Abstract: In a braking force control apparatus which controls a braking force applied to a vehicle based on a relation thereof with an obstacle ahead of the vehicle, irrespective of a braking operation of a driver, a lateral force is predicted which can be generated in cases where avoidance steering is carried out by the driver, in order to avoid an obstacle which has been detected, and an actual braking force actually applied to a longitudinal direction of the vehicle is limited in accordance with a braking force which can be applied in the longitudinal direction of the vehicle and which is calculated based on the lateral force thus predicted. According to this, in the braking force control apparatus which controls the braking force of the vehicle, the lateral force for avoiding a collision with the obstacle by means of steering is obtained.

Abstract: A collision prediction apparatus includes a sensor that obtains positional information representing a position of a target object with respect to a host vehicle and a processing device wherein the processing device calculates a movement trajectory of the target object with respect to a vehicle, based on the positional information obtained at time points by the sensor, and the processing device predicts a probability of a collision between the target object and the vehicle, based on the calculated movement trajectory and at least one of three parameters which includes a number of obtainment time points of the positional information used to calculate the movement trajectory, a change manner of a lateral width of the target object related to the positional information between time points, and a change manner of the positional information of the target object with respect to the vehicle in a longitudinal direction of the vehicle.

Abstract: An object detection device including: an imaging unit (11) carried on a movable body; a first calculation unit (21; 22; 23) that calculate an observed value of an image displacement among a plurality of images captured by the imaging unit (11) at respective different timings; a first object detection unit (10, 21; 10, 22; 10, 23) that detects an object candidate and acquires information of the object candidate; a second calculation unit (21, 22, 23) that calculates a theoretic value of the image displacement on the basis of the information of the object candidate; and a second object detection unit (21; 22; 23) that compares the observed value of the image displacement and the theoretic value of the image displacement and determines whether the object candidate is an object on the basis of the comparison result.

Abstract: An object detecting device includes a camera ECU that detects an object from image data for a predetermined area has been captured by a monocular camera, a fusion processing portion that calculates the pre-correction horizontal width of the detected object, a numerical value calculating portion that estimates the length in the image depth direction of the calculated pre-correction horizontal width, and a collision determining portion that corrects the pre-correction horizontal width calculated by the fusion processing portion, based on the estimated length in the image depth direction.

Abstract: A vehicle controller includes: a collision preventing unit that performs a collision avoiding operation of a vehicle with an object around the vehicle, an operation of the collision preventing unit being suppressed when turning behavior of the vehicle is detected; and a control unit that controls the operation of the collision preventing unit so as not to suppress the operation of the collision preventing unit when the vehicle is decelerated. In the vehicle controller 1, the suppression of the operation of the collision preventing unit is alleviated when the vehicle pitches due to deceleration to cause a yaw rate. Accordingly, it is possible to avoid unnecessary suppression of an operation of collision preventing device due to the pitching of the vehicle when the vehicle is decelerated and to avoid occurrence of a situation in which the suppression of the operation is unnecessarily performed.

Abstract: A correct collision judgment is realized between an obstacle and a vehicle even when the vehicle enters a curve. In a collision judgment apparatus for judging the collision between the vehicle and the obstacle based on a relative positional relationship between a subject vehicle position of the vehicle and a relative movement straight line of the obstacle with respect to the vehicle as calculated based on a plurality of pieces of the position information acquired by a position information acquiring unit in relation to the obstacle, the relative positional relationship between the relative movement straight line and the subject vehicle position is adjusted so that a distance between the relative movement straight line and the subject vehicle position is separated if it is judged that the vehicle enters an entrance to a curve as compared with a situation in which the vehicle does not enter the entrance to the curve.

Abstract: An object detection device, including: an imaging unit that is mounted on a movable body; an object detection unit that calculates an image displacement of a partial image between two images captured by the imaging unit at different times, and performs detection processing to detect an object in an image based on at least the image displacement; and a control unit that changes a manner of performing the detection processing based on a position in the image in a lateral direction of the movable body.

Abstract: In a braking force control apparatus which controls a braking force applied to a vehicle based on a relation thereof with an obstacle ahead of the vehicle, irrespective of a braking operation of a driver, a lateral force is predicted which can be generated in cases where avoidance steering is carried out by the driver, in order to avoid an obstacle which has been detected, and an actual braking force actually applied to a longitudinal direction of the vehicle is limited in accordance with a braking force which can be applied in the longitudinal direction of the vehicle and which is calculated based on the lateral force thus predicted. According to this, in the braking force control apparatus which controls the braking force of the vehicle, the lateral force for avoiding a collision with the obstacle by means of steering is obtained.

Abstract: An object detecting device which can reduce the influence of an error caused by temporal displacement between a detection result by a radar and a detection result by image processing and thus, the precision of object detection can be improved. In one particular embodiment, the device may receive image data captured by a camera and radar data from a radar unit. The device searches the image data for the target object, and also extracts detection points from the radar data that correspond to the target object. The position of the target object in the image is corrected in accordance with the radar detection data.

Abstract: A correct collision judgment is realized between an obstacle and a vehicle even when the vehicle enters a curve. In a collision judgment apparatus for judging the collision between the vehicle and the obstacle based on a relative positional relationship between a subject vehicle position of the vehicle and a relative movement straight line of the obstacle with respect to the vehicle as calculated based on a plurality of pieces of the position information acquired by a position information acquiring unit in relation to the obstacle, the relative positional relationship between the relative movement straight line and the subject vehicle position is adjusted so that a distance between the relative movement straight line and the subject vehicle position is separated if it is judged that the vehicle enters an entrance to a curve as compared with a situation in which the vehicle does not enter the entrance to the curve.

Abstract: The judgment accuracy is enhanced to judge whether or not an object is actually exists. An object detecting apparatus includes an acquiring unit which acquires information of the object by means of a radar, an angle detecting unit which detects an angle of the object with respect to a subject vehicle, an extrapolating unit which extrapolates the information of the object, and a judging unit which judges whether or not the object actually exists on the basis of the information of the object acquired by the acquiring unit and the information of the object extrapolated by the extrapolating unit, wherein the judging unit relaxes a condition to judge that the object actually exists when the information, which is extrapolated if an amount of change of the angle is not less than a predetermined amount, is included in the information of the object to be used to judge whether or not the object actually exists, as compared with when the information, which is extrapolated by the extrapolating unit is not included.

Abstract: The judgment accuracy is enhanced to judge whether or not an object is actually exists. An object detecting apparatus includes an acquiring unit which acquires information of the object by means of a radar, an angle detecting unit which detects an angle of the object with respect to a subject vehicle, an extrapolating unit which extrapolates the information of the object, and a judging unit which judges whether or not the object actually exists on the basis of the information of the object acquired by the acquiring unit and the information of the object extrapolated by the extrapolating unit, wherein the judging unit relaxes a condition to judge that the object actually exists when the information, which is extrapolated if an amount of change of the angle is not less than a predetermined amount, is included in the information of the object to be used to judge whether or not the object actually exists, as compared with when the information, which is extrapolated by the extrapolating unit, is not included.

Abstract: A vehicle speed setting of cruise control is changed based on an operation by a driver. At this time, it is determined whether the vehicle is traveling in a passing lane or a traveling lane (S202). If the vehicle is traveling in a passing lane, the speed at which the vehicle speed setting is changed is increased (S206). If a blinker on the passing lane side of the vehicle is on (S205), the speed at which the vehicle speed setting is changed is also increased (S206) even if the vehicle is traveling in the traveling lane.

Abstract: An object detection system includes a first object detection unit that detects an object in an area near the system using a radar and an object determination section that determines whether the object in the area near the system is a subject of detection, using a result of detection by the first object detection unit. The object determination section treats the object as the subject of detection if (i) an intensity of a radio wave from the object that is currently received by the first object detection unit is equal to or higher than a first threshold value or if (ii) an intensity of a radio wave from the object that was received in the past by the first object detection unit was equal to or higher than the first threshold value and the intensity of the radio wave from the object that is currently received by the first object detection unit is equal to or higher than a second threshold value that is lower than the first threshold value.

Abstract: An object detecting device includes a camera ECU that detects an object from image data for a predetermined area has been captured by a monocular camera, a fusion processing portion that calculates the pre-correction horizontal width of the detected object, a numerical value calculating portion that estimates the length in the image depth direction of the calculated pre-correction horizontal width, and a collision determining portion that corrects the pre-correction horizontal width calculated by the fusion processing portion, based on the estimated length in the image depth direction.

Abstract: An object detection device including: an imaging unit (11) carried on a movable body; a first calculation unit (21; 22; 23) that calculate an observed value of an image displacement among a plurality of images captured by the imaging unit (11) at respective different timings; a first object detection unit (10, 21; 10, 22; 10, 23) that detects an object candidate and acquires information of the object candidate; a second calculation unit (21, 22, 23) that calculates a theoretic value of the image displacement on the basis of the information of the object candidate; and a second object detection unit (21; 22; 23) that compares the observed value of the image displacement and the theoretic value of the image displacement and determines whether the object candidate is an object on the basis of the comparison result.

Abstract: An object detection device, including: an imaging unit (400) that is mounted on a movable body; an object detection unit (201) that calculates an image displacement of a partial image between two images captured by the imaging unit (400) at different times, and performs detection processing to detect an object in an image based on at least the image displacement; and a control unit (201) that changes a manner of performing the detection processing based on a position in the image in a lateral direction of the movable body.

Abstract: The present invention is directed to provide an object detecting device which can reduce the influence of an error caused by temporal displacement between a detection result by a radar and a detection result by image processing and thus, the precision of object detection can be improved. An object detecting unit of an object detecting device comprises an image portion search means which searches image data captured by an image capture unit, referring to detection point data detected by a radar detecting unit, and detects an image portion corresponding to a target object to be detected; a detection point extracting means which extracts, from the detection point data detected by the radar detecting unit, detection point data corresponding to the target object to be detected, and an image portion correcting means which corrects, in accordance with the detection point data extracted by the detection point extracting means, the position of the image portion detected by the image portion search means.

Abstract: An ACC system (1) includes: a millimeter radar (10); a stereo camera (11); a preceding vehicle recognition ECU (20) that determines object type information indicating the detection status of these components; and a cruise control ECU (30) that controls a brake actuator (40) and an electronically-controlled throttle valves (41) based on object parameters and the object type information. With regard to the object detected by the millimeter wave radar (10) with the intensity of a received radio wave equal to or higher than a lower threshold value that is lower than higher threshold value, the object that is detected also by the stereo camera (11), or the object that was detected by the millimeter wave radar (10) with the intensity of a received radio wave equal to or higher than a higher threshold value is treated as the preceding vehicle candidate.

Abstract: A vehicle speed setting of cruise control is changed based on an operation by a driver. At this time, it is determined whether the vehicle is traveling in a passing lane or a traveling lane (S202). If the vehicle is traveling in a passing lane, the speed at which the vehicle speed setting is changed is increased (S206). If a blinker on the passing lane side of the vehicle is on (S205), the speed at which the vehicle speed setting is changed is also increased (S206) even if the vehicle is traveling in the traveling lane.