JP5174609B2 - 走行支援装置 - Google Patents

走行支援装置 Download PDF

Info

Publication number
JP5174609B2
JP5174609B2 JP2008263373A JP2008263373A JP5174609B2 JP 5174609 B2 JP5174609 B2 JP 5174609B2 JP 2008263373 A JP2008263373 A JP 2008263373A JP 2008263373 A JP2008263373 A JP 2008263373A JP 5174609 B2 JP5174609 B2 JP 5174609B2
Authority
JP
Japan
Prior art keywords
yaw moment
control device
target yaw
actuator
steering
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
JP2008263373A
Other languages
English (en)
Japanese (ja)
Other versions
JP2010089701A (ja
JP2010089701A5 (https=
Inventor
俊晴 菅原
篤 横山
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Astemo Ltd
Original Assignee
Hitachi Automotive Systems Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hitachi Automotive Systems Ltd filed Critical Hitachi Automotive Systems Ltd
Priority to JP2008263373A priority Critical patent/JP5174609B2/ja
Priority to PCT/JP2009/067375 priority patent/WO2010041640A1/ja
Priority to CN200980144741.4A priority patent/CN102209656B/zh
Priority to EP09819174.5A priority patent/EP2338758B1/en
Priority to US13/123,373 priority patent/US8849514B2/en
Publication of JP2010089701A publication Critical patent/JP2010089701A/ja
Publication of JP2010089701A5 publication Critical patent/JP2010089701A5/ja
Application granted granted Critical
Publication of JP5174609B2 publication Critical patent/JP5174609B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/10—Path keeping
    • B60W30/12—Lane keeping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/02—Brake-action initiating means for personal initiation
    • B60T7/04—Brake-action initiating means for personal initiation foot actuated
    • B60T7/042—Brake-action initiating means for personal initiation foot actuated by electrical means, e.g. using travel or force sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
    • B60T8/17557—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve specially adapted for lane departure prevention
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
    • B60T8/17558—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve specially adapted for collision avoidance or collision mitigation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • B62D15/0265—Automatic obstacle avoidance by steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
    • B62D6/003—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels in order to control vehicle yaw movement, i.e. around a vertical axis
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/08—Lane monitoring; Lane Keeping Systems
    • B60T2201/083—Lane monitoring; Lane Keeping Systems using active brake actuation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/08—Lane monitoring; Lane Keeping Systems
    • B60T2201/087—Lane monitoring; Lane Keeping Systems using active steering actuation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/14—Yaw

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Regulating Braking Force (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Traffic Control Systems (AREA)
JP2008263373A 2008-10-10 2008-10-10 走行支援装置 Active JP5174609B2 (ja)

Priority Applications (5)

Application Number Priority Date Filing Date Title
JP2008263373A JP5174609B2 (ja) 2008-10-10 2008-10-10 走行支援装置
PCT/JP2009/067375 WO2010041640A1 (ja) 2008-10-10 2009-10-06 走行支援装置
CN200980144741.4A CN102209656B (zh) 2008-10-10 2009-10-06 行驶支援装置
EP09819174.5A EP2338758B1 (en) 2008-10-10 2009-10-06 Traveling aid device
US13/123,373 US8849514B2 (en) 2008-10-10 2009-10-06 Driving support device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2008263373A JP5174609B2 (ja) 2008-10-10 2008-10-10 走行支援装置

Publications (3)

Publication Number Publication Date
JP2010089701A JP2010089701A (ja) 2010-04-22
JP2010089701A5 JP2010089701A5 (https=) 2011-03-24
JP5174609B2 true JP5174609B2 (ja) 2013-04-03

Family

ID=42100590

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2008263373A Active JP5174609B2 (ja) 2008-10-10 2008-10-10 走行支援装置

Country Status (5)

Country Link
US (1) US8849514B2 (https=)
EP (1) EP2338758B1 (https=)
JP (1) JP5174609B2 (https=)
CN (1) CN102209656B (https=)
WO (1) WO2010041640A1 (https=)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106394554A (zh) * 2015-07-31 2017-02-15 丰田自动车株式会社 驾驶辅助装置

Families Citing this family (53)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4957752B2 (ja) * 2009-06-12 2012-06-20 トヨタ自動車株式会社 進路評価装置
JP2012079118A (ja) * 2010-10-01 2012-04-19 Toyota Motor Corp 走行支援装置及び方法
JP5706130B2 (ja) * 2010-10-29 2015-04-22 株式会社アドヴィックス 車両の挙動制御装置及び車両の挙動制御方法
US9852633B2 (en) * 2011-02-28 2017-12-26 Toyota Jidosha Kabushiki Kaisha Travel assist apparatus and travel assist method
JP5229341B2 (ja) * 2011-02-28 2013-07-03 株式会社デンソー アクセルペダル誤操作対応装置およびアクセルペダル誤操作対応装置用のプログラム
JP5774966B2 (ja) * 2011-11-10 2015-09-09 日立オートモティブシステムズ株式会社 車両の障害物回避装置
US9430946B2 (en) * 2011-12-28 2016-08-30 Toyota Jidosha Kabushiki Kaisha Obstacle determination device
JP5935875B2 (ja) * 2012-03-19 2016-06-15 トヨタ自動車株式会社 衝突回避支援装置
KR101960093B1 (ko) * 2012-05-15 2019-03-19 현대모비스 주식회사 스마트 크루즈 컨트롤 시스템 및 제어 대상 타겟 선정 방법
SE536571C2 (sv) * 2012-06-12 2014-02-25 En metod och ett system för körfältshjälp för ett fordon
CN104812647B (zh) * 2012-11-29 2017-10-10 丰田自动车株式会社 驾驶辅助装置以及驾驶辅助方法
JP6020097B2 (ja) * 2012-11-30 2016-11-02 トヨタ自動車株式会社 車両の走行制御装置
CN104995082B (zh) * 2013-02-19 2016-12-07 丰田自动车株式会社 碰撞避免辅助装置和碰撞避免辅助方法
JP6049541B2 (ja) 2013-05-31 2016-12-21 日立オートモティブシステムズ株式会社 車両制御システム
JP6209028B2 (ja) * 2013-09-12 2017-10-04 株式会社Ｓｕｂａｒｕ ４輪駆動車の制御装置
JP6138655B2 (ja) * 2013-10-10 2017-05-31 日立オートモティブシステムズ株式会社 車両の運動制御装置
JP5917472B2 (ja) * 2013-11-08 2016-05-18 本田技研工業株式会社 運転支援装置
KR101509988B1 (ko) * 2013-11-26 2015-04-07 현대자동차주식회사 차량용 사륜 구동 제어방법
US9809219B2 (en) * 2014-01-29 2017-11-07 Continental Automotive Systems, Inc. System for accommodating a pedestrian during autonomous vehicle operation
EP2923924B1 (en) * 2014-03-24 2017-08-16 Volvo Car Corporation Driver assist arrangement
JP6408832B2 (ja) * 2014-08-27 2018-10-17 ルネサスエレクトロニクス株式会社 制御システム、中継装置、及び制御方法
US9558659B1 (en) 2014-08-29 2017-01-31 Google Inc. Determining the stationary state of detected vehicles
EP3090907B1 (en) * 2015-05-05 2020-08-12 Volvo Car Corporation Secondary steering system unit, secondary steering system, vehicle and a method for secondary steering
JP2017024520A (ja) * 2015-07-21 2017-02-02 株式会社デンソー ステアリング制御装置
WO2017065182A1 (ja) * 2015-10-16 2017-04-20 日立オートモティブシステムズ株式会社 車両制御システム、車両制御装置
JP2017134520A (ja) * 2016-01-26 2017-08-03 トヨタ自動車株式会社 車両用衝突回避支援システム
KR101819003B1 (ko) * 2016-04-07 2018-01-16 엘지전자 주식회사 차량 운전 보조 장치 및 차량
JP6462629B2 (ja) * 2016-05-19 2019-01-30 株式会社Ｓｏｋｅｎ 運転支援装置及び運転支援プログラム
DE102016116964B4 (de) * 2016-09-09 2019-05-16 Knorr-Bremse Systeme für Nutzfahrzeuge GmbH Vorrichtung zum Warnen eines Fahrzeugführers eines Fahrzeugs vor einem stationären Objekt sowie Fahrzeug mit einer solchen Vorrichtung
JP6702107B2 (ja) * 2016-09-12 2020-05-27 三菱自動車工業株式会社 車線逸脱抑制装置
CN106945668B (zh) * 2016-10-27 2019-08-16 蔚来汽车有限公司 车辆行驶窄道辅助系统
JP6569647B2 (ja) 2016-11-11 2019-09-04 トヨタ自動車株式会社 車両の車線逸脱防止装置
CN110494339B (zh) * 2017-03-31 2022-09-09 本田技研工业株式会社 车辆控制系统、车辆控制方法及存储介质
JP6859902B2 (ja) 2017-08-31 2021-04-14 トヨタ自動車株式会社 車両制御装置
JP6962076B2 (ja) * 2017-09-01 2021-11-05 株式会社デンソー 車両運転制御装置およびその制御方法
CN109835330B (zh) * 2017-11-27 2021-11-26 大陆泰密克汽车系统（上海）有限公司 车辆主动避撞的方法以及使用该方法的车辆
WO2019142607A1 (ja) * 2018-01-19 2019-07-25 日立オートモティブシステムズ株式会社 運転支援装置、運転支援方法及び運転支援システム
JP6997005B2 (ja) * 2018-02-26 2022-01-17 本田技研工業株式会社 車両制御装置、車両制御方法、及びプログラム
CN109017735A (zh) * 2018-08-09 2018-12-18 北京智行者科技有限公司 制动系统
JP7314485B2 (ja) * 2018-08-30 2023-07-26 トヨタ自動車株式会社 車両運動制御装置、制御装置、マネージャ、方法、プログラム、および車両
DE102018220576A1 (de) * 2018-11-29 2020-06-04 Robert Bosch Gmbh Verfahren und Steuergerät zum Bestimmen eines Reibwertpotentials eines Fahrbahnbelags
CN109490569B (zh) * 2018-12-14 2020-05-29 安徽江淮汽车集团股份有限公司 一种车速计算方法
FR3093689B1 (fr) 2019-03-12 2021-04-09 Renault Procédé d’élaboration d’une consigne de pilotage mixte d’un système de braquage de roues et d’un système de freinage différentiel d’un véhicule automobile
US10915766B2 (en) * 2019-06-28 2021-02-09 Baidu Usa Llc Method for detecting closest in-path object (CIPO) for autonomous driving
FR3116500B1 (fr) * 2020-11-24 2023-02-17 Renault Sas Procédé de pilotage automatisé d’un véhicule automobile
CN113022531B (zh) * 2021-03-23 2022-10-18 武汉路特斯汽车有限公司 一种底盘控制方法及底盘控制系统
US20250136124A1 (en) * 2021-09-20 2025-05-01 Ampere S.A.S. Method for autonomously controlling an actuator of a device
JP7619235B2 (ja) 2021-10-28 2025-01-22 トヨタ自動車株式会社 走路逸脱防止装置
JP7606164B2 (ja) * 2022-04-28 2024-12-25 トヨタ自動車株式会社 車両用操舵支援装置
JP7773953B2 (ja) * 2022-08-08 2025-11-20 本田技研工業株式会社 車両制御装置
KR20250054022A (ko) * 2022-08-19 2025-04-22 암페르 에스.아.에스. 장치의 액츄에이터를 자율적으로 제어하기 위한 방법
JP7845960B2 (ja) * 2022-08-25 2026-04-14 トヨタ自動車株式会社 車両制御装置及び車両制御方法
JP2025139491A (ja) * 2024-03-12 2025-09-26 トヨタ自動車株式会社 車両制御装置及びプログラム

Family Cites Families (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH1031799A (ja) 1996-07-15 1998-02-03 Toyota Motor Corp 自動走行制御装置
JP3537027B2 (ja) * 1998-10-07 2004-06-14 アイシン精機株式会社 自動制動装置
DE10203499A1 (de) * 2002-01-30 2003-07-31 Bosch Gmbh Robert Verfahren und Vorrichtung zur prädiktiven Fahrdynamikregelung bezüglich der Spurhaltung und Stabilisierung eines Fahrzeugs
US7212896B2 (en) * 2002-05-29 2007-05-01 Ford Global Technologies, Llc Vehicle control
GB2394702A (en) * 2002-10-30 2004-05-05 Trw Ltd Video enhanced stability control in road vehicles
JP2004243904A (ja) * 2003-02-14 2004-09-02 Nissan Motor Co Ltd 車線逸脱防止装置
US7016783B2 (en) * 2003-03-28 2006-03-21 Delphi Technologies, Inc. Collision avoidance with active steering and braking
JP4341534B2 (ja) * 2003-11-26 2009-10-07 日産自動車株式会社 車線逸脱防止装置
JP4752311B2 (ja) 2004-04-13 2011-08-17 日産自動車株式会社 車線逸脱防止装置
JP4867313B2 (ja) * 2004-12-27 2012-02-01 日産自動車株式会社 車線逸脱防止装置
JP2006306203A (ja) * 2005-04-27 2006-11-09 Nissan Motor Co Ltd 車線逸脱防止装置
JP4577089B2 (ja) * 2005-05-25 2010-11-10 日産自動車株式会社 車両の走行制御装置
JP2007099237A (ja) * 2005-10-07 2007-04-19 Fuji Heavy Ind Ltd 車両用運転支援装置
JP5130638B2 (ja) * 2006-03-22 2013-01-30 日産自動車株式会社 回避操作算出装置、回避制御装置、各装置を備える車両、回避操作算出方法および回避制御方法
JP4706654B2 (ja) * 2007-03-27 2011-06-22 トヨタ自動車株式会社 衝突回避装置

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106394554A (zh) * 2015-07-31 2017-02-15 丰田自动车株式会社 驾驶辅助装置

Also Published As

Publication number Publication date
JP2010089701A (ja) 2010-04-22
US8849514B2 (en) 2014-09-30
EP2338758A1 (en) 2011-06-29
EP2338758A4 (en) 2012-04-25
WO2010041640A1 (ja) 2010-04-15
CN102209656A (zh) 2011-10-05
CN102209656B (zh) 2015-09-23
US20110276227A1 (en) 2011-11-10
EP2338758B1 (en) 2015-08-12

Similar Documents

Publication Publication Date Title
JP5174609B2 (ja) 走行支援装置
JP5297965B2 (ja) 走行支援装置
JP6981837B2 (ja) 車両の運転支援制御装置
JP6568759B2 (ja) 車線変更システム
KR102164130B1 (ko) 차량과 관련한 충돌 회피를 위한 방법 및 시스템
US10807573B2 (en) Driving assistance control apparatus of vehicle
US8392062B2 (en) Method and device for avoiding and/or reducing the consequences of collisions upon evasion with respect to obstacles
KR102175663B1 (ko) 주행 안정성을 조절하기 위한 방법
JP6272558B2 (ja) ブレーキ制御装置
US20170327110A1 (en) Driving assistance control device for vehicle
JP5224918B2 (ja) 運転支援装置
US20110282549A1 (en) Lane maintenance control method
CN105102291A (zh) 车辆的运动控制装置
JP2010102436A (ja) 操舵支援装置
JP2006224740A (ja) 車両用走行支援装置
JP5342208B2 (ja) 操舵支援装置
JP5244516B2 (ja) 運転支援装置
JP5416372B2 (ja) 車線逸脱防止装置
JP2006218935A (ja) 車両用走行支援装置
JP2010069984A (ja) 運転支援装置
JP5617314B2 (ja) 車両の運動制御装置
JP6842551B2 (ja) 制動制御装置
JP4900082B2 (ja) 車線逸脱防止装置
JP5929173B2 (ja) ハイブリッド車両用運動制御装置
JP7559562B2 (ja) 車両の緊急制動支援装置

Legal Events

Date Code Title Description
A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20110202

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20110202

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20110202

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20120731

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20120928

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20121204

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20121228

R150 Certificate of patent or registration of utility model

Ref document number: 5174609

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150

S533 Written request for registration of change of name

Free format text: JAPANESE INTERMEDIATE CODE: R313533

R350 Written notification of registration of transfer

Free format text: JAPANESE INTERMEDIATE CODE: R350

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250