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    VEHICLE DRIVING SUPPORT DEVICE AND VEHICLE DRIVING SUPPORT METHOD
    11.
    发明申请
    VEHICLE DRIVING SUPPORT DEVICE AND VEHICLE DRIVING SUPPORT METHOD 有权
    车辆驾驶支持装置和车辆驾驶支持方法

    公开(公告)号：US20120130595A1

    公开(公告)日：2012-05-24

    申请号：US13387450

    申请日：2010-07-29

    申请人： Yasuhisa Hayakawa ,  Kou Sato ,  Masahiro Kobayashi

    发明人： Yasuhisa Hayakawa ,  Kou Sato ,  Masahiro Kobayashi

    IPC分类号： B60W30/12 ,  B60W30/02 ,  B60W30/00

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

    摘要： When a lane-width-direction lateral position (X2obst+X0) of a vehicle (MM) reaches a predetermined control start position (60) being a lane-width-direction lateral position (X2obst+X0) serving as an approach prevention indicator for the vehicle (MM), a control start is determined and a yaw moment (Ms) toward the center of a vehicle traveling lane (200) is applied to the vehicle (MM) to control the vehicle (MM). Then, when the lane-width-direction lateral position (X2obst+X0) of the vehicle (MM) moves from the outside to the inside of the control start position (60), the determination of control start is suppressed for a predetermined period, compared to a period before the movement to the inside of the control start position (60).

    摘要翻译： 当车辆（MM）的车道宽度方向横向位置（X2obst + X0）达到预定的控制开始位置（60），该预定控制开始位置（60）是用作车辆宽度方向横向位置（X2obst + X0） 确定车辆（MM），控制开始，向车辆（MM）施加朝向车辆行驶车道（200）的中心的横摆力矩（Ms），以控制车辆（MM）。 然后，当车辆（MM）的车道宽度方向横向位置（X2obst + X0）从控制开始位置（60）的外部移动到内部时，控制开始的确定被抑制预定时间段， 与移动到控制开始位置（60）内部的时间段相比。

    Vehicle driving control apparatus and vehicle driving control method
    13.
    发明授权
    Vehicle driving control apparatus and vehicle driving control method 有权
    车辆驾驶控制装置和车辆驾驶控制方法

    公开(公告)号：US08145385B2

    公开(公告)日：2012-03-27

    申请号：US12489959

    申请日：2009-06-23

    申请人： Yasuhisa Hayakawa ,  Ko Sato ,  Masahiro Kobayashi

    发明人： Yasuhisa Hayakawa ,  Ko Sato ,  Masahiro Kobayashi

    IPC分类号： G08G1/16

    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, a future position estimating device, an obstacle avoidance control device, and a lane change intent detecting device. The obstacle detecting device detects an existence of an obstacle positioned laterally of a host vehicle. 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.

    摘要翻译： 车辆驾驶控制装置设置有障碍物检测装置，未来位置估计装置，障碍物回避控制装置和车道改变意图检测装置。 障碍物检测装置检测主车辆侧面存在的障碍物的存在。 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上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。

    VEHICLE DRIVING ASSISTANT AND VEHICLE DRIVING ASSISTING METHOD
    16.
    发明申请
    VEHICLE DRIVING ASSISTANT AND VEHICLE DRIVING ASSISTING METHOD 有权
    车辆驾驶辅助和车辆驾驶辅助方法

    公开(公告)号：US20120166017A1

    公开(公告)日：2012-06-28

    申请号：US13384017

    申请日：2010-07-15

    申请人： Masahiro Kobayashi ,  Yasuhisa Hayakawa ,  Kou Sato

    发明人： Masahiro Kobayashi ,  Yasuhisa Hayakawa ,  Kou Sato

    IPC分类号： G08G1/16

    CPC分类号： B60T8/17558 ,  B60K2350/1084 ,  B60T7/22 ,  B60T2201/08 ,  B60T2210/32 ,  B60W30/08 ,  B60W2550/10 ,  G08G1/166 ,  G08G1/167

    摘要： An overtaking state is detected which is at least one of a first state where an own vehicle (MM) is overtaking an obstacle (SM) in a posterolateral direction of the own vehicle (MM) and a second state where the own vehicle (MM) is estimated to overtake the obstacle (SM). In the implementation of an obstacle access prevention control for preventing the own vehicle (MM) from accessing the obstacle (SM) present in the posterolateral direction of the own vehicle (MM), when a determination that the overtaking state is established is made based on the detecting, the obstacle access prevention control with respect to the obstacle (SM) is suppressed compared with when the determination that the overtaking state is established is not made.

    摘要翻译： 检测到超车状态，其中本车辆（MM）在本车辆（MM）的后外侧方向上超越障碍物（SM）的第一状态和本车辆（MM）的第二状态中的至少一个， 估计超过障碍物（SM）。 在实施用于防止本车辆（MM）进入本车辆（MM）的后外侧方向的障碍物（SM）的障碍物进入防止控制中，当基于以下方式确定超车状态为止 与不进行超驰状态的判断相比，能够抑制与障碍物（SM）相关的障碍物访问防止控制。

    Lane departure prevention apparatus and method
    18.
    发明授权
    Lane departure prevention apparatus and method 有权
    车道离境预防装置及方法

    公开(公告)号：US07881848B2

    公开(公告)日：2011-02-01

    申请号：US11790553

    申请日：2007-04-26

    申请人： Yasuhisa Hayakawa ,  Takeshi Iwasaka

    发明人： Yasuhisa Hayakawa ,  Takeshi Iwasaka

    IPC分类号： G06G7/76 ,  G06F17/10

    CPC分类号： B60T8/17557 ,  B60T8/17551 ,  B60T2201/08 ,  B60T2201/086 ,  B60W30/12

    摘要： A lane departure prevention apparatus includes a control section configured to carry out a lane departure prevention control to prevent a vehicle from departing from a lane, and to finish the lane departure prevention control by using a predetermined finish parameter; a vehicle-state detecting section configured to detect a state of vehicle at least when or after the lane departure prevention control is started; and a control finish-parameter correcting section configured to correct the predetermined finish parameter on the basis of the vehicle state detected by the vehicle-state detecting section.

    摘要翻译： 车道偏离防止装置包括：控制部，被配置为执行车道偏离防止控制，以防止车辆离开车道，并且通过使用预定的完成参数来完成车道偏离防止控制; 车辆状态检测部，被配置为至少在车道偏离防止控制开始时或之后检测车辆的状态; 以及控制完成参数校正部，被配置为基于由车辆状态检测部检测到的车辆状态来校正预定的完成参数。

    Lane departure prevention apparatus and method
    19.
    发明申请
    Lane departure prevention apparatus and method 有权
    车道离境预防装置及方法

    公开(公告)号：US20070255474A1

    公开(公告)日：2007-11-01

    申请号：US11790553

    申请日：2007-04-26

    申请人： Yasuhisa Hayakawa ,  Takeshi Iwasaka

    发明人： Yasuhisa Hayakawa ,  Takeshi Iwasaka

    IPC分类号： G06G7/76 ,  G06F19/00

    CPC分类号： B60T8/17557 ,  B60T8/17551 ,  B60T2201/08 ,  B60T2201/086 ,  B60W30/12

    摘要： A lane departure prevention apparatus includes a control section configured to carry out a lane departure prevention control to prevent a vehicle from departing from a lane, and to finish the lane departure prevention control by using a predetermined finish parameter; a vehicle-state detecting section configured to detect a state of vehicle at least when or after the lane departure prevention control is started; and a control finish-parameter correcting section configured to correct the predetermined finish parameter on the basis of the vehicle state detected by the vehicle-state detecting section.

    摘要翻译： 车道偏离防止装置包括：控制部，被配置为执行车道偏离防止控制，以防止车辆离开车道，并且通过使用预定的完成参数来完成车道偏离防止控制; 车辆状态检测部，被配置为至少在车道偏离防止控制开始时或之后检测车辆的状态; 以及控制完成参数校正部，被配置为基于由车辆状态检测部检测到的车辆状态来校正预定的完成参数。

    Detection region modification for driving assistance apparatus and driving assistance method
    20.
    发明授权
    Detection region modification for driving assistance apparatus and driving assistance method 有权
    用于驾驶辅助装置和驾驶辅助方法的检测区域修改

    公开(公告)号：US09235767B2

    公开(公告)日：2016-01-12

    申请号：US14235934

    申请日：2012-07-17

    申请人： Osamu Fukata ,  Yasuhisa Hayakawa ,  Chikao Tsuchiya ,  Masanori Furuya

    发明人： Osamu Fukata ,  Yasuhisa Hayakawa ,  Chikao Tsuchiya ,  Masanori Furuya

    IPC分类号： G06K9/00 ,  G08G1/16 ,  H04N7/18 ,  B60R1/00

    CPC分类号： G06K9/00805 ,  B60R1/002 ,  G08G1/167 ,  H04N7/18

    摘要： A driving assistance device is provided with a turning state detection unit, an imaging unit, a solid object detection unit and a detection region modification unit. When the turning state detection unit detects that a host vehicle is in a turning state, the detection region modification unit alters a position of a detection region with respect to the host vehicle, or alters a shape or an area of the detection region based on the turning state of the host vehicle. For example, the detection region modification unit sets a shorter region length of the detection region as the turning radius of the host vehicle becomes smaller. Hereby, the region closest to the host vehicle is set, to a limited extent, as the detection regions.

    摘要翻译： 驾驶辅助装置设置有转向状态检测单元，摄像单元，固体物体检测单元和检测区域修改单元。 当转向状态检测单元检测到主车辆处于转弯状态时，检测区域修改单元基于主车辆改变检测区域相对于主车辆的位置，或者改变检测区域的形状或区域 主车辆转向状态。 例如，当本车辆的转弯半径变小时，检测区域修正单元设定检测区域的较短的区域长度。 因此，最靠近主车辆的区域在有限的程度上被设置为检测区域。