Subaru Corporation

Keisuke Motegi

Hikaru Yoshikawa

Masatoshi Minakawa

Kazuki Takahashi

Shingo Ugajin

Yuta Sato

Masahito Sekine

Ryuya Azuma

Shota Yoshimura

Yu Hasegawa

Yuki Takehara

Hidenori Yakuwa

A driving assistance apparatus includes an outside recognition device, a locator unit, and a driving control unit. The outside recognition device is configured to acquire traffic environment information around the vehicle. The locator unit is configured to store road map information and detect a position of the vehicle based on a positioning signal. The driving control unit is configured to control the vehicle based on forward traffic environment information acquired by the outside recognition device. The driving control unit is configured to execute a wrong-way driving detection process and a restricted traffic zone determination process to determine whether the vehicle is performing wrong-way driving in an oncoming lane. The wrong-way driving detection process involves detecting wrong-way driving of the vehicle from the traffic environment information, and the restricted traffic zone determination process involves detecting a restricted traffic zone in a driving lane of the vehicle from the traffic environment information.

Driving assistance apparatus

A vehicle position information acquisition device includes: a position information detector that detects position information of a vehicle; a map data storage that stores a feature type of a feature on a map and a position data group in association with each other; an imaging unit that images a region ahead of the vehicle; a feature detector that detects a surrounding feature; a reference position data group extractor that extracts a reference position data group; a reference position data group storage; a comparative position data group extractor that extracts a comparative position data group; a comparative position data group storage; an error processor that associates reference position data with comparative position data having a shortest distance and calculates an error in a distance between the reference position data and the comparative position data that are associated with each other; and a correction unit that corrects the position information.

Vehicle position information acquisition device, vehicle position information acquisition system, and vehicle position information acquisition method

A driving assist apparatus for a vehicle includes a front-side-environment recognition camera, a front-side-environment recognition sensor, and a control device. The front-side-environment recognition camera is configured to recognize a driving environment ahead of the vehicle. The front-side-environment recognition sensor is configured to recognize the driving environment ahead of the vehicle. In a case where image recognition of the front-side-environment recognition camera for a leading vehicle for adaptive cruise control has deteriorated during execution of the adaptive cruise control, the control device is configured to continue executing the adaptive cruise control based on a distance from the vehicle to the leading vehicle obtained by the front-side-environment recognition sensor.

Driving assist apparatus for vehicle

An automatic steering control apparatus includes a lane line detector, a shape data detector, a traveling processor, and a steering angle processor. The lane line detector is configured to detect right and left lane lines. The shape data detector is configured to detect shape data. The traveling processor is configured to, in a case where both the lane lines are detected, execute a first lane-line control that is an automatic steering control to be executed on the basis of both the lane lines, and configured to, in a case where only one of the lane lines is detected as a detected lane line, execute a determining process that compares data on the detected lane line and the shape data and that determines whether to execute a second lane-line control that is the automatic steering control to be executed on the basis of only the one of the lane lines.

Automatic steering control apparatus

A vehicle drive assist apparatus includes an external environment recognizer, a traveling environment recognizer, and a processor. The traveling environment recognizer recognizes travel lane sides of dividing lines defining a travel lane as two approximate lines each in a linear form based on the image data on a traveling environment acquired by the external environment recognizer. When a static three-dimensional object has been continuously detected on or near one of dividing lines based on the image data, the processor sets a virtual approximate line by correcting the lateral position of the approximate line of the one of the dividing lines in a direction apart from the static three-dimensional object toward the middle of the travel lane by a predetermined correction amount, and sets a target travel course in the middle between the virtual approximate line and the approximate line of the other of the dividing lines.

Vehicle drive assist apparatus

A vehicle traveling environment detecting apparatus includes first to third stereo cameras, first to third image processors, and an image controller. The first stereo camera includes first and second cameras. The second stereo camera includes the first camera and a third camera. The third stereo camera includes the second camera and a fourth camera. The first to third image processors are configured to perform stereo image processing on first to third outside images and thereby determine first to third image processing information including first to third distance information, respectively. The first to third outside images are configured to be obtained through imaging of an environment outside the vehicle by the first to third stereo cameras, respectively. The image controller is configured to perform integration of the first image processing information, the second image processing information, and the third image processing information and thereby recognize a traveling environment of the vehicle.

Vehicle traveling environment detecting apparatus and vehicle traveling controlling system

An automatic driving system includes a vehicle control calculator, a f recognizer, a passerby recognition calculator, and a notifier. The vehicle control calculator causes an vehicle to perform automatic traveling along a traveling route. The recognizer acquires information on a traveling environment ahead of the vehicle. The passerby recognition calculator recognizes a passerby ahead of the vehicle based on the information on the traveling environment. The notifier notifies the passerby of a recognition state that the passerby is recognized, when the passerby is recognized by the passerby recognition calculator. The passerby recognition calculator examines whether the recognized passerby is facing a direction of the vehicle based on information on the passerby, acquired by the recognizer, and specifies the passerby as a notification target passerby when recognizing the passerby facing the direction of the vehicle. The notifier notifies the recognition state to the notification target passerby.

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Tokyo, Japan

Keisuke Motegi