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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：US20160272243A1
公开(公告)日：2016-09-22
申请号：US15045548
申请日：2016-02-17
发明人： Koji MATSUNO , Harunobu HORIGUCHI
CPC分类号： B62D15/025 , G01C21/26 , G05D1/0088 , G05D1/0219 , G05D1/0231
摘要： A travel control apparatus for a vehicle includes a frontward environment recognition unit, a map information storage unit, a vehicle position information obtaining unit, a traveling road information obtaining unit, a rut information detector, a first course setting unit, a second course setting unit, and a target course setting unit. A target course over a road surface on which a vehicle is to travel is set as a first course on the basis of map information, the target course over the road surface on which the vehicle is to travel is set as a second course or a third course on the basis of rut information, the first course is compared with the second and third courses, and the target course over the road surface on which the vehicle is to travel is set on the basis of traveling road information and the rut information.
摘要翻译： 车辆用行驶控制装置具备前方环境识别部，地图信息存储部，车辆位置信息获取部，行驶道路信息获取部，车辙信息检测部，第一道路设定部，第二道程设定部 ，以及目标路线设定单元。 将车辆行驶的路面上的目标路线设定为基于地图信息的第一道路，将车辆行驶的路面上的目标路线设定为第二路线或第三路线 在车辙信息的基础上，将第一课程与第二和第三课程进行比较，并且基于行驶道路信息和车辙信息设定车辆行驶路面上的目标路线。
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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：US20170072963A1
公开(公告)日：2017-03-16
申请号：US15253165
申请日：2016-08-31
发明人： Koji MATSUNO , Harunobu HORIGUCHI
IPC分类号： B60W30/18
CPC分类号： B60W30/18172 , B60K28/16 , B60W30/10 , B60W30/14 , B60W2510/0657 , B60W2510/0661 , B60W2520/26 , B60W2550/148 , B60W2710/0666 , B60W2710/085
摘要： A vehicle automatic driving control apparatus executes an automatic traveling control by performing setting on preset automatic-driving-required drive torque as target torque, and includes a traction-control-required drive torque setting unit that sets, when a preset operating condition of a traction control is satisfied, traction-control-required drive torque as the target torque to decrease drive torque and thereby suppress a drive wheel slip, an automatic-driving-required drive torque decreasing unit that gradually decreases, based on a preset amount, the automatic-driving-required drive torque when the traction control is operated, a torque comparing unit that compares the traction-control-required drive torque with the decreased automatic-driving-required drive torque, and an automatic-driving-required drive torque setting unit that completes the traction control and performs the setting again on the decreased automatic-driving-required drive torque as the automatic-driving-required drive torque for the automatic driving control, when the traction-control-required drive torque is determined as exceeding the decreased automatic-driving-required drive torque.
摘要翻译： 车辆自动驾驶控制装置通过以预设的自动驾驶要求驱动扭矩作为目标转矩进行设定来执行自动行驶控制，并且包括牵引力控制要求驱动转矩设定单元，其在牵引力的预设操作条件 控制满足作为目标转矩的牵引力控制要求的驱动转矩，以减小驱动转矩，从而抑制驱动轮滑动，基于预设量逐渐减小的自动驾驶要求驱动转矩降低单元， 驱动牵引力控制时的驱动需要的驱动扭矩，将牵引力控制要求的驱动转矩与减少的自动驾驶要求的驱动转矩进行比较的转矩比较部，以及完成的自动驾驶要求的驱动转矩设定部 牵引力控制，并且随着自动驾驶要求的自动驾驶所要求的驱动转矩减小而再次进行设定 当牵引力控制要求的驱动转矩被确定为超过减少的自动驾驶需要的驱动转矩时，用于自动驾驶控制的驱动扭矩。
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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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公开(公告)号：US20150367854A1
公开(公告)日：2015-12-24
申请号：US14738853
申请日：2015-06-13
发明人： Shiro EZOE , Takayuki NAGASE , Osamu TAKAHASHI , Koji MATSUNO , Harunobu HORIGUCHI , Masato MIZOGUCHI , Yasushi TAKASO , Hajime OYAMA
IPC分类号： B60W30/18
CPC分类号： B60W30/18163 , B60W30/14 , B60W2550/10 , B60W2550/30 , B60W2550/302 , B60W2550/304 , B60W2550/306
摘要： When an oncoming vehicle in an oncoming lane is detected in the case where a vehicle equipped with a driving support apparatus moves to a position across a portion of a boundary between an original traveling lane of the vehicle and the oncoming lane in order to pass a preceding vehicle, passing control is interrupted. When the departure of the oncoming vehicle from the oncoming lane is confirmed, the interruption of the passing control is canceled and the passing is performed. When the oncoming vehicle does not depart, or when it the oncoming vehicle is determined to depart but a vehicle following the oncoming vehicle is detected, the interruption of the passing control is maintained and the vehicle is returned to behind the preceding vehicle in the original traveling lane.
摘要翻译： 在配备有驾驶辅助装置的车辆移动到穿过车辆的原始行车道与迎面行驶车道之间的边界的一部分的位置的情况下，检测到迎面而来的车辆中的迎面而来的车辆， 车辆，通行控制中断。 当来自车道的迎面而来的车辆的离开被确定时，通过控制的中断被取消并且通过。 当迎面而来的车辆没有离开时，或者当迎面而来的车辆被确定离开时，检测到驶向车辆的车辆时，保持通过控制的中断，并将车辆返回到前一车辆的后方， 车道。
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公开(公告)号：US20170259817A1
公开(公告)日：2017-09-14
申请号：US15427770
申请日：2017-02-08
发明人： Harunobu HORIGUCHI
IPC分类号： B60W30/095 , G05D1/00
CPC分类号： B60W30/0956 , B60W30/08 , B60W30/18145 , B60W30/18154 , B60W2050/0075 , B60W2520/06 , B60W2520/26 , B60W2520/30 , B60W2550/14 , B60W2550/308 , B60W2710/18 , B60W2710/20 , G05D1/0088
摘要： A travel control apparatus for a vehicle includes a travel environment information acquisition unit, a travel information detection unit, and a control unit. The acquisition unit acquires travel environment information of the vehicle, which is on a traveling environment of the vehicle. The detection unit detects travel information of the vehicle. The control unit performs self-driving control, on the basis the information. The control unit detects a relative distance between an oncoming vehicle and the vehicle, and performs turn control to cause the vehicle to make a turn while crossing ahead of the oncoming vehicle, in a case where the relative distance is not smaller than a preset threshold value. When the vehicle makes the turn, in a case where a traction control for preventing tire slippage by decreasing a drive torque is operated, the control unit increasingly corrects the preset threshold value in accordance with at least a tire grip state.
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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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