公开(公告)号：US20190061748A1

公开(公告)日：2019-02-28

申请号：US16079333

申请日：2017-02-13

Applicant: DENSO CORPORATION

Inventor： Takahiro BABA

IPC: B60W30/095 ,  G06K9/00 ,  B60W30/09 ,  B60W50/14

Abstract: A collision prediction apparatus including: an object detection section that detects an object present ahead of an own vehicle; and a collision prediction position calculation section that calculates a collision prediction position that is a position where the object is predicted to collide with the own vehicle in the future based on a position of the object detected by the object detection section relative to the own vehicle, wherein the collision prediction position calculation section corrects the collision prediction position when the object detected by the object detection section is traveling in an opposite direction to the own vehicle at a position deviated from a traveling direction of the own vehicle, and the own vehicle turns in a direction crossing a traveling direction of the object.

公开(公告)号：US20180178790A1

公开(公告)日：2018-06-28

申请号：US15855865

申请日：2017-12-27

Applicant: DENSO CORPORATION

Inventor： Takaharu OGURI ,  Yosuke ITO ,  Kei KAMIYA ,  Takahiro BABA ,  Kouichi MASUDA

IPC: B60W30/095 ,  B60W30/09 ,  G06K9/00 ,  G08G1/16

CPC classification number: B60W30/0956 ,  B60W30/09 ,  B60W2420/42 ,  B60W2550/10 ,  G06K9/00798 ,  G06K9/00805 ,  G08G1/16 ,  G08G1/166 ,  G08G1/167

Abstract: A collision determination device for determining the probability of a collision between an own vehicle and a target in the predetermined determination area surrounding the own vehicle includes an orientation detection unit for detecting the orientation of the target relative to the own vehicle, an image sensor for capturing images surrounding the own vehicle, an angle calculation unit for calculating an angle θ0 formed by the movement direction of the own vehicle and the movement direction of the target, and a collision determination unit which uses image data acquired from the image sensor to calculate the state of a lane compartment line, and determines the probability of a collision between the own vehicle and the target based on the angle θ0 and the calculation result of the lane compartment line.

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：US20170003390A1

公开(公告)日：2017-01-05

申请号：US15268853

申请日：2016-09-19

Applicant: DENSO CORPORATION

Inventor： Takahiro BABA

IPC: G01S13/93 ,  G01S13/86

CPC classification number: G01S13/931 ,  G01S13/867 ,  G01S2013/9346 ,  G01S2013/9367

Abstract: The target detecting device comprises a radar sensor, an imaging sensor, and an ECU. The target detected by the radar sensor is selected under certain conditions, for example, i) a reception intensity of the reflected radar waves is equal to or more than a predetermined value, or ii) the target is moving, to be outputted externally. When a stopped vehicle is detected on a road by the sensor, and a target, for example a pedestrian, present behind the stopped vehicle is detected from the image acquired by the imaging sensor by performing image recognition using predetermined patterns of a target, the ECU makes the selection condition less restrictive than the selection condition for targets other than the target present behind the stopped vehicle, or unconditionally selects the target present behind the stopped vehicle.

Abstract translation: 目标检测装置包括雷达传感器，成像传感器和ECU。 雷达传感器检测到的目标在某些条件下进行选择，例如，i）反射雷达波的接收强度等于或大于预定值，或者ii）目标正在移动，以便从外部输出。 当通过传感器在道路上检测到停止的车辆时，通过使用目标的预定模式进行图像识别，从由成像传感器获取的图像中检测到存在于停止的车辆后方的目标（例如行人），ECU 使得选择条件比除停止车辆之后的目标以外的目标的选择条件更不受限制，或无条件地选择在停止的车辆后面存在的目标。

公开(公告)号：US20230063170A1

公开(公告)日：2023-03-02

申请号：US18049418

申请日：2022-10-25

Applicant: DENSO CORPORATION ,  TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Kei KAMIYA ,  Yosuke ITO ,  Takaharu OGURI ,  Takahiro BABA ,  Ryo TAKAKI ,  Shinichi NAGATA

IPC: B60W30/09 ,  B60W30/18 ,  B60W10/18 ,  B60W30/095

Abstract: Provided is a vehicle braking support device. The braking support device includes: detection units for detecting a state around a host vehicle; a braking support control unit for executing braking support by a braking device according to the detected state; and a vehicle stop control unit for maintaining a stopped state of a host vehicle after the host vehicle is stopped by the braking support control unit, and for releasing the stopped state of the host vehicle after a predetermined period has elapsed. The vehicle stop control unit, in a case where by using the detected state it is determined that it is desirable to maintain the stopped state of the host vehicle beyond the predetermined period, the vehicle stop control unit does not release the stopped state of the host vehicle until an operation by a driver is detected.

公开(公告)号：US20210225169A1

公开(公告)日：2021-07-22

申请号：US16076199

申请日：2017-01-20

Applicant: DENSO CORPORATION

Inventor： Takahiro BABA

IPC: G08G1/16 ,  G06K9/62 ,  G06K9/00 ,  G01S13/931 ,  G01S13/86 ,  G05D1/02

Abstract: A collision prediction apparatus includes a radar-detection target position detection section, a pattern matching execution section that detects an image detection target, an image-detection target position detection section, an identical target determination section that determines that the radar detection target and the image detection target are an identical target when a positional relationship between the both targets becomes a predetermined relationship; a collision prediction section that predicts whether the own vehicle is likely to collide with an identical target as an object, and a support execution section that performs driving support when a collision between the own vehicle is predicted. In the apparatus, the collision prediction section predicts whether the radar detection target, as the object, is likely to collide with the own vehicle, under conditions that the object is turning in a direction approaching the own vehicle, and that the image detection target can no longer be detected.

公开(公告)号：US20210039636A1

公开(公告)日：2021-02-11

申请号：US17077767

申请日：2020-10-22

Applicant: DENSO CORPORATION

Inventor： Kei KAMIYA ,  Yosuke ITO ,  Toru TAKAHASHI ,  Shogo MATSUNAGA ,  Takaharu OGURI ,  Takahiro BABA ,  Ryo TAKAKI

IPC: B60W30/09 ,  B60W30/095 ,  B60W40/04 ,  B60W40/105 ,  B60W10/18 ,  G06K9/00 ,  G06T7/70

Abstract: In a collision avoidance apparatus for a vehicle, a collision avoidance controller is configured to calculate a movement trajectory of a moving object moving on a road crossing a road that the vehicle is traveling on from a succession of locations of the moving object, calculate a movement trajectory of the vehicle using a speed of the vehicle, determine whether the movement trajectory of the moving object is a trajectory of a moving object likely colliding with the vehicle, and in response to determining that the movement trajectory of the moving object is a trajectory of a moving object likely colliding with the vehicle and that the moving object fails to be recognized by a camera due to a view of the moving object being obstructed, calculate a risk index for determining a collision avoidance measure and employ the collision avoidance measure in dependence upon the risk index.

公开(公告)号：US20190291730A1

公开(公告)日：2019-09-26

申请号：US16438890

申请日：2019-06-12

Applicant: DENSO CORPORATION

Inventor： Kei KAMIYA ,  Yosuke ITO ,  Takaharu OGURI ,  Takahiro BABA

IPC: B60W30/09 ,  B60W30/095 ,  B60W50/14 ,  G06K9/00

Abstract: A collision avoidance device for a vehicle is provided. The collision avoidance device includes an object sensing unit for sensing an object, an attribute acquisition unit for using a sensing result from the object sensing unit to acquire an attribute of an oncoming vehicle, and a collision avoidance execution unit for executing at least one of a notification of a possibility of collision and a collision avoidance operation, if it is determined, based on the attribute acquired by the attribute acquisition unit, that the oncoming vehicle crosses a center line.

公开(公告)号：US20190291729A1

公开(公告)日：2019-09-26

申请号：US16438800

申请日：2019-06-12

Applicant: DENSO CORPORATION

Inventor： Kei KAMIYA ,  Yosuke ITO ,  Takaharu OGURI ,  Takahiro BABA

IPC: B60W30/09 ,  B60T7/12 ,  B60W10/18 ,  B60W30/095 ,  B60W40/04

Abstract: A braking assistance device for a vehicle includes an object sensing unit for sensing an object, an intersection entry determination unit for determining entry of a host vehicle into an intersection, and a braking assistance execution unit for executing braking assistance by a braking device so as to avoid or mitigate collision with the object. If the host vehicle is determined to be entering the intersection, the braking assistance execution unit determines, based on a sensing result from the object sensing unit, a traffic environment at the intersection, and controls execution of the braking assistance in accordance with the determined traffic environment.