Driving assistance apparatus

• US 8,682,500 B2
• Filed: 04/21/2009
• Issued: 03/25/2014
• Est. Priority Date: 04/21/2009
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Sakugawa, Jun
• Primary Examiner(s): Black, Thomas
• Assistant Examiner(s): PATEL, SHARDUL D
• Application Number:
  US13/059,431
• Publication Number:
  US 20110137488A1
• Time in Patent Office: 1,799 Days
• Field of Search: 701/1, 701/10, 701/58, 701/68, 701/93, 701/96, 701/300, 701/301, 701/23, 701/36
• US Class Current: 701/1
• CPC Class Codes: B60W 2540/18 Steering angle
• CPC Class Codes: B60W 2552/30 Road curve radius
• CPC Class Codes: B60W 30/0956 the prediction being responsive to traffic or environmental parameters
• CPC Class Codes: B60W 30/12 Lane keeping
• CPC Class Codes: B60W 50/0097 Predicting future conditions
• CPC Class Codes: B62D 15/025 Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation B62D1/28 takes precedence

Abstract

A driving assistance apparatus is a lane keeping apparatus that performs a vehicle driving assistance so that a vehicle runs along a set target course, and includes a vehicle control ECU; a camera; an image ECU; a steering torque sensor; and a steering torque applying unit. The vehicle control ECU includes a parallel running vehicle trajectory estimating unit which estimates the trajectory of the parallel running vehicle running on the adjacent lane and a target course correcting unit which corrects the target course of the own vehicle on the basis of the estimation trajectory of the parallel running vehicle. Since the target course of the own vehicle is corrected on the basis of the estimated trajectory of the parallel running vehicle, it is possible to sufficiently reduce the driver'"'"'s anxiety with respect to the parallel running vehicle.

Claims

1. A driving assistance apparatus that controls a vehicle travelling in a lane so that the vehicle runs along a set target course, the driving assistance apparatus comprising:

means for detecting information regarding a parallel running vehicle travelling on a lane adjacent to the lane of the vehicle,

calculation means for calculating a lateral speed of the parallel running vehicle and to determine a direction of the lateral speed of the parallel running vehicle based on the detected information, and

correction means for correcting the set target course of the vehicle, so that the vehicle moves away from the parallel running vehicle, on the basis of the direction of the lateral speed of the parallel running vehicle being an approaching direction.

2. The driving assistance apparatus according to claim 1, wherein the correction means corrects the target course of the vehicle on the basis of the lateral speed and the direction of the lateral speed of the parallel running vehicle.

3. The driving assistance apparatus according to claim 1, wherein the calculation means calculates a running load of the parallel running vehicle and the correction means corrects the target course of the vehicle on the basis of the running load and the direction of the lateral speed of the parallel running vehicle, and the running load is calculated on the basis of a direction and a magnitude of the road curvature in front of the parallel running vehicle.

4. The driving assistance apparatus according to claim 1, wherein the calculation means calculates a movement energy of the parallel running vehicle based upon a type and size of the parallel running vehicle and the correction means corrects the target course of the vehicle on the basis of the movement energy and the direction of the lateral speed of the parallel running vehicle.

5. The driving assistance apparatus according to claim 1, wherein the correction means corrects the target course of the vehicle on the basis of a driver'"'"'s steering input of the vehicle when the parallel running vehicle is not present.

6. The driving assistance apparatus according to claim 1, wherein the target course correction means corrects the target course of the vehicle so that the vehicle moves away from the parallel running vehicle if a turning direction of the vehicle is opposite to the direction of the lateral speed of the parallel running vehicle.

7. A driving assistance apparatus that controls a vehicle traveling in a lane so that the vehicle runs along a target course, the driving assistance apparatus comprising:

a radar to detect information regarding a parallel running vehicle travelling on a lane adjacent to the lane of the vehicle,

a calculation unit to calculate a lateral speed of the parallel running vehicle and to determine a direction of the lateral speed of the parallel running vehicle based on the detected information, and

a target course correction unit to correct the target course of the vehicle, so that the vehicle moves away from the parallel running vehicle, on the basis of the direction of the lateral speed of the parallel running vehicle being an approaching direction.

8. The driving assistance apparatus according to claim 7, wherein the target course correction unit corrects the target course of the vehicle based on the lateral speed and the direction of the lateral speed of the parallel running vehicle.

9. The driving assistance apparatus according to claim 7, wherein the calculating unit calculates a running load of the parallel running vehicle and the target course correction unit corrects the target course of the vehicle based on the running load and the direction of the lateral speed of the parallel running vehicle.

10. The driving assistance apparatus according to claim 9, wherein the running load is calculated on the basis of a direction and a magnitude of the road curvature in front of the parallel running vehicle.

11. The driving assistance apparatus according to claim 7, wherein the calculating unit calculates a movement energy of the parallel running vehicle based upon a type and size of the parallel running vehicle and the target course correction unit corrects the target course of the vehicle based on the movement energy and the direction of the lateral speed of the parallel running vehicle.

12. The driving assistance apparatus according to claim 7, wherein the target course correction unit corrects the target course of the vehicle based on driver steering input to the vehicle when the parallel running vehicle is not present.

13. The driving assistance apparatus according to claim 7, wherein the target course correction unit corrects the target course of the vehicle so that the vehicle moves away from the parallel running vehicle if a turning direction of the vehicle is opposite to the direction of the lateral speed of the parallel running vehicle.

14. The driving assistance apparatus according to claim 13, wherein a target correction amount is larger (i) if the turning direction of the vehicle is opposite to the direction of the lateral speed of the parallel running vehicle than (ii) if the turning direction of the vehicle is the same as the direction of the lateral speed of the parallel running vehicle.

15. The driving assistance apparatus according to claim 7, wherein the calculating unit calculates a movement energy of the parallel running vehicle based upon a type and size of the parallel running vehicle and the target course correction unit corrects the target course of the vehicle based on a correction gain proportional to the movement energy of the parallel running vehicle.

16. The driving assistance apparatus according to claim 7, wherein the calculation unit calculates a center offset of the vehicle with respect to a center of a lane including the vehicle.

17. The driving assistance apparatus according to claim 16, wherein the calculating unit calculates a running load and a movement energy of the parallel running vehicle based upon a type and size of the parallel running vehicle and the target course correction unit corrects the target course based on the running load and a product of the center offset of the vehicle and a correction gain proportional to the movement energy of the parallel running vehicle.

18. The driving assistance apparatus according to claim 17, wherein the calculation unit calculates a target lateral acceleration based on the parallel running vehicle running load and the product of the center offset of the vehicle and the correction gain, and

the target course correction unit corrects the target course based on the target lateral acceleration and the direction of the lateral speed of the parallel running vehicle.

19. The driving assistance apparatus according to claim 13, wherein a target correction amount is larger (i) if the turning direction of the vehicle is opposite to the direction of the lateral speed of the parallel running vehicle than (ii) if the turning direction of the vehicle is the same as the direction of the lateral speed of the parallel running vehicle.

20. A method of controlling a vehicle traveling in a lane so that the vehicle runs along a target course, comprising:

detecting information regarding a parallel running vehicle travelling on a lane adjacent to the lane of the vehicle,

calculating a lateral speed of the parallel running vehicle,

determining a direction of the lateral speed of the parallel running vehicle based on the detected information,

correcting the target course of the vehicle, so that the vehicle moves away from the parallel running vehicle, of the parallel running vehicle on the basis of the direction of the lateral speed of the parallel running vehicle being an approaching direction.