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1. 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。

2. 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。

3. 发明授权

US08682500B2 Driving assistance apparatus 有权
标题翻译：驾驶辅助装置
公开(公告)号：US08682500B2
公开(公告)日：2014-03-25
申请号：US13059431
申请日：2009-04-21
申请人： Jun Sakugawa
发明人： Jun Sakugawa
IPC分类号： G05D1/00
CPC分类号： B62D15/025 , B60W30/0956 , B60W30/12
摘要： A driving assistance apparatus is a lane keeping apparatus that performs a vehicle driving assistance so that a vehicle runs along a set target course, and includes a vehicle control ECU; a camera; an image ECU; a steering torque sensor; and a steering torque applying unit. The vehicle control ECU includes a parallel running vehicle trajectory estimating unit which estimates the trajectory of the parallel running vehicle running on the adjacent lane and a target course correcting unit which corrects the target course of the own vehicle on the basis of the estimation trajectory of the parallel running vehicle. Since the target course of the own vehicle is corrected on the basis of the estimated trajectory of the parallel running vehicle, it is possible to sufficiently reduce the driver's anxiety with respect to the parallel running vehicle.
摘要翻译：驾驶辅助装置是执行车辆驾驶辅助以使车辆沿着设定的目标路线行驶的车道保持装置，并且包括车辆控制ECU; 相机; 图像ECU; 转向扭矩传感器; 和转向扭矩施加单元。车辆控制ECU包括：平行行驶车辆轨迹估计单元，其估计在相邻车道上行驶的并行行驶车辆的轨迹;以及目标行程校正单元，其基于所述车辆的估计轨迹来校正本车辆的目标行驶路线平行运行车。由于基于平行行驶车辆的估计轨迹来校正本车辆的目标路线，所以可以充分地降低驾驶员对于平行行驶车辆的焦虑。

4. 发明授权

US09424468B2 Moving object prediction device, hypothetical movable object prediction device, program, moving object prediction method and hypothetical movable object prediction method 有权
标题翻译：移动物体预测装置，假想可移动物体预测装置，程序，移动物体预测方法和假想移动物体预测方法
公开(公告)号：US09424468B2
公开(公告)日：2016-08-23
申请号：US13821147
申请日：2011-09-08
申请人： Tsukasa Shimizu , Yoshihiro Ohama , Shinichi Nagata , Masayuki Shimizu , Jun Sakugawa
发明人： Tsukasa Shimizu , Yoshihiro Ohama , Shinichi Nagata , Masayuki Shimizu , Jun Sakugawa
IPC分类号： G06K9/00 , G08G1/16
CPC分类号： G06K9/00624 , G06K9/00362 , G06K9/00805 , G06T7/246 , G06T2207/20076 , G06T2207/30261 , G08G1/166
摘要： A position, behavior state and movement state of a moving object are detected, together with plural categories of track segment region and stationary object regions, using an environment detection section. A presence probability is applied to the detected track segment regions and stationary object regions and a presence probability map is generated, using a map generation section. A moving object position distribution and movement state distribution are generated by a moving object generation section based on the detected moving object position, behavior state and movement state, and recorded on the presence probability map. The moving object position distribution is moved by a position update section based on the moving object movement state distribution. The moved position distribution is changed by a distribution change section based on the presence probabilities of the presence probability map, and a future position distribution of the moving object is predicted on the presence probability map. Consequently, the future position of the moving object can be predicted with good precision under various conditions.
摘要翻译：使用环境检测部分，与多个类别的轨道段区域和静止物体区域一起检测移动物体的位置，行为状态和移动状态。将存在概率应用于检测到的轨道段区域和静止对象区域，并且使用地图生成部分生成存在概率图。运动物体位置分布和运动状态分布由移动物体生成部基于检测到的运动物体位置，行为状态和运动状态生成并记录在存在概率图上。基于移动物体移动状态分布，通过位置更新部移动移动物体位置分布。基于存在概率图的存在概率，通过分布改变部分改变移动位置分布，并且在存在概率图上预测移动对象的未来位置分布。因此，可以在各种条件下以良好的精度预测移动物体的未来位置。

5. 发明申请

US20120078498A1 VEHICULAR PERIPHERAL SURVEILLANCE DEVICE 有权
标题翻译：机动车辆外围监视装置
公开(公告)号：US20120078498A1
公开(公告)日：2012-03-29
申请号：US13375509
申请日：2009-06-02
申请人： Masahiro Iwasaki , Jun Sakugawa , Shinichi Nagata
发明人： Masahiro Iwasaki , Jun Sakugawa , Shinichi Nagata
IPC分类号： G06F17/00
CPC分类号： G08G1/167 , B60W10/06 , B60W10/18 , B60W10/20 , B60W30/09 , B60W30/0956 , B60W30/12 , B60W2540/22 , B60W2550/141 , B60W2550/308 , G08G1/165 , G08G1/166
摘要： A vehicular peripheral surveillance device includes an obstacle recognition sensor 12 which monitors an obstacle around a host vehicle 100, a lane recognition sensor 11 and a vehicle state quantity sensor 13 which detect the traveling state of the host vehicle 100, and a risk computing unit 20 which predicts the movement of the obstacle using information acquired by the obstacle recognition sensor 12, and computes a risk of the obstacle to the host vehicle 100 on the basis of the predicted movement of the obstacle. The risk computing unit 20 changes the prediction range of the movement of the obstacle on the basis of the traveling state of the host vehicle 100 detected by the lane recognition sensor 11 and the vehicle state quantity sensor 13. Therefore, the situation of the host vehicle 100 is predicted taking into consideration the movement of the obstacle, thereby realizing computation with high precision while reducing a computation load.
摘要翻译：车辆周边监视装置包括监视主车辆100周围的障碍物的障碍物识别传感器12，检测主车辆100的行驶状态的车道识别传感器11和车辆状态量传感器13以及风险计算部20 其使用由障碍物识别传感器12获取的信息来预测障碍物的移动，并且基于障碍物的预测的运动来计算对本车辆100的障碍物的风险。风险计算单元20基于由车道识别传感器11和车辆状态量传感器13检测到的本车辆100的行驶状态来改变障碍物的移动的预测范围。因此，主车辆考虑到障碍物的移动来预测100，从而在减少计算负荷的同时实现高精度的计算。

6. 发明申请

US20080114511A1 Running Control Apparatus For Vehicle 有权
标题翻译：车辆运行控制装置
公开(公告)号：US20080114511A1
公开(公告)日：2008-05-15
申请号：US11794123
申请日：2006-05-15
申请人： Jun Sakugawa , Shiro Monzaki
发明人： Jun Sakugawa , Shiro Monzaki
IPC分类号： B60T8/1755 , B60W10/18 , B60W10/20
CPC分类号： B60W10/20 , B60T8/1755 , B60T2210/24 , B60T2260/02 , B60W10/18 , B60W30/02 , B60W30/182 , B60W40/09 , B60W2540/106 , B60W2550/143 , B60W2710/18 , B60W2710/20 , B62D6/003 , B62D6/007
摘要： A target yaw moment Mt of a vehicle is calculated to make the vehicle run stably (S20). The change rate φd of an accelerator pedal operation amount φ is calculated (S30). Based on the change rate φd, a proportion ωs1 for a steering angle control is calculated (S50). When the change rate φd is a positive value, the proportion ωs1 gradually increases as the change rate φd increases. A proportion ωb for a braking force control is calculated by subtracting the proportion ωs1 from 1 (1−ωs1) (S60). Based on the proportions ωs1 and ωb, a target yaw moment Mts for the steering angle control and a target yaw moment Mtb for the braking force control are calculated (S70). A steering-angle changing device (24) and a braking device (36) are controlled based on the target yaw moments Mts and Mtb, respectively (S400 to S430).
摘要翻译：计算车辆的目标横摆力矩Mt，使车辆稳定地行驶（S20）。计算加速器踏板操作量phi的变化率phid（S30）。基于变化率phid计算转向角控制的比例ωgas1（S 50）。当变化率phid为正值时，随着变化率phid的增加，omega 1的比例逐渐增加。通过从1（1-omegas 1）中减去比例ω1来计算制动力控制的比例ω60（S 60）。基于omega1和omegab的比例，计算用于转向角控制的目标横摆力矩Mts和用于制动力控制的目标横摆力矩Mtb（步骤70）。基于目标横摆力矩Mts和Mtb分别控制转向角改变装置（24）和制动装置（S 400〜S 430）。

7. 发明授权

US07519464B2 Running stability control device for vehicle for turn running along curved road 有权
标题翻译：车辆行驶稳定性控制装置，沿弯道行驶
公开(公告)号：US07519464B2
公开(公告)日：2009-04-14
申请号：US11067663
申请日：2005-02-28
申请人： Jun Sakugawa
发明人： Jun Sakugawa
IPC分类号： G06F7/70
CPC分类号： B60T8/1755 , B60T2260/02 , B60W10/18 , B60W10/20 , B60W30/045 , B62D6/003
摘要： A running stability control device for a vehicle capable of controlling a steering angle of steered vehicle wheels independently of a steering operation by a driver, and a driving/braking force applied to each vehicle wheel computes a target turn running control quantity of the vehicle, and shares the target turn running control quantity into a first part for the steering angle control and a second part for the driving/braking force control according to a sharing ratio, wherein the sharing ratio is variably changed according to a running condition of the vehicle relative to a road.
摘要翻译：一种用于车辆的行驶稳定性控制装置，其能够独立于驾驶员的转向操作来控制转向车轮的转向角，以及施加到每个车轮的驱动/制动力计算车辆的目标转弯行驶控制量，以及将目标转弯控制量分配到用于转向角控制的第一部分和根据共享比的用于驱动/制动力控制的第二部分，其中，根据车辆的运行状态相对于共享比可变地改变一条路。

8. 发明授权

US06782968B2 Automatic steering apparatus for vehicle and control method of same 有权
标题翻译：车辆自动转向装置及其控制方法
公开(公告)号：US06782968B2
公开(公告)日：2004-08-31
申请号：US10356539
申请日：2003-02-03
申请人： Jun Sakugawa
发明人： Jun Sakugawa
IPC分类号： B62D504
CPC分类号： B62D6/008 , B62D5/008 , B62D15/025
摘要： A target relative rotation angle of automatic steering is calculated; a target current for assist steering during automatic steering is calculated based on the sum of a torque that inhibits a reaction force of the automatic steering from acting on a steering wheel, a torque that cancels out torque that acts resulting from self-aligning torque of the steered wheels, and a torque according to a steering angle; a target current for assist steering to reduce a steering load on a driver is calculated; a weight of the target current is calculated to increase as the target relative rotation angle increases; and an electric power steering unit is controlled, with a weight sum of the target currents as a final target current.
摘要翻译：计算自动转向的目标相对旋转角度; 基于抑制自动转向作用在方向盘上的反作用力的转矩的总和来计算在自动转向期间的辅助转向的目标电流，抵消由于自动转向的自对准转矩而产生的扭矩的转矩转向轮和转向角的转矩; 计算用于辅助转向以减少驾驶员的转向负载的目标电流; 计算目标电流的重量随着目标相对旋转角度的增加而增加; 并且控制电动助力转向单元，其中目标电流的重量和作为最终目标电流。

9. 发明授权

US08676488B2 Vehicle surrounding monitor device and method for monitoring surroundings used for vehicle 有权
标题翻译：车辆周边监控装置及车辆周边环境监测方法
公开(公告)号：US08676488B2
公开(公告)日：2014-03-18
申请号：US13321326
申请日：2009-06-04
申请人： Shinichi Nagata , Jun Sakugawa , Masahiro Iwasaki
发明人： Shinichi Nagata , Jun Sakugawa , Masahiro Iwasaki
IPC分类号： G08G1/16 , B60R21/00 , G01S13/93
CPC分类号： B60W50/06 , B60W2050/065 , B60W2420/52 , B60W2520/10 , B60W2540/20 , G01S13/87 , G01S13/931 , G01S2013/9332 , G01S2013/9353 , G01S2013/9357 , G01S2013/9375 , G01S2013/9378 , G01S2013/9385 , G08G1/165 , G08G1/166 , G08G1/167
摘要： A vehicle surrounding monitor device 10 includes a front area millimeter-wave radar 11 to a left dead angle millimeter-wave radar 18 which monitor different areas around a host vehicle 100, a vehicle speed sensor 21 and the like which detect the traveling state of the host vehicle 100, a winker signal sensor 31 which detect the state of a driver, and an obstacle detection method determination ECU 41 which controls the operation of the front area millimeter-wave radar 11 and the like and information processing. The obstacle detection method determination ECU 41 sets priority on the front area millimeter-wave radar 11 and the like on the basis of the traveling state of the host vehicle 100 and the state of the driver detected by the vehicle speed sensor 21, the winker signal sensor 31, and the like, and controls the operation of the front area millimeter-wave radar 11 and the like and the information processing on the basis of the priority. Therefore, control differs between a radar having high priority and a radar having low priority, such that, even when a plurality of radars are used, it becomes possible to monitor the surroundings the host vehicle 100 while reducing the load of a CPU or an in-vehicle LAN.
摘要翻译：车辆周围监视装置10包括前端毫米波雷达11，其向左死角毫米波雷达18发送，该雷达监视主车辆100周围的不同区域，车速传感器21等，其检测主车辆100，检测驾驶员的状态的方向指示灯信号传感器31以及控制前方毫米波雷达11的动作等的信息处理的障碍物检测方法判定ECU41。障碍物检测方法判定ECU41基于本车辆100的行驶状态和由车速传感器21检测出的驾驶员的状态来设定前方毫米波雷达11等的优先权，方向指示灯信号传感器31等，并且基于优先级来控制前方毫米波雷达11等的操作和信息处理。因此，具有高优先级的雷达和具有低优先级的雷达的控制不同，使得即使当使用多个雷达时，也可以在减少CPU或负载的负载的同时监视主车辆100的周围环境车辆局域网

10. 发明授权

US08571786B2 Vehicular peripheral surveillance device 有权
标题翻译：车载周边监控装置
公开(公告)号：US08571786B2
公开(公告)日：2013-10-29
申请号：US13375509
申请日：2009-06-02
申请人： Masahiro Iwasaki , Jun Sakugawa , Shinichi Nagata
发明人： Masahiro Iwasaki , Jun Sakugawa , Shinichi Nagata
IPC分类号： G08G1/16
CPC分类号： G08G1/167 , B60W10/06 , B60W10/18 , B60W10/20 , B60W30/09 , B60W30/0956 , B60W30/12 , B60W2540/22 , B60W2550/141 , B60W2550/308 , G08G1/165 , G08G1/166
摘要： A vehicular peripheral surveillance device includes an obstacle recognition sensor which monitors an obstacle around a host vehicle, a lane recognition sensor and a vehicle state quantity sensor which detect the traveling state of the host vehicle, and a risk computing unit which predicts the movement of the obstacle using information acquired by the obstacle recognition sensor, and computes a risk of the obstacle to the host vehicle on the basis of the predicted movement of the obstacle. The risk computing unit changes the prediction range of the movement of the obstacle on the basis of the traveling state of the host vehicle detected by the lane recognition sensor and the vehicle state quantity sensor. Therefore, the situation of the host vehicle is predicted taking into consideration the movement of the obstacle, thereby realizing computation with high precision while reducing a computation load.
摘要翻译：车辆周边监视装置包括：监视主车周围的障碍物的障碍物识别传感器，检测本车辆的行驶状态的车道识别传感器和车辆状态量传感器;以及风险计算单元，障碍物使用由障碍物识别传感器获取的信息，并且基于预测的障碍物的运动来计算对主车辆的障碍物的风险。风险计算单元基于由车道识别传感器和车辆状态量传感器检测到的主车辆的行驶状态来改变障碍物的移动的预测范围。因此，考虑到障碍物的移动来预测本车的情况，从而在减少计算负荷的同时实现高精度的计算。

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