DRIVING ASSIST APPARATUS OF VEHICLE

• US 20180178841A1
• Filed: 10/26/2017
• 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 10,577,020 B2
• Time in Patent Office: Days
• CPC Class Codes: B60Q 9/008 for anti-collision purposes
• CPC Class Codes: B60Y 2400/3017 Radars
• CPC Class Codes: B62D 15/021 Determination of steering angle
• CPC Class Codes: B62D 15/0295 by overlaying a vehicle path based on present steering angle over an image without processing that image
• 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 2013/932 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 2013/93274 on the side of the vehicles
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

A driving assist apparatus of a vehicle of the invention sets a predicted route predicted for the vehicle to move and performs an attention operation to a driver when a time predicted for the vehicle to reach a point where a moving object crosses the predicted route is smaller than or equal to a threshold time. The apparatus predicts a radius of a route predicted for the vehicle to move as a left turn radius when the vehicle turns left and sets a route curved along an arc having the left turn radius as the predicted route. The apparatus predicts the radius of the route predicted for the vehicle to move as a right turn radius when the vehicle turns right and sets the route curved along the arc having the right turn radius as the predicted 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 the electronic control unit is configured;

to predict a radius of a route predicted for the vehicle to move as a left turn radius when the vehicle turns left and set a route curved along an arc having the left turn radius as the predicted moving route; and

to predict the radius of the route predicted for the vehicle to move as a right turn radius when the vehicle turns right and set the route curved along the arc having the right turn radius as the predicted moving route.

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

to set the predicted moving route, using the left turn radius predicted at a time before and nearest a time when the vehicle stops temporarily while the vehicle is turning left when the vehicle stops temporarily while the vehicle is turning left after the vehicle starts to turn left; and

to set the predicted moving route, using the right turn radius predicted at the time before and nearest the time when the vehicle stops temporarily while the vehicle is turning right when the vehicle stops temporarily while the vehicle is turning right after the vehicle starts to turn right.

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

to set the predicted moving route, using the left turn radius predicted at a time before and nearest a time when the vehicle turns right temporarily while the vehicle is turning left when the vehicle turns right temporarily while the vehicle is turning left after the vehicle starts to turn left; and

to set the predicted moving route, using the right turn radius predicted at the time before and nearest the time when the vehicle turns left temporarily while the vehicle is turning right when the vehicle turns left temporarily while the vehicle is turning right after the vehicle starts to turn right.

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 turns left and at least one right direction blinker activated for indicating that the vehicle turns 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 peed 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 peed 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 turns left and at least one right direction blinker activated for indicating that the vehicle turns right, and

the electronic control unit is configured to determine whether the vehicle is turning left or right on the basis of information on the vehicle including activated states of the left and right direction blinkers.

6. The driving assist apparatus of the vehicle as set forth in claim 5, wherein the information on the vehicle 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.