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公开(公告)号：US20160334796A1
公开(公告)日：2016-11-17
申请号：US15154023
申请日：2016-05-13
Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA , The University of Tokyo , National University Corporation Tokyo University of Agriculture and Technology
Inventor： Hideo INOUE , Masahiro MIO , Masayuki OKUWA , Tsukasa SHIMIZU , Minoru KAMATA , Takuma ITO , Pongsathorn RAKSINCHAROENSAK , Masao NAGAI
IPC: G05D1/02
CPC classification number: G05D1/0278 , B60W30/00 , G01C3/08 , G01C21/00 , G01C21/3644 , G05D1/0246 , G05D1/0274 , G05D2201/0213
Abstract: A vehicle control apparatus includes: a storage apparatus configured to store a steering modification point of a vehicle and a vehicle speed target point of the vehicle that are associated with map information; and an electronic control unit configured to: detect a position of the vehicle; detect a travel direction of the vehicle; calculate a lane travel distance, the position of the vehicle, and the travel direction of the vehicle; generate, lane travel map data, a target direction of the vehicle, and a target vehicle speed of the vehicle, on the basis of the map information, the steering modification point, the vehicle speed target point, the position of the vehicle, and the travel direction of the vehicle; and output a control signal to control the vehicle on the basis of the position of the vehicle, the lane travel distance of the vehicle, and the lane travel map data.
Abstract translation: 车辆控制装置包括：存储装置，其被配置为存储与地图信息相关联的车辆的转向修改点和车辆速度目标点; 以及电子控制单元，被配置为：检测车辆的位置; 检测车辆行驶方向; 计算车道行驶距离，车辆位置和车辆行驶方向; 基于地图信息，转向修改点，车速目标点，车辆的位置，以及车辆行驶地图数据，车辆的目标方向和车辆的目标车速， 车辆行驶方向; 并基于车辆的位置，车辆的车道行驶距离和车道行驶地图数据输出控制信号以控制车辆。
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公开(公告)号：US20160297478A1
公开(公告)日：2016-10-13
申请号：US15075273
申请日：2016-03-21
Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Shintaro INOUE , Hideo INOUE , Yutaka HIRANO , Pongsathorn RAKSINCHAROENSAK
CPC classification number: B60T8/246 , B60T8/175 , B60T8/1755 , B60T2210/36 , B62D6/007 , B62D15/0265
Abstract: In a driving support system of a vehicle, there is provided a structure that, even during operating a control based on a machine input, a driver's sense of incongruity can be reduced as much as possible and/or the steering of the driver be can reflected. The vehicle is equipped with a steering assist mechanism and a braking-driving force distribution mechanism of right and left wheels. In operations of the inventive device, a steering assist torque, applied by the steering assist mechanism, is controlled to a target value determined with reference to a target steering torque to achieve the target route, determined without depending on steering of a driver, and a driver's steering torque; and a braking-driving force difference between the right and left wheels is controlled to a target value based on a steering angle of the driver.
Abstract translation: 在车辆的驾驶辅助系统中，提供了一种结构，即使在基于机器输入的控制进行操作的过程中，可以尽可能地减少驾驶员的不协调感和/或可以反映驾驶员的转向 。 车辆配备有左右车轮的转向辅助机构和制动驱动力分配机构。 在本发明装置的操作中，通过转向辅助机构施加的转向辅助转矩被控制为参考目标转向转矩确定的目标值，以实现不依赖于驾驶员的转向而确定的目标路线，以及 驾驶员转向力矩; 并且基于驾驶员的转向角将左右车轮之间的制动驱动力差控制为目标值。
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公开(公告)号：US20200225044A1
公开(公告)日：2020-07-16
申请号：US16640992
申请日：2018-10-05
Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA , The University of Tokyo , National University Corporation Tokyo University of Agriculture and Technology , School Judicial Person IKUTOKU GAKUEN
Inventor： Kyoichi TOHRIYAMA , Takuma ITO , Satoshi NAKAMURA , Minoru KAMATA , Pongsathorn RAKSINCHAROENSAK , Tsukasa SHIMIZU , Hideo INOUE
Abstract: A map information provision system includes: a road map information database configured to store road map information; a vehicle position determination unit configured to detect and determine a position of a vehicle on a road; a road map information extraction unit configured to extract the road map information around the vehicle from the road map information database, based on the position of the vehicle; and a waypoint map constructor unit configured to determine positions of waypoints and configure a waypoint map that is made up of the plurality of the waypoints, wherein the waypoint map is supplied to a driving support device for the vehicle or a driving control device for the vehicle and is utilized as map information on the planned driving route.
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公开(公告)号：US20160236679A1
公开(公告)日：2016-08-18
申请号：US15045400
申请日：2016-02-17
Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Shintaro INOUE , Hideo INOUE , Yutaka HIRANO , Pongsathorn RAKSINCHAROENSAK
IPC: B60W30/02 , B60W10/184 , B60W10/20
CPC classification number: B60W10/184 , B60W10/20 , B60W30/045 , B60W2710/202 , B60W2720/406 , B60Y2300/82
Abstract: There is provided a structure in a driving support system of a vehicle equipped with a steering assist mechanism and a torque vectoring mechanism of right and left wheels, the system capable of reducing an occurrence of a driver's sense of incongruity as much as possible also during the operation of a control based on a machine input and reflecting a driver's steering in the control. The inventive device comprises a steering assist torque controller which controls a steering assist torque given by the steering assist mechanism, a right and left braking-driving force difference controller which controls the braking-driving force difference between the right and left wheels given by the torque vectoring mechanism and a control target value determiner which determines the target values of the steering assist torque and braking-driving force difference for driving support control, based on the steering torque by the driver.
Abstract translation: 在具有转向辅助机构和左右车轮的转矩矢量化机构的车辆的驾驶辅助系统中提供了一种结构，该系统能够尽可能地减少驾驶员的不协调感， 基于机器输入的控制的操作并且反映驾驶员在控制中的转向。 本发明的装置包括控制由转向辅助机构给出的转向辅助转矩的转向辅助转矩控制器，左右制动驱动力差控制器，其控制由转矩给出的左右车轮之间的制动驱动力差 矢量化机构和控制目标值确定器，其基于驾驶员的转向转矩来确定用于驾驶支持控制的转向辅助转矩和制动驱动力差的目标值。
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公开(公告)号：US20190106104A1
公开(公告)日：2019-04-11
申请号：US16142148
申请日：2018-09-26
Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA , NATIONAL UNIVERSITY CORPORATION TOKYO UNIVERSITY OF AGRICULTURE AND TECHNOLOGY , THE UNIVERSITY OF TOKYO , SCHOOL JUDICIAL PERSON IKUTOKU GAKUEN
Inventor： Shintaro INOUE , Toshiki KINOSHITA , Pongsathorn RAKSINCHAROENSAK , Yuichi SAITO , Takuma ITO , Tsukasa SHIMIZU , Hideo INOUE
Abstract: A drive assist apparatus includes an electronic control unit configured to: compute, when an object that causes a blind spot is ahead of a host vehicle, a first reference velocity which is a velocity at which the host vehicle is able to run without colliding with a moving object assumed to be in the blind spot of the object; estimate a degree of risk associated with a road on which the host vehicle is running, based on environment information that indicates a running environment of the host vehicle; and compute a second reference velocity which is determined by correcting the first reference velocity based on the estimated degree of risk.
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Patent Agency Ranking
公开(公告)号：US20190106103A1
公开(公告)日：2019-04-11
申请号：US16141020
申请日：2018-09-25
Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA , NATIONAL UNIVERSITY CORPORATION TOKYO UNIVERSITY OF AGRICULTURE AND TECHNOLOGY , THE UNIVERSITY OF TOKYO , SCHOOL JUDICIAL PERSON IKUTOKU GAKUEN
Inventor： Shintaro INOUE , Pongsathorn RAKSINCHAROENSAK , Yuichi SAITO , Takuma ITO , Tsukasa SHIMIZU , Hideo INOUE
Abstract: A driving assistance control device includes an active pedal configured to control a driving and braking force of a vehicle, an electronic control unit configured to detect a potential risk area in which an obstacle entering a scheduled traveling route of the vehicle is likely to be present, and determine a reference speed at which contact between the vehicle and the obstacle can be avoided even when the obstacle enters the scheduled traveling route of the vehicle from the detected potential risk area based on a positional relationship between the vehicle and the potential risk area, and a force feedback unit configured to apply an assistance reaction force in a direction in which the amount of manipulation is reduced, to the active pedal when a current speed of the vehicle exceeds the reference speed.
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公开(公告)号：US20170327110A1
公开(公告)日：2017-11-16
申请号：US15591595
申请日：2017-05-10
Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA , National University Corporation Tokyo University of Agriculture and Technology , The University of Tokyo
Inventor： Shintaro INOUE , Hideo INOUE , Pongsathorn RAKSINCHAROENSAK , Yuichi SAITO , Masao NAGAI , Takuma ITO , Tsukasa SHIMIZU
CPC classification number: B60W30/09 , B60W10/18 , B60W10/20 , B60W30/095 , B60W40/02 , B60W50/14 , B60W2050/143 , B60W2050/146 , B60W2420/52 , B60W2510/18 , B60W2510/20 , B60W2520/125 , B60W2520/14 , B60W2540/18 , B60W2550/10 , B60W2550/406 , B60W2710/18 , B60W2710/20 , G01S19/13 , G08G1/166
Abstract: A driving assistance control device for a vehicle includes: a moving object detection sensor configured to detect a moving object moving along a roadside in a traveling direction of the vehicle; a driving operation detection sensor configured to detect a driving operation of a driver; an actuator; and an Electronic Control Unit configured to perform automatic steering control of the vehicle by the actuator to avoid the moving object based on a detection result of the moving object, the Electronic Control Unit being configured to start the automatic steering control based on a driving steering of the driver after the moving object is detected.
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公开(公告)号：US20170327094A1
公开(公告)日：2017-11-16
申请号：US15587844
申请日：2017-05-05
Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA , National University Corporation Tokyo University of Agriculture and Technology , THE UNIVERSITY OF TOKYO
Inventor： Shintaro INOUE , Hideo INOUE , Pongsathorn RAKSINCHAROENSAK , Yuichi SAITO , Masao NAGAI , Takuma ITO , Tsukasa SHIMIZU
Abstract: A driving assistance control apparatus of a vehicle includes a blind area detector, a driving operation detector, and an electronic control unit. The blind area detector is configured to detect the presence or absence of a blind area as seen from the vehicle in a traveling direction of the vehicle. The driving operation detector is configured to detect driving operation of the driver. The electronic control unit is configured to perform automatic deceleration control of the vehicle based on detection of the presence of the blind area by the blind area detector. The electronic control unit is configured to start the automatic deceleration control, by referring to the driving operation of the driver after detection of the presence of the blind area by the blind area detector.
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公开(公告)号：US20170088174A1
公开(公告)日：2017-03-30
申请号：US15275993
申请日：2016-09-26
Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Shintaro INOUE , Hideo INOUE , Pongsathorn RAKSINCHAROENSAK
IPC: B62D15/02 , B62D5/04 , B60T8/1755 , B62D6/00 , B62D6/10
CPC classification number: B62D15/025 , B60T8/1755 , B60T8/17557 , B60T2260/02 , B62D5/0457 , B62D6/003 , B62D6/10
Abstract: An apparatus includes a steering assist torque determination unit and a steering assist torque control unit. The steering assist torque determination unit determines a steering assist torque including a first component that is determined on the basis of a deviation between an actual steering angle and a target steering angle for achieving a target path determined irrespective of driver's steering. The steering assist torque control unit controls a steering assist mechanism such that the steering assist torque is applied. The ratio of the magnitude of the first component of the steering assist torque to the deviation between the target steering angle and the actual steering angle is determined on the basis of the magnitude of the deviation between the steering assist torque and the driver's steering torque in a past predetermined period.
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公开(公告)号：US20160297439A1
公开(公告)日：2016-10-13
申请号：US15091230
申请日：2016-04-05
Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Shintaro INOUE , Hideo INOUE , Yutaka HIRANO , Pongsathorn RAKSINCHAROENSAK
CPC classification number: B60W10/20 , B60W10/04 , B60W10/184 , B60W2050/0008 , B60W2050/0024 , B60W2540/28 , B60W2540/30
Abstract: An apparatus as an aspect of the invention acquires a vehicle motion index value, a driving state index value of a driver, a driving characteristic value that is estimated based on the vehicle motion index value and the driving state index value, and a vehicle motion target value and a driving state target value that are determined regardless of the driver's driving. Using these values, the apparatus determines a target value of a steering assist torque and a target value of a difference in braking/driving force between right and left wheels that converge at least one of a difference between the vehicle motion target value and the vehicle motion index value and a difference between the driving state target value and the driving state index value. The apparatus controls the steering assist torque and the difference in braking/driving force between the right and left wheels to their respective target values.
Abstract translation: 作为本发明的一个方面的装置，获取车辆运动指标值，驾驶员的驾驶状态指标值，基于车辆运动指标值和驾驶状态指标值估计出的驾驶特性值，以及车辆运动目标 值和驾驶状态目标值，无论司机驾驶如何都是确定的。 使用这些值，该装置确定转向辅助转矩的目标值和左右车轮之间的制动/驱动力差的目标值，其收敛于车辆运动目标值和车辆运动之间的差值中的至少一个 指标值和驾驶状态目标值与驾驶状态指标值之间的差。 该装置将转向辅助转矩和左右车轮之间的制动/驱动力的差值控制到其各自的目标值。
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