Vehicle drive assist apparatus and method

• US 8,126,625 B2
• Filed: 02/18/2008
• Issued: 02/28/2012
• Est. Priority Date: 02/20/2007
• Status: Expired due to Fees

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Makino, Yasushi, Iwakiri, Hideyuki, Kubota, Yuuichi, Endo, Tomohiko, Kawabata, Yukiko, Moriizumi, Kiyotaka, Omori, Miyuki
• Primary Examiner(s): Black, Thomas
• Assistant Examiner(s): MARC-COLEMAN, MARTHE Y
• Application Number:
  US12/513,934
• Publication Number:
  US 20100049413A1
• Time in Patent Office: 1,471 Days
• Field of Search: 701/65, 701/70, 701/96, 701/48, 701/78, 701/93, 701/73, 340/932.2
• US Class Current: 701/65
• CPC Class Codes: B60R 1/26 to the rear of the vehicle
• CPC Class Codes: B60W 10/06 including control of combustion engines
• CPC Class Codes: B60W 10/184 with wheel brakes
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2510/0604 Throttle position
• CPC Class Codes: B60W 2510/1005 Transmission ratio engaged
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2540/10 Accelerator pedal position
• CPC Class Codes: B60W 2540/12 Brake pedal position
• CPC Class Codes: B60W 2540/18 Steering angle
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2710/0666 Engine torque
• CPC Class Codes: B60W 30/06 Automatic manoeuvring for parking
• CPC Class Codes: B60W 30/18063 Creeping
• CPC Class Codes: B60W 30/188 Controlling power parameters of the driveline, e.g. determining the required power
• CPC Class Codes: B62D 15/0285 Parking performed automatically
• CPC Class Codes: G01S 15/931 of land vehicles
• CPC Class Codes: G01S 2013/9314 Parking operations
• CPC Class Codes: G01S 2015/935 for measuring the contour, e.g. a trajectory of measurement points, representing the boundary of the parking space

Abstract

A vehicle drive assist apparatus for assisting in driving a vehicle by varying drive torque of wheels that includes: a torque-up mechanism increasing the drive torque; a step detecting mechanism detecting a step that may exist on a road surface in a traveling direction of the vehicle; and a switching mechanism switching a status of control between a first status in which the torque-up mechanism is permitted to operate and a second status in which the torque-up mechanism is restricted to operate, wherein the switching mechanism forms the first status if the step is detected by the step detecting mechanism.

Claims

1. A vehicle drive assist apparatus for assisting in driving a vehicle by varying a drive torque of wheels, comprising:

a torque controller configured to increase the drive torque;

a step detector configured to detect a step which may exist on a road surface in a traveling direction of the vehicle; and

a switch configured to switch a status of control between a first status in which the torque controller is permitted to operate and a second status in which the torque controller is restricted to operate, wherein

the switch forms the first status if the step is detected by the step detector,

the step detector includes a distance measuring device configured to detect a distance with respect to an object within a detection area which has a shape of a sector in a side view, and

if the step detector detects a candidate of the step in said detection area, the step detector makes the detection area smaller such that the detected candidate of the step is not included in the smaller detection area, and the step detector determines whether the detected candidate of the step is a step based on the detection result using the smaller detection area.

2. The vehicle drive assisting apparatus as claimed in claim 1,

wherein the step detector is configured to detect the step before the wheels of the vehicle reach the step.

3. The vehicle drive assisting apparatus as claimed in claim 1,

wherein the step detector is configured to detect the candidate of the step as a step if there is no object detected in the smaller detection area during a predetermined travel distance of the vehicle after the detection of the candidate of the step.

4. The vehicle drive assisting apparatus as claimed in claim 3,

wherein the predetermined travel distance is set to a distance which corresponds to a reduced distance in making the detection area smaller.

5. The vehicle drive assisting apparatus as claimed in claim 4,

wherein the smaller detection area is a detection area which is made smaller by an amount corresponding to a height of the candidate of the step.

6. The vehicle drive assisting apparatus as claimed in claim 5,

wherein the predetermined travel distance is set to a distance which corresponds to the height of the candidate of the step.

7. The vehicle drive assisting apparatus as claimed in claim 1,

wherein the step detector is configured to determine the candidate of the step as an obstacle other than a step if there is an object detected in the smaller detection area during a predetermined travel distance of the vehicle after the detection of the candidate of the step.

8. The vehicle drive assist apparatus as claimed in claim 1, further comprising:

a vehicle height detector configured to detect a height of the vehicle with respect to a road surface,

wherein the step detector is configured to correct the detection area in accordance with the height detected by the vehicle height detector.

9. A vehicle drive assist apparatus for assisting in driving a vehicle by varying a drive torque of wheels,

wherein said vehicle drive assist apparatus uses a sensor for detecting a distance between the vehicle and an object within a detection area of the sensor which has a shape of a sector in a side view, and if a candidate of the step is detected in said detection area of the sensor, said vehicle drive assist apparatus makes the detection area smaller such that the detected candidate of the step is not included in the smaller detection area, and said vehicle drive assist apparatus determines whether the detected candidate of the step is a step based on the detection result using the smaller detection area, and as the result of this determination, if it is determined that the step exists on the road surface in the traveling direction of the vehicle, said vehicle drive assist apparatus permits a torque-up operation for increasing the drive torque.

10. A vehicle drive assisting method of assisting in driving a vehicle by varying a drive torque of wheels, comprising:

determining whether a step exists on a road surface in a traveling direction of the vehicle; and

permitting a torque-up operation for increasing the drive torque if it is determined that the step exists on the road surface in the detecting,

wherein in said detecting a sensor is used for detecting a distance between the vehicle and an object which is within a detection area of the sensor which has a shape of a sector in a side view, and if a candidate of the step is detected in said detection area of the sensor, the detection area is made smaller such that the detected candidate of the step is not included in the smaller detection area, and it is determined whether the detected candidate of the step is a step based on the detection result using the smaller detection area.

11. A non-transitory computer readable storage medium on which a computer readable program which makes a computer execute the method claimed in claim 10 is recorded.