Mazda Motor Corporation

Mitsubishi Electric Corporation

Takayuki Moritani

Tsuyoshi Arinaga

Yasutaka Otsubo

Koji Iida

Tomohiro Akiyama

Yoshihiro Yamamoto

Hideaki Tamazumi

Shinichi Tateiwa

Hiroyuki Ueda

Junki Tamaru

Masanori Mori

Kouichi Kojima

Noriyoshi Yamashina

Takeharu Yamashita

The object recognition device includes at least one sensor, a data reception unit, and a setting unit. The sensor detects an object present in a detectable range and transmits object data including a plurality of physical quantities indicating a state of the object. The data reception unit receives the object data from the sensor. The setting unit generates prediction data which predicts current object data based on at least a part of past object data received by the data reception unit and a motion model in the object, and sets a association possible region for determining a association between the prediction data and the current object data based on a plurality of physical-quantity delay times each corresponding to each of the plurality of physical quantities included in the prediction data.

Object recognition device and object recognition method

There are provided an object recognition apparatus that raises the recognition accuracy for a surrounding object and a vehicle control apparatus, and an object recognition method and a vehicle control method. An object recognition apparatus receives object data, which is a state value of the object, from a first sensor for detecting a surrounding object; compares estimation data obtained through estimation of a state value of the object, based on recognition data calculated in a past period, with the object data, and determines whether or not the object data is data in a low-resolution state; then, in accordance with the determination result, calculates the state value of the object by use of object data and estimation data and then generates the state value as recognition data, so that the recognition accuracy for an object is raised.

Object recognition apparatus, vehicle control apparatus, object recognition method, and vehicle control method

A line detector apparatus and method on a vehicle for detecting a line on a road with a higher degree of accuracy. The vehicle includes front, right-side and left-side image capturing sensors mounted on a vehicle and respectively capture an image, including a road surface, at the front and right and left sides of the vehicle to respectively generate front, right-side and left-side images. The line detector includes a processor that calculates a line on a road as a first line from the front image, the line on the road as a second line from the right-side image, and the line on the road as a third line from the left-side image. The processor selects one of multiple mutually-different algorithms based on the first to third lines, and calculates the line on the road based on the first to third lines by using the selected algorithm.

Line detector for vehicle and method for detecting line for vehicle

Provided is an object recognition device capable of preventing a change of fusion data from a previous value to a current value that exceeds a tolerable range. The object recognition device is configured to execute specialized tracking processing when a change of the fusion data from the previous value to the current value exceeds a tolerable range, and generate tracking data that is equivalent to prediction data in the specialized tracking processing by setting an adjustment physical quantity for solving a fusion data discontinuity state.

When an own vehicle Vcrosses an opposite traffic lane Rat an intersection to make a right turn, an ECUsuch as a vehicle control device detects a presence of a crossing person P crossing a crosswalk CW existing near the intersection on a road Rwhich the vehicle Vis directed to enter by making the right turn, detects a size of a space between the crosswalk SP on which the detected crossing person P crosses and the opposite traffic lane, and when performing a control for braking the vehicle Vso as to avoid a collision of at least the vehicle Vwith the crossing person P, changes a timing to perform the control for braking the vehicle Vbased on the detected size of the space SP up to the crosswalk CW.

Vehicle control device

A traffic sign recognition system includes a display for displaying caution information regarding a traffic sign ahead of a vehicle, and a processor configured to execute a viewing direction detecting module for detecting a viewing direction of a driver, a traffic sign detecting module for detecting the traffic sign, and a road surface condition detecting module for detecting a slippery road surface condition. The processor controls the display to display the caution information regarding the detected traffic sign when the detected viewing direction of the driver is different from a direction of the detected traffic sign, and controlling the display to refrain from displaying the caution information when the detected viewing direction of the driver matches the direction of the detected traffic sign. When the slippery road surface condition is detected, the processor controls the display to display the caution information regardless of the viewing direction of the driver.

Traffic sign recognition system

A traffic sign recognition system includes a display for displaying caution information of a traffic light, and a processor configured to execute a traffic light detecting module for detecting a traffic light, a bypass lane detecting module for detecting a bypass lane, a line of sight detecting module for detecting a line of sight of a driver, and a vehicle behavior determining module for detecting a traveling direction of a vehicle. The processor controls the display to display caution information when the line of sight is different from a direction of the traffic light, and controlling the display to refrain from displaying the caution information when the detected line of sight matches the direction of the traffic light. The display is refrained from displaying the caution information when the bypass lane is detected and the traveling direction is toward the bypass lane, regardless of the line of sight.

A traffic sign recognition system includes a display for displaying caution information regarding a traffic sign ahead of a vehicle, and a processor configured to execute a viewing direction detecting module for detecting a viewing direction of a driver, a traffic sign detecting module for detecting the traffic sign, and a viewing condition detecting module for detecting a viewing condition of the traffic sign. The processor controls the display to display the caution information when the detected viewing direction is different from a direction of the detected traffic sign, controls the display to refrain from displaying the caution information when the detected viewing direction is toward the detected traffic sign, and when the viewing condition detecting module detects a low viewing condition of the traffic sign, controls the display to display the caution information even when the detected viewing direction matches the direction of the detected traffic sign.

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Hiroshima, Japan

Takayuki Moritani