Denso Corporation

Toyota Jidosha Kabushiki Kaisha

Advics Co., Ltd.

Aisin Seiki Kabushiki Kaisha

Nippon Soken, Inc.

Yoshihisa Ogata

Mitsuhiro Tokimasa

Takeshi Nanami

Seiya Ide

Toyoharu Katsukura

Takashi Nishida

Youhei Masui

Masatoshi Hanzawa

Yasuhiko Mukai

Masaki Maruyama

Hirofumi Nitta

Hajime Kumabe

Junpei Tatsukawa

Yuichi Mizutani

Taku Sakima

Akitoshi Minemura

Yusuke Matsumoto

Masayoshi Takeda

Takahisa Yokoyama

Makoto Sakai

Akira Isogai

Jin Kurumisawa

Daisuke Tokumochi

Mutsumasa Koujiya

A cruise control apparatus controls the traveling of an own vehicle on the basis of the predicted route which is a predicted value of the travel route of an own vehicle. The cruise control apparatus compares the moving locus of the preceding vehicle with the position of a stationary object provided along the road to determine whether or not a moving locus is along the shape of the road. The moving locus is validated when it is determined that the moving locus is along the shape of the road, and the moving locus is invalidated when it is determined that the moving locus is not along the shape of the road, and the predicted route of the vehicle is calculated on the basis of the validated moving locus.

Vehicle cruise control apparatus and vehicle cruise control method

A cruise control deviceincludes a cutting-in/deviation determination unitfor performing cutting-in determination and deviation determination of another vehicle. The cutting-in/deviation determination unitcalculates a lateral position that is a position in a vehicle width direction of a forward vehicletraveling ahead of an own vehicle, and determines the forward vehicletraveling on an adjacent laneto be a cutting-in vehicle into an own laneand determines the forward vehicletraveling on the own laneto be a deviating vehicle from the own laneon the basis of the calculated lateral position. The cutting-in/deviation determination unitdetermines whether or not the own vehicleis in a predetermined own vehicle turning state that is either one of a state before starting a turn or a state of turning, and determines permission of performing of cutting-in determination and deviation determination of the other vehicle on the basis of the determination result.

Vehicle cruise control device and cruise control method

A cruise control device has a white line recognition unit recognizing a white line defining a lane having the own vehicle, based on an image captured by an image capturing device and a lane entering and leaving determination unit carrying out lane entering determination and lane leaving determination of the own vehicle with respect to a preceding vehicle traveling ahead of the own vehicle based on the relative position of the own vehicle in the vehicle width direction with respect to the white line. In the lane entering determination and lane leaving determination, a preceding vehicle on the lane to which the own vehicle is moving is determined to be an entering lane vehicle whose lane the own vehicle is entering, and a preceding vehicle on the lane from which the own vehicle is moving is determined to be a leaving lane vehicle whose lane the own vehicle is leaving.

Cruise control device and cruise control method for vehicles

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 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

A vehicle control device mounted on the own vehicle and configured to control the own vehicle according to the position of another vehicle ahead of the own vehicle. The vehicle control device comprises an estimated course calculation means calculating an estimated course of the own vehicle; a setting means setting a parameter indicating whether the other vehicle is in the path of the own vehicle based on the relative position of the other vehicle with respect to the own vehicle in a lateral direction orthogonal to the estimated course of the own vehicle; a determination means determining whether the other vehicle is a leading vehicle in the path of the own vehicle based on the parameter; and a changing means changing the likelihood of being determined as the leading vehicle when the estimated course is a curve, based on the estimated course and the position of the other vehicle.

Vehicle control device and vehicle control method

A cruise control deviceis applied to a vehicle in which an imaging deviceis mounted. The cruise control deviceincludes: a white line recognition unitwhich recognizes a white lineas a lane boundary that defines an own lanethat is a travel lane of an own vehicle, on the basis of images acquired by the imaging device; and a cutting-in/deviation determination unitwhich performs cutting-in determination and deviation determination, in which the forward vehicle traveling on an adjacent laneis determined to be a cutting-in vehicle that cuts into the own lane, and the forward vehicle traveling on the own lane is determined to be a deviating vehicle that deviates from the own lane on the basis of a relative position with respect to the white line in a vehicle width direction of a forward vehicle

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 cruise control apparatus, mounted to a vehicle, controls traveling of the own vehicle, based on a predicted course, which is a future course of the own vehicle. The cruise control apparatus includes a preceding vehicle position storage unit, a course prediction computation unit, and a cancellation determination section. The preceding vehicle position storage unit chronologically stores a preceding vehicle position, which is a position of a preceding vehicle traveling ahead of the own vehicle. The predicted course computation unit calculates a predicted course, based on the trajectory of the preceding vehicle position. The cancellation determination section cancels the preceding vehicle position stored in the preceding vehicle position storage unit when it has been determined that either the own vehicle or the preceding vehicle is in a situation where the own vehicle or the preceding vehicle is likely to depart from the current course.

A demarcation line recognition apparatus is applied to a vehicle in which an imaging apparatus that captures an image of an area ahead of the vehicle is mounted. The demarcation line recognition apparatus includes: a demarcation line recognizing unit that recognizes a traveling demarcation line that demarcates a traveling lane of the vehicle based on an image acquired by the imaging apparatus; and a demarcation line estimating unit that estimates a shape of the traveling demarcation line in a range that cannot be recognized by the demarcation line recognizing unit, based on the traveling demarcation line recognized by the demarcation line recognizing unit. The demarcation line recognition apparatus determines a reliability level of the traveling demarcation line recognized by the demarcation line recognizing unit and invalidates the estimation of the shape of the traveling demarcation line by the demarcation line estimating unit based on the determination result.

Demarcation line recognition apparatus

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 collision determination device is mounted to an own vehicle and determines a probability of a collision with a moving object. The collision determination device determines whether or not an own vehicle will collide with a moving object that is detected within a captured image. The collision determination device determines whether or not the moving object is in a shielded state where at least a portion of the moving object is hidden behind another object or the moving object appears from behind another object. The collision determination device sets an amount of time required for the collision determining means to complete a determination related to the collision to a shorter amount of time when the moving object is in the shielded state, compared to when the moving object is not in the shielded state.

Collision determination device and collision mitigation device

A vehicle-installation intersection judgment apparatus determines whether a target object such as a pedestrian is located ahead and to one side of the vehicle, and if so, judges whether the object is moving laterally to intersect with the advancement of the vehicle. Successive amounts of lateral displacement of the object are periodically derived, each amount is compared with a displacement threshold, a count is made of the number of times that the displacement threshold is exceeded, and the count is compared with a predetermined count threshold. The judgment concerning the target object is made based upon whether the count threshold is attained.

Vehicle-installation intersection judgment apparatus and program

The momentum control apparatus includes: an optimal feedback gain obtaining part for obtaining a plurality of optimal feedback gains used when each of the plurality of actuators is independently actuated to feedback control the momentum of the controlled object; and a feedback gain setting part for extracting a minimum feedback gain out of the plurality of optimal feedback gains obtained by the optimal feedback gain obtaining part as a feedback gain of a control system.

Momentum control apparatus

In a vehicle dynamic control platform arranged between a controlled object and an application, an availability obtainer obtains an availability corresponding to a controllable range of a second parameter of the controlled object, and outputs the availability of the second parameter of the controlled object to the application. The application is programmed to output the target value of the first parameter based on the availability of the second parameter of the controlled object. A comparator compares the target value of the first parameter with the availability of the second parameter when the target value of the first parameter is outputted from the application, and determines, based on a result of the comparison, whether to perform dynamic control of the vehicle by controlling the controlled object.

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Chiryu, Japan

Yoshihisa Ogata