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1. 发明授权

US09020727B2 Vehicle braking assist device and vehicle braking assist method 有权
标题翻译：车辆制动辅助装置和车辆制动辅助方法
公开(公告)号：US09020727B2
公开(公告)日：2015-04-28
申请号：US13188551
申请日：2011-07-22
申请人： Takuya Inoue , Takeshi Sugano , Masahiro Kobayashi , Kazunori Kurata
发明人： Takuya Inoue , Takeshi Sugano , Masahiro Kobayashi , Kazunori Kurata
IPC分类号： G06F7/70 , G06F19/00 , G06G7/00 , G06G7/76 , B60T7/22 , B60K26/02 , B60W50/10 , B60W10/18 , B60W30/09
CPC分类号： B60T7/22 , B60K26/021 , B60T2201/022 , B60W10/18 , B60W30/09 , B60W50/10 , B60W2540/10 , B60W2550/302 , B60W2550/308 , B60W2710/18
摘要： A vehicle braking assist device for a host vehicle includes a risk potential computing part that computes a risk potential of the host vehicle with respect to an obstacle in the travelling direction of the host vehicle, an accelerator operation state sensor that detects the operation state of an accelerator, and a braking force application device that applies a first braking force on the host vehicle when the risk potential is higher than a predetermined first threshold and the detected operation state of the accelerator indicates that the accelerator is not being operated, and that applies a second braking force on the host vehicle irrespective of the operation state of the accelerator when the risk potential is higher than a predetermined second threshold, the risk potential represented by the second threshold being higher than the risk potential represented by the first threshold.
摘要翻译：本车辆的车辆制动辅助装置包括计算本车辆相对于本车行驶方向的障碍物的潜在风险的风险潜力计算部，检测本车辆的行驶状态的加速器操作状态传感器，以及制动力施加装置，其在所述潜在风险高于预定的第一阈值的情况下对所述主车辆施加第一制动力，并且所述检测到的所述加速器的运转状态表示所述加速器未被运转，当风险高于预定的第二阈值时，无论加速器的操作状态如何，主机上的第二制动力，由第二阈值表示的风险潜力高于由第一阈值表示的潜在风险。

2. 发明授权

US08219311B2 Headway distance maintenance assisting system and method 有权
标题翻译：车头距离维修辅助系统和方法
公开(公告)号：US08219311B2
公开(公告)日：2012-07-10
申请号：US12256164
申请日：2008-10-22
申请人： Takeshi Sugano , Yosuke Kobayashi , Nariaki Etori , Masahiro Kobayashi
发明人： Takeshi Sugano , Yosuke Kobayashi , Nariaki Etori , Masahiro Kobayashi
IPC分类号： G06F17/10 , G06F7/78 , G08G1/16
CPC分类号： B60W30/16 , B60K26/021 , B60W50/16
摘要： A headway distance maintenance supporting system may include an obstacle detector, a controller configured for determining an operation reaction force to be generated in a driving operation equipment, and an operation reaction force generator for generating the operation reaction force in the driving operation equipment. The controller is configured for controlling the operation reaction force based on the status of a detected obstacle. The operation reaction force comprises a principal operation reaction force and an auxiliary operation reaction force, the auxiliary operation reaction force being no greater than the principal operation reaction force. The controller is configured for generating the auxiliary operation reaction force before a generation of the principal operation reaction force in the driving operation equipment.
摘要翻译：前进距离维护支撑系统可以包括障碍物检测器，用于确定在驾驶操作设备中产生的操作反作用力的控制器，以及用于在驾驶操作设备中产生操作反作用力的操作反作用力发生器。控制器被配置为基于检测到的障碍物的状态来控制操作反作用力。操作反作用力包括主操作反作用力和辅助操作反作用力，辅助操作反作用力不大于主操作反作用力。所述控制器被构造成在所述驾驶操作设备中产生主操作反作用力之前产生辅助操作反作用力。

3. 发明申请

US20090105953A1 HEADWAY DISTANCE MAINTENANCE ASSISTING SYSTEM AND METHOD 有权
标题翻译：头部距离维护辅助系统和方法
公开(公告)号：US20090105953A1
公开(公告)日：2009-04-23
申请号：US12256164
申请日：2008-10-22
申请人： Takeshi SUGANO , Yosuke Kobayashi , Nariaki Etori , Masahiro Kobayashi
发明人： Takeshi SUGANO , Yosuke Kobayashi , Nariaki Etori , Masahiro Kobayashi
IPC分类号： G05D1/00 , G06F17/00
CPC分类号： B60W30/16 , B60K26/021 , B60W50/16
摘要： A headway distance maintenance supporting system may include an obstacle detector, a controller configured for determining an operation reaction force to be generated in a driving operation equipment, and an operation reaction force generator for generating the operation reaction force in the driving operation equipment. The controller is configured for controlling the operation reaction force based on the status of a detected obstacle. The operation reaction force comprises a principal operation reaction force and an auxiliary operation reaction force, the auxiliary operation reaction force being no greater than the principal operation reaction force. The controller is configured for generating the auxiliary operation reaction force before a generation of the principal operation reaction force in the driving operation equipment.
摘要翻译：前进距离维护支撑系统可以包括障碍物检测器，用于确定在驾驶操作设备中产生的操作反作用力的控制器，以及用于在驾驶操作设备中产生操作反作用力的操作反作用力发生器。控制器被配置为基于检测到的障碍物的状态来控制操作反作用力。操作反作用力包括主操作反作用力和辅助操作反作用力，辅助操作反作用力不大于主操作反作用力。所述控制器被构造成在所述驾驶操作设备中产生主操作反作用力之前产生辅助操作反作用力。

4. 发明授权

US09415774B2 Vehicle control apparatus including an obstacle detection device 有权
标题翻译：车辆控制装置，包括障碍物检测装置
公开(公告)号：US09415774B2
公开(公告)日：2016-08-16
申请号：US14237406
申请日：2012-09-19
申请人： Takeshi Sugano , Masahiro Kobayashi , Toshimichi Gokan
发明人： Takeshi Sugano , Masahiro Kobayashi , Toshimichi Gokan
IPC分类号： G08G1/16 , B62D15/02 , B60Q9/00 , G01S15/93 , B60W30/00 , B60W30/08 , B60W30/095 , B60W30/18 , G01S13/93
CPC分类号： B60W30/08 , B60Q9/006 , B60W30/0956 , B60W30/18009 , B60W30/18027 , B62D15/027 , G01S15/931 , G01S2013/9346 , G01S2013/935 , G01S2013/9353 , G01S2015/932 , G01S2015/938 , G08G1/166 , G08G1/168
摘要： A vehicle control device basically includes a first risk computation unit, a second risk computing unit and a first risk adjustment unit. The first risk computation unit calculates a first risk with respect to a nearby obstacle located in a nearby detection region near a host vehicle. The second risk computing unit calculates a second risk with respect to a remote obstacle located further from the nearby detection region. The first risk adjustment unit adjusts at least one of the first and the second risks to preferentially execute a warning or vehicle control based on one of the first risk or the second risk versus a warning or vehicle control based on the other of the first risk or the second risk based on an entry state of the host vehicle of entering a planned parking place, or an exit state of the host vehicle of exiting from a parking place.
摘要翻译：车辆控制装置基本上包括第一风险计算单元，第二风险计算单元和第一风险调整单元。第一风险计算单元计算相对于位于主车辆附近的附近检测区域中的附近障碍物的第一风险。第二风险计算单元计算相对于距离附近检测区域更远的远程障碍物的第二风险。第一风险调整单元基于第一风险中的另一个或第二风险来调整第一和第二风险中的至少一个以优先地基于第一风险或第二风险之一执行警告或车辆控制与警告或车辆控制基于本车进入规划停车位的进入状态的第二风险，或从停车场退出的主车辆的退出状态。

5. 发明申请

US20140200799A1 VEHICLE CONTROL APPARATUS 有权
标题翻译：车辆控制装置
公开(公告)号：US20140200799A1
公开(公告)日：2014-07-17
申请号：US14237406
申请日：2012-09-19
申请人： Takeshi Sugano , Masahiro Kobayashi , Toshimichi Gokan
发明人： Takeshi Sugano , Masahiro Kobayashi , Toshimichi Gokan
IPC分类号： G08G1/16
CPC分类号： B60W30/08 , B60Q9/006 , B60W30/0956 , B60W30/18009 , B60W30/18027 , B62D15/027 , G01S15/931 , G01S2013/9346 , G01S2013/935 , G01S2013/9353 , G01S2015/932 , G01S2015/938 , G08G1/166 , G08G1/168
摘要： A vehicle control device basically includes a first risk computation unit, a second risk computing unit and a first risk adjustment unit. The first risk computation unit calculates a first risk with respect to a nearby obstacle located in a nearby detection region near a host vehicle. The second risk computing unit calculates a second risk with respect to a remote obstacle located further from the nearby detection region. The first risk adjustment unit adjusts at least one of the first and the second risks to preferentially execute a warning or vehicle control based on one of the first risk or the second risk versus a warning or vehicle control based on the other of the first risk or the second risk based on an entry state of the host vehicle of entering a planned parking place, or an exit state of the host vehicle of exiting from a parking place.
摘要翻译：车辆控制装置基本上包括第一风险计算单元，第二风险计算单元和第一风险调整单元。第一风险计算单元计算相对于位于主车辆附近的附近检测区域中的附近障碍物的第一风险。第二风险计算单元计算相对于距离附近检测区域更远的远程障碍物的第二风险。第一风险调整单元基于第一风险中的另一个或第二风险来调整第一和第二风险中的至少一个以优先地基于第一风险或第二风险之一执行警告或车辆控制与警告或车辆控制基于本车进入规划停车位的进入状态的第二风险，或从停车场退出的主车辆的退出状态。

6. 发明申请

US20140324310A1 PARKING ASSIST CONTROL APPARATUS AND CONTROL METHOD 有权
标题翻译：停车辅助控制装置和控制方法
公开(公告)号：US20140324310A1
公开(公告)日：2014-10-30
申请号：US13806051
申请日：2011-06-09
申请人： Masahiro Kobayashi , Takuya Inoue , Youji Hamaguchi
发明人： Masahiro Kobayashi , Takuya Inoue , Youji Hamaguchi
IPC分类号： B60W30/06 , B60W30/09
CPC分类号： B62D15/027 , B60K26/021 , B62D15/0285
摘要： A parking assist control apparatus includes an obstacle detector that detects an obstacle around a vehicle; a parking operation assist unit that executes a parking operation assist for preventing a close approach between the obstacle and the vehicle when judges that a distance of the obstacle to the vehicle becomes equal-to or shorter-than a predetermined control start distance; a parking start judgment unit that judges a parking operation; a parking progress judgment unit that judges a parking progress degree during the parking operation judged by the parking start judgment unit; and a parking progress computing unit that reduces an assist control amount by the parking operation assist unit according to the parking progress degree judged by the parking progress judgment unit. According to the parking assist control apparatus, the parking operation assist for the obstacle around the vehicle can be executed more adequately.
摘要翻译：一种停车辅助控制装置，包括：检测车辆周围的障碍物的障碍物检测器; 停车操作辅助单元，当判定所述障碍物与所述车辆的距离变得等于或短于预定控制开始距离时，执行用于防止所述障碍物与所述车辆之间的紧密接近的停车操作辅助; 判断停车操作的停车开始判断单元; 停车进入判断单元，其判断由所述停车开始判断单元判断的停车动作期间的停车进位度; 以及停车进度计算单元，其根据由停车进行判断单元判断的停车进度，减少由停车操作辅助单元进行的辅助控制量。根据停车辅助控制装置，可以更充分地执行对车辆周围的障碍物的驻车操作辅助。

7. 发明授权

US08525655B2 Vehicle control system 失效
标题翻译：车辆控制系统
公开(公告)号：US08525655B2
公开(公告)日：2013-09-03
申请号：US13056442
申请日：2009-06-04
申请人： Masahiro Kobayashi , Youji Hamaguchi , Takuya Inoue
发明人： Masahiro Kobayashi , Youji Hamaguchi , Takuya Inoue
IPC分类号： B60Q1/00 , G08G1/00 , G01C22/00
CPC分类号： B60T7/22 , B60W30/06 , B60W30/09 , B60W30/095 , B60W30/18036 , B60W50/08 , B60W50/16 , B60W2050/143 , B60W2520/06 , B60W2550/308 , B62D15/0285 , F02D11/04 , G08G1/166
摘要： In the case that a vehicle 1 is making a reverse movement, a control section 4 sets a braking control operation distance according to an angle formed by the vehicle 1's proceeding direction and an extending direction of a road on which an approaching vehicle is traveling. With this, a braking control is implemented at a delayed timing in a scene where the following possibility is high: the driver wishes to end the reverse movement operation as early as possible when a space for allowing the approaching vehicle to pass by is not present at the back of the vehicle 1. Thereby, the cumbersomeness or discomfort which may be felt by the driver with respect to the braking control can be decreased.
摘要翻译：在车辆1进行倒车的情况下，控制部4根据由车辆1的前进方向和接近的车辆行驶的道路的延伸方向形成的角度来设定制动控制操作距离。由此，在以下可能性高的场景中，以延迟的定时进行制动控制：当允许接近的车辆通过的空间不存在时，驾驶员希望尽可能早地结束反向运动操作因此，可以减少驾驶员相对于制动控制可能感觉到的麻烦或不适。

8. 发明授权

US08948990B2 Parking assist control apparatus and control method 有权
标题翻译：驻车辅助控制装置及控制方法
公开(公告)号：US08948990B2
公开(公告)日：2015-02-03
申请号：US13806051
申请日：2011-06-09
申请人： Masahiro Kobayashi , Takuya Inoue , Youji Hamaguchi
发明人： Masahiro Kobayashi , Takuya Inoue , Youji Hamaguchi
IPC分类号： G06F7/70 , B60W30/06 , B60W30/09
CPC分类号： B62D15/027 , B60K26/021 , B62D15/0285
摘要： A parking assist control apparatus includes an obstacle detector that detects an obstacle around a vehicle; a parking operation assist unit that executes a parking operation assist for preventing a close approach between the obstacle and the vehicle when judges that a distance of the obstacle to the vehicle becomes equal-to or shorter-than a predetermined control start distance; a parking start judgment unit that judges a parking operation; a parking progress judgment unit that judges a parking progress degree during the parking operation judged by the parking start judgment unit; and a parking progress computing unit that reduces an assist control amount by the parking operation assist unit according to the parking progress degree judged by the parking progress judgment unit. According to the parking assist control apparatus, the parking operation assist for the obstacle around the vehicle can be executed more adequately.
摘要翻译：一种停车辅助控制装置，包括：检测车辆周围的障碍物的障碍物检测器; 停车操作辅助单元，当判定所述障碍物与所述车辆的距离变得等于或短于预定控制开始距离时，执行用于防止所述障碍物与所述车辆之间的紧密接近的停车操作辅助; 判断停车操作的停车开始判断单元; 停车进入判断单元，其判断由所述停车开始判断单元判断的停车动作期间的停车进位度; 以及停车进度计算单元，其根据由停车进行判断单元判断的停车进度，减少由停车操作辅助单元进行的辅助控制量。根据停车辅助控制装置，可以更充分地执行对车辆周围的障碍物的驻车操作辅助。

9. 发明申请

US20100030439A1 VEHICLE CONTROL APPARATUS FOR AVOIDING CONTACT WITH OBSTACLE LOCATING BACKWARD 有权
标题翻译：用于避免与不正确的位置后退接触的车辆控制装置
公开(公告)号：US20100030439A1
公开(公告)日：2010-02-04
申请号：US12510514
申请日：2009-07-28
申请人： Youji HAMAGUCHI , Yoji Seto , Takuya Inoue , Masahiro Kobayashi
发明人： Youji HAMAGUCHI , Yoji Seto , Takuya Inoue , Masahiro Kobayashi
IPC分类号： G06F7/00
CPC分类号： B60W30/09 , B60T2201/022
摘要： There is disclosed a vehicle control processing when a vehicle backs up. According to this vehicle control processing, a controller backs the vehicle toward an obstacle step by step by repeating execution of back control processing for backing the vehicle to a halt at a target stop position, which is set on the obstacle side of the vehicle, until a distance from the vehicle to the obstacle becomes equal to or less than a final target stop position. Thus, it prevents the vehicle driver from failing to park the vehicle at an appropriate position and feeling a lot of trouble during vehicle control as experienced by the vehicle driver in the conventional vehicle control apparatus.
摘要翻译：公开了当车辆备份时的车辆控制处理。根据该车辆控制处理，控制器通过重复执行用于将车辆后退的停止在设置在车辆的障碍物侧的停止位置的后退控制处理逐步地向障碍物背靠背，直到从车辆到障碍物的距离变为等于或小于最终目标停止位置。因此，能够防止车辆驾驶员在适当的位置停车，并且在车辆驾驶员在现有的车辆控制装置中经历的车辆控制中感觉到很多麻烦。

10. 发明申请

US20110175714A1 VEHICLE CONTROL SYSTEM 失效
标题翻译：车辆控制系统
公开(公告)号：US20110175714A1
公开(公告)日：2011-07-21
申请号：US13056442
申请日：2009-06-04
申请人： Masahiro Kobayashi , Youji Hamaguchi , Takuya Inoue
发明人： Masahiro Kobayashi , Youji Hamaguchi , Takuya Inoue
IPC分类号： G08G1/16 , B60T7/12 , G08B23/00
CPC分类号： B60T7/22 , B60W30/06 , B60W30/09 , B60W30/095 , B60W30/18036 , B60W50/08 , B60W50/16 , B60W2050/143 , B60W2520/06 , B60W2550/308 , B62D15/0285 , F02D11/04 , G08G1/166
摘要： In the case that a vehicle 1 is making a reverse movement, a control section 4 sets a braking control operation distance according to an angle formed by the vehicle 1's proceeding direction and an extending direction of a road on which an approaching vehicle is traveling. With this, a braking control is implemented at a delayed timing in a scene where the following possibility is high: the driver wishes to end the reverse movement operation as early as possible when a space for allowing the approaching vehicle to pass by is not present at the back of the vehicle 1. Thereby, the cumbersomeness or discomfort which may be felt by the driver with respect to the braking control can be decreased.
摘要翻译：在车辆1进行倒车的情况下，控制部4根据由车辆1的前进方向和接近的车辆行驶的道路的延伸方向形成的角度来设定制动控制操作距离。由此，在以下可能性高的场景中，以延迟的定时进行制动控制：当允许接近的车辆通过的空间不存在时，驾驶员希望尽可能早地结束反向运动操作因此，可以减少驾驶员相对于制动控制可能感觉到的麻烦或不适。

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