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    • 22. 发明授权
    • Steering control apparatus for a vehicle
    • 车辆转向控制装置
    • US06691008B2
    • 2004-02-10
    • US10231165
    • 2002-08-30
    • Satoshi KondoShinnosuke IshidaJun Tanaka
    • Satoshi KondoShinnosuke IshidaJun Tanaka
    • B61F2300
    • B62D1/28B60T2201/08B60T2201/082B60T2201/087
    • Whether a driver is driving intentionally is determined rapidly and accurately when steering control is performed such that a vehicle travels along recognized travel partitioning lines. A torque value deviation absolute value is calculated using the absolute value of a difference between the torque value from the previous processing and the torque value from the current processing, and is stored in a ring buffer. A torque value deviation sum value is calculated by adding all the torque value deviation absolute values stored in the ring buffer, and when a state in which the torque value deviation sum value is equal to or less than a predetermined driving intention determination threshold continues for a predetermined first threshold time (for example, several seconds; e.g. 5 seconds) or longer, it is determined that there is a decrease in the driving intention.
    • 当执行转向控制使得车辆沿着识别的行驶分隔线行进时,是否迅速且准确地确定驾驶员是否有意驾驶。 使用来自前次处理的转矩值与来自当前处理的转矩值之间的差的绝对值来计算转矩值偏差绝对值,并存储在环形缓冲器中。 通过将存储在环形缓冲器中的所有转矩值偏差绝对值相加来计算转矩值偏差和值,并且当转矩值偏差和值等于或小于预定驾驶意图判定阈值的状态持续到 预定的第一阈值时间(例如,几秒,例如5秒)或更长时间,则确定驾驶意图有所减少。
    • 27. 发明授权
    • Vehicle steering control system
    • 车辆转向控制系统
    • US06308123B1
    • 2001-10-23
    • US09599606
    • 2000-06-23
    • Manabu IkegayaShinnosuke IshidaSatoshi KondoJun Tanaka
    • Manabu IkegayaShinnosuke IshidaSatoshi KondoJun Tanaka
    • B62D504
    • B62D15/025B60T2201/08B60T2201/087B62D1/28
    • A vehicle steering control system for conducting a steering assistance control in which a basic steering assist torque is determined based on a structural parameter relating to the lane structure such as its curvature. In parallel, corrective steering assist torques are determined based on positional parameters of the vehicle relating to the lane such as a lateral deviation from the lane center line and a vehicle heading angle, and are added to the basic steering assist torque to correct the same. Since the positional parameters are determined based on the image information at or close to the vehicle, this enables to determine the steering assist torque adequately, thereby enhancing the accuracy of the steering assistance control.
    • 一种用于进行转向辅助控制的车辆转向控制系统,其中基于与车道结构相关的结构参数(例如曲率)来确定基本转向辅助转矩。 并行地,基于与车道相关的车辆的位置参数(例如与车道中心线的横向偏离)和车辆行驶方向角度来确定校正转向辅助转矩,并将其与基本转向辅助转矩相加以校正。 由于基于车辆处或车辆附近的图像信息来确定位置参数,因此能够适当地确定转向辅助转矩,从而提高转向辅助控制的精度。