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61. 发明授权

US07453374B2 Travel safety apparatus for vehicle 有权
标题翻译：车辆行驶安全装置
公开(公告)号：US07453374B2
公开(公告)日：2008-11-18
申请号：US11511368
申请日：2006-08-29
申请人： Hiroyuki Koike , Yoichi Sugimoto , Yoshihiro Urai
发明人： Hiroyuki Koike , Yoichi Sugimoto , Yoshihiro Urai
IPC分类号： G08G1/16
CPC分类号： B60T7/22 , B60Q9/008 , B60T2201/02 , B60T2201/022 , B60W10/18 , B60W30/08 , B60W30/09 , B60W30/095 , B60W50/14
摘要： A travel safety apparatus for a vehicle includes: a first object detector having a first detection area defined by a first detection angle; a second object detector having a second detection area defined by a second detection angle; a motion state determination unit; a collision determination unit determining whether there is possibility of collision of an object detected in at least one of the first detection area and the second detection area to the vehicle based on the motion state; a controller controlling the vehicle so that a collision is avoided; and an object identity determination unit determining whether the first object and the second object are identical, wherein when a first object detected in the first detection area and a second object detected in the second detection area are determined identical, the collision determination unit determines whether there is possibility of collision of the first object to the vehicle.
摘要翻译：一种用于车辆的旅行安全装置包括：第一物体检测器，具有由第一检测角度限定的第一检测区域; 具有由第二检测角度定义的第二检测区域的第二物体检测器; 运动状态确定单元; 碰撞确定单元，基于所述运动状态来确定在所述第一检测区域和所述第二检测区域中的至少一个中检测到的物体是否存在与所述车辆的碰撞的可能性; 控制车辆以避免碰撞的控制器; 以及物体识别确定单元，确定所述第一物体和所述第二物体是否相同，其中当所述第一检测区域中检测到的第一物体和所述第二检测区域中检测到的第二物体被确定相同时，所述碰撞确定单元确定是否存在是第一物体与车辆碰撞的可能性。

62. 发明申请

US20070222566A1 Vehicle surroundings monitoring apparatus, vehicle surroundings monitoring method, and vehicle surroundings monitoring program 有权
标题翻译：车辆环境监测装置，车辆周边监测方法和车辆环境监测程序
公开(公告)号：US20070222566A1
公开(公告)日：2007-09-27
申请号：US11717565
申请日：2007-03-13
申请人： Takayuki Tsuji , Nobuharu Nagaoka , Yoichi Sugimoto , Morimichi Nishigaki
发明人： Takayuki Tsuji , Nobuharu Nagaoka , Yoichi Sugimoto , Morimichi Nishigaki
IPC分类号： B60Q1/00 , E05F15/00 , G06K9/00 , H04N7/18
CPC分类号： G06K9/00369 , G06K9/00791
摘要： A vehicle surroundings monitoring apparatus, a vehicle surroundings monitoring method, and a vehicle surroundings monitoring program which can rapidly determine an object such as a pedestrian to be avoided which must be avoided from coming into contact with the vehicle from an image of the surroundings of the vehicle and can provide information to a driver or control the vehicle behaviors. The vehicle surroundings monitoring apparatus includes an object extraction process unit (11) which extracts objects existing around a vehicle (10) from images taken by infrared cameras (2R, 2L), a pedestrian extraction process unit (12) which extracts a pedestrian from the extracted objects, a posture determination process unit (13) which determines the posture of the extracted pedestrian, an object-to-be-avoided determination process unit (14) which determines whether the extracted object is an object to be avoided which must be avoided from coming into contact with the vehicle (10) by executing a determination algorithm including at least a first determination process on the posture of the pedestrian determined by the posture determination process unit (13), and a vehicle equipment control process unit (15) which controls equipment of the vehicle (10) at least according to the determination result of the object-to-be-avoided determination process unit (14).
摘要翻译：一种车辆周边监视装置，车辆环境监视方法以及车辆周边监视程序，其能够快速地确定要避免的对象，所述对象应当避免与所述车辆的环境的图像接触而与车辆接触车辆，并可向驾驶员提供信息或控制车辆行为。车辆周边监视装置包括物体提取处理单元（11），其从由红外线摄像机（2R，2L）拍摄的图像中提取车辆（10）周围的物体，行人提取处理单元（12）从所提取的对象中，确定所提取的行人的姿势的姿势确定处理单元（13），确定所提取的对象是否是要被避免的对象的对象对象确定处理单元（14）通过执行至少包括由姿势判定处理单元（13）确定的行人姿态的第一判定处理的判定算法和车辆设备控制处理单元（15），避免与车辆（10）接触），其至少根据对象对象确定处理单元（14）的确定结果来控制车辆（10）的设备。

63. 发明申请

US20060282218A1 Vehicle travel safety apparatus 审中-公开
标题翻译：车辆行驶安全装置
公开(公告)号：US20060282218A1
公开(公告)日：2006-12-14
申请号：US11448352
申请日：2006-06-06
申请人： Yoshihiro Urai , Yoichi Sugimoto , Hiroyuki Koike
发明人： Yoshihiro Urai , Yoichi Sugimoto , Hiroyuki Koike
IPC分类号： G08G1/16
CPC分类号： G01S17/936 , B60W10/06 , B60W10/10 , B60W10/184 , B60W30/08 , B60W30/09 , B60W30/095 , B60W30/16 , B60W2550/20 , B60W2550/30 , B60W2550/306 , B60W2550/402 , G01S13/931 , G01S17/023 , G01S17/58 , G01S17/66 , G01S2013/9342 , G01S2013/9346 , G01S2013/9353 , G08G1/166
摘要： A vehicle travel safety apparatus which includes: an object detecting device that detects objects around the vehicle; a first travel path estimating device that estimates the travel path of a moving object among the objects; a velocity calculating device that calculates the velocity of the moving object; a travel state detecting device that detects the travel state of the vehicle; a second travel path estimating device that estimates the travel path of the vehicle; a collision judgment device that determines whether or not there is a possibility of a collision occurring between the moving object and the vehicle; and a travel control device that controls the travel of the vehicle, wherein the collision judgment device estimates an ease of evasive action in the event of the moving object avoiding a collision with the vehicle, and the travel control device controls the travel of the vehicle so that the ease of evasive action increases.
摘要翻译：一种车辆行驶安全装置，包括：物体检测装置，其检测车辆周围的物体; 第一行进路径估计装置，其估计所述物体之间的移动物体的行进路径; 计算移动体的速度的速度计算装置; 行驶状态检测装置，其检测车辆的行驶状态; 估计车辆的行驶路径的第二行驶路径估计装置; 碰撞判断装置，其判定在所述移动体与所述车辆之间是否存在发生碰撞的可能性; 以及控制车辆的行驶的行驶控制装置，其中，所述碰撞判断装置估计在所述移动物体避免与所述车辆碰撞的情况下的回避动作的容易性，并且所述行驶控制装置控制所述车辆的行驶回避行为的容易性增加。

64. 发明授权

US06336689B1 Brake fluid pressure retaining unit 有权
标题翻译：制动液压力保持单元
公开(公告)号：US06336689B1
公开(公告)日：2002-01-08
申请号：US09517524
申请日：2000-03-02
申请人： Takahiro Eguchi , Hirotoshi Inoue , Toshiya Kanda , Masakazu Shiraishi , Shouji Suzuki , Yoichi Sugimoto
发明人： Takahiro Eguchi , Hirotoshi Inoue , Toshiya Kanda , Masakazu Shiraishi , Shouji Suzuki , Yoichi Sugimoto
IPC分类号： B60T862
CPC分类号： B60T17/16 , B60T7/122 , B60T13/686 , Y10S188/02 , Y10S303/90
摘要： A brake fluid pressure retaining unit for a vehicle comprises a solenoid valve SV arranged in a brake fluid passage FP between a master cylinder MC and a wheel cylinder WC so as to shut off or communicate the brake fluid passage FP. In the case that a transmission of the vehicle is shifted to a driving position, the solenoid valve SV is switched to a shut-off position when the vehicle stops with a brake pedal BP depressed. The solenoid valve SV is switched to a communicating position when driving force is exerted on the vehicle. Brake fluid pressure is retained within the wheel cylinder WC when the solenoid valve SV is in the shut-off position. The brake fluid pressure within the wheel cylinder is retained after releasing the brake pedal so that braking force continues to act on the vehicle. The brake fluid pressure retaining unit comprises control means CU such that when the solenoid valve is in the shut-off position and the transmission is shifted to a non-driving position, the solenoid valve SV is returned to the communicating position on condition that depression of the brake pedal BP is released.
摘要翻译：一种用于车辆的制动液压力保持单元包括：在主缸MC和轮缸WC之间布置在制动流体通道FP中的电磁阀SV，以便切断或连通制动流体通道FP。在车辆的变速器转移到驾驶位置的情况下，当制动踏板BP压下时车辆停止时，电磁阀SV切换到关闭位置。当驱动力施加在车辆上时，电磁阀SV切换到连通位置。当电磁阀SV处于关闭位置时，制动液压力保持在轮缸WC内。在释放制动踏板之后，保持轮缸内的制动液压力，使得制动力继续作用在车辆上。制动液压力保持单元包括控制装置CU，使得当电磁阀处于关闭位置并且变速器移动到非驱动位置时，电磁阀SV返回到连通位置，制动踏板BP被释放。

65. 发明授权

US06289281B1 Integrated control system of vehicle 失效
标题翻译：车辆综合控制系统
公开(公告)号：US06289281B1
公开(公告)日：2001-09-11
申请号：US09199334
申请日：1998-11-25
申请人： Tomoyuki Shinmura , Kenji Kodaka , Yoichi Sugimoto , Shohei Matsuda
发明人： Tomoyuki Shinmura , Kenji Kodaka , Yoichi Sugimoto , Shohei Matsuda
IPC分类号： G06F1700
CPC分类号： B60T7/22
摘要： 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.
摘要翻译：一种综合车辆控制系统，包括：接触可能性确定装置，用于确定与障碍物接触的可能性是否大;响应于接触可能性控制车辆制动器的操作的第一制动控制装置，用于检测参数的车辆行为检测装置例如车辆横摆率，车辆行为控制装置，用于计算检测到的横摆角速度和参考横摆角速度之间的误差的值，并计算使车辆的可变性增强的操纵变量（制动力差），第二制动控制装置，用于响应于所计算的操作变量控制车辆制动器的操作。在该系统中，当接触的可能性大时，车辆行为控制装置提高操纵变量的计算的定时或增加操纵变量，从而在提高车辆可转换性的同时实现足以避免障碍物的车辆行为。

66. 发明授权

US06272418B1 Integrated control system of vehicle 失效
标题翻译：车辆综合控制系统
公开(公告)号：US06272418B1
公开(公告)日：2001-08-07
申请号：US09199335
申请日：1998-11-25
申请人： Tomoyuki Shinmura , Kenji Kodaka , Yoichi Sugimoto , Shohei Matsuda
发明人： Tomoyuki Shinmura , Kenji Kodaka , Yoichi Sugimoto , Shohei Matsuda
IPC分类号： G06F1700
CPC分类号： B60T8/17558 , B60T7/22 , B60T8/17551 , B60T8/17552 , B60T8/241 , B60T8/246 , B60T2201/02 , B60T2201/022 , B60T2230/02
摘要： 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.
摘要翻译：一种综合车辆控制系统，包括：接触可能性确定装置，用于确定与障碍物接触的可能性是否大;响应于接触可能性控制车辆制动器的操作的第一制动控制装置，用于检测参数的车辆行为检测装置例如车辆横摆率，车辆行为控制装置，用于计算检测到的横摆角速度和参考横摆角速度之间的误差的值，并计算操纵变量（制动力差）以使车辆行为稳定;以及第二制动控制装置用于响应于所计算的操作变量控制车辆制动器的操作。在系统中，当接触的可能性大时，车辆行为控制装置提高操纵变量的计算的定时或增加操纵变量，从而在确保稳定的车辆行为的同时实现足以避免障碍物的车辆行为。

67. 发明授权

US06269308B1 Safety running system for vehicle 失效
公开(公告)号：US06269308B1
公开(公告)日：2001-07-31
申请号：US09377105
申请日：1999-08-19
申请人： Kenji Kodaka , Tomoyuki Shinmura , Yoichi Sugimoto
发明人： Kenji Kodaka , Tomoyuki Shinmura , Yoichi Sugimoto
IPC分类号： B60R2100
CPC分类号： B62D15/0265 , G01S13/867 , G01S13/931 , G01S2013/9342 , G01S2013/9353 , G01S2013/9357 , G01S2013/9375
摘要： In a safety running system, a transverse travelling distance resulting when a subject vehicle travels to a current position of an oncoming vehicle is calculated based on the vehicle velocity and yaw rate of the subject vehicle, a relative transverse distance of the oncoming vehicle relative to a vehicle body axis of the subject vehicle is calculated based on a relative distance, relative velocity and relative angle between the subject vehicle and the oncoming vehicle detected by a radar information processor. When a relative transverse deviation obtained by subtracting the transverse travelling distance from the relative transverse distance resides within a range and that state continues to exist over a predetermined time period, it is judged that there is a collision possibility of the subject vehicle with the oncoming vehicle, and automatic steering is performed so as to avoid a collision.

68. 发明授权

US06259992B1 Vehicle safety running control system 有权
标题翻译：车辆安全运行控制系统
公开(公告)号：US06259992B1
公开(公告)日：2001-07-10
申请号：US09324735
申请日：1999-06-03
申请人： Yoshihiro Urai , Yoichi Sugimoto
发明人： Yoshihiro Urai , Yoichi Sugimoto
IPC分类号： G06F13376
CPC分类号： B60K31/0008 , B60W2720/106 , G08G1/16 , G08G1/166
摘要： A system for controlling safety running of a vehicle, including obstacle detecting means such as a laser radar for detecting an obstacle (e.g., other vehicle) present ahead on a course of travel of the vehicle, and operating means for operating a braking system of the vehicle to avoid contact with the obstacle. In the system, if it is found that the obstacle detected by the obstacle detecting means is lost, the operating means operates the braking system based on at least an estimated possibility of contact or degree of certainty of obstacle. With the arrangement, the system can appropriately cope with a situation in which an obstacle, once detected, is lost during braking operation, without degrading the driving feeling or comfort and without causing the vehicle driver to experience annoyance, while ensuring obstacle avoidance without fail.
摘要翻译：一种用于控制车辆安全行驶的系统，包括障碍物检测装置，例如用于检测车辆行驶过程中存在的障碍物（例如，其他车辆）的激光雷达，以及用于操作车辆的制动系统的操作装置车辆避免与障碍物接触。在系统中，如果发现障碍物检测装置检测到的障碍物丢失，则操作装置至少基于估计的接触可靠性或障碍物的确定程度来操作制动系统。通过该结构，能够适当地应对在制动操作期间一旦检测到的障碍物在制动操作期间丢失的障碍物，而不会降低驾驶感觉或舒适度，并且不会导致车辆驾驶员感到烦恼，同时确保避免障碍物的情况。

69. 发明授权

US6157892A Obstacle avoidance control system for vehicle 有权
标题翻译：车辆避障控制系统
公开(公告)号：US6157892A
公开(公告)日：2000-12-05
申请号：US329307
申请日：1999-06-10
申请人： Satoshi Hada , Yoichi Sugimoto , Yoshihiro Urai , Shoji Ichikawa
发明人： Satoshi Hada , Yoichi Sugimoto , Yoshihiro Urai , Shoji Ichikawa
IPC分类号： B60R21/00 , B60G17/016 , B60G17/0195 , B60T7/12 , B60T7/22 , B60T8/1755 , B60W10/00 , B60W10/20 , B60W30/00 , B60W30/02 , B60W30/045 , B60W30/09 , B60W30/095 , B60W30/14 , B62D6/00 , B62D7/14 , B62D7/15 , B62D101/00 , B62D105/00 , B62D111/00 , B62D113/00 , B62D137/00 , G01S17/93 , G08G1/16 , G01S13/93 , B60T8/00
CPC分类号： B60T8/17558 , B60T7/22 , B62D15/0265 , B62D7/159 , G08G1/161 , B60T2201/022 , B60T2260/022 , B60W2550/308 , G01S17/936
摘要： The avoidance of an obstacle by a vehicle is enhanced by effective balancing an automatic braking operation and a turnability increasing control operation assisting in a steering operation of the vehicle whereby the obstacle avoiding capability is enhanced to the maximum. If a vehicle is being automatically controlled and the steering operation is carried out by the driver and if it is determined an obstacle can be avoided by a turnability increasing control operation, and if an avoiding space exists in a direction of turning of the vehicle, the turnability increasing control operation is carried out to perform the avoidance of the obstacle by the steering operation. If no avoiding space exists in the direction of turning of the vehicle, the avoidance of the obstacle by the steering operation is not performed, and a stability increasing control operation is carried out to effectively perform the avoidance of the obstacle by the automatic braking operation.
摘要翻译：通过有效平衡自动制动操作和辅助车辆的转向操作的可转向性增加控制操作来增强车辆的障碍物的避免，由此障碍物避免能力最大化。如果车辆被自动控制，并且驾驶员进行转向操作，并且如果确定可以通过可转向性增加控制操作来避免障碍物，并且如果在车辆的转向方向上存在避免空间，则执行转向增加控制操作以通过转向操作来执行障碍物的避免。如果在车辆的转向方向上没有避免空间的情况，则不进行转向操作的避免障碍，进行稳定性增加控制操作，以通过自动制动操作有效地实现障碍物的避免。

70. 发明授权

US6148943A Vehicle behavior control system 失效
标题翻译：车辆行为控制系统
公开(公告)号：US6148943A
公开(公告)日：2000-11-21
申请号：US232806
申请日：1999-01-19
申请人： Kenji Kodaka , Yoichi Sugimoto , Tomoyuki Shinmura , Shohei Matsuda
发明人： Kenji Kodaka , Yoichi Sugimoto , Tomoyuki Shinmura , Shohei Matsuda
IPC分类号： B60T7/12 , B60T7/22 , B60W10/00 , B60W10/08 , B60W10/20 , B60W30/00 , B62D5/04 , B62D6/00 , B62D6/04 , B62D101/00 , B62D109/00 , B62D113/00 , B62D119/00 , B62D137/00 , G01S13/93 , B62D1/24
CPC分类号： B62D5/0472 , B60T7/22 , B60T2260/02
摘要： 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.
摘要翻译：一种用于控制具有用于检测存在于车辆行驶的道路上的障碍物并且自动操作制动器以避免与障碍物接触的激光雷达的车辆的行为的系统，并且具有包括电动马达的动力辅助转向致动器安装在转向系统中。在该系统中，确定车辆是否被车辆驾驶员操纵的方向盘转向，或车辆由于自动制动而由轮胎和道路之间的相互作用产生的力而转向，并且当车辆被转向时通过由轮胎/道路相互作用产生的力，控制转向致动器的电动机以沿着取消该力的方向驱动，从而防止车辆行为退化以偏离期望的行驶路线，并且防止各种缺点因为无法实现有效的避障控制所需的障碍物检测。

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