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1. 发明授权

US12005898B2 Mobile object platoon control system that calculates longitudinal acceleration of the mobile objects by setting a gain of an arithmetic expression 有权
公开(公告)号：US12005898B2
公开(公告)日：2024-06-11
申请号：US17640888
申请日：2021-01-22
申请人： Hitachi, Ltd.
发明人： Go Sakayori , Junya Takahashi
IPC分类号： B60W30/16 , G08G1/00
CPC分类号： B60W30/16 , B60W2520/06 , B60W2540/225 , B60W2554/4041 , B60W2720/106 , G08G1/22
摘要： Provided is a mobile body control system capable of improving both the comfort of passengers in each mobile body and the efficiency of cargo transport when a plurality of mobile bodies travel in a formation. A mobile body control system (1) causes a plurality of mobile bodies (21) to travel in a formation along a preset travel route, and comprises a preceding/succeeding acceleration calculation unit (S49) that calculates a preceding/succeeding acceleration of a preceding mobile body (21_n) and a succeeding mobile body (21_n+1) on the travel route. The preceding/succeeding acceleration calculation unit adjusts a gain E of an arithmetic expression used to calculate the preceding/succeeding acceleration on the basis of information about a transported object being transported by each mobile body (21).

2. 发明授权

US11187539B2 Travel control device for moving body 有权
公开(公告)号：US11187539B2
公开(公告)日：2021-11-30
申请号：US16470456
申请日：2017-01-17
申请人： Hitachi, Ltd.
发明人： Kenta Maeda , Junya Takahashi
IPC分类号： G01C21/30 , B60W50/10 , G01C21/32 , G08G1/16
摘要： A travel control device includes an operation acquiring unit for acquiring an operation by a driver of a host moving body; an outside-world information acquiring unit for acquiring outside-world information of the periphery of the host moving body; a moving-body information acquiring unit for acquiring moving-body information relating to a travel state of the host moving body; a travelable-range management unit for managing the range travelable by the moving body; and a control unit for controlling travel by the moving body on the basis of the operation acquired by the operation acquiring unit, the outside-world information acquired by the outside-world information acquiring unit, the moving-body information acquired by the moving-body information acquiring unit, and the travelable range managed by the travelable-range management unit, the travelable-range management unit including a travelable-range enlargement unit for enlarging the travelable range, and a travelable-range evaluation unit for evaluating the travelable range.

3. 发明授权

US10930152B2 Travel control system 有权
公开(公告)号：US10930152B2
公开(公告)日：2021-02-23
申请号：US16615064
申请日：2017-06-20
申请人： Hitachi, Ltd.
发明人： Kenta Maeda , Junya Takahashi
IPC分类号： G08G1/16 , G08G1/0967 , G08G1/01 , G08G1/04
摘要： The present invention increases detectable areas and increases vehicle speed while ensuring safety, thereby enhancing vehicle utility for drivers. The present invention is provided with: an information integration means which collects and integrates external observation information received from observation entities; a reliability calculation means which calculates the reliability of the observation information; an observation information transmission means which transmits the observation information and the calculated reliability to a travel control device via communications; an operation ascertaining means which ascertains an operation performed by an operator; a surroundings information acquisition means which acquires information about the surroundings of a host vehicle; a vehicle information acquisition means which acquires vehicle information indicating the traveling state of the host vehicle; a communication means which acquires the observation information and said reliability from an observation information integration device via communications; a travel area management means which manages areas that can be traveled by the host vehicle; and a travel control means which controls the travel of the host vehicle on the basis of said ascertained operation, the areas that can be traveled by the host vehicle, said surroundings information, the vehicle information, the observation information, and travel areas.

4. 发明授权

US08983748B2 Vehicle dynamics control device 有权
标题翻译：车辆动力学控制装置
公开(公告)号：US08983748B2
公开(公告)日：2015-03-17
申请号：US14217590
申请日：2014-03-18
申请人： Hitachi, Ltd.
发明人： Junya Takahashi , Makoto Yamakado , Atsushi Yokoyama , Shinjiro Saito
IPC分类号： G06F7/70 , B60W30/00 , B60T8/1755 , B60W30/045 , B60W10/04 , B60W10/18
CPC分类号： B60W30/00 , B60T8/1755 , B60T2270/613 , B60W10/04 , B60W10/18 , B60W30/045
摘要： A vehicle dynamics control device includes a control unit that executes braking/driving torque control based upon vehicle information that includes operation input information and vehicle dynamics information. The operation input information includes a lateral motion operation index pertaining to a lateral motion operation executed to generate a lateral motion in the vehicle; the vehicle dynamics information includes a longitudinal acceleration generated in the vehicle and a lateral motion index indicating a lateral motion occurring in the vehicle; and the control unit determines a handling assurance acceleration limit with a maximum longitudinal acceleration value that assumes a substantially linear proportional relationship with the lateral motion operation index and the lateral motion index over a range in which the lateral motion operation index assumes a value equal to or less than a predetermined value or the lateral motion index assumes a value equal to or less than a predetermined value.
摘要翻译：车辆动力学控制装置包括：控制单元，其基于包括操作输入信息和车辆动力学信息的车辆信息执行制动/驱动转矩控制。操作输入信息包括与执行以在车辆中产生横向运动的横向运动操作有关的横向运动运动指标; 车辆动力学信息包括在车辆中产生的纵向加速度和指示在车辆中发生的横向运动的横向运动索引; 并且所述控制单元在所述横向运动运算指数取等于或等于或等于该运动指标的范围的范围内，确定具有与所述横向运动指标和所述横向运动指数呈基本线性比例关系的最大纵向加速度值的处理保证加速度极限小于预定值或横向运动指数采用等于或小于预定值的值。

5. 发明授权

US08977464B1 Method and apparatus for performing driving assistance 有权
标题翻译：用于执行驾驶辅助的方法和装置
公开(公告)号：US08977464B1
公开(公告)日：2015-03-10
申请号：US14168304
申请日：2014-01-30
申请人： Hitachi, Ltd.
发明人： Junya Takahashi , Heiko Altmannshofer , Makoto Yamakado , Atsushi Yokoyama
IPC分类号： B60W40/105 , B60W40/10 , B60W30/18 , G05D13/02
CPC分类号： B60W30/18 , B60W30/025 , B60W30/16 , B60W30/18145 , B60W2520/10 , B60W2520/125 , B60W2540/04 , B60W2550/146 , B60W2550/302 , B60W2550/304 , B60W2550/306 , B60W2550/308 , B60W2550/402 , B60W2550/408 , B60W2720/106 , B60W2720/125 , G05D13/02
摘要： The present invention relates to methods and apparatuses for performing driving assistance for a controlled vehicle, involving determining a longitudinal acceleration target value on the basis of a lateral acceleration of the controlled vehicle and one or more setting parameters, and controlling a longitudinal acceleration of the controlled vehicle on the basis of the calculated longitudinal acceleration target value. According to the invention, a lateral acceleration acting, during cornering, on a proceeding vehicle, which moves in the longitudinal direction on the road ahead of the controlled vehicle, is estimated, and the one or more setting parameters for the calculation of the longitudinal acceleration target value are set based on the estimated lateral acceleration acting on the proceeding vehicle during cornering.
摘要翻译：本发明涉及用于对受控车辆进行驾驶辅助的方法和装置，包括基于受控车辆的横向加速度确定纵向加速度目标值和一个或多个设定参数，以及控制受控车辆的纵向加速度基于计算的纵向加速度目标值的车辆。根据本发明，估计在转弯期间在前进车辆上沿着纵向在受控车辆前方行进的横向加速度，并且用于计算纵向加速度的一个或多个设定参数基于在转弯期间作用在前进车辆上的估计横向加速度来设定目标值。

6. 发明授权

US11798410B2 Traffic flow control system, traffic flow control program, traffic flow control method, and traveling controller 有权
公开(公告)号：US11798410B2
公开(公告)日：2023-10-24
申请号：US17636434
申请日：2020-05-15
申请人： HITACHI, LTD.
发明人： Keiichi Katsuta , Junya Takahashi , Takehito Ogata , Wataru Tanaka , Mariko Mizuochi , Kentaroh Maki
IPC分类号： G08G1/08 , G08G1/09
CPC分类号： G08G1/08 , G08G1/091
摘要： In a traffic flow control system, communication is performed with a travel control device of a moving body passing through a transportation route and the traffic flow of the transportation route is controlled. The traffic control system includes an entry authority management unit and a communication unit. In a transportation route divided into virtual areas, the entry authority management unit manages entry authority for each area, managing tokens in a number that corresponds to the area, and guiding entry of the moving body to the area by attaching entry authority to a token and delivering the resulting token to the travel control device. The communication unit communicates the entry authority and tokens to the travel control device.

7. 发明授权

US11294376B2 Moving body control device 有权
公开(公告)号：US11294376B2
公开(公告)日：2022-04-05
申请号：US16960411
申请日：2018-03-16
申请人： HITACHI, LTD.
发明人： Kenta Maeda , Junya Takahashi
IPC分类号： G05D1/00 , G01C21/00 , G01C21/30 , G05D1/02
摘要： A moving body control device expands an autonomously movable region, appropriately determines reliability of the expanded region, and realizes stable autonomous movement at low cost. The device includes: an external map acquisition unit acquiring an external map; a sensor acquiring external environment information around the moving body; a movement information acquisition unit acquiring movement information indicating a position or an advancing angle of the moving body; an autonomous movement range management unit generating an autonomous movement map based on the external information or the movement information; and a control unit controlling movement of the moving body based on the autonomous movement map, the external environment information, or the movement information, the autonomous movement range management unit comparing the autonomous movement map with the external map, the control unit controlling the moving body based on a comparison result in the autonomous movement range management unit.

8. 发明授权

US11086326B2 Moving object controller and moving object control method 有权
公开(公告)号：US11086326B2
公开(公告)日：2021-08-10
申请号：US16468004
申请日：2017-01-16
申请人： Hitachi, Ltd.
发明人： Nahoko Maruyama , Yoichi Iihoshi , Junya Takahashi
IPC分类号： G05D1/02 , G05D1/00
摘要： The present invention provides a moving object controller and a moving object control method capable of selecting a movement plan based upon detection accuracy of external information. A moving object controller 100 includes a plan generation unit 110 that generates at least one movement plan based upon external information on an external world of a moving object 1 and internal information on an internal part of the moving object; an accuracy estimation unit 120 that estimates detection accuracy of the external information based upon the external information, the internal information, and predetermined past information, among the movement plans generated by the plan generation unit; and a plan selection unit 130 that selects a movement plan of an execution target from among the movement plans generated by the plan generation unit based upon the detection accuracy of the external information estimated by the accuracy estimation unit.

9. 发明授权

US09043116B2 Method and apparatus for performing driving assistance 有权
标题翻译：用于执行驾驶辅助的方法和装置
公开(公告)号：US09043116B2
公开(公告)日：2015-05-26
申请号：US14166966
申请日：2014-01-29
申请人： Hitachi, Ltd.
发明人： Junya Takahashi , Heiko Altmannshofer , Makoto Yamakado , Takao Kojima
IPC分类号： B60T8/32 , B60W30/14 , G05D13/02
CPC分类号： B60W30/143 , B60W30/025 , B60W30/16 , B60W30/18145 , B60W2050/0025 , B60W2050/0027 , B60W2520/10 , B60W2520/125 , B60W2550/146 , B60W2550/302 , B60W2550/308 , B60W2720/106 , B60W2720/125 , G05D13/02
摘要： The present invention relates to methods and apparatuses for performing driving assistance for a controlled vehicle, involving determining a first longitudinal acceleration target value on the basis of a lateral acceleration of the controlled vehicle, determining a second longitudinal acceleration target value on the basis of a target speed of the controlled vehicle, determining a third longitudinal acceleration target value based on a minimum value of the first longitudinal acceleration target value and the second longitudinal acceleration target value, and controlling a longitudinal acceleration of the controlled vehicle on the basis of the determined third longitudinal acceleration target value.
摘要翻译：本发明涉及用于对受控车辆进行驾驶辅助的方法和装置，包括基于受控车辆的横向加速度来确定第一纵向加速度目标值，基于目标确定第二纵向加速度目标值控制车辆的速度，基于第一纵向加速度目标值和第二纵向加速度目标值的最小值确定第三纵向加速度目标值，并且基于确定的第三纵向控制受控车辆的纵向加速度加速目标值。

10. 发明授权

US12077184B2 Vehicle control system 有权
公开(公告)号：US12077184B2
公开(公告)日：2024-09-03
申请号：US17595271
申请日：2020-04-17
申请人： Hitachi, Ltd
发明人： Go Sakayori , Junya Takahashi , Kenta Maeda , Shinya Kasai
IPC分类号： B60W60/00 , B60W40/08 , B60W40/10 , G06V20/59
CPC分类号： B60W60/0013 , B60W40/08 , B60W40/10 , G06V20/593 , B60W2420/403 , B60W2520/125 , B60W2520/14 , B60W2540/043 , B60W2540/225 , B60W2540/227 , B60W2556/40
摘要： The purpose of the present invention is to provide a vehicle control system that can achieve highly comfortable autonomous driving according to the behavior of an occupant by changing a control mode of the autonomous driving according to the behavior of the occupant. To this end, a vehicle control system, which automatically drives a vehicle, comprises: an occupant information detection unit that detects, on the basis of in-vehicle information, position information and behavior information on the occupant; a tolerance calculation unit that calculates a vehicle motion tolerance on the basis of the position information and the behavior information detected by the occupant information detection unit; a trajectory generation unit that generates, on the basis of the vehicle motion tolerance calculated by the tolerance calculation unit, trajectory information including a traveling-scheduled route and time; and an autonomous driving control unit that generates, according to the trajectory information generated by the trajectory generation unit, a control command value to be sent to an actuator of the vehicle.

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