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1. 发明授权

US08577515B2 Vehicle driving assistant and vehicle driving assisting method 有权
标题翻译：车辆驾驶助理和车辆驾驶辅助方法
公开(公告)号：US08577515B2
公开(公告)日：2013-11-05
申请号：US13384017
申请日：2010-07-15
申请人： Masahiro Kobayashi , Yasuhisa Hayakawa , Kou Sato
发明人： Masahiro Kobayashi , Yasuhisa Hayakawa , Kou Sato
IPC分类号： G05D1/00 , G05D3/00 , G06F7/00 , G06F17/00
CPC分类号： B60T8/17558 , B60K2350/1084 , B60T7/22 , B60T2201/08 , B60T2210/32 , B60W30/08 , B60W2550/10 , G08G1/166 , G08G1/167
摘要： A driving assisting system for a vehicle comprises a side obstacle detector configured to detect an obstacle present in an obstacle detection area; an obstacle approach prevention controller configured to implement an obstacle approach prevention control which assists an approach prevention for preventing the vehicle from approaching an obstacle detected by the side obstacle detector; an overtaking state detector configured to detect an overtaking state which is at least one of a first state where the vehicle is overtaking the obstacle detected by the side obstacle detector and a second state where the vehicle is estimated to overtake the obstacle. The overtaking state detector is configured to detect the overtaking state based at least on (i) a distance between the vehicle and the obstacle, (ii) a speed of the vehicle relative to the obstacle, and (iii) a detection angle of the obstacle relative to the vehicle.
摘要翻译：一种用于车辆的驾驶辅助系统，包括：侧障碍物检测器，被配置为检测障碍物检测区域中存在的障碍物; 障碍物进近防止控制器，被配置为实现障碍物进近防止控制，其辅助防止车辆接近由侧面障碍物检测器检测到的障碍物的防止接近; 超车状态检测器，被配置为检测超车状态，所述超车状态是车辆超越侧障碍物检测器检测到的障碍物的第一状态和估计车辆超过障碍物的第二状态中的至少一个。超车状态检测器被配置为至少基于（i）车辆与障碍物之间的距离，（ii）车辆相对于障碍物的速度，以及（iii）障碍物的检测角度来检测超车状态相对于车辆。

2. 发明授权

US08346437B2 Vehicle driving support device and vehicle driving support method 有权
标题翻译：车辆驾驶支持装置和车辆驾驶支持方法
公开(公告)号：US08346437B2
公开(公告)日：2013-01-01
申请号：US13387450
申请日：2010-07-29
申请人： Yasuhisa Hayakawa , Kou Sato , Masahiro Kobayashi
发明人： Yasuhisa Hayakawa , Kou Sato , Masahiro Kobayashi
IPC分类号： B62D12/00
CPC分类号： B60W30/12 , B60T8/17557 , B60T2201/08
摘要： When a lane-width-direction lateral position (X2obst+X0) of a vehicle (MM) reaches a predetermined control start position (60) being a lane-width-direction lateral position (X2obst+X0) serving as an approach prevention indicator for the vehicle (MM), a control start is determined and a yaw moment (Ms) toward the center of a vehicle traveling lane (200) is applied to the vehicle (MM) to control the vehicle (MM). Then, when the lane-width-direction lateral position (X2obst+X0) of the vehicle (MM) moves from the outside to the inside of the control start position (60), the determination of control start is suppressed for a predetermined period, compared to a period before the movement to the inside of the control start position (60).
摘要翻译：当车辆（MM）的车道宽度方向横向位置（X2obst + X0）达到预定的控制开始位置（60），该预定控制开始位置（60）是用作车辆宽度方向横向位置（X2obst + X0）确定车辆（MM），控制开始，向车辆（MM）施加朝向车辆行驶车道（200）的中心的横摆力矩（Ms），以控制车辆（MM）。然后，当车辆（MM）的车道宽度方向横向位置（X2obst + X0）从控制开始位置（60）的外部移动到内部时，控制开始的确定被抑制预定时间段，与移动到控制开始位置（60）内部的时间段相比。

3. 发明申请

US20120130595A1 VEHICLE DRIVING SUPPORT DEVICE AND VEHICLE DRIVING SUPPORT METHOD 有权
标题翻译：车辆驾驶支持装置和车辆驾驶支持方法
公开(公告)号：US20120130595A1
公开(公告)日：2012-05-24
申请号：US13387450
申请日：2010-07-29
申请人： Yasuhisa Hayakawa , Kou Sato , Masahiro Kobayashi
发明人： Yasuhisa Hayakawa , Kou Sato , Masahiro Kobayashi
IPC分类号： B60W30/12 , B60W30/02 , B60W30/00
CPC分类号： B60W30/12 , B60T8/17557 , B60T2201/08
摘要： When a lane-width-direction lateral position (X2obst+X0) of a vehicle (MM) reaches a predetermined control start position (60) being a lane-width-direction lateral position (X2obst+X0) serving as an approach prevention indicator for the vehicle (MM), a control start is determined and a yaw moment (Ms) toward the center of a vehicle traveling lane (200) is applied to the vehicle (MM) to control the vehicle (MM). Then, when the lane-width-direction lateral position (X2obst+X0) of the vehicle (MM) moves from the outside to the inside of the control start position (60), the determination of control start is suppressed for a predetermined period, compared to a period before the movement to the inside of the control start position (60).
摘要翻译：当车辆（MM）的车道宽度方向横向位置（X2obst + X0）达到预定的控制开始位置（60），该预定控制开始位置（60）是用作车辆宽度方向横向位置（X2obst + X0）确定车辆（MM），控制开始，向车辆（MM）施加朝向车辆行驶车道（200）的中心的横摆力矩（Ms），以控制车辆（MM）。然后，当车辆（MM）的车道宽度方向横向位置（X2obst + X0）从控制开始位置（60）的外部移动到内部时，控制开始的确定被抑制预定时间段，与移动到控制开始位置（60）内部的时间段相比。

4. 发明授权

US08700305B2 Driving control device 有权
标题翻译：驾驶控制装置
公开(公告)号：US08700305B2
公开(公告)日：2014-04-15
申请号：US13518249
申请日：2010-12-01
申请人： Yasuhisa Hayakawa , Kou Sato , Masahiro Kobayashi
发明人： Yasuhisa Hayakawa , Kou Sato , Masahiro Kobayashi
IPC分类号： G06F17/10 , G06G7/78 , G08G1/16
CPC分类号： B60T7/22 , B60T2201/022 , B60T2201/08 , B60W10/18 , B60W10/20 , B60W30/0953 , B60W30/12 , B60W40/10 , B60W2550/146 , B60W2550/308 , B60W2550/402 , B62D15/0265
摘要： A driving control device according to the present invention activates a control for suppressing sideways movement of a vehicle towards a side object, when the side object present to the side of the vehicle as well as towards the rear of the vehicle is detected. Also, the activation of the control is suppressed when, in the absence of detection of the side object, the vehicle starts entering an adjacent lane in order to change lanes.
摘要翻译：根据本发明的驱动控制装置，当检测到存在于车辆一侧以及朝向车辆后部的侧面物体时，启动用于抑制车辆朝向侧面物体的侧向移动的控制。此外，当没有检测到侧对象时，车辆开始进入相邻车道以便改变车道时，抑制了控制的激活。

5. 发明申请

US20120166017A1 VEHICLE DRIVING ASSISTANT AND VEHICLE DRIVING ASSISTING METHOD 有权
标题翻译：车辆驾驶辅助和车辆驾驶辅助方法
公开(公告)号：US20120166017A1
公开(公告)日：2012-06-28
申请号：US13384017
申请日：2010-07-15
申请人： Masahiro Kobayashi , Yasuhisa Hayakawa , Kou Sato
发明人： Masahiro Kobayashi , Yasuhisa Hayakawa , Kou Sato
IPC分类号： G08G1/16
CPC分类号： B60T8/17558 , B60K2350/1084 , B60T7/22 , B60T2201/08 , B60T2210/32 , B60W30/08 , B60W2550/10 , G08G1/166 , G08G1/167
摘要： An overtaking state is detected which is at least one of a first state where an own vehicle (MM) is overtaking an obstacle (SM) in a posterolateral direction of the own vehicle (MM) and a second state where the own vehicle (MM) is estimated to overtake the obstacle (SM). In the implementation of an obstacle access prevention control for preventing the own vehicle (MM) from accessing the obstacle (SM) present in the posterolateral direction of the own vehicle (MM), when a determination that the overtaking state is established is made based on the detecting, the obstacle access prevention control with respect to the obstacle (SM) is suppressed compared with when the determination that the overtaking state is established is not made.
摘要翻译：检测到超车状态，其中本车辆（MM）在本车辆（MM）的后外侧方向上超越障碍物（SM）的第一状态和本车辆（MM）的第二状态中的至少一个，估计超过障碍物（SM）。在实施用于防止本车辆（MM）进入本车辆（MM）的后外侧方向的障碍物（SM）的障碍物进入防止控制中，当基于以下方式确定超车状态为止与不进行超驰状态的判断相比，能够抑制与障碍物（SM）相关的障碍物访问防止控制。

6. 发明申请

US20120265431A1 DRIVING CONTROL DEVICE 有权
标题翻译：驱动控制装置
公开(公告)号：US20120265431A1
公开(公告)日：2012-10-18
申请号：US13518249
申请日：2010-12-01
申请人： Yasuhisa Hayakawa , Kou Sato , Masahiro Kobayashi
发明人： Yasuhisa Hayakawa , Kou Sato , Masahiro Kobayashi
IPC分类号： G05D1/02
CPC分类号： B60T7/22 , B60T2201/022 , B60T2201/08 , B60W10/18 , B60W10/20 , B60W30/0953 , B60W30/12 , B60W40/10 , B60W2550/146 , B60W2550/308 , B60W2550/402 , B62D15/0265
摘要： A driving control device according to the present invention activates a control for suppressing sideways movement of a vehicle towards a side object, when the side object present to the side of the vehicle as well as towards the rear of the vehicle is detected. Also, the activation of the control is suppressed when, in the absence of detection of the side object, the vehicle starts entering an adjacent lane in order to change lanes.
摘要翻译：根据本发明的驱动控制装置，当检测到存在于车辆一侧以及朝向车辆后部的侧面物体时，启动用于抑制车辆朝向侧面物体的侧向移动的控制。此外，当没有检测到侧对象时，车辆开始进入相邻车道以便改变车道时，抑制了控制的激活。

7. 发明授权

US08655549B2 Vehicle driving control apparatus and vehicle driving control method 有权
标题翻译：车辆驾驶控制装置和车辆驾驶控制方法
公开(公告)号：US08655549B2
公开(公告)日：2014-02-18
申请号：US12497787
申请日：2009-07-06
申请人： Yasuhisa Hayakawa , Masahiro Kobayashi , Ko Sato , Shuhei Nishimaki
发明人： Yasuhisa Hayakawa , Masahiro Kobayashi , Ko Sato , Shuhei Nishimaki
IPC分类号： B62D6/00
CPC分类号： B60W30/12 , B60T8/17557 , B60T2201/08 , B60T2201/087 , B60W30/08
摘要： A vehicle driving control apparatus is provided with a lane detecting device, a future position estimating device and a vehicle control device. The lane detecting device detects a lane marker of a lane. The future position estimating device estimates a future transverse position of a host vehicle after a prescribed amount of time. The vehicle control device executes a vehicle control such that a yaw moment is imparted to the host vehicle toward a middle of the lane. The yaw moment is imparted upon determining that the future transverse position is positioned laterally farther toward an outside of the lane from the middle of the lane than a prescribed widthwise lane position that is determined in advance using the lane marker as a reference. The vehicle control device suppresses an impartation of the yaw moment device when a recognition degree of the lane marker is lower than a prescribed value.
摘要翻译：车辆行驶控制装置具备车道检测装置，未来位置估计装置和车辆控制装置。车道检测装置检测车道的车道标记。未来位置估计装置在规定的时间量之后估计本车辆的未来横向位置。车辆控制装置执行车辆控制，使得向主车辆向车道的中心施加横摆力矩。在确定未来横向位置比从预先使用车道标记作为参考确定的规定的宽度方向车道位置横向更远离车道中部的车道中间位置时，赋予偏航力矩。当车道标记的识别度低于规定值时，车辆控制装置抑制偏航力矩装置的赋予。

8. 发明申请

US20110137487A1 RUNNING CONTROL DEVICE, AND RUNNING CONTROL METHOD 失效
标题翻译：运行控制装置和运行控制方法
公开(公告)号：US20110137487A1
公开(公告)日：2011-06-09
申请号：US13055979
申请日：2009-06-12
申请人： Shuhei Nishimaki , Yasuhisa Hayakawa , Masahiro Kobayashi , Ko Sato
发明人： Shuhei Nishimaki , Yasuhisa Hayakawa , Masahiro Kobayashi , Ko Sato
IPC分类号： G08G1/16 , G06F7/00
CPC分类号： G01S13/931 , B60T7/22 , B60W10/18 , B60W10/184 , B60W10/20 , B60W30/08 , B60W30/0956 , B60W30/12 , B60W2720/14 , B62D6/002 , B62D15/025 , B62D15/0265 , G01S2013/9342 , G08G1/16 , G08G1/167
摘要： [Object] An object of the present invention is to restrict an unnecessary control intervention at a scene where a vehicle avoids an obstacle etc. ahead of the vehicle by steering.[Means to Solve] A lateral object that exists on a side of the vehicle is detected (step S3), a later-arriving lateral position Xf at which the vehicle arrives after a lapse of a headway time Tt, with respect to a traffic lane, is estimated, and when the later-arriving lateral position Xf reaches a predetermined threshold value XL under the condition in which the lateral object is detected, a lane change of the vehicle in a direction to a side of the lateral object is suppressed. When detecting that the vehicle moves laterally in a direction opposite to a side of a side vehicle, an avoidance flag is set to Fa=1 (step S6). Subsequently, when the vehicle starts a lateral movement in a direction to the side of the side vehicle, a return flag is set to Fr=1 (step S7). When the return flag is set to Fr=1 in this way, a suppression flag is set to F=0 until a setting time Tm elapses, then the suppression of the lateral movement is forbidden (step S9).
摘要翻译：本发明的目的是通过转向来限制车辆在车辆前方的障碍物等的场合的不必要的控制干预。 [解决方法]检测存在于车辆一侧的横向物体（步骤S3），相对于行车道，车辆到达后的车辆到达的后方侧向位置Xf ，并且当在检测到侧面物体的条件下后来到达的横向位置Xf达到预定阈值XL时，车辆沿横向物体侧的方向的车道改变被抑制。当检测到车辆在与侧车辆的侧面相反的方向上横向移动时，将回避标志设置为Fa = 1（步骤S6）。随后，当车辆沿着侧车辆侧面的方向开始横向移动时，将返回标志设定为Fr = 1（步骤S7）。当以这种方式将返回标志设置为Fr = 1时，抑制标志被设置为F = 0，直到经过设定时间Tm，则禁止横向移动的抑制（步骤S9）。

9. 发明授权

US08489286B2 Vehicle operation supporting device and vehicle operation supporting method 有权
标题翻译：车辆操作辅助装置和车辆操作支持方法
公开(公告)号：US08489286B2
公开(公告)日：2013-07-16
申请号：US12817844
申请日：2010-06-17
申请人： Masahiro Kobayashi , Yasuhisa Hayakawa , Kou Satou
发明人： Masahiro Kobayashi , Yasuhisa Hayakawa , Kou Satou
IPC分类号： B60R22/00 , B60Q1/00 , H04N5/225
CPC分类号： B60T7/22 , B60W30/09 , B60W30/18009 , B60W2520/28 , B60W2540/10 , B60W2540/12 , B60W2540/20 , B60W2550/10 , B60W2550/402 , G01S13/931 , G01S2013/9332 , G01S2013/9353 , G08G1/167
摘要： When an obstacle on either of the two sides of a vehicle is detected, the future position of the vehicle after a prescribed time is predicted. When the future predicted vehicle position reaches a prescribed lateral position in the width direction of the lane, control start is determined such that obstacle avoiding control is carried out to prevent the approach of the vehicle to the obstacle. When an intention of the driver to enter the lane of the obstacle is detected, the start timing for obstacle avoiding control is shortened.
摘要翻译：当检测到车辆的两侧的障碍物时，预测在规定时间之后的车辆的未来位置。当未来预测车辆位置在车道的宽度方向上达到规定的横向位置时，确定控制开始，以便执行障碍物避免控制以防止车辆接近障碍物。当驾驶员进入障碍物的车道的意图被检测到时，障碍物避免控制的开始定时被缩短。

10. 发明授权

US08744742B2 Running control device, and running control method 失效
标题翻译：运行控制装置，运行控制方式
公开(公告)号：US08744742B2
公开(公告)日：2014-06-03
申请号：US13055979
申请日：2009-06-12
申请人： Shuhei Nishimaki , Yasuhisa Hayakawa , Masahiro Kobayashi , Ko Sato
发明人： Shuhei Nishimaki , Yasuhisa Hayakawa , Masahiro Kobayashi , Ko Sato
IPC分类号： G08G1/16 , B62D6/00 , G01S13/93 , B60W30/08 , B60W30/12
CPC分类号： G01S13/931 , B60T7/22 , B60W10/18 , B60W10/184 , B60W10/20 , B60W30/08 , B60W30/0956 , B60W30/12 , B60W2720/14 , B62D6/002 , B62D15/025 , B62D15/0265 , G01S2013/9342 , G08G1/16 , G08G1/167
摘要： A lateral object that exists on a side of the vehicle is detected. When an estimated later-arriving lateral position reaches a predetermined threshold value under the condition in which the lateral object is detected, a lane change of the vehicle in a direction to a side of the lateral object is suppressed. When detecting that the vehicle moves laterally in a direction opposite to a side of a side vehicle, an avoidance flag is set to Fa=1. Subsequently, when the vehicle starts a lateral movement in a direction to the side of the side vehicle, a return flag is set to Fr=1. When the return flag is set to Fr=1 in this way, a suppression flag is set to F=0 until a setting time elapses, then the suppression of the lateral movement is forbidden.
摘要翻译：检测存在于车辆一侧的侧面物体。当在检测到横向物体的条件下估计后来到达的侧向位置达到预定阈值时，车辆沿横向物体一侧的方向的车道变换被抑制。当检测到车辆沿与侧车辆的侧面相反的方向横向移动时，回避标志被设置为Fa = 1。随后，当车辆沿着侧车辆侧面的方向开始横向移动时，返回标志被设定为Fr = 1。当以这种方式将返回标志设置为Fr = 1时，抑制标志设置为F = 0，直到设定时间过去，则禁止横向移动。

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