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1. 发明授权

US08265847B2 Speed control device for vehicle 有权
标题翻译：车速调速装置
公开(公告)号：US08265847B2
公开(公告)日：2012-09-11
申请号：US12557255
申请日：2009-09-10
申请人： Takayuki Miyajima , Yoshiyuki Yasui , Hideaki Koto , Hiroyuki Kodama , Masaki Maruyama
发明人： Takayuki Miyajima , Yoshiyuki Yasui , Hideaki Koto , Hiroyuki Kodama , Masaki Maruyama
IPC分类号： G05D1/00
CPC分类号： B60W40/076 , B60K31/0066 , B60W30/16 , B60W40/072 , B60W2550/143 , B60W2720/10
摘要： A speed control device includes: a reference point setting unit that sets, based on shape and position of a curve in advance of a vehicle, first and second reference points within the curve, the second reference point being nearer the curve exit than the first reference point; a distance calculating unit that calculates, based on the vehicle location and the reference points, first and second distances, between the vehicle and the first and second reference points, respectively; a target speed determination unit that determines, based on the curve shape and the first and second distances, the first and second target vehicle speeds to be maintained, respectively, before and after passing the first reference point; and a speed control unit that controls the speed of the vehicle based on the target speeds and the detected speed of the vehicle.
摘要翻译：速度控制装置包括：基准点设定单元，其基于车辆前方的曲线的形状和位置来设定曲线内的第一和第二参考点，第二参考点比第一参考点更靠近曲线出口点; 距离计算单元，其基于车辆位置和参考点分别计算车辆与第一和第二参考点之间的第一和第二距离; 目标速度确定单元，其在经过所述第一参考点之前和之后分别基于所述曲线形状和所述第一和第二距离确定要保持的所述第一和第二目标车辆速度; 以及速度控制单元，其基于目标速度和车辆的检测速度来控制车辆的速度。

2. 发明授权

US08428842B2 Speed control device for vehicle 有权
标题翻译：车速调速装置
公开(公告)号：US08428842B2
公开(公告)日：2013-04-23
申请号：US12569081
申请日：2009-09-29
申请人： Yoshiyuki Yasui , Hideaki Koto , Hiroyuki Kodama , Masaki Maruyama , Takayuki Miyajima
发明人： Yoshiyuki Yasui , Hideaki Koto , Hiroyuki Kodama , Masaki Maruyama , Takayuki Miyajima
IPC分类号： B60T8/32
CPC分类号： B60K31/0066 , B60W30/143 , B60W2540/10 , B60W2550/143
摘要： A speed control device for a vehicle includes a vehicle speed obtaining means obtaining a vehicle speed, a shape obtaining means obtaining a curve shape, a position obtaining means obtaining a positional relationship between a curve and the vehicle, a target vehicle speed determining means determining a target vehicle speed based on the curve shape and the positional relationship, a vehicle speed controlling means controlling the vehicle speed based on the target vehicle speed and the vehicle speed, and an acceleration operation quantity obtaining means obtaining an operation quantity of an acceleration operating member operated by a driver, wherein the target vehicle speed determining means includes a modification means modifying the target vehicle speed based on the operation quantity so that the target vehicle speed obtained when the operation variable is greater than zero becomes a greater value than the target vehicle speed obtained when the operation quantity is zero.
摘要翻译：一种用于车辆的速度控制装置，包括获得车速的车速获取装置，获得曲线形状的形状获得装置，获得曲线与车辆之间的位置关系的位置获取装置，确定基于曲线形状和位置关系的目标车速，基于目标车速和车速控制车速的车速控制单元，以及获取加速操作构件的操作量的加速度运算量取得单元通过驾驶员，其中目标车速确定装置包括基于操作量修正目标车速的修改装置，使得当操作变量大于零时获得的目标车速变得比获得的目标车速更大的值当操作量为零时。

3. 发明申请

US20100082216A1 SPEED CONTROL DEVICE FOR VEHICLE 有权
标题翻译：车辆速度控制装置
公开(公告)号：US20100082216A1
公开(公告)日：2010-04-01
申请号：US12569081
申请日：2009-09-29
申请人： Yoshiyuki YASUI , Hideaki Koto , Hiroyuki Kodama , Masaki Maruyama , Takayuki Miyajima
发明人： Yoshiyuki YASUI , Hideaki Koto , Hiroyuki Kodama , Masaki Maruyama , Takayuki Miyajima
IPC分类号： G05D13/02
CPC分类号： B60K31/0066 , B60W30/143 , B60W2540/10 , B60W2550/143
摘要： A speed control device for a vehicle includes a vehicle speed obtaining means obtaining a vehicle speed, a shape obtaining means obtaining a curve shape, a position obtaining means obtaining a positional relationship between a curve and the vehicle, a target vehicle speed determining means determining a target vehicle speed based on the curve shape and the positional relationship, a vehicle speed controlling means controlling the vehicle speed based on the target vehicle speed and the vehicle speed, and an acceleration operation quantity obtaining means obtaining an operation quantity of an acceleration operating member operated by a driver, wherein the target vehicle speed determining means includes a modification means modifying the target vehicle speed based on the operation quantity so that the target vehicle speed obtained when the operation variable is greater than zero becomes a greater value than the target vehicle speed obtained when the operation quantity is zero.
摘要翻译：一种用于车辆的速度控制装置，包括获得车速的车速获取装置，获得曲线形状的形状获得装置，获得曲线与车辆之间的位置关系的位置获取装置，确定基于曲线形状和位置关系的目标车速，基于目标车速和车速控制车速的车速控制单元，以及获取加速操作构件的操作量的加速度运算量取得单元通过驾驶员，其中目标车速确定装置包括基于操作量修正目标车速的修改装置，使得当操作变量大于零时获得的目标车速变得比获得的目标车速更大的值当操作量为零时。

4. 发明授权

US09139173B2 Device for controlling traveling of vehicle 有权
标题翻译：用于控制车辆行驶的装置
公开(公告)号：US09139173B2
公开(公告)日：2015-09-22
申请号：US13120750
申请日：2009-09-30
申请人： Yoshiyuki Yasui , Motoshi Suzuki , Hideaki Koto , Kazutaka Noro , Hiroyuki Kodama , Manabu Tanaka , Takayuki Miyajima
发明人： Yoshiyuki Yasui , Motoshi Suzuki , Hideaki Koto , Kazutaka Noro , Hiroyuki Kodama , Manabu Tanaka , Takayuki Miyajima
IPC分类号： B60T7/12 , B60T8/1755 , B60W30/045 , B60W40/072 , B60W40/076
CPC分类号： B60T7/12 , B60K31/0066 , B60K31/0075 , B60K31/0083 , B60T8/1755 , B60T2201/16 , B60W30/02 , B60W30/045 , B60W30/14 , B60W30/143 , B60W30/18145 , B60W40/072 , B60W40/076 , B60W2520/125 , B60W2520/14 , B60W2540/18 , B60W2550/146 , G01C21/28
摘要： After a vehicle has entered a curve, a deviation (Sch) between a target turning state quantity Td and an actual turning state quantity Ta is computed. In a stage in which Sch does not reach a predetermined value after the vehicle has entered the curve, the possibility of the vehicle traveling in the curve is judged to be low, and the reliability of the curve information Rc, Pc is judged to be low. In this case, a determination for prohibiting execution of control (So=0) is made. In a stage after Sch has reached the predetermined value, the possibility of the vehicle traveling in the curve is judged to be high, and the reliability of the curve information Rc, Pc is judged to be high. In this case, a determination for permitting execution of the control (So=1) is made. Deceleration control is started and executed only when a control start condition is satisfied, and the determination for permission is made. Accordingly, even when the control start condition is satisfied, the deceleration control is not started, if the prohibition determination is made. Thus, the reliability of the curve information based on map information on the vehicle is evaluated reliably, and the deceleration control within the curve can be prevented from being unnecessarily executed on the basis of curve information whose reliability is low.
摘要翻译：在车辆进入曲线之后，计算目标转弯状态量Td与实际转弯状态量Ta之间的偏差（Sch）。在车辆进入曲线之后，在Sch达不到预定值的阶段，车辆在曲线中行驶的可能性被判断为低，并且曲线信息Rc，Pc的可靠性被判断为低。在这种情况下，进行禁止执行控制（So = 0）的判定。在Sch达到预定值之后的阶段，车辆在曲线中行驶的可能性被判断为高，曲线信息Rc，Pc的可靠性被判定为高。在这种情况下，进行允许执行控制的判定（So = 1）。只有满足控制开始条件才开始执行减速控制，进行许可判定。因此，即使满足控制开始条件，如果进行禁止判定，则不开始减速控制。因此，可靠地评估基于车辆上的地图信息的曲线信息的可靠性，并且可以基于可靠性低的曲线信息来防止曲线内的减速控制被不必要地执行。

5. 发明授权

US08204666B2 Driving support device, driving support method, and driving support program 有权
标题翻译：驾驶辅助装置，驾驶支援方法和行车支援计划
公开(公告)号：US08204666B2
公开(公告)日：2012-06-19
申请号：US12401364
申请日：2009-03-10
申请人： Atsushi Takeuchi , Takayuki Miyajima , Fumiharu Ogawa , Hideaki Koto , Hiroyuki Kodama , Masaki Maruyama
发明人： Atsushi Takeuchi , Takayuki Miyajima , Fumiharu Ogawa , Hideaki Koto , Hiroyuki Kodama , Masaki Maruyama
IPC分类号： G06G7/76
CPC分类号： B60K28/06 , B60W30/18009 , B60W2540/12 , B60W2540/22 , B60W2550/141 , B60W2550/142 , B60W2550/143 , B60W2550/148 , B60W2550/402 , B60W2720/10
摘要： Factor information is acquired that indicates at least one factor that imposes a psychological effect on a driver of a host vehicle when the host vehicle is traveling on a road with a descending slope ahead of the host vehicle. An overall psychological effect that is imposed on the driver when the host vehicle is traveling on the road with the descending slope is acquired based on the factor information. The vehicle speed is controlled in a vehicle speed control section in accordance with the overall psychological effect.
摘要翻译：当本车辆在本车辆前方具有下降斜坡的道路上行驶时，获取指示信息，该信息指示对主车辆的驾驶员施加心理作用的至少一个因素。基于因子信息获取当本车辆在具有下降坡度的道路上行驶时对驾驶员施加的整体心理效果。根据整体心理效应，车速控制在车速控制部。

6. 发明授权

US08150594B2 Driving support device, driving support method, and driving support program 有权
标题翻译：驾驶辅助装置，驾驶支援方法和行车支援计划
公开(公告)号：US08150594B2
公开(公告)日：2012-04-03
申请号：US12401328
申请日：2009-03-10
申请人： Takayuki Miyajima , Fumiharu Ogawa , Atsushi Takeuchi , Masaki Maruyama , Hiroyuki Kodama , Hideaki Koto
发明人： Takayuki Miyajima , Fumiharu Ogawa , Atsushi Takeuchi , Masaki Maruyama , Hiroyuki Kodama , Hideaki Koto
IPC分类号： B60T8/17
CPC分类号： B60W50/0098 , B60W10/06 , B60W10/10 , B60W10/184 , B60W2520/10 , B60W2520/14 , B60W2540/10 , B60W2540/30 , B60W2550/143 , B60W2550/402 , B60W2720/103 , B60W2720/106
摘要： A target vehicle speed at a predetermined position ahead of a host vehicle is obtained, and a plurality of deceleration patterns with different deceleration schemes is obtained for decelerating the host vehicle to the target vehicle speed. Based on a driving operation for controlling speed of the host vehicle, a deceleration pattern is selected from the plurality of deceleration patterns. Using the selected deceleration pattern as a reference, the vehicle speed of the host vehicle is reduced to the target vehicle speed before the host vehicle reaches the predetermined position.
摘要翻译：获得本车辆前方预定位置的目标车速，并且获得具有不同减速方式的多个减速模式用于使本车辆减速到目标车速。基于用于控制主车辆的速度的驾驶操作，从多个减速模式中选择减速模式。使用所选择的减速模式作为基准，在本车辆到达预定位置之前，将本车辆的车速降低到目标车速。

7. 发明申请

US20090234550A1 DRIVING SUPPORT DEVICE, DRIVING SUPPORT METHOD, AND DRIVING SUPPORT PROGRAM 有权
标题翻译：驱动支持设备，驱动支持方法和驱动支持程序
公开(公告)号：US20090234550A1
公开(公告)日：2009-09-17
申请号：US12401364
申请日：2009-03-10
申请人： Atsushi TAKEUCHI , Takayuki Miyajima , Fumiharu Ogawa , Hideaki Koto , Hiroyuki Kodama , Masaki Maruyama
发明人： Atsushi TAKEUCHI , Takayuki Miyajima , Fumiharu Ogawa , Hideaki Koto , Hiroyuki Kodama , Masaki Maruyama
IPC分类号： G06F7/00
CPC分类号： B60K28/06 , B60W30/18009 , B60W2540/12 , B60W2540/22 , B60W2550/141 , B60W2550/142 , B60W2550/143 , B60W2550/148 , B60W2550/402 , B60W2720/10
摘要： Factor information is acquired that indicates at least one factor that imposes a psychological effect on a driver of a host vehicle when the host vehicle is traveling on a road with a descending slope ahead of the host vehicle. An overall psychological effect that is imposed on the driver when the host vehicle is traveling on the road with the descending slope is acquired based on the factor information. The vehicle speed is controlled in a vehicle speed control section in accordance with the overall psychological effect.
摘要翻译：当本车辆在本车辆前方具有下降斜坡的道路上行驶时，获取指示信息，该信息指示对主车辆的驾驶员施加心理作用的至少一个因素。基于因子信息获取当本车辆在具有下降坡度的道路上行驶时对驾驶员施加的整体心理效果。根据整体心理效应，车速控制在车速控制部。

8. 发明授权

US08892329B2 Speed control apparatus for vehicle 有权
标题翻译：车速调速装置
公开(公告)号：US08892329B2
公开(公告)日：2014-11-18
申请号：US12849494
申请日：2010-08-03
申请人： Yoshiyuki Yasui , Hideaki Koto , Manabu Tanaka , Takayuki Miyajima
发明人： Yoshiyuki Yasui , Hideaki Koto , Manabu Tanaka , Takayuki Miyajima
IPC分类号： B60T8/24 , B60T8/32 , B60W30/14
CPC分类号： B60W30/146 , B60W2550/143
摘要： A plurality of position data sets representing a plurality of points on a road ahead of a vehicle are acquired, and the degree of curvature of the road at each point is computed. On the basis of the degree of curvature, a constant curvature degree section of a curve is identified, and the degree of curvature and the end position of the constant curvature degree section are determined. In order to cause the vehicle to properly pass through the curve, curve deceleration control is executed on the basis of the actual vehicle speed, a proper vehicle speed determined from the degree of curvature, and the end position of the constant curvature degree section. That is, the curve deceleration control is performed on the basis of the start point of a section of a curve having the maximum degree of curvature and the constant degree of curvature of that section.
摘要翻译：获取表示车辆前方道路上的多个点的多个位置数据组，并计算出各点的道路的曲率。基于曲率，确定曲率的恒定曲率部分，并且确定恒定曲率部分的曲率和终点位置。为了使车辆正确地通过曲线，基于实际车速，从曲率度确定的适当车速和恒定曲率度部分的终点位置来执行曲线减速控制。也就是说，曲线减速控制是基于具有该部分的最大曲率半径和恒定曲率的曲线的一部分的起点进行的。

9. 发明申请

US20110035131A1 SPEED CONTROL APPARATUS FOR VEHICLE 有权
标题翻译：车辆速度控制装置
公开(公告)号：US20110035131A1
公开(公告)日：2011-02-10
申请号：US12849494
申请日：2010-08-03
申请人： Yoshiyuki Yasui , Hideaki Koto , Manabu Tanaka , Takayuki Miyajima
发明人： Yoshiyuki Yasui , Hideaki Koto , Manabu Tanaka , Takayuki Miyajima
IPC分类号： F16H59/00 , G06F7/00
CPC分类号： B60W30/146 , B60W2550/143
摘要： A plurality of position data sets representing a plurality of points on a road ahead of a vehicle are acquired, and the degree of curvature of the road at each point is computed. On the basis of the degree of curvature, a constant curvature degree section of a curve is identified, and the degree of curvature and the end position of the constant curvature degree section are determined. In order to cause the vehicle to properly pass through the curve, curve deceleration control is executed on the basis of the actual vehicle speed, a proper vehicle speed determined from the degree of curvature, and the end position of the constant curvature degree section. That is, the curve deceleration control is performed on the basis of the start point of a section of a curve having the maximum degree of curvature and the constant degree of curvature of that section.
摘要翻译：获取表示车辆前方道路上的多个点的多个位置数据组，并计算出各点的道路的曲率。基于曲率，确定曲率的恒定曲率部分，并且确定恒定曲率部分的曲率和终点位置。为了使车辆正确地通过曲线，基于实际车速，从曲率度确定的适当车速和恒定曲率度部分的终点位置来执行曲线减速控制。也就是说，曲线减速控制是基于具有该部分的最大曲率半径和恒定曲率的曲线的一部分的起点进行的。

10. 发明申请

US20110178689A1 DEVICE FOR CONTROLLING TRAVELING OF VEHICLE 有权
标题翻译：用于控制车辆行驶的装置
公开(公告)号：US20110178689A1
公开(公告)日：2011-07-21
申请号：US13120750
申请日：2009-10-30
申请人： Yoshiyuki Yasui , Motoshi Suzuki , Hideaki Koto , Kazutake Noro , Hiroyuki Kodama , Manabu Tanaka , Yakayuki Miyajima
发明人： Yoshiyuki Yasui , Motoshi Suzuki , Hideaki Koto , Kazutake Noro , Hiroyuki Kodama , Manabu Tanaka , Yakayuki Miyajima
IPC分类号： G06F7/00 , B60T8/1755 , B60T7/12
CPC分类号： B60T7/12 , B60K31/0066 , B60K31/0075 , B60K31/0083 , B60T8/1755 , B60T2201/16 , B60W30/02 , B60W30/045 , B60W30/14 , B60W30/143 , B60W30/18145 , B60W40/072 , B60W40/076 , B60W2520/125 , B60W2520/14 , B60W2540/18 , B60W2550/146 , G01C21/28
摘要： After a vehicle has entered a curve, a deviation (Sch) between a target turning state quantity Td and an actual turning state quantity Ta is computed. In a stage in which Sch does not reach a predetermined value after the vehicle has entered the curve, the possibility of the vehicle traveling in the curve is judged to be low, and the reliability of the curve information Rc, Pc is judged to be low. In this case, a determination for prohibiting execution of control (So=0) is made. In a stage after Sch has reached the predetermined value, the possibility of the vehicle traveling in the curve is judged to be high, and the reliability of the curve information Rc, Pc is judged to be high. In this case, a determination for permitting execution of the control (So=1) is made. Deceleration control is started and executed only when a control start condition is satisfied, and the determination for permission is made. Accordingly, even when the control start condition is satisfied, the deceleration control is not started, if the prohibition determination is made. Thus, the reliability of the curve information based on map information on the vehicle is evaluated reliably, and the deceleration control within the curve can be prevented from being unnecessarily executed on the basis of curve information whose reliability is low.
摘要翻译：在车辆进入曲线之后，计算目标转弯状态量Td与实际转弯状态量Ta之间的偏差（Sch）。在车辆进入曲线之后，在Sch达不到预定值的阶段，车辆在曲线中行驶的可能性被判断为低，并且曲线信息Rc，Pc的可靠性被判断为低。在这种情况下，进行禁止执行控制（So = 0）的判定。在Sch达到预定值之后的阶段，车辆在曲线中行驶的可能性被判断为高，曲线信息Rc，Pc的可靠性被判定为高。在这种情况下，进行允许执行控制的判定（So = 1）。只有满足控制开始条件才开始执行减速控制，进行许可判定。因此，即使满足控制开始条件，如果进行禁止判定，则不开始减速控制。因此，可靠地评估基于车辆上的地图信息的曲线信息的可靠性，并且可以基于可靠性低的曲线信息来防止曲线内的减速控制被不必要地执行。

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