公开(公告)号：US09434363B2

公开(公告)日：2016-09-06

申请号：US14062031

申请日：2013-10-24

Applicant: DENSO CORPORATION

Inventor： Jin Kurumisawa ,  Toyohito Nozawa ,  Tatsuya Namikiri

IPC: B60T8/1755

CPC classification number: B60T8/1755 ,  B60T2201/16

Abstract: When a vehicle runs along a curved path, successive values of a speed limit are calculated based on the yaw rate of the vehicle, and values of acceleration demand are calculated and applied to control the actual vehicle speed based on the speed limit. If commencement of oscillation of the yaw rate and acceleration demand is detected, due to running along the curved path, guard processing is applied to the values of speed limit used to calculate the acceleration demand or is applied to the acceleration demand, such as to prevent the acceleration demand from varying in a direction that would increase the speed limit. Instability of deceleration control due to the oscillation is thereby substantially suppressed.

Abstract translation: 当车辆沿弯曲路径行驶时，基于车辆的横摆角速度来计算速度限制的连续值，并且计算并应用加速度需求值以基于速度限制来控制实际车辆速度。 如果检测到偏航率和加速度要求的振荡的开始，则由于沿着弯曲路径的行驶，将保护处理应用于用于计算加速度要求的速度限制值，或者应用于加速要求，例如防止 加速要求从方向上变化将会增加速度限制。 因此，由于振动引起的减速控制的不稳定性被大大抑制。

公开(公告)号：US09015100B2

公开(公告)日：2015-04-21

申请号：US13676402

申请日：2012-11-14

Applicant: Denso Corporation

Inventor： Jin Kurumisawa ,  Tatsuya Namikiri

IPC: G06F17/00 ,  G06N5/02 ,  G06N7/00 ,  G05D1/02

CPC classification number: G06N5/02 ,  B60W30/12 ,  B60W30/16 ,  B60W30/18145 ,  B60W40/072 ,  B60W2550/146 ,  B60W2550/306 ,  G05D1/0257 ,  G05D1/0291 ,  G05D2201/0213 ,  G06N7/005

Abstract: The preceding vehicle identifying apparatus calculates an integrated probability of existence of a curved road ahead of an own vehicle based on at least two of the curvature of the curved road, the track of a vehicle running ahead of the own vehicle and the own vehicle' having entered the curved road. The preceding vehicle identifying apparatus further calculates an own-vehicle lane probability which is a probability that the vehicle is running in the same lane as an own-vehicle lane in which the own vehicle is running based on the distance between a predicted running line of the own vehicle and the track of the vehicle running ahead of the own vehicle, and compensates the calculated own-vehicle lane probability based on the integrated probability.

Abstract translation: 前一车辆识别装置基于弯曲道路的曲率，本车辆前方行驶的轨道和本车辆的曲线中的至少两个来计算本车辆前方的弯道的存在的综合概率， 进入弯曲的道路。 前一车辆识别装置还根据本车辆的预测行驶线之间的距离，计算与本车辆所在的自车车道相同车道行驶的概率的本车道概率， 自己的车辆和在本车辆前方运行的车辆的轨道，并且基于综合概率来补偿所计算的本车道概率。

公开(公告)号：US20130179379A1

公开(公告)日：2013-07-11

申请号：US13676402

申请日：2012-11-14

Applicant: Denso Corporation

Inventor： Jin Kurumisawa ,  Tatsuya Namikiri

IPC: G06N5/02

CPC classification number: G06N5/02 ,  B60W30/12 ,  B60W30/16 ,  B60W30/18145 ,  B60W40/072 ,  B60W2550/146 ,  B60W2550/306 ,  G05D1/0257 ,  G05D1/0291 ,  G05D2201/0213 ,  G06N7/005

Abstract: The preceding vehicle identifying apparatus calculates an integrated probability of existence of a curved road ahead of an own vehicle based on at least two of the curvature of the curved road, the track of a vehicle running ahead of the own vehicle and the own vehicle' having entered the curved road. The preceding vehicle identifying apparatus further calculates an own-vehicle lane probability which is a probability that the vehicle is running in the same lane as an own-vehicle lane in which the own vehicle is running based on the distance between a predicted running line of the own vehicle and the track of the vehicle running ahead of the own vehicle, and compensates the calculated own-vehicle lane probability based on the integrated probability.

Abstract translation: 前一车辆识别装置基于弯曲道路的曲率，本车辆前方行驶的轨道和本车辆的曲线中的至少两个来计算本车辆前方的弯道的存在的综合概率， 进入弯曲的道路。 前一车辆识别装置还根据本车辆的预测行驶线之间的距离，计算与本车辆所在的自车车道相同车道行驶的概率的本车道概率， 自己的车辆和在本车辆前方运行的车辆的轨道，并且基于综合概率来补偿所计算的本车道概率。

公开(公告)号：US09638788B2

公开(公告)日：2017-05-02

申请号：US14490848

申请日：2014-09-19

Applicant: DENSO CORPORATION

Inventor： Toyohito Nozawa ,  Tatsuya Namikiri

IPC: G01S7/02 ,  G01S13/58 ,  G01S7/40 ,  G01S13/34 ,  G01S13/93 ,  G01S7/35 ,  G01S13/70 ,  G01S13/42

CPC classification number: G01S7/02 ,  G01S7/354 ,  G01S7/40 ,  G01S13/345 ,  G01S13/42 ,  G01S13/584 ,  G01S13/588 ,  G01S13/70 ,  G01S13/931

Abstract: An apparatus that detects creeping of radar waves includes: a transmitter transmitting radar waves; a receiver receiving incoming waves from a target; a distance detecting unit detecting a first distance which is a distance up to the target; a speed derivation unit deriving a relative speed relative to the target; a distance estimating unit estimating, based on the relative speed, a second distance which is a distance up to the target; and a creeping detecting unit determining whether or not a creeping has occurred in accordance with whether or not the differential distance representing a deviation quantity between the first distance and the second distance is larger than or equal to a predetermined threshold.

公开(公告)号：US09588222B2

公开(公告)日：2017-03-07

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 ,  B60W30/12 ,  B60W40/072 ,  G01S15/93 ,  G01S17/02 ,  G01S17/42 ,  G01S17/93 ,  G01S13/93

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，确定自身车辆车道概率。 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：US09507016B2

公开(公告)日：2016-11-29

申请号：US14510410

申请日：2014-10-09

Applicant: DENSO CORPORATION

Inventor： Takuma Sudou ,  Jin Kurumisawa ,  Toyohito Nozawa ,  Tatsuya Namikiri

IPC: B60W30/12 ,  B60W30/16 ,  G01S13/04 ,  B60W40/072 ,  B60K31/00 ,  G01S13/93 ,  G01S7/295 ,  G01S13/42 ,  G01S13/72 ,  G01S7/40

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：US09061590B2

公开(公告)日：2015-06-23

申请号：US13713087

申请日：2012-12-13

Applicant: DENSO CORPORATION

Inventor： Jin Kurumisawa ,  Tatsuya Namikiri

IPC: B60K31/00 ,  B60W30/16 ,  B60W10/06 ,  B60W10/18

CPC classification number: B60K31/00 ,  B60W10/06 ,  B60W10/18 ,  B60W30/162 ,  B60W2420/52 ,  B60W2520/14 ,  B60W2520/28 ,  B60W2550/146

Abstract: A leading vehicle detecting apparatus judges whether or not a first vehicle is following a second vehicle. The apparatus includes a signal acquiring section, a storage section, and calculating section. The signal acquiring section acquires position signals outputted from a position detecting section that detects the position of the second vehicle, and detection signals outputted from a state detecting section that detects a state of a first vehicle cruising line. The storage section stores in advance a probability map showing the probability of the first vehicle following the second vehicle, based on a distance between an expected cruising line of the first vehicle and the position of the second vehicle. The calculating section calculates the expected cruising line based on the detection signals, and judges whether the first vehicle is following the second vehicle based on the expected cruising line, position signals, and probability map.

Abstract translation: 前方车辆检测装置判断第一车辆是否跟随第二车辆。 该装置包括信号获取部分，存储部分和计算部分。 信号获取部获取从检测第二车辆的位置的位置检测部输出的位置信号，以及从检测第一车辆巡航线的状态的状态检测部输出的检测信号。 存储部分基于第一车辆的预期巡航线与第二车辆的位置之间的距离预先存储示出第一车辆跟随第二车辆的概率的概率图。 所述计算部根据所述检测信号计算出所述巡航线，并基于所述预期巡航线，位置信号和概率图来判定所述第一车辆是否跟随所述第二车辆。

公开(公告)号：US10239522B2

公开(公告)日：2019-03-26

申请号：US15339995

申请日：2016-11-01

Applicant: DENSO CORPORATION

Inventor： Takuma Sudou ,  Jin Kurumisawa ,  Toyohito Nozawa ,  Tatsuya Namikiri

IPC: B60T7/12 ,  G05D1/00 ,  B60W30/09 ,  B60W30/16 ,  B60W30/095

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.

公开(公告)号：US09694815B2

公开(公告)日：2017-07-04

申请号：US14626098

申请日：2015-02-19

Applicant: DENSO CORPORATION

Inventor： Takuma Sudou ,  Jin Kurumisawa ,  Tatsuya Namikiri

IPC: B60W30/14 ,  B60W30/16

CPC classification number: B60W30/143 ,  B60W30/16 ,  B60W2550/302 ,  B60W2720/106 ,  B60W2750/308

Abstract: A vehicle driving control apparatus is provided for controlling an own vehicle to track a target vehicle. The vehicle driving control apparatus includes: (1) means for acquiring an actual relative speed of the target vehicle to the own vehicle; (2) means for setting a target acceleration of the own vehicle based on the product of a relative speed gain and the actual relative speed acquired by the acquiring means, the relative speed gain being normally set to a reference gain; (3) means for detecting occurrence of an event which causes the target acceleration set by the setting means to discontinuously change; and (4) means for correcting, upon detection of occurrence of the event by the detecting means, the relative speed gain so as to gradually increase the relative speed gain from a value that is less than the reference gain.

公开(公告)号：US09114810B2

公开(公告)日：2015-08-25

申请号：US14504693

申请日：2014-10-02

Applicant: DENSO CORPORATION

Inventor： Takuma Sudou ,  Jin Kurumisawa ,  Toyohito Nozawa ,  Tatsuya Namikiri

IPC: G06G7/78 ,  B60W30/16 ,  G01S1/02 ,  G01C21/22 ,  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。