Abstract: A driving assistance apparatus includes an electronic control unit. The electronic control unit: calculates a first predicted path of a first vehicle to which the driving assistance apparatus is to be applied, the first predicted path being indicated by a circle having a radius obtained from a yaw rate of the first vehicle at a prediction reference time; calculates a second predicted path of a second vehicle, based on data regarding the second vehicle at the prediction reference time; calculates a provisional contact point, based on an intersection point of the first predicted path and the second predicted path; calculates a provisional contact time when the first vehicle reaches the provisional contact point; and determines whether the first vehicle and the second vehicle come into contact with each other, assuming that the first vehicle and the second vehicle at the provisional contact time travel straight to cross each other.

Abstract: A driving assistance apparatus includes an electronic control unit. The electronic control unit: calculates a yaw rate change rate of a first vehicle to which the driving assistance apparatus is to be applied, based on a yaw rate of the first vehicle obtained at multiple time points; predicts a sequential position of the first vehicle as a first vehicle position assuming that the yaw rate change rate is kept constant; predicts a sequential position of a second vehicle as a second vehicle position; determines whether contact occurs, based on presence or absence of a contact position where the first vehicle position partly overlaps with the second vehicle position; and ends prediction of the first vehicle position and the second vehicle position, upon determining that no contact occurs until a prediction end time that is a time when the first vehicle turns by a setting angle.

Abstract: A driving assistance apparatus is configured to control a contact avoidance operation of avoiding contact between a first vehicle to which the driving assistance apparatus is to be applied and a second vehicle. The driving assistance apparatus includes an electronic control unit. The electronic control unit is configured to: make a prediction of a position of the second vehicle at a determination time as a determination predicted position, based on a position of the second vehicle at a past time before the determination time; calculate a deviation amount of the prediction, based on the determination predicted position and a determination detected position that is a position of the second vehicle detected at the determination time; and suppress the contact avoidance operation when the deviation amount is greater than a setting value.

Abstract: A driving assistance apparatus includes an electronic control unit. The electronic control unit: calculates a yaw rate change rate of a first vehicle to which the driving assistance apparatus is to be applied, based on a yaw rate of the first vehicle obtained at multiple time points; calculates a predicted path of a second vehicle; calculates a predicted path of the first vehicle assuming that the yaw rate change rate is kept constant; calculates a provisional contact point, based on an intersection point of the predicted path of the first vehicle and the predicted path of the second vehicle; calculates a provisional contact time when the first vehicle reaches the provisional contact point; and determines whether the first vehicle and the second vehicle come into contact with each other, assuming that the first vehicle and the second vehicle at the provisional contact time travel straight to cross each other.

Abstract: A vehicle drive assistance apparatus includes a surrounding environment information acquiring unit, a crossing-vehicle recognition unit, a contact estimation unit, a contact avoidance operation determination unit, and a front-vehicle recognition unit. The crossing-vehicle recognition unit recognizes a crossing vehicle based on the surrounding environment information acquired by the surrounding environment information acquiring unit. The contact estimation unit estimates a possible contact between an own vehicle and the crossing vehicle at an intersection by comparing an intersection entering time of the own vehicle with an intersection entering time of the crossing vehicle.

Abstract: A vehicle traveling control apparatus for a vehicle identifies a mobile object as a crossing mobile object if the supplementary angle of the angle formed between the velocity vector of the mobile object and the traveling direction of the vehicle is greater than a threshold. In a case where the supplementary angle was equal to or less than the threshold before the identification as the crossing mobile object and where a lateral position of the crossing mobile object is equal to or less than a distance threshold at the time of the identification, or in a case where the size of the crossing mobile object has been less than a predetermined value for a predetermined period of time or longer and where the lateral position is equal to or less than the distance threshold at the time of the identification, the crossing mobile object is excluded from emergency braking targets.

Abstract: A vehicle control apparatus includes one or more processors that execute a braking delay process and a stopping control process. The braking delay process is related to contact avoidance in which a recognized road-side object is set to a target object, and is a process of performing a control of delaying intervention by braking in a case where the contact avoidance using steering is predicted to be possible, as compared with a case where the contact avoidance using the braking is performed. The stopping control process is a process of performing a control of preventing a vehicle from stopping within a section corresponding to a discontinuous portion in the road-side object in a case where the intervention by the breaking is to be delayed, where the discontinuous portion is recognized in the road-side object, and where the vehicle is predicted to stop within the section.

Abstract: An object recognition device is configured to perform object recognition based on information from a unit configured to detect an object image in each frame based on a reflected signal of a transmission signal and configured to calculate one or more patterns of a confidence degree regarding the object image detected according to one or more preset calculation methods. The object recognition device includes: a first evaluation value calculator configured to increase a count of a first evaluation value indicating a probability that the object image is a real image based on the one or more patterns of the confidence degree; and a real image determiner configured to determine that the object image is a real image when a cumulative count of the first evaluation value exceeds a comparative value.

Abstract: Traveling environment information is recognized. A predicted traveling path is calculated based on a driving condition of a vehicle. An oncoming-vehicle predicted traveling path is calculated based on behavior of an oncoming vehicle. It is determined whether the vehicle has an intention to enter a first intersecting road at an intersection. When the vehicle cannot enter the first intersecting road, the predicted traveling path is corrected to a limit traveling path. It is determined whether the oncoming vehicle has an intention to enter a second intersecting road at the intersection. When the oncoming vehicle cannot enter the second intersecting road, the oncoming-vehicle predicted traveling path is corrected to an oncoming-vehicle limit traveling path. The oncoming vehicle is set as a control target against which emergency braking is executed when the predicted traveling path and the oncoming-vehicle predicted traveling path overlap each other at least in part.

Abstract: A vehicle traveling control apparatus for a vehicle identifies a mobile object as a crossing mobile object if the supplementary angle of the angle formed between the velocity vector of the mobile object and the traveling direction of the vehicle is greater than a threshold. In a case where the supplementary angle was equal to or less than the threshold before the identification as the crossing mobile object and where a lateral position of the crossing mobile object is equal to or less than a distance threshold at the time of the identification, or in a case where the size of the crossing mobile object has been less than a predetermined value for a predetermined period of time or longer and where the lateral position is equal to or less than the distance threshold at the time of the identification, the crossing mobile object is excluded from emergency braking targets.

Abstract: A vehicle blind-spot reduction device includes side-view mirrors on sides of a vehicle, an actuator configured to move an optical display of each of the side-view mirrors, a detector configured to detect a display position of the optical display, a surrounding environment information acquirer configured to acquire environment information on surrounding of the vehicle, a moving object detector configured to detect a moving object running beside the vehicle on the basis of the surrounding environment information, a blind spot setter configured to set a blind spot of each of the side-view mirrors on the basis of the display position of the optical display, and a display surface adjuster. Based on determining that the moving object has entered the blind spot, the display surface adjuster causes the actuator to operate to adjust the display position of the optical display such that a driver who drives the vehicle can see the moving object.

Abstract: A vehicle notification apparatus is configured to make a notification for an occupant depending on a running status of a vehicle and includes a vehicle status determination device, a display device, a steering wheel sensor, and a calculation control device. The vehicle status determination device is configured to determine, on the basis of a threshold, whether a notification is to be made for the running status. The display device is configured to display a predetermined notification in a case where the vehicle status determination device determined that the notification is to be made. The steering wheel sensor is configured to detect a rotation angle of a steering wheel while the display device is displaying the predetermined notification. The calculation control device is configured to supplement or change the displayed predetermined notification on the basis of the detected rotation angle of the steering wheel.

Abstract: A vehicle drive assistance apparatus includes a surrounding environment information acquiring unit, a crossing-vehicle recognition unit, a contact estimation unit, a contact avoidance operation determination unit, and a front-vehicle recognition unit. The crossing-vehicle recognition unit recognizes a crossing vehicle based on the surrounding environment information acquired by the surrounding environment information acquiring unit. The contact estimation unit estimates a possible contact between an own vehicle and the crossing vehicle at an intersection by comparing an intersection entering time of the own vehicle with an intersection entering time of the crossing vehicle.

Abstract: An automated driving assist system includes a vehicle controller that includes an entry-permission determiner. The entry-permission determiner searches for first and second traffic lights successively installed on a target traveling course. When the first and second traffic lights are successively installed, the entry-permission determiner determines whether the first traffic light is installed at an intersection. When the first and second traffic lights are successively installed and the first traffic light is installed at the intersection, the entry-permission determiner detects respective lighting statuses of signals indicated by the first and second traffic lights. When the first traffic light indicates a signal permitting vehicles to advance and the second traffic light indicates a signal prohibiting the vehicles from advancing, the entry-permission determiner acquires an available stop distance.

Abstract: An automated driving assist system includes a vehicle controller that includes an entry-permission determiner. The entry-permission determiner searches for first and second traffic lights successively installed on a target traveling course. When the first and second traffic lights are successively installed, the entry-permission determiner determines whether the first traffic light is installed at an intersection. When the first and second traffic lights are successively installed and the first traffic light is installed at the intersection, the entry-permission determiner detects respective lighting statuses of signals indicated by the first and second traffic lights. When the first traffic light indicates a signal permitting vehicles to advance and the second traffic light indicates a signal prohibiting the vehicles from advancing, the entry-permission determiner acquires an available stop distance.