Drive assist device, and drive assist method

• US 9,809,220 B2
• Filed: 04/25/2013
• Issued: 11/07/2017
• Est. Priority Date: 04/25/2013
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Nguyen Van, Quy Hung, Kishi, Hiroshi, Yoshizawa, Shintaro, Kikuchi, Hirokazu
• Primary Examiner(s): Shaawat, Mussa A
• Assistant Examiner(s): Fei, Jordan S
• Application Number:
  US14/785,044
• Publication Number:
  US 20160082955A1
• Time in Patent Office: 1,657 Days
• CPC Class Codes: B60T 2201/022 Collision avoidance systems
• CPC Class Codes: B60T 7/12 for automatic initiation; for initiation not subject to will of driver or passenger limiting speed of vehicles other than rail vehicles B60K31/00
• CPC Class Codes: B60T 7/22 initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle , or by means of contactless obstacle detectors mounted on the vehicle
• CPC Class Codes: B60W 10/04 including control of propulsion units
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2420/408 Radar; Laser, e.g. lidar
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2520/105 Longitudinal acceleration
• CPC Class Codes: B60W 2540/10 Accelerator pedal position
• CPC Class Codes: B60W 2540/12 Brake pedal position
• CPC Class Codes: B60W 2540/16 Ratio selector position
• CPC Class Codes: B60W 2554/801 Lateral distance
• CPC Class Codes: B60W 2554/803 Relative lateral speed
• CPC Class Codes: B60W 30/08 Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 50/14 Means for informing the driver, warning the driver or prompting a driver intervention
• 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 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

According to an embodiment, there is provided a drive assist device including an index calculation unit configured to calculate an index relating to a relative relationship between a vehicle and a target object and a drive assist determination unit configured to determine whether to execute a drive assist control of the vehicle based on the index and as the vehicle width direction component of the relative speed between the vehicle and the target object decreases, the index calculation unit calculates the index with increasing a degree of influence of the relative relationship relating to the vehicle width direction component, or as the vehicle width direction component of the relative distance between the vehicle and the target object increases, the index calculation unit calculates the index with increasing the degree of influence of the relative relationship relating to the vehicle width direction component.

Claims

1. A drive assist device comprising:

an ECU configured to;

calculate an index relating to a relative relationship between a vehicle and a target object;

determine whether to execute a drive assist control of the vehicle based on the index; and

control, in response to the ECU executing the drive assist control, the vehicle to perform at least one from among avoiding the target object and stabilizing a behavior of the vehicle,

wherein, in a case where a lateral sensed approach, which is expressed by a ratio of the vehicle width direction component of a relative speed between the vehicle and the target object and the vehicle width direction component of the relative distance, is smaller than a predetermined threshold value, the ECU is configured to calculate the index using below-described Equation (1)

T_PRE={(V+B·

A_x)+K1·

V_d}/{L+K2·

D} 

 

(1), and

wherein, in a case where the lateral sensed approach is equal to or greater than the predetermined threshold value, the ECU is configured to calculate the index using below-described Equation (2)

T_PRE=(V+B·

A_x)/L 

 

(2)

wherein in the Equations (1) and (2), T_PRE is the index, V is the vehicle travelling direction component of the relative speed, V_d is the vehicle width direction component of the relative speed, A_x is a deceleration of the vehicle, L is the vehicle travelling direction component of the relative distance, D is the vehicle width direction component of the relative distance, B is a predetermined coefficient, and K1 and K2 are arbitrary coefficients.

2. The drive assist device according to claim 1,

wherein, in a case where the target object approaches the vehicle, the ECU is configured to determine whether to execute the drive assist control based on the index.

3. The drive assist device according to claim 1,

wherein the ECU is further configured to:

determine, based on the index, a first recommended operation timing that indicates a timing at which a first driving operation which changes the behavior of the vehicle is performed; and

estimate, at the timing earlier than the first recommended operation timing, whether a driver of the vehicle performs the first driving operation at the first recommended operation timing, and

wherein, in a case where it is estimated that the driver of the vehicle does not perform the first driving operation at the first recommended operation timing, the ECU is configured to determine to execute the drive assist control.

4. The drive assist device according to claim 3,

wherein the ECT is configured to estimate whether the driver of the vehicle performs the first driving operation at the first recommended operation timing based on the execution timing of the second driving operation which is performed by the driver at the timing earlier than the first driving operation.

5. The drive assist device according to claim 4,

wherein, based on the index, the ECU is configured to determine a second recommended operation timing that indicates a timing at which the second driving operation is performed, and

wherein, in a case where the driver does not perform the second driving operation at the second recommended operation timing, the ECU is configured to estimate that the driver of the vehicle does not perform the first driving operation at the first recommended operation timing.

6. The drive assist device according to claim 4,

wherein the second driving operation is an operation of an accelerator or a shift operation by the driver.

7. The drive assist device according to claim 4,

wherein the second driving operation is an accelerator-off operation or a shift-up operation by the driver.

8. The drive assist device according to claim 3,

wherein the first driving operation is a braking operation by the driver.

9. The drive assist device according to claim 3,

wherein the first driving operation is a brake-on operation by the driver.

10. The drive assist device according to claim 3,

wherein the ECU is configured to estimate whether the driver of the vehicle performs the first driving operation at the first recommended operation timing based on the travel state of the vehicle at the timing earlier than the first recommended operation timing.

11. The drive assist device according to claim 10,

wherein, in a case where a deceleration quantity of the vehicle at the timing earlier than the first recommended operation timing is smaller than a predetermined deceleration quantity, the ECU is configured to estimate that the driver does not perform the first driving operation at the first recommended operation timing.

12. The drive assist device according to claim 10,

wherein, in a case where an engine speed of the vehicle at the timing earlier than the first recommended operation timing is less than a predetermined engine speed, the ECU is configured to estimate that the driver does not perform the first driving operation at the first recommended operation timing.

13. A drive assist method to be carried out by the drive assist device according to claim 1, the method comprising:

an index calculation step of causing the ECU to calculate an index relating to a relative relationship between a vehicle and a target object; and

a drive assist determination step of causing the ECU to determine whether to execute a drive assist control of the vehicle based on the index,

wherein, in the index calculation step in a case where the lateral sensed approach, which is expressed by a ratio of the vehicle width direction component of a relative speed between the vehicle and the target object and the vehicle width direction component of the relative distance, is smaller than a predetermined threshold value, the index is calculated using following Equation (1),

T_PRE={(V+B·

Ax)+K1·

V_d}/{L+K2·

D} 

 

(1), and

wherein, in a case where a lateral sensed approach is equal to or greater than the predetermined threshold value, the index is calculated using following Equation (2)

T_PRE=(V+B·

Ax)/L 

 

(2),

wherein in the Equations (1) and (2), T_PRE is the index, V is the vehicle travelling direction component of the relative speed, V_d is the vehicle width direction component of the relative speed, Ax is a deceleration of the vehicle, L is the vehicle travelling direction component of the relative distance, D is the vehicle width direction component of the relative distance, B is a predeteimined coefficient, and K1 and K2 are arbitrary coefficients.

14. A drive assist device comprising:

an ECU configured to;

determine a first recommended operation timing that indicates a timing at which a first driving operation to change a behavior of a vehicle is performed based on an index relating to a relative relationship between the vehicle and a target object;

estimate, at a timing earlier than the first recommended operation timing, whether a driver of the vehicle performs the first driving operation at the first recommended operation timing;

determine to execute the drive assist of the vehicle in a case where it is estimated that the driver does not perform the first drive operation at the first recommended operation timing;

control, in response to the ECU executing the drive assist control, the vehicle to perform at least one from among avoiding the target object and stabilizing a behavior of the vehicle,

wherein, the ECU is configured to make the first recommended operation timing such that the first recommended operation timing becomes early as a vehicle width direction component of the relative speed between the vehicle and the target object decreases or the vehicle width direction component of the relative distance between the vehicle and the target object increases,

wherein, in a case where the lateral sensed approach is smaller than a predetermined threshold value, the index is calculated using following Equation (1),

T_PRE={(V+B·

Ax)+K1·

V_d}/{L+K2·

D} 

 

(1), and

wherein, in a case where a lateral sensed approach, which is expressed by a ratio of the vehicle width direction component of a relative speed between the vehicle and the target object and the vehicle width direction component of the relative distance, is equal to or greater than the predetermined threshold value, the ECU is configured to calculate the index using following Equation (2),

T_PRE=(V+B·

Ax)/L 

 

(2)

wherein in the Equations (1) and (2), T_PRE is the index, V is the vehicle travelling direction component of the relative speed, V_d is the vehicle width direction component of the relative speed, Ax is a deceleration of the vehicle, L is the vehicle travelling direction component of the relative distance, D is the vehicle width direction component of the relative distance, B is a predetermined coefficient, and K1 and K2 are arbitrary coefficients.

15. The drive assist device according to claim 14,

wherein the ECU is configured to estimate whether the driver of the vehicle performs the first driving operation at the first recommended operation timing based on the execution timing of the second driving operation which is performed by the driver at the timing earlier than the first driving operation.

16. The drive assist device according to claim 15,

wherein, the ECU is configured to determine the second recommended operation timing that indicates a timing at which the second driving operation is performed, based on the travel state of the vehicle, and

wherein, the ECU is configured to estimate that the driver of the vehicle does not perform the first driving operation at the first recommended operation timing, in a case where the driver does not perform the second driving operation at the second recommended operation timing.