Driving assistance system

• US 10,137,894 B2
• Filed: 03/02/2017
• Issued: 11/27/2018
• Est. Priority Date: 03/08/2016
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Nakadori, Minoru
• Primary Examiner(s): Black, Thomas G
• Assistant Examiner(s): Smith-Stewart, Demetra R
• Application Number:
  US15/447,978
• Publication Number:
  US 20170259821A1
• Time in Patent Office: 635 Days
• Field of Search: None
• CPC Class Codes: B60W 2420/408 Radar; Laser, e.g. lidar
• CPC Class Codes: B60W 2540/10 Accelerator pedal position
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/801 Lateral distance
• CPC Class Codes: B60W 2554/802 Longitudinal distance
• CPC Class Codes: B60W 2554/804 Relative longitudinal speed
• CPC Class Codes: B60W 2720/10 Longitudinal speed
• CPC Class Codes: B60W 2754/30 Longitudinal distance
• CPC Class Codes: B60W 30/14 Adaptive cruise control
• CPC Class Codes: B60W 30/17 with provision for special action when the preceding vehicle comes to a halt, e.g. stop and go
• CPC Class Codes: B60W 30/18027 Drive off, accelerating from standstill
• CPC Class Codes: B60W 40/04 Traffic conditions
• CPC Class Codes: B60W 50/14 Means for informing the driver, warning the driver or prompting a driver intervention

Abstract

A driving assistance system includes an electronic control unit and a notifying unit. The electronic control unit detects an inter-vehicle distance and relative velocity, controls the subject vehicle, performs a first notification operation when the inter-vehicle distance becomes equal to or larger than a first distance and the relative velocity becomes equal to or higher than a first velocity, or equal to or larger than a second distance, sets an inter-vehicle distance when the forward vehicle and the subject vehicle are stopped as a reference inter-vehicle distance and performs a second notification operation when a difference between the reference inter-vehicle distance and the inter-vehicle distance becomes equal to or larger than a third distance. The electronic control unit does not perform the second notification operation at least until after the first notification operation is performed.

Claims

1. A driving assistance system comprising:

at least one electronic control unit configured to;

detect an inter-vehicle distance between a forward vehicle and a subject vehicle;

detect a relative velocity between the forward vehicle and the subject vehicle;

control the subject vehicle such that the inter-vehicle distance becomes equal to a target inter-vehicle distance;

determine that a notification condition is satisfied, when an inter-vehicle distance between a stopped subject vehicle and the forward vehicle becomes equal to or larger than a predetermined first distance and the relative velocity becomes equal to or higher than a predetermined first velocity, or the inter-vehicle distance between the stopped subject vehicle and the forward vehicle becomes equal to or larger than a predetermined second distance, the predetermined second distance being larger than the predetermined first distance, and

perform a first notification operation on a driver when the notification condition is satisfied,

set an inter-vehicle distance in a condition where both of the forward vehicle and the subject vehicle are stopped, as a reference inter-vehicle distance, and

perform a second notification operation on the driver, when a difference between the reference inter-vehicle distance and the inter-vehicle distance, becomes equal to or larger than a predetermined third distance;

a notifying unit configured to perform notification on the driver when receiving a signal from the at least one electronic control unit;

wherein the at least one electronic control unit is configured not to perform the second notification operation on the driver, at least until after the first notification operation is performed, when the subject vehicle is controlled such that the inter-vehicle distance becomes equal to the target inter-vehicle distance.

2. The driving assistance system according to claim 1, wherein

the at least one electronic control unit is configured to set the inter-vehicle distance at a given point in time upon or after a time at which it is determined that the notification condition is satisfied, as the reference inter-vehicle distance, when the subject vehicle is controlled such that the inter-vehicle distance becomes the target inter-vehicle distance.

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

the at least one electronic control unit is configured to set the inter-vehicle distance at the time when it is determined that the notification condition is satisfied as the reference inter-vehicle distance, when the subject vehicle is controlled such that the inter-vehicle distance becomes the target inter-vehicle distance.

4. The driving assistance system according to claim 2, wherein

the at least one electronic control unit is configured to set the inter-vehicle distance at a time when the first notification operation is executed, as the reference inter-vehicle distance, when the subject vehicle is controlled such that the inter-vehicle distance becomes the target inter-vehicle distance.

5. The driving assistance system according to claim 1, wherein

the at least one electronic control unit is configured not to perform the second notification operation on the driver, when the subject vehicle is controlled such that the inter-vehicle distance becomes the target inter-vehicle distance.

6. The driving assistance system according to claim 1, wherein the at least one electronic control unit is configured to perform the first notification operation on the driver, when the inter-vehicle distance between the stopped subject vehicle and the forward vehicle becomes equal to or larger than the predetermined first distance, and the relative velocity becomes equal to or higher than the predetermined first velocity, or when the inter-vehicle distance between the stopped subject vehicle and the forward vehicle becomes equal to or larger than the predetermined second distance, when the subject vehicle is stopped in response to stop of the forward vehicle.