Driving assist apparatus of vehicle

• US 10,676,024 B2
• Filed: 12/20/2017
• Issued: 06/09/2020
• Est. Priority Date: 12/22/2016
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Ikedo, Yuji, Akiyama, Tomonori, Morishita, Ryo
• Primary Examiner(s): Pham, Quang
• Application Number:
  US15/848,208
• Publication Number:
  US 20180178721A1
• Time in Patent Office: 902 Days
• CPC Class Codes: B60Q 1/346 with automatic actuation
• CPC Class Codes: B60Q 9/008 for anti-collision purposes
• CPC Class Codes: B60R 16/0231 Circuits relating to the driving or the functioning of the vehicle monitoring tyres B60C23/00; indicating overspeed B60K31/00; for dash boards B60K37/00, B60Q3/10; for indicating emergencies B60Q1/52; brake control systems B60T; registering or indicating the working of vehicles G07C5/00; measuring distance G01C, e.g. combinations of speed and distance G01C23/00; engine indicators G01L; measuring speed or acceleration G01P
• CPC Class Codes: B60W 2540/20 Direction indicator values
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 30/095 Predicting travel path or likelihood of collision
• CPC Class Codes: B60W 30/0953 the prediction being responsive to vehicle dynamic parameters
• CPC Class Codes: B60W 30/0956 the prediction being responsive to traffic or environmental parameters
• CPC Class Codes: B60W 50/14 Means for informing the driver, warning the driver or prompting a driver intervention

Abstract

A driving assist apparatus of a vehicle of the invention predicts, as a predicted minimum left turn radius, a curvature radius of a moving route of the vehicle at a point where a curvature radius of the moving route is predicted to become smallest when the vehicle turns left, and sets a route curved along an arc having the predicted minimum left turn radius as a predicted moving route predicted for the vehicle to move. The apparatus predicts, as a predetermined minimum right turn radius, the curvature radius of the moving route of the vehicle at the point where the curvature radius is predicted to become smallest when the vehicle turns right, and sets the route curved along the arc having the predicted minimum right turn radius as the predicted moving route.

Claims

1. A driving assist apparatus of a vehicle driven by a driver, comprising:

at least one sensor to detect a moving object existing around the vehicle; and

an electronic control unit to perform an attention operation to the driver of the vehicle by being configured to;

set two predicted moving routes for two end sides of the vehicle, the two predicted moving routes having different radii, each of the two predicted moving routes being set such that;

when the driver turns the vehicle left;

after the driver has started to turn the vehicle left;

calculate a curvature radius of a first moving route of the vehicle based on an operation made by the driver to turn the vehicle left;

calculate a change rate of a yaw rate of the vehicle based on yaw rate information detected by a yaw rate sensor of the vehicle;

identify a specific point in the first moving route where the curvature radius of the first moving route is predicted to become smallest using the change rate of the yaw rate of the vehicle, based on a presumption that the curvature radius of the first moving route decreases when the yaw rate of the vehicle increases by the change rate of the yaw rate on a moment-to-moment basis while the vehicle turns left;

set, as a predicted minimum left turn radius, the curvature radius at the identified specific point in the first moving route; and

set a route curved along an arc having the predicted minimum left turn radius as the predicted moving route; and

when the driver turns the vehicle right;

after the driver has started to turn the vehicle right;

calculate a curvature radius of a second moving route of the vehicle based on an operation made by the driver to turn the vehicle right;

calculate the change rate of the yaw rate of the vehicle;

identify a specific point in the second moving route where the curvature radius of the second moving route is predicted to become smallest using the change rate of the yaw rate of the vehicle, based on a presumption that the curvature radius of the second moving route decreases when the yaw rate of the vehicle increases by the change rate of the yaw rate on a moment-to-moment basis while the vehicle turns right;

set, as a predicted minimum right turn radius, the curvature radius at the identified specific point in the second moving route; and

set a route curved along an arc having the predicted minimum right turn radius as the predicted moving route; and

perform the attention operation when a time predicted for the vehicle to reach a point where the moving object crosses at least one of the two predicted moving routes is smaller than or equal to a threshold time.

2. The driving assist apparatus of the vehicle as set forth in claim 1, wherein:

the vehicle comprises at least one left direction blinker activated for indicating that the vehicle is to turn left and at least one right direction blinker activated for indicating that the vehicle is to turn right; and

the electronic control unit is configured to;

predict that the vehicle turns left when a speed of the vehicle is within a predetermined speed range and the left direction blinker is activated; and

predict that the vehicle turns right when the speed of the vehicle is within the predetermined speed range and the right direction blinker is activated.

3. The driving assist apparatus of the vehicle as set forth in claim 1, wherein:

the vehicle comprises at least one left direction blinker activated for indicating that the vehicle is to turn left and at least one right direction blinker activated for indicating that the vehicle is to turn right; and

the electronic control unit is configured to determine whether the vehicle turns left or right based on a vehicle information including activation states of the left and right direction blinkers.

4. The driving assist apparatus of the vehicle as set forth in claim 3, wherein

the vehicle information includes at least one of the yaw rate of the vehicle, a speed of the vehicle, a longitudinal acceleration of the vehicle, an operation amount of an acceleration pedal of the vehicle, a lateral acceleration of the vehicle and a steering angle of a steering wheel of the vehicle.

5. The driving assist apparatus of the vehicle as set forth in claim 1, wherein the electronic control unit is configured to:

calculate the curvature radius of the first moving route and the curvature radius of the second moving route, according to different preset ways based on a result of determination as to whether a smoothed yaw rate of the vehicle is larger than a preset threshold.