Denso Corporation

Toyota Jidosha Kabushiki Kaisha

Takayuki Kondoh

Tomohiko Tsuruta

Takeshi Hatoh

Yusuke Ueda

Naoya Inoue

Yuta Ikezawa

Kazuhiro Morimoto

Shin Tanaka

Takatoshi Tosa

Hossein Tehrani Niknejad

Seiichi Mita

In a road type determination apparatus, an image information acquiring unit acquires image information in which an image of a travel road on which a vehicle is traveling is captured. A scene determining unit determines a traveling scene of the travel road based on the image information. An ordinary road likelihood calculating unit calculates an ordinary road likelihood that indicates that a type of the travel road of the vehicle is an ordinary road based on the traveling scene. A limited-access road likelihood calculating unit calculates a limited-access road likelihood that indicates that the type of the travel road of the vehicle is a limited-access road based on the traveling scene. A type determining unit determines the type of the travel road of the vehicle based on the ordinary road likelihood and the limited-access road likelihood.

Road type determination apparatus and driving assistance apparatus

When a travel path is to be generated for a vehicle, road surface lines (white lines, etc.) delimiting the traffic lane of the vehicle, and also external objects in the vehicle environment, are detected and registered as respective obstacles. Specific points are defined at appropriate locations on each obstacle, and the travel path is generated by connecting respective mid-point positions between opposed pairs of specific points, each pair defined on respective ones of an opposed (left-side, right-side) pair of the registered obstacles.

Vehicle travel path generating apparatus

A selection track setting section in a driving route generation device determines as a selected track a track of a preceding vehicle when a detection section and a track generation section detects a track of the preceding vehicle which is running on the same driving lane of a host vehicle. A candidate track selection section outputs as a candidate track one of tracks of front vehicles, detected by the detection section and the track generation section, other than the track of the preceding vehicle. A switching selection section switches as the selected track from the track of the preceding vehicle to the candidate track when a detection of the track of the preceding vehicle is interrupted during a predetermined detection period. An estimate route generation section generates an estimated driving route of the host vehicle on the bass of the selected track.

Driving route generation device

In a vehicle travel assisting device, a vehicle speed, a yaw rate, a traveling lane of an own vehicle, and a position of a leading vehicle are detected. Target travel coordinates of the own vehicle are calculated, based on the traveling lane and the position of the leading vehicle A travel path curvature of a target travel coordinate group is estimated, based on information related to the target travel coordinate group. A steering quantity to be steered in advance by the own vehicle is calculated, based on the currently estimated travel path curvature. A weight for each of the target travel coordinates for estimating the travel path curvature is adjusted based on the vehicle speed, the yaw rate and the previously estimated travel path curvature. Steering control is performed such that the own vehicle travels so as to follow the estimated travel path curvature, based on the calculated steering quantity.

Vehicle travel assisting device

Growing community of inventors

Kuwana, Japan

Takayuki Kondoh