Denso Corporation

Kazuhiro Noda

Yosuke Ito

Kazuma Hashimoto

Akira Isogai

When no diagnostic signal is detected, an activation determination operation unitB determines whether to activate a controlled objectbased on the result of calculation (FSN information) by an FSN computation unitand the vehicle state of the own vehicle input by a vehicle state input unit. An activation determination diagnosis unitC determines whether the activation determination operation unitB has properly performed an activation determination. When it is determined that the activation determination operation unitB has properly performed the activation determination, the control of the controlled objectbased on the activation determination is permitted. When it is determined that the activation determination operation unitB has not properly performed the activation determination, the control of the controlled objectbased on the activation determination is not permitted.

Collision mitigation device

In a target recognition apparatus, a candidate detection section detects a target candidate, provided that a target exists in a basic detection area. A candidate addition section adds, regarding each target candidate detected in a folding area, a target candidate determined provided that the target candidate detected in the folding area is a virtual image, and a corresponding real image exists in an additional detection area. A tracking section determines, regarding each detected and added target candidate, presence/absence of a history connection with the target candidate detected in a past measurement cycle. A combination determination section determines, regarding each target candidate, presence/absence of a combination with an image target, based on whether or not an image target associated with the target candidate exists. A likelihood calculation section sets and updates a likelihood of a virtual image of the image target by using a determination result of the combination determination section.

Target recognition apparatus

A collision avoidance support apparatus sets a side area right beside an own vehicle in an adjacent lane as a constant-speed target space, which is used for lane change at a constant speed, and also sets a diagonally-front area and a diagonally-rear area as alt-speed target spaces, which are used for lane change at an accelerated speed and at a decelerated speed. Then, a target space that is free of other vehicles is extracted by the apparatus. If there is no target space that is free of the other vehicles, the lane change is determined as unsafe. If there is no other vehicle in the constant-speed target space, the lane change is determined to be safe at the constant speed. If there is no other vehicle in at least one of the alt-speed target spaces, the lane change is determined to be safe at an accelerated speed or a decelerated speed.

Apparatus, program and method for collision avoidance support

A collision probability calculation apparatus capable of accurately calculating a collision probability that one's own vehicle will collide with an object around the own vehicle (referred to as a nearby object). In the apparatus, a position of the nearby object and a traveling speed and a traveling direction of the own vehicle are acquired. A collision probability map is generated on the basis of the traveling speed and traveling direction of the own vehicle. A width of a traveling lane of the own vehicle is acquired and the map is corrected in response to the width of the traveling lane. Thereafter, a collision probability associated with the position of the nearby object is corrected in response to the position of the nearby object. The corrected collision probability is outputted as a more accurate collision probability that the own vehicle will collide with the nearby object.

Collision probability calculation apparatus for vehicle

The vehicle-use collision mitigation apparatus includes a function of calculating a TTC indicative of a time remaining before collision with a forward obstacle on the basis of the distance to this obstacle and the reference speed therebetween, a function of alarming a driver of the vehicle of presence of a risk of collision with the obstacle if the TTC is shorter than a predetermined first time, a function of increasing a braking force generated by a braking operation performed by the driver if the TTC is shorter than a predetermined second time not longer than the predetermined first time, and a function of automatically generating a braking force if the TTC is shorter than a predetermined third time shorter than the predetermined first time. The alarming function is configured to make an alarm for a driver of a following vehicle that the preceding vehicle may decelerate abruptly.

Vehicle-use collision mitigation apparatus

A collision mitigation controller drives a target brake to be controlled for assisting driver's collision-avoidance operation when a calculated collision time is less than an automatic brake ajudgment line which is determined in advance. The controller drives the automatic brake ain order to mitigate damage generated by a collision with an obstacle or another vehicle when the collision time is less than an automatic brake ajudgment line which is also less than the automatic brake ajudgment line. The controller decreases the braking force for the automatic brake awhen judged that the automatic brake ais not driven, as compared with the judgment where the automatic brake ais driven. When the automatic brake adrives the target brake, it is possible to avoid a collision where own vehicle is struck from behind by the rear vehicle which runs on a same traffic lane.

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Nagoya, Japan

Kazuhiro Noda