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1. 发明公开

EP2439543A1 SENSOR OFFSET AMOUNT ESTIMATE DEVICE 审中-公开
标题翻译： SENSOROFFSETBETRAG-SCHÄTZEINRICHTUNG
公开(公告)号：EP2439543A1
公开(公告)日：2012-04-11
申请号：EP09845519.9
申请日：2009-06-03
申请人： Toyota Jidosha Kabushiki Kaisha
发明人： SHIMIZU Masayuki
IPC分类号： G01P21/00 , B60W30/00 , B60W40/06 , B60W40/10 , G01B21/22 , G01C19/00 , G01P15/00
CPC分类号： B60W40/10 , B60W40/072 , B60W40/076 , G01B21/22
摘要： Provided is a sensor offset amount estimate device capable of accurately estimating the offset amount of a sensor. In a sensor offset amount estimate device 1, a sensor correction calculation unit 8 estimates the offset amounts of a left and right acceleration sensor 3, a steering angle sensor 4, and a yaw rate sensor 5 on the basis of a motion equation considering road camber when a vehicle X is turned and traveling information detected by a sensor 2. Therefore, even when the vehicle travels on the road with road camber, it is possible to accurately estimate the offset amounts of the sensors 3 to 5.
摘要翻译：提供能够精确地估计传感器的偏移量的传感器偏移量估计装置。在传感器偏移量估计装置1中，传感器校正计算单元8基于考虑道路弯度的运动方程来估计左加速度传感器3和转向角传感器4以及偏航角速度传感器5的偏移量当车辆X被转动并且由传感器2检测到的行驶信息时。因此，即使当车辆在路面上行驶时，也可以精确地估计传感器3至5的偏移量。

2. 发明授权

EP2757540B1 DRIVING ASSISTANCE DEVICE AND DRIVING ASSISTANCE METHOD 有权
标题翻译：驾驶辅助装置和驾驶辅助方法
公开(公告)号：EP2757540B1
公开(公告)日：2016-03-09
申请号：EP11872251.1
申请日：2011-09-14
申请人： Toyota Jidosha Kabushiki Kaisha
发明人： SHIMIZU Masayuki , HAYASAKA Shoichi , SATO Minami
IPC分类号： G08G1/16 , B60R21/00 , B60W30/095
CPC分类号： G08G1/166 , B60W30/09 , B60W30/095 , B60W30/0953 , B60W50/0097 , B60W2050/0026 , B60W2520/10 , B60W2550/10 , B60W2550/302 , B60W2550/306 , B60W2550/308

3. 发明公开

EP2750118A1 DRIVING SUPPORT APPARATUS AND DRIVING SUPPORT METHOD 有权
标题翻译：驾驶辅助装置和驾驶辅助方法
公开(公告)号：EP2750118A1
公开(公告)日：2014-07-02
申请号：EP11871550.7
申请日：2011-08-26
申请人： Toyota Jidosha Kabushiki Kaisha
发明人： HAYASAKA Shoichi , SHIMIZU Masayuki , SATO Minami
IPC分类号： G08G1/16
CPC分类号： G08G1/166 , B60T2201/022 , B60W10/18 , B60W10/20 , B60W30/09 , B60W30/0953 , B60W30/0956 , B60W2520/06 , B60W2520/10 , B60W2520/14 , B60W2550/10 , B60W2550/30 , B60W2550/302 , B60W2550/308 , G08G1/0969
摘要： There are provided a driving support apparatus and a driving support method in which the reliability can be improved. In the driving support apparatus 1, in a traveling direction of the host vehicle and a direction crossing the traveling direction, an intersection where the host vehicle and the moving object cross is predicted; a virtual TTC that it takes for the host vehicle to arrive at the intersection and a virtual TTV that it takes for the moving object to arrive at the intersection when the moving object moves in the direction crossing the traveling direction at a virtual speed which is set virtually, are respectively acquired; and the driving support in the host vehicle is implemented based on the relative relationship between the virtual TTC and the virtual TTV.
摘要翻译：提供了一种可以提高可靠性的驾驶辅助装置和驾驶辅助方法。在驾驶辅助装置1中，在本车辆的行进方向和与行进方向交叉的方向上，预测本车辆与移动物体交叉的交叉点，当移动物体以设定的虚拟速度在与行进方向交叉的方向上移动时，主车辆到达交叉点所需的虚拟TTC和移动物体到达交叉点所需的虚拟TTV 事实上，分别被收购; 并且基于虚拟TTC和虚拟TTV之间的相对关系来实现主车辆中的驾驶支持。

4. 发明授权

EP2549456B1 DRIVING ASSISTANCE DEVICE 有权转让
公开(公告)号：EP2549456B1
公开(公告)日：2020-05-06
申请号：EP10847858.7
申请日：2010-03-16
申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA
发明人： SAKUGAWA Jun , FUKAMACHI Hideo , SHIMIZU Masayuki , NAGATA Shinichi
IPC分类号： G08G1/16 , B60R21/00 , B60W30/08 , B60W30/09 , B60W30/095

5. 发明授权

EP2750118B1 DRIVING SUPPORT APPARATUS AND DRIVING SUPPORT METHOD 有权
公开(公告)号：EP2750118B1
公开(公告)日：2020-01-01
申请号：EP11871550.7
申请日：2011-08-26
申请人： Toyota Jidosha Kabushiki Kaisha
发明人： HAYASAKA Shoichi , SHIMIZU Masayuki , SATO Minami
IPC分类号： G08G1/16 , B60W30/095 , B60W30/09 , B60W40/04 , G08G1/0969 , B60W10/18 , B60W10/20 , B60W50/14

6. 发明公开

EP2757540A1 DRIVING ASSISTANCE DEVICE AND DRIVING ASSISTANCE METHOD 有权
标题翻译：驾驶辅助装置和驾驶辅助方法
公开(公告)号：EP2757540A1
公开(公告)日：2014-07-23
申请号：EP11872251.1
申请日：2011-09-14
申请人： Toyota Jidosha Kabushiki Kaisha
发明人： SHIMIZU Masayuki , HAYASAKA Shoichi , SATO Minami
IPC分类号： G08G1/16 , B60R21/00 , B60W30/095
CPC分类号： G08G1/166 , B60W30/09 , B60W30/095 , B60W30/0953 , B60W50/0097 , B60W2050/0026 , B60W2520/10 , B60W2550/10 , B60W2550/302 , B60W2550/306 , B60W2550/308
摘要： There is provided a driving support apparatus and a driving support method that enable implementation of an effective driving support by appropriately determining necessity of the driving support. A driving support apparatus 1 includes a collision time prediction unit 31 that predicts a TTC and a TTV, a driving support determination unit 35 that applies the TTC and TTV to a map M and determines whether the driving support in the host vehicle is to be implemented or not, a driving support control unit 39 that controls the driving support in the host vehicle, an extension mode determination unit 37 that determines whether a speed of the moving object in a direction crossing the traveling direction is equal to or less than a first threshold value and whether the TTC is equal to or less than a second threshold value or not, and determines that the driving support is to be implemented in the host vehicle in a case where the above conditions are satisfied. In a case where the extension mode determination unit 37 determines that the driving support is to be implemented, even in a case where the driving support determination unit 35 determines that the driving support is not to be implemented, driving support control unit 39 continues to implement the driving support in the host vehicle.
摘要翻译：提供了通过适当地确定驾驶支持的必要性来实现有效驾驶支持的驾驶支持装置和驾驶支持方法。驾驶辅助装置1包括：预测TTC和TTV的碰撞时间预测单元31，将TTC和TTV应用于地图M并确定是否要实施主车辆中的驾驶辅助的驾驶辅助确定单元35 ，控制本车辆的驾驶支援的驾驶支援控制部39，判定移动体在与行进方向交叉的方向上的速度是否为第一阈值以下的扩展模式判定部37 值以及TTC是否等于或小于第二阈值，并且在满足上述条件的情况下确定将在主车辆中实施驾驶支持。在扩展模式判定部37判定为实施驾驶支援的情况下，即使在驾驶支援判定部35判定为不实施驾驶支援的情况下，驾驶支援控制部39也继续实施主车辆中的驾驶支持。

7. 发明公开

EP2549456A1 DRIVING ASSISTANCE DEVICE 有权转让
标题翻译：驾驶辅助装置
公开(公告)号：EP2549456A1
公开(公告)日：2013-01-23
申请号：EP10847858.7
申请日：2010-03-16
申请人： Toyota Jidosha Kabushiki Kaisha
发明人： SAKUGAWA Jun , FUKAMACHI Hideo , SHIMIZU Masayuki , NAGATA Shinichi
IPC分类号： G08G1/16 , B60R21/00
摘要： The object of the invention is to provide a driving assistance device that is able to perform driving assistance considering potential risks. A device for providing driving assistance for a driver of the vehicle to avoid the object of the risk subject when driving the vehicle, which includes : an object determination unit that detects the object; a collision prediction time calculation unit that calculates a time to collision which is a time indicating a degree to which the vehicle approaches to the object; an estimated risk level determination unit that determines an estimated risk level indicating a possibility of the object moving onto a predicted travelling path of the vehicle; and a driving assistance content determination unit that determines driving assistance content based on the collision prediction time and the estimated risk level. Thereby, even in a case where the risk is not being manifested, that is, a case where the object is not present on the predicted travelling path of the vehicle C, the potential risk related to the object is considered in determining the driving assistance content. Accordingly, it is possible to provide the driving assistance considering the potential risk.
摘要翻译：本发明的目的是提供一种驾驶辅助装置，其能够考虑潜在的风险来执行驾驶辅助。本发明提供一种驾驶辅助装置，其用于在驾驶车辆时避开危险对象的对象的车辆的驾驶员的驾驶辅助，其包括：对象确定单元，其检测对象; 碰撞预测时间计算单元，其计算碰撞时间，所述碰撞时间是指示车辆接近所述物体的程度的时间; 估计风险等级确定单元，其确定指示物体移动到车辆的预测行驶路径上的可能性的估计风险等级; 以及驾驶辅助内容确定单元，其基于碰撞预测时间和估计的风险级别来确定驾驶辅助内容。由此，即使在未表现出风险的情况下，即在车辆C的预测行驶路线上不存在物体的情况下，在确定驾驶辅助内容时也考虑与物体有关的潜在风险。因此，考虑到潜在风险，可以提供驾驶辅助。

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