Driving assistance device

• US 9,891,622 B2
• Filed: 02/23/2016
• Issued: 02/13/2018
• Est. Priority Date: 06/16/2010
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Ichikawa, Kentaro, Kindo, Toshiki
• Primary Examiner(s): Hilgendorf, Dale W
• Application Number:
  US15/050,950
• Publication Number:
  US 20160170410A1
• Time in Patent Office: 721 Days
• CPC Class Codes: B60K 28/06 responsive to incapacity of driver
• CPC Class Codes: B60Q 1/46 for giving flashing caution signals during drive, other than signalling change of direction, e.g. flashing the headlights or hazard lights
• CPC Class Codes: B60W 2720/10 Longitudinal speed
• CPC Class Codes: B60W 50/10 Interpretation of driver requests or demands
• CPC Class Codes: B60W 60/001 Planning or execution of driving tasks
• CPC Class Codes: B60W 60/0051 from occupants to vehicle
• CPC Class Codes: B60W 60/0053 from vehicle to occupant
• CPC Class Codes: G01C 21/3415 Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
• CPC Class Codes: G01C 21/3617 using user history, behaviour, conditions or preferences, e.g. predicted or inferred from previous use or current movement
• CPC Class Codes: G05D 1/00 Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots drive control systems specially adapted for autonomous road vehicles B60W60/00

Abstract

A driving assistance device, including an automated driving switch; an emergency button; and a controller configured to provide either automated driving in which travel is performed along a current travel path of a host vehicle or automated stopping in response to manipulation by a driver of the automated driving switch or of the emergency button.

Claims

1. A driving assistance device comprising:

an automated driving switch;

an emergency button; and

a controller configured to provide either automated driving in which travel is performed along a current travel path of a host vehicle or automated stopping in response to manipulation by a driver of the automated driving switch or the emergency button;

wherein the automated driving in which travel is performed along the current travel path comprises

selecting a straight lane from a plurality of travel lanes,

selecting a lane other than a passing lane from the plurality of travel lanes,

selecting an uncrowded lane from the plurality of travel lanes,

selecting a lane according to a direction of a traffic indicator manipulated by the driver from the plurality of travel lanes,

selecting a road with a bigger width from among candidate roads when it is not possible to go straight or there is a plurality of candidate roads,

selecting the road according to a direction of a small intersection angle with respect to the road on which travel is being performed or according to a direction of a small steering angle from among candidate roads when it is not possible to go straight or there is the plurality of candidate roads,

selecting the road according to the direction of the traffic indicator manipulated by the driver from among candidate roads when it is not possible to go straight or there is the plurality of candidate roads, or

generating a route that enables the host vehicle to continue safe travel according to traffic rules;

wherein the automated stopping comprises

searching for a place where stopping can be performed without obstructing passage of another vehicle,

changing from a route where parking and stopping is prohibited to a route where stopping may be performed;

blinking hazard lamps if there is a possibility that a selected stopping location may obstruct the travel of another vehicle,

blinking the hazard lamps if there is a danger of immediate slowdown when stopping is performed,

generating a route that enables a vehicle to safely perform stopping, or

generating a route in which stopping is performed in such a way as to approach to a side of the road on which travel is being performed;

wherein the controller is configured to provide the automated driving in which travel is performed along the current travel path of the host vehicle in response to manipulation by the driver of the automated driving switch in a first mode, and

the controller is configured to provide the automated stopping in response to manipulation by the driver of the automated driving switch in a second mode, and

the controller is configured to provide the automated stopping in response to manipulation by the driver of the emergency button;

wherein the automated stopping comprises

searching for the place where stopping can be performed without obstructing passage of the other vehicle, and

blinking hazard lamps if there is the possibility that the selected stopping location may obstruct the travel of the other vehicle.

2. The driving assistance device according to claim 1, wherein the controller is configured to provide either the automated driving in which travel is performed along the current travel path of the host vehicle or the automated stopping in response to manipulation by the driver of the automated driving switch, and

the controller is configured to provide either the automated driving in which travel is performed along the current travel path of the host vehicle or the automated stopping in response to manipulation by the driver of the emergency button.

3. The driving assistance device according to claim 1, wherein the controller is configured to provide the automated driving in which travel is performed along the current travel path of the host vehicle in response to manipulation by the driver of the automated driving switch or the emergency button in the first mode, and

the controller is configured to provide the automated stopping in response to manipulation by the driver of the automated driving switch or the emergency button in the second mode.

4. The driving assistance device according to claim 1, wherein the controller is configured to provide the automated driving in which travel is performed along the current travel path of the host vehicle in response to manipulation by the driver of the automated driving switch, and

the controller is configured to provide the automated stopping in response to manipulation by the driver of the emergency button.

5. The driving assistance device according to claim 1, wherein the automated driving switch is provided at a steering median.

6. The driving assistance device according to claim 5, wherein the automated driving switch is a mechanical switch.

7. The driving assistance device according to claim 6, further comprising:

a destination setting unit,

wherein the driving assistance device generates a route based on whether or not there is a signal from the destination setting unit, when an automated driving start signal from the automated driving switch is received,

wherein the driving assistance device controls the host vehicle based on the generated route.

8. The driving assistance device according to claim 7, wherein, when a signal from either of the automated driving switch or the emergency button is received, the driving assistance device generates a route to a destination in a case in which there is the signal from the destination setting unit, and generates a route for an automated driving in which travel is performed along the current travel path in a case in which there is no signal from the destination setting unit.

9. A driving assistance method comprising:

providing either automated driving in which travel is performed along a current travel path of a host vehicle or automated stopping in response to manipulation by a driver of an automated driving switch or an emergency button;

wherein the automated driving in which travel is performed along the current travel path comprises

selecting a straight lane from a plurality of travel lanes,

selecting a lane other than a passing lane from the plurality of travel lanes,

selecting an uncrowded lane from the plurality of travel lanes,

selecting a lane according to a direction of a traffic indicator manipulated by the driver from the plurality of travel lanes,

selecting a road with a bigger width from among candidate roads when it is not possible to go straight or there are a plurality of candidate roads,

selecting the road according to a direction of a small intersection angle with respect to a road on which travel is being performed or according to a direction of a small steering angle from among candidate roads when it is not possible to go straight or there is the plurality of candidate roads,

selecting the road according to the direction of the traffic indicator manipulated by the driver from among candidate roads when it is not possible to go straight or there is the plurality of candidate roads, or

generating a route that enables the host vehicle to continue safe travel according to traffic rules;

wherein the automated stopping comprises

searching for a place where stopping can be performed without obstructing passage of another vehicle,

changing from a route where parking and stopping is prohibited to a route where stopping may be performed;

blinking hazard lamps if there is a possibility that a selected stopping location may obstruct the travel of another vehicle,

blinking the hazard lamps if there is a danger of immediate slowdown when stopping is performed,

generating a route that enables a vehicle to safely perform stopping, or

generating a route in which stopping is performed in such a way as to approach to a side of the road on which travel is being performed;

wherein the automated driving in which travel is performed along the current travel path of the host vehicle is provided in response to manipulation by the driver of the automated driving switch in a first mode,

the automated stopping is provided in response to manipulation by the driver of the automated driving switch in a second mode, and

the automated stopping is provided in response to manipulation by the driver of the emergency button;

wherein the automated stopping comprises

searching for the place where stopping can be performed without obstructing passage of the other vehicle, and

blinking hazard lamps if there is the possibility that the selected stopping location may obstruct the travel of the other vehicle.

10. The driving assistance method according to claim 9, wherein either the automated driving in which travel is performed along the current travel path of the host vehicle or the automated stopping is provided in response to manipulation by the driver of the automated driving switch, and

either the automated driving in which travel is performed along the current travel path of the host vehicle or the automated stopping is provided in response to manipulation by the driver of the emergency button.

11. The driving assistance method according to claim 9, wherein the automated driving in which travel is performed along the current travel path of the host vehicle is provided in response to manipulation by the driver of the automated driving switch or the emergency button in the first mode, and

the automated stopping is provided in response to manipulation by the driver of the automated driving switch or the emergency button in the second mode.

12. The driving assistance method according to claim 9, wherein the automated driving in which travel is performed along the current travel path of the host vehicle is provided in response to manipulation by the driver of the automated driving switch, and

the automated stopping is provided in response to manipulation by the driver of the emergency button.

13. The driving assistance method according to claim 9, wherein the automated driving switch is provided at a steering median.

14. The driving assistance method according to claim 13, wherein the automated driving switch is a mechanical switch.

15. The driving assistance method according to claim 14, further comprising

generating a route based on whether or not there is a signal from a destination setting unit, when an automated driving start signal from the automated driving switch is received, and

controlling the host vehicle based on the generated route.

16. The driving assistance method according to claim 15,

when a signal from either of the automated driving switch or the emergency button is received, generating a route to a destination in a case in which there is the signal from the destination setting unit and generating a route for an automated driving in which travel is performed along the current travel path in a case in which there is no signal from the destination setting unit.

17. A driving assistance device comprising:

an automated driving switch;

an emergency button;

a destination setting unit, and

a controller configured to provide either automated driving in which travel is performed along a current travel path of a host vehicle or automated stopping in response to manipulation by a driver of the automated driving switch or the emergency button;

wherein the automated driving in which travel is performed along the current travel path comprises

selecting a straight lane from a plurality of travel lanes,

selecting a lane other than a passing lane from the plurality of travel lanes,

selecting an uncrowded lane from the plurality of travel lanes,

selecting a lane according to a direction of a traffic indicator manipulated by the driver from the plurality of travel lanes,

selecting a road with a bigger width from among candidate roads when it is not possible to go straight or there is a plurality of candidate roads,

selecting the road according to a direction of a small intersection angle with respect to the road on which travel is being performed or according to a direction of a small steering angle from among candidate roads when it is not possible to go straight or there is the plurality of candidate roads,

selecting the road according to the direction of the traffic indicator manipulated by the driver from among candidate roads when it is not possible to go straight or there is the plurality of candidate roads, or

generating a route that enables the host vehicle to continue safe travel according to traffic rules;

wherein the automated stopping comprises

searching for a place where stopping can be performed without obstructing passage of another vehicle,

changing from a route where parking and stopping is prohibited to a route where stopping may be performed;

blinking hazard lamps if there is a possibility that a selected stopping location may obstruct the travel of another vehicle,

blinking the hazard lamps if there is a danger of immediate slowdown when stopping is performed,

generating a route that enables a vehicle to safely perform stopping, or

generating a route in which stopping is performed in such a way as to approach to a side of the road on which travel is being performed;

wherein the automated driving switch is provided at a steering median;

wherein the automated driving switch is a mechanical switch;

wherein the driving assistance device generates a route based on whether or not there is a signal from the destination setting unit, when an automated driving start signal from the automated driving switch is received,

wherein the driving assistance device controls the host vehicle based on the generated route;

wherein, when a signal from either of the automated driving switch or the emergency button is received, the driving assistance device generates a route to a destination in a case in which there is the signal from the destination setting unit, and generates a route for an automated driving in which travel is performed along the current travel path in a case in which there is no signal from the destination setting unit.

18. A driving assistance method comprising:

providing either automated driving in which travel is performed along a current travel path of a host vehicle or automated stopping in response to manipulation by a driver of an automated driving switch or an emergency button;

wherein the automated driving in which travel is performed along the current travel path comprises

selecting a straight lane from a plurality of travel lanes,

selecting a lane other than a passing lane from the plurality of travel lanes,

selecting an uncrowded lane from the plurality of travel lanes,

selecting a lane according to a direction of a traffic indicator manipulated by the driver from the plurality of travel lanes,

selecting a road with a bigger width from among candidate roads when it is not possible to go straight or there are a plurality of candidate roads,

selecting the road according to a direction of a small intersection angle with respect to a road on which travel is being performed or according to a direction of a small steering angle from among candidate roads when it is not possible to go straight or there is the plurality of candidate roads,

selecting the road according to the direction of the traffic indicator manipulated by the driver from among candidate roads when it is not possible to go straight or there is the plurality of candidate roads, or

generating a route that enables the host vehicle to continue safe travel according to traffic rules;

wherein the automated stopping comprises

searching for a place where stopping can be performed without obstructing passage of another vehicle,

changing from a route where parking and stopping is prohibited to a route where stopping may be performed;

blinking hazard lamps if there is a possibility that a selected stopping location may obstruct the travel of another vehicle,

blinking the hazard lamps if there is a danger of immediate slowdown when stopping is performed,

generating a route that enables a vehicle to safely perform stopping, or

generating a route in which stopping is performed in such a way as to approach to a side of the road on which travel is being performed;

wherein the automated driving switch is provided at a steering median;

wherein the automated driving switch is a mechanical switch;

further comprising

generating a route based on whether or not there is a signal from a destination setting unit, when an automated driving start signal from the automated driving switch is received, and

controlling the host vehicle based on the generated route;

wherein, when a signal from either of the automated driving switch or the emergency button is received, generating a route to a destination in a case in which there is the signal from the destination setting unit and generating a route for an automated driving in which travel is performed along the current travel path in a case in which there is no signal from the destination setting unit.