reaction against steering by the handle 14 generated at the control valve A1 equipped with the reaction mechanism.

5. 发明专利

JP2000211542A VEHICULAR DRIVING SUPPORTING DEVICE 失效
公开(公告)号：JP2000211542A
公开(公告)日：2000-08-02
申请号：JP1749999
申请日：1999-01-26
申请人： MAZDA MOTOR
发明人： TERADA TETSUYA , OKUDA KENICHI , YAMAMOTO MASAFUMI , CHIBA MASAKI
IPC分类号： B60R21/00 , B60W30/00 , B62D6/00 , B62D101/00 , B62D135/00 , B62D137/00 , G08G1/16
摘要： PROBLEM TO BE SOLVED: To provide a vehicular driving supporting device which optimally supports a driving operation according to a change in a traveling state. SOLUTION: A controller calculates front attention distances from L0 to L4 based on each condition such as vehicular speed, curvature of a road where a vehicle is traveling, a weather condition of an environment, a lightning status of a headlight and a separation distance against a preceding vehicle, and selects a value of a worst condition for driving operation by a driver among the values (S1-S14), and calculates controlling torque T whereby a steering actuator was practically drive-controlled using the selected value and the like (S15-S17).

6. 发明专利

JPH0419269A POWER STEERING DEVICE 失效
公开(公告)号：JPH0419269A
公开(公告)日：1992-01-23
申请号：JP12034390
申请日：1990-05-09
申请人： KOYO SEIKO CO
发明人： NISHIMOTO MITSUHIKO
IPC分类号： B62D6/00 , B62D5/04 , B62D101/00 , B62D119/00 , B62D135/00
摘要： PURPOSE:To eliminate a steering angle detector by running a motor by means of a drive current calculated by a return current calculating means when the return state of a steering wheel is detected by a steering wheel return detecting means. CONSTITUTION:A detecting part 71d detects the return state of a steering wheel based on torque T and a terminal voltage VM. When the return state of the steering wheel is detected, a signal by means of which the return direction of the steering wheel is indicated is outputted to a calculating part 71e. The calculating part 71e calculates the absolute value of a return current IR of a rear wheel based on a car speed V, and polarity thereof is decided based on a signal by means of which the return direction of the steering wheel is indicated. An adder 74a adds an indication current I provided from an indication current function part 73 and a steering wheel return current IR provided from the calculating part 71e, and an adding result is inputted as the target current of the drive current of a motor 8 to a subtractor 74b. The subtractor 74b subtracts a feedback signal from a detecting circuit 71c from the target current, and based on the subtracting result, the motor 8 is run by means of a PWM drive circuit 72.

7. 发明专利

JP2019064427A 移動体運動制御装置、移動体運動制御方法、及び移動体運動制御プログラム审中-公开
公开(公告)号：JP2019064427A
公开(公告)日：2019-04-25
申请号：JP2017191146
申请日：2017-09-29
申请人：株式会社豊田中央研究所 , ダイハツ工業株式会社
发明人：中川雅樹 , 河上充佳 , 村田收 , 安井哲 , 小野英一 , 委細尚史 , 村上泰史 , 内田勝也
IPC分类号： B60T8/1755 , B62D6/00 , B60W40/02 , B62D101/00 , B62D111/00 , B62D135/00 , B62D137/00 , B60W30/02
摘要：【課題】簡単な構成で、移動体に作用する空気力に応じて移動体の挙動として生じる影響を抑制する。【解決手段】左右一対の圧力センサの差圧及び和圧を演算し(S100、S102)、和圧を動圧とみなして、車両が走行中の或る時刻におけるモーメント及び空気力を導出することで、車両に作用する空気力を推定し(S104)、車両の運動を制御する空気力の場合(S106で肯定)、演算された空気力に応じて変化する車両の挙動を相殺する車両の運動制御量演算処理を実行する(S110)。このように、車両前方左右の異なる位置に設置された一対の圧力センサによる差圧及び和圧に基づいて、車両の挙動を変化させる空気力を推定でき、時々刻々と変化する動圧を考慮して、車両の挙動変化を抑制することができる。【選択図】図8

9. 发明专利

JPH06183361A STEERING SYSTEM FOR AUTOMOBILE 失效
公开(公告)号：JPH06183361A
公开(公告)日：1994-07-05
申请号：JP33692592
申请日：1992-12-17
申请人： MAZDA MOTOR
发明人： TOYOHARA TOSHINORI , SHIMIZU KENJI , NAKADA TAKESHI , BANDO HIROSHI
IPC分类号： B62D6/00 , B62D101/00 , B62D109/00 , B62D111/00 , B62D113/00 , B62D135/00 , B62D137/00
摘要： PURPOSE:To provide a steering system of such constitution that the steering wheel operation of a driver is mechanically connected to the action of steered wheels and that the driver is prevented from performing such steering operation as to lower the steering stability of an automobile. CONSTITUTION:A steering system is formed into such constitution that the rotating operation of a steering wheel 5 is mechanically transmitted to a relay rod 4 for steering steered wheels and that the steered wheels are steered further by rack and pinion mechanism. The steering system is provided with stopper mechanism formed of a relay rod stopper 15 and a stopper 19 so as to regulate the maximum displacement quantity of the relay rod 4. A control device 11 receiving signals from a vehicle speed sensor, a steering angle sensor and a road surface state sensor judges the appropriate steering angle regulating quantity according to each signal value and outputs a signal, corresponding to the regulating quantity, to a motor (unillustrated) for driving the stopper 19.

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