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11. 发明授权

US08200409B2 Travel control system for vehicle 失效
标题翻译：车辆行驶控制系统
公开(公告)号：US08200409B2
公开(公告)日：2012-06-12
申请号：US11905030
申请日：2007-09-27
申请人： Kiichiro Sawamoto
发明人： Kiichiro Sawamoto
IPC分类号： B60T7/12 , G05D1/00 , G06F7/00 , G06F17/00
CPC分类号： B60W30/17 , B60W30/08 , B60W2420/52
摘要： A travel controller which controls the travel of a subject vehicle based on a distance to and a relative speed with respect to a control object determined by a control object determiner. If stoppage of the subject vehicle by a decelerating operation of a driver is detected by a manual stoppage detector and a comparator determines that a distance to the object in or on a travel locus is equal to or larger than a determination threshold value, the comparator excludes the object from being considered as a control object.
摘要翻译：一种旅行控制器，其基于与由控制对象确定器确定的控制对象的距离和相对速度来控制本车辆的行驶。如果通过手动停止检测器检测到驾驶员的减速操作来停止本车辆，并且比较器确定到行驶轨迹中或其上的物体的距离等于或大于确定阈值，则比较器排除该对象被认为是一个控制对象。

12. 发明授权

US07974778B2 Vehicular control object determination system and vehicular travel locus estimation system 失效
标题翻译：车辆控制对象确定系统和车辆行驶轨迹估计系统
公开(公告)号：US07974778B2
公开(公告)日：2011-07-05
申请号：US11229364
申请日：2005-09-16
申请人： Kiichiro Sawamoto , Shigeru Inoue , Hiroshi Sato
发明人： Kiichiro Sawamoto , Shigeru Inoue , Hiroshi Sato
IPC分类号： G08G9/02
CPC分类号： B60W40/02 , B60W10/06 , B60W30/16 , B60W2550/20 , G08G1/16
摘要： In a vehicular control object determination system, locus correlation degree calculator calculates a degree of correlation between a future travel locus of a vehicle estimated by first travel locus estimator based on a vehicle speed and a yaw rate and a future travel locus of the vehicle estimated by second travel locus estimator based on a past travel locus of the vehicle calculated by travel locus calculator. When control object determiner determines a control object based on the travel locus estimated by the first travel locus estimator and predetermined control object determination conditions, the control object determination conditions are modified according to the degree of correlation, that is, the degree of reliability of the travel locus estimated by the first travel locus estimator, thereby achieving both accuracy with which the control object is determined and determination of the control object at a distance.
摘要翻译：在车辆控制对象确定系统中，轨迹相关度计算器基于车速和横摆率来计算由第一行驶轨迹估计器估计出的车辆的未来行驶轨迹与由基于由行驶轨迹计算器计算的车辆的过去行驶轨迹的第二行驶轨迹估计器。当控制对象确定器基于由第一行进轨迹估计器估计的行驶轨迹和预定控制对象确定条件来确定控制对象时，根据相关程度，即相关度的可靠度来修改控制对象确定条件由第一行进轨迹估计器估计的行驶轨迹，从而获得确定控制对象的精度和距离上的控制对象的确定。

13. 发明申请

US20080109120A1 Travel control system for vehicle 失效
标题翻译：车辆行驶控制系统
公开(公告)号：US20080109120A1
公开(公告)日：2008-05-08
申请号：US11905030
申请日：2007-09-27
申请人： Kiichiro Sawamoto
发明人： Kiichiro Sawamoto
IPC分类号： B60W30/08
CPC分类号： B60W30/17 , B60W30/08 , B60W2420/52
摘要： A travel controller which controls the travel of a subject vehicle based on a distance to and a relative speed with respect to a control object determined by a control object determiner. If stoppage of the subject vehicle by a decelerating operation of a driver is detected by a manual stoppage detector and a comparator determines that a distance to the object in or on a travel locus is equal to or larger than a determination threshold value, the comparator excludes the object from being considered as a control object.
摘要翻译：一种旅行控制器，其基于与由控制对象确定器确定的控制对象的距离和相对速度来控制本车辆的行驶。如果通过手动停止检测器检测到驾驶员的减速操作来停止本车辆，并且比较器确定到行驶轨迹中或其上的物体的距离等于或大于确定阈值，则比较器排除该对象被认为是一个控制对象。

14. 发明申请

US20060229793A1 Vehicular travel control system 审中-公开
标题翻译：车辆行驶控制系统
公开(公告)号：US20060229793A1
公开(公告)日：2006-10-12
申请号：US11389440
申请日：2006-03-23
申请人： Kiichiro Sawamoto , Shigeru Inoue
发明人： Kiichiro Sawamoto , Shigeru Inoue
IPC分类号： B60T7/12
CPC分类号： B60W30/165 , B60T7/22
摘要： In a vehicular travel control system, when tracking control for a preceding vehicle is being carried out, if a driver intention detector detects a driver's intention to decelerate, a travel path width detector of an external conditions detector detects a decrease in the width of a subject vehicle travel path, and a cutting-in vehicle detector detects a cutting-in vehicle, a control target value corrector increases a set inter-vehicle distance for the tracking control. Thus, it becomes possible to carry out vehicle control that reflects the driver's wish to let a cutting-in vehicle cut in smoothly by increasing the inter-vehicle distance from the preceding vehicle. On the other hand, if the cutting-in vehicle detector does not detect a cutting-in vehicle, the set vehicle speed of the constant speed travel control is decreased, so that it becomes possible to carry out vehicle control that reflects the driver's wish to drive safely when the width of the road in front has decreased.
摘要翻译：在车辆行驶控制系统中，当进行对前方车辆的跟踪控制时，如果驾驶者意图检测器检测到驾驶员减速的意图，则外部条件检测器的行驶路径宽度检测器检测到被检体的宽度的减小车辆行驶路径和切入车辆检测器检测切入车辆时，控制目标值校正器增加用于跟踪控制的设定的车辆间距离。因此，通过增加与前方车辆的车辆间距离，能够进行反映驾驶员希望使切入车辆平滑地切换的车辆控制。另一方面，如果切入车辆检测器未检测到切入车辆，则定速行驶控制的设定车速减小，从而可以进行反映驾驶员希望的车辆控制前方道路宽度下降时，安全行驶。

15. 发明申请

US20110224862A1 VEHICULAR CONTROL OBJECT DETERMINATION SYSTEM AND VEHICULAR TRAVEL LOCUS ESTIMATION SYSTEM 失效
标题翻译：车辆控制对象确定系统和车辆行驶位置估计系统
公开(公告)号：US20110224862A1
公开(公告)日：2011-09-15
申请号：US13114663
申请日：2011-05-24
申请人： Kiichiro Sawamoto , Shigeru Inoue , Hiroshi Sato
发明人： Kiichiro Sawamoto , Shigeru Inoue , Hiroshi Sato
IPC分类号： G06F7/00
CPC分类号： B60W40/02 , B60W10/06 , B60W30/16 , B60W2550/20 , G08G1/16
摘要： In a vehicular control object determination system, locus correlation degree calculator calculates a degree of correlation between a future travel locus of a vehicle estimated by first travel locus estimator based on a vehicle speed and a yaw rate and a future travel locus of the vehicle estimated by second travel locus estimator based on a past travel locus of the vehicle calculated by travel locus calculator. When control object determiner determines a control object based on the travel locus estimated by the first travel locus estimator and predetermined control object determination conditions, the control object determination conditions are modified according to the degree of correlation, that is, the degree of reliability of the travel locus estimated by the first travel locus estimator, thereby achieving both accuracy with which the control object is determined and determination of the control object at a distance.
摘要翻译：在车辆控制对象确定系统中，轨迹相关度计算器基于车速和横摆率来计算由第一行驶轨迹估计器估计出的车辆的未来行驶轨迹与由基于由行驶轨迹计算器计算的车辆的过去行驶轨迹的第二行驶轨迹估计器。当控制对象确定器基于由第一行进轨迹估计器估计的行驶轨迹和预定控制对象确定条件来确定控制对象时，根据相关程度，即相关度的可靠度来修改控制对象确定条件由第一行进轨迹估计器估计的行驶轨迹，从而获得确定控制对象的精度和距离上的控制对象的确定。

16. 发明授权

US07966129B2 Vehicular control object determination system 有权
标题翻译：车载控制对象确定系统
公开(公告)号：US07966129B2
公开(公告)日：2011-06-21
申请号：US11253768
申请日：2005-10-18
申请人： Kiichiro Sawamoto
发明人： Kiichiro Sawamoto
IPC分类号： G06F17/10
CPC分类号： B60W40/02 , B60W10/06 , B60W30/16 , B60W2550/20
摘要： A vehicular control object determination system includes: a radar device for detecting an object that is present in the direction of travel of a vehicle; a travel locus estimator for estimating a future travel locus of the vehicle; a control object determiner for determining a control object based on a detection result obtained by the radar device, a future travel locus of the vehicle estimated by the travel locus estimator based on a vehicle speed and a yaw rate and predetermined control object determination conditions; and a swing rate detector for detecting a swing rate of side-to-side swing of the estimated travel locus. When the detected swing rate is equal to or greater than a threshold value, the control object determiner excludes from determination of a control object an object that is further than a predetermined distance. Therefore, when the swing rate is large and the estimation accuracy is lowered, an object that is farther than a predetermined distance is excluded from determination of a control object, thereby avoiding erroneous determination of a control object.
摘要翻译：车辆控制对象确定系统包括：雷达装置，用于检测存在于车辆行驶方向上的物体; 用于估计车辆的未来行驶轨迹的行驶轨迹估计器; 控制对象确定器，用于基于由所述雷达装置获得的检测结果，基于车速和横摆率以及预定控制对象确定条件由所述行驶轨迹估计器估计的所述车辆的未来行驶轨迹来确定控制对象; 以及摆动率检测器，用于检测估计的行进轨迹的侧向摆动的摆动速率。当检测到的摆动速度等于或大于阈值时，控制对象确定器从控制对象的确定中排除比预定距离更远的对象。因此，当摆动率大并且估计精度降低时，比控制对象的确定排除比预定距离更远的对象，从而避免控制对象的错误确定。

17. 发明申请

US20060136132A1 Vehicular control object determination system 有权
标题翻译：车载控制对象确定系统
公开(公告)号：US20060136132A1
公开(公告)日：2006-06-22
申请号：US11256316
申请日：2005-10-21
申请人： Kiichiro Sawamoto
发明人： Kiichiro Sawamoto
IPC分类号： G08G1/16
CPC分类号： B60W30/16 , G08G1/167
摘要： Whether or not a radar device detects an object is determined by a detection state determinator. Whether or not a time during which the object is not detected and which is measured by a clocking device becomes a determination threshold value or more, is determined by a non-detection determinator. Based on the determination results, an informing device informs an occupant that the object is not detected for a predetermined time or more. Therefore, a state in which the radar device does not detect an object due to absence of the object on a road in a desert or the like is prevented from being erroneously determined as a state caused by contamination of the radar device. Also, the occupant can easily determine whether the operation of the informing device is actually caused by absence of an object or contamination of the radar device, based on the environment around the road on which the own vehicle is traveling. Especially because a reflected wave from a road surface, of which intensity changes in accordance with the condition, is not used for determination, it becomes unnecessary to change the setting of the determination threshold value and determination frequency region, and thus the structure and operation are simplified.
摘要翻译：雷达装置检测到物体是否由检测状态确定器确定。是否通过非检测判定器确定对象未被检测到的时间以及由时钟设备测量的时间是否为确定阈值或更大。基于确定结果，通知装置通知乘员在预定时间以上未检测到对象。因此，防止由于雷达装置的污染引起的雷达装置由于在沙漠中的道路上不存在物体而没有检测到物体的状态等被错误地确定。此外，乘客可以基于本车辆所在的道路周围的环境容易地确定通知装置的操作实际上是由于没有物体或者雷达装置的污染引起的。特别是因为根据条件而强度变化的路面的反射波不用于确定，所以不需要改变确定阈值和确定频率区域的设置，因此结构和操作是简化了

18. 发明申请

US20050090950A1 Vehicular object detection system, tracking control system, and vehicle control system 有权
标题翻译：车辆物体检测系统，跟踪控制系统和车辆控制系统
公开(公告)号：US20050090950A1
公开(公告)日：2005-04-28
申请号：US10921008
申请日：2004-08-17
申请人： Kiichiro Sawamoto , Shigeru Inoue , Hiroshi Satoh
发明人： Kiichiro Sawamoto , Shigeru Inoue , Hiroshi Satoh
IPC分类号： B60K31/00 , G08G1/16 , G05D1/00
CPC分类号： G08G1/166 , B60K31/0008 , B60W2540/02 , B60W2540/10 , B60W2540/12
摘要： An ACC system includes a radar device for detecting an object in front of a subject vehicle, locus estimator for estimating a travel locus of the subject vehicle, detection area setter for setting a predetermined detection area in front of the subject vehicle based on the travel locus of the subject vehicle, obstacle extractor for extracting a preceding vehicle based on a detection result of the radar device and the detection area, and acceleration/deceleration intention detector for detecting an intention of an occupant to accelerate or decelerate. Since the detection area setter increases the detection area for an obstacle when the acceleration/deceleration intention detector detects an intention of the occupant to decelerate, it is possible to reliably detect a cutting-in vehicle that cuts in front of the subject vehicle and to prevent the subject vehicle from coming into contact with the cutting-in vehicle, thus preventing the driver from feeling uncomfortable and ensuring reliable operation of the ACC system.
摘要翻译： ACC系统包括用于检测目标车辆前方的物体的雷达装置，用于估计本车辆的行驶轨迹的轨迹估计器，用于基于行驶轨迹设定本车辆前方的预定检测区域的检测区域设定器基于雷达装置的检测结果和检测区域提取前方车辆的障碍物提取器，以及用于检测乘员进行加速或减速的意图的加速/减速意图检测器。由于当加速/减速意图检测器检测到乘员的意图减速时，由于检测区域设定器增加了障碍物的检测区域，因此可以可靠地检测在本车辆前方切断的切入车辆，并且防止本车辆与切入车辆接触，从而防止驾驶员感到不舒服，并确保ACC系统的可靠运行。

19. 发明授权

US06828931B2 Process for adjusting the detecting axis of an object detector 有权
标题翻译：用于调整物体检测器的检测轴的过程
公开(公告)号：US06828931B2
公开(公告)日：2004-12-07
申请号：US10366690
申请日：2003-02-14
申请人： Hayato Kikuchi , Kiichiro Sawamoto
发明人： Hayato Kikuchi , Kiichiro Sawamoto
IPC分类号： G01S740
CPC分类号： G01S13/931 , G01S7/4026 , G01S7/4052 , G01S2007/403 , G01S2007/4034 , G01S2007/4082 , G01S2007/4086 , G01S2013/9375
摘要： An object detecting device mounted on a vehicle transmits an electromagnetic wave to a detecting area established in a traveling direction of the vehicle. The object detecting device receives a wave resulting from the reflection of the electromagnetic wave from an object in the detecting area, thereby detecting the object. A reference reflector is disposed at a predetermined location in front of the object detecting device. A plurality of tires are stacked on top of one another behind the reference reflector to form an electromagnetic wave absorber. An object detecting axis of the object detecting device is adjusted by transmitting the electromagnetic wave so that the reference reflector assumes a reference position of the detecting area.
摘要翻译：安装在车辆上的物体检测装置将电磁波发送到在车辆的行驶方向上建立的检测区域。物体检测装置从检测区域中的物体接收电磁波的反射产生的波，从而检测物体。参考反射器设置在物体检测装置前面的预定位置处。多个轮胎在参考反射器后方彼此堆叠形成电磁波吸收体。通过发送电磁波来调整物体检测装置的物体检测轴，使得基准反射器成为检测区域的基准位置。

20. 发明授权

US08290698B2 Vehicle travel control apparatus 有权
标题翻译：车辆行驶控制装置
公开(公告)号：US08290698B2
公开(公告)日：2012-10-16
申请号：US12061341
申请日：2008-04-02
申请人： Kiichiro Sawamoto
发明人： Kiichiro Sawamoto
IPC分类号： G08G1/16
CPC分类号： B60W30/16 , B60K31/0008 , B60W2520/10 , B60W2520/14 , B60W2550/302 , B60W2550/402
摘要： A vehicle travel control apparatus including an object detector, a yaw-rate detector, a vehicle speed detector, a movement path estimator, a preceding vehicle assignment device, a travel controller, a still object determination device, and a stable-movement-state determination device, wherein the preceding vehicle assignment device avoids assigning the object as the preceding vehicle, or assigns the object as the preceding vehicle after waiting for a predetermined time, when: the present vehicle performs the follow-travel control targeting the preceding vehicle; the object detected at a position between the preceding vehicle and the present vehicle is determined to be the still object by the still object determination device; and the present vehicle is determined to be in the stable-movement-state by the stable-movement-state determination device.
摘要翻译：一种车辆行驶控制装置，包括物体检测器，偏航率检测器，车速检测器，移动路径估计器，前方车辆分配装置，行驶控制器，静止物体确定装置和稳定运动状态判定装置，其中，所述前方车辆分配装置避免分配作为前一车辆的物体，或者在等待预定时间之后将所述物体分配为所述前方车辆，当：当前车辆执行针对所述前方车辆的跟随行驶控制时; 在前一车辆与当前车辆之间的位置处检测到的物体被静止物体确定装置确定为静止物体; 并且通过稳定运动状态确定装置确定当前车辆处于稳定运动状态。

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