Denso Corporation

Toyota Jidosha Kabushiki Kaisha

Aisin Aw Co., Ltd.

Honda Motor Co., Ltd.

Kiyoshi Tsurumi

Masatoshi Takahara

Takeshi Shikimachi

Yuya Higuchi

Naoto Miura

Shogo Sugimoto

Motohiro Nakamura

Tomoki Kodan

Daisuke Kondo

Hiroshi Sekine

Masaki Nakamura

Koichi Nakao

Yasuhiro Shimizu

Takahisa Ozaki

Masaki Yoshida

Kuniaki Tanaka

Hiroshige Asada

Takuji Harayama

Motoki Kanba

Tomoaki Ishikawa

Hirotaka Takiguchi

Yutaka Mochizuki

Shigehiro Muto

Hideki Tanino

Daisuke Konaka

Mitsuo Okumura

Nobuharu Kobayashi

Tomokazu Kobayashi

Tadashi Fujimura

Hiroki Tanaka

Yuya Hara

Kodai Okada

Kenji Nakayama

Akihiro Hirano

An autonomous driving system includes: a traveling plan creation section that creates a traveling plan of an autonomous driving operation; a traveling state acquisition section that acquires an actual traveling state in the autonomous driving operation; a determination section that verifies the actual traveling state in the autonomous driving operation with the traveling plan of the autonomous driving operation, and determines whether the autonomous driving operation is performed according to the traveling plan; and a notification control section that notifies a determination result of the determination section. The autonomous driving system gives the driver a sense of security.

Autonomous driving system, non-transitory tangible computer readable medium, and autonomous driving state notifying method

A vehicle control system includes an own vehicle position calculation section that calculates an own vehicle position on a map by using a coordinate system projected by a map projection method based on conformal map projection, which has conformality and represents most regions in the world with a single system, and a vehicle control section that controls a vehicle by using the own vehicle position calculated by the own vehicle position calculation section by using the coordinate system projected by the map projection method based on conformal map projection, which has conformality and represents most regions in the world with a single system.

Vehicle control system, own vehicle position calculation apparatus, vehicle control apparatus, own vehicle position calculation program, and non-transitory computer readable storage medium

A position correction device includes: a reception unit, a position acquisition unit, a determination unit and a position information transmission unit. The reception unit receives a position information Sof a vehicle from a navigation apparatus. The position acquisition unit acquires a position information Sof the vehicle with a higher accuracy than the navigation apparatus. The determination unit determines whether a difference between the position information Sand the position information Sexceeds a predetermined threshold, or determines whether a traveling road identified by the position information Smatches a traveling road identified by the position information S. At least when it is determined that the difference exceeds the threshold, or when it is determined that the identified traveling roads do not match, the position information transmission unit transmits the position information Sto the navigation apparatus.

Position correction apparatus, navigation system and automatic driving system

A driving assistance apparatus for performing driving assistance for a subject vehicle by using a position of the subject vehicle and road map data is provided. The driving assistance apparatus includes a different vehicle information acquisition portion for acquiring travel information about a different vehicle traveling near the subject vehicle, a road extraction section for extracting a junctional road connected, in a vehicle entry allowed manner, to a specific intersection ahead in a travel direction on a traveling road traveled by the subject vehicle, a determination section for determining a possibility of collision between the different vehicle and the subject vehicle when it is detected the different vehicle is traveling in the direction to enter the specific intersection; and a support section for performing a process to avoid the collision when the determination section determines that the possibility of the collision exists.

Driving assistance apparatus

A driving assist apparatus is provided. The apparatus includes a curve detection unit that detects a curve ahead of a vehicle, a driving operation assistance unit that, based on the curve detection result, provides driving operation assistance to enable the vehicle to properly pass through the curve, a diversion determination unit that determines whether the vehicle position is diverted from the curve during curve passage, a diversion-confirmed curve storage unit that, when the vehicle position is diverted from the curve, memorizes the curve as a diversion-confirmed curve, and an assistance suppression unit that, when the curve detected by the curve detection unit is the diversion-confirmed curve, suppresses the driving operation assistance by the driving operation assistance unit. When the vehicle position returns to the curve after diverting from the curve, the diversion determination unit determines that the vehicle position is not diverted from the curve.

Driving assist apparatus and driving assist method

Various sensors, such as a GPS and a vehicle speed sensor, are used to detect a current position and direction of a vehicle. A normal running direction, which is a running direction specified for a road on which the vehicle runs, is acquired. In a state where a vehicle speed pulse is acquired at the predetermined intervals, it is detected whether the vehicle is placed in a wrong-way driving situation on the basis of the detected current direction of the vehicle and the normal running direction; whereas, in a state where a vehicle speed pulse is not acquired, it is not detected whether the vehicle is placed in the wrong-way driving situation on the basis of the detected current direction of the vehicle.

Driving support system, driving support method and computer program

A driving support device includes: a position detector; a traveling direction detector; a map data memory; a map matching element for matching a current position of a vehicle on a road of map data; a traveling segment estimation element for estimating a current segment of the vehicle in the parking place road when a matched road is the parking place road; a main road search element for determining whether a segment of a main road of an express way is disposed in a predetermined search distance from an estimated current segment; and a reverse run determination element for determining whether the vehicle travels reversely when the main road search element determines that the segment of the main road is disposed in the predetermined search distance from the estimated current segment.

Driving support device for a vehicle with reverse run determination

A wrong-way-travel warning device comprising a vehicle speed detecting part configured to detect a vehicle speed of a vehicle, a part configured to detect a position of the vehicle, an angle detecting part configured to detect an angle of a vehicular longitudinal direction of the vehicle relative to a lane marking if the vehicle speed of the vehicle becomes less than or equal to a predetermined value, and a warning part configured to issue a warning to an occupant if the position of the vehicle is on a main lane of a highway and if the angle becomes about 90 degrees, is provided.

Wrong-way-travel warning device and wrong-way-travel warning method

A remaining distance to an intersection regarded as a guide point is calculated based on map matching process. When the remaining distance is decreased to less than or equal to 100 m, an advancement display process is executed to advance a display position of a vehicle mark of the subject vehicle in the forward direction ahead of the map matched position. The vehicle mark is thus displayed, in an enlarged view of the guide point, at a position corresponding to an advanced display remaining distance, which is calculated using a predetermined formula.

Map display apparatus for vehicle

There is a need for improving the accuracy of estimating a gain error for an angular velocity sensor. An error estimation section and a correction section are provided as well as a gyroscope that detects an angular velocity of a vehicle. The error estimation section assumes the gain error of the gyroscope to be a state quantity and finds an estimated value for the gain error using a Kalman filter. Based on the gain error found by the error estimation section, the correction section corrects a gain correction amount used for gain correction of values detected by the gyroscope. The correction section corrects the gain correction amount dedicated to right turn based on the gain error found by the error estimation section when the vehicle is assumed to turn right. The correction section corrects the gain correction amount dedicated to left turn based on the gain error found by the error estimation section when the vehicle is assumed to turn left.

Vehicular present position detection apparatus and program storage medium

When a first one-way traffic road becomes partially impassable because of roadworks, a second one-way traffic road temporarily replaces the first road and is used in a direction opposite to an original trafficable direction. This second road is registered as a replacing road based on traffic information from the VICS center. When the second road registered as the replacing road is present within a given area surrounding the current position of a relevant vehicle, map matching is executed without considering the original trafficable direction of the second road. This allows the second road to be designated as a travel road through the map matching even when the relevant vehicle travels in a direction opposite to the original trafficable direction of the second road.

In-vehicle navigation apparatus

A vehicle behavior detector obtains detection information from autonomous sensors to detect a change in vehicle behavior. The detection information is calibrated based on position, bearing, and vehicle speed information obtained from a GPS receiver. For example, the vehicle behavior detector calibrates detection information obtained from the vehicle speed sensor and the angular speed sensor with a Kalman filter process. It is difficult to use only the autonomous sensors to calibrate characteristics changes due to individual sensor differences, environmental changes, and aged deterioration. With using GPS information for calibration, the vehicle behavior detector can accurately detect the vehicle behavior. The accuracy is improved for detection information itself to be output from the vehicle behavior detector to external apparatuses. Using this calibrated detection information, the external apparatuses can perform processes appropriately.

Vehicle behavior detector, in-vehicle processing system, detection information calibrator, and in-vehicle processor

A map data production system includes a workstation, a keyboard, a mouse, a data storage and a display. The data storage stores road map data. A section of a road on a map read from the data storage and displayed on a display. An access road, grade data of which will be added or altered, is specified by clicking its start and end points on the map with the mouse. An elevation value of the road in the specified section is entered at a data entry screen display on the display by a user via the keyboard. A grade value of the road in the specified section is calculated from the entered elevation value and map data stored in the data storage. The calculated grade value is added to the road map data and stored in the data storage.

Map data production system for providing map data including road grade data

In a vehicle navigation apparatus having a control section which calculates relative vehicle positions and travel direction by dead reckoning calculations based on outputs from on-board sensors and periodically acquires GPS measurement data via a GPS receiver and applies error-reduction filter processing to these data to obtain position and travel direction information for correcting the calculated relative positions, the apparatus has a function for detecting that a travel direction obtained by dead reckoning contains an excessive error, and when that condition is detected, for directly applying an estimated vehicle position and travel direction derived directly from the GPS data, without filter processing, to correct the corresponding relative position and travel direction estimates. Rapid correction can thereby be achieved when the vehicle has been operated in a condition whereby a large amount of error has suddenly arisen in the travel direction that is estimated by the apparatus through dead reckoning calculation, e.g., after the vehicle has been rotated on a turntable with the vehicle navigation apparatus inoperative.

VEHICLE NAVIGATION APPARATUS PROVIDING RAPID CORRECTION FOR EXCESSIVE ERROR IN DEAD RECKONING ESTIMATES OF VEHICLE TRAVEL DIRECTION BY DIRECT APPLICATION OF POSITION AND DIRECTION INFORMATION DERIVED FROM GPS POSITION MEASUREMENT DATA

Navigation system, which can improve an accuracy of a travel distance calculation and an accuracy of present position detection even if an accuracy of a pulse data from a vehicle speed sensor is relatively low. The navigation system includes a gyroscope, a vehicle speed sensor and a navigation control portion. The navigation control portion calculates the travel direction based on outputs from the gyroscope and the vehicle speed sensor. When the vehicle decelerates, acceleration during low speed less than Vmin, in which the vehicle speed pulse is not outputted, is assumed to be equal to an acceleration just before the vehicle speed becomes less than Vmin. When the vehicle accelerates, acceleration during low speed less than Vmin, in which the vehicle speed pulse is not outputted, is assumed to be equal to an acceleration just after the vehicle speed becomes to or more than Vmin. Vehicle present position is calculated by estimating travel distances Dist,and Dist,which are estimated to travel during a pulse-missing period at deceleration and acceleration, and adding them to the travel distance Dist calculated based on the vehicle speed pulse from the vehicle speed sensor.

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Obu, Japan

Kiyoshi Tsurumi