Vehicular driving support system

• US 9,196,162 B2
• Filed: 09/26/2011
• Issued: 11/24/2015
• Est. Priority Date: 09/26/2011
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Igarashi, Shinji
• Primary Examiner(s): Cheung, Mary
• Assistant Examiner(s): BERNS, MICHAEL ANDREW
• Application Number:
  US14/346,793
• Publication Number:
  US 20140257593A1
• Time in Patent Office: 1,520 Days
• Field of Search: 701/1
• US Class Current: 1/1
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2520/125 Lateral acceleration
• CPC Class Codes: B60W 2540/18 Steering angle
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2710/207 Steering angle of wheels
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/095 Predicting travel path or likelihood of collision
• CPC Class Codes: B62D 15/0265 Automatic obstacle avoidance by steering
• CPC Class Codes: G06V 20/58 Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
• CPC Class Codes: G06V 20/588 Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
• CPC Class Codes: G08G 1/16 Anti-collision systems road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08
• CPC Class Codes: G08G 1/165 for passive traffic, e.g. including static obstacles, trees

Abstract

It is a task of the invention to provide an art that makes it possible to provide driving support suited for the feeling of a driver in a system that supports the avoidance of a collision of a vehicle. In order to achieve this task, according to the invention, in a system that supports the avoidance of a collision of a vehicle, a traveling range as a range of a route on which a host vehicle is to travel in a range of a driving operation to be normally performed by a driver is obtained, driving support is not provided if there is a route that allows a solid body to be avoided within the traveling range, and driving support is provided if there is no route that allows the solid body to be avoided within the traveling range.

Claims

1. A vehicular driving support system comprising:

a recognition unit configured to recognize a solid body that exists around a host vehicle;

an acquisition unit configured to acquire a current movement amount of the host vehicle; and

a support unit configured to determine whether or not there is an avoidance line, as a route that allows a collision with the solid body recognized by the recognition unit to be avoided, within a traveling range of a route on which the host vehicle is to travel, and provide support for avoiding a collision with the solid body when it is determined that there is no avoidance line within the traveling range, wherein

the traveling range is a range from a first route to a second route, and

the first route is specified by adding a movement amount change that is produced within a range of a driving operation to be normally performed by a driver to the movement amount acquired by the acquisition unit, and the second route is specified by subtracting the movement amount change from the movement amount acquired by the acquisition unit.

2. The vehicular driving support system according to claim 1, wherein

the change is made larger when a traveling speed of the host vehicle is low than when the traveling speed of the host vehicle is high.

3. The vehicular driving support system according to claim 1, wherein

the movement amount is a parameter that makes the traveling range narrower when a traveling speed of the host vehicle is high than when the traveling speed of the host vehicle is low.

4. The vehicular driving support system according to claim 3, wherein

the movement amount is a parameter that is correlated with an acceleration in a lateral direction of the host vehicle.

5. The vehicular driving support system according to claim 1, wherein

the support unit is configured to provide support for avoiding a collision with the solid body if a length of a longest one of routes included in the traveling range becomes equal to or shorter than a threshold in a case where there is no avoidance line in the traveling range.