Denso Corporation

Toyota Jidosha Kabushiki Kaisha

Advics Co., Ltd.

Aisin Seiki Kabushiki Kaisha

Mitsuhiro Tokimasa

Yoshihisa Ogata

Youhei Masui

Masatoshi Hanzawa

Yasuhiko Mukai

Hirofumi Nitta

Junpei Tatsukawa

Yuichi Mizutani

Masaki Maruyama

Takeshi Nanami

Hajime Kumabe

Minoru Nakadori

Toyoharu Katsukura

Takashi Nishida

Takumi Uematsu

Takashi Maeda

Masayoshi Takeda

Taku Sakima

Naoki Kusumoto

Takuma Sudo

Michihiro Kuroki

Yohei Masui

Shunya Kumano

Satoshi Niwa

Shintaro Osaki

Masaya Okada

Takumi Nagaya

Yuta Komoguchi

Masakazu Doi

Hiroaki Niino

Yasuhiro Nakai

Hiroyuki Kodama

Kenji Kato

Shotaro Fukuda

Jin Kurumisawa

Daisuke Tokumochi

Kazunori Kadowaki

Hiroshi Yamada

Syotarou Fukuda

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.

A vehicle control apparatus includes an intersection information detection section that detects information on an intersection, and includes a traveling route detection section that detects a traveling route of the vehicle and a cross road detection section that detects a cross road intersecting the traveling route, an operation detection section that detects a plan of operation of the vehicle at the intersection, a waiting position setting section that sets a waiting position where the vehicle is caused to wait at the intersection until the vehicle becomes possible to perform the operation, and a determination section that determines whether the vehicle can perform the operation by the time a traffic light on the traveling route at the intersection turns red. The waiting position setting section sets a position, where another vehicle is not hindered from traveling on the crossing road by the vehicle stopped at the waiting position, as the waiting position.

A traveling control apparatus performs a target-following control process on a target to be followed detected by a target detecting unit. Further, the traveling control apparatus calculates a probability that the target to be followed is within an own lane, and determines whether a degree of recognition by the target detecting unit of the target to be followed is in a weakly recognized state where the degree of recognition is weaker than a predetermined degree. The apparatus sets a reliability of the target to be followed on the basis of the probability calculated by a probability calculating process and a determination result by a determining process, and controls acceleration of an own vehicle so that a jerk which is a differential value of the acceleration becomes smaller as the reliability of the target to be followed is lower while the target-following control process is performed.

Traveling control apparatus

In an apparatus for assisting a turn of a vehicle at an intersection, a turn-signal state detection unit is configured to detect an operating state of a turn signal of the vehicle. A road information detection unit is configured to detect road information that is information regarding a road on which the vehicle is traveling. A determination unit is configured to, using at least one of the detected operating state of the turn signal and the detected road information, determine whether or not the vehicle will make a turn at the intersection.

Apparatus and method for assisting turn of vehicle at intersection

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 reliability calculation apparatus calculates a reliability of a recognized object that is recognized as being present on a route on which a vehicle travels. The reliability of the recognized object is used for driving control of the vehicle. In the reliability calculation apparatus, a provisional reliability calculating unit determines a feature quantity of each of a plurality of recognized objects, selects a plurality of pairs of recognized objects from the plurality of recognized objects, determines a difference in feature quantity of each pair of recognized objects, and calculates a reliability that decreases as the difference in feature quantity increases as a provisional reliability of each pair of recognized objects. An integrated reliability calculating unit calculates an integrated reliability of each recognized object from the provisional reliabilities of the plurality of pairs of recognized objects.

Reliability calculation apparatus

A roadside object recognition apparatus recognizes a roadside object that is present on a travel route on which an own vehicle travels. The roadside object is used for driving control of the vehicle. In the roadside object recognition apparatus, a reflection point acquiring unit acquires, using a radar that emits electromagnetic waves, a reflection-point group of reflection points of the electromagnetic waves reflected by an object that is present on the travel route. An image acquiring unit acquires an image of the travel route using a camera. A reflection point correcting unit corrects the reflection-point group by removing an erroneous reflection point that is determined to be highly likely not to be a reflection point of a roadside object from the reflection-point group through image processing of the image. A shape recognizing unit recognizes a shape of the roadside object using the corrected reflection-point group.

Roadside object recognition apparatus

A vehicle control apparatus performs during-following control in which, when a direction indicator of an own vehicle is operated during traveling in which a preceding vehicle is followed, the own vehicle is accelerated in conjunction with the operation of the direction indicator. An adjacent vehicle selecting unit selects, from other vehicles present ahead of the own vehicle, an adjacent vehicle traveling in an adjacent lane adjacent to a traveling lane of the own vehicle based on a lateral position that is a relative position relative to the own vehicle in a direction orthogonal to a travelling direction of the own vehicle and a relative distance to the own vehicle in the travelling direction. An acceleration control unit performs acceleration of the own vehicle by the during-following control based on whether or not the adjacent vehicle is selected when the direction indicator is operated during following-traveling.

Vehicle control apparatus and vehicle control method

A driving control device has a target-following driving control part performing a target-following driving control of a preceding vehicle in front of a vehicle, and a target acceleration setting part setting a target acceleration/deceleration of the vehicle to maintain a inter-vehicle distance between the vehicle and the preceding vehicle within a target inter-vehicle distance during the target-following driving control. The target acceleration setting part increases the target deceleration of the vehicle according to increasing of a difference between the inter-vehicle distance and the target inter-vehicle distance. A deceleration correction part increases the target deceleration when a period during which the preceding vehicle has been continuously recognized is more than a predetermined period and the inter-vehicle distance is less than a predetermined distance.

Driving control device

A cruise control apparatus controls travel of an own vehicle based on a predicted course which is a future travel course of the own vehicle. The cruise control apparatus includes a first predicted course calculating unit and a second predicted course calculating unit, as a plurality of course prediction means for calculating a predicted course, and is provided with a course change determination unit for determining whether a change in the course is to be performed and a prediction switching unit which performs switching to enable one of a first predicted course calculated by the first predicted course calculating unit and a second predicted course calculated by the second predicted course calculation unit, the switching being based on a result of determination made by the course change determination unit as to whether a change in the course is to be performed.

Vehicle cruise control apparatus and cruise control method

A vehicle control apparatus mounted to an own vehicle to control the own vehicle according to the position of other vehicle ahead of the own vehicle is provided. The apparatus includes a setting means setting a parameter indicating whether the other vehicle is in the path of the own vehicle, based on the position of the other vehicle relative to the own vehicle in a lateral direction perpendicular to the path of the own vehicle, a determining means determining whether the other vehicle is in the path of the own vehicle, based on the parameter, an acquisition means acquiring a lane width that is the width of the lane the own vehicle is traveling, and an adjustment means changing the correspondence between the relative position and the parameter, based on the lane width.

A vehicle control apparatus mounted to an own vehicle to control the own vehicle according to a position of other vehicle ahead of the own vehicle is provided. The device includes a setting means setting a parameter indicating a position of the other vehicle relative to the own vehicle in a lateral direction perpendicular to the path of the own vehicle, a determination means determining whether the other vehicle is in the path of the own vehicle based on the parameter, a detection means detecting whether a relative movement has been made in the lateral direction by at least one of the own vehicle and the other vehicle, and a correction means correcting the parameter when a relative movement has been made in the lateral direction.

A vehicle control device mounted on the own vehicle and configured to control the own vehicle according to the position of another vehicle ahead of the own vehicle. The vehicle control device comprises an estimated course calculation means calculating an estimated course of the own vehicle; a setting means setting a parameter indicating whether the other vehicle is in the path of the own vehicle based on the relative position of the other vehicle with respect to the own vehicle in a lateral direction orthogonal to the estimated course of the own vehicle; a determination means determining whether the other vehicle is a leading vehicle in the path of the own vehicle based on the parameter; and a changing means changing the likelihood of being determined as the leading vehicle when the estimated course is a curve, based on the estimated course and the position of the other vehicle.

Vehicle control device and vehicle control method

Provided is an object detection device () using a detection means () to transmit probe waves, receive reflected waves from an object () in a detection range, and acquire, as first detection information on the object, a position based on the reflected waves, to detect the object. The device includes an image information acquisition means, determination region setting means, and an object locating means. The image information acquisition means acquires, as second detection information on the object, a position based on an image of an area within the detection range, the image being captured by an image capturing means (). The determination region setting means sets a determination region in the detection range. The object locating means locates the object, based on the first detection information, if pieces of the first and second detection information are present in the determination region.

Growing community of inventors

Kariya, Japan

Mitsuhiro Tokimasa