Toyota Jidosha Kabushiki Kaisha

Kiyoto Hanita

Yoshinao Takemae

Shinya Kawamata

Takuya Kaminade

Hirofumi Aoki

A warning device includes: a host vehicle information acquisition unit; a moving object information acquisition unit that acquires moving object information around the host vehicle; an intersection determination unit that determines whether a course of the host vehicle and a course of the moving object intersect; a distance calculation unit that calculates a distance from the host vehicle to an intersection position; an estimated crossing-time calculation unit that calculates a time that elapses before the moving object arrives at the intersection position; a threshold setting unit; and a warning unit that alerts a driver when the time is smaller than a threshold, wherein the threshold is set larger as the distance becomes larger, and is set larger when the host vehicle speed vehicle is equal to or lower than the predetermined speed than when the host vehicle speed is higher.

Warning device

An alerting apparatus issues an alert regarding a moving obstacle to a driver of a host vehicle when the host vehicle enters an intersection of a crossroad that is connected to a traveling road on which the host vehicle is traveling, and the traveling road, in a left-hand traffic jurisdiction. This alerting apparatus includes an ECU. The ECU is configured to issue the alert regarding the moving obstacle when it is determined that a path of the moving obstacle intersects with an intersect determination range, and set the intersect determination range to be shorter in length in a front-rear direction of the host vehicle when the traveling direction of the host vehicle is a left turn than when the traveling direction of the host vehicle is a right turn.

Alerting apparatus

A driving assistance apparatus includes: a moving-body-information acquiring unit configured to acquire moving-body information including a position and a speed vector of a moving body existing laterally ahead of own vehicle; an assistance-target determining unit configured to determine an assistance target approaching from a lateral direction with respect to a travelling direction of the own vehicle; a movement-point predicting unit configured to use the speed vector of the moving body to predict a future movement point; a detection-range changing unit configured to change the detection range by adding a change region to include the movement point along a moving direction indicated by the speed vector at a time the movement point is out of the detection range; and an assistance performing unit configured to perform driving assistance on an assistance target including the moving body determined as the assistance target within a changed detection range.

Driving assistance apparatus

A drive assist control device includes a steering determination unitthat determines a steering state of a vehicle, a curved state estimation unitthat estimates a curved state of a traveling road where the vehicle is traveling, a threshold value setting unitthat, in a case where it is determined by the steering determination unitthat a steering occurs after a steering wheel stationary state, sets a determination threshold value at the time of steering ts based on the curved state estimated during a period ts to ts+Tc from the time of steering ts to the set time Tc after the time of steering ts or a period ts&#x2212;Tc to ts from the set time Tc before the time of steering ts to the time of steering ts and which is sharper than the curved state estimated at the time of steering ts, and a warning control unitthat actuates a warning in a case where the steering speed at the time of steering ts exceeds the determination threshold value.

Drive assist control device

A black eye position existence probability density distribution learning unit that records a black eye position which is detected in the daytime to a black eye position existence probability density distribution, a red-eye candidate detection unit that detects red-eye candidates from the image of the driver at night, and a red-eye determination unit that determines the red eye from the red-eye candidates. The red-eye determination unit determines the red eye on the basis of the relationship between a change in the direction of the face and the behavior of the red-eye candidate and determines, as the red eye, the red-eye candidate disposed at the position of high black eye position existence probability density with reference to the black eye position existence probability density distribution.

Red-eye determination device

An ECUincludes a face position and face feature point detection unitthat detects the feature points of the face of the driver, a face pose estimation unitthat fits the feature points of the face detected by the face position and face feature point detection unitto a 3D face model to estimate the direction of the face of the driver, an eyelid range setting unitthat sets an upper eyelid presence range and a lower eyelid presence range including the positions of the upper and lower eyelids on the basis of the pose of the face estimated by the face pose estimation unit, and an eyelid detection unitthat detects the positions of the upper and lower eyelids in the upper eyelid presence range and the lower eyelid presence range set by the eyelid range setting unit

Eyelid detection device

An ECU connected to an image sensor includes a face position and face feature point detection unit that detects the feature points of the face of the driver, a red-eye detection unit that detects the red eye with template matching using a red-eye template, an eye opening degree calculation unit that calculates the degree of eye opening, a relative eye opening degree calculation unit that calculates the relative degree of eye opening which is 0% in an eye-closed state and is 100% in an eye-open state, and a red-eye template update unit that generates a red-eye template on the basis of the relative degree of eye opening and updates a red-eye template used for the next template matching with the generated red-eye template.

Red-eye detection device

A driver condition determination device determines whether a driver of a host vehicle has degraded consciousness. A main component for distribution of an accelerating operation condition with respect to proximity when tailgating a preceding vehicle is analyzed (S), all data is origin-shifted (S), and the accelerating operation condition of the driver when the driver has consciousness is created as a normal traveling model (S). The likelihood of the accelerating operation condition, a likelihood average, a likelihood variance, and a likelihood threshold value are calculated (Sto S), and it is determined whether the likelihood of a current driving operation is lower than the likelihood threshold value (S). When the likelihood is lower than the likelihood threshold value, the driver is determined as being in degraded consciousness. Since the likelihood threshold value is calculated for determination on the basis of data when the driver has consciousness, an erroneous determination of degraded consciousness due to difference in driver operation characteristics is suppressed.

Driver condition assessment device

An ECU which is connected to an image sensor and an illuminance sensor includes an eyelid detection unit that detects the positions of the upper and lower eyelids from a face image, an eyelid determination unit that determines the positions of the upper and lower eyelids detected by the eyelid detection unit, and an eye opening degree calculation unit that calculates the degree of eye opening. The eyelid determination unit searches for a red-eye candidate in the range in which the skin is assumed to be present from the positions of the upper and lower eyelids detected by the eyelid detection unit. When the red-eye candidate is searched in the range, the eyelid determination unit determines that the eyelid detection unit falsely detects the positions of the upper and lower eyelids.

Growing community of inventors

Susono, Japan

Kiyoto Hanita