Subaru Corporation

Ryosuke Namba

Masato Mizoguchi

Hajime Oyama

Tomoyuki Kitamura

Keisuke Kuwahara

Motoki Zaizen

Kengo Kobayashi

Hiroaki Kawamura

Masaru Nakanishi

Norikazu Ebisawa

A surrounding space data providing system for a control apparatus for a vehicle includes a space generation processor and a signal generation processor. The space generation processor generates a surrounding space around the vehicle with the vehicle assuming a post-control position and a post-control posture, on the basis of a motion of the vehicle based on control data to be outputted by the control apparatus. The signal generation processor generates a generated signal of a space in which an object present in the surrounding space is arranged in the surrounding space in corresponding relation to the post-control position and the post-control posture of the vehicle. The generated signal is as suppliable to the control apparatus as a detection signal to be obtained by detection by an autonomous sensor provided in the vehicle. The signal generation processor outputs the generated signal to the control apparatus in place of the detection signal.

Surrounding space data providing system for control apparatus for vehicle

A travelling control system includes a plurality of vehicles each including a controller, a server including a generator configured to generate a travelling control information for the plurality of vehicles, a predictor configured to predict a merging interference between a first vehicle travelling from a merging road toward a main road and a second vehicle travelling on the main road, a sender which is provided in the first vehicle to send an interference suppressing request, and a receiver which is provided in the second vehicle to receive the interference suppressing request. The controller of the second vehicle travelling on the main road is configured to execute interference suppressing control of suppressing an approach of the second vehicle to the first vehicle travelling from the merging road to the main road, in a case that the receiver receives the interference suppressing request from the first vehicle.

Traveling control system for vehicles

A traveling environment recognition apparatus includes a camera, a first traveling environment recognition unit, a second traveling environment recognition unit, and an imaging mode switching unit. The first traveling environment recognition unit calculates the movement amount of a vehicle on the basis of an optical flow in an image captured by the camera. The second traveling environment recognition unit calculates a vehicle position in the real space on the basis of positioning signals received from positioning satellites. The imaging mode switching unit drives the camera in a first imaging mode when positioning accuracy based on the positioning signals is high, while the imaging mode switching unit drives in a second imaging mode when the positioning accuracy is low. When the camera is driven in the second imaging mode, the second traveling environment recognition unit estimates the vehicle position on a road map based on the movement amount.

Traveling environment recognition apparatus

The automatic driving assist system includes a traveling information acquirer that acquires vehicle width information, passing date and time, and position information when passing the measurement point, on preceding vehicles, from the preceding vehicle passing through the measurement point for each measurement, a traveling environment information acquirer that acquires traveling environment information at each measurement point, a calculator that acquires a travelable width at the measurement point based on information of the preceding vehicles and the traveling environment information, and a determiner that determines whether the own vehicle can travel to pass through the measurement point by automatic driving by comparing the travelable width with an own-vehicle travelable width. The calculator aggregates the position information and the vehicle width information acquired during a period from when the own vehicle is expected to pass the measurement point until before a predetermined time, to acquire the travelable width.

Automatic driving assist system

A vehicle driving control system includes a road map information updating unit, a control information calculation unit, and a driving control execution unit. Upon determining that a stopped vehicle is present ahead of a target vehicle and that the target vehicle is able to pass by the stopped vehicle, the control information calculation unit calculates control information to be used to restrict a vehicle speed to a first set vehicle speed or less until the target vehicle passes by the stopped vehicle, and calculates, if a door of the stopped vehicle has been opened, the control information to be used to restrict the vehicle speed to a second set vehicle speed or less until a set time period elapses from the opening of the door or until the target vehicle passes by the stopped vehicle. The second set vehicle speed is lower than the first set vehicle speed.

Vehicle driving control system

A vehicle driving support system capable of supporting driving of a vehicle that travels on a road includes a notifier, and an acquirer. In a case where there is a first vehicle that moves between lanes, the notifier is configured to, provide notification of presence of the first vehicle to a second vehicle travelling in a target lane into which the first vehicle is to move. The acquirer is configured to acquire a size of a merging space that is to be provided by the second vehicle for merging of the first vehicle. In a case where the first vehicle is travelling under autonomous operation or assisted operation, the acquirer is configured to acquire the size of the merging space such that the size of the merging space is longer than when acquired in a case where the first vehicle is travelling under manual operation.

Vehicle driving support system, server apparatus for the vehicle driving support system, and vehicle for the vehicle driving support system

A travel control device includes a first recognizer recognizing first travel environment information based on information acquired by an autonomous sensor, a second recognizer recognizing second travel environment information acquired by external communication, a main deceleration controller performing main deceleration control against an obstacle when it is determined, based on the first information, that the vehicle is traveling on a branch road merging with a main road and an obstacle may interfere with the vehicle at a merging point with the main road at a predicted time, and a preliminary deceleration controller performing preliminary deceleration control against the obstacle before the main deceleration control when it is determined, based on the second information, that the vehicle is traveling on the branch road, and the obstacle is to exist at the merging point at the predicted time and the obstacle is not recognized yet based on the first information.

Deceleration control of vehicle for avoiding obstacle

An automatic driving assistance system to be applied to a vehicle includes an intersection detector and an ACC-set-vehicle-speed changing section. The intersection detector detects, on the basis of a traveling environment in a predetermined range of a target traveling course in front of the vehicle, a set of intersections whose interval is shorter than a predetermined interval within the predetermined range of the target traveling course in front of the vehicle. The traveling environment is to be acquired on the basis of road map data and traveling-environment data on an environment in front of the vehicle. The ACC-set-vehicle-speed changing section changes, in a case where the intersection detector detects the set of intersections whose interval is shorter than the predetermined interval, an ACC set vehicle speed from a first ACC set vehicle speed that is set to a second ACC set vehicle speed.

Automatic driving assistance system

An automatic driving control apparatus for a vehicle is capable of switching a driving mode between a manual driving mode in which a driver manually performs a driving operation of the vehicle and an automatic driving mode in which a driving operation is automatically performed along a set target traveling route. The automatic driving control apparatus includes a driving mode switching unit configured to monitor a manual operation by the driver during traveling in the manual driving mode, and to control so as to switch the driving mode to the automatic driving mode after traveling a set range by manual driving.

Automatic driving control apparatus for vehicle

A mobility information provision system includes a collector, a mapping unit, a generator, and a controller. The collector collects field information on movement of mobile bodies using communication apparatuses provided in respective predetermined zones or respective predetermined sections. The mapping unit maps positions of the mobile bodies based on the collected field information. The generator generates course-related information based on information on the mapped positions of the mobile bodies. The controller is provided for each of the mobile bodies and controls movement of corresponding one of the mobile bodies based on the course-related information. If the collected field information includes information on an obstacle that would hinder the movement of the mobile bodies, the mapping unit maps the obstacle together with the positions of the mobile bodies, and the generator generates the course-related information for the mobile bodies to cause the mobile bodies to move avoiding the obstacle.

Mobility information provision system, server, and vehicle

A mobility information provision system includes a collector, a mapping unit, an overall generator, and a specific generator. The collector collects information about movement of a plurality of mobile bodies. The mapping unit maps positions of the plurality of mobile bodies on the basis of the information collected by the collector. The overall generator repeatedly performs a first generation process of generating course-related information by using information including the mapped positions. The specific generator performs, in a case where a specific area for one or more mobile bodies, out of the plurality of mobile bodies, has been set, a second generation process of generating the course-related information for the one or more mobile bodies present in the specific area, by using the information including the mapped positions. The specific generator executes the second generation process in precedence over the first generation process executed by the overall generator.

A automatic driving control apparatus for a vehicle can selectively switch a driving mode between a manual driving mode in which a driver manually performs driving operation of the own vehicle and an automatic driving mode in which driving operation is performed automatically along a set target traveling route. The automatic driving control apparatus includes a driving skill evaluation unit and a driving mode switching unit. The driving skill evaluation unit is configured to monitor the driving operation by the driver during traveling in the manual driving mode and evaluate a driving skill of the driver. The driving mode switching unit is configured to control the driving mode so as to be switchable to the automatic driving mode on condition that at least an evaluation value of the driver by the driving skill evaluation unit exceeds a threshold set in advance.

Automatic driving control apparatus for vehicle based on driving skill of driver

A driving support device for a vehicle includes a separation line recognizer configured to recognize pairs of right and left separation lines ahead of the vehicle on vehicle's traveling roads, a target route setting unit configured to set a target route along center lines of lanes defined with respective centers of each of the pairs of the separation lines, a steering controller configured to perform steering control for driving the vehicle along the target route, and a target route corrector configured to correct the target route when an intersecting road is on the target route and an angle between a center line of the vehicle's current traveling road before the intersecting road and a center line on the intersecting road is a set angle or less, set a route correction section, calculate a arc tangent to the two center lines, and correct the target route based on the calculated arc.

Driving support device for vehicle

A vehicle travel locus transmission system to be mounted on a vehicle includes a GNSS receiver, a vehicle-side transceiver, a locator processor, a wheel speed sensor, a gyro sensor, and an acceleration rate sensor. The locator processor generates, on predetermined cycles, a latest first linear coordinate as a linear function parameter that couples latest first positional coordinates and second positional coordinates on a previous cycle. The first and second positional coordinates are to be acquired on the basis of a positioning signal received by the GNSS receiver. On the condition that an angle formed by the first linear coordinate with an extension of a second linear coordinate generated on the previous cycle exceeds a predetermined threshold, the locator processor sends data regarding the first linear coordinate together with vehicle identification data, from the vehicle-side transceiver to an external device.

Vehicle travel locus transmission system and vehicle traffic control system

A mobility information provision system includes a collector, a mapping unit, a generator, and a controller. The collector collects field information on movement of mobile bodies using communication apparatuses provided in predetermined zones. The mapping unit maps positions of the mobile bodies based on the collected field information. The generator generates course-related information based on the mapped positions of the mobile bodies. The controller is provided for each mobile body and controls or determines movement of the mobile body based on the course-related information. If the collected field information includes information that hinders the movement of the mobile bodies, the mapping unit maps the positions of the mobile bodies moving on a road on which the mobile bodies are movable and sets a movement restricted section, and the generator generates the course-related information for each mobile body to regulate the movement of the mobile bodies in the movement restricted section.

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Tokyo, Japan

Ryosuke Namba