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21. 发明授权

US06879890B2 Lane keep control apparatus and method for automotive vehicle 有权
标题翻译：车道保持机动车辆的控制装置和方法
公开(公告)号：US06879890B2
公开(公告)日：2005-04-12
申请号：US10312578
申请日：2002-08-09
申请人： Shinji Matsumoto , Genpei Naito , Satoshi Tange
发明人： Shinji Matsumoto , Genpei Naito , Satoshi Tange
IPC分类号： B60R21/00 , B60T7/12 , B60T8/17 , B60T8/1755 , G08G1/16 , B60T8/00
CPC分类号： B60T8/17557 , B60T2201/08 , B60T2201/082 , B60W2720/14
摘要： In lane keep control apparatus and method for an automotive vehicle, such a determination is made as to whether a tendency of a divergence of the vehicle from a traffic lane on which the vehicle is traveling occurs according to a detected travel state of the vehicle, a driving force controlled variable for each road wheel to develop a yaw moment in a direction in which the divergence of the vehicle from the traffic lane is avoided is calculated in accordance with the detected travel state, the driving force controlled variable of each road wheel is corrected in such a manner that the yaw moment developed in a direction in which the divergence of the vehicle from the traffic lane is avoided is increased in accordance with a history of a control executed to avoid the divergence of the vehicle from the traffic lane.
摘要翻译：在机动车辆的车道保持控制装置和方法中，根据检测到的车辆的行驶状态，判定车辆是否发生车辆的行驶道路的发散的趋势，根据检测到的行驶状态来计算每个车轮的驱动力控制变量，以便根据检测到的行驶状态来计算在车辆从行车道的发散方向上产生的横摆力矩，校正每个车轮的驱动力控制变量以使得避免车辆从行车道的发散方向产生的横摆力矩根据执行的控制历史来增加，以避免车辆与行车道的分离。

22. 发明申请

US20100222965A1 VEHICLE DRIVING OPERATION SUPPORT APPARATUS/METHOD AND VEHICLE 有权
标题翻译：车辆驾驶操作支援装置/方法与车辆
公开(公告)号：US20100222965A1
公开(公告)日：2010-09-02
申请号：US12710504
申请日：2010-02-23
申请人： Takeshi KIMURA , Genpei Naito , Tomohiro Yamamura , Satoshi Tange , Taku Suzuki , Yosuke Kobayashi , Toshiyuki Murata , Tomoyuki Kashiwaya , Yuya Takeda
发明人： Takeshi KIMURA , Genpei Naito , Tomohiro Yamamura , Satoshi Tange , Taku Suzuki , Yosuke Kobayashi , Toshiyuki Murata , Tomoyuki Kashiwaya , Yuya Takeda
IPC分类号： G06F7/00 , B62D6/00 , G08G1/16
CPC分类号： B62D15/025 , B60W30/025 , B60W2520/10 , B60W2530/14 , B60W2550/308
摘要： A motor vehicle includes a vehicle driving operation support system. The vehicle driving operation support system senses an environment surrounding the motor vehicle; senses a traveling condition of the motor vehicle; calculates a risk potential of the motor vehicle on a basis of the sensed environment and the sensed traveling condition; controls the motor vehicle on a basis of a control setpoint. The vehicle driving operation support system sets on a basis of the calculated risk potential the control setpoint to a provisional setpoint effective for reducing the risk potential; senses driver's operation in reaction to the controlling operation with the control setpoint set to the provisional setpoint; and sets the control setpoint to a normal setpoint on a basis of the sensed driver's operation.
摘要翻译：机动车辆包括车辆驾驶操作支撑系统。车辆驾驶操作支持系统感测机动车辆周围的环境; 感觉机动车辆的行驶状况; 根据感测到的环境和感测到的行驶状况计算机动车辆的潜在风险; 在控制设定点的基础上控制机动车辆。车辆驾驶操作支持系统基于所计算的风险潜力将控制设定点设置为有效降低风险潜力的临时设定点; 通过将控制设定值设定为临时设定值来感测驾驶员对控制操作的操作; 并且基于感测到的驾驶员的操作将控制设定值设定为正常设定值。

23. 发明授权

US08359155B2 Vehicle driving operation support apparatus/method and vehicle 有权
标题翻译：车辆驾驶操作支援装置/方法及车辆
公开(公告)号：US08359155B2
公开(公告)日：2013-01-22
申请号：US12710504
申请日：2010-02-23
申请人： Takeshi Kimura , Genpei Naito , Tomohiro Yamamura , Satoshi Tange , Taku Suzuki , Yosuke Kobayashi , Toshiyuki Murata , Tomoyuki Kashiwaya , Yuya Takeda
发明人： Takeshi Kimura , Genpei Naito , Tomohiro Yamamura , Satoshi Tange , Taku Suzuki , Yosuke Kobayashi , Toshiyuki Murata , Tomoyuki Kashiwaya , Yuya Takeda
IPC分类号： F41G9/00 , G06F7/00 , G06F7/70 , G06F17/10 , B60T7/12 , B60T7/16 , G05D1/02 , B60Q1/00 , G08G1/16 , B60K31/00
CPC分类号： B62D15/025 , B60W30/025 , B60W2520/10 , B60W2530/14 , B60W2550/308
摘要： A motor vehicle includes a vehicle driving operation support system. The vehicle driving operation support system senses an environment surrounding the motor vehicle; senses a traveling condition of the motor vehicle; calculates a risk potential of the motor vehicle on a basis of the sensed environment and the sensed traveling condition; controls the motor vehicle on a basis of a control setpoint. The vehicle driving operation support system sets on a basis of the calculated risk potential the control setpoint to a provisional setpoint effective for reducing the risk potential; senses driver's operation in reaction to the controlling operation with the control setpoint set to the provisional setpoint; and sets the control setpoint to a normal setpoint on a basis of the sensed driver's operation.
摘要翻译：机动车辆包括车辆驾驶操作支撑系统。车辆驾驶操作支持系统感测机动车辆周围的环境; 感觉机动车辆的行驶状况; 根据感测到的环境和感测到的行驶状况计算机动车辆的潜在风险; 在控制设定点的基础上控制机动车辆。车辆驾驶操作支持系统基于所计算的风险潜力将控制设定点设置为有效降低风险潜力的临时设定点; 通过将控制设定值设定为临时设定值来感测驾驶员对控制操作的操作; 并且基于感测到的驾驶员的操作将控制设定值设定为正常设定值。

24. 发明授权

US06792345B2 Lane-keep control system for vehicle 有权
标题翻译：车辆车道保持控制系统
公开(公告)号：US06792345B2
公开(公告)日：2004-09-14
申请号：US10300775
申请日：2002-11-21
申请人： Shinji Matsumoto , Satoshi Tange , Hiroyuki Yoshizawa
发明人： Shinji Matsumoto , Satoshi Tange , Hiroyuki Yoshizawa
IPC分类号： G06F770
CPC分类号： B60T8/17557 , B60K31/0008 , B60T2201/08 , B60T2201/081 , B60T2201/087 , B60W30/12 , B60W30/16 , B60W2720/14 , B62D15/026 , G08G1/167
摘要： A lane-keep control system is installed in a host vehicle equipped with an inter-vehicle distance control system. The lane-keep control system is arranged to decrease a threshold to be compared with the vehicle traveling condition for determining the tendency of the lane deviation when the inter-vehicle distance is being executed, so that the deviation avoidance control during execution of the inter-vehicle distance control is started earlier than the deviation avoidance control during inexecution of the inter-vehicle distance is started.
摘要翻译：在配备有车辆间距离控制系统的主车辆中安装车道保持控制系统。车道保持控制系统被设置为减少与车辆行驶状况相比较的阈值，以便在执行车间距离时确定车道偏离的倾向，从而在执行车间间隔期间的偏差避免控制，车辆距离控制比在车辆间距离的执行开始时的偏离避免控制提前开始。

25. 发明授权

US07680569B2 Automotive lane deviation prevention apparatus 失效
标题翻译：汽车车道偏离防止装置
公开(公告)号：US07680569B2
公开(公告)日：2010-03-16
申请号：US10828462
申请日：2004-04-21
申请人： Shinji Matsumoto , Satoshi Tange , Tatsuya Suzuki
发明人： Shinji Matsumoto , Satoshi Tange , Tatsuya Suzuki
IPC分类号： G06F19/00
CPC分类号： B60T8/17557 , B60T2201/08 , B60T2201/083 , B60T2201/087 , B60T2201/089 , B60W10/06 , B60W10/18 , B60W10/20 , B60W30/12 , B62D15/025
摘要： An automotive lane deviation prevention (LDP) apparatus includes a control unit connected to a yawing-motion control actuator for LDP control purposes. The control unit determines, based on information regarding a lane marking line detected based on a picture image in front of a host vehicle, whether the host vehicle is in a state FLD≠0 where there is an increased tendency for the host vehicle to deviate from the driving lane. The control unit executes, based on a state Fdw≠0 where the host vehicle is traveling on predetermined irregularities formed on or close to the lane marking line and the information regarding the lane marking line, vehicle yawing motion control by which the host vehicle returns to a central position of the driving lane, in a lane-marking non-detecting state Fcamready=0 where the lane marking line is out of an image pick-up enabling area.
摘要翻译：汽车车道偏离防止（LDP）装置包括连接到用于LDP控制目的的偏航运动控制致动器的控制单元。控制单元基于关于基于主车辆前方的图像图像检测到的车道线标线的信息，确定主车辆是否处于FLD≠0的状态，其中主车辆的倾向增加行车道。控制单元基于本车辆在车道标线上或附近形成的规定的不规则行驶的状态Fdw≠0，以及关于车道标线的信息，主车辆返回的车辆偏航运动控制行车道的中心位置，车道标记非检测状态Fcamready = 0，其中车道标线不在图像拾取使能区域之外。

26. 发明授权

US07034698B2 Warning system with vibration and lane deviation prevention system with the warning system for automotive vehicle 有权
标题翻译：带有车辆预警系统的带振动和车道偏差预防系统的预警系统
公开(公告)号：US07034698B2
公开(公告)日：2006-04-25
申请号：US10830104
申请日：2004-04-23
申请人： Shinji Matsumoto , Satoshi Tange , Tatsuya Suzuki , Naotaka Usui
发明人： Shinji Matsumoto , Satoshi Tange , Tatsuya Suzuki , Naotaka Usui
IPC分类号： G08B23/00
CPC分类号： B60T8/17557 , B60T2201/08 , B60T2201/082 , B60W50/16 , B62D15/029
摘要： A warning system for an automotive vehicle produces a vibration in the vehicle simulating a rumble strip to inform a driver of various events. A vibration with braking torque is produced by controlling individually brake fluid pressure in each wheel brake cylinder, independently of manual braking operations. The warning system is applied to a lane deviation prevention (LDP) system. The LDP system provides a warning with vibration and a control effort of yawing moment by wheel torque or steering torque.
摘要翻译：用于汽车的警告系统在车辆中产生模拟隆隆带的振动，以通知驾驶员各种事件。通过独立于手动制动操作独立地控制每个车轮制动缸中的制动液压力来产生具有制动转矩的振动。警告系统适用于车道偏离防止（LDP）系统。 LDP系统通过车轮扭矩或转向扭矩提供振动警告和偏航力矩控制。

27. 发明授权

US06973380B2 Lane keep control apparatus and method for automotive vehicle 失效
标题翻译：车道保持机动车辆的控制装置和方法
公开(公告)号：US06973380B2
公开(公告)日：2005-12-06
申请号：US10695799
申请日：2003-10-30
申请人： Satoshi Tange , Shinji Matsumoto
发明人： Satoshi Tange , Shinji Matsumoto
IPC分类号： B60R21/00 , B60K31/00 , B60T7/12 , B60T8/17 , B60T8/1755 , G05D1/02 , G08G1/16
CPC分类号： B62D15/025 , B60K31/0066 , B60T7/12 , B60T8/1755 , B60T2201/08 , B60T2201/083 , B60T2260/09 , B60W2520/14 , G05D1/0246 , G05D2201/0213
摘要： In lane keep control apparatus and method for an automotive vehicle, a behavior of the vehicle is controlled in such a manner that a yaw moment is developed in a direction to avoid a deviation of the vehicle from the traffic lane in accordance with the traveling state of the vehicle when determining that the vehicle has a tendency of the deviation of the vehicle from the traffic lane and lane markers are detected, each lane marker representing one side of the traffic lane, and the behavior of the vehicle is controlled on the basis of the detected lane marker at one side of the traffic lane when a detection state of the lane markers is transferred from a state in which both of the lane markers at both sides of the traffic lane are detected to a state in which the lane marker only at one side of the traffic lane is detected.
摘要翻译：在机动车辆的车道保持控制装置和方法中，以如下方式控制车辆的行为：横摆力矩沿着避免车辆与行车道偏离的方向发展，根据行驶状态车辆当确定车辆具有车辆与行车道偏离的倾向和车道标记的倾向时，表示行车道一侧的每个车道标记，并且基于车辆的行为来控制车辆的行为当车道标记的检测状态从检测到行车道两侧的两条车道标志被检测到的状态被转移到车道标记仅在一处的状态时，在行车道的一侧检测车道标记检测到行车道的一侧。

28. 发明授权

US07539566B2 Lane departure prevention system 有权
标题翻译：车道离场预防系统
公开(公告)号：US07539566B2
公开(公告)日：2009-05-26
申请号：US11313046
申请日：2005-12-20
申请人： Satoshi Tange , Shinji Matsumoto
发明人： Satoshi Tange , Shinji Matsumoto
IPC分类号： B62D6/00
CPC分类号： B60T8/17557 , B60T2201/08 , B60T2201/083 , B60T2201/086 , B60T2201/089
摘要： A lane departure prevention system comprises a traveling status detecting unit for detecting current lateral displacement and current yaw angle of a vehicle relative to a lane of travel, a departure detecting unit for detecting whether the vehicle is tending to depart from the lane of travel on the basis of current lateral displacement of the vehicle relative to the lane of travel as detected by the traveling status detecting unit; and a departure avoidance control unit for controlling the vehicle to avoid lane departure when the departure detecting unit detects that the vehicle is tending to depart from the lane of travel. The departure avoidance control unit calculating the extent of control necessary to avoid lane departure on the basis of current yaw angle of the vehicle detected by the traveling status detecting unit. Provision is made for preventing lane departure on a curving as well as a straight road.
摘要翻译：车道偏离预防系统包括：行驶状态检测单元，用于检测车辆相对于行车道的当前横向位移和当前偏航角;出发检测单元，用于检测车辆是否倾向于离开行驶车道基于行驶状态检测单元检测到的车辆相对于行车道的当前横向位移; 以及离场回避控制单元，用于当出发检测单元检测到车辆倾向于离开行车道时，控制车辆以避免车道偏离。离场回避控制单元基于由行驶状态检测单元检测到的车辆的当前偏航角来计算避免车道偏离所必需的程度。规定用于防止弯道和直路上的车道偏离。

29. 发明授权

US07337055B2 Adaptive cruise control system for automotive vehicle 失效
标题翻译：汽车自适应巡航控制系统
公开(公告)号：US07337055B2
公开(公告)日：2008-02-26
申请号：US11111766
申请日：2005-04-22
申请人： Shinji Matsumoto , Satoshi Tange , Tatsuya Suzuki , Hiroyuki Yoshizawa
发明人： Shinji Matsumoto , Satoshi Tange , Tatsuya Suzuki , Hiroyuki Yoshizawa
IPC分类号： B60T8/32
CPC分类号： B60W40/08 , B60K31/0083 , B60W2550/143
摘要： An adaptive control system for an automotive vehicle, which warns of a driver and/or reduces the vehicle speed in consideration of a future trajectory. Receiving from a navigation system node information about nodes within a preview section, a control unit calculates a path radius at each of the nodes within the preview section, and identifies curve sections in accordance with the path radius of the preview section. Subsequently, the control unit estimates a lateral acceleration based on the current vehicle speed and the path radius. Subsequently, the control unit determines an estimated total driver load in accordance with the estimated lateral acceleration. Subsequently, the control unit determines a reference total driver load which is applied to the driver during the host vehicle traveling at an allowable cornering speed. Subsequently, the control unit calculates a driver load deviation between the estimated total driver load and the reference total driver load.
摘要翻译：考虑到未来轨迹，用于机动车辆的自适应控制系统警告驾驶员和/或降低车辆速度。从导航系统节点接收关于预览部分内的节点的信息，控制单元计算预览部分内的每个节点的路径半径，并根据预览部分的路径半径识别曲线部分。随后，控制单元基于当前车速和路径半径来估计横向加速度。随后，控制单元根据估计的横向加速度确定估计的总驾驶员负载。随后，控制单元确定在本车辆以允许的转弯速度行驶期间施加到驾驶员的参考总驾驶员负载。随后，控制单元计算估计的总驾驶员负荷与基准总驾驶员负荷之间的驾驶员负荷偏差。

30. 发明申请

US20060149448A1 Lane departure prevention system 有权
公开(公告)号：US20060149448A1
公开(公告)日：2006-07-06
申请号：US11313046
申请日：2005-12-20
申请人： Satoshi Tange , Shinji Matsumoto
发明人： Satoshi Tange , Shinji Matsumoto
IPC分类号： B62D6/00
CPC分类号： B60T8/17557 , B60T2201/08 , B60T2201/083 , B60T2201/086 , B60T2201/089
摘要： A lane departure prevention system comprises a traveling status detecting unit for detecting current lateral displacement and current yaw angle of a vehicle relative to a lane of travel, a departure detecting unit for detecting whether the vehicle is tending to depart from the lane of travel on the basis of current lateral displacement of the vehicle relative to the lane of travel as detected by the traveling status detecting unit; and a departure avoidance control unit for controlling the vehicle to avoid lane departure when the departure detecting unit detects that the vehicle is tending to depart from the lane of travel. The departure avoidance control unit calculating the extent of control necessary to avoid lane departure on the basis of current yaw angle of the vehicle detected by the traveling status detecting unit. Provision is made for preventing lane departure on a curving as well as a straight road.

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