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公开(公告)号：US20230159096A1
公开(公告)日：2023-05-25
申请号：US18055930
申请日：2022-11-16
申请人： SUBARU CORPORATION
发明人： Harunobu HORIGUCHI
CPC分类号： B62D6/00 , B62D15/021
摘要： A behavior control apparatus for a vehicle includes a vehicle speed detector, a curvature setting unit, a steering angle detector, a yaw rate detector, a deceleration rate detection unit, a target yaw rate setting unit, a vehicle behavior determination unit, and a vehicle behavior controller. The vehicle behavior controller includes a grip restored vehicle speed estimation unit, an estimated yaw rate setting unit, a grip restored target yaw rate setting unit, and a steering control unit. The steering control unit makes a steering control including allowing a yaw rate of the vehicle to settle at a grip restored target yaw rate at which tire grip is restored, on the basis of a difference between an estimated yaw rate and the grip restored target yaw rate.
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公开(公告)号：US20210139016A1
公开(公告)日：2021-05-13
申请号：US17060353
申请日：2020-10-01
申请人： SUBARU CORPORATION
摘要： A vehicle control apparatus includes a steering device, a steering controller, a steering input member, a front-rear driving force distribution unit, and a behavior controller. The steering device steers front wheels of a vehicle. The steering controller controls and causes the steering device to perform steering automatically. The steering input member receives a steering operation inputted by a driver. The front-rear driving force distribution unit changes a front-rear driving force distribution ratio. The behavior controller predicts, if a steering operation is performed via the steering input member during the automatic steering, a behavior of the vehicle to be exhibited after steering corresponding to the steering operation, and causes, if an oversteer behavior is predicted to occur, the front-rear driving force distribution unit to change the driving force distribution ratio to a front-wheel biased distribution ratio as compared with a case where the oversteer behavior is not predicted to occur.
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公开(公告)号：US20240326801A1
公开(公告)日：2024-10-03
申请号：US18602815
申请日：2024-03-12
申请人： SUBARU CORPORATION
发明人： Harunobu HORIGUCHI
CPC分类号： B60W30/143 , B60W10/20 , B60W2552/40 , B60W2720/14
摘要： A driver assistance apparatus for a vehicle includes a determiner, an estimator, a detector, and a deceleration rate setter. The determiner determines whether the vehicle is slipping in vehicle speed control involving acceleration or deceleration of the vehicle. The estimator estimates a road surface frictional coefficient at a location where the vehicle starts slipping as a first road surface frictional coefficient. The detector detects a high frictional coefficient area that has a second road surface frictional coefficient higher than the first road surface frictional coefficient and is located in front of the vehicle. The deceleration rate setter sets, in the vehicle speed control involving the deceleration, a target deceleration rate to be used when the vehicle travels in the high frictional coefficient area to a higher value than the target deceleration rate set for the first road surface frictional coefficient.
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公开(公告)号：US20230202479A1
公开(公告)日：2023-06-29
申请号：US18059050
申请日：2022-11-28
申请人： SUBARU CORPORATION
发明人： Harunobu HORIGUCHI
IPC分类号： B60W30/165 , B60W30/18
CPC分类号： B60W30/165 , B60W30/18163 , B60W2554/80 , B60W2720/106
摘要： A vehicle driving assistance apparatus includes a traveling environment recognizer and an adaptive cruise controller. The traveling environment recognizer recognizes traveling environment information regarding an outside of a vehicle. Based on the traveling environment information, the adaptive cruise controller performs a follow-up traveling control of causing the vehicle to travel to follow a preceding vehicle, if recognized, and performs a constant-speed traveling control of causing the vehicle to travel at constant speed. If the vehicle starts a lane change to a traveling lane during traveling based on the follow-up traveling control, the adaptive cruise controller keeps a target vehicle speed at a start of the lane change at least until the lane change ends, and thereafter accelerates the vehicle, by setting a set vehicle speed as a new target vehicle speed, and setting a target acceleration rate based on the new target vehicle speed.
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公开(公告)号：US20210213919A1
公开(公告)日：2021-07-15
申请号：US17060406
申请日：2020-10-01
申请人： SUBARU CORPORATION
摘要： A braking control device includes a target vehicle speed setting unit, a braking power control unit, and a low friction coefficient region recognition unit. The low friction coefficient region recognition unit recognizes a low friction coefficient region of a road surface between a current position of an own vehicle and a target position. The braking power control unit estimates a maximum deceleration rate assuming braking to be started after passage through the low friction coefficient region to cause deceleration to a target vehicle speed at the target position. On the condition that the maximum deceleration rate is smaller than a predetermined upper limit on a deceleration rate, the braking power control unit causes a start of generation of braking power after the passage through the low friction coefficient region.
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公开(公告)号：US20200307551A1
公开(公告)日：2020-10-01
申请号：US16741309
申请日：2020-01-13
申请人： SUBARU CORPORATION
摘要： A vehicle control device to be installed in a vehicle includes a self-driving controller and a calculator. The self-driving controller is configured to set a target vehicle speed and a target steering angle to allow the vehicle to trace a predetermined target travel locus. The self-driving controller is configured to control the vehicle based on the target vehicle speed and the target steering angle. The calculator is configured to calculate a deviation between an index of an actual vehicle behavior and an index of a reference vehicle behavior. The self-driving controller corrects one or both of the target vehicle speed and the target steering angle in accordance with an increase of the deviation, so as to stabilize the vehicle.
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公开(公告)号：US20240326788A1
公开(公告)日：2024-10-03
申请号：US18611855
申请日：2024-03-21
申请人： SUBARU CORPORATION
发明人： Harunobu HORIGUCHI
CPC分类号： B60W30/09 , B60Q9/008 , G06V20/56 , B60W2420/403 , B60W2510/0657 , B60W2520/06 , B60W2555/20
摘要： A driver assistance apparatus includes an environment information obtainer, a visibility value measurer, and a control processor. The environment information obtainer acquires information on a traveling environment around a vehicle. The visibility value measurer measures a visibility value of the vehicle in the traveling environment based on the information on the traveling environment. The control processor determines whether visibility obstruction has occurred based on the visibility value and, when determining that the visibility obstruction has occurred, executes a driver assistance mode against the visibility obstruction. When determining that the visibility obstruction has occurred, the control processor executes one or both of a first process adapted to notify surrounding objects present around the vehicle of the presence of the vehicle depending on the visibility value, and a second process adapted to assist a traveling state of the vehicle.
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公开(公告)号：US20230398980A1
公开(公告)日：2023-12-14
申请号：US18203784
申请日：2023-05-31
申请人： SUBARU CORPORATION
发明人： Harunobu HORIGUCHI
IPC分类号： B60W30/045
CPC分类号： B60W30/045 , B60W2710/20 , B60W2720/106 , B60W2540/18 , B60W2520/14 , B60W2520/10 , B60W2552/30
摘要： A vehicle driving support apparatus for a vehicle includes: a driving environment information acquirer; a vehicle state detector; a storage; and a driving support controller configured to set an indicated target steering angle at which the vehicle is caused to run along a target running path to perform steering control. When a steering-wheel operation by a driver is steering override, the driving support controller acquired status data including curvature data about a corner and stores the status data in the storage. When the vehicle is to enter a corner or during cornering, the driving support controller determines whether the curvature data coinciding with the curvature of the corner exists in the status data previously acquired. When the coinciding curvature data exists, the driving support controller corrects the indicated target steering angle is with the status data including the coinciding curvature data to set a corrected target steering angle.
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公开(公告)号：US20230311747A1
公开(公告)日：2023-10-05
申请号：US18125939
申请日：2023-03-24
申请人： SUBARU CORPORATION
发明人： Harunobu HORIGUCHI
CPC分类号： B60Q1/346 , B60Q1/507 , B60Q2800/10
摘要： A drive assist apparatus for a vehicle includes a turn signal drive unit, an environment information obtainer, and a controller. The controller includes a blinking cycle adjuster configured to cause the turn signal drive unit to drive with drive signals indicating blinking cycles different from each other. The blinking cycles include a first blinking cycle and a second blinking cycle shorter than the first blinking cycle. The blinking cycle adjuster is configured to set the first blinking cycle for the vehicle that travels at a first position, and set the second blinking cycle for the vehicle that travels at a second position closer to the intersection than the first position.
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公开(公告)号：US20230182736A1
公开(公告)日：2023-06-15
申请号：US18055943
申请日：2022-11-16
申请人： SUBARU CORPORATION
发明人： Harunobu HORIGUCHI
IPC分类号： B60W30/165 , B60W40/072
CPC分类号： B60W30/165 , B60W40/072 , B60W2556/65 , B60W2554/80
摘要： A vehicle traveling control apparatus is configured to be applied to a vehicle and includes a traveling environment data acquiring unit and a traveling controller. The traveling controller includes a preceding vehicle recognizing unit, a curve curvature detecting unit, and a vehicle speed keep controlling unit. The preceding vehicle recognizing unit is configured to recognize a preceding vehicle, based on traveling environment data acquired by the traveling environment data acquiring unit. The curve curvature detecting unit is configured to detect a curvature of a curved road, based on the traveling environment data or road map data. The vehicle speed keep controlling unit is configured such that, in a case where the preceding vehicle recognizing unit loses track of the preceding vehicle, the vehicle speed keep controlling unit cause the vehicle to travel on the basis of a preceding-vehicle-following vehicle speed that is before losing track of the preceding vehicle.
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