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    Vehicle driving control apparatus and vehicle driving control method
    2.
    发明公开
    Vehicle driving control apparatus and vehicle driving control method 有权
    车辆行驶控制装置和车辆行驶控制方法

    公开(公告)号：EP2495149A2

    公开(公告)日：2012-09-05

    申请号：EP12004132.2

    申请日：2009-07-01

    申请人： Nissan Motor Co., Ltd

    发明人： Hayakawa, Yasuhisa ,  Kobayashi, Masahiro ,  Sato, Ko ,  Nishimaki, Shuhei

    IPC分类号： B60W30/12 ,  B60W10/18 ,  B60T8/1755 ,  G08G1/16

    CPC分类号： B60W30/12 ,  B60T8/17557 ,  B60T2201/08 ,  B60T2201/087 ,  B60W30/08

    摘要： A vehicle driving control apparatus is provided with a lane detecting device, a future position estimating device and a vehicle control device. The lane detecting device detects a lane marker of a lane. The future position estimating device estimates a future transverse position of a host vehicle after a prescribed amount of time. The vehicle control device executes a vehicle control such that a yaw moment is imparted to the host vehicle toward a middle of the lane. The yaw moment is imparted upon determining that the future transverse position is positioned laterally farther toward an outside of the lane from the middle of the lane than a prescribed widthwise lane position that is determined in advance using the lane marker as a reference. The vehicle control device causes an impartation of the yaw moment toward a middle of the lane of the host vehicle to be delayed by changing the prescribed widthwise lane position laterally farther toward the outside of the lane with respect to the lane marker when a recognition degree at of the lane marker is lower than a prescribed value.

    摘要翻译： 车辆行驶控制装置具备车道检测装置，未来位置估计装置以及车辆控制装置。 车道检测装置检测车道的车道标志。 未来位置估计装置在规定的时间量之后估计主车辆的未来横向位置。 车辆控制装置执行车辆控制，使得向主车辆朝车道中部施加横摆力矩。 在确定未来的横向位置比从车道中部向车道外侧偏离规定的宽度方向车道位置时预先给定横摆力矩，该预定的宽度车道位置使用车道标记作为参考而预先确定。 车辆控制装置通过在车道标识的相对于车道标识横向更靠车道外侧改变规定的宽度方向车道位置，使得向主车辆的车道的中间施加朝向车道的中间的横摆力矩的延迟 车道标志的高度低于规定值。

    Headway distance maintenance assisting system and method
    3.
    发明公开
    Headway distance maintenance assisting system and method 有权
    System and Verfahren zum Assistieren bei der Fahrzeugabstandseinhaltung

    公开(公告)号：EP2052936A1

    公开(公告)日：2009-04-29

    申请号：EP08167001.0

    申请日：2008-10-20

    申请人： Nissan Motor Co., Ltd.

    发明人： Sugano, Takeshi ,  Kobayashi, Yosuke ,  Etori, Nariaki ,  Kobayashi, Masahiro

    IPC分类号： B60W30/16 ,  B60W50/08

    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所述主操作反作用力之前产生辅助操作反作用力。

    Vehicle driving control apparatus and vehicle driving control method
    4.
    发明公开
    Vehicle driving control apparatus and vehicle driving control method 有权
    车辆行驶控制装置和车辆行驶控制方法

    公开(公告)号：EP2495148A3

    公开(公告)日：2013-05-01

    申请号：EP12004131.4

    申请日：2009-07-01

    申请人： Nissan Motor Co., Ltd

    发明人： Hayakawa, Yasuhisa ,  Kobayashi, Masahiro ,  Sato, Ko ,  Nishimaki, Shuhei

    IPC分类号： B60W30/12 ,  B60W10/18 ,  B60T8/1755 ,  G08G1/16

    CPC分类号： B60W30/12 ,  B60T8/17557 ,  B60T2201/08 ,  B60T2201/087 ,  B60W30/08

    摘要： A vehicle driving control apparatus is provided with a lane detecting device (13), a future position estimating device and a vehicle control device (8). The lane detecting device (13) detects a lane marker of a lane. The future position estimating device estimates a future transverse position of a host vehicle after a prescribed amount of time. The vehicle control device (8) executes a vehicle control such that a yaw moment is imparted to the host vehicle toward a middle of the lane. The yaw moment is imparted upon determining that the future transverse position is positioned laterally farther toward an outside of the lane from the middle of the lane than a prescribed widthwise lane position that is determined in advance using the lane marker as a reference. The vehicle control device (8) causes an impartation of the yaw moment toward a middle of the lane of the host vehicle to be delayed by shortening the prescribed amount of time when a recognition degree of the lane marker is lower than a prescribed value.

    摘要翻译： 车辆驾驶控制装置具备车道检测装置（13），将来位置估计装置以及车辆控制装置（8）。 车道检测装置（13）检测车道的车道标志。 未来位置估计装置在规定的时间量之后估计主车辆的未来横向位置。 车辆控制装置（8）执行车辆控制，使得向主车辆朝向车道的中部施加横摆力矩。 在确定未来的横向位置比从车道中部向车道外侧偏离规定的宽度方向车道位置时预先给定横摆力矩，该预定的宽度车道位置使用车道标记作为参考而预先确定。 当车道标志的识别度低于规定值时，车辆控制装置（8）通过缩短规定的时间量使向本车辆的车道的中间部分施加的横摆力矩延迟。

    Vehicle driving control apparatus and vehicle driving control method
    7.
    发明公开
    Vehicle driving control apparatus and vehicle driving control method 有权
    Fahrzeugantriebssteuerungsvorrichtung und Fahrzeugantriebssteuerungsverfahren

    公开(公告)号：EP2149486A2

    公开(公告)日：2010-02-03

    申请号：EP09007630.8

    申请日：2009-06-09

    申请人： Nissan Motor Co., Ltd.

    发明人： Hayakawa, Yasuhisa ,  Kobayashi, Masahiro ,  Sato, Ko

    IPC分类号： B60W30/08 ,  B60W30/12 ,  B60W10/06 ,  B60W10/18 ,  B60W10/10 ,  B60W50/08 ,  B60W10/20

    CPC分类号： B60W10/06 ,  B60W10/11 ,  B60W10/184 ,  B60W10/20 ,  B60W2520/14 ,  B60W2550/402

    摘要： A vehicle driving control apparatus is provided with an obstacle detecting device (24L,24R), a future position estimating device (8A), an obstacle avoidance control device (8C), and a lane change intent detecting device (8Bb). The obstacle detecting device detects an existence of an obstacle (SM) positioned laterally of a host vehicle (MM). The future position estimating device estimates a future position of the host vehicle after a prescribed amount of time. The obstacle avoidance control device executes an obstacle avoidance control. The lane change intent detecting device detects an intent of a driver to effect a lane change and a direction of the intended lane change. Therefore, when it is detected that the driver intends to move to an adjacent lane located on the opposite side of the vehicle as the side containing the obstacle, a control suppressing portion of the obstacle avoidance control device suppresses the obstacle avoidance control. The aim is to avoid an unnecessary obstacle avoidance control.

    摘要翻译： 车辆驾驶控制装置具备障碍物检测装置（24L，24R），未来位置估计装置（8A），障碍物回避控制装置（8C）以及车道改变意图检测装置（8Bb）。 障碍物检测装置检测主车辆（MM）侧向定位的障碍物（SM）的存在。 未来位置估计装置在规定时间量之后估计本车辆的未来位置。 障碍物回避控制装置执行障碍物回避控制。 车道改变意图检测装置检测驾驶员实现车道改变的意图和预期车道改变的方向。 因此，当检测到驾驶员意图移动到位于车辆相对侧的相邻车道作为包含障碍物的侧面时，障碍物回避控制装置的控制抑制部分抑制障碍物回避控制。 目的是避免不必要的障碍物回避控制。