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公开(公告)号：US11845436B2
公开(公告)日：2023-12-19
申请号：US17529535
申请日：2021-11-18
Applicant: SUBARU CORPORATION
Inventor： Ryosuke Namba , Keisuke Kuwahara , Masato Mizoguchi
CPC classification number: B60W30/18163 , G01C21/28 , G01S19/47 , G05D1/0272 , G05D1/0274 , G05D1/0278 , B60W2520/28 , B60Y2400/3032
Abstract: A vehicle travel locus transmission system to be mounted on a vehicle includes a GNSS receiver, a vehicle-side transceiver, a locator processor, a wheel speed sensor, a gyro sensor, and an acceleration rate sensor. The locator processor generates, on predetermined cycles, a latest first linear coordinate as a linear function parameter that couples latest first positional coordinates and second positional coordinates on a previous cycle. The first and second positional coordinates are to be acquired on the basis of a positioning signal received by the GNSS receiver. On the condition that an angle formed by the first linear coordinate with an extension of a second linear coordinate generated on the previous cycle exceeds a predetermined threshold, the locator processor sends data regarding the first linear coordinate together with vehicle identification data, from the vehicle-side transceiver to an external device.
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公开(公告)号：US11674819B2
公开(公告)日：2023-06-13
申请号：US17135303
申请日：2020-12-28
Applicant: SUBARU CORPORATION
Inventor： Ryosuke Namba , Hajime Oyama , Masato Mizoguchi , Tomoyuki Kitamura
CPC classification number: G01C21/3848 , G01C21/3407 , G05D1/0212 , G05D1/0291 , G08G1/20 , G08G1/22
Abstract: A mobility information provision system includes a collector, a mapping unit, a generator, and a controller. The collector collects information about movement of mobile bodies. The mapping unit maps positions of the mobile bodies on the basis of the information collected by the collector. The generator generates course-related information by using information including the positions of the mobile bodies mapped by the mapping unit. The controller controls movement of each of the mobile bodies on the basis of the generated course-related information. The mapping unit maps a position error of a first mobile body together with a position of the first mobile body, in a case of determining that the position error occurs on the basis of the information collected by the collector. The generator generates the course-related information that allows the first mobile body to move within a range including the position and the position error thereof.
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公开(公告)号：US11648940B2
公开(公告)日：2023-05-16
申请号：US16730170
申请日：2019-12-30
Applicant: SUBARU CORPORATION
Inventor： Masato Mizoguchi
IPC: B60W30/095 , B60W40/09 , G05D1/02 , G05D1/00 , B60W50/14
CPC classification number: B60W30/0956 , B60W40/09 , G05D1/0061 , G05D1/0214 , B60W2050/143
Abstract: A vehicle driving control system has an automatic driving mode for automatic driving. The system includes a driver monitor, a driver abnormal state detector, a risk state detector, and an alarm controller. The driver monitor monitors, as a driver, an occupant in a vehicle compartment that can take over driving from the system during the automatic driving mode. The driver abnormal state detector detects an abnormal state of the driver based on a monitoring result by the driver monitor. The risk state detector detects, as a risk state, at least one of a control state or a traveling environment of the vehicle in the automatic driving mode. The alarm controller controls an alarm to be output to the driver during traveling in the automatic driving mode based on at least the risk state out of the abnormal state of the driver and the risk state of the automatic driving mode.
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公开(公告)号：US11505191B2
公开(公告)日：2022-11-22
申请号：US16658922
申请日：2019-10-21
Applicant: SUBARU CORPORATION
Inventor： Masato Mizoguchi
Abstract: The steering controller calculates a target steering angle for causing the own vehicle to travel along the target course acquired by the traveling road information acquirer. The braking/driving force controller calculates a target yaw moment for correcting the positional displacement of the own vehicle from the target course. The control ratio setter sets a control ratio of cooperative control of steering control and yaw moment control based on the deviation amount of a lateral position of the own vehicle from the target course. The control ratio is set so that when the positional displacement of the own vehicle from the target course is relatively small, the ratio at which the steering control occupies is reduced, and the yaw moment control is dominant, and when the positional displacement of the own vehicle from the target course is relatively large, the ratio at which the steering control occupies is increased.
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公开(公告)号：US11267488B2
公开(公告)日：2022-03-08
申请号：US16933442
申请日：2020-07-20
Applicant: SUBARU CORPORATION
Inventor： Ryosuke Namba , Hajime Oyama , Masato Mizoguchi , Keisuke Kuwahara
Abstract: An automatic driving control apparatus for a vehicle can selectively switch between a manual driving mode in which a driver manually performs driving operation of the vehicle and an automatic driving mode in which driving operation is performed automatically along a target traveling route. The apparatus includes a driver identifier that identifies the driver, a driving experience value evaluation unit that evaluates a driving experience value based on a traveling history in the manual driving mode of the identified driver, a shift permission time setting unit that sets a shift permission time from the manual driving mode to the automatic driving mode based on the driving experience value, and a driving mode switching unit that controls the driving mode so as to be switchable to the automatic driving mode on condition that at least a driving time by the driver in the manual driving mode exceeds the shift permission time.
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Patent Agency Ranking
公开(公告)号：US11267468B2
公开(公告)日：2022-03-08
申请号：US16744916
申请日：2020-01-16
Applicant: SUBARU CORPORATION
Inventor： Masato Mizoguchi
Abstract: An automatic driving assistance apparatus includes a driving state acquirer, an own vehicle location acquirer, a traveling environment information acquirer, a branch lane determining unit, a lane change calculator, and a traveling state controller. The driving state acquirer acquires a driving state of an own vehicle. The own vehicle location acquirer acquires a location of the own vehicle. The traveling environment acquirer acquires a traveling environment in which the own vehicle is traveling. The branch lane determining unit examines whether a target travel path toward which the own vehicle travels is set to a branch lane direction. The lane change calculator obtains a deceleration start position and a lane change start position of the own vehicle. The traveling state controller controls a traveling state of the own vehicle based on the deceleration start position and the lane change start position.
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公开(公告)号：US11084492B2
公开(公告)日：2021-08-10
申请号：US16435087
申请日：2019-06-07
Applicant: SUBARU CORPORATION
Inventor： Masato Mizoguchi
Abstract: An automated driving assist apparatus includes a traffic information acquirer, a traffic congestion determiner, a distance comparator, a lane-change start determiner, and a lane-change controller. When the traffic congestion determiner determines that a passing lane adjacent to a lane regulation zone is congested, the distance comparator calculates a distance to the lane regulation zone and an estimated distance to a traffic queue based on road traffic information acquired by the traffic information acquirer, and compares the distance to the lane regulation zone with the estimated distance to the traffic queue. When the distance to the lane regulation zone is longer than the estimated distance to the traffic queue, the lane-change start determiner determines whether the estimated distance to the traffic queue reaches a lane-change start distance. When the estimated distance to the traffic queue reaches the lane-change start distance, the lane-change controller causes the own vehicle to change lanes.
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公开(公告)号：US12103568B2
公开(公告)日：2024-10-01
申请号：US17554559
申请日：2021-12-17
Applicant: SUBARU CORPORATION
Inventor： Masato Mizoguchi , Hajime Oyama , Ryosuke Namba
IPC: B60W60/00
CPC classification number: B60W60/0059 , B60W2554/4045 , B60W2554/4049
Abstract: A vehicle driving support system capable of supporting driving of a vehicle that travels on a road includes a notifier, and an acquirer. In a case where there is a first vehicle that moves between lanes, the notifier is configured to, provide notification of presence of the first vehicle to a second vehicle travelling in a target lane into which the first vehicle is to move. The acquirer is configured to acquire a size of a merging space that is to be provided by the second vehicle for merging of the first vehicle. In a case where the first vehicle is travelling under autonomous operation or assisted operation, the acquirer is configured to acquire the size of the merging space such that the size of the merging space is longer than when acquired in a case where the first vehicle is travelling under manual operation.
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公开(公告)号：US12046140B2
公开(公告)日：2024-07-23
申请号：US17135111
申请日：2020-12-28
Applicant: SUBARU CORPORATION
Inventor： Hajime Oyama , Ryosuke Namba , Masato Mizoguchi , Tomoyuki Kitamura
CPC classification number: G08G1/16 , G05D1/0287 , G08G1/0112 , G08G1/164 , G08G1/166
Abstract: A mobility information provision system includes a collector, a mapping unit, a generator, and a controller. The collector collects field information on movement of mobile bodies using communication apparatuses provided in respective predetermined zones or respective predetermined sections. The mapping unit maps positions of the mobile bodies based on the collected field information. The generator generates course-related information based on information on the mapped positions of the mobile bodies. The controller is provided for each of the mobile bodies and controls movement of corresponding one of the mobile bodies based on the course-related information. If the collected field information includes information on an obstacle that would hinder the movement of the mobile bodies, the mapping unit maps the obstacle together with the positions of the mobile bodies, and the generator generates the course-related information for the mobile bodies to cause the mobile bodies to move avoiding the obstacle.
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公开(公告)号：US12024246B2
公开(公告)日：2024-07-02
申请号：US17575044
申请日：2022-01-13
Applicant: SUBARU CORPORATION
Inventor： Masato Mizoguchi
CPC classification number: B62D6/003 , B62D15/025
Abstract: A vehicle drive assist apparatus for a vehicle includes a target yaw rate calculation unit that sets a target yaw rate to cause the vehicle to travel along a horizontal curve; a reference steering wheel angle calculation unit that sets a reference steering wheel angle; a feedforward target steering wheel angle calculation unit that sets a feedforward target steering wheel angle; an estimated yaw rate calculation unit that sets an estimated yaw rate based on a lateral force component exerted on the vehicle traveling on the curve; and a feedforward correction gain calculation unit that sets a feedforward correction gain based on the ratio between the target yaw rate and the estimated yaw rate. The feedforward target steering wheel angle calculation unit sets the feedforward target steering wheel angle in consideration of the lateral force component by correcting the reference steering wheel angle with the feedforward correction gain.
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