公开(公告)号：US20220289174A1

公开(公告)日：2022-09-15

申请号：US17641275

申请日：2020-07-09

Applicant: Hitachi Astemo, Ltd.

Inventor： Katsuhiko HASHIMOTO ,  Satoru MATSUDA ,  Satoshi KASHIWAMURA

IPC: B60W30/09 ,  B60W30/095 ,  B60W60/00 ,  B60W40/068 ,  B60W40/08 ,  B60T7/12

Abstract: A vehicle control apparatus acquires a first collision risk based on a relative distance and a relative speed between an obstacle ahead of a vehicle and the vehicle, outputs a first control instruction for autonomously applying a braking force to the vehicle based on the first collision risk, acquires a second collision risk into which the first collision risk is updated after the braking force is autonomously applied to the vehicle, outputs a second control instruction for autonomously applying a force regarding steering to the vehicle based on the second collision risk, and outputs a third control instruction for controlling the braking force to be generated on a wheel portion of the vehicle based on the second collision risk after the force regarding the steering is autonomously applied to the vehicle.

公开(公告)号：US20230026238A1

公开(公告)日：2023-01-26

申请号：US17788790

申请日：2020-12-21

Applicant: Hitachi Astemo, Ltd.

Inventor： Hidetoshi ARIMA ,  Satoshi KASHIWAMURA

IPC: B60W30/02 ,  B60W10/20 ,  B60W10/18 ,  B60W60/00

Abstract: A vehicle motion control apparatus includes a control unit which controls a steering apparatus and a brake apparatus provided in a vehicle. The control unit acquires a normative motion state amount necessary for the vehicle to trace a target traveling path, acquires a target motion state amount necessary for generating a yaw moment to cancel unstable behavior of the vehicle, and acquires a target steering angle for generating a steering angle moment and a target brake force for generating a brake moment, to obtain a necessary yaw moment generated by the vehicle. The control unit outputs a first control command for obtaining the target steering angle to the steering apparatus and outputs a second control command for obtaining the target brake force to the brake apparatus.

公开(公告)号：US20250121822A1

公开(公告)日：2025-04-17

申请号：US18834652

申请日：2022-08-24

Applicant: Hitachi Astemo, Ltd.

Inventor： Akinori KAMIYA ,  Satoshi KASHIWAMURA

IPC: B60W30/095 ,  G01S13/931 ,  G01S17/931 ,  G06V20/58

Abstract: Provided is a collision avoidance assist device including an algorithm for adjusting a balance between prevention of the excessive operation and prevention of the non-operation. A recognition sensor 106, a first collision estimation unit 131 and a second collision estimation unit 132 having different characteristics (response characteristics), the first collision estimation unit 131 having higher responsiveness than the second collision estimation unit 132, and the second collision estimation unit 132 having higher noise resistance than the first collision estimation unit 131, a first collision risk level calculation unit 141 that calculates a first collision risk level based on a first estimation result, a second collision risk level calculation unit 142 that calculates a second collision risk level based on a second estimation result, and collision estimation arbitration unit 150, 250 that selects either the first estimation result or the second estimation result.

公开(公告)号：US20230182726A1

公开(公告)日：2023-06-15

申请号：US17924624

申请日：2021-02-26

Applicant: Hitachi Astemo, Ltd.

Inventor： Chikara NISHIURA ,  Satoshi KASHIWAMURA

IPC: B60W30/095 ,  B62D15/02 ,  B60T7/22 ,  B60W10/18 ,  B60W10/20

CPC classification number: B60W30/0956 ,  B62D15/0265 ,  B60T7/22 ,  B60W10/18 ,  B60W10/20 ,  B60W50/029

Abstract: A vehicle control device includes a vehicle position calculating unit, an obstacle determining unit, a collision possibility determining unit, an avoidance means selecting unit, an avoidance route calculating unit, and a steering control value calculating unit that calculates a steering control value and that outputs the steering control value to a steering actuator control unit. The avoidance route calculating unit calculates a target point for avoiding the obstacle, divides an avoidance section connecting the position of the vehicle to the target point into a plurality of partial sections, calculates a partial avoidance route in each of the partial sections, and calculates the avoidance route made up of the plurality of partial avoidance routes.

公开(公告)号：US20220266823A1

公开(公告)日：2022-08-25

申请号：US17627032

申请日：2020-05-25

Applicant: Hitachi Astemo, Ltd.

Inventor： Hidetoshi ARIMA ,  Chikara NISHIURA ,  Satoshi KASHIWAMURA

IPC: B60W30/10 ,  B60W50/00 ,  B60W10/04 ,  B60W10/18 ,  B60W10/20

Abstract: A vehicle motion control device according to the present invention obtains a translation force for causing the position of a vehicle to trace a target travel path, on the basis of a lateral displacement amount which is an amount of displacement of the vehicle in a lateral direction with respect to a target movement point, obtain a rotational force for correcting an orientation of the vehicle with respect to the target travel path, on the basis of an orientation displacement amount which is an amount of displacement of the vehicle in a yaw direction with respect to the target movement point, weight the translation force and the rotational force on the basis of specifications relating to traveling of the vehicle, and output a control command for achieving a target lateral force obtained by adding up the weighted translation force and the weighted rotational force.

公开(公告)号：US20240208491A1

公开(公告)日：2024-06-27

申请号：US18555803

申请日：2022-03-09

Applicant: HITACHI ASTEMO, LTD.

Inventor： Hiroki KATO ,  Satoshi KASHIWAMURA

IPC: B60W30/09 ,  B60W30/095 ,  B60W50/00

CPC classification number: B60W30/09 ,  B60W30/0956 ,  B60W50/0097 ,  B60W2050/0022 ,  B60W2520/06 ,  B60W2520/14 ,  B60W2540/18 ,  B60W2554/4041

Abstract: The present disclosure provides a vehicle control device capable of preventing an erroneous operation of an advanced driving assistance system while ensuring safety. A vehicle control device 110 includes a course prediction unit F1, a collision prediction unit F3, a vehicle control unit F5, and a control intervention adjustment unit F4. The course prediction unit F1 predicts a turning course of a vehicle as a steady circular turning course based on a steering angle θ. The collision prediction unit F3 calculates a collision margin time (TTC) between a target detected by an external environment sensor of the vehicle and the vehicle that travels on the steady circular turning course, and calculates a predicted collision lateral position CLL of the target with respect to a vehicle width center position of the vehicle. The vehicle control unit F5 performs collision avoidance control of a vehicle 100 when the collision margin time is shorter than a control intervention threshold value TH. The control intervention adjustment unit F4 adjusts the control intervention threshold value TH. The control intervention adjustment unit F4 reduces the control intervention threshold value when the predicted collision lateral position CLL with respect to the vehicle width center position of the vehicle is in a direction opposite to a direction of a steering angular speed which is a time change rate of the steering angle θ.