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    Vehicle control apparatus and vehicle control method
    11.
    发明授权
    Vehicle control apparatus and vehicle control method 有权

    公开(公告)号：US10688988B2

    公开(公告)日：2020-06-23

    申请号：US15562371

    申请日：2016-03-29

    Applicant: DENSO CORPORATION ,  TOYOTA JIDOSHA KABUSHIKI KAISHA

    Inventor： Yosuke Ito ,  Akitoshi Minemura ,  Jun Tsuchida ,  Masayuki Shimizu

    IPC: B60W30/09 ,  G08G1/16 ,  G01S13/93 ,  B60W30/095 ,  B60K31/00 ,  G06K9/62 ,  G06K9/00 ,  G01S13/931 ,  G01S13/86

    Abstract: A vehicle control apparatus is provided which includes position detecting means for detecting a position of a detected target using reflection information derived from a radar device 21, first determining means for determining whether the detected target is expected to be an obstacle not based on an intensity of a received reflected wave contained in the reflection information, and second determining means for determining whether an obstacle exists at the position, as detected by the position detecting means, or not using the image information. When the second determining means determines that the obstacle exists, and when a distance between an own vehicle and the detected target is smaller than a given threshold value, the detected target is determined as a target with which collision should be avoided regardless of a result of determination made by the first determining means. Alternatively, when the distance to the detected target is greater than the given threshold value, and when the first determining means determines that the detected target is expected to be the obstacle, the detected target is determined as a target with which collision should be avoided. This minimizes an unnecessary operation in control to avoid the collision when it is determined whether the target is an obstacle to movement of the own vehicle or not.

    Object existence determination method and apparatus
    12.
    发明授权
    Object existence determination method and apparatus 有权

    公开(公告)号：US10559205B2

    公开(公告)日：2020-02-11

    申请号：US15562369

    申请日：2016-03-31

    Applicant: DENSO CORPORATION ,  TOYOTA JIDOSHA KABUSHIKI KAISHA

    Inventor： Akitoshi Minemura ,  Yosuke Ito ,  Jun Tsuchida ,  Hitoshi Yuasa

    IPC: G08G1/16 ,  B60Q9/00 ,  B60T7/22

    Abstract: A setting unit of an object existence determination apparatus sets an object-existence determination region with a lateral width in the travelling direction of an own vehicle using a lateral speed of a target object and a determination result by a straight-travel determining unit. An existence determining unit determines, based on the lateral position of the target object and the object-existence determination region, whether there is a possibility of at least part of the target object existing on a travelling course of the own vehicle. The setting unit sets the lateral width of the object existence determination region to be larger as the lateral speed becomes higher, and sets, upon determination that the own vehicle is not travelling straight, the lateral width of the object existence determination region to be smaller than the lateral width of the object-existence determination region used when the own vehicle is travelling straight.

    Estimated time-to-collision (TTC) calculation apparatus and estimated TTC calculation method
    13.
    发明授权
    Estimated time-to-collision (TTC) calculation apparatus and estimated TTC calculation method 有权

    公开(公告)号：US10384658B2

    公开(公告)日：2019-08-20

    申请号：US15500511

    申请日：2015-08-03

    Applicant: DENSO CORPORATION ,  TOYOTA JIDOSHA KABUSHIKI KAISHA

    Inventor： Yosuke Ito ,  Yukihiko Yamada ,  Akitoshi Minemura ,  Jun Tsuchida ,  Masayuki Shimizu

    IPC: B60T7/22 ,  G08G1/16 ,  B60R21/0134

    Abstract: An estimated time-to-collision (TTC) calculation apparatus includes a distance acquisition unit, relative velocity acquisition unit, relative acceleration acquisition unit, and estimated TTC calculation unit. The distance acquisition unit acquires a distance X between the own vehicle and an object. The relative velocity acquisition unit acquires a relative velocity V of the object with respect to the own vehicle. The relative acceleration acquisition unit acquires a relative acceleration β of the object with respect to the own vehicle. The estimated TTC calculation unit calculates an estimated TTC t until the own vehicle collides with the object. In this apparatus and method, the estimated TTC calculation unit calculates t, based on the distance X and the relative velocity V, when the own vehicle is accelerating, and when the own vehicle is decelerating, calculates t based on the distance X, the relative velocity V, and the relative acceleration β.

    OBJECT EXISTENCE DETERMINATION METHOD AND APPARATUS
    14.
    发明申请
    OBJECT EXISTENCE DETERMINATION METHOD AND APPARATUS 审中-公开

    公开(公告)号：US20180114442A1

    公开(公告)日：2018-04-26

    申请号：US15562369

    申请日：2016-03-31

    Applicant: DENSO CORPORATION ,  TOYOTA JIDOSHA KABUSHIKI KAISHA

    Inventor： Akitoshi Minemura ,  Yosuke Ito ,  Jun Tsuchida ,  Hitoshi Yuasa

    IPC: G08G1/16 ,  B60T7/22 ,  B60Q9/00

    Abstract: A setting unit of an object existence determination apparatus sets an object-existence determination region with a lateral width in the travelling direction of an own vehicle using a lateral speed of a target object and a determination result by a straight-travel determining unit. An existence determining unit determines, based on the lateral position of the target object and the object-existence determination region, whether there is a possibility of at least part of the target object existing on a travelling course of the own vehicle. The setting unit sets the lateral width of the object existence determination region to be larger as the lateral speed becomes higher, and sets, upon determination that the own vehicle is not travelling straight, the lateral width of the object existence determination region to be smaller than the lateral width of the object-existence determination region used when the own vehicle is travelling straight.

    Collision mitigation apparatus
    15.
    发明授权
    Collision mitigation apparatus 有权
    碰撞缓解装置

    公开(公告)号：US09150223B2

    公开(公告)日：2015-10-06

    申请号：US14276201

    申请日：2014-05-13

    Applicant: DENSO CORPORATION ,  Toyota Jidosha Kabushiki Kaisha

    Inventor： Akitoshi Minemura ,  Norio Tsuchida ,  Akira Isogai ,  Jun Tsuchida ,  Masayuki Shimizu

    IPC: G01C22/00 ,  B60W50/04 ,  B60T7/22 ,  B60W30/09 ,  B60W30/095 ,  B60W30/085 ,  B60W50/02

    CPC classification number: B60W50/04 ,  B60T7/22 ,  B60T2201/024 ,  B60W30/085 ,  B60W30/09 ,  B60W30/095 ,  B60W2050/0215 ,  B60W2420/42 ,  B60W2420/52

    Abstract: A collision mitigation apparatus includes an object detecting section for detecting a collision object present in front of an own vehicle on which the collision mitigation apparatus is mounted, a drive assisting section that performs drive assist for avoiding a collision between the collision object detected by the object detecting section and the own vehicle, or mitigate damage to the own vehicle due to the collision, a reliability determining section for determining reliability of detection result of the object detecting section, and a timing setting section for setting start timing to start the drive assist by the drive assisting section in accordance with the reliability determined by the reliability determining section.

    Abstract translation: 碰撞缓解装置包括：物体检测部，用于检测存在于其上安装有碰撞缓解装置的本车辆前方的碰撞对象;驾驶辅助部，其执行用于避免由所述对象检测到的所述碰撞对象之间的碰撞的驾驶辅助 检测部分和本车辆，或者减轻由于碰撞而对本车辆造成的损坏的可靠性判定部分，用于确定物体检测部分的检测结果的可靠性的可靠性确定部分，以及用于设定开始定时以开始驾驶辅助的定时设定部分 所述驱动辅助部根据由所述可靠性确定部确定的可靠性。

    VEHICLE CONTROL APPARATUS AND VEHICLE CONTROL METHOD
    19.
    发明申请
    VEHICLE CONTROL APPARATUS AND VEHICLE CONTROL METHOD 审中-公开

    公开(公告)号：US20180118204A1

    公开(公告)日：2018-05-03

    申请号：US15562371

    申请日：2016-03-29

    Applicant: DENSO CORPORATION ,  TOYOTA JIDOSHA KABUSHIKI KAISHA

    Inventor： Yosuke Ito ,  Akitoshi Minemura ,  Jun Tsuchida ,  Masayuki Shimizu

    IPC: B60W30/09 ,  G08G1/16 ,  G01S13/93

    Abstract: A vehicle control apparatus is provided which includes position detecting means for detecting a position of a detected target using reflection information derived from a radar device 21, first determining means for determining whether the detected target is expected to be an obstacle not based on an intensity of a received reflected wave contained in the reflection information, and second determining means for determining whether an obstacle exists at the position, as detected by the position detecting means, or not using the image information. When the second determining means determines that the obstacle exists, and when a distance between an own vehicle and the detected target is smaller than a given threshold value, the detected target is determined as a target with which collision should be avoided regardless of a result of determination made by the first determining means. Alternatively, when the distance to the detected target is greater than the given threshold value, and when the first determining means determines that the detected target is expected to be the obstacle, the detected target is determined as a target with which collision should be avoided. This minimizes an unnecessary operation in control to avoid the collision when it is determined whether the target is an obstacle to movement of the own vehicle or not.

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