公开(公告)号：US09626573B2

公开(公告)日：2017-04-18

申请号：US14806361

申请日：2015-07-22

Applicant: DENSO CORPORATION

Inventor： Yuu Maeda ,  Shunsuke Suzuki ,  Yusuke Ueda ,  Kazuhisa Ishimaru ,  Osamu Shimomura ,  Naoki Kawasaki

IPC: G06K9/00 ,  G06F19/00

CPC classification number: G06K9/00798

Abstract: A traffic lane marking recognition apparatus includes a candidate detecting unit, a gap detecting unit, and a recognition reducing unit. The candidate detecting unit detects a lane dividing line candidate which is a candidate for a lane dividing line that defines a traffic lane on a road, based on an image of the road captured by an on-board camera that is mounted in a vehicle. The gap detecting unit detects a gap included in the lane dividing line candidate detected by the candidate detecting unit. When the gap is detected by the gap detecting unit, the recognition reducing unit reduces a probability of recognition of the lane dividing line candidate as a lane dividing line to a first probability that is lower than the probability when the gap detecting unit does not detect the gap, in a region from the gap closest to the vehicle towards a direction away from the vehicle.

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

IPC: B62D6/00 ,  B62D15/02

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。

公开(公告)号：US09043092B2

公开(公告)日：2015-05-26

申请号：US13777037

申请日：2013-02-26

Applicant: DENSO CORPORATION ,  Nippon Soken, Inc.

Inventor： Yusuke Ueda ,  Motonori Tominaga ,  Tomohiko Tsuruta ,  Takeshi Hatoh

IPC: B62D6/00 ,  G05D1/02 ,  B62D1/28 ,  B62D15/02

CPC classification number: B62D6/001 ,  B62D1/28 ,  B62D15/0265 ,  G05D1/021

Abstract: A vehicle control apparatus capable of automatic steering control while reducing discomfort or stress on vehicle occupants. In the apparatus, a lane detection unit detects a lane in which the vehicle is traveling. An offset setting unit sets an offset within the lane suitable for making a driver feel less stressed. An occupant detection unit detects the presence of a designated occupant of a seat opposite a driver's seat. An offset adjustment unit, when the designated occupant is detected, adjusts the offset set by the offset setting unit to be decreased. A vehicle-path estimation unit estimates a vehicle path in the lane such that the vehicle can travel along the vehicle path from a current lateral position to a target lateral position of the vehicle. An automatic steering control unit automatically controls steering so that the vehicle travels along the estimated vehicle.

Abstract translation: 一种车辆控制装置，其能够在减少车辆乘客的不适或压力的同时自动转向控制。 在该装置中，车道检测单元检测车辆行驶的车道。 偏移设置单元设置适于使驾驶员感觉较少受力的车道内的偏移。 乘客检测单元检测与驾驶员座椅相对的座位的指定乘员的存在。 偏移调整单元，当检测到指定的乘客时，调整由偏移设定单元设定的偏移量以减小。 车辆路径估计单元估计车道中的车辆路径，使得车辆可以沿着车辆路径从当前横向位置行进到车辆的目标横向位置。 自动转向控制单元自动控制转向，使得车辆沿估计车辆行驶。

公开(公告)号：US08862326B2

公开(公告)日：2014-10-14

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。

公开(公告)号：US20130226432A1

公开(公告)日：2013-08-29

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

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。

公开(公告)号：US20130226406A1

公开(公告)日：2013-08-29

申请号：US13777037

申请日：2013-02-26

Applicant: DENSO CORPORATION ,  Nippon Soken, Inc.

Inventor： Yusuke Ueda ,  Motonori Tominaga ,  Tomohiko Tsuruta ,  Takeshi Hatoh

IPC: B62D6/00 ,  G05D1/02

CPC classification number: B62D6/001 ,  B62D1/28 ,  B62D15/0265 ,  G05D1/021

Abstract: A vehicle control apparatus capable of automatic steering control while reducing discomfort or stress on vehicle occupants. In the apparatus, a lane detection unit detects a lane in which the vehicle is traveling. An offset setting unit sets an offset within the lane suitable for making a driver feel less stressed. An occupant detection unit detects the presence of a designated occupant of a seat opposite a driver's seat. An offset adjustment unit, when the designated occupant is detected, adjusts the offset set by the offset setting unit to be decreased. A vehicle-path estimation unit estimates a vehicle path in the lane such that the vehicle can travel along the vehicle path from a current lateral position to a target lateral position of the vehicle. An automatic steering control unit automatically controls steering so that the vehicle travels along the estimated vehicle.

Abstract translation: 一种车辆控制装置，其能够在减少车辆乘客的不适或压力的同时自动转向控制。 在该装置中，车道检测单元检测车辆行驶的车道。 偏移设置单元设置适于使驾驶员感觉较少受力的车道内的偏移。 乘客检测单元检测与驾驶员座椅相对的座位的指定乘客的存在。 偏移调整单元，当检测到指定的乘客时，调整由偏移设定单元设定的偏移量以减小。 车辆路径估计单元估计车道中的车辆路径，使得车辆可以沿着车辆路径从当前横向位置行进到车辆的目标横向位置。 自动转向控制单元自动控制转向，使得车辆沿估计车辆行驶。