Driving support apparatus and driving support method

• US 9,469,298 B2
• Filed: 11/13/2012
• Issued: 10/18/2016
• Est. Priority Date: 11/13/2012
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Hayasaka, Shoichi
• Primary Examiner(s): Badii, Behrang
• Assistant Examiner(s): Malhotra, Sanjeev
• Application Number:
  US14/440,465
• Publication Number:
  US 20150266473A1
• Time in Patent Office: 1,435 Days
• Field of Search: 701/1, 701/70, 701/117, 701/301, 701/533, 340/905
• US Class Current: 1/1
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2556/00 Input parameters relating to data
• 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: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

A driving support apparatus for ensuring consistency of content for multiple driving supports related to vehicle acceleration/deceleration. The driving support apparatus is provided with a follow-up running support unit for performing acceleration/deceleration support for a vehicle. A collision-avoidance support unit avoids a collision with a moving body when the relationship between the vehicle and a moving body having a movement path intersecting with the path of the vehicle is determined to meet support conditions for invoking collision-avoidance support. An estimation unit estimates that the relationship between the vehicle and the moving body meets the support conditions for invoking collision-avoidance support using the acceleration/deceleration support by the follow-up running support unit. An adjustment unit adjusts the degree of acceleration/deceleration support by the follow-up running support unit on the basis of the relationship between the vehicle and the moving body having been estimated to meet the support conditions.

Claims

1. A driving assistance apparatus that assists in driving a vehicle, comprising:

a first assisting section that performs acceleration/deceleration assistance for the vehicle;

a second assisting section, wherein, when it is determined that a relationship between the vehicle and a moving object that has a movement path intersecting with a course of the vehicle meets an assistance condition for activating collision avoidance assistance, the second assisting section performs the collision avoidance assistance for the vehicle to avoid a collision with the moving object;

a predicting section that predicts that the relationship between the vehicle and the moving object will meet the assistance condition for activating the collision avoidance assistance through execution of the acceleration/deceleration assistance for the vehicle by the first assisting section; and

an adjusting section that adjusts a degree of the acceleration/deceleration assistance by the first assisting section based on the prediction that the relationship between the vehicle and the moving object will meet the assistance condition, wherein

the assistance by the first assisting section is acceleration assistance, and

the adjusting section makes an adjustment to restrict the acceleration assistance by the first assisting section when the predicting section predicts that the relationship between the vehicle and the moving object will meet the assistance condition for activating the collision avoidance assistance, so that frequent changes in the assistance contents because of the acceleration assistance and collision avoidance assistance being both activated are prevented, and the possibility that the driving may fed a sense of discomfort is reduced,

wherein

the assistance by the first assisting section is deceleration assistance; and

the adjusting section makes an adjustment to increase an amount of the deceleration assistance by the first assisting section when the predicting section predicts that the relationship between the vehicle and the moving object will meet the assistance condition for activating the collision avoidance assistance, so that even if collision avoidance assistance is activated as the result of assistance by the first assisting section, such collision avoidance assistance can be quickly canceled, and since the amount of deceleration assistance increased by the adjusting section reflects the assistance content of the first assisting section, the driver'"'"'s sense of discomfort is mitigated.

2. The driving assistance apparatus according to claim 1, wherein the predicting section predicts that the relationship between the vehicle and the moving object will meet the assistance condition for activating the collision avoidance assistance based on an amount of assistance provided by the first assisting section at the time of the prediction.

3. The driving assistance apparatus according to claim 1, wherein, when acceleration assistance by the first assisting section and the collision avoidance assistance by the second assisting section are provided simultaneously, the adjusting section makes an adjustment to give priority to the collision avoidance assistance over the acceleration assistance.

4. The driving assistance apparatus according to claim 1, wherein, when deceleration assistance by the first assisting section and the collision avoidance assistance by the second assisting section are provided simultaneously, the adjusting section makes an adjustment simultaneously to change a deceleration amount to a value larger than or equal to the larger one of deceleration amounts of the deceleration assistance and the collision avoidance assistance.

5. The driving assistance apparatus according to claim 1, wherein

the second assisting section determines a first time taken by the vehicle to reach an meeting point where the vehicle meets the moving object cross, and a second time taken by the moving object to reach the meeting point, and determines whether the assistance condition for activating the collision avoidance assistance is met based on presence or absence of entry into a determination basis area defined by a relationship between the determined first time and second time, and

the predicting section predicts that the assistance condition will be met based on the relationship between the first time and the second time in relation to the determined determination basis area.

6. The driving assistance apparatus according to claim 5, wherein the determination basis area, which is determined based on the relationship between the first time and the second time, is pre-registered as map data.

7. A driving assistance method for assisting in driving a vehicle, comprising:

performing acceleration/deceleration assistance for the vehicle by a first assisting section;

when it is determined that a relationship between the vehicle and a moving object that has a movement path intersecting with a course of the vehicle meets an assistance condition for activating collision avoidance assistance, performing the collision avoidance assistance for the vehicle to avoid a collision with a moving object by a second assisting section;

predicting, by using a prediction section, that the relationship between the vehicle and the moving object will meet the assistance condition for activating the collision avoidance assistance through execution of the acceleration/deceleration assistance for the vehicle; and

adjusting, by using an adjusting section, a degree of the acceleration/deceleration assistance based on the prediction that the relationship between the vehicle and the moving object will meet the assistance condition, wherein

the assistance by the first assisting section is acceleration assistance,

restricting, by the adjusting section, the acceleration assistance by the first assisting section when the predicting section predicts that the relationship between the vehicle and the moving object will meet the assistance condition for activating the collision avoidance assistance, so that frequent changes in the assistance contents because of the acceleration assistance and collision avoidance assistance being both activated are prevented, and the possibility that the driving may feel a sense of discomfort is reduced,

wherein

the assistance by the first assisting section is deceleration assistance,

increasing, by the adjusting section, an amount of the deceleration assistance by the first assisting section when the predicting section predicts that the relationship between the vehicle and the moving object will meet the assistance condition for activating the collision avoidance assistance, so that even if collision avoidance assistance is activated as the result of assistance by the first assisting section, such collision avoidance assistance can be quickly canceled, and since the amount of deceleration assistance increased by the adjusting section reflects the assistance content of the first assisting section the driver'"'"'s sense of discomfort is mitigated.