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公开(公告)号：US11383710B2
公开(公告)日：2022-07-12
申请号：US16854032
申请日：2020-04-21
Applicant: DENSO CORPORATION
Inventor： Norio Tsuchida , Youhei Masui
Abstract: A vehicle control apparatus performing an automatic driving of a vehicle includes: a vehicle information acquiring unit that acquires vehicle information related to a nearby vehicle; a setting unit that sets an intervehicle margin between the vehicle and the nearby vehicle by using the vehicle information, and determines a change timing of a travelling speed of the vehicle depending on the intervehicle margin; and a driving control unit that performs in a lane change operation, a control of changing the travelling speed of the vehicle at the change timing, and a control of an intervehicle distance between the vehicle and a preceding vehicle of the vehicle after the lane change operation.
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公开(公告)号：US10780884B2
公开(公告)日：2020-09-22
申请号：US15529953
申请日：2015-11-16
Applicant: DENSO CORPORATION , TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Youhei Masui , Toyoharu Katsukura , Yoshihisa Ogata , Takeshi Nanami , Takashi Nishida
IPC: B60W30/165 , B60W30/10 , G08G1/16 , B60W30/14 , B60W40/04 , B60W40/072 , B60W40/105 , B60W50/00 , G05D1/02
Abstract: A cruise control apparatus controls the traveling of an own vehicle on the basis of the predicted route which is a predicted value of the travel route of an own vehicle. The cruise control apparatus compares the moving locus of the preceding vehicle with the position of a stationary object provided along the road to determine whether or not a moving locus is along the shape of the road. The moving locus is validated when it is determined that the moving locus is along the shape of the road, and the moving locus is invalidated when it is determined that the moving locus is not along the shape of the road, and the predicted route of the vehicle is calculated on the basis of the validated moving locus.
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公开(公告)号：US20160009280A1
公开(公告)日：2016-01-14
申请号：US14796837
申请日：2015-07-10
Applicant: DENSO CORPORATION , TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Mitsuhiro Tokimasa , Youhei Masui , Minoru Nakadori
CPC classification number: B60W30/16 , B60W2550/308 , G01S13/931 , G01S2013/9325
Abstract: A vehicle control apparatus for implementing inter-vehicle distance control of a vehicle carrying the apparatus behind a preceding vehicle. In the apparatus, an offset storage is configured to calculate an offset that is a difference between detected distances to first and second targets, and store the offset associated with the first target forward of the second target. The inter-vehicle distance control may be implemented based on a distance calculated by subtracting the offset from the detected distance to the first target. An offset eraser is configured to, based on the presence or absence of relative displacement between the first and second targets, determine whether or not the first and second targets belong to different vehicles, and when the first and second targets belong to different vehicles, erase the offset stored by the offset storage.
Abstract translation: 一种车辆控制装置，用于实现在前车辆后方携带该装置的车辆的车间距离控制。 在装置中，偏移存储器被配置为计算作为到第一和第二目标的检测距离之间的差异的偏移量，并且存储与第二目标向前的第一目标相关联的偏移。 可以基于通过从检测到的距离减去到第一目标的偏移而计算出的距离来实现车间距离控制。 偏移橡皮擦被配置为基于第一和第二目标之间的相对位移的存在或不存在，确定第一和第二目标是否属于不同的车辆，并且当第一和第二目标属于不同的车辆时，擦除 由偏移存储器存储的偏移量。
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公开(公告)号：US10407066B2
公开(公告)日：2019-09-10
申请号：US15529930
申请日：2015-10-23
Applicant: DENSO CORPORATION , TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Mitsuhiro Tokimasa , Toyoharu Katsukura , Yoshihisa Ogata , Youhei Masui , Taku Sakima , Takeshi Nanami , Takashi Nishida
IPC: B60W30/16 , B60W30/14 , B60W30/12 , B60W10/18 , B60W10/10 , B60W10/06 , G08G1/16 , G01S13/16 , B60R21/00 , G01S13/93
Abstract: A vehicle control apparatus mounted to an own vehicle to control the own vehicle according to a position of other vehicle ahead of the own vehicle is provided. The device includes a setting means setting a parameter indicating a position of the other vehicle relative to the own vehicle in a lateral direction perpendicular to the path of the own vehicle, a determination means determining whether the other vehicle is in the path of the own vehicle based on the parameter, a detection means detecting whether a relative movement has been made in the lateral direction by at least one of the own vehicle and the other vehicle, and a correction means correcting the parameter when a relative movement has been made in the lateral direction.
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公开(公告)号：US10343696B2
公开(公告)日：2019-07-09
申请号：US15541449
申请日：2016-04-27
Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA , DENSO CORPORATION
Inventor： Takashi Nishida , Takeshi Nanami , Youhei Masui , Mitsuhiro Tokimasa , Toyoharu Katsukura
Abstract: Travel control of vehicle is performed in a state where the axis deviation of radar device has occurred, is avoided. A travel control restriction-use ECU is for restricting or prohibiting execution of travel control of vehicle based on detection result obtained by radar device, travel control restriction-use ECU includes a determining unit configured to determine whether an axis deviation has occurred in the radar device based on detection result obtained by radar device, when detection device, which is configured to detect switch on operation and switch off operation with respect to activation switch of vehicle, detects switch on operation with respect to activation switch of vehicle; and restricting unit configured to restrict or prohibit execution of travel control, during period from when switch on operation is performed with respect to activation switch of vehicle to when determination of whether axis deviation has occurred is completed.
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Patent Agency Ranking
公开(公告)号：US09260115B2
公开(公告)日：2016-02-16
申请号：US14796919
申请日：2015-07-10
Applicant: DENSO CORPORATION , TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Mitsuhiro Tokimasa , Youhei Masui , Minoru Nakadori
CPC classification number: B60W30/16 , B60W10/06 , B60W10/10 , B60W10/18 , B60W30/14 , B60W2420/52 , B60W2510/0604 , B60W2520/10 , B60W2540/04 , B60W2550/10 , B60W2550/308 , G01S13/931 , G01S2013/9325
Abstract: A vehicle control apparatus for implementing inter-vehicle distance control of a subject vehicle carrying the apparatus behind a preceding vehicle based on reflected waves from a target that is a reflecting portion of the preceding vehicle. In the apparatus, a distance estimator is configured to calculate an estimated distance as an inter-vehicle distance between a rear end of the preceding vehicle and the subject vehicle based on an inter-vehicle distance variation calculated based on a relative speed of the target. A target determiner is configured to determine whether or not the target is displaced forward of the rear end of the preceding vehicle. A controller is configured to, when the target of the preceding vehicle is displaced forward of the rear end of the preceding vehicle, implement the inter-vehicle distance control based on the estimated distance calculated by the distance estimator.
Abstract translation: 一种车辆控制装置，用于基于来自作为前一车辆的反射部分的目标的反射波，实现携带前方车辆后方的装置的车辆距离控制。 在该装置中，距离估计器被配置为基于基于目标的相对速度计算的车辆间距离变化来计算作为前方车辆的后端与目标车辆之间的车辆间距离的估计距离。 目标确定器被配置为确定目标是否位于前方车辆的后端的前方。 控制器被配置为当前一车辆的目标位于前方车辆的后端前方时，基于由距离估计器计算出的估计距离来执行车辆间距离控制。
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公开(公告)号：US20160009284A1
公开(公告)日：2016-01-14
申请号：US14796961
申请日：2015-07-10
Applicant: DENSO CORPORATION , TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Mitsuhiro Tokimasa , Youhei Masui , Minoru Nakadori
CPC classification number: B60W30/16 , B60W10/06 , B60W10/10 , B60W10/18 , B60W30/14 , B60W30/165 , B60W40/04 , B60W2420/52 , B60W2510/0604 , B60W2520/10 , B60W2540/04 , B60W2550/302 , B60W2550/308 , B60W2750/308 , G01S13/08 , G01S13/58 , G01S13/867 , G01S13/931 , G01S2013/9325 , G01S2013/9375 , G01S2013/9389 , G08G1/165 , G08G1/166
Abstract: A vehicle control apparatus for implementing inter-vehicle distance control of a vehicle carrying the apparatus behind a preceding vehicle. In the apparatus, an offset storage is configured to calculate an offset that is a difference between detected distances to first and second targets, and store the offset associated with the first target forward of the second target. The inter-vehicle distance control may be implemented based on a distance calculated by subtracting the offset from the detected distance to the first target. An offset updater is configured to determine whether or not a relative distance between the first and second targets has increased or decreased, and when the relative distance between the first and second targets has increased or decreased, update the offset stored by the offset storage.
Abstract translation: 一种车辆控制装置，用于实现在前车辆后方携带该装置的车辆的车间距离控制。 在装置中，偏移存储器被配置为计算作为到第一和第二目标的检测距离之间的差异的偏移量，并且存储与第二目标向前的第一目标相关联的偏移。 可以基于通过从检测到的距离减去到第一目标的偏移而计算出的距离来实现车间距离控制。 偏移更新器被配置为确定第一和第二目标之间的相对距离是否增加或减小，并且当第一和第二目标之间的相对距离增加或减小时，更新由偏移存储器存储的偏移量。
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公开(公告)号：US20160009282A1
公开(公告)日：2016-01-14
申请号：US14796912
申请日：2015-07-10
Applicant: DENSO CORPORATION , TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Mitsuhiro Tokimasa , Youhei Masui , Minoru Nakadori
CPC classification number: B60W30/16 , B60W10/06 , B60W10/10 , B60W10/18 , B60W30/14 , B60W2420/52 , B60W2510/0604 , B60W2520/10 , B60W2540/04 , B60W2550/302 , B60W2550/308 , G01S13/931 , G01S2013/9325
Abstract: A vehicle control apparatus for implementing inter-vehicle distance control of a subject vehicle carrying the apparatus behind a preceding vehicle based on reflected waves from a target of the preceding vehicle. A target-pair distance is a distance between the target and a non-target reflection point that is closer to the subject vehicle than the target. A corrected distance calculator is configured to, in the presence of the target-pair distance being recognized, calculate a first corrected distance by subtracting the target-pair distance from a detected distance between the target and the subject vehicle, and in the absence of the target-pair distance being recognized, calculate a second corrected distance by subtracting an offset that is the previously set target-pair distance from the detected distance. A controller is configured to implement the inter-vehicle distance control based on the first or second corrected distance depending on the presence or absence of the target-pair distance being recognized.
Abstract translation: 一种车辆控制装置，用于基于来自前方车辆的目标的反射波，实现承载前方车辆后方的装置的车辆距离控制。 目标对距离是目标与目标之间比目标物体更接近目标车辆的非目标反射点之间的距离。 校正距离计算器被配置为在存在目标对距离被识别的情况下，通过从目标和目标车辆之间的检测距离减去目标对距离来计算第一校正距离，并且在没有 识别目标对距离，通过从检测到的距离减去作为先前设定的目标对距离的偏移来计算第二校正距离。 控制器被配置为根据所识别的目标对距离的存在或不存在，基于第一或第二校正距离来实现车辆间距离控制。
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公开(公告)号：US10427689B2
公开(公告)日：2019-10-01
申请号：US15529905
申请日：2015-11-16
Applicant: DENSO CORPORATION , TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Mitsuhiro Tokimasa , Toyoharu Katsukura , Yoshihisa Ogata , Youhei Masui , Taku Sakima , Takeshi Nanami , Takashi Nishida
IPC: B60W40/04 , B60R21/00 , B60W30/16 , B60W30/095 , G08G1/16
Abstract: A vehicle control apparatus mounted to an own vehicle to control the own vehicle according to the position of other vehicle ahead of the own vehicle is provided. The apparatus includes a setting means setting a parameter indicating whether the other vehicle is in the path of the own vehicle, based on the position of the other vehicle relative to the own vehicle in a lateral direction perpendicular to the path of the own vehicle, a determining means determining whether the other vehicle is in the path of the own vehicle, based on the parameter, an acquisition means acquiring a lane width that is the width of the lane the own vehicle is traveling, and an adjustment means changing the correspondence between the relative position and the parameter, based on the lane width.
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公开(公告)号：US10345443B2
公开(公告)日：2019-07-09
申请号：US15529920
申请日：2015-10-15
Applicant: DENSO CORPORATION , TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Youhei Masui , Takeshi Nanami , Takashi Nishida
Abstract: A radar device for detecting a distance between vehicles by the transmission and reception of survey waves is mounted in a vehicle as an object detection means for detecting an object. A cruise control apparatus includes a trajectory calculation means for calculating a moving locus of a preceding vehicle traveling in front of an own vehicle on the basis of the detection result of the radar device, a route prediction means for calculating a predicted route of the vehicle on the basis of the moving locus of the preceding vehicle calculated by the trajectory calculation means, an axial deviation detection means for detecting the axial deviation of the radar device, and an invalidation processing means for invalidating the predicted route calculated by the route prediction means when it is detected that the axial deviation detection means has detected axial deviation of the radar device.
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