Toyota Jidosha Kabushiki Kaisha

Koki Suwabe

Yuki Tezuka

Kojiro Tateishi

Toshiki Matsui

Tomoaki Igarashi

Yusuke Mori

In a drive assist device, a first condition that an inter-vehicle distance between a preceding vehicle and an own vehicle is smaller than a first threshold, a second condition that a speed of the preceding vehicle relative to the own vehicle is lower than a second threshold, a third condition that a speed of an adjacent vehicle that travels on an adjacent lane to the own vehicle is lower than a third threshold, and a fourth condition that an acceleration rate of the adjacent vehicle is lower than a fourth threshold are defined. When at least one of the first condition and the second condition and at least one of the third condition and the fourth condition are satisfied, the drive assist ECU executes acceleration restraint control of a driving device and/or a braking device such that an acceleration rate of the own vehicle is '0' or lower.

Drive assist device

A host vehicle position estimation device includes: a detected position recognition unit configured to recognize a detected position of a first target object included in a first recognition range and a detected position of a second target object included in a second recognition range; a host vehicle first position estimation unit configured to estimate a host vehicle first position; a host vehicle second position estimation unit configured to estimate a host vehicle second position; and a deviation determination unit configured to determine that there is a deviation between the detected position of the target object and the information on the position of the target object on the map if a distance between the host vehicle first position and the host vehicle second position is equal to or greater than a deviation threshold value.

Host vehicle position estimation device

A vehicle localization system includes: an electronic control unit estimating a vehicle position including a longitudinal position on a map in an extension direction of a road on which the vehicle is traveling and a lateral position on the map in a lateral direction of the road; and a storage device storing a map database including map information. The electronic control unit obtains a vehicle speed and a pitch angle of the vehicle, perceives a measured position of the vehicle on the map based on a measurement result of a positioning device mounted on the vehicle and the vehicle speed, and estimates the longitudinal position from comparison between a rate of change in pitch angle of the vehicle along the road and a rate of change in height on the map along the road, based on the measured position, the map information, and the pitch angle.

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Susono, Japan

Koki Suwabe