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1. 发明授权

US11408741B2 Self-localization estimation device 有权
公开(公告)号：US11408741B2
公开(公告)日：2022-08-09
申请号：US16568637
申请日：2019-09-12
申请人： DENSO CORPORATION
发明人： Kenji Miyake , Yuichi Minamiguchi , Kenta Takahashi , Minoru Okada , Kazuyoshi Isaji , Tatsumi Sugiyama
IPC分类号： B60W30/18 , G01C21/30 , G01S19/48 , G01C21/34 , G06T7/73 , G06T7/70 , G06V10/75 , G06V20/56
摘要： A self-localization estimation device includes: a map-information acquisition unit that acquires map information including lane information for specifying lanes in which vehicles are enabled to travel; a position calculation unit that calculates an own-vehicle absolute position being an absolute position of an own vehicle in response to navigation signals received from a plurality of navigation satellites, the position calculation unit including a self-location measurement unit, a vehicle-momentum measurement unit, and dead reckoning unit; and a position estimation unit that estimates, based on the map information and the own-vehicle absolute position, a corrected own-vehicle position being a corrected position of the own vehicle. The position estimation unit estimates the corrected own-vehicle position by superimposing a reliability of the map information and a reliability of the own-vehicle absolute position on each other.

2. 发明授权

US09043088B2 Vehicle behavior control apparatus 有权
标题翻译：车辆行为控制装置
公开(公告)号：US09043088B2
公开(公告)日：2015-05-26
申请号：US13870167
申请日：2013-04-25
申请人： Denso Corporation
发明人： Kazuyoshi Isaji , Naohiko Tsuru , Shou Morikawa
IPC分类号： B60W10/06 , B60W10/20 , B62D1/28 , B62D6/00 , B62D15/02
CPC分类号： B62D6/00 , B62D15/025
摘要： A vehicle behavior control apparatus mounted in a vehicle to control steering of the vehicle. A virtual road outline, which is an outline of a drivable road region where the vehicle will travel, is determined on the basis of detection results from a location sensor. The virtual road outline is reconstructed as a sequence of road segments, such as straight road segments, and right- and left-hand curved road segments. When a current road segment where the vehicle is currently present is a right- or left-hand curved road segment, a subsequent road segment where the vehicle will be present subsequently is tentatively set to a straight road segment until the vehicle reaches the subsequent road segment. The steering angle is controlled so that a virtual-road boundary distance is adapted to a proper distance from the vehicle to a boundary of the virtual road outline situated in front of the vehicle.
摘要翻译：一种安装在车辆中以控制车辆转向的车辆行为控制装置。基于来自位置传感器的检测结果来确定作为车辆行驶的可驱动道路区域的轮廓的虚拟道路轮廓。虚拟道路轮廓被重建为一系列路段，例如直路段，以及右侧和左侧弯曲路段。当车辆当前存在的当前路段是右侧或左侧弯曲路段时，将在其后面存在车辆的后续路段临时设置为直线路段，直到车辆到达后续路段。控制转向角，使得虚拟道路边界距离适应于从车辆到位于车辆前方的虚拟道路轮廓的边界的适当距离。

3. 发明授权

US10272915B2 Driving support apparatus 有权
公开(公告)号：US10272915B2
公开(公告)日：2019-04-30
申请号：US15474493
申请日：2017-03-30
申请人： DENSO CORPORATION
发明人： Kazuyoshi Isaji , Teppei Miyake , Minoru Okada
IPC分类号： G05D1/02 , B60W30/18 , B60W50/00 , B60W30/188 , B60W40/114
摘要： A driving support apparatus derives position prediction data when T=Tn, which is when a predicted time Tn has elapsed from the present time, based on acquired map data, position data and speed data. Direction prediction data indicating a traveling direction of a vehicle 1 at the time T=Tn is derived based on acquired map data and derived position prediction data. A yaw angle which is an angle formed by a traveling direction D0 represented by e direction data and the traveling direction Dn represented by direction prediction data is derived. A target speed Vn of the vehicle is then derived.

4. 发明申请

US20180074510A1 AUTOMATIC TRAVELING CONTROL APPARATUS AND AUTOMATIC TRAVELING CONTROL SYSTEM 审中-公开
公开(公告)号：US20180074510A1
公开(公告)日：2018-03-15
申请号：US15560455
申请日：2016-03-22
申请人： DENSO CORPORATION
发明人： Kazuyoshi Isaji , Keiichi Uno , Akihiko Yagyu , Mariko Seto , Masayuki Angata , Hitoshi Wada
IPC分类号： G05D1/02 , G05D1/00 , G08G1/0968 , B60W50/04 , B60W50/14 , B60W40/09
摘要： An automatic traveling control apparatus includes an automatic traveling control unit, a function determining unit, a first notifying unit, an abnormality detecting unit, and a second notifying unit. The automatic traveling control unit makes an own vehicle automatically travel along a route to a destination. The function determining unit determines whether or not the state of a function used for automatic traveling is normal. The first notifying unit gives notification of the state of the function determined by the function determining unit. The abnormality detecting unit detects an abnormality in the notification of the state of the function by the first notifying unit. The second notifying unit gives a characteristic notification set in advance, when the abnormality detecting unit detects an abnormality in the notification of the state of the function by the first notifying unit and the function determining unit determines that the state of the function is normal.

5. 发明授权

US11577719B2 Autonomous driving control apparatus and autonomous driving control method for vehicle 有权
公开(公告)号：US11577719B2
公开(公告)日：2023-02-14
申请号：US16854546
申请日：2020-04-21
申请人： DENSO CORPORATION
发明人： Akihito Tanahashi , Kazuyoshi Isaji
IPC分类号： B60W30/09 , B60W60/00 , B60W10/20 , B60W30/095 , G05D1/02 , G08G1/16
摘要： An autonomous driving control apparatus installable in a vehicle includes a path determining section, an obstacle determining section that determines whether an obstacle on the planned driving path is a passage acceptable obstacle or a passage unacceptable obstacle, the passage acceptable obstacle being previously set as an obstacle that the vehicle is allowed to come into contact with while passing, the passage unacceptable obstacle being previously set as an obstacle that the vehicle is not allowed to come into contact with while passing, and a control instructing section that gives an instruction of control to a maneuver controller to perform at least one of controlling a speed of the vehicle and controlling a steering of the vehicle to control a maneuver of the vehicle. If the obstacle is determined to be the passage acceptable obstacle, the control instructing section gives an instruction of the control to pass over the obstacle.

6. 发明授权

US08855860B2 Vehicle behavior control apparatus 有权
标题翻译：车辆行为控制装置
公开(公告)号：US08855860B2
公开(公告)日：2014-10-07
申请号：US13676446
申请日：2012-11-14
申请人： Denso Corporation
发明人： Kazuyoshi Isaji , Naohiko Tsuru , Shou Morikawa
IPC分类号： B62D6/00 , G05D1/00 , B60W10/20 , B60W30/18 , B60K31/00 , B60W10/06 , B60W30/16 , B60W30/10
CPC分类号： B62D6/00 , B60K31/0066 , B60W10/06 , B60W10/20 , B60W30/10 , B60W30/16 , B60W30/18145 , B60W2550/146 , B60W2550/308 , B60W2550/408
摘要： A vehicle behavior control apparatus disposed in a subject vehicle performs a steering angle control of the subject vehicle. The apparatus acquires lead vehicle information transmitted from a lead vehicle to determine a virtual shape of a road (i.e., a virtual road shape) based on a travel locus of the lead vehicle. A virtual road border distance is calculated as a distance from the subject vehicle to a road border of a virtual curve road positioned straight in front of the subject vehicle. The apparatus, calculates an appropriate turn radius for travel along the virtual curve road and, based on the appropriate turn radius, calculates an appropriate distance from the subject vehicle to the virtual road border positioned in front of the subject vehicle. A steering unit then controls a steering angle of the subject vehicle by maintaining the virtual road border distance with the appropriate distance.
摘要翻译：设置在本车辆中的车辆行为控制装置执行本车辆的转向角控制。该装置获取从引导车辆发送的引导车辆信息，以基于前置车辆的行驶轨迹来确定道路的虚拟形状（即虚拟道路形状）。虚拟道路边界距离被计算为从主车辆到目标车辆前方直线定位的虚拟曲线路的道路边界的距离。该装置计算沿着虚拟曲线道路行驶的适当的转弯半径，并且基于适当的转弯半径来计算从主车辆到位于本车辆前方的虚拟道路边界的适当距离。然后，转向单元通过将虚拟道路边界距离保持在适当距离来控制本车辆的转向角度。

7. 发明授权

US11639853B2 Self-localization estimation device 有权
公开(公告)号：US11639853B2
公开(公告)日：2023-05-02
申请号：US16568606
申请日：2019-09-12
申请人： DENSO CORPORATION
发明人： Yuichi Minamiguchi , Kenji Miyake , Tatsumi Sugiyama , Kazuyoshi Isaji , Minoru Okada , Kenta Takahashi
IPC分类号： G01C21/34 , G06T7/73 , G06T7/70 , B60W30/18 , G01C21/30 , G06V10/75 , G06V20/56 , G01S19/48
摘要： A self-localization estimation unit of a self-localization estimation device determines, based on mutual relationships between the in-lane position and the absolute position including the error, whether there is lane-relevant candidate information, the lane-relevant candidate information representing that one or more in-vehicle positions are each estimated to be in which of lanes identified by the lane information; and estimates, based on a result of the determination of whether there is lane-relevant candidate information, a localization of the own vehicle corresponding to the map information.

8. 发明授权

US11586217B2 Route setting device 有权
公开(公告)号：US11586217B2
公开(公告)日：2023-02-21
申请号：US16817134
申请日：2020-03-12
申请人： DENSO CORPORATION
发明人： Nozomi Kitagawa , Sei Iguchi , Kiyotaka Taguchi , Yuji Ota , Kazuyoshi Isaji
IPC分类号： G05D1/00 , G05D1/02 , G01C21/36
摘要： A route setting device includes: a route candidate generation unit that generates multiple route candidates from a current position to a destination; an index calculation unit that calculates, for each of the multiple route candidates, a change index that indicates a probability that an automatic driving system performs a driving change request when a vehicle travels along each of the multiple route candidates by using the automatic driving system; a display unit that associates the multiple candidates with the change index calculated for each of the multiple route candidates, and display the multiple associated route candidates and the associated change index; an input unit that receives a selection among the multiple route candidates by an occupant of the vehicle; and a route setting unit that sets a route among the multiple route candidates based on the selection received by the input unit.

9. 发明申请

US20170282927A1 DRIVING SUPPORT APPARATUS 审中-公开
公开(公告)号：US20170282927A1
公开(公告)日：2017-10-05
申请号：US15474493
申请日：2017-03-30
申请人： DENSO CORPORATION
发明人： Kazuyoshi Isaji , Teppei Miyake , Minoru Okada
IPC分类号： B60W30/18 , B60W50/00 , B60W30/188 , G05D1/02 , B60W40/114
CPC分类号： B60W30/18145 , B60W30/188 , B60W40/114 , B60W50/0097 , B60W2520/10 , B60W2520/125 , B60W2520/14 , B60W2550/402 , B60W2710/20 , B60W2720/10 , B60W2720/106 , G05D1/0276 , G05D1/0278
摘要： A driving support apparatus derives position prediction data when T=Tn, which is when a predicted time Tn has elapsed from the present time, based on acquired map data, position data and speed data. Direction prediction data indicating a traveling direction of a vehicle 1 at the time T=Tn is derived based on acquired map data and derived position prediction data. A yaw angle which is an angle formed by a traveling direction D0 represented by e direction data and the traveling direction Dn represented by direction prediction data is derived. A target speed Vn of the vehicle is then derived.

10. 发明授权

US11597410B2 Automatic driving proposal device and automatic driving proposal method 有权
公开(公告)号：US11597410B2
公开(公告)日：2023-03-07
申请号：US16817294
申请日：2020-03-12
申请人： DENSO CORPORATION
发明人： Nozomi Kitagawa , Sei Iguchi , Norio Yamamoto , Kiyotaka Taguchi , Yuji Ota , Kazuyoshi Isaji
IPC分类号： B60W60/00 , B60W50/10 , G05D1/00 , B60W50/00
摘要： An automatic driving proposal device or an automatic driving proposal method is used for a vehicle that selects either a state of an automatic driving or a state of a manual driving by an occupant. The automatic driving proposal device or the automatic driving proposal method performs a driving change request to the occupant in the state of the automatic driving, determines whether the automatic driving is possible in the state of the manual driving, calculates a calculation value corresponding to a distance or a prediction time or calculates a change index, and proposes the automatic driving to the occupant on a necessary condition of determining that the automatic driving is possible and also determining that the calculation value is higher than a threshold value or determining that the change index is lower than a threshold value.

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