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.

公开(公告)号：US20190061751A1

公开(公告)日：2019-02-28

申请号：US16082377

申请日：2017-02-13

Applicant: DENSO CORPORATION

Inventor： Takahiro BABA ,  Wataru IKE ,  Masayuki SHIMIZU

IPC: B60W30/095 ,  B60W40/114 ,  B60W40/04 ,  G06K9/00 ,  G08G1/16

Abstract: A crossing determination apparatus includes: an object detection unit which detects an object moving in a direction perpendicular to a traveling path of an own vehicle; a crossing speed calculation unit which calculates a crossing speed that is a speed at which the object detected by the objection detection unit is crossing a current traveling path of the own vehicle; a crossing determination unit which, when the crossing speed calculated by the crossing speed calculation unit is higher than a predetermined speed, determines that the object is crossing the traveling path of the own vehicle; and a yaw rate detection unit which detects a yaw rate of the own vehicle. The crossing determination unit corrects the crossing speed of the object or the predetermined speed based on the yaw rate detected by the yaw rate detection unit.

公开(公告)号：US20190009775A1

公开(公告)日：2019-01-10

申请号：US16064729

申请日：2016-12-26

Applicant: DENSO CORPORATION ,  TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Yosuke ITO ,  Toru TAKAHASHI ,  Wataru IKE

IPC: B60W30/09 ,  B60T7/12 ,  B60W30/085 ,  B60W10/18

Abstract: In a vehicle control apparatus, an object recognizing block recognizes an object which is present around a vehicle. In cases where there is a possibility that the vehicle will collide with an object recognized by the object recognizing block, the apparatus performs automatic braking control which brakes the vehicle. If the driver depresses the accelerator pedal in a predetermined depressing state, a braking controlling block cancels the automatic braking control. When an operation determining block determines that there is a driver's predetermined shift-lever position change, with which the driver's predetermined shift-lever position change is carried out during a driver's accelerator pedal depressing operation, the braking controlling block responds to a driver's accelerator depressing operation by not cancelling the automatic braking control or by making cancellation of the automatic braking control more difficult.

公开(公告)号：US20190001938A1

公开(公告)日：2019-01-03

申请号：US16064712

申请日：2016-12-20

Applicant: DENSO CORPORATION ,  TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Ryo TAKAKI ,  Masayasu TANASE ,  Wataru IKE

IPC: B60T7/22 ,  B60T8/17 ,  B60T8/171 ,  B60T8/172

CPC classification number: B60T7/22 ,  B60T7/12 ,  B60T8/17 ,  B60T8/171 ,  B60T8/172 ,  B60T2201/022 ,  B60T2250/04

Abstract: A controller calculates absolute velocity of an object based on acquired own vehicle velocity and acquired relative velocity of the object with respect to an own vehicle. The controller determines a relative movement state of the object in a direction of movement of the own vehicle based on the calculated absolute velocity of the object. The controller changes a threshold for the absolute velocity of the object to be used for determination of the relative movement state of the object while the automatic brake is actuated.

公开(公告)号：US20190001937A1

公开(公告)日：2019-01-03

申请号：US16064708

申请日：2016-12-21

Applicant: DENSO CORPORATION ,  TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Yosuke ITO ,  Toru TAKAHASHI ,  Masayasu TANASE ,  Wataru IKE

IPC: B60T7/22 ,  B60T8/17 ,  G08G1/16

Abstract: A vehicle control device 10 determines a possibility of collision between an object present around the own vehicle and the own vehicle (13). Furthermore, if it is determined that there is a possibility of the collision between the object and the own vehicle, a first brake control for applying a first braking force to the own vehicle and a second brake control for applying a second braking force greater than the first braking force to the own vehicle are performed as an automatic brake control for applying a braking force to the own vehicle (13, 14), in the control at this time, timings of starting the first brake control and the second brake control are changed according to the lateral position of the object relative to the own vehicle.

公开(公告)号：US20190012920A1

公开(公告)日：2019-01-10

申请号：US16064668

申请日：2016-12-18

Applicant: DENSO CORPORATION ,  TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Kei TAMURA ,  Yosuke ITO ,  Toru TAKAHASHI ,  Masayasu TANASE ,  Wataru IKE

IPC: G08G1/16 ,  B60W30/09

Abstract: A driving assistance device sets, in front of an own vehicle, an actuation region that is a region sandwiched by boundary lines, positioned at left and right, respectively. In a case where a target existing around the own vehicle has entered the actuation region, the device performs driving assistance for avoiding collision with the target or mitigating collision damage. The device, when setting the actuation region, in a case where the own vehicle is in a turning state, changes a lateral position of a boundary line in an outside in a turning direction of the own vehicle, of the left and right boundary lines of the actuation region, to a position closer to the own vehicle according to turning information. For a boundary line in an inside in a turning direction of the own vehicle, the device does not change a lateral position according to the turning information.

公开(公告)号：US20190001970A1

公开(公告)日：2019-01-03

申请号：US16064625

申请日：2016-12-18

Applicant: DENSO CORPORATION ,  TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Toru TAKAHASHI ,  Yosuke ITO ,  Masayasu TANASE ,  Wataru IKE

IPC: B60W30/09 ,  B60W50/00 ,  B60W50/14 ,  B60T7/12 ,  B60Q9/00 ,  G08G1/16

Abstract: A driving assistance apparatus determines, based on an instantaneous indicator which is an instantaneous value of a parameter regarding steering of the own vehicle, whether a driver has started a collision avoidance operation for avoiding a collision between a target and the own vehicle. When it is determined that the collision avoidance operation has been started, a support start timing for starting driving assistance for avoiding the collision or reducing collision damage is set to be a timing later than when the collision avoidance operation has not been started. The support start timing during a collision avoidance time period which is a time period until a predetermined set time has elapsed after it is determined that the collision avoidance operation has been started is set based on a time-dependent indicator for steering indicated by the instantaneous indicator at timings during the collision avoidance time period.