公开(公告)号：US20090024279A1

公开(公告)日：2009-01-22

申请号：US12174140

申请日：2008-07-16

申请人： Yuya TAKEDA ,  Takeshi Kimura ,  Taku Takahama ,  Tomoyuki Kashiwaya ,  Yukinori Nishida

发明人： Yuya TAKEDA ,  Takeshi Kimura ,  Taku Takahama ,  Tomoyuki Kashiwaya ,  Yukinori Nishida

IPC分类号： B62D6/00

CPC分类号： B62D15/025 ,  B60W50/16 ,  B62D5/006 ,  B62D6/008

摘要： The in-lane running support system includes a steering input device and a steering input detector. The in-lane running support system further comprises a reaction force device that changes a condition of the steering input device between a normal operation mode that provides a normal reaction force to the driver, and a hapthic operation mode that performs a notification operation to the driver, a turning output device that is in a state mechanically disconnected from the steering input device and that turns steerable wheels, and a turning output controller. A running state detecting device acquires information of a running state of the vehicle with respect to a lane. An in-lane running support device controls the turning output device and the haptic device based on the information of the running state such that the vehicle runs in the lane, and has a first control mode that controls the turning output control device and causes the reaction force device to operate in the normal operation mode, and a second control mode that controls the turning output control device and causes the reaction force device to operate in the haptic operation mode.

摘要翻译： 车内行驶支持系统包括转向输入装置和转向输入检测器。 车内行驶辅助系统还包括反作用力装置，其将转向输入装置的状态改变为向司机提供正常反作用力的正常操作模式和向驾驶员执行通知操作的触觉操作模式 转向输出装置，其处于与转向输入装置机械断开并转向可转向轮的状态和转向输出控制器。 运行状态检测装置获取关于车道的行驶状态的信息。 车内行驶辅助装置根据运行状态的信息来控制车削输出装置和触觉装置，使得车辆在车道中行驶，并且具有控制车削输出控制装置并引起反作用的第一控制模式 力装置在正常运行模式下运行，第二控制模式控制转向输出控制装置，并使反力装置在触觉操作模式下运行。

公开(公告)号：US08423246B2

公开(公告)日：2013-04-16

申请号：US12174140

申请日：2008-07-16

申请人： Yuya Takeda ,  Takeshi Kimura ,  Taku Takahama ,  Tomoyuki Kashiwaya ,  Yukinori Nishida

发明人： Yuya Takeda ,  Takeshi Kimura ,  Taku Takahama ,  Tomoyuki Kashiwaya ,  Yukinori Nishida

IPC分类号： B62D6/00 ,  B62D5/04

CPC分类号： B62D15/025 ,  B60W50/16 ,  B62D5/006 ,  B62D6/008

摘要： The in-lane running support system includes a steering input device and a steering input detector. The in-lane running support system further comprises a reaction force device that changes a condition of the steering input device between a normal operation mode that provides a normal reaction force to the driver, and a hapthic operation mode that performs a notification operation to the driver, a turning output device that is in a state mechanically disconnected from the steering input device and that turns steerable wheels, and a turning output controller. A running state detecting device acquires information of a running state of the vehicle with respect to a lane. An in-lane running support device controls the turning output device and the haptic device based on the information of the running state such that the vehicle runs in the lane, and has a first control mode that controls the turning output control device and causes the reaction force device to operate in the normal operation mode, and a second control mode that controls the turning output control device and causes the reaction force device to operate in the haptic operation mode.

摘要翻译： 车内行驶支持系统包括转向输入装置和转向输入检测器。 车内行驶辅助系统还包括反作用力装置，其将转向输入装置的状态改变为向司机提供正常反作用力的正常操作模式和向驾驶员执行通知操作的触觉操作模式 转向输出装置，其处于与转向输入装置机械断开并转向可转向轮的状态和转向输出控制器。 运行状态检测装置获取关于车道的行驶状态的信息。 车内行驶辅助装置根据运行状态的信息来控制车削输出装置和触觉装置，使得车辆在车道中行驶，并且具有控制车削输出控制装置并引起反作用的第一控制模式 力装置在正常运行模式下运行，第二控制模式控制转向输出控制装置，并使反力装置在触觉操作模式下运行。

公开(公告)号：US08359155B2

公开(公告)日：2013-01-22

申请号：US12710504

申请日：2010-02-23

申请人： Takeshi Kimura ,  Genpei Naito ,  Tomohiro Yamamura ,  Satoshi Tange ,  Taku Suzuki ,  Yosuke Kobayashi ,  Toshiyuki Murata ,  Tomoyuki Kashiwaya ,  Yuya Takeda

发明人： Takeshi Kimura ,  Genpei Naito ,  Tomohiro Yamamura ,  Satoshi Tange ,  Taku Suzuki ,  Yosuke Kobayashi ,  Toshiyuki Murata ,  Tomoyuki Kashiwaya ,  Yuya Takeda

IPC分类号： F41G9/00 ,  G06F7/00 ,  G06F7/70 ,  G06F17/10 ,  B60T7/12 ,  B60T7/16 ,  G05D1/02 ,  B60Q1/00 ,  G08G1/16 ,  B60K31/00

CPC分类号： B62D15/025 ,  B60W30/025 ,  B60W2520/10 ,  B60W2530/14 ,  B60W2550/308

摘要： A motor vehicle includes a vehicle driving operation support system. The vehicle driving operation support system senses an environment surrounding the motor vehicle; senses a traveling condition of the motor vehicle; calculates a risk potential of the motor vehicle on a basis of the sensed environment and the sensed traveling condition; controls the motor vehicle on a basis of a control setpoint. The vehicle driving operation support system sets on a basis of the calculated risk potential the control setpoint to a provisional setpoint effective for reducing the risk potential; senses driver's operation in reaction to the controlling operation with the control setpoint set to the provisional setpoint; and sets the control setpoint to a normal setpoint on a basis of the sensed driver's operation.

摘要翻译： 机动车辆包括车辆驾驶操作支撑系统。 车辆驾驶操作支持系统感测机动车辆周围的环境; 感觉机动车辆的行驶状况; 根据感测到的环境和感测到的行驶状况计算机动车辆的潜在风险; 在控制设定点的基础上控制机动车辆。 车辆驾驶操作支持系统基于所计算的风险潜力将控制设定点设置为有效降低风险潜力的临时设定点; 通过将控制设定值设定为临时设定值来感测驾驶员对控制操作的操作; 并且基于感测到的驾驶员的操作将控制设定值设定为正常设定值。

公开(公告)号：US20110015850A1

公开(公告)日：2011-01-20

申请号：US12920733

申请日：2008-12-10

申请人： Satoshi Tange ,  Takeshi Kimura ,  Yuya Takeda ,  Yukinori Nishida

发明人： Satoshi Tange ,  Takeshi Kimura ,  Yuya Takeda ,  Yukinori Nishida

IPC分类号： G06F7/00

CPC分类号： B62D15/025 ,  B60T8/17557 ,  B60W30/12

摘要： Lateral displacement reference positions LXL, LXR are set on left and right from a center in a width direction of a traffic lane L where a vehicle travels. Then, at least in a case where the vehicle is positioned on an inner side of the left and right lateral displacement reference position LXL, LXR, the vehicle is feedback-controlled so as to decrease a yaw angle deviation. Further, in a case where the vehicle is positioned at an outer side of the left and right lateral displacement reference position LXL, LXR with respect to the traffic lane center, the feedback control is performed so as to decrease the angle deviation and a lateral displacement deviation.

摘要翻译： 横向位移基准位置LXL，LXR从车辆行驶的行车道L的宽度方向的中心的左右方向设定。 然后，至少在车辆位于左右横向位移基准位置LXL，LXR的内侧的情况下，对车辆进行反馈控制，以减少偏航角偏差。 此外，在车辆位于相对于行车道中心的左右横向位移基准位置LXL，LXR的外侧的情况下，进行反馈控制，以减小角度偏差和横向位移 偏差。

公开(公告)号：US08457868B2

公开(公告)日：2013-06-04

申请号：US12920733

申请日：2008-12-10

申请人： Satoshi Tange ,  Takeshi Kimura ,  Yuya Takeda ,  Yukinori Nishida

发明人： Satoshi Tange ,  Takeshi Kimura ,  Yuya Takeda ,  Yukinori Nishida

IPC分类号： G06F7/00

CPC分类号： B62D15/025 ,  B60T8/17557 ,  B60W30/12

摘要： Lateral displacement reference positions LXL, LXR are set on left and right from a center in a width direction of a traffic lane L where a vehicle travels. Then, at least in a case where the vehicle is positioned on an inner side of the left and right lateral displacement reference position LXL, LXR, the vehicle is feedback-controlled so as to decrease a yaw angle deviation. Further, in a case where the vehicle is positioned at an outer side of the left and right lateral displacement reference position LXL, LXR with respect to the traffic lane center, the feedback control is performed so as to decrease the angle deviation and a lateral displacement deviation.

摘要翻译： 横向位移基准位置LXL，LXR从车辆行驶的行车道L的宽度方向的中心的左右方向设定。 然后，至少在车辆位于左右横向位移基准位置LXL，LXR的内侧的情况下，对车辆进行反馈控制，以减少偏航角偏差。 此外，在车辆相对于行车道中心位于左右横向位移基准位置LXL，LXR的外侧的情况下，进行反馈控制，以减小角度偏差和横向位移 偏差。

公开(公告)号：US07542835B2

公开(公告)日：2009-06-02

申请号：US10981709

申请日：2004-11-05

申请人： Taku Takahama ,  Takeshi Kimura

发明人： Taku Takahama ,  Takeshi Kimura

IPC分类号： G06F17/00

CPC分类号： G01C21/26 ,  G06K9/00805 ,  G06K9/3241 ,  G06K2209/23 ,  G06T7/70

摘要： A vehicle image processing device is configured and arranged to capture an image of an area in front of a host vehicle in which the vehicle image processing device is installed and process only a small portion of the captured image to determine if an actual preceding vehicle is present in front of the host vehicle based on behavior information of the host vehicle. Based on the behavior information of the vehicle, the vehicle image processing device estimates a potential preceding vehicle position in front of the host vehicle. Then, based on the predicted potential preceding vehicle position, the vehicle image processing device sets an image processing region of the image captured. The vehicle image processing device then processes the image within only the image processing region top detect if an actual preceding vehicle is present in front of the host vehicle.

摘要翻译： 车辆图像处理装置被配置和布置成捕获其中安装有车辆图像处理装置的主车辆前方的区域的图像，并且仅处理所捕获图像的一小部分，以确定是否存在实际的前方车辆 基于主车辆的行为信息在主车辆前方。 基于车辆的行为信息，车辆图像处理装置估计本车辆前方的潜在的前方车辆位置。 然后，车辆图像处理装置基于车辆前方预测的位置，设定拍摄图像的图像处理区域。 然后，车辆图像处理装置仅在图像处理区域顶部处理图像，检测在主车辆前方是否存在实际的前方车辆。

公开(公告)号：US07532109B2

公开(公告)日：2009-05-12

申请号：US11490085

申请日：2006-07-21

申请人： Taku Takahama ,  Takeshi Kimura

发明人： Taku Takahama ,  Takeshi Kimura

IPC分类号： B60Q1/00

CPC分类号： G01S17/936 ,  B60T2201/02 ,  G01S17/023 ,  G01S2013/9346 ,  G01S2013/9353 ,  G08G1/166 ,  G08G1/167

摘要： A vehicle obstacle verification system and method is provided to improve the precision in which preceding objects are identified as being a potential obstacle to a host vehicle. The obstacle verification system (1, 2) uses at least two verification methods to make preliminary determinations as to whether a preceding object will become an obstacle in the future. The obstacle verification system (1, 2) also determines the precision of the verification results obtained with each of the verification methods. Additionally, the obstacle verification system (1, 2) calculates a verification result obtained using a verification method tailored to the traveling scene, the calculation being based on the verification results obtained using the plurality of verification methods, and makes a final determination as to whether the preceding object will become an obstacle based on the calculated verification result and the previously determined precisions.

摘要翻译： 提供车辆障碍物验证系统和方法，以提高将先前对象识别为对主车辆的潜在障碍的精度。 障碍物验证系统（1,2）至少使用两种验证方法对以前的物体是否成为未来的障碍进行初步确定。 障碍物验证系统（1,2）还确定了每种验证方法获得的验证结果的精度。 此外，障碍物验证系统（1,2）计算使用针对行驶场景定制的验证方法获得的验证结果，该计算是基于使用多种验证方法获得的验证结果，并且最终确定是否 基于计算的验证结果和先前确定的精度，前一对象将成为障碍物。

公开(公告)号：US07266454B2

公开(公告)日：2007-09-04

申请号：US10878391

申请日：2004-06-29

申请人： Taku Takahama ,  Takeshi Kimura

发明人： Taku Takahama ,  Takeshi Kimura

IPC分类号： G06G7/78

CPC分类号： G01S17/936 ,  G01S17/87

摘要： In obstacle detection apparatus and method for an automotive vehicle, an image fetching section fetches a situation of a forward detection zone in a form of an image, a noticeable object outputting section outputs a positional information of an object to be noticeable for the vehicle, and an image processing section performs an image processing for a region of the image fetching section on the basis of an output of the noticeable object outputting section to detect the object, the image processing section including a first technique mainly to detect the position of the object and a second technique mainly to track the object, the second technique detecting the object when the object detection by means of the first technique becomes not enabled to be carried out.

摘要翻译： 在机动车辆的障碍物检测装置和方法中，图像取出部以图像的形式取出正向检测区域的情况，显着对象输出部输出车辆的显着对象的位置信息， 图像处理部分基于显着对象输出部分的输出对图像获取部分的区域进行图像处理以检测对象，图像处理部分包括主要检测对象位置的第一技术，以及 主要追踪对象的第二种技术，当通过第一技术的对象检测不能被执行时检测对象的第二技术。

公开(公告)号：US20060002587A1

公开(公告)日：2006-01-05

申请号：US11171396

申请日：2005-07-01

申请人： Taku Takahama ,  Takeshi Kimura ,  Naotaka Usui

发明人： Taku Takahama ,  Takeshi Kimura ,  Naotaka Usui

IPC分类号： G06K9/00 ,  B60R22/00 ,  B60Q1/00

CPC分类号： B60R1/00 ,  G01S17/936 ,  G08G1/166 ,  G08G1/167

摘要： An image processing system includes an image sensor that picks up a front-view image in front of an own vehicle. Image processing regions are set to cover on the front-view image, picked up by the image sensor, various portions one after another, which narrow, in area, with different positions in a direction remote from the own vehicle. A feature is extracted out of image processing a portion of the front-view image covered by the image processing regions. The extracted feature is used for vehicle detection.

公开(公告)号：US07623680B2

公开(公告)日：2009-11-24

申请号：US11171396

申请日：2005-07-01

申请人： Taku Takahama ,  Takeshi Kimura ,  Naotaka Usui

发明人： Taku Takahama ,  Takeshi Kimura ,  Naotaka Usui

IPC分类号： G06K9/00

CPC分类号： B60R1/00 ,  G01S17/936 ,  G08G1/166 ,  G08G1/167

摘要： An image processing system includes an image sensor that picks up a front-view image in front of an own vehicle. Image processing regions are set to cover on the front-view image, picked up by the image sensor, various portions one after another, which narrow, in area, with different positions in a direction remote from the own vehicle. A feature is extracted out of image processing a portion of the front-view image covered by the image processing regions. The extracted feature is used for vehicle detection.

摘要翻译： 图像处理系统包括拍摄本车辆前方的前视图像的图像传感器。 图像处理区域被设置为覆盖由图像传感器拾取的前视图像，各个部分彼此相邻，其在远离本车辆的方向上以不同的位置缩小。 从由图像处理区域覆盖的前视图像的一部分的图像处理中提取特征。 提取的特征用于车辆检测。