公开(公告)号：US20140121928A1

公开(公告)日：2014-05-01

申请号：US14062031

申请日：2013-10-24

Applicant: DENSO CORPORATION

Inventor： Jin Kurumisawa ,  Toyohito Nozawa ,  Tatsuya Namikiri

IPC: G06F7/00

CPC classification number: B60T8/1755 ,  B60T2201/16

Abstract: When a vehicle runs along a curved path, successive values of a speed limit are calculated based on the yaw rate of the vehicle, and values of acceleration demand are calculated and applied to control the actual vehicle speed based on the speed limit. If commencement of oscillation of the yaw rate and acceleration demand is detected, due to running along the curved path, guard processing is applied to the values of speed limit used to calculate the acceleration demand or is applied to the acceleration demand, such as to prevent the acceleration demand from varying in a direction that would increase the speed limit. Instability of deceleration control due to the oscillation is thereby substantially suppressed.

Abstract translation: 当车辆沿弯曲路径行驶时，基于车辆的横摆角速度来计算速度限制的连续值，并且计算并应用加速度需求值以基于速度限制来控制实际车辆速度。 如果检测到偏航率和加速度要求的振荡的开始，则由于沿着弯曲路径的行驶，将保护处理应用于用于计算加速度要求的速度限制值，或者应用于加速要求，例如防止 加速要求从方向上变化将会增加速度限制。 因此，由于振动引起的减速控制的不稳定性被大大抑制。

公开(公告)号：US11731647B2

公开(公告)日：2023-08-22

申请号：US17352917

申请日：2021-06-21

Applicant: DENSO CORPORATION

Inventor： Masaya Okada ,  Takumi Uematsu ,  Tatsuya Namikiri ,  Naru Sugimoto

IPC: B60W60/00 ,  G06T7/50 ,  G06T7/20 ,  G06V20/58 ,  G06V20/56

CPC classification number: B60W60/00 ,  G06T7/20 ,  G06T7/50 ,  G06V20/58 ,  G06V20/584 ,  G06V20/588 ,  B60W2420/42 ,  B60W2552/00 ,  B60W2552/53 ,  G06T2207/30256 ,  G06T2207/30261

Abstract: A road shape recognizer includes a peripheral information recognizer that recognizes at least two items of peripheral information based on an output of a periphery detector. A reliability assigner assigns a reliability level to each of the peripheral information. A point sequence generator generates and places a point sequence representing a shape of a road on which the own vehicle travels, based on at least two items of peripheral information and the reliability level. The point sequence generator generates and places a point sequence by generating and placing points one by one toward a distant place from a point located at a prescribed relative position to the own vehicle. The point sequence generator generates and places the next point corresponding to an amount of change in shape and a position of a point generated and placed at the end of the point sequence. The amount of change in shape is represented by the peripheral information and determined per section having a prescribed distance.

公开(公告)号：US09580072B2

公开(公告)日：2017-02-28

申请号：US14504682

申请日：2014-10-02

Applicant: DENSO CORPORATION

Inventor： Takuma Sudou ,  Jin Kurumisawa ,  Toyohito Nozawa ,  Tatsuya Namikiri

IPC: B60W30/12 ,  G01S13/06 ,  B60W30/165 ,  B60W30/16 ,  B60W40/072 ,  B60W50/00

CPC classification number: B60W30/12 ,  B60W30/16 ,  B60W30/165 ,  B60W40/072 ,  B60W2050/0022 ,  B60W2050/0054 ,  B60W2520/10 ,  B60W2520/14 ,  B60W2550/146 ,  B60W2550/302 ,  B60W2550/306 ,  B60W2550/308 ,  B60W2750/302 ,  B60W2750/308 ,  G01S13/06

Abstract: A preceding vehicle selection apparatus estimates a curvature of a traveling road on which an own vehicle is traveling, detects an object ahead of the own vehicle, and determines a relative position in relation to the own vehicle, for each object ahead. Based on the estimated curvature and the determined relative position, an own vehicle lane probability instantaneous value for each object ahead is repeatedly determined. An own vehicle lane probability is determined by performing a filter calculation on the calculated own vehicle lane probability instantaneous value. Based on the determined own vehicle lane probability, a preceding vehicle is selected. Characteristics of the filter calculation are set such that an object ahead associated with a preceding vehicle selected in a previous processing cycle is relatively less affected by the own vehicle lane probability instantaneous value than an object ahead associated with an object other than the preceding vehicle.

Abstract translation: 前方车辆选择装置估计自身车辆行驶的行驶道路的曲率，检测自身车辆前方的物体，并且针对前面的每个物体确定与自身车辆相对的位置。 基于估计的曲率和所确定的相对位置，重复确定每个前方的车辆车道概率瞬时值。 通过对计算出的本车道概率瞬时值执行滤波计算来确定自己的车道概率。 基于确定的车辆车道概率，选择前一车辆。 滤波器计算的特征被设置为使得与先前处理周期中选择的前一车辆相关联的物体相对于与前一车辆以外的物体相关联的前方的车辆概率瞬时值相对较少地受到影响。

公开(公告)号：US09511766B2

公开(公告)日：2016-12-06

申请号：US14575061

申请日：2014-12-18

Applicant: DENSO CORPORATION

Inventor： Takuma Sudou ,  Jin Kurumisawa ,  Toyohito Nozawa ,  Tatsuya Namikiri

IPC: B60T7/12 ,  G05D1/00 ,  B60W30/09 ,  B60W30/16 ,  B60W30/095

CPC classification number: B60W30/09 ,  B60W30/0956 ,  B60W30/16 ,  B60W2550/302 ,  B60W2550/308 ,  B60W2720/106 ,  B60W2750/308

Abstract: In an inter-vehicle control apparatus, a controller performs acceleration control of an own vehicle, based on an actual inter-vehicle physical quantity and a target inter-vehicle physical quantity. A limiter sets a limit value for a target jerk during the acceleration control. A detector detects an occurrence of at least one of: an event in which the inter-vehicle distance becomes discontinuously shorter; and an event in which a target inter-vehicle distance corresponding to the target inter-vehicle physical quantity becomes discontinuously longer. A determiner determines a risk of collision with the preceding vehicle, based on an operation state of the preceding vehicle in relation to the own vehicle. When at least one of the events is detected, the limiter sets the limit value to a value based on the risk of collision such that change in deceleration of the own vehicle is kept lower as the risk of collision decreases.

Abstract translation: 在车辆间控制装置中，控制器基于实际车辆间物理量和目标车辆间物理量来执行本车辆的加速控制。 限制器在加速控制期间设置目标冲击的极限值。 检测器检测以下中的至少一个的发生：车辆间距离变得不连续的事件; 以及与目标车辆间物理量对应的目标车辆间距离变得不连续的事件。 基于相对于本车辆的前一车辆的操作状态，确定器确定与前一车辆的碰撞风险。 当检测到至少一个事件时，限制器将限制值设置为基于碰撞风险的值，使得自身车辆的减速度变化保持较低，因为碰撞风险降低。

公开(公告)号：US09327727B2

公开(公告)日：2016-05-03

申请号：US14618309

申请日：2015-02-10

Applicant: DENSO CORPORATION

Inventor： Takuma Sudou ,  Jin Kurumisawa ,  Takaomi Kinugawa ,  Toyohito Nozawa ,  Tatsuya Namikiri

IPC: B60T7/12 ,  B60W30/14 ,  B60W10/06 ,  B60W10/18 ,  B60W30/16

CPC classification number: B60W30/143 ,  B60W10/06 ,  B60W10/18 ,  B60W30/16 ,  B60W2550/302 ,  B60W2720/106 ,  B60W2750/308

Abstract: A vehicle driving control apparatus is provided for controlling an own vehicle to track a target vehicle. The vehicle driving control apparatus includes: (1) means for acquiring an actual relative speed of the target vehicle to the own vehicle; (2) means for detecting occurrence of an event which causes the actual relative speed to discontinuously change; (3) means for setting a target acceleration of the own vehicle based on the product of a relative speed gain and a tracking relative speed when the own vehicle tracks the target vehicle, the tracking relative speed being normally set to the actual relative speed; and (4) means for correcting, upon detection of occurrence of the event by the detecting means, the tracking relative speed so as to gradually increase the absolute value of the tracking relative speed from a value that is less than the absolute value of the actual relative speed.

Abstract translation: 提供车辆驾驶控制装置，用于控制本车辆跟踪目标车辆。 车辆驱动控制装置包括：（1）用于获取目标车辆与本车辆的实际相对速度的装置; （2）用于检测导致实际相对速度不连续变化的事件的发生的装置; （3）当本车辆跟踪目标车辆时，基于相对速度增益和跟踪相对速度的乘积来设定本车辆的目标加速度的装置，跟踪相对速度通常设定为实际相对速度; 以及（4）用于在通过检测装置检测到事件的发生时，根据小于实际的绝对值的值来逐渐增加跟踪相对速度的绝对值，从而校正跟踪相对速度的装置 相对速度

公开(公告)号：US20130158830A1

公开(公告)日：2013-06-20

申请号：US13713087

申请日：2012-12-13

Applicant: DENSO CORPORATION

Inventor： Jin Kurumisawa ,  Tatsuya Namikiri

IPC: B60K31/00

CPC classification number: B60K31/00 ,  B60W10/06 ,  B60W10/18 ,  B60W30/162 ,  B60W2420/52 ,  B60W2520/14 ,  B60W2520/28 ,  B60W2550/146

Abstract: A leading vehicle detecting apparatus and inter-vehicular control apparatus which can reduce delay in deciding accurately whether or not the own vehicle is following a particular leading vehicle are provided. The leading vehicle detecting apparatus includes: a signal acquiring section that acquires position signals outputted from a position detecting section that detects the position of the leading vehicle, and detection signals outputted from state detecting sections that detect a state of an own vehicle cruising line; a storage section storing in advance a probability map showing the probability of the own vehicle following the leading vehicle, based on distance from an expected cruising line of the own vehicle to leading vehicle the position; and a calculating section that calculates the expected cruising line based on is the detection signals, and judges whether the own vehicle is following the leading vehicle based on the expected cruising line, position signals, and probability map.

Abstract translation: 提供一种能够缩短延迟以准确地确定本车是否跟随特定的前车的前沿车辆检测装置和车间控制装置。 前方车辆检测装置包括：信号获取部，其获取从检测前方车辆的位置的位置检测部输出的位置信号，以及从检测本车辆巡航线的状态的状态检测部输出的检测信号; 存储部，基于从本车辆的预期巡航线到前方车辆的位置的距离，预先存储表示本车辆跟随前方车辆的概率的概率图; 并且基于检测信号计算预期巡航线的计算部，基于预期巡航线，位置信号和概率图来判断本车是否跟随前方车辆。