公开(公告)号：US08118126B2

公开(公告)日：2012-02-21

申请号：US12310046

申请日：2007-08-21

申请人： Chumsamutr Rattapon ,  Seiji Kawakami ,  Katsuhiko Iwazaki ,  Hiroaki Kataoka

发明人： Chumsamutr Rattapon ,  Seiji Kawakami ,  Katsuhiko Iwazaki ,  Hiroaki Kataoka

IPC分类号： B62D6/00

CPC分类号： B62D1/286

摘要： A steering assist system for applying a steering torque reduces the influence of a time-dependent steering control amount on an assist steering torque when a predetermined driving operation by a driver is detected. Thus, the influence of the time-dependent steering control amount on the applied steering torque, which increases when the period of time over which actual moving state deviates from the target moving state increases is reduced when the driver makes the predetermined driving operation. Thus, it is possible to avoid the problem where steering feel degrades because the steering torque increases over time.

摘要翻译： 当检测到驾驶员的预定驾驶操作时，用于施加转向转矩的转向辅助系统减小了与时间有关的转向控制量对辅助转向转矩的影响。 因此，当驾驶员进行预定的驾驶操作时，当实际移动状态偏离目标移动状态的时间段增加时，随着时间的转向控制量对所施加的转向转矩的影响减小。 因此，可以避免由于转向扭矩随时间增加而导致转向感觉下降的问题。

公开(公告)号：US07599773B2

公开(公告)日：2009-10-06

申请号：US10928256

申请日：2004-08-30

申请人： Yuu Tanaka ,  Yoshifumi Iwata ,  Hideyuki Iwakiri ,  Hisashi Satonaka ,  Yuichi Kubota ,  Tomohiko Endo ,  Akira Matsui ,  Toru Sugiyama ,  Seiji Kawakami ,  Katsuhiko Iwazaki ,  Hiroaki Kataoka

发明人： Yuu Tanaka ,  Yoshifumi Iwata ,  Hideyuki Iwakiri ,  Hisashi Satonaka ,  Yuichi Kubota ,  Tomohiko Endo ,  Akira Matsui ,  Toru Sugiyama ,  Seiji Kawakami ,  Katsuhiko Iwazaki ,  Hiroaki Kataoka

IPC分类号： G06K9/32 ,  G08G1/14

CPC分类号： B62D15/0285 ,  B60T2201/10

摘要： A parking assist device for assisting parking operation to a target parking position includes an initial position setting device for setting an initial position of the target parking position to park a vehicle, a designation display showing the target parking position, a display position calculation device for calculating an initial display position of the designation display showing the target parking position at a screen showing vehicle surroundings based on the initial position determined by the initial position setting device, and an initial display position shifting device for shifting the initial display position of the designation display to a position within a display range on the screen in case the initial display position calculated by the display position calculation device is positioned outside of the display range on the screen.

摘要翻译： 一种用于辅助驻车操作到目标停车位置的停车辅助装置包括：初始位置设定装置，用于设定目标停车位置的初始位置以停放车辆;指示显示目标停车位置;显示位置计算装置， 基于由初始位置设定装置决定的初始位置的显示车辆周边的画面的指定显示的初始显示位置和用于将指定显示的初始显示位置移位到的初始显示位置移动装置 在由显示位置计算装置计算的初始显示位置位于屏幕上的显示范围之外的情况下在屏幕上的显示范围内的位置。

公开(公告)号：US07542840B2

公开(公告)日：2009-06-02

申请号：US11136450

申请日：2005-05-25

申请人： Seiji Kawakami ,  Satoru Niwa ,  Katsuhiko Iwazaki ,  Hiroaki Kataoka ,  Chumsamutr Rattapon

发明人： Seiji Kawakami ,  Satoru Niwa ,  Katsuhiko Iwazaki ,  Hiroaki Kataoka ,  Chumsamutr Rattapon

IPC分类号： B60W30/12

CPC分类号： B62D15/025 ,  B62D15/026 ,  B62D15/029

摘要： A driving control apparatus of the present invention has a driving road keeping device for providing a torque to a steering mechanism so as to keep a vehicle traveling at a predetermined position on a driving road; a driving road departure warning device for issuing a warning of a departure from the driving road on the basis of a position of the vehicle relative to the driving road; and a setting device for setting a need or no need for execution of a control of the driving road keeping device or the driving road departure warning device. Where the setting device sets a need for execution of the control, the control of the driving road keeping device is executed when an activation condition of the driving road keeping device is met and when a cruise control device is active. Where the setting device sets a need for execution of the control, the control of the driving road departure warning device is executed when the activation condition of the driving road keeping device is not met or when the cruise control device is inactive. According to the present invention, a lane departure warning function and a lane-keep assist function are selectively executed in conjunction with activation/deactivation of the cruise control device and the activation condition of the driving road keeping device, whereby, even with an automatic stop of operation of either one of the functions, the other function can prevent the vehicle from departing from the lane.

摘要翻译： 本发明的驱动控制装置具有驱动道路保持装置，用于向转向机构提供扭矩，以保持车辆行驶在行驶道路上的预定位置; 基于车辆相对于驾驶道路的位置发出离开驾驶道路的警告的驾驶道路离境警告装置; 以及设置装置，用于设置需要或不需要执行驾驶道路保持装置或驾驶道路离境警告装置的控制。 在设置装置需要执行控制的情况下，当满足驾驶道路维护装置的启动条件和巡航控制装置有效时，执行驾驶道路保养装置的控制。 在设置装置需要执行控制的情况下，当驾驶道路保持装置的启动条件不满足或巡航控制装置不活动时，执行驾驶道路离境警告装置的控制。 根据本发明，结合巡航控制装置的启动/停止以及驾驶道路保持装置的启动条件选择性地执行车道偏离警告功能和车道保持辅助功能，由此即使具有自动停止 任何一个功能的操作，另一个功能可以防止车辆离开车道。

公开(公告)号：US07509211B2

公开(公告)日：2009-03-24

申请号：US11136449

申请日：2005-05-25

申请人： Satoru Niwa ,  Katsuhiko Iwazaki ,  Seiji Kawakami ,  Hiroaki Kataoka ,  Chumsamutr Rattapon

发明人： Satoru Niwa ,  Katsuhiko Iwazaki ,  Seiji Kawakami ,  Hiroaki Kataoka ,  Chumsamutr Rattapon

IPC分类号： G08G1/16

CPC分类号： B62D15/029 ,  B60T2201/08 ,  B60T2201/082 ,  B60W10/20 ,  B60W50/14 ,  B62D15/025

摘要： An apparatus for warning deviation from a lane has a deviation evaluation ECU 1. The deviation evaluation ECU 1 has a deviation evaluator 14 for performing an evaluation on a deviation by comparing a future position of a host vehicle with a lane future position. Before this deviation evaluation, a mask processor 13 determines whether a yaw angle of the host vehicle and a lateral position of the vehicle relative to a driving lane exceed their respective thresholds preliminarily determined. When either one or the both are not more than the thresholds, the mask processor 13 performs a mask process, without performing the deviation evaluation. A deviation evaluator 14 performs the deviation evaluation when the yaw angle and the lateral position relative to the driving lane both exceed their respective thresholds.

摘要翻译： 用于警告偏离车道的装置具有偏差评估ECU 1.偏差评估ECU1具有偏差评估器14，用于通过将本车辆的未来位置与车道未来位置进行比较来对偏差进行评估。 在该偏差评估之前，掩模处理器13确定主车辆的偏航角和车辆相对于行驶车道的横向位置是否超过其预先确定的各自的阈值。 当任何一个或两者都不大于阈值时，掩模处理器13执行掩模处理，而不执行偏差评估。 当偏航角和相对于行驶车道的横向位置都超过它们各自的阈值时，偏差评估器14执行偏差评估。

公开(公告)号：US07501962B2

公开(公告)日：2009-03-10

申请号：US11887817

申请日：2006-05-30

申请人： Hiroaki Kataoka ,  Seiji Kawakami ,  Katsuhiko Iwazaki ,  Chumsamutr Rattapon

发明人： Hiroaki Kataoka ,  Seiji Kawakami ,  Katsuhiko Iwazaki ,  Chumsamutr Rattapon

IPC分类号： G08G1/01

摘要： A vehicle speed V is compared with a threshold Vth; when V is less than Vth, TLC is set to an initial value t0; when V is not less than Vth, TLC is set shorter with increase in V. Then TLC is compared with a predetermined value t th, and when TLC is less than t th, TLC is replaced by t th being a lower limit. This improves compatibility between a reduction in an occurrence frequency of needless warnings and a guarantee of a deviation margin time.

公开(公告)号：US07373230B2

公开(公告)日：2008-05-13

申请号：US11138432

申请日：2005-05-27

申请人： Chumsamutr Rattapon ,  Seiji Kawakami ,  Satoru Niwa ,  Katsuhiko Iwazaki ,  Hiroaki Kataoka

发明人： Chumsamutr Rattapon ,  Seiji Kawakami ,  Satoru Niwa ,  Katsuhiko Iwazaki ,  Hiroaki Kataoka

IPC分类号： B62D6/04

CPC分类号： B62D1/28 ,  B62D6/00 ,  B62D6/001 ,  B62D6/04

摘要： Characteristic lines A to D of lateral acceleration G-required torque T in determination of required torque T are used as switched according to increase/decrease of the absolute value of the lateral acceleration, and the direction thereof. The lines A, C used in increase of the absolute value of the lateral acceleration G are so set that the absolute value of required torque T becomes larger at the same lateral acceleration G (G≠0) than that with the lines B, D used in decrease of the absolute value of the lateral acceleration G. The difference between line A and line B (the difference between line C and line D as well) at the same lateral acceleration G is so set that the difference near the lateral acceleration of 0 is smaller than that in the other regions. Particularly, it is preferable to set the required torque T to 0 at the lateral acceleration G of 0.

摘要翻译： 根据横向加速度的绝对值的增加/减小及其方向，使用横向加速度G的特征线A至D来确定所需扭矩T的所需扭矩T。 用于增加横向加速度G的绝对值的线A，C被设定为使得所需转矩T的绝对值在与线B，D相同的横向加速度G（G <> 0）时变大 用于降低横向加速度G的绝对值。在相同的横向加速度G处，线A与线B之间的差（以及线C与线D之间的差）也被设定为使得横向加速度 0小于其他区域。 特别地，优选的是在横向加速度G为0的情况下将所需转矩T设定为0。

公开(公告)号：US20070185594A1

公开(公告)日：2007-08-09

申请号：US11474440

申请日：2006-06-26

申请人： Katsuhiko Iwazaki ,  Seiji Kawakami ,  Hiroaki Kataoka ,  Chumsamutr Rattapon

发明人： Katsuhiko Iwazaki ,  Seiji Kawakami ,  Hiroaki Kataoka ,  Chumsamutr Rattapon

IPC分类号： G05B13/02

CPC分类号： B62D15/025 ,  B62D1/28 ,  G05B11/42

摘要： When an integral calculation of a physical quantity representing a state of a controlled system is performed, two integral calculations, that is, a positive-integral calculation and a negative-integral calculation are performed. In this way, differentiated information can be obtained, depending on the control conditions. A selection of which one of the integral value obtained by the positive-integral calculation and the integral value obtained by the negative-integral calculation is used, is made on the basis of an actual control value and a desired control value when control is performed so that a value representing the state of the controlled system becomes equal to the desired control value. In this way, a control parameter which has been judged to include a phase delay is removed. Thus, the phase delay in the overall control can be suppressed, and an appropriate steering assist control can be performed, for example.

摘要翻译： 当执行表示受控系统的状态的物理量的积分计算时，执行两个积分计算，即正积分计算和负积分计算。 以这种方式，可以根据控制条件获得差分信息。 根据实际的控制值和控制执行时的期望控制值，选择通过正积分计算得到的积分值和通过负积分计算得到的积分值中的哪一个。 表示受控系统的状态的值变得等于期望的控制值。 以这种方式，已经判断为包括相位延迟的控制参数被去除。 因此，可以抑制整体控制中的相位延迟，并且例如可以执行适当的转向辅助控制。

公开(公告)号：US07155325B2

公开(公告)日：2006-12-26

申请号：US10809545

申请日：2004-03-26

申请人： Yuu Tanaka ,  Yoshifumi Iwata ,  Akira Matsui ,  Hisashi Satonaka ,  Yuichi Kubota ,  Tomohiko Endo ,  Hideyuki Iwakiri ,  Toru Sugiyama ,  Seiji Kawakami ,  Katsuhiko Iwazaki ,  Hiroaki Kataoka

发明人： Yuu Tanaka ,  Yoshifumi Iwata ,  Akira Matsui ,  Hisashi Satonaka ,  Yuichi Kubota ,  Tomohiko Endo ,  Hideyuki Iwakiri ,  Toru Sugiyama ,  Seiji Kawakami ,  Katsuhiko Iwazaki ,  Hiroaki Kataoka

IPC分类号： G06F7/00

CPC分类号： B62D15/0285 ,  B60T2201/10 ,  B62D15/027

摘要： A method for performing a parking assist control for automatically guiding a vehicle to a target parking position includes the steps of calculating a change of a vehicle direction based on a traveling distance of the vehicle and a steering angle obtained by a steering angle sensor, calculating the change of the vehicle direction based on a yaw rate obtained by a yaw rate sensor, and determining whether or not the parking assist control is required to be stopped based on a result of a comparison between the calculated changes of the vehicle direction.

摘要翻译： 执行用于将车辆自动引导到目标停车位置的停车辅助控制的方法包括以下步骤：基于车辆的行驶距离和由转向角传感器获得的转向角来计算车辆方向的变化，计算 基于由横摆率传感器获得的横摆角速度来改变车辆方向，并且基于所计算的车辆方向的变化之间的比较结果来确定是否需要停止驻车辅助控制。

公开(公告)号：US07117073B2

公开(公告)日：2006-10-03

申请号：US10895332

申请日：2004-07-21

申请人： Tomohiko Endo ,  Hisashi Satonaka ,  Yuichi Kubota ,  Akira Matsui ,  Hideyuki Iwakiri ,  Toru Sugiyama ,  Seiji Kawakami ,  Katsuhiko Iwazaki ,  Hiroaki Kataoka ,  Yuu Tanaka ,  Yoshifumi Iwata

发明人： Tomohiko Endo ,  Hisashi Satonaka ,  Yuichi Kubota ,  Akira Matsui ,  Hideyuki Iwakiri ,  Toru Sugiyama ,  Seiji Kawakami ,  Katsuhiko Iwazaki ,  Hiroaki Kataoka ,  Yuu Tanaka ,  Yoshifumi Iwata

IPC分类号： G06F19/00 ,  B60Q1/48

CPC分类号： G01S5/16 ,  B60T2201/10 ,  B62D15/0275 ,  B62D15/028 ,  B62D15/0285

摘要： A parking-assist device for an automotive vehicle comprises an imaging unit which creates an image of an exterior behind the vehicle. A target-parking-position input unit inputs a target parking position to park the vehicle when requested. A target-parking-position memory access unit stores the target parking position and reads the stored target parking position when requested. A vehicle-travel-amount detection unit detects an amount of travel of the vehicle. A parking-route determining unit calculates a parking route from a current position of the vehicle to the target parking position. A display unit displays the created image and displays one of the target parking position inputted and the stored target parking position read on the created image in a superimposed manner.

摘要翻译： 一种用于机动车辆的停车辅助装置包括一个在车辆后方产生外部图像的成像单元。 目标停车位置输入单元输入目标停车位置以在要求时停放车辆。 目标停车位置存储器存取单元存储目标停车位置，并在请求时读取存储的目标停车位置。 车辆行驶量检测单元检测车辆的行驶量。 停车路径决定单元计算从车辆的当前位置到目标停车位置的停车路线。 显示单元显示所创建的图像，并且以叠加的方式显示所输入的目标驻车位置和所创建的图像上读取的存储的目标停车位置中的一个。

公开(公告)号：US07069129B2

公开(公告)日：2006-06-27

申请号：US11134318

申请日：2005-05-23

申请人： Katsuhiko Iwazaki ,  Seiji Kawakami ,  Satoru Niwa ,  Hiroaki Kataoka ,  Chumsamutr Rattapon

发明人： Katsuhiko Iwazaki ,  Seiji Kawakami ,  Satoru Niwa ,  Hiroaki Kataoka ,  Chumsamutr Rattapon

IPC分类号： A01B69/00

CPC分类号： B62D1/286

摘要： A driving support system according to the present invention is provided with an actuator for steering steered wheels and performs a driving support control of a vehicle to apply an additional torque to a steering mechanism incorporating the steered wheels, by means of the actuator to steer the steered wheels. The driving support system has an image taking device for taking a forward image ahead the vehicle, a controller for driving the actuator to generate the torque on the steering mechanism on the basis of the forward image acquired by the image taking device, to perform the driving support control, a steering wheel torque detector for detecting a steering wheel torque on a steering wheel, and a control suppressor for prioritizing a steering operation by a driver to the driving support control when a magnitude of the steering wheel torque is not less than a predetermined value. The control suppressor sets the predetermined value so that the predetermined value in a case where a direction of the steering torque for the driving support control agrees with a direction of the steering wheel torque by the driver is larger than the predetermined value in a case where the direction of the steering torque does not agree with the direction of the steering wheel torque. This configuration enables the system to accurately grasp a driver's intension and to prioritize the steering operation by the driver more accurately when the steering operation by the driver should be prioritized to the driving support control.

摘要翻译： 根据本发明的驾驶辅助系统设置有用于转向转向轮的致动器，并且执行车辆的驾驶支持控制以通过致动器向转向轮施加额外的扭矩以向包括转向轮的转向机构施加转向 车轮。 驱动支撑系统具有用于在车辆前方拍摄前进图像的摄像装置，用于驱动致动器的控制器，其基于由摄像装置获取的前向图像在转向机构上产生转矩，以执行驾驶 支撑控制，用于检测方向盘上的方向盘扭矩的方向盘扭矩检测器，以及控制抑制器，用于在方向盘转矩的大小不小于预定值时将驾驶员的驾驶员的转向操作优先于驾驶支持控制 值。 控制抑制器设定预定值，使得在驾驶辅助控制的转向转矩的方向与驾驶员的方向盘转矩的方向一致的情况下的预定值大于预定值， 转向转矩的方向与方向盘转矩的方向不一致。 该配置使得当驾驶员的转向操作应当被优先考虑驾驶支持控制时，系统能够更准确地准确地掌握驾驶员的意图并且驾驶员更准确地确定驾驶员的转向操作的优先级。