Drive assist device, and drive assist method

• US 10,023,230 B2
• Filed: 11/29/2012
• Issued: 07/17/2018
• Est. Priority Date: 11/29/2012
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Sato, Minami
• Primary Examiner(s): Do, Truc M
• Application Number:
  US14/438,099
• Publication Number:
  US 20150291216A1
• Time in Patent Office: 2,056 Days
• Field of Search: None
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2710/18 Braking system
• CPC Class Codes: B60W 2710/20 Steering systems
• CPC Class Codes: B60W 30/08 Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/0956 the prediction being responsive to traffic or environmental parameters
• CPC Class Codes: B60W 30/12 Lane keeping
• CPC Class Codes: B60W 50/14 Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: B62D 15/025 Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation B62D1/28 takes precedence
• CPC Class Codes: B62D 15/0265 Automatic obstacle avoidance by steering

Abstract

A driving assisting section includes a collision avoidance assisting section, which performs collision avoidance assistance for avoiding collision between a vehicle to be assisted and an object by prompting turning of the vehicle. The driving assisting section further includes a lane-keeping assisting section, which performs lane keeping assistance. An assist arbitrating section arbitrates between the collision avoidance assistance by the collision avoidance assisting section and the lane keeping assistance by the lane-keeping assisting section.

Claims

1. A driving assistance apparatus that assists in driving a vehicle, comprising:

a collision avoidance assisting section configured to perform collision avoidance assistance for avoiding a collision between a vehicle that is an assistance target and an object by prompting turning of the vehicle; and

an assistance arbitration section configured to perform arbitration between the collision avoidance assistance and driving assistance different in type from the collision avoidance assistance, wherein

when a request for activating the driving assistance different in type from the collision avoidance assistance is detected after termination of performance of the collision avoidance assistance, and the driving assistance different in type from the collision avoidance assistance prompts turning of the vehicle in a direction conflicting with a turning direction previously prompted by the collision avoidance assistance, the assistance arbitration section performs, as the arbitration, a reduction process for reducing an assistance amount of the driving assistance different in type from the collision avoidance assistance,

wherein the driving assistance different in type from the collision avoidance assistance comprises steering control of the vehicle,

wherein the assistance arbitration section is further configured to suppress repeated performance of the driving assistance different in type from the collision avoidance assistance within a period of time after termination of performance of the collision avoidance assistance by performing the reduction process.

2. The driving assistance apparatus according to claim 1, wherein the assistance arbitration section is further configured to suppress the driving assistance different in type from the collision avoidance assistance during at least one of the following additional periods of time:

a period of time from start of the collision avoidance assistance to termination of the collision avoidance assistance;

a period of time during which a suppressing condition specified for the driving assistance different in type from the collision avoidance assistance is met.

3. The driving assistance apparatus according to claim 2, wherein

the suppressing condition is met based on a prediction that collision avoidance assistance will be activated again.

4. The driving assistance apparatus according to claim 3, wherein

the collision avoidance assistance includes assistance for performing intervention braking to the vehicle, and

the collision avoidance assisting section is further configured to provide the collision avoidance assistance if an activation condition including performance of the driving assistance different in type from the collision avoidance assistance is at least one of assistance for performing intervention braking, and assistance for prompting the turning of the vehicle.

5. The driving assistance apparatus according to claim 2, wherein the suppressing condition is met based on a prediction that the collision avoidance assistance will be activated again due to performance of the driving assistance different in type from the collision avoidance assistance after termination of the collision avoidance assistance.

6. The driving assistance apparatus according to claim 1, wherein the driving assistance different in type from the collision avoidance assistance further comprises at least one of:

lane-keeping travel assistance for prompting the vehicle to be maintained at a traveling position within a lane;

skidding suppressing assistance for assisting the vehicle in suppressing skidding; and

autonomous travel assistance for assisting the vehicle in traveling autonomously.

7. A driving assistance apparatus that assists in driving a vehicle, including:

a collision avoidance assisting section configured to perform collision avoidance assistance for avoiding a collision between a vehicle that is an assistance target and an object by prompting turning of the vehicle; and

an assistance arbitration section configured to perform arbitration between the collision avoidance assistance and driving assistance different in type from the collision avoidance assistance, wherein

the driving assistance different in type from the collision avoidance assistance is driving assistance for prompting turning of the vehicle, and

the assistance arbitration section is configured to suppress the driving assistance different in type from the collision avoidance assistance when the collision avoidance assistance and the driving assistance different in type from the collision avoidance assistance prompt turning in conflicting directions, wherein

the object is a movable body, and

based on a relationship between a first time taken by the vehicle to reach a meeting point where the vehicle meets the movable body and a second time taken by the movable body to reach the meeting point, the collision avoidance assisting section assists in avoidance of collision between the vehicle and the movable body.

8. The driving assistance apparatus according to claim 7, wherein, when a request for activating the driving assistance different from the collision avoidance assistance is detected during performance of the collision avoidance assistance or when a request for activating the driving assistance different from the collision avoidance assistance is detected after termination of performance of the collision avoidance assistance but before a lapse of a setup time, the assistance arbitration section suppresses the driving assistance different from the collision avoidance assistance in a period of time during which at least one of the first time and the second time is converted from a positive value to a negative value.

9. The driving assistance apparatus according to claim 7, wherein

the collision avoidance assisting section has a map in which an assistance region of performing driving assistance and non-assistance region of performing no driving assistance are specified with respect to a relative relationship between the first time and the second time, and

the collision avoidance assisting section performs the collision avoiding assistance by referring to the map.

10. A driving assistance method for assisting in driving a vehicle, performed by a driving assistance apparatus, comprising:

by a collision avoidance assisting section of the driving assistance apparatus, performing collision avoidance assistance for avoiding a collision between a vehicle that is an assistance target and an object; and

by an assistance arbitration section of the driving assistance apparatus, performing arbitration between the collision avoidance assistance and driving assistance different in type from the collision avoidance assistance, wherein the driving assistance different in type from the collision avoidance assistance includes driving assistance for prompting turning of the vehicle, and

detecting a request for activating the driving assistance different from the collision avoidance assistance after termination of performance of the collision avoidance assistance, in a case where the driving assistance different in type from the collision avoidance assistance prompts turning of the vehicle in a direction conflicting with a turning direction previously prompted by the collision avoidance assistance,

by the assistance arbitration section, performing, as the arbitration, a reduction process for reducing an assistance amount of the driving assistance different in type from the collision avoidance assistance,

wherein the driving assistance different in type from the collision avoidance assistance comprises steering control of the vehicle,

wherein the reduction process also suppresses repeated performance of the driving assistance different in type from the collision avoidance assistance within a period of time after termination of performance of the collision avoidance assistance.

11. A multifunction phone that assists in driving a vehicle, comprising one or more of Electronic Control Units (ECUs), including:

collision avoidance assisting circuitry, which performs collision avoidance assistance for avoiding a collision between a vehicle that is an assistance target and an object by prompting turning of the vehicle; and

assistance arbitration circuitry, which performs arbitration between the collision avoidance assistance and driving assistance different in type from the collision avoidance assistance, wherein

when a request for activating the driving assistance different from the collision avoidance assistance is detected after termination of performance of the collision avoidance assistance, and the driving assistance different in type from the collision avoidance assistance prompts turning of the vehicle in a direction conflicting with a turning direction previously prompted by the collision avoidance assistance, the assistance arbitration circuitry performs, as the arbitration,

a reduction process for reducing an assistance amount of the driving assistance different in type from the collision avoidance assistance,

wherein the driving assistance different in type from the collision avoidance assistance comprises steering control of the vehicle,

wherein the assistance arbitration circuitry is further configured to suppress repeated performance of the driving assistance different in type from the collision avoidance assistance within a period of time after termination of performance of the collision avoidance assistance by performing the reduction process.

12. A driving assistance apparatus that assists in driving a vehicle, comprising one or more of Electronic Control Units (ECUs), including:

collision avoidance assisting circuitry configured to perform collision avoidance assistance for avoiding a collision between a vehicle that is an assistance target and an object by prompting turning of the vehicle; and

assistance arbitration circuitry configured to perform arbitration between the collision avoidance assistance and driving assistance different in type from the collision avoidance assistance, wherein

when a request for activating the driving assistance different from the collision avoidance assistance is detected after termination of performance of the collision avoidance assistance, and the driving assistance different in type from the collision avoidance assistance prompts turning of the vehicle in a direction conflicting with a turning direction previously prompted by the collision avoidance assistance, the assistance arbitration circuitry performs, as the arbitration, a reduction process for reducing an assistance amount of the driving assistance different in type from the collision avoidance assistance,

wherein the driving assistance different in type from the collision avoidance assistance comprises steering control of the vehicle,

wherein the assistance arbitration circuitry is further configured to suppress repeated performance of the driving assistance different in type from the collision avoidance assistance within a period of time after termination of performance of the collision avoidance assistance by performing the reduction process.

13. A driving assistance apparatus that assists in driving a vehicle, comprising one or more of Electronic Control Units (ECUs), including:

collision avoidance assisting circuitry, which performs collision avoidance assistance for avoiding collision between a vehicle that is an assistance target and an object by prompting turning of the vehicle; and

assistance arbitration circuitry, which performs arbitration between the collision avoidance assistance and driving assistance different in type from the collision avoidance assistance, wherein

the driving assistance different in type from the collision avoidance assistance is driving assistance for prompting turning of the vehicle, and

the assistance arbitration circuitry suppresses the driving assistance different in type from the collision avoidance assistance when the collision avoidance assistance and the driving assistance different in type from the collision avoidance assistance prompt turning in conflicting directions, wherein

the object is a movable body, and

based on a relationship between a first time taken by the vehicle to reach a meeting point where the vehicle meets the movable body and a second time taken by the movable body to reach the meeting point, the collision avoidance assisting circuitry assists in avoidance of collision between the vehicle and the movable body.

14. A driving assistance method for assisting in driving a vehicle performed by a driving assistance apparatus including one or more Electronic Control Units (ECUs), comprising:

by collision avoidance assisting circuitry of the ECUs, performing collision avoidance assistance for avoiding a collision between a vehicle that is an assistance target and an object; and

by assistance arbitration circuitry of the ECUs, performing arbitration between the collision avoidance assistance and driving assistance different in type from the collision avoidance assistance, wherein the driving assistance different in type from the collision avoidance assistance includes driving assistance for prompting turning of the vehicle, and

detecting a request for activating the driving assistance different from the collision avoidance assistance after termination of performance of the collision avoidance assistance, in a case where the driving assistance different in type from the collision avoidance assistance prompts turning of the vehicle in a direction conflicting with a turning direction previously prompted by the collision avoidance assistance,

by the assistance arbitration circuitry, performing, as the arbitration, a reduction process for reducing an assistance amount of the driving assistance different in type from the collision avoidance assistance, wherein the driving assistance different in type from the collision avoidance assistance comprises steering control of the vehicle,

wherein the reduction process also suppresses repeated performance of the driving assistance different in type from the collision avoidance assistance within a period of time after termination of performance of the collision avoidance assistance.