VEHICLE DRIVING ASSIST APPARATUS

• US 20180096604A1
• Filed: 09/29/2017
• Published: 04/05/2018
• Est. Priority Date: 10/03/2016
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: MORIMURA, Junichi, OHTA, Teppei
• Granted Patent: US 10,049,579 B2
• Time in Patent Office: Days
• CPC Class Codes: B60W 2050/143 Alarm means
• CPC Class Codes: B60W 2050/146 Display means
• CPC Class Codes: B60W 2554/80 Spatial relation or speed relative to objects
• CPC Class Codes: B60W 2710/182 Brake pressure, e.g. of fluid or between pad and disc
• 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
• CPC Class Codes: G01S 13/589 measuring the velocity vector
• CPC Class Codes: G01S 13/723 by using numerical data
• CPC Class Codes: G01S 13/867 Combination of radar systems with cameras
• CPC Class Codes: G01S 13/87 Combinations of radar systems, e.g. primary radar and secondary radar
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/93185 Controlling the brakes
• CPC Class Codes: G01S 2013/932 using own vehicle data, e.g. ground speed, steering wheel direction
• CPC Class Codes: G01S 2013/93271 in the front of the vehicles
• CPC Class Codes: G01S 7/415 Identification of targets based on measurements of movement associated with the target
• CPC Class Codes: G06T 7/20 Analysis of motion motion estimation for coding, decoding, compressing or decompressing digital video signals H04N19/43, H04N19/51
• CPC Class Codes: G06V 20/58 Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

The vehicle driving assist apparatus of the invention provides a display device with an attention display command when an attention condition that a time predicted for a vehicle to reach a target is larger than a lower limit threshold time and smaller than or equal to a display start threshold time is satisfied. The lower limit threshold time is larger than or equal to a display time required for one attention display operation to be completed. The display start threshold time is larger than the lower limit threshold time. When the attention display condition is not satisfied, the apparatus does not provide the display device with the attention display command.

Claims

1. A vehicle driving assist apparatus, comprising:

an object detection device for detecting an object existing around a vehicle and acquiring object information corresponding to information on a position and a speed of the object with respect to the vehicle;

a display device for performing an attention display operation for informing a driver of the vehicle of an existence of a target corresponding to the object to be informed a driver of the vehicle, it taking a predetermined display time for completing one attention display operation; and

an electric control unit for providing the display device with an attention display command for causing the display device to perform the attention display operation,

wherein the electric control unit is configured;

to determine whether the target exists around the vehicle, using the object information;

to estimate a predicted reaching time necessary for the vehicle to reach the target, using the object information when the electric control unit first determines that the target exists around the vehicle;

to provide the display device with the attention display command when an attention condition that the predicted reaching time is larger than a lower limit threshold time and smaller than or equal to a display start threshold time is satisfied, the lower limit threshold time being larger than or equal to the predetermined display time and the display start threshold time being larger than the lower limit threshold time; and

not to provide the display device with the attention display command when the attention display condition is not satisfied.

2. The vehicle driving assist apparatus according to claim 1, wherein the attention condition includes a condition that a lateral distance between the target and a line extending in a longitudinal direction of the vehicle is shorter than or equal to a display start threshold distance, and

the electric control unit is configured to determine whether the lateral distance is shorter than or equal to the display start threshold distance, using the object information.

3. The vehicle driving assist apparatus according to claim 2, wherein the electric control unit is configured:

to determine whether a forced-braking condition that the predicted reaching time is shorter than or equal to a forced-braking start threshold time shorter than the display start threshold time, using the object information; and

to perform a forced-braking operation for causing a braking device of the vehicle to apply a braking force to the vehicle to stop the vehicle when the electric control unit determines that the forced-braking condition is satisfied.

4. The vehicle driving assist apparatus according to claim 3, wherein the forced-braking condition includes a condition that the lateral distance is shorter than or equal to a forced-braking start threshold distance shorter than the display start threshold distance, and

the electric control unit is configured to determine whether the lateral distance is shorter than or equal to the forced-braking start threshold distance, using the object information.

5. The vehicle driving assist apparatus according to claim 3, wherein the electric control unit is configured to continue to perform the attention display operation until the vehicle stops when the forced-braking operation is performed even though the attention condition becomes unsatisfied after the attention display operation starts to be performed.