公开(公告)号：US08812192B2

公开(公告)日：2014-08-19

申请号：US11777401

申请日：2007-07-13

申请人： Youji Hamaguchi ,  Kou Satou ,  Yasuhisa Hayakawa

发明人： Youji Hamaguchi ,  Kou Satou ,  Yasuhisa Hayakawa

IPC分类号： A01B69/00 ,  B62D6/00 ,  B62D11/00 ,  B62D12/00 ,  B63G8/20 ,  B63H25/04 ,  G05D1/00 ,  G06F7/00 ,  G06F17/00 ,  G06F19/00 ,  G05D1/02 ,  G06F17/10 ,  B60W40/114 ,  B60W40/112 ,  B60W40/11 ,  B60T8/1755 ,  B60W50/14 ,  B60W30/12 ,  B60W40/08

CPC分类号： B60T8/17557 ,  B60T2201/08 ,  B60T2201/086 ,  B60W30/12 ,  B60W40/11 ,  B60W40/112 ,  B60W40/114 ,  B60W50/14 ,  B60W2040/0818

摘要： A lane departure prevention system is provided with a lane departure tendency detection section, a yaw moment calculating section and a yaw moment control section. The lane departure tendency detection section detects a degree of a lane departure tendency of a host vehicle exhibiting a tendency of departing from its driving lane. The yaw moment calculating section calculates a base yaw moment to be applied to the host vehicle based on the degree of the lane departure tendency. The yaw moment control section applies the base yaw moment calculated by the yaw moment calculating section to the host vehicle when the base yaw moment is equal to or larger than a first prescribed minimum yaw moment, which is greater than zero, and applies the first prescribed minimum yaw moment to the host vehicle if the base yaw moment is smaller than the first prescribed minimum yaw moment.

摘要翻译： 行车道偏离防止系统具备车道偏离倾向检测部，横摆力矩计算部和横摆力矩控制部。 车道偏离倾向检测部检测出显示倾向于其行驶车道的主车辆的车道偏离倾向的程度。 横摆力矩计算部根据车道偏离倾向的程度来计算应用于本车辆的基准横摆力矩。 当基准横摆力矩大于等于或大于大于零的第一规定最小横摆力矩时，横摆力矩控制部将由横摆力矩计算部计算出的基准横摆力矩应用于主车辆，并施加第一规定 如果基准横摆力矩小于第一规定的最小横摆力矩，则与主车辆的最小横摆力矩。

公开(公告)号：US08744742B2

公开(公告)日：2014-06-03

申请号：US13055979

申请日：2009-06-12

申请人： Shuhei Nishimaki ,  Yasuhisa Hayakawa ,  Masahiro Kobayashi ,  Ko Sato

发明人： Shuhei Nishimaki ,  Yasuhisa Hayakawa ,  Masahiro Kobayashi ,  Ko Sato

IPC分类号： G08G1/16 ,  B62D6/00 ,  G01S13/93 ,  B60W30/08 ,  B60W30/12

CPC分类号： G01S13/931 ,  B60T7/22 ,  B60W10/18 ,  B60W10/184 ,  B60W10/20 ,  B60W30/08 ,  B60W30/0956 ,  B60W30/12 ,  B60W2720/14 ,  B62D6/002 ,  B62D15/025 ,  B62D15/0265 ,  G01S2013/9342 ,  G08G1/16 ,  G08G1/167

摘要： A lateral object that exists on a side of the vehicle is detected. When an estimated later-arriving lateral position reaches a predetermined threshold value under the condition in which the lateral object is detected, a lane change of the vehicle in a direction to a side of the lateral object is suppressed. When detecting that the vehicle moves laterally in a direction opposite to a side of a side vehicle, an avoidance flag is set to Fa=1. Subsequently, when the vehicle starts a lateral movement in a direction to the side of the side vehicle, a return flag is set to Fr=1. When the return flag is set to Fr=1 in this way, a suppression flag is set to F=0 until a setting time elapses, then the suppression of the lateral movement is forbidden.

摘要翻译： 检测存在于车辆一侧的侧面物体。 当在检测到横向物体的条件下估计后来到达的侧向位置达到预定阈值时，车辆沿横向物体一侧的方向的车道变换被抑制。 当检测到车辆沿与侧车辆的侧面相反的方向横向移动时，回避标志被设置为Fa = 1。 随后，当车辆沿着侧车辆侧面的方向开始横向移动时，返回标志被设定为Fr = 1。 当以这种方式将返回标志设置为Fr = 1时，抑制标志设置为F = 0，直到设定时间过去，则禁止横向移动。

公开(公告)号：US20140136015A1

公开(公告)日：2014-05-15

申请号：US14128952

申请日：2012-08-06

申请人： Yasuhisa Hayakawa ,  Shuhei Nishimaki

发明人： Yasuhisa Hayakawa ,  Shuhei Nishimaki

IPC分类号： G08G1/16

CPC分类号： G08G1/166 ,  B60T7/22 ,  B60T8/17557 ,  B60T17/22 ,  B60T2201/08 ,  B60T2210/24 ,  B60T2210/34 ,  B60T2210/36 ,  B60W30/18163 ,  B60W50/14 ,  B60W2550/14 ,  B62D15/0265 ,  G08G1/167

摘要： A braking/driving force control unit determines whether or not the driver has a intention of lane change on the basis of the detected road shape and the steering amount. The braking/driving force control unit detects an obstacle which is an obstacle present rearward and sideward of the vehicle. The braking/driving force control unit determines whether approach prevention control for preventing an the vehicle from approaching to the obstacle should start, when it is determined that the driver has the intention of lane change and the obstacle is detected, and performs the approach prevention control for supporting prevention of the vehicle from approaching to the obstacle when it is determined that the control should start. At this time, the braking/driving force control unit determines detection accuracy of the road shape ahead of the vehicle and suppresses the determination of the start of the control when the detection accuracy is low.

摘要翻译： 制动/驱动力控制单元基于检测到的道路形状和转向量确定驾驶员是否具有车道变换的意图。 制动/驱动力控制单元检测作为车辆后方和侧方存在的障碍物的障碍物。 制动/驱动力控制单元确定当确定驾驶员具有车道改变的意图并且检测到障碍物时，是否应当开始防止车辆接近障碍物的接近防止控制，并执行接近防止控制 用于在确定控制开始时支持防止车辆接近障碍物。 此时，制动/驱动力控制单元确定车辆前方的道路形状的检测精度，并且当检测精度低时，抑制开始控制的确定。

公开(公告)号：US08700305B2

公开(公告)日：2014-04-15

申请号：US13518249

申请日：2010-12-01

申请人： Yasuhisa Hayakawa ,  Kou Sato ,  Masahiro Kobayashi

发明人： Yasuhisa Hayakawa ,  Kou Sato ,  Masahiro Kobayashi

IPC分类号： G06F17/10 ,  G06G7/78 ,  G08G1/16

CPC分类号： B60T7/22 ,  B60T2201/022 ,  B60T2201/08 ,  B60W10/18 ,  B60W10/20 ,  B60W30/0953 ,  B60W30/12 ,  B60W40/10 ,  B60W2550/146 ,  B60W2550/308 ,  B60W2550/402 ,  B62D15/0265

摘要： A driving control device according to the present invention activates a control for suppressing sideways movement of a vehicle towards a side object, when the side object present to the side of the vehicle as well as towards the rear of the vehicle is detected. Also, the activation of the control is suppressed when, in the absence of detection of the side object, the vehicle starts entering an adjacent lane in order to change lanes.

摘要翻译： 根据本发明的驱动控制装置，当检测到存在于车辆一侧以及朝向车辆后部的侧面物体时，启动用于抑制车辆朝向侧面物体的侧向移动的控制。 此外，当没有检测到侧对象时，车辆开始进入相邻车道以便改变车道时，抑制了控制的激活。

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。

公开(公告)号：US09142131B2

公开(公告)日：2015-09-22

申请号：US14128952

申请日：2012-08-06

申请人： Yasuhisa Hayakawa ,  Shuhei Nishimaki

发明人： Yasuhisa Hayakawa ,  Shuhei Nishimaki

IPC分类号： G08G1/01 ,  G08G1/04 ,  G08G1/16 ,  B60W50/00 ,  B62D15/00 ,  B62D6/00 ,  B60W30/10 ,  B60W30/12 ,  B60W10/20 ,  B60T7/22 ,  B60T17/22 ,  B60W50/14 ,  B62D15/02 ,  B60T8/1755 ,  B60W30/18

CPC分类号： G08G1/166 ,  B60T7/22 ,  B60T8/17557 ,  B60T17/22 ,  B60T2201/08 ,  B60T2210/24 ,  B60T2210/34 ,  B60T2210/36 ,  B60W30/18163 ,  B60W50/14 ,  B60W2550/14 ,  B62D15/0265 ,  G08G1/167

摘要： A braking/driving force control unit determines whether or not the driver has a intention of lane change on the basis of the detected road shape and the steering amount. The braking/driving force control unit detects an obstacle which is an obstacle present rearward and sideward of the vehicle. The braking/driving force control unit determines whether approach prevention control for preventing an the vehicle from approaching to the obstacle should start, when it is determined that the driver has the intention of lane change and the obstacle is detected, and performs the approach prevention control for supporting prevention of the vehicle from approaching to the obstacle when it is determined that the control should start. At this time, the braking/driving force control unit determines detection accuracy of the road shape ahead of the vehicle and suppresses the determination of the start of the control when the detection accuracy is low.

摘要翻译： 制动/驱动力控制单元基于检测到的道路形状和转向量确定驾驶员是否具有车道变换的意图。 制动/驱动力控制单元检测作为车辆后方和侧方存在的障碍物的障碍物。 制动/驱动力控制单元确定当确定驾驶员具有车道改变的意图并且检测到障碍物时，是否应当开始防止车辆接近障碍物的接近防止控制，并执行接近防止控制 用于在确定控制开始时支持防止车辆接近障碍物。 此时，制动/驱动力控制单元确定车辆前方的道路形状的检测精度，并且当检测精度低时，抑制开始控制的确定。

公开(公告)号：US08489286B2

公开(公告)日：2013-07-16

申请号：US12817844

申请日：2010-06-17

申请人： Masahiro Kobayashi ,  Yasuhisa Hayakawa ,  Kou Satou

发明人： Masahiro Kobayashi ,  Yasuhisa Hayakawa ,  Kou Satou

IPC分类号： B60R22/00 ,  B60Q1/00 ,  H04N5/225

CPC分类号： B60T7/22 ,  B60W30/09 ,  B60W30/18009 ,  B60W2520/28 ,  B60W2540/10 ,  B60W2540/12 ,  B60W2540/20 ,  B60W2550/10 ,  B60W2550/402 ,  G01S13/931 ,  G01S2013/9332 ,  G01S2013/9353 ,  G08G1/167

摘要： When an obstacle on either of the two sides of a vehicle is detected, the future position of the vehicle after a prescribed time is predicted. When the future predicted vehicle position reaches a prescribed lateral position in the width direction of the lane, control start is determined such that obstacle avoiding control is carried out to prevent the approach of the vehicle to the obstacle. When an intention of the driver to enter the lane of the obstacle is detected, the start timing for obstacle avoiding control is shortened.

摘要翻译： 当检测到车辆的两侧的障碍物时，预测在规定时间之后的车辆的未来位置。 当未来预测车辆位置在车道的宽度方向上达到规定的横向位置时，确定控制开始，以便执行障碍物避免控制以防止车辆接近障碍物。 当驾驶员进入障碍物的车道的意图被检测到时，障碍物避免控制的开始定时被缩短。

公开(公告)号：US08090516B2

公开(公告)日：2012-01-03

申请号：US12273747

申请日：2008-11-19

申请人： Takeshi Yonezawa ,  Kou Sato ,  Yasuhisa Hayakawa

发明人： Takeshi Yonezawa ,  Kou Sato ,  Yasuhisa Hayakawa

IPC分类号： B62D6/00

CPC分类号： B60W30/12

摘要： Disclosed herein are embodiments of controllers and methods of control to enable prevention of departure of vehicle even when the degree of the tendency of the vehicle to depart from the travel lane is low. One such controller comprises a lane departure tendency determining device configured to determine a departure tendency of the vehicle to depart from a travel lane, a yaw moment computing device configured to compute a reference yaw moment based on the departure tendency, a yaw moment correction device configured to compute a target yaw moment based on at least the reference yaw moment and a controller configured to apply the target yaw moment to the vehicle. When the reference yaw moment is lower than a prescribed threshold, the yaw moment correction device gradually increases the target yaw moment over time until the target yaw moment is greater than the prescribed threshold.

摘要翻译： 这里公开了控制器和控制方法的实施例，即使当车辆离开行车道的趋势程度低时，也能够防止车辆离开。 一个这样的控制器包括：车道偏离倾向确定装置，被配置为确定车辆离开行车道的偏离倾向;偏航力矩计算装置，被配置为基于偏离倾向计算参考横摆力矩;偏航力矩校正装置 至少基于所述参考横摆力矩来计算目标横摆力矩，以及被配置为将所述目标横摆力矩应用于所述车辆的控制器。 当基准横摆力矩低于规定的阈值时，横摆力矩校正装置随着时间逐渐增加目标横摆力矩，直到目标横摆力矩大于规定的阈值。