Abstract: A surroundings monitoring device (100) includes an object detection unit (110) which is mounted in a structure and detects objects around the structure, a first sensor (120) for determining whether an object has collided with the structure, and a first controller (140) which determines whether the object has collided with the structure on the basis of the detection result of the first sensor and restrains the operation of the object detection unit or causes an information output unit to output predetermined information in a case that it is determined that the object has collided with the structure.

Abstract: In a vehicle driving assistance apparatus having an electric motor to impart steering torque to the driver and a driving control unit that conducts collision avoidance assistance control and other steering control including lane departure prevention control, power steering control and parking assistance control for providing assistance during parking of the vehicle, when a warning for alerting the driver is made by imparting torque to the steering wheel via the motor, the control input of the other steering control is suppressed, i.e. is reduced during either the first predetermined time before warning or the second predetermined time after warning. Owing to this configuration, the driver can be enabled to perceive the warning without fail even when another steering control is performed in parallel.

Abstract: In a vehicle safety driving apparatus, a predetermined steering torque is applied as the warning and a change amount of driver's steering torque relative to the applied predetermined steering torque is calculated, and a contact avoidance assistance operation is conducted in place of applying the predetermined steering torque when the calculated driver's steering force change amount is less than a set value. With this, it becomes possible to conduct more perceivable operation or vehicle control when it is estimated that the driver does not recognize it, thereby enabling to assist the contact avoidance appropriately.

Abstract: This steering wheel retention state judging device includes: a torque application unit that applies a torque on a steering wheel of a vehicle, the steering wheel operated by a driver; an angle sensor that detects a steering angle of the steering wheel; and a steering wheel retention state judging unit that judges a retention state of the steering wheel by the driver based on the steering angle of the steering wheel when the torque is applied by the torque application unit.

Abstract: A vehicle departure determination apparatus includes: an object detection device which detects objects present in a direction of travel of a subject vehicle, and detects a relative position and relative speed of the objects and the subject vehicle; a running state detection device which detects a running state of the subject vehicle; a speed detection device which detects a speed of the subject vehicle; an oncoming vehicle determination device which determines whether any of the objects serving as oncoming vehicles for the subject vehicle are present, based on the relative speed detected by the object detection device, and the speed of the subject vehicle detected by the speed detection device; and a departure determination device which determines whether or not the subject vehicle has departed from an appropriate route for the subject vehicle, or the oncoming vehicle has departed from an appropriate route for the oncoming vehicle.

Abstract: A travel safety apparatus for a vehicle, the apparatus includes: a first detector detecting an object in a first detection area; a second detector detecting the object in a second detection area; a braking device decelerating the vehicle; an alarm device which outputs an alarm to an occupant of the vehicle; a third detector measuring the traveling state of the vehicle; a collision determination device which determines a possibility of a collision between the vehicle and the object based on the traveling state; and a controller which operates at least one of the braking device and the alarm device when there is the possibility of collision, wherein the controller changes at least one of operation timing of the alarm device, operation timing of the braking device, and deceleration degree made by the braking device in accordance with whether or not the first detector and the second detector detect the object.

Abstract: In a vehicle safety driving apparatus, a predetermined steering torque is applied as the warning and a change amount of driver's steering torque relative to the applied predetermined steering torque is calculated, and a contact avoidance assistance operation is conducted in place of applying the predetermined steering torque when the calculated driver's steering force change amount is less than a set value. With this, it becomes possible to conduct more perceivable operation or vehicle control when it is estimated that the driver does not recognize it, thereby enabling to assist the contact avoidance appropriately.

Abstract: In a vehicle driving assistance apparatus having an electric motor to impart steering torque to the driver and a driving control unit that conducts collision avoidance assistance control and other steering control including lane departure prevention control, power steering control and parking assistance control for providing assistance during parking of the vehicle, when a warning for alerting the driver is made by imparting torque to the steering wheel via the motor, the control input of the other steering control is suppressed, i.e. is reduced during either the first predetermined time before warning or the second predetermined time after warning. Owing to this configuration, the driver can be enabled to perceive the warning without fail even when another steering control is performed in parallel.

Abstract: A travel safety apparatus for a vehicle includes: a first object detector having a first detection area defined by a first detection angle; a second object detector having a second detection area defined by a second detection angle; a motion state determination unit; a collision determination unit determining whether there is possibility of collision of an object detected in at least one of the first detection area and the second detection area to the vehicle based on the motion state; a controller controlling the vehicle so that a collision is avoided; and an object identity determination unit determining whether the first object and the second object are identical, wherein when a first object detected in the first detection area and a second object detected in the second detection area are determined identical, the collision determination unit determines whether there is possibility of collision of the first object to the vehicle.

Abstract: This steering wheel retention state judging device includes: a torque application unit that applies a torque on a steering wheel of a vehicle, the steering wheel operated by a driver; an angle sensor that detects a steering angle of the steering wheel; and a steering wheel retention state judging unit that judges a retention state of the steering wheel by the driver based on the steering angle of the steering wheel when the torque is applied by the torque application unit.

Abstract: In a travel safety system for a vehicle: a preceding vehicle V1 in a travel direction of a subject vehicle V is detected by a radar device; an overlap amount ? (smaller one of ?(L) and ?(R)), at which the preceding vehicle V1 overlaps a predicted course for the subject vehicle V, is calculated; and when time for which the over lap amount ? exceeding a predetermined value exceeds a predetermined period, it is determined that there is a possibility that the subject vehicle V comes into contact with the preceding vehicle V1, and a safety system comprising a warning or an automatic braking is actuated. Thus, if it is determined that there is a possibility of contact between the subject vehicle V and the preceding vehicle V1 due to course change of the subject vehicle V or the preceding vehicle, it is possible to prevent the safety system from being unnecessarily actuated to provide a sense of discomfort to a driver.

Abstract: A travel safety apparatus for a vehicle includes: a first object detector having a first detection area defined by a first detection angle; a second object detector having a second detection area defined by a second detection angle; a motion state determination unit; a collision determination unit determining whether there is possibility of collision of an object detected in at least one of the first detection area and the second detection area to the vehicle based on the motion state; a controller controlling the vehicle so that a collision is avoided; and an object identity determination unit determining whether the first object and the second object are identical, wherein when a first object detected in the first detection area and a second object detected in the second detection area are determined identical, the collision determination unit determines whether there is possibility of collision of the first object to the vehicle.

Abstract: A travel safety apparatus for a vehicle, the apparatus includes: a first detector detecting an object in a first detection area; a second detector detecting the object in a second detection area; a braking device decelerating the vehicle; an alarm device which outputs an alarm to an occupant of the vehicle; a third detector measuring the traveling state of the vehicle; a collision determination device which determines a possibility of a collision between the vehicle and the object based on the traveling state; and a controller which operates at least one of the braking device and the alarm device when there is the possibility of collision, wherein the controller changes at least one of operation timing of the alarm device, operation timing of the braking device, and deceleration degree made by the braking device in accordance with whether or not the first detector and the second detector detect the object.

Abstract: A vehicle travel safety apparatus which includes: an object detecting device that detects objects around the vehicle; a first travel path estimating device that estimates the travel path of a moving object among the objects; a velocity calculating device that calculates the velocity of the moving object; a travel state detecting device that detects the travel state of the vehicle; a second travel path estimating device that estimates the travel path of the vehicle; a collision judgment device that determines whether or not there is a possibility of a collision occurring between the moving object and the vehicle; and a travel control device that controls the travel of the vehicle, wherein the collision judgment device estimates an ease of evasive action in the event of the moving object avoiding a collision with the vehicle, and the travel control device controls the travel of the vehicle so that the ease of evasive action increases.

Abstract: A vehicle departure determination apparatus includes: an object detection device which detects objects present in a direction of travel of a subject vehicle, and detects a relative position and relative speed of the objects and the subject vehicle; a running state detection device which detects a running state of the subject vehicle; a speed detection device which detects a speed of the subject vehicle; an oncoming vehicle determination device which determines whether any of the objects serving as oncoming vehicles for the subject vehicle are present, based on the relative speed detected by the object detection device, and the speed of the subject vehicle detected by the speed detection device; and a departure determination device which determines whether or not the subject vehicle has departed from an appropriate route for the subject vehicle, or the oncoming vehicle has departed from an appropriate route for the oncoming vehicle.

Abstract: In a travel safety system for a vehicle: a preceding vehicle V1 in a travel direction of a subject vehicle V is detected by a radar device; an overlap amount ? (smaller one of ?(L) and ?(R)), at which the preceding vehicle V1 overlaps a predicted course for the subject vehicle V, is calculated; and when time for which the over lap amount ? exceeding a predetermined value exceeds a predetermined period, it is determined that there is a possibility that the subject vehicle V comes into contact with the preceding vehicle V1, and a safety system comprising a warning or an automatic braking is actuated. Thus, if it is determined that there is a possibility of contact between the subject vehicle V and the preceding vehicle V1 due to course change of the subject vehicle V or the preceding vehicle, it is possible to prevent the safety system from being unnecessarily actuated to provide a sense of discomfort to a driver.

Abstract: A vehicle travel control system wherein a plurality of objects ahead of a subject vehicle are detected by a radar system. Data corresponding to the plurality of objects within a predetermined region is united into a target object corresponding to a large-sized vehicle. If one of the objects is in a region spaced forward a predetermined distance from a representative position of the target object, which is spaced leftwards in a direction toward at an estimated locus at a predetermined distance apart from a left end point of the representative position, which is spaced forward at a predetermined distance from the subject vehicle and which is included in the estimated locus of the subject vehicle, one of the objects is separated as a target object corresponding to a small-sized vehicle from the original target object to control the traveling of the subject vehicle relative to the small-sized vehicle within the estimated locus.

Abstract: A vehicle travel control system wherein a plurality of objects ahead of a subject vehicle are detected by a radar system. Data corresponding to the plurality of objects within a predetermined region is united into a target object corresponding to a large-sized vehicle. If one of the objects is in a region spaced forward a predetermined distance from a representative position of the target object, which is spaced leftwards in a direction toward at an estimated locus at a predetermined distance apart from a left end point of the representative position, which is spaced forward at a predetermined distance from the subject vehicle and which is included in the estimated locus of the subject vehicle, one of the objects is separated as a target object corresponding to a small-sized vehicle from the original target object to control the traveling of the subject vehicle relative to the small-sized vehicle within the estimated locus.

Abstract: When a turning state of a subject vehicle is detected, the action timing of the contact avoidance support device is slower than when the turning state is not detected. When an action timing determining part 22 estimates that there is the possibility of the subject vehicle coming into contact with the vehicle in front and a turning state of the subject vehicle is detected based on the output from a transversal acceleration sensor S4, a changing rate of the steering angle sensor S5, and a yaw rate sensor S3, a compensation interval calculating part 23 calculates a compensation interval depending on the size of the detected turning state (the amount of the steering angle, the changing rate of the steering angle, and the transversal acceleration). The action timing of the brake actuator 12 is slowed by this compensation interval.

Abstract: The accuracy of determination of a possibility of collision of a vehicle with an object is enhanced without the shortening of a period for detection of the object by an object detecting apparatus. A collision-possibility determining device determines the presence or absence of a possibility of collision of the vehicle with the obstacle by comparing a future locus of movement of the obstacle determined by an obstacle locus determining device based on an output from a radar device, with a future locus of movement of the vehicle determined by a vehicle locus determining apparatus based on outputs from wheel speed sensors and a yaw rate sensor.