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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.
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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
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.
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公开(公告)号：US20180149740A1
公开(公告)日：2018-05-31
申请号：US15575314
申请日：2016-05-19
Applicant: DENSO CORPORATION
Inventor： Kei TAMURA , Yosuke ITO , Akitoshi MINEMURA
CPC classification number: G01S13/867 , G01S13/86 , G01S13/931 , G01S2013/9346 , G01S2013/9353 , G01S2013/9375 , G06K9/00805 , G06K9/6289 , G06T7/70 , G06T2207/10016 , G06T2207/10044 , G06T2207/30261 , G08G1/166
Abstract: An object detection apparatus includes a fusion target generation section that generates a fusion target by combining first target information, which is acquired as a reflected wave of a carrier wave, of an object present ahead of an own vehicle and second target information, which is acquired by image processing by an imaging unit, of the object present ahead of the own vehicle, and that detects the object by using the fusion target. The apparatus includes a first lateral position acquisition means that acquires a first lateral position indicating a position of the object with respect to a width direction of the own vehicle by using the fusion target, a second lateral position acquisition means that acquires a second lateral position indicating a position of the object with respect to the width direction of the own vehicle by using the second target information, and a lateral position selection means that selects, as a lateral position of the object, the lateral position closest to the own vehicle between the first lateral position and the second lateral position.
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公开(公告)号：US20190329745A1
公开(公告)日：2019-10-31
申请号：US16508717
申请日：2019-07-11
Applicant: DENSO CORPORATION
Inventor： Yosuke ITO , Kei KAMIYA , Takaharu OGURI , Takahiro BABA
Abstract: A collision avoidance apparatus includes a travelling state calculation section, a target detection section, a target state calculation section, a lateral moving object determination section, a collision determination section, and a collision avoidance control section. The collision avoidance control section calculates, based on (i) a passing-through period of the lateral moving object in which the lateral moving object passes through an own vehicle course that is a moving course of the own vehicle and (ii) a reaching time of the own vehicle that is a period remaining before the own vehicle reaching a lateral moving object course that is a moving course of the lateral moving object, an operation timing of the brakes for the lateral moving object passing through the own vehicle course before the own vehicle reaches the lateral moving object course, and operates the brakes at the calculated operation timing of the brakes.
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公开(公告)号：US20180182246A1
公开(公告)日：2018-06-28
申请号：US15855846
申请日：2017-12-27
Applicant: DENSO CORPORATION
Inventor： Takahiro BABA , Takaharu OGURI , Yosuke ITO , Kei KAMIYA
CPC classification number: G08G1/166 , B60T7/22 , B60T8/17 , B60T2201/022 , B60T2210/32 , B60W40/04 , B60W2420/42 , B60W2420/52 , B60W2520/10 , B60W2540/10 , G06K9/00798 , G06K9/00805 , G06K9/00818 , G06K9/00825 , G06K9/6271 , G06K9/78
Abstract: A vehicle collision avoidance supporting apparatus may include a situation determination unit configured to determine whether it is a situation that there exists no moving object proceeding in a direction crossing a traveling direction of the vehicle; a first sensor and configured to detect an object ahead of the vehicle; and an avoidance operation controller configured to cause the vehicle to perform a predetermined avoidance operation for avoiding a collision in accordance with a detection result of the first sensor in a determination region ahead of the vehicle. The avoidance operation controller uses a region which is narrower in a direction perpendicular to the travelling direction and parallel to a horizontal direction as the determination region when it is the situation that there exists no moving object than when it is not the situation that there exists no moving object.
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Patent Agency Ranking
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.
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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.
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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
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.
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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
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.
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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.
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