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1. 发明授权

US11148711B2 Vehicle control method and vehicle control device 有权
公开(公告)号：US11148711B2
公开(公告)日：2021-10-19
申请号：US16605060
申请日：2017-04-14
申请人： Nissan Motor Co., Ltd.
发明人： Yuta Akamatsu , Masahiro Kobayashi , Yasuhisa Taira , Osamu Fukata , Ko Sato
IPC分类号： B62D6/04 , B60W60/00 , B62D5/04 , B60W30/12 , B60W30/10 , B60W30/18 , B60W30/09 , B62D15/02 , B60W50/08 , B60W10/20
摘要： A vehicle control method for controlling a vehicle using a vehicle control apparatus includes: a sensor configured to detect a state outside a subject vehicle; and a control device. The vehicle control method includes: executing control of recovering a travel trajectory of the subject vehicle to a target trajectory, as ordinary control, by giving a steering amount in a lateral direction with respect to a travel lane of the subject vehicle; using detection data of the sensor to determine whether or not another vehicle is traveling in an adjacent lane to the travel lane of the subject vehicle; and when determining that the other vehicle is traveling in the adjacent lane ahead of the subject vehicle, increasing a response of the steering amount to a higher response than that in the ordinary control, before the subject vehicle passes the other vehicle.

2. 发明授权

US09832444B2 Three-dimensional object detection device 有权
公开(公告)号：US09832444B2
公开(公告)日：2017-11-28
申请号：US14373054
申请日：2013-02-26
申请人： Nissan Motor Co., Ltd.
发明人： Osamu Fukata , Yasuhisa Hayakawa
IPC分类号： H04N15/00 , H04N13/02 , H04N13/00 , G06T5/00 , G06K9/00 , G06T7/262 , H04N7/18
CPC分类号： H04N13/111 , G06K9/00201 , G06K9/00805 , G06K9/00825 , G06T5/006 , G06T7/262 , G06T2207/20064 , G06T2207/30256 , H04N7/183 , H04N13/207 , H04N2013/0074
摘要： A three-dimensional object detection device includes an image capturing unit, an image conversion unit, a three-dimensional object detection unit and a light source detection unit. The image conversion unit converts a viewpoint of the images obtained by the image capturing unit to create bird's-eye view images. The three-dimensional object detection unit detects a presence of a three-dimensional object within the adjacent lane. The three-dimensional object detection unit determines the presence of the three-dimensional object within the adjacent lane-when the difference waveform information is at a threshold value or higher. The three-dimensional object detection unit set a threshold value lower so that the three-dimensional object is more readily detected in a rearward area than forward area with respect to a line connecting the light source and the image capturing unit.

3. 发明授权

US09643601B2 Driving assistance device 有权
公开(公告)号：US09643601B2
公开(公告)日：2017-05-09
申请号：US14439551
申请日：2013-11-22
申请人： NISSAN MOTOR CO., LTD.
发明人： Akira Morimoto , Osamu Fukata , Yasuhisa Hayakawa , Daisuke Oiki , Daisuke Tanaka
IPC分类号： B60R21/00 , B60W30/06 , B60W40/06 , G08G1/16 , B62D15/02 , B60K28/10 , G06K9/00 , G08G1/14
CPC分类号： B60W30/06 , B60K28/10 , B60W40/06 , B62D15/027 , G06K9/00798 , G08G1/14 , G08G1/16 , G08G1/167
摘要： A driving assistance device improves the accuracy of driving assistance for parking. A traveling controller detects a line positioned on a road surface from a captured image captured by a camera. A parking frame is extracted from the detected line and acceleration suppression control of a vehicle is executed based on the extracted parking frame. At this time, the acceleration suppression control is cancelled if a crossing is detected based on the captured image.

4. 发明授权

US09616885B2 Vehicular acceleration suppression device 有权
公开(公告)号：US09616885B2
公开(公告)日：2017-04-11
申请号：US14647647
申请日：2013-11-22
申请人： NISSAN MOTOR CO., LTD.
发明人： Yasuhisa Hayakawa , Osamu Fukata , Akira Morimoto , Daisuke Oiki , Daisuke Tanaka
IPC分类号： B60W30/06 , B60W50/12 , G06K9/00 , G06T1/00 , G08G1/16
CPC分类号： B60W30/06 , B60W50/12 , B60W2420/403 , B60W2540/18 , B60W2720/103 , B60W2720/106 , G06K9/00812 , G06T1/00 , G08G1/168
摘要： A vehicular acceleration suppression device reduces the degradation in the drive performance due to the acceleration suppression control activated outside the parking region. A parking frame line candidate which is a candidate of a parking frame line is extracted from a bird's-eye view image acquired by performing a bird's-eye view conversion on a captured image around a vehicle, and a parking frame line candidate corresponding line corresponding the parking frame line candidate is extracted from the captured image of the front of the vehicle. Then, the parking frame line candidate corresponding to the parking frame line candidate corresponding line length of which is longer than a parking frame line length threshold is eliminated from the candidate to be detected as the parking frame.

5. 发明授权

US09604637B2 Vehicle acceleration suppression device and vehicle acceleration suppression method 有权
公开(公告)号：US09604637B2
公开(公告)日：2017-03-28
申请号：US14647526
申请日：2013-11-22
申请人： NISSAN MOTOR CO., LTD.
发明人： Osamu Fukata , Yasuhisa Hayakawa , Akira Morimoto , Daisuke Tanaka , Daisuke Oiki
IPC分类号： B60W30/06 , B60W50/12 , B60W50/10 , B60K28/00 , B60W30/14 , B60W40/107 , B60K31/00
CPC分类号： B60W30/06 , B60K28/00 , B60K2031/0091 , B60W30/146 , B60W40/107 , B60W50/10 , B60W50/12 , B60W2520/10 , B60W2540/10 , B60W2720/10 , B60W2720/106
摘要： A vehicle acceleration suppression device and a vehicle acceleration suppression method are provided to be capable of suppressing a degradation in a drive performance and suppressing acceleration at the time of an incorrect manipulation of an accelerator, at the time of parking. Based on a parking frame certainty degree indicative of a degree of certainty that there is a parking frame in a vehicle travel direction and a parking frame entering certainty degree indicative of a degree of certainty that the vehicle enters the parking frame, a total certainty degree indicative of a total degree of certainty of the parking frame certainty degree and the parking frame entering certainty degree is set. As the total certainty degree is higher, a suppression degree of the vehicle acceleration to be controlled in response to a manipulation amount of an accelerator pedal manipulated by a driver to instruct a drive force is increased.

6. 发明授权

US09457806B2 Vehicular acceleration suppression device and vehicular acceleration suppression method 有权
标题翻译：车辆加速抑制装置和车辆加速抑制方法
公开(公告)号：US09457806B2
公开(公告)日：2016-10-04
申请号：US14646312
申请日：2013-11-22
申请人： NISSAN MOTOR CO., LTD.
发明人： Yasuhisa Hayakawa , Takuya Inoue , Takeshi Sugano , Toshimichi Gokan , Osamu Fukata , Daisuke Tanaka
IPC分类号： B60W30/08 , B60W30/18 , B60W30/188 , B60W40/06 , G05D13/62 , B60W50/12 , B60K28/00 , B60W30/14 , B60W40/107 , B60W30/06 , G08G1/16 , B60K31/00
CPC分类号： B60W30/08 , B60K28/00 , B60K2031/0091 , B60W30/06 , B60W30/146 , B60W30/18009 , B60W30/188 , B60W40/06 , B60W40/107 , B60W50/12 , B60W2540/10 , B60W2720/106 , G05D13/62 , G08G1/167
摘要： Based on a parking frame certainty degree indicative of a degree of certainty about a presence is a parking frame in the travel direction of the vehicle and a parking frame entering certainty degree indicative of a degree of certainty about whether the vehicle enters the parking frame, a total certainty degree indicative of a total degree of the certainty of the parking frame certainty degree and the parking frame entering certainty degree is calculated. Acceleration of the vehicle is controlled depending on a manipulation amount of an accelerator pedal manipulated by a drive to instruct a driving force and is suppressed in a higher suppression degree as the total certainty degree is higher. Furthermore, the acceleration of the vehicle is suppressed in a lower suppression degree as the vehicle speed of the vehicle is higher.
摘要翻译：基于停车框架，表示存在确定性的确定度是在车辆的行进方向上的停车框架，以及指示车辆是否进入停车框架的确定程度的确定度的停车框架，计算总停机框确定度确定度和停车框进入确定度的总确定度。车辆的加速度根据由指示驱动力的驱动器操纵的加速器踏板的操纵量来控制，并且在总确定度较高时被抑制在更高的抑制度。此外，随着车辆的车速较高，车辆的加速度被抑制在较低的抑制度。

7. 发明授权

US09399400B2 Vehicular acceleration suppression device and vehicular acceleration suppression method 有权
标题翻译：车辆加速抑制装置和车辆加速抑制方法
公开(公告)号：US09399400B2
公开(公告)日：2016-07-26
申请号：US14443114
申请日：2013-11-22
申请人： NISSAN MOTOR CO., LTD.
发明人： Akira Morimoto , Osamu Fukata , Yasuhisa Hayakawa , Daisuke Oiki , Daisuke Tanaka
IPC分类号： B60K31/00 , B60W50/12 , B60W30/06 , G06K9/00 , B62D15/02 , G08G1/16
CPC分类号： B60K31/0058 , B60W30/06 , B60W50/12 , B60W2520/06 , B60W2540/10 , B60W2540/18 , B60W2720/106 , B62D15/027 , G06K9/00812 , G08G1/168
摘要： Based on a parking frame certainty degree indicative of a degree of certainty about a presence is a parking frame in the travel direction of the vehicle and a parking frame entering certainty degree indicative of a degree of certainty about whether the vehicle enters the parking frame, a total certainty degree indicative of a total degree of the certainty of the parking frame certainty degree and the parking frame entering certainty degree is calculated. Acceleration of the vehicle is controlled depending on a manipulation amount of an accelerator pedal manipulated by a drive to instruct a driving force and is suppressed in a lower suppression degree when the total certainty degree is lower than when the total certainty degree is higher. Furthermore, the acceleration of the vehicle is suppressed in the suppression degree decreased depending on the travel direction of the vehicle.
摘要翻译：基于停车框架，表示存在确定性的确定度是在车辆的行进方向上的停车框架，以及指示车辆是否进入停车框架的确定程度的确定度的停车框架，计算总停机框确定度确定度和停车框进入确定度的总确定度。根据由指示驱动力的驱动器操纵的加速器踏板的操纵量来控制车辆的加速度，并且当总确定度低于总确定度较高时抑制程度较低。此外，根据车辆的行驶方向，抑制程度减小，车辆的加速度被抑制。

8. 发明授权

US09251426B2 Three-dimensional object detection device, three-dimensional object detection method 有权
标题翻译：三维物体检测装置，三维物体检测方法
公开(公告)号：US09251426B2
公开(公告)日：2016-02-02
申请号：US14409494
申请日：2013-07-24
申请人： Nissan Motor Co., Ltd.
发明人： Yasuhisa Hayakawa , Osamu Fukata , Daisuke Oiki , Yukinori Nishida
IPC分类号： G06K9/00 , G08G1/16 , G06K9/46 , H04N5/225 , H04N7/18
CPC分类号： G06K9/00791 , G06K9/00805 , G06K9/00812 , G06K9/46 , G08G1/166 , G08G1/167 , H04N7/183
摘要： A three-dimensional object detection device is provided with an image capturing device, a three-dimensional object detection unit, a rainfall state detection unit, a three-dimensional object assessment unit and a controller. The image capturing device captures an area rearward of a vehicle. The three-dimensional object detection unit detects a three-dimensional object rearward of the vehicle and calculating a traveling speed of the three-dimensional object, based on images obtained by the image capturing device. The rainfall state detection unit detects a state of rainfall including cases of rainfall or formation of a water film on a road surface due to rainfall. The three-dimensional object assessment unit accesses the three-dimensional object to be another vehicle when the traveling speed of the detected three-dimensional object lies within a preset setting range. The controller changes the traveling speed setting range to be narrower when the rainfall state detection unit has detected a rainfall state.
摘要翻译：三维物体检测装置具备图像拍摄装置，三维物体检测部，降雨状态检测部，三维物体评价部以及控制部。图像捕获装置捕获车辆后方的区域。三维物体检测单元基于由图像捕获装置获得的图像，检测车辆后方的三维物体并计算三维物体的行驶速度。降雨状态检测单元检测降雨状况，包括由于降雨导致的路面上的降雨或水膜的形成。当检测到的三维物体的行进速度处于预设的设定范围内时，三维物体评估单元将三维物体接入另一车辆。当降雨状态检测单元检测到降雨状态时，控制器将行驶速度设置范围更改为较窄。

9. 发明申请

US20150296108A1 VEHICLE-MOUNTED CAMERA DEVICE 有权
标题翻译：车辆安装摄像机
公开(公告)号：US20150296108A1
公开(公告)日：2015-10-15
申请号：US14416188
申请日：2013-07-19
申请人： NISSAN MOTOR CO., LTD.
发明人： Yasuhisa Hayakawa , Osamu Fukata , Takashi Ashiduka , Toshimichi Gokan , Yonosuke Nishioku
IPC分类号： H04N5/225 , B60R1/00 , G02B13/00 , G03B17/08
CPC分类号： H04N5/2254 , B60R1/00 , B60S1/0848 , B60S1/52 , B60S1/54 , B60S1/56 , G02B7/02 , G02B13/0015 , G02B27/0006 , G03B17/02 , G03B17/08 , H04N5/2171 , H04N5/2251 , H04N5/2252
摘要： A vehicle-mounted camera device that is mounted on a vehicle and captures a surrounding image from which lights are collected by a lens, in which the lens is set so as to have the surface having a contact angle less than or equal to 100°, preferably less than or equal to 60° so that water attached on the surface is made into a form of a film. For this reason, the surface of the lens has high hydrophilicity, and if water droplets are attached when it is raining, the water droplets extend over the surface of the lens to form a water film. Thus, if mud or other attached matter is attached on the surface of the lens, it is possible to remove the attached matter without delay, and it is possible to always keep the surface of the lens in a clean state.
摘要翻译：一种车载摄像机装置，其安装在车辆上并捕获周围的图像，通过镜头收集光，其中透镜被设置成具有小于或等于100°的接触角的表面，优选小于或等于60°，使得附着在表面上的水被制成膜的形式。为此，透镜的表面具有高的亲水性，并且如果在下雨时附着水滴，则水滴在透镜的表面上延伸以形成水膜。因此，如果泥浆或其它附着物附着在透镜的表面上，则可以毫不拖延地去除附着物，并且可以始终保持透镜的表面处于清洁状态。

10. 发明申请

US20150291030A1 Vehicle Acceleration Suppression Device and Vehicle Acceleration Suppression Method 有权
标题翻译：车辆加速抑制装置和车辆加速抑制方法
公开(公告)号：US20150291030A1
公开(公告)日：2015-10-15
申请号：US14438808
申请日：2013-11-22
申请人： NISSAN MOTOR CO., LTD.
发明人： Daisuke Oiki , Takuya Inoue , Takeshi Sugano , Toshimichi Gokan , Yasuhisa Hayakawa , Osamu Fukata , Daisuke Tanaka , Akira Morimoto
IPC分类号： B60K31/00 , G06K9/00
CPC分类号： B60K31/0058 , B60K28/00 , B60K2031/0091 , B60W30/06 , B60W30/146 , B60W40/107 , B60W50/10 , B60W50/12 , B60W2520/10 , B60W2540/10 , B60W2720/10 , B60W2720/106 , G06K9/00812
摘要： A total certainty factor indicating a total degree of certainty of the parking frame certainty degree and the parking frame entering certainty degree is calculated based on a parking frame certainty degree indicating the degree of certainty that a parking frame is present in a travel direction of a vehicle, and a parking frame entering certainty degree indicating the degree of certainty that the vehicle enters the parking frame. When the total certainty factor is low, acceleration of the vehicle controlled according to an operation amount of an accelerator pedal for instructing a driving force by operation of a driver is suppressed with a low suppression degree, as compared with a case where the total certainty factor is high. Further, the acceleration of the vehicle is suppressed with a lower suppression degree as the vehicle speed of the vehicle is higher.
摘要翻译：基于指示在车辆行进方向上存在停车框的确定程度的停车框确定度来计算表示停车框确定度的确定性和停车框确定度的总确定性的总确定性因子以及停车框进入确定度，指示车辆进入停车框架的确定程度。当总确定性因素低时，与总的确定性因子相比，抑制了通过驾驶员的操作来指示驱动力的加速踏板的操作量而控制的车辆的加速度低抑制度高。此外，随着车辆的车速较高，车辆的加速度被抑制得较低的抑制度。

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