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公开(公告)号：US20220073060A1
公开(公告)日：2022-03-10
申请号：US17455162
申请日：2021-11-16
发明人： Toshiki KINDO , Kazuaki ASO , Masahiro HARADA
摘要： Disclosed is a vehicle traveling controller that performs emergency evacuation traveling in the case of an emergency for proper traveling control. The vehicle traveling controller determines whether the vehicle traveling in accordance with a normal traveling rule is not dangerous and becomes proper traveling or not on the basis of environmental information around a vehicle (S18), when it is determined that the vehicle traveling in accordance with the normal traveling rule becomes proper traveling, executes normal traveling control for instructing the vehicle to travel in accordance with the normal traveling rule (S20), and when vehicle traveling in accordance with the normal traveling rule does not become proper traveling, executes emergency evacuation traveling control for instructing the vehicle to perform emergency evacuation traveling which is not in accordance with the normal traveling rule (S22). Therefore, emergency evacuation traveling with high safety can be performed, as compared with vehicle traveling in accordance with the normal traveling rule, so the safety of vehicle traveling can be improved.
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公开(公告)号：US20160358476A1
公开(公告)日：2016-12-08
申请号：US15241697
申请日：2016-08-19
发明人： Kazuaki ASO , Toshiki KINDO , Katsuhiro SAKAI , Masahiro HARADA
IPC分类号： G08G1/16
CPC分类号： G08G1/166 , B60W30/0953 , B60W30/0956 , G08G1/161
摘要： A collision determination device determines the possibility of collision between a host vehicle and the other object on the basis of a shortest arrival time calculated by a shortest arrival time calculation unit and a passage time at each point of the host vehicle acquired by a vehicle route candidate acquisition unit. In this way, even if a locus to be taken by the other object is not generated, the shortest arrival time at which the other object can arrive at each point of the route candidate of the host vehicle with a predetermined first displacement is calculated, thereby determining the possibility of collision between the host vehicle and the other object. Therefore, it is possible to reduce a computational load for determining collision and to accurately determine collision between the host vehicle and the other object.
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公开(公告)号：US20240083420A1
公开(公告)日：2024-03-14
申请号：US18517726
申请日：2023-11-22
发明人： Toshiki KINDO , Kazuaki ASO , Masahiro HARADA
CPC分类号： B60W30/09 , B60W10/18 , B60W10/20 , B60W30/095 , B62D15/0265 , G08G1/165 , G08G1/166 , G08G1/167 , B60W30/18172
摘要： Disclosed is a vehicle traveling controller that performs emergency evacuation traveling in the case of an emergency for proper traveling control. The vehicle traveling controller determines whether the vehicle traveling in accordance with a normal traveling rule is not dangerous and becomes proper traveling or not on the basis of environmental information around a vehicle (S18), when it is determined that the vehicle traveling in accordance with the normal traveling rule becomes proper traveling, executes normal traveling control for instructing the vehicle to travel in accordance with the normal traveling rule (S20), and when vehicle traveling in accordance with the normal traveling rule does not become proper traveling, executes emergency evacuation traveling control for instructing the vehicle to perform emergency evacuation traveling which is not in accordance with the normal traveling rule (S22). Therefore, emergency evacuation traveling with high safety can be performed, as compared with vehicle traveling in accordance with the normal traveling rule, so the safety of vehicle traveling can be improved.
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公开(公告)号：US20200238984A1
公开(公告)日：2020-07-30
申请号：US16851849
申请日：2020-04-17
发明人： Toshiki KINDO , Kazuaki ASO , Masahiro HARADA
摘要： Disclosed is a vehicle traveling controller that performs emergency evacuation traveling in the case of an emergency for proper traveling control. The vehicle traveling controller determines whether the vehicle traveling in accordance with a normal traveling rule is not dangerous and becomes proper traveling or not on the basis of environmental information around a vehicle (S18), when it is determined that the vehicle traveling in accordance with the normal traveling rule becomes proper traveling, executes normal traveling control for instructing the vehicle to travel in accordance with the normal traveling rule (S20), and when vehicle traveling in accordance with the normal traveling rule does not become proper traveling, executes emergency evacuation traveling control for instructing the vehicle to perform emergency evacuation traveling which is not in accordance with the normal traveling rule (S22). Therefore, emergency evacuation traveling with high safety can be performed, as compared with vehicle traveling in accordance with the normal traveling rule, so the safety of vehicle traveling can be improved.
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公开(公告)号：US20180334172A1
公开(公告)日：2018-11-22
申请号：US16050716
申请日：2018-07-31
发明人： Toshiki KINDO , Kazuaki ASO , Masahiro HARADA
IPC分类号： B60W40/072 , B60W40/076 , G05D1/02 , G08G1/16 , B60W30/095
CPC分类号： B60W40/072 , B60W30/0956 , B60W40/076 , G05D1/0214 , G05D1/024 , G05D1/0246 , G05D1/0257 , G05D1/027 , G05D1/0278 , G05D2201/0213 , G08G1/165 , G08G1/166
摘要： A method, an apparatus, and a program of predicting an obstacle course, capable of appropriately predicting a course of an obstacle even under a complicated traffic environment, are provided. The course, which the obstacle may take, is predicted based on the position and the internal state of the obstacle, and at the time of the prediction, a plurality of courses are probabilistically predicted for at least one obstacle. When there are a plurality of obstacles, the course in which different obstacles interfere with each other is obtained from the predicted courses, which a plurality of obstacles may take, and the predictive probability of the course for which the probabilistic prediction is performed from the courses in which they interfere with each other is lowered. Probability of realizing each of a plurality of courses including the course of which predicted probability is lowered is calculated.
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公开(公告)号：US20230125510A1
公开(公告)日：2023-04-27
申请号：US17963468
申请日：2022-10-11
发明人： Kazuaki ASO
摘要： A vehicle driving support device: sets a left limit line extending along a current lane and passing through a position distanced in a right direction from a left-side target by a predetermined distance as a left end line, and sets a right limit line extending along the current lane and passing through a position distanced in a left direction from a right-side target by a predetermined distance as a right end line; and sets a lane center line as a target traveling line when the lane center line is located between the right and left end lines, and sets a line closer to the lane center line as the target traveling line when the lane center line is not located between the right and left end lines, in a case where the left end line and the right end line are set in a left-to-right order.
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公开(公告)号：US20160244054A1
公开(公告)日：2016-08-25
申请号：US15142699
申请日：2016-04-29
发明人： Toshiki KINDO , Kazuaki ASO , Masahiro HARADA
IPC分类号： B60W30/09 , B60W10/20 , B60W10/18 , G05D1/00 , B60W30/095
CPC分类号： B60W30/09 , B60W10/18 , B60W10/20 , B60W30/095 , B60W30/18172 , B60W50/08 , B60W2040/0818 , B60W2540/00 , B60W2550/20 , B60W2710/18 , B60W2710/20 , B62D15/0265 , G05D1/0088 , G08G1/165 , G08G1/166 , G08G1/167
摘要： A vehicle traveling controller performs emergency evacuation traveling in the case of an emergency. The vehicle traveling controller determines whether a vehicle traveling in accordance with a normal traveling rule is not dangerous and becomes proper traveling or not based on environmental information around the vehicle, when it is determined that the vehicle traveling in accordance with the normal traveling rule becomes proper traveling, executes normal traveling control for instructing the vehicle to travel in accordance with the normal traveling rule, and when the vehicle traveling in accordance with the normal traveling rule does not become proper traveling, executes emergency evacuation traveling control for instructing the vehicle to perform emergency evacuation traveling not in accordance with the normal traveling rule. Therefore, emergency evacuation traveling with high safety can be performed, compared with vehicle traveling in accordance with the normal traveling rule, so safety of vehicle traveling can be improved.
摘要翻译： 车辆行驶控制器在紧急情况下执行紧急疏散行驶。 车辆行驶控制装置根据正常行驶规则，根据正常行驶规则行驶的车辆是否合适，判定根据正常行驶规则行驶的车辆是否不危险，并且基于车辆周围的环境信息变为适当行驶 执行正常行驶控制，指示车辆按照正常行驶规则行驶，当根据正常行驶规则行驶的车辆不适当行驶时，执行用于指示车辆执行紧急事故的紧急撤离行驶控制 撤离行驶不符合正常行驶规则。 因此，与根据正常行驶规则行驶的车辆相比，可以进行高安全性的紧急撤离行驶，可以提高车辆行驶的安全性。
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公开(公告)号：US20150307095A1
公开(公告)日：2015-10-29
申请号：US14690576
申请日：2015-04-20
发明人： Kazuaki ASO
IPC分类号： B60W30/12
CPC分类号： B60W30/12 , B60W30/095 , B60W30/0956 , B60W30/10
摘要： An apparatus for assisting in the driving of a vehicle determines, for a first vehicle, a first traveling track based on road infrastructure and a second traveling track based on the traveling track of a second vehicle that precedes the first vehicle. The apparatus stores information about the first traveling track and the second traveling track such that the deviation corresponds to the respective traveling positions of the vehicles. If a base for formation of a target track that the first vehicle is caused follow is switched between the first traveling track and the second traveling track when the apparatus forms this target track, the apparatus forms the target track based on the deviation information to decrease deviation between the first traveling track and the second traveling track.
摘要翻译： 用于辅助车辆驾驶的装置基于道路基础设施的第一行驶轨道和基于第一车辆之前的第二车辆的行驶轨迹确定第一行驶轨道。 该装置存储关于第一行驶轨道和第二行驶轨道的信息，使得偏差对应于车辆的各个行驶位置。 如果当装置形成该目标轨道时，在第一行驶轨道和第二行驶轨道之间切换用于形成第一车辆的目标轨道的形成基准，则该装置基于偏差信息形成目标轨道以减小偏差 在第一行进轨道和第二行驶轨道之间。
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9.发明申请OBJECT PATH PREDICTION METHOD, APPARATUS, AND PROGRAM, AND AUTOMATIC OPERATION SYSTEM 审中-公开对象路径预测方法，设备和程序以及自动操作系统公开(公告)号：US20140303883A1
公开(公告)日：2014-10-09
申请号：US14312028
申请日：2014-06-23
发明人： Kazuaki ASO , Toshiki KINDO
IPC分类号： G08G1/16
CPC分类号： G08G1/166 , B60W30/08 , B60W30/095 , B60W30/10 , B60W30/16 , B60W40/02 , B60W2550/306 , B60W2550/402 , G08G1/161 , G08G1/164 , G08G1/165 , G08G1/167
摘要： An object path prediction method, apparatus, and program and an automatic operation system that can secure safety even in situations that can actually occur are provided. For this purpose, a computer having a storage unit that stores the position of an object and the internal state including the speed of the object reads the position and internal state of the object from the storage unit, generates trajectories in a space-time consisting of time and space from changes of the positions that can be taken by the object with the passage of time based on the read position and internal state of the object, and predicts probabilistically paths of the object by using the generated trajectories.
摘要翻译： 提供了即使在实际发生的情况下也能够确保安全性的物体路径预测方法，装置和程序以及自动操作系统。 为此，具有存储物体的位置的存储单元和包含物体的速度的内部状态的计算机从存储单元读取物体的位置和内部状态，在由空间时间构成的时空中产生轨迹 基于对象的读取位置和内部状态，随着时间的推移，对象可以采取的位置的变化的时间和空间，并且通过使用所生成的轨迹来预测对象的概率路径。
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公开(公告)号：US20240239406A1
公开(公告)日：2024-07-18
申请号：US18501306
申请日：2023-11-03
发明人： Kazuaki ASO
IPC分类号： B62D6/00
CPC分类号： B62D6/003
摘要： The vehicle control device controls steering of the target vehicle. The vehicle control device sets a steering angle upper limit value, which is an upper limit value of the steering angle of the target vehicle that limits the lateral acceleration of the target vehicle to a predetermined lateral acceleration or less, based on the traveling state of the target vehicle, and controls the steering of the target vehicle so that the steering angle of the target vehicle becomes equal to or lower than the steering angle upper limit value.
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