1. An automotive lane deviation prevention (LDP) apparatus comprising:
a processor programmed to perform the following,
(a) detecting whether a host vehicle is in a state where the host vehicle is traveling on road-surface irregularities formed on or close to a lane marking line; and
(b) actively decelerating the host vehicle when the host vehicle is in the state where the host vehicle is traveling on the road-surface irregularities.
2. An automotive lane deviation prevention (LDP) apparatus comprising:
a road-surface irregularities detector that detects whether a host vehicle is in a state where the host vehicle is traveling on road-surface irregularities formed on or close to a lane marking line;
an actuator capable of decelerating the host vehicle; and
a control unit configured to be electronically connected to the road-surface irregularities detector and the actuator for LDP control purposes; the control unit comprising:
a vehicle deceleration control section that executes vehicle deceleration control to actively decelerate the host vehicle when the host vehicle is in the state where the host vehicle is traveling on the road-surface irregularities.
3. The LDP apparatus as claimed in claim 2, wherein:
the road-surface irregularities detector comprises wheel speed sensors that detect respective wheel speeds of road wheels of the host vehicle; and
the road-surface irregularities detector determines, based on the wheel speeds, whether the host vehicle is in the state where the host vehicle is traveling on the road-surface irregularities.
4. The LDP apparatus as claimed in claim 3, wherein:
the road-surface irregularities detector determines that the host vehicle is in the state where the host vehicle is traveling on the road-surface irregularities, when either one of the left and right wheel speeds is fluctuating.
5. The LDP apparatus as claimed in claim 3, wherein:
the road-surface irregularities detector determines that the host vehicle is in the state where the host vehicle is traveling on the road-surface irregularities, when the wheel speed is fluctuating at a substantially constant time period determined based on a host vehicle speed.
6. The LDP apparatus as claimed in claim 3, further comprising:
a host vehicle’s position information detector that detects position information regarding a position of the host vehicle on a map,
wherein the road-surface irregularities detector determines, based on the host vehicle’s position information and the wheel speeds, that the host vehicle is in the state where the host vehicle is traveling on the road-surface irregularities, when the wheel speed of the host vehicle, traveling on a driving lane, is fluctuating.
7. The LDP apparatus as claimed in claim 2, further comprising:
a vehicle-suspension up-and-down motion sensor that detects an up-and-down motion of a suspension of the host vehicle,
wherein the road-surface irregularities detector determines, based on the suspension’s up-and-down motion detected, whether the host vehicle is in the state where the host vehicle is traveling on the road-surface irregularities.
8. The LDP apparatus as claimed in claim 2, further comprising:
a picture image pick-up device that picks up a picture image in front of the host vehicle; and
a lane marker detector that detects a lane marking line on a driving lane of the host vehicle, based on the picture image picked up by the picture image pick-up device,
wherein the control unit further comprises:
a lane-deviation tendency detection section that determines, based on a host vehicle’s lateral deviation estimated based the lane marking line, whether the host vehicle is in a state where there is an increased tendency for the host vehicle to deviate from the driving lane or in a state where there is a less tendency for the host vehicle to deviate from the driving lane; and
an LDP control section that executes yaw moment control by which the host vehicle’s lane deviation tendency is avoided, when the host vehicle is in the state where there is an increased tendency for the host vehicle to deviate from the driving lane.
9. The LDP apparatus as claimed in claim 8, wherein:
the vehicle deceleration control section determines a vehicle-deceleration-control controlled variable based on the host vehicle’s lateral deviation.
10. The LDP apparatus as claimed in claim 8, further comprising:
a vehicle’s driving state and traveling-path condition detector that detects at least a driving state of the host vehicle,
wherein the control unit comprises a control allotted rate decision section that determines, based on the driving state, a control allotted rate of vehicle deceleration control to yaw moment control, and the vehicle deceleration control and the yaw moment control are executed based on the control allotted rate.
11. The LDP apparatus as claimed in claim 10, wherein:
the vehicle’s driving state and traveling-path condition detector that detects at least one of a host vehicle speed, a yaw rate resulting from a yaw moment acting on the host vehicle, a lateral acceleration exerted on the host vehicle, a yaw angle with respect to a sense of a driving lane of the host vehicle, and a curvature of the host vehicle’s driving lane.
12. The LDP apparatus as claimed in claim 8, wherein:
the control unit further comprises:
a lane-marker unrecognizable state detection section that determines whether the host vehicle is in a lane-marker unrecognizable state where the lane marking line cannot be detected by the picture image pick-up device or in a lane-marker recognizable state where the lane marking line can be detected by the picture image pick-up device,
wherein the vehicle deceleration control section fixes a vehicle-deceleration-control controlled variable to a preset constant value, when the lane-marker unrecognizable state detection section determines that the host vehicle is in the lane-marker unrecognizable state and additionally the road-surface irregularities detector determines that the host vehicle is in the state where the host vehicle is traveling on the road-surface irregularities.
13. The LDP apparatus as claimed in claim 8, wherein:
the control unit further comprises:
a lane-marker unrecognizable state detection section that determines whether the host vehicle is in a lane-marker unrecognizable state where the lane marking line cannot be detected by the picture image pick-up device or in a lane-marker recognizable state where the lane marking line can be detected by the picture image pick-up device; and
a virtual-deviation-estimate based lane-deviation possibility estimation section that estimates, based on a virtual deviation estimate estimated based on historical data concerning a vehicle’s driving state and a traveling-path condition of the host vehicle, all obtained just before a transition from the lane-marker recognizable state to the lane-marker unrecognizable state, whether the host vehicle is in a state where there is a high possibility for the host vehicle to deviate from the driving lane or in a state where there is a low possibility for the host vehicle to deviate from the driving lane,
wherein the vehicle deceleration control section fixes a vehicle-deceleration-control controlled variable to a preset constant value, when the virtual-deviation-estimate based lane-deviation possibility estimation section determines that the host vehicle is in the state where there is a high possibility for the host vehicle to deviate from the driving lane in the lane-marker unrecognizable state and additionally the road-surface irregularities detector determines that the host vehicle is in the state where the host vehicle is traveling on the road-surface irregularities.
14. The LDP apparatus as claimed in claim 10, wherein:
the vehicle’s driving state and traveling-path condition detector that detects a host vehicle speed, a yaw angle with respect to a sense of a driving lane of the host vehicle, a lateral displacement of the host vehicle from a central axis of the driving lane, and a curvature of the host vehicle’s driving lane;
the lane-deviation tendency detection section estimates a future lateral-displacement estimate based on the host vehicle speed, the yaw angle, the lateral displacement, and the curvature; and
the lane-deviation tendency detection section determines that the host vehicle is in the state where there is an increased tendency for the host vehicle to deviate from the driving lane, when an absolute value of the future lateral-displacement estimate is greater than or equal to a predetermined lateral-displacement criterion.
15. The LDP apparatus as claimed in claim 8, further comprising:
a brakingdriving force control device that controls brakingdriving forces of the road wheels,
wherein the LDP control section comprises a brakingdriving force controlled variable calculation section that calculates a brakingdriving force controlled variable of each of the road wheels so that a yaw moment is produced in a direction in which the host vehicle’s lane-deviation tendency is avoided, when the lane-deviation tendency detection section determines that the host vehicle is in the state where there is an increased tendency for the host vehicle to deviate from the driving lane; and
the brakingdriving force control device controls the brakingdriving forces of the road wheels, responsively to the brakingdriving force controlled variables calculated.
16. The LDP apparatus as claimed in claim 15, wherein:
the brakingdriving force control device comprises a hydraulic modulator capable of controlling the braking forces of the road wheels, independently of a driver’s brake-pedal depression.
17. The LDP apparatus as claimed in claim 15, wherein:
the brakingdriving force controlled variable calculation section calculates the brakingdriving force controlled variables of the respective road wheels, based on a desired yaw moment calculated based on a difference between the future lateral-displacement estimate and the predetermined lateral-displacement criterion.
18. The LDP apparatus as claimed in claim 8, further comprising:
a steering control device that controls a steering torque applied to a steering system of the host vehicle independently of a driver’s steering action,
wherein the LDP control section comprises a steering torque controlled variable calculation section that calculates a steering torque controlled variable of the steering system so that a yaw moment is produced in a direction in which the host vehicle’s lane-deviation tendency is avoided, when the lane-deviation tendency detection section determines that the host vehicle is in the state where there is an increased tendency for the host vehicle to deviate from the driving lane; and
the steering control device controls the steering torque applied to the steering system, responsively to the steering torque controlled variable calculated.
19. An automotive lane deviation prevention (LDP) apparatus comprising:
road-surface irregularities detection means for detecting whether a host vehicle is in a state where the host vehicle is traveling on road-surface irregularities formed on or close to a lane marking line;
an actuator capable of decelerating the host vehicle; and
a control unit configured to be electronically connected to the road-surface irregularities detection means and the actuator for LDP control purposes; the control unit comprising:
vehicle deceleration control means for executing vehicle deceleration control to actively decelerate the host vehicle when the host vehicle is in the state where the host vehicle is traveling on the road-surface irregularities.
20. A method of preventing lane deviation of a host vehicle employing braking force actuators that adjust braking forces applied to respective road wheels, the method comprising:
(a) detecting whether a host vehicle is in a state where the host vehicle is traveling on road-surface irregularities formed on or close to a lane marking line; and
(b) executing vehicle deceleration control actively decelerating the host vehicle when the host vehicle is in the state where the host vehicle is traveling on the road-surface irregularities.
21. The method as claimed in claim 20, further comprising:
(c) executing yaw moment control actively exerting a yaw moment on the host vehicle simultaneously with the active vehicle deceleration control when the host vehicle is in the state where the host vehicle is traveling on the road-surface irregularities.
22. The method as claimed in claim 20, further comprising:
(d) determining whether the host vehicle is in a lane-marker unrecognizable state where the lane marking line cannot be detected by a picture image pick-up device or in a lane-marker recognizable state where the lane marking line can be detected by the picture image pick-up device;
(e) fixing a desired deceleration rate for the active vehicle deceleration control to a preset constant value when the host vehicle is in the state where the host vehicle is traveling on the road-surface irregularities in the lane-marker unrecognizable state.
The claims below are in addition to those above.
All refrences to claim(s) which appear below refer to the numbering after this setence.
1. An apparatus for slicing food products, in particular a high-performance slicer, comprising
a product feed (11, 13; 113) which is made to feed at least one product (15; 127) to a cutting plane in which at least one cutting blade (17; 111) moves, in particular in a rotating and or orbiting manner, for cutting slices from the product (15; 127),
wherein the cutting blade (17; 111) is pivotably mounted and is pivotable for carrying out at least one additional function, in particular for carrying out blank cuts, for setting a cutting gap andor for the vertical or dipping depth setting such that the spacing between the cutting blade (17; 111) and a reference plane (19) which extends parallel to the cutting plane or which coincides with the cutting plane is changed and in this respect the cutting blade (17; 111) remains aligned parallel to the cutting plane or departs from a parallel alignment.
2. An apparatus in accordance with claim 1,
characterized in that
the pivot movement of the cutting blade (17; 111) takes place about at least two axes andor is a superimposition of at least two pivot movements.
3. An apparatus in accordance with claim 1,
characterized in that
a cutting head (21; 119) including a cutting blade (17; 111) and pivotable as a whole is provided.
4. An apparatus in accordance with claim 1,
characterized in that
at least one parallelogram guide, at least one parallelogram guiding part andor at least one four-bar lever are provided for pivoting the cutting blade (17; 111).
5. An apparatus in accordance with claim 1,
characterized in that
at least one pair of guiding parts andor levers (25-29) isare provided for pivoting the cutting blade (17; 111) which are each pivotally connected to the cutting blade (17; 111), on the one hand, and to a base (43), on the other hand.
6. An apparatus in accordance with claim 1,
characterized in that
the cutting blade (17; 111) is pivotably suspended, in particular at a base (43).
7. An apparatus in accordance with claim 1,
characterized in that
a pivot drive (45) is provided for the cutting blade (17; 111).
8. An apparatus in accordance with claim 7,
characterized in that
the pivot drive (45) is made for pivoting the cutting blade (17; 111) to act on the cutting blade (17; 111) along a linen of action extending at least substantially perpendicular to the cutting plane.
9. Use of an apparatus for slicing food products, in particular a high-performance slicer which comprises
a product feed (11, 13; 113) which is made to feed at least one product (15; 127) to a cutting plane in which at least one cutting blade (17; 111) moves, in particular in a rotating and or orbiting manner, for cutting slices from the product (15; 127),
wherein the cutting blade (17; 111) is pivotably mounted and is pivotable for carrying out at least one additional function, in particular for carrying out blank cuts, for setting a cutting gap andor for the vertical or dipping depth setting such that the spacing between the cutting blade (17; 111) and a reference plane (19) which extends parallel to the cutting plane or which coincides with the cutting plane is changed and in this respect the cutting blade (17; 111) remains aligned parallel to the cutting plane or departs from a parallel alignment in accordance with any one of the preceding claims for carrying out blank cuts, in particular on the portion-wise slicing of food products and wherein, for the temporary interruption of the cutting of slices from the product (15; 127), the cutting blade (17; 111) is pivoted away from the front product end (57) and is pivoted back again to restart the cutting of slices from the product (15; 127) after carrying out one or more blank cuts).
10. Use in accordance with claim 9,
characterized in that
the blank cuts are carried out with a stopped product advance (11).
11. Use of an apparatus for slicing food products, in particular a high-performance slicer which comprises
a product feed (11, 13; 113) which is made to feed at least one product (15; 127) to a cutting plane in which at least one cutting blade (17; 111) moves, in particular in a rotating and or orbiting manner, for cutting slices from the product (15; 127),
wherein the cutting blade (17; 111) is pivotably mounted and is pivotable for carrying out at least one additional function, in particular for carrying out blank cuts, for setting a cutting gap andor for the vertical or dipping depth setting such that the spacing between the cutting blade (17; 111) and a reference plane (19) which extends parallel to the cutting plane or which coincides with the cutting plane is changed and in this respect the cutting blade (17; 111) remains aligned parallel to the cutting plane or departs from a parallel alignment in accordance with claim 1 for setting a cutting gap,
and wherein the gap between the cutting blade (17; 111) and a cutting edge (23; 131) is set to a preset dimension by pivoting the cutting blade (17; 111).
12. Use in accordance with claim 11,
characterized in that
the cutting gap setting is carried out with a stationary cutting blade (17; 111).
13. Use in accordance with claim 11,
characterized in that
the cutting gap setting is carried out with a cutting blade (17; 111) moving in the cutting plane.
14. A method of slicing food products, wherein
at least one product (15; 127) is fed by means of a product feed (11, 13; 113) to a cutting plane in which at least one cutting blade (17; 11) is moved, in particular in a rotating andor orbiting manner, for cutting slices from the product (15; 127); and
in which the cutting blade (17; 111) is pivoted for carrying out at least one additional function, in particular for carrying out blank cuts, for setting a cutting gap andor for the vertical or dipping depth setting such that the spacing between the cutting blade (17; 111) and a reference plane (19) which extends parallel to the cutting plane or which coincides with the cutting plane is changed and in this respect the cutting blade (17; 111) remains aligned parallel to the cutting plane or departs from a parallel alignment.