Denso Corporation

Toyota Jidosha Kabushiki Kaisha

Youhei Masui

Takeshi Nanami

Toyoharu Katsukura

Takashi Nishida

Mitsuhiro Tokimasa

Yoshihisa Ogata

Minoru Nakadori

Taku Sakima

Naoki Kawasaki

Yusuke Matsumoto

Toshinori Okita

Norio Tsuchida

Yuki Kawasaki

A vehicle control device is provided for a vehicle equipped with a high-accuracy sensor and a low-accuracy sensor to detect a preceding vehicle. The low-accuracy sensor is able to detect a distance to a preceding vehicle larger than a maximum distance to a preceding vehicle detectable by the high-accuracy sensor, and having low ranging accuracy. A control unit is configured to perform following control in which the vehicle is controlled so as not to collide with the preceding vehicle, using at least either of a first detection information derived from the high-accuracy sensor and a second detection information derived from the low-accuracy sensor, and further configured to, when performing the following control using only the second detection information, reduce a degree of change in vehicle control that is based on the second detection information, as compared to when performing the following control using the first detection information.

Vehicle control device

A driver assistance device includes a processor. The processor is configured to: automatically decelerate an own vehicle in accordance with a relative relation between the own vehicle and a vehicle traveling ahead that is traveling forward of the own vehicle; change deceleration of the own vehicle by a first change amount, or a second change amount that is larger than the first change amount, when automatically decelerating the own vehicle; perform behavioral determination to estimate whether behavior of the own vehicle will become unstable when the own vehicle is automatically decelerated; and change the deceleration by the first change amount when automatically decelerating the own vehicle, when the behavior of the own vehicle is estimated to become unstable.

Driver assistance device, driver assistance method, and non-transitory computer-readable storage medium storing program

A vehicle control apparatus performing an automatic driving of a vehicle includes: a vehicle information acquiring unit that acquires vehicle information related to a nearby vehicle; a setting unit that sets an intervehicle margin between the vehicle and the nearby vehicle by using the vehicle information, and determines a change timing of a travelling speed of the vehicle depending on the intervehicle margin; and a driving control unit that performs in a lane change operation, a control of changing the travelling speed of the vehicle at the change timing, and a control of an intervehicle distance between the vehicle and a preceding vehicle of the vehicle after the lane change operation.

Control apparatus for vehicle

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 apparatus controls travel of an own vehicle based on a predicted course which is a future travel course of the own vehicle. The cruise control apparatus includes a first predicted course calculating unit and a second predicted course calculating unit, as a plurality of course prediction means for calculating a predicted course, and is provided with a course change determination unit for determining whether a change in the course is to be performed and a prediction switching unit which performs switching to enable one of a first predicted course calculated by the first predicted course calculating unit and a second predicted course calculated by the second predicted course calculation unit, the switching being based on a result of determination made by the course change determination unit as to whether a change in the course is to be performed.

Vehicle cruise control apparatus and 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 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

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.

Travel control of vehicle is performed in a state where the axis deviation of radar device has occurred, is avoided. A travel control restriction-use ECU is for restricting or prohibiting execution of travel control of vehicle based on detection result obtained by radar device, travel control restriction-use ECU includes a determining unit configured to determine whether an axis deviation has occurred in the radar device based on detection result obtained by radar device, when detection device, which is configured to detect switch on operation and switch off operation with respect to activation switch of vehicle, detects switch on operation with respect to activation switch of vehicle; and restricting unit configured to restrict or prohibit execution of travel control, during period from when switch on operation is performed with respect to activation switch of vehicle to when determination of whether axis deviation has occurred is completed.

Travel control device of vehicle

A radar device for detecting a distance between vehicles by the transmission and reception of survey waves is mounted in a vehicle as an object detection means for detecting an object. A cruise control apparatus includes a trajectory calculation means for calculating a moving locus of a preceding vehicle traveling in front of an own vehicle on the basis of the detection result of the radar device, a route prediction means for calculating a predicted route of the vehicle on the basis of the moving locus of the preceding vehicle calculated by the trajectory calculation means, an axial deviation detection means for detecting the axial deviation of the radar device, and an invalidation processing means for invalidating the predicted route calculated by the route prediction means when it is detected that the axial deviation detection means has detected axial deviation of the radar device.

Growing community of inventors

Kariya, Japan

Youhei Masui