Motion control system for vehicle

[0002] 1. Field of the invention

[0003] The present invention relates to a motion control system for a vehicle and more particularly to a motion control system capable of avoiding a contact with an obstacle by turning around the obstacle.

[0004] 2. Prior art

[0005] In recent years, in order to avoid collisions with obstacles ahead of a vehicle, an automatic brake control system has been developed in which the distance between the vehicle and an obstacle is detected based on images taken by a stereoscopic camera or a laser-beam radar, and when the distance is smaller than a predetermined value, the brake is applied automatically.

[0006] For example, Japanese Patent Application Laid-open No. Toku-Kai-Hei 7-149193 discloses a technique in which when the distance between detected by an inter-vehicle distance detecting apparatus is smaller than a calculated safe distance, an automatic brake is operated. In this technique, the safe distance is calculated taking a maximum deceleration which the vehicle can generate according to the condition of tires of respective wheels, road gradients and the like into consideration.

[0007] The technique for preventing collisions with obstacles is largely dependant upon how to calculate a deceleration of the vehicle. Since there are many factors affecting the deceleration of the vehicle, it is difficult to take all of these factors into consideration and therefore there is no assurance that the vehicle can stop before an obstacle. Further, an extreme deceleration is not preferable.

[0008] It is an object of the present invention to provide a motion control system capable of surely avoiding contact with an obstacle located at the front of a vehicle by turning.

[0009] In order to attain the object, a motion control system including an obstacle recognition means for detecting an obstacle in front of the vehicle and for obtaining an information of the obstacle and a running condition detecting means for detecting running conditions of the vehicle, comprises a braking distance judging means for when a deceleration is applied to the vehicle judging whether or not the vehicle can finish the deceleration without contacting the obstacle based on the information of the obstacle and the running conditions, a first parameter calculating means for calculating a first parameter necessary to take a lateral avoidance motion based on the obstacle information and the running conditions, a second parameter calculating means for calculating a second parameter representing a parameter presently generating in the vehicle based on the running conditions, a target parameter establishing means for when it is judged that the vehicle can not finish the deceleration without contacting the obstacle, establishing a target parameter by comparing the first parameter with the second parameter and a vehicle behavior control means for generating the lateral avoidance motion of the vehicle at least in accordance with the target parameter.

[0010] FIG. 1 is a functional block diagram showing a vehicle motion control system according to a first embodiment of the present invention;

[0011] FIG. 2 is an explanatory view showing an overall schematic construction of a vehicle motion control system according to the first embodiment;

[0012] FIG. 3 is a flowchart of a vehicle motion control system;

[0013] FIG. 4 is a functional block diagram showing a vehicle motion control system according to a second embodiment of the present invention;

[0014] FIG. 5 is an explanatory view showing an overall schematic construction of a vehicle motion control system according to the second embodiment;

[0015] FIG. 6 is a functional block diagram showing a vehicle motion control system according to a third embodiment of the present invention; and

[0016] FIG. 7 is an explanatory view showing an overall schematic construction of a vehicle motion control system according to the third embodiment.

[0017] Referring now to FIG. 2, reference numeral 1 denotes a brake drive section of a vehicle, to which a brake pedal 2 is connected through a master cylinder 3. When a driver operates the brake pedal 2, the master cylinder generate a brake pressure and distributes the brake pressure to respective wheel cylinders 5 (left front wheel cylinder 5_fl, right front wheel cylinder 5_fr, left rear wheel cylinder 5_rland right rear wheel cylinder 5_rr) of four wheels (left front wheel 4_fl, right front wheel 4_fr, left rear wheel 4_rland right rear wheel 4_rr), thereby brake is applied to four wheels and the vehicle is braked.

[0018] The brake drive section 1 is a hydraulic unit constituted by a pressure generating source, a pressure reducing valve, a pressure amplifying valve and the like and can feed a brake pressure to the respective wheel cylinders 5_fl, 5_fr, 5_rland 5_rrindependently.

[0019] The wheel speed of the wheels 4_fl, 4_fr, 4_rland 4_rris detected by wheel speed sensors, a left front wheel speed sensor 6_fl, a right front wheel speed sensor 6_fr, a left rear wheel speed sensor 6_rland a right rear wheel speed sensor 6_rr, respectively. Further, a steering column of a steering wheel is provided with a steering angle sensor 7. Further, the vehicle has a longitudinal acceleration sensor 8 for detecting a longitudinal acceleration of the vehicle, a lateral acceleration sensor 9 for detecting a lateral acceleration of the vehicle and a yaw rate sensor 10 for detecting a yaw rate of the vehicle.

[0020] Signals from the wheel speed sensors 6, the steering wheel sensor 7, the longitudinal acceleration sensor 8, the lateral acceleration sensor 9 and the yaw rate sensor 10, are inputted to a control unit 15.

[0021] Further, a pair of CCD cameras using a charge coupled device (CCD) are installed on the front part of a ceiling of a passenger compartment at a specified lateral interval and is connected with the control unit 15.

[0022] The control unit 15 is composed of a vehicle speed calculating section 15a, an obstacle recognition section 15b, a deceleration judging section 15c, a deceleration calculating section 15d, a brake control section 15e, a braking distance judging section 15f, a first yaw rate calculating section 15g, a second yaw rate calculating section 15h, a target yaw rate establishing section 15fand an automatic brake control section 15j.

[0023] The vehicle speed calculating section 15acalculates a vehicle speed V using the wheel speeds of the respective wheels detected by the wheel speed sensor 6 and the calculated vehicle speed V is outputted to the obstacle recognition section 15b, the deceleration judging section 15c, the deceleration calculating section 15d, the braking distance judging section 15f, the first yaw rate calculating section 15g, the second yaw rate calculating section 15hand the automatic brake control section 15j. The wheel speed sensor 6, the vehicle speed calculating section 15a, the steering angle sensor 7, the longitudinal acceleration sensor 8, the lateral acceleration sensor 9 and the yaw rate sensor 10 form a running condition detecting means.

[0024] The obstacle recognition section 15bcalculates distance information over an entire image of a pair of stereoscopic pictures taken by the CCD cameras 11 from a deviation amount of an object between these pictures according to the principle of triangulation and produces distance images presenting three-dimensional distance distribution. Furthermore, the obstacle recognition section 15bmakes image processes such as extracting a feature of a box-like pattern from the distance images, identifies an object existing ahead of an own vehicle as an obstacle from thus obtained solid objects and detects a distance L_rbetween the obstacle and the own vehicle, a relative traveling speed V_rof the obstacle versus the own vehicle and a width W of the obstacle. The distance L_rand the relative speed V_rare outputted to the deceleration judging section 15c, the deceleration calculating section 15d, the braking distance judging section 15fand the first yaw rate calculating section 15gand the width W is outputted to the first yaw rate calculating section 15g. That is, the pair of the CCD cameras 11 and the obstacle recognition section 15gform an obstacle recognition means.

[0025] According to the first embodiment, the deceleration judging section 15ccompares the distance L_rwith a threshold distance L_lmtwhich has been memorized beforehand and judges whether or not the distance L_ris smaller than the threshold distance L_lmt. The result of judgment is outputted to the deceleration calculating section 15d.

[0026] When the distance L_rbecomes smaller than the threshold distance L_lmt(L_rL_lmt), the deceleration calculating section 15dcalculates a road gradient θ _SLaccording to a formula (1) shown below and calculates an automatic braking deceleration α_swhich is a target deceleration according to the relative speed Vr and the road gradient θ_SL. The established automatic braking deceleration α_sis outputted to the brake control section 15e.

[0027] The road gradient θ_SL(%) is expressed as follows:

[0028] θ_SL=(Gx−rate of change of vehicle velocity)/g100  (1)

[0029] where Gx is longitudinal acceleration (m/s²) and g is gravitational acceleration (m/s²). The road gradient θ_SL(%) may be calculated from an engine output torque (N−m), a torque ratio of a torque converter (in case of an automatic transmission vehicle), a gear ratio of a transmission, a final reduction gear ratio, a tire radius (m), a running resistance (N), a vehicle weight (kg), a change of rate of vehicle velocity (m/s²) and gravitational acceleration (m/s²). Also, the road gradient θ_SLmay be obtained from altitude data of a navigation apparatus or may be obtained from road configuration data prepared based on image data of a CCD camera.

[0030] The automatic braking deceleration α_sis established at a larger value as the relative velocity Vr is high. This is because as the relative velocity is high, a larger deceleration is needed in order to make the relative velocity nil. Further, the automatic braking deceleration α_sis established at a large value in order to prevent deceleration from becoming too low in case where the road gradient θ_SLis a down-grade and is established at a small value in order to prevent deceleration from becoming too high in case where the road gradient θ_SLis an up-grade. The automatic braking deceleration α_smay be calculated by multiplying a predetermined constant by a constant variably established according to the relative velocity V_ror the road gradient θ_SLor may be established from a map parameterizing the relative velocity V_rand the road gradient θ_SL. Further, in this embodiment, the automatic braking deceleration α_sis designed to be established according to the relative velocity Vr and the road gradient θ_SL, however this automatic braking deceleration α_smay be established only by the relative velocity depending upon the vehicle model, vehicle specifications and other conditions or may be established only by the road gradient θ_SLor may be a fixed value.

[0031] The brake control section 15ereceives a signal of automatic braking deceleration α_sfrom the deceleration calculating section 15dor a signal of target braking force FB which will be described hereinafter and a signal of a selected wheel for braking from the automatic brake control section 15jand outputs a signal of brake fluid pressure corresponding to those inputted signals to the brake drive section 1.

[0032] The braking distance judging section 15finputs a signal of actual deceleration a_xfrom the longitudinal acceleration sensor 8, signals of distance L_rand relative velocity V_rfrom the obstacle recognition section 15band a signal of automatic braking deceleration α_sfrom the deceleration calculating section 15dand judges whether or not the vehicle can continue deceleration without contacting an obstacle ahead of the own vehicle.

[0033] This judgment is made by comparing the distance L_rwith a braking distance (V_r²/(2a_x)) obtained from the relative velocity V_rand the actual deceleration a_x. In case where the distance L_ris smaller than the braking distance (V_r²/(2a_x)), it is judged that the vehicle will contact the obstacle before the deceleration is completed and in case where the distance L_ris larger than the braking distance (V_r²/(2a_x)), it is judged that the deceleration

[0034] will be completed without contacting the obstacle. The result of the judgment is outputted to a first yaw rate calculating section 15gand a second yaw rate calculating section 15h, respectively. The braking distance judging section acts as a braking distance judging means.

[0035] The first yaw rate calculating section 15greceives signals of the actual deceleration ax from the longitudinal acceleration sensor 8, the vehicle speed V from the vehicle speed calculating section 15a, the distance L_rfrom the obstacle recognition section 15b, the relative velocity V_rand the width W of the obstacle and calculates a yaw rate (hereinafter referred to as “first yaw rate γ₁”) required for turning around the obstacle ahead based on these data. That is, this first yaw rate calculating section 15gacts as a first parameter calculating means. The calculated first yaw rate γ₁is outputted to the target yaw rate establishing section 15i.

[0036] Specifically, the first yaw rate γ₁is calculated according to the following formula (4).

[0037] First, a time T_arequired for the vehicle to reach the obstacle is expressed as;

[0038] T_a=(V_r−(V_r²−2·a_x)^1/2)/a_x  (2)

[0039] A lateral acceleration a_yrequired for the vehicle to move in the lateral direction is expressed as;

[0040] a_y=2·W/T_a²  (3)

[0041] the first yaw rate γ₁required to obtain the lateral acceleration a_yis expressed as;

[0042] γ₁=a_y/V  (4)

[0043] The second yaw rate calculating section 15his for calculating a yaw rate currently generating as a second yaw rate γ₂. The second yaw rate calculating section 15hreceives a signal of a steering wheel angle θ_Hfrom the steering wheel angle sensor 7, and a signal of the vehicle speed V from the vehicle speed calculating section 15aand calculates the second yaw rate γ₂. The second yaw rate calculating section 15hacts as a second parameter calculating means. The calculated second yaw rate γ₂is outputted to a target yaw rate establishing section 15i.

[0044] Specifically, the second yaw rate γ₂is calculated according to the following formula (5):

[0045] γ₂=1/(1+T·S)·γ_t0  (5)

[0046] where S is Laplace operator; T is first-order lag time constant; and γ_t0is yaw rate stationary value.

[0047] Further, first-order lag time constant T is obtained from the following formula (6):

[0048] T=(m·L_f·V)/(2·L·K_r)  (6)

[0049] where m is vehicle weight; L is wheel base; L_fis distance between front axle and center of gravity and k_ris rear equivalent cornering power.

[0050] Further, the yaw rate regular value γ_t0is given by the following formula (8):

[0051] γ_t0=Gγδ·(θ_H/n)  (7)

[0052] where Gγδ is yaw rate gain; n is gear ratio of steering gear and θ_His

[0053] On the other hand, yaw rate gain Gγδ is obtained from the following formula (8):

[0054] Gγδ=1/(1+A·V²)·(V/L)  (8)

[0055] where A is stability factor which is determined by vehicle specifications and is calculated from the following formula (9):

[0056] A=−(m/(2·L²))·(L_f·K_f−L_r·K_r)/(K_f·K_r)  (9)

[0057] where L_ris distance between rear axle and center of gravity and K_fis front equivalent cornering power.

[0058] The target yaw rate establishing section 15ireceives a signal of first yaw rate γ₁from the first yaw rate calculating section 15gand a signal of second yaw rate γ₂from the second yaw rate calculating section 15hand establishes a larger one of these as a target yaw rate γ_t. The target yaw rate establishing section 15iacts as a target yaw rate establishing means in the present invention.

[0059] The automatic brake control section 15jcontrols brakes of respective wheels so as to generate a turning force over the vehicle. First, the automatic brake control section 15joutputs signals of a target braking force FB and a selected object wheel to the brake control section 15e. Then, the brake control section 15eoutputs a signal of brake fluid pressure corresponding to these signals to the brake drive section 1 to generate a turning force in the vehicle. That is, in the present invention, the automatic brake control section 15j, the brake control section 15eand the brake drive section 1 constitute an automatic brake control means and a vehicle behavior control means.

[0060] For example, as the applicant of the present invention proposes in Japanese Patent Application Laid-open No. Toku-Kai-Hei 10-157589, the automatic brake control section 15jestablishes a target braking force and a selected object wheel and outputs these signals to the brake control section 15e.

[0061] The automatic brake control section 15jinputs a steering wheel angle θ_Hfrom the steering wheel angle sensor 7, a lateral acceleration G_yfrom the lateral acceleration sensor 9, a vehicle speed V from the vehicle speed calculating section 15aand a target yaw rate γ_tfrom the target yaw rate establishing section 15j, calculating a target yaw moment M_zbased on these, and obtains a target braking force FB according to the following formula (10).

[0062] FB=M_z/(d/2)  (10)

[0063] where d is tread of a vehicle.

[0064] The turning direction of the vehicle is judged by an actual yaw rate from the yaw rate sensor 10. When the calculated target moment M_zhas the same turning direction as the actual yaw rate, a rear inner wheel of the turning circle is selected as an object wheel to which the braking force is applied. When the target moment M_zhas an opposite turning direction to the actual yaw rate, a front outer wheel of the turning circle is selected as an object wheel to which the braking force is applied. Specifically, the following combination is established beforehand. With respect to the direction of moments, actual yaw rate γ and target yaw moment M_z, the left turn denotes positive (+) and the right turn denotes (−).

[0065] In order to judge a straight line running condition of the vehicle, ε is established as a positive number close to zero which has been obtained from experiments or calculations beforehand. To judge that the target yaw moment M_zis approximately zero, εM_zis established as a positive number close to zero which has been obtained from experiments or calculations.

[0066] Case 1: when γ>ε and M_z>MεM_zleft rear wheel braked

[0067] Case 2: when γ>ε and M_z<−εM_zright front wheel braked

[0068] Case 3: when γ<ε and M_z>εM_zleft front wheel braked

[0069] Case 4: when γ<ε and M_z<−εM_zleft rear wheel braked

[0070] Case 5: when the vehicle in approximately straight line running condition of |γ|≦ε or when the vehicle is turning condition of M_z≦εM_zno brake applied to any wheel

[0071] Next, an operation of thus constituted motion control system will be described by reference to a flowchart of FIG. 3. This flowchart is repeatedly executed every specified time. First, at a step (hereinafter referred to as just “S”) 101, signals from sensors 6, 7, 8, 9, 10 and a signal from the pair of CCD cameras are read. Particularly, the vehicle speed V in the vehicle speed calculating section 15a, the distance L_rto an obstacle, the relative velocity V_rthe width of the obstacle in the obstacle recognition section 15band other necessary parameters are detected and the program goes to S102.

[0072] At S102, in the deceleration judging section 15c, the distance Lr is compared with the threshold distance L_lmtmemorized. In case where the distance L_ris smaller than the threshold distance L_lmt(L_r≦L_lmt), the program goes to S103 and in case where the distance L_ris larger than the threshold distance L_lmt(L_r>L_lmt), the program leaves the routine.

[0073] As a result of the comparison at S102, when the program goes to S103, the deceleration calculating section 15dcalculates a road gradient θ_SLaccording to the formula (1) and calculating a target deceleration according to the relative speed Vr and the θ_SL, establishing the deceleration as an automatic braking deceleration α_s, and outputs the deceleration to the brake control section 15e.

[0074] Then, the program goes to S104 where the brake control section 15eoutputs a signal of fluid pressure according to the automatic braking deceleration α_sto the brake drive section 1.

[0075] After that, the program goes to S105 where the actual deceleration a_xdetected by the longitudinal acceleration 8 is read and then goes to S106.

[0076] At S106, in the braking distance judging section 15f, the distance L_ris compared with the braking distance (V_r²/(2·a_x)) until deceleration is completed. Further, in case where the distance L_ris smaller than the braking distance (V_r²/(2·a_x)), it is judged that the vehicle can not complete deceleration without contacting the obstacle ahead and the program goes to S107. On the other hand, in case where the distance L_ris larger than the braking distance (V_r²/(2·a_x)), it is judged that the vehicle can complete deceleration without contacting the obstacle ahead and the program leaves the routine.

[0077] When the program goes to S107 as a result of the judgment that the vehicle can not complete deceleration without contacting the obstacle ahead, based on the actual deceleration a_x, the relative speed V_r, the distance L_rand the width W, the first yaw rate calculating section 15gcalculates the first yaw rate γ₁necessary for avoiding the obstacle by a turn according to the formula (4).

[0078] Next, the program goes to S108 where the second yaw rate calculating section 15hcalculates the second yaw rate γ₂based on the steering wheel angle θ_Hand the vehicle speed V according to the formula (5).

[0079] After that, the program goes to S109 where in the target yaw rate establishing section 15ian absolute value |γ₁| of the first yaw rate γ₁is compared with an absolute value |γ₂| of the second yaw rate γ₂. In case where the absolute value |γ₁| of the first yaw rate γ₁is smaller than the absolute value |γ₂| of the second yaw rate γ₂, that is, |γ₁|<|γ₂|, the program goes to S110 where since the vehicle can avoid contacting the obstacle with the present running conditions retained, the target yaw rate γ_tis established at the second yaw rate γ₂. Further, in case where the absolute value |γ₁| of the first yaw rate γ₁is larger than the absolute value |γ₂| of the second yaw rate γ₂, that is, |γ₁|≧|γ₂|, the program goes to S111 where the target yaw rate γ_tis established at the first yaw rate γ₁to avoid the obstacle.

[0080] After thus the target yaw rate γ_tis established, the program goes to S112 where the automatic brake control 15jcalculates the target moment M_zbased on the steering wheel angle θ_H, the lateral acceleration G_y, the vehicle speed V and the target yaw rate γ_tand based on the target moment M_zthe target braking force FB is calculated. Further, based on the actual yaw rate γ and the target yaw moment M_z, the wheel to be braked is selected. Thus, the vehicle behavior control is formed.

[0081] According to the first embodiment, in case where the avoidance of contacting the obstacle is inadequate only with deceleration, a turning force is given to the vehicle by applying brake to the selected wheel, thereby the vehicle can surely avoid contacting the obstacle.

[0082] In this embodiment, the function of the automatic brake control section 15jis described citing an example of the braking force control apparatus proposed in Toku-Kai-Hei 10-157589, however other examples may be applied to the automatic brake control section according to the present invention.

[0083] Next, a second embodiment will be described by reference to FIGS. 4 and 5. According to the second embodiment, the vehicle behavior control means comprises a rear wheel steering control means for automatically steering rear wheels.

[0084] As shown in FIG. 5, the vehicle is equipped with a rear wheel steering section 20. The rear wheel steering section 20 is provided with a rear wheel steering motor 21 which is controlled by a rear wheel control section 25aof a control unit 25. A power of the rear wheel steering motor 21 is transmitted through a worm and worm gear and a link mechanism to the left rear wheel 4rl and the right rear wheel 4rr respectively to steer these rear wheels.

[0085] Further, the control unit 25 comprises the vehicle speed calculating section 15a, the obstacle recognition section 15b, the deceleration judging section 15c, the deceleration calculating section 15d, the brake control section 15e, the braking distance judging section 15f, the first yaw rate calculating section 15g, the second yaw rate calculating section 15h, the target yaw rate establishing section 15iand the rear wheel steering control section 25a. In this embodiment, the automatic brake control section 15jis replaced with the rear wheel steering control section 25a.

[0086] In the rear wheel steering control section 25a, a rear wheel steering angle γ_ris established by the following formula (11):

[0087] δ_r=k·γ_t  (11)

[0088] where k is a constant predetermined.

[0089] When the target yaw rate γ_tis inputted from the target yaw rate establishing section 15i, the rear wheel steering control section 25adrives the rear wheel steering motor 21 such that the rear wheels have a steering angle corresponding to the inputted target yaw rate γ_t, respectively, and as a result a turning force is generated in the vehicle.

[0090] Thus, according to the second embodiment, in case where the vehicle can not avoid contacting an obstacle ahead only with deceleration, an automatic steering of rear wheels generates a turning force in the vehicle, thereby the vehicle can surely avoid contacting the obstacle.

[0091] Further, in the second embodiment, the rear wheel steering control section 25amakes a steering control according to a yaw rate proportional method, however other methods may be employed. Further, a hydraulic actuator may be used for the rear wheel steering motor 21.

[0092] FIGS. 6 and 7 shows a third embodiment of the present invention. According to the second embodiment, the vehicle behavior control means consttutes a front wheel steering control means for automatically steering front wheels.

[0093] Referring to FIG. 7, reference numeral 30 denotes a front wheel steering section for automatically steering front wheels and reference numeral 31 denotes a front wheel steering motor whose power is transmitted to the left front wheel 4fl and the right front wheel 4fr through a worm and worm wheel and a link mechanism.

[0094] Further, a control unit 35 comprises the vehicle speed calculating section 15a, the obstacle recognition section 15b, the deceleration judging section 15c, the deceleration calculating section 15d, the brake control section 15e, the braking distance judging section 15f, the first yaw rate calculating section 15g, the second yaw rate calculating section 15h, the target yaw rate establishing section 15iand the front wheel steering control section 35a. The automatic brake control section 15jof the first embodiment is changed to the front wheel steering control section 35a.

[0095] When the front wheel steering control section 35ainputs a target yaw rate γ_t, a front wheel steering angle δ_ris calculated according to the following formula (12):

[0096] δ_r=(1+T·S)·γ_t/G γδ  (12)

[0097] Then, the front wheel steering control section 35arotates the front wheel steering motor 31 by the displacement necessary to obtain the front wheel steering angle δ_r. That is, according to the third embodiment, when the target yaw rate γ_tis inputted from the target yaw rate establishing section 15i, the front wheel steering control section 35adrives the front wheel steering motor 31 so as to obtain a required front wheel steering angle, and as a result a turning force is generated in the vehicle.

[0098] Thus, according to the third embodiment, in case where the vehicle can not avoid contacting an obstacle ahead only with deceleration, an automatic steering of front wheels generates a turning force in the vehicle, thereby the vehicle can surely avoid contacting the obstacle.

[0099] In the aforesaid embodiments of the present invention, the target yaw rate calculated from the first yaw rate and the second yaw rate is used as a parameter needed for moving the vehicle in the lateral direction, however, alternatively, a lateral acceleration calculated from a first lateral acceleration and a second lateral acceleration is used for calculating a target lateral acceleration and based on this target lateral acceleration the vehicle behavior may be controlled.

[0100] Further, the automatic brake control means in the first embodiment, the rear wheel steering control means in the second embodiment, and the front wheel steering control means in the third embodiment are the vehicle behavior control means for laterally moving the vehicle independently, respectively. However, the vehicle behavior control means may be constituted by the combination of a plurality of these control means.

[0101] While the presently preferred embodiments of the present invention have been shown and described, it is to be understood that these disclosures are for the purpose of illustration and that various changes and modifications may be made without departing from the scope of the invention as set forth in the appended claims.