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21.发明授权Driving control apparatus mounted on vehicle to avoid collision with preceding vehicle 有权安装在车辆上的驾驶控制装置，以避免与前车辆碰撞公开(公告)号：US08880319B2
公开(公告)日：2014-11-04
申请号：US13775750
申请日：2013-02-25
Applicant: Denso Corporation
Inventor： Tomohiko Tsuruta , Motonori Tominaga , Yusuke Ueda , Takeshi Hatoh
IPC: G08G1/16 , B60W30/165
CPC classification number: G08G1/166 , B60W30/0956 , B60W30/16 , B60W30/165 , B60W30/18163 , B60W2550/308
Abstract: A driving control apparatus mounted on a present vehicle used for tracking a preceding vehicle includes: control module for controlling the present vehicle to accelerate or decelerate; vehicle detecting module for detecting the preceding vehicle; region detecting module for detecting a lateral region existing on an adjacent lane being adjacent to a present lane where the present vehicle exists, the lateral region being laterally to the present vehicle; and region determining module for determining whether or not the lateral region is an avoidance region that has a predetermined area.The control module performs an avoidance standby operation that allows the present vehicle to accelerate or decelerate based on a result of determining by the region determining module, when the vehicle detecting module detects the preceding vehicle existing on the present lane.
Abstract translation: 安装在用于跟踪前方车辆的当前车辆上的驾驶控制装置包括：用于控制当前车辆加速或减速的控制模块; 用于检测前方车辆的车辆检测模块; 区域检测模块，用于检测与当前车辆存在的当前车道相邻的相邻车道上存在的横向区域，横向区域横向于当前车辆; 以及区域确定模块，用于确定横向区域是否是具有预定区域的回避区域。 控制模块执行回避待机操作，其允许当前车辆基于由区域确定模块确定的结果来加速或减速，当车辆检测模块检测到当前车道上存在的前一车辆时。
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公开(公告)号：US08838337B2
公开(公告)日：2014-09-16
申请号：US13747911
申请日：2013-01-23
Applicant: Nippon Soken, Inc. , Denso Corporation
Inventor： Yusuke Ueda , Motonori Tominaga , Tomohiko Tsuruta , Takeshi Hatoh
CPC classification number: G05D1/0088 , B62D15/025 , G05D1/0212
Abstract: A vehicle control apparatus that for automatic steering control that reduces occupant discomfort and stress is provided. A lane width of a subject lane and a current in-lane ratio are detected. If an off-lane obstacle which may place stress on the occupant is present within a prescribed area, a relative position between each off-lane obstacle and the vehicle is determined. A target in-lane ratio is determined based on the relative position. Specifically, when the off-lane obstacles are present on both the left and right sides of the subject lane, the target in-lane ratio is such that lateral distances to both off-lane obstacles are equal. When the off-lane obstacle is present on only one of either the left or right of the subject lane, the target in-lane ratio is set such that a lateral position away from the off-lane obstacle by a lateral distance set in advance is the target lateral position.
Abstract translation: 提供一种用于自动转向控制以减少乘客不适和压力的车辆控制装置。 检测对象通道的车道宽度和当前车道内车道比。 如果在规定区域内存在可能对乘员施加应力的偏离车道的障碍物，则确定每个离车道障碍物与车辆之间的相对位置。 基于相对位置确定目标通道内比例。 具体来说，当目标车道的左侧和右侧出现偏离车道的障碍物时，目标车道内的比例使得与两个车道外障碍物的横向距离相等。 当偏离车道障碍物仅存在于主体车道的左侧或右侧中的一个时，目标车道内的车速比被设定为使得偏离车外障碍物的横向位置预先设定的横向距离为 目标横向位置。
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公开(公告)号：US20140200801A1
公开(公告)日：2014-07-17
申请号：US14154561
申请日：2014-01-14
Applicant: DENSO CORPORATION
Inventor： Tomohiko Tsuruta , Yusuke Ueda , Takeshi Hatoh , Takayuki Kondoh , Naoya Inoue , Hossein Tehrani Niknejad , Seiichi Mita
IPC: G01C21/34
CPC classification number: B60W30/00 , B60W30/08 , B60W30/10 , B60W30/12 , B60W2550/00 , B60W2550/10
Abstract: When a travel path is to be generated for a vehicle, road surface lines (white lines, etc.) delimiting the traffic lane of the vehicle, and also external objects in the vehicle environment, are detected and registered as respective obstacles. Specific points are defined at appropriate locations on each obstacle, and the travel path is generated by connecting respective mid-point positions between opposed pairs of specific points, each pair defined on respective ones of an opposed (left-side, right-side) pair of the registered obstacles.
Abstract translation: 当要为车辆生成行驶路径时，检测并记录限定车辆的行车道的路面线（白线等）以及车辆环境中的外部物体，并将其登记为相应的障碍物。 特定点被限定在每个障碍物上的适当位置处，并且通过将相对的特定点对之间的各个中点位置连接而产生行进路径，每对定义在相对的（左侧，右侧）对 的登记障碍。
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公开(公告)号：US20140200768A1
公开(公告)日：2014-07-17
申请号：US14151068
申请日：2014-01-09
Applicant: DENSO CORPORATION
Inventor： Tomohiko Tsuruta , Yusuke Ueda , Takeshi Hatoh , Takayuki Kondoh , Naoya Inoue
IPC: B62D6/00
CPC classification number: B62D6/00 , B62D15/025
Abstract: In a vehicle travel assisting device, a vehicle speed, a yaw rate, a traveling lane of an own vehicle, and a position of a leading vehicle are detected. Target travel coordinates of the own vehicle are calculated, based on the traveling lane and the position of the leading vehicle A travel path curvature of a target travel coordinate group is estimated, based on information related to the target travel coordinate group. A steering quantity to be steered in advance by the own vehicle is calculated, based on the currently estimated travel path curvature. A weight for each of the target travel coordinates for estimating the travel path curvature is adjusted based on the vehicle speed, the yaw rate and the previously estimated travel path curvature. Steering control is performed such that the own vehicle travels so as to follow the estimated travel path curvature, based on the calculated steering quantity.
Abstract translation: 在车辆行驶辅助装置中，检测车辆速度，偏航率，本车辆的行驶车道和前方车辆的位置。 基于行驶车道和前方车辆的位置来计算本车辆的目标行驶坐标基于与目标行驶坐标组相关的信息来估计目标行驶坐标组的行驶路径曲率。 基于当前估计的行进路径曲率来计算由本车辆预先转向的转向量。 基于车速，横摆率和先前估计的行驶路径曲率来调整用于估计行驶路径曲率的每个目标行驶坐标的权重。 执行转向控制，使得本车辆基于计算出的转向量行驶以跟随估计的行进路径曲率。
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公开(公告)号：US20140180543A1
公开(公告)日：2014-06-26
申请号：US14132297
申请日：2013-12-18
Applicant: DENSO CORPORATION
Inventor： Yusuke Ueda , Tomohiko Tsuruta , Takeshi Hatoh , Takayuki Kondoh , Naoya Inoue
IPC: B62D6/00
CPC classification number: B62D1/28 , B62D15/025
Abstract: In a vehicle control device, a basic steering amount calculation section calculates a basic steering amount to drive an own vehicle on a basic route along a driving lave. A posture detection section detects a vehicle posture state indicated by a lateral position and an angle of yaw. An offset distance detection section detects an offset distance between the basis route and the lateral position. A correction steering amount calculation section calculates a correction steering amount as a steering control amount to drive the own vehicle along a virtual correction route. The posture of the own vehicle is alien with a predetermined target posture at a predetermined virtual target point by using the virtual correction route. An instruction steering amount calculation section calculates an instruction steering amount on the basis of the basic steering amount and the correction steering amount.
Abstract translation: 在车辆控制装置中，基本转向量计算部计算沿着驾驶车辆的基本路线上驱动本车辆的基本转向量。 姿态检测部检测由横向位置和偏航角度指示的车辆姿势状态。 偏移距离检测部检测基准路线与横向位置之间的偏移距离。 校正转向量计算部分计算校正转向量作为转向控制量，以沿着虚拟校正路线驱动本车辆。 通过使用虚拟校正路线，本车辆的姿势在预定的虚拟目标点处具有预定的目标姿势。 指示转向量计算部根据基本转向量和校正转向量来计算指示转向量。
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Patent Agency Ranking
公开(公告)号：US20130197758A1
公开(公告)日：2013-08-01
申请号：US13747911
申请日：2013-01-23
Applicant: Nippon Soken, Inc. , DENSO CORPORATION
Inventor： Yusuke Ueda , Motonori Tominaga , Tomohiko Tsuruta , Takeshi Hatoh
CPC classification number: G05D1/0088 , B62D15/025 , G05D1/0212
Abstract: A vehicle control apparatus that for automatic steering control that reduces occupant discomfort and stress is provided. A lane width of a subject lane and a current in-lane ratio are detected. If an off-lane obstacle which may place stress on the occupant is present within a prescribed area, a relative position between each off-lane obstacle and the vehicle is determined. A target in-lane ratio is determined based on the relative position. Specifically, when the off-lane obstacles are present on both the left and right sides of the subject lane, the target in-lane ratio is such that lateral distances to both off-lane obstacles are equal. When the off-lane obstacle is present on only one of either the left or right of the subject lane, the target in-lane ratio is set such that a lateral position away from the off-lane obstacle by a lateral distance set in advance is the target lateral position.
Abstract translation: 提供一种用于自动转向控制以减少乘客不适和压力的车辆控制装置。 检测对象通道的车道宽度和当前车道内车道比。 如果在规定区域内存在可能对乘员施加应力的偏离车道的障碍物，则确定每个离车道障碍物与车辆之间的相对位置。 基于相对位置确定目标通道内比例。 具体来说，当目标车道的左侧和右侧出现偏离车道的障碍物时，目标车道内的比例使得与两个车道外障碍物的横向距离相等。 当偏离车道障碍物仅存在于主体车道的左侧或右侧中的一个时，目标车道内的车速比被设定为使得偏离车外障碍物的横向位置预先设定的横向距离为 目标横向位置。
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公开(公告)号：US10446034B2
公开(公告)日：2019-10-15
申请号：US15744953
申请日：2016-07-08
Applicant: DENSO CORPORATION
Inventor： Yusuke Akamine , Tomohiko Tsuruta , Yasuyuki Miyake
Abstract: The driving support system detects an object existing around an own vehicle. The driving support system 1 predicts a position of a movement destination of the detected object. The driving support system sets a region having a predetermined width at each of an X coordinate and a Y coordinate as a tracking region to be set for tracking the object, based on an XY coordinate of the position of the predicted movement destination of the object. The driving support system limits the tracking region, based on a tracking exclusion region where objects unsuitable as tracking targets may be detected with high probability. At that time, the driving support system limits the tracking region by excluding the tracking exclusion region from the tracking region.
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公开(公告)号：US09796378B2
公开(公告)日：2017-10-24
申请号：US14154561
申请日：2014-01-14
Applicant: DENSO CORPORATION
Inventor： Tomohiko Tsuruta , Yusuke Ueda , Takeshi Hatoh , Takayuki Kondoh , Naoya Inoue , Hossein Tehrani Niknejad , Seiichi Mita
CPC classification number: B60W30/00 , B60W30/08 , B60W30/10 , B60W30/12 , B60W2550/00 , B60W2550/10
Abstract: When a travel path is to be generated for a vehicle, road surface lines (white lines, etc.) delimiting the traffic lane of the vehicle, and also external objects in the vehicle environment, are detected and registered as respective obstacles. Specific points are defined at appropriate locations on each obstacle, and the travel path is generated by connecting respective mid-point positions between opposed pairs of specific points, each pair defined on respective ones of an opposed (left-side, right-side) pair of the registered obstacles.
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公开(公告)号：US09688275B2
公开(公告)日：2017-06-27
申请号：US14945116
申请日：2015-11-18
Applicant: DENSO CORPORATION
Inventor： Naoki Kawasaki , Tomohiko Tsuruta , Shunsuke Suzuki , Tatsuru Kuwabara
CPC classification number: B60W30/12 , B60W30/18163 , B60W40/06 , B60W50/14 , B60W2050/0043 , B60W2420/42 , G06K9/00798 , G06T7/13 , G06T2207/30256
Abstract: A travel lane marking probability calculating unit calculates a travel lane marking probability of each of travel lane marking candidates based on a calculation condition. A travel lane marking recognizing unit recognizes, as a travel lane marking, a travel lane marking candidate having a travel lane marking probability that is a threshold value or higher, among the travel lane marking candidates. A lane change detecting unit detects that an own vehicle is in the midst of a lane change. When the own vehicle is in the midst of a lane change, a condition changing unit changes the calculation condition to allow the travel lane marking probability to be more easily increased compared to when the own vehicle is not in the midst of a lane change, or changes the threshold value to be lower than that when the own vehicle is not in the midst of a lane change.
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公开(公告)号：US09352774B2
公开(公告)日：2016-05-31
申请号：US13788387
申请日：2013-03-07
Applicant: DENSO CORPORATION
Inventor： Yusuke Ueda , Motonori Tominaga , Tomohiko Tsuruta , Takeshi Hatoh
CPC classification number: B62D6/00 , B62D15/025
Abstract: A vehicle driving assistance apparatus mounted in a vehicle. In the apparatus, a drivable route detection unit detects a drivable route, a vehicle state quantity detection unit detects state quantities of the vehicle, and a steering control unit controls steering of the vehicle. Further, in the apparatus, an allowable region estimation unit estimates a driving allowable region on the basis of the detected state quantities and a predetermined allowable range of behavior of the vehicle. A deviation determination unit determines that the vehicle will deviate from the drivable route when a minimum width of an overlap region of the drivable route and the driving allowable region is less than a predetermined threshold. An intervention instruction unit then outputs to the steering control unit an intervention control signal to control steering of the vehicle.
Abstract translation: 一种安装在车辆中的车辆驾驶辅助装置。 在该装置中，可驱动路线检测单元检测可驱动路线，车辆状态量检测单元检测车辆的状态量，转向控制单元控制车辆的转向。 此外，在该装置中，允许区域估计单元基于检测到的状态量和车辆的预定的行驶容许范围来估计驾驶容许区域。 当可驱动路线和驾驶允许区域的重叠区域的最小宽度小于预定阈值时，偏差确定单元确定车辆将偏离可驱动路线。 然后，介入指令单元向转向控制单元输出介入控制信号，以控制车辆的转向。
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