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    Vehicle driving support device and vehicle driving support method
    1.
    发明授权
    Vehicle driving support device and vehicle driving support method 有权
    车辆驾驶支持装置和车辆驾驶支持方法

    公开(公告)号：US08346437B2

    公开(公告)日：2013-01-01

    申请号：US13387450

    申请日：2010-07-29

    申请人： Yasuhisa Hayakawa ,  Kou Sato ,  Masahiro Kobayashi

    发明人： Yasuhisa Hayakawa ,  Kou Sato ,  Masahiro Kobayashi

    IPC分类号： B62D12/00

    CPC分类号： B60W30/12 ,  B60T8/17557 ,  B60T2201/08

    摘要： When a lane-width-direction lateral position (X2obst+X0) of a vehicle (MM) reaches a predetermined control start position (60) being a lane-width-direction lateral position (X2obst+X0) serving as an approach prevention indicator for the vehicle (MM), a control start is determined and a yaw moment (Ms) toward the center of a vehicle traveling lane (200) is applied to the vehicle (MM) to control the vehicle (MM). Then, when the lane-width-direction lateral position (X2obst+X0) of the vehicle (MM) moves from the outside to the inside of the control start position (60), the determination of control start is suppressed for a predetermined period, compared to a period before the movement to the inside of the control start position (60).

    摘要翻译： 当车辆（MM）的车道宽度方向横向位置（X2obst + X0）达到预定的控制开始位置（60），该预定控制开始位置（60）是用作车辆宽度方向横向位置（X2obst + X0） 确定车辆（MM），控制开始，向车辆（MM）施加朝向车辆行驶车道（200）的中心的横摆力矩（Ms），以控制车辆（MM）。 然后，当车辆（MM）的车道宽度方向横向位置（X2obst + X0）从控制开始位置（60）的外部移动到内部时，控制开始的确定被抑制预定时间段， 与移动到控制开始位置（60）内部的时间段相比。

    VEHICLE DRIVING SUPPORT DEVICE AND VEHICLE DRIVING SUPPORT METHOD
    2.
    发明申请
    VEHICLE DRIVING SUPPORT DEVICE AND VEHICLE DRIVING SUPPORT METHOD 有权
    车辆驾驶支持装置和车辆驾驶支持方法

    公开(公告)号：US20120130595A1

    公开(公告)日：2012-05-24

    申请号：US13387450

    申请日：2010-07-29

    申请人： Yasuhisa Hayakawa ,  Kou Sato ,  Masahiro Kobayashi

    发明人： Yasuhisa Hayakawa ,  Kou Sato ,  Masahiro Kobayashi

    IPC分类号： B60W30/12 ,  B60W30/02 ,  B60W30/00

    CPC分类号： B60W30/12 ,  B60T8/17557 ,  B60T2201/08

    摘要： When a lane-width-direction lateral position (X2obst+X0) of a vehicle (MM) reaches a predetermined control start position (60) being a lane-width-direction lateral position (X2obst+X0) serving as an approach prevention indicator for the vehicle (MM), a control start is determined and a yaw moment (Ms) toward the center of a vehicle traveling lane (200) is applied to the vehicle (MM) to control the vehicle (MM). Then, when the lane-width-direction lateral position (X2obst+X0) of the vehicle (MM) moves from the outside to the inside of the control start position (60), the determination of control start is suppressed for a predetermined period, compared to a period before the movement to the inside of the control start position (60).

    摘要翻译： 当车辆（MM）的车道宽度方向横向位置（X2obst + X0）达到预定的控制开始位置（60），该预定控制开始位置（60）是用作车辆宽度方向横向位置（X2obst + X0） 确定车辆（MM），控制开始，向车辆（MM）施加朝向车辆行驶车道（200）的中心的横摆力矩（Ms），以控制车辆（MM）。 然后，当车辆（MM）的车道宽度方向横向位置（X2obst + X0）从控制开始位置（60）的外部移动到内部时，控制开始的确定被抑制预定时间段， 与移动到控制开始位置（60）内部的时间段相比。

    Lane departure prevention system and method
    4.
    发明授权
    Lane departure prevention system and method 有权
    车道离场预防系统及方法

    公开(公告)号：US08364370B2

    公开(公告)日：2013-01-29

    申请号：US12933537

    申请日：2009-03-12

    申请人： Takeshi Yonezawa ,  Kou Sato

    发明人： Takeshi Yonezawa ,  Kou Sato

    IPC分类号： G06F7/70

    CPC分类号： B60T8/17557 ,  B60T2201/08 ,  B60T2201/083

    摘要： When a target yaw moment Ms is computed, an estimated lateral acceleration GH and estimated deceleration GT of a host vehicle are determined beforehand according to target yaw moment Ms, and when the estimated lateral acceleration GH is smaller than a threshold preset on the basis of the estimated deceleration GT the target yaw moment Ms is corrected to a smaller limit value Msm.

    摘要翻译： 当计算目标横摆力矩Ms时，根据目标横摆力矩Ms预先确定主车辆的推定侧向加速度GH和推定减速度GT，并且当估计横向加速度GH小于基于 估计减速度GT将目标横摆力矩Ms校正为较小的极限值Msm。

    VEHICLE DRIVING ASSISTANT AND VEHICLE DRIVING ASSISTING METHOD
    5.
    发明申请
    VEHICLE DRIVING ASSISTANT AND VEHICLE DRIVING ASSISTING METHOD 有权
    车辆驾驶辅助和车辆驾驶辅助方法

    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。

    Vehicle driving assistant and vehicle driving assisting method
    6.
    发明授权
    Vehicle driving assistant and vehicle driving assisting method 有权
    车辆驾驶助理和车辆驾驶辅助方法

    公开(公告)号：US08577515B2

    公开(公告)日：2013-11-05

    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： G05D1/00 ,  G05D3/00 ,  G06F7/00 ,  G06F17/00

    CPC分类号： B60T8/17558 ,  B60K2350/1084 ,  B60T7/22 ,  B60T2201/08 ,  B60T2210/32 ,  B60W30/08 ,  B60W2550/10 ,  G08G1/166 ,  G08G1/167

    摘要： A driving assisting system for a vehicle comprises a side obstacle detector configured to detect an obstacle present in an obstacle detection area; an obstacle approach prevention controller configured to implement an obstacle approach prevention control which assists an approach prevention for preventing the vehicle from approaching an obstacle detected by the side obstacle detector; an overtaking state detector configured to detect an overtaking state which is at least one of a first state where the vehicle is overtaking the obstacle detected by the side obstacle detector and a second state where the vehicle is estimated to overtake the obstacle. The overtaking state detector is configured to detect the overtaking state based at least on (i) a distance between the vehicle and the obstacle, (ii) a speed of the vehicle relative to the obstacle, and (iii) a detection angle of the obstacle relative to the vehicle.

    摘要翻译： 一种用于车辆的驾驶辅助系统，包括：侧障碍物检测器，被配置为检测障碍物检测区域中存在的障碍物; 障碍物进近防止控制器，被配置为实现障碍物进近防止控制，其辅助防止车辆接近由侧面障碍物检测器检测到的障碍物的防止接近; 超车状态检测器，被配置为检测超车状态，所述超车状态是车辆超越侧障碍物检测器检测到的障碍物的第一状态和估计车辆超过障碍物的第二状态中的至少一个。 超车状态检测器被配置为至少基于（i）车辆与障碍物之间的距离，（ii）车辆相对于障碍物的速度，以及（iii）障碍物的检测角度来检测超车状态 相对于车辆。

    LANE DEPARTURE PREVENTION SYSTEM AND METHOD
    7.
    发明申请
    LANE DEPARTURE PREVENTION SYSTEM AND METHOD 有权
    LANE DEPARTURE预防系统和方法

    公开(公告)号：US20110022285A1

    公开(公告)日：2011-01-27

    申请号：US12933537

    申请日：2009-03-12

    申请人： Takeshi Yonezawa ,  Kou Sato

    发明人： Takeshi Yonezawa ,  Kou Sato

    IPC分类号： G06F7/00 ,  B60T8/17

    CPC分类号： B60T8/17557 ,  B60T2201/08 ,  B60T2201/083

    摘要： When a target yaw moment Ms is computed, an estimated lateral acceleration GH and estimated deceleration GT of a host vehicle are determined beforehand according to target yaw moment Ms, and when the estimated lateral acceleration GH is smaller than a threshold preset on the basis of the estimated deceleration GT the target yaw moment Ms is corrected to a smaller limit value Msm.

    摘要翻译： 当计算目标横摆力矩Ms时，根据目标横摆力矩Ms预先确定主车辆的推定侧向加速度GH和推定减速度GT，并且当估计横向加速度GH小于基于 估计减速度GT将目标横摆力矩Ms校正为较小的极限值Msm。

    Lane deviation prevention device and method
    8.
    发明授权
    Lane deviation prevention device and method 有权
    车道偏差预防装置及方法

    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。