公开(公告)号：US20150094942A1

公开(公告)日：2015-04-02

申请号：US14499831

申请日：2014-09-29

Applicant: DENSO CORPORATION

Inventor： Takuma SUDOU ,  Jin KURUMISAWA ,  Toyohito NOZAWA ,  Tatsuya NAMIKIRI

IPC: G01S13/06 ,  B60W40/072

CPC classification number: G01S13/06 ,  B60W30/12 ,  B60W40/072 ,  G01S15/931 ,  G01S17/023 ,  G01S17/42 ,  G01S17/936 ,  G01S2013/9325

Abstract: A preceding vehicle selection apparatus estimates a curvature of a road on which an own vehicle is traveling, detects an object ahead of the own vehicle, and determines a relative position in relation to the own vehicle. Based on the curvature and the relative position, an own vehicle lane probability instantaneous value is determined. This instantaneous value is a probability of the object ahead being present in the same vehicle lane as the own vehicle. By a filter calculation on the instantaneous value, an own vehicle lane probability is determined. Based on the own vehicle lane probability, a preceding vehicle is selected. An inter-vehicle time required for the own vehicle to reach a detection position of the object ahead is calculated. Based on the inter-vehicle time, characteristics of the filter calculation are changed such that an effect of the own vehicle lane instantaneous value increases as the inter-vehicle time decreases.

Abstract translation: 前方车辆选择装置估计自身车辆行驶的道路的曲率，检测自身车辆前方的物体，并且确定相对于本车辆的相对位置。 基于曲率和相对位置，确定自身车道概率瞬时值。 该瞬时值是在与本车辆相同的车道中存在物体的概率。 通过对瞬时值的滤波计算，确定本车道概率。 基于本车道概率，选择前一车辆。 计算本车辆到达目标物体的检测位置所需的车辆间时间。 基于车间时间，改变滤波器计算的特性，使得本车辆车辆瞬时值的效果随着车辆间时间的减少而增加。

公开(公告)号：US20150100228A1

公开(公告)日：2015-04-09

申请号：US14504693

申请日：2014-10-02

Applicant: DENSO CORPORATION

Inventor： Takuma SUDOU ,  Jin KURUMISAWA ,  Toyohito NOZAWA ,  Tatsuya NAMIKIRI

IPC: B60W30/16 ,  G08G1/16

CPC classification number: B60W30/16 ,  B60K31/0008 ,  B60K2031/0016 ,  B60W2550/302 ,  B60W2550/306 ,  G01C21/22 ,  G01S1/02 ,  G06G7/78 ,  G08G1/16

Abstract: A preceding vehicle selection apparatus detects an object ahead of the own vehicle, and determines a relative position and a relative speed in relation to the own vehicle for each object ahead. Based on detection results of the object ahead, a lateral movement speed of the object ahead is determined. Based on the calculated lateral movement speed, the lateral position of the object ahead with reference to a traveling direction of the own vehicle is corrected. Based on the relative position of the object ahead of which the lateral position has been corrected, an own vehicle lane probability for each object ahead is calculated. Based on the calculated probability, a preceding vehicle from the objects ahead is selected. Based on a distance to the object ahead, the lateral position of the object ahead is corrected such that an amount of correction in the lateral position decreases as the distance increases.

Abstract translation: 前方车辆选择装置检测自身车辆前方的物体，并且针对前方的每个物体确定相对于本车辆的相对位置和相对速度。 根据对象物的检测结果，确定前方物体的横向移动速度。 基于计算出的横向移动速度，校正参照本车辆的行进方向的物体前方的横向位置。 基于前方的相对位置，横向位置被校正，计算出每个前方的车辆车道概率。 基于计算的概率，选择从前方的前方车辆。 基于与前方物体的距离，校正前方物体的横向位置，使得横向位置的校正量随着距离的增加而减小。

公开(公告)号：US20170043770A1

公开(公告)日：2017-02-16

申请号：US15339995

申请日：2016-11-01

Applicant: DENSO CORPORATION

Inventor： Takuma SUDOU ,  Jin KURUMISAWA ,  Toyohito NOZAWA ,  Tatsuya NAMIKIRI

IPC: B60W30/09 ,  B60W30/16

CPC classification number: B60W30/09 ,  B60W30/0956 ,  B60W30/16 ,  B60W2550/302 ,  B60W2550/308 ,  B60W2720/106 ,  B60W2750/308

Abstract: In an inter-vehicle control apparatus, a controller performs acceleration control of an own vehicle, based on an actual inter-vehicle physical quantity and a target inter-vehicle physical quantity. A limiter sets a limit value for a target jerk during the acceleration control. A detector detects an occurrence of at least one of: an event in which the inter-vehicle distance becomes discontinuously shorter; and an event in which a target inter-vehicle distance corresponding to the target inter-vehicle physical quantity becomes discontinuously longer. A determiner determines a risk of collision with the preceding vehicle, based on an operation state of the preceding vehicle in relation to the own vehicle. When at least one of the events is detected, the limiter sets the limit value to a value based on the risk of collision such that change in deceleration of the own vehicle is kept lower as the risk of collision decreases.

Abstract translation: 在车辆间控制装置中，控制器基于实际车辆间物理量和目标车辆间物理量来执行本车辆的加速控制。 限制器在加速控制期间设置目标冲击的极限值。 检测器检测以下中的至少一个的发生：车辆间距离变得不连续的事件; 以及与目标车辆间物理量对应的目标车辆间距离变得不连续的事件。 基于相对于本车辆的前一车辆的操作状态，确定器确定与前一车辆的碰撞风险。 当检测到至少一个事件时，限制器将限制值设置为基于碰撞风险的值，使得自身车辆的减速度变化保持较低，因为碰撞风险降低。

公开(公告)号：US20150112580A1

公开(公告)日：2015-04-23

申请号：US14510410

申请日：2014-10-09

Applicant: DENSO CORPORATION

Inventor： Takuma SUDOU ,  Jin KURUMISAWA ,  Toyohito NOZAWA ,  Tatsuya NAMIKIRI

IPC: G01S13/04 ,  B60W40/072

CPC classification number: G01S13/04 ,  B60K31/0008 ,  B60K2031/0016 ,  B60W30/16 ,  B60W40/072 ,  B60W2550/141 ,  B60W2550/146 ,  B60W2550/302 ,  B60W2550/306 ,  B60W2550/308 ,  G01S7/2955 ,  G01S13/42 ,  G01S13/723 ,  G01S13/931 ,  G01S2007/403 ,  G01S2013/9321 ,  G01S2013/9325 ,  G01S2013/9353 ,  G01S2013/9367

Abstract: In a preceding vehicle selection apparatus, for each object ahead, a relative position, a relative speed, and width information indicating a lateral width are determined. A lateral position of the object ahead with reference to a traveling direction of the own vehicle is corrected by using the width information of the object ahead. Based on the relative position of the object ahead of, which the lateral position has been corrected, an own vehicle lane probability is calculated for each object ahead. A preceding vehicle is selected from the objects ahead based on the calculated own vehicle lane probability. Based on a value of a correlated parameter that has correlation with error in the lateral position or error in the width information, a correction amount of the lateral position is reduced as error in the lateral position or error in the width information becomes large.

Abstract translation: 在前面的车辆选择装置中，对于前面的每个物体，确定表示横向宽度的相对位置，相对速度和宽度信息。 通过使用前方的物体的宽度信息来校正参照本车辆的行驶方向的物体前方的横向位置。 基于前方的对象的相对位置，横向位置已经被校正，针对前面的每个物体计算自己的车道概率。 基于所计算的本车道概率，从前方的对象中选择前方车辆。 基于与宽度信息中的横向位置或误差相关的相关参数的值，由于横向位置的误差或宽度信息中的误差变大，横向位置的校正量减小。

公开(公告)号：US20150100217A1

公开(公告)日：2015-04-09

申请号：US14504682

申请日：2014-10-02

Applicant: DENSO CORPORATION

Inventor： Takuma SUDOU ,  Jin KURUMISAWA ,  Toyohito NOZAWA ,  Tatsuya NAMIKIRI

IPC: B60W30/12 ,  B60W30/165

CPC classification number: B60W30/12 ,  B60W30/16 ,  B60W30/165 ,  B60W40/072 ,  B60W2050/0022 ,  B60W2050/0054 ,  B60W2520/10 ,  B60W2520/14 ,  B60W2550/146 ,  B60W2550/302 ,  B60W2550/306 ,  B60W2550/308 ,  B60W2750/302 ,  B60W2750/308 ,  G01S13/06

Abstract: A preceding vehicle selection apparatus estimates a curvature of a traveling road on which an own vehicle is traveling, detects an object ahead of the own vehicle, and determines a relative position in relation to the own vehicle, for each object ahead. Based on the estimated curvature and the determined relative position, an own vehicle lane probability instantaneous value for each object ahead is repeatedly determined. An own vehicle lane probability is determined by performing a filter calculation on the calculated own vehicle lane probability instantaneous value. Based on the determined own vehicle lane probability, a preceding vehicle is selected. Characteristics of the filter calculation are set such that an object ahead associated with a preceding vehicle selected in a previous processing cycle is relatively less affected by the own vehicle lane probability instantaneous value than an object ahead associated with an object other than the preceding vehicle.

Abstract translation: 前方车辆选择装置估计自身车辆行驶的行驶道路的曲率，检测自身车辆前方的物体，并且针对前面的每个物体确定与自身车辆相对的位置。 基于估计的曲率和所确定的相对位置，重复确定每个前方的车辆车道概率瞬时值。 通过对计算出的本车道概率瞬时值执行滤波计算来确定自己的车道概率。 基于确定的车辆车道概率，选择前一车辆。 滤波器计算的特征被设置为使得与先前处理周期中选择的前一车辆相关联的物体相对于与前一车辆以外的物体相关联的前方的车辆概率瞬时值相对较少地受到影响。