公开(公告)号：US09020749B2

公开(公告)日：2015-04-28

申请号：US13926395

申请日：2013-06-25

申请人： Kazuaki Aso ,  Toshiki Kindo ,  Masahiro Harada

发明人： Kazuaki Aso ,  Toshiki Kindo ,  Masahiro Harada

IPC分类号： G05D1/02 ,  B60T7/12 ,  G06F19/00 ,  G06G7/78 ,  G06F17/10 ,  B60Q1/00 ,  G08G1/16 ,  G08G1/00 ,  G01S3/02 ,  G01S13/72 ,  G01S13/93

CPC分类号： G08G1/166 ,  G01S13/726 ,  G01S2013/9353 ,  G08G1/16

摘要： A host-vehicle risk acquisition device includes a host-vehicle path acquisition portion that acquires a path of a host-vehicle, and an obstacle path acquisition portion that acquires a plurality of paths of an obstacle existing around the host-vehicle. A collision risk acquisition portion acquires an actual collision risk, which is a collision risk between the host-vehicle and the obstacle when the host-vehicle is in a travel state based on the path of the host-vehicle and the plurality of paths of the obstacle. An offset risk acquisition portion acquires an offset risk, which is a collision risk between the host-vehicle and the obstacle in an offset travel state, which is offset from the travel state of the host-vehicle.

摘要翻译： 主机车辆风险获取装置包括获取主车辆的路径的主车辆路径获取部分和获取主机周围存在的障碍物的多条路径的障碍物路径获取部分。 碰撞风险获取部分基于主机车辆的路径和主车辆的路径，当主车辆处于行驶状态时，获取作为主机与障碍物之间的碰撞风险的实际碰撞风险 障碍。 偏移风险获取部获取偏移风险，该偏移风险是偏移行驶状态下的主车辆与障碍物之间的碰撞风险，该偏移风险偏离主车辆的行驶状态。

公开(公告)号：US20110313664A1

公开(公告)日：2011-12-22

申请号：US13148507

申请日：2010-02-05

申请人： Katsuhiro Sakai ,  Kazuaki Aso ,  Masahiro Harada ,  Toshiki Kindo

发明人： Katsuhiro Sakai ,  Kazuaki Aso ,  Masahiro Harada ,  Toshiki Kindo

IPC分类号： B60W30/08 ,  B60W40/00

CPC分类号： B60W40/02 ,  B60W30/08

摘要： A movement region prediction apparatus includes a mobile body detection device that detects a mobile body around a host vehicle; a prediction device that predicts a movement region of the detected mobile body; and a degree-of-normality acquisition device that acquires degree of normality of a situation of movement of the detected mobile body. The prediction device has a plurality of movement prediction models for predicting the movement region of the mobile body, and selects a movement prediction model from the plurality of movement prediction models based on the degree of normality acquired by the degree-of-normality acquisition device, and predicts the movement region of the mobile body using the selected movement prediction model.

摘要翻译： 运动区域预测装置包括：移动体检测装置，其检测主车辆周围的移动体; 预测装置，其预测检测到的移动体的移动区域; 以及获取检测到的移动体的移动状态的正常程度的正常度采集装置。 预测装置具有用于预测移动体的移动区域的多个运动预测模型，并且基于由正常度采集装置获取的正常程度从多个运动预测模型中选择运动预测模型， 并且使用所选择的运动预测模型来预测移动体的运动区域。

公开(公告)号：US10065650B2

公开(公告)日：2018-09-04

申请号：US12312195

申请日：2007-11-12

申请人： Toshiki Kindo ,  Kazuaki Aso ,  Masahiro Harada

发明人： Toshiki Kindo ,  Kazuaki Aso ,  Masahiro Harada

IPC分类号： G05D1/02 ,  B60W40/072 ,  B60W40/076 ,  G08G1/16 ,  B60W30/095

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. For this purpose, 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.

公开(公告)号：US09352779B2

公开(公告)日：2016-05-31

申请号：US12738644

申请日：2008-10-14

申请人： Toshiki Kindo ,  Kazuaki Aso ,  Masahiro Harada

发明人： Toshiki Kindo ,  Kazuaki Aso ,  Masahiro Harada

IPC分类号： B60R21/00 ,  B62D15/02 ,  G08G1/16 ,  B60W30/18 ,  B60W50/08 ,  B60W40/08

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。

公开(公告)号：US20130261952A1

公开(公告)日：2013-10-03

申请号：US13877337

申请日：2010-10-05

申请人： Kazuaki Aso ,  Toshiki Kindo ,  Katsuhiro Sakai ,  Masahiro Harada

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.

摘要翻译： 碰撞确定装置基于由最短到达时间计算单元计算的最短到达时间和由车辆路线候选者获取的本车辆的每个点处的通过时间来确定主车辆与另一物体之间的碰撞的可能性 采购单位。 以这种方式，即使不产生由另一物体拍摄的轨迹，也可以计算其他物体能够以预定的第一位移到达本车辆的路线候补的各点的最短到达时间，由此 确定本车和另一物体之间的碰撞的可能性。 因此，可以减少用于确定碰撞的计算负荷并且准确地确定主车辆与另一物体之间的碰撞。

公开(公告)号：US08515659B2

公开(公告)日：2013-08-20

申请号：US12514539

申请日：2008-03-26

申请人： Toshiki Kindo ,  Kazuaki Aso ,  Masahiro Harada

发明人： Toshiki Kindo ,  Kazuaki Aso ,  Masahiro Harada

IPC分类号： G05D23/00

CPC分类号： G08G1/166 ,  G08G1/167

摘要： An own vehicle risk acquiring ECU 1 acquires a predicted track of an own vehicle and calculates and acquires a plurality of tracks of the other vehicle about the own vehicle. According to the predicted track of the own vehicle and the plurality of tracks of the other vehicle, a collision probability of the own vehicle is calculated as a collision possibility.

摘要翻译： 本车辆风险获取ECU1获取本车辆的预测轨道，并计算并获取其他车辆的关于本车辆的多条轨迹。 根据本车辆和其他车辆的多个轨道的预测轨迹，计算出本车辆的碰撞概率为碰撞可能性。

公开(公告)号：US20120072104A1

公开(公告)日：2012-03-22

申请号：US13321159

申请日：2010-06-08

申请人： Katsuhiro Sakai ,  Hiromitsu Urano ,  Kazuaki Aso ,  Masahiro Harada ,  Toshiki Kindo

发明人： Katsuhiro Sakai ,  Hiromitsu Urano ,  Kazuaki Aso ,  Masahiro Harada ,  Toshiki Kindo

IPC分类号： G01C21/00

CPC分类号： B60W30/09 ,  B60W30/095 ,  B60W30/0953 ,  B60W30/0956 ,  B60W30/10 ,  B60W30/18 ,  B60W30/20 ,  B60W2550/10 ,  B60W2550/20 ,  G01C21/26 ,  G08G1/096725 ,  G08G1/09675 ,  G08G1/096791 ,  G08G1/162 ,  G08G1/163 ,  G08G1/166 ,  G08G1/167

摘要： Disclosed is a route evaluation device that enables traveling along a route in consideration of an operation of the driver of another vehicle, and can realize a safer traffic environment. A route evaluation device includes a route candidate generation section that generates route candidates of a host-vehicle, a route prediction section that predicts routes of another vehicle, a classification section that classifies the interference states of the route candidates of the host-vehicle and the predicted routes of another vehicle into a plurality of interference forms, and a route evaluation section that evaluates the routes of the host-vehicle on the basis of the interference forms classified by the classification section.

摘要翻译： 公开了一种能够考虑到另一车辆的驾驶员的操作而沿着路线行驶的路线评价装置，能够实现更安全的交通环境。 路线评价装置包括：生成主车辆的路线候补的路线候补生成部，预测其他车辆的路线的路线预测部;对本车辆的路线候补的干扰状态进行分类的分类部; 将另一车辆的路线预测为多个干扰形式，以及路线评估部，其基于由分类部分分类的干扰形式来评估主机车辆的路线。

公开(公告)号：US20100217476A1

公开(公告)日：2010-08-26

申请号：US12738644

申请日：2008-10-14

申请人： Toshiki Kindo ,  Kazuaki Aso ,  Masahiro Harada

发明人： Toshiki Kindo ,  Kazuaki Aso ,  Masahiro Harada

IPC分类号： B60R21/00 ,  G08G1/16

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。

公开(公告)号：US20100121576A1

公开(公告)日：2010-05-13

申请号：US12452395

申请日：2008-07-10

申请人： Kazuaki Aso ,  Toshiki Kindo ,  Masahiro Harada

发明人： Kazuaki Aso ,  Toshiki Kindo ,  Masahiro Harada

IPC分类号： G08G1/16

CPC分类号： G08G1/166 ,  G01S13/726 ,  G01S2013/9353 ,  G08G1/16

摘要： A host-vehicle risk acquisition device includes a host-vehicle path acquisition portion that acquires a path of a host-vehicle, and an obstacle path acquisition portion that acquires a plurality of paths of an obstacle existing around the host-vehicle. A collision risk acquisition portion acquires an actual collision risk, which is a collision risk between the host-vehicle and the obstacle when the host-vehicle is in a travel state based on the path of the host-vehicle and the plurality of paths of the obstacle. An offset risk acquisition portion acquires an offset risk, which is a collision risk between the host-vehicle and the obstacle in an offset travel state, which is offset from the travel state of the host-vehicle.

摘要翻译： 主机车辆风险获取装置包括获取主车辆的路径的主车辆路径获取部分和获取主机周围存在的障碍物的多条路径的障碍物路径获取部分。 碰撞风险获取部分基于主机车辆的路径和主车辆的路径，当主车辆处于行驶状态时，获取作为主机与障碍物之间的碰撞风险的实际碰撞风险 障碍。 偏移风险获取部获取偏移风险，该偏移风险是偏移行驶状态下的主车辆与障碍物之间的碰撞风险，该偏移风险偏离主车辆的行驶状态。

公开(公告)号：US08401784B2

公开(公告)日：2013-03-19

申请号：US12814582

申请日：2010-06-14

申请人： Toshiki Kindo ,  Kazuaki Aso ,  Katsuhiro Sakai

发明人： Toshiki Kindo ,  Kazuaki Aso ,  Katsuhiro Sakai

IPC分类号： F41G9/00 ,  G06F17/10 ,  G06G7/78

CPC分类号： G08G1/166

摘要： A course evaluation that evaluates a course of a mobile unit includes: generating a predetermined first course of the mobile unit; generating, for the first course, a second course for which a controlled amount of the mobile unit after a predetermined driving condition is satisfied is increased as compared with a controlled amount of the mobile unit on the first course; estimating another object course, which is a course of another object; determining whether the second course interferes with the other object course; and evaluating a degree of safety of the first course on the basis of a result of determination as to whether the second course interferes with the other object course.

摘要翻译： 评估移动单元的课程的课程评估包括：生成移动单元的预定的第一课程; 在第一课程中，与在第一课程上的移动单元的受控量相比，增加了在满足预定驾驶条件之后的可移动单元的受控量的第二课程; 估计另一个对象课程，这是另一个对象的过程; 确定第二个课程是否干扰另一个课程; 并且基于第二过程是否干扰另一个对象过程的确定结果来评估第一课程的安全程度。