Denso Corporation

Toyota Jidosha Kabushiki Kaisha

Shinji Kitaura

Akihiro Kida

Takayuki Hiromitsu

In a parking assistance device for moving a vehicle from a current location to a scheduled parking location and parking the vehicle at the scheduled parking location, parking information indicated by a parking assistance code includes obstacle information which is information about obstacles in a parking area, and target location information which is information about a target parking location. A route generation unit is configured to generate a parking route from a current location to a scheduled parking location that is set to the target parking location indicated by the target location information, while avoiding the obstacles indicated by the obstacle information.

Parking assistance device and parking assistance method

A collision determination apparatus includes an acquisition section, a filtering section, a target object information detection section, a target object path prediction section, an own vehicle path prediction section, a collision determination section, and a vehicle control section. The acquisition section () acquires detection information based on a reflected wave from a search device. The filtering section filters the detection information. The target object information detection section detects a position of a target object using the filtered detection information. The target object path prediction section predicts a path of the target object based on changes in the detected position of the target object. The own vehicle path prediction section predicts a path of an own vehicle. The collision determination section determines a risk of collision between the own vehicle and the target object. The vehicle control section executes a vehicle control. The path of the target object is predicted based on the detection information filtered by a collision determination filter. The path of the target object is predicted based on the detection information filtered by a vehicle control filter. The filtering process is a smoothing process that inhibits changes in the detection information. The vehicle control filter and the collision determination filter have different smoothing degree of inhibiting the changes in the detection information.

Collision determination apparatus and collision determination method

A collision determination apparatus includes an acquisition section, a setting section, a target object information detection section, a target object path prediction section, an own vehicle path prediction section, and a collision determination section. The acquisition section acquires detection information based on a reflected wave from a search device. The setting section sets filter characteristics of a filtering process used when the detection information is filtered. The target object information detection section detects a position of a target object using the filtered detection information. The target object path prediction section predicts a path of the target object based on changes in the position of the target object detected by the target object information detection section. The own vehicle path prediction section predicts a path of an own vehicle. The collision determination section makes a determination of a collision between the own vehicle and the target object. The setting section estimates a detectable time or a detectable distance in which the position of the target object can be detected in the path of the target object based on the position of the target object and the traveling condition of the own vehicle and sets the filter characteristics in accordance with the detectable time or the detectable distance that has been estimated.

In a vehicle control apparatus, an acquiring unit acquires detection information from a probe apparatus based on reflected waves thereof. A target object information detecting unit detects a position of a target object. A target object route estimating unit estimates a route of the target object. An own vehicle route estimating unit estimates a route of an own vehicle. A collision determining unit determines whether the own vehicle and the target object will collide. A vehicle control unit performs vehicle control of the own vehicle when the own vehicle and the target object are determined to collide. An area setting unit sets a non-operating area for vehicle control. The area setting unit sets, as the non-operating area, a predetermined area with reference to a position in which the target object is detected, in a lateral direction that is orthogonal to an advancing direction of the own vehicle.

Vehicle control apparatus and vehicle control method

A collision determination apparatus includes: an own vehicle route estimating unit that estimates a route of an own vehicle; a target object route estimating unit that estimates a route of a target object; and a collision determining unit that performs a collision determination regarding the own vehicle and the target object. When the own vehicle route estimating unit estimates the route of the own vehicle to be circular arc-shaped, the collision determining unit divides a circular arc indicating the route of the own vehicle into a plurality of circular arcs, approximates each of the divided circular arcs as a straight line by connecting an end point and an end point of each of the divided circular arcs, and performs the collision determination based on whether any of the approximated straight lines and the route of the target object intersect.

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Kariya, Japan

Shinji Kitaura