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    Cruise Control System for a Vehicle
    3.
    发明申请
    Cruise Control System for a Vehicle 有权
    车辆巡航控制系统

    公开(公告)号：US20080091327A1

    公开(公告)日：2008-04-17

    申请号：US11867192

    申请日：2007-10-04

    申请人： Kazutoshi Tsuchiya ,  Hiroshi Sakamoto ,  Masato Imai ,  Tatsuya Ochi ,  Takaomi Nishigaito ,  Masao Sakata ,  Masafumi Naito

    发明人： Kazutoshi Tsuchiya ,  Hiroshi Sakamoto ,  Masato Imai ,  Tatsuya Ochi ,  Takaomi Nishigaito ,  Masao Sakata ,  Masafumi Naito

    IPC分类号： B60W30/14 ,  G06F17/00

    CPC分类号： B60K31/0066 ,  B60W2520/14 ,  B60W2550/402 ,  G01C21/30 ,  G06K9/00798

    摘要： This invention provides a vehicle cruise control system which, during recognition of a shape of a road extending in a frontward direction of host vehicle, can calculate the road shape rapidly and accurately from a positional relationship with respect to the host vehicle. The system includes at least: a position change detector that detects, from information on the road existing in the frontward direction of the vehicle, a horizontal distance from a line segment orthogonal to a traveling direction vector of the vehicle, to a centerline of the road, the detection being conducted at a plurality of measuring points in an extending direction of the traveling direction vector; a road shape recognizer that identifies the shape of the road from data relating to linearity of changes in each of the horizontal distances, the linearity data being obtained by the position change detector; and a cruise controller that controls traveling of the vehicle according to results of the identification by the road shape recognizer.

    摘要翻译： 本发明提供一种车辆巡航控制系统，在识别到在主车辆的向前方向上延伸的道路的形状时，能够从相对于本车辆的位置关系快速，准确地计算道路形状。 该系统至少包括：位置变化检测器，其从车辆前方存在的道路上的信息中检测出与从车辆的行进方向矢量正交的线段的水平距离到道路的中心线 检测在行进方向矢量的延伸方向上的多个测量点进行; 路线形状识别器，其通过与位置变化检测器得到的线性数据相关的水平距离各变化的线性度的数据来识别道路的形状; 以及巡航控制器，其根据道路形状识别器的识别结果来控制车辆的行驶。

    Cruise control system for a vehicle
    4.
    发明授权
    Cruise control system for a vehicle 有权
    车辆巡航控制系统

    公开(公告)号：US07778758B2

    公开(公告)日：2010-08-17

    申请号：US11867192

    申请日：2007-10-04

    申请人： Kazutoshi Tsuchiya ,  Hiroshi Sakamoto ,  Masato Imai ,  Tatsuya Ochi ,  Takaomi Nishigaito ,  Masao Sakata ,  Masafumi Naito

    发明人： Kazutoshi Tsuchiya ,  Hiroshi Sakamoto ,  Masato Imai ,  Tatsuya Ochi ,  Takaomi Nishigaito ,  Masao Sakata ,  Masafumi Naito

    IPC分类号： G06F7/00

    CPC分类号： B60K31/0066 ,  B60W2520/14 ,  B60W2550/402 ,  G01C21/30 ,  G06K9/00798

    摘要： This invention provides a vehicle cruise control system which, during recognition of a shape of a road extending in a frontward direction of host vehicle, can calculate the road shape rapidly and accurately from a positional relationship with respect to the host vehicle. The system includes at least: a position change detector that detects, from information on the road existing in the frontward direction of the vehicle, a horizontal distance from a line segment orthogonal to a traveling direction vector of the vehicle, to a centerline of the road, the detection being conducted at a plurality of measuring points in an extending direction of the traveling direction vector; a road shape recognizer that identifies the shape of the road from data relating to linearity of changes in each of the horizontal distances, the linearity data being obtained by the position change detector; and a cruise controller that controls traveling of the vehicle according to results of the identification by the road shape recognizer.

    摘要翻译： 本发明提供一种车辆巡航控制系统，在识别到在主车辆的向前方向上延伸的道路的形状时，能够从相对于本车辆的位置关系快速，准确地计算道路形状。 该系统至少包括：位置变化检测器，其从车辆前方存在的道路上的信息中检测出与从车辆的行进方向矢量正交的线段的水平距离到道路的中心线 检测在行进方向矢量的延伸方向上的多个测量点进行; 路线形状识别器，其通过与位置变化检测器得到的线性数据相关的水平距离各变化的线性度的数据来识别道路的形状; 以及巡航控制器，其根据道路形状识别器的识别结果来控制车辆的行驶。

    Vehicle speed control device, method of determining target speed by using the device, and program executing the method
    7.
    发明申请
    Vehicle speed control device, method of determining target speed by using the device, and program executing the method 有权
    车速控制装置，使用该装置确定目标速度的方法以及执行该方法的程序

    公开(公告)号：US20070192013A1

    公开(公告)日：2007-08-16

    申请号：US11655196

    申请日：2007-01-19

    申请人： Mikio Bando ,  Takeshi Inoue ,  Koichiro Tanikoshi ,  Masao Sakata ,  Hiroshi Sakamoto ,  Masato Imai

    发明人： Mikio Bando ,  Takeshi Inoue ,  Koichiro Tanikoshi ,  Masao Sakata ,  Hiroshi Sakamoto ,  Masato Imai

    IPC分类号： B60T8/32 ,  G01C21/00

    CPC分类号： B60T7/22 ,  B60T2210/36 ,  B60W10/04 ,  B60W30/16 ,  B60W40/02 ,  B60W40/105 ,  B60W2550/14 ,  B60W2550/402 ,  B60W2720/106

    摘要： The present invention relates to a vehicle speed control device for controlling a speed of a vehicle. The vehicle speed control device includes a current location error estimation section for extracting area attribute information from the map information, for producing a location error probability distribution, a target speed calculation section for receiving the target speed correction instruction, for accessing preset data that shows an acceleration or a gradient of an acceleration which allows a driver not to feel uncomfortable, and for computing target speed values at nodes over the distance in such a way that the target speed values create a continuous curve, and a speed control section for sensing a speed of a vehicle, and for controlling a driving torque of the vehicle so that the sensed speed traces the continuous curve composed of the target speed values.

    摘要翻译： 本发明涉及一种用于控制车辆速度的车速控制装置。 车速控制装置包括：当前位置误差估计部分，用于从地图信息中提取区域属性信息，用于产生位置误差概率分布;目标速度计算部分，用于接收目标速度校正指令，用于访问显示一个 加速度或加速度的梯度，其允许驾驶员不感到不舒服，并且用于以目标速度值产生连续曲线的方式计算距离上的节点处的目标速度值;以及速度控制部分，用于感测速度 并且用于控制车辆的驱动扭矩，使得感测的速度跟踪由目标速度值组成的连续曲线。

    Vehicle attitude angle calculating device, and lane departure warning system using same
    8.
    发明授权
    Vehicle attitude angle calculating device, and lane departure warning system using same 有权
    车辆姿态角计算装置，车道偏离预警系统采用相同方式

    公开(公告)号：US09123110B2

    公开(公告)日：2015-09-01

    申请号：US13522985

    申请日：2011-02-09

    申请人： Masato Imai ,  Hiroshi Sakamoto ,  Masao Sakata

    发明人： Masato Imai ,  Hiroshi Sakamoto ,  Masao Sakata

    IPC分类号： H04N7/18 ,  G06K9/00 ,  G05D1/00 ,  G08G1/00 ,  G06T7/00 ,  G08G1/16 ,  B60R11/04

    CPC分类号： B60W40/10 ,  B60R11/04 ,  B60W40/114 ,  B60W2420/403 ,  B60W2520/14 ,  B60Y2400/3015 ,  G06K9/00798 ,  G06T7/73 ,  G06T2207/10016 ,  G06T2207/30256 ,  G08G1/167 ,  H04N7/18

    摘要： A vehicle attitude angle calculating device finds a yaw angle of a vehicle with reference to a lane stably without using information on a road vanishing point even in the state where a vehicle pitch angle varies. The vehicle attitude angle calculating device includes: a dividing line detection unit that detects a dividing line from image information received from a vehicle-mounted imaging device, the image information being a captured image of an outside of a vehicle; a distance calculation unit that calculates a distance between the dividing line and the optical axis of the vehicle-mounted imaging device every predetermined processing period; and a vehicle angle calculation unit that calculates a dividing line angle based on the calculated distance between the dividing line and the optical axis of the vehicle-mounted imaging device and a vehicle proceeding distance where the vehicle proceeds during a predetermined processing period.

    摘要翻译： 即使在车辆俯仰角变化的状态下，车辆姿态角计算装置也能够在不使用道路消失点的信息的情况下，相对于车道稳定地找到车辆的偏航角。 车辆姿态角计算装置包括：分割线检测单元，其从车载摄像装置接收的图像信息中检测分割线，所述图像信息是车辆外部的拍摄图像; 距离计算单元，每隔预定处理周期计算车载摄像装置的分割线与光轴的距离; 以及车辆角度计算单元，其基于所计算的车载摄像装置的分割线和光轴之间的距离以及车辆在预定的处理周期内进行的车辆行驶距离来计算分割线角度。

    Vehicle Attitude Angle Calculating Device, and Lane Departure Warning System Using Same
    9.
    发明申请
    Vehicle Attitude Angle Calculating Device, and Lane Departure Warning System Using Same 有权
    车辆姿态角计算装置和车道离场警告系统

    公开(公告)号：US20120327233A1

    公开(公告)日：2012-12-27

    申请号：US13522985

    申请日：2011-02-09

    申请人： Masato Imai ,  Hiroshi Sakamoto ,  Masao Sakata

    发明人： Masato Imai ,  Hiroshi Sakamoto ,  Masao Sakata

    IPC分类号： G06F7/00 ,  H04N7/18

    CPC分类号： B60W40/10 ,  B60R11/04 ,  B60W40/114 ,  B60W2420/403 ,  B60W2520/14 ,  B60Y2400/3015 ,  G06K9/00798 ,  G06T7/73 ,  G06T2207/10016 ,  G06T2207/30256 ,  G08G1/167 ,  H04N7/18

    摘要： Provided is a vehicle attitude angle calculating device capable of finding a yaw angle of a vehicle with reference to a lane stably without using information on a road vanishing point even in the state where a vehicle pitch angle varies. The vehicle attitude angle calculating device includes: a dividing line detection unit that detects a dividing line from image information received from a vehicle-mounted imaging device having an optical axis, the image information being a captured image of an outside of a vehicle; a distance calculation unit that calculates a distance between the dividing line and the optical axis of the vehicle-mounted imaging device every predetermined processing period; and a vehicle angle calculation unit that calculates a dividing line angle on the basis of the calculated distance between the dividing line and the optical axis of the vehicle-mounted imaging device and a vehicle proceeding distance where the vehicle proceeds during a predetermined processing period.

    摘要翻译： 提供一种车辆姿态角计算装置，即使在车辆俯仰角变化的状态下，也能够在不使用道路消失点的信息的情况下，相对于车道稳定地找到车辆的偏航角。 车辆姿态角计算装置包括：分割线检测单元，其从具有光轴的车载摄像装置接收的图像信息中检测分割线，所述图像信息是车辆外部的拍摄图像; 距离计算单元，每隔预定处理周期计算车载摄像装置的分割线与光轴的距离; 以及车辆角度计算单元，其基于所计算的车载摄像装置的分割线与光轴之间的距离和车辆在规定的处理期间内前进的车辆行驶距离来计算分割线角度。

    Lane departure warning device
    10.
    发明授权
    Lane departure warning device 有权
    车道出发警告装置

    公开(公告)号：US08594890B2

    公开(公告)日：2013-11-26

    申请号：US13523271

    申请日：2012-06-14

    申请人： Masato Imai ,  Takashi Okada ,  Masao Sakata

    发明人： Masato Imai ,  Takashi Okada ,  Masao Sakata

    IPC分类号： G06F19/00

    CPC分类号： G08G1/167 ,  B60W30/12 ,  B60W50/0097 ,  B60W50/14 ,  B60W2420/42 ,  B60W2520/125 ,  B60W2520/14 ,  B60W2540/18 ,  B62D15/029

    摘要： It is an object to provide a lane departure warning device capable of generating almost no false warning if a driver performs an avoiding operation of a lane departure. The lane departure warning device estimates the steering amount of the own vehicle toward the center of the lane or the amount correlating with this steering amount based on the parameter representing the vehicle behavior such as the steering angle, the yaw rate and the lateral G, thereby detecting the state of the vehicle steering toward the center of the lane when a driver is performing an avoiding operation to avoid the lane departure (quick steering), and determining whether or not the possibility of the vehicle's departure from the lane is high without using the time TLC and its threshold value Ts, but only based on the determination whether or not the distance D1 or D2 from the outer edge of the front wheel to the marking line is less than the threshold value Ds if the driver performs the avoiding operation to avoid the lane departure (quick steering).

    摘要翻译： 本发明的目的是提供一种车道偏离警告装置，如果驾驶员执行车道偏离的避免操作，则能够几乎不产生虚假警告。 车道偏离警告装置基于表示车辆行为的参数（例如转向角，横摆率和横向G）估计本车辆朝向车道中心的转向量或与该转向量相关的量，从而 当驾驶员进行避免行驶以避免车道偏离（快速转向）时，检测车辆向车道中心转向的状态，并且确定车辆离车道的可能性是否高，而不使用 时间TLC及其阈值Ts，但仅基于如果驾驶员执行避免操作以避免从前轮到标记线的外边缘的距离D1或D2是否小于阈值Ds的确定 车道偏离（快速转向）。