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1. 发明授权

US07885741B2 Steering control device for vehicles restricting target steering angle 有权
标题翻译：用于车辆的转向控制装置限制目标转向角
公开(公告)号：US07885741B2
公开(公告)日：2011-02-08
申请号：US11665330
申请日：2005-10-18
申请人： Yoshitaka Fujita , Yoshiaki Tsuchiya , Takahiro Kojo , Masato Suzumura , Kenji Asano
发明人： Yoshitaka Fujita , Yoshiaki Tsuchiya , Takahiro Kojo , Masato Suzumura , Kenji Asano
IPC分类号： B62D6/00 , B62D5/04
CPC分类号： B62D5/0469 , B60T8/1755 , B60T2260/02 , B60W10/184 , B60W10/20 , B60W30/02 , B60W30/045 , B62D5/008 , B62D6/003
摘要： In a vehicle equipped with a power steering device for assisting the steering of the steered wheels by the steering wheel, when the steering angle of the steered wheels reaches the maximum steering angle, a steering control device restricts a target steering angle for operating the power steering device so that the steering angle or a reaction force acting against the power steering device does not exceed a value determined therefor, so to maintain the steering condition of the steered wheels stably without applying an excessive load on the power steering device. The target steering angle may be calculated as a value based upon rotational angle of the steering wheel and turning behavior control of the vehicle.
摘要翻译：在配备有用于辅助方向盘对转向轮的转向的动力转向装置的车辆中，当转向轮的转向角达到最大转向角时，转向控制装置限制用于操作动力转向器的目标转向角使得作用在动力转向装置上的转向角度或反作用力不超过由此确定的值，从而在不对动力转向装置施加过大负载的情况下稳定地保持转向轮的转向状态。可以将目标转向角计算为基于方向盘的旋转角度和车辆的转弯行为控制的值。

2. 发明申请

US20080195275A1 Control Device for Vehicles to Make Rapid Counter-Measure Against Communication Abnormality in Communication Means Between Calculation Control Devices 有权
标题翻译：控制装置，用于对计算控制装置之间的通信手段中的通信异常进行快速对抗
公开(公告)号：US20080195275A1
公开(公告)日：2008-08-14
申请号：US11664936
申请日：2005-10-18
申请人： Takahiro Kojo , Yoshiaki Tsuchiya , Masato Suzumura , Jun Sakugawa , Kenji Asano
发明人： Takahiro Kojo , Yoshiaki Tsuchiya , Masato Suzumura , Jun Sakugawa , Kenji Asano
IPC分类号： G06F17/00
CPC分类号： B62D5/0481 , B60T8/885 , B60T2270/402 , G06F11/1641
摘要： In the control device for vehicles which executes a control of the vehicle by one calculation control device based upon a target control amount generated by another calculation control device connected to the one calculation control device by way of a communication means, the other calculation control device calculates an estimated target control amount by itself to compare it with the target control amount generated by the one calculation control device and input thereto by way of the communication means, or a third calculation control device compares the target control amounts generated by the one and the other calculation control devices and input thereto by way of the communication means, thereby to judge if an abnormality has occurred in the communication means, and to rapidly modify the control to make a counter-measure against the abnormality.
摘要翻译：在通过一个计算控制装置基于通过通信装置连接到一个计算控制装置的另一计算控制装置生成的目标控制量的车辆控制装置中，另一计算控制装置计算估计目标控制量本身将其与由一个计算控制装置产生的目标控制量进行比较并通过通信装置输入到目标控制量，或者第三计算控制装置将由一个和另一个产生的目标控制量进行比较计算控制装置，并通过通信装置输入，从而判断通信装置中是否发生异常，并迅速修改控制以对抗异常。

3. 发明授权

US08478487B2 Control device for vehicles to make rapid counter-measure against communication abnormality in communication means between calculation control devices 有权
标题翻译：用于车辆的控制装置，用于对计算控制装置之间的通信手段中的通信异常进行快速对抗
公开(公告)号：US08478487B2
公开(公告)日：2013-07-02
申请号：US11664936
申请日：2005-10-18
申请人： Takahiro Kojo , Yoshiaki Tsuchiya , Masato Suzumura , Jun Sakugawa , Kenji Asano
发明人： Takahiro Kojo , Yoshiaki Tsuchiya , Masato Suzumura , Jun Sakugawa , Kenji Asano
IPC分类号： B62D5/00
CPC分类号： B62D5/0481 , B60T8/885 , B60T2270/402 , G06F11/1641
摘要： In the control device for vehicles which executes a control of the vehicle by one calculation control device based upon a target control amount generated by another calculation control device connected to the one calculation control device by way of a communication means, the other calculation control device calculates an estimated target control amount by itself to compare it with the target control amount generated by the one calculation control device and input thereto by way of the communication means, or a third calculation control device compares the target control amounts generated by the one and the other calculation control devices and input thereto by way of the communication means, thereby to judge if an abnormality has occurred in the communication means, and to rapidly modify the control to make a counter-measure against the abnormality.
摘要翻译：在通过一个计算控制装置基于通过通信装置连接到一个计算控制装置的另一计算控制装置生成的目标控制量的车辆控制装置中，另一计算控制装置计算估计目标控制量本身将其与由一个计算控制装置产生的目标控制量进行比较并通过通信装置输入到目标控制量，或者第三计算控制装置将由一个和另一个产生的目标控制量进行比较计算控制装置，并通过通信装置输入，从而判断通信装置中是否发生异常，并迅速修改控制以对抗异常。

4. 发明申请

US20070299583A1 Steering Control Device for Vehicles Restricting Target Steering Angle 有权
标题翻译：车辆转向控制装置限制目标转向角
公开(公告)号：US20070299583A1
公开(公告)日：2007-12-27
申请号：US11665330
申请日：2005-10-18
申请人： Yoshitaka Fujita , Yoshiaki Tsuchiya , Takahiro Kojo , Masato Suzumura , Kenji Asano
发明人： Yoshitaka Fujita , Yoshiaki Tsuchiya , Takahiro Kojo , Masato Suzumura , Kenji Asano
IPC分类号： B62D6/00
CPC分类号： B62D5/0469 , B60T8/1755 , B60T2260/02 , B60W10/184 , B60W10/20 , B60W30/02 , B60W30/045 , B62D5/008 , B62D6/003
摘要： In a vehicle equipped with a power steering device for assisting the steering of the steered wheels by the steering wheel, when the steering angle of the steered wheels reaches the maximum steering angle, a steering control device restricts a target steering angle for operating the power steering device so that the steering angle or a reaction force acting against the power steering device does not exceed a value determined therefor, so to maintain the steering condition of the steered wheels stably without applying an excessive load on the power steering device. The target steering angle may be calculated as a value based upon rotational angle of the steering wheel and turning behavior control of the vehicle.
摘要翻译：在配备有用于辅助方向盘对转向轮的转向的动力转向装置的车辆中，当转向轮的转向角达到最大转向角时，转向控制装置限制用于操作动力转向器的目标转向角使得作用在动力转向装置上的转向角度或反作用力不超过由此确定的值，从而在不对动力转向装置施加过大负载的情况下稳定地保持转向轮的转向状态。可以将目标转向角计算为基于方向盘的旋转角度和车辆的转弯行为控制的值。

5. 发明授权

US08565974B2 Control system for vehicles for decreasing controlling amount by judging abnormality 有权
标题翻译：通过判断异常来减少控制量的车辆控制系统
公开(公告)号：US08565974B2
公开(公告)日：2013-10-22
申请号：US10594750
申请日：2005-10-18
申请人： Takahiro Kojo , Masato Suzumura , Yoshiaki Tsuchiya , Kenji Asano
发明人： Takahiro Kojo , Masato Suzumura , Yoshiaki Tsuchiya , Kenji Asano
IPC分类号： A01B69/00 , B62D6/00 , B63G8/20 , B63H25/04 , G05D1/00 , G06F17/00
CPC分类号： B62D5/0481 , B60T2260/02 , B60T2270/402 , B60T2270/413
摘要： In view of the matter that an abnormality occurred in an operating portion of a control system comes out in an early stage as a result of the control, while it takes a time for an abnormality occurred in the generation of a controlling amount for controlling the operation of an operating portion to come out, in ceasing the control when an abnormality has occurred in the control system the controlling amount is decreased at a higher speed when the abnormality of the controlling amount was judged than a speed at which the operation of the operating device is decreased when the abnormality of the operating device was judged.
摘要翻译：鉴于控制系统的操作部分发生异常的情况，作为控制的结果在早期出来，而在生成用于控制操作的控制量时产生异常所花费的时间当控制系统发生异常时停止控制，当控制量的异常被判断为比操作装置的操作的速度快时控制量以较高的速度降低当判断操作装置的异常时减小。

6. 发明申请

US20080097671A1 Control system for vehicles for decreasing controlling amount by judging abnormality 有权
标题翻译：通过判断异常来减少控制量的车辆控制系统
公开(公告)号：US20080097671A1
公开(公告)日：2008-04-24
申请号：US10594750
申请日：2005-10-18
申请人： Takahiro Kojo , Masato Suzumura , Yoshiaki Tsuchiya , Kenji Asano
发明人： Takahiro Kojo , Masato Suzumura , Yoshiaki Tsuchiya , Kenji Asano
IPC分类号： B62D6/00 , B62D5/04 , B62D5/30
CPC分类号： B62D5/0481 , B60T2260/02 , B60T2270/402 , B60T2270/413
摘要： In view of the matter that an abnormality occurred in an operating portion of a control system comes out in an early stage as a result of the control, while it takes a time for an abnormality occurred in the generation of a controlling amount for controlling the operation of an operating portion to come out, in ceasing the control when an abnormality has occurred in the control system the controlling amount is decreased at a higher speed when the abnormality of the controlling amount was judged than a speed at which the operation of the operating device is decreased when the abnormality of the operating device was judged.
摘要翻译：鉴于控制系统的操作部分发生异常的情况，作为控制的结果在早期出来，而在生成用于控制操作的控制量时产生异常所花费的时间当控制系统发生异常时停止控制，当控制量的异常被判断为比操作装置的操作的速度快时控制量以较高的速度降低当判断操作装置的异常时减小。

7. 发明授权

US08843276B2 Control device for steering transmission ratio variable device 有权
标题翻译：转向传动比可变装置控制装置
公开(公告)号：US08843276B2
公开(公告)日：2014-09-23
申请号：US13510347
申请日：2010-11-18
申请人： Takahiro Kojo , Yoshiaki Tsuchiya , Noritsugu Iwazaki , Tetsuya Morino
发明人： Takahiro Kojo , Yoshiaki Tsuchiya , Noritsugu Iwazaki , Tetsuya Morino
IPC分类号： A01B69/00 , B62D6/00 , B62D11/00 , B62D5/00 , B62D5/04
CPC分类号： B62D5/008 , B62D5/0469
摘要： A device for controlling a steering transmission ratio variable device, which is provided with: a motor, which is able to apply a driving force that promotes relative rotation between a steering output shaft coupled to wheels to be turned and a steering input shaft that applies a steering input to the steering output shaft to one of either the steering output shaft or the steering input shaft; a motor driving device that drives the motor; and a locking device that is able to restrict the relative rotation, has a setting device that prescribes a drive voltage the motor and sets a damping gain, which acts in a direction that reduces a rotating speed of the motor, to a value that is larger than a reference value corresponding to an unlocked state during a locking control period in which a state of the steering transmission ratio variable device switches from an unlocked state in which the relative rotation is not restricted to a locked state in which the relative rotation is restricted.
摘要翻译：一种用于控制转向传动比可变装置的装置，其具有：电动机，其能够施加驱动力，所述驱动力促进联接到待转动的车轮的转向输出轴和施加转向的转向输入轴之间的相对旋转; 将转向输出轴的转向输入转向转向输出轴或转向输入轴之一; 驱动马达的马达驱动装置; 以及能够限制相对旋转的锁定装置，具有规定电动机的驱动电压并将减小电动机的转速的方向作用的阻尼增益设定为更大的值的设定装置比在转向传动比可变装置的状态从相对旋转不限于相对旋转受限制的锁定状态的解锁状态切换到的锁定控制期间对应于解锁状态的基准值。

8. 发明授权

US08948455B2 Travel path estimation apparatus and program 有权
标题翻译：旅行路径估算装置及程序
公开(公告)号：US08948455B2
公开(公告)日：2015-02-03
申请号：US13820030
申请日：2011-09-26
申请人： Akihiro Watanabe , Takahiro Kojo , Theerawat Limpibunterng , Yoshiaki Tsuchiya
发明人： Akihiro Watanabe , Takahiro Kojo , Theerawat Limpibunterng , Yoshiaki Tsuchiya
IPC分类号： G06K9/00 , G06K9/32 , G06T7/00
CPC分类号： G06K9/3241 , G06K9/00798 , G06T7/73 , G06T7/77 , G06T2207/10016 , G06T2207/30244 , G06T2207/30256
摘要： A characteristic point extraction section acquires an image captured by an image capture device and extracts characteristic points from the captured image, a vehicle lane boundary point selection section selects vehicle lane boundary points that indicate vehicle lanes from the extracted characteristic points, a distribution determination section determines the distribution of the vehicle lane boundary points, a system noise setting section sets each system noise based on the distribution of vehicle lane boundary points, and a travel path parameter estimation section stably predicts travel path parameters based on the vehicle lane boundary points, past estimation results, and the system noise that has been set.
摘要翻译：特征点提取部获取由图像拍摄装置拍摄的图像，并从拍摄图像中提取特征点，车道边界点选择部从所提取的特征点中选择表示车道的车道边界点，分配确定部确定车道边界点的分布，系统噪声设定部根据车道边界点的分布设定各个系统噪声，行驶路径参数推定部基于车道边界点来稳定地预测行驶路径参数，过去的估计结果，以及已经设置的系统噪声。

9. 发明申请

US20120203431A1 VEHICLE DRIVING CONTROL APPARATUS 有权
标题翻译：车辆驾驶控制装置
公开(公告)号：US20120203431A1
公开(公告)日：2012-08-09
申请号：US13502760
申请日：2010-06-23
申请人： Takahiro Kojo , Yoshiaki Tsuchiya , Theerawat Limpibunterng
发明人： Takahiro Kojo , Yoshiaki Tsuchiya , Theerawat Limpibunterng
IPC分类号： B62D6/00
CPC分类号： B62D5/008 , B62D15/025
摘要： A vehicle driving control apparatus is provided at least with: a rudder angle varying device capable of changing a relation between a steering angle, which is a rotation angle of a steering input shaft, and a rudder angle, which is a rotation angle of steered wheels; and a trajectory controlling device for determining a control amount and controlling the rudder angle varying device such that a trajectory of a vehicle approaches a target driving route of the vehicle. The vehicle driving control apparatus is further provided with a correcting device for correcting (i) a rate of change in the rudder angle with respect to a steering amount of the steering input or (ii) the determined control amount, in accordance with whether or not a steering direction of the steering input inputted to the steering input shaft through a steering member by a driver of the vehicle is identical with a rudder angle control direction of the control amount determined by the trajectory controlling device.
摘要翻译：至少提供一种车辆驾驶控制装置，其具有：能够改变作为转向输入轴的旋转角度的转向角与作为转向轮的旋转角度的方向舵角之间的关系的舵角变更装置 ; 以及轨迹控制装置，用于确定控制量并控制方向舵角度变化装置，使得车辆的轨迹接近车辆的目标行驶路线。车辆驱动控制装置还具有校正装置，用于根据转向输入的转向量来修正方向舵角度的变化率，或者根据确定的控制量是否根据确定的控制量通过车辆的驾驶员通过转向构件输入到转向输入轴的转向输入的转向方向与由轨迹控制装置确定的控制量的舵角控制方向相同。

10. 发明申请

US20130177211A1 TRAVEL PATH ESTIMATION APPARATUS AND PROGRAM 有权
标题翻译：旅行路径估算装置和程序
公开(公告)号：US20130177211A1
公开(公告)日：2013-07-11
申请号：US13820030
申请日：2011-09-26
申请人： Akihiro Watanabe , Takahiro Kojo , Theerawat Limpibunterng , Yoshiaki Tsuchiya
发明人： Akihiro Watanabe , Takahiro Kojo , Theerawat Limpibunterng , Yoshiaki Tsuchiya
IPC分类号： G06K9/32
CPC分类号： G06K9/3241 , G06K9/00798 , G06T7/73 , G06T7/77 , G06T2207/10016 , G06T2207/30244 , G06T2207/30256
摘要： A characteristic point extraction section acquires an image captured by an image capture device and extracts characteristic points from the captured image, a vehicle lane boundary point selection section selects vehicle lane boundary points that indicate vehicle lanes from the extracted characteristic points, a distribution determination section determines the distribution of the vehicle lane boundary points, a system noise setting section sets each system noise based on the distribution of vehicle lane boundary points, and a travel path parameter estimation section stably predicts travel path parameters based on the vehicle lane boundary points, past estimation results, and the system noise that has been set.
摘要翻译：特征点提取部获取由图像拍摄装置拍摄的图像，并从拍摄图像中提取特征点，车道边界点选择部从所提取的特征点中选择表示车道的车道边界点，分配确定部确定车道边界点的分布，系统噪声设定部根据车道边界点的分布设定各个系统噪声，行驶路径参数推定部基于车道边界点来稳定地预测行驶路径参数，过去的估计结果，以及已经设置的系统噪声。

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