公开(公告)号：US20160121889A1

公开(公告)日：2016-05-05

申请号：US14924539

申请日：2015-10-27

Applicant: DENSO CORPORATION

Inventor： Osamu Shimomura ,  Shunsuke Suzuki ,  Naoki Kawasaki ,  Tomohiko Tsuruta

IPC: B60W30/12 ,  B60W10/30 ,  B60W10/20 ,  G06K9/00 ,  B60W10/18

CPC classification number: B60W30/12 ,  B60W50/14 ,  B60W2050/0215 ,  B60W2420/42 ,  B60W2550/12 ,  B60W2550/141 ,  B60W2550/402 ,  G06K9/00798

Abstract: An on-board camera captures an image of a travel lane ahead of an own vehicle. At least one state acquisition apparatus acquires an acquired value indicating a state of the own vehicle. A travel lane marking recognition system recognizes a travel lane marking that demarcates the travel lane from an image captured by the on-board camera. The travel lane marking recognition system sets a reliability level of the recognized travel lane marking based on the acquired value of the at least one state acquisition apparatus. When the reliability level is higher than a first predetermined threshold, the travel lane marking recognition system performs driving control of the own vehicle based on the recognized travel lane marking. When the reliability level is lower than the first predetermined threshold, the travel lane marking recognition system performs a deviation warning of deviation from the travel lane based on the recognized travel lane marking.

Abstract translation: 车载摄像机捕获自己车辆前方行驶车道的图像。 至少一个状态获取装置获取表示本车辆的状态的获取值。 旅行车道标识识别系统识别从车载摄像机拍摄的图像划分行驶车道的行驶车道标记。 行驶车道标识识别系统基于所获取的至少一个状态获取装置的值来设定识别的行驶车道标记的可靠性水平。 当可靠性水平高于第一预定阈值时，行驶车道标识识别系统基于所识别的行驶车道标记来执行本车辆的驾驶控制。 当可靠性水平低于第一预定阈值时，行驶车道标记识别系统基于所识别的行驶车道标记来执行与行驶车道偏离的偏差警告。

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。