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1. 发明专利

JP2014123283A Travel route generating device 有权
标题翻译：旅行路由器生成设备
公开(公告)号：JP2014123283A
公开(公告)日：2014-07-03
申请号：JP2012279593
申请日：2012-12-21
申请人： Nippon Soken Inc , 株式会社日本自動車部品総合研究所 , Denso Corp , 株式会社デンソー
发明人： UEDA YUSUKE , TSURUTA TOMOHIKO , HADO TAKESHI , KONDO TAKAYUKI , INOUE NAOYA
IPC分类号： G08G1/16 , B60R21/00 , B60W30/095 , B60W30/16 , B62D6/00 , B62D101/00
CPC分类号： B62D15/025 , B60K2031/005 , B60W30/16 , B60W30/165 , B60W30/18163 , B60W50/0097 , B60W2550/306 , B62D15/026 , G08G1/166 , G08G1/167 , G08G1/22
摘要： PROBLEM TO BE SOLVED: To provide a travel route generating device capable of generating a travel route used for automatic steering control of an own vehicle, independently of surroundings of the own vehicle.SOLUTION: When a detecting section 30 and a track generating section 40 detect a preceding vehicle track of a preceding vehicle travelling on a travel lane on which the own vehicle travels, a selection track setting section 51 sets the preceding vehicle track as a selection track. A candidate track selecting section 52 selects one of forward vehicle tracks, as a candidate track, that are tracks of vehicles other than the preceding vehicle detected by the detecting section 30 and the track generating section 40. A switching section 53 switches the track set as the selection track from the preceding vehicle track to the candidate track when the detection of the preceding vehicle track is stopped over a detection period equal to or longer than that previously determined. An expected route generating section 60 uses the selection track to generate an expected travel route.
摘要翻译：要解决的问题：提供一种能够独立于本车辆的环境产生用于自身车辆的自动转向控制的行驶路线的行驶路线生成装置。解决方案：当检测部30和轨道生成部40检测到在本车辆行驶的行驶车道上行驶的前一车辆的前方车道，选择轨道设定部51将前方车辆轨道设定为选择轨道。候选轨道选择部分52选择作为候选轨道的作为检测部分30和轨道产生部分40检测到的除先前车辆之外的车辆的轨道的前方车辆轨道之一。切换部分53将轨道组切换为当前一车辆轨道的检测在等于或大于先前确定的检测周期停止时，从前一车辆轨道到候选轨道的选择轨迹。期望路线生成部60使用选择轨迹来生成预期行驶路线。

2. 发明专利

JP2013177055A Vehicle control apparatus 有权
标题翻译：车辆控制装置
公开(公告)号：JP2013177055A
公开(公告)日：2013-09-09
申请号：JP2012041823
申请日：2012-02-28
申请人： Nippon Soken Inc , 株式会社日本自動車部品総合研究所 , Denso Corp , 株式会社デンソー
发明人： UEDA YUSUKE , TOMINAGA MOTONORI , TSURUTA TOMOHIKO , HADO TAKESHI
IPC分类号： B62D6/00 , B60R21/00
CPC分类号： B62D6/001 , B62D1/28 , B62D15/0265 , G05D1/021
摘要： PROBLEM TO BE SOLVED: To provide a vehicle control apparatus which achieves automatic steering control reducing a sense of incompatibility or stress given to an occupant.SOLUTION: After an offset suitable for suppressing a stress given to a driver is set, presence/absence of an occupant on each of seats is detected (S210) and it is determined from a detection result whether a designated occupant (an occupant on a passenger seat) is present (S220). If the designated occupant is not present, the offset which has been set beforehand is used as it is. If the designated occupant is present, the offset is adjusted to suppress a sense of incompatibility or a stress to the designated occupant, specifically, to make a lateral position of a vehicle closer to a center position of a target lane (S230). Based on the offset thus set and adjusted, a planned travelling track is calculated and according to the planned traveling track, automatic steering control is executed.
摘要翻译：要解决的问题：提供一种车辆控制装置，其实现自动转向控制，减少对乘员的不兼容性或压力感。解决方案：在设定了适于抑制给予驾驶员的应力的偏移之后，存在/不存在检测到每个座椅上的乘客（S210），并且根据检测结果确定是否存在指定的乘客（乘客座椅上的乘客）（S220）。如果指定的乘客不存在，则预先设定的偏移被原样使用。如果指定的乘客存在，则调整偏移以抑制对指定乘客的不兼容性或压力感，特别是使车辆的横向位置更靠近目标车道的中心位置（S230）。基于如此设定和调整的偏移量，计算计划行驶轨道，根据计划行驶轨迹执行自动转向控制。

3. 发明专利

JP2014139063A Vehicle control device 有权
标题翻译：车辆控制装置
公开(公告)号：JP2014139063A
公开(公告)日：2014-07-31
申请号：JP2013123846
申请日：2013-06-12
申请人： Nippon Soken Inc , 株式会社日本自動車部品総合研究所 , Denso Corp , 株式会社デンソー
发明人： UEDA YUSUKE , TSURUTA TOMOHIKO , HADO TAKESHI , KONDO TAKAYUKI , INOUE NAOYA
IPC分类号： B62D6/00 , B62D137/00 , G08G1/16
CPC分类号： B62D1/28 , B62D15/025
摘要： PROBLEM TO BE SOLVED: To provide a vehicle control device capable of realizing a stable automatic steering control irrespective of a surrounding situation of a vehicle.SOLUTION: Basic steering amount computing means (S120) calculates a basic steering amount that is a controlled steering amount for a vehicle to travel on a basic route along a shape of a travel lane. Attitude detection means (S140) detects a vehicle attitude of the vehicle represented by a lateral position and a yaw angle. Offset distance detection means (S150) detects a distance between the basis route and the lateral position as an offset distance. Corrected steering amount computing means (S160) calculates a corrected steering amount that is a controlled steering amount for the vehicle to travel along a corrected route that is a virtual traveling route for allowing the vehicle attitude to match a target attitude that is a preset target vehicle attitude. Indication steering amount computing means (S170) calculates an indication steering amount for automatic steering control on the basis of the basic steering amount and the corrected steering amount.
摘要翻译：要解决的问题：提供一种能够实现稳定的自动转向控制的车辆控制装置，而与车辆的周围情况无关。解决方案：基本转向量计算装置（S120）计算作为受控转向量的基本转向量，沿着行进车道形状的基本路线行驶的车辆。姿态检测装置（S140）检测由横向位置和偏航角度表示的车辆的车辆姿态。偏移距离检测装置（S150）将基准路线和横向位置之间的距离检测为偏移距离。校正转向量计算装置（S160）计算作为用于使车辆姿态与作为预设目标车辆的目标姿态相匹配的作为虚拟行驶路线的校正路线行驶的车辆的受控转向量的修正转向量态度。指示转向量计算装置（S170）基于基本转向量和校正转向量来计算用于自动转向控制的指示转向量。

4. 发明专利

JP2014136480A Travel route production unit 有权
标题翻译：旅行路线生产单位
公开(公告)号：JP2014136480A
公开(公告)日：2014-07-28
申请号：JP2013005562
申请日：2013-01-16
申请人： Nippon Soken Inc , 株式会社日本自動車部品総合研究所 , Denso Corp , 株式会社デンソー
发明人： TSURUTA TOMOHIKO , UEDA YUSUKE , HADO TAKESHI , KONDO TAKAYUKI , INOUE NAOYA , HOSSEIN TEHRANINI , MITA SEIICHI
IPC分类号： B60W30/095 , B60W30/12 , B60W30/165 , G08G1/16
CPC分类号： B60W30/00 , B60W30/08 , B60W30/10 , B60W30/12 , B60W2550/00 , B60W2550/10
摘要： PROBLEM TO BE SOLVED: To provide a technology that calculates an appropriate travel route, along which an own vehicle avoids an obstacle while being smoothly steered, with the smallest possible number of computations.SOLUTION: A feature point of each border line between lanes such as a white line and a feature point of each entity such as a halted vehicle are each set as obstacle information. Obstacles are classified into two groups of the right side and left side of a path on which the own vehicle is intended to travel. A segment to be plotted by sequentially linking points each existing intermediately between feature points of obstacles belonging to the left-side and right-side groups respectively and being opposed to each other along a travel lane is produced as a travel route of the own vehicle.
摘要翻译：要解决的问题：提供一种技术，其计算适当的行驶路线，自己的车辆在顺利转向时避免障碍物以最小可能数量的计算。解决方案：车道之间的每个边界线的特征点，例如将每个实体（例如停止的车辆）的白线和特征点分别设置为障碍物信息。障碍物被分为本车辆要行驶的路径的右侧和左侧的两组。作为本车辆的行驶路线，分别通过依次连接分别存在于分别属于左侧组和右侧组的障碍物的特征点之间并且沿着行驶车道彼此相对的点之间的位置来绘制的分段。

5. 发明专利

JP2013154710A Vehicle control apparatus 有权
标题翻译：车辆控制装置
公开(公告)号：JP2013154710A
公开(公告)日：2013-08-15
申请号：JP2012015698
申请日：2012-01-27
申请人： Nippon Soken Inc , 株式会社日本自動車部品総合研究所 , Denso Corp , 株式会社デンソー
发明人： UEDA YUSUKE , TOMINAGA MOTONORI , TSURUTA TOMOHIKO , HADO TAKESHI
IPC分类号： B60W30/12 , B60R21/00 , B60W10/20 , B60W30/09 , B60W30/095 , B60W40/08 , B62D6/00 , B62D101/00 , B62D111/00 , G08G1/16
CPC分类号： G05D1/0088 , B62D15/025 , G05D1/0212
摘要： PROBLEM TO BE SOLVED: To provide a vehicle control apparatus for automatic steering control that reduces occupant discomfort and stress.SOLUTION: A lane width of a subject lane and a current in-lane ratio are detected (S210). If an off-lane obstacle (which may place stress on the occupant) is present within a prescribed area is determined (S220), a relative position between each off-lane obstacle and the vehicle is determined when the off-lane obstacle exists (S230). A target in-lane ratio is determined based on the relative position (S240). Specifically, when the off-lane obstacles are present on both the left and right sides of the subject lane, the target in-lane ratio is set such that the target lateral position is at equal lateral distances to both off-lane obstacles. When the off-lane obstacle is present on only one of either the left and right of the subject lane, the target in-lane ratio is set such that a lateral position away from the off-lane obstacle by a lateral distance set in advance is the target lateral position.
摘要翻译：要解决的问题：提供一种用于自动转向控制的车辆控制装置，其减少乘员的不适和压力。解决方案：检测主体车道的车道宽度和当前车道内车道比率（S210）。确定在规定区域内存在偏航障碍物（可能对乘员施加压力）的情况（S220），当离开车道障碍物存在时，确定每个越野车障碍物与车辆之间的相对位置（S230 ）。基于相对位置确定目标车道内比例（S240）。具体地说，当目标车道的左侧和右侧出现偏离车道的障碍物时，目标车道内的车速比被设定成使得目标横向位置与两个车道外障碍物处于相等的横向距离。当偏离车道障碍物仅存在于主体车道的左右两侧之一时，目标车道内的车速比被设定为使得偏离车外障碍物的横向位置预先设定的横向距离为目标横向位置。

6. 发明专利

JP2012118798A Driving support apparatus and driving support system 有权
标题翻译：驱动支持设备和驱动支持系统
公开(公告)号：JP2012118798A
公开(公告)日：2012-06-21
申请号：JP2010268505
申请日：2010-12-01
申请人： Denso Corp , Nippon Soken Inc , 株式会社デンソー , 株式会社日本自動車部品総合研究所
发明人： UEDA YUSUKE , TOMINAGA MOTONORI , MIMA NORIO , KUWABARA KEN , IKEDA HIROTANE
IPC分类号： G08G1/14
CPC分类号： B60W40/06 , B60W10/08 , B60W10/18 , B60W30/18009 , B60W50/12 , B60W2520/28 , B60W2540/18
摘要： PROBLEM TO BE SOLVED: To determine entrance of a vehicle to a parking lot or exit from the parking lot at low costs.SOLUTION: When a present vehicle travels over a step between a parking lot and a road, as an order of wheels getting over that step, it is determined whether a threshold value determination section 16 determines that a differentiation value of a wheel speed average value V of each wheel exceeds a threshold value. On the basis of a result of that determination, a step over determination section 19 determines whether the present vehicle traveled over the step between the parking lot and the road.
摘要翻译：要解决的问题：以低成本确定车辆到停车场或从停车场出口的入口。解决方案：当现有车辆在停车场和道路之间行进一段时间时，按照车轮顺序超过该步骤，确定阈值确定部分16是否确定车轮速度的微分值每个车轮的平均值V超过阈值。基于该确定的结果，步进判定部分19确定当前车辆是否行驶在停车场和道路之间的步骤。版权所有（C）2012，JPO＆INPIT

7. 发明专利

JP2015057688A 走行経路生成装置有权
标题翻译：旅行路由器生成装置
公开(公告)号：JP2015057688A
公开(公告)日：2015-03-26
申请号：JP2014083012
申请日：2014-04-14
申请人：株式会社日本自動車部品総合研究所 , Nippon Soken Inc , 株式会社デンソー , Denso Corp
发明人： OKADA MASAYA , TSURUTA TOMOHIKO , UEDA YUSUKE , HAYASHI RINA , INOUE NAOYA , KUWABARA KEN
IPC分类号： G08G1/16 , B60R21/00 , B60W30/12
摘要：【課題】走行可能領域に基づいて生成される通常経路から外れる走行経路を短時間で生成する走行経路生成装置を提供する。【解決手段】走行経路生成装置は、周囲情報に基づいて自車両が走行する走行路と障害物とを検出し(S400、S402、S404)、走行路から障害物を除いた領域を走行可能領域として検出する(S406)。走行経路生成装置は、車速、自車位置等の走行情報を取得し(S408)、走行可能領域に基づいて設定される通常経路から外れる必要がある場合(S410:Yes)、進路を示す走行箇所を設定し(S412)、走行箇所の両側に仮想障害物を設定する(S414)。走行経路生成装置は、仮想障害物が設定されている場合には、仮想障害物の間を通り走行可能領域を進行方向に対し両側に分ける走行経路を生成し、仮想障害物が設定されてない場合には、走行可能領域を進行方向に対し両側に分ける走行経路を生成する(S416)。【選択図】図11
摘要翻译：要解决的问题：提供一种行驶路线生成装置，用于基于行驶许可区域快速生成偏离正常路线的行驶路线。行驶路径生成装置执行：检测由行驶路线行驶的行驶路线基于环境信息的车辆本身和障碍物（S400，S402，S404）; 检测通过从行驶道路消除障碍物而产生的区域作为行驶许可区域（S406）; 获取诸如车辆速度和车辆本身位置的行驶信息（S408）; 在需要偏离基于行驶许可区域设定的正常路线（S410为“是”）的情况下设定指示路线的行驶路线（S412），并且在旅行场所的两侧设置虚拟障碍物 S414）; 产生在虚拟障碍物之间进行的行进路线，并且在设置虚拟障碍物的情况下相对于路线的方向将行驶许可区域划分成两侧，或者生成将行驶许可区域分成两侧的行驶路线在没有设置虚拟障碍物的情况下，向路线方向（S416）。

8. 发明专利

JP2013180606A Vehicle travel control device 有权
标题翻译：车辆行驶控制装置
公开(公告)号：JP2013180606A
公开(公告)日：2013-09-12
申请号：JP2012044211
申请日：2012-02-29
申请人： Nippon Soken Inc , 株式会社日本自動車部品総合研究所 , Denso Corp , 株式会社デンソー
发明人： TSURUTA TOMOHIKO , TOMINAGA MOTONORI , UEDA YUSUKE , HADO TAKESHI
IPC分类号： B60W30/09 , B60R21/00 , B60T7/12 , B60W30/16 , B62D6/00 , G08G1/16
CPC分类号： G08G1/166 , B60W30/0956 , B60W30/16 , B60W30/165 , B60W30/18163 , B60W2550/308
摘要： PROBLEM TO BE SOLVED: To provide a vehicle travel control device capable of facilitating avoidance of a preceding vehicle.SOLUTION: A vehicle travel control device comprises: acceleration/deceleration control means 24, 31 for controlling acceleration/deceleration of an own vehicle; a preceding vehicle detection means 12 for detecting a preceding vehicle present ahead of the own vehicle; space detection means 12, 13 for detecting a space present beside the own vehicle on a lane adjacent to a lane on which the own vehicle travels; and a space determination means 23 for determining whether or not the space is an avoidance space having a predetermined area. When a preceding vehicle is detected on the lane on which the own vehicle travels by the preceding vehicle detection means 12, the acceleration/deceleration control means 24, 31 perform avoidance waiting control for accelerating/decelerating the own vehicle on the basis of the determination result by the space determination means 23.
摘要翻译：要解决的问题：提供一种能够有助于避免前方车辆的车辆行驶控制装置。解决方案：车辆行驶控制装置包括：加速/减速控制装置24,31，用于控制本车辆的加速/减速; 用于检测存在于本车辆前方的前方车辆的前方车辆检测单元12; 空间检测装置12,13，用于检测与本车辆行驶的车道相邻的车道上的本车辆旁边存在的空间; 以及空间确定装置23，用于确定空间是否具有预定区域的回避空间。当在前方车辆行驶的车道上检测到前方车辆时，加速/减速控制装置24,31基于确定结果执行用于加速/减速本车辆的回避等待控制由空间确定装置23。

9. 发明专利

JP2013177054A Inter-vehicle distance control device 有权
标题翻译：车内距离控制装置
公开(公告)号：JP2013177054A
公开(公告)日：2013-09-09
申请号：JP2012041822
申请日：2012-02-28
申请人： Nippon Soken Inc , 株式会社日本自動車部品総合研究所 , Denso Corp , 株式会社デンソー
发明人： TOMINAGA MOTONORI , TSURUTA TOMOHIKO , UEDA YUSUKE , HADO TAKESHI
IPC分类号： B60W30/16
CPC分类号： B60K31/0008 , B60W30/16 , B60W30/18163 , B60W50/0097 , B60W2750/308 , Y02T10/84
摘要： PROBLEM TO BE SOLVED: To provide an inter-vehicle distance control device that is less likely to make both drivers of another vehicle and an own vehicle feel uneasy under a situation where the another vehicle cuts in between a forward vehicle as a preceding vehicle, and the own vehicle.SOLUTION: When another vehicle as a side vehicle is detected at a side an own vehicle (S100: YES), it is determined whether a spot where the side vehicle is detected is a merging spot (S110). When the spot where the side vehicle is detected is a merging spot (S110: YES), it is assumed that the side vehicle is likely to cut in, and an instruction for concessive control is given (S120), and, as long as a cut-in is not yet completed (S140: NO), inter-vehicle distance extension adjustment is performed (S130). Furthermore, when still another vehicle as a side vehicle attempting to cut in in front of the own vehicle is successively detected (S150: YES), inter-vehicle distance shortening adjustment is performed (S160). Meanwhile, when another vehicle 141 as a side vehicle attempting to cut in in front of the own vehicle is not detected (S150: NO), inter-vehicle distance return adjustment is performed (S160).
摘要翻译：要解决的问题：提供一种车辆间距离控制装置，其在另一车辆在前方车辆前进的车辆之间切换的情况下，不太可能使另一车辆和本车的驾驶员感到不舒服，以及本车辆的侧面检测到作为侧车辆的其他车辆（S100：是），判定检测侧车辆的位置是否为合流点（S110）。当检测到侧车辆的位置是合并点时（S110：是），则假定侧车很可能被切断，并且给出了优先控制的指令（S120），并且只要a 切入尚未完成（S140：否），进行车间距离延伸调整（S130）。此外，当依次检测到作为试图在本车辆前方切断的侧车的另一车辆时（S150：是），进行车间距离缩短调整（S160）。同时，当没有检测到作为试图在本车辆前方切断的侧车的另一车辆141（S150：否）时，执行车间距离返回调整（S160）。

10. 发明专利

JP2013173383A Tracking control apparatus for vehicle 有权
标题翻译：车辆跟踪控制装置
公开(公告)号：JP2013173383A
公开(公告)日：2013-09-05
申请号：JP2012037538
申请日：2012-02-23
申请人： Nippon Soken Inc , 株式会社日本自動車部品総合研究所 , Denso Corp , 株式会社デンソー
发明人： TSURUTA TOMOHIKO , TOMINAGA MOTONORI , UEDA YUSUKE , HADO TAKESHI
IPC分类号： B60W30/165 , B60W40/04
CPC分类号： G08G1/166 , B60W30/16
摘要： PROBLEM TO BE SOLVED: To provide a tracking control apparatus for a vehicle that can appropriately continue or release tracking control to or from a relation to another vehicle after obtaining information of a direction indicator in a preceding vehicle.SOLUTION: A direction indication of a preceding vehicle is detected (S100), and when it is determined that there is the direction indication (S110: YES), whether there is a situation to disturb the lane change is determined (S120, S130), and if there is a situation to disturb the lane change of the preceding vehicle (S120: YES, S130: YES), the tracking control is continued. Moreover, if the preceding vehicle performs the lane change after it is determined that there is the direction indication (S110: YES, S150: YES), a type of the lane change, whether there is a situation to disturb the lane change of the own vehicle, an intention of a driver to continue the tracking control are determined, and continuance/release of the tracking control is performed. In short, the surrounding situation that relates to the lane change in the preceding vehicle is determined and the continuance or the release of the tracking control is performed.
摘要翻译：要解决的问题：提供一种用于车辆的跟踪控制装置，其可以在获得前一车辆中的方向指示器的信息之后，适当地继续或释放对与另一车辆的关系的跟踪控制。解决方案：前一方向的方向指示检测到车辆（S100），并且当确定存在方向指示时（S110：是），确定是否存在干扰车道变化的情况（S120，S130），并且如果存在干扰的情况前方车辆的车道变更（S120：是，S130：是），则跟踪控制继续。此外，如果在确定存在方向指示之后前一车辆执行车道变换（S110：是，S150：是），则车道变化的类型，是否存在干扰自身车道变化的情况车辆，确定驾驶员继续跟踪控制的意图，并且执行跟踪控制的连续/释放。简而言之，确定与前方车辆中的车道变化有关的周围情况，并且执行跟踪控制的继续或释放。

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