Toyota Jidosha Kabushiki Kaisha

Denso Corporation

Masamichi Ohsugi

Hiromitsu Urano

Akihiro Watanabe

Makoto Kawaharada

Ichiro Matsuyama

Takahiro Doi

Hiroaki Shimizu

Satoshi Takeyasu

Masaki Kishimoto

Kazuhiro Miyazato

Hideaki Sawada

Ryutaro Araki

Takashi Morimoto

Mitsuhiro Kinoshita

A control system comprises one or more processors configured to perform vehicle control of a vehicle including a plurality of control functions and one or more storage devices. The control system stores log data related to the vehicle control in the one or more storage devices while performing the vehicle control. When a free capacity of the one or more storage devices is less than a threshold value, the control system restricts operation of one or more target control functions selected from the plurality of control functions.

Control system

An axis deviation detection device includes: a first detection unit that detects a first object from pickup information acquired by a camera disposed in an interior of a vehicle cabin of a vehicle; a second detection unit that detects a second object from point information acquired by a LIDAR disposed in an exterior of the vehicle cabin of the vehicle; and an axis deviation angle estimation unit that estimates an axis deviation angle of the LIDAR to the camera, and that estimates that the axis deviation angle of the LIDAR to the camera is a predetermined angle, in a case where a result of comparison between a detection result of the first detection unit and an after-rotation detection result from rotating a detection result of the second detection unit by the predetermined angle about an attachment position of the LIDAR on the vehicle satisfies a predetermined condition.

Axis deviation detection device for on-board LIDAR

If the sign of the relative speed of the non-fixed object is negative, the determination width for own lane is expanded in the lane-width direction. According to the expanded determination width for own lane, both the preceding vehicle on the adjacent lane and the preceding vehicle on the own lane are recognized as existing on the own lane. Therefore, if it is determined that the risk to collide with the preceding vehicle on the adjacent lane is high, the decelerating assist control is executed to prevent collision with this preceding vehicle. Also, if it is determined that the risk to collide with the preceding vehicle on the own lane is high, the decelerating assist control for preventing collision with this preceding vehicle is executed.

Vehicle control device

A target-lane relationship recognition apparatus mounted on a vehicle includes a sensor that detects a situation around the vehicle, a memory device in which a map data indicating a boundary position of a lane on a map is stored, and a processing device. The processing device is configured to: (a) acquire, based on the sensor detection result, target information regarding a moving target and a stationary target around the vehicle; (b) acquire, based on the map data and position-orientation of the vehicle, lane geometry information indicating a lane geometry around the vehicle; (c) adjust the lane geometry to generate an adjusted lane geometry satisfying a condition that the moving target is located within a lane and the stationary target is located outside of any lane; and (d) generate target-lane relationship information indicating a positional relationship between the moving target and the adjusted lane geometry.

Target-lane relationship recognition apparatus

An object identifying apparatus () has: a first determining device () configured to determine a first region () including an object in an image; a second determining device () configured to determining a specific border portion () in the first region from a border () of the object at which a degree of gradient of image characteristics amount is equal to or larger than a predetermined amount, the specific border portion is a portion at which a direction of the gradient of the image characteristics amount is one direction and a distribution range of the specific border portion in the first region is larger than that of another border portion at which the direction of the gradient of the image characteristics amount is another direction different from the one direction; and an identifying device () configured to identify the object on the basis of a first parameter (A) representing a length of the first region and a second parameter (B) representing a length of the specific border portion.

Object identifying apparatus

Growing community of inventors

Shizuoka-ken, Japan

Masamichi Ohsugi