Denso Corporation

Advics Co., Ltd.

Denso Corpora Tion

Shotaro Fukuda

Hiroaki Niino

Hajime Kumabe

Masao Oooka

Yasuhiro Nakai

Satoshi Niwa

Koji Fujiki

Masayoshi Takeda

Yukio Mori

Hiroyuki Kodama

Takahiro Narita

Shintaro Osaki

Kazunori Kadowaki

Yusuke Ueda

Motoaki Umakoshi

Naoki Kawasaki

Mitsuhiro Tokimasa

Takahisa Yokoyama

Eiji Teramura

Takeshi Miura

Masaya Okada

Masayoshi Oishi

Aki Nagatomo

An assist apparatus includes a second detection section, a first calculation section, and a notification section. The second detection section detects, as a region candidate which is a candidate for a region to which the own vehicle makes a lane change, one of one or more inter-vehicle regions sandwiched between two approaching vehicles one of which is located ahead of the other. The first calculation section calculates an acceptable distance, a vehicle A being one of the two approaching vehicles and having a relatively small relative distance to the own vehicle and a vehicle B being the other of the two approaching vehicles and having a relatively large relative distance to the own vehicle. The notification section notifies each approaching vehicle of a lane change intention, when the relative distance between the own vehicle and the vehicle A is less than the acceptable distance.

Assist apparatus and assist method

A detection unit detects one of a plurality of inter-vehicle areas as an area candidate where the own vehicle can perform lane change. A calculation unit calculates a required inter-vehicle distance which should be secured between the own vehicle and a nearby vehicle upon lane change to the area candidate. An extraction unit extracts, within preset allowable ranges, a standby time and a target speed used for estimating an estimated inter-vehicle distance as lane change conditions which are conditions for the estimated inter-vehicle distance to be equal to or more than the required inter-vehicle distance. When the lane change conditions are extracted, and a determining unit determines that lane change is possible, a setting unit sets the area candidate as the lane change area.

Support device

A driving support apparatus includes a rear vehicle detection section that detects an adjacent rearward vehicle that is a vehicle traveling behind the own vehicle in an adjacent lane adjacent to the own vehicle lane. The driving support apparatus includes a control unit that acquires rear vehicle information relating to a rear vehicle traveling behind the own vehicle, on the same vehicle lane as the own vehicle. The control unit acquires boundary line information that expresses the position of a boundary line that divides the own vehicle lane and the adjacent lane. The control unit causes the own vehicle to travel so as to approach the boundary line, based on the boundary line information, when a rear vehicle is detected based on the rear vehicle information.

Driving support apparatus and driving support method

A passing assist device includes a detection unit, a passing control unit, a speed setting unit, and a suspending unit. When the speed of an own vehicle set by the speed setting unit is lower than a preset speed when the own vehicle is traveling in a passing lane, the suspending unit suspends a lane change from the passing lane to a traveling lane by the passing control unit.

Passing assist device

In an apparatus, a first obtainer obtains a first travelling-condition parameter of a target vehicle. The first travelling-condition parameter shows one or more conditions under which the target vehicle is travelling on the road. A second obtainer obtains a second travelling-condition parameter of a preceding vehicle travelling on the road immediately ahead of the target vehicle. The second travelling-condition parameter shows one or more conditions under which the preceding vehicle is travelling on the road. A deviation calculator calculates a deviation between the first and second travelling-condition parameters. A behavior deter miner deter mines a recommended behavior of the target vehicle in response to the calculated deviation. A controller controls a device, which is associated with a behavior of the target vehicle, according to the recommended behavior.

Apparatus and program for assisting drive of vehicle

An inter-vehicle calculation unit calculates a required inter-vehicle distance required between the own vehicle and forward/rear vehicles traveling in the lane to which the own vehicle moves during the lane change. The required inter-vehicle distance includes a first inter-vehicle distance and a second inter-vehicle distance. The first inter-vehicle distance is the distance required to allow the own vehicle or the forward/rear vehicles to adjust their velocity after the own vehicle changes lanes, and the first inter-vehicle distance is calculated by a first calculation unit. The second inter-vehicle distance is the distance required between the own vehicle and the forward/rear vehicles after the own vehicle or the forward/rear vehicles adjust their velocity, and the second inter-vehicle distance is calculated by a second calculation unit. A determination unit determines that the own vehicle can change lanes if the relative distance is equal to or greater than the required inter-vehicle distance.

Assist device

A driving support apparatus includes a driving support unit, a switching control unit, a reliability detection unit, and a threshold lowering unit. The switching control unit ceases driving support by the driving support unit and switches a driving state from driving in which the driving support is performed to manual driving, according to input from an operation detection unit when operating force or an operation amount exceeds a threshold. The reliability detection unit detects degradation of reliability of the driving support by the driving support unit. The threshold lowering unit lowers the threshold when the reliability detection unit detects the degradation of the reliability.

Driving support apparatus, driving support method, and recording medium

A driving assistance apparatus is mounted in an own vehicle and performs driving assistance for the own vehicle. The driving assistance apparatus determines a travel recommended lane in which the own vehicle is to travel, based on a comparison of a preset vehicle speed set in advance to allow the own vehicle to travel at a constant speed, to a travel state of a preceding vehicle traveling ahead of the own vehicle in a travel lane in which the own vehicle is traveling and a travel state of an adjacent vehicle traveling ahead of the own vehicle in an adjacent lane that is adjacent to the travel lane. The driving assistance apparatus performs output based on the travel recommended lane.

Driving assistance apparatus

In a lane boundary line information acquiring device, a detection unit detects lane boundary lines. A driving environment acquiring unit acquires a driving environment. A probability information acquiring unit acquires probability information containing a probability of presence of a lane boundary line, etc. based on the detected lane boundary lines and the acquired driving environment. A position information acquiring unit acquires position information of the own vehicle. A memory unit associates the probability information with the position information of the own vehicle. Where the position information is acquired by the position information acquiring unit at a time when the probability information acquiring unit acquires the probability information, and stores the probability information associated with the position information into the memory unit. A readout unit reads out the probability information associated with the position information at a location in front of the own vehicle.

Lane boundary line information acquiring device

In assisting merging vehicles on the road, a own vehicle is accelerated to target speed on a first lane. The own vehicle accelerated to the target speed is caused to change a travel lane from the first lane into a second lane. A distance A from the own vehicle to a reference position is acquired in the first lane, and speed of the own vehicle is also acquired. A traveling distance B required for the own vehicle to stop is calculated under a condition where the own vehicle traveling at speed acquired starts to slow down at predetermined deceleration. Assisting in merging is performed, on condition that a value obtained by subtracting the calculated distance B from the acquired distance A is smaller than a predetermined threshold value during a period from a start time of the acceleration to a start time of changing the travel lane.

Merging assistance device and merging assistance method

In an apparatus, a first obtainer obtains a first travelling-condition parameter of a target vehicle. The first travelling-condition parameter shows one or more conditions under which the target vehicle is travelling on the road. A second obtainer obtains a second travelling-condition parameter of a preceding vehicle travelling on the road immediately ahead of the target vehicle. The second travelling-condition parameter shows one or more conditions under which the preceding vehicle is travelling on the road. A deviation calculator calculates a deviation between the first and second travelling-condition parameters. A behavior deter miner determines a recommended behavior of the target vehicle in response to the calculated deviation. A controller controls a device, which is associated with a behavior of the target vehicle, according to the recommended behavior.

In an apparatus, a first obtainer obtains a first travelling-condition parameter of a target vehicle. The first travelling-condition parameter shows one or more conditions under which the target vehicle is travelling on the road. A second obtainer obtains a second travelling-condition parameter of a preceding vehicle travelling on the road immediately ahead of the target vehicle. The second travelling-condition parameter shows one or more conditions under which the preceding vehicle is travelling on the road. A deviation calculator calculates a deviation between the first and second travelling-condition parameters. A behavior determiner determines a recommended behavior of the target vehicle in response to the calculated deviation. A controller controls a device, which is associated with a behavior of the target vehicle, according to the recommended behavior.

A vehicle control apparatus includes a steering amount calculation unit which calculates a steering amount for decreasing a lateral deviation of a vehicle with respect to a target route, a vehicle position acquisition unit which acquires a position of the vehicle, and a past information acquisition unit which acquires the lateral deviation, which is related to the position of the vehicle acquired by the vehicle position acquisition unit or a position ahead of the position of the vehicle, from a storage section in which the lateral deviation is stored with the position of the vehicle being related to the lateral deviation. The steering amount calculation unit feeds back the lateral deviation acquired by the past information acquisition unit to calculate the steering amount.

Vehicle control apparatus

A vehicle control apparatus is mounted to an own vehicle and controls the own vehicle such that an inter-vehicle distance between a preceding vehicle and the own vehicle becomes a reference distance. The vehicle control apparatus acquires passing suitability information indicating whether or not the own vehicle is able to pass the preceding vehicle. When the own vehicle is not able to pass the preceding vehicle, the vehicle control apparatus corrects the inter-vehicle distance by adding a correction distance to a reference distance.

Vehicle control apparatus and vehicle control program

A control apparatus controls acceleration of a vehicle provided with a motive power generation apparatus and brake apparatuses. For the control, the control apparatus comprises calculation and actuating blocks. The calculation block calculates torque to be requested, based on a difference between an actual value of the acceleration and a target value thereof and a gain for feedback controlling the actual value of the acceleration to the target value thereof. The gain is differentiated in value between in a first case in which the brake apparatuses are used for the feedback control and a second case in which the brake apparatuses are not used for the feedback control. The actuating block actuates the motive power generation apparatus and the brake apparatuses based on the calculated torque. The value of the gain in the first case is made larger than the value of the gain in the second case.

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Obu, Japan

Shotaro Fukuda