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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.:

US 11117615 B1

PDFFull Text
Date of Patent:
Sep. 14, 2021

Filed:

Aug. 22, 2017

Driving aid control apparatus

Applicant:

Denso Corporation, Kariya, JP;

Inventor:

Hirotaka Tokoro, Kariya, JP;

Assignee:

DENSO CORPORATION, Kariya, JP;

Attorney:

Maschoff Brennan

Primary Examiner:

Adam D Tissot

Assistant Examiner:

Laura E Linhardt

Int. Cl.
CPC ...
B60W 30/12 (2020.01); B62D 15/02 (2006.01); B62D 6/00 (2006.01); G01P 3/64 (2006.01); B62D 1/00 (2006.01); G01C 21/34 (2006.01); G01D 1/04 (2006.01); G05D 1/02 (2020.01); B60T 8/1755 (2006.01); B60T 7/18 (2006.01); G06K 9/00 (2006.01); B60K 31/00 (2006.01); B60R 11/04 (2006.01); B60T 7/22 (2006.01); B60W 10/20 (2006.01); G08G 1/16 (2006.01);
U.S. Cl.
CPC ...
B62D 15/025 (2013.01); B60K 31/0008 (2013.01); B60R 11/04 (2013.01); B60T 7/18 (2013.01); B60T 7/22 (2013.01); B60T 8/1755 (2013.01); B60T 8/17557 (2013.01); B60W 10/20 (2013.01); B62D 6/002 (2013.01); G06K 9/00791 (2013.01); G06K 9/00805 (2013.01); G08G 1/167 (2013.01); B60T 2201/022 (2013.01); B60T 2201/089 (2013.01); G06T 2207/30261 (2013.01);
Abstract

An apparatus for performing driving aid control to cause a travel trajectory of a mobile object to follow a setpoint trajectory (La) by transmitting a control command value (δ) to a yaw moment controller capable of controlling a yaw moment of the mobile object. In the apparatus, a setpoint trajectory setter is configured to set the setpoint trajectory (La) of the mobile object. A control command value calculator is configured to calculate the control command value (δ) based on an integrated value (δI) of a lateral error that is an error between a position of the mobile object and the setpoint trajectory. The control command value calculator is further configured to decrease the integrated value (δI) with decreasing a curvature (ρ) of a road on which the mobile object is traveling.

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