Toyota Jidosha Kabushiki Kaisha

Denso Corporation

Aisin Seiki Kabushiki Kaisha

Aisin Corporation

Toyota Jidosha Kabushiki

Yuki Minase

Masashi Takagi

Toshihiro Takagi

Motonari Ohbayashi

Shinya Kodama

Norio Imai

Tsutomu Miyazaki

Michihito Shimada

Toshiya Oishi

Takuya Nakagawa

Kenichi Okaya

Shinya Sannodo

Shinya Ohtani

Hiroshi Shimada

Masumi Fukuman

Keisuke Oyama

Hiroyuki Tachibana

Yasutaka Matsunaga

Miyuki Omori

Kota Inoue

Junji Horiguchi

Nozomu Maeda

Masato Kaigawa

Atsushi Kobayashi

Motonari Obayashi

Yu Hiei

Yusuke Kiyokawa

Toshio Takaoka

Masahiro Iino

Yutaka Hamamoto

Hiroyuki Hanamura

Yoshiki Hayakawa

Tsutomu Mochida

Daiki Maruki

Michihiro Takada

Mayuko Maeda

Shinya Otani

Shunsuke Kusuhara

Haruhiko Katsumata

A parking assist apparatus is configured to perform a deviation control including at least one of a first notification control and a stop control when the parking assist apparatus determines that a vehicle that is performing an automatic parking deviates from a learned route. The parking assist apparatus is configured to learn, as the learned route, a position of the vehicle in each of multiple learned images that an outside-vehicle camera captures a space including the vehicle and the parking space multiple times while the vehicle is performing a manual parking or the automatic parking; and perform the deviation control when the parking assist apparatus determines that the vehicle deviates based on a position of the vehicle in a comparative image and a position of the vehicle in the learned image.

Parking assist apparatus

A parking control apparatus includes a control unit capable of executing backward parking assist control based on surrounding information. In a case when a parking space is detected, when a specific condition to be satisfied when the parking space has a relatively narrow width is satisfied, the control unit executes guidance control as the backward parking assist control. The guidance control is control for moving a vehicle from a current position to a guidance target position in front of the parking space, so that the vehicle stops at the guidance target position in a posture in which: a vehicle's longitudinal axis is parallel to a long-side direction of the parking space; a vehicle's width is included in the width of the parking space when viewed from front; and the parking space is in closer proximity to a rear end portion than to a front end portion of the vehicle.

Parking control apparatus

A parking assistance device includes a central processing unit. The central processing unit detects the size of a parking space. The central processing unit sets the size of an extra space to be secured at a minimum between a vehicle and an object around the parking space while changing that size according to the detected size of the parking space. Based on the set size of the extra space, the central processing unit provides assistance in parking the vehicle into the parking space.

Parking assistance device

An information processing device for a vehicle includes an object detecting unit, an object information storage unit, and an object information management unit. The object detecting unit detects, based on an output of a sensor mounted on the vehicle, an object located around the vehicle. The object information storage unit stores, as object information, information about the object detected by the object detecting unit. The object information management unit is configured to: receive, from a travelling assistance unit that performs an assistance operation of assisting travelling of the vehicle based on the object information, related information, the related information being related to the assistance operation performed by the travelling assistance unit; determine storage priority of the object information in the object information storage unit based on the related information; and manage a storage state of the object information in the object information storage unit based on the storage priority.

Information processing device and information processing method

Provided is a steering assist apparatus configured to perform a steering assist control for changing a steering angle of a vehicle in such a manner that the vehicle moves along a target path; determine whether a newly-detected object is a stationary object or a moving object; cancel the steering assist control and inform a driver that the steering assist control is cancelled when the newly-detected object is the stationary object and a cancel condition is satisfied; pause the steering assist control and inform the driver that the steering assist control is paused when the newly-detected object is the moving object and a pause condition is satisfied; and resume the steering assist control when a resume condition is satisfied.

In a vehicle collision determination apparatus, a position calculation unit calculates a trajectory of a target that is a movement trajectory of the target, and calculates an entrainment trajectory of the vehicle that is a movement trajectory of the vehicle during a turn, and calculate a position of collision where a collision is likely to occur between the vehicle and the target based on the trajectory of the target and the entrainment trajectory of the vehicle. A time calculation unit calculates a time to collision (TTC) that is a time it takes for the target to reach the position of collision. In response to the time to collision being equal to or less than a predefined determination threshold, a risk determination unit determines that there is a risk of collision between the vehicle and the target.

Vehicle collision determination apparatus

Provided is an obstacle detecting unit that acquires a detection signal based on a distance between a vehicle and an obstacle around the vehicle; an image acquiring unit that acquires an image signal corresponding to an image around the vehicle; and a control unit that executes, based on the detection signal and the image signal, an automatic parking process detecting the parking space and parking the vehicle in the parking space. The control unit is configured to execute, when executing the automatic parking process, a fault handling process depending on a state of the automatic parking process in the case where a fault occurs in either the obstacle detecting unit or the image acquiring unit.

Provided is a parking assist apparatus for a vehicle, the parking assist apparatus including a first module configured to set, as a movement path, a path along which the vehicle is movable to a target position, and determine movement assist information for moving the vehicle along the movement path; and a second module configured to execute parking assist control such that the vehicle moves in accordance with the determined movement assist information, the second module being further configured to, when an occupant performs a first operation before the vehicle has reached the target position, stop the vehicle, and execute pause processing for maintaining the movement assist information.

A parking assistance device performs parking assistance control including steering angle control for changing a steering angle of a vehicle, driving force control for controlling a driving force of the vehicle, and braking force control for controlling a braking force of the vehicle. The parking assistance device notifies an occupant of a driving operation to be performed by the occupant, including a moving operation on a shift lever and an operation on a brake pedal when the vehicle reaches a switching position where a traveling direction of the vehicle is to be switched during performing the parking assistance control. When the driving operation is performed by the occupant, the parking assistance device restarts the parking assistance control at a timing when the occupant stops the operation on the brake pedal.

A display control device mounted on a vehicle having a parking support function controls a display to display a rear image captured by a rear camera. The display control device acquires the rear image captured by the rear camera; and superimposes, in response to the parking support function being activated, a target image item indicating a target parking position at a predetermined position of the rear image which corresponds to the target parking position. The display control device superimposes at least a part of the target image item in translucent manner on the rear image, and superimpose, on the rear image, an emphasized image item that emphasizes at least four corners of the target image item.

Display control device, display device, and display control program product for superimposing an emphasized image item

A parking assistance apparatus obtains a target travelling route from a present position of a vehicle to a target parking position and controls the vehicle such that the vehicle moves along the target travelling route. The target travelling route is obtained such that the vehicle moves backward to reach the target parking position and the vehicle is moves in a region on the target parking position side of a travelling boundary line. The travelling boundary line is a straight line which is in front of the vehicle located at the target parking position and which is away from a reference position by a boundary distance. The reference position is a position at a front end and at a center in a lateral direction of the vehicle located at the target parking position. The boundary distance is a configurable value changed by a driver of the vehicle.

Parking assistance apparatus

The parking assist apparatus comprises a first vehicle stop apparatus operated for a purpose of stopping a vehicle, a controller configured to be capable of performing parking assist control for parking a vehicle in a parking position and to finish the parking assist control by performing control for instructing a driver of the vehicle to operate the first vehicle stop apparatus or by controlling the first vehicle stop apparatus, and a second vehicle stop apparatus operated for a purpose of stopping the vehicle. When it is determined while the parking assist control is being performed that there is a malfunction in an apparatus for detecting whether or not operation of the first vehicle stop apparatus has been performed, the controller is configured to finish the parking assist control by performing control for instructing the driver to operate the second vehicle stop apparatus or by controlling the second vehicle stop apparatus.

A steering assist apparatus is configured to, when performing a steering assist control for parking, perform one or both of the following processes (a) and (b): (a) a first setting process for setting a movement path when an oncoming lane is present, the first setting process being a process for setting the movement path in such a manner that a vehicle body does not enter the oncoming lane side from an own lane across a center line or a predetermined line obtained by translating the center line; and (b) a second setting process for setting the movement path when a following vehicle is present, the second setting process being a process for setting the movement path in such a manner that a distance between the vehicle body and a parking-possible region is less than a predetermined threshold.

Steering assist apparatus

A parking assist apparatus is configured to execute parking assist control including steering angle automatic control, driving force automatic control and braking force automatic control, the parking assist apparatus being programmed to notify an occupant of an operation request requesting a driving operation of the vehicle to be performed for the parking assist control; and terminate the parking assist control and notify the occupant that the parking assist control is terminated when the driving operation corresponding to the operation request has not been performed by the occupant within a predetermined period.

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Toyota, Japan

Yuki Minase