Driving assistance apparatus and method

• US 9,676,412 B2
• Filed: 04/20/2015
• Issued: 06/13/2017
• Est. Priority Date: 04/28/2014
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Kimura, Kenji
• Primary Examiner(s): Mawari, Redhwan K
• Application Number:
  US14/690,842
• Publication Number:
  US 20150307130A1
• Time in Patent Office: 785 Days
• CPC Class Codes: B60W 30/10 Path keeping cruise control for automatically following a preceding vehicle B60W30/165
• 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
• 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 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

A driving assistance apparatus causes a vehicle to follow a target track by assisting steering of the vehicle. The apparatus includes a followed target recognition section, a steering assistance control section, and an information providing section. The target recognition section recognizes the target track ahead in the advancing direction of the vehicle. The steering assistance control section controls a steering apparatus to perform steering assistance, thereby causing the vehicle to follow the target track. In a case where there is a branch point ahead in the advancing direction of the vehicle, the information providing section provides the driver with information related to a first branch road corresponding to the target track in a plurality of branch roads branching from the branch point.

Claims

1. A driving assistance apparatus that causes a vehicle to follow a target track by assisting in steering of the vehicle, the apparatus comprising:

a target recognition section that recognizes the target track ahead in an advancing direction of the vehicle;

a steering assistance control section that controls a steering apparatus to perform steering assistance, thereby causing the vehicle to follow the target track; and

an information providing section that, in a case where there is a branch point ahead in the advancing direction of the vehicle, provides a driver with information related to a first branch road corresponding to the target track in a plurality of branch roads branching from the branch point, wherein

the steering assistance control section changes a threshold value for stopping the steering assistance in accordance with a branch attribute that is information related to a connection state of a branch road and indicates a diverting and merging section and a facility to which the branch road connects, and

the steering assistance control section stops the steering assistance in a case where an operation amount of steering operation by the driver is greater than or equal to the threshold value.

2. The apparatus according to claim 1, wherein the information providing section notifies the driver of the first branch road among the branch roads in a manner discriminable from the other branch roads.

3. The apparatus according to claim 1, wherein the information providing section acquires traveling route information showing a traveling route of the vehicle, and provides information on a branch road corresponding to the traveling route in addition to information related to the first branch road.

4. The apparatus according to claim 1, wherein

the information providing section provides the driver with the information related to the first branch road, and

with respect to a branch road having a specific connection state in the other branch roads, the information providing section provides the driver with information related to a connection state of the branch road in association with the branch road having the specific connection state.

5. A method for assisting driving that causes a vehicle to follow a target track by assisting in steering of the vehicle, the method comprising:

recognizing the target track ahead in an advancing direction of the vehicle;

controlling a steering apparatus to perform steering assistance, thereby causing the vehicle to follow the target track;

in a case where there is a branch point ahead in the advancing direction of the vehicle, providing a driver with information related to a first branch road corresponding to the target track in a plurality of branch roads branching from the branch point;

changing a threshold value for stopping the steering assistance in accordance with a branch attribute that is information related to a connection state of a branch road and indicates a diverting and merging section and a facility to which the branch road connects; and

stopping the steering assistance in a case where an operation amount of steering operation by the driver is greater than or equal to the threshold value.