Toyota Jidosha Kabushiki Kaisha

Denso Corporation

Denso Corpora Tion

Toyoda Gosei Co., Ltd.

Toyoda Iron Works Co., Ltd.

Masayuki Shimizu

Jun Tsuchida

Akitoshi Minemura

Yosuke Ito

Norio Tsuchida

Minami Sato

Shoichi Hayasaka

Shinichi Nagata

Wataru Ike

Jun Sakugawa

Takahiro Baba

Wataru Kaku

Akira Isogai

Shogo Matsunaga

Toru Takahashi

Hideo Fukamachi

Tsukasa Shimizu

Mina Funazukuri

Yasuo Oguni

Toshiro Takeshima

Daisuke Kikuchi

Takumi Uno

Takuya Inaba

Kei Tamura

Aiko Sawado

Yoshihiro Ohama

Yukihiko Yamada

Yasuhisa Sakashita

Fujio Noguchi

The image transmission system executes the following five steps. The first step is acquiring a first image by capturing a first person present in a first area by a first camera. The second step is generating a first person silhouette image representing a silhouette of the first person shown in the first image. The third step is projecting or displaying the first person silhouette image on a second object installed in a second area that is different from the first area. The fourth step is determining whether or not the first person performs a first trigger action based on the first image. Fifth step is when the first person performs the first trigger action, projecting or displaying a first person detailed image on the second object, wherein the first person detailed image is closer to a real image of the first person than the first person silhouette image is.

Image transmission system and image transmission method

A vehicle control apparatus activates a safety device for avoiding a collision of an own vehicle with a target or reducing damage caused by the collision. The vehicle control apparatus sets an activation condition for the safety device. The vehicle control apparatus determines whether each of a plurality of correction conditions for the activation condition is satisfied. The vehicle control apparatus determines whether to activate the safety device on the basis of the activation condition. The vehicle control apparatus sets the activation condition by correcting a reference condition on the basis of a correction value for a satisfied correction condition, and correcting the corrected reference condition on the basis of a correction value (destination correction value) for each destination.

Vehicle control apparatus and vehicle control method

A crossing determination apparatus includes: an object detection unit which detects an object moving in a direction perpendicular to a traveling path of an own vehicle; a crossing speed calculation unit which calculates a crossing speed that is a speed at which the object detected by the objection detection unit is crossing a current traveling path of the own vehicle; a crossing determination unit which, when the crossing speed calculated by the crossing speed calculation unit is higher than a predetermined speed, determines that the object is crossing the traveling path of the own vehicle; and a yaw rate detection unit which detects a yaw rate of the own vehicle. The crossing determination unit corrects the crossing speed of the object or the predetermined speed based on the yaw rate detected by the yaw rate detection unit.

Crossing determination apparatus

A vehicle control apparatus is provided which includes position detecting means for detecting a position of a detected target using reflection information derived from a radar device, first determining means for determining whether the detected target is expected to be an obstacle not based on an intensity of a received reflected wave contained in the reflection information, and second determining means for determining whether an obstacle exists at the position, as detected by the position detecting means, or not using the image information. When the second determining means determines that the obstacle exists, and when a distance between an own vehicle and the detected target is smaller than a given threshold value, the detected target is determined as a target with which collision should be avoided regardless of a result of determination made by the first determining means. Alternatively, when the distance to the detected target is greater than the given threshold value, and when the first determining means determines that the detected target is expected to be the obstacle, the detected target is determined as a target with which collision should be avoided. This minimizes an unnecessary operation in control to avoid the collision when it is determined whether the target is an obstacle to movement of the own vehicle or not.

An object detection apparatus acquires a lateral position which is a relative position of a target to the own vehicle, and determines that a first target is present, as the target, ahead of the own vehicle and that a second target is present between the first target and the own vehicle. The object detection apparatus determines, based on the lateral position of the first target and a limiting value which indicates a width in the lateral direction, whether the first target is present on a traveling course of the own vehicle. The object detection apparatus sets the limiting value such that when the second target is not present, sets as the limiting value, a predetermined reference value, and when the second target is present, sets as the limiting value, a value different from the reference value.

Object detection apparatus and object detection method

A vehicle control apparatus accumulates a history of timings of avoidance operations performed by a driver of with respect to objects that are at prescribed distances ahead of a host vehicle, and calculates a distribution of the timings of the avoidance operations. Based on the distribution of the timings of the avoidance operations, the vehicle control apparatus sets the output timing of a warning to the driver such that interference does not occur between the avoidance operation and an avoidance operation that is actually performed by the driver, and furthermore the vehicle control apparatus judges the risk of a collision with the host vehicle, with the judgement based on the position of an object that is ahead of the host vehicle, and changes the output timing of the warning based on results of the judgement of risk.

A vehicle control device generates a fusion target by fusion of a radar target of an object ahead of the own vehicle acquired as a reflected wave of a carrier wave and an image target of the object acquired by image processing of an acquired image of a region ahead of the own vehicle and performs vehicle control of the own vehicle for the object detected as the fusion target. The vehicle control device determines whether a state where the object is detected with the fusion target has transitioned to a state where the object is detected with only the radar target; determines whether a distance to the object is a predetermined short distance when the state is determined to have transitioned to the state where the object is detected with only the radar target; and performs the vehicle control for to the object when the distance to the object is determined to be the predetermined short distance.

Vehicle control device and vehicle control method

An estimated time-to-collision (TTC) calculation apparatus includes a distance acquisition unit, relative velocity acquisition unit, relative acceleration acquisition unit, and estimated TTC calculation unit. The distance acquisition unit acquires a distance X between the own vehicle and an object. The relative velocity acquisition unit acquires a relative velocity V of the object with respect to the own vehicle. The relative acceleration acquisition unit acquires a relative acceleration &#x3b2; of the object with respect to the own vehicle. The estimated TTC calculation unit calculates an estimated TTC t until the own vehicle collides with the object. In this apparatus and method, the estimated TTC calculation unit calculates t, based on the distance X and the relative velocity V, when the own vehicle is accelerating, and when the own vehicle is decelerating, calculates t based on the distance X, the relative velocity V, and the relative acceleration &#x3b2;.

Estimated time-to-collision (TTC) calculation apparatus and estimated TTC calculation method

A collision mitigation apparatus is provided, which is installed in a vehicle and mitigates damage to the vehicle in occurrence of a collision. The apparatus includes an activation control section which detects an object positioned around the vehicle, and activates a collision mitigation part for mitigating damage to the vehicle in occurrence of a collision if a positional relationship between the vehicle and the object meets a predetermined activation condition, a type determining section which determines type of the object, the type being any one of a vehicle, a pedestrian and a roadside object, and an activation condition changing section which consolidates the activation condition compared to a case where the type of the object is not a roadside object, if the type of the object is a roadside object.

Collision mitigation apparatus

A driving support device and a driving support method, which can appropriately determine whether driving support is necessary and perform effective driving support, are provided. A driving support device calculates TTC, which is a time required for the vehicle to arrive at an intersection point at which the vehicle and a moving object intersect in the traveling direction of the vehicle and in a direction intersecting with the traveling direction, and TTV required for the moving object to arrive at the intersection point, and performs driving support in the vehicle based on the relative relation between TTC and TTV.

Driving support device and driving support method

A collision mitigation apparatus for mitigating damage to a vehicle at a time of collision, on which the collision mitigation apparatus is mounted, includes an operation control unit that detects a collision object present around the vehicle, makes a comparison between a collision time indicative of a time remaining before collision between the vehicle and the collision object and an operation reference time according to which timing to start control for avoiding collision is set, and causes a collision mitigation device mounted on the vehicle to start operating depending on a result of the comparison. The collision mitigation apparatus further includes a collision probability calculating unit that calculates a collision probability between the vehicle and the collision object, and a reference time setting unit that sets the operation reference time depending on the collision probability.

Vehicle-use collision mitigation apparatus

A position, behavior state and movement state of a moving object are detected, together with plural categories of track segment region and stationary object regions, using an environment detection section. A presence probability is applied to the detected track segment regions and stationary object regions and a presence probability map is generated, using a map generation section. A moving object position distribution and movement state distribution are generated by a moving object generation section based on the detected moving object position, behavior state and movement state, and recorded on the presence probability map. The moving object position distribution is moved by a position update section based on the moving object movement state distribution. The moved position distribution is changed by a distribution change section based on the presence probabilities of the presence probability map, and a future position distribution of the moving object is predicted on the presence probability map. Consequently, the future position of the moving object can be predicted with good precision under various conditions.

Moving object prediction device, hypothetical movable object prediction device, program, moving object prediction method and hypothetical movable object prediction method

A collision mitigation device sets an actuation condition indicating a condition for actuating a collision mitigating section configured to mitigate collision damage when an own vehicle is in a collision. A target object is positioned near the own vehicle and detected. The collision mitigating section is actuated when a positional relationship between the own vehicle and the target object meets the actuation condition. The collision mitigation device recognizes an own vehicle traveling segment that indicates a traveling segment of a road on which the own vehicle is traveling, and recognizes whether or not the target object is present within the own vehicle traveling segment. The actuation condition is relaxed in such a manner that the collision mitigating section is more easily actuated when the target object is present within the own vehicle traveling segment, compared to when the target object is not present within the own vehicle traveling segment.

Collision mitigation device

There are provided a driving support apparatus and a driving support method in which the reliability can be improved. In the driving support apparatus, in a traveling direction of the host vehicle and a direction crossing the traveling direction, an intersection where the host vehicle and the moving object cross is predicted; a virtual TTC that it takes for the host vehicle to arrive at the intersection and a virtual TTV that it takes for the moving object to arrive at the intersection when the moving object moves in the direction crossing the traveling direction at a virtual speed which is set virtually, are respectively acquired; and the driving support in the host vehicle is implemented based on the relative relationship between the virtual TTC and the virtual TTV.

Driving support apparatus and driving support method

A moving object risk calculation unit calculates the total value at all points of intersection of a mesh M for the risk due to moving objects at each point of intersection on the basis of the risk due to objects at each point of intersection in the plurality of meshes set in the vicinity of a host vehicle. In this manner, it is possible to acquire the risk due to moving objects, such as another vehicle that is traveling or is stationary or a pedestrian who is walking or is stationary. In addition, a moving object risk calculation unit calculates the total value of the risk due to moving objects at all points of intersection of the mesh by subtracting the total value of the risk due to immovable objects, which is fixed at each point of intersection, at all points of intersection of the mesh from the total value of the risk due to objects. Therefore, since it is not necessary to distinguish between movable objects and immovable objects at each point of intersection of the mesh, the moving object risk calculation unit can calculate the total value of the risk due to moving objects with less computational load.

Growing community of inventors

Numazu, Japan

Masayuki Shimizu