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1. 发明申请

US20120239252A1 VEHICLE POWER STEERING CONTROL APPARATUS 有权
标题翻译：车辆动力转向控制装置
公开(公告)号：US20120239252A1
公开(公告)日：2012-09-20
申请号：US13410348
申请日：2012-03-02
申请人： Shinji Sawada , Hiroki Kato
发明人： Shinji Sawada , Hiroki Kato
IPC分类号： B62D6/00
CPC分类号： B62D15/0265
摘要： There is provided a vehicle power steering control apparatus. A steering control unit sets a base assist torque Tb based upon a vehicle speed and a steering torque. When an obstacle ahead is detected by an image recognition device, the steering control unit calculates an overlapping ratio between the obstacle and the vehicle in the widthwise direction. When an absolute value of the overlapping ratio is larger than a predetermined threshold value, the steering control unit increases the base assist torque for correction, and when the absolute value is equal to or smaller than the predetermined threshold value, it decreases the base assist torque for correction. The steering control unit outputs the calculated value to a motor drive unit as a control quantity (assist torque).
摘要翻译：提供了一种车辆动力转向控制装置。转向控制单元基于车速和转向转矩设定基准辅助转矩Tb。当通过图像识别装置检测到前方的障碍物时，转向控制单元计算障碍物和车辆在宽度方向上的重叠比。当重叠比的绝对值大于预定阈值时，转向控制单元增加用于校正的基准辅助转矩，并且当绝对值等于或小于预定阈值时，它减小了基本辅助转矩用于校正。转向控制单元将计算出的值作为控制量（辅助转矩）输出到电动机构驱动单元。

2. 发明申请

US20110288683A1 GRIP POSITION CALCULATOR AND METHOD OF CALCULATING GRIP POSITION 有权
标题翻译： GRIP位置计算器和计算GRIP位置的方法
公开(公告)号：US20110288683A1
公开(公告)日：2011-11-24
申请号：US13148183
申请日：2010-01-28
申请人： Toshiyuki Kondo , Shinji Sawada , Nobuhiro Nanba , Yoshikazu Hayakawa , Kenji Fujimoto , Akira Nakashima , Takashi Uno
发明人： Toshiyuki Kondo , Shinji Sawada , Nobuhiro Nanba , Yoshikazu Hayakawa , Kenji Fujimoto , Akira Nakashima , Takashi Uno
IPC分类号： B25J13/00
CPC分类号： B25J15/0009 , B25J9/1612 , B25J15/10
摘要： The grip position calculator determines a grip position where the fingers can grip a workpiece in any orientation of the workpiece. The calculator then determines an initial position where the finger tips can grip the workpiece and set the initial position as a point of calculation. Then an allowable gripping force is calculated which is an index that indicates an allowable force to be applied to the workpiece at point. Then other allowable forces are calculated for a plurality of points near the point of calculation. Then the point of calculation is selected as a possible gripping position if the allowable force a point is greater than any of the allowable forces. Otherwise, one of the points is selected for another point of calculation where the greatest allowable force (De) has been calculated and return to calculating an allowable gripping force.
摘要翻译：握持位置计算器确定手指可以在工件的任何取向上夹持工件的抓握位置。然后，计算器确定指尖可握住工件的初始位置，并将初始位置设置为计算点。然后，计算出允许的夹持力，其是指示在点处施加到工件的允许力的指标。然后对于计算点附近的多个点计算其他容许力。然后，如果允许的力一点大于任何允许的力，则选择计算点作为可能的夹持位置。否则，在计算最大容许力（De）的另一个计算点中选择一个点，并返回到计算允许的夹紧力。

3. 发明申请

US20110102195A1 INTERSECTION DRIVING SUPPORT APPARATUS 有权
标题翻译：交叉驾驶支持装置
公开(公告)号：US20110102195A1
公开(公告)日：2011-05-05
申请号：US12914238
申请日：2010-10-28
申请人： Azumi Kushi , Shinji Sawada
发明人： Azumi Kushi , Shinji Sawada
IPC分类号： G08G1/09
CPC分类号： G08G1/164 , G08G1/096716 , G08G1/096758 , G08G1/096783 , G08G1/166 , G08G1/167
摘要： When a vehicle attempts to enter a priority road from a non-priority road, a visibility determination processing section compares moving object information on the priority road obtained from a first infrastructure facility installed near a stop position with moving object information on the priority road detected by an autonomous sensor mounted on the vehicle, and determines that the visibility is poor if the former does not match the latter or determines that the visibility is good if the former matches the latter. Then, when the former does not match the latter, the driver is informed of intersection support information. When the former matches the latter, the driver is not informed since it is determined that the driver has already recognized the information by visual observation.
摘要翻译：当车辆尝试从非优先道路进入优先道路时，可视性判定处理部将从设置在停止位置附近的第一基础设施设施获得的优先路径上的移动对象信息与由安装在车辆上的自主传感器，并且如果前者与后者不匹配或者如果前者与后者匹配，则确定可视性差。然后，当前者与后者不匹配时，向驾驶员通知交叉点支持信息。当前者与后者相匹配时，由于确定驾驶员已经通过目视观察已经识别出信息，所以不知道驾驶员。

4. 发明申请

US20110095907A1 RIGHT-TURN DRIVING SUPPORT APPARATUS 审中-公开
标题翻译：右转驱动支援装置
公开(公告)号：US20110095907A1
公开(公告)日：2011-04-28
申请号：US12898077
申请日：2010-10-05
申请人： Azumi KUSHI , Shinji Sawada
发明人： Azumi KUSHI , Shinji Sawada
IPC分类号： G08G1/09
CPC分类号： G08G1/161 , B60W30/0956 , B60W2550/143 , G08G1/164
摘要： When an own vehicle waits to turn right, a vehicle data processing unit processes information of an oncoming vehicle based on data analyzed by data analyzing units. A support processing unit sets a blind angle rank according to a difficulty degree of recognizing a following vehicle due to the blind angle of a lead vehicle from the relationship in the vehicle body size between the lead and following vehicles based on the oncoming vehicle information, and sets the highest blind angle rank value as an oncoming straight-ahead vehicle rank flag. It also sets an evaluation rank according to a risk degree when the own vehicle turns right, based on the oncoming straight-ahead vehicle rank flag and an oncoming right-turning vehicle rank flag set according to the size of an oncoming vehicle waiting to turn right, and informs the driver of right-turn driving support information according to the evaluation rank.
摘要翻译：当车辆等待右转时，车辆数据处理单元基于由数据分析单元分析的数据来处理迎面而来的车辆的信息。基于迎面而来的车辆信息，辅助处理单元根据引导车辆和后续车辆之间的车身尺寸的关系，根据引导车辆的盲角识别后续车辆的难易程度来设定盲角等级，以及将最高的盲角等级值设置为迎面而来的直行车辆标志。根据即将到来的直行车次标志和迎面而来的右转车辆等级标志，根据等待右转的迎面而来的车辆的大小，根据当前车辆右转的风险程度，设定评价等级，并根据评价等级通知驾驶员右转驾驶辅助信息。

5. 发明授权

US08452452B2 Grip position calculator and method of calculating grip position 有权
标题翻译：抓握位置计算器和计算抓地位置的方法
公开(公告)号：US08452452B2
公开(公告)日：2013-05-28
申请号：US13148183
申请日：2010-01-28
申请人： Toshiyuki Kondo , Shinji Sawada , Nobuhiro Nanba , Yoshikazu Hayakawa , Kenji Fujimoto , Akira Nakashima , Takashi Uno
发明人： Toshiyuki Kondo , Shinji Sawada , Nobuhiro Nanba , Yoshikazu Hayakawa , Kenji Fujimoto , Akira Nakashima , Takashi Uno
IPC分类号： G05B15/00 , G06F19/00
CPC分类号： B25J15/0009 , B25J9/1612 , B25J15/10
摘要： The grip position calculator determines a grip position where the fingers can grip a workpiece in any orientation of the workpiece. The calculator then determines an initial position where the finger tips can grip the workpiece and set the initial position as a point of calculation. Then an allowable gripping force is calculated which is an index that indicates an allowable force to be applied to the workpiece at point. Then other allowable forces are calculated for a plurality of points near the point of calculation. Then the point of calculation is selected as a possible gripping position if the allowable force a point is greater than any of the allowable forces. Otherwise, one of the points is selected for another point of calculation where the greatest allowable force (De) has been calculated and return to calculating an allowable gripping force.
摘要翻译：握持位置计算器确定手指可以在工件的任何取向上夹持工件的抓握位置。然后，计算器确定指尖可握住工件的初始位置，并将初始位置设置为计算点。然后，计算出允许的夹持力，其是指示在点处施加到工件的允许力的指标。然后对于计算点附近的多个点计算其他容许力。然后，如果允许的力一点大于任何允许的力，则选择计算点作为可能的夹持位置。否则，在计算最大容许力（De）的另一个计算点中选择一个点，并返回到计算允许的夹紧力。

6. 发明申请

US20110265311A1 WORKPIECE HOLDING METHOD 审中-公开
标题翻译：工作控制方法
公开(公告)号：US20110265311A1
公开(公告)日：2011-11-03
申请号：US13089572
申请日：2011-04-19
申请人： Toshiyuki Kondo , Shinji Sawada , Nobuhiro Nanba
发明人： Toshiyuki Kondo , Shinji Sawada , Nobuhiro Nanba
IPC分类号： B23Q7/04
CPC分类号： B25J9/1697 , B25J9/0084 , B25J9/1612 , B25J15/0009 , G05B2219/39114 , G05B2219/39485 , G05B2219/39503 , G05B2219/40053 , G05B2219/40604 , Y10T29/49998
摘要： It is an object of the present invention to provide a workpiece holding method which enables a workpiece to be held when a multi-fingered hand is used to grasp the workpiece that is in an untidy heap, even if a target workpiece is subject to interference from another workpiece, and thereby the method enhances the success rate for holding the workpiece. A workpiece holding method, when two holding devices (first to fourth fingers F1 to F4) are used to hold a workpiece (reinforcement W), including a unilateral holding process of inserting a first holding device (the first finger F1 and the second finger F2) at one holding device insert position (region A) to hold and lift a workpiece-to-be-held (reinforcement-to-be-held T) in a state where the workpiece-to-be-held has no interference from any other workpieces at the region A, and a bilateral holding process of inserting a second holding device (the third finger F3 and the fourth finger F4) around (region D) the workpiece-to-be-held lifted by the first holding device, to hold the workpiece-to-be-held.
摘要翻译：本发明的目的是提供一种工件保持方法，即使在使用多指手抓住位于不整齐的堆中的工件时能够保持工件，即使目标工件受到来自另一工件，从而提高了保持工件的成功率。当使用两个保持装置（第一至第四手指F1至F4）来夹持工件（加强件W）时的工件保持方法，包括插入第一保持装置的单边保持处理（第一手指F1和第二手指F2 ）在一个保持装置插入位置（区域A）处，以在要被保持的工件不受任何干扰的状态下保持和提起待保持的工件（待加固的T）区域A中的其他工件，以及通过第一保持装置将第二保持装置（第三手指F3和第四手指F4）插入（区域D）被提升的工件的双边保持处理，握住要保持的工件。

7. 发明申请

US20110095909A1 DRIVING SUPPORT APPARATUS 有权
标题翻译：驾驶辅助装置
公开(公告)号：US20110095909A1
公开(公告)日：2011-04-28
申请号：US12908366
申请日：2010-10-20
申请人： Azumi Kushi , Shinji Sawada
发明人： Azumi Kushi , Shinji Sawada
IPC分类号： G08G1/09
CPC分类号： G08G1/161 , G08G1/164
摘要： When an own vehicle waits to turn left or right, a vehicle data processing unit processes information of an oncoming vehicle based on data analyzed by data analyzing units. A support processing unit sets a blind angle rank according to a difficulty degree of recognizing a following vehicle due to the blind angle of a lead vehicle from the relationship in the vehicle body size between the lead and following vehicles based on the oncoming vehicle information, and sets the highest blind angle rank value as an oncoming straight-ahead vehicle rank flag. It also sets an evaluation rank according to a risk degree when the own vehicle turns left or right, based on the oncoming straight-ahead vehicle rank flag and an oncoming vehicle rank flag set according to the size of an oncoming vehicle waiting to turn left or right, and informs the driver of driving support information according to the evaluation rank.
摘要翻译：当车辆等待左转或右转时，车辆数据处理单元根据由数据分析单元分析的数据处理迎面而来的车辆的信息。基于迎面而来的车辆信息，辅助处理单元根据引导车辆和后续车辆之间的车身尺寸的关系，根据引导车辆的盲角识别后续车辆的难易程度来设定盲角等级，以及将最高的盲角等级值设置为迎面而来的直行车辆标志。根据迎面而来的直行车辆等级标志和根据等待左转的迎面而来的车辆的大小设定的迎面而来的车辆等级标志，还根据当前车辆左转或右转的危险程度，设定评价等级权利，并根据评估等级通知驾驶员驾驶支持信息。

8. 发明授权

US08010274B2 Vehicle driving support apparatus with target position arrival determination 有权
标题翻译：具有目标位置到位确定的车辆驾驶辅助装置
公开(公告)号：US08010274B2
公开(公告)日：2011-08-30
申请号：US11319551
申请日：2005-12-29
申请人： Shinji Sawada
发明人： Shinji Sawada
IPC分类号： B60T7/12
CPC分类号： B60W30/16 , B60T7/22 , B60W2720/106
摘要： In automatic following control in a travel control unit of a driving support apparatus, a prerequisite inter-vehicle distance to a front vehicle is set, a time to reaching this requisite inter-vehicle distance is set as a control target time, an estimated position of the front vehicle after the control target time elapses is computed, an acceleration from a present vehicle speed that will bring to a preset target inter-vehicle distance the inter-vehicle distance to the front vehicle at an own vehicle speed as of when the control target time elapses is computed as a target acceleration on the basis of the present inter-vehicle distance to the front vehicle and the estimated position of the front vehicle after the control target time elapses, and automatic braking control and automatic acceleration control are carried out to follow the front vehicle.
摘要翻译：在驾驶辅助装置的行驶控制单元的自动跟随控制中，设定与前方车辆的前提车间距离，将达到该车辆间距离的时间设定为控制目标时刻，计算经过控制目标时间之后的前方车辆，从当前车速开始的加速度，该当前车速将使得当控制目标基于当前车辆与前车辆的距离和经过控制目标时间后的前车辆的估计位置，计算出目标加速度，并执行自动制动控制和自动加速控制前车。

9. 发明授权

US08972153B2 Idling control apparatus for vehicle 有权
标题翻译：车辆空转控制装置
公开(公告)号：US08972153B2
公开(公告)日：2015-03-03
申请号：US13307597
申请日：2011-11-30
申请人： Shinji Sawada , Hiroki Obayashi
发明人： Shinji Sawada , Hiroki Obayashi
IPC分类号： G06F19/00 , G06G7/70 , F02N11/08
CPC分类号： F02N11/0837 , F02N2200/0805 , F02N2200/124 , F02N2200/125 , Y02T10/48
摘要： In an idling control apparatus for a vehicle, normally, when a predetermined idling reduction execution condition is satisfied, a signal is output to the engine control device so as to execute idling reduction for stopping the idling operation of an engine to automatically stop it. Further, it is determined whether or not a subject vehicle is stopped against an obstacle for avoidance of danger based on at least one of environmental information in front of the subject vehicle, obstacle information and a driving condition of the subject vehicle before it is stopped. When it is determined that the subject vehicle is stopped against the obstacle for avoidance of danger, automatic engine stop is prohibited.
摘要翻译：在车辆的空转控制装置中，通常，当满足规定的怠速降低执行条件时，将信号输出到发动机控制装置，以执行怠速降低，停止发动机的怠速运转以自动停止。此外，基于本车辆前方的环境信息，障碍物信息和本车辆停止前的驾驶状况中的至少一个，确定本车辆是否停止避免危险的障碍物。当确定本车辆停止在障碍物上以避免危险时，禁止自动发动机停止。

10. 发明授权

US08482431B2 Driving support apparatus 有权
标题翻译：驾驶辅助装置
公开(公告)号：US08482431B2
公开(公告)日：2013-07-09
申请号：US12908366
申请日：2010-10-20
申请人： Azumi Kushi , Shinji Sawada
发明人： Azumi Kushi , Shinji Sawada
IPC分类号： G08G1/09
CPC分类号： G08G1/161 , G08G1/164
摘要： When an own vehicle waits to turn left or right, a vehicle data processing unit processes information of an oncoming vehicle based on data analyzed by data analyzing units. A support processing unit sets a blind angle rank according to a difficulty degree of recognizing a following vehicle due to the blind angle of a lead vehicle from the relationship in the vehicle body size between the lead and following vehicles based on the oncoming vehicle information, and sets the highest blind angle rank value as an oncoming straight-ahead vehicle rank flag. It also sets an evaluation rank according to a risk degree when the own vehicle turns left or right, based on the oncoming straight-ahead vehicle rank flag and an oncoming vehicle rank flag set according to the size of an oncoming vehicle waiting to turn left or right, and informs the driver of driving support information according to the evaluation rank.
摘要翻译：当车辆等待左转或右转时，车辆数据处理单元根据由数据分析单元分析的数据处理迎面而来的车辆的信息。基于迎面而来的车辆信息，辅助处理单元根据引导车辆和后续车辆之间的车身尺寸的关系，根据引导车辆的盲角识别后续车辆的难易程度来设定盲角等级，以及将最高的盲角等级值设置为迎面而来的直行车辆标志。根据迎面而来的直行车辆等级标志和根据等待左转的迎面而来的车辆的大小设定的迎面而来的车辆等级标志，还根据当前车辆左转或右转的危险程度，设定评价等级权利，并根据评估等级通知驾驶员驾驶支持信息。

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