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1. 发明申请

US20120197496A1 VEHICLE CONTROL APPARATUS 有权
标题翻译：车辆控制装置
公开(公告)号：US20120197496A1
公开(公告)日：2012-08-02
申请号：US13500025
申请日：2010-10-05
申请人： Theerawat Limpibunterng , Yoshiaki Tsuchiya , Hirofumi Nitta , Shoji Asai
发明人： Theerawat Limpibunterng , Yoshiaki Tsuchiya , Hirofumi Nitta , Shoji Asai
IPC分类号： B62D6/00
CPC分类号： B62D15/025 , B62D1/286 , B62D6/04
摘要： A vehicle control apparatus that controls a vehicle provided with a steering force applying device capable of applying steering force to induce a change in a steering angle of a steered wheel to the steered wheel, includes a difference detecting device that detects a positional difference that determines a relative positional relationship between a target running path to be maintained and the vehicle; a determining device that determines a control amount of the steering force applying device based on the detected positional difference; a controller that maintains a running path of the vehicle on the target running path by controlling the steering force applying device according to the determined control amount; a steering input detecting device that detects a steering input to a steering input device by a driver; and a correcting device that corrects a determining reference of the control amount of the steering force applying device such that, when a steering input is detected while the running path is maintained on the target running path, this steering input is reflected.
摘要翻译：一种车辆控制装置，其控制具备能够施加转向力以引导转向轮到转向轮的转向角的转向力的转向力施加装置的车辆，包括差异检测装置，其检测位置差异，要保持的目标行驶路径与车辆之间的相对位置关系; 确定装置，其基于检测到的位置差确定转向力施加装置的控制量; 控制器，其通过根据所确定的控制量控制所述转向力施加装置来将所述车辆的行进路径保持在所述目标行驶路径上; 转向输入检测装置，其检测驾驶员对转向输入装置的转向输入; 以及校正装置，其校正转向力施加装置的控制量的确定基准，使得当在行驶路径保持在目标行驶路径上时检测到转向输入时，该转向输入被反映。

2. 发明授权

US08762005B2 Control device and control method for vehicle 有权
标题翻译：车辆控制装置及控制方法
公开(公告)号：US08762005B2
公开(公告)日：2014-06-24
申请号：US13496978
申请日：2011-06-24
申请人： Theerawat Limpibunterng , Yoshiaki Tsuchiya , Shoji Asai
发明人： Theerawat Limpibunterng , Yoshiaki Tsuchiya , Shoji Asai
IPC分类号： B62D6/00 , B62D5/00 , B62D15/02
CPC分类号： B62D6/00 , B62D5/005 , B62D5/008 , B62D5/0472 , B62D7/159 , B62D15/025
摘要： In control of a vehicle that is provided with a steering torque supply device that supplies a steering torque to a steering device coupled to a steered wheel and a steering transmission ratio variation device that changes a steering transmission ratio, the control includes: setting a target state quantity for keeping the vehicle in a target lane; controlling the steering transmission ratio variation device so that a state quantity of the vehicle becomes the set target state quantity; controlling the steering torque supply device so that a steering reaction restriction torque that restricts a steering reaction torque generated in the steering device is supplied with the steering device as the steering torque when the vehicle is kept within the target lane; and correcting the steering reaction restriction torque on the basis of a steering input when the steering input from a driver of the vehicle is produced.
摘要翻译：在设置有转向扭矩供给装置的车辆的控制中，转向扭矩供给装置向与转向车轮连接的转向装置供给转向转矩，转向转矩传递比改变装置改变转向传动比时，控制包括：设定目标状态将车辆保持在目标车道的数量; 控制所述转向传动比变更装置，使得所述车辆的状态量成为所设定的目标状态量; 控制转向扭矩供给装置，使得当车辆保持在目标车道内时，限制转向装置中产生的转向反作用力矩的转向反作用力矩被提供给转向装置作为转向转矩; 以及当产生来自车辆驾驶员的转向输入时，基于转向输入来校正转向反作用力矩。

3. 发明授权

US09327764B2 Vehicle control apparatus 有权
标题翻译：车辆控制装置
公开(公告)号：US09327764B2
公开(公告)日：2016-05-03
申请号：US13500025
申请日：2010-10-05
申请人： Theerawat Limpibunterng , Yoshiaki Tsuchiya , Hirofumi Nitta , Shoji Asai
发明人： Theerawat Limpibunterng , Yoshiaki Tsuchiya , Hirofumi Nitta , Shoji Asai
IPC分类号： B62D6/00 , B62D15/02 , B62D1/28 , B62D6/04
CPC分类号： B62D15/025 , B62D1/286 , B62D6/04
摘要： A vehicle control apparatus that controls a vehicle provided with a steering force applying device capable of applying steering force to induce a change in a steering angle of a steered wheel to the steered wheel, includes a difference detecting device that detects a positional difference that determines a relative positional relationship between a target running path to be maintained and the vehicle; a determining device that determines a control amount of the steering force applying device based on the detected positional difference; a controller that maintains a running path of the vehicle on the target running path by controlling the steering force applying device according to the determined control amount; a steering input detecting device that detects a steering input to a steering input device by a driver; and a correcting device that corrects a determining reference of the control amount of the steering force applying device such that, when a steering input is detected while the running path is maintained on the target running path, this steering input is reflected.
摘要翻译：一种车辆控制装置，其控制具备能够施加转向力以引导转向轮到转向轮的转向角的转向力的转向力施加装置的车辆，包括差异检测装置，其检测位置差异，要保持的目标行驶路径与车辆之间的相对位置关系; 确定装置，其基于检测到的位置差确定转向力施加装置的控制量; 控制器，其通过根据所确定的控制量控制所述转向力施加装置来将所述车辆的行进路径保持在所述目标行驶路径上; 转向输入检测装置，其检测驾驶员对转向输入装置的转向输入; 以及校正装置，其校正转向力施加装置的控制量的确定基准，使得当在行驶路径保持在目标行驶路径上时检测到转向输入时，该转向输入被反映。

4. 发明申请

US20130190988A1 CONTROL DEVICE AND CONTROL METHOD FOR VEHICLE 有权
标题翻译：车辆的控制装置和控制方法
公开(公告)号：US20130190988A1
公开(公告)日：2013-07-25
申请号：US13496978
申请日：2011-06-24
申请人： Theerawat Limpibunterng , Yoshiaki Tsuchiya , Shoji Asai
发明人： Theerawat Limpibunterng , Yoshiaki Tsuchiya , Shoji Asai
IPC分类号： B62D6/00
CPC分类号： B62D6/00 , B62D5/005 , B62D5/008 , B62D5/0472 , B62D7/159 , B62D15/025
摘要： In control of a vehicle that is provided with a steering torque supply device that supplies a steering torque to a steering device coupled to a steered wheel and a steering transmission ratio variation device that changes a steering transmission ratio, the control includes: setting a target state quantity for keeping the vehicle in a target lane; controlling the steering transmission ratio variation device so that a state quantity of the vehicle becomes the set target state quantity; controlling the steering torque supply device so that a steering reaction restriction torque that restricts a steering reaction torque generated in the steering device is supplied with the steering device as the steering torque when the vehicle is kept within the target lane; and correcting the steering reaction restriction torque on the basis of a steering input when the steering input from a driver of the vehicle is produced.
摘要翻译：在设置有转向扭矩供给装置的车辆的控制中，转向扭矩供给装置向与转向车轮连接的转向装置供给转向转矩，转向转矩传递比改变装置改变转向传动比时，控制包括：设定目标状态将车辆保持在目标车道的数量; 控制所述转向传动比变更装置，使得所述车辆的状态量成为所设定的目标状态量; 控制转向扭矩供给装置，使得当车辆保持在目标车道内时，限制转向装置中产生的转向反作用力矩的转向反作用力矩被提供给转向装置作为转向转矩; 以及当产生来自车辆驾驶员的转向输入时，基于转向输入来校正转向反作用力矩。

5. 发明授权

US08688327B2 Driving support apparatus of vehicle 有权
标题翻译：车辆驾驶辅助装置
公开(公告)号：US08688327B2
公开(公告)日：2014-04-01
申请号：US13387589
申请日：2010-08-02
申请人： Theerawat Limpibunterng , Takahiro Kojo , Hirofumi Nitta , Shoji Asai
发明人： Theerawat Limpibunterng , Takahiro Kojo , Hirofumi Nitta , Shoji Asai
IPC分类号： A01B69/00 , B62D6/00 , B62D11/00 , B62D12/00 , B63G8/20 , B63H25/04 , G05D1/00 , G06F7/00 , G06F17/00
CPC分类号： B62D1/286 , B62D5/008 , B62D15/025
摘要： A driving support apparatus of a vehicle supports driving of the vehicle, the vehicle includes a rudder angle varying device capable of changing a relative relation between a steering angle and a rudder angle. The driving support apparatus includes a following control device for controlling the rudder angle varying device such that the vehicle follows a target driving route; a steering angle specifying device for specifying the steering angle; and a judging device for judging whether or not overriding performed by a driver takes place on the basis of the specified steering angle and a reference steering angle which is the steering angle in making the vehicle follow the target driving route. The following control device stops the vehicle following for the target driving route if it is judged that the overriding takes place.
摘要翻译：车辆的驾驶辅助装置支撑车辆的行驶，车辆包括能够改变转向角和方向舵角之间的相对关系的方向舵角度变化装置。驾驶辅助装置包括用于控制舵角变化装置的后续控制装置，使得车辆遵循目标驾驶路线; 用于指定转向角的转向角指定装置; 以及判断装置，用于基于指定的转向角和作为使车辆跟随目标行驶路线的转向角的基准转向角来判断是否进行驾驶员的超驰。如果判定出现超限，则下列控制装置停止目标驾驶路线的车辆跟随。

6. 发明授权

US09321480B2 Vehicle steering control apparatus 有权
标题翻译：车辆转向控制装置
公开(公告)号：US09321480B2
公开(公告)日：2016-04-26
申请号：US13811697
申请日：2011-06-01
申请人： Yoshiaki Suzuki , Theerawat Limpibunterng , Toru Takashima , Takahiro Kojo , Taro Hirose , Yoshiaki Tsuchiya , Masahiro Miyata , Susumu Fujii
发明人： Yoshiaki Suzuki , Theerawat Limpibunterng , Toru Takashima , Takahiro Kojo , Taro Hirose , Yoshiaki Tsuchiya , Masahiro Miyata , Susumu Fujii
IPC分类号： B62D6/00 , B62D5/00 , B62D5/04 , B62D7/15
CPC分类号： B62D6/00 , B62D5/008 , B62D5/0481 , B62D7/159
摘要： A vehicle steering control apparatus (100) in a vehicle (10), which is provided with: a steering system including at least a rudder angle varying device (400, 700) capable of changing a relation between a steering angle, which is a rotation angle of a steering wheel (12), and a rudder angle of steered wheels and a steering torque assisting device (500) capable of assisting a driver steering torque; and a power supply source (800) for supplying electric power to the steering system, is provided with: a limiting device for limiting electric current consumption of the steering torque assisting device if a consumption current value of the steering system is greater than a maximum allowable current value in a case where supply capacity of supplying an electric current in the power supply source is reduced with respect to a reference; and a controlling device for matching a neutral position of the steering wheel with a neutral position of the steered wheels in a situation in which the electric current consumption of the steering torque assisting device is limited.
摘要翻译：一种车辆（10）中的车辆转向控制装置（100），其设置有：至少包括舵角变化装置（400,700）的转向系统，其能够改变作为旋转的转向角方向盘（12）的角度以及转向轮的方向舵角度和能够辅助驾驶员转向转矩的转向转矩辅助装置（500）; 以及用于向转向系统供电的供电源（800）设置有限制装置，用于限制转向系统的消耗电流值大于最大允许值的转向助力装置的电流消耗在供电源供给电力相对于基准的情况下减小电流值的电流值; 以及用于在转向转矩辅助装置的电流消耗受到限制的情况下将方向盘的空档位置与转向轮的空档位置相匹配的控制装置。

7. 发明授权

US08948455B2 Travel path estimation apparatus and program 有权
标题翻译：旅行路径估算装置及程序
公开(公告)号：US08948455B2
公开(公告)日：2015-02-03
申请号：US13820030
申请日：2011-09-26
申请人： Akihiro Watanabe , Takahiro Kojo , Theerawat Limpibunterng , Yoshiaki Tsuchiya
发明人： Akihiro Watanabe , Takahiro Kojo , Theerawat Limpibunterng , Yoshiaki Tsuchiya
IPC分类号： G06K9/00 , G06K9/32 , G06T7/00
CPC分类号： G06K9/3241 , G06K9/00798 , G06T7/73 , G06T7/77 , G06T2207/10016 , G06T2207/30244 , G06T2207/30256
摘要： A characteristic point extraction section acquires an image captured by an image capture device and extracts characteristic points from the captured image, a vehicle lane boundary point selection section selects vehicle lane boundary points that indicate vehicle lanes from the extracted characteristic points, a distribution determination section determines the distribution of the vehicle lane boundary points, a system noise setting section sets each system noise based on the distribution of vehicle lane boundary points, and a travel path parameter estimation section stably predicts travel path parameters based on the vehicle lane boundary points, past estimation results, and the system noise that has been set.
摘要翻译：特征点提取部获取由图像拍摄装置拍摄的图像，并从拍摄图像中提取特征点，车道边界点选择部从所提取的特征点中选择表示车道的车道边界点，分配确定部确定车道边界点的分布，系统噪声设定部根据车道边界点的分布设定各个系统噪声，行驶路径参数推定部基于车道边界点来稳定地预测行驶路径参数，过去的估计结果，以及已经设置的系统噪声。

8. 发明申请

US20120203431A1 VEHICLE DRIVING CONTROL APPARATUS 有权
标题翻译：车辆驾驶控制装置
公开(公告)号：US20120203431A1
公开(公告)日：2012-08-09
申请号：US13502760
申请日：2010-06-23
申请人： Takahiro Kojo , Yoshiaki Tsuchiya , Theerawat Limpibunterng
发明人： Takahiro Kojo , Yoshiaki Tsuchiya , Theerawat Limpibunterng
IPC分类号： B62D6/00
CPC分类号： B62D5/008 , B62D15/025
摘要： A vehicle driving control apparatus is provided at least with: a rudder angle varying device capable of changing a relation between a steering angle, which is a rotation angle of a steering input shaft, and a rudder angle, which is a rotation angle of steered wheels; and a trajectory controlling device for determining a control amount and controlling the rudder angle varying device such that a trajectory of a vehicle approaches a target driving route of the vehicle. The vehicle driving control apparatus is further provided with a correcting device for correcting (i) a rate of change in the rudder angle with respect to a steering amount of the steering input or (ii) the determined control amount, in accordance with whether or not a steering direction of the steering input inputted to the steering input shaft through a steering member by a driver of the vehicle is identical with a rudder angle control direction of the control amount determined by the trajectory controlling device.
摘要翻译：至少提供一种车辆驾驶控制装置，其具有：能够改变作为转向输入轴的旋转角度的转向角与作为转向轮的旋转角度的方向舵角之间的关系的舵角变更装置 ; 以及轨迹控制装置，用于确定控制量并控制方向舵角度变化装置，使得车辆的轨迹接近车辆的目标行驶路线。车辆驱动控制装置还具有校正装置，用于根据转向输入的转向量来修正方向舵角度的变化率，或者根据确定的控制量是否根据确定的控制量通过车辆的驾驶员通过转向构件输入到转向输入轴的转向输入的转向方向与由轨迹控制装置确定的控制量的舵角控制方向相同。

9. 发明申请

US20130177211A1 TRAVEL PATH ESTIMATION APPARATUS AND PROGRAM 有权
标题翻译：旅行路径估算装置和程序
公开(公告)号：US20130177211A1
公开(公告)日：2013-07-11
申请号：US13820030
申请日：2011-09-26
申请人： Akihiro Watanabe , Takahiro Kojo , Theerawat Limpibunterng , Yoshiaki Tsuchiya
发明人： Akihiro Watanabe , Takahiro Kojo , Theerawat Limpibunterng , Yoshiaki Tsuchiya
IPC分类号： G06K9/32
CPC分类号： G06K9/3241 , G06K9/00798 , G06T7/73 , G06T7/77 , G06T2207/10016 , G06T2207/30244 , G06T2207/30256
摘要： A characteristic point extraction section acquires an image captured by an image capture device and extracts characteristic points from the captured image, a vehicle lane boundary point selection section selects vehicle lane boundary points that indicate vehicle lanes from the extracted characteristic points, a distribution determination section determines the distribution of the vehicle lane boundary points, a system noise setting section sets each system noise based on the distribution of vehicle lane boundary points, and a travel path parameter estimation section stably predicts travel path parameters based on the vehicle lane boundary points, past estimation results, and the system noise that has been set.
摘要翻译：特征点提取部获取由图像拍摄装置拍摄的图像，并从拍摄图像中提取特征点，车道边界点选择部从所提取的特征点中选择表示车道的车道边界点，分配确定部确定车道边界点的分布，系统噪声设定部根据车道边界点的分布设定各个系统噪声，行驶路径参数推定部基于车道边界点来稳定地预测行驶路径参数，过去的估计结果，以及已经设置的系统噪声。

10. 发明申请

US20130124045A1 VEHICLE STEERING CONTROL APPARATUS 有权
标题翻译：车辆转向控制装置
公开(公告)号：US20130124045A1
公开(公告)日：2013-05-16
申请号：US13811697
申请日：2011-06-01
申请人： Yoshiaki Suzuki , Theerawat Limpibunterng , Toru Takashima , Takahiro Kojo , Taro Hirose , Yoshiaki Tsuchiya , Masahiro Miyata , Susumu Fujii
发明人： Yoshiaki Suzuki , Theerawat Limpibunterng , Toru Takashima , Takahiro Kojo , Taro Hirose , Yoshiaki Tsuchiya , Masahiro Miyata , Susumu Fujii
IPC分类号： B62D6/00
CPC分类号： B62D6/00 , B62D5/008 , B62D5/0481 , B62D7/159
摘要： A vehicle steering control apparatus (100) in a vehicle (10), which is provided with: a steering system including at least a rudder angle varying device (400, 700) capable of changing a relation between a steering angle, which is a rotation angle of a steering wheel (12), and a rudder angle of steered wheels and a steering torque assisting device (500) capable of assisting a driver steering torque; and a power supply source (800) for supplying electric power to the steering system, is provided with: a limiting device for limiting electric current consumption of the steering torque assisting device if a consumption current value of the steering system is greater than a maximum allowable current value in a case where supply capacity of supplying an electric current in the power supply source is reduced with respect to a reference; and a controlling device for matching a neutral position of the steering wheel with a neutral position of the steered wheels in a situation in which the electric current consumption of the steering torque assisting device is limited.
摘要翻译：一种车辆（10）中的车辆转向控制装置（100），其设置有：至少包括舵角变化装置（400,700）的转向系统，其能够改变作为旋转的转向角方向盘（12）的角度以及转向轮的方向舵角度和能够辅助驾驶员转向转矩的转向转矩辅助装置（500）; 以及用于向转向系统供电的供电源（800）设置有限制装置，用于限制转向系统的消耗电流值大于最大允许值的转向助力装置的电流消耗在供电源供给电力相对于基准的情况下减小电流值的电流值; 以及用于在转向转矩辅助装置的电流消耗受到限制的情况下将方向盘的空档位置与转向轮的空档位置相匹配的控制装置。

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