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1. 发明授权

US09421980B2 Vehicle-mounted apparatus for selecting preceding vehicle positioned in the travel path of the host vehicle of the apparatus 有权
标题翻译：用于选择位于装置的主车辆的行进路径中的前车的车载装置
公开(公告)号：US09421980B2
公开(公告)日：2016-08-23
申请号：US14620398
申请日：2015-02-12
申请人： DENSO CORPORATION
发明人： Takuma Sudou , Jin Kurumisawa , Toyohito Nozawa
IPC分类号： G05D3/00 , G06F7/00 , G06F17/00 , B60W40/072 , B60W30/16 , B60W30/18
CPC分类号： B60W40/072 , B60W30/16 , B60W30/18145 , B60W2520/14 , B60W2550/146
摘要： A vehicle-installed apparatus detects relative positions of other vehicles which are running ahead of the host vehicle of the apparatus, and, for each of these other vehicles, derives a value of probability that the vehicle is located in the same travel path as the host vehicle. A signal indicative of the yaw rate of the host vehicle is utilized in deriving the probabilities, and is filtered to exclude a range of high-frequency signal components, with the excluded range being widened when it is judged that the yaw rate is varying excessively rapidly.
摘要翻译：车载设备检测在设备的主车辆之前的其他车辆的相对位置，并且对于这些其他车辆中的每一个，导出车辆位于与主机相同的行进路径中的概率值车辆。用于表示本车辆的横摆率的信号用于导出概率，并且被过滤以排除高频信号分量的范围，当判断横摆率过快地变化时，排除的范围被加宽。

2. 发明授权

US09638788B2 Apparatus for detecting creeping of radar waves 有权
公开(公告)号：US09638788B2
公开(公告)日：2017-05-02
申请号：US14490848
申请日：2014-09-19
申请人： DENSO CORPORATION
发明人： Toyohito Nozawa , Tatsuya Namikiri
IPC分类号： G01S7/02 , G01S13/58 , G01S7/40 , G01S13/34 , G01S13/93 , G01S7/35 , G01S13/70 , G01S13/42
CPC分类号： G01S7/02 , G01S7/354 , G01S7/40 , G01S13/345 , G01S13/42 , G01S13/584 , G01S13/588 , G01S13/70 , G01S13/931
摘要： An apparatus that detects creeping of radar waves includes: a transmitter transmitting radar waves; a receiver receiving incoming waves from a target; a distance detecting unit detecting a first distance which is a distance up to the target; a speed derivation unit deriving a relative speed relative to the target; a distance estimating unit estimating, based on the relative speed, a second distance which is a distance up to the target; and a creeping detecting unit determining whether or not a creeping has occurred in accordance with whether or not the differential distance representing a deviation quantity between the first distance and the second distance is larger than or equal to a predetermined threshold.

3. 发明授权

US09588222B2 Preceding vehicle selection apparatus 有权
标题翻译：前车选择装置
公开(公告)号：US09588222B2
公开(公告)日：2017-03-07
申请号：US14499831
申请日：2014-09-29
申请人： DENSO CORPORATION
发明人： Takuma Sudou , Jin Kurumisawa , Toyohito Nozawa , Tatsuya Namikiri
IPC分类号： G01S13/06 , B60W30/12 , B60W40/072 , G01S15/93 , G01S17/02 , G01S17/42 , G01S17/93 , G01S13/93
CPC分类号： G01S13/06 , B60W30/12 , B60W40/072 , G01S15/931 , G01S17/023 , G01S17/42 , G01S17/936 , G01S2013/9325
摘要： A preceding vehicle selection apparatus estimates a curvature of a road on which an own vehicle is traveling, detects an object ahead of the own vehicle, and determines a relative position in relation to the own vehicle. Based on the curvature and the relative position, an own vehicle lane probability instantaneous value is determined. This instantaneous value is a probability of the object ahead being present in the same vehicle lane as the own vehicle. By a filter calculation on the instantaneous value, an own vehicle lane probability is determined. Based on the own vehicle lane probability, a preceding vehicle is selected. An inter-vehicle time required for the own vehicle to reach a detection position of the object ahead is calculated. Based on the inter-vehicle time, characteristics of the filter calculation are changed such that an effect of the own vehicle lane instantaneous value increases as the inter-vehicle time decreases.
摘要翻译：前方车辆选择装置估计自身车辆行驶的道路的曲率，检测自身车辆前方的物体，并且确定相对于本车辆的相对位置。基于曲率和相对位置，确定自身车道概率瞬时值。该瞬时值是在与本车辆相同的车道中存在物体的概率。通过对瞬时值的滤波计算，确定自身车辆车道概率。基于本车道概率，选择前一车辆。计算本车辆到达目标物体的检测位置所需的车辆间时间。基于车间时间，改变滤波器计算的特性，使得本车辆车辆瞬时值的效果随着车辆间时间的减少而增加。

4. 发明授权

US09507016B2 Preceding vehicle selection apparatus 有权
标题翻译：前车选择装置
公开(公告)号：US09507016B2
公开(公告)日：2016-11-29
申请号：US14510410
申请日：2014-10-09
申请人： DENSO CORPORATION
发明人： Takuma Sudou , Jin Kurumisawa , Toyohito Nozawa , Tatsuya Namikiri
IPC分类号： B60W30/12 , B60W30/16 , G01S13/04 , B60W40/072 , B60K31/00 , G01S13/93 , G01S7/295 , G01S13/42 , G01S13/72 , G01S7/40
CPC分类号： G01S13/04 , B60K31/0008 , B60K2031/0016 , B60W30/16 , B60W40/072 , B60W2550/141 , B60W2550/146 , B60W2550/302 , B60W2550/306 , B60W2550/308 , G01S7/2955 , G01S13/42 , G01S13/723 , G01S13/931 , G01S2007/403 , G01S2013/9321 , G01S2013/9325 , G01S2013/9353 , G01S2013/9367
摘要： In a preceding vehicle selection apparatus, for each object ahead, a relative position, a relative speed, and width information indicating a lateral width are determined. A lateral position of the object ahead with reference to a traveling direction of the own vehicle is corrected by using the width information of the object ahead. Based on the relative position of the object ahead of, which the lateral position has been corrected, an own vehicle lane probability is calculated for each object ahead. A preceding vehicle is selected from the objects ahead based on the calculated own vehicle lane probability. Based on a value of a correlated parameter that has correlation with error in the lateral position or error in the width information, a correction amount of the lateral position is reduced as error in the lateral position or error in the width information becomes large.
摘要翻译：在前面的车辆选择装置中，对于前面的每个物体，确定表示横向宽度的相对位置，相对速度和宽度信息。通过使用前方的物体的宽度信息来校正参照本车辆的行驶方向的物体前方的横向位置。基于前方的对象的相对位置，横向位置已经被校正，针对前面的每个物体计算自己的车道概率。基于所计算的本车道概率，从前方的对象中选择前方车辆。基于与宽度信息中的横向位置或误差相关的相关参数的值，由于横向位置的误差或宽度信息中的误差变大，横向位置的校正量减小。

5. 发明授权

US09580072B2 Preceding vehicle selection apparatus 有权
标题翻译：前车选择装置
公开(公告)号：US09580072B2
公开(公告)日：2017-02-28
申请号：US14504682
申请日：2014-10-02
申请人： DENSO CORPORATION
发明人： Takuma Sudou , Jin Kurumisawa , Toyohito Nozawa , Tatsuya Namikiri
IPC分类号： B60W30/12 , G01S13/06 , B60W30/165 , B60W30/16 , B60W40/072 , B60W50/00
CPC分类号： B60W30/12 , B60W30/16 , B60W30/165 , B60W40/072 , B60W2050/0022 , B60W2050/0054 , B60W2520/10 , B60W2520/14 , B60W2550/146 , B60W2550/302 , B60W2550/306 , B60W2550/308 , B60W2750/302 , B60W2750/308 , G01S13/06
摘要： A preceding vehicle selection apparatus estimates a curvature of a traveling road on which an own vehicle is traveling, detects an object ahead of the own vehicle, and determines a relative position in relation to the own vehicle, for each object ahead. Based on the estimated curvature and the determined relative position, an own vehicle lane probability instantaneous value for each object ahead is repeatedly determined. An own vehicle lane probability is determined by performing a filter calculation on the calculated own vehicle lane probability instantaneous value. Based on the determined own vehicle lane probability, a preceding vehicle is selected. Characteristics of the filter calculation are set such that an object ahead associated with a preceding vehicle selected in a previous processing cycle is relatively less affected by the own vehicle lane probability instantaneous value than an object ahead associated with an object other than the preceding vehicle.
摘要翻译：前方车辆选择装置估计自身车辆行驶的行驶道路的曲率，检测自身车辆前方的物体，并且针对前面的每个物体确定与自身车辆相对的位置。基于估计的曲率和所确定的相对位置，重复确定每个前方的车辆车道概率瞬时值。通过对计算出的本车道概率瞬时值执行滤波计算来确定自己的车道概率。基于确定的车辆车道概率，选择前一车辆。滤波器计算的特征被设置为使得与先前处理周期中选择的前一车辆相关联的物体相对于与前一车辆以外的物体相关联的前方的车辆概率瞬时值相对较少地受到影响。

6. 发明授权

US09511766B2 Inter-vehicle control apparatus 有权
标题翻译：车内控制装置
公开(公告)号：US09511766B2
公开(公告)日：2016-12-06
申请号：US14575061
申请日：2014-12-18
申请人： DENSO CORPORATION
发明人： Takuma Sudou , Jin Kurumisawa , Toyohito Nozawa , Tatsuya Namikiri
IPC分类号： B60T7/12 , G05D1/00 , B60W30/09 , B60W30/16 , B60W30/095
CPC分类号： B60W30/09 , B60W30/0956 , B60W30/16 , B60W2550/302 , B60W2550/308 , B60W2720/106 , B60W2750/308
摘要： In an inter-vehicle control apparatus, a controller performs acceleration control of an own vehicle, based on an actual inter-vehicle physical quantity and a target inter-vehicle physical quantity. A limiter sets a limit value for a target jerk during the acceleration control. A detector detects an occurrence of at least one of: an event in which the inter-vehicle distance becomes discontinuously shorter; and an event in which a target inter-vehicle distance corresponding to the target inter-vehicle physical quantity becomes discontinuously longer. A determiner determines a risk of collision with the preceding vehicle, based on an operation state of the preceding vehicle in relation to the own vehicle. When at least one of the events is detected, the limiter sets the limit value to a value based on the risk of collision such that change in deceleration of the own vehicle is kept lower as the risk of collision decreases.
摘要翻译：在车辆间控制装置中，控制器基于实际车辆间物理量和目标车辆间物理量来执行本车辆的加速控制。限制器在加速控制期间设置目标冲击的极限值。检测器检测以下中的至少一个的发生：车辆间距离变得不连续的事件; 以及与目标车辆间物理量对应的目标车辆间距离变得不连续的事件。基于相对于本车辆的前一车辆的操作状态，确定器确定与前一车辆的碰撞风险。当检测到至少一个事件时，限制器将限制值设置为基于碰撞风险的值，使得自身车辆的减速度变化保持较低，因为碰撞风险降低。

7. 发明授权

US09327727B2 Vehicle driving control apparatus 有权
标题翻译：车辆驾驶控制装置
公开(公告)号：US09327727B2
公开(公告)日：2016-05-03
申请号：US14618309
申请日：2015-02-10
申请人： DENSO CORPORATION
发明人： Takuma Sudou , Jin Kurumisawa , Takaomi Kinugawa , Toyohito Nozawa , Tatsuya Namikiri
IPC分类号： B60T7/12 , B60W30/14 , B60W10/06 , B60W10/18 , B60W30/16
CPC分类号： B60W30/143 , B60W10/06 , B60W10/18 , B60W30/16 , B60W2550/302 , B60W2720/106 , B60W2750/308
摘要： A vehicle driving control apparatus is provided for controlling an own vehicle to track a target vehicle. The vehicle driving control apparatus includes: (1) means for acquiring an actual relative speed of the target vehicle to the own vehicle; (2) means for detecting occurrence of an event which causes the actual relative speed to discontinuously change; (3) means for setting a target acceleration of the own vehicle based on the product of a relative speed gain and a tracking relative speed when the own vehicle tracks the target vehicle, the tracking relative speed being normally set to the actual relative speed; and (4) means for correcting, upon detection of occurrence of the event by the detecting means, the tracking relative speed so as to gradually increase the absolute value of the tracking relative speed from a value that is less than the absolute value of the actual relative speed.
摘要翻译：提供车辆驾驶控制装置，用于控制本车辆跟踪目标车辆。车辆驱动控制装置包括：（1）用于获取目标车辆与本车辆的实际相对速度的装置; （2）用于检测导致实际相对速度不连续变化的事件的发生的装置; （3）当本车辆跟踪目标车辆时，基于相对速度增益和跟踪相对速度的乘积来设定本车辆的目标加速度的装置，跟踪相对速度通常设定为实际相对速度; 以及（4）用于在通过检测装置检测到事件的发生时，根据小于实际的绝对值的值来逐渐增加跟踪相对速度的绝对值，从而校正跟踪相对速度的装置相对速度

8. 发明授权

US10239522B2 Inter-vehicle control apparatus 有权
公开(公告)号：US10239522B2
公开(公告)日：2019-03-26
申请号：US15339995
申请日：2016-11-01
申请人： DENSO CORPORATION
发明人： Takuma Sudou , Jin Kurumisawa , Toyohito Nozawa , Tatsuya Namikiri
IPC分类号： B60T7/12 , G05D1/00 , B60W30/09 , B60W30/16 , B60W30/095
摘要： In an inter-vehicle control apparatus, a controller performs acceleration control of an own vehicle, based on an actual inter-vehicle physical quantity and a target inter-vehicle physical quantity. A limiter sets a limit value for a target jerk during the acceleration control. A detector detects an occurrence of at least one of: an event in which the inter-vehicle distance becomes discontinuously shorter; and an event in which a target inter-vehicle distance corresponding to the target inter-vehicle physical quantity becomes discontinuously longer. A determiner determines a risk of collision with the preceding vehicle, based on an operation state of the preceding vehicle in relation to the own vehicle. When at least one of the events is detected, the limiter sets the limit value to a value based on the risk of collision such that change in deceleration of the own vehicle is kept lower as the risk of collision decreases.

9. 发明授权

US09428189B2 Vehicle running control apparatus and program therefor 有权
标题翻译：车辆运行控制装置及其程序
公开(公告)号：US09428189B2
公开(公告)日：2016-08-30
申请号：US14539141
申请日：2014-11-12
申请人： DENSO CORPORATION
发明人： Takaomi Kinugawa , Toyohito Nozawa , Jin Kurumisawa
IPC分类号： B60T7/12 , G05D1/00 , G06F7/00 , G06F17/00 , B60W30/16 , B60W30/14
CPC分类号： B60W30/16 , B60W30/14 , B60W30/143 , B60W2520/105 , B60W2550/302 , B60W2550/308
摘要： A vehicle running control apparatus includes a following distance control unit for maintaining a following distance between an own vehicle on which the vehicle running control apparatus is mounted and a preceding vehicle, an accelerating unit for accelerating the own vehicle at a set acceleration so that a speed of the own vehicle reaches a set speed when the preceding vehicle is lost, and an acceleration suppressing unit configured to suppress acceleration of the own vehicle by the accelerating unit on condition that the preceding vehicle and the own vehicle are under an acceleration suppression condition that an allowance time to collision is smaller than a predetermine lower limit at a moment of loss of the preceding vehicle.
摘要翻译：一种车辆行驶控制装置，包括以下距离控制单元，用于在其上安装有车辆行驶控制装置的本车辆与前方车辆之间保持跟随距离;加速单元，用于以设定的加速度加速本车辆，本车辆在前方车辆失去时达到设定速度，加速抑制部被配置为在前方车辆和本车辆处于加速抑制条件下，通过加速单元抑制本车辆的加速度，碰撞的允许时间小于前一车辆损失时刻的预定下限。

10. 发明授权

US09114810B2 Preceding vehicle selection apparatus 有权
标题翻译：前车选择装置
公开(公告)号：US09114810B2
公开(公告)日：2015-08-25
申请号：US14504693
申请日：2014-10-02
申请人： DENSO CORPORATION
发明人： Takuma Sudou , Jin Kurumisawa , Toyohito Nozawa , Tatsuya Namikiri
IPC分类号： G06G7/78 , B60W30/16 , G01S1/02 , G01C21/22 , G08G1/16
CPC分类号： B60W30/16 , B60K31/0008 , B60K2031/0016 , B60W2550/302 , B60W2550/306 , G01C21/22 , G01S1/02 , G06G7/78 , G08G1/16
摘要： A preceding vehicle selection apparatus detects an object ahead of the own vehicle, and determines a relative position and a relative speed in relation to the own vehicle for each object ahead. Based on detection results of the object ahead, a lateral movement speed of the object ahead is determined. Based on the calculated lateral movement speed, the lateral position of the object ahead with reference to a traveling direction of the own vehicle is corrected. Based on the relative position of the object ahead of which the lateral position has been corrected, an own vehicle lane probability for each object ahead is calculated. Based on the calculated probability, a preceding vehicle from the objects ahead is selected. Based on a distance to the object ahead, the lateral position of the object ahead is corrected such that an amount of correction in the lateral position decreases as the distance increases.
摘要翻译：前方车辆选择装置检测自身车辆前方的物体，并且针对前方的每个物体确定相对于本车辆的相对位置和相对速度。根据对象物的检测结果，确定前方物体的横向移动速度。基于计算出的横向移动速度，校正参照本车辆的行进方向的物体前方的横向位置。基于前方的相对位置，横向位置被校正，计算出每个前方的车辆车道概率。基于计算的概率，选择从前方的前方车辆。基于与前方物体的距离，校正前方物体的横向位置，使得横向位置的校正量随着距离的增加而减小。

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