DRIVING SUPPORT APPARATUS FOR VEHICLE

• US 20150375748A1
• Filed: 06/13/2015
• Published: 12/31/2015
• Est. Priority Date: 06/27/2014
• Status: Active Grant

• Current Assignee: Subaru Corp.
• Original Assignee: Fuji Heavy Industries Limited (Subaru Corp.)
• Inventors: NAGASE, Takayuki, MATSUNO, Koji, EZOE, Shiro, HORIGUCHI, Harunobu, OYAMA, Hajime, TAKASO, Yasushi, MIZOGUCHI, Masato, TAKAHASHI, Osamu
• Granted Patent: US 9,499,171 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B60W 10/04 including control of propulsion units
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/4041 Position
• CPC Class Codes: B60W 2554/80 Spatial relation or speed relative to objects
• CPC Class Codes: B60W 2554/805 Azimuth angle
• CPC Class Codes: B60W 2555/00 Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
• CPC Class Codes: B60W 2556/00 Input parameters relating to data
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60W 2720/106 Longitudinal acceleration
• CPC Class Codes: B60W 2720/24 Direction of travel
• CPC Class Codes: B60W 2754/10 Spatial relation or speed relative to objects
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• 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 30/162 Speed limiting therefor
• CPC Class Codes: B60W 30/18163 Lane change; Overtaking manoeuvres
• CPC Class Codes: B60W 50/0097 Predicting future conditions
• CPC Class Codes: B62D 15/0255 Automatic changing of lane, e.g. for passing another vehicle
• CPC Class Codes: G06V 20/584 of vehicle lights or traffic lights
• CPC Class Codes: G06V 20/588 : Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road

Abstract

When a vehicle equipped with a driving support apparatus moves from an original traveling lane into a lane for passing in order to pass a preceding vehicle and an oncoming vehicle appears in the lane for passing, the safe passing of the preceding vehicle is determined to be impossible and the passing is interrupted even when the oncoming vehicle decelerates, in the case where a deceleration change amount the oncoming vehicle is smaller than a threshold. On the other hand, when the deceleration change amount of the oncoming vehicle is equal to or greater than the threshold, whereby safety with respect to surrounding vehicles can be confirmed, and it is determined the vehicle can be safely returned in front of the preceding vehicle, the passing of the preceding vehicle is performed.

Claims

1. A driving support apparatus for a vehicle that determines whether or not the vehicle can pass a preceding vehicle traveling in front of the vehicle and executes passing control relating to the preceding vehicle when the passing is possible, the driving support apparatus comprising:

a passing environment monitoring module that monitors changes in travel environment of mainly a lane for passing to which the vehicle moves to pass the preceding vehicle, when the passing of the preceding vehicle is determined to be possible and the subject vehicle is moved to the lane for passing; and

a passing execution/interruption determination module that, when an oncoming vehicle has been detected in the lane for passing by the passing environment monitoring module, determines whether to execute or interrupt the passing of the preceding vehicle on the basis of a deceleration change amount of the oncoming vehicle and a relationship between the vehicle and at least one surrounding vehicle in position and relative speed.

2. The driving support apparatus for a vehicle according to claim 1, wherein

the passing environment monitoring module monitors at least the presence/absence of the oncoming vehicle, position and relative speed of the at least one surrounding vehicle located around the subject vehicle, and road state in the lane for passing;

and

the passing execution/interruption determination module determines to interrupt the passing of the preceding vehicle when the deceleration change amount of the oncoming vehicle is less than a threshold and determines to execute the passing of the preceding vehicle when the deceleration change amount of the oncoming vehicle is equal to or greater than the threshold and the vehicle can safely return to an original traveling lane on the basis of the relationship between the vehicle and the at least one surrounding vehicle in term of position and relative speed.

3. The driving support apparatus for a vehicle according to claim 1, wherein the deceleration change amount is a change amount of acceleration.

4. The driving support apparatus for a vehicle according to claim 2, wherein the deceleration change amount is a change amount of acceleration.

5. The driving support apparatus for a vehicle according to claim 1, wherein the deceleration change amount is a change amount of vehicle speed.

6. The driving support apparatus for a vehicle according to claim 2, wherein the deceleration change amount is a change amount of vehicle speed.

7. The driving support apparatus for a vehicle according to claim 2, wherein the threshold is a deceleration change amount that ensures a safety limit distance between the vehicle and the oncoming vehicle after a predetermined time.

8. The driving support apparatus for a vehicle according to claim 2, wherein

the threshold is variably changed according to a degree of change of the vehicle speed or a relationship between the speed of the vehicle and a speed limit.

9. The driving support apparatus for a vehicle according to claim 2, wherein the threshold is variably changed according to a relationship between the vehicle and the oncoming vehicle in terms of distance.

10. The driving support apparatus for a vehicle according to claim 2, wherein the threshold is set to be small when a road friction coefficient in the lane for passing is low.

11. The driving support apparatus for a vehicle according to claim 2, wherein the threshold is set to be small when the lane for passing is a traveling lane of the oncoming vehicle.