Toyota Jidosha Kabushiki Kaisha

Aisin Seiki Kabushiki Kaisha

Denso Corporation

Nippon Soken, Inc.

Hironobu Ishijima

Motonari Obayashi

Tomohisa Yamashita

Masaya Kato

Keisuke Oyama

Takatomo Asai

Motonari Ohbayashi

Yusuke Kiyokawa

Hiroyuki Tachibana

Motokatsu Tomozawa

Hidehiko Miyoshi

Shogi Fukukawa

Kiyoshi Takahashi

Mitsuyasu Matsuura

Keisuke Hata

Hisashi Satonaka

Norio Imai

Takuya Nomura

Tomoyuki Matsuba

Eriko Yamazaki

Akihiro Kida

Daisuke Suzuki

Yuichi Mizutani

Takayuki Hiromitsu

Yuka Sobue

Masato Okuda

Issei Matsunaga

Takashi Kuwayama

Tsuyoshi Hoshino

Tsuyoshi Ando

Taketo Harada

Toshihiro Takagi

Michihito Shimada

Yu Tanaka

Yoichi Iwata

Hidenori Tanaka

Yutaka Hamamoto

Mototsugu Sawada

Taiki Yoshida

Masaki Kinoshita

Masashi Yamazaki

Tatsuya Nishi

An ultrasonic type object detection apparatus sequentially detects a distance between an ultrasonic sensor and an object in a coverage of a transmission wave at a predetermined detection cycle based on a time taken for the ultrasonic sensor to transmit the transmission wave and then to receive a reflection wave. The apparatus includes: a storage storing the distance to the object; a vehicle information acquisition device acquiring vehicle information for calculating a movement distance; a detection distance predictor predicting a next detected distance to the object based on a past detection result and the vehicle information; and a short range determinator determining whether the object is present in a short range area in which the distance between the object and the ultrasonic sensor is equal to or shorter than a short range threshold.

Ultrasonic type object detection apparatus

An obstacle detection apparatus for vehicles includes: a first probe wave sensor detecting a direct wave distance as a distance to an obstacle by transmitting a probe wave and receiving a reflection wave of the probe wave reflected by the obstacle; a second probe wave sensor receiving the reflection wave to detect an indirect wave distance as a distance to the obstacle by receiving the reflection wave; an approach determinator determining whether the obstacle is present between the first probe wave sensor and the second probe wave sensor and whether the obstacle is approaching the vehicle; and a distance determinator determining an obstacle distance to be less than or equal to a predetermined distance range when the indirect wave distance falls out of the distance range as the obstacle is present between the first probe wave sensor and the second probe wave sensor and the obstacle is approaching the vehicle.

Obstacle detection apparatus for vehicles

A parking assistance device includes a detection unit that detects a parkable area in a surrounding area of a vehicle, a route calculation unit that calculates a parking guidance route for guiding the vehicle from the current position of the vehicle to a parking target position contained in the parkable area, and a control unit that guides the vehicle to the parking target position according to the parking guidance route, completes the guidance when the vehicle has fit into the parkable area with a certain attitude and has reached the parking target position, and varies a completion extension period until the guidance of the vehicle is completed according to the stop mode of the vehicle when the vehicle has entered the parkable area with the certain attitude and the vehicle has stopped before reaching the parking target position.

Parking assistance device

A driving assistance device including a steering control unit that, when a steering angle of a wheel of the vehicle from a first steering angle on one side of a neutral position to a second steering angle on the other side and the state of a vehicle is switched from a first state that is an advancing state or a reversing state to a second state that is the other of the advancing state or the reversing state, controls the steering angle so as to cause the steering angle to start to be directed from the first steering angle toward the second steering angle before the state of the vehicle becomes the second state and to be directed from a third steering angle in between the first steering angle and the second steering angle toward the second steering angle when the state of the vehicle is the second state.

Driving assistance device

An obstacle detection apparatus includes: a transceiver transmitting a transmission wave and receiving an ultrasonic wave; a transmission controller; a receiver circuit detecting a signal level of a receiving wave; a distance calculator sequentially calculating a distance to an object reflecting the transmission wave; a memory storing the distance to the object; an obstacle determination device determining whether the object is an obstacle; and a reception level monitoring device monitoring the signal level of the receiving wave before the transmission wave being transmitted. When the signal level exceeds a predetermined threshold, the obstacle determination device sets a first number of determination data elements to an increased number of determinations for a predetermined period to be used for determining whether the object is the obstacle, as being larger than a second number of determination data elements used when the signal level does not exceed the predetermined threshold.

Ultrasonic object detection apparatus

An object detection apparatus is arranged to detect the distance to the object and includes: a transceiver repeatedly transmitting a wave as an ultrasonic wave and receives a reflection wave of the transmission wave; a transmission controller controlling the transceiver to transmit the transmission wave; a distance calculator calculating a distance to the object, based on a time interval from a moment when the transceiver transmits the wave to a moment when the reflection wave is received; and a transmission timing controller controlling timing at which the transmission controller controls the transmission wave to be transmitted. Moreover, the transmission timing controller inserts at least one type of temporary waiting time between a transmission/reception period in which the transceiver transmits the transmission wave and receives the reflection wave and a next transmission/reception period, when a predetermined crosstalk identification condition is established based on the distance to the object.

Object detection apparatus

A parking assistance device according to an embodiment includes a determination unit that determines, when the parallel parking of a vehicle in a parking area is assisted, whether the parking space length of a frontage that the vehicle enters in the parking area is the sum of the full length of the vehicle and a certain length or more and a control unit that performs parking assistance for the vehicle along a route in which stationary steering control is not performed at a turning position of the vehicle when the parking space length is the sum of the full length of the vehicle and the certain length or more.

Parking assistance device and parking assistance method

A parking-lot-leaving support apparatus, to execute parking-lot-leaving support to support a vehicle leaving a parking lot, based on a positional relationship between the vehicle and an obstacle in a back-and-forth direction of the vehicle, includes a determination unit configured to determine whether an obstacle exists in a side direction of the vehicle, based on a detection result of a detection unit that detects an obstacle in the side direction of the vehicle; and an inhibition unit configured to, when the determination unit has determined that the obstacle exists in the side direction of the vehicle, inhibit the parking-lot-leaving support in a direction that coincides with the side direction.

Parking-lot-leaving support apparatus and vehicle

A vehicle control device according to an embodiment includes: a steering controller configured to control steering of a vehicle; and a controller configured to, when the vehicle is located at a first position on a travel route, instruct the steering controller to control the vehicle at a steering angle corresponding to a second position that is an advanced position from the first position in a traveling direction on the travel route.

Vehicle control device

A driving assistance device according to an embodiment includes: a target setting unit configured to set a stop target; an acquisition unit configured to acquire a position of a vehicle; and an output information control unit configured to control a display unit to display a first image that instructs a driver to stop the vehicle in a first form when the vehicle is located within a region including the stop target and display the first image in a second form different from the first form when the vehicle is located outside the region.

Driving assistance device and driving assistance system

A vehicle control apparatus detects an object in a travel direction of a vehicle. The vehicle control apparatus restrains a drive force of the vehicle when an object is detected. The vehicle control apparatus acquires a jerk in a travel direction on the basis of a behavior of the vehicle. When an accelerator of the vehicle is actuated while the vehicle is in a state in which the drive force of the vehicle is restrained, and a speed of the vehicle is lower than a predetermined value. The vehicle control apparatus increases the drive force, and decreases a post-increase drive force on the basis of the acquired jerk.

Vehicle control apparatus and vehicle control method

An obstacle detection apparatus includes: a transceiver transmitting a transmission wave and receiving an ultrasonic wave; a transmission controller; a receiver circuit detecting a signal level of a receiving wave; a distance calculator sequentially calculating a distance to an object reflecting the transmission wave; a memory storing the distance to the object; an obstacle determinator determining whether the object is an obstacle; and a reception level monitoring device monitoring the signal level of the receiving wave before the transmission wave being transmitted. When the signal level exceeds a predetermined threshold, the obstacle determinator sets a first number of determination data elements to an increased number of determinations for a predetermined period to be used for determining whether the object is the obstacle, as being larger than a second number of determination data elements used when the signal level does not exceed the predetermined threshold.

Obstacle detection apparatus

A parking assist system includes an electronic control unit. The electronic control unit is configured to detect an obstacle, detect a boundary of a parking space, determine a target position to which a vehicle moves, and, when the vehicle is allowed to be located in a third area in which a first area and a second area overlap with each other, be allowed to determine the target position in the third area. The first area is an area across a limit line from the obstacle. The limit line is set substantially along an outer periphery of the obstacle at a position spaced a predetermined distance from the obstacle outward of the obstacle. The second area is an area out of the boundary.

Parking assist system

A vehicle position detecting device includes an ECU that acquires a wheel speed of a wheel of a vehicle corresponding to rotation of the wheel, detects a skid of the wheel, calculates, when the skid is not detected, a vehicle body speed corresponding to the speed of a vehicle body of the vehicle based on the wheel speed, and corrects, in response to detection of the skid, the wheel speed based on correction information and calculates the vehicle body speed based on the corrected wheel speed. The ECU further calculates the position of the vehicle based on the vehicle body speed depending on the presence of the skid.

Vehicle position detecting device

When a first object is first detected during a second display process executed when a second object is detected, a vehicle display control apparatus of the invention starts a first display at a first detection of the first object, stop the first display at a termination of the second display process and start the first display process at a start of the next second display process.

Vehicle display control apparatus

Growing community of inventors

Toyota, Japan

Hironobu Ishijima