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31. 发明授权

US06203120B1 Braking control system for vehicle 失效
标题翻译：车辆制动控制系统
公开(公告)号：US06203120B1
公开(公告)日：2001-03-20
申请号：US09251424
申请日：1999-02-17
申请人： Yoshihiro Urai , Yoichi Sugimoto , Satoshi Hada , Shoji Ichikawa
发明人： Yoshihiro Urai , Yoichi Sugimoto , Satoshi Hada , Shoji Ichikawa
IPC分类号： B60T886
CPC分类号： B60T13/662 , B60T7/12 , B60T7/22 , B60T8/4827 , B60T2201/02 , Y10S367/909
摘要： When the behavior of a vehicle becomes unstable during an automatic braking operation for avoiding contact of the vehicle with an object, the restoring of the unstable state backed up to effectively avoid the contact of the vehicle with the object. When a radar device in the vehicle, detects the object exist ahead of the vehicle in the direction of movement of the vehicle, the possibility of the contact of the vehicle with the object is determined by a determining device from the relative positional relationship between the vehicle and the object, based on the result of the detection. When it is determined that there is the possibility of the contact, an automatic braking device operates a vacuum booster to carry out an automatic braking operation. When the unstable state of the vehicle is detected by an unstable state detector during the automatic braking operation by the automatic braking device, the automatic braking device forcibly continues the automatic braking operation, until the vehicle reaches a state in which the unstable state is not detected, whether or not it is determined that there is the possibility of the contact of the vehicle with the object. Thus, it is possible to precisely control the continuation and finishing of the automatic braking operation to reliably achieve the avoidance of the contact of the vehicle with the object, while preventing the behavior of the vehicle from further becoming unstable due to the discontinuation of the automatic braking operation.
摘要翻译：当在自动制动操作期间车辆的行为变得不稳定以避免车辆与物体的接触时，恢复支撑的不稳定状态以有效地避免车辆与物体的接触。当车辆中的雷达装置检测到车辆在车辆的移动方向上存在的物体时，车辆与物体接触的可能性由确定装置根据车辆之间的相对位置关系确定并根据检测结果对象。当确定存在接触的可能性时，自动制动装置操作真空助力器以执行自动制动操作。当在自动制动装置的自动制动操作期间由不稳定状态检测器检测到车辆的不稳定状态时，自动制动装置强制地继续自动制动操作，直到车辆达到未检测到不稳定状态的状态是否确定存在车辆与物体的接触的可能性。因此，可以精确地控制自动制动操作的持续和完成，以可靠地实现避免车辆与物体的接触，同时防止车辆的行为由于自动停止而进一步变得不稳定制动操作。

32. 发明授权

US6157294A Vehicle obstacle detecting system 失效
标题翻译：车辆障碍物检测系统
公开(公告)号：US6157294A
公开(公告)日：2000-12-05
申请号：US199337
申请日：1998-11-25
申请人： Yoshihiro Urai , Yoichi Sugimoto , Satoshi Hada , Shoji Ichikawa
发明人： Yoshihiro Urai , Yoichi Sugimoto , Satoshi Hada , Shoji Ichikawa
IPC分类号： G01B11/30 , B60Q1/52 , B60W30/00 , G01B21/00 , G01S7/03 , G01S7/481 , G01S7/497 , G01S13/93 , G01S17/87 , G01S17/93 , G08G1/00 , G08G1/16 , B60Q1/00
CPC分类号： G01S17/936 , B60Q1/52 , G01S17/875 , G01S7/4813 , G01S7/4972 , B60G2400/82 , B60G2401/00
摘要： A vehicle control system for detecting an obstacle present ahead on the road in the course of travel of a vehicle, comprising a first laser radar mounted on the vehicle which emits an electromagnetic beam to detect the obstacle present ahead on the road, and second and third laser radars which measures distances between the first laser radar and the road surface at different angles. The system determines whether the first laser radar is mounted on the vehicle such that the laser beam central axis is horizontal or inclines upward or downward relative to the road surface or vehicle body, based on the distances, a height of the first laser radar from the road surface, the angles at which the distances are measured and reference values. The system may correct the inclination if determined. With the arrangement, the system ensures detection of an obstacle on the road without fail and conduction of a desired obstacle avoidance control.
摘要翻译：一种车辆控制系统，用于在车辆行驶过程中检测在道路上存在的障碍物，其包括安装在车辆上的第一激光雷达，其发射电磁波束以检测在道路上存在的障碍物，以及第二和第三激光雷达，其以不同的角度测量第一激光雷达和路面之间的距离。该系统基于距离，确定第一激光雷达是否安装在车辆上，使得激光束中心轴线相对于路面或车身向上或向下倾斜，路面，测量距离的角度和参考值。如果确定，系统可以纠正倾斜度。通过这种安排，该系统可确保在道路上无障碍地检测障碍物，并导致所需的障碍物避免控制。

33. 发明授权

US6021375A Vehicle safety running control system 有权
标题翻译：车辆安全运行控制系统
公开(公告)号：US6021375A
公开(公告)日：2000-02-01
申请号：US225570
申请日：1999-01-05
申请人： Yoshihiro Urai , Yoichi Sugimoto , Satoshi Hada , Shoji Ichikawa , Shohei Matsuda
发明人： Yoshihiro Urai , Yoichi Sugimoto , Satoshi Hada , Shoji Ichikawa , Shohei Matsuda
IPC分类号： B60R21/00 , B60T7/12 , B60T7/22 , B60W30/00 , B60W30/09 , G01S13/93 , G08G1/16 , G06F13/376
CPC分类号： B60T7/22
摘要： A system for controlling running safety of a vehicle having at least a brake, a steering mechanism manipulated by a vehicle operator, a laser radar for detecting an obstacle present ahead on a course of travel of the vehicle, and a brake actuator mechanism actuating the brake independently of the vehicle operator manipulation. In the system, a first threshold value (defined in terms of relative distance between the vehicle and the obstacle) for avoiding contact with the obstacle by steering and a second threshold value for avoiding contact by operating the brake actuator mechanism are determined and are compared with the detected relative distance. When the detected relative distance is less than the first threshold value, the brake actuator mechanism is immediately operated to generate a relatively small deceleration, thereby enabling effective obstacle avoidance to well meet the intention and desires of the vehicle operator, without causing a problem of interference with the steering of the vehicle operator, while preventing the control accuracy from being degraded.
摘要翻译：一种用于控制至少具有制动器的车辆的运行安全性的系统，由车辆操作者操纵的转向机构，用于检测在车辆行驶过程中存在的障碍物的激光雷达以及致动所述制动器的制动致动器机构独立于车辆操纵者操纵。在该系统中，确定用于避免通过转向与障碍物接触的第一阈值（以车辆与障碍物之间的相对距离定义），以及通过操作制动致动器机构避免接触的第二阈值，并将其与检测到的相对距离。当检测到的相对距离小于第一阈值时，立即操作制动器致动器机构以产生相对小的减速度，从而能够有效地避免障碍以很好地满足车辆操作者的意图和期望，而不会引起干扰问题同时防止控制精度降低。

34. 发明授权

US5995037A Obstacle detection system for a vehicle 失效
标题翻译：车辆障碍物检测系统
公开(公告)号：US5995037A
公开(公告)日：1999-11-30
申请号：US105997
申请日：1998-06-29
申请人： Shohei Matsuda , Yoichi Sugimoto , Satoshi Hada , Shoji Ichikawa , Yoshihiro Urai
发明人： Shohei Matsuda , Yoichi Sugimoto , Satoshi Hada , Shoji Ichikawa , Yoshihiro Urai
IPC分类号： B60R21/00 , B60T7/22 , B60W30/00 , G01S7/41 , G01S13/58 , G01S13/93 , G08G1/00 , G08G1/16
CPC分类号： B60T7/22 , G01S13/931 , G01S13/58 , G01S2013/9325 , G01S2013/9346 , G01S2013/9353 , G01S2013/9357 , G01S7/415
摘要： In an obstacle detection system for a vehicle which has a radar having an electromagnetic wave transmission device and a reflected wave reception device, the electromagnetic transmission device transmits electromagnetic waves in a direction in which the vehicle is traveling, and the reflected wave reception device receives reflected waves produced when the electromagnetic waves transmitted from the electromagnetic wave transmission device are reflected by an object present in the traveling direction of the vehicle. The system detects obstacles present in the traveling direction of the vehicle based on the result of a radar search operation, and it is possible to identify only those objects detrimental to the traveling of the vehicle as obstacles. An obstacle decision device decides whether or not the object detected by the radar is an obstacle, by using the detected value determined by a vehicle speed detection device which detects the speed of the vehicle, the calculated value determined by a relative distance calculation device that calculates a relative distance to the object present in the traveling direction of the vehicle based on the result of search operation by the radar, and the calculated value determined by an overlap calculation device that calculates an overlap in the width direction of the vehicle between the vehicle and the object according to the result of the search operation by the radar.
摘要翻译：在具有电磁波传输装置和反射波接收装置的雷达的车辆的障碍物检测系统中，电磁传输装置沿车辆行驶方向发送电磁波，反射波接收装置当从电磁波传输装置发射的电磁波被车辆行进方向上存在的物体反射时产生的波。该系统基于雷达搜索操作的结果来检测车辆的行进方向上存在的障碍物，并且可以仅识别对作为障碍物的车辆行驶有害的那些物体。障碍物判定装置通过使用由检测车速的车速检测装置决定的检测值来判定由雷达检测出的物体是否是障碍物，由计算出的相对距离计算装置确定的计算值基于雷达的搜索操作的结果，存在于车辆行进方向上的物体的相对距离，以及由重叠计算装置确定的计算值，该重叠计算装置计算车辆和车辆的车辆宽度方向上的重叠根据雷达搜索操作的结果对象。

35. 发明授权

US5855419A Process for controlling a distribution of braking force in a vehicle 失效
标题翻译：用于控制车辆中的制动力分配的过程
公开(公告)号：US5855419A
公开(公告)日：1999-01-05
申请号：US665636
申请日：1996-06-19
申请人： Yoshihiro Urai , Yoichi Sugimoto
发明人： Yoshihiro Urai , Yoichi Sugimoto
IPC分类号： B60T8/24 , B60T8/1755 , B60T8/1764 , B60T8/1766 , B60T8/28 , B60T8/32 , B60T8/26
CPC分类号： B60T8/1764 , B60T8/1766 , Y10S303/07
摘要： In a process for controlling a braking-force distribution in a vehicle for front and rear wheel brakes by regulating a braking liquid pressure for at least one of front wheel brakes and rear wheel brakes, based on a comparison of a rear wheel speed and a wheel speed difference target value and a difference between a front wheel speed, amounts of load variation on the front and rear wheels are calculated during braking. Correction values, corresponding to an amount of wheel diameter varied from a preset wheel diameter as a result of the displacement of the loads, are determined based on the amount of load variation. At least one of the front and rear wheel speeds is corrected by the correction values. Thus, the braking-force distribution to the front and rear wheel brakes is controlled so that the braking force is sufficient in either of the front wheels or the rear wheels due to the variation in load during braking.
摘要翻译：在通过调节用于前轮制动器和后轮制动器中的至少一个的制动液压来控制用于前轮和后轮制动器的车辆中的制动力分布的过程中，基于后轮速度和车轮的比较在制动期间计算出速度差目标值和前轮速度，前后轮之间的负载变化量之差。基于负载变化量确定对应于作为负载位移的结果的预设车轮直径的车轮直径的量的校正值。通过校正值校正前后轮速度中的至少一个。因此，控制前轮和后轮制动器的制动力分配，使得由于制动期间的负载变化而使前轮或后轮中的任一个制动力足够。

36. 发明授权

US5842755A Braking force control system in vehicle 失效
标题翻译：车辆制动力控制系统
公开(公告)号：US5842755A
公开(公告)日：1998-12-01
申请号：US749693
申请日：1996-11-15
申请人： Yoichi Sugimoto , Yoshihiro Urai , Hideki Kubonoya
发明人： Yoichi Sugimoto , Yoshihiro Urai , Hideki Kubonoya
IPC分类号： B60T8/26 , B60T8/1766 , B60T8/32 , B60T8/82 , B60T8/34
CPC分类号： B60T8/1766
摘要： A braking force control system in a vehicle includes rotational speed sensors for detecting rotational speeds of front wheels and rear wheels, respectively, and braking force regulating devices capable of individually regulating braking forces for the front and rear wheels. In the braking force control system, the following two controls (1) and (2) are carried out: a front/rear braking force distribution control (1) for controlling the distribution of braking forces to front and rear wheel sides, such that a difference between front and rear wheel speeds is equalized to a target value; and an antilock brake control (2) for determining wheel locking tendencies individually in the front wheel side and the rear wheel side and controlling the braking force for the wheel determined to be in the locking tendency. When the antilock brake control is started in one of the front wheel side and the rear wheel side during execution of the front/rear braking force distribution control, the braking force distribution control is discontinued in the other of the front wheel side and the rear wheel side to increase the braking force of the other side at a defined increase rate. Thus, both of the braking force distribution control and the antilock control are feasible together and moreover, the switching-over between these controls can be smoothly achieved.
摘要翻译：车辆中的制动力控制系统分别包括用于检测前轮和后轮的转速的转速传感器和能够单独调节前轮和后轮的制动力的制动力调节装置。在制动力控制系统中，执行以下两个控制（1）和（2）：用于控制前轮和后轮侧的制动力分配的前/后制动力分配控制（1），使得前轮和后轮之间的差异等于目标值; 以及防抱死制动控制器（2），用于分别确定前轮侧和后轮侧的车轮锁定倾向，并且控制被确定为锁定倾向的车轮的制动力。在前/后制动力分配控制执行期间，当在前轮侧和后轮侧之一中开始防抱死制动控制时，制动力分配控制在前轮侧和后轮侧以增加的速度增加另一侧的制动力。因此，制动力分配控制和防抱死控制都可以一起使用，而且可以平稳地实现这些控制之间的切换。

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