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公开(公告)号：US09043088B2
公开(公告)日：2015-05-26
申请号：US13870167
申请日：2013-04-25
Applicant: Denso Corporation
Inventor： Kazuyoshi Isaji , Naohiko Tsuru , Shou Morikawa
CPC classification number: B62D6/00 , B62D15/025
Abstract: A vehicle behavior control apparatus mounted in a vehicle to control steering of the vehicle. A virtual road outline, which is an outline of a drivable road region where the vehicle will travel, is determined on the basis of detection results from a location sensor. The virtual road outline is reconstructed as a sequence of road segments, such as straight road segments, and right- and left-hand curved road segments. When a current road segment where the vehicle is currently present is a right- or left-hand curved road segment, a subsequent road segment where the vehicle will be present subsequently is tentatively set to a straight road segment until the vehicle reaches the subsequent road segment. The steering angle is controlled so that a virtual-road boundary distance is adapted to a proper distance from the vehicle to a boundary of the virtual road outline situated in front of the vehicle.
Abstract translation: 一种安装在车辆中以控制车辆转向的车辆行为控制装置。 基于来自位置传感器的检测结果来确定作为车辆行驶的可驱动道路区域的轮廓的虚拟道路轮廓。 虚拟道路轮廓被重建为一系列路段，例如直路段，以及右侧和左侧弯曲路段。 当车辆当前存在的当前路段是右侧或左侧弯曲路段时，将在其后面存在车辆的后续路段临时设置为直线路段，直到车辆到达后续路段 。 控制转向角，使得虚拟道路边界距离适应于从车辆到位于车辆前方的虚拟道路轮廓的边界的适当距离。
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公开(公告)号：US08855860B2
公开(公告)日：2014-10-07
申请号：US13676446
申请日：2012-11-14
Applicant: Denso Corporation
Inventor： Kazuyoshi Isaji , Naohiko Tsuru , Shou Morikawa
CPC classification number: B62D6/00 , B60K31/0066 , B60W10/06 , B60W10/20 , B60W30/10 , B60W30/16 , B60W30/18145 , B60W2550/146 , B60W2550/308 , B60W2550/408
Abstract: A vehicle behavior control apparatus disposed in a subject vehicle performs a steering angle control of the subject vehicle. The apparatus acquires lead vehicle information transmitted from a lead vehicle to determine a virtual shape of a road (i.e., a virtual road shape) based on a travel locus of the lead vehicle. A virtual road border distance is calculated as a distance from the subject vehicle to a road border of a virtual curve road positioned straight in front of the subject vehicle. The apparatus, calculates an appropriate turn radius for travel along the virtual curve road and, based on the appropriate turn radius, calculates an appropriate distance from the subject vehicle to the virtual road border positioned in front of the subject vehicle. A steering unit then controls a steering angle of the subject vehicle by maintaining the virtual road border distance with the appropriate distance.
Abstract translation: 设置在本车辆中的车辆行为控制装置执行本车辆的转向角控制。 该装置获取从引导车辆发送的引导车辆信息，以基于前置车辆的行驶轨迹来确定道路的虚拟形状（即虚拟道路形状）。 虚拟道路边界距离被计算为从主车辆到目标车辆前方直线定位的虚拟曲线路的道路边界的距离。 该装置计算沿着虚拟曲线道路行驶的适当的转弯半径，并且基于适当的转弯半径来计算从主车辆到位于本车辆前方的虚拟道路边界的适当距离。 然后，转向单元通过将虚拟道路边界距离保持在适当距离来控制本车辆的转向角度。
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公开(公告)号：US11878697B2
公开(公告)日：2024-01-23
申请号：US17242613
申请日：2021-04-28
Applicant: DENSO CORPORATION
Inventor： Naohiko Tsuru
IPC: B60W40/072 , B60W30/045 , B60W30/09
CPC classification number: B60W40/072 , B60W30/045 , B60W30/09 , B60W2520/10 , B60W2520/105 , B60W2520/12 , B60W2520/125 , B60W2552/30 , B60W2720/106 , B60W2720/125
Abstract: A vehicle control device includes: a distance-acquisition section acquiring a path end distance between a vehicle and an end of a turn-travel path, on which the vehicle travels with turning; a path-width-acquisition section acquiring a path width of the turn-travel path; a velocity-acquisition section acquiring a velocity of the vehicle; an anticipated-curvature-radius-acquisition section acquiring a curvature radius of an anticipated turn-travel path obtained by assuming that the turn-travel path starts from a pre-turn position, based on the path width and the path end distance obtained at the pre-turn position; a target-velocity-setting section setting a target velocity at which the vehicle should travel on the turn-travel path, based on the anticipated curvature radius; a target-acceleration/deceleration-calculation section calculating a target acceleration/deceleration for accelerating/decelerating the vehicle to the target velocity, based on the velocity of the vehicle and the target velocity, and a vehicle-control section performing acceleration/deceleration control based on the target acceleration/deceleration.
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公开(公告)号：US20130131925A1
公开(公告)日：2013-05-23
申请号：US13676446
申请日：2012-11-14
Applicant: Denso Corporation
Inventor： Kazuyoshi Isaji , Naohiko Tsuru , Shou Morikawa
CPC classification number: B62D6/00 , B60K31/0066 , B60W10/06 , B60W10/20 , B60W30/10 , B60W30/16 , B60W30/18145 , B60W2550/146 , B60W2550/308 , B60W2550/408
Abstract: A vehicle behavior control apparatus disposed in a subject vehicle performs a steering angle control of the subject vehicle. The apparatus acquires lead vehicle information transmitted from a lead vehicle to determine a virtual shape of a road (i.e., a virtual road shape) based on a travel locus of the lead vehicle. A virtual road border distance is calculated as a distance from the subject vehicle to a road border of a virtual curve road positioned straight in front of the subject vehicle. The apparatus, calculates an appropriate turn radius for travel along the virtual curve road and, based on the appropriate turn radius, calculates an appropriate distance from the subject vehicle to the virtual road border positioned in front of the subject vehicle. A steering unit then controls a steering angle of the subject vehicle by maintaining the virtual road border distance with the appropriate distance.
Abstract translation: 设置在本车辆中的车辆行为控制装置执行本车辆的转向角控制。 该装置获取从引导车辆发送的引导车辆信息，以基于前置车辆的行驶轨迹来确定道路的虚拟形状（即虚拟道路形状）。 虚拟道路边界距离被计算为从主车辆到目标车辆前方直线定位的虚拟曲线路的道路边界的距离。 该装置计算沿着虚拟曲线道路行驶的适当的转弯半径，并且基于适当的转弯半径来计算从主车辆到位于本车辆前方的虚拟道路边界的适当距离。 然后，转向单元通过将虚拟道路边界距离保持在适当距离来控制本车辆的转向角度。
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