公开(公告)号：US20160098605A1

公开(公告)日：2016-04-07

申请号：US14873031

申请日：2015-10-01

Applicant: DENSO CORPORATION

Inventor： Masaya Okada ,  Naoki Kawasaki ,  Yusuke Ueda ,  Masao Oooka ,  Shotaro Fukuda

IPC: G06K9/00 ,  G06K9/46 ,  G06K9/52 ,  G06T7/00

CPC classification number: G06K9/00798 ,  B60W30/12 ,  G06K9/4604 ,  G06K9/6277

Abstract: In a lane boundary line information acquiring device, a detection unit detects lane boundary lines. A driving environment acquiring unit acquires a driving environment. A probability information acquiring unit acquires probability information containing a probability of presence of a lane boundary line, etc. based on the detected lane boundary lines and the acquired driving environment. A position information acquiring unit acquires position information of the own vehicle. A memory unit associates the probability information with the position information of the own vehicle. Where the position information is acquired by the position information acquiring unit at a time when the probability information acquiring unit acquires the probability information, and stores the probability information associated with the position information into the memory unit. A readout unit reads out the probability information associated with the position information at a location in front of the own vehicle.

Abstract translation: 在车道边界线信息获取装置中，检测单元检测车道边界线。 驾驶环境获取单元获取驾驶环境。 概率信息获取单元基于检测到的车道边界线和获取的驾驶环境获取包含车道边界线等的存在概率的概率信息。 位置信息获取单元获取本车辆的位置信息。 存储单元将概率信息与本车辆的位置信息相关联。 在概率信息获取单元获取概率信息时由位置信息获取单元获取位置信息的位置信息，并将与位置信息相关联的概率信息存储到存储单元中。 读取单元在本车辆前方的位置读出与位置信息相关联的概率信息。

公开(公告)号：US20160026879A1

公开(公告)日：2016-01-28

申请号：US14806361

申请日：2015-07-22

Applicant: DENSO CORPORATION

Inventor： Yuu Maeda ,  Shunsuke Suzuki ,  Yusuke Ueda ,  Kazuhisa Ishimaru ,  Osamu Shimomura ,  Naoki Kawasaki

IPC: G06K9/00

CPC classification number: G06K9/00798

Abstract: A traffic lane marking recognition apparatus includes a candidate detecting unit, a gap detecting unit, and a recognition reducing unit. The candidate detecting unit detects a lane dividing line candidate which is a candidate for a lane dividing line that defines a traffic lane on a road, based on an image of the road captured by an on-board camera that is mounted in a vehicle. The gap detecting unit detects a gap included in the lane dividing line candidate detected by the candidate detecting unit. When the gap is detected by the gap detecting unit, the recognition reducing unit reduces a probability of recognition of the lane dividing line candidate as a lane dividing line to a first probability that is lower than the probability when the gap detecting unit does not detect the gap, in a region from the gap closest to the vehicle towards a direction away from the vehicle.

Abstract translation: 行车道标识识别装置包括候选检测单元，间隙检测单元和识别减少单元。 候选检测单元基于由安装在车辆中的车载摄像机捕获的道路的图像，检测作为道路上的行车道的车道划分线候选的车道划分线路候补。 间隙检测单元检测由候选检测单元检测到的车道划分线候选中包括的间隙。 当间隙检测单元检测到间隙时，识别降低单元将作为通道分割线的车道划分线候选的识别概率降低到低于间隙检测单元未检测到的概率的第一概率 间隙，从最接近车辆的间隙朝向远离车辆的方向的区域中。

公开(公告)号：US10127460B2

公开(公告)日：2018-11-13

申请号：US14873031

申请日：2015-10-01

Applicant: DENSO CORPORATION

Inventor： Masaya Okada ,  Naoki Kawasaki ,  Yusuke Ueda ,  Masao Oooka ,  Shotaro Fukuda

IPC: G06K9/00 ,  B60W30/12 ,  G06K9/62 ,  G06K9/46

Abstract: In a lane boundary line information acquiring device, a detection unit detects lane boundary lines. A driving environment acquiring unit acquires a driving environment. A probability information acquiring unit acquires probability information containing a probability of presence of a lane boundary line, etc. based on the detected lane boundary lines and the acquired driving environment. A position information acquiring unit acquires position information of the own vehicle. A memory unit associates the probability information with the position information of the own vehicle. Where the position information is acquired by the position information acquiring unit at a time when the probability information acquiring unit acquires the probability information, and stores the probability information associated with the position information into the memory unit. A readout unit reads out the probability information associated with the position information at a location in front of the own vehicle.

公开(公告)号：US09758189B2

公开(公告)日：2017-09-12

申请号：US14828761

申请日：2015-08-18

Applicant: DENSO CORPORATION

Inventor： Yusuke Ueda ,  Masao Oooka ,  Shotaro Fukuda

IPC: G01C22/00 ,  B62D6/00 ,  B62D15/02

CPC classification number: B62D6/002 ,  B62D15/025

Abstract: A vehicle control apparatus includes a steering amount calculation unit which calculates a steering amount for decreasing a lateral deviation of a vehicle with respect to a target route, a vehicle position acquisition unit which acquires a position of the vehicle, and a past information acquisition unit which acquires the lateral deviation, which is related to the position of the vehicle acquired by the vehicle position acquisition unit or a position ahead of the position of the vehicle, from a storage section in which the lateral deviation is stored with the position of the vehicle being related to the lateral deviation. The steering amount calculation unit feeds back the lateral deviation acquired by the past information acquisition unit to calculate the steering amount.

公开(公告)号：US20140180569A1

公开(公告)日：2014-06-26

申请号：US14132329

申请日：2013-12-18

Applicant: DENSO CORPORATION

Inventor： Yusuke Ueda ,  Tomohiko Tsuruta ,  Takeshi Hatoh ,  Takayuki Kondoh ,  Naoya Inoue

IPC: G01C21/00

CPC classification number: B62D15/025 ,  B60K2031/005 ,  B60W30/16 ,  B60W30/165 ,  B60W30/18163 ,  B60W50/0097 ,  B60W2550/306 ,  B62D15/026 ,  G08G1/166 ,  G08G1/167 ,  G08G1/22

Abstract: A selection track setting section in a driving route generation device determines as a selected track a track of a preceding vehicle when a detection section and a track generation section detects a track of the preceding vehicle which is running on the same driving lane of a host vehicle. A candidate track selection section outputs as a candidate track one of tracks of front vehicles, detected by the detection section and the track generation section, other than the track of the preceding vehicle. A switching selection section switches as the selected track from the track of the preceding vehicle to the candidate track when a detection of the track of the preceding vehicle is interrupted during a predetermined detection period. An estimate route generation section generates an estimated driving route of the host vehicle on the bass of the selected track.

Abstract translation: 当检测部分和轨道产生部分检测到在主车辆的同一行驶车道上行驶的前一车辆的轨道时，驾驶路线生成装置中的选择轨道设置部分将所选轨道确定为前方车辆的轨道 。 候选轨道选择部分除了前一车辆的轨道之外，作为候选轨道输出由检测部分和轨道生成部分检测的前车辆的轨道之一。 当在预定检测周期期间中断前一车辆的轨道的检测时，切换选择部分将所选轨道从前方车辆的轨道切换到候选轨道。 估计路线生成部生成所选择的轨道的低音上的本车辆的估计驾驶路线。

公开(公告)号：US10134282B2

公开(公告)日：2018-11-20

申请号：US13772844

申请日：2013-02-21

Applicant: DENSO CORPORATION

Inventor： Tomohiko Tsuruta ,  Motonori Tominaga ,  Yusuke Ueda ,  Takeshi Hatoh

IPC: G08G1/16 ,  B60W30/16

Abstract: A tracking control apparatus for tracking a preceding vehicle includes information acquiring unit for acquiring information about surrounding the own vehicle, preceding vehicle determining unit for determining the preceding vehicle running ahead of the own vehicle, control unit controls the tracking control to be maintained or released, and turn signal determining unit for determining whether or not a turn signal of a turn signal unit of the preceding vehicle is active. The control unit maintains or releases the tracking control by determining the surrounding of the own vehicle concerning a traffic lane change by the preceding vehicle based on the information acquired by the information acquiring unit, when the turn signal determining unit determines that the turn signal of the turn signal unit is active.

公开(公告)号：US20160052544A1

公开(公告)日：2016-02-25

申请号：US14828761

申请日：2015-08-18

Applicant: DENSO CORPORATION

Inventor： Yusuke Ueda ,  Masao Oooka ,  Shotaro Fukuda

IPC: B62D6/00

CPC classification number: B62D6/002 ,  B62D15/025

Abstract: A vehicle control apparatus includes a steering amount calculation unit which calculates a steering amount for decreasing a lateral deviation of a vehicle with respect to a target route, a vehicle position acquisition unit which acquires a position of the vehicle, and a past information acquisition unit which acquires the lateral deviation, which is related to the position of the vehicle acquired by the vehicle position acquisition unit or a position ahead of the position of the vehicle, from a storage section in which the lateral deviation is stored with the position of the vehicle being related to the lateral deviation. The steering amount calculation unit feeds back the lateral deviation acquired by the past information acquisition unit to calculate the steering amount.

Abstract translation: 车辆控制装置包括转向量计算单元，其计算用于减少车​​辆相对于目标路线的横向偏差的转向量，获取车辆位置的车辆位置获取单元和过去信息获取单元， 获取与由车辆位置获取单元获取的车辆的位置或车辆位置之前的位置相关的横向偏差，其中存储横向偏离的存储部分，其中车辆的位置为 与横向偏差有关。 转向量计算单元反馈由过去信息获取单元获取的横向偏差以计算转向量。

公开(公告)号：US09002614B2

公开(公告)日：2015-04-07

申请号：US13775826

申请日：2013-02-25

Applicant: Denso Corporation ,  Nippon Soken, Inc.

Inventor： Motonori Tominaga ,  Tomohiko Tsuruta ,  Yusuke Ueda ,  Takeshi Hatoh

IPC: B60T7/12 ,  G05D1/00 ,  G05D1/12 ,  G06F7/00 ,  G06F17/00 ,  B60K31/00 ,  B60W50/00 ,  B60W30/16 ,  B60W30/18

CPC classification number: B60K31/0008 ,  B60W30/16 ,  B60W30/18163 ,  B60W50/0097 ,  B60W2750/308 ,  Y02T10/84

Abstract: An inter-vehicle distance control device is provided. In this control device, an inter-vehicle distance detecting section detects an inter-vehicle distance between an own vehicle and a preceding vehicle traveling in front of the own vehicle. A laterally adjacent vehicle detecting section detects another vehicle present beside the own vehicle. A cut-in detecting section judges whether or not a cut-in by the other vehicle detected by the laterally adjacent vehicle detecting section is likely to occur, before the other vehicle cuts in between the own vehicle and the preceding vehicle. An inter-vehicle distance adjusting section performs an inter-vehicle distance extension adjustment to increase the inter-vehicle distance when the cut-in detecting section judges that a cut-in is likely to occur. An inter-vehicle distance control section controls the inter-vehicle distance based on information from the inter-vehicle distance adjusting section.

Abstract translation: 提供车辆间距离控制装置。 在该控制装置中，车辆间距离检测部检测在本车辆前方行驶的本车和前车之间的车间距离。 横向相邻的车辆检测部分检测在本车辆旁边存在的另一车辆。 在另一车辆在本车和前一车辆之间切入之前，切入检测部判断是否可能发生由横向相邻车辆检测部检测到的其他车辆的切入。 当切入检测部判断为可能发生切入时，车间距离调整部进行车间距离延长调整，以增大车间距离。 车辆间距离控制部基于来自车辆间距离调整部的信息来控制车辆间距离。

公开(公告)号：US20130238194A1

公开(公告)日：2013-09-12

申请号：US13788387

申请日：2013-03-07

Applicant: DENSO CORPORATION

Inventor： Yusuke Ueda ,  Motonori Tominaga ,  Tomohiko Tsuruta ,  Takeshi Hatoh

IPC: B62D6/00

CPC classification number: B62D6/00 ,  B62D15/025

Abstract: A vehicle driving assistance apparatus mounted in a vehicle. In the apparatus, a drivable route detection unit detects a drivable route, a vehicle state quantity detection unit detects state quantities of the vehicle, and a steering control unit controls steering of the vehicle. Further, in the apparatus, an allowable region estimation unit estimates a driving allowable region on the basis of the detected state quantities and a predetermined allowable range of behavior of the vehicle. A deviation determination unit determines that the vehicle will deviate from the drivable route when a minimum width of an overlap region of the drivable route and the driving allowable region is less than a predetermined threshold. An intervention instruction unit then outputs to the steering control unit an intervention control signal to control steering of the vehicle.

Abstract translation: 一种安装在车辆中的车辆驾驶辅助装置。 在该装置中，可驱动路线检测单元检测可驱动路线，车辆状态量检测单元检测车辆的状态量，转向控制单元控制车辆的转向。 此外，在该装置中，允许区域估计单元基于检测到的状态量和车辆的预定的行驶容许范围来估计驾驶容许区域。 当可驱动路线和驾驶允许区域的重叠区域的最小宽度小于预定阈值时，偏差确定单元确定车辆将偏离可驱动路线。 然后，介入指令单元向转向控制单元输出介入控制信号，以控制车辆的转向。

公开(公告)号：US20130226433A1

公开(公告)日：2013-08-29

申请号：US13775826

申请日：2013-02-25

Applicant: DENSO CORPORATION ,  Nippon Soken, Inc.

Inventor： Motonori Tominaga ,  Tomohiko Tsuruta ,  Yusuke Ueda ,  Takeshi Hatoh

IPC: B60K31/00

CPC classification number: B60K31/0008 ,  B60W30/16 ,  B60W30/18163 ,  B60W50/0097 ,  B60W2750/308 ,  Y02T10/84

Abstract: An inter-vehicle distance control device is provided. A typical embodiment of the device comprises, i) an inter-vehicle distance detecting means for detecting an inter-vehicle distance between the own vehicle and the preceding vehicle traveling in front of the own vehicle, ii) a laterally adjacent vehicle detecting means for detecting another vehicle present beside the own vehicle, iii) a cut-in detecting means for judging whether or not a cut-in by the other vehicle detected by the laterally adjacent vehicle detecting means is likely to occur, before the other vehicle cuts in between the own vehicle and the preceding vehicle, iv) an inter-vehicle distance adjusting means for performing inter-vehicle distance extension adjustment to increase the inter-vehicle distance when the cut-in detecting means judges that a cut-in is likely to occur, and v) an inter-vehicle distance control means for controlling the inter-vehicle distance based on information from the inter-vehicle distance adjusting means.

Abstract translation: 提供车辆间距离控制装置。 该装置的典型实施例包括：i）车辆间距离检测装置，用于检测在本车辆前方行驶的前车之间的车间距离; ii）横向邻近车辆检测装置， 存在于本车辆旁边的另一车辆，iii）切入检测装置，用于在另一车辆切入之前判断是否可能发生由横向相邻的车辆检测装置检测到的另一车辆的切入 本车辆和前一车辆; iv）车辆间距离调整装置，用于当所述切入检测装置判断为切入可能发生时，进行车间距离延伸调整，以增加所述车辆间距离;以及 v）车辆间距离控制装置，用于基于来自车辆间距离调节装置的信息来控制车辆间距离。