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1. 发明授权

US07729858B2 Travel safety apparatus for vehicle 有权
标题翻译：车辆行驶安全装置
公开(公告)号：US07729858B2
公开(公告)日：2010-06-01
申请号：US11511530
申请日：2006-08-29
申请人： Hiroyuki Koike , Yoichi Sugimoto , Yoshihiro Urai
发明人： Hiroyuki Koike , Yoichi Sugimoto , Yoshihiro Urai
IPC分类号： G08G1/16 , B60R21/00
CPC分类号： B60W30/08 , B60W10/06 , B60W10/10 , B60W10/18 , B60W30/09 , B60W30/095 , B60W40/04 , B60W2420/403 , B60W2420/52 , B60W2550/20
摘要： A travel safety apparatus for a vehicle, the apparatus includes: a first detector detecting an object in a first detection area; a second detector detecting the object in a second detection area; a braking device decelerating the vehicle; an alarm device which outputs an alarm to an occupant of the vehicle; a third detector measuring the traveling state of the vehicle; a collision determination device which determines a possibility of a collision between the vehicle and the object based on the traveling state; and a controller which operates at least one of the braking device and the alarm device when there is the possibility of collision, wherein the controller changes at least one of operation timing of the alarm device, operation timing of the braking device, and deceleration degree made by the braking device in accordance with whether or not the first detector and the second detector detect the object.
摘要翻译：一种用于车辆的旅行安全装置，该装置包括：第一检测器，检测第一检测区域中的物体; 第二检测器，检测第二检测区域中的物体; 制动装置使车辆减速; 向车辆的乘员输出报警的报警装置; 第三检测器，测量车辆的行驶状态; 碰撞确定装置，其基于行驶状态确定车辆与物体之间的碰撞的可能性; 以及当存在碰撞的可能性时操作制动装置和报警装置中的至少一个的控制器，其中控制器改变报警装置的操作定时，制动装置的操作定时和减速度中的至少一个根据第一检测器和第二检测器是否检测到物体，通过制动装置。

2. 发明授权

US07453374B2 Travel safety apparatus for vehicle 有权
标题翻译：车辆行驶安全装置
公开(公告)号：US07453374B2
公开(公告)日：2008-11-18
申请号：US11511368
申请日：2006-08-29
申请人： Hiroyuki Koike , Yoichi Sugimoto , Yoshihiro Urai
发明人： Hiroyuki Koike , Yoichi Sugimoto , Yoshihiro Urai
IPC分类号： G08G1/16
CPC分类号： B60T7/22 , B60Q9/008 , B60T2201/02 , B60T2201/022 , B60W10/18 , B60W30/08 , B60W30/09 , B60W30/095 , B60W50/14
摘要： A travel safety apparatus for a vehicle includes: a first object detector having a first detection area defined by a first detection angle; a second object detector having a second detection area defined by a second detection angle; a motion state determination unit; a collision determination unit determining whether there is possibility of collision of an object detected in at least one of the first detection area and the second detection area to the vehicle based on the motion state; a controller controlling the vehicle so that a collision is avoided; and an object identity determination unit determining whether the first object and the second object are identical, wherein when a first object detected in the first detection area and a second object detected in the second detection area are determined identical, the collision determination unit determines whether there is possibility of collision of the first object to the vehicle.
摘要翻译：一种用于车辆的旅行安全装置包括：第一物体检测器，具有由第一检测角度限定的第一检测区域; 具有由第二检测角度定义的第二检测区域的第二物体检测器; 运动状态确定单元; 碰撞确定单元，基于所述运动状态来确定在所述第一检测区域和所述第二检测区域中的至少一个中检测到的物体是否存在与所述车辆的碰撞的可能性; 控制车辆以避免碰撞的控制器; 以及物体识别确定单元，确定所述第一物体和所述第二物体是否相同，其中当所述第一检测区域中检测到的第一物体和所述第二检测区域中检测到的第二物体被确定相同时，所述碰撞确定单元确定是否存在是第一物体与车辆碰撞的可能性。

3. 发明申请

US20060282218A1 Vehicle travel safety apparatus 审中-公开
标题翻译：车辆行驶安全装置
公开(公告)号：US20060282218A1
公开(公告)日：2006-12-14
申请号：US11448352
申请日：2006-06-06
申请人： Yoshihiro Urai , Yoichi Sugimoto , Hiroyuki Koike
发明人： Yoshihiro Urai , Yoichi Sugimoto , Hiroyuki Koike
IPC分类号： G08G1/16
CPC分类号： G01S17/936 , B60W10/06 , B60W10/10 , B60W10/184 , B60W30/08 , B60W30/09 , B60W30/095 , B60W30/16 , B60W2550/20 , B60W2550/30 , B60W2550/306 , B60W2550/402 , G01S13/931 , G01S17/023 , G01S17/58 , G01S17/66 , G01S2013/9342 , G01S2013/9346 , G01S2013/9353 , G08G1/166
摘要： A vehicle travel safety apparatus which includes: an object detecting device that detects objects around the vehicle; a first travel path estimating device that estimates the travel path of a moving object among the objects; a velocity calculating device that calculates the velocity of the moving object; a travel state detecting device that detects the travel state of the vehicle; a second travel path estimating device that estimates the travel path of the vehicle; a collision judgment device that determines whether or not there is a possibility of a collision occurring between the moving object and the vehicle; and a travel control device that controls the travel of the vehicle, wherein the collision judgment device estimates an ease of evasive action in the event of the moving object avoiding a collision with the vehicle, and the travel control device controls the travel of the vehicle so that the ease of evasive action increases.
摘要翻译：一种车辆行驶安全装置，包括：物体检测装置，其检测车辆周围的物体; 第一行进路径估计装置，其估计所述物体之间的移动物体的行进路径; 计算移动体的速度的速度计算装置; 行驶状态检测装置，其检测车辆的行驶状态; 估计车辆的行驶路径的第二行驶路径估计装置; 碰撞判断装置，其判定在所述移动体与所述车辆之间是否存在发生碰撞的可能性; 以及控制车辆的行驶的行驶控制装置，其中，所述碰撞判断装置估计在所述移动物体避免与所述车辆碰撞的情况下的回避动作的容易性，并且所述行驶控制装置控制所述车辆的行驶回避行为的容易性增加。

4. 发明申请

US20070050114A1 Travel safety apparatus for vehicle 有权
标题翻译：车辆行驶安全装置
公开(公告)号：US20070050114A1
公开(公告)日：2007-03-01
申请号：US11511530
申请日：2006-08-29
申请人： Hiroyuki Koike , Yoichi Sugimoto , Yoshihiro Urai
发明人： Hiroyuki Koike , Yoichi Sugimoto , Yoshihiro Urai
IPC分类号： B60R22/00
CPC分类号： B60W30/08 , B60W10/06 , B60W10/10 , B60W10/18 , B60W30/09 , B60W30/095 , B60W40/04 , B60W2420/403 , B60W2420/52 , B60W2550/20
摘要： A travel safety apparatus for a vehicle, the apparatus includes: a first detector detecting an object in a first detection area; a second detector detecting the object in a second detection area; a braking device decelerating the vehicle; an alarm device which outputs an alarm to an occupant of the vehicle; a third detector measuring the traveling state of the vehicle; a collision determination device which determines a possibility of a collision between the vehicle and the object based on the traveling state; and a controller which operates at least one of the braking device and the alarm device when there is the possibility of collision, wherein the controller changes at least one of operation timing of the alarm device, operation timing of the braking device, and deceleration degree made by the braking device in accordance with whether or not the first detector and the second detector detect the object.
摘要翻译：一种用于车辆的旅行安全装置，该装置包括：第一检测器，检测第一检测区域中的物体; 第二检测器，检测第二检测区域中的物体; 制动装置使车辆减速; 向车辆的乘员输出报警的报警装置; 第三检测器，测量车辆的行驶状态; 碰撞确定装置，其基于行驶状态确定车辆与物体之间的碰撞的可能性; 以及当存在碰撞的可能性时操作制动装置和报警装置中的至少一个的控制器，其中控制器改变报警装置的操作定时，制动装置的操作定时和减速度中的至少一个根据第一检测器和第二检测器是否检测到物体，通过制动装置。

5. 发明申请

US20070046449A1 Travel safety apparatus for vehicle 有权
标题翻译：车辆行驶安全装置
公开(公告)号：US20070046449A1
公开(公告)日：2007-03-01
申请号：US11511368
申请日：2006-08-29
申请人： Hiroyuki Koike , Yoichi Sugimoto , Yoshihiro Urai
发明人： Hiroyuki Koike , Yoichi Sugimoto , Yoshihiro Urai
IPC分类号： B60Q1/00
CPC分类号： B60T7/22 , B60Q9/008 , B60T2201/02 , B60T2201/022 , B60W10/18 , B60W30/08 , B60W30/09 , B60W30/095 , B60W50/14
摘要： A travel safety apparatus for a vehicle includes: a first object detector having a first detection area defined by a first detection angle; a second object detector having a second detection area defined by a second detection angle; a motion state determination unit; a collision determination unit determining whether there is possibility of collision of an object detected in at least one of the first detection area and the second detection area to the vehicle based on the motion state; a controller controlling the vehicle so that a collision is avoided; and an object identity determination unit determining whether the first object and the second object are identical, wherein when a first object detected in the first detection area and a second object detected in the second detection area are determined identical, the collision determination unit determines whether there is possibility of collision of the first object to the vehicle.
摘要翻译：一种用于车辆的旅行安全装置包括：第一物体检测器，具有由第一检测角度限定的第一检测区域; 具有由第二检测角度定义的第二检测区域的第二物体检测器; 运动状态确定单元; 碰撞确定单元，基于所述运动状态来确定在所述第一检测区域和所述第二检测区域中的至少一个中检测到的物体是否存在与所述车辆的碰撞的可能性; 控制车辆以避免碰撞的控制器; 以及物体识别确定单元，确定所述第一物体和所述第二物体是否相同，其中当所述第一检测区域中检测到的第一物体和所述第二检测区域中检测到的第二物体被确定相同时，所述碰撞确定单元确定是否存在是第一物体与车辆碰撞的可能性。

6. 发明授权

US06238018B1 Process for controlling braking-force distribution in vehicle 失效
标题翻译：控制车辆制动力分布的过程
公开(公告)号：US06238018B1
公开(公告)日：2001-05-29
申请号：US08673180
申请日：1996-06-26
申请人： Yoichi Sugimoto , Yoshihiro Urai , Hideki Kubonoya
发明人： Yoichi Sugimoto , Yoshihiro Urai , Hideki Kubonoya
IPC分类号： B60T830
CPC分类号： B60T8/50 , B60T8/1764 , B60T8/1766 , B62D37/00
摘要： A braking-force distribution control process controls the front and rear wheel braking-force distribution in a vehicle by regulating the braking liquid pressure ratio for front and rear wheel brakes, based on differences between front wheel speeds and rear wheel speeds. When an abrupt turning state is determined, the braking liquid pressure distribution ratio for the rear brakes is decreased as compared with when the abrupt turning state is not detected. Thus, when braking during a sudden turning of the vehicle, a sudden increase in yaw rate can be inhibited to enhance the steerage stability performance of the vehicle.
摘要翻译：制动力分配控制过程基于前轮速度和后轮速度之间的差异来调节前轮和后轮制动器的制动液压比来控制车辆中的前轮和后轮制动力分布。当确定突然转动状态时，与未检测到突然转动状态相比，后制动器的制动液压分配比减小。因此，当在车辆的突然转动期间制动时，可以抑制横摆率的突然增加，以提高车辆的转向稳定性能。

7. 发明申请

US20060111842A1 Vehicle departure determination apparatus 有权
标题翻译：车辆离开判定装置
公开(公告)号：US20060111842A1
公开(公告)日：2006-05-25
申请号：US11264147
申请日：2005-11-02
申请人： Yoichi Sugimoto , Yoshihiro Urai
发明人： Yoichi Sugimoto , Yoshihiro Urai
IPC分类号： G08G1/16
CPC分类号： G08G1/167 , G01S2013/9367 , G01S2013/9375 , G08G1/166
摘要： A vehicle departure determination apparatus includes: an object detection device which detects objects present in a direction of travel of a subject vehicle, and detects a relative position and relative speed of the objects and the subject vehicle; a running state detection device which detects a running state of the subject vehicle; a speed detection device which detects a speed of the subject vehicle; an oncoming vehicle determination device which determines whether any of the objects serving as oncoming vehicles for the subject vehicle are present, based on the relative speed detected by the object detection device, and the speed of the subject vehicle detected by the speed detection device; and a departure determination device which determines whether or not the subject vehicle has departed from an appropriate route for the subject vehicle, or the oncoming vehicle has departed from an appropriate route for the oncoming vehicle.
摘要翻译：车辆离开判定装置包括：物体检测装置，其检测存在于本车辆的行进方向上的物体，并检测物体和本车辆的相对位置和相对速度; 检测本车辆的行驶状态的行驶状态检测装置; 检测本车辆的速度的速度检测装置; 基于由所述物体检测装置检测出的相对速度和由所述速度检测装置检测出的所述车辆的速度，确定是否存在用作所述本车辆的对象车辆的任何物体的迎面行驶判定装置; 以及确定本车辆是否已经偏离了用于本车辆的适当路线，或者迎面而来的车辆已经离开了迎面而来的车辆的适当路线的离场判定装置。

8. 发明授权

US07885766B2 Subject and oncoming vehicle departure determination and collision avoidance apparatus 有权
标题翻译：主题和迎宾车离境确定和防撞装置
公开(公告)号：US07885766B2
公开(公告)日：2011-02-08
申请号：US11264147
申请日：2005-11-02
申请人： Yoichi Sugimoto , Yoshihiro Urai
发明人： Yoichi Sugimoto , Yoshihiro Urai
IPC分类号： G08G1/16
CPC分类号： G08G1/167 , G01S2013/9367 , G01S2013/9375 , G08G1/166
摘要： A vehicle departure determination apparatus includes: an object detection device which detects objects present in a direction of travel of a subject vehicle, and detects a relative position and relative speed of the objects and the subject vehicle; a running state detection device which detects a running state of the subject vehicle; a speed detection device which detects a speed of the subject vehicle; an oncoming vehicle determination device which determines whether any of the objects serving as oncoming vehicles for the subject vehicle are present, based on the relative speed detected by the object detection device, and the speed of the subject vehicle detected by the speed detection device; and a departure determination device which determines whether or not the subject vehicle has departed from an appropriate route for the subject vehicle, or the oncoming vehicle has departed from an appropriate route for the oncoming vehicle.
摘要翻译：车辆离开判定装置包括：物体检测装置，其检测存在于本车辆的行进方向上的物体，并检测物体和本车辆的相对位置和相对速度; 检测本车辆的行驶状态的行驶状态检测装置; 检测本车辆的速度的速度检测装置; 基于由所述物体检测装置检测出的相对速度和由所述速度检测装置检测出的所述车辆的速度，确定是否存在用作所述本车辆的对象车辆的任何物体的迎面行驶判定装置; 以及确定本车辆是否已经偏离了用于本车辆的适当路线，或者迎面而来的车辆已经离开了迎面而来的车辆的适当路线的离场判定装置。

9. 发明授权

US06259992B1 Vehicle safety running control system 有权
标题翻译：车辆安全运行控制系统
公开(公告)号：US06259992B1
公开(公告)日：2001-07-10
申请号：US09324735
申请日：1999-06-03
申请人： Yoshihiro Urai , Yoichi Sugimoto
发明人： Yoshihiro Urai , Yoichi Sugimoto
IPC分类号： G06F13376
CPC分类号： B60K31/0008 , B60W2720/106 , G08G1/16 , G08G1/166
摘要： A system for controlling safety running of a vehicle, including obstacle detecting means such as a laser radar for detecting an obstacle (e.g., other vehicle) present ahead on a course of travel of the vehicle, and operating means for operating a braking system of the vehicle to avoid contact with the obstacle. In the system, if it is found that the obstacle detected by the obstacle detecting means is lost, the operating means operates the braking system based on at least an estimated possibility of contact or degree of certainty of obstacle. With the arrangement, the system can appropriately cope with a situation in which an obstacle, once detected, is lost during braking operation, without degrading the driving feeling or comfort and without causing the vehicle driver to experience annoyance, while ensuring obstacle avoidance without fail.
摘要翻译：一种用于控制车辆安全行驶的系统，包括障碍物检测装置，例如用于检测车辆行驶过程中存在的障碍物（例如，其他车辆）的激光雷达，以及用于操作车辆的制动系统的操作装置车辆避免与障碍物接触。在系统中，如果发现障碍物检测装置检测到的障碍物丢失，则操作装置至少基于估计的接触可靠性或障碍物的确定程度来操作制动系统。通过该结构，能够适当地应对在制动操作期间一旦检测到的障碍物在制动操作期间丢失的障碍物，而不会降低驾驶感觉或舒适度，并且不会导致车辆驾驶员感到烦恼，同时确保避免障碍物的情况。

10. 发明授权

US6157892A Obstacle avoidance control system for vehicle 有权
标题翻译：车辆避障控制系统
公开(公告)号：US6157892A
公开(公告)日：2000-12-05
申请号：US329307
申请日：1999-06-10
申请人： Satoshi Hada , Yoichi Sugimoto , Yoshihiro Urai , Shoji Ichikawa
发明人： Satoshi Hada , Yoichi Sugimoto , Yoshihiro Urai , Shoji Ichikawa
IPC分类号： B60R21/00 , B60G17/016 , B60G17/0195 , B60T7/12 , B60T7/22 , B60T8/1755 , B60W10/00 , B60W10/20 , B60W30/00 , B60W30/02 , B60W30/045 , B60W30/09 , B60W30/095 , B60W30/14 , B62D6/00 , B62D7/14 , B62D7/15 , B62D101/00 , B62D105/00 , B62D111/00 , B62D113/00 , B62D137/00 , G01S17/93 , G08G1/16 , G01S13/93 , B60T8/00
CPC分类号： B60T8/17558 , B60T7/22 , B62D15/0265 , B62D7/159 , G08G1/161 , B60T2201/022 , B60T2260/022 , B60W2550/308 , G01S17/936
摘要： The avoidance of an obstacle by a vehicle is enhanced by effective balancing an automatic braking operation and a turnability increasing control operation assisting in a steering operation of the vehicle whereby the obstacle avoiding capability is enhanced to the maximum. If a vehicle is being automatically controlled and the steering operation is carried out by the driver and if it is determined an obstacle can be avoided by a turnability increasing control operation, and if an avoiding space exists in a direction of turning of the vehicle, the turnability increasing control operation is carried out to perform the avoidance of the obstacle by the steering operation. If no avoiding space exists in the direction of turning of the vehicle, the avoidance of the obstacle by the steering operation is not performed, and a stability increasing control operation is carried out to effectively perform the avoidance of the obstacle by the automatic braking operation.
摘要翻译：通过有效平衡自动制动操作和辅助车辆的转向操作的可转向性增加控制操作来增强车辆的障碍物的避免，由此障碍物避免能力最大化。如果车辆被自动控制，并且驾驶员进行转向操作，并且如果确定可以通过可转向性增加控制操作来避免障碍物，并且如果在车辆的转向方向上存在避免空间，则执行转向增加控制操作以通过转向操作来执行障碍物的避免。如果在车辆的转向方向上没有避免空间的情况，则不进行转向操作的避免障碍，进行稳定性增加控制操作，以通过自动制动操作有效地实现障碍物的避免。

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