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1. 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。

2. 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）。

3. 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。

4. 发明授权

US09142131B2 Vehicle driving support apparatus 有权
标题翻译：车辆驾驶支援装置
公开(公告)号：US09142131B2
公开(公告)日：2015-09-22
申请号：US14128952
申请日：2012-08-06
申请人： Yasuhisa Hayakawa , Shuhei Nishimaki
发明人： Yasuhisa Hayakawa , Shuhei Nishimaki
IPC分类号： G08G1/01 , G08G1/04 , G08G1/16 , B60W50/00 , B62D15/00 , B62D6/00 , B60W30/10 , B60W30/12 , B60W10/20 , B60T7/22 , B60T17/22 , B60W50/14 , B62D15/02 , B60T8/1755 , B60W30/18
CPC分类号： G08G1/166 , B60T7/22 , B60T8/17557 , B60T17/22 , B60T2201/08 , B60T2210/24 , B60T2210/34 , B60T2210/36 , B60W30/18163 , B60W50/14 , B60W2550/14 , B62D15/0265 , G08G1/167
摘要： A braking/driving force control unit determines whether or not the driver has a intention of lane change on the basis of the detected road shape and the steering amount. The braking/driving force control unit detects an obstacle which is an obstacle present rearward and sideward of the vehicle. The braking/driving force control unit determines whether approach prevention control for preventing an the vehicle from approaching to the obstacle should start, when it is determined that the driver has the intention of lane change and the obstacle is detected, and performs the approach prevention control for supporting prevention of the vehicle from approaching to the obstacle when it is determined that the control should start. At this time, the braking/driving force control unit determines detection accuracy of the road shape ahead of the vehicle and suppresses the determination of the start of the control when the detection accuracy is low.
摘要翻译：制动/驱动力控制单元基于检测到的道路形状和转向量确定驾驶员是否具有车道变换的意图。制动/驱动力控制单元检测作为车辆后方和侧方存在的障碍物的障碍物。制动/驱动力控制单元确定当确定驾驶员具有车道改变的意图并且检测到障碍物时，是否应当开始防止车辆接近障碍物的接近防止控制，并执行接近防止控制用于在确定控制开始时支持防止车辆接近障碍物。此时，制动/驱动力控制单元确定车辆前方的道路形状的检测精度，并且当检测精度低时，抑制开始控制的确定。

5. 发明申请

US20140136015A1 VEHICLE DRIVING SUPPORT APPARATUS 有权
标题翻译：车辆驾驶辅助装置
公开(公告)号：US20140136015A1
公开(公告)日：2014-05-15
申请号：US14128952
申请日：2012-08-06
申请人： Yasuhisa Hayakawa , Shuhei Nishimaki
发明人： Yasuhisa Hayakawa , Shuhei Nishimaki
IPC分类号： G08G1/16
CPC分类号： G08G1/166 , B60T7/22 , B60T8/17557 , B60T17/22 , B60T2201/08 , B60T2210/24 , B60T2210/34 , B60T2210/36 , B60W30/18163 , B60W50/14 , B60W2550/14 , B62D15/0265 , G08G1/167
摘要： A braking/driving force control unit determines whether or not the driver has a intention of lane change on the basis of the detected road shape and the steering amount. The braking/driving force control unit detects an obstacle which is an obstacle present rearward and sideward of the vehicle. The braking/driving force control unit determines whether approach prevention control for preventing an the vehicle from approaching to the obstacle should start, when it is determined that the driver has the intention of lane change and the obstacle is detected, and performs the approach prevention control for supporting prevention of the vehicle from approaching to the obstacle when it is determined that the control should start. At this time, the braking/driving force control unit determines detection accuracy of the road shape ahead of the vehicle and suppresses the determination of the start of the control when the detection accuracy is low.
摘要翻译：制动/驱动力控制单元基于检测到的道路形状和转向量确定驾驶员是否具有车道变换的意图。制动/驱动力控制单元检测作为车辆后方和侧方存在的障碍物的障碍物。制动/驱动力控制单元确定当确定驾驶员具有车道改变的意图并且检测到障碍物时，是否应当开始防止车辆接近障碍物的接近防止控制，并执行接近防止控制用于在确定控制开始时支持防止车辆接近障碍物。此时，制动/驱动力控制单元确定车辆前方的道路形状的检测精度，并且当检测精度低时，抑制开始控制的确定。

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