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公开(公告)号：US20200180678A1
公开(公告)日：2020-06-11
申请号：US16321996
申请日：2017-07-28
申请人： DENSO CORPORATION
发明人： Daiji WATANABE , Hisaya AKATSUKA
IPC分类号： B62D5/04
摘要： A position prediction unit calculates a predicted position which is a position of the vehicle on the map at a certain point of time after the present time based on the map. An assist calculation unit calculates an assist control amount of the steering operation based on the road shape at the predicted position which can be identified from the map. An operation amount acquisition unit acquires an operation amount of the steering. An adjustment unit adjusts the assist control amount according to the operation amount.
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公开(公告)号：US20180304921A1
公开(公告)日：2018-10-25
申请号：US15958825
申请日：2018-04-20
申请人： DENSO CORPORATION
CPC分类号： B62D6/003 , B62D3/12 , B62D5/008 , B62D5/0463 , B62D15/022 , B62D15/025 , G05D1/0212
摘要： A steering assist apparatus on a vehicle is provided, including a steering drive unit that drives a steering apparatus; a steering control unit that executes an automatic steering mode in which the steering drive unit is controlled such that a turning angle is determined based on at least either a running state of the vehicle or road information to accomplish the determined turning angle; and a transmission ratio determining unit that determines, based on at least either a running state of the vehicle or the road information, a first transmission ratio in the automatic steering mode to be a value different from a second transmission ratio in a manual steering mode in which the steering apparatus operates in accordance with the steering angle inputted via a steering input apparatus.
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公开(公告)号：US20180304920A1
公开(公告)日：2018-10-25
申请号：US15958507
申请日：2018-04-20
申请人： DENSO CORPORATION
CPC分类号： B62D6/003 , B62D3/12 , B62D5/008 , B62D5/0463 , B62D15/022 , B62D15/025 , G05D1/0212
摘要： In a steering assistance apparatus mounted in a vehicle, a steering input device and a turning device differentiate at a transmission ratio that is a ratio of an amount of change in the turning angle to an amount of change in the steering angle. A turning device actuator actuates the turning device. A controller executes an automatic steering mode, in which the controller determines the turning angle based on at least one of a travel condition and travel path information of the vehicle and controls the turning device actuator so as to achieve the determined turning angle. If detecting an input variation from the steering input device during execution of the automatic steering mode, the controller changes the transmission ratio to a value less than the transmission ratio in the automatic steering mode and prioritizes a manual steering mode over the automatic steering mode.
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公开(公告)号：US20220306114A1
公开(公告)日：2022-09-29
申请号：US17656348
申请日：2022-03-24
发明人： Yoji KUNIHIRO , Takahiro KOJO , Hisaya AKATSUKA , Hirotaka TOKORO
摘要： A traveling control apparatus that allows lane changing due to a driver's steering intervention while continuing lane maintenance control includes an electronic control unit. The electronic control unit sets a target trace along a lane in which a vehicle is traveling, determines a target steering angle of the vehicle based on the target trace and a lateral position of the vehicle, applies control torque to a steering shaft of the vehicle based on the target steering angle, resets, in response to a change in the lateral position due to the driver's steering intervention which exceeds the control torque and entrance of the vehicle into an adjacent lane, the target trace to the adjacent lane, and determines, using a gradual changing function, in response to the resetting of the target trace, the target steering angle by changing the target steering angle at the time of the resetting.
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5.发明申请公开(公告)号：US20190232965A1
公开(公告)日：2019-08-01
申请号：US16330940
申请日：2017-09-06
申请人： DENSO CORPORATION
IPC分类号： B60W40/072 , B60W50/038 , G01S13/06 , B60W40/105
CPC分类号： B60W40/072 , B60T7/12 , B60T2230/04 , B60W40/076 , B60W40/105 , B60W50/038 , B60W2550/146 , B60W2550/402 , G01S13/06 , G08G1/16
摘要： A forward information acquisition unit acquires a road profile ahead of the own vehicle. A position acquisition unit acquires a current position of the own vehicle. A state acquisition unit acquires a current speed of the own vehicle. A command calculation unit calculates a target speed at each point on a road ahead of the own vehicle, based on the road profile and the current position, and calculates a drive command for driving the own vehicle in the longitudinal direction of the own vehicle, based on the target speed and the current speed. The road profile includes a road gradient. The command calculation unit is configured to adjust the drive command, based on variation in the road gradient and Gzmax that is an acceleration limit limiting acceleration of the own vehicle in the vertical direction.
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公开(公告)号：US20190054919A1
公开(公告)日：2019-02-21
申请号：US16080202
申请日：2017-02-27
申请人： DENSO CORPORATION
摘要： A driving mode switching device includes a determination section, a notification section, a detection section, and a control section. The determination section is configured to determine whether a state has occurred in which automatic driving needs to be terminated. The notification section is configured to notify a driver of the instruction for performing a switching operation as a predetermined operation of a vehicle in the case of determining, by the determination section, that the state has occurred in which the automatic driving needs to be terminated. The detection section is configured to detect the switching operation. The control section is configured to switch travelling from automatic driving to manual driving in the case of detecting the switching operation by the detection section.
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公开(公告)号：US20180362073A1
公开(公告)日：2018-12-20
申请号：US16007190
申请日：2018-06-13
申请人： DENSO CORPORATION
发明人： Yosuke HIRATE , Daiji WATANABE , Hisaya AKATSUKA
摘要： In a vehicle, an amount of change of a turning angle of a turning mechanism to an amount of change of a steering angle of a steering input device is defined as a transfer ratio, the turning mechanism is rotationally driven by a turning drive unit, and a driver's body posture parameter is detected by a body posture parameter detector. An apparatus for steering the vehicle includes a controller that executes an automatic steering mode that determines a target value for the turning angle of the turning mechanism based on a travelling condition of the vehicle and/or information about a road on which the vehicle is travelling, and controls the turning mechanism to adjust the turning angle of the turning mechanism to the target value. A transfer ratio adjuster adjusts the transfer ratio in accordance with the body posture parameter during execution of the automatic steering mode.
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公开(公告)号：US20220077802A1
公开(公告)日：2022-03-10
申请号：US17462225
申请日：2021-08-31
发明人： Shingo NITTA , Takahiro TOKO , Takahiro KOJO , Hisaya AKATSUKA
摘要： A control device controls a motor which includes a first stator coil and a second stator coil insulated from each other. The control device includes: a first drive circuit that is connected to the first stator coil; a second drive circuit that is connected to the second stator coil; a first processing circuit; and a second processing circuit. The first processing circuit increases an output of an integral element according to the number of control systems when the second processing circuit performs a process of switching a first use and operation process to a second use and operation process.
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公开(公告)号：US20220073134A1
公开(公告)日：2022-03-10
申请号：US17460748
申请日：2021-08-30
发明人： Shingo NITTA , Takahiro TOKO , Yoji KUNIHIRO , Takahiro KOJO , Hisaya AKATSUKA
摘要： A steering control device includes: a first calculator configured to calculate, according to a turning state, a first control amount for causing a motor to generate an assistance force; a second calculator configured to calculate a second control amount for adapting an actual angle to a target angle that is convertible into a turning angle of a steering wheel and generated when a host control device intervenes in steering control; and a third calculator configured to calculate, according to the turning state, a third control amount for offsetting the second control amount when the host control device intervenes in steering control.
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公开(公告)号：US20190135279A1
公开(公告)日：2019-05-09
申请号：US16167660
申请日：2018-10-23
发明人： Ryo IRIE , Yoji KUNIHIRO , Hisaya AKATSUKA
摘要： A driving assistance control system of a vehicle includes a needed information acquisition unit configured to acquire needed information for calculating a target path, a target path deciding unit configured to decide the target path based on the needed information, a vehicle traveling controller configured to perform a path following control for controlling a traveling device of the vehicle such that the vehicle follows the target path, and a system limit identification unit configured to identify a likelihood of reaching a system limit at which the path following control becomes unsuccessful. The system limit identification unit includes a determination model that learns a relationship between a plurality of vehicle feature amounts and the likelihood of reaching the system limit by machine learning in advance, and outputs an identification result of the likelihood of reaching the system limit corresponding to the input vehicle feature amounts using the determination model.
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