DRIVING ASSIST APPARATUS OF VEHICLE

• US 20180178721A1
• Filed: 12/20/2017
• Published: 06/28/2018
• 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
• Granted Patent: US 10,676,024 B2
• Time in Patent Office: 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, comprising:

at least one sensor for detecting a moving object existing around the vehicle; and

an electronic control unit for performing an attention operation to a driver of the vehicle,

the electronic control unit being configured;

to set a predicted moving route corresponding to a route predicted for the vehicle to move; and

to perform the attention operation when a time predicted for the vehicle to reach a point where the moving object crosses the predicted moving route is smaller than or equal to a threshold time,

wherein when the vehicle turns left, the electronic control unit is configured;

to predict, as a predicted minimum left turn radius, a curvature radius of a moving route of the vehicle at a point where the curvature radius of the moving route is predicted to become smallest after the vehicle starts to turn left; and

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

when the vehicle turns right, the electronic control unit is configured;

to predict, 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 after the vehicle starts to turn right; and

to set the route curved along the arc having the predicted minimum right turn radius as the predicted moving route.

2. The driving assist apparatus of the vehicle as set forth in claim 1, wherein when the vehicle turns left, the electronic control unit is configured to presume that a raw rate of the vehicle increases by a change rate of the yaw rate of the vehicle on a moment-to-moment basis while the vehicle turns left for predicting the predicted minimum left turn radius;

and

when the vehicle turns right, the electronic control unit is configured to presume that the raw rate of the vehicle increases by the change rate of the yaw rate of the vehicle on a moment-to-moment basis while the vehicle turns right for predicting the predicted minimum right turn radius.

3. The driving assist apparatus of the vehicle as set forth in claim 1, wherein after the curvature radius becomes smallest while the vehicle turns left, the electronic control unit is configured to set, as the predicted minimum left turn radius, the curvature radius at a point where the curvature radius becomes smallest;

and

after the curvature radius becomes smallest while the vehicle turns right, the electronic control unit is configured to set, as the predicted minimum right turn radius, the curvature radius at the point where the curvature radius becomes smallest.

4. 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

to 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.

5. 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 on the basis of a vehicle information including activation states of the left and right direction blinkers.

6. The driving assist apparatus of the vehicle as set forth in claim 5, wherein the vehicle information includes at least one of a 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.