The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Aug. 20, 2019
Filed:
Aug. 22, 2017
Denso Corporation, Kariya, Aichi-pref., JP;
Hirotaka Tokoro, Kariya, JP;
DENSO CORPORATION, Kariya, Aichi-pref., JP;
Abstract
An apparatus for performing driving aid control to cause a travel trajectory of a mobile object to follow a setpoint trajectory by transmitting a control command value to a yaw moment controller capable of controlling a yaw moment of the mobile object. In the apparatus, a first control command value calculator is configured to calculate a first control command value used to calculate the control command value. A straight-driving stabilizing compensator is configured to, when the mobile object is driving straight, calculate a first control command compensation value by decreasing the first control command value. A second control command value calculator is configured to calculate a second control command value used to calculate the control command value. A third control command value calculator is configured to calculate a final control command value based on the first control command compensation value and the second control command value.