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1. 发明授权

US09707996B2 Vehicle drive-control device 有权
公开(公告)号：US09707996B2
公开(公告)日：2017-07-18
申请号：US14342049
申请日：2011-08-31
申请人： Masao Ueyama , Yoji Kunihiro , Theerawat Limpibunterng , Takahiro Kojo
发明人： Masao Ueyama , Yoji Kunihiro , Theerawat Limpibunterng , Takahiro Kojo
IPC分类号： A01B69/00 , B62D6/00 , B62D11/00 , B63G8/20 , B63H25/04 , G05D1/00 , G06F17/00 , B62D15/02 , B60W10/16 , B60W10/20 , B60W30/045
CPC分类号： B62D6/002 , B60W10/16 , B60W10/20 , B60W30/045 , B62D6/003 , B62D15/02 , B62D15/0255
摘要： A vehicle drive-control device which executes trajectory control in which steered wheels are controlled so as to make the vehicle travel along a target trajectory. When the possibility exists that the travel direction of the vehicle may be changed by the trajectory control, at least one of an operation position of a steering input unit operated by a driver; a yaw angle of the vehicle; and a lateral position of the vehicle with respect to a lane is changed before a change in the travel direction is made, thereby giving occupants in the vehicle advance notice of the possibility of a change in vehicle travel direction caused by the trajectory control.

2. 发明授权

US09540039B2 Vehicle steering control device 有权
标题翻译：车辆转向控制装置
公开(公告)号：US09540039B2
公开(公告)日：2017-01-10
申请号：US14413542
申请日：2012-07-09
申请人： Yoji Kunihiro , Takahiro Kojo
发明人： Yoji Kunihiro , Takahiro Kojo
IPC分类号： A01B69/00 , B62D6/00 , B62D11/00 , B62D12/00 , B63G8/20 , B63H25/04 , G05D1/00 , G06F7/00 , G06F17/00 , G06F19/00 , B62D5/00 , B62D7/15 , B62D6/02 , B62D6/04
CPC分类号： B62D6/003 , B62D5/008 , B62D6/02 , B62D6/04 , B62D7/159
摘要： A vehicle steering control device includes a turning angle varying device serving as a first turn response change device for changing a gain of yaw rate of a vehicle with respect to steering operation, and a rear wheel steering device serving as a second turn response change device for changing a gain of lateral acceleration of the vehicle with respect to the steering operation. Under a state in which magnitude of curvature of a travel path is equal to or less than a first reference value, at least one of the turning angle varying and rear wheel steering devices is controlled so that a ratio of the gain of the lateral acceleration to the gain of the yaw rate increases when a width of the travel path is small compared with when the width of the travel path is large.
摘要翻译：车辆转向控制装置包括：转向角变更装置，其作为用于改变车辆相对于转向操作的偏航率的增益的第一转弯响应变更装置，以及用作第二转向响应变更装置的后轮转向装置，相对于转向操作改变车辆的横向加速度的增益。在行驶路径的曲率大小等于或小于第一基准值的状态下，控制转向角变化和后轮转向装置中的至少一个，使得横向加速度的增益与当行进路径的宽度比行驶路径的宽度大时，横摆率的增益增加。

3. 发明申请

US20140257640A1 VEHICLE TRAVEL TRACK CONTROL DEVICE 有权
标题翻译：车辆行驶跟踪控制装置
公开(公告)号：US20140257640A1
公开(公告)日：2014-09-11
申请号：US14351303
申请日：2011-11-08
申请人： Hisanori Mitsumoto , Takahiro Kojo , Yoji Kunihiro , Toru Takashima
发明人： Hisanori Mitsumoto , Takahiro Kojo , Yoji Kunihiro , Toru Takashima
IPC分类号： B62D15/02 , B60W30/12
CPC分类号： B62D15/025 , B60W10/20 , B60W30/10 , B60W30/12 , B60W40/101 , B60W2420/42 , B60W2550/10 , B60W2710/207
摘要： A vehicle travel track control device which includes a forward image capture device which captures an image ahead of a vehicle, and side image capture devices which capture an image on the left side and/or the right side of the vehicle. When it is possible to properly execute a travel track control on the basis of captured forward image information ahead of the vehicle, the travel track control is executed on the basis of the captured forward image information sent from the forward image capture device, and when it is not possible to properly execute a travel track control on the basis of the captured forward image information, the travel track control is executed on the basis of at least captured side image information sent from the side image capture devices.
摘要翻译：一种车辆行驶轨迹控制装置，其包括拍摄车辆前方的图像的前方摄像装置和拍摄车辆左侧和/或右侧的图像的侧面摄像装置。当可以基于在车辆前方的所捕获的前向图像信息来适当地执行行驶轨道控制时，基于从前向图像捕获装置发送的所捕获的前向图像信息执行行驶轨道控制，并且当它基于所捕获的前向图像信息不可能适当地执行行驶轨道控制，基于从侧面图像捕获装置发送的至少所捕获的侧面图像信息来执行行驶轨迹控制。

4. 发明授权

US09399464B2 Vehicle cruise control device 有权
标题翻译：车辆巡航控制装置
公开(公告)号：US09399464B2
公开(公告)日：2016-07-26
申请号：US14412530
申请日：2012-07-06
申请人： Yoji Kunihiro , Takahiro Kojo
发明人： Yoji Kunihiro , Takahiro Kojo
IPC分类号： B60W30/14 , B62D15/02 , B60W30/10 , B60W40/11 , B60W40/112 , B60R21/00 , B60W30/12 , B62D6/00 , G01C21/34
CPC分类号： B60W30/143 , B60R21/00 , B60W30/10 , B60W30/12 , B60W30/18154 , B60W40/112 , B60W2050/0008 , B60W2050/0012 , B60W2420/42 , B60W2540/04 , B60W2550/402 , B60W2720/125 , B62D6/002 , B62D15/025 , G01C21/34
摘要： A vehicle cruise control device is provided that obtains a target trajectory of a vehicle based on white lines 102 and 104 as traveling route specification targets contained in information acquired by a device that acquires at least information in front of the vehicle, and performs traveling trajectory control so as to cause the vehicle to travel along the target trajectory. When the vehicle travels a particular area 110 where a traveling route branches into a plurality of traveling routes and a target trajectory cannot be obtained based on white lines, an interim target trajectory 116 is obtained for the particular area, based on the white lines 102 and 104 in an area adjacent to the particular area and a traveling route that the vehicle is to travel after traveling the particular area, and interim traveling trajectory control is executed so that the vehicle travels along the interim target trajectory.
摘要翻译：提供一种车辆巡航控制装置，其基于白线102和104获取车辆的目标轨迹，作为包含在获取至少在车辆前方的信息的装置获取的信息中的行驶路线指定目标，并且执行行驶轨迹控制以使车辆沿着目标轨迹行进。当车辆行驶在特定区域110处，其中行驶路线分支到多条行进路线并且基于白线不能获得目标轨迹时，基于白线102获得针对特定区域的临时目标轨迹116，以及 104在与特定区域相邻的区域中，以及车辆在行驶特定区域之后行驶的行驶路线，并且执行临时行驶轨迹控制，使得车辆沿着临时目标轨迹行驶。

5. 发明授权

US09168953B2 Vehicle travel track control device 有权
标题翻译：车辆行驶轨道控制装置
公开(公告)号：US09168953B2
公开(公告)日：2015-10-27
申请号：US14351303
申请日：2011-11-08
申请人： Hisanori Mitsumoto , Takahiro Kojo , Yoji Kunihiro , Toru Takashima
发明人： Hisanori Mitsumoto , Takahiro Kojo , Yoji Kunihiro , Toru Takashima
IPC分类号： G06F19/00 , B62D15/02 , B60W30/12
CPC分类号： B62D15/025 , B60W10/20 , B60W30/10 , B60W30/12 , B60W40/101 , B60W2420/42 , B60W2550/10 , B60W2710/207
摘要： A vehicle travel track control device which includes a forward image capture device which captures an image ahead of a vehicle, and side image capture devices which capture an image on the left side and/or the right side of the vehicle. When it is possible to properly execute a travel track control on the basis of captured forward image information ahead of the vehicle, the travel track control is executed on the basis of the captured forward image information sent from the forward image capture device, and when it is not possible to properly execute a travel track control on the basis of the captured forward image information, the travel track control is executed on the basis of at least captured side image information sent from the side image capture devices.
摘要翻译：一种车辆行驶轨迹控制装置，其包括拍摄车辆前方的图像的前方摄像装置和拍摄车辆左侧和/或右侧的图像的侧面摄像装置。当可以基于在车辆前方的所捕获的前向图像信息来适当地执行行驶轨道控制时，基于从前向图像捕获装置发送的所捕获的前向图像信息执行行驶轨道控制，并且当它基于所捕获的前向图像信息不可能适当地执行行驶轨道控制，基于从侧面图像捕获装置发送的至少所捕获的侧面图像信息来执行行驶轨迹控制。

6. 发明申请

US20150134204A1 VEHICLE CRUISE CONTROL DEVICE 有权
标题翻译：车辆巡航控制装置
公开(公告)号：US20150134204A1
公开(公告)日：2015-05-14
申请号：US14412530
申请日：2012-07-06
申请人： Yoji Kunihiro , Takahiro Kojo
发明人： Yoji Kunihiro , Takahiro Kojo
IPC分类号： B60W30/14 , B62D6/00 , G01C21/34
CPC分类号： B60W30/143 , B60R21/00 , B60W30/10 , B60W30/12 , B60W30/18154 , B60W40/112 , B60W2050/0008 , B60W2050/0012 , B60W2420/42 , B60W2540/04 , B60W2550/402 , B60W2720/125 , B62D6/002 , B62D15/025 , G01C21/34
摘要： A vehicle cruise control device is provided that obtains a target trajectory of a vehicle based on white lines 102 and 104 as traveling route specification targets contained in information acquired by a device that acquires at least information in front of the vehicle, and performs traveling trajectory control so as to cause the vehicle to travel along the target trajectory. When the vehicle travels a particular area 110 where a traveling route branches into a plurality of traveling routes and a target trajectory cannot be obtained based on white lines, an interim target trajectory 116 is obtained for the particular area, based on the white lines 102 and 104 in an area adjacent to the particular area and a traveling route that the vehicle is to travel after traveling the particular area, and interim traveling trajectory control is executed so that the vehicle travels along the interim target trajectory.
摘要翻译：提供一种车辆巡航控制装置，其基于白线102和104获取车辆的目标轨迹，作为包含在获取至少在车辆前方的信息的装置获取的信息中的行驶路线指定目标，并且执行行驶轨迹控制以使车辆沿着目标轨迹行进。当车辆行驶在特定区域110处，其中行驶路线分支到多条行进路线并且基于白线不能获得目标轨迹时，基于白线102获得针对特定区域的临时目标轨迹116，以及 104在与特定区域相邻的区域中，以及车辆在行驶特定区域之后行驶的行驶路线，并且执行临时行驶轨迹控制，使得车辆沿着临时目标轨迹行驶。

7. 发明申请

US20140229068A1 VEHICLE DRIVE-CONTROL DEVICE 有权
标题翻译：车辆驾驶控制装置
公开(公告)号：US20140229068A1
公开(公告)日：2014-08-14
申请号：US14342049
申请日：2011-08-31
申请人： Masao Ueyama , Yoji Kunihiro , Theerawat Limpibunterng , Takahiro Kojo
发明人： Masao Ueyama , Yoji Kunihiro , Theerawat Limpibunterng , Takahiro Kojo
IPC分类号： B62D6/00
CPC分类号： B62D6/002 , B60W10/16 , B60W10/20 , B60W30/045 , B62D6/003 , B62D15/02 , B62D15/0255
摘要： A vehicle drive-control device which executes trajectory control in which steered wheels are controlled so as to make the vehicle travel along a target trajectory. When the possibility exists that the travel direction of the vehicle may be changed by the trajectory control, at least one of an operation position of a steering input unit operated by a driver; a yaw angle of the vehicle; and a lateral position of the vehicle with respect to a lane is changed before a change in the travel direction is made, thereby giving occupants in the vehicle advance notice of the possibility of a change in vehicle travel direction caused by the trajectory control.
摘要翻译：执行轨迹控制的车辆驱动控制装置，其中控制转向轮以使车辆沿着目标轨迹行驶。当存在可以通过轨迹控制来改变车辆行驶方向的可能性时，由驾驶员操作的转向输入单元的操作位置中的至少一个; 车辆的偏航角; 并且在进行行驶方向的变化之前改变车辆相对于车道的横向位置，从而使得车辆中的乘客提前通知由轨迹控制引起的车辆行驶方向改变的可能性。

8. 发明申请

US20150019082A1 CONTROL APPARATUS FOR VEHICLE 有权
标题翻译：车辆控制装置
公开(公告)号：US20150019082A1
公开(公告)日：2015-01-15
申请号：US14378379
申请日：2012-03-02
申请人： Go Inoue , Yoji Kunihiro
发明人： Go Inoue , Yoji Kunihiro
IPC分类号： B60W30/12 , B62D15/02 , B62D1/28
CPC分类号： B60W30/12 , B62D1/286 , B62D15/025
摘要： An apparatus for controlling a vehicle provided with a steering apparatus is provided with: a first target controlled variable setting device for setting a first target controlled variable regarding the steering apparatus for track control which makes a track of the vehicle follow a target track; a controlling device for performing the track control by controlling the steering apparatus on the basis of the set first target controlled variable; a specifying device for specifying magnitude of a steering input and frequency in a period of performing the track control; and a determining device for determining whether or not the steering input is overriding on the basis of the specified magnitude and frequency.
摘要翻译：一种用于控制设置有转向装置的车辆的装置，具有：第一目标控制变量设定装置，用于设定使轨道控制用的转向装置的第一目标控制变量，使得车辆的轨道跟随目标轨道; 控制装置，用于通过基于设定的第一目标控制变量控制转向装置来执行轨道控制; 用于在执行轨道控制的周期中指定转向输入和频率的大小的指定装置; 以及确定装置，用于基于指定的幅度和频率来确定转向输入是否被覆盖。

9. 发明申请

US20110208392A1 VEHICLE STEERING CONTROL APPARATUS 审中-公开
标题翻译：车辆转向控制装置
公开(公告)号：US20110208392A1
公开(公告)日：2011-08-25
申请号：US12673247
申请日：2008-10-01
申请人： Takahiro Kodaira , Yoji Kunihiro
发明人： Takahiro Kodaira , Yoji Kunihiro
IPC分类号： B62D6/00
CPC分类号： B62D5/0463 , B62D5/0472
摘要： A vehicle steering control device includes a first calculation mechanism calculating a basic steering assistance force based on steering torque corresponding to steering operation by an occupant of a vehicle, an acquisition mechanism acquiring respective lateral forces of front wheels and rear wheels, a second calculation mechanism calculating, based on the lateral force on the rear wheels, a first steering correction force that reduces the basic steering assistance force and also calculating, based on the lateral force on the front wheels, a second steering correction force that increases the basic steering assistance force, and a steering force application mechanism applying a target steering assistance force to the vehicle, the target steering assistance force being obtained by adding the first and second correction steering forces to the basic steering assistance force.
摘要翻译：车辆转向控制装置包括：第一计算机构，其基于与车辆乘员的转向操作对应的转向转矩来计算基本转向辅助力;获取前轮和后轮的侧向力的获取机构;计算机构基于后轮上的横向力，能够减小基本转向辅助力的第一转向修正力，并且还基于前轮上的侧向力计算增大基本转向辅助力的第二转向修正力，以及向所述车辆施加目标转向辅助力的转向力施加机构，所述目标转向辅助力是通过将所述第一和第二校正转向力与所述基本转向辅助力相加而获得的。

10. 发明申请

US20100161178A1 VEHICULAR STEERING CONTROL DEVICE 失效
标题翻译：车辆转向控制装置
公开(公告)号：US20100161178A1
公开(公告)日：2010-06-24
申请号：US12160495
申请日：2007-05-10
申请人： Takahiro Kodaira , Hideki Sakai , Yoji Kunihiro , Motoshi Oki , Kentaro Horiuchi , Etsuo Katsuyama
发明人： Takahiro Kodaira , Hideki Sakai , Yoji Kunihiro , Motoshi Oki , Kentaro Horiuchi , Etsuo Katsuyama
IPC分类号： G06F19/00
CPC分类号： B62D6/003 , B62D5/0472
摘要： A vehicle steering control apparatus (10) is provided with: a steering force applying device (15, 30) for applying a steering force front wheels (5, 6); and a lateral force detecting device (42) for detecting a lateral force of each of the front wheels and rear wheels (7, 8), the steering force applying device applying, to the front wheels, a convergent steering force which steers the front wheels in a direction in which yaw oscillation converges, if a ratio of the lateral force (Fr) of the rear wheels to the lateral force (Ff) of the front wheels becomes a ratio of possibly causing the yaw oscillation in a vehicle (1).
摘要翻译：一种车辆转向控制装置（10），其具有：用于施加转向力前轮（5,6）的转向力施加装置（15,30）。以及用于检测前轮和后轮（7,8）中的每一个的横向力的侧向力检测装置（42），该转向力施加装置向前轮施加收敛的转向力，该转向力使前轮如果后轮的横向力（Fr）与前轮的横向力（Ff）的比例成为可能导致车辆（1）中的偏航振动的比例，则在偏航振动收敛的方向上。

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