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公开(公告)号：US10861337B2
公开(公告)日：2020-12-08
申请号：US15562225
申请日：2016-03-24
Applicant: DENSO CORPORATION , TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Akitoshi Minemura , Jun Tsuchida , Masayuki Shimizu
Abstract: A vehicle control apparatus activates a safety device for avoiding a collision of an own vehicle with a target or reducing damage caused by the collision. The vehicle control apparatus sets an activation condition for the safety device. The vehicle control apparatus determines whether each of a plurality of correction conditions for the activation condition is satisfied. The vehicle control apparatus determines whether to activate the safety device on the basis of the activation condition. The vehicle control apparatus sets the activation condition by correcting a reference condition on the basis of a correction value for a satisfied correction condition, and correcting the corrected reference condition on the basis of a correction value (destination correction value) for each destination.
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公开(公告)号：US20180118201A1
公开(公告)日：2018-05-03
申请号：US15562209
申请日：2016-03-08
Applicant: DENSO CORPORATION , TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Syogo Matsunaga , Jun Tsuchida , Ichiro Aizawa
CPC classification number: B60W30/09 , B60R21/0134 , B60T7/12 , B60T7/22 , B60T8/17558 , B60T2201/022 , B60W10/18 , B60W10/30 , B60W30/08 , B60W30/085 , B60W50/14 , B60W2050/143 , B60W2420/42 , B60W2420/52 , B60W2520/10 , B60W2520/14 , B60W2540/18 , B60W2550/10 , G01S7/4026 , G01S7/4972 , G01S13/867 , G01S13/931 , G01S17/023 , G01S17/936 , G01S2007/403 , G01S2007/4091 , G01S2013/9353 , G01S2013/9367 , G01S2013/9375 , G01S2013/9389 , G08G1/16 , G08G1/165 , G08G1/166
Abstract: A driving assistance ECU that serves as a vehicle control apparatus performs traveling control of a vehicle based on a detection result of a radar apparatus that detects a target in the periphery of an own vehicle. An angle calculating unit of the driving assistance ECU calculates an axial misalignment angle that is a misalignment amount of an attachment angle of the radar apparatus by statistically processing angle misalignment information of the radar apparatus acquired at a predetermined cycle. A control processing unit sets the angle misalignment amount of the radar apparatus to a predetermined initial angle until a predetermined initial period elapses after startup, and performs operation restriction on traveling control based on the initial angle. After the initial angle elapses after startup, the operation restriction on traveling control is performed based on a calculation value of the axial misalignment angle.
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公开(公告)号：US10668919B2
公开(公告)日：2020-06-02
申请号：US15562172
申请日：2016-03-29
Applicant: DENSO CORPORATION , TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Toru Takahashi , Yosuke Ito , Jun Tsuchida , Masayuki Shimizu
IPC: B60W30/095 , B60T8/1755 , G06K9/00 , G08G1/16 , B60K31/00 , B60W30/08 , B60T7/22 , B60W30/09 , B60T7/12
Abstract: An object detection apparatus acquires a lateral position which is a relative position of a target to the own vehicle, and determines that a first target is present, as the target, ahead of the own vehicle and that a second target is present between the first target and the own vehicle. The object detection apparatus determines, based on the lateral position of the first target and a limiting value which indicates a width in the lateral direction, whether the first target is present on a traveling course of the own vehicle. The object detection apparatus sets the limiting value such that when the second target is not present, sets as the limiting value, a predetermined reference value, and when the second target is present, sets as the limiting value, a value different from the reference value.
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公开(公告)号：US10573180B2
公开(公告)日：2020-02-25
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
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.
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公开(公告)号：US10481258B2
公开(公告)日：2019-11-19
申请号：US15562194
申请日：2016-03-10
Applicant: DENSO CORPORATION , TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Syogo Matsunaga , Jun Tsuchida , Ichiro Aizawa
IPC: G06F17/10 , G06G7/78 , G08G1/16 , G01S13/93 , B60T7/12 , B60W30/09 , B60T7/22 , B60R21/013 , G01S7/40
Abstract: A driving assist ECU which performs collision avoidance control for the target based on a detection result of a target around an own vehicle by a radar device acquires, at a predetermined cycle, angle deviation information of the radar device in the vertical direction, the angle deviation information being calculated from a detection position of the target, and calculates an axis deviation angle by performing statistical processing of a history of the angle deviation information acquired after activation, the axis deviation angle being a deviation amount of a mounting angle of the radar device in the vertical direction. Until a predetermined initial time period elapses after the activation, a limitation is imposed on the collision avoidance control for, among targets detected by the radar device, a stationary target which is a target corresponding to a stationary object.
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Patent Agency Ranking
公开(公告)号：US20180154892A1
公开(公告)日：2018-06-07
申请号：US15578662
申请日：2016-05-31
Applicant: DENSO CORPORATION , TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Kei Tamura , Yosuke Ito , Akitoshi Minemura , Jun Tsuchida , Masayuki Shimizu
IPC: B60W30/095 , B60W50/14 , G06K9/00
CPC classification number: B60W30/0956 , B60W50/14 , G01S7/41 , G01S13/867 , G01S13/931 , G01S2013/9346 , G06K9/00791 , G06K9/00805 , G08G1/166
Abstract: A vehicle control apparatus accumulates a history of timings of avoidance operations performed by a driver of with respect to objects that are at prescribed distances ahead of a host vehicle, and calculates a distribution of the timings of the avoidance operations. Based on the distribution of the timings of the avoidance operations, the vehicle control apparatus sets the output timing of a warning to the driver such that interference does not occur between the avoidance operation and an avoidance operation that is actually performed by the driver, and furthermore the vehicle control apparatus judges the risk of a collision with the host vehicle, with the judgement based on the position of an object that is ahead of the host vehicle, and changes the output timing of the warning based on results of the judgement of risk.
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公开(公告)号：US20180118202A1
公开(公告)日：2018-05-03
申请号：US15562284
申请日：2016-03-29
Applicant: DENSO CORPORATION , TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Naotsugu Shimizu , Toru Takahashi , Jun Tsuchida , Masayuki Shimizu
CPC classification number: B60W30/09 , B60T7/12 , B60T7/22 , B60T8/17558 , B60T2201/024 , B60W10/18 , B60W10/20 , B60W30/08 , B60W50/14 , B60W2510/18 , B60W2510/205 , B60W2520/10 , B60W2520/14 , B60W2540/18 , B60W2550/10 , B62D6/00 , G06K9/00805 , G08G1/166
Abstract: A vehicle control apparatus acquires a relative position of an object to an own vehicle, the object being located ahead of the own vehicle in a traveling direction. The vehicle control apparatus acquires yaw rate information including at least one value of a yaw rate and a yaw rate differential value of the own vehicle. The vehicle control apparatus acquires steering information including at least one value of a steering angle and a steering angle speed of the own vehicle. The vehicle control apparatus activates, on a basis of the relative position, a safety unit for avoiding a collision with the object. In the case where an absolute value of the yaw rate information is greater than a first threshold and an absolute value of the steering information is greater than a second threshold, the vehicle control apparatus causes the safety unit to be less likely to be activated.
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公开(公告)号：US20180079408A1
公开(公告)日：2018-03-22
申请号：US15562172
申请日：2016-03-29
Applicant: DENSO CORPORATION , TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Toru Takahashi , Yosuke Ito , Jun Tsuchida , Masayuki Shimizu
IPC: B60W30/095 , B60W30/09
Abstract: An object detection apparatus acquires a lateral position which is a relative position of a target to the own vehicle, and determines that a first target is present, as the target, ahead of the own vehicle and that a second target is present between the first target and the own vehicle. The object detection apparatus determines, based on the lateral position of the first target and a limiting value which indicates a width in the lateral direction, whether the first target is present on a traveling course of the own vehicle. The object detection apparatus sets the limiting value such that when the second target is not present, sets as the limiting value, a predetermined reference value, and when the second target is present, sets as the limiting value, a value different from the reference value.
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9.发明申请公开(公告)号：US20170210360A1
公开(公告)日：2017-07-27
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
CPC classification number: B60T7/22 , B60R21/0134 , B60T2201/02 , B60T2201/022 , G08G1/16
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.
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公开(公告)号：US09290172B2
公开(公告)日：2016-03-22
申请号：US14260660
申请日：2014-04-24
Applicant: DENSO CORPORATION
Inventor： Norio Tsuchida , Jun Tsuchida , Masayuki Shimizu
IPC: G06F17/10 , G05B23/02 , B60W10/184 , B60W10/20 , B60W30/09 , B60W30/095 , B60W30/085 , B60W30/18
CPC classification number: B60W10/184 , B60W10/20 , B60W30/085 , B60W30/09 , B60W30/095 , B60W30/18163
Abstract: A collision mitigation device sets an actuation condition indicating a condition for actuating a collision mitigating section configured to mitigate collision damage when an own vehicle is in a collision. A target object is positioned near the own vehicle and detected. The collision mitigating section is actuated when a positional relationship between the own vehicle and the target object meets the actuation condition. The collision mitigation device recognizes an own vehicle traveling segment that indicates a traveling segment of a road on which the own vehicle is traveling, and recognizes whether or not the target object is present within the own vehicle traveling segment. The actuation condition is relaxed in such a manner that the collision mitigating section is more easily actuated when the target object is present within the own vehicle traveling segment, compared to when the target object is not present within the own vehicle traveling segment.
Abstract translation: 碰撞缓解装置设置指示用于启动碰撞缓解部分的状态的致动条件，所述状态被配置为当本车辆处于碰撞时减轻碰撞损坏。 目标对象位于本车附近并被检测。 当本车和目标物体之间的位置关系满足致动条件时，冲击缓解部分被致动。 碰撞缓解装置识别表示本车辆行驶的道路的行驶段的本车行驶区间，并且识别目标对象是否存在于本车行驶区段内。 与目标物体不在本车辆行驶段内的情况相比，致动条件被放宽，使得当目标物体存在于自身车辆行驶段内时，更容易地起动碰撞缓解部。
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