Denso Corporation

Toyota Jidosha Kabushiki Kaisha

Michihiro Kuroki

Mitsuhiro Tokimasa

Takumi Uematsu

Yohei Masui

Naoki Kusumoto

Hiroshi Yamada

Takuma Sudo

A vehicle control apparatus performs a following travel mode in which an own vehicle travels while following a followed vehicle ahead of the own vehicle. The apparatus includes a surrounding object detection section that acquires detection information regarding a surrounding object, a space determination section that uses the detection information to determine presence/absence of a free space located laterally to an own lane, a setting condition determination section that determines whether a first other vehicle having entered the own lane from the free space or a second other vehicle traveling ahead of a preceding vehicle having entered the free space from the own lane meets a setting condition for setting the first or second other vehicle as the followed vehicle, and an automated driving control section that sets the first or second other vehicle as the followed vehicle to perform the following travel mode if the setting condition is met.

Vehicle control apparatus

In a vehicle control apparatus, an entry determiner determines, while one of the following traveling mode and the constant-speed traveling mode is performed by the vehicle control apparatus, whether an entry condition is satisfied in response to determination that there is at least one other crossing vehicle. The entry condition enables the at least one other crossing vehicle to cross in front of the own vehicle to thereafter enter the enterable space without colliding with the own vehicle. An autonomous driving controller switches, upon the entry condition being determined to be satisfied, the performed one of the following traveling mode and the constant-speed traveling mode to a crossing mode that controls traveling of the own vehicle to ensure a predetermined space in front of the own vehicle. The predetermined space enables the at least one other crossing vehicle to cross in front of the own vehicle.

To provide a vehicle detection system capable of detecting a preceding vehicle traveling ahead of an own vehicle based on a position of an object by using an electromagnetic wave sensor while suppressing erroneous detection, an ECU determines if first and second positions detected by a millimeter wave radar are included in the same vehicle. The ECU designates calculated information of the preceding vehicle detected based on the first position as a calculation result if it determines that detection of the preceding vehicle is made based on the first position. The ECU uses calculated information of the preceding vehicle detected based on the second position as the calculation result when it determines that detection of the vehicle is not made based on the first position but the first and the second positions had been determined in the past as detected in the same vehicle.

Vehicle detection system and method

A vehicle control system includes a preceding vehicle selector that selects a pair of preceding vehicles, a target pair recognizer that executes a pairing process of storing a distance between a first target and a second target belonging to the respective preceding vehicles as an offset, and an intervehicular distance setter that sets both of a distance between an own vehicle and a first target as an intervehicular distance when the first target and the second target are detected as a target pair, and a distance corrected based on the offset as an intervehicular distance when the first target out of the target pair is not detected. The target pair recognizer stores a history of determination parameters including at least one of changes in relative distance, relative speed, and lateral deviation amount between the first and second targets.

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Kariya, Japan

Michihiro Kuroki