公开(公告)号：US20200010082A1

公开(公告)日：2020-01-09

申请号：US16458701

申请日：2019-07-01

Applicant: DENSO CORPORATION

Inventor： Shogo MATSUNAGA

IPC: B60W30/12 ,  B60W30/095 ,  G08G1/16

Abstract: A travelling assist apparatus executing a collision avoidance control between other vehicle and an own vehicle is provided with an approach determination unit determining whether the other vehicle will enter an own lane from an adjacent lane of the own lane; a passing determination unit determining whether the other vehicle is able to pass across the own lane; an interruption determination unit determining whether the other vehicle interrupts the own lane; and a collision avoidance unit executing the collision avoidance control under a condition where the interruption determination unit determines that the other vehicle interrupts the own lane and the passing determination unit determines that the other vehicle is able to pass across the own lane, and executes the collision avoidance control regardless of a determination of the interruption determination unit, when the passing determination unit determines that the other vehicle is unable to pass across the own lane.

公开(公告)号：US20190001973A1

公开(公告)日：2019-01-03

申请号：US16065467

申请日：2016-12-22

Applicant: DENSO CORPORATION

Inventor： Shogo MATSUNAGA

IPC: B60W30/095 ,  G08G1/16

Abstract: In a driving support device for a vehicle, a collision prediction unit uses a determination plane defined by a lateral position axis indicating a position with respect to a vehicle in a lateral direction orthogonal to a vehicle traveling direction, and a prediction time period axis indicating a time-to-collision set in the vehicle traveling direction. Specifically, the collision prediction unit establishes a first collision prediction area as an area in the determination plane. The collision prediction unit determines whether an object is present in the first collision prediction area. Based on this determination, the collision prediction unit predicts a collision between the vehicle and the object. The width of the first collision prediction area along the lateral position axis is set based on the width of the vehicle. The lateral position of the first collision prediction area is set based on the speed of the object and the time-to-collision.

公开(公告)号：US20210114590A1

公开(公告)日：2021-04-22

申请号：US17138060

申请日：2020-12-30

Applicant: DENSO CORPORATION

Inventor： Shogo MATSUNAGA

IPC: B60W30/09 ,  B60W30/095 ,  B60W10/20 ,  G05D1/02

Abstract: A collision determination device includes: an own vehicle region calculation unit that calculates an own vehicle presence region for each predetermined time on an estimated route of the own vehicle in a two-dimensional coordinate system defined by a distance in an own vehicle traveling direction and a distance in a vehicle width direction of the own vehicle at a current time;
an own vehicle information calculation unit that calculates an own vehicle solid by interpolating the calculated own vehicle presence region for each predetermined time in a three-dimensional coordinate system defined by the distance in the own vehicle traveling direction, the distance in the vehicle width direction, and elapsed time from the current time, the own vehicle solid being a solid showing change of the own vehicle presence region; a movement path calculation unit that calculates a movement path of the object in the three-dimensional coordinate system on the basis of a position of the object detected by the object detection device; and a determination unit that determines whether the object will collide with the own vehicle on the basis of whether the calculated own vehicle solid intersects the calculated movement path of the object.

公开(公告)号：US20190073906A1

公开(公告)日：2019-03-07

申请号：US16117517

申请日：2018-08-30

Applicant: DENSO CORPORATION ,  TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Shogo MATSUNAGA ,  Masayasu TANASE

IPC: G08G1/16

Abstract: A driving support apparatus mounted on a vehicle, performing a driving support control includes: other vehicle determining unit that determines whether other vehicle moves towards a present lane where the own vehicle runs from an adjacent lane; an acquiring unit that acquires a tip end lateral position of other vehicle in the present lane side, among lateral positions of the other vehicle in a direction perpendicular to a travelling direction of the own vehicle; an object determination unit that determines, based on a movement or a predicted movement of the tip end lateral position into the present lane from the adjacent lane, the other vehicle to be an object of a driving support control, and determining, based on no-movement of the tip end lateral position, the other vehicle not to be an object of a driving support control.

公开(公告)号：US20180370529A1

公开(公告)日：2018-12-27

申请号：US16065516

申请日：2016-12-23

Applicant: DENSO CORPORATION

Inventor： Shogo MATSUNAGA

IPC: B60W30/09 ,  G08G1/16 ,  B60W50/14 ,  B60W10/18 ,  B60W10/20

Abstract: A driving support device is mounted to a vehicle. The driving support device includes an object detection unit that detects an object moving in a direction crossing the traveling direction of the vehicle, a collision prediction unit, a support execution unit, an acceleration calculation unit, and a prohibition unit. The collision prediction unit predicts a collision between the object detected by the object detection unit and the vehicle. When the collision prediction unit predicts a collision between the object and the vehicle, the support execution unit performs driving support for reducing the risk of a collision of the vehicle. The acceleration calculation unit calculates the acceleration of the object. When the calculated acceleration has become more negative than a negative threshold, the prohibition unit prohibits the support execution unit from performing the driving support with respect to the object.

公开(公告)号：US20180174461A1

公开(公告)日：2018-06-21

申请号：US15736661

申请日：2016-06-16

Applicant: DENSO CORPORATION ,  TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Yosuke ITO ,  Akitoshi MINEMURA ,  Shogo MATSUNAGA ,  Jun TSUCHIDA ,  Masayuki SHIMIZU ,  Wataru IKE

IPC: G08G1/16 ,  G08G1/01 ,  B60T7/22 ,  B60T8/172

CPC classification number: G08G1/166 ,  B60R21/00 ,  B60R21/0134 ,  B60T7/22 ,  B60T8/17 ,  B60T8/172 ,  B60T2201/022 ,  B60W30/09 ,  B60W30/0953 ,  B60W30/0956 ,  B60W2050/143 ,  B60W2420/403 ,  B60W2420/42 ,  B60W2420/52 ,  B60W2550/10 ,  B60W2550/30 ,  B60W2550/308 ,  G01S13/867 ,  G01S13/931 ,  G08G1/0137 ,  G08G1/04 ,  G08G1/052 ,  G08G1/16

Abstract: A vehicle control device generates a fusion target by fusion of a radar target of an object ahead of the own vehicle acquired as a reflected wave of a carrier wave and an image target of the object acquired by image processing of an acquired image of a region ahead of the own vehicle and performs vehicle control of the own vehicle for the object detected as the fusion target. The vehicle control device determines whether a state where the object is detected with the fusion target has transitioned to a state where the object is detected with only the radar target; determines whether a distance to the object is a predetermined short distance when the state is determined to have transitioned to the state where the object is detected with only the radar target; and performs the vehicle control for to the object when the distance to the object is determined to be the predetermined short distance.