公开(公告)号：US09463795B2

公开(公告)日：2016-10-11

申请号：US14690747

申请日：2015-04-20

Applicant: DENSO CORPORATION

Inventor： Akitoshi Minemura ,  Masayoshi Takeda ,  Yuusuke Matsumoto ,  Taku Sakima ,  Naoki Kawasaki ,  Syunya Kumano

IPC: B60T7/12 ,  G05D1/00 ,  G06F7/00 ,  G06F17/00 ,  B60W30/08 ,  B60Q9/00 ,  B60T7/22

CPC classification number: B60W30/09 ,  B60Q9/008 ,  B60T7/12 ,  B60T7/22 ,  B60T2201/022 ,  B60W30/08 ,  B60W2420/42

Abstract: A driving support apparatus installed in a host vehicle calculates an overlap ratio relating to a target object positioned ahead of the host vehicle within the same traffic lane, as the ratio of the width of the target object to its lateral distance from a lane marker line of the traffic lane, and also detects the motion condition of the object (i.e., stationary, moving towards, or in the same direction as the host vehicle, or moving laterally with respect to the forward direction of the host vehicle). An amount of compensation for retarding or advancing the commencement of a collision avoidance operation by the driving support apparatus is determined based on the overlap ratio and/or the motion condition of the target object.

Abstract translation: 安装在主车辆中的驾驶辅助装置计算与位于同一行车道内的本车辆前方的目标物体相关的重叠率，作为目标对象的宽度与其距离车道标记线的横向距离的比率 并且还检测物体的运动状况（即，静止，朝向或与主车辆相同的方向移动，或者相对于主车辆的向前方向横向移动）。 基于目标对象的重叠比和/或运动条件来确定用于延迟或推进驾驶辅助装置的避碰操作开始的补偿量。

公开(公告)号：US09418302B2

公开(公告)日：2016-08-16

申请号：US14471372

申请日：2014-08-28

Applicant: DENSO CORPORATION

Inventor： Akitoshi Minemura ,  Taku Sakima ,  Yuusuke Matsumoto ,  Masayoshi Takeda

IPC: G06K9/00 ,  G06K9/62

CPC classification number: G06K9/00798 ,  G06K9/6217

Abstract: A method and an apparatus are provided to recognize a shape of a road on which a vehicle is traveling. Road edge shapes on a left side and a right side of the vehicle are recognized, from positions of roadside objects detected based on detection information from an on-board radar. Lane shapes that are shapes of lane boundary lines on the left side and the right side of the vehicle are recognized, from positions of lane boundary lines detected based on an image captured by an on-board camera. For each of the left side and the right side, such that the recognized road edge shape and the recognized lane shape are compared with each other, and the road shape is identified based on the comparison results.

Abstract translation: 提供了一种用于识别车辆行驶的道路的形状的方法和装置。 根据来自车载雷达的检测信息检测到的路边物体的位置，识别出车辆左侧和右侧的路边形状。 从基于车载摄像机拍摄的图像检测的车道边界线的位置识别作为车辆左侧和右侧的车道边界线形状的车道形状。 对于左侧和右侧的每一个，使得识别的路边形状和识别的车道形状彼此进行比较，并且基于比较结果来识别道路形状。

公开(公告)号：US09302673B2

公开(公告)日：2016-04-05

申请号：US14594429

申请日：2015-01-12

Applicant: DENSO CORPORATION

Inventor： Taku Sakima ,  Yuusuke Matsumoto ,  Syunya Kumano ,  Naoki Kawasaki

IPC: B60W30/165

CPC classification number: B60W30/165 ,  B60W30/16 ,  B60W2550/22 ,  B60W2550/302 ,  B60W2550/308

Abstract: In an apparatus for controlling a vehicle to track another vehicle, a controller causes the controlled vehicle to track one of other vehicles as a target vehicle if one of the other vehicles meets a target-vehicle selecting condition. The target-vehicle selecting condition is required for selecting one of the other vehicles as the target vehicle. The controller recognizes an environment of a predicted travel road on which the controlled vehicle is predicted to travel using conditions of the predicted travel lane. The controller determines whether the predicted travel road allows lane changes based on the recognized environment of the predicted travel road. The controller adjusts the target-vehicle selecting condition based on a result of the determination.

Abstract translation: 在用于控制车辆跟踪另一车辆的装置中，如果其他车辆中的一个满足目标车辆选择条件，则控制器使得受控车辆跟踪作为目标车辆的其他车辆之一。 需要目标车辆选择条件来选择其他车辆之一作为目标车辆。 控制器使用预测行驶车道的条件来识别预测行驶路线的环境，在该环境中控制车辆被预测行驶。 控制器基于所预测的行驶道路的识别环境来确定预测行驶道路是否允许车道变更。 控制器基于确定的结果来调整目标车辆选择条件。

公开(公告)号：US09290178B2

公开(公告)日：2016-03-22

申请号：US14228442

申请日：2014-03-28

Applicant: DENSO CORPORATION

Inventor： Taku Sakima ,  Akira Isogai

IPC: B60Q1/00 ,  B60W30/09 ,  G08G1/16

CPC classification number: B60W30/09 ,  B60W30/08 ,  B60W30/095 ,  B60W30/0953 ,  B60W30/0956 ,  B60W2550/10 ,  G08G1/165 ,  G08G1/166

Abstract: A driving support system detects a target area ahead of the vehicle, a position or a moving direction, etc. of an object such as a pedestrian or another vehicle by using a camera or radar, as well as determines a probability of collision between the own vehicle and the object based on the position, etc. of the object, and performs a driving support for avoiding the collision when the probability of the collision is high. Further, a sensitivity of determination is set high when the object remains in the target area, or when the object is moving towards the target area, while the sensitivity is set low when the object is not present in the target area, or the object is moving away from the target area.

Abstract translation: 驾驶辅助系统通过使用相机或雷达来检测车辆前方的目标区域，诸如行人或其他车辆的物体的位置或移动方向等，并且确定自身的碰撞概率 基于物体的位置等对车辆和物体进行处理，并且当碰撞的概率高时，执行用于避免碰撞的驾驶支持。 此外，当物体保持在目标区域中时，或者当物体朝向目标区域移动时，将灵敏度设定为高，同时当目标区域中不存在物体时灵敏度设定为低，或者物体为 远离目标区域。