Toyota Jidosha Kabushiki Kaisha

Denso Corporation

Takahiro Kohara

Naoki Sugimoto

Hiroto Nakatani

Koichi Sato

Ichiro Aizawa

Hiroyuki Hotta

Yuuji Katou

An axial displacement estimation device estimates an axial displacement angle of a radar apparatus mounted on a mobile body. The axial displacement estimation device uses a plurality of detection values acquired by mutually different plurality of modulation methods to estimate an axial displacement angle for each of the plurality of modulation methods. The axial displacement estimation device determines whether a predetermined allowable condition is met based on a plurality of axial displacement angle estimation results estimated using a plurality of detection values corresponding to respective plurality of modulation methods. The axial displacement estimation device utilizes at least one of a plurality of axial displacement angle estimation results when determined that the predetermined allowable condition is met.

Axial displacement estimation device

A driving supporting apparatus comprises a notification device that performs a notification to a driver of a host vehicle; and a control unit capable of causing the notification device to perform an approaching notification to notify the driver that a following vehicle present behind the host vehicle has approached the host vehicle, when the following vehicle satisfies a predetermined approaching condition. The control unit is configured to cause the notification device to perform the approaching notification, when the following vehicle satisfies the approaching condition in a case where an adjacent lane is present, if a permission condition depending on presence or absence of an adjacent vehicle traveling in the adjacent lane is satisfied. The permission condition used when the adjacent vehicle is present has been set to a condition that is harder to be satisfied than a condition set as the permission condition used when the adjacent vehicle is not present.

Driving supporting apparatus

Growing community of inventors

Toyota, Japan

Takahiro Kohara