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1. 发明授权

US09043092B2 Vehicle control apparatus 有权
标题翻译：车辆控制装置
公开(公告)号：US09043092B2
公开(公告)日：2015-05-26
申请号：US13777037
申请日：2013-02-26
申请人： DENSO CORPORATION , Nippon Soken, Inc.
发明人： Yusuke Ueda , Motonori Tominaga , Tomohiko Tsuruta , Takeshi Hatoh
IPC分类号： B62D6/00 , G05D1/02 , B62D1/28 , B62D15/02
CPC分类号： B62D6/001 , B62D1/28 , B62D15/0265 , G05D1/021
摘要： A vehicle control apparatus capable of automatic steering control while reducing discomfort or stress on vehicle occupants. In the apparatus, a lane detection unit detects a lane in which the vehicle is traveling. An offset setting unit sets an offset within the lane suitable for making a driver feel less stressed. An occupant detection unit detects the presence of a designated occupant of a seat opposite a driver's seat. An offset adjustment unit, when the designated occupant is detected, adjusts the offset set by the offset setting unit to be decreased. A vehicle-path estimation unit estimates a vehicle path in the lane such that the vehicle can travel along the vehicle path from a current lateral position to a target lateral position of the vehicle. An automatic steering control unit automatically controls steering so that the vehicle travels along the estimated vehicle.
摘要翻译：一种车辆控制装置，其能够在减少车辆乘客的不适或压力的同时自动转向控制。在该装置中，车道检测单元检测车辆行驶的车道。偏移设置单元设置适于使驾驶员感觉较少受力的车道内的偏移。乘客检测单元检测与驾驶员座椅相对的座位的指定乘员的存在。偏移调整单元，当检测到指定的乘客时，调整由偏移设定单元设定的偏移量以减小。车辆路径估计单元估计车道中的车辆路径，使得车辆可以沿着车辆路径从当前横向位置行进到车辆的目标横向位置。自动转向控制单元自动控制转向，使得车辆沿估计车辆行驶。

2. 发明申请

US20130226406A1 VEHICLE CONTROL APPARATUS 有权
标题翻译：车辆控制装置
公开(公告)号：US20130226406A1
公开(公告)日：2013-08-29
申请号：US13777037
申请日：2013-02-26
申请人： DENSO CORPORATION , Nippon Soken, Inc.
发明人： Yusuke Ueda , Motonori Tominaga , Tomohiko Tsuruta , Takeshi Hatoh
IPC分类号： B62D6/00 , G05D1/02
CPC分类号： B62D6/001 , B62D1/28 , B62D15/0265 , G05D1/021
摘要： A vehicle control apparatus capable of automatic steering control while reducing discomfort or stress on vehicle occupants. In the apparatus, a lane detection unit detects a lane in which the vehicle is traveling. An offset setting unit sets an offset within the lane suitable for making a driver feel less stressed. An occupant detection unit detects the presence of a designated occupant of a seat opposite a driver's seat. An offset adjustment unit, when the designated occupant is detected, adjusts the offset set by the offset setting unit to be decreased. A vehicle-path estimation unit estimates a vehicle path in the lane such that the vehicle can travel along the vehicle path from a current lateral position to a target lateral position of the vehicle. An automatic steering control unit automatically controls steering so that the vehicle travels along the estimated vehicle.
摘要翻译：一种车辆控制装置，其能够在减少车辆乘客的不适或压力的同时自动转向控制。在该装置中，车道检测单元检测车辆行驶的车道。偏移设置单元设置适于使驾驶员感觉较少受力的车道内的偏移。乘客检测单元检测与驾驶员座椅相对的座位的指定乘客的存在。偏移调整单元，当检测到指定的乘客时，调整由偏移设定单元设定的偏移量以减小。车辆路径估计单元估计车道中的车辆路径，使得车辆可以沿着车辆路径从当前横向位置行进到车辆的目标横向位置。自动转向控制单元自动控制转向，使得车辆沿估计车辆行驶。

3. 发明授权

US09002614B2 Inter-vehicle distance control device 有权
标题翻译：车间距离控制装置
公开(公告)号：US09002614B2
公开(公告)日：2015-04-07
申请号：US13775826
申请日：2013-02-25
申请人： Denso Corporation , Nippon Soken, Inc.
发明人： Motonori Tominaga , Tomohiko Tsuruta , Yusuke Ueda , Takeshi Hatoh
IPC分类号： B60T7/12 , G05D1/00 , G05D1/12 , G06F7/00 , G06F17/00 , B60K31/00 , B60W50/00 , B60W30/16 , B60W30/18
CPC分类号： B60K31/0008 , B60W30/16 , B60W30/18163 , B60W50/0097 , B60W2750/308 , Y02T10/84
摘要： An inter-vehicle distance control device is provided. In this control device, an inter-vehicle distance detecting section detects an inter-vehicle distance between an own vehicle and a preceding vehicle traveling in front of the own vehicle. A laterally adjacent vehicle detecting section detects another vehicle present beside the own vehicle. A cut-in detecting section judges whether or not a cut-in by the other vehicle detected by the laterally adjacent vehicle detecting section is likely to occur, before the other vehicle cuts in between the own vehicle and the preceding vehicle. An inter-vehicle distance adjusting section performs an inter-vehicle distance extension adjustment to increase the inter-vehicle distance when the cut-in detecting section judges that a cut-in is likely to occur. An inter-vehicle distance control section controls the inter-vehicle distance based on information from the inter-vehicle distance adjusting section.
摘要翻译：提供车辆间距离控制装置。在该控制装置中，车辆间距离检测部检测在本车辆前方行驶的本车和前车之间的车间距离。横向相邻的车辆检测部分检测在本车辆旁边存在的另一车辆。在另一车辆在本车和前一车辆之间切入之前，切入检测部判断是否可能发生由横向相邻车辆检测部检测到的其他车辆的切入。当切入检测部判断为可能发生切入时，车间距离调整部进行车间距离延长调整，以增大车间距离。车辆间距离控制部基于来自车辆间距离调整部的信息来控制车辆间距离。

4. 发明申请

US20130226433A1 INTER-VEHICLE DISTANCE CONTROL DEVICE 有权
标题翻译：车内距离控制装置
公开(公告)号：US20130226433A1
公开(公告)日：2013-08-29
申请号：US13775826
申请日：2013-02-25
申请人： DENSO CORPORATION , Nippon Soken, Inc.
发明人： Motonori Tominaga , Tomohiko Tsuruta , Yusuke Ueda , Takeshi Hatoh
IPC分类号： B60K31/00
CPC分类号： B60K31/0008 , B60W30/16 , B60W30/18163 , B60W50/0097 , B60W2750/308 , Y02T10/84
摘要： An inter-vehicle distance control device is provided. A typical embodiment of the device comprises, i) an inter-vehicle distance detecting means for detecting an inter-vehicle distance between the own vehicle and the preceding vehicle traveling in front of the own vehicle, ii) a laterally adjacent vehicle detecting means for detecting another vehicle present beside the own vehicle, iii) a cut-in detecting means for judging whether or not a cut-in by the other vehicle detected by the laterally adjacent vehicle detecting means is likely to occur, before the other vehicle cuts in between the own vehicle and the preceding vehicle, iv) an inter-vehicle distance adjusting means for performing inter-vehicle distance extension adjustment to increase the inter-vehicle distance when the cut-in detecting means judges that a cut-in is likely to occur, and v) an inter-vehicle distance control means for controlling the inter-vehicle distance based on information from the inter-vehicle distance adjusting means.
摘要翻译：提供车辆间距离控制装置。该装置的典型实施例包括：i）车辆间距离检测装置，用于检测在本车辆前方行驶的前车之间的车间距离; ii）横向邻近车辆检测装置，存在于本车辆旁边的另一车辆，iii）切入检测装置，用于在另一车辆切入之前判断是否可能发生由横向相邻的车辆检测装置检测到的另一车辆的切入本车辆和前一车辆; iv）车辆间距离调整装置，用于当所述切入检测装置判断为切入可能发生时，进行车间距离延伸调整，以增加所述车辆间距离;以及 v）车辆间距离控制装置，用于基于来自车辆间距离调节装置的信息来控制车辆间距离。

5. 发明授权

US08838337B2 Vehicle automatic steering control apparatus 有权
标题翻译：车辆自动转向控制装置
公开(公告)号：US08838337B2
公开(公告)日：2014-09-16
申请号：US13747911
申请日：2013-01-23
申请人： Nippon Soken, Inc. , Denso Corporation
发明人： Yusuke Ueda , Motonori Tominaga , Tomohiko Tsuruta , Takeshi Hatoh
IPC分类号： A01B69/00 , G05D1/00 , G06K9/00 , B60Q1/00 , G05D1/02 , B62D15/02
CPC分类号： G05D1/0088 , B62D15/025 , G05D1/0212
摘要： A vehicle control apparatus that for automatic steering control that reduces occupant discomfort and stress is provided. A lane width of a subject lane and a current in-lane ratio are detected. If an off-lane obstacle which may place stress on the occupant is present within a prescribed area, a relative position between each off-lane obstacle and the vehicle is determined. A target in-lane ratio is determined based on the relative position. 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 such that lateral distances to both off-lane obstacles are equal. When the off-lane obstacle is present on only one of either the left or 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：提供一种用于自动转向控制以减少乘客不适和压力的车辆控制装置。检测对象通道的车道宽度和当前车道内车道比。如果在规定区域内存在可能对乘员施加应力的偏离车道的障碍物，则确定每个离车道障碍物与车辆之间的相对位置。基于相对位置确定目标通道内比例。具体来说，当目标车道的左侧和右侧出现偏离车道的障碍物时，目标车道内的比例使得与两个车道外障碍物的横向距离相等。当偏离车道障碍物仅存在于主体车道的左侧或右侧中的一个时，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. 发明申请

US20130197758A1 VEHICLE AUTOMATIC STEERING CONTROL APPARATUS 有权
标题翻译：车辆自动转向控制装置
公开(公告)号：US20130197758A1
公开(公告)日：2013-08-01
申请号：US13747911
申请日：2013-01-23
申请人： Nippon Soken, Inc. , DENSO CORPORATION
发明人： Yusuke Ueda , Motonori Tominaga , Tomohiko Tsuruta , Takeshi Hatoh
IPC分类号： G05D1/00 , G05D1/02
CPC分类号： G05D1/0088 , B62D15/025 , G05D1/0212
摘要： A vehicle control apparatus that for automatic steering control that reduces occupant discomfort and stress is provided. A lane width of a subject lane and a current in-lane ratio are detected. If an off-lane obstacle which may place stress on the occupant is present within a prescribed area, a relative position between each off-lane obstacle and the vehicle is determined. A target in-lane ratio is determined based on the relative position. 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 such that lateral distances to both off-lane obstacles are equal. When the off-lane obstacle is present on only one of either the left or 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：提供一种用于自动转向控制以减少乘客不适和压力的车辆控制装置。检测对象通道的车道宽度和当前车道内车道比。如果在规定区域内存在可能对乘员施加应力的偏离车道的障碍物，则确定每个离车道障碍物与车辆之间的相对位置。基于相对位置确定目标通道内比例。具体来说，当目标车道的左侧和右侧出现偏离车道的障碍物时，目标车道内的比例使得与两个车道外障碍物的横向距离相等。当偏离车道障碍物仅存在于主体车道的左侧或右侧中的一个时，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。

7. 发明申请

US20140180569A1 DRIVING ROUTE GENERATION DEVICE 有权
标题翻译：驱动路由器生成装置
公开(公告)号：US20140180569A1
公开(公告)日：2014-06-26
申请号：US14132329
申请日：2013-12-18
申请人： DENSO CORPORATION
发明人： Yusuke Ueda , Tomohiko Tsuruta , Takeshi Hatoh , Takayuki Kondoh , Naoya Inoue
IPC分类号： G01C21/00
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： A selection track setting section in a driving route generation device determines as a selected track a track of a preceding vehicle when a detection section and a track generation section detects a track of the preceding vehicle which is running on the same driving lane of a host vehicle. A candidate track selection section outputs as a candidate track one of tracks of front vehicles, detected by the detection section and the track generation section, other than the track of the preceding vehicle. A switching selection section switches as the selected track from the track of the preceding vehicle to the candidate track when a detection of the track of the preceding vehicle is interrupted during a predetermined detection period. An estimate route generation section generates an estimated driving route of the host vehicle on the bass of the selected track.
摘要翻译：当检测部分和轨道产生部分检测到在主车辆的同一行驶车道上行驶的前一车辆的轨道时，驾驶路线生成装置中的选择轨道设置部分将所选轨道确定为前方车辆的轨道。候选轨道选择部分除了前一车辆的轨道之外，作为候选轨道输出由检测部分和轨道生成部分检测的前车辆的轨道之一。当在预定检测周期期间中断前一车辆的轨道的检测时，切换选择部分将所选轨道从前方车辆的轨道切换到候选轨道。估计路线生成部生成所选择的轨道的低音上的本车辆的估计驾驶路线。

8. 发明授权

US09796378B2 Vehicle travel path generating apparatus 有权
公开(公告)号：US09796378B2
公开(公告)日：2017-10-24
申请号：US14154561
申请日：2014-01-14
申请人： DENSO CORPORATION
发明人： Tomohiko Tsuruta , Yusuke Ueda , Takeshi Hatoh , Takayuki Kondoh , Naoya Inoue , Hossein Tehrani Niknejad , Seiichi Mita
IPC分类号： B60W30/00 , B60W30/08 , B60W30/10 , B60W30/12
CPC分类号： B60W30/00 , B60W30/08 , B60W30/10 , B60W30/12 , B60W2550/00 , B60W2550/10
摘要： When a travel path is to be generated for a vehicle, road surface lines (white lines, etc.) delimiting the traffic lane of the vehicle, and also external objects in the vehicle environment, are detected and registered as respective obstacles. Specific points are defined at appropriate locations on each obstacle, and the travel path is generated by connecting respective mid-point positions between opposed pairs of specific points, each pair defined on respective ones of an opposed (left-side, right-side) pair of the registered obstacles.

9. 发明授权

US09352774B2 Vehicle driving assistance apparatus 有权
标题翻译：车辆驾驶辅助装置
公开(公告)号：US09352774B2
公开(公告)日：2016-05-31
申请号：US13788387
申请日：2013-03-07
申请人： DENSO CORPORATION
发明人： Yusuke Ueda , Motonori Tominaga , Tomohiko Tsuruta , Takeshi Hatoh
IPC分类号： B62D6/00 , B62D15/02
CPC分类号： B62D6/00 , B62D15/025
摘要： A vehicle driving assistance apparatus mounted in a vehicle. In the apparatus, a drivable route detection unit detects a drivable route, a vehicle state quantity detection unit detects state quantities of the vehicle, and a steering control unit controls steering of the vehicle. Further, in the apparatus, an allowable region estimation unit estimates a driving allowable region on the basis of the detected state quantities and a predetermined allowable range of behavior of the vehicle. A deviation determination unit determines that the vehicle will deviate from the drivable route when a minimum width of an overlap region of the drivable route and the driving allowable region is less than a predetermined threshold. An intervention instruction unit then outputs to the steering control unit an intervention control signal to control steering of the vehicle.
摘要翻译：一种安装在车辆中的车辆驾驶辅助装置。在该装置中，可驱动路线检测单元检测可驱动路线，车辆状态量检测单元检测车辆的状态量，转向控制单元控制车辆的转向。此外，在该装置中，允许区域估计单元基于检测到的状态量和车辆的预定的行驶容许范围来估计驾驶容许区域。当可驱动路线和驾驶允许区域的重叠区域的最小宽度小于预定阈值时，偏差确定单元确定车辆将偏离可驱动路线。然后，介入指令单元向转向控制单元输出介入控制信号，以控制车辆的转向。

10. 发明授权

US08862326B2 Vehicle travel assisting device 有权
标题翻译：车辆旅行辅助装置
公开(公告)号：US08862326B2
公开(公告)日：2014-10-14
申请号：US14151068
申请日：2014-01-09
申请人： Denso Corporation
发明人： Tomohiko Tsuruta , Yusuke Ueda , Takeshi Hatoh , Takayuki Kondoh , Naoya Inoue
IPC分类号： B62D6/00
CPC分类号： B62D6/00 , B62D15/025
摘要： In a vehicle travel assisting device, a vehicle speed, a yaw rate, a traveling lane of an own vehicle, and a position of a leading vehicle are detected. Target travel coordinates of the own vehicle are calculated, based on the traveling lane and the position of the leading vehicle A travel path curvature of a target travel coordinate group is estimated, based on information related to the target travel coordinate group. A steering quantity to be steered in advance by the own vehicle is calculated, based on the currently estimated travel path curvature. A weight for each of the target travel coordinates for estimating the travel path curvature is adjusted based on the vehicle speed, the yaw rate and the previously estimated travel path curvature. Steering control is performed such that the own vehicle travels so as to follow the estimated travel path curvature, based on the calculated steering quantity.
摘要翻译：在车辆行驶辅助装置中，检测车辆速度，偏航率，本车辆的行驶车道和前方车辆的位置。基于行驶车道和前方车辆的位置来计算本车辆的目标行驶坐标基于与目标行驶坐标组相关的信息来估计目标行驶坐标组的行驶路径曲率。基于当前估计的行进路径曲率来计算由本车辆预先转向的转向量。基于车速，横摆率和先前估计的行驶路径曲率来调整用于估计行驶路径曲率的每个目标行驶坐标的权重。执行转向控制，使得本车辆基于计算出的转向量行驶以跟随估计的行进路径曲率。

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