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：US20230286498A1

公开(公告)日：2023-09-14

申请号：US18319315

申请日：2023-05-17

Applicant: DENSO CORPORATION

Inventor： Takaharu OGURI ,  Jin KURUMISAWA

IPC: B60W30/09 ,  B60W30/16 ,  G06V20/58 ,  G06V20/56

CPC classification number: B60W30/09 ,  B60W30/16 ,  G06V20/58 ,  G06V20/588 ,  B60W2420/42 ,  B60W2552/53 ,  B60W2554/801

Abstract: A traveling support device is applied to a vehicle equipped with an imaging device and performs a traveling support control on an own vehicle based on an image captured by the imaging device. The traveling support device includes: a recognizer that recognizes, based on the image, a forward object located ahead of the own vehicle in a direction of travel and a boundary portion located on each of left and right sides of a road on which the own vehicle is traveling; an angular width calculator that calculates an object point, which indicates a predetermined portion of the forward object, and a boundary point, which is on the boundary portion, on one line extending along the width of the own vehicle in the image and calculates, for the object point and the boundary point, an angular width based on an origin defined in the image; an obtainer that obtains distance information indicating a distance to the predetermined portion of the forward object; a lateral distance calculator that calculates, based on the angular width calculated by the angular width calculator and the distance information, a lateral distance between the predetermined portion of the forward object and the boundary portion along the width of the own vehicle; and a controller that performs the traveling support control to the forward object based on the lateral distance.

公开(公告)号：US20210370931A1

公开(公告)日：2021-12-02

申请号：US17399868

申请日：2021-08-11

Applicant: DENSO CORPORATION

Inventor： Hiroya SANNOMIYA ,  Takaharu OGURI

IPC: B60W30/095 ,  B60W30/09 ,  B60W30/18 ,  B60W40/04 ,  B60W50/00 ,  G06K9/00

Abstract: A driving assistance device performs collision avoidance control for avoidance of a collision between a vehicle and an object being around the vehicle and detected by an object detector, the collision avoidance control being performed based on collision determination as to a collision between the object and the vehicle. The driving assistance device includes: an object sensing section that senses an object around the vehicle; a blind spot area setting section that sets a blind spot area at an area positioned in the vehicle's blind spot blocked by an obstacle sensed by the object sensing section; an early determination area setting section that sets an early determination area including the blind spot area and extended therefrom; and a collision determination section that accelerates the collision determination for an object sensed in the early determination area, compared with the collision determination for an object sensed outside the early determination area.

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：US20230182728A1

公开(公告)日：2023-06-15

申请号：US18166385

申请日：2023-02-08

Applicant: DENSO CORPORATION

Inventor： Takuma YAMAUCHI ,  Kei KAMIYA ,  Takaharu OGURI

IPC: B60W30/095 ,  B60W30/09

CPC classification number: B60W30/0956 ,  B60W30/09 ,  B60W2554/80 ,  B60W2554/4041 ,  B60W2554/4044 ,  B60W2554/402

Abstract: A collision determination apparatus is provided. The collision determination apparatus is provided with an acquiring unit that acquires a posture and movement characteristics of an object to be determined whether a collision risk is present; and a reliability determination unit that determines a reliability of the movement characteristics using the posture and the movement characteristics acquired by the acquiring unit.

公开(公告)号：US20210070287A1

公开(公告)日：2021-03-11

申请号：US16952608

申请日：2020-11-19

Applicant: DENSO CORPORATION

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

IPC: B60W30/095 ,  B60W50/00

Abstract: A traveling assistance apparatus controls a safety apparatus for avoiding collision between an own vehicle and an object, based on detection information from an object detection apparatus. The assistance apparatus calculates a predicted time to collision of a target object and the own vehicle, and operates the safety apparatus in response to the predicted time to collision being equal to or less than a predetermined operation timing. In response to a steering operation by a driver for collision avoidance of the own vehicle being performed, the assistance apparatus performs operation-stop in which operation of the safety apparatus is stopped or operation-delay in which the operation timing is delayed. The assistance apparatus suppresses the operation-stop or the operation-delay in response to a target object serving as a collision avoidance target being recognized in a path of the own vehicle after the steering operation by the driver, based on the detection information.

公开(公告)号：US20200262421A1

公开(公告)日：2020-08-20

申请号：US16869529

申请日：2020-05-07

Applicant: DENSO CORPORATION ,  TOYOTA JIDOSHA KABUSHIKI KAISHA

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

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

Abstract: When a vehicle is stopped in an intersection by automatic emergency braking, secondary braking is prohibited in S305, a hazard lamp flashes in S310, and an idling stop is prohibited in S320. After it is determined in S325 that the vehicle is stopped, when it is determined in S330 that it is safe for the vehicle to start moving, stop maintenance braking is released in S340.

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：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.