Driving supporter

• US 10,839,692 B2
• Filed: 10/11/2017
• Issued: 11/17/2020
• Est. Priority Date: 12/07/2016
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Kawaguchi, Yoshihiro, Izumikawa, Iwao, Okuda, Yuji, Hashimoto, Kazuma
• Primary Examiner(s): Worden, Thomas E
• Application Number:
  US15/730,240
• Publication Number:
  US 20180158338A1
• Time in Patent Office: 1,133 Days
• CPC Class Codes: B60W 2050/146 Display means
• CPC Class Codes: B60W 2400/00 Indexing codes relating to detected, measured or calculated conditions or factors
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/801 Lateral distance
• CPC Class Codes: B60W 2554/802 Longitudinal distance
• CPC Class Codes: B60W 2554/804 Relative longitudinal speed
• CPC Class Codes: B60W 2754/10 Spatial relation or speed relative to objects
• CPC Class Codes: B60W 30/095 Predicting travel path or likelihood of collision
• CPC Class Codes: B60W 30/0956 the prediction being responsive to traffic or environmental parameters
• CPC Class Codes: B60W 30/12 Lane keeping
• CPC Class Codes: B60W 50/14 Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

A driving supporter includes: a departure-possibility-value obtainer that obtains a departure-possibility value; a relative positional relationship obtainer that detects another vehicle located diagonally at a rear of an own vehicle and obtain a relative positional relationship between them; a support executer that executes a lane-departure prevention support; and a support controller that controls the support executer to execute the lane-departure prevention support when the departure-possibility value is greater than or equal to a threshold value. The support controller includes a threshold-value determiner that determines the threshold value to a smaller value when the relative positional relationship is a set relationship than when the relative positional relationship is not the set relationship. The set relationship is a relationship in which there is a possibility of collision of the own vehicle with the other vehicle in an event of departure of the own vehicle from a lane.

Claims

1. A driving support apparatus, comprising:

a sensor; and

a controller, wherein the controller is configured to function as;

a lateral-deviation-amount obtainer that obtains a lateral deviation amount that is an amount of deviation of an own vehicle in a lateral direction from a center line of a lane on which the own vehicle is running;

a vehicle-to-vehicle distance obtainer that detects, based on information from the sensor, another vehicle located diagonally at a rear of the own vehicle and obtains a vehicle-to-vehicle distance between said another vehicle and the own vehicle;

a collision-estimated-time obtainer that obtains a collision estimated time that is obtained by dividing the vehicle-to-vehicle distance obtained by the vehicle-to-vehicle distance obtainer, by a first velocity of said another vehicle relative to a second velocity of the own vehicle;

a support controller that controls a steering device of the own vehicle to assist in operation of the steering device in a direction in which departure of the own vehicle from the lane is prevented based on one or more of;

the lateral deviation amount obtained by the lateral-deviation-amount obtainer, an estimated intention of lane change of a driver of the own vehicle, the collision estimated time, and the vehicle-to-vehicle distance; and

a change-intention estimator that estimates whether the driver has the intention of lane change based on an ON state of a direction indicating switch or a magnitude of an operating force applied to the steering device being above an operating force threshold,

wherein the controller is further configured to functions as;

a threshold-value-changer that sets a support controller threshold value to a first threshold value in a first case where the vehicle-to-vehicle distance obtained by the vehicle-to-vehicle distance obtainer is greater than a set vehicle-to-vehicle distance, and the collision estimated time obtained by the collision-estimated-time obtainer is greater than a set estimated time, and that sets the support controller threshold value to a second threshold value less than the first threshold value in a second case where the vehicle-to-vehicle distance is less than or equal to the set vehicle-to-vehicle distance, or the vehicle-to-vehicle distance is greater than the set vehicle-to-vehicle distance but the collision estimated time is less than or equal to the set estimated time;

a first support controller that in the first case controls the steering device when the change-intention estimator has estimated that the driver has no intention of lane change, and the lateral deviation amount obtained by the lateral-deviation-amount obtainer is greater than the first threshold value, and that in the first case does not control the steering device even when the lateral deviation amount obtained by the lateral-deviation-amount obtainer is greater than the first threshold value in a first situation where the change-intention estimator has estimated that the driver has an intention of lane change; and

a second support controller that in the second case controls the steering device even when the change-intention estimator has estimated that the driver has an intention of lane change in a second situation where the lateral deviation amount obtained by the lateral-deviation-amount obtainer is greater than the second threshold value.

2. The driving support apparatus according to claim 1, further comprising:

an indicator,

wherein the controller is further configured to function as a vehicle-to-vehicle-distance-dependent indication activator that activates the indicator when the vehicle-to-vehicle distance obtained by the vehicle-to-vehicle distance obtainer is less than or equal to a first vehicle-to-vehicle distance that is greater than the set vehicle-to-vehicle distance, and

wherein the second support controller further functions as a vehicle-to-vehicle-distance-dependent support controller that controls the steering device when the lateral deviation amount obtained by the lateral-deviation-amount obtainer is greater than or equal to the second threshold value and when the vehicle-to-vehicle distance is less than or equal to the set vehicle-to-vehicle distance.

3. The driving support apparatus according to claim 2, wherein the vehicle-to-vehicle distance-dependent support controller controls the steering device when the vehicle-to-vehicle distance has continued to be less than or equal to the set vehicle-to-vehicle distance for greater than or equal to a set parallel-run time.

4. The driving supporting apparatus according to claim 1, further comprising:

an indicator,

wherein the controller is further configured to function as an estimated-time-dependent indication activator that activates the indicator when the collision estimated time obtained by the collision estimated-time obtainer is less than or equal to a first estimated time that is greater than the set estimated time, and

wherein the second support controller further functions as an estimated-time-dependent support controller that controls the steering device when the lateral deviation-amount obtained by the lateral-deviation-amount obtainer is greater than or equal to the second threshold value and when the collision estimated time obtained by the collision-estimated-time obtainer is less than or equal to the set estimated time.

5. A driving support apparatus, comprising:

a sensor; and

a controller, wherein the controller is configured to function as;

a closer distance obtainer that obtains a closer distance that is a distance between a reference point of an own vehicle and a lane boundary that is a boundary of a lane on which the own vehicle is running;

a vehicle-to-vehicle distance obtainer that detects, based on information from the sensor, another vehicle located diagonally at a rear of the own vehicle and obtains a vehicle-to-vehicle distance between said another vehicle and the own vehicle;

a collision-estimated-time obtainer that obtains a collision estimated time that is obtained by dividing the vehicle-to-vehicle distance obtained by the vehicle-to-vehicle distance obtainer, by a first velocity of said another vehicle relative to a second velocity of the own vehicle;

a support controller that controls a steering device of the own vehicle to assist in operation of the steering device in a direction in which departure of the own vehicle from the lane is prevented based on one or more of;

the closer distance obtained by the closer distance obtainer, an estimated intention of lane change of a driver of the own vehicle, the collision estimated time, and the vehicle-to-vehicle distance; and

a change-intention estimator that estimates whether the driver has the intention of lane change based on an ON state of a direction indicating switch or a magnitude of an operating force applied to the steering device being above an operating force threshold,

wherein the controller is further configured to function as;

a threshold-value changer that sets a support controller threshold value to a first threshold value in a first case where the vehicle-to-vehicle distance obtained by the vehicle-to-vehicle distance obtainer is greater than a set vehicle-to-vehicle distance, and the collision estimated time obtained by the collision-estimated-time obtainer is greater than a set estimated time, and that sets the support controller threshold value to a second threshold value greater than the first threshold value in a second case where the vehicle-to-vehicle distance is less than or equal to the set vehicle-to-vehicle distance, or the vehicle-to-vehicle distance is greater than the set vehicle-to-vehicle distance but the collision estimated time is less than or equal to the set estimated time;

a first support controller that in the first case controls the steering device when the change-intention estimator has estimated that the driver has no intention of lane change, and the closer distance obtained by the closer distance obtainer is less than the first threshold value, and that in the first case does not control the steering device even when the closer distance obtained by the closer distance obtainer is less than the first threshold value in a first situation where the change-intention estimator has estimated that the driver has an intention of lane change; and

a second support controller that in the second case controls the steering device even when the change-intention estimator has estimated that the driver has an intention of lane change in a second situation where the closer distance obtained by the closer distance obtainer is less than the second threshold value.