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1. 发明申请

US20120179349A1 Vehicle Motion Control Device 审中-公开
标题翻译：车辆运动控制装置
公开(公告)号：US20120179349A1
公开(公告)日：2012-07-12
申请号：US13395015
申请日：2010-08-02
申请人： Makoto Yamakado , Shinjiro Saito , Atsushi Yokoyama , Junya Takahashi , Tatsuya Yoshida
发明人： Makoto Yamakado , Shinjiro Saito , Atsushi Yokoyama , Junya Takahashi , Tatsuya Yoshida
IPC分类号： B60W30/045 , B60W10/119 , B60W10/184 , B60W10/04
CPC分类号： B60W10/04 , B60T8/1755 , B60T2270/302 , B60W10/08 , B60W10/119 , B60W10/18 , B60W10/184 , B60W30/045 , B60W2720/14 , B60W2720/30
摘要： There is provided a vehicle drive control system that feels less unnatural and that enables an improvement in safety performance. A vehicle motion control system capable of independently controlling a driving force and a braking force of four wheels comprises: a first mode (G-Vectoring control) in which substantially the same driving force and braking force are generated with respect to left and right wheels among the four wheels based on a longitudinal acceleration/deceleration control command that is coordinated with the vehicle's lateral motion; and a second mode (sideslip prevention control) in which different driving forces and braking forces are generated with respect to the left and right wheels among the four wheels based on a target yaw moment derived from the vehicle's sideslip information, wherein the first mode is selected when the target yaw moment is equal to or less than a pre-defined threshold, and the second mode is selected when the target yaw moment is greater than the threshold (FIG. 11).
摘要翻译：提供了一种感觉不太自然的车辆驱动控制系统，并且能够提高安全性能。能够独立地控制四个车轮的驱动力和制动力的车辆运动控制系统包括：第一模式（G矢量控制），其中相对于左右车轮产生大致相同的驱动力和制动力，基于与车辆的横向运动协调的纵向加速/减速控制命令的四个车轮; 以及基于从车辆侧滑信息导出的目标横摆力矩，在四个车轮之间相对于左右车轮产生不同的驱动力和制动力的第二模式（侧滑防止控制），其中选择第一模式当目标横摆力矩等于或小于预定阈值时，并且当目标横摆力矩大于阈值时选择第二模式（图11）。

2. 发明申请

US20110187515A1 Vehicle Control Apparatus 有权
标题翻译：车辆控制装置
公开(公告)号：US20110187515A1
公开(公告)日：2011-08-04
申请号：US12920396
申请日：2009-07-28
申请人： Shinjiro Saito , Atsushi Yokoyama , Toshiharu Sugawara , Tatsuya Yoshida , Akira Takahashi
发明人： Shinjiro Saito , Atsushi Yokoyama , Toshiharu Sugawara , Tatsuya Yoshida , Akira Takahashi
IPC分类号： G08G1/16 , G06F7/00 , B60Q1/00
CPC分类号： B60T7/22 , B60T2201/08 , B60W30/09 , B60W30/0956 , B60W30/12 , B60W2720/406 , B62D15/0265
摘要： According to conventional art, if there is an obstacle on the left of a vehicle, a control threshold value is set so as to avoid the obstacle. If the control threshold value is exceeded, the vehicle is controlled in accordance with a deviation quantity so as to return to a position where the control threshold avoids being exceeded. However, even if a risky oncoming vehicle is approaching the vehicle on the right, the vehicle is controllably moved toward the oncoming vehicle. Thus, disadvantageously, a driver has a sense of fear or discomfort. A vehicle control apparatus according to the present invention includes a calculation section configured to calculate a first risk level present on the left of the vehicle and a second risk level present on the right of the vehicle, a setting section configured to set a first control threshold for the left of the vehicle based on the first risk level and to set a second control threshold for the right of the vehicle based on the second risk level, a change section configured to change at least one of the first and second control thresholds based on the first and second risk levels, and a control section configured to control the vehicle based on the changed control threshold.
摘要翻译：根据现有技术，如果在车辆的左侧存在障碍物，则设定控制阈值以避免障碍物。如果超过了控制阈值，则根据偏差量来控制车辆，以返回到避免超过控制阈值的位置。然而，即使有危险的迎面而来的车辆正在靠近右边的车辆，车辆也可以被控制地朝向迎面而来的车辆移动。因此，不利的是，驾驶员有恐惧感或不适感。根据本发明的车辆控制装置包括计算部件，其被配置为计算存在于车辆左侧的第一风险等级和存在于车辆右侧的第二风险等级，设置部件，其被配置为设定第一控制阈值基于所述第一风险等级对所述车辆的左侧进行基于所述第二风险等级的所述车辆的右侧的第二控制阈值，基于所述第二风险等级来设定所述车辆右侧的第二控制阈值，第一和第二风险等级，以及控制部，被配置为基于改变的控制阈值来控制车辆。

3. 发明授权

US08165776B2 Drive assist system 有权
标题翻译：驱动辅助系统
公开(公告)号：US08165776B2
公开(公告)日：2012-04-24
申请号：US12194887
申请日：2008-08-20
申请人： Toshiharu Sugawara , Atsushi Yokoyama , Takaomi Nishigaito , Masatoshi Hoshino , Tatsuya Yoshida , Jun Kubo , Shinjiro Saito
发明人： Toshiharu Sugawara , Atsushi Yokoyama , Takaomi Nishigaito , Masatoshi Hoshino , Tatsuya Yoshida , Jun Kubo , Shinjiro Saito
IPC分类号： B60T7/12
CPC分类号： B60W30/12 , B60T2201/022
摘要： A drive assist system includes an assist starting part starting assist, a detection part detecting relative distances and speeds between a vehicles, a calculation part calculating collision risks when changing a lane by the basis of the relative distances and speeds, a first judgment part judging whether the lane can be changed by the relative distances, speeds and the collision risks, a decision part deciding a target space for lane change by the relative distances and speeds when the lane cannot be changed, a second judgment part judging whether a lane changeable space is in the target space, a setting part setting a target speed for the vehicle go to a lane change waiting position when no space and to setting a target speed the vehicle enters a lane changeable position when there is the space, and a control part controlling a speed of the vehicle reaches the target speed.
摘要翻译：驱动辅助系统包括辅助起动部起动辅助，检测车辆之间的相对距离和速度的检测部，基于相对距离和速度来改变车道时的碰撞风险的计算部，第一判断部判断是否可以通过相对距离，速度和碰撞风险来改变车道，决定部件通过车道不能改变时的相对距离和速度来确定车道变换的目标空间，第二判断部分判断车道可变空间是否为在目标空间中，当没有空间时，设定车辆的目标速度的设定部分进入车道变更等待位置，并且当存在空间时设定车辆进入车道可变位置的目标速度，以及控制部车速达到目标速度。

4. 发明授权

US08600657B2 Vehicle control apparatus 有权
标题翻译：车辆控制装置
公开(公告)号：US08600657B2
公开(公告)日：2013-12-03
申请号：US12920396
申请日：2009-07-28
申请人： Shinjiro Saito , Atsushi Yokoyama , Toshiharu Sugawara , Tatsuya Yoshida , Akira Takahashi
发明人： Shinjiro Saito , Atsushi Yokoyama , Toshiharu Sugawara , Tatsuya Yoshida , Akira Takahashi
IPC分类号： G06G7/78 , G08G1/16
CPC分类号： B60T7/22 , B60T2201/08 , B60W30/09 , B60W30/0956 , B60W30/12 , B60W2720/406 , B62D15/0265
摘要： According to conventional art, if there is an obstacle on the left of a vehicle, a control threshold value is set so as to avoid the obstacle. If the control threshold value is exceeded, the vehicle is controlled in accordance with a deviation quantity so as to return to a position where the control threshold avoids being exceeded. However, even if a risky oncoming vehicle is approaching the vehicle on the right, the vehicle is controllably moved toward the oncoming vehicle. Thus, disadvantageously, a driver has a sense of fear or discomfort. A vehicle control apparatus according to the present invention includes a calculation section configured to calculate a first risk level present on the left of the vehicle and a second risk level present on the right of the vehicle, a setting section configured to set a first control threshold for the left of the vehicle based on the first risk level and to set a second control threshold for the right of the vehicle based on the second risk level, a change section configured to change at least one of the first and second control thresholds based on the first and second risk levels, and a control section configured to control the vehicle based on the changed control threshold.
摘要翻译：根据现有技术，如果在车辆的左侧存在障碍物，则设定控制阈值以避免障碍物。如果超过了控制阈值，则根据偏差量来控制车辆，以返回到避免超过控制阈值的位置。然而，即使有危险的迎面而来的车辆正在靠近右边的车辆，车辆也可以被控制地朝向迎面而来的车辆移动。因此，不利的是，驾驶员有恐惧感或不适感。根据本发明的车辆控制装置包括计算部件，其被配置为计算存在于车辆左侧的第一风险等级和存在于车辆右侧的第二风险等级，设置部件，其被配置为设定第一控制阈值基于所述第一风险等级对所述车辆的左侧进行基于所述第二风险等级的所述车辆的右侧的第二控制阈值，基于所述第二风险等级来设定所述车辆右侧的第二控制阈值，第一和第二风险等级，以及控制部，被配置为基于改变的控制阈值来控制车辆。

5. 发明授权

US08346436B2 Driving support system 有权
标题翻译：驾驶辅助系统
公开(公告)号：US08346436B2
公开(公告)日：2013-01-01
申请号：US13239073
申请日：2011-09-21
申请人： Atsushi Yokoyama , Shinjiro Saito , Masatsugu Arai , Tatsuya Yoshida
发明人： Atsushi Yokoyama , Shinjiro Saito , Masatsugu Arai , Tatsuya Yoshida
IPC分类号： B62D6/00 , B62D12/00 , B62D11/00 , A01B69/00 , G05D1/00
CPC分类号： B62D15/025 , B62D15/0265 , G08G1/165 , G08G1/166 , G08G1/167
摘要： A driving support system includes a lane detecting unit for detecting lanes around a vehicle, a route correcting unit for correcting a route along which the vehicle is expected to travel taking into consideration an obstacle on the route after the route has been recognized by lanes detected by the lane detecting unit, and a control unit for controlling the vehicle on the basis of the positional relation between the corrected route determined by the route correcting unit and the vehicle.
摘要翻译：驾驶辅助系统包括：车道检测单元，用于检测车辆周围的车道，路线校正单元，用于在通过车道识别出路线之后考虑到路线上的障碍物来校正车辆预期行驶的路线，车道检测单元，以及基于由路径校正单元确定的校正路线与车辆之间的位置关系来控制车辆的控制单元。

6. 发明申请

US20120010808A1 Driving Support System 有权
标题翻译：驾驶支援系统
公开(公告)号：US20120010808A1
公开(公告)日：2012-01-12
申请号：US13239073
申请日：2011-09-21
申请人： Atsushi YOKOYAMA , Shinjiro Saito , Masatsugu Arai , Tatsuya Yoshida
发明人： Atsushi YOKOYAMA , Shinjiro Saito , Masatsugu Arai , Tatsuya Yoshida
IPC分类号： G08G1/16
CPC分类号： B62D15/025 , B62D15/0265 , G08G1/165 , G08G1/166 , G08G1/167
摘要： A driving support system includes a lane detecting unit for detecting lanes around a vehicle, a route correcting unit for correcting a route along which the vehicle is expected to travel taking into consideration an obstacle on the route after the route has been recognized by lanes detected by the lane detecting unit, and a control unit for controlling the vehicle on the basis of the positional relation between the corrected route determined by the route correcting unit and the vehicle.
摘要翻译：驾驶辅助系统包括：车道检测单元，用于检测车辆周围的车道，路线校正单元，用于在通过车道识别出路线之后考虑到路线上的障碍物来校正车辆预期行驶的路线，车道检测单元，以及基于由路径校正单元确定的校正路线与车辆之间的位置关系来控制车辆的控制单元。

7. 发明申请

US20110087415A1 Vehicular Deceleration Aiding Device 审中-公开
标题翻译：车辆减速辅助装置
公开(公告)号：US20110087415A1
公开(公告)日：2011-04-14
申请号：US12920255
申请日：2009-07-28
申请人： Atsushi Yokoyama , Shinjiro Saito , Tatsuya Yoshida
发明人： Atsushi Yokoyama , Shinjiro Saito , Tatsuya Yoshida
IPC分类号： B60T8/1755
CPC分类号： B60T7/22 , B60T2201/16 , B60T2210/24 , B60T2210/36 , B60W10/06 , B60W10/184 , B60W30/02 , B60W30/18009 , B60W2540/10 , B60W2550/143 , B60W2720/106
摘要： A deceleration aiding device capable of achieving deceleration control which reflects a driver's intention more accurately according to a driver's intention to decelerate a vehicle, and by which the acceleration of the vehicle is difficult to exceed a road surface friction coefficient is provided. The deceleration aiding device includes: a road information acquisition unit (51) for acquiring information of a curved road in front of a vehicle; a curve information calculation unit (52) for calculating a section length from the vehicle to an entrance position of the curved road based on the information of the curved road; a start timing determination unit (54) for determining a start timing for starting deceleration control of the vehicle according to a driving state of the vehicle; a target deceleration calculation unit (55) for calculating a target deceleration in the deceleration control; and a deceleration control unit (56) for performing deceleration control on the vehicle based on the target deceleration, wherein the target deceleration calculation unit (55) calculates the target deceleration based on the section length and a vehicle speed at the start timing such that a deceleration of the vehicle in the deceleration control and a lateral acceleration of the vehicle when traveling along the curved road are larger as the section length is shorter.
摘要翻译：提供一种能够实现减速控制的减速辅助装置，其根据驾驶员对车辆进行减速的意图更准确地反映驾驶员的意图，并且车辆的加速度难以超过路面摩擦系数。减速辅助装置包括：道路信息获取单元，用于获取车辆前方的弯曲道路的信息; 曲线信息计算单元，用于根据弯曲道路的信息计算从车辆到弯曲道路的入口位置的段长度; 开始定时确定单元，用于根据车辆的驾驶状态来确定用于开始车辆的减速控制的开始定时; 用于计算减速控制中的目标减速度的目标减速度计算单元（55）以及减速控制部（56），其基于所述目标减速度对所述车辆进行减速控制，其中，所述目标减速度计算部（55）基于所述开始时刻的所述截面长度和车速来计算所述目标减速度，使得车辆在减速控制中的减速度以及当沿着弯曲的道路行驶时车辆的横向加速度随着截面长度越来越大。

8. 发明申请

US20090088925A1 Drive Assist System 有权
标题翻译：驱动辅助系统
公开(公告)号：US20090088925A1
公开(公告)日：2009-04-02
申请号：US12194887
申请日：2008-08-20
申请人： Toshiharu SUGAWARA , Atsushi Yokoyama , Takaomi Nishigaito , Masatoshi Hoshino , Tatsuya Yoshida , Jun Kubo , Shinjiro Saito
发明人： Toshiharu SUGAWARA , Atsushi Yokoyama , Takaomi Nishigaito , Masatoshi Hoshino , Tatsuya Yoshida , Jun Kubo , Shinjiro Saito
IPC分类号： G08G1/16 , B60Q1/00
CPC分类号： B60W30/12 , B60T2201/022
摘要： A drive assist system includes an assist starting part starting assist, a detection part detecting relative distances and speeds between a vehicles, a calculation part calculating collision risks when changing a lane by the basis of the relative distances and speeds, a first judgment part judging whether the lane can be changed by the relative distances, speeds and the collision risks, a decision part deciding a target space for lane change by the relative distances and speeds when the lane cannot be changed, a second judgment part judging whether a lane changeable space is in the target space, a setting part setting a target speed for the vehicle go to a lane change waiting position when no space and to setting a target speed the vehicle enters a lane changeable position when there is the space, and a control part controlling a speed of the vehicle reaches the target speed.
摘要翻译：驱动辅助系统包括辅助起动部起动辅助，检测车辆之间的相对距离和速度的检测部，基于相对距离和速度来改变车道时的碰撞风险的计算部，第一判断部判断是否可以通过相对距离，速度和碰撞风险来改变车道，决定部件通过车道不能改变时的相对距离和速度来确定车道变换的目标空间，第二判断部分判断车道可变空间是否为在目标空间中，当没有空间时，设定车辆的目标速度的设定部分进入车道变更等待位置，并且当存在空间时设定车辆进入车道可变位置的目标速度，以及控制部车速达到目标速度。

9. 发明授权

US07853366B2 Vehicle control apparatus 有权
标题翻译：车辆控制装置
公开(公告)号：US07853366B2
公开(公告)日：2010-12-14
申请号：US12259948
申请日：2008-10-28
申请人： Shinya Imura , Atsushi Yokoyama , Junya Takahashi , Tatsuya Yoshida
发明人： Shinya Imura , Atsushi Yokoyama , Junya Takahashi , Tatsuya Yoshida
IPC分类号： G05D1/00 , G05D3/00 , G06F7/00 , G06F17/00
CPC分类号： B60W30/04 , B60W40/10
摘要： A vehicle control apparatus having a vehicle state quantity detection unit for detecting vehicle state quantity such as a roller angular velocity, a lateral jerk calculation unit for calculating lateral jerk of a vehicle based on the vehicle state quantity, and a control unit for carrying out the vehicle control based on the lateral jerk.
摘要翻译：一种车辆控制装置，其具有车辆状态量检测单元，用于检测诸如滚子角速度的车辆状态量，用于根据车辆状态量计算车辆的横向加加速度的侧倾加速度计算单元;以及控制单元，基于横向混合的车辆控制。

10. 发明申请

US20090112404A1 VEHICLE CONTROL APPARATUS 有权
标题翻译：车辆控制装置
公开(公告)号：US20090112404A1
公开(公告)日：2009-04-30
申请号：US12259948
申请日：2008-10-28
申请人： Shinya IMURA , Atsushi Yokoyama , Junya Takahashi , Tatsuya Yoshida
发明人： Shinya IMURA , Atsushi Yokoyama , Junya Takahashi , Tatsuya Yoshida
IPC分类号： G06F7/00
CPC分类号： B60W30/04 , B60W40/10
摘要： A vehicle control apparatus having a vehicle state quantity detection unit for detecting vehicle state quantity such as a roller angular velocity, a lateral jerk calculation unit for calculating lateral jerk of a vehicle based on the vehicle state quantity, and a control unit for carrying out the vehicle control based on the lateral jerk.
摘要翻译：一种车辆控制装置，其具有车辆状态量检测单元，用于检测诸如滚子角速度的车辆状态量，用于根据车辆状态量计算车辆的横向加加速度的侧倾加速度计算单元;以及控制单元，基于横向混合的车辆控制。

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