Driving assistance apparatus
First Claim
1. An apparatus configured to assist in driving of a vehicle in order to cause the vehicle to follow a target track, the apparatus comprising:
- an electric control unit that is programmed to;
determine a first traveling track along which a first vehicle is able to travel based on road infrastructure;
determine, determine a second traveling track along which the first vehicle is able to travel based on the traveling track of a second vehicle that precedes the first vehicle;
store deviation information about deviation between the first traveling track and the second traveling track such that the deviation information corresponds to traveling positions of the vehicles;
form, based on either the first traveling track or the second traveling track, a target track that the first vehicle is caused to follow; and
when a base for formation of the target track is switched between the first traveling track and the second traveling track, form the target track based on the deviation information to decrease the deviation between a first target track and a second target track, wherein the first target track is formed based on the first traveling track, and the second target track is formed based on the second traveling track.
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Accused Products
Abstract
An apparatus for assisting in the driving of a vehicle determines, for a first vehicle, a first traveling track based on road infrastructure and a second traveling track based on the traveling track of a second vehicle that precedes the first vehicle. The apparatus stores information about the first traveling track and the second traveling track such that the deviation corresponds to the respective traveling positions of the vehicles. If a base for formation of a target track that the first vehicle is caused follow is switched between the first traveling track and the second traveling track when the apparatus forms this target track, the apparatus forms the target track based on the deviation information to decrease deviation between the first traveling track and the second traveling track.
15 Citations
10 Claims
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1. An apparatus configured to assist in driving of a vehicle in order to cause the vehicle to follow a target track, the apparatus comprising:
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an electric control unit that is programmed to; determine a first traveling track along which a first vehicle is able to travel based on road infrastructure; determine, determine a second traveling track along which the first vehicle is able to travel based on the traveling track of a second vehicle that precedes the first vehicle; store deviation information about deviation between the first traveling track and the second traveling track such that the deviation information corresponds to traveling positions of the vehicles; form, based on either the first traveling track or the second traveling track, a target track that the first vehicle is caused to follow; and when a base for formation of the target track is switched between the first traveling track and the second traveling track, form the target track based on the deviation information to decrease the deviation between a first target track and a second target track, wherein the first target track is formed based on the first traveling track, and the second target track is formed based on the second traveling track. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A method for assisting in driving of a vehicle in order to cause the vehicle to follow a target track, comprising:
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by an electronic control unit, determining a first traveling track along which a first vehicle is able to travel based on road infrastructure; by the electronic control unit, determining a second traveling track along which the first vehicle is able to travel based on the traveling track of a second vehicle that precedes the first vehicle; by the electronic control unit, storing deviation information about deviation between the first traveling track and the second traveling track such that the deviation information corresponds to traveling positions of the vehicles; by the electronic control unit, forming, based on either the first traveling track or the second traveling track, a target track that the first vehicle is caused to follow; and by the electronic control unit, when a base for formation of the target track is switched between the first traveling track and the second traveling track, forming the target track based on the deviation information to decrease the deviation between a first target track and a second target track, wherein the first target track is formed based on the first traveling track, and the second target track is formed based on the second travelling track.
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Specification