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1. 发明授权

US06493619B2 Lane keeping assistance system and method for automotive vehicle 失效
标题翻译：车辆保养辅助系统和方法
公开(公告)号：US06493619B2
公开(公告)日：2002-12-10
申请号：US09930168
申请日：2001-08-16
申请人： Hiroshi Kawazoe , Masayasu Shimakage , On Sadano , Shigeki Sato
发明人： Hiroshi Kawazoe , Masayasu Shimakage , On Sadano , Shigeki Sato
IPC分类号： G06F16500
CPC分类号： B62D15/025 , B60T2201/08 , B60T2201/087 , B62D1/286 , B62D5/0463
摘要： In lane keeping assistance system and method for an automotive vehicle, a control current (Iout) to be outputted to a motor during an automatic steering mode is detected, a filter is provided for the detected control current to pass only signal components of the detected control current whose frequencies are lower than a predetermined cut-off frequency value (fstr, fstr_low, fstr_mid, fstr_hi) to derive a filtered control current (Iout_lpf), a determination of whether a manual steering intervention to the automatic steering occurs is made according to a magnitude of the filtered control current, and the control current outputted to the motor is reduced toward zero when the manual steering intervention is determined to occur according to a result of determination that the magnitude of the filtered control current (Iout_lpf) is in excess of a predetermined threshold current value (Iout_lpf_th).
摘要翻译：在车辆的车道保持辅助系统和方法中，检测在自动转向模式期间输出到电动机的控制电流（Iout），为检测到的控制电流提供滤波器，以仅通过检测到的控制信号的信号分量频率低于预定截止频率值（fstr，fstr_low，fstr_mid，fstr_hi）以导出滤波后的控制电流（Iout_lpf）的电流，判定是否发生对自动转向的手动转向干预是根据滤波后的控制电流的大小以及输出到电动机的控制电流根据判断结果确定为手动转向干预被确定为过滤控制电流（Iout_lpf）的大小超过预定阈值电流值（Iout_lpf_th）。

2. 发明授权

US06489887B2 Lane-keep assisting system for vehicle 有权
标题翻译：车道辅助系统
公开(公告)号：US06489887B2
公开(公告)日：2002-12-03
申请号：US09946925
申请日：2001-09-06
申请人： Shigeki Satoh , Hiroshi Mouri , Masayasu Shimakage , Hiroshi Kawazoe , On Sadano
发明人： Shigeki Satoh , Hiroshi Mouri , Masayasu Shimakage , Hiroshi Kawazoe , On Sadano
IPC分类号： B60Q100
CPC分类号： G05D1/0246 , B60T2201/08 , B60T2201/083 , B60T2201/089 , G05D2201/0213
摘要： A system for assisting a lane-keep traveling of a vehicle is comprised of a camera for detecting a view ahead of the vehicle, a vehicle behavior detector including a vehicle speed sensor and a yaw rate sensor, and a controller. The controller is arranged to estimate a road shape on the basis of lane markers detected by the camera, to detect a target yaw rate necessary to return the vehicle at a center of the lane markers, and to determine that there is a possibility that the vehicle deviates from the lane when a difference between the target yaw rate and an actual yaw rate detected by the yaw rate sensor becomes greater than a threshold.
摘要翻译：用于辅助车辆行车道的系统包括用于检测车辆前方的视野的照相机，包括车速传感器和横摆率传感器的车辆行为检测器以及控制器。控制器被设置为基于由照相机检测的车道标记来估计道路形状，以检测在车道标记的中心返回车辆所需的目标横摆率，并且确定存在车辆当偏航率传感器检测到的目标横摆率和实际横摆率之间的差异变得大于阈值时，偏离车道。

3. 发明授权

US06463369B2 Lane following vehicle control and process 失效
标题翻译：车道跟随车辆控制和过程
公开(公告)号：US06463369B2
公开(公告)日：2002-10-08
申请号：US09875157
申请日：2001-06-07
申请人： On Sadano , Hiroshi Kawazoe , Masayasu Shimakage
发明人： On Sadano , Hiroshi Kawazoe , Masayasu Shimakage
IPC分类号： G01C2100
CPC分类号： B62D1/28 , B60T2201/08 , B60T2201/087
摘要： In accordance with a vehicle running condition along a lane and an actual steering angle, a control unit determine a target steering angle to follow the lane, and controls an actual steering torque with an actuator to a target steering torque to achieve the target steering angle. The control unit limits the target steering torque by setting a target torque limit determined in accordance with a sensed longitudinal acceleration of the vehicle.
摘要翻译：根据沿着车道的车辆行驶状态和实际转向角度，控制单元确定跟随车道的目标转向角，并且将致动器的实际转向转矩控制为目标转向扭矩以实现目标转向角。控制单元通过设定根据感测到的车辆的纵向加速度确定的目标转矩极限来限制目标转向转矩。

4. 发明授权

US06580987B2 Driver assistance system for a vehicle 失效
公开(公告)号：US06580987B2
公开(公告)日：2003-06-17
申请号：US09961239
申请日：2001-09-25
申请人： On Sadano , Hiroshi Kawazoe , Masayasu Shimakage
发明人： On Sadano , Hiroshi Kawazoe , Masayasu Shimakage
IPC分类号： B62D1500
CPC分类号： B62D15/025 , B60T2201/08 , B60T2201/087 , B62D5/0463 , B62D5/0478
摘要： A driver assistance system (10) assists the driver in controlling the direction of a moving vehicle along a contrived centerline between lane markings by regulating a steering bias applied to a steering system of the vehicle. An electric motor (22) coupled to the steering mechanism provides a torque input to the steering in response to an estimate of electric current provided by an observer. The observer has a friction term matrix element (a55), which is correlated with friction in the steering mechanism. A controller (24) is provided, which establishes a desired or ideal frequency function of lateral displacement data (102), samples lateral displacement to provide a real frequency function of lateral displacement data (104), compares the real frequency function with the ideal frequency function (106), and updates or leaves unaltered the friction term (a55) based on the result of comparison.

5. 发明授权

US06778890B2 Lane-keeping control with steering torque as a control input to a vehicle steering system 失效
标题翻译：车道调节控制，转向转矩作为车辆转向系统的控制输入
公开(公告)号：US06778890B2
公开(公告)日：2004-08-17
申请号：US10220305
申请日：2002-09-13
申请人： Masayasu Shimakage , Hiroshi Kawazoe , On Sadano , Shigeki Satou
发明人： Masayasu Shimakage , Hiroshi Kawazoe , On Sadano , Shigeki Satou
IPC分类号： B62D504
CPC分类号： B62D1/286 , B60T2201/08 , B60T2201/087 , B62D15/025
摘要： A method for lane-keeping control of a lane-keeping support system provides a current command indicative of steering torque assist needed to steer a vehicle in following a target line between lane markings on a roadway during driving in lane-keeping control (LKC) mode. A map has two sets of limit data against a range of values of lateral acceleration to which the vehicle is subject, between which sets of limit data there is a range of values of the command during various phases of steering the vehicle to turn in the LKC mode. In order to compensate for undesired effect caused by any deviation of the range of values of the current command due to the presence of continuous disturbance, the two sets of limit data are corrected. To determine driver steering intervention, the instantaneous value of the current command is compared to two limit values established out of the corrected two sets of limit data.
摘要翻译：车道保持支撑系统的车道保持控制的方法提供指示在车道保持控制（LKC）模式驾驶期间驾驶车辆在道路上的车道标记之间跟随目标线所需的转向转矩辅助所需的电流指令。地图具有与车辆所对向的横向加速度值的范围的两组限制数据，在这些限制数据集之间存在在车辆转向LKC的各个阶段期间的命令的值的范围模式。为了补偿由于连续扰动的存在而导致的电流指令的值的范围的任何偏差引起的不期望的影响，校正了两组限制数据。为了确定驾驶员转向干预，将当前命令的瞬时值与由修正的两组限制数据建立的两个极限值进行比较。

6. 发明授权

US06542800B2 Lane following vehicle control 有权
公开(公告)号：US06542800B2
公开(公告)日：2003-04-01
申请号：US09876134
申请日：2001-06-08
申请人： Hiroshi Kawazoe , On Sadano , Masayasu Shimakage
发明人： Hiroshi Kawazoe , On Sadano , Masayasu Shimakage
IPC分类号： B62D600
CPC分类号： B62D1/28 , B60T2201/08 , B60T2201/087 , G05D2201/0213
摘要： In accordance with a vehicle running condition along a lane and an actual steering angle, a control unit determine a target steering angle to follow the lane, and controls an actual steering torque with an actuator to a target steering torque to achieve the target steering angle. The control unit limits the target steering torque by setting a target torque limit determined in dependence on whether the control steering direction is a steer direction away from a straight ahead neutral position or a return direction toward the straight ahead neutral position, to take account of a self aligning torque.

7. 发明授权

US07091838B2 Lane deviation alarm system 有权
标题翻译：车道偏差报警系统
公开(公告)号：US07091838B2
公开(公告)日：2006-08-15
申请号：US10790269
申请日：2004-03-02
申请人： Masayasu Shimakage
发明人： Masayasu Shimakage
IPC分类号： B60Q1/00
CPC分类号： G06K9/00798 , B60T2201/08 , B60T2201/089 , B62D15/029 , G06T7/73
摘要： A lane deviation alarm system is comprised of a forward-observed-point calculating section that calculates a forward observed point by multiplying a vehicle speed of a host vehicle and an anticipated deviation time; a forward-observed-point lateral-displacement calculating section that calculates a lateral displacement at the forward-observed-point, on the basis of a yaw angle and the forward-observed-point; a lane deviation tendency determining section that determines whether the host vehicle is in a lane deviation tendency, on the basis of the forward-observed-point lateral-displacement; and a criteria changing section that changes a criteria for determining a lane deviation tendency of the host vehicle, on the basis of a detecting condition of the lane defining line.
摘要翻译：车道偏离报警系统包括前向观测点计算部分，其通过将主车辆的车速乘以预期偏差时间来计算向前观察点; 基于偏航角和向前观察点计算前方观测点的横向位移的前方观测点侧向位移计算部; 车道偏离倾向确定部，其基于前向观测点侧向位移来判定主车辆是否处于车道偏离倾向; 以及基于车道限定线的检测条件改变用于确定主车辆的车道偏离倾向的准则的判定变更部。

8. 发明申请

US20050113999A1 Automotive lane deviation prevention apparatus 有权
公开(公告)号：US20050113999A1
公开(公告)日：2005-05-26
申请号：US10994319
申请日：2004-11-23
申请人： Satoshi Tange , Shinji Matsumoto , Masayasu Shimakage
发明人： Satoshi Tange , Shinji Matsumoto , Masayasu Shimakage
IPC分类号： B60T8/1755 , B60W10/18 , B62D15/02 , B62D6/00
CPC分类号： B60T8/17557 , B60T2201/08 , B60T2201/083 , B60T2201/087 , B60T2260/02 , B60W10/18 , B60W10/20 , B60W30/12 , B62D15/025
摘要： In an automotive lane deviation prevention (LDP) apparatus capable of executing LDP control by which a host vehicle is avoided from deviating from a driving lane, a control unit includes an LDP control allotted amount calculation section that calculates, responsively to a host vehicle's turning state, a steering-control allotted amount for LDP control and a braking-force-control allotted amount for LDP control, in presence of the host vehicle's lane-deviation tendency from the driving lane. In order to avoid the host vehicle's lane-deviation tendency, steering torque is controlled responsively to a steering-torque-control controlled variable determined based on the steering-control allotted amount, whereas braking forces applied to respective road wheels are controlled responsively to braking-force-control controlled variables determined based on the braking-force-control allotted amount.

9. 发明授权

US07778759B2 Lane deviation avoidance system 有权
标题翻译：车道偏离避免系统
公开(公告)号：US07778759B2
公开(公告)日：2010-08-17
申请号：US11049972
申请日：2005-02-04
申请人： Satoshi Tange , Genpei Naito , Shinji Matsumoto , Masayasu Shimakage , Hidekazu Nakajima
发明人： Satoshi Tange , Genpei Naito , Shinji Matsumoto , Masayasu Shimakage , Hidekazu Nakajima
IPC分类号： G08G1/16 , G06G7/00
CPC分类号： B60W10/04 , B60T8/17557 , B60T2201/08 , B60T2201/083 , B60W10/18 , B60W30/12
摘要： A lane deviation avoidance system is arranged to execute a lane deviation avoidance control of controlling a vehicle behavior of the host vehicle so as to avoid the host vehicle from deviating from a traveling lane when the lane deviation tendency is detected, to suppress the driving force when the lane deviation tendency is detected, and to set a controlled variable of the lane deviation avoidance control according to a degree of the suppression of the driving force.
摘要翻译：车道偏离避免系统被布置成执行车道偏离避免控制，以控制本车辆的车辆行为，以便在检测到车道偏离倾向时避免主车辆偏离行车道，以抑制当检测车道偏离倾向，根据驱动力的抑制程度来设定车道偏离避免控制的受控变量。

10. 发明授权

US06970777B2 Automotive lane deviation prevention apparatus 有权
标题翻译：汽车车道偏离防止装置
公开(公告)号：US06970777B2
公开(公告)日：2005-11-29
申请号：US10994319
申请日：2004-11-23
申请人： Satoshi Tange , Shinji Matsumoto , Masayasu Shimakage
发明人： Satoshi Tange , Shinji Matsumoto , Masayasu Shimakage
IPC分类号： B60T8/1755 , B60W10/18 , B62D15/02 , G06F7/00
CPC分类号： B60T8/17557 , B60T2201/08 , B60T2201/083 , B60T2201/087 , B60T2260/02 , B60W10/18 , B60W10/20 , B60W30/12 , B62D15/025
摘要： In an automotive lane deviation prevention (LDP) apparatus capable of executing LDP control by which a host vehicle is avoided from deviating from a driving lane, a control unit includes an LDP control allotted amount calculation section that calculates, responsively to a host vehicle's turning state, a steering-control allotted amount for LDP control and a braking-force-control allotted amount for LDP control, in presence of the host vehicle's lane-deviation tendency from the driving lane. In order to avoid the host vehicle's lane-deviation tendency, steering torque is controlled responsively to a steering-torque-control controlled variable determined based on the steering-control allotted amount, whereas braking forces applied to respective road wheels are controlled responsively to braking-force-control controlled variables determined based on the braking-force-control allotted amount.
摘要翻译：在能够执行主车辆避免偏离行驶车道的LDP控制的汽车车道偏离防止（LDP）装置中，控制单元包括：LDP控制分配量计算部，其响应于本车辆的转弯状态在主车辆与行车道的车道偏离倾向的情况下，用于LDP控制的转向控制分配量和用于LDP控制的制动力控制分配量。为了避免主车辆的车道偏离倾向，根据转向控制分配量确定的转向转矩控制控制变量控制转向转矩，而响应于制动 - 基于制动力控制分配量确定的力控制控制变量。

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