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1. 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。

2. 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。

3. 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。

4. 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。

5. 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。

6. 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。

7. 发明授权

US07997373B2 Steering control device for vehicle 有权
标题翻译：车辆转向控制装置
公开(公告)号：US07997373B2
公开(公告)日：2011-08-16
申请号：US12241209
申请日：2008-09-30
申请人： Yoshiyuki Yasui , Hideaki Koto , Kenji Asano
发明人： Yoshiyuki Yasui , Hideaki Koto , Kenji Asano
IPC分类号： B60K28/16 , B62D6/00
CPC分类号： B62D7/159 , B60W30/045 , B62D6/003
摘要： A steering control device for a vehicle includes a first adjustment value determination means for determining a first adjustment value of a value corresponding to a wheel steering angle based on an actual value and a target value of turning state quantity, the first adjustment value is a value directing to approximate the actual value to the target value, and a steering control means for adjusting the wheel steering angle by modifying the value corresponding to the wheel steering angle based on the first adjustment value, wherein the first adjustment value determination means includes an index value obtaining means for obtaining an index value indicating a probability of an occurrence of a side-slip of a wheel and a regulation means for regulating the first adjustment value so that the greater the probability of the occurrence of the side-slip is, the smaller the first adjustment value is set to be.
摘要翻译：车辆的转向控制装置包括第一调整值确定装置，用于基于实际值和转弯状态量的目标值确定与车轮转向角对应的值的第一调整值，第一调整值是值将实际值近似为目标值;以及转向控制装置，用于通过基于第一调整值修改对应于车轮转向角的值来调整车轮转向角，其中第一调整值确定装置包括指标值获取装置，用于获得指示车轮侧滑发生概率的指标值和用于调节第一调整值的调节装置，使得侧滑发生的可能性越大越小，第一个调整值设置为。

8. 发明授权

US08423250B2 Vehicle control device, vehicle control method and computer program 有权
公开(公告)号：US08423250B2
公开(公告)日：2013-04-16
申请号：US12289998
申请日：2008-11-10
申请人： Yoshito Kondou , Takayuki Miyajima , Atsushi Takeuchi , Yoshiyuki Yasui , Hiroyuki Kodama
发明人： Yoshito Kondou , Takayuki Miyajima , Atsushi Takeuchi , Yoshiyuki Yasui , Hiroyuki Kodama
IPC分类号： G06F7/00 , G06F7/70
CPC分类号： B60W30/095 , B60T2201/02 , B60T2201/022 , B60T2201/024 , B60T2210/36 , B60W10/18 , B60W10/20 , B60W30/09 , B60W2050/0078 , B60W2550/402 , F16H61/16 , F16H61/21 , F16H2059/666
摘要： An anti-collision control is provided under circumstances where it is determined that there is a risk of collision between a host vehicle and a preceding vehicle. The anti-collision control utilizes host vehicle information, preceding vehicle information, and surrounding road conditions to determine whether or not a collision with the preceding vehicle can be avoided through a steering operation. If avoidance is determined to be possible, then a shift-hold control is applied to the AT, whereas if avoidance is determined to be impossible, then a down-shift control is applied to the AT.

9. 发明授权

US08195371B2 Motion control device for vehicle 有权
标题翻译：车辆运动控制装置
公开(公告)号：US08195371B2
公开(公告)日：2012-06-05
申请号：US12357833
申请日：2009-01-22
申请人： Yoshiyuki Yasui , Keita Nakano , Hiroyuki Kodama , Masaki Maruyama , Takayuki Miyajima , Yoshito Kondo , Atsushi Takeuchi , Motoshi Suzuki
发明人： Yoshiyuki Yasui , Keita Nakano , Hiroyuki Kodama , Masaki Maruyama , Takayuki Miyajima , Yoshito Kondo , Atsushi Takeuchi , Motoshi Suzuki
IPC分类号： G06F19/00
CPC分类号： B60W10/06 , B60W10/11 , B60W10/184 , B60W30/045 , B60W40/072 , B60W40/076 , B60W2520/10 , B60W2550/143 , B60W2550/402
摘要： A motion control device for a vehicle includes a vehicle speed obtaining means for obtaining a speed of the vehicle, a curve shape obtaining means for obtaining a shape of a curve existing ahead of the vehicle on a road on which the vehicle is traveling, a position obtaining means for obtaining a relative position of the vehicle to the curve, a determining means for determining an appropriate vehicle speed for the vehicle to travel through the curve based on the shape of the curve obtained by the curve shape obtaining means, and a speed reduction controlling means for performing a speed reduction control on the vehicle based on the appropriate vehicle speed determined by the determining means.
摘要翻译：一种用于车辆的运动控制装置，包括用于获得车辆速度的车速获取装置，用于获得在车辆行驶的道路上的车辆前方存在的曲线的形状的曲线形状获取装置，用于获得车辆对曲线的相对位置的获取装置，用于基于由曲线形状获得装置获得的曲线的形状来确定车辆行驶通过曲线的适当车速的确定装置，以及减速控制装置，用于基于由确定装置确定的适当的车速来对车辆进行减速控制。

10. 发明申请

US20100106374A1 VEHICLE STABILIZATION CONTROL DEVICE 有权
标题翻译：车辆稳定控制装置
公开(公告)号：US20100106374A1
公开(公告)日：2010-04-29
申请号：US12570722
申请日：2009-09-30
申请人： Takayuki MIYAJIMA , Yoshiyuki Yasui , Toshihisa Kato
发明人： Takayuki MIYAJIMA , Yoshiyuki Yasui , Toshihisa Kato
IPC分类号： B60W30/02
CPC分类号： B60T8/1755 , B60T2201/16 , B60T2210/36
摘要： A vehicle stabilization control device includes: an actual turning state quantity acquisition unit that acquires an actual turning state quantity indicating an actual turning state of a vehicle; a curve information acquisition unit that acquires the shape of a curve ahead of the vehicle; a vehicle speed acquisition unit that acquires speed of the vehicle; and a curve traverse possibility determination unit that determines a possibility that the vehicle can stably traverse the curve, based on the curve shape and speed of the vehicle; a control quantity computation unit that, to control braking force on each wheel and suppress understeering, computes a target control quantity for each wheel, based on the actual turning state quantity and on the possibility that the vehicle can stably traverse the curve; and a control unit controlling the braking force for each wheel, based on the target control quantity for each wheel.
摘要翻译：车辆稳定控制装置包括：实际转弯状态量获取单元，其获取表示车辆的实际转弯状态的实际转弯状态量; 曲线信息获取单元，其获取车辆前方的曲线的形状; 获取车辆速度的车速获取单元; 以及曲线横移可能性判定单元，其基于车辆的曲线形状和速度来确定车辆能够稳定地横越所述曲线的可能性; 控制量计算单元，其用于控制每个车轮上的制动力并抑制转向不足，根据实际的转弯状态量以及车辆能够稳定地行驶曲线的可能性来计算每个车轮的目标控制量; 以及基于每个车轮的目标控制量来控制每个车轮的制动力的控制单元。

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