Toyota Jidosha Kabushiki Kaisha

Denso Corporation

Shin Tanaka

Kazuki Nemoto

Satoshi Nakamura

Kazuhiro Morimoto

Kohei Tochigi

Kazunori Kagawa

Satoru Niwa

Akihisa Yokoyama

Yuka Sobue

Masahiko Adachi

Junichi Wakita

Masahiro Harada

Kazuyuki Fujita

Shogo Ito

Takayuki Iwamoto

Yoshitaka Oikawa

Edgar Yoshio Morales Teraoka

Chika Yoshioka

Nobuhide Kamata

Ryuji Okamura

Yuta Ikezawa

Yu Hiei

Takatoshi Tosa

Chika Morimoto

Takayuki Kondoh

In a road type determination apparatus, an image information acquiring unit acquires image information in which an image of a travel road on which a vehicle is traveling is captured. A scene determining unit determines a traveling scene of the travel road based on the image information. An ordinary road likelihood calculating unit calculates an ordinary road likelihood that indicates that a type of the travel road of the vehicle is an ordinary road based on the traveling scene. A limited-access road likelihood calculating unit calculates a limited-access road likelihood that indicates that the type of the travel road of the vehicle is a limited-access road based on the traveling scene. A type determining unit determines the type of the travel road of the vehicle based on the ordinary road likelihood and the limited-access road likelihood.

Road type determination apparatus and driving assistance apparatus

In a vehicle control system that controls a vehicle that performs autonomous driving, the vehicle control system includes an autonomous driving control device that generates a target trajectory for autonomous driving of the vehicle, and an vehicle travel control device that executes vehicle travel control that controls steering, acceleration, and deceleration of the vehicle such that the vehicle follows the target trajectory. The vehicle travel control device is configured to determine whether an operation request condition for washer operation for ejecting washer solution toward a windshield of the vehicle is satisfied, transmit an approval request for the washer operation to the autonomous driving control device when the operation request condition is satisfied, and execute the washer operation when approval for the approval request is received from the autonomous driving control device.

Vehicle control system and vehicle travel control device

A vehicle control system includes an automatic driving control device that generates a target trajectory used for automatic driving, and a vehicle travel control device that executes vehicle travel control such that a vehicle follows the target trajectory. The vehicle travel control device determines whether an operating condition of travel support control for reducing a risk when the vehicle travels is satisfied based on driving environment information, acquired from a plurality of sensor devices, and executes the travel support control in a case where the operating condition is satisfied. The vehicle travel control device generates risk information based on the driving environment information, and transmits the risk information to the automatic driving control device before the operating condition is satisfied. The automatic driving control device generates or corrects the target trajectory based on the received risk information.

Vehicle control system

A control device executes the following processes: a first process of detecting that autonomous traveling control is not able to be continued and executing stop control of a vehicle; a second process of determining whether a person is present in the vehicle; and a third process of unlocking a door lock of the vehicle when at least one person is present in the vehicle after the vehicle is stopped by the first process.

Control device and control method for vehicle

A first vehicle includes a communication device configured to send and receive V2V information, a memory configured to store the V2V information, and a processor configured to perform abnormal traveling determination processing. A second vehicle includes a communication device configured to send and receive the V2V information, a memory configured to store the V2V information and driving environment information on the second vehicle, and a processor configured to perform objective determination processing. In the objective determination processing, whether the first vehicle is traveling abnormally is objectively determined based on the driving environment information on the second vehicle. The determination result of the objective determination processing is sent to the first vehicle. In the abnormal traveling determination processing, whether the first vehicle is traveling abnormally is determined based on this determination result. When the first vehicle is determined to be traveling abnormally, emergency vehicle control is performed for the first vehicle.

Vehicle control system and vehicle control method

The vehicle control system includes a first controller configured to generate a target trajectory for the automated driving, and a second controller configured to execute vehicle travel control such that the vehicle follows the target trajectory. During the automated driving, the second controller controls a travel control amount which is a control amount of the vehicle travel control, acquire driving environment information, and execute preventive safety control for intervening in the travel control amount based on the driving environment information. The first controller includes a memory device in which information of an intervention suppression area is stored. When the vehicle travels in the intervention suppression area during the automated driving, the first controller outputs a suppression instruction for the preventive safety control to the second controller. And the second controller suppresses intervention of the travel control amount by the preventive safety control when the suppression instruction is received.

A traffic light management system that manages display of traffic lights includes a communication device, a control device, and a map database. The control device performs emergency control of the display when abnormal traveling information indicating the information on an abnormally traveling vehicle is included in the information received from a communication vehicle. In the emergency control, the control device predicts a future trajectory of the abnormally traveling vehicle based on the abnormal traveling information. Next, the control device generates the emergency control signal for temporarily prohibiting passage at an intersection and a crosswalk on a road along the future trajectory based on the map information and the future trajectory. After that, the control device sends the emergency control signal to controlled traffic lights. The controlled traffic lights are each a traffic light at the intersection and the crosswalk on a road along the future trajectory.

Traffic light management system and traffic light management method

A target trajectory generation device generates and outputs target trajectories each including a target position and a target speed of a vehicle. A first target trajectory is intended to perform at least one of steering, acceleration, and deceleration of the vehicle. A second target trajectory is intended to decelerate and stop the vehicle. When a malfunctioning device does not exist, a vehicle traveling control device executes vehicle traveling control based on the first target trajectory. When the malfunctioning device exists, the vehicle traveling control device stops the vehicle by executing the vehicle traveling control based on the second target trajectory output before the malfunction occurs, or based on the second target trajectory output from the target trajectory generation device other than the malfunctioning device.

A vehicle control apparatus is provided with: an acquirer configured to obtain an expected end timing of a first deceleration support control, which is a deceleration support control for a first target, and an expected start timing of a second deceleration support control, which is the deceleration support control for a second target, if there is the first target as a deceleration target ahead of a host vehicle in the traveling direction and if there is the second target as the deceleration target ahead of the first target; and a controller programmed or configured to perform an interpolation deceleration support control of interpolating the first deceleration support control and the second deceleration support control, in a predetermined period including at least a part of an interval between the expected end timing and the predicted start timing, if the interval is less than a first time.

Vehicle control apparatus

A vehicle control apparatus is provided with: a calculator configured to calculate a plurality of controlled variables for decelerating a host vehicle, if there are a plurality of deceleration targets ahead in a traveling direction of the host vehicle, in association with the plurality of deceleration targets; an output device configured to select and output one controlled variable from the plurality of controlled variables; and a controller programmed to perform the deceleration support control on the basis of the one controlled variable. When a deceleration support control is performed on the basis of a first controlled variable as the one controlled variable, the output device outputs a second controlled variable, which is different from the first controlled variable out of the plurality of controlled variables, instead of the first controlled variable as the one controlled variable, on condition that the second controlled variable is greater than a switching controlled variable.

In a driving assist device, an electronic control unit is configured to determine whether a target position is able to be decided from a predetermined object indicating that a vehicle needs to be decelerated, when recognizing the predetermined object, to perform a first assist by which the vehicle is decelerated at a first deceleration that is changed based on a brake operation by a driver, when determining that the target position is not able to be decided, and to perform a second assist by which the vehicle is decelerated at a second deceleration that is equal to or higher than a predetermined deceleration necessary to decelerate the vehicle to the target velocity before the vehicle reaches the target position decided from the predetermined object, when determining that the target position is able to be decided.

Driving assist device and driving assist method

The animal type determination device configured to perform pattern recognition with respect to an image obtained by image-capturing a periphery of a vehicle using a plurality of pre-stored animal image patterns, and to determine the type of an animal in the image is provided. The animal type determination device is configured to recognize the type of a caution target animal indicated by an animal warning sign in the image captured by a camera, raise a determination priority of the animal image pattern corresponding to the type of the caution target animal in a case where the type of the caution target animal is recognized, and performs the pattern recognition of the animal image pattern in the order of the determination priority to determine the type of the animal in the image.

Animal type determination device

A collision avoidance assistance device for a vehicle is provided. The collision avoidance assistance device includes a camera configured to acquire an image of an area around the vehicle and a controller. The controller is configured to: detect an image of an animal in the image of the area around the vehicle; determine a type of the animal detected in the image; retrieve behavior characteristics index values representing behavior characteristics of the determined type of the animal; calculate a future presence area of the animal based on the behavior characteristics index values; determine a probability of a collision between the animal and the vehicle based on the calculated future presence area of the animal; and perform a collision avoidance assistance function based on the determined probability of the collision between the animal and the vehicle.

Collision avoidance assistance device for a vehicle

A parking assistance apparatus includes a display unit that displays an image of a scene behind a host vehicle. At least when the host vehicle moves forward or when the host vehicle is stopped, the display unit displays an indication including a plurality of kinds of trajectories along which the host vehicle is able to back up from a point at which the host vehicle is currently positioned, in a manner such that the indication is superimposed on the image of the scene behind the host vehicle.

Parking assistance apparatus

In a vehicle remote operating system remotely operating a host vehicle VM from a portable terminal, a main control unitof an ECUof an in-vehicle devicedetermines an dispatch position of the host vehicle VM on the basis of a parking position of the host vehicle VM and a position of a user U who intends to board the host vehicle VM. Due to this, it becomes possible to dispatch the host vehicle VM according to the parking position of the host vehicle VM and the position of the user U, and convenience is improved in dispatch operation and boarding of the host vehicle VM.

Growing community of inventors

Numazu, Japan

Shin Tanaka