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    TRAVELING AID DEVICE
    4.
    发明公开
    TRAVELING AID DEVICE 有权
    REISEHILFSINSTRUMENT

    公开(公告)号：EP2338758A1

    公开(公告)日：2011-06-29

    申请号：EP09819174.5

    申请日：2009-10-06

    申请人： Hitachi Automotive Systems, Ltd.

    发明人： SUGAWARA Toshiharu ,  YOKOYAMA Atsushi

    IPC分类号： B60W30/08 ,  B60T7/12 ,  B60T8/17 ,  B60T8/1755 ,  B60W10/18 ,  B60W10/20 ,  B60W30/00 ,  B60W30/12 ,  B60W40/06 ,  G08G1/16

    CPC分类号： B60W30/12 ,  B60T7/042 ,  B60T7/22 ,  B60T8/17557 ,  B60T8/17558 ,  B60T2201/083 ,  B60T2201/087 ,  B60W2720/14 ,  B62D6/003 ,  B62D15/025 ,  B62D15/0265

    摘要： A conventional brake control can generate only a small yaw moment compared with a steering control, so that reliable avoidance of obstacles cannot be obtained. With a steering control, the driver gets behind the wheel every time when crossing a lane and has an uncomfortable feeling. To solve these problems, a traveling aid device comprises: a detection unit for detecting the traveling state of a vehicle, the position of a lane marker, and the positions and types of obstacles around the vehicle; a calculation unit for calculating, based on the traveling state of the vehicle, the position of the lane marker, and the positions and types of the surrounding obstacles, a target yaw moment so as to prevent a departure from the lane marker and a collision with the surrounding obstacles; and a distribution unit for distributing, based on at least one of the traveling state of the vehicle, the position of the lane marker, and the positions and types of the surrounding obstacles, the target moment to a first actuator for controlling the driving/braking force and a second actuator for controlling the steering.

    摘要翻译： 与转向控制相比，常规的制动控制只能产生较小的横摆力矩，从而不可能获得可靠地避免障碍物。 在驾驶员驾驶时，驾驶员每次穿越车道时都会看到车轮的后方，感觉不舒服。 为了解决这些问题，行驶辅助装置包括：检测单元，用于检测车辆的行驶状态，车道标记的位置以及车辆周围的障碍物的位置和类型; 计算单元，用于基于车辆的行驶状态来计算车道标记的位置，以及周围障碍物的位置和类型，目标横摆力矩，以防止偏离车道标记和与车道标记的碰撞 周围的障碍物; 以及分配单元，用于基于车辆的行驶状态中的至少一个，车道标记的位置以及周围障碍物的位置和类型来分配到用于控制驾驶/制动的第一致动器的目标力矩 力和用于控制转向的第二致动器。

    VEHICLE CONTROL SYSTEM
    5.
    发明公开
    VEHICLE CONTROL SYSTEM 审中-公开
    车辆控制系统

    公开(公告)号：EP3239960A1

    公开(公告)日：2017-11-01

    申请号：EP15872611.7

    申请日：2015-11-27

    申请人： Hitachi Automotive Systems, Ltd.

    发明人： SUGAWARA Toshiharu ,  TANIMICHI Taisetsu

    IPC分类号： G08G1/16 ,  B60R21/00 ,  B60W30/12 ,  B60W30/16 ,  B60W50/14

    CPC分类号： B60W30/18163 ,  B60R21/00 ,  B60W30/08 ,  B60W30/095 ,  B60W30/12 ,  B60W30/16 ,  B60W30/18145 ,  B60W40/105 ,  B60W50/14 ,  B60W2050/021 ,  B60W2400/00 ,  B60W2420/52 ,  B60W2420/62 ,  B60W2520/10 ,  B60W2530/14 ,  B60W2550/22 ,  B60W2550/30 ,  B60W2550/308 ,  B60W2720/106 ,  G05D1/0214 ,  G05D1/0223 ,  G08G1/09623 ,  G08G1/09626 ,  G08G1/16 ,  G08G1/166 ,  G08G1/167

    摘要： The present invention addresses the problem that a host vehicle changes lanes and comes into contact with a following vehicle or causes the following vehicle to rapidly decelerate when the other vehicle rapidly approaches the host vehicle from outside a recognizable zone in the presence of another vehicle traveling in the lane to which the host vehicle is about to travel. Provided is a vehicle control system characterized in that a driver is notified that a lane change is not possible, the vehicle control system having: an external recognition means for detecting the lane markers of the lane in which the host vehicle is traveling and/or detecting another vehicle in the surrounding area of the host vehicle; a limit-distance calculation means for determining the detectable limit distance of the external recognition means; a relative-speed calculation means for calculating the speed relative to a hypothetical vehicle present outside the detectable limit distance when no other vehicle is present within the distance; and a required detection distance calculation means for determining the required detection distance of the external recognition means required for the host vehicle to change lanes on the basis of the relative speed.

    摘要翻译： 本发明解决了以下问题：当另一车辆行驶在另一车辆的存在下时，当另一车辆从可识别区域外部快速接近本车辆时，本车辆改变车道并与后续车辆接触或使后续车辆快速减速 主车辆即将行驶的车道。 提供一种车辆控制系统，其特征在于，向驾驶员通知不可变更车道，该车辆控制系统具有：外部识别装置，用于检测主车辆行驶的车道的车道标志和/或检测 在主车辆周围区域的另一辆车; 极限距离计算装置，用于确定外部识别装置的可检测极限距离; 相对速度计算装置，用于计算在距离内没有其它车辆存在时相对于存在于可检测极限距离之外的假想车辆的速度; 以及必要检测距离计算装置，用于根据相对速度确定主车辆变换车道所需的外部识别装置的所需检测距离。

    VEHICLE CONTROL APPARATUS
    6.
    发明公开
    VEHICLE CONTROL APPARATUS 审中-公开
    STEUERUNGSVORRICHTUNGFÜREIN FAHRZEUG

    公开(公告)号：EP2330009A1

    公开(公告)日：2011-06-08

    申请号：EP09814401.7

    申请日：2009-07-28

    申请人： Hitachi Automotive Systems, Ltd.

    发明人： SAITO Shinjiro ,  YOKOYAMA Atsushi ,  SUGAWARA Toshiharu ,  YOSHIDA Tatsuya ,  TAKAHASHI Akira

    IPC分类号： B60W30/12 ,  B60R21/00 ,  B60T7/12 ,  B60T8/1755 ,  B60W10/04 ,  B60W10/12 ,  B60W10/18 ,  B60W10/20 ,  B62D6/00 ,  F16H48/30 ,  B62D101/00 ,  B62D103/00 ,  B62D111/00 ,  B62D137/00

    CPC分类号： B60T7/22 ,  B60T2201/08 ,  B60W30/09 ,  B60W30/0956 ,  B60W30/12 ,  B60W2720/406 ,  B62D15/0265

    摘要： According to conventional art, if there is an obstacle on the left of a vehicle, a control threshold value is set so as to avoid the obstacle. If the control threshold value is exceeded, the vehicle is controlled in accordance with a deviation quantity so as to return to a position where the control threshold avoids being exceeded. However, even if a risky oncoming vehicle is approaching the vehicle on the right, the vehicle is controllably moved toward the oncoming vehicle. Thus, disadvantageously, a driver has a sense of fear or discomfort. A vehicle control apparatus according to the present invention includes a calculation section configured to calculate a first risk level present on the left of the vehicle and a second risk level present on the right of the vehicle, a setting section configured to set a first control threshold for the left of the vehicle based on the first risk level and to set a second control threshold for the right of the vehicle based on the second risk level, a change section configured to change at least one of the first and second control thresholds based on the first and second risk levels, and a control section configured to control the vehicle based on the changed control threshold.

    摘要翻译： 根据现有技术，如果在车辆的左侧存在障碍物，则设定控制阈值以避免障碍物。 如果超过了控制阈值，则根据偏差量控制车辆，以返回到避免超过控制阈值的位置。 然而，即使有危险的迎面而来的车辆正在靠近右侧的车辆，车辆也可被控制地朝向迎面而来的车辆移动。 因此，不利的是，驾驶员有恐惧感或不适感。 根据本发明的车辆控制装置包括：计算部，其被配置为计算存在于车辆左侧的第一风险等级和车辆右侧存在的第二风险等级;设定部，其被配置为设定第一控制阈值 基于所述第一风险等级对所述车辆的左侧进行基于所述第二风险等级的所述车辆右侧的第二控制阈值，所述变更部被配置为基于所述第二风险等级来改变所述第一控制阈值和所述第二控制阈值中的至少一个 第一和第二风险级别，以及控制部件，被配置为基于改变的控制阈值来控制车辆。