Denso Corporation

Junichiro Funabashi

Motonori Ando

Naohito Takasuka

Naoki Kawasaki

Tadao Suzuki

Osamu Shimomura

Yusuke Ueda

Toshiyuki Ito

Yuu Maeda

Masaaki Sasahara

Takuma Kyo

An other vehicle position estimation apparatus for estimating the position of another vehicle on the road using a particle filtering process includes an other vehicle map matcher and a particle number controller. The other vehicle map matcher includes an updater for updating the position of a particle distributed on a map, a likelihood calculator for calculating the likelihood of the particle position, and a position estimator configured to estimate the position of the other vehicle based on the position of the particle. The particle number controller determines a number of particles to distribute based on at least one of (i) a relative positional relationship between a subject vehicle and the other vehicle, (ii) an actual vehicle speed of the other vehicle, (iii) a distribution state of the particles, and (iv) a relationship between the position of the other vehicle and the road.

Other vehicle position estimation apparatus

A driving assistance device for a vehicle includes: an assistance processing portion that executes a notification of a possibility of a host vehicle intersecting with an other vehicle based on host vehicle information including information that provides an estimation of a travelling course of the host vehicle and an other vehicle information including information that provides an estimation of a travelling course of the other vehicle and acquired by wireless communication; and a map acquisition portion that acquires map data including data that specifies a circular intersection. The host vehicle information includes a position of the host vehicle. The assistance processing portion prevents the notification based on the circular intersection, which is disposed in front of the host vehicle in the travelling course of the host vehicle, according to at least the host vehicle information and the map data acquired by the map acquisition portion.

Driving assistance device

In an encounter vehicle determination apparatus, a probability of a host vehicle entering a host-vehicle intersection on a host-vehicle's course on a map-is estimated. A different-vehicle intersection on a course of a different vehicle on a map either (i) along the host-vehicle's course or (ii) from a connection road with the host-vehicle intersection to the host-vehicle's course is extracted within a predetermined range based on vehicle information acquired from the different vehicle via inter-vehicle communications. A probability of the different vehicle entering the different-vehicle intersection is estimated. A probability of encounter between the host vehicle and the different vehicle at the host-vehicle intersection is calculated from the estimated probabilities of (i) the host vehicle entering the host-vehicle intersection and (ii) the different vehicle entering the different-vehicle intersection. The different vehicle having the probability of encounter equal to or more than a threshold is determined to encounter the host vehicle.

Encounter vehicle determination apparatus

A vehicle-mounted device includes an interference determination unit and a sensor control unit. The interference determination unit determines whether an interference state where a first electromagnetic wave ranging sensor equipped to a first vehicle may receive a second transmission wave transmitted from a second electromagnetic wave sensor equipped to a second vehicle is present, based on transmission time frame information received by a first wireless communication device equipped to the first vehicle, and reception duration information indicating a reception duration during which a first electromagnetic wave ranging sensor equipped to the first vehicle may receive a first reflected wave. The sensor control unit controls transmission timing for transmitting the first transmission wave from the first electromagnetic wave ranging sensor and a reception duration, and changes the transmission timing and the reception duration to avoid the interference state, when the interference determination unit determines that the interference state is present.

Vehicle-mounted device and vehicle-mounted ranging system

An in-vehicle apparatus installed in a first vehicle. The in-vehicle apparatus includes a first distance sensor measuring a distance to an object based on time to receive a reflection wave of an electro-magnetic transmission wave from the object after a transmission of the electro-magnetic transmission wave, with the first distance sensor being an electro-magnetic wave sensor. The in-vehicle apparatus also includes an inclination angle sensor that senses a first vehicle inclination angle representative of an inclination angle of the first vehicle that includes the first distance sensor, a radio communicator that receives a second vehicle inclination angle transmitted from a second vehicle that leads the first vehicle, an angle difference calculator that calculates an angle difference between the first vehicle inclination angle and the second vehicle inclination angle, and a processor that performs a preset operation based on the distance measured by the first distance sensor.

In-vehicle apparatus performing an operation based on a distance measured, and in-vehicle system including the in-vehicle apparatus

A communication system including a first communication apparatus and a second communication apparatus is provided. The first communication apparatus includes a communication portion. The second communication apparatus includes a communication portion. The first communication apparatus includes a first transmission portion. The first transmission portion transmits a first signal to another communication apparatus. The first signal at least includes information enabling to specify the first communication apparatus. The second communication apparatus includes a second transmission portion. The second transmission portion transmits a second signal to the first communication apparatus. The first communication apparatus includes a malfunction determination portion. The malfunction determination portion determines whether the communication portion of the first communication apparatus is out of order. The communication system includes a congestion determination portion. At least one of the first signal and the second signal is transmitted.

Communication system and communication apparatus

A parking space recognition apparatus includes an onboard camera, a wireless receiver, and a parking space determination portion. The onboard camera is mounted to a first vehicle and captures a peripheral image around the first vehicle. The wireless receiver is mounted to the first vehicle and receives a parking-space related information that is transmitted from an outside of the first vehicle. The parking space determination portion is mounted to the first vehicle and determines a parking space to park the first vehicle on a basis of the peripheral image and the parking-space related information.

Parking space recognition apparatus and parking space recognition system

A vehicle controller includes a follow travel instructor conducting a lead vehicle follow control by auto-steering for a following of an own vehicle to follow a lead vehicle, an other vehicle information obtainer obtaining transmitted information transmitted from the lead vehicle, the transmitted information including information regarding a front situation of the lead vehicle, and an across-boundary move determiner determining whether the lead vehicle may cross a traffic lane boundary to an opposite traffic lane, based on the front situation information of the lead vehicle obtained by the other vehicle information obtainer. The follow travel instructor stops conducting the lead vehicle follow control based on a determination by the across-boundary move determiner that the lead vehicle may cross the traffic lane boundary. In such manner, an occupant of the own vehicle is prevented from becoming frightened by the auto-steering.

Vehicle controller

A driving assistance apparatus in a subject vehicle includes a driving assistance section. A subject-vehicle estimated trajectory is estimated as a subsequent traveling trajectory from a current position and a traveling orientation of the subject vehicle. A neighboring-vehicle estimated trajectory is estimated as a subsequent traveling trajectory of a neighboring vehicle by acquiring trajectory estimation information. A determination area is designated to include a crossing point included in the subject-vehicle estimated trajectory and the neighboring-vehicle estimated trajectory. It is determined whether the determination area includes an intersection node in road map information. A first driving assistance level is used when the determination area does not include the intersection node; the first driving assistance level is smaller in driving assistance than a second driving assistance level used when the determination area includes the intersection node.

Driving assistance apparatus

An on-board wireless device used in a subject vehicle and transmitting a vehicle information of the subject vehicle to a periphery vehicle positioned around the subject vehicle, includes a transmitting circuit successively transmitting the vehicle information of the subject vehicle via a vehicle-to-vehicle communication at a transmission interval, a transmission interval setting section setting the transmission interval that is variable for transmitting the vehicle information, and a generation section generating the vehicle information to be transmitted by the transmitting circuit. The generation section includes, in the vehicle information, a transmission interval related information based on which the transmission interval set by the transmission interval setting section is specified. The transmitting circuit transmits the vehicle information that includes the transmission interval related information to the periphery vehicle.

On-board wireless device and communication system

A vehicle-to-vehicle communication device mounted to a subject vehicle with a traveling control device is provided. The vehicle-to-vehicle communication device includes a communication portion, a connection transmission process portion, a connection control signal obtain portion, a connection signal obtain portion, and a connection control signal transmission process portion. The communication portion receives and transmits a signal between the subject vehicle and a preceding vehicle, and between the subject vehicle and a follower vehicle. The connection transmission process portion transmits a connection request signal. The connection control signal obtain portion obtains a connection control signal. A convoy travel control device includes the vehicle-to-vehicle communication device and the traveling control device. The traveling control device periodically outputs a first instruction and a second instruction to the vehicle-to-vehicle communication device.

Vehicle to vehicle communication device and convoy travel control device

A behavior acquisition unit acquires behavior related information about a leading vehicle, which travels at a position closest to the self vehicle on an advancing route of the self vehicle. A front vehicle recognition determination unit determines, as a front vehicle recognition state, whether a leading vehicle is specified and whether a self vehicle travels immediately after the leading vehicle, according to the acquired behavior related information. A sending control unit is configured to cause transmission of the front vehicle recognition state and specifying information, which specifies the self vehicle and the leading vehicle, to surroundings of the self vehicle.

Surrounding vehicle recognition device

A periphery vehicle determination apparatus disposed in a host vehicle includes a behavior obtaining section obtaining a behavior related information of an immediately adjacent object, a vehicle-to-vehicle communication device, an information obtaining section obtaining vehicle information sets from periphery vehicles, a specifying section specifying a vehicle information set from an immediately adjacent vehicle based on the behavior related information, a transceiving section transmits and receives an immediately adjacent information, and an anteroposterior relation determination section specifying an anteroposterior relation of the periphery vehicles in a one-dimensional direction by correlating the immediately adjacent informations transmitted from the periphery vehicles based on a repeated identification information included in at least two of the immediately adjacent informations.

Periphery vehicle determination apparatus

A vehicular display apparatus in a host vehicle is provided with a display output portion including a ring-shaped light-emitting area that represents presence of a different vehicle. A direction specification processor specifies a direction indicating presence of the different vehicle with reference to the host vehicle based on position information about the host vehicle and the different vehicle. A distance specification processor specifies a distance between the host vehicle and the different vehicle based on position information about the host vehicle and the different vehicle. A display control processor displays part of the light-emitting area so that the displayed part is positioned in a direction specified by the direction specification processor and has a length based on a distance specified by the distance specification processor.

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Nagoya, Japan

Junichiro Funabashi