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1. 发明授权

US09643607B2 Vehicle motion control system 有权
公开(公告)号：US09643607B2
公开(公告)日：2017-05-09
申请号：US14762935
申请日：2013-12-20
申请人： HITACHI AUTOMOTIVE SYSTEMS, LTD.
发明人： Keiichiro Nagatsuka , Makoto Yamakado , Mikio Ueyama , Mitsuhide Sasaki
IPC分类号： B60W30/18 , B60T8/17 , B60T8/1755 , B60T8/1766
CPC分类号： B60W30/18 , B60T8/17555 , B60T8/1766 , B60W2520/105
摘要： Disclosed is a vehicle motion control system that can control a vehicle without making a driver feel uncomfortable. The vehicle motion control system includes a control command value calculation unit configured to calculate a control command value for controlling the longitudinal acceleration of a vehicle; a longitudinal acceleration estimating unit configured to estimate the longitudinal acceleration of the vehicle induced by a driver's brake operation; a longitudinal jark estimating unit configured to estimate the longitudinal jark of the vehicle by differentiating the longitudinal acceleration with respect to time; a deviation determination unit configured to determine a deviation between vehicle's motion induced by the driver's brake operation and vehicle's motion induced by a control command using the longitudinal jark and the control command value; and a control command value correction unit configured to correct the control command in accordance with a deviation determination result of the deviation determination unit.

2. 发明授权

US10286910B2 Vehicle running control apparatus 有权
公开(公告)号：US10286910B2
公开(公告)日：2019-05-14
申请号：US15025761
申请日：2014-06-13
申请人： Hitachi Automotive Systems, Ltd.
发明人： Keiichiro Nagatsuka , Makoto Yamakado , Mitsuhide Sasaki , Mikio Ueyama
IPC分类号： B60W10/04 , B60W30/14 , B60W30/16 , B60W30/18 , B60W10/184
摘要： Provided is a vehicle running control apparatus capable of controlling a vehicle comfortably while inhibiting an uncomfortable feeling of a driver in consideration of dimensions of longitudinal acceleration requirements for the vehicle. This vehicle running control apparatus includes: a first control command value calculation unit configured to calculate a first control command value that controls vehicle longitudinal acceleration; a second control command value calculation unit configured to calculate a second control command value that controls longitudinal acceleration according to a lateral jerk that acts on the vehicle; a correction determination processing unit configured to determine whether to make correction based on the first control command value and the second control command value; and a correction processing unit configured, when the correction determination processing unit determines that correction is needed, to correct the first control command value based on the second control command value.

3. 发明授权

US09296374B2 Motion controlling apparatus for a vehicle 有权
标题翻译：一种车辆运动控制装置
公开(公告)号：US09296374B2
公开(公告)日：2016-03-29
申请号：US14432270
申请日：2013-09-20
申请人： Hitachi Automotive Systems, Ltd.
发明人： Makoto Yamakado , Mitsuhide Sasaki , Mikio Ueyama , Keiichiro Nagatsuka
IPC分类号： G06F19/00 , B60T8/1755 , B60L3/10 , B60L7/26 , B60L15/20 , B60W10/08 , B60W10/184 , B60W30/045 , B60W20/00 , B60W40/114
CPC分类号： B60T8/1755 , B60L3/102 , B60L3/108 , B60L7/18 , B60L7/26 , B60L15/20 , B60L15/2009 , B60L2220/42 , B60L2220/44 , B60L2220/46 , B60L2240/12 , B60L2240/22 , B60L2240/423 , B60L2250/26 , B60L2260/28 , B60T8/17555 , B60T2230/04 , B60T2260/08 , B60T2270/303 , B60T2270/604 , B60W10/08 , B60W10/184 , B60W20/00 , B60W30/045 , B60W40/109 , B60W40/114 , B60W2510/18 , B60W2520/10 , B60W2520/105 , B60W2520/125 , B60W2520/14 , B60W2520/20 , B60W2520/30 , B60W2540/10 , B60W2540/12 , B60W2540/18 , B60W2550/10 , B60W2550/30 , B60W2600/00 , B60W2710/083 , B60W2710/18 , B60W2720/106 , B60W2720/125 , B60W2720/14 , Y02T10/645 , Y02T10/646 , Y02T10/72 , Y02T10/7275
摘要： Provided is a motion controlling apparatus for a vehicle that can achieve improvement in drivability, stability, and driving comfort. The apparatus includes a control unit for controlling driving forces of vehicle wheels; a vehicle acceleration/deceleration instruction calculator for calculating an acceleration/deceleration instruction value on the basis of a lateral jerk; a first vehicle yaw moment instruction calculator for calculating a first vehicle yaw moment instruction value on the basis of the lateral jerk; and a second vehicle yaw moment instruction calculator for calculating a second vehicle yaw moment instruction value on the basis of lateral slip information.
摘要翻译：提供一种车辆的运动控制装置，其可以实现驾驶性能，稳定性和驾驶舒适性的提高。该装置包括用于控制车轮的驱动力的控制单元; 车辆加速/减速指令计算器，用于基于横向加加速度计算加速/减速指令值; 第一车辆横摆力矩指令计算器，用于基于横向加加速度计算第一车辆横摆力矩指令值; 以及第二车辆横摆力矩指令计算器，用于基于横向滑移信息计算第二车辆横摆力矩指令值。

4. 发明申请

US20150166025A1 Vehicle Travel Control Device 有权
标题翻译：车辆行驶控制装置
公开(公告)号：US20150166025A1
公开(公告)日：2015-06-18
申请号：US14406810
申请日：2013-05-29
申请人： Hitachi Automotive Systems, Ltd.
发明人： Keiichiro Nagatsuka , Makoto Yamakado , Mitsuhide Sasaki , Mikio Ueyama
IPC分类号： B60T8/172
CPC分类号： B60T8/172 , B60T7/12 , B60T7/18 , B60W10/04 , B60W10/188 , B60W30/16 , B60W30/188 , B60W40/09 , B60W2540/12 , B60W2720/106 , F02D29/02 , F02D41/045 , F02D41/10 , F02D41/12
摘要： Provided is a vehicle travel control device (100) that can control a vehicle without causing discomfort to a driver based on a brake operation of the driver, the vehicle travel control device (100) including a control instruction computation unit (114). The control instruction computation unit (114) includes a control instruction value calculation unit (114a) that calculates a control instruction value to control the longitudinal acceleration of the vehicle; a driver acceleration intent quantification unit (114b) that calculates a longitudinal jerk from the longitudinal acceleration by a brake operation of the driver, and quantifies a driver's acceleration intent based on the longitudinal jerk; a control instruction value correction determination unit (114c) that determines whether a correction to the control instruction value is required in response to the quantified driver's acceleration intent; and a control instruction value correction unit (114d) that corrects the control instruction value in response to the correction determination result of the control instruction value correction determination unit (114c).
摘要翻译：提供一种车辆行驶控制装置（100），其能够基于驾驶员的制动操作来控制车辆而不引起驾驶员的不适，车辆行驶控制装置（100）包括控制指令计算单元（114）。控制指令计算单元（114）包括控制指令值计算单元（114a），其计算用于控制车辆的纵向加速度的控制指令值; 通过驾驶员的制动操作从纵向加速度计算纵向加加速度的驾驶员加速意图量化单元（114b），并且基于纵向冲击量化驾驶员的加速意图; 控制指令值校正确定单元（114c），其响应于所述量化的驾驶员的加速意图来确定是否需要对所述控制指令值的校正; 以及响应于控制指令值修正确定单元（114c）的校正确定结果来校正控制指令值的控制指令值校正单元（114d）。

5. 发明授权

US09919603B2 Operation control system for vehicle, vehicle, and program 有权
公开(公告)号：US09919603B2
公开(公告)日：2018-03-20
申请号：US15116707
申请日：2015-01-28
申请人： Hitachi Automotive Systems, Ltd.
发明人： Makoto Yamakado , Keiichiro Nagatsuka , Junya Takahashi , Mitsuhide Sasaki , Toshiyuki Innami , Mikio Ueyama
IPC分类号： B60L3/00 , B60T1/10 , B60T7/12 , B60T7/18 , B60T7/22 , B60T8/17 , B60W30/09 , B60L3/10 , B60L7/14 , B60L7/26 , B60L11/18 , B60L15/02 , B60L15/20 , B60L7/18 , B60T8/172 , B60T8/174 , B60T8/58
CPC分类号： B60L3/0015 , B60L3/102 , B60L3/108 , B60L7/14 , B60L7/18 , B60L7/26 , B60L11/1803 , B60L11/1861 , B60L15/025 , B60L15/20 , B60L15/2009 , B60L2240/12 , B60L2240/14 , B60L2240/16 , B60L2240/18 , B60L2240/20 , B60L2240/22 , B60L2240/24 , B60L2240/421 , B60L2240/423 , B60L2240/461 , B60L2240/463 , B60L2240/465 , B60L2240/622 , B60L2240/68 , B60L2240/80 , B60L2250/10 , B60L2250/16 , B60L2250/26 , B60L2260/42 , B60L2270/142 , B60L2270/145 , B60T1/10 , B60T7/12 , B60T7/18 , B60T7/22 , B60T8/17 , B60T8/172 , B60T8/174 , B60T8/58 , B60T2201/022 , B60T2210/32 , B60T2250/03 , B60T2270/604 , B60W30/09 , Y02T10/643 , Y02T10/7005 , Y02T10/7044 , Y02T10/705 , Y02T10/72 , Y02T10/7275 , Y02T10/7291 , Y02T90/16 , Y02T90/162
摘要： The present invention improves emergency evasion performance. An operation control system for a vehicle that is provided with a risk-potential determining unit that determines the risk potential of a vehicle on the basis of external environment information and/or vehicle information, a friction braking unit that applies friction braking force to the vehicle, and a regenerative braking device that applies regenerative braking force to the vehicle, the operation control system being provided with a control value determining unit that determines a first control value that is for determining the size of the friction braking force and determines a second control value that is for determining the size of the regenerative braking force. The control value determining unit determines at least the first control value on the basis of the risk potential determined by the risk-potential determining unit.

6. 发明授权

US09623850B2 Motion controlling apparatus for a vehicle 有权
公开(公告)号：US09623850B2
公开(公告)日：2017-04-18
申请号：US15042417
申请日：2016-02-12
申请人： Hitachi Automotive Systems, Ltd.
发明人： Makoto Yamakado , Mitsuhide Sasaki , Mikio Ueyama , Keiichiro Nagatsuka
IPC分类号： B60T8/1755 , B60L3/10 , B60L7/26 , B60L15/20 , B60W10/08 , B60W10/184 , B60W30/045 , B60W20/00 , B60W40/114
CPC分类号： B60T8/1755 , B60L3/102 , B60L3/108 , B60L7/18 , B60L7/26 , B60L15/20 , B60L15/2009 , B60L2220/42 , B60L2220/44 , B60L2220/46 , B60L2240/12 , B60L2240/22 , B60L2240/423 , B60L2250/26 , B60L2260/28 , B60T8/17555 , B60T2230/04 , B60T2260/08 , B60T2270/303 , B60T2270/604 , B60W10/08 , B60W10/184 , B60W20/00 , B60W30/045 , B60W40/109 , B60W40/114 , B60W2510/18 , B60W2520/10 , B60W2520/105 , B60W2520/125 , B60W2520/14 , B60W2520/20 , B60W2520/30 , B60W2540/10 , B60W2540/12 , B60W2540/18 , B60W2550/10 , B60W2550/30 , B60W2600/00 , B60W2710/083 , B60W2710/18 , B60W2720/106 , B60W2720/125 , B60W2720/14 , Y02T10/645 , Y02T10/646 , Y02T10/72 , Y02T10/7275
摘要： Provided is a motion controlling apparatus for a vehicle that can achieve improvement in drivability, stability, and driving comfort. The apparatus includes a control unit for controlling driving forces of vehicle wheels; a vehicle acceleration/deceleration instruction calculator for calculating an acceleration/deceleration instruction value on the basis of a lateral jerk; a first vehicle yaw moment instruction calculator for calculating a first vehicle yaw moment instruction value on the basis of the lateral jerk; and a second vehicle yaw moment instruction calculator for calculating a second vehicle yaw moment instruction value on the basis of lateral slip information.

7. 发明授权

US09598077B2 Vehicle movement control system 有权
公开(公告)号：US09598077B2
公开(公告)日：2017-03-21
申请号：US15028296
申请日：2014-10-03
申请人： Hitachi Automotive Systems, Ltd.
发明人： Makoto Yamakado , Keiichiro Nagatsuka , Mitsuhide Sasaki , Mikio Ueyama
IPC分类号： B60W30/09 , B60T7/12 , B60T7/22 , B60W30/02 , B62D15/02 , B60W10/18 , B60W10/20 , B60R1/00
CPC分类号： B60W30/09 , B60R1/00 , B60T7/12 , B60T7/22 , B60T8/17558 , B60T2201/022 , B60T2230/04 , B60W10/18 , B60W10/20 , B60W30/02 , B60W30/045 , B60W30/18145 , B60W2510/18 , B60W2510/20 , B60W2520/00 , B60W2520/10 , B60W2520/105 , B60W2520/125 , B60W2520/14 , B60W2600/00 , B60Y2300/09 , B60Y2300/82 , B62D15/0265
摘要： Provided is a vehicle movement control system which does not cause a discomfort feeling at a normal time and securely assists a driver at the time of emergency avoidance steering. The vehicle movement control system includes: a risk potential estimation unit which estimates a risk potential of a vehicle based on input environmental information and vehicle information; a vehicle longitudinal movement control unit which generates a longitudinal movement control command of the vehicle based on a lateral jerk of the vehicle and a predetermined gain; a vehicle yawing movement control unit which generates a yawing movement control command of the vehicle based on the lateral jerk of the vehicle and the predetermined gain; and a ratio adjustment unit which adjusts a ratio between the longitudinal movement control command of the vehicle and the yawing movement control command of the vehicle, wherein the ratio adjustment unit adjusts the ratio based on the risk potential estimated by the risk potential estimation unit.

8. 发明申请

US20150367852A1 VEHICLE MOTION CONTROL SYSTEM 有权
标题翻译：车辆运动控制系统
公开(公告)号：US20150367852A1
公开(公告)日：2015-12-24
申请号：US14762935
申请日：2013-12-20
申请人： HITACHI AUTOMOTIVE SYSTEMS, LTD.
发明人： Keiichiro Nagatsuka , Makoto Yamakado , Mikio Ueyama , Mitsuhide Sasaki
IPC分类号： B60W30/18
CPC分类号： B60W30/18 , B60T8/17555 , B60T8/1766 , B60W2520/105
摘要： Disclosed is a vehicle motion control system that can control a vehicle without making a driver feel uncomfortable. The vehicle motion control system includes a control command value calculation unit configured to calculate a control command value for controlling the longitudinal acceleration of a vehicle; a longitudinal acceleration estimating unit configured to estimate the longitudinal acceleration of the vehicle induced by a driver's brake operation; a longitudinal jark estimating unit configured to estimate the longitudinal jark of the vehicle by differentiating the longitudinal acceleration with respect to time; a deviation determination unit configured to determine a deviation between vehicle's motion induced by the driver's brake operation and vehicle's motion induced by a control command using the longitudinal jark and the control command value; and a control command value correction unit configured to correct the control command in accordance with a deviation determination result of the deviation determination unit.
摘要翻译：公开了一种车辆运动控制系统，其可以在不使驾驶员感到不舒服的情况下控制车辆。车辆运动控制系统包括：控制指令值计算单元，被配置为计算用于控制车辆的纵向加速度的控制指令值; 纵向加速度估计单元，被配置为估计由驾驶员的制动操作引起的车辆的纵向加速度; 纵向山体估计单元，其被配置为通过相对于时间的纵向加速度微分来估计车辆的纵向行驶; 偏差确定单元，其被配置为确定由所述驾驶员的制动操作引起的车辆运动与由控制命令引起的车辆运动之间的偏差;以及所述控制命令值; 以及控制指令值校正单元，被配置为根据偏差确定单元的偏差确定结果来校正控制命令。

9. 发明申请

US20150239442A1 Motion Controlling Apparatus for a Vehicle 有权
标题翻译：一种车辆运动控制装置
公开(公告)号：US20150239442A1
公开(公告)日：2015-08-27
申请号：US14432270
申请日：2013-09-20
申请人： HITACHI AUTOMOTIVE SYSTEMS, LTD.
发明人： Makoto Yamakado , Mitsuhide Sasaki , Mikio Ueyama , Keiichiro Nagatsuka
IPC分类号： B60T8/1755 , B60W40/114
CPC分类号： B60T8/1755 , B60L3/102 , B60L3/108 , B60L7/18 , B60L7/26 , B60L15/20 , B60L15/2009 , B60L2220/42 , B60L2220/44 , B60L2220/46 , B60L2240/12 , B60L2240/22 , B60L2240/423 , B60L2250/26 , B60L2260/28 , B60T8/17555 , B60T2230/04 , B60T2260/08 , B60T2270/303 , B60T2270/604 , B60W10/08 , B60W10/184 , B60W20/00 , B60W30/045 , B60W40/109 , B60W40/114 , B60W2510/18 , B60W2520/10 , B60W2520/105 , B60W2520/125 , B60W2520/14 , B60W2520/20 , B60W2520/30 , B60W2540/10 , B60W2540/12 , B60W2540/18 , B60W2550/10 , B60W2550/30 , B60W2600/00 , B60W2710/083 , B60W2710/18 , B60W2720/106 , B60W2720/125 , B60W2720/14 , Y02T10/645 , Y02T10/646 , Y02T10/72 , Y02T10/7275
摘要： Provided is a motion controlling apparatus for a vehicle that can achieve improvement in drivability, stability, and driving comfort. The apparatus includes a control unit for controlling driving forces of vehicle wheels; a vehicle acceleration/deceleration instruction calculator for calculating an acceleration/deceleration instruction value on the basis of a lateral jerk; a first vehicle yaw moment instruction calculator for calculating a first vehicle yaw moment instruction value on the basis of the lateral jerk; and a second vehicle yaw moment instruction calculator for calculating a second vehicle yaw moment instruction value on the basis of lateral slip information.
摘要翻译：提供一种车辆的运动控制装置，其可以实现驾驶性能，稳定性和驾驶舒适性的提高。该装置包括用于控制车轮的驱动力的控制单元; 车辆加速/减速指令计算器，用于基于横向加加速度计算加速/减速指令值; 第一车辆横摆力矩指令计算器，用于基于横向加加速度计算第一车辆横摆力矩指令值; 以及第二车辆横摆力矩指令计算器，用于基于横向滑移信息计算第二车辆横摆力矩指令值。

10. 发明授权

US10262534B2 System for avoiding collision with multiple moving bodies 有权
公开(公告)号：US10262534B2
公开(公告)日：2019-04-16
申请号：US15111198
申请日：2015-01-14
申请人： Hitachi Automotive Systems, Ltd.
发明人： Takashi Okada , Mikio Ueyama
IPC分类号： G08G1/0967 , B60T7/22 , G08G1/16 , B60T7/12 , G05D1/02 , G08G1/01 , G08G1/048 , G08G1/123 , B60T7/04 , B60W50/14 , B60W10/04 , B60W10/18 , B60W10/20 , B60W10/22 , B60W30/08 , B60W30/09 , B60W30/095 , B60W30/18 , B60W40/06
摘要： When turning right (left) at an intersection and crossing an oncoming vehicle lane, this system makes it possible to avoid blocking travel of or colliding with a moving body moving in the oncoming vehicle lane due to stopping in the oncoming vehicle lane, and to avoid colliding with a moving body after crossing the oncoming vehicle lane. Given two or more moving bodies present in the advancement direction on the path of the local vehicle, the external environment is detected before the local vehicle intersects with the path of a first moving body, which will first intersect the local vehicle path; if at least two moving bodies are detected, i.e., the first moving body and a second moving body which has a path in which the position of intersection with the path of the local vehicle is further than the position of intersection between the path of the local vehicle and the path of the first moving body, then a first intersection time, at which the first position of intersection between the planned path of the local vehicle and the predicted path of the first moving body is reached, and a second intersection time, at which a second position of intersection between the planned path of the local vehicle and the predicted path of the second moving body is reached, are calculated, and on the basis of the difference between the first intersection time and the second intersection time, the deceleration relative to the first moving body and the second moving body is changed.

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