Nissan Motor Company Limited

Ko Sato

Masahiro Kobayashi

Osamu Fukata

Yasuhisa Taira

Yasuhiro Suzuki

Daisuke Tanaka

Ryota Yamanaka

Yasuhiro Sakurai

Junya Kobayashi

Yasuhisa Hayakawa

Yuta Akamatsu

Shuhei Nishimaki

Akira Ito

Toru Gotanda

Kuniaki Yoshioka

Kazuaki Takehara

Nobutoshi Maehara

Emiko Isogai

A parking assistance device includes: a sensor-information processing circuit that detects an empty parking space around a host vehicle; a surrounding-image generation circuit that generates a surrounding image that is a view of surroundings of the host vehicle from above; an image display circuit that displays a first assistance image at a position of the empty parking space in the surrounding image, the first assistance image indicating the empty parking space; and a stop determination circuit that determines whether the host vehicle has stopped. In a case where it is determined by the stop determination circuit that the host vehicle has stopped, the image display circuit displays the first assistance image.

Parking assistance method and parking assistance device

A vehicle control method for controlling a vehicle using a vehicle control apparatus includes: a sensor configured to detect a state outside a subject vehicle; and a control device. The vehicle control method includes: executing control of recovering a travel trajectory of the subject vehicle to a target trajectory, as ordinary control, by giving a steering amount in a lateral direction with respect to a travel lane of the subject vehicle; using detection data of the sensor to determine whether or not another vehicle is traveling in an adjacent lane to the travel lane of the subject vehicle; and when determining that the other vehicle is traveling in the adjacent lane ahead of the subject vehicle, increasing a response of the steering amount to a higher response than that in the ordinary control, before the subject vehicle passes the other vehicle.

Vehicle control method and vehicle control device

In a parking assistance method of a parking control device which executes parking control with respect to a free parking space surroundings a host vehicle, a first frame line of free parking space in a direction orthogonal to a vehicle width direction and a second frame line which forms a pair with the first frame line are detected, and a parking target is set on a straight line connecting between a point on the first frame line and a point on the second frame line, for example, the parking target is set on the straight line connecting between an end on the first frame line and an end on the second frame line, and parking control is executed so that a position of wheels of the host vehicle is matched with the parking target.

Parking assistance method and parking control device

A travel control apparatus, when a lane line of the traffic lane that had been being detected is no longer detected, estimates an imaginary lane line based on the position of the lane line detected in the past and controls the travel of the host vehicle such that the host vehicle is at a predetermined position with respect to the imaginary lane line.

Travel control method and travel control apparatus

A parking assistance device includes: a surrounding-image generation circuit that generates a surrounding image that is a view of surroundings of a mobile object from above; an image display circuit that displays an assistance image at a position of an empty parking space in the surrounding image, the first assistance image indicating the empty parking space; and a turning determination circuit that determines whether the mobile object is turning. In a case where it is determined by the turning determination circuit that the mobile object is turning, the image display circuit prohibits the assistance image from being displayed.

A parking assistance method of a parking assistance device for generating a peripheral image indicating a periphery of a vehicle as viewed from above to detect an unoccupied parking space, and displaying, on the peripheral image, an assistance image indicating that the detected unoccupied parking space is an available parking space, determines whether the vehicle intrudes on the unoccupied parking space. The parking assistance method inhibits the assistance image from being displayed on the unoccupied parking space on which the vehicle is determined to intrude in the peripheral image.

A parking assistance method of the present invention includes detecting an empty parking space around a moving object, displaying a first assistance image indicating a position of the empty parking space on a surrounding image viewed from above the moving object, and setting a parking target using the displayed first assistance image. The parking assistance method includes: determining whether the detected empty parking space meets a display condition for displaying the first assistance image; and displaying the first assistance image in the empty parking space not meeting the display condition when a currently set mode is an adjustable mode that allows an occupant of the moving object to manually adjust the parking target.

A travel control method controls travel of an own vehicle to locate a lateral position of the own vehicle at a predetermined position with respect to a lane marker of a lane in which the own vehicle is traveling or with respect to a preceding vehicle, and reduces a control amount on travel from when control on the travel of the own vehicle is started until a predetermined time passes to be smaller than a control amount on the travel after the predetermined time has passed.

Travel control method and travel control device

A travel control method of the present invention includes: recognizing the lane in which the host vehicle is traveling; controlling the travel of the host vehicle such that the host vehicle is situated at a predetermined position relative to a boundary line of the lane; detecting an increase in the lane width of the lane in which the host vehicle is traveling; and, if determining that one of the boundary lines situated to the left and the right of the host vehicle is a dashed line, controlling the travel of the host vehicle based on the dashed boundary line.

A drive control method controls a drive control amount of a subject vehicle so that the subject vehicle may take a prescribed position with respect to lane markings of a lane in which the subject vehicle is running and reduces a drive control amount adopted when a lateral position of one of the lane markings along which the subject vehicle is running moves in a different direction from a lateral position of the other lane marking smaller than a drive control amount adopted when lateral positions of both the lane markings move in the same direction.

Drive control method and drive control apparatus

A travel control apparatus includes: a recognition processing section that recognizes a lane line of a traffic lane in which a host vehicle is traveling; a vehicle control section that performs lane keeping control such that a lateral position of the host vehicle is at a predetermined position with respect to the lane line; a radar that detects a preceding vehicle traveling ahead of the host vehicle; and a cancelling section that, when the recognition processing section does not detect the lane line, cancels the lane keeping control when a predetermined time has passed after the lane line is no longer detected. The predetermined time is shorter when a following distance between the host vehicle and the preceding vehicle is longer than a predetermined value than when the following distance is shorter than or equal to the predetermined value.

A lateral object that exists on a side of the vehicle is detected. When an estimated later-arriving lateral position reaches a predetermined threshold value under the condition in which the lateral object is detected, a lane change of the vehicle in a direction to a side of the lateral object is suppressed. When detecting that the vehicle moves laterally in a direction opposite to a side of a side vehicle, an avoidance flag is set to Fa=1. Subsequently, when the vehicle starts a lateral movement in a direction to the side of the side vehicle, a return flag is set to Fr=1. When the return flag is set to Fr=1 in this way, a suppression flag is set to F=0 until a setting time elapses, then the suppression of the lateral movement is forbidden.

Running control device, and running control method

A vehicle driving control apparatus is provided with a lane detecting device, a future position estimating device and a vehicle control device. The lane detecting device detects a lane marker of a lane. The future position estimating device estimates a future transverse position of a host vehicle after a prescribed amount of time. The vehicle control device executes a vehicle control such that a yaw moment is imparted to the host vehicle toward a middle of the lane. The yaw moment is imparted upon determining that the future transverse position is positioned laterally farther toward an outside of the lane from the middle of the lane than a prescribed widthwise lane position that is determined in advance using the lane marker as a reference. The vehicle control device suppresses an impartation of the yaw moment device when a recognition degree of the lane marker is lower than a prescribed value.

Vehicle driving control apparatus and vehicle driving control method

A vehicle driving control apparatus is provided with an obstacle detecting device, a future position estimating device, an obstacle avoidance control device, and a lane change intent detecting device. The obstacle detecting device detects an existence of an obstacle positioned laterally of a host vehicle. The future position estimating device estimates a future position of the host vehicle after a prescribed amount of time. The obstacle avoidance control device executes an obstacle avoidance control. The lane change intent detecting device detects an intent of a driver to effect a lane change and a direction of the intended lane change. Therefore, when it is detected that the driver intends to move to an adjacent lane located on the opposite side of the vehicle as the side containing the obstacle, a control suppressing portion of the obstacle avoidance control device suppresses the obstacle avoidance control.

Growing community of inventors

Kanagawa, Japan

Ko Sato