Nissan Motor Company Limited

Renault S.a.s.

Fang Fang

Takuya Nanri

Kuniaki Noda

Shotaro Yamaguchi

Hirotoshi Ueda

Shoichi Takei

Abdelaziz Khiat

Shoutaro Yamaguchi

Nanri Takuya

A behavior prediction method includes: determining a position of a host vehicle; determining a position of another vehicle in a second travel lane, the second travel lane being an opposite lane to a first travel lane in which the host vehicle travels; detecting an intersecting passage intersecting the second travel lane at a position ahead of the host vehicle; and determining whether or not the another vehicle is located within a predetermined range from an intersection position of the intersecting passage and the second travel lane to a point away from the intersection position by a predetermined distance in an opposite direction to a traveling direction of a vehicle in the second travel lane and the another vehicle is in either state of a stopped state and a decelerated state to predict that there is a probability that a mobile unit enters the first travel lane from the intersecting passage.

Behavior prediction method and behavior prediction device for mobile unit, and vehicle

A vehicle-behavior prediction device includes: a priority determination section that determines the priority of a host vehicle and a vehicle concerned when the host vehicle and the vehicle concerned pass through a road section; and a vehicle control section that sets the time from when the vehicle concerned stops to when the host vehicle starts action to avoid the vehicle concerned to be shorter in a case where the priority of the host vehicle is low than in a case where the priority of the host vehicle is high.

Vehicle-behavior prediction method and vehicle-behavior prediction device

A behavior prediction apparatus specifies a first object that affects a behavior of a vehicle from objects present around the vehicle. The behavior prediction apparatus performs a prediction process of extracting a second object that affects a behavior of the first object among a plurality of objects present around the first object and predicting a behavior. The behavior prediction apparatus sets the extracted second object as a new first object, and performs a prediction process of extracting a new second object affecting the behavior of the new first object and predicting the behavior. The behavior prediction apparatus repeats the prediction process by a predetermined number of times. The behavior prediction apparatus predicts the behavior of the first object in the first prediction process based on the behavior of each of the second objects subjected to the prediction process.

Behavior prediction method, behavior prediction apparatus and vehicle control apparatus

A driving assistance method includes: detecting a first other vehicle entering an intersection on a first route where a host vehicle is traveling from a second route; predicting whether or not the first other vehicle will stop in the intersection, and predicting a stop position of the first other vehicle; calculating a minimum distance of a first gap between a vehicle body of the first other vehicle and a surrounding object around the first other vehicle or between the vehicle body of the first other vehicle and a road edge of a travel lane of the first other vehicle when the first other vehicle stops at the predicted stop position; and predicting according to the calculated minimum distance whether or not a second other vehicle, which is a following vehicle behind the first other vehicle, may slip through the first gap from behind the first other vehicle.

Driving assistance method and driving assistance device

A vehicle behavior prediction device includes an objection detection device for detecting a position of an object, with respect to a host vehicle, located on the front side or the lateral side of the host vehicle, and a moving object traveling further than the object from the host vehicle, and an behavior prediction unit. The behavior prediction unit calculates, based on the position detected by the objection detection device, a blind spot region from the host vehicle caused by the object in which the objection detection device cannot detect. The behavior prediction unit presumes a detection-available period from a point when the moving object is detected to a point when the moving object enters the blind spot region in a case in which the moving object travels in a predetermined course after being detected by the objection detection device.

Vehicle behavior prediction method and vehicle behavior prediction device

A traveling assistance method acquires driving characteristics of another vehicle around a host vehicle, determines whether the other vehicle is in an autonomous driving mode depending on the driving characteristics of the other vehicle, and detects an action of the other vehicle in accordance with the determination result of whether the other vehicle is in the autonomous driving mode.

Traveling assistance method of traveling assistance device and traveling assistance device

A traveling assistance method detects another vehicle and objects around a host vehicle, sets a blind spot area from the other vehicle, specifies an object present in the blind spot area among the detected objects, and predicts an action that the other vehicle takes in accordance with the specified object.

Traveling assistance method and traveling assistance device

A driving assistance method detects a behavior of a moving object causing a blind spot area around a host vehicle, predicts a probability of action that the moving object takes when an obstacle is present in the blind spot area, according to a road structure around the host vehicle, and compares the behavior of the moving object with the probability of action that the moving object takes, so as to predict an action of the moving object.

An object tracking device tracks objects in a time series using an object detection sensor for detecting objects around a host vehicle. When a plurality of objects are detected, the object tracking device sorts the objects into groups in accordance with a degree of influence of the positions of the objects on the movement of the host vehicle. The object tracking device tracks each of the groups as a single object in a time series.

Object tracking method and object tracking device

An inter-vehicle distance estimation method includes: estimating a screened area screened by an obstacle from a sensor and two unscreened areas sandwiching the screened area; and, based on speeds of two tracked vehicles traveling in a same traffic lane respectively within the two unscreened areas, estimating the inter-vehicle distances from the two tracked vehicles to a tracked vehicle traveling in the same traffic lane within the screened area.

Inter-vehicle distance estimation method and inter-vehicle distance estimation device

A vehicle control method includes: detecting a blocking object that is at a position at which the blocking object obstructs travel of the tracked vehicle in a traffic lane in which the tracked vehicle is traveling and that hides at least part of the traffic lane from the sensor, and an oncoming vehicle traveling in a direction toward the tracked vehicle in an oncoming lane opposite from the traffic lane; and slowing down the vehicle when the oncoming vehicle slows down.

Vehicle control method and vehicle control device

In a case where multiple objects detected by an object detector enter a hidden area calculated by a hidden area calculator, a positional relationship estimator estimates a positional relationship between the multiple objects in the hidden area based on: information about each of the multiple objects; and lanes and routes into which each of the multiple objects may change their courses, and which are calculated by a route calculator. When the objects come out of the hidden area, an identification number assigner determines identification information about each object based on the positional relationship estimated by the positional relationship estimator.

Object tracking method and object tracking apparatus

An object detection method includes: acquiring three-dimensional data on an area around a host vehicle by use of a distance measurement sensor; based on map data on an area around a current position of the host vehicle, setting a planned travel area where the host vehicle is going to travel in the future; estimating crossing object existence areas where there currently exist objects which are likely to cross the host vehicle in the future in the set planned travel area; and detecting the object by use of the three dimensional data on insides of the estimated crossing object existence areas.

Object detection method and object detection apparatus

A step detection device detects the distance and the direction to a road surface around a vehicle, using a distance sensor mounted on the vehicle, and sets a first step determination position and a second step determination position on the road surface. Then, the step detection device calculates the height changes of the road surfaces at the first step determination position and the second step determination position based on the distance and the direction to the road surface, and detects a step on the road surface based on one of the step determination positions, the gradient of the height change of the road surface at the one being larger.

Step detection device and step detection method

Multiple objects detected by multiple sensors are subjected to a determination as to whether or not the objects are identical to each other. If there is an object in the multiple objects, of which object position becomes undetectable after the point when the multiple objects detected by the multiple sensors are determined to be the identical object, a determination is made as to whether or not the continuously detected object is an object identical to the object in a previous processing based on a predicted range calculated from a previously detected object position of the object becoming undetectable, and on a range of presence estimated from an object position of the continuously detected object.

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Kanagawa, Japan

Fang Fang