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    VEHICLE DRIVER ASSISTANCE SYSTEM
    3.
    发明申请
    VEHICLE DRIVER ASSISTANCE SYSTEM 有权

    公开(公告)号：US20210354748A1

    公开(公告)日：2021-11-18

    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 ,  B62D15/02 ,  B62D1/04

    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.

    Steering assist apparatus of vehicle and method for steering assist apparatus
    4.
    发明授权
    Steering assist apparatus of vehicle and method for steering assist apparatus 有权

    公开(公告)号：US10745046B2

    公开(公告)日：2020-08-18

    申请号：US15959655

    申请日：2018-04-23

    Applicant: DENSO CORPORATION

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

    IPC: B62D6/00 ,  B62D5/04 ,  B62D15/02 ,  B62D5/00 ,  G05D1/02 ,  B62D3/12

    Abstract: A steering assist apparatus is provided with a steering drive unit driving a steering apparatus, a steering control unit executing an automatic steering mode where a steering drive unit is controlled such that a turning angle is determined based on at least either a running state of the vehicle or road information to produce the determined turning angle, and a target differential angle control unit determining a target differential angle. The target differential angle control unit determines the target differential angle to be close to an automatic steering target differential angle used for the automatic steering mode, when input variation through a steering input apparatus is not detected during a transition period from a manual steering mode where the steering apparatus operates in response to the steering angle inputted through the steering input apparatus to the automatic steering mode or during an elapsed period after completing the transition period.

    VEHICLE CONTROL SYSTEM
    5.
    发明申请
    VEHICLE CONTROL SYSTEM 审中-公开

    公开(公告)号：US20190193731A1

    公开(公告)日：2019-06-27

    申请号：US16216002

    申请日：2018-12-11

    Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA ,  DENSO CORPORATION

    Inventor： Ryo Irie ,  Masateru Amano ,  Hisaya Akatsuka

    IPC: B60W30/12 ,  B60W50/14 ,  G08G1/16 ,  B62D1/28

    Abstract: A vehicle control system that executes path-following control includes a controller. The vehicle control system is configured to determine whether or not the path-following control is to be continued based on whether or not a coordinate point with current lateral deviation speed and lateral deviation as an X coordinate and a Y coordinate, respectively, falls within an ellipse to be specified on an X-Y plane with a time as a parameter, a value of a cosine function to be obtained by time-differentiating a function of an allowable limit sine wave on an X axis, and a value of the function of the allowable limit sine wave on a Y axis.

    Electric power steering system with motor controller
    6.
    发明授权
    Electric power steering system with motor controller 有权
    电动助力转向系统带电机控制器

    公开(公告)号：US09592849B2

    公开(公告)日：2017-03-14

    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 ,  B62D6/00 ,  B62D15/02

    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。

    Vehicle control apparatus and method
    7.
    发明授权
    Vehicle control apparatus and method 有权

    公开(公告)号：US11731695B2

    公开(公告)日：2023-08-22

    申请号：US17330867

    申请日：2021-05-26

    Applicant: Toyota Jidosha Kabushiki Kaisha ,  Denso Corporation

    Inventor： Takahiro Kojo ,  Yoji Kunihiro ,  Hisaya Akatsuka

    IPC: B62D6/10 ,  B62D5/04

    CPC classification number: B62D6/10 ,  B62D5/0427 ,  B62D5/0484 ,  B62D5/0487

    Abstract: Provided is a control apparatus for a vehicle configured to perform steering assist control and driving support control based on a motor control amount, the control apparatus being further configured to correct the motor control amount such that a specific steering amount in a second period becomes smaller than that in a first period, the specific steering amount being an amount of change in a steering angle required for a magnitude of a steering torque to reach a torque threshold, the first period being a period from a first time point at which a driving support operation state is changed to an on state to a second time point at which a driving operation switching request is issued, and the second period being a period from the second time point to a third time point at which the driving support operation state is changed to an off state.

    Driving assistance control system of vehicle
    8.
    发明授权
    Driving assistance control system of vehicle 有权

    公开(公告)号：US11117575B2

    公开(公告)日：2021-09-14

    申请号：US16167660

    申请日：2018-10-23

    Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA ,  DENSO CORPORATION

    Inventor： Ryo Irie ,  Yoji Kunihiro ,  Hisaya Akatsuka

    IPC: B60W30/12 ,  G06K9/62 ,  G06K9/00 ,  G08G1/16 ,  G06N20/00

    Abstract: A driving assistance control system of a vehicle includes a needed information acquisition unit configured to acquire needed information for calculating a target path, a target path deciding unit configured to decide the target path based on the needed information, a vehicle traveling controller configured to perform a path following control for controlling a traveling device of the vehicle such that the vehicle follows the target path, and a system limit identification unit configured to identify a likelihood of reaching a system limit at which the path following control becomes unsuccessful. The system limit identification unit includes a determination model that learns a relationship between a plurality of vehicle feature amounts and the likelihood of reaching the system limit by machine learning in advance, and outputs an identification result of the likelihood of reaching the system limit corresponding to the input vehicle feature amounts using the determination model.

    Apparatus for controlling steering device of vehicle
    10.
    发明授权
    Apparatus for controlling steering device of vehicle 有权

    公开(公告)号：US10053145B2

    公开(公告)日：2018-08-21

    申请号：US15653339

    申请日：2017-07-18

    Applicant: DENSO CORPORATION

    Inventor： Hisaya Akatsuka ,  Hiroshi Inou

    IPC: B62D6/00 ,  B60T8/1755 ,  B60W30/045 ,  B62D5/00

    CPC classification number: B62D6/003 ,  B60T8/1755 ,  B60T2201/16 ,  B60T2260/02 ,  B60W30/045 ,  B62D5/008

    Abstract: A target steering angle calculator calculates, based on a target curvature, a target steering angle representing a steering angle of the vehicle at a target position. A current steering-angle obtainer obtains a current steering angle representing a steering angle of the vehicle at a current position. A steering controller controls the steering of the vehicle to cause the current steering angle to follow the target steering angle. A distance estimator estimates, based on at least one of the environmental information around the vehicle and control information about the vehicle, a visible distance representing a distance visibly recognizable by the driver of the vehicle to a front of the vehicle. The target curvature obtainer uses the visible distance as the target distance to obtain the target curvature at the predetermined target position that has the visible distance away from the current position along the road in the travelling direction.

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