公开(公告)号：US07289017B2

公开(公告)日：2007-10-30

申请号：US11255904

申请日：2005-10-20

申请人： Kiichiro Sawamoto ,  Shigeru Inoue ,  Hiroshi Sato

发明人： Kiichiro Sawamoto ,  Shigeru Inoue ,  Hiroshi Sato

IPC分类号： B60Q1/00

CPC分类号： B60W40/02 ,  B60W10/06 ,  B60W30/16 ,  B60W2550/20 ,  G08G1/166

摘要： In a vehicular control object determination system, the position of an object detected by a radar device is stored by a detection position memory, and a predetermined area having the position of the object as the center is set as the determination region by a determination region setter. When the determination region set for one of two objects is passed through by the other object, the passing direction is determined by a passing direction determiner. During this process, the direction in which a fixed object or an object dropped on the road moves relative to a preceding vehicle is a direction in which the fixed object or the dropped object on the road approaches the subject vehicle with the preceding vehicle as a reference. Then, a control object determiner excludes from determination of the control object an object for which the passing direction determined by the passing direction determiner is a direction approaching the subject vehicle, thereby preventing the fixed object or the dropped object from being erroneously determined as the control object when the preceding vehicle passes over the fixed object or the dropped object on the road.

摘要翻译： 在车辆控制对象确定系统中，由检测位置存储器存储由雷达装置检测到的物体的位置，并且通过确定区域设定器将具有作为中心的物体的位置的预定区域设置为确定区域 。 当为两个物体中的一个设置的确定区域被另一个物体通过时，通过方向由通过方向确定器确定。 在此过程中，固定物体或物体落在路面上相对于前方车辆移动的方向是将前方车辆的固定物或物体靠近车辆的方向作为基准 。 然后，控制对象确定器从控制对象的确定中排除由通过方向确定器确定的通过方向是靠近对象车辆的方向的对象，从而防止固定对象或被丢弃的对象被错误地确定为控制对象 当前方车辆通过固定物体或道路上的落下物体时。

公开(公告)号：US07206686B2

公开(公告)日：2007-04-17

申请号：US10975836

申请日：2004-10-27

申请人： Kiichiro Sawamoto ,  Shigeru Inoue ,  Hiroshi Sato

发明人： Kiichiro Sawamoto ,  Shigeru Inoue ,  Hiroshi Sato

IPC分类号： B60T7/12

CPC分类号： B60W30/16 ,  B60K31/0008 ,  B60T7/22 ,  B60W2540/12 ,  B60W2720/106 ,  G08G1/166

摘要： When a deceleration intention detector detects that an occupant has apprehension about a condition ahead of his own vehicle and attempts to decelerate the own vehicle, a detection area setter enlarges a detection area in which a control object is detected, upon a command from a control object determinator. Therefore, a new control object such as a cutting-in vehicle can be more reliably detected in accordance with an increase in an amount of attention which the occupant pays to the condition ahead of the own vehicle. As a result, a vehicle controller changes a vehicle control content of the own vehicle, thereby performing an appropriate vehicle control with respect to the newly detected control object to eliminate a sense of discomfort of the occupant.

摘要翻译： 当减速意图检测器检测到乘员对自己的车辆之前的状况担心并尝试使本车减速时，检测区域设定器根据来自控制对象的命令来扩大检测到控制对象的检测区域 决定者 因此，能够根据乘员对自身车辆前方的状况的关注度的增加来更可靠地检测诸如切入车辆的新的控制对象。 结果，车辆控制器改变本车辆的车辆控制内容，从而对新检测到的控制对象执行适当的车辆控制，以消除乘员的不适感。

公开(公告)号：US20060149462A1

公开(公告)日：2006-07-06

申请号：US11229364

申请日：2005-09-16

申请人： Kiichiro Sawamoto ,  Shigeru Inoue ,  Hiroshi Sato

发明人： Kiichiro Sawamoto ,  Shigeru Inoue ,  Hiroshi Sato

IPC分类号： G06F17/00

CPC分类号： B60W40/02 ,  B60W10/06 ,  B60W30/16 ,  B60W2550/20 ,  G08G1/16

摘要： In a vehicular control object determination system, locus correlation degree calculator calculates a degree of correlation between a future travel locus of a vehicle estimated by first travel locus estimator based on a vehicle speed and a yaw rate and a future travel locus of the vehicle estimated by second travel locus estimator based on a past travel locus of the vehicle calculated by travel locus calculator. When control object determiner determines a control object based on the travel locus estimated by the first travel locus estimator and predetermined control object determination conditions, the control object determination conditions are modified according to the degree of correlation, that is, the degree of reliability of the travel locus estimated by the first travel locus estimator, thereby achieving both accuracy with which the control object is determined and determination of the control object at a distance.

摘要翻译： 在车辆控制对象确定系统中，轨迹相关度计算器基于车速和横摆率来计算由第一行驶轨迹估计器估计出的车辆的未来行驶轨迹与由 基于由行驶轨迹计算器计算的车辆的过去行驶轨迹的第二行驶轨迹估计器。 当控制对象确定器基于由第一行进轨迹估计器估计的行驶轨迹和预定控制对象确定条件来确定控制对象时，根据相关程度，即相关度的可靠度来修改控制对象确定条件 由第一行进轨迹估计器估计的行驶轨迹，从而获得确定控制对象的精度和距离上的控制对象的确定。

公开(公告)号：US20060149452A1

公开(公告)日：2006-07-06

申请号：US11255904

申请日：2005-10-20

申请人： Kiichiro Sawamoto ,  Shigeru Inoue ,  Hiroshi Sato

发明人： Kiichiro Sawamoto ,  Shigeru Inoue ,  Hiroshi Sato

IPC分类号： G06G7/76 ,  G06F7/00 ,  B60Q1/00

CPC分类号： B60W40/02 ,  B60W10/06 ,  B60W30/16 ,  B60W2550/20 ,  G08G1/166

摘要： In a vehicular control object determination system, the position of an object detected by a radar device is stored by a detection position memory, and a predetermined area having the position of the object as the center is set as the determination region by a determination region setter. When the determination region set for one of two objects is passed through by the other object, the passing direction is determined by a passing direction determiner. During this process, the direction in which a fixed object or an object dropped on the road moves relative to a preceding vehicle is a direction in which the fixed object or the dropped object on the road approaches the subject vehicle with the preceding vehicle as a reference. Then, a control object determiner excludes from determination of the control object an object for which the passing direction determined by the passing direction determiner is a direction approaching the subject vehicle, thereby preventing the fixed object or the dropped object from being erroneously determined as the control object when the preceding vehicle passes over the fixed object or the dropped object on the road.

摘要翻译： 在车辆控制对象确定系统中，由检测位置存储器存储由雷达装置检测到的物体的位置，并且通过确定区域设定器将具有作为中心的物体的位置的预定区域设置为确定区域 。 当为两个物体中的一个设置的确定区域被另一个物体通过时，通过方向由通过方向确定器确定。 在此过程中，固定物体或物体落在路面上相对于前方车辆移动的方向是将前方车辆的固定物或物体靠近车辆的方向作为基准 。 然后，控制对象确定器从控制对象的确定中排除由通过方向确定器确定的通过方向是靠近对象车辆的方向的对象，从而防止固定对象或被丢弃的对象被错误地确定为控制对象 当前方车辆通过固定物体或道路上的落下物体时。

公开(公告)号：US20050171675A1

公开(公告)日：2005-08-04

申请号：US10975836

申请日：2004-10-27

申请人： Kiichiro Sawamoto ,  Shigeru Inoue ,  Hiroshi Sato

发明人： Kiichiro Sawamoto ,  Shigeru Inoue ,  Hiroshi Sato

IPC分类号： B60K31/00 ,  B60T7/12 ,  B60T7/22 ,  F02D29/02 ,  G05D1/02 ,  G08G1/16

CPC分类号： B60W30/16 ,  B60K31/0008 ,  B60T7/22 ,  B60W2540/12 ,  B60W2720/106 ,  G08G1/166

摘要： When a deceleration intention detector detects that an occupant has apprehension about a condition ahead of his own vehicle and attempts to decelerate the own vehicle, a detection area setter enlarges a detection area in which a control object is detected, upon a command from a control object determinator. Therefore, a new control object such as a cutting-in vehicle can be more reliably detected in accordance with an increase in an amount of attention which the occupant pays to the condition ahead of the own vehicle. As a result, a vehicle controller changes a vehicle control content of the own vehicle, thereby performing an appropriate vehicle control with respect to the newly detected control object to eliminate a sense of discomfort of the occupant.

摘要翻译： 当减速意图检测器检测到乘员对自己的车辆之前的状况担心并尝试使本车减速时，检测区域设定器根据来自控制对象的命令来扩大检测到控制对象的检测区域 决定者 因此，能够根据乘员对自身车辆前方的状况的关注度的增加来更可靠地检测诸如切入车辆的新的控制对象。 结果，车辆控制器改变本车辆的车辆控制内容，从而对新检测到的控制对象执行适当的车辆控制，以消除乘员的不适感。

公开(公告)号：US07974778B2

公开(公告)日：2011-07-05

申请号：US11229364

申请日：2005-09-16

申请人： Kiichiro Sawamoto ,  Shigeru Inoue ,  Hiroshi Sato

发明人： Kiichiro Sawamoto ,  Shigeru Inoue ,  Hiroshi Sato

IPC分类号： G08G9/02

CPC分类号： B60W40/02 ,  B60W10/06 ,  B60W30/16 ,  B60W2550/20 ,  G08G1/16

摘要： In a vehicular control object determination system, locus correlation degree calculator calculates a degree of correlation between a future travel locus of a vehicle estimated by first travel locus estimator based on a vehicle speed and a yaw rate and a future travel locus of the vehicle estimated by second travel locus estimator based on a past travel locus of the vehicle calculated by travel locus calculator. When control object determiner determines a control object based on the travel locus estimated by the first travel locus estimator and predetermined control object determination conditions, the control object determination conditions are modified according to the degree of correlation, that is, the degree of reliability of the travel locus estimated by the first travel locus estimator, thereby achieving both accuracy with which the control object is determined and determination of the control object at a distance.

摘要翻译： 在车辆控制对象确定系统中，轨迹相关度计算器基于车速和横摆率来计算由第一行驶轨迹估计器估计出的车辆的未来行驶轨迹与由 基于由行驶轨迹计算器计算的车辆的过去行驶轨迹的第二行驶轨迹估计器。 当控制对象确定器基于由第一行进轨迹估计器估计的行驶轨迹和预定控制对象确定条件来确定控制对象时，根据相关程度，即相关度的可靠度来修改控制对象确定条件 由第一行进轨迹估计器估计的行驶轨迹，从而获得确定控制对象的精度和距离上的控制对象的确定。

公开(公告)号：US20110224862A1

公开(公告)日：2011-09-15

申请号：US13114663

申请日：2011-05-24

申请人： Kiichiro Sawamoto ,  Shigeru Inoue ,  Hiroshi Sato

发明人： Kiichiro Sawamoto ,  Shigeru Inoue ,  Hiroshi Sato

IPC分类号： G06F7/00

CPC分类号： B60W40/02 ,  B60W10/06 ,  B60W30/16 ,  B60W2550/20 ,  G08G1/16

摘要： In a vehicular control object determination system, locus correlation degree calculator calculates a degree of correlation between a future travel locus of a vehicle estimated by first travel locus estimator based on a vehicle speed and a yaw rate and a future travel locus of the vehicle estimated by second travel locus estimator based on a past travel locus of the vehicle calculated by travel locus calculator. When control object determiner determines a control object based on the travel locus estimated by the first travel locus estimator and predetermined control object determination conditions, the control object determination conditions are modified according to the degree of correlation, that is, the degree of reliability of the travel locus estimated by the first travel locus estimator, thereby achieving both accuracy with which the control object is determined and determination of the control object at a distance.

摘要翻译： 在车辆控制对象确定系统中，轨迹相关度计算器基于车速和横摆率来计算由第一行驶轨迹估计器估计出的车辆的未来行驶轨迹与由 基于由行驶轨迹计算器计算的车辆的过去行驶轨迹的第二行驶轨迹估计器。 当控制对象确定器基于由第一行进轨迹估计器估计的行驶轨迹和预定控制对象确定条件来确定控制对象时，根据相关程度，即相关度的可靠度来修改控制对象确定条件 由第一行进轨迹估计器估计的行驶轨迹，从而获得确定控制对象的精度和距离上的控制对象的确定。

公开(公告)号：US08165797B2

公开(公告)日：2012-04-24

申请号：US13114663

申请日：2011-05-24

申请人： Kiichiro Sawamoto ,  Shigeru Inoue ,  Hiroshi Sato

发明人： Kiichiro Sawamoto ,  Shigeru Inoue ,  Hiroshi Sato

IPC分类号： G08G1/16

CPC分类号： B60W40/02 ,  B60W10/06 ,  B60W30/16 ,  B60W2550/20 ,  G08G1/16

摘要： In a vehicular control object determination system, locus correlation degree calculator calculates a degree of correlation between a future travel locus of a vehicle estimated by first travel locus estimator based on a vehicle speed and a yaw rate and a future travel locus of the vehicle estimated by second travel locus estimator based on a past travel locus of the vehicle calculated by travel locus calculator. When control object determiner determines a control object based on the travel locus estimated by the first travel locus estimator and predetermined control object determination conditions, the control object determination conditions are modified according to the degree of correlation, that is, the degree of reliability of the travel locus estimated by the first travel locus estimator, thereby achieving both accuracy with which the control object is determined and determination of the control object at a distance.

摘要翻译： 在车辆控制对象确定系统中，轨迹相关度计算器基于车速和横摆率来计算由第一行驶轨迹估计器估计出的车辆的未来行驶轨迹与由 基于由行驶轨迹计算器计算的车辆的过去行驶轨迹的第二行驶轨迹估计器。 当控制对象确定器基于由第一行进轨迹估计器估计的行驶轨迹和预定控制对象确定条件来确定控制对象时，根据相关程度，即相关度的可靠度来修改控制对象确定条件 由第一行进轨迹估计器估计的行驶轨迹，从而获得确定控制对象的精度和距离上的控制对象的确定。

公开(公告)号：US20060229793A1

公开(公告)日：2006-10-12

申请号：US11389440

申请日：2006-03-23

申请人： Kiichiro Sawamoto ,  Shigeru Inoue

发明人： Kiichiro Sawamoto ,  Shigeru Inoue

IPC分类号： B60T7/12

CPC分类号： B60W30/165 ,  B60T7/22

摘要： In a vehicular travel control system, when tracking control for a preceding vehicle is being carried out, if a driver intention detector detects a driver's intention to decelerate, a travel path width detector of an external conditions detector detects a decrease in the width of a subject vehicle travel path, and a cutting-in vehicle detector detects a cutting-in vehicle, a control target value corrector increases a set inter-vehicle distance for the tracking control. Thus, it becomes possible to carry out vehicle control that reflects the driver's wish to let a cutting-in vehicle cut in smoothly by increasing the inter-vehicle distance from the preceding vehicle. On the other hand, if the cutting-in vehicle detector does not detect a cutting-in vehicle, the set vehicle speed of the constant speed travel control is decreased, so that it becomes possible to carry out vehicle control that reflects the driver's wish to drive safely when the width of the road in front has decreased.

摘要翻译： 在车辆行驶控制系统中，当进行对前方车辆的跟踪控制时，如果驾驶者意图检测器检测到驾驶员减速的意图，则外部条件检测器的行驶路径宽度检测器检测到被检体的宽度的减小 车辆行驶路径和切入车辆检测器检测切入车辆时，控制目标值校正器增加用于跟踪控制的设定的车辆间距离。 因此，通过增加与前方车辆的车辆间距离，能够进行反映驾驶员希望使切入车辆平滑地切换的车辆控制。 另一方面，如果切入车辆检测器未检测到切入车辆，则定速行驶控制的设定车速减小，从而可以进行反映驾驶员希望的车辆控制 前方道路宽度下降时，安全行驶。

公开(公告)号：US20050090950A1

公开(公告)日：2005-04-28

申请号：US10921008

申请日：2004-08-17

申请人： Kiichiro Sawamoto ,  Shigeru Inoue ,  Hiroshi Satoh

发明人： Kiichiro Sawamoto ,  Shigeru Inoue ,  Hiroshi Satoh

IPC分类号： B60K31/00 ,  G08G1/16 ,  G05D1/00

CPC分类号： G08G1/166 ,  B60K31/0008 ,  B60W2540/02 ,  B60W2540/10 ,  B60W2540/12

摘要： An ACC system includes a radar device for detecting an object in front of a subject vehicle, locus estimator for estimating a travel locus of the subject vehicle, detection area setter for setting a predetermined detection area in front of the subject vehicle based on the travel locus of the subject vehicle, obstacle extractor for extracting a preceding vehicle based on a detection result of the radar device and the detection area, and acceleration/deceleration intention detector for detecting an intention of an occupant to accelerate or decelerate. Since the detection area setter increases the detection area for an obstacle when the acceleration/deceleration intention detector detects an intention of the occupant to decelerate, it is possible to reliably detect a cutting-in vehicle that cuts in front of the subject vehicle and to prevent the subject vehicle from coming into contact with the cutting-in vehicle, thus preventing the driver from feeling uncomfortable and ensuring reliable operation of the ACC system.

摘要翻译： ACC系统包括用于检测目标车辆前方的物体的雷达装置，用于估计本车辆的行驶轨迹的轨迹估计器，用于基于行驶轨迹设定本车辆前方的预定检测区域的检测区域设定器 基于雷达装置的检测结果和检测区域提取前方车辆的障碍物提取器，以及用于检测乘员进行加速或减速的意图的加速/减速意图检测器。 由于当加速/减速意图检测器检测到乘员的意图减速时，由于检测区域设定器增加了障碍物的检测区域，因此可以可靠地检测在本车辆前方切断的切入车辆，并且防止 本车辆与切入车辆接触，从而防止驾驶员感到不舒服，并确保ACC系统的可靠运行。