DRIVING ASSISTANCE APPARATUS

• US 20150046038A1
• Filed: 03/30/2012
• Published: 02/12/2015
• Est. Priority Date: 03/30/2012
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Kawamata, Shinya, Ozaki, Osamu, Kaminade, Takuya
• Granted Patent: US 9,126,594 B2
• Time in Patent Office: Days
• US Class Current: 701/41
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 10/184 with wheel brakes
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2555/60 Traffic rules, e.g. speed limits or right of way
• CPC Class Codes: B60W 2900/00 Indexing codes relating to the purpose of, or problem solved of road vehicle drive control systems not otherwise provided for in groups B60W30/00
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/095 Predicting travel path or likelihood of collision
• CPC Class Codes: B60W 30/18154 Approaching an intersection
• CPC Class Codes: B60W 50/14 Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: G08G 1/09623 Systems involving the acquisition of information from passive traffic signs by means mounted on the vehicle G08G1/0967 takes precedence
• CPC Class Codes: G08G 1/163 involving continuous checking
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

To provide a driving assistance apparatus that can detect an intersection at which driving assistance is required with a high degree of precision so that the driving assistance can be provided more appropriately, a driving assistance apparatus 2 includes: a vehicle speed acquisition unit 64 that obtains information indicating a vehicle speed of a vehicle 1; an assistance condition determination unit 98 that determines whether or not an assistance activation condition, which is a condition for providing a driver of the vehicle 1 with driving assistance, is satisfied on the basis of whether or not a vehicle speed V obtained by the vehicle speed acquisition unit 64 is equal to or lower than a reference vehicle speed V1, and on the basis of information relating to an intersection or a preceding vehicle in front of the vehicle 1; and an assistance execution unit 100 that executes, as the driving assistance, assistance including at least one of warning issuance to the driver, braking control, and steering control when the assistance condition determination unit 98 determines that the assistance activation condition is satisfied.

Claims

1. A driving assistance apparatus comprising:

a vehicle speed obtaining unit configured to obtain information indicating a vehicle speed of a vehicle;

an assistance condition determining unit configured to determine whether or not an assistance activation condition, which is a condition for providing a driver of the vehicle with driving assistance, is satisfied on the basis of whether or not the vehicle speed obtained by the vehicle speed obtaining unit is equal to or lower than a reference vehicle speed, and on the basis of information relating to an intersection or a preceding vehicle in front of the vehicle;

a driving assistance unit configured to execute, as the driving assistance, assistance including at least one of warning issuance to the driver, braking control, and steering control when the assistance condition determining unit determines that the assistance activation condition is satisfied;

a traffic light detecting unit configured to detect the traffic light; and

a sound collecting unit configured to obtain information relating to sounds on a periphery of the vehicle, including information relating to a sound emitted by the traffic light, wherein;

the assistance condition determining unit determines that the assistance activation condition is satisfied when the vehicle speed is equal to or lower than the reference vehicle speed, the intersection in front of the vehicle is an unsignalized intersection, which is an intersection at which a traffic light is not disposed, and a travel condition of the vehicle is such that the vehicle is stopped at the unsignalized intersection or about to enter the unsignalized intersection;

the assistance condition determining unit prohibits the driving assistance when the traffic light detecting unit detects the traffic light within a predetermined distance of the vehicle, even if the vehicle speed is equal to or lower than the reference vehicle speed; and

the traffic light detecting unit detects the traffic light on the basis of the information relating to the sound emitted by the traffic light, which is included in the sound information obtained by the sound collecting unit.

3. The driving assistance apparatus according to claim 1, wherein the assistance condition determining unit prohibits the driving assistance when the travel condition of the vehicle is such that the vehicle is not stopped at the unsignalized intersection or not about to enter the unsignalized intersection, even if the vehicle speed is equal to or lower than the reference vehicle speed.

4. The driving assistance apparatus according to claim 1, wherein when the vehicle speed is equal to or lower than the reference vehicle speed but the travel condition of the vehicle is such that the vehicle is not stopped at the unsignalized intersection or not about to enter the unsignalized intersection, the driving assistance unit weakens an assistance level of the driving assistance in comparison with a case where the travel condition of the vehicle is such that the vehicle is stopped at the unsignalized intersection or about to enter the unsignalized intersection.

8. The driving assistance apparatus according to claim 1, further comprising an image capturing unit configured to obtain image information from a periphery of the vehicle,

wherein the traffic light detecting unit detects the traffic light on the basis of the image information obtained by the image capturing unit.

9. The driving assistance apparatus according to claim 1, wherein the assistance condition determining unit determines that the assistance activation condition is satisfied when the vehicle speed is equal to or lower than the reference vehicle speed and a preceding vehicle is not detected within a predetermined distance of the vehicle.

10. The driving assistance apparatus according to claim 9, wherein the assistance condition determining unit prohibits the driving assistance when the preceding vehicle is detected within the predetermined distance of the vehicle, even if the vehicle speed is equal to or lower than the reference vehicle speed.

11. The driving assistance apparatus according to claim 9, wherein when the vehicle speed is equal to or lower than the reference vehicle speed and the preceding vehicle is detected within the predetermined distance of the vehicle, the driving assistance unit weakens an assistance level of the driving assistance in comparison with a case where the preceding vehicle is not detected within the predetermined distance of the vehicle.

12. The driving assistance apparatus according to claim 9,

wherein the assistance condition determining unit detects the preceding vehicle on the basis of information relating to a sound emitted by the preceding vehicle, which is included in the sound information obtained by the sound collecting unit.

13. The driving assistance apparatus according to claim 9, further comprising an image capturing unit configured to obtain image information from a periphery of the vehicle,

wherein the assistance condition determining unit detects the preceding vehicle on the basis of the image information obtained by the image capturing unit.

14. The driving assistance apparatus according to claim 9, further comprising a three-dimensional information obtaining unit configured to obtain three-dimensional information relating to an object on a periphery of the vehicle using detection waves,

wherein the assistance condition determining unit detects the preceding vehicle on the basis of the three-dimensional information obtained by the three-dimensional information obtaining unit.

15. The driving assistance apparatus according to claim 9, further comprising a communicating unit configured to exchange information with another vehicle,

wherein the assistance condition determining unit detects the preceding vehicle on the basis of information transmitted from the preceding vehicle and received by the communicating unit.

16. The driving assistance apparatus according to claim 1, wherein when the vehicle speed is equal to or lower than the reference vehicle speed and a railway crossing is detected within a predetermined distance of the vehicle, the driving assistance unit weakens an assistance level of the driving assistance in comparison with a case where the railway crossing is not detected within the predetermined distance of the vehicle.

17. The driving assistance apparatus according to claim 1, wherein when the vehicle speed is equal to or lower than the reference vehicle speed and a toll gate is detected within a predetermined distance of the vehicle, the driving assistance unit weakens an assistance level of the driving assistance in comparison with a case where the toll gate is not detected within the predetermined distance of the vehicle.

18. The driving assistance apparatus according to claim 1, further comprising a right/left turn waiting condition determining unit configured to determine whether or not the vehicle is in a right/left turn waiting condition,

wherein the assistance condition determining unit prohibits the driving assistance when the right/left turn waiting condition determining unit determines that the vehicle is in the right/left turn waiting condition, even if the vehicle speed is equal to or lower than the reference vehicle speed.

19. The driving assistance apparatus according to claim 1, further comprising a right/left turn waiting condition determining unit configured to determine whether or not the vehicle is in a right/left turn waiting condition,

wherein, when the vehicle speed is equal to or lower than the reference vehicle speed and the vehicle is determined by the right/left turn waiting condition determining unit to be in the right/left turn waiting condition, the driving assistance unit weakens an assistance level of the driving assistance in comparison with a case where the vehicle is determined not to be in the right/left turn waiting condition.

20. The driving assistance apparatus according to claim 18, further comprising:

a turn signal operation detecting unit configured to detect a turn signal operation performed by the driver,

wherein the right/left turn waiting condition determining unit determines that the vehicle is in the right/left turn waiting condition when an oncoming vehicle is detected on the basis of the sound information obtained by the sound collecting unit and the turn signal operation is detected by the turn signal operation detecting unit.

21. The driving assistance apparatus according to claim 18, further comprising:

an image capturing unit configured to obtain image information from a periphery of the vehicle; and

a turn signal operation detecting unit configured to detect a turn signal operation performed by the driver,

wherein the right/left turn waiting condition determining unit determines that the vehicle is in the right/left turn waiting condition when an oncoming vehicle is detected on the basis of the image information obtained by the image capturing unit and the turn signal operation is detected by the turn signal operation detecting unit.

22. The driving assistance apparatus according to claim 18, further comprising:

a three-dimensional information obtaining unit configured to obtain three-dimensional information relating to an object on a periphery of the vehicle using detection waves; and

a turn signal operation detecting unit configured to detect a turn signal operation performed by the driver,

wherein the right/left turn waiting condition determining unit determines that the vehicle is in the right/left turn waiting condition when an oncoming vehicle is detected on the basis of the three-dimensional information obtained by the three-dimensional information obtaining unit and the turn signal operation is detected by the turn signal operation detecting unit.

23. The driving assistance apparatus according to claim 19, further comprising:

a turn signal operation detecting unit configured to detect a turn signal operation performed by the driver,

wherein the right/left turn waiting condition determining unit determines that the vehicle is in the right/left turn waiting condition when an oncoming vehicle is detected on the basis of the sound information obtained by the sound collecting unit and the turn signal operation is detected by the turn signal operation detecting unit.

24. The driving assistance apparatus according to claim 19, further comprising:

an image capturing unit configured to obtain image information from a periphery of the vehicle; and

a turn signal operation detecting unit configured to detect a turn signal operation performed by the driver,

wherein the right/left turn waiting condition determining unit determines that the vehicle is in the right/left turn waiting condition when an oncoming vehicle is detected on the basis of the image information obtained by the image capturing unit and the turn signal operation is detected by the turn signal operation detecting unit.

25. The driving assistance apparatus according to claim 19, further comprising:

a three-dimensional information obtaining unit configured to obtain three-dimensional information relating to an object on a periphery of the vehicle using detection waves; and

a turn signal operation detecting unit configured to detect a turn signal operation performed by the driver,

wherein the right/left turn waiting condition determining unit determines that the vehicle is in the right/left turn waiting condition when an oncoming vehicle is detected on the basis of the three-dimensional information obtained by the three-dimensional information obtaining unit and the turn signal operation is detected by the turn signal operation detecting unit.

2. A driving assistance apparatus comprising:

a vehicle speed obtaining unit configured to obtain information indicating a vehicle speed of a vehicle;

an assistance condition determining unit configured to determine whether or not an assistance activation condition, which is a condition for providing a driver of the vehicle with driving assistance, is satisfied on the basis of whether or not the vehicle speed obtained by the vehicle speed obtaining unit is equal to or lower than a reference vehicle speed, and on the basis of information relating to an intersection or a preceding vehicle in front of the vehicle;

a driving assistance unit configured to execute, as the driving assistance, assistance including at least one of warning issuance to the driver, braking control, and steering control when the assistance condition determining unit determines that the assistance activation condition is satisfied;

a traffic light detecting unit configured to detect the traffic light; and

a sound collecting unit configured to obtain information relating to sounds on a periphery of the vehicle, including information relating to a sound emitted by the traffic light, wherein;

the assistance condition determining unit determines that the assistance activation condition is satisfied when the vehicle speed is equal to or lower than the reference vehicle speed, the intersection in front of the vehicle is an unsignalized intersection, which is an intersection at which a traffic light is not disposed, and a travel condition of the vehicle is such that the vehicle is stopped at the unsignalized intersection or about to enter the unsignalized intersection;

when the traffic light detecting unit detects the traffic light within a predetermined distance of the vehicle and when the assistance condition determining unit determines that the assistance activation condition is satisfied, the driving assistance unit weakens an assistance level of the driving assistance in comparison with a case where the traffic light is not detected within the predetermined distance of the vehicle; and

the traffic light detecting unit detects the traffic light on the basis of the information relating to the sound emitted by the traffic light, which is included in the sound information obtained by the sound collecting unit.

26. The driving assistance apparatus according to claim 2, wherein the assistance condition determining unit prohibits the driving assistance when the travel condition of the vehicle is such that the vehicle is not stopped at the unsignalized intersection or not about to enter the unsignalized intersection, even if the vehicle speed is equal to or lower than the reference vehicle speed.

27. The driving assistance apparatus according to claim 2, wherein when the vehicle speed is equal to or lower than the reference vehicle speed but the travel condition of the vehicle is such that the vehicle is not stopped at the unsignalized intersection or not about to enter the unsignalized intersection, the driving assistance unit weakens an assistance level of the driving assistance in comparison with a case where the travel condition of the vehicle is such that the vehicle is stopped at the unsignalized intersection or about to enter the unsignalized intersection.

28. The driving assistance apparatus according to claim 2, further comprising an image capturing unit configured to obtain image information from a periphery of the vehicle,

wherein the traffic light detecting unit detects the traffic light on the basis of the image information obtained by the image capturing unit.

29. The driving assistance apparatus according to claim 2, wherein the assistance condition determining unit determines that the assistance activation condition is satisfied when the vehicle speed is equal to or lower than the reference vehicle speed and a preceding vehicle is not detected within a predetermined distance of the vehicle.

30. The driving assistance apparatus according to claim 29, wherein the assistance condition determining unit prohibits the driving assistance when the preceding vehicle is detected within the predetermined distance of the vehicle, even if the vehicle speed is equal to or lower than the reference vehicle speed.

31. The driving assistance apparatus according to claim 29, wherein when the vehicle speed is equal to or lower than the reference vehicle speed and the preceding vehicle is detected within the predetermined distance of the vehicle, the driving assistance unit weakens an assistance level of the driving assistance in comparison with a case where the preceding vehicle is not detected within the predetermined distance of the vehicle.

32. The driving assistance apparatus according to claim 29,

wherein the assistance condition determining unit detects the preceding vehicle on the basis of information relating to a sound emitted by the preceding vehicle, which is included in the sound information obtained by the sound collecting unit.

33. The driving assistance apparatus according to claim 29, further comprising an image capturing unit configured to obtain image information from a periphery of the vehicle,

wherein the assistance condition determining unit detects the preceding vehicle on the basis of the image information obtained by the image capturing unit.

34. The driving assistance apparatus according to claim 29, further comprising a three-dimensional information obtaining unit configured to obtain three-dimensional information relating to an object on a periphery of the vehicle using detection waves,

wherein the assistance condition determining unit detects the preceding vehicle on the basis of the three-dimensional information obtained by the three-dimensional information obtaining unit.

35. The driving assistance apparatus according to claim 29, further comprising a communicating unit configured to exchange information with another vehicle,

wherein the assistance condition determining unit detects the preceding vehicle on the basis of information transmitted from the preceding vehicle and received by the communicating unit.

36. The driving assistance apparatus according to claim 2, wherein when the vehicle speed is equal to or lower than the reference vehicle speed and a railway crossing is detected within a predetermined distance of the vehicle, the driving assistance unit weakens an assistance level of the driving assistance in comparison with a case where the railway crossing is not detected within the predetermined distance of the vehicle.

37. The driving assistance apparatus according to claim 2, wherein when the vehicle speed is equal to or lower than the reference vehicle speed and a toll gate is detected within a predetermined distance of the vehicle, the driving assistance unit weakens an assistance level of the driving assistance in comparison with a case where the toll gate is not detected within the predetermined distance of the vehicle.

38. The driving assistance apparatus according to claim 2, further comprising a right/left turn waiting condition determining unit configured to determine whether or not the vehicle is in a right/left turn waiting condition,

wherein the assistance condition determining unit prohibits the driving assistance when the right/left turn waiting condition determining unit determines that the vehicle is in the right/left turn waiting condition, even if the vehicle speed is equal to or lower than the reference vehicle speed.

39. The driving assistance apparatus according to claim 2, further comprising a right/left turn waiting condition determining unit configured to determine whether or not the vehicle is in a right/left turn waiting condition,

wherein, when the vehicle speed is equal to or lower than the reference vehicle speed and the vehicle is determined by the right/left turn waiting condition determining unit to be in the right/left turn waiting condition, the driving assistance unit weakens an assistance level of the driving assistance in comparison with a case where the vehicle is determined not to be in the right/left turn waiting condition.

40. The driving assistance apparatus according to claim 38, further comprising:

a turn signal operation detecting unit configured to detect a turn signal operation performed by the driver,

wherein the right/left turn waiting condition determining unit determines that the vehicle is in the right/left turn waiting condition when an oncoming vehicle is detected on the basis of the sound information obtained by the sound collecting unit and the turn signal operation is detected by the turn signal operation detecting unit.

41. The driving assistance apparatus according to claim 38, further comprising:

an image capturing unit configured to obtain image information from a periphery of the vehicle; and

a turn signal operation detecting unit configured to detect a turn signal operation performed by the driver,

wherein the right/left turn waiting condition determining unit determines that the vehicle is in the right/left turn waiting condition when an oncoming vehicle is detected on the basis of the image information obtained by the image capturing unit and the turn signal operation is detected by the turn signal operation detecting unit.

42. The driving assistance apparatus according to claim 38, further comprising:

a three-dimensional information obtaining unit configured to obtain three-dimensional information relating to an object on a periphery of the vehicle using detection waves; and

a turn signal operation detecting unit configured to detect a turn signal operation performed by the driver,

wherein the right/left turn waiting condition determining unit determines that the vehicle is in the right/left turn waiting condition when an oncoming vehicle is detected on the basis of the three-dimensional information obtained by the three-dimensional information obtaining unit and the turn signal operation is detected by the turn signal operation detecting unit.

43. The driving assistance apparatus according to claim 39, further comprising:

a turn signal operation detecting unit configured to detect a turn signal operation performed by the driver,

wherein the right/left turn waiting condition determining unit determines that the vehicle is in the right/left turn waiting condition when an oncoming vehicle is detected on the basis of the sound information obtained by the sound collecting unit and the turn signal operation is detected by the turn signal operation detecting unit.

44. The driving assistance apparatus according to claim 39, further comprising:

an image capturing unit configured to obtain image information from a periphery of the vehicle; and

a turn signal operation detecting unit configured to detect a turn signal operation performed by the driver,

wherein the right/left turn waiting condition determining unit determines that the vehicle is in the right/left turn waiting condition when an oncoming vehicle is detected on the basis of the image information obtained by the image capturing unit and the turn signal operation is detected by the turn signal operation detecting unit.

45. The driving assistance apparatus according to claim 39, further comprising:

a three-dimensional information obtaining unit configured to obtain three-dimensional information relating to an object on a periphery of the vehicle using detection waves; and

a turn signal operation detecting unit configured to detect a turn signal operation performed by the driver,

wherein the right/left turn waiting condition determining unit determines that the vehicle is in the right/left turn waiting condition when an oncoming vehicle is detected on the basis of the three-dimensional information obtained by the three-dimensional information obtaining unit and the turn signal operation is detected by the turn signal operation detecting unit.

5-7. -7. (canceled)