Toyota Jidosha Kabushiki Kaisha

Jun Sakugawa

Shinichi Nagata

Masahiro Iwasaki

Masayuki Shimizu

Takahiro Kojo

Kenji Asano

Yoshiaki Tsuchiya

Hideo Fukamachi

Tsukasa Shimizu

Shiro Monzaki

Masato Suzumura

Yoshihiro Ohama

A position, behavior state and movement state of a moving object are detected, together with plural categories of track segment region and stationary object regions, using an environment detection section. A presence probability is applied to the detected track segment regions and stationary object regions and a presence probability map is generated, using a map generation section. A moving object position distribution and movement state distribution are generated by a moving object generation section based on the detected moving object position, behavior state and movement state, and recorded on the presence probability map. The moving object position distribution is moved by a position update section based on the moving object movement state distribution. The moved position distribution is changed by a distribution change section based on the presence probabilities of the presence probability map, and a future position distribution of the moving object is predicted on the presence probability map. Consequently, the future position of the moving object can be predicted with good precision under various conditions.

Moving object prediction device, hypothetical movable object prediction device, program, moving object prediction method and hypothetical movable object prediction method

A driving assistance apparatus is a lane keeping apparatus that performs a vehicle driving assistance so that a vehicle runs along a set target course, and includes a vehicle control ECU; a camera; an image ECU; a steering torque sensor; and a steering torque applying unit. The vehicle control ECU includes a parallel running vehicle trajectory estimating unit which estimates the trajectory of the parallel running vehicle running on the adjacent lane and a target course correcting unit which corrects the target course of the own vehicle on the basis of the estimation trajectory of the parallel running vehicle. Since the target course of the own vehicle is corrected on the basis of the estimated trajectory of the parallel running vehicle, it is possible to sufficiently reduce the driver's anxiety with respect to the parallel running vehicle.

Driving assistance apparatus

A vehicle surrounding monitor deviceincludes a front area millimeter-wave radarto a left dead angle millimeter-wave radarwhich monitor different areas around a host vehicle, a vehicle speed sensorand the like which detect the traveling state of the host vehicle, a winker signal sensorwhich detect the state of a driver, and an obstacle detection method determination ECUwhich controls the operation of the front area millimeter-wave radarand the like and information processing. The obstacle detection method determination ECUsets priority on the front area millimeter-wave radarand the like on the basis of the traveling state of the host vehicleand the state of the driver detected by the vehicle speed sensor, the winker signal sensor, and the like, and controls the operation of the front area millimeter-wave radarand the like and the information processing on the basis of the priority. Therefore, control differs between a radar having high priority and a radar having low priority, such that, even when a plurality of radars are used, it becomes possible to monitor the surroundings the host vehiclewhile reducing the load of a CPU or an in-vehicle LAN.

Vehicle surrounding monitor device and method for monitoring surroundings used for vehicle

A device for providing driving assistance for a driver of the vehicle to avoid the object of the risk subject when driving the vehicle, which includes: an object determination unit that detects the object; a collision prediction time calculation unit that calculates a time to collision which is a time indicating a degree to which the vehicle approaches to the object; an estimated risk level determination unit that determines an estimated risk level indicating a possibility of the object moving onto a predicted travelling path of the vehicle; and a driving assistance content determination unit that determines driving assistance content based on the collision prediction time and the estimated risk level.

Driving assistance device

A vehicular peripheral surveillance device includes an obstacle recognition sensor which monitors an obstacle around a host vehicle, a lane recognition sensor and a vehicle state quantity sensor which detect the traveling state of the host vehicle, and a risk computing unit which predicts the movement of the obstacle using information acquired by the obstacle recognition sensor, and computes a risk of the obstacle to the host vehicle on the basis of the predicted movement of the obstacle. The risk computing unit changes the prediction range of the movement of the obstacle on the basis of the traveling state of the host vehicle detected by the lane recognition sensor and the vehicle state quantity sensor. Therefore, the situation of the host vehicle is predicted taking into consideration the movement of the obstacle, thereby realizing computation with high precision while reducing a computation load.

Vehicular peripheral surveillance device

In the control device for vehicles which executes a control of the vehicle by one calculation control device based upon a target control amount generated by another calculation control device connected to the one calculation control device by way of a communication means, the other calculation control device calculates an estimated target control amount by itself to compare it with the target control amount generated by the one calculation control device and input thereto by way of the communication means, or a third calculation control device compares the target control amounts generated by the one and the other calculation control devices and input thereto by way of the communication means, thereby to judge if an abnormality has occurred in the communication means, and to rapidly modify the control to make a counter-measure against the abnormality.

Control device for vehicles to make rapid counter-measure against communication abnormality in communication means between calculation control devices

A target yaw moment Mt of a vehicle is calculated to make the vehicle run stably (S). The change rate &#x3c6;d of an accelerator pedal operation amount &#x3c6; is calculated (S). Based on the change rate &#x3c6;d, a proportion &#x3c9;sfor a steering angle control is calculated (S). When the change rate &#x3c6;d is a positive value, the proportion &#x3c9;sgradually increases as the change rate &#x3c6;d increases. A proportion &#x3c9;b for a braking force control is calculated by subtracting the proportion &#x3c9;sfrom 1 (1&#x2212;&#x3c9;s) (S). Based on the proportions &#x3c9;sand &#x3c9;b, a target yaw moment Mts for the steering angle control and a target yaw moment Mtb for the braking force control are calculated (S). A steering-angle changing device () and a braking device () are controlled based on the target yaw moments Mts and Mtb, respectively (Sto S).

Running control apparatus for vehicle

A running stability control device for a vehicle capable of controlling a steering angle of steered vehicle wheels independently of a steering operation by a driver, and a driving/braking force applied to each vehicle wheel computes a target turn running control quantity of the vehicle, and shares the target turn running control quantity into a first part for the steering angle control and a second part for the driving/braking force control according to a sharing ratio, wherein the sharing ratio is variably changed according to a running condition of the vehicle relative to a road.

Running stability control device for vehicle for turn running along curved road

A target relative rotation angle of automatic steering is calculated; a target current for assist steering during automatic steering is calculated based on the sum of a torque that inhibits a reaction force of the automatic steering from acting on a steering wheel, a torque that cancels out torque that acts resulting from self-aligning torque of the steered wheels, and a torque according to a steering angle; a target current for assist steering to reduce a steering load on a driver is calculated; a weight of the target current is calculated to increase as the target relative rotation angle increases; and an electric power steering unit is controlled, with a weight sum of the target currents as a final target current.

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Gotenba, Japan

Jun Sakugawa