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1. 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。

2. 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。

3. 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。

4. 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。

5. 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。

6. 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。

7. 发明申请

US20160098605A1 LANE BOUNDARY LINE INFORMATION ACQUIRING DEVICE 审中-公开
标题翻译： LANE边界线信息获取设备
公开(公告)号：US20160098605A1
公开(公告)日：2016-04-07
申请号：US14873031
申请日：2015-10-01
申请人： DENSO CORPORATION
发明人： Masaya Okada , Naoki Kawasaki , Yusuke Ueda , Masao Oooka , Shotaro Fukuda
IPC分类号： G06K9/00 , G06K9/46 , G06K9/52 , G06T7/00
CPC分类号： G06K9/00798 , B60W30/12 , G06K9/4604 , G06K9/6277
摘要： In a lane boundary line information acquiring device, a detection unit detects lane boundary lines. A driving environment acquiring unit acquires a driving environment. A probability information acquiring unit acquires probability information containing a probability of presence of a lane boundary line, etc. based on the detected lane boundary lines and the acquired driving environment. A position information acquiring unit acquires position information of the own vehicle. A memory unit associates the probability information with the position information of the own vehicle. Where the position information is acquired by the position information acquiring unit at a time when the probability information acquiring unit acquires the probability information, and stores the probability information associated with the position information into the memory unit. A readout unit reads out the probability information associated with the position information at a location in front of the own vehicle.
摘要翻译：在车道边界线信息获取装置中，检测单元检测车道边界线。驾驶环境获取单元获取驾驶环境。概率信息获取单元基于检测到的车道边界线和获取的驾驶环境获取包含车道边界线等的存在概率的概率信息。位置信息获取单元获取本车辆的位置信息。存储单元将概率信息与本车辆的位置信息相关联。在概率信息获取单元获取概率信息时由位置信息获取单元获取位置信息的位置信息，并将与位置信息相关联的概率信息存储到存储单元中。读取单元在本车辆前方的位置读出与位置信息相关联的概率信息。

8. 发明申请

US20160026879A1 TRAFFIC LANE MARKING RECOGNITION APPARATUS AND TRAFFIC LANE MARKING RECOGNITION PROGRAM 有权
标题翻译：交通标志识别装置和交通标志识别程序
公开(公告)号：US20160026879A1
公开(公告)日：2016-01-28
申请号：US14806361
申请日：2015-07-22
申请人： DENSO CORPORATION
发明人： Yuu Maeda , Shunsuke Suzuki , Yusuke Ueda , Kazuhisa Ishimaru , Osamu Shimomura , Naoki Kawasaki
IPC分类号： G06K9/00
CPC分类号： G06K9/00798
摘要： A traffic lane marking recognition apparatus includes a candidate detecting unit, a gap detecting unit, and a recognition reducing unit. The candidate detecting unit detects a lane dividing line candidate which is a candidate for a lane dividing line that defines a traffic lane on a road, based on an image of the road captured by an on-board camera that is mounted in a vehicle. The gap detecting unit detects a gap included in the lane dividing line candidate detected by the candidate detecting unit. When the gap is detected by the gap detecting unit, the recognition reducing unit reduces a probability of recognition of the lane dividing line candidate as a lane dividing line to a first probability that is lower than the probability when the gap detecting unit does not detect the gap, in a region from the gap closest to the vehicle towards a direction away from the vehicle.
摘要翻译：行车道标识识别装置包括候选检测单元，间隙检测单元和识别减少单元。候选检测单元基于由安装在车辆中的车载摄像机捕获的道路的图像，检测作为道路上的行车道的车道划分线候选的车道划分线路候补。间隙检测单元检测由候选检测单元检测到的车道划分线候选中包括的间隙。当间隙检测单元检测到间隙时，识别降低单元将作为通道分割线的车道划分线候选的识别概率降低到低于间隙检测单元未检测到的概率的第一概率间隙，从最接近车辆的间隙朝向远离车辆的方向的区域中。

9. 发明授权

US10127460B2 Lane boundary line information acquiring device 有权
公开(公告)号：US10127460B2
公开(公告)日：2018-11-13
申请号：US14873031
申请日：2015-10-01
申请人： DENSO CORPORATION
发明人： Masaya Okada , Naoki Kawasaki , Yusuke Ueda , Masao Oooka , Shotaro Fukuda
IPC分类号： G06K9/00 , B60W30/12 , G06K9/62 , G06K9/46
摘要： In a lane boundary line information acquiring device, a detection unit detects lane boundary lines. A driving environment acquiring unit acquires a driving environment. A probability information acquiring unit acquires probability information containing a probability of presence of a lane boundary line, etc. based on the detected lane boundary lines and the acquired driving environment. A position information acquiring unit acquires position information of the own vehicle. A memory unit associates the probability information with the position information of the own vehicle. Where the position information is acquired by the position information acquiring unit at a time when the probability information acquiring unit acquires the probability information, and stores the probability information associated with the position information into the memory unit. A readout unit reads out the probability information associated with the position information at a location in front of the own vehicle.

10. 发明授权

US09758189B2 Vehicle control apparatus 有权
公开(公告)号：US09758189B2
公开(公告)日：2017-09-12
申请号：US14828761
申请日：2015-08-18
申请人： DENSO CORPORATION
发明人： Yusuke Ueda , Masao Oooka , Shotaro Fukuda
IPC分类号： G01C22/00 , B62D6/00 , B62D15/02
CPC分类号： B62D6/002 , B62D15/025
摘要： A vehicle control apparatus includes a steering amount calculation unit which calculates a steering amount for decreasing a lateral deviation of a vehicle with respect to a target route, a vehicle position acquisition unit which acquires a position of the vehicle, and a past information acquisition unit which acquires the lateral deviation, which is related to the position of the vehicle acquired by the vehicle position acquisition unit or a position ahead of the position of the vehicle, from a storage section in which the lateral deviation is stored with the position of the vehicle being related to the lateral deviation. The steering amount calculation unit feeds back the lateral deviation acquired by the past information acquisition unit to calculate the steering amount.

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