Nissan Motor Company Limited

Renault S.a.s.

Takahiko Oki

Haruo Matsuo

Daiki Yamanoi

Yasuhisa Hayakawa

Akira Suzuki

Hidekazu Nishiuchi

Ichiro Yamaguchi

A travel control method for a vehicle for executing autonomous travel control includes, prior to executing the autonomous travel control, presenting a driver with travel control information as to whether or not to accept execution of the autonomous travel control and detecting, in response to a presentation of the travel control information, an acceptance input made by the driver indicating that the driver accepts the execution of the autonomous travel control. The travel control method also includes: setting an input form of a present acceptance input by the driver to an input form different from an input form of a previous acceptance input.

Vehicle travel control method and travel control device

A travel control method for executing autonomous lane change control of a vehicle includes, before performing two or more successive lane changes, presenting the driver with first lane change information as to whether or not to accept execution of autonomous control of the successive lane changes; when detecting a first acceptance input made by the driver indicating that the driver accepts the execution of the autonomous control, executing first autonomous lane change control; then presenting the driver with second lane change information as to whether or not to accept execution of the autonomous lane change control after the first lane change; and when detecting a second acceptance input made by the driver, executing the autonomous lane change control after the first lane change. An action load of the second acceptance input is set smaller than an action load of the first acceptance input.

When executing the autonomous lane change control of lane change of the subject vehicle from the subject vehicle lane in which the subject vehicle travels to adjacent lane, the autonomous lane change control is executed so as to accelerate the lateral speed of the subject vehicle in the subject vehicle lane and thereafter decelerate the lateral speed in the subject vehicle lane. As a result, it takes longer for the driver of the following vehicle to confirm the lateral movement of the preceding subject vehicle during the lane change of the subject vehicle from the start of the lane change than a lane change in which the lateral speed is decelerated in the adjacent lane. Therefore, it becomes easier to recognize the lane change.

Vehicle travel control method and vehicle travel control apparatus

When a subject vehicle performs first autonomous lane change control from a subject vehicle lane to an adjacent lane and then consecutively perform autonomous lane change control to a next adjacent lane in the same direction of lane change, lateral speed to perform second and subsequent autonomous lane change control is set slower than lateral speed to perform the first autonomous lane change control. Thus, the second and subsequent autonomous lane change control to the adjacent lane in the same direction of lane change is performed more slowly than the previously performed autonomous lane change control. Time used for confirming surrounding situations is lengthened, and the surrounding situations can be properly confirmed prior to the lane change.

Vehicle traveling control method and traveling control device

Provided is a parking assistance method capable of storing surrounding situation of a parking target position appropriate to be referred to during autonomous parking. The parking assistance method of storing the surrounding situation of the parking target position when parking at the parking target position and executing the autonomous parking using the stored surrounding situation, includes a step of detecting the surrounding situation; a step of indicating the detected surrounding situation; a step of receiving a determination of whether the indicated surrounding situation are appropriate input by an occupant; and a step of storing the surrounding situation when the determination of appropriateness is input by the occupant.

Parking assistance method and parking assistance device

A traffic light recognition device includes: a camera that captures an image around a vehicle; a map information acquisition unit configured to acquire map information around the vehicle; a self-position detector configured to detect the position of a self-position on a map; a traffic light position estimator configured to estimate the position on an image of a traffic light on the basis of the self-position and the map information; a vehicle behavior estimator configured to estimate a vehicle behavior; a traffic light detection area calculator configured to set a detection area of the traffic light onto the image based on the estimated position on the image of the traffic light and an amount of displacement of the position on the image of the traffic light due to a behavior of the vehicle; and a traffic light recognition unit configured to detect a traffic light from the detection area.

Traffic light recognition device and traffic light recognition method

A range finding device includes: a light projecting unit having an irradiation domain extending in a horizontal direction, and configured to project intensity-modulated irradiation light; an image capturing unit configured to capture an image of an object irradiated with the irradiation light; a light projection controller configured to control an intensity of the irradiation light in accordance with a timing at which the image capturing unit captures the image; a synchronous detection unit configured to extract a synchronous detection region, in which brightness changes in synchronism with intensity modulation of the irradiation light, from the image captured by the image capturing unit; an edge detector configured to detect an edge of the synchronous detection region; and a range calculator configured to calculate a distance to the object on the basis of the edge of the synchronous detection region detected by the edge detector.

Range finding device and range finding method

A traffic light recognition device includes: an imaging attitude setting unit configured to set an imaging direction of the camera on the basis of a position on the image of the traffic light and of a moving direction in the future on the image of the traffic light; a camera attitude controller configured to change the imaging direction of the camera to an imaging direction set by an imaging direction setting unit; and a traffic light recognition unit configured to recognize the traffic light from an image captured in the imaging direction by the camera. The traffic light recognition device is capable of accurately detecting the lighting state of a traffic light without being affected by the attitude of a camera.

A traffic signal detection device includes a narrow-angle camera, a wide-angle camera having an angle of view wider than the narrow-angle camera, and a traffic signal detector configured to detect a traffic signal from at least any of a narrow-angle image captured by the narrow-angle camera and a wide-angle image captured by the wide-angle camera. The traffic signal detector selects, as a detection result, any of a traffic signal detected from the narrow-angle image and a traffic signal detected from the wide-angle image, on the basis of a deceleration start region in which a vehicle should start deceleration, the deceleration start region calculated from a position of a traffic signal with respect to the vehicle and a speed of the vehicle in order to stop the vehicle at a stop position with respect to the traffic signal.

Traffic signal detection device and traffic signal detection method

A lamp detection device detects an edge portion from a camera image, the edge portion having a luminance difference equal to or above a predetermined value, and generates a smoothed image by diminishing the luminance difference of the edge portion. Then, the lamp detection device extracts synchronized pixels from the smoothed image, the synchronized pixels having luminances varying synchronously with an alternating current cycle of power supplied to a lamp, and detects the lamp from the synchronized pixels.

Lamp detection device and lamp detection method

A traffic light detection device uses an image pickup unit mounted on a vehicle to extract, from an image taken of surroundings of the vehicle, synchronized pixels, whose brightness changes in synchronization with an alternating current period of electric power supplied to a traffic light, and detects the traffic light from the synchronized pixels. The traffic light detection device is provided with: a positional variation calculation unit that calculates positional variation amounts of continuously extracted positions of the synchronized pixels; and a signal lamp determination unit that determines, as a signal lamp candidate, the synchronized pixels whose positional variation amount is equal to or smaller than a threshold value.

Traffic light detection device and traffic light detection method

A traffic light detection device includes: an image capture unit capturing an image of surroundings; a traffic light location estimation unit estimating a location of a traffic light around the vehicle and setting a traffic light search area in which the traffic light is estimated to be present; a traffic light detection unit detecting the traffic light by searching the traffic light search area on the image; and an obstruction estimation unit. When the obstruction estimation unit estimates that a continuous obstruction state where a view of the traffic light is continuously obstructed occurs in the traffic light search area, the traffic light location estimation unit selects the traffic light search area based on the continuous obstruction state.

A traffic light detecting device includes a camera capturing an image in the travelling direction of a vehicle, and a traffic light detecting unit detecting a traffic light from the image. The unit sets reference signals the number of which is a multiple of three, and phases of which are shifted each other by a time obtained by dividing a cycle of an alternating current power supplied to the traffic light by the multiple of three, and adjusts a phase of the reference signal which is closest to the phase of the alternating current power, to the phase thereof. The unit extracts from the image a synchronized pixel with a luminance which varies in synchronization with the reference signal having the phase adjusted to the phase thereof, and judges that a traffic light is present at a position of the synchronized pixel.

Traffic light detecting device and traffic light detecting method

A traffic light detecting device includes an image capturing unit configured to capture an image of surroundings of a vehicle and a traffic light detecting unit configured to detect a traffic light from the image. The traffic light detecting unit extracts a synchronized pixel with a luminance which varies in synchronization with an alternating current cycle of electric power supplied to the traffic light, and sets a predetermined range including the synchronized pixel as a pixel group. The traffic light detecting unit, then, judges from the synchronized pixel whether or not the traffic light is present when the synchronized pixel is continuously extracted from the pixel group for a predetermined determination period.

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Kanagawa, Japan

Takahiko Oki