公开(公告)号：US20180178790A1

公开(公告)日：2018-06-28

申请号：US15855865

申请日：2017-12-27

Applicant: DENSO CORPORATION

Inventor： Takaharu OGURI ,  Yosuke ITO ,  Kei KAMIYA ,  Takahiro BABA ,  Kouichi MASUDA

IPC: B60W30/095 ,  B60W30/09 ,  G06K9/00 ,  G08G1/16

CPC classification number: B60W30/0956 ,  B60W30/09 ,  B60W2420/42 ,  B60W2550/10 ,  G06K9/00798 ,  G06K9/00805 ,  G08G1/16 ,  G08G1/166 ,  G08G1/167

Abstract: A collision determination device for determining the probability of a collision between an own vehicle and a target in the predetermined determination area surrounding the own vehicle includes an orientation detection unit for detecting the orientation of the target relative to the own vehicle, an image sensor for capturing images surrounding the own vehicle, an angle calculation unit for calculating an angle θ0 formed by the movement direction of the own vehicle and the movement direction of the target, and a collision determination unit which uses image data acquired from the image sensor to calculate the state of a lane compartment line, and determines the probability of a collision between the own vehicle and the target based on the angle θ0 and the calculation result of the lane compartment line.

公开(公告)号：US20230150489A1

公开(公告)日：2023-05-18

申请号：US18157050

申请日：2023-01-19

Applicant: DENSO CORPORATION ,  TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Yosuke ITO ,  Takaharu OGURI ,  Kei KAMIYA ,  Takahiro BABA ,  Ryo TAKAKI ,  Tomoyuki DOI

IPC: B60W30/09 ,  B60W30/18 ,  B60W10/18 ,  B60W10/30 ,  B60W30/095

CPC classification number: B60W30/09 ,  B60W10/18 ,  B60W10/30 ,  B60W30/0956 ,  B60W30/18159 ,  B60W2555/60

Abstract: A braking control device for controlling braking of a host vehicle. For a state in which a host vehicle is stopped in an intersection by automatic emergency braking and an oncoming vehicle is approaching in an oncoming lane, the host vehicle prohibits secondary braking is prohibited in, flashes a hazard lamp,and prohibits an idling stop. For a state in which it is determined in that the vehicle is stopped and it is determined in that it is safe for the vehicle to start moving, the host vehicle releases stop maintenance braking.

公开(公告)号：US20200262422A1

公开(公告)日：2020-08-20

申请号：US16869531

申请日：2020-05-07

Applicant: DENSO CORPORATION ,  TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Kei KAMIYA ,  Yosuke ITO ,  Takaharu OGURI ,  Takahiro BABA ,  Ryo TAKAKI ,  Shinichi NAGATA

IPC: B60W30/09 ,  B60W10/18 ,  B60W30/095 ,  B60W30/18

Abstract: Provided is a vehicle braking support device. The braking support device includes: detection units for detecting a state around a host vehicle; a braking support control unit for executing braking support by a braking device according to the detected state; and a vehicle stop control unit for maintaining a stopped state of a host vehicle after the host vehicle is stopped by the braking support control unit, and for releasing the stopped state of the host vehicle after a predetermined period has elapsed. The vehicle stop control unit, in a case where by using the detected state it is determined that it is desirable to maintain the stopped state of the host vehicle beyond the predetermined period, the vehicle stop control unit does not release the stopped state of the host vehicle until an operation by a driver is detected.

公开(公告)号：US20180182247A1

公开(公告)日：2018-06-28

申请号：US15855896

申请日：2017-12-27

Applicant: DENSO CORPORATION

Inventor： Takahiro BABA ,  Takaharu OGURI ,  Yosuke ITO ,  Kei KAMIYA

IPC: G08G1/16 ,  B60W40/04 ,  B60T7/22

CPC classification number: G08G1/166 ,  B60T7/22 ,  B60T2201/03 ,  B60T2210/20 ,  B60T2210/32 ,  B60T2250/03 ,  B60T2250/04 ,  B60W30/09 ,  B60W30/0953 ,  B60W30/0956 ,  B60W40/04 ,  B60W2420/42 ,  B60W2420/52 ,  B60W2520/14 ,  B60W2540/18 ,  B60W2550/10 ,  B60W2550/146 ,  G06K9/00791 ,  G06K9/00805

Abstract: A vehicle collision avoidance support apparatus includes a state determination unit configured to determine whether or not there is a state where a moving object proceeding in a direction intersecting with a traveling direction of a vehicle may exist; a first sensor configured to detect an object in front of the vehicle; and an avoidance operation control unit configured to cause the vehicle to perform a predetermined avoidance operation for avoiding a collision according to a detection result of the first sensor within a determination region in front of the vehicle. The avoidance operation control unit uses a region that is wider in a direction perpendicular and horizontal to the travelling direction as the determination region when it is determined that there is a state where the moving object may exist in comparison with when it is determined that there is no state where the moving object may exist.

公开(公告)号：US20210380083A1

公开(公告)日：2021-12-09

申请号：US17406578

申请日：2021-08-19

Applicant: DENSO CORPORATION ,  TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Kei KAMIYA ,  Akitoshi MINEMURA ,  Muneaki JONO ,  Toshinori OKITA ,  Tasuku USUI

IPC: B60T7/12 ,  B60Q9/00

Abstract: A braking assist control device for a vehicle including a detector and a braking assist control device is provided. The braking assist control device includes an acquisition unit configured to acquire information on an ambient environment of an own vehicle from the detector, and a control unit configured to cause the braking assist device to perform intersection entry prevention assist in a case where it is determined, using the acquired information on the ambient environment, that the own vehicle is approaching an intersection and an own lane in which the own vehicle is traveling is a non-priority lane with respect to an intersecting lane.

公开(公告)号：US20190329745A1

公开(公告)日：2019-10-31

申请号：US16508717

申请日：2019-07-11

Applicant: DENSO CORPORATION

Inventor： Yosuke ITO ,  Kei KAMIYA ,  Takaharu OGURI ,  Takahiro BABA

IPC: B60T7/22 ,  G08G1/16 ,  B60T8/58

Abstract: A collision avoidance apparatus includes a travelling state calculation section, a target detection section, a target state calculation section, a lateral moving object determination section, a collision determination section, and a collision avoidance control section. The collision avoidance control section calculates, based on (i) a passing-through period of the lateral moving object in which the lateral moving object passes through an own vehicle course that is a moving course of the own vehicle and (ii) a reaching time of the own vehicle that is a period remaining before the own vehicle reaching a lateral moving object course that is a moving course of the lateral moving object, an operation timing of the brakes for the lateral moving object passing through the own vehicle course before the own vehicle reaches the lateral moving object course, and operates the brakes at the calculated operation timing of the brakes.

公开(公告)号：US20180182246A1

公开(公告)日：2018-06-28

申请号：US15855846

申请日：2017-12-27

Applicant: DENSO CORPORATION

Inventor： Takahiro BABA ,  Takaharu OGURI ,  Yosuke ITO ,  Kei KAMIYA

IPC: G08G1/16 ,  B60W40/04 ,  G06K9/00 ,  G06K9/78

CPC classification number: G08G1/166 ,  B60T7/22 ,  B60T8/17 ,  B60T2201/022 ,  B60T2210/32 ,  B60W40/04 ,  B60W2420/42 ,  B60W2420/52 ,  B60W2520/10 ,  B60W2540/10 ,  G06K9/00798 ,  G06K9/00805 ,  G06K9/00818 ,  G06K9/00825 ,  G06K9/6271 ,  G06K9/78

Abstract: A vehicle collision avoidance supporting apparatus may include a situation determination unit configured to determine whether it is a situation that there exists no moving object proceeding in a direction crossing a traveling direction of the vehicle; a first sensor and configured to detect an object ahead of the vehicle; and an avoidance operation controller configured to cause the vehicle to perform a predetermined avoidance operation for avoiding a collision in accordance with a detection result of the first sensor in a determination region ahead of the vehicle. The avoidance operation controller uses a region which is narrower in a direction perpendicular to the travelling direction and parallel to a horizontal direction as the determination region when it is the situation that there exists no moving object than when it is not the situation that there exists no moving object.

公开(公告)号：US20230063170A1

公开(公告)日：2023-03-02

申请号：US18049418

申请日：2022-10-25

Applicant: DENSO CORPORATION ,  TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Kei KAMIYA ,  Yosuke ITO ,  Takaharu OGURI ,  Takahiro BABA ,  Ryo TAKAKI ,  Shinichi NAGATA

IPC: B60W30/09 ,  B60W30/18 ,  B60W10/18 ,  B60W30/095

Abstract: Provided is a vehicle braking support device. The braking support device includes: detection units for detecting a state around a host vehicle; a braking support control unit for executing braking support by a braking device according to the detected state; and a vehicle stop control unit for maintaining a stopped state of a host vehicle after the host vehicle is stopped by the braking support control unit, and for releasing the stopped state of the host vehicle after a predetermined period has elapsed. The vehicle stop control unit, in a case where by using the detected state it is determined that it is desirable to maintain the stopped state of the host vehicle beyond the predetermined period, the vehicle stop control unit does not release the stopped state of the host vehicle until an operation by a driver is detected.

公开(公告)号：US20210394754A1

公开(公告)日：2021-12-23

申请号：US17466643

申请日：2021-09-03

Applicant: DENSO CORPORATION

Inventor： Toru TAKAHASHI ,  Kei KAMIYA ,  Shogo MATSUNAGA

IPC: B60W30/095

Abstract: In a driving assistance device for performing a driving assistance process to avoid or mitigate a collision between an own vehicle, which is a vehicle carrying the driving assistance device, and an oncoming vehicle detected within a predefined region ahead of the own vehicle, an entry determiner is configured to determine whether one of the own vehicle and the oncoming vehicle is likely to enter a lane in which the other one is present. An actuation controller is configured to, in response to the entry determiner determining that each one of the own vehicle and the oncoming vehicle is unlikely to enter the lane of the other, restrict actuation of the driving assistance process, and in response to the entry determiner determining that any one of the own vehicle and the oncoming vehicle is likely to enter the lane of the other, not restrict actuation of the driving assistance process.

公开(公告)号：US20210039636A1

公开(公告)日：2021-02-11

申请号：US17077767

申请日：2020-10-22

Applicant: DENSO CORPORATION

Inventor： Kei KAMIYA ,  Yosuke ITO ,  Toru TAKAHASHI ,  Shogo MATSUNAGA ,  Takaharu OGURI ,  Takahiro BABA ,  Ryo TAKAKI

IPC: B60W30/09 ,  B60W30/095 ,  B60W40/04 ,  B60W40/105 ,  B60W10/18 ,  G06K9/00 ,  G06T7/70

Abstract: In a collision avoidance apparatus for a vehicle, a collision avoidance controller is configured to calculate a movement trajectory of a moving object moving on a road crossing a road that the vehicle is traveling on from a succession of locations of the moving object, calculate a movement trajectory of the vehicle using a speed of the vehicle, determine whether the movement trajectory of the moving object is a trajectory of a moving object likely colliding with the vehicle, and in response to determining that the movement trajectory of the moving object is a trajectory of a moving object likely colliding with the vehicle and that the moving object fails to be recognized by a camera due to a view of the moving object being obstructed, calculate a risk index for determining a collision avoidance measure and employ the collision avoidance measure in dependence upon the risk index.