公开(公告)号：US10427689B2

公开(公告)日：2019-10-01

申请号：US15529905

申请日：2015-11-16

Applicant: DENSO CORPORATION ,  TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Mitsuhiro Tokimasa ,  Toyoharu Katsukura ,  Yoshihisa Ogata ,  Youhei Masui ,  Taku Sakima ,  Takeshi Nanami ,  Takashi Nishida

IPC: B60W40/04 ,  B60R21/00 ,  B60W30/16 ,  B60W30/095 ,  G08G1/16

Abstract: A vehicle control apparatus mounted to an own vehicle to control the own vehicle according to the position of other vehicle ahead of the own vehicle is provided. The apparatus includes a setting means setting a parameter indicating whether the other vehicle is in the path of the own vehicle, based on the position of the other vehicle relative to the own vehicle in a lateral direction perpendicular to the path of the own vehicle, a determining means determining whether the other vehicle is in the path of the own vehicle, based on the parameter, an acquisition means acquiring a lane width that is the width of the lane the own vehicle is traveling, and an adjustment means changing the correspondence between the relative position and the parameter, based on the lane width.

公开(公告)号：US10407066B2

公开(公告)日：2019-09-10

申请号：US15529930

申请日：2015-10-23

Applicant: DENSO CORPORATION ,  TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Mitsuhiro Tokimasa ,  Toyoharu Katsukura ,  Yoshihisa Ogata ,  Youhei Masui ,  Taku Sakima ,  Takeshi Nanami ,  Takashi Nishida

IPC: B60W30/16 ,  B60W30/14 ,  B60W30/12 ,  B60W10/18 ,  B60W10/10 ,  B60W10/06 ,  G08G1/16 ,  G01S13/16 ,  B60R21/00 ,  G01S13/93

Abstract: A vehicle control apparatus mounted to an own vehicle to control the own vehicle according to a position of other vehicle ahead of the own vehicle is provided. The device includes a setting means setting a parameter indicating a position of the other vehicle relative to the own vehicle in a lateral direction perpendicular to the path of the own vehicle, a determination means determining whether the other vehicle is in the path of the own vehicle based on the parameter, a detection means detecting whether a relative movement has been made in the lateral direction by at least one of the own vehicle and the other vehicle, and a correction means correcting the parameter when a relative movement has been made in the lateral direction.

公开(公告)号：US09460627B2

公开(公告)日：2016-10-04

申请号：US14259505

申请日：2014-04-23

Applicant: DENSO CORPORATION

Inventor： Akitoshi Minemura ,  Akira Isogai ,  Yoshihisa Ogata

IPC: G08G1/16

CPC classification number: G08G1/166 ,  G08G1/16

Abstract: A collision determination device is mounted to an own vehicle and determines a probability of a collision with a moving object. The collision determination device determines whether or not an own vehicle will collide with a moving object that is detected within a captured image. The collision determination device determines whether or not the moving object is in a shielded state where at least a portion of the moving object is hidden behind another object or the moving object appears from behind another object. The collision determination device sets an amount of time required for the collision determining means to complete a determination related to the collision to a shorter amount of time when the moving object is in the shielded state, compared to when the moving object is not in the shielded state.

Abstract translation: 碰撞确定装置被安装到自身车辆并确定与移动物体发生碰撞的概率。 碰撞确定装置确定自身车辆是否将与拍摄图像内检测到的移动物体相撞。 碰撞确定装置确定移动物体是否处于屏蔽状态，其中移动物体的至少一部分被隐藏在另一物体之后，或者移动物体从另一物体后面出现。 碰撞确定装置将移动物体处于屏蔽状态时与冲突判定装置完成与碰撞相关的判定所需的时间设定为较短的时间量，与运动物体不在屏蔽状态 州。

公开(公告)号：US09390624B2

公开(公告)日：2016-07-12

申请号：US14227371

申请日：2014-03-27

Applicant: DENSO CORPORATION ,  Nippon Soken, Inc.

Inventor： Akitoshi Minemura ,  Yoshihisa Ogata ,  Takahisa Yokoyama

IPC: G08G1/16 ,  B60R21/34 ,  G01S13/93 ,  G01S13/86

CPC classification number: G08G1/166 ,  B60R21/34 ,  G01S13/867 ,  G01S13/931

Abstract: A vehicle-installation intersection judgment apparatus determines whether a target object such as a pedestrian is located ahead and to one side of the vehicle, and if so, judges whether the object is moving laterally to intersect with the advancement of the vehicle. Successive amounts of lateral displacement of the object are periodically derived, each amount is compared with a displacement threshold, a count is made of the number of times that the displacement threshold is exceeded, and the count is compared with a predetermined count threshold. The judgment concerning the target object is made based upon whether the count threshold is attained.

Abstract translation: 车辆安装路口判断装置判定诸如行人的目标对象是否位于车辆的一侧，如果是，则判断物体是否横向移动以与车辆的前进相交。 周期性导出物体的横向位移的连续量，将每个量与位移阈值进行比较，计数超过位移阈值的次数，并将计数与预定计数阈值进行比较。 基于是否达到计数阈值来进行关于目标对象的判断。

公开(公告)号：US10780884B2

公开(公告)日：2020-09-22

申请号：US15529953

申请日：2015-11-16

Applicant: DENSO CORPORATION ,  TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Youhei Masui ,  Toyoharu Katsukura ,  Yoshihisa Ogata ,  Takeshi Nanami ,  Takashi Nishida

IPC: B60W30/165 ,  B60W30/10 ,  G08G1/16 ,  B60W30/14 ,  B60W40/04 ,  B60W40/072 ,  B60W40/105 ,  B60W50/00 ,  G05D1/02

Abstract: A cruise control apparatus controls the traveling of an own vehicle on the basis of the predicted route which is a predicted value of the travel route of an own vehicle. The cruise control apparatus compares the moving locus of the preceding vehicle with the position of a stationary object provided along the road to determine whether or not a moving locus is along the shape of the road. The moving locus is validated when it is determined that the moving locus is along the shape of the road, and the moving locus is invalidated when it is determined that the moving locus is not along the shape of the road, and the predicted route of the vehicle is calculated on the basis of the validated moving locus.

公开(公告)号：US10392015B2

公开(公告)日：2019-08-27

申请号：US15545268

申请日：2016-01-20

Applicant: DENSO CORPORATION ,  TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Jin Kurumisawa ,  Mitsuhiro Tokimasa ,  Toyoharu Katsukura ,  Yoshihisa Ogata ,  Takeshi Nanami ,  Takashi Nishida

IPC: B60W50/00 ,  B60W30/165 ,  B60W30/16 ,  G08G1/04 ,  G08G1/056 ,  G08G1/16 ,  B60W30/095 ,  B60K31/00

Abstract: A vehicle control device mounted on the own vehicle and configured to control the own vehicle according to the position of another vehicle ahead of the own vehicle. The vehicle control device comprises an estimated course calculation means calculating an estimated course of the own vehicle; a setting means setting a parameter indicating whether the other vehicle is in the path of the own vehicle based on the relative position of the other vehicle with respect to the own vehicle in a lateral direction orthogonal to the estimated course of the own vehicle; a determination means determining whether the other vehicle is a leading vehicle in the path of the own vehicle based on the parameter; and a changing means changing the likelihood of being determined as the leading vehicle when the estimated course is a curve, based on the estimated course and the position of the other vehicle.

公开(公告)号：US10380424B2

公开(公告)日：2019-08-13

申请号：US15529925

申请日：2015-10-13

Applicant: DENSO CORPORATION ,  TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Mitsuhiro Tokimasa ,  Toyoharu Katsukura ,  Yoshihisa Ogata ,  Youhei Masui ,  Taku Sakima ,  Takeshi Nanami ,  Takashi Nishida

IPC: G01S7/40 ,  G01V3/12 ,  G01V8/00 ,  G06K9/00 ,  G06T7/12 ,  G08G1/16 ,  G01S13/86 ,  G01S13/93 ,  H04N5/243

Abstract: Provided is an object detection device (13) using a detection means (11) to transmit probe waves, receive reflected waves from an object (50) in a detection range, and acquire, as first detection information on the object, a position based on the reflected waves, to detect the object. The device includes an image information acquisition means, determination region setting means, and an object locating means. The image information acquisition means acquires, as second detection information on the object, a position based on an image of an area within the detection range, the image being captured by an image capturing means (12). The determination region setting means sets a determination region in the detection range. The object locating means locates the object, based on the first detection information, if pieces of the first and second detection information are present in the determination region.

公开(公告)号：US10339393B2

公开(公告)日：2019-07-02

申请号：US15544840

申请日：2016-01-18

Applicant: DENSO CORPORATION ,  TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Youhei Masui ,  Toyoharu Katsukura ,  Yoshihisa Ogata ,  Takeshi Nanami ,  Takashi Nishida

IPC: G06K9/00 ,  B60W30/12 ,  G08G1/16

Abstract: A demarcation line recognition apparatus is applied to a vehicle in which an imaging apparatus that captures an image of an area ahead of the vehicle is mounted. The demarcation line recognition apparatus includes: a demarcation line recognizing unit that recognizes a traveling demarcation line that demarcates a traveling lane of the vehicle based on an image acquired by the imaging apparatus; and a demarcation line estimating unit that estimates a shape of the traveling demarcation line in a range that cannot be recognized by the demarcation line recognizing unit, based on the traveling demarcation line recognized by the demarcation line recognizing unit. The demarcation line recognition apparatus determines a reliability level of the traveling demarcation line recognized by the demarcation line recognizing unit and invalidates the estimation of the shape of the traveling demarcation line by the demarcation line estimating unit based on the determination result.

公开(公告)号：US20140324330A1

公开(公告)日：2014-10-30

申请号：US14259505

申请日：2014-04-23

Applicant: DENSO CORPORATION

Inventor： Akitoshi Minemura ,  Akira Isogai ,  Yoshihisa Ogata

IPC: G08G1/16

CPC classification number: G08G1/166 ,  G08G1/16

Abstract: A collision determination device is mounted to an own vehicle and determines a probability of a collision with a moving object. The collision determination device determines whether or not an own vehicle will collide with a moving object that is detected within a captured image. The collision determination device determines whether or not the moving object is in a shielded state where at least a portion of the moving object is hidden behind another object or the moving object appears from behind another object. The collision determination device sets an amount of time required for the collision determining means to complete a determination related to the collision to a shorter amount of time when the moving object is in the shielded state, compared to when the moving object is not in the shielded state.

Abstract translation: 碰撞确定装置被安装到自身车辆并确定与移动物体发生碰撞的概率。 碰撞确定装置确定自身车辆是否将与拍摄图像内检测到的移动物体相撞。 碰撞确定装置确定移动物体是否处于屏蔽状态，其中移动物体的至少一部分被隐藏在另一物体之后，或者移动物体从另一物体后面出现。 碰撞确定装置将移动物体处于屏蔽状态时与冲突判定装置完成与碰撞相关的判定所需的时间设定为较短的时间量，与运动物体不在屏蔽状态 州。

公开(公告)号：US20140297170A1

公开(公告)日：2014-10-02

申请号：US14224443

申请日：2014-03-25

Applicant: Nippon Soken, Inc. ,  DENSO CORPORATION

Inventor： Taku Sakima ,  Yoshihisa Ogata

IPC: G08G1/16

CPC classification number: G08G1/166

Abstract: A driving support system detects a position of an object ahead of an own vehicle as well as predicts a course of the own vehicle. Then, a collision probability between the own vehicle and the object is determined based on the predicted course and the position of the object, and performs the driving support for avoiding collision when the collision probability is high. Further, the driving support to system measures a curvature of a target road, and when a change in the curvature is small and an accurate course prediction is possible, a determination sensitivity of the collision probability is set high so that the driving support is easy to start, otherwise the determination sensitivity of the collision probability is set low so that the driving support is difficult to start.

Abstract translation: 驾驶辅助系统检测自身车辆前方的位置以及预测本车辆的路线。 然后，基于预测路线和物体的位置来确定本车辆与物体之间的碰撞概率，并且当碰撞概率高时执行用于避免碰撞的驾驶支持。 此外，对系统的驾驶支持测量目标道路的曲率，并且当曲率的变化小并且可以进行准确的路线预测时，将碰撞概率的确定灵敏度设置得高，使得驾驶支持容易 开始，否则将冲突概率的确定灵敏度设置得较低，使得驾驶支持难以启动。