Toyota Jidosha Kabushiki Kaisha

Continental Automotive Gmbh

Denso Corporation

Continental Automotive Technologies Gmbh

Koji Takeuchi

Takuya Kaminade

Takashi Nagasaka

Mitsuhiro Saitou

Hiroshi Tomita

Iwao Izumikawa

Junya Fukuta

Masaho Ishida

Hiroki Hori

Gladys Acervo

Masanori Tokuda

Naotsugu Shimizu

Takayuki Kitamura

Atsushi Kanamori

Masaru Ogawa

Yukihiro Maeda

Hirokazu Imai

Shin-ichiro Matsuzawa

Noriyuki Saitoh

Yuji Ootani

Kan Kinouchi

Hiroyuki Yamakawa

Takuto Kumashiro

Kenji Furumoto

Shinji Takeo

Ryuichi Soya

Masato Onozawa

Atsushi Kido

Yoji Honma

Takashi Unno

Masaki Kawakami

Kenichi Miyasako

Hiroki Shimazu

An object detection apparatus is mounted to a vehicle and detects an object by a reflected wave of a probe wave. The object detection apparatus calculates a relative velocity of the object to the vehicle, estimates an azimuth of the object relative to the vehicle, and corrects the estimated azimuth. The object detection apparatus generates a velocity-azimuth curve that indicates a relationship between the relative velocity of the object and the azimuth of the object that is calculated based on a theoretical mounting angle of the object detection apparatus, supplies a weight to an azimuth error that is an error between the velocity-azimuth curve and the estimated azimuth, based on the estimated azimuth, and calculates a correction value of the estimated azimuth by calculating, as an actual mounting angle deviation of the object detection apparatus, a weighted average value of the azimuth error to which the weight is supplied.

Object detection device

A device includes a processor configured to: issue an alarm when a movement path condition is met and a prohibition condition is not met, the movement path condition being met when an approaching object of which a predicted movement path is a path along which the object passes by a door of the host vehicle is present; and not issue the alarm when the prohibition condition is met, even when the movement path condition is met, wherein the prohibition condition includes a condition to be met when a difference between a distance in a transverse direction from the host vehicle to a stationary object and a distance in the transverse direction from the host vehicle to the approaching object is equal to or less than a predetermined value in a case where the stationary object is present, the stationary object being stationary at a side of the host vehicle.

Drop-off assist device

An alighting support device performs warning to notify a vehicle occupant of presence of a moving body having a possibility to come into contact with a right door or a left door of the vehicle. The alighting support device performs the warning when a warning condition is satisfied. When the right door or the left door is opened or is about to be opened while the moving body is moving in a right warning area set on the right side of the vehicle or a left warning area set on the left side of the vehicle, the alighting support device determines that the warning condition is satisfied. When the moving body enters the right warning area or the left warning area with the right door or the left door being open to a predetermined degree or more, the alighting support device determines that the warning condition is not satisfied.

Alighting support device

A driving assistance device includes an object detection unit, an acquisition unit acquiring a first value of a relative speed of an approaching object with respect to an own vehicle, a ghost determination unit, and an assistance determination unit. The ghost determination unit calculates a second value of the relative speed of the approaching object in accordance with a speed of the own vehicle and a value of the relative speed of a following object located between the own vehicle and the approaching object; calculates, as a speed difference, an absolute difference between the first value of the relative speed and the second value of the relative speed; calculates, as an azimuth difference, an absolute difference between an azimuth of the following object and an azimuth of the approaching object; and determines whether the approaching object is the ghost target based on the speed difference and the azimuth difference.

Driving assistance device

A drop-off assist device includes: a processor configured to determine that there is a possibility that a target approaching object passes by a door of a host vehicle when a second object is not present between the target approaching object and the host vehicle, correct the predicted movement path based on a position of an edge of the second object when the second object is present between the target approaching object and the host vehicle at a timing of setting the target approaching object, determine that there is the possibility that the target approaching object passes by the door of the host vehicle when the corrected predicted movement path is the path that passes by the door of the host vehicle, and issue an alarm when determining that there is the possibility that the target approaching object passes by the door of the host vehicle.

A rear pre-crash system, RPCS, of a subject vehicle comprising a judgement logic adapted to trigger an RPCS warning signal in response to a detected radar signal reflected by a target vehicle approaching the subject vehicle from behind, wherein said judgement logic is configured to modify the triggering of the RPCS warning signal in detected specific traffic scenarios.

Rear pre-crash safety system

In a driving assistance apparatus, an area setter is configured to set a warning area on at least one of a left rear side and a right rear side of a subject vehicle. A notifier is configured to provide a notification in response to an object detector detecting an object in the warning area. A determiner is configured to determine initiation and completion of a turn at an intersection during turning of the subject vehicle at the intersection. An area changer is configured to, in response to the determiner determining the initiation of the turn, reduce the warning area in a direction approaching the subject vehicle, and in response to the determiner determining the completion of the turn, expand the reduced warning area according to a traveling state of the subject vehicle after the completion of the turn.

Driving assistance apparatus

A vehicle exit assist apparatus includes: a right BSM ECU configured to issue a warning when a moving object approaching an own vehicle is detected; and a message uttering device including an amplifier and a speaker configured to operate by electric power supplied from an in-vehicle battery, and being configured to utter a sound message in accordance with control of the right BSM ECU. The right BSM ECU is configured to supply electric power to the message uttering device when a generator configured to charge the in-vehicle battery is operating, and bring the power supply to the message uttering device to an OFF state when a predetermined condition is satisfied after the generator is stopped.

Vehicle exit assist apparatus

A sensor protector includes two stays and a thin-plate shaped separate sheet held by the stays. The stays are provided on a bracket. The bracket holds a sensor and is fixed at a predetermined position to an outside panel of the body of a vehicle covered with a bumper cover of the vehicle. The sheet extends such that, in the sensor attached state, the sheet divides/partitions a space around the sensor formed between the outside panel of the body and the bumper cover into an upper space which contains the entirety of the detection surface of the sensor and a lower space which does not contain the detection surface of the sensor.

Sensor protector

If a vehicle surroundings monitoring apparatus is equipped with four radars disposed at each of the four corners of the body of a vehicle in order to detect an object around the vehicle, the interfere of the radio waves of the radars likely to occur. As a result, the accuracy for detecting an object by the radars will deteriorate. Specifically, if two of detection areas are adjacent to each other of the radars overlaps with each other and the two of the radars transmits radio waves at the same time, the interfere of the radio waves will occur in the overlapping area. In view of this, the four radars are divided into two groups such that the detection areas of two radars within the group aren't adjacent to each other and transmission period of one of the groups and that of the other of the groups are repeated alternately.

Vehicle surroundings monitoring apparatus

A rear pre-crash safety system of a vehicle comprising a judgement logic adapted to issue at least one collision warning signal in response to a detected radar signal reflected by an object approaching the vehicle from behind depending on a radar cross section, RCS, of the approaching object and depending on a velocity of the approaching object relative to the respective vehicle.

Rear pre-crash flashing hazard lamp system

A radar ECUgives priorities based on predicted collision times TTC and priorities based on relative distances D to all moving objects (S), and selects 4 (four) moving objects in ascending order of the predicted collision times TTC (S). The radar ECUselects 5 (five) in ascending order of the relative distances D among the moving objects other than the moving object selected at S(S). The radar ECUtransmits object information on the moving objects selected at Sand Sto a driving support ECU(S). The driving support ECUperforms various driving support controls based on the transmitted object information.

Vehicle surrounding monitoring device

Rear lateral detection (RLL) ECUdetermines whether or not a lane change assist control (LCA) is being performed. The RLDECUsets a performing condition for performing a rear-end pre-crash safety control (rear PCS control) to a moderate performing condition when the LCA is being performed, and sets the performing condition of the rear PCS control to a normal performing condition when the LCA is not being performed. The moderate performing condition is set such that the rear PCS control is performed more easily compared with the normal performing condition. For example, in the moderate performing condition, a detection area of a target vehicle which is a vehicle subject to the rear PCS control is expanded compared with the detection area in the normal performing condition.

Vehicle control apparatus

There is provided a mounting structure of a vehicle periphery monitoring device, the structure including (i) a front bumper reinforcement of a vehicle, (ii) a headlamp having a lamp housing, the headlamp being disposed further in a vehicle body upward direction than the front bumper reinforcement and at an outward end section in the vehicle width direction of the vehicle, (iii) a vehicle component disposed further in a vehicle body downward direction than the headlamp, and (iv) a vehicle periphery monitoring device disposed further in a vehicle body downward direction than a lower surface of the lamp housing, the vehicle periphery monitoring device separated by a first gap from an outward end surface in the vehicle width direction of the front bumper reinforcement, and being separated by a second gap from an upward end surface of the vehicle component.

Mounting structure of vehicle periphery monitoring device

A collision avoidance apparatus includes an obstacle detection unit to detect an obstacle ahead of a vehicle; an approaching object detection unit to detect an approaching object approaching the vehicle from behind the vehicle; and an electronic control unit to calculate a collision time until the vehicle collides with the obstacle, based on the distance and relative speed of the obstacle, and starts a drive support to avoid a collision with the obstacle when the vehicle speed is a lower limit speed or greater, and the collision time is a threshold or less. When there is a likelihood for the object to collide with the vehicle from behind the vehicle, the electronic control unit lowers the lower limit speed, and/or starts drive support when the collision time is the threshold or less, even when the vehicle speed is less than the lower limit speed.

Growing community of inventors

Toyota, Japan

Koji Takeuchi