Denso Corporation

Toyota Jidosha Kabushiki Kaisha

Nippon Soken, Inc.

Taku Sakima

Yuusuke Matsumoto

Naoki Kawasaki

Yoshihisa Ogata

Takeshi Nanami

Youhei Masui

Toyoharu Katsukura

Takashi Nishida

Syunya Kumano

Masayoshi Takeda

Mitsuhiro Tokimasa

Akitoshi Minemura

Akira Isogai

A course estimator has a first estimating means, a second estimating means and a determining means. The first estimating means obtains first information and estimating a first radius of a first forward traveling path on the basis of the obtained first information, the first forward traveling path being a part of a forward traveling path to which a vehicle is going to travel. The second estimating means obtains second information and estimating a second radius of a second forward traveling path on the basis of the obtained second information, the second forward traveling path being a part of the forward traveling path to which a vehicle is going to travel, the second forward traveling path being farther from the vehicle than the first traveling being. The determining means determines whether or not there is a changing point where road shapes change between the first forward traveling path and the second forward traveling path on the basis of comparison of the estimated first radius and the estimated second radius.

Course estimator and method of estimating a state of a course of a vehicle and a non-transitory computer-readable storage medium for the same

A vehicle control apparatus mounted to an own vehicle to control the own vehicle according to the position of other vehicle ahead of the own vehicle is provided. The apparatus includes a setting means setting a parameter indicating whether the other vehicle is in the path of the own vehicle, based on the position of the other vehicle relative to the own vehicle in a lateral direction perpendicular to the path of the own vehicle, a determining means determining whether the other vehicle is in the path of the own vehicle, based on the parameter, an acquisition means acquiring a lane width that is the width of the lane the own vehicle is traveling, and an adjustment means changing the correspondence between the relative position and the parameter, based on the lane width.

Vehicle control apparatus

A predicted course estimating apparatus for estimating a predicted course of the own vehicle, includes: a data acquiring means for acquiring turning data that indicates a turning direction of the own vehicle; a filtering means for removing a high-frequency component that is included in the turning data; a course predicting means for calculating an estimated value for course prediction of the own vehicle, based on the turning data that has been filtered and a speed of the own vehicle; a determining means for determining whether the own vehicle is traveling a part of a road where the shape changes; and a characteristics changing means for changing the extent of removing of the high-frequency component by the filtering means when it is determined that the own vehicle is traveling a part of the road where the shape changes.

Predicted course estimating apparatus and predicted course estimating method

A vehicle control apparatus mounted to an own vehicle to control the own vehicle according to a position of other vehicle ahead of the own vehicle is provided. The device includes a setting means setting a parameter indicating a position of the other vehicle relative to the own vehicle in a lateral direction perpendicular to the path of the own vehicle, a determination means determining whether the other vehicle is in the path of the own vehicle based on the parameter, a detection means detecting whether a relative movement has been made in the lateral direction by at least one of the own vehicle and the other vehicle, and a correction means correcting the parameter when a relative movement has been made in the lateral direction.

Vehicle control apparatus and vehicle control method

Provided is an object detection device () using a detection means () to transmit probe waves, receive reflected waves from an object () in a detection range, and acquire, as first detection information on the object, a position based on the reflected waves, to detect the object. The device includes an image information acquisition means, determination region setting means, and an object locating means. The image information acquisition means acquires, as second detection information on the object, a position based on an image of an area within the detection range, the image being captured by an image capturing means (). The determination region setting means sets a determination region in the detection range. The object locating means locates the object, based on the first detection information, if pieces of the first and second detection information are present in the determination region.

Object detection device and object detection method

A driving support apparatus installed in a host vehicle calculates an overlap ratio relating to a target object positioned ahead of the host vehicle within the same traffic lane, as the ratio of the width of the target object to its lateral distance from a lane marker line of the traffic lane, and also detects the motion condition of the object (i.e., stationary, moving towards, or in the same direction as the host vehicle, or moving laterally with respect to the forward direction of the host vehicle). An amount of compensation for retarding or advancing the commencement of a collision avoidance operation by the driving support apparatus is determined based on the overlap ratio and/or the motion condition of the target object.

Vehicle driving support apparatus for executing collision avoidance operations based on position and motion condition of target object

An on-board apparatus includes a measuring unit, a filtering unit, a predicting unit, an executing unit, a detecting unit, and an adjusting unit. The measuring unit periodically measures a state of an own vehicle. The filtering unit performs a low-pass filter process on measurement results from the measuring unit. The predicting unit predicts behavior of the own vehicle based on the measurement results on which the low-pass filter process has been performed. The executing unit performs processes based on the behavior of the own vehicle predicted by the predicting unit. The detecting unit detects a traveling environment of the own vehicle. The adjusting unit adjusts a time constant for the low-pass filter process based on the traveling environment detected by the detecting unit.

On-board apparatus

A method and an apparatus are provided to recognize a shape of a road on which a vehicle is traveling. Road edge shapes on a left side and a right side of the vehicle are recognized, from positions of roadside objects detected based on detection information from an on-board radar. Lane shapes that are shapes of lane boundary lines on the left side and the right side of the vehicle are recognized, from positions of lane boundary lines detected based on an image captured by an on-board camera. For each of the left side and the right side, such that the recognized road edge shape and the recognized lane shape are compared with each other, and the road shape is identified based on the comparison results.

Method and apparatus for recognizing road shape

In an apparatus for controlling a vehicle to track another vehicle, a controller causes the controlled vehicle to track one of other vehicles as a target vehicle if one of the other vehicles meets a target-vehicle selecting condition. The target-vehicle selecting condition is required for selecting one of the other vehicles as the target vehicle. The controller recognizes an environment of a predicted travel road on which the controlled vehicle is predicted to travel using conditions of the predicted travel lane. The controller determines whether the predicted travel road allows lane changes based on the recognized environment of the predicted travel road. The controller adjusts the target-vehicle selecting condition based on a result of the determination.

Apparatus and computer program for controlling vehicle tracking target vehicle

A driving support system detects a target area ahead of the vehicle, a position or a moving direction, etc. of an object such as a pedestrian or another vehicle by using a camera or radar, as well as determines a probability of collision between the own vehicle and the object based on the position, etc. of the object, and performs a driving support for avoiding the collision when the probability of the collision is high. Further, a sensitivity of determination is set high when the object remains in the target area, or when the object is moving towards the target area, while the sensitivity is set low when the object is not present in the target area, or the object is moving away from the target area.

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Chiryu, Japan

Taku Sakima