DRIVING SUPPORT APPARATUS

• US 20190308618A1
• Filed: 04/01/2019
• Published: 10/10/2019
• Est. Priority Date: 04/04/2018
• Status: Abandoned Application

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: KONDO, Satoshi, Yoshioka, Yuji
• Application Number:
  US16/371,187
• Publication Number:
  US 20190308618A1
• Time in Patent Office: Days
• CPC Class Codes: B60T 2201/024 Collision mitigation systems
• CPC Class Codes: B60T 2210/32 Vehicle surroundings
• CPC Class Codes: B60T 8/17558 specially adapted for collision avoidance or collision mitigation road vehicle drive control systems for collision avoidance otherwise than by controlling a particular sub-unit B60W30/09
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2420/408 Radar; Laser, e.g. lidar
• CPC Class Codes: B60W 2554/4045 Intention, e.g. lane change or imminent movement
• CPC Class Codes: B60W 2554/80 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: G06V 20/56 exterior to a vehicle by using sensors mounted on the vehicle
• CPC Class Codes: G08G 1/161 Decentralised systems, e.g. inter-vehicle communication
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

A driving support apparatus is provided with: an executor configured to perform a collision avoidance assist control, on a first vehicle; an acquirer configured to obtain surrounding information including information about a second vehicle, which has a possibility of colliding with the first vehicle, and information about a third vehicle, which has a possibility of colliding with the second vehicle; a predictor configured to predict whether or not the second vehicle changes a travel aspect due to a presence of the third vehicle, on the basis of the surrounding information; and a controller programmed to control the executor not to perform the collision avoidance assist control if it is predicted that the second vehicle changes the travel aspect, and to control the executor to perform the collision avoidance assist control if it is predicted that the second vehicle does not change the travel aspect.

Claims

1. A driving support apparatus comprising:

an executor configured to perform a collision avoidance assist control for avoiding a collision with another vehicle, on a first vehicle;

an acquirer configured to obtain surrounding information including information about a second vehicle, which has a possibility of colliding with the first vehicle, and information about a third vehicle, which has a possibility of colliding with the second vehicle;

a predictor configured to predict whether or not the second vehicle changes a travel aspect due to a presence of the third vehicle, on the basis of the surrounding information; and

a controller programmed (i) to control said executor not to perform the collision avoidance assist control for avoiding the collision with the second vehicle if it is predicted that the second vehicle changes the travel aspect due to the presence of the third vehicle, and (ii) to control said executor to perform the collision avoidance assist control for avoiding the collision with the second vehicle if it is predicted that the second vehicle does not change the travel aspect due to the presence of the third vehicle.

2. The driving support apparatus according to claim 1, wherein said predictor is configured to calculate, from the surrounding information, at least one of a first time to collision, which is a time required for the second vehicle to arrive at a collision point at which the second vehicle possibly collides with the third vehicle, and a second time to collision, which is a time required for the third vehicle to arrive at the collision point, and said predictor is configured to predict whether or not the second vehicle changes the travel aspect due to the presence of the third vehicle, on the basis of the at least one time to collision.

3. The driving support apparatus according to claim 1, wherein said controller is programmed to control said executor to perform the collision avoidance assist control for avoiding the collision with the second vehicle if a distance between a position of the first vehicle and a position of the second vehicle is less than a first predetermined distance, even when it is predicted that the second vehicle changes the travel aspect due to the presence of the third vehicle.

4. The driving support apparatus according to claim 1, wherein said controller is programmed to control said executor not to perform the collision avoidance assist control for avoiding the collision with the second vehicle if a distance between a position of the first vehicle and a position of a collision point at which the second vehicle possibly collides with the third vehicle is greater than or equal to a second predetermined distance, even when it is predicted that the second vehicle does not change the travel aspect due to the presence of the third vehicle.

5. The driving support apparatus according to claim 1, wherein said predictor is configured to determine, from the surrounding information, whether or not the third vehicle preferentially allows the second vehicle to pass to a side of the first vehicle at a position of a collision point at which the second vehicle possibly collides with the third vehicle, and said predictor is configured (i) to predict that the second vehicle does not change the travel aspect due to the presence of the third vehicle if it is determined that the third vehicle preferentially allows the second vehicle to pass to the side of the first vehicle, and (ii) to predict that the second vehicle changes the travel aspect due to the presence of the third vehicle if it is determined that the third vehicle does not preferentially allows the second vehicle to pass to the side of the first vehicle.