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1. 发明授权

US06434457B1 Apparatus for detecting abnormality of a vehicle sensor and method 有权
公开(公告)号：US06434457B1
公开(公告)日：2002-08-13
申请号：US09808159
申请日：2001-03-15
申请人： Toshinori Okita , Akira Tanaka , Yoshiyuki Yasui , Mamoru Sawada , Noboru Sugiura
发明人： Toshinori Okita , Akira Tanaka , Yoshiyuki Yasui , Mamoru Sawada , Noboru Sugiura
IPC分类号： G06F1700
摘要： An apparatus for detecting abnormality of a vehicle sensor and a method are provided. The apparatus is capable of preventing erroneous detection of abnormalities of sensors. The apparatus has a grip degree detecting device for detecting grip degree of a wheel of the vehicle with respect to a road surface. In a case in which the grip degree is lower than a predetermined degree, detection for presence of an abnormality of a yaw rate sensor, a cross acceleration sensor and a steering angle sensor are prohibited.

2. 发明授权

US08680977B2 Alarm system and alarm method for vehicle 有权
标题翻译：车辆报警系统及报警方式
公开(公告)号：US08680977B2
公开(公告)日：2014-03-25
申请号：US12084883
申请日：2007-05-11
申请人： Toshinori Okita
发明人： Toshinori Okita
IPC分类号： B60Q1/00 , G08G1/00 , G06F17/10
CPC分类号： B60W10/184 , B60R21/0134 , B60W2040/0818
摘要： A collision probability index value corresponding to a probability of collision between a host vehicle and an obstacle is calculated based on the information indicating the relative relationship between the host vehicle and the obstacle; and the alarming braking operation is performed to cause a driver to recognize that a collision may occur by changing at least one of the drive power and the braking force when the collision probability index value reaches a predetermined threshold value. In the alarming braking operation, a target acceleration that is used as a target value in the alarming braking operation is set based on the acceleration of the host vehicle, which is detected when the collision probability index value reaches the predetermined threshold value; and at least one of the drive power and the braking force is controlled so that the target acceleration is achieved.
摘要翻译：基于表示本车辆与障碍物之间的相对关系的信息，计算与本车辆与障碍物的碰撞概率相对应的冲突概率指标值; 并且执行报警制动操作以使驾驶员识别出当碰撞概率指标值达到预定阈值时，通过改变驱动功率和制动力中的至少一个可能发生碰撞。在报警制动操作中，基于当碰撞概率指标值达到预定阈值时检测到的主车辆的加速度来设定用作报警制动操作中的目标值的目标加速度; 并且控制驱动力和制动力中的至少一个，从而实现目标加速度。

3. 发明申请

US20110022317A1 TRAVEL SUPPORTING CONTROL SYSTEM 有权
标题翻译：旅行支持控制系统
公开(公告)号：US20110022317A1
公开(公告)日：2011-01-27
申请号：US12920568
申请日：2009-07-09
申请人： Toshinori Okita
发明人： Toshinori Okita
IPC分类号： B60W30/08
CPC分类号： B60W30/09 , B60K31/0008 , B60W30/12 , B60W40/02 , B62D1/28 , B62D15/025 , G08G1/161
摘要： In a travel supporting control system 10 including an LDW/LKA system 17 which performs traveling-lane keeping assist control so that a vehicle V travels without deviating from the lane along which it travels, the LDW/LKA system 17 calculates a virtual lane width W, which is the width of the lane narrowed by an obstacle O detected by an obstacle detecting sensor 11, and stops the traveling-lane keeping assist control when the calculated virtual lane width W is so narrow as to be equal to or smaller than a threshold value and an avoidance operation of the driver is required. Accordingly, since the operation of LDW or LKA can be stopped at a proper timing, it becomes possible to prevent interference between the operation of the driver and the operation of the system for keeping the lane.
摘要翻译：在包括LDW / LKA系统17的行驶辅助控制系统10中，LDW / LKA系统17执行行驶通道保持辅助控制，使得车辆V行驶而不偏离其行进的车道，LDW / LKA系统17计算虚拟车道宽度W ，其是由障碍物检测传感器11检测到的障碍物O变窄的车道的宽度，并且当计算出的虚拟车道宽度W如此狭窄时停止行车道保持辅助控制，以使其等于或小于阈值需要驾驶员的价值和回避操作。因此，由于可以在适当的时机停止LDW或LKA的动作，因此能够防止驾驶员的动作与保持车道的系统的动作之间的干扰。

4. 发明授权

US08626431B2 Travel supporting control system 有权
标题翻译：旅行支援控制系统
公开(公告)号：US08626431B2
公开(公告)日：2014-01-07
申请号：US12920568
申请日：2009-07-09
申请人： Toshinori Okita
发明人： Toshinori Okita
IPC分类号： B60W30/18 , B60W30/09 , B60W30/12 , B60W40/02 , B62D15/02
CPC分类号： B60W30/09 , B60K31/0008 , B60W30/12 , B60W40/02 , B62D1/28 , B62D15/025 , G08G1/161
摘要： In a travel supporting control system 10 including an LDW/LKA system 17 which performs traveling-lane keeping assist control so that a vehicle V travels without deviating from the lane along which it travels, the LDW/LKA system 17 calculates a virtual lane width W, which is the width of the lane narrowed by an obstacle O detected by an obstacle detecting sensor 11, and stops the traveling-lane keeping assist control when the calculated virtual lane width W is so narrow as to be equal to or smaller than a threshold value and an avoidance operation of the driver is required. Accordingly, since the operation of LDW or LKA can be stopped at a proper timing, it becomes possible to prevent interference between the operation of the driver and the operation of the system for keeping the lane.
摘要翻译：在包括LDW / LKA系统17的行驶辅助控制系统10中，LDW / LKA系统17执行行驶通道保持辅助控制，使得车辆V行驶而不偏离其行进的车道，LDW / LKA系统17计算虚拟车道宽度W ，其是由障碍物检测传感器11检测到的障碍物O变窄的车道的宽度，并且当计算出的虚拟车道宽度W如此狭窄时停止行车道保持辅助控制，以使其等于或小于阈值需要驾驶员的价值和回避操作。因此，由于可以在适当的时机停止LDW或LKA的动作，因此能够防止驾驶员的动作与保持车道的系统的动作之间的干扰。

5. 发明申请

US20090128318A1 Vehicle Deceleration Controller 有权
标题翻译：车辆减速控制器
公开(公告)号：US20090128318A1
公开(公告)日：2009-05-21
申请号：US12227133
申请日：2007-06-22
申请人： Shinichi Nagata , Toshinori Okita
发明人： Shinichi Nagata , Toshinori Okita
IPC分类号： B60Q1/50
CPC分类号： B60T7/22 , B60T2201/02 , B60W30/02 , B60W50/14 , B60W2420/52
摘要： An object of the present invention is to reliably carry out warning braking in a situation where the warning braking is needed and a crew can recognize the warning braking, and prevent the crew from feeling an unnatural sensation due to the warning braking in a situation where the warning braking is needed but the crew cannot effectively recognize the warning braking. If an obstacle is present ahead of the vehicle, the driver does not carry out brake operation, the driver is looking aside, and the vehicle may collide with the obstacle, the maximum target deceleration Gbt2max for the warning braking is computed. If automatic travel control is not carried out or if automatic travel control is being carried out and its target deceleration Gbt4 is less than a reference value Gbt4s smaller than the maximum target deceleration Gbt2max, the warning braking is carried out. However, when the target deceleration Gbt4 for the automatic travel control is larger than the allowable reference value Gbt4s for warning braking, the warning braking is not carried out.
摘要翻译：本发明的目的是在需要警告制动和机组人员能够识别警告制动的情况下可靠地执行警告制动，并且在这种情况下防止机组人员由于警告制动而感到不自然的感觉需要警告制动，但机组人员无法有效识别警告制动。如果车辆前方存在障碍物，则驾驶员不进行制动操作，驾驶员正在俯视，车辆可能与障碍物碰撞时，计算警告制动的最大目标减速度Gbt2max。如果不执行自动行驶控制或者正在执行自动行驶控制，并且其目标减速度Gbt4小于比最大目标减速度Gbt2max小的参考值Gbt4s，则执行警告制动。然而，当用于自动行驶控制的目标减速度Gbt4大于用于警告制动的允许参考值Gbt4s时，不执行警告制动。

6. 发明授权

US09682703B2 Driving support device and driving support method 有权
公开(公告)号：US09682703B2
公开(公告)日：2017-06-20
申请号：US14438026
申请日：2012-10-26
申请人： Toshinori Okita
发明人： Toshinori Okita
IPC分类号： B60W30/08 , B62D15/02 , B60W40/114 , B60W40/105 , G08G1/16 , B60T8/1755 , B60R21/00 , B60W30/09
CPC分类号： B60W30/08 , B60R21/00 , B60T8/17558 , B60W30/09 , B60W40/105 , B60W40/114 , B60W2510/18 , B60W2510/20 , B60W2520/14 , B62D15/0265 , G08G1/165 , G08G1/166
摘要： A driving support device performs collision avoidance support on a vehicle relative to a leading vehicle present in a travelling direction based on a time-to-collision Ta as a time that the vehicle takes to collide with the leading vehicle. A lateral change amount calculation portion detects relative lateral velocity Vy, which is a relative time-dependent change amount between the vehicle and the leading vehicle. A storage portion stores steering time T1, which is a time required for the vehicle to avoid the leading vehicle by steering. The storage portion stores activation threshold TH1, which is a threshold to determine activation of the driving support based on the relative lateral velocity Vy. When a relative lateral velocity Vy at a time when the time-to-collision Ta is the steering time T1 or more is the activation threshold TH1 or more, a support management portion restrains the activation of the driving support.

7. 发明申请

US20130173132A1 BRAKING FORCE CONTROL APPARATUS FOR A VEHICLE 有权
标题翻译：制动器控制装置
公开(公告)号：US20130173132A1
公开(公告)日：2013-07-04
申请号：US13700267
申请日：2010-05-27
申请人： Hitoshi Yuasa , Osamu Sato , Toshinori Okita , Takeshi Nanami
发明人： Hitoshi Yuasa , Osamu Sato , Toshinori Okita , Takeshi Nanami
IPC分类号： B60T8/1755 , B60T7/22
CPC分类号： B60T8/17558 , B60T7/22 , B60T2201/022 , B60W10/188 , B60W30/09 , B60W30/0953 , B60W30/0956 , B60W2540/18 , B60W2720/403
摘要： In a braking force control apparatus which controls a braking force applied to a vehicle based on a relation thereof with an obstacle ahead of the vehicle, irrespective of a braking operation of a driver, a lateral force is predicted which can be generated in cases where avoidance steering is carried out by the driver, in order to avoid an obstacle which has been detected, and an actual braking force actually applied to a longitudinal direction of the vehicle is limited in accordance with a braking force which can be applied in the longitudinal direction of the vehicle and which is calculated based on the lateral force thus predicted. According to this, in the braking force control apparatus which controls the braking force of the vehicle, the lateral force for avoiding a collision with the obstacle by means of steering is obtained.
摘要翻译：在根据与车辆前方的障碍物的关系来控制施加于车辆的制动力的制动力控制装置中，与驾驶员的制动操作无关地预测可以在避免的情况下产生的横向力驾驶员进行转向，以避免已经检测到的障碍物，并且实际施加到车辆的纵向的实际制动力根据可以沿纵向方向施加的制动力来限制车辆，并且基于如此预测的横向力计算。据此，在控制车辆的制动力的制动力控制装置中，获得了通过转向避免与障碍物碰撞的横向力。

8. 发明授权

US09606225B2 Peripheral object detection apparatus and peripheral object detection method 有权
公开(公告)号：US09606225B2
公开(公告)日：2017-03-28
申请号：US14374342
申请日：2013-01-28
申请人： Toshinori Okita , Jun Itoh
发明人： Toshinori Okita , Jun Itoh
IPC分类号： G01S13/93 , G01S13/04 , G01S13/46
CPC分类号： G01S13/931 , G01S13/04 , G01S2013/462 , G01S2013/9346 , G01S2013/9375
摘要： A peripheral object detection apparatus that is installed in a vehicle to detect a peripheral object obstructing travel by a vehicle includes: a radar that obtains a reflection intensity by transmitting an electromagnetic wave and receiving an electromagnetic wave reflected by an object; and a determination unit that calculates an integrated value of an amount of variation in the reflection intensity within a predetermined section, obtained by the radar, and determines on the basis of the integrated value whether or not the object is a low object not obstructing travel by the vehicle.

9. 发明授权

US09126573B2 Braking force control apparatus for a vehicle 有权
标题翻译：一种车辆制动力控制装置
公开(公告)号：US09126573B2
公开(公告)日：2015-09-08
申请号：US13700267
申请日：2010-05-27
申请人： Hitoshi Yuasa , Osamu Sato , Toshinori Okita , Takeshi Nanami
发明人： Hitoshi Yuasa , Osamu Sato , Toshinori Okita , Takeshi Nanami
IPC分类号： B60T13/66 , B60T8/1755 , B60T7/22 , B60W30/09 , B60W30/095 , B60W10/188
CPC分类号： B60T8/17558 , B60T7/22 , B60T2201/022 , B60W10/188 , B60W30/09 , B60W30/0953 , B60W30/0956 , B60W2540/18 , B60W2720/403
摘要： In a braking force control apparatus which controls a braking force applied to a vehicle based on a relation thereof with an obstacle ahead of the vehicle, irrespective of a braking operation of a driver, a lateral force is predicted which can be generated in cases where avoidance steering is carried out by the driver, in order to avoid an obstacle which has been detected, and an actual braking force actually applied to a longitudinal direction of the vehicle is limited in accordance with a braking force which can be applied in the longitudinal direction of the vehicle and which is calculated based on the lateral force thus predicted. According to this, in the braking force control apparatus which controls the braking force of the vehicle, the lateral force for avoiding a collision with the obstacle by means of steering is obtained.
摘要翻译：在根据与车辆前方的障碍物的关系来控制施加于车辆的制动力的制动力控制装置中，与驾驶员的制动操作无关地预测可以在避免的情况下产生的横向力驾驶员进行转向，以避免已经检测到的障碍物，并且实际施加到车辆的纵向的实际制动力根据可以沿纵向方向施加的制动力来限制车辆，并且基于如此预测的横向力计算。据此，在控制车辆的制动力的制动力控制装置中，获得了通过转向避免与障碍物碰撞的横向力。

10. 发明授权

US09031743B2 Collision avoidance device 有权
标题翻译：防撞装置
公开(公告)号：US09031743B2
公开(公告)日：2015-05-12
申请号：US12446897
申请日：2008-03-26
申请人： Toshinori Okita
发明人： Toshinori Okita
IPC分类号： B60T7/22 , B62D5/04 , B60W30/09 , B60W40/072 , B60W40/076 , B62D15/02
CPC分类号： B60T7/22 , B60T2201/022 , B60T2201/08 , B60T2201/087 , B60W30/09 , B60W40/072 , B60W40/076 , B60W2420/52 , B62D5/0463 , B62D15/0265 , G08G1/165 , G08G1/166
摘要： A collision avoidance ECU estimates a traveling locus based on an estimated curve radius of an own vehicle in a basic traveling locus estimating unit, and in a changed traveling locus estimating unit, obtains separation distances between an own vehicle and white lines based on the relative positional relationship between an own vehicle and the white lines, and estimates, as a changed traveling locus, a route along the white lines with the obtained separation distances maintained. In a collision judging unit, when auto-steering control and departure warning control are not performed, collision judgment is performed based on the basic traveling locus estimated in the basic traveling locus estimating unit, and when the auto-steering control and departure warning control are performed, the traveling locus is changed to the changed traveling locus estimated in the changed traveling locus estimating unit and collision judgment is performed.
摘要翻译：碰撞避免ECU基于基本行驶轨迹估计单元中的本车辆的估计曲线半径来估计行驶轨迹，并且在改变的行驶轨迹估计单元中，基于相对位置获得本车和白线之间的距离估计本车辆与白线之间的关系，并且作为改变的行驶轨迹，估计保持所获得的间隔距离沿着白线的路线。在碰撞判断单元中，当不执行自动转向控制和离场警告控制时，基于在基本行驶轨迹估计单元中估计的基本行驶轨迹进行碰撞判断，并且当自动转向控制和离开警告控制为行驶轨迹被改变为在改变的行驶轨迹估计单元中估计的改变的行驶轨迹，并进行碰撞判断。

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