Denso Corporation

Toyota Jidosha Kabushiki Kaisha

Nippon Soken, Inc.

Kazuma Hashimoto

Naoki Kawasaki

Shunsuke Suzuki

Tetsuya Takafuji

Hiroaki Kataoka

Yosuke Ito

Syunya Kumano

Kazuhiro Noda

Akira Isogai

Yuji Okuda

Iwao Izumikawa

Yoshihiro Kawaguchi

You Ryu

In a boundary line recognition apparatus, based on luminance levels of an image captured by a camera, candidate edge points of a boundary line sectioning a travel road are extracted, and a candidate line of the boundary line is extracted. An apparent width of the candidate line on an image is calculated, from a width of the candidate line in a horizontal direction of the image and an angle of the candidate line relative to a vertical direction of the image. A probability of a candidate line being a boundary line is calculated to be higher, as a degree of the candidate line having characteristics as a boundary line is higher. The calculated probabilities are integrated in respect of a plurality of characteristics to recognize a boundary line. The characteristics include a ratio of the calculated apparent width to an image blur degree is larger than a predetermined value.

Boundary line recognition apparatus and branch road determination apparatus

A driving supporter includes: a departure-possibility-value obtainer that obtains a departure-possibility value; a relative positional relationship obtainer that detects another vehicle located diagonally at a rear of an own vehicle and obtain a relative positional relationship between them; a support executer that executes a lane-departure prevention support; and a support controller that controls the support executer to execute the lane-departure prevention support when the departure-possibility value is greater than or equal to a threshold value. The support controller includes a threshold-value determiner that determines the threshold value to a smaller value when the relative positional relationship is a set relationship than when the relative positional relationship is not the set relationship. The set relationship is a relationship in which there is a possibility of collision of the own vehicle with the other vehicle in an event of departure of the own vehicle from a lane.

Driving supporter

When switching from lane departure suppression control (LDA control) to lane keep assist control (LKA control), a self-vehicle is suppressed from deviating out of a traveling lane. A driving assist preferentially carries out the LKA control, but carries out the LDA control instead of the LKA control when there is a possibility that the self-vehicle may deviate out of the traveling lane under the LKA control. When the LDA control is returned to the LKA control after the lane departure avoidance operation of the self-vehicle is completed, the LDA control is continued while an angle between an orientation of the self-vehicle and the traveling lane is not a predetermined angle or less, and it is switched to the LKA control after the angle becomes the predetermined angle or less.

In-lane driving assist apparatus for a vehicle

A lane keeping traveling support apparatus includes a driving support ECU. The driving support ECU is configured to to determine a lane departure prevention torque in such a manner that a magnitude of the lane departure prevention torque becomes smaller or to stop performing a lane departure prevention control, when the lane departure prevention control is performed in place of a lane keeping assist control and a specific operation of a steering wheel is performed by a driver so as to have a direction of an own vehicle head to a lane departure direction.

Lane keeping traveling support apparatus

An in-vehicle white line recognition apparatus is disclosed. Form an image captured by a camera, the apparatus extracts multiple white line candidates including a first white line candidate and a second white line candidate. The apparatus calculates a certainty factor of each white line candidate, the certainty factor indicating a degree of certainty that the each white line candidate represents the white line. When the first and second white line candidates are within a predetermined range and when a ratio of contrast of the first white line candidate to that of the second white line candidate is less than a predetermined value, the apparatus decreases the certainty factor of the first white line candidate.

In-vehicle white line recognition apparatus

In a driving lane deviation detection and warning system, a deviation detection ECU suppress a warning unit to supply a warning when an obstacle placed in a front of a vehicle is detected, and the driver's operation allows the vehicle to deviate from a driving lane. That is, when the driver's operation allows the vehicle to deviate from the driving lane in order to escape any collision with an obstacle, the deviation detection ECU instructs the warning unit to prevent the supply of a warning to the driver. This prevents the warning unit to provide an unnecessary warning to the driver even if the driver intends for the vehicle to deviate from the current driving lane of the vehicle. That is, it is possible to reliably instruct the warning unit to supply the warning to the driver when the vehicle deviates from the current driving lane against the driver's will.

Device and method for warning of lane deviation detection

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.

Growing community of inventors

Nukata-gun, Japan

Kazuma Hashimoto