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公开(公告)号：US20160090100A1
公开(公告)日：2016-03-31
申请号：US14856434
申请日：2015-09-16
发明人： Hajime OYAMA , Masato MIZOGUCHI , Yasushi TAKASO , Koji MATSUNO , Shiro EZOE , Satoru AKIYAMA , Eiichi SHIRAISHI , Takayuki NAGASE , Harunobu HORIGUCHI
CPC分类号： B60W50/0225 , B60W10/18 , B60W10/184 , B60W10/20 , B60W30/12 , B60W50/029 , B60W2050/0215 , B60W2050/022 , B60W2050/0297 , B60W2540/18 , B60W2720/14 , B62D15/025
摘要： During a self-driving control, when an acquisition failure occurs in traveling environment information acquisition required for performing self-driving, and a failure of a steering system of a vehicle equipped with the vehicle driving control apparatus is detected, a brake controller sets an evacuation course along which the vehicle is to travel safely within traveling environment, based on traveling environment information detected last time before the acquisition failure of the traveling environment information, and executes a deceleration of the vehicle and a yaw brake control that applies a yaw moment to the vehicle based on the evacuation course.
摘要翻译： 在自行驾驶控制中，当检测到执行自行车所需的行驶环境信息获取中发生获取失败，并且检测到配备有车辆驾驶控制装置的车辆的转向系统的故障时，制动控制器设置撤离 基于行驶环境信息的取得失败之前的上次检测到的行驶环境信息，车辆在行驶环境内安全行驶的路线，并执行车辆的减速度，以及将偏航力矩施加到 基于疏散课程的车辆。
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公开(公告)号：US20160121906A1
公开(公告)日：2016-05-05
申请号：US14928943
申请日：2015-10-30
发明人： Koji MATSUNO , Hajime OYAMA , Yasushi TAKASO , Masato MIZOGUCHI , Harunobu HORIGUCHI , Takayuki NAGASE , Eiichi SHIRAISHI , Shiro EZOE , Satoru AKIYAMA
CPC分类号： B60K28/10 , B60W2050/0215 , B62D6/00 , G05D1/0061 , G05D1/0088 , G05D1/0214
摘要： In a travel control apparatus for a vehicle, a travel environment information acquisition unit acquires travel environment information, and a travel information detector detects travel information relating to the vehicle. The apparatus executes automatic driving control based on such information pieces. A vehicle peripheral object detector detects an object around the vehicle, separately to the travel environment information acquisition unit. An environment information acquisition failure detector detects an acquisition failure in the travel environment information acquisition unit. Upon an acquisition failure of the travel environment information, an evacuation controller executes evacuation control by evacuating the vehicle to the roadside through automatic driving based on the travel environment information detected most recently before the acquisition failure and the travel information, and activates the vehicle peripheral object detector and, when an object is detected on the periphery around the vehicle, executes the evacuation control.
摘要翻译： 在车辆行驶控制装置中，行驶环境信息取得部获取行驶环境信息，行驶信息检测部检测与车辆有关的行驶信息。 该装置基于这些信息执行自动驾驶控制。 车辆周边物体检测器与行驶环境信息获取单元分开地检测车辆周围的物体。 环境信息获取失败检测器检测旅行环境信息获取单元中的获取失败。 当旅行环境信息获取失败时，撤离控制器通过基于在获取失败之前检测到的旅行环境信息和旅行信息通过自动驾驶将车辆撤离到路边，执行撤离控制，并且激活车辆周边物体 检测器，并且当在车辆周围的周边检测到物体时，执行撤离控制。
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公开(公告)号：US20150360721A1
公开(公告)日：2015-12-17
申请号：US14741240
申请日：2015-06-16
发明人： Koji MATSUNO , Harunobu HORIGUCHI , Shiro EZOE , Takayuki NAGASE , Hajime OYAMA , Yasushi TAKASO , Masato MIZOGUCHI
CPC分类号： B62D15/0255 , B60W30/18163 , B60W2550/142 , B60W2550/30 , B60W2720/106
摘要： A travel control apparatus for a vehicle detects a vehicle to be passed that is a target of passing and is in front of the vehicle equipped with the apparatus in the traveling lane thereof, detects a parallel traveling vehicle that is traveling in a lane that is adjacent to a lane to which the vehicle performs lane changing to pass the vehicle to be passed and is located on the opposite side of the lane which the vehicle to be passed is traveling, monitors the vehicle to be passed and the parallel traveling vehicle, and variably controls a passing maneuver with respect to the vehicle to be passed on the basis of a monitoring result.
摘要翻译： 车辆行驶控制装置检测作为通过对象的目标车辆，并且在配备有行驶车道的装置的车辆的前方检测在相邻的车道中行驶的平行行驶车辆 车辆进行车道改变的车道通过要通过的车辆，并且位于待通过车辆行驶的车道的相对侧，监视要通过的车辆和平行行驶车辆，并且可变地 根据监控结果控制相对于要通过的车辆的通过机动。
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公开(公告)号：US20170225686A1
公开(公告)日：2017-08-10
申请号：US15381225
申请日：2016-12-16
发明人： Yasushi TAKASO , Hajime OYAMA
IPC分类号： B60W30/18 , B60W10/184 , B60W10/20 , G08G1/0967 , B60W30/165 , B60W50/14 , G05D1/02 , G08G1/16 , B60W10/06 , B60W30/12
CPC分类号： B60W30/18163 , B60W10/06 , B60W10/184 , B60W10/20 , B60W30/12 , B60W30/165 , B60W50/14 , B60W2050/146 , B60W2550/22 , B60W2550/30 , B60W2710/20 , B60W2720/10 , B62D15/00 , B62D15/025 , B62D15/026 , G01S2013/9321 , G01S2013/9325 , G01S2013/9342 , G01S2013/9346 , G01S2013/935 , G01S2013/9353 , G01S2013/936 , G01S2013/9364 , G01S2013/9367 , G05D1/0212 , G05D1/0219 , G05D1/0287 , G05D2201/0213 , G06K9/00798 , G08G1/0962 , G08G1/096708 , G08G1/167
摘要： A vehicle traveling control apparatus includes an obtaining unit, a detector, and a controller. The obtaining unit obtains traveling environment information. The traveling environment information includes at least lane line information of a lane along which an own vehicle travels and preceding vehicle information. The detector detects traveling information of the own vehicle. The controller performs a steering control on a basis of the traveling environment information and the traveling information. When the obtaining unit obtains only the lane line information and when the obtaining unit obtains both the lane line information and the preceding vehicle information, the controller performs the steering control on a basis of the lane line information.
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公开(公告)号：US20170158238A1
公开(公告)日：2017-06-08
申请号：US15369288
申请日：2016-12-05
CPC分类号： B62D15/026 , B60W30/10 , G05D1/0246 , G05D2201/0213
摘要： A vehicle traveling control apparatus includes a first setting unit and a correcting unit. The control target point setting unit sets a set position of a preceding vehicle ahead of an own vehicle in a vehicle width direction as a control target point of follow-up traveling for traveling while following the preceding vehicle. The steering control amount correcting unit corrects, on a basis of deviation between a target steering angle that brings the own vehicle to the control target point and an actual steering angle, an amount of a steering control that controls the own vehicle to the target steering angle which is a steering angle that brings the own vehicle to the control target point.
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公开(公告)号：US20160355212A1
公开(公告)日：2016-12-08
申请号：US15157057
申请日：2016-05-17
发明人： Yasushi TAKASO , Takashi KUBO
CPC分类号： B60W30/12 , B62D1/28 , B62D15/025
摘要： A vehicle steering control apparatus includes a target course setter, a first control quantity calculator, a second control quantity calculator, a control rate variator, and a steering controller. The target course setter sets, based on forward environment information, a target course to be travelled by an own vehicle. The first control quantity calculator calculates a first control quantity that allows the own vehicle to travel along the target course. The second control quantity calculator calculates a second control quantity based on a steering angle. The control rate variator variably sets, in accordance with a vehicle speed, a first rate of the first control quantity and a second rate of the second control quantity. The steering controller calculates a steering control quantity, based on the first control quantity corrected based on the first rate and the second control quantity corrected based on the second rate, and executes a steering control.
摘要翻译： 车辆转向控制装置包括目标路线设定器，第一控制量计算器，第二控制量计算器，控制率变换器和转向控制器。 目标课程设定者根据前进环境信息设定由本车辆行驶的目标路线。 第一控制量计算器计算允许本车辆沿着目标行程行进的第一控制量。 第二控制量计算器基于转向角计算第二控制量。 控制速率变换器根据车速可变地设定第一控制量的第一速率和第二控制量的第二速率。 转向控制器基于基于第一速率校正的第一控制量和基于第二速率校正的第二控制量来计算转向控制量，并执行转向控制。
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公开(公告)号：US20160362113A1
公开(公告)日：2016-12-15
申请号：US15171602
申请日：2016-06-02
发明人： Yasushi TAKASO
CPC分类号： B60W40/08 , B60W10/18 , B60W10/20 , B60W2540/18 , B60W2540/22 , B60W2550/10 , B60W2720/24 , B60W2750/40 , G05D1/0055 , G05D1/0246 , G05D1/0255 , G05D1/0257 , G05D2201/0213
摘要： A vehicle traveling control apparatus includes a first information obtaining unit, a second information obtaining unit, a traveling controller, a detector, and a calculator. The first information obtaining unit obtains information on a traveling environment of an own vehicle as traveling environment information. The second information obtaining unit obtains information on traveling of the own vehicle as traveling information. The traveling controller performs an evacuation traveling control, based on the traveling environment information and the traveling information. The evacuation traveling control causes an evacuation traveling of the own vehicle to be executed. The detector detects an abnormal state of a driver of the own vehicle. The calculator calculates waiting time during which waiting is performed from the detection of the abnormal state of the driver to starting of the evacuation traveling control, when the abnormal state of the driver is detected by the detector.
摘要翻译： 车辆行驶控制装置包括第一信息获取单元，第二信息获取单元，行驶控制器，检测器和计算器。 第一信息获取单元获取关于本车辆的行驶环境的信息作为旅行环境信息。 第二信息取得部获取作为旅行信息的本车辆的行驶信息。 行驶控制器根据行驶环境信息和行驶信息进行疏散行驶控制。 撤离行驶控制使得本车辆的撤离行驶被执行。 检测器检测到本车辆的驾驶员的异常状态。 当检测器检测到驾驶员的异常状态时，计算器计算从驾驶员的异常状态的检测到撤离行驶控制的开始进行等待的等待时间。
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公开(公告)号：US20150375748A1
公开(公告)日：2015-12-31
申请号：US14738854
申请日：2015-06-13
发明人： Takayuki NAGASE , Koji MATSUNO , Shiro EZOE , Harunobu HORIGUCHI , Hajime OYAMA , Yasushi TAKASO , Masato MIZOGUCHI , Osamu TAKAHASHI
CPC分类号： B60W30/18163 , B60W10/04 , B60W10/20 , B60W30/09 , B60W30/0953 , B60W30/0956 , B60W30/12 , B60W30/162 , B60W50/0097 , B60W2550/00 , B60W2550/20 , B60W2550/30 , B60W2550/306 , B60W2550/402 , B60W2600/00 , B60W2720/106 , B60W2720/24 , B60W2750/306 , B62D15/0255 , G06K9/00798 , G06K9/00825
摘要： When a vehicle equipped with a driving support apparatus moves from an original traveling lane into a lane for passing in order to pass a preceding vehicle and an oncoming vehicle appears in the lane for passing, the safe passing of the preceding vehicle is determined to be impossible and the passing is interrupted even when the oncoming vehicle decelerates, in the case where a deceleration change amount the oncoming vehicle is smaller than a threshold. On the other hand, when the deceleration change amount of the oncoming vehicle is equal to or greater than the threshold, whereby safety with respect to surrounding vehicles can be confirmed, and it is determined the vehicle can be safely returned in front of the preceding vehicle, the passing of the preceding vehicle is performed.
摘要翻译： 当配备有驾驶辅助装置的车辆从原来的行驶车道移动到通过车道以通过前方车辆并且迎面而来的车辆出现在车道通过时，确定前方车辆的安全通过是不可能的 即使在迎面而来的车辆的减速度变化量小于阈值的情况下，即使往来车辆减速，通过也中断。 另一方面，当迎面而来的车辆的减速变化量大于或等于阈值时，可以确认相对于周围车辆的安全性，并且确定车辆可以安全返回前方车辆前方 执行前一车辆的通过。
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公开(公告)号：US20160132055A1
公开(公告)日：2016-05-12
申请号：US14934891
申请日：2015-11-06
发明人： Koji MATSUNO , Satoru AKIYAMA , Takayuki NAGASE , Eiichi SHIRAISHI , Shiro EZOE , Hajime OYAMA , Yasushi TAKASO , Masato MIZOGUCHI , Harunobu HORIGUCHI
CPC分类号： B60W10/20 , B60W10/04 , B60W10/184 , B60W30/12 , B60W30/16 , B60W50/10 , B60W2050/0297 , B60W2520/10 , B60W2520/125 , B60W2520/14 , B60W2540/18 , B60W2550/141 , B60W2550/142 , B60W2550/143 , B60W2550/148 , B60W2550/30 , B60W2550/402 , B62D1/286 , B62D9/005 , B62D15/025
摘要： In a travel control apparatus for a vehicle, a travel environment information acquisition unit acquires travel environment information on a travel environment of the vehicle. A travel information detector detects travel information on the vehicle in order to execute automatic driving control based on such information pieces. A lateral force generator generates lateral force to be applied to the vehicle during the automatic driving control. A torsion bar is interposed on a torque transmission path of a steering system. A steering wheel angle detector detects a steering wheel angle. A lateral force detector detects the lateral force acting on the vehicle. An intervening steering operation determination unit determines that a driver has performed an intervening steering operation when a characteristic of the detected steering wheel angle and lateral force differs from a reference characteristic that varies univocally when the steering wheel is in a no load condition.
摘要翻译： 在车辆行驶控制装置中，行驶环境信息取得部获取关于车辆的行驶环境的行驶环境信息。 旅行信息检测器检测车辆上的行驶信息，以便基于这些信息执行自动驾驶控制。 横向力发生器在自动驾驶控制期间产生施加到车辆的横向力。 扭转杆插入转向系统的转矩传递路径上。 方向盘角度检测器检测方向盘角度。 横向力检测器检测作用在车辆上的横向力。 当所述检测到的方向盘角度和横向力的特性不同于当所述方向盘处于空载状态时单调变化的参考特性时，中间转向操作确定单元确定驾驶员执行了中间转向操作。
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公开(公告)号：US20160114811A1
公开(公告)日：2016-04-28
申请号：US14923236
申请日：2015-10-26
发明人： Koji MATSUNO , Harunobu HORIGUCHI , Hajime OYAMA , Yasushi TAKASO , Masato MIZOGUCHI , Takayuki NAGASE , Eiichi SHIRAISHI , Shiro EZOE , Satoru AKIYAMA
CPC分类号： B60W50/0225 , B60W10/18 , B60W10/20 , B60W30/18163
摘要： A travel control apparatus for a vehicle includes: a travel environment information acquisition unit that acquires travel environment information on a travel environment where the vehicle travels; a travel information detector that detects travel information on the vehicle; and an overtaking controller that detects an overtaking target vehicle ahead of the vehicle in an identical travel lane on the basis of the travel environment information and the travel information, and overtakes the overtaking target vehicle using automatic driving control. When failures are detected in relation to the travel environment information acquisition and in a steering system of the vehicle during the overtaking control, the overtaking controller modifies the overtaking control by activating required substitute control in accordance with the travel environment information obtained most recently before detecting the travel environment information acquisition failure, information on the overtaking target vehicle, the travel information, and conditions during the overtaking control.
摘要翻译： 一种用于车辆的旅行控制装置，包括：行驶环境信息获取单元，其获取关于车辆行驶的行驶环境的行驶环境信息; 旅行信息检测器，其检测车辆上的旅行信息; 以及超车控制器，其基于行驶环境信息和行驶信息，在相同的行驶车道中检测出车辆前方的超车目标车辆，并且使用自动驾驶控制来超越超车目标车辆。 当超车控制期间相对于旅行环境信息获取和车辆的转向系统检测到故障时，超车控制器根据最近检测到的旅行环境信息，通过激活所需的替代控制来修改超车控制 旅行环境信息获取失败，超车目标车辆信息，旅行信息和超车控制条件。
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