公开(公告)号：US11975719B2

公开(公告)日：2024-05-07

申请号：US17656348

申请日：2022-03-24

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA ,  DENSO CORPORATION

Inventor： Yoji Kunihiro ,  Takahiro Kojo ,  Hisaya Akatsuka ,  Hirotaka Tokoro

IPC: B60W30/18 ,  B60W10/20 ,  B60W30/12 ,  B60W50/08 ,  G06V20/56

CPC classification number: B60W30/18163 ,  B60W10/20 ,  B60W30/12 ,  B60W50/087 ,  G06V20/588 ,  B60W2420/403 ,  B60W2510/202 ,  B60W2540/18 ,  B60W2552/53 ,  B60W2710/207

Abstract: A traveling control apparatus that allows lane changing due to a driver's steering intervention while continuing lane maintenance control includes an electronic control unit. The electronic control unit sets a target trace along a lane in which a vehicle is traveling, determines a target steering angle of the vehicle based on the target trace and a lateral position of the vehicle, applies control torque to a steering shaft of the vehicle based on the target steering angle, resets, in response to a change in the lateral position due to the driver's steering intervention which exceeds the control torque and entrance of the vehicle into an adjacent lane, the target trace to the adjacent lane, and determines, using a gradual changing function, in response to the resetting of the target trace, the target steering angle by changing the target steering angle at the time of the resetting.

公开(公告)号：US11884340B2

公开(公告)日：2024-01-30

申请号：US17460748

申请日：2021-08-30

Applicant: JTEKT CORPORATION ,  TOYOTA JIDOSHA KABUSHIKI KAISHA ,  DENSO CORPORATION

Inventor： Shingo Nitta ,  Takahiro Toko ,  Yoji Kunihiro ,  Takahiro Kojo ,  Hisaya Akatsuka

IPC: B62D5/04 ,  B62D6/10 ,  B62D15/02 ,  B62D6/00 ,  B62D1/28

CPC classification number: B62D5/0463 ,  B62D6/007 ,  B62D6/008 ,  B62D6/10 ,  B62D15/025 ,  B62D1/286

Abstract: A steering control device includes: a first calculator configured to calculate, according to a turning state, a first control amount for causing a motor to generate an assistance force; a second calculator configured to calculate a second control amount for adapting an actual angle to a target angle that is convertible into a turning angle of a steering wheel and generated when a host control device intervenes in steering control; and a third calculator configured to calculate, according to the turning state, a third control amount for offsetting the second control amount when the host control device intervenes in steering control.

公开(公告)号：US11718341B2

公开(公告)日：2023-08-08

申请号：US17315546

申请日：2021-05-10

Applicant: Toyota Jidosha Kabushiki Kaisha ,  Denso Corporation

Inventor： Yoji Kunihiro ,  Takahiro Kojo ,  Yuji Watari ,  Hisaya Akatsuka

IPC: B62D5/04 ,  B62D1/04 ,  B62D15/02

CPC classification number: B62D5/0463 ,  B62D1/046 ,  B62D15/025

Abstract: A vehicle driver assistance system includes: a steering assist torque generation device configured to generate steering assist torque; a control device configured to control the steering assist torque generation device; and a switch configured to switch a steering mode between a manual steering mode and an automatic steering mode. The manual steering mode is a mode in which steered wheels are steered as a driver operates a steering wheel. The automatic steering mode is a mode in which the steered wheels are steered by the steering assist torque generated by the steering assist torque generation device.

公开(公告)号：US11299203B2

公开(公告)日：2022-04-12

申请号：US16007228

申请日：2018-06-13

Applicant: DENSO CORPORATION

Inventor： Shun Shimizu ,  Yosuke Hirate ,  Daiji Watanabe ,  Toshiya Kabayama ,  Hisaya Akatsuka

IPC: B62D15/02 ,  B62D6/00 ,  B60Q9/00 ,  B60W50/14

Abstract: In a cruise assist system, a turning angle controller executes at least one of an automatic cruise control task that automatically controls a turning angle of the vehicle, and an assist control task that controls the turning angle of the vehicle in accordance with an occupant's operation of the steering wheel. A holding determiner includes an input detector detecting an occupant's physical input to a steering shaft via a steering wheel based on at least one of a first type physical quantity and second type physical quantities. Each of the first and second physical quantities depends on rotational movement of the steering shaft. The first type physical quantity contains the occupant's physical input, and a disturbance input, which is different therefrom, to the steering shaft. The second type physical quantities have a physical relationship therebetween, which is changed depending on the occupant's physical input.

公开(公告)号：US11130489B2

公开(公告)日：2021-09-28

申请号：US16080202

申请日：2017-02-27

Applicant: DENSO CORPORATION

Inventor： Noriyasu Noto ,  Yasuhiko Mukai ,  Hisaya Akatsuka ,  Daisuke Tokumochi

IPC: B60W30/12 ,  G05D1/00 ,  G08G1/16 ,  B62D15/02

Abstract: A driving mode switching device includes a determination section, a notification section, a detection section, and a control section. The determination section is configured to determine whether a state has occurred in which automatic driving needs to be terminated. The notification section is configured to notify a driver of the instruction for performing a switching operation as a predetermined operation of a vehicle in the case of determining, by the determination section, that the state has occurred in which the automatic driving needs to be terminated. The detection section is configured to detect the switching operation. The control section is configured to switch travelling from automatic driving to manual driving in the case of detecting the switching operation by the detection section.

公开(公告)号：US11027740B2

公开(公告)日：2021-06-08

申请号：US16330940

申请日：2017-09-06

Applicant: DENSO CORPORATION

Inventor： Daiji Watanabe ,  Toshiki Matsumoto ,  Hisaya Akatsuka

IPC: B60W40/072 ,  B60W50/038 ,  G01S13/06 ,  B60W40/105 ,  B60W40/076 ,  B60T7/12 ,  G08G1/16

Abstract: A forward information acquisition unit acquires a road profile ahead of the own vehicle. A position acquisition unit acquires a current position of the own vehicle. A state acquisition unit acquires a current speed of the own vehicle. A command calculation unit calculates a target speed at each point on a road ahead of the own vehicle, based on the road profile and the current position, and calculates a drive command for driving the own vehicle in the longitudinal direction of the own vehicle, based on the target speed and the current speed. The road profile includes a road gradient. The command calculation unit is configured to adjust the drive command, based on variation in the road gradient and Gzmax that is an acceleration limit limiting acceleration of the own vehicle in the vertical direction.

公开(公告)号：US20200317266A1

公开(公告)日：2020-10-08

申请号：US16829691

申请日：2020-03-25

Applicant: Toyota Jidosha Kabushiki Kaisha ,  Denso Corporation

Inventor： Yoji Kunihiro ,  Hisaya Akatsuka

IPC: B62D15/02 ,  G01P5/02

Abstract: The vehicle controller according to the present disclosure estimates disturbance acting on a vehicle, and performs driving assistance responsive to the disturbance. When reliability of the estimated disturbance is low, the vehicle controller lowers an assistance level of the driving assistance as compared with a case where the reliability is high. Thereby, it is possible to restrain the driving assistance responsive to the disturbance from causing a driver to feel uncomfortable.

公开(公告)号：US20160129935A1

公开(公告)日：2016-05-12

申请号：US14933996

申请日：2015-11-05

Applicant: DENSO CORPORATION

Inventor： Hisaya Akatsuka ,  Motoaki Kataoka ,  Toshiki Matsumoto ,  Hisashi Iida

IPC: B62D5/04

CPC classification number: B62D5/0463 ,  B62D5/0472 ,  B62D6/002 ,  B62D15/025

Abstract: An electric power steering system for a vehicle works to determine an assist command based on steering torque to produce assist torque through an electric motor for assisting in turning a steering wheel of the vehicle, also determines a tracking command for producing automatic steering torque which brings a value of a given physical quantity associated with steering of the vehicle into agreement a target value, and calculates a vibration correction command for use in producing vibration correction torque which suppresses vibration of the steering torque which arises from output of the torque from the electric motor based on a transfer characteristic of transmission of the output of torque from the electric motor as a part of the steering torque through the steering mechanism. A motor driver works to actuate the electric motor based on the sum of the assist command, the tracking command, and the vibration correction command.

Abstract translation: 用于车辆的电动助力转向系统工作以确定基于转向转矩的辅助指令，以通过用于辅助车辆转向的电动机产生辅助转矩，还确定用于产生自动转向转矩的跟踪命令， 将与车辆的转向相关联的给定物理量的值与目标值相一致，并且计算用于产生振动校正扭矩的振动校正命令，该振动校正转矩抑制由基于电动机的扭矩的输出引起的转向转矩的振动 作为通过转向机构的作为转向转矩的一部分的来自电动机的扭矩输出的传递特性。 电机驱动器基于辅助指令，跟踪指令和振动校正命令的总和来启动电动机。