Nissan Motor Company Limited

Hirotoshi Ueda

Takuya Nanri

Ichiro Yamaguchi

Fang Fang

Chikao Tsuchiya

Masafumi Tsuji

Abdelaziz Khiat

A travel assistance method generates a first traveling path based on map information around a circumference of a host vehicle, generates a second traveling path based on the surroundings, determines that a switch from the first traveling path to the second traveling path is needed when detecting that the first traveling path being generated is to end ahead of the host vehicle while the host vehicle is traveling on the first traveling path, and controls the host vehicle to make a transition from the first traveling path to the second traveling path when the switch is determined to be needed.

Travel assistance method and travel assistance device

A travel assistance method capable of preventing irregular behavior of a vehicle when switching from a traveling path on which the vehicle is currently traveling to a traveling path based on a high-definition map, generates a first traveling path based on the surroundings of the vehicle, generates a second traveling path based on high-definition map information around the circumference of the vehicle, determines whether the first traveling path and the second traveling path have likeness, and switches the traveling path that the vehicle is caused to follow by executing traveling assistance control when the first traveling path and the second traveling path have likeness.

A route setting method capable of causing a host vehicle to continuously follow traveling tracks of other vehicles including a preceding vehicle so as to travel stably uses a peripheral vehicle sensor installed in the host vehicle to detect positions of other vehicles traveling around the host vehicle, and a controller for setting a route of the host vehicle according to traveling tracks of the other vehicles based on histories of positions of the other vehicles, the method including calculating a displaced amount of traveling tracks of the preceding vehicle specified from the other vehicles, and setting the route of the host vehicle according to traveling tracks of another vehicle different from the preceding vehicle when the displaced amount of the traveling tracks of the preceding vehicle is a threshold or greater.

Route setting method and route setting device

A course prediction method uses a position acquisition circuit configured to acquire a position of a surrounding vehicle and a course prediction circuit configured to predict a course of a host vehicle based on a traveling path of the surrounding vehicle obtained from a history of the position of the surrounding vehicle. In the course prediction method, the course of the host vehicle is predicted by increasing or reducing the size of the traveling path of the surrounding vehicle, based on a turning direction and a lateral position of the surrounding vehicle.

Course prediction method and course prediction device

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

A self-position estimation device includes: a target position detection unit mounted in a vehicle and configured to detect a relative position of a target present around the vehicle and the vehicle; a target position accumulation unit configured to move the detected relative position by a movement amount of the vehicle and to accumulate it as target position data; a curve start position estimation unit configured to estimate a curve start position of a travel path on which the vehicle travels; and a self-position estimation unit configured to perform comparison in which at least the target position data present around the vehicle and the target position data present between a current position of the vehicle and the estimated curve start position, of the accumulated target position data, is compared with the target position information included in the map information to estimate a self-position which is the current position of the vehicle.

Self-position estimation device and self-position estimation 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.

Object detecting method and object detecting device

An own position estimation device detects a landmark position of a landmark existing around a mobile body, detects a movement amount of the mobile body, and accumulates, as pieces of landmark position data, landmark positions each obtained by moving the detected landmark position by the movement amount. The device then acquires map information including landmark positions of landmarks existing on a map by the controller, matches the pieces of landmark position data in a certain range with the landmark positions included in the map information, and estimates the own position of the mobile body, the certain range being set based on movement records of the mobile body traveling to a current position.

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Kanagawa, Japan

Hirotoshi Ueda