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：US20190315349A1

公开(公告)日：2019-10-17

申请号：US16383997

申请日：2019-04-15

Applicant: DENSO CORPORATION

Inventor： Ryo TAKAKI

IPC: B60W30/09 ,  B60W30/095

Abstract: A collision determination apparatus is mounted to an own vehicle. The collision determination apparatus includes an object detection sensor, an estimating unit, a recognizing unit, and an operation changing. The object detection sensor detects an object that is present ahead of the own vehicle. The estimating unit estimates a likelihood of collision between the own vehicle and the object detected by the object detection sensor. The recognizing unit recognizes that the object exhibits a behavior to avoid being rear-ended by the own vehicle. The operation changing unit changes an operation that is performed to avoid colliding with the object, when the likelihood of collision estimated by the estimating unit and the behavior exhibited by the object recognized by the recognizing unit meet a predetermined condition.

公开(公告)号：US20190106101A1

公开(公告)日：2019-04-11

申请号：US16086161

申请日：2017-02-22

Applicant: DENSO CORPORATION

Inventor： Ryo TAKAKI

IPC: B60W30/09 ,  B60W40/04 ,  B60W40/068 ,  B60W40/105 ,  B60T7/12 ,  B60T8/172

Abstract: A vehicle control ECU calculates an absolute velocity of an object from a vehicle velocity and a relative velocity of the object, and performs collision avoidance control with respect to the object based on the calculated absolute velocity. The vehicle control ECU includes a brake determination unit that determines whether a brake device in the vehicle has been activating in a period during which the absolute velocity is calculated, and a calculation unit that, after the activation of the brake device, calculates a current value of the vehicle velocity based on a previous value of the vehicle velocity and an assumed deceleration amount determined from an assumed activation amount that can be generated by the brake device.

公开(公告)号：US20190103025A1

公开(公告)日：2019-04-04

申请号：US16086786

申请日：2017-02-22

Applicant: DENSO CORPORATION

Inventor： Ryo TAKAKI

IPC: G08G1/16 ,  G06K9/00 ,  B60W30/09 ,  G01S13/93 ,  H04N7/18

Abstract: An ECU comprises: an acquisition unit configured to acquire two end positions of an object in a lateral direction of an own vehicle in an image captured by a camera sensor; a calculation unit configured to calculate a movement track of the object in the lateral direction of the own vehicle based on at least a center position of the acquired two end positions in the lateral direction of the own vehicle; and a determination unit configured to determine whether or not the acquisition unit has acquired, as the two end positions, both a moving end point whose position changes in the captured image and a fixed end point whose position does not change in the captured image. The calculation unit calculates the movement track based on the moving end point when it is determined that the acquisition unit has acquired the moving end point and the fixed end point.

公开(公告)号：US20190100140A1

公开(公告)日：2019-04-04

申请号：US16086822

申请日：2017-03-14

Applicant: DENSO CORPORATION

Inventor： Ryo TAKAKI

IPC: B60Q9/00 ,  G06K9/00 ,  G01S13/93 ,  G01S13/86 ,  G01S13/89

Abstract: An ECU detects a front vehicle which is present in a traveling direction of the own vehicle, based on an image captured by an imaging unit. The ECU includes: an end portion width calculation section which, when the front vehicle is present, calculates, as an end portion lateral width, a size of the front vehicle in a lateral direction relative to the traveling direction in a front-end or rear-end portion of the front vehicle, based on the image and dictionary information on a vehicle front or rear portion; a determination section which determines whether a side portion of the front vehicle is recognized in the traveling direction of the own vehicle; and a lateral width correction section which, if the determination section has determined that the side portion of the front vehicle is recognized, calculates a corrected lateral width by increasing the end portion lateral width.

公开(公告)号：US20190073907A1

公开(公告)日：2019-03-07

申请号：US16120778

申请日：2018-09-04

Applicant: DENSO CORPORATION

Inventor： Ryo TAKAKI

IPC: G08G1/16 ,  G08G1/01 ,  B60W50/14 ,  B60W10/18 ,  B60W10/20 ,  B60W30/09 ,  B60W30/14

Abstract: In a cruise assist control apparatus, a controller controls a cruise assist unit in a pedestrian assist mode upon it being determined that a target object is detected around a vehicle and recognized as a pedestrian. The controller determines whether a similar object that is similar to a pedestrian is located close to the target object upon it being determined that the target object is detected around the vehicle and recognized as a pedestrian. The controller maintains the pedestrian assist mode for a predetermined maintenance period even upon it being determined that the recognized pedestrian is not detected by a determiner. The controller alters at least one parameter of the pedestrian assist mode based on whether a similar object is located close to the target object.

公开(公告)号：US20180178786A1

公开(公告)日：2018-06-28

申请号：US15738513

申请日：2016-05-24

Applicant: DENSO CORPORATION

Inventor： Ryo TAKAKI

IPC: B60W30/095 ,  B60R1/00 ,  G08G1/16

CPC classification number: B60W30/0956 ,  B60R1/00 ,  B60R22/00 ,  B60R2300/301 ,  B60R2300/8093 ,  B60T7/12 ,  B60T7/22 ,  B60W2550/10 ,  B60Y2300/0954 ,  G08G1/16 ,  G08G1/166

Abstract: Based on a detection information from a plurality of sensors detecting a surrounding object in different fashions, a vehicle control apparatus configured to perform vehicle control for avoiding or mitigating a collision with the object determines an occurrence of a detection capability impaired state in which a detection capability for detecting the object is impaired at any of sensors, based on the detection information about the sensor or the other sensors. The vehicle control apparatus shortens an actuation time until implementing the vehicle control, in comparison with a time when the sensor detects the object without causing the detection capability impaired state, if the object is detected by the sensor in which the detection capability impaired state has been eliminated within a predetermined time after determining that the detection capability impaired state has been eliminated.

公开(公告)号：US20170227634A1

公开(公告)日：2017-08-10

申请号：US15501786

申请日：2015-08-04

Applicant: DENSO CORPORATION ,  TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Yusuke MATSUMOTO ,  Ryo TAKAKI ,  Akira ISOGAI ,  Ichiro AIZAWA ,  Jun TSUCHIDA ,  Koichi SATO

IPC: G01S13/86 ,  G01S17/93 ,  G01S13/93 ,  G01S17/02 ,  G06K9/78 ,  G06K9/00 ,  G06T7/246 ,  G06K9/03 ,  G06K9/62 ,  G01S7/41 ,  G06K9/20

Abstract: A vehicle as a moving body is provided with an imaging device as first object detecting means and a radar apparatus as second object detecting means. The object recognition apparatus is provided with axis displacement learning means for learning an axis displacement of the reference axis X1 of the first object detecting means; axis displacement determining means for performing, based on an object detecting result of the first object detecting means and the second object detecting means, an axis displacement determination process for determining whether or not an axis displacement has occurred in the reference axis of the second object detecting means; and disabling means for disabling, based on a learning result of the axis displacement by the axis displacement learning means, information about an axis displacement of the second object detecting means acquired by the axis displacement determination process.