Denso Corporation

Motonori Ando

Tadao Suzuki

Junichiro Funabashi

A program generation method includes extracting a control flow that represents a call/return relationship between functions as well as extracting the functions themselves from a program code, determining an importance of the extracted functions; and inserting an instruction into the program code, to properly perform the control flow based on the importance of the extracted functions. Overhead that occurs during an execution of the program execution is reducible by using control flow integrity (CFI) technique that does not depend on domains.

Program generation method and electronic control unit for changing importance of functions based on detected operation state in a vehicle

A driving assistance device for a vehicle includes: an assistance processing portion that executes a notification of a possibility of a host vehicle intersecting with an other vehicle based on host vehicle information including information that provides an estimation of a travelling course of the host vehicle and an other vehicle information including information that provides an estimation of a travelling course of the other vehicle and acquired by wireless communication; and a map acquisition portion that acquires map data including data that specifies a circular intersection. The host vehicle information includes a position of the host vehicle. The assistance processing portion prevents the notification based on the circular intersection, which is disposed in front of the host vehicle in the travelling course of the host vehicle, according to at least the host vehicle information and the map data acquired by the map acquisition portion.

Driving assistance device

An electronic control unit includes: a memory saving a program that has a call/return to/from a function represented as a control flow together with the function itself and a check instruction inserted in a program code of the program for checking whether the program code is executable based on the control flow. The electronic control unit may also include an input unit receiving an input of use frequency information indicative of a use frequency of the function; a measurement unit measuring a load of the electronic control unit; an execution object determiner determining the check instruction to be executed based on the use frequency information and the load; and an arithmetic unit executing the check instruction determined by the execution object determiner at a time of execution of the program.

Electronic control unit

A receiving unit receives a signal in a frequency band used in vehicle-to-vehicle communications or shared by vehicle-to-vehicle communications and road-to-vehicle communications. A demodulation unit demodulates the signal received with the receiving unit. A received signal strength detection unit detects a received signal strength of the signal received with the receiving unit. A demodulation state determination unit determines whether the signal, which is received with the receiving unit, is demodulated successfully. A notification processing unit notifies a driver of a possibility of existence of another vehicle in a condition where the demodulation state determination unit determines that the signal is not demodulated successfully and where the received signal strength is greater than or equal to a predetermined strength threshold, which is for determining whether signals sent from multiple other vehicles collide against each other.

Driving assist device

A drive support apparatus, including a support processor that sets a support level according to a collision risk determined by a collision possibility determiner, when a traveling road is not determined as a priority road by a travel road information obtainer, and outputs support information. Further, the support processor determines whether a visibility state is good, and determines whether a display state of a signal device is giving a right of way to the self-vehicle, when the traveling road is not determined as a priority road by the travel road information obtainer, and outputs support information. Then, upon having a determination that the visibility state is compromised, or that the display state of the signal device is abstained from giving a right of way to the self-vehicle, the support processor outputs the support information even when the traveling road is a priority road.

Drive support apparatus

A drive support apparatus includes: a reliability determiner determining a reliability of a map matching, an area definer defining a determination area to include a cross point between a self-vehicle predicted path and a nearby vehicle predicted path, an intersection node finder determining an intersection node in a travel direction of the self-vehicle based on a high map matching reliability, and a node determiner determining whether the intersection node is found in the determination area. When no intersection node is found in the determination area, a drive support level is suppressed, and when the reliability is low, drive support is provided depending on whether the cross point between the self-vehicle predicted path and the other vehicle predicted path is found. Thus, lack of the drive support in a support-required situation is prevented, while preventing a provision of an unnecessary drive support.

A drive support apparatus includes a positioner determining a current position of a subject vehicle, a road determiner determining a currently-traveled road of the subject vehicle by map-matching the current position on a link of a road map, a node determiner determining a first intersection node on the currently-traveled road, a priority determiner determining whether the currently-traveled road is a priority road at the first intersection node against an intersecting road, a drive support controller performing a suppressed drive support control when the priority determiner determines that the currently-traveled road is a priority road, and an area setter setting a determination-kept-unchanged (D-K-U) area based on the intersection node. Based on the above, the drive support apparatus can accurately determine whether a current situation is a drive support suppression situation in which the drive support to a driver should not be provided.

A driving assistance apparatus in a subject vehicle includes a driving assistance section. A subject-vehicle estimated trajectory is estimated as a subsequent traveling trajectory from a current position and a traveling orientation of the subject vehicle. A neighboring-vehicle estimated trajectory is estimated as a subsequent traveling trajectory of a neighboring vehicle by acquiring trajectory estimation information. A determination area is designated to include a crossing point included in the subject-vehicle estimated trajectory and the neighboring-vehicle estimated trajectory. It is determined whether the determination area includes an intersection node in road map information. A first driving assistance level is used when the determination area does not include the intersection node; the first driving assistance level is smaller in driving assistance than a second driving assistance level used when the determination area includes the intersection node.

Driving assistance apparatus

An in-vehicle device has a calculator which obtains subject vehicle information, detects a vehicle in a preset range based on a detection signal from a laser radar for obtaining a vehicle detection result, obtains a curvature of a road, and determines whether the curvature of the road is equal to or smaller than a threshold. If the radius is less than the threshold, a packet having data regarding the subject vehicle information, range position information, and vehicle presence information is generated. If the radius exceeds the threshold, a packet having data regarding the subject vehicle information is generated. The generated packet is then transmitted to an outside of a subject vehicle.

Information transmitter

A driving support device includes: a first vehicular information obtaining device that obtains a position and a moving direction of a first vehicle; a second vehicular information obtaining device that obtains a position and a moving direction of a second vehicle via a wireless communication with the second vehicle; a route intersection obtaining device that obtains an intersection between a predicted moving route of the first vehicle and a predicted moving route of the second vehicle; an end point obtaining device that obtains an end point of a unit road on a moving destination side of the first vehicle; a support determining device that determines a driving support content for a driver of the first vehicle, according to a distance between the intersection and the end point; and a warning device that warns the driver of the first vehicle according to the driving support content.

Driving support device

An in-vehicle apparatus and method generates a pseudo-travel locus that is used to perform a driving support control. The in-vehicle apparatus has a pseudo-locus generator for generating the pseudo-travel locus of a subject vehicle and a communication controller for controlling a transmitter to transmit the pseudo-travel locus of the subject vehicle. The pseudo-travel locus is generated from a travel locus of a lead vehicle and a current position of the subject vehicle. Therefore, a portion of the travel locus of the subject vehicle is similar to an actual travel locus of the subject vehicle. Thus, when the pseudo-travel locus is transmitted as a travel locus of the subject vehicle, nearby vehicles may perform a driving support control based on the pseudo-travel locus of the subject vehicle. As a result, the actual travel locus of the subject vehicle is not disclosed.

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Kariya, Japan

Motonori Ando