Toyota Jidosha Kabushiki Kaisha

Tokyo University of Agriculture and Technology

The University of Tokyo

Felica Networks, Inc.

School Judicial Person Ikutokugakuen

Shintaro Inoue

Pongsathorn Raksincharoensak

Hideo Inoue

Yutaka Hirano

Shuichi Sekiya

Tsukasa Shimizu

Takuma Ito

Yuichi Saito

Minako Takahashi

Kazuhiro Itoh

Minami Sato

Hitoshi Kumon

Kazuyuki Fujita

Shuhei Manabe

Shioya Kageyama

Shusaku Sugamoto

Satoshi Inoue

Fumio Sugaya

Yoshitaka Fuwamoto

Shuntaro Shinohara

Kiyofumi Nakajima

Masao Nagai

Toshiki Kinoshita

Yoshinori Suga

Kai Oya

Hidenari Iwai

Based on a recognition result of a recognition sensor installed in a mobile body, a mobile body control system calculates a first target path for moving to a destination while avoiding a risk around the mobile body. Further, based on the first target path, the mobile body control system calculates a second target path having higher granularity than the first target path. Then, the mobile body control system controls the mobile body so as to follow the second target path. The mobile body control system determines in which field the mobile body moves, a normal field or a specific field having more risks than the normal field. When the mobile body moves in the specific field, the mobile body control system reduces a frequency of update of the first target path compared with that when the mobile body moves in the normal field.

Mobile body control method, mobile body control system, and storage medium

A driving support apparatus assists driving of a vehicle by performing control of the vehicle corresponding to a blind spot. A driving support apparatus stores risk estimation information for calculating a risk estimation value indicating a height of a risk of a blind spot, and determines a plurality of blind spots as one conglomerate risk when the plurality of blind spots are detected in front of a vehicle and satisfy a predetermined condition. When the conglomerate risk exists, the driving support apparatus calculates a risk estimation value indicating the height of the risk in each of the plurality of blind spots on the basis of the risk estimation information, and determines a control end position for ending the control of the vehicle corresponding to the blind spot and a target passing speed of the control end position of the vehicle on the basis of the risk estimation value.

Driving support apparatus and driving support method

A vehicle notification apparatus recognizes an object of driving over on a road on which a host vehicle travels based on a detection result by a front sensor of the host vehicle, determines whether the object of driving over flies backwards based on a detection result by a rear sensor of the host vehicle when the object of driving over is recognized, and notifies a following vehicle of projectile information corresponding to the flight of the object of driving over when it is determined that the object of driving over flies backwards.

Vehicle notification apparatus

A driving support system executes a risk avoidance control for reducing a risk of collision with an object in front of a vehicle. A risk potential field represents a risk value as a function of position. An obstacle potential field is a risk potential field in which the risk value is maximum at a position of the object and decreases as a distance from the object increases. A vehicle center potential field is the risk potential field in which a valley of the risk value extends in a lane longitudinal direction from a position of the vehicle. A first risk potential field is the sum of the vehicle center potential field and the obstacle potential field. The driving support system executes a steering control such that the vehicle follows the first valley of the risk value represented by the first risk potential field.

Driving support system that executes a risk avoidance control for reducing a risk of collision with an object in front of a vehicle

A driving support device performs steering control and deceleration control for avoiding an object which is detected in front of a host vehicle. The driving support device performs: calculating a target lateral distance which is a target of the steering control and which is a lateral distance between the host vehicle and the object when the host vehicle passes by the object; and increasing target deceleration which is a target of the deceleration control and which is deceleration of the host vehicle when the host vehicle passes by the object as a lateral distance restraint value which is obtained by subtracting the target lateral distance from a threshold value increases when the target lateral distance is less than the threshold value.

Driving support device that performs steering control and deceleration control for avoiding an object

A driving assistance system performs a driver-initiative normal driving assistance mode as a driving assistance for a vehicle. The system includes a reaction force characteristics change unit configured to change reaction force characteristics of the operation device, if it is determined that the operation amount of the driver is not included in the appropriate operation amount range in the normal driving assistance mode, an explicit risk determination unit configured to determine whether or not an explicit risk is present based on the external environment of the vehicle, and a driving assistance switching unit configured to switch a driving assistance for the vehicle from the normal driving assistance mode to a system-initiative risk avoidance assistance mode, if it is determined by the explicit risk determination unit that the explicit risk is present in the normal driving assistance mode.

Driving assistance system

A driving assistance control device includes an active pedal configured to control a driving and braking force of a vehicle, an electronic control unit configured to detect a potential risk area in which an obstacle entering a scheduled traveling route of the vehicle is likely to be present, and determine a reference speed at which contact between the vehicle and the obstacle can be avoided even when the obstacle enters the scheduled traveling route of the vehicle from the detected potential risk area based on a positional relationship between the vehicle and the potential risk area, and a force feedback unit configured to apply an assistance reaction force in a direction in which the amount of manipulation is reduced, to the active pedal when a current speed of the vehicle exceeds the reference speed.

Driving assistance control device

There is provided a wireless communication device that includes a communication unit that performs wireless communication with a connection device, and a control unit that encrypts a wireless communication channel with the connection device on the basis of a digital certificate issued by a certificate authority server. The communication unit receives payment information and a valid type of payment from the connection device via the encrypted wireless communication channel. The control unit determines a payment server on the basis of the valid type of payment and causes the communication unit to transmit a payment request based on the payment information to the payment server.

Wireless communication device and payment system

An assistance device enabling communication with a wearable device includes: a memory; and a processor including hardware, the processor being configured to acquire line-of-sight information about a line of sight of a user wearing the wearable device, based on the line-of-sight information, generate blind region state information indicating a state of a blind region shielded by a shielding object in a visual field region of the user, and output the blind region state information to the wearable device.

Line of sight assistance device and method

A driving assistance system includes a driving readiness degree estimation unit configured to estimate a driving readiness degree relating to a driving consciousness of the driver based on the travel state of the vehicle or the driving operation of the vehicle by the driver and the traveling environment of the vehicle, a proportional gain calculation unit configured to calculate a proportional gain based on the driving readiness degree and the speed of the vehicle, and an assistance torque calculation unit configured to calculate the assistance torque according to a value obtained by multiplying a difference between the target steering angle and the actual steering angle by the proportional gain. If the speed is constant, the proportional gain calculation unit is configured to calculate the proportional gain as a smaller value as the driving readiness degree becomes lower.

A driving assistance control apparatus of a vehicle includes a blind area detector, a driving operation detector, and an electronic control unit. The blind area detector is configured to detect the presence or absence of a blind area as seen from the vehicle in a traveling direction of the vehicle. The driving operation detector is configured to detect driving operation of the driver. The electronic control unit is configured to perform automatic deceleration control of the vehicle based on detection of the presence of the blind area by the blind area detector. The electronic control unit is configured to start the automatic deceleration control, by referring to the driving operation of the driver after detection of the presence of the blind area by the blind area detector.

Driving assistance control apparatus of vehicle

There is provided a wireless communication system including a plurality of wireless communication devices that transmits a signal relating to provision of service. The service includes a plurality of stages relating to provision. A plurality of the wireless communication devices correspond to a plurality of the respective stages and transmit the signal corresponding to the stage with radio field intensity corresponding to the stage. In addition, there is provided a wireless communication device including a transmitter that transmits a signal relating to a request of service and a receiver that receives a signal relating to provision of the service from a connection device connected on the basis of a signal relating to the request. The service includes a plurality of stages relating to provision. The transmitter transmits the signal relating to the request corresponding to the stage with radio field intensity corresponding to the stage.

Wireless communication system and wireless communication device

An apparatus includes a steering assist torque determination unit and a steering assist torque control unit. The steering assist torque determination unit determines a steering assist torque including a first component that is determined on the basis of a deviation between an actual steering angle and a target steering angle for achieving a target path determined irrespective of driver's steering. The steering assist torque control unit controls a steering assist mechanism such that the steering assist torque is applied. The ratio of the magnitude of the first component of the steering assist torque to the deviation between the target steering angle and the actual steering angle is determined on the basis of the magnitude of the deviation between the steering assist torque and the driver's steering torque in a past predetermined period.

Driving assistance control apparatus for vehicle

There is provided a structure in a driving support system of a vehicle equipped with a steering assist mechanism and a torque vectoring mechanism of right and left wheels, the system capable of reducing an occurrence of a driver's sense of incongruity as much as possible also during the operation of a control based on a machine input and reflecting a driver's steering in the control. The inventive device comprises a steering assist torque controller which controls a steering assist torque given by the steering assist mechanism, a right and left braking-driving force difference controller which controls the braking-driving force difference between the right and left wheels given by the torque vectoring mechanism and a control target value determiner which determines the target values of the steering assist torque and braking-driving force difference for driving support control, based on the steering torque by the driver.

Vehicle driving support control device

An apparatus as an aspect of the invention acquires a vehicle motion index value, a driving state index value of a driver, a driving characteristic value that is estimated based on the vehicle motion index value and the driving state index value, and a vehicle motion target value and a driving state target value that are determined regardless of the driver's driving. Using these values, the apparatus determines a target value of a steering assist torque and a target value of a difference in braking/driving force between right and left wheels that converge at least one of a difference between the vehicle motion target value and the vehicle motion index value and a difference between the driving state target value and the driving state index value. The apparatus controls the steering assist torque and the difference in braking/driving force between the right and left wheels to their respective target values.

Growing community of inventors

Kanagawa-ken, Japan

Shintaro Inoue