Toyota Jidosha Kabushiki Kaisha

Aisin Seiki Kabushiki Kaisha

Meijo University

Hisashi Satonaka

Tomohiko Endo

Hiroaki Kataoka

Katsuhiko Iwazaki

Seiji Kawakami

Yuu Tanaka

Yoshifumi Iwata

Toru Sugiyama

Hideyuki Iwakiri

Yuichi Kubota

Akira Matsui

Mitsuhiko Morita

Hironobu Ishijima

Hidehiko Miyoshi

Keisuke Hata

Masato Okuda

Eriko Yamazaki

Shoichi Hayasaka

Keisuke Oyama

Tomoaki Harada

Akira Ogawa

Setsuo Tokoro

Ryuji Funayama

Jun Sato

Toshiaki Kakinami

Michihito Shimada

Yoshiki Ninomiya

Yoichi Iwata

Mitsuyoshi Saiki

Takuya Itoh

Kunihiko Soshi

Hiroshi Toyoda

Hideki Banno

Keiichi Yamada

Arata Takahashi

Osami Yamamoto

Kensaku Asahi

Yoshifumi Int Prop Dep Iwata

Yuu Int Prop Dep Tanaka

When starting automatic pulling-in control, an electronic control unit calculates a temperature increase amount &#x394;Ti of a motor caused by the execution of the automatic pulling-in control and a temperature increase amount &#x394;To of the motor caused by the execution of automatic pulling-out control. Based on the current temperature of the motor, the temperature increase amount &#x394;Ti, and the temperature increase amount &#x394;To, the electronic control unit obtains a predicted temperature of the motor of a case in which the automatic pulling-out control is executed subsequent to the automatic pulling-in control. When the predicted temperature is lower than an allowable upper limit, starting of the automatic pulling-in control is permitted. When the predicted temperature is higher than or equal to the allowable upper limit, starting of the automatic pulling-in control is prohibited.

Parking assist device

When performing automatic control of a steering device that assists a host vehicle to be pulled into or out of a parking space, an electronic control unit performs the following procedure. When there is, as a path for pulling the vehicle into or out of the parking space, a path in which a predicted temperature of the steering device for when the automatic control is performed to move the vehicle along the path would be lower than an allowable upper limit value, the electronic control unit starts the automatic control to move the vehicle along the path. In contrast, when there is no path in which the predicted temperature is lower than the allowable upper limit value, the electronic control unit prohibits the automatic control.

A parking assist device assists entry or exit of a vehicle with respect to a parking space through an automatic control of a steering device. The parking assist device includes: a calculator that obtains, to perform the automatic control of the steering device, a path for allowing the vehicle to enter or exit the parking space based on the parking space, calculates an amount of temperature rise of the steering device at the execution of the automatic control for allowing the vehicle to move along the obtained path, and calculates a predicted temperature of the steering device at the execution of the automatic control by adding the calculated amount of temperature rise to a current value of the temperature of the steering device; and a controller that inhibits the execution of the automatic control when the predicted temperature is equal to or higher than a determination value.

In a collision surface determination computing section, a collision prediction ECUselects a surface of an own vehicle where an opponent vehicle collides when the own vehicle and opponent vehicle collide with each other. A vehicle track intersection computing sectioncalculates an intersection between the own vehicle and the opponent vehicle. According to the intersection between the own vehicle and opponent vehicle and respective times when the own vehicle and opponent vehicle reach the intersection, a collision determining sectiondetermines whether the own vehicle and opponent vehicle collide with each other or not. When it is determined that the own vehicle and opponent vehicle collide with each other, a collision position computing sectioncalculates a collision position of the own vehicle where the opponent vehicle collides according to the collision surface selected in the collision surface determination computing section

Collision prediction device

An approaching vehicle detecting system that detects an approaching vehicle on the basis of sounds collected by a plurality of sound collectors mounted on a host vehicle determines whether a transverse moving direction of a sound source detected by the plurality of sound collectors is a direction approaching the host vehicle, determines whether a vertical position of the sound source detected using the plurality of sound collectors is in the same plane as that of the host vehicle, and detects that sound source as the approaching vehicle when it is determined that the transverse moving direction of the sound source is the direction approaching the host vehicle and the vertical position of the sound source is in the same plane as that of the host vehicle.

Approaching vehicle detecting system and approaching vehicle detecting method

A target position setting device includes a distance meter, an imager, first and second calculating portions, a determination portion, and a setting portion. The distance meter measures a distance to an object around a vehicle. The imager takes an image of an environment around the vehicle. The first calculating portion calculates a first candidate of a target position of the vehicle according to a measuring result of the distance meter. The second calculating portion calculates a second candidate of the target position of the vehicle according to an imaging result of the imager. The determination portion determines whether a relationship between the first candidate and the second candidate meets a given condition. The setting portion sets the target position according to the second candidate of the target position when the determination portion determines that the relationship between the first candidate and the second candidate meets the given condition.

Target position setting device and parking assist device with the same

An object detecting apparatus for detecting an object by a plurality of radars, with improved accuracy of identity determination and acquisition of position information in fusion of detection results. The object detecting apparatus is arranged to obtain a moving path of a detected point by a radar and to perform pairing as follows: if a detected point by a radar exists in a region based on the moving path and if a relative velocity thereof is matched with that of the detected point of interest, the detected point is paired as a corresponding detected point.

Object detecting apparatus

A reflection-point estimation section constituting an object detection apparatus first calculates a rotational correction angle for each estimated reflection point Pby using the following equation, using the fact that the ratio of the amount of change in a detected distance dto a movement amount Iof a sonar is nearly equal to a tangent with respect to the direction normal to the surface of an object:Rotational correction angle&#x3c6;=tan {()/}in which n is a natural number. Subsequently, the reflection-point estimation section obtains estimated reflection points P' after correction, by rotating each estimated reflection point Pbased on the calculation result.

Object detection apparatus and method

A point-sequence approximation apparatus determines whether a proportion of a straight-line approximation region is high as compared to that of a curve approximation region. In addition, if it is determined that the proportion of the straight-line approximation region is high as compared to that of the curve approximation region, the point-sequence approximation apparatus repeatedly performs random setting of a candidate of an approximation straight line, and evaluation of approximation accuracy of the candidate of the approximation straight line based on distances between the candidate of the approximation straight line and the points constituting the point sequence. Moreover, the point-sequence approximation apparatus performs straight-line approximation by using the candidate of the approximation straight line with the best result of evaluation of the approximation accuracy as an approximation straight line.

Point-sequence approximation method and apparatus

In a parking support device, a distance measuring unit measures a quantity equivalent to a distance from an automotive vehicle to an object existing in a predetermined direction. A storage unit stores a sequence of points indicating results of the measurement performed multiple times. A first object specifying unit generates first object information based on the sequence of points when a length of the sequence of points has exceeded a first reference length. A second object specifying unit generates second object information based on the sequence of points when a length of the sequence of points has exceeded a second, larger reference length. A target parking position is determined based on the first object information in a stage where the first object information is generated.

Parking support device

A parking assist device for assisting parking operation to a target parking position includes an initial position setting device for setting an initial position of the target parking position to park a vehicle, a designation display showing the target parking position, a display position calculation device for calculating an initial display position of the designation display showing the target parking position at a screen showing vehicle surroundings based on the initial position determined by the initial position setting device, and an initial display position shifting device for shifting the initial display position of the designation display to a position within a display range on the screen in case the initial display position calculated by the display position calculation device is positioned outside of the display range on the screen.

A guiding device is disclosed for guiding a vehicle to a target position by controlling the steering angle while estimating the vehicle position at least based on a steering angle value, characterized in that, in estimating the vehicle position, a slowing operation with respect to a change dp in a moving distance of the vehicle is applied to a turning curvature g(Str(p)) estimated based on the steering angle value in order to compensate for the delay due to tire deformation, whereby the delay-compensated turning curvature y(p) is obtained.

Guiding device for guiding vehicle to target place controlling the steering angle

A parking assist apparatus performs a guidance of a vehicle toward a target parking position, even after the guidance has been canceled. The target parking position is set in accordance with an operation applied to a target parking position designation display that is displayed on a screen showing a periphery of the vehicle. It is determined whether a cancellation condition of canceling the guidance of the vehicle toward the target parking position is established. A memory continuously holds target parking position information even after the cancellation condition is established.

Parking assist apparatus

A driving assist apparatus for a vehicle that guides the vehicle to a target position is provided. On the basis of the present direction of the vehicle and the direction of the vehicle at the target position, a basic path that changes the vehicle direction so as to coincide with the target direction of the vehicle at the target position is computed. A path from the present position to the target position is computed by adding a straight-line path to the basic path under a predetermined condition.

Driving assist apparatus and method for vehicle

A parking assist apparatus for a vehicle includes a recognizing apparatus for recognizing a target position for parking the vehicle, a calculating apparatus for calculating a course for parking the vehicle from a current vehicle position to the target position recognized by the recognizing apparatus during the vehicle being moving and an informing apparatus for informing a user of the vehicle that the vehicle can be parked at the recognized target position when the course of the vehicle has been correctly calculated by the calculating apparatus.

Growing community of inventors

Susono, Japan

Hisashi Satonaka