Honda Giken Kogyo Kabushiki Kaisha

Nissin Kogyo Co., Ltd.

Nec Home Electronics, Inc.

Honda Giken Kogyo Kabushiki

Shohei Matsuda

Yoichi Sugimoto

Toshio Yahagi

Kazutoshi Tashima

Yoshihiro Urai

Makoto Otabe

Makoto Sato

Satoshi Hada

Jiro Suzuki

Shinichi Inagawa

Masaaki Myoi

Yuji Sakaki

Shoji Ichikawa

Tadatoshi Haga

Hiroshi Sekine

Tomoyuki Shinmura

Kenji Kodaka

Makoto Horiuchi

Kohichi Furuya

Etsuo Fujii

Takeshi Kojima

Yoshitaka Miyakawa

Hiroshi Ikegami

Kazuaki Fukami

Kougyoku Go

Tetsuro Yamaguchi

Yoshihiro Iwakawa

Tetsuro Hamada

Takahiro Eguchi

Nobuyoshi Asanuma

Yutaka Horiuchi

Yorihisa Yamamoto

Yoshihiro Iwagawa

Hirohiko Totsuka

Tsuyoshi Sato

Tetsuji Muto

Tsuyoshi Satoh

Hirotatsu Tsuchida

Keisuke Katsuta

Ichiro Harada

Hideki Kubonoya

Shouji Suzuki

Makoto Satoh

Toshiyuki Azuma

Masayoshi Wada

Shintaro Yokoyama

Masaru Sasaguchi

Ysuyoshi Satoh

Takashi Okuda

Katsutoshi Kizaki

Ryuji Horiuchi

Atsushi Itakagi

A braking apparatus for vehicles BU, in which plurality systems of individually separated brake fluid pressure passages BC(A), BC(B) are arranged, and each passage is provided with at least one brake fluid pressure retaining means RU(A), RU(B) for continuously retaining brake fluid pressure within a wheel cylinder WC(A), WC(B) arranged in the brake fluid pressure passage after a depression of a brake pedal BP is released and for releasing the retained brake fluid pressure in response to an increase of a starting driving force of the vehicle, wherein the release of the retained brake fluid pressure is carried out in a time differential manner at each brake fluid pressure retaining means.

Braking apparatus for vehicles

A brake fluid pressure retaining unit for retaining brake fluid pressure within a wheel cylinder after releasing a brake pedal is disclosed. The brake fluid pressure retaining unit includes a brake fluid pressure reduction speed control device for retaining reduction speed of the brake fluid pressure within the wheel cylinder less than that of brake pedal load applied by a driver. The brake fluid pressure reduction speed control device may be formed by a restriction in a brake fluid pressure circuit arranged between a master cylinder at which the brake fluid pressure is generated in accordance with a brake pedal load applied by the driver and the wheel.

Brake fluid pressure retaining unit

A system for controlling running safety of a vehicle having an alarm and an automatic braking system. A plurality of decelerations &agr;2n of an obstacle such as another vehicle present ahead on the road is predicted and corresponding manipulated variables &agr;1n (braking amount) to be supplied to the vehicle which indicate possible deceleration of the vehicle are determined. Then threshold values L&agr;2n for alarming and automatic braking are determined corresponding to the predicted deceleration and are successively compared with the distance to the obstacle. When the distance falls below any of the threshold values, alarming or automatic braking is effected to avoid contact with the obstacle, thereby making the system relatively simple and enabling operation to match the driver's expectations.

Vehicle safety running control system

An integrated vehicle control system including: contact possibility determining means for determining whether a possibility of contact with an obstacle is great, first brake control means for controlling operation of the vehicle brake in response to the possibility of contact, vehicle behavior detecting means for detecting parameters such as the vehicle yaw rate, vehicle behavior control means for calculating a value such as the error between the detected yaw rate and a reference yaw rate and calculating a manipulated variable (braking force difference) such that the veerability of vehicle is enhanced, and second brake control means for controlling operation of the vehicle brake in response to the calculated manipulated variable. In the system, the vehicle behavior control means advances the timing of the calculation of the manipulated variable or increases the manipulated variable, when the possibility of contact is great, whereby effecting the vehicle behavior sufficient for avoiding an obstacle, while enhancing the vehicle veerability.

Integrated control system of vehicle

A profile of a designated road by which a vehicle is guided to a destination is predicted by road map data. In the case where it is difficult for the own vehicle to pass through a curve of the designated road ahead of the own vehicle, a warning is given to a driver or vehicle speed is automatically reduced. Whether or not the car is correctly running on the designated road is decided by deviation &Dgr;&thgr; (&equals;&thgr;,&minus;&thgr;,) between azimuth angle &thgr;,of the actual advancing direction of the own vehicle and azimuth angle &thgr;,of the designated road. When it is decided that there is a possibility that the own vehicle is running off the designated road, the warning is given or automatic speed reduction is stopped or suppressed. Due to the foregoing, it is possible to prevent the own vehicle from being improperly controlled and it becomes possible for a driver from feeling a sense of incongruity.

Vehicle running control apparatus

In a vehicle safety running system, while a contact probability estimation section estimates that there is a probability that a subject vehicle comes into contact with an object and an automatic braking section performs automatic braking, when the driver voluntarily performs a steering operation to avoid the contact, an automatic braking cancellation gradient is calculated based on the contact probability detected with the contact probability estimation section and the steering operation amount detected with the steering operation amount detection section, whereby automatic braking is cancelled at a speed corresponding to the automatic braking cancellation gradient so calculated. When the contact is easily avoided through the steering operation, the automatic braking cancellation gradient is set large so as to cancel automatic braking quickly, while when the contact is difficult to be avoided, the automatic braking cancellation gradient is set small so as to cancel automatic braking moderately.

Vehicle safety running system

An integrated vehicle control system including: contact possibility determining means for determining whether a possibility of contact with an obstacle is great, first brake control means for controlling operation of the vehicle brake in response to the possibility of contact, vehicle behavior detecting means for detecting parameters such as the vehicle yaw rate, vehicle behavior control means for calculating a value such as the error between the detected yaw rate and a reference yaw rate and calculating a manipulated variable (braking force difference) to make vehicle behavior stable, and second brake control means for controlling operation of the vehicle brake in response to the calculated manipulated variable. In the system, the vehicle behavior control means advances the timing of the calculation of the manipulated variable or increases the manipulated variable, when the possibility of contact is great, whereby effecting the vehicle behavior sufficient for avoiding an obstacle, while ensuring stable vehicle behavior.

A road shape predicting method includes the steps of: selecting three positions of positions of a plurality of nodes constituting road map data and an own vehicle position on a road; and predicting the road shape on the basis of a crossing angle formed by a link connecting a first position and a second position of the selected three positions and another link connecting the second and a third position thereof, and a link length between the second and the third positions. In case that the link length between the second and the third positions is not larger than a reference link length set in accordance with the crossing angle, the third position is excluded, and the position of a node further forward is adopted in place of the third position, to thereby predict the road shape.

Road shape predicting method and vehicle controlling method

Control for inhibiting an under-steered state or an over-steered state of a vehicle can be performed properly in consideration of the shape of a road by laterally distributing braking forces and driving forces. An actual motion state of the vehicle and a reference motion state for the vehicle are compared with each other to calculate a deviation. A braking force and a driving force for the vehicle are controlled by an operation amount calculated based on the deviation, thereby generating a yaw moment to stabilize the behavior of the vehicle. In this case, the direction of a road is presumed based on an information from a navigation system and the actual direction of movement of the vehicle are compared with each other. The operation amount is corrected by a correcting amount calculated based on the result of the comparison, and the braking force and the driving force for the vehicle are controlled based on an operation amount resulting from the correction.

Vehicle behavior control system

A navigation system is provided where an error in the road data and an omission of the road data can be compensated for, and a vehicle control system is provided for using the navigation system. A yaw rate generation starting position, a yaw rate peak position and a yaw rate generation finishing position of a traveling vehicle are detected. The three positions determined are an inlet position, a central position and an outlet position of a curved road. If the three positions are offset to positions of nodes N,, N,and N,on the curved road stored in a map information storing means of the navigation system, the positions of the nodes N,, N,and N,are corrected so that they are matched with the three positions. It is determined based on the corrected road data whether it is possible for a subject vehicle to pass through a road ahead of the subject vehicle. When it is impossible for the subject vehicle to pass through the road, a warning to a driver or an automatic speed reduction is carried out.

Navigation system and a vehicle control system

A system for determining the passability of a vehicle through a section of road ahead of the vehicle is controlled based on coordinates of a plurality of nodes N,(N,, N,, N,, N,. . . ) constituting the road section ahead of a subject vehicle. The system calculates a passing-state determination amount &thgr;,/L,for each of the nodes N,, and based on the passing-state determination amount &thgr;,/L,, the system then determines whether the vehicle can positively or safely pass through the road section. The passing-state determination amount &thgr;,/L,serves as an indicator which represents a degree of difficulty in the passage of the vehicle through the nodes N,and which is obtained, for example, by dividing an angle &thgr;,formed by a line segment connecting the adjacent nodes N,by a distance L,between the adjacent nodes N,. Even if only one or two nodes N,exist on a curve, it is possible to accurately determine whether the vehicle can pass the curve by using the passing-state determination amount &thgr;,/L,.

System for determining passability of vehicle

A system for determining the passability of a vehicle passing through a curved road section. The system provides road information, detects the position of a subject vehicle on the road and determines whether a node, representing road data, exists on a curved or straight section of road. If it is determined that the node exists on a curve, it is then determined whether the curve is a simple curve or an S-shaped curve. Based upon these determinations, the system determines whether the vehicle can safely pass through the curve.

A brake system for a vehicle is provided which has liquid pressure supply units for outputting liquid pressure in response to braking operation, and wheel cylinders for braking wheels when actuated with supply of liquid pressure from the liquid pressure supply unit. The brake system is capable of actuating the wheel cylinders without delay despite a delay in the rise of the output liquid pressure of the liquid pressure supply units. The brake system has an accumulator, the output liquid pressure of which rises quicker than that of the liquid pressure supply unit, the output liquid pressure accumulated in the accumulator being supplied to the wheel cylinders with excellent response speed at the initial stage of braking operation.

Brake system for vehicle

A system for controlling behavior of a vehicle having a laser radar for detecting an obstacle present on a road on which the vehicle is traveling and operating the brake automatically to avoid contact with the obstacle, and having a power-assist steering actuator including an electric motor installed in the steering system. In the system, it is determined whether the vehicle is steered by the steering wheel as manipulated by the vehicle operator or the vehicle is steered by a force generated by the interplay between the tire and road due to the automatic braking and, when vehicle is steered by the force generated by the tire/road interplay, the electric motor of the steering actuator is controlled to drive in the direction to cancel the force, thereby preventing the vehicle behavior from degrading to deviate from the desired course of travel and preventing various disadvantages such as failure to achieve the desired obstacle detection necessary for an effective obstacle avoidance control.

Vehicle control apparatus enables a vehicle to positively and safely pass a curve present in a forward road ahead of the vehicle, irrespective of any error in road data used by the apparatus and any error in a detected vehicle position. The apparatus calculates a predicted passing speed for a curve on the basis of a vehicle speed and a vehicle position, and compares same with a maximum passable speed for the curve which is calculated on the basis of map information and the vehicle position to thereby determine whether the vehicle can positively and safely pass the curve. If the apparatus determines that the vehicle cannot positively and safely pass the curve, warning, automatic deceleration and/or automatic steering is executed by a control mechanism of the apparatus. At this time, the apparatus compares an actual transverse acceleration or an actual yaw rate detected by a transverse acceleration sensor or a yaw rate sensor with a reference transverse acceleration or a reference yaw rate presumed from a road shape determined by a passage-state decision quantity calculating mechanism, and a regulating mechanism regulates a controlled variable and a control timing for effecting the warning, the automatic deceleration and/or the automatic steering, thereby compensating for any error in the road data and any error in the vehicle position.

Vehicle control apparatus

Growing community of inventors

Saitama, Japan

Shohei Matsuda