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公开(公告)号：US20230311870A1
公开(公告)日：2023-10-05
申请号：US18124521
申请日：2023-03-21
发明人： Yuki Tsuboi , Yuki Kizumi
CPC分类号： B60W30/12 , B60W60/005 , B60W50/06 , B60W2552/53 , B60W2554/4041
摘要： A vehicle control apparatus for controlling a subject vehicle includes: an exterior environment detection unit configured to an external situation in a predetermined area around the subject vehicle while the subject vehicle traveling; and a microprocessor. The microprocessor is configured to perform: recognizing a pair of right and left division lines that define the lane in which the subject vehicle is traveling based on a detection value from the exterior environment detection unit; calculating a direction vector of the pair of right and left division lines recognized in the recognizing; calculating a movement vector of a forward vehicle ahead of the subject vehicle based on the detection value from the exterior environment detection unit; and determining the self-driving capability or the driving support capability to be applied to the subject vehicle based on the direction vector and the movement vector calculated in the calculating.
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公开(公告)号：US20230242109A1
公开(公告)日：2023-08-03
申请号：US18101216
申请日：2023-01-25
发明人： Yuki Kizumi , Umiaki Matsubara , Takahiro Fujita , Yuhi Goto
IPC分类号： B60W30/12 , G06V20/56 , G06V10/776
CPC分类号： B60W30/12 , G06V20/588 , G06V10/776 , B60W2552/53 , B60W2420/42
摘要： A vehicle control apparatus includes a microprocessor and an exterior environment detection unit configured to detect an exterior environment situation in a predetermined region around the subject vehicle. The microprocessor is configured to perform: recognizing a division line defining a lane of a road on which the subject vehicle travels based on a detection value of the exterior environment detection unit; acquiring a movement amount of the subject vehicle in a vehicle width direction; and determining a reliability of a recognition result of the division line based on a first movement amount which is the acquired movement amount of the subject vehicle and a second movement amount, which is a change amount of a recognized position of the division line in the vehicle width direction, when a traveling position of the subject vehicle moves in the vehicle width direction.
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公开(公告)号：US20230242108A1
公开(公告)日：2023-08-03
申请号：US18101207
申请日：2023-01-25
发明人： Shingo Ito , Tadahiko Kanoh , Yuki Kizumi
CPC分类号： B60W30/12 , G06V20/588 , B60W2552/53 , B60W2420/42
摘要： A vehicle control apparatus includes a microprocessor and a first and second exterior environment detection units configured to detect an exterior environment situation in a predetermined region around the subject vehicle respectively. The microprocessor is configured to perform: recognizing a pair of left and right first division lines defining a current lane on which the subject vehicle is traveling based on a detection value of the first exterior environment detection unit and a pair of left and right second division lines defining the current lane based on a detection value of the second exterior environment detection unit; electing each of left and right division lines having short distances from the subject vehicle from the pair of left and right first division line and the pair of left and right second division line recognized in the recognizing; and generating the target path based on the left and right division lines selected in the selecting.
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公开(公告)号：US11267397B2
公开(公告)日：2022-03-08
申请号：US17117224
申请日：2020-12-10
发明人： Yoshitaka Mimura , Takashi Oshima , Yuji Tsuchiya , Yuki Kizumi
摘要： In an autonomous driving vehicle information presentation apparatus, based on outside information, an identification unit searches for a person present around a host vehicle and identifies whether the person extracted by the search matches a user of the host vehicle. When a result of the identification by the identification unit indicates that the person extracted by the search matches the user of the host vehicle, the information presentation unit presents information by using a preset presenting state to a specific person, as a presentation target, identified to match the user of the host vehicle by the identification unit with an exterior display apparatus provided at a front portion of the host vehicle.
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公开(公告)号：US20210248391A1
公开(公告)日：2021-08-12
申请号：US17164853
申请日：2021-02-02
发明人： Yuki Kizumi , Takashi Mine , Keisuke Oka , Masahiko Asakura , Yuta Takada
摘要： According to an embodiment, a surroundings recognition device includes an acquirer configured to acquire first road information including a road boundary near a host vehicle from map information on the basis of position information of the host vehicle, a recognizer configured to recognize a road boundary near the host vehicle on the basis of an output of an external environment sensor, and a determiner configured to determine that a first road boundary matches a second road boundary when the second road boundary included in second road information that is a recognition result of the recognizer is within a road boundary determination area based on a position of the first road boundary included in the first road information acquired by the acquirer. The determiner sets a size of the road boundary determination area on the basis of a predetermined condition.
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公开(公告)号：US11685406B2
公开(公告)日：2023-06-27
申请号：US17170929
申请日：2021-02-09
发明人： Koichi Yoshihara , Takashi Mine , Yuki Kizumi
IPC分类号： B60W60/00 , B60W30/095 , B60W10/04 , B60W10/20 , B60W10/18
CPC分类号： B60W60/00274 , B60W30/0956 , B60W10/04 , B60W10/18 , B60W10/20 , B60W2420/42 , B60W2420/52 , B60W2552/00 , B60W2554/4041 , B60W2554/4042 , B60W2554/4043 , B60W2554/4045 , B60W2554/4046 , B60W2710/18 , B60W2710/20
摘要： A vehicle control device includes a recognizer configured to recognize a surrounding environment including a structure of a road near a vehicle and another vehicle, a deriver configured to derive a predicted probability that the other vehicle will travel in the future along each of routes which are assumed when a plurality of routes along which the other vehicle is able to travel are assumed on a road on which the other vehicle recognized by the recognizer travels, and a travel controller configured to control behavior of the vehicle based on the predicted probability derived by the deriver.
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公开(公告)号：US11300961B2
公开(公告)日：2022-04-12
申请号：US16685020
申请日：2019-11-15
发明人： Yuki Kizumi
摘要： A vehicle control apparatus configured to control automated driving of a vehicle acquires information relating to a situation in a surrounding area of the vehicle, acquires, for each of a plurality of positions, a first value relating to a probability that an object that is present in the surrounding area will be present at a future point in time and a second value obtained based on travel data of a predetermined driver based on the information, and determines a path on which the vehicle is to move, by selecting positions at which the vehicle is to be present at a plurality of future points in time from the plurality of positions based on combinations of the first values and the second values.
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公开(公告)号：US10162361B2
公开(公告)日：2018-12-25
申请号：US15433169
申请日：2017-02-15
发明人： Yosuke Sakamoto , Hiroyuki Koibuchi , Daisuke Kondo , Yuki Nakada , Yoshifumi Banno , Yuki Kizumi
IPC分类号： G05D1/02 , B62D6/00 , G01C21/26 , G08G1/04 , B60W30/12 , G01S19/42 , B62D15/02 , G08G1/16 , B60W50/00
摘要： A steering control unit performs lane keeping control to cause a steering system to operate to reduce a distance between a width-direction center position of a lane and a position where the vehicle is traveling in the lane on the basis of a recognized state of the lane obtained by a lane recognizing unit. A road condition determining unit determines whether the road on which the vehicle is traveling is a straight road. A lane keeping responsivity setting unit sets, when it is determined by the road condition determining unit that the road on which the vehicle is traveling is a straight road, responsivity of the lane keeping control to the distance to be lower than responsivity set when it is determined that the road on which the vehicle is traveling is not a straight road.
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公开(公告)号：US10147003B2
公开(公告)日：2018-12-04
申请号：US15136364
申请日：2016-04-22
发明人： Yuki Kizumi
摘要： A more accurate lane is estimated by using a lane at a previous time point after coordinate conversion that is coordinate-converted based on traveling information (a vehicle speed and a yaw rate) at a current time point, as well as a lane at the current time point.
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公开(公告)号：US20170240205A1
公开(公告)日：2017-08-24
申请号：US15437616
申请日：2017-02-21
发明人： Yuki Nakada , Hiroyuki Koibuchi , Daisuke Kondo , Yosuke Sakamoto , Yoshifumi Banno , Yuki Kizumi
CPC分类号： B62D15/025 , B62D3/04 , B62D5/0463 , B62D6/003 , B62D6/04 , B62D6/10 , B62D15/021
摘要： If road information indicates that a first curve zone at a near side and a second curve zone at a far side that curve in different directions are continuously located in a road, a steering assist unit of a steering assist device or a steering assist circuit finishes decreasing process of decreasing the steering assist amount when the subject vehicle passes through the first curve zone earlier than a case when the subject vehicle passes through the second curve zone.
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