Vehicle driving assistance system
First Claim
1. A vehicle driving assistance system comprising:
- driving environment recognition means for recognizing a driving environment ahead of a subject vehicle so as to detect objects;
driving condition detection means for detecting a driving condition of the subject vehicle;
object riskiness setting means for setting an object collision riskiness of the subject vehicle against each of the objects with a range given in an azimuthal direction where each of objects exists as the basis for the subject vehicle based on each of the objects and the driving condition; and
azimuthal angle riskiness setting means for setting an azimuthal angle collision riskiness with the objects when the subject vehicle advances in each azimuthal direction based on a maximum value of the object collision riskiness in each azimuthal direction, and wherein the object riskiness setting means corrects the object collision riskiness according to a road surface friction coefficient.
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Accused Products
Abstract
A riskiness reference value Riskm is corrected and calculated for each target object according the a road surface friction coefficient based on a vehicle-to-target time and a collision allowance time, and a riskiness Riskm (ΔAm) for each three-dimensional object is set based on the riskiness reference value Riskm with a range which uses a probability distribution given in an azimuthal angle direction where each target object exists, whereby a riskiness Risk (ΔA) is set for each azimuthal angle. Then, alarming and brake controlling are made to be executed according to a riskiness Risk (0) at an azimuthal angle of 0, and a steering angle control amount θstrt is obtained from the current riskiness Risk (ΔA) of each azimuthal angle and an estimated riskiness Risk (ΔA)e of each azimuthal angle after a set time period.
13 Citations
13 Claims
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1. A vehicle driving assistance system comprising:
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driving environment recognition means for recognizing a driving environment ahead of a subject vehicle so as to detect objects; driving condition detection means for detecting a driving condition of the subject vehicle; object riskiness setting means for setting an object collision riskiness of the subject vehicle against each of the objects with a range given in an azimuthal direction where each of objects exists as the basis for the subject vehicle based on each of the objects and the driving condition; and azimuthal angle riskiness setting means for setting an azimuthal angle collision riskiness with the objects when the subject vehicle advances in each azimuthal direction based on a maximum value of the object collision riskiness in each azimuthal direction, and wherein the object riskiness setting means corrects the object collision riskiness according to a road surface friction coefficient. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A vehicle driving assistance system comprising:
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driving environment recognition means for recognizing a driving environment ahead of a subject vehicle so as to detect objects; driving condition detection means for detecting a driving condition of the subject vehicle; object riskiness setting means for setting an object collision riskiness of the subject vehicle against each of the objects with a range given in an azimuthal direction where each of objects exists as the basis for the subject vehicle based on each of the objects and the driving condition; and azimuthal angle riskiness setting means for setting an azimuthal angle collision riskiness with the objects when the subject vehicle advances in each azimuthal direction based on a maximum value of the object collision riskiness in each azimuthal direction, wherein at least any of alarm control, automatic brake control and automatic steering control is executed based on the azimuthal angle collision riskiness, and wherein the system detects riskiness least points where the azimuthal angle collision riskiness shifts from decrease to increase, and the zero points are points where the azimtuhal angle riskiness become zero on both left-hand side and right-hand side of the subject vehicle in a traveling direction thereof, and executes automatic steering control by calculating an automatic steering control amount according to a target point set by the azimuthal angle collision riskiness on the left-hand side and an absolute value of the azimuthal angle on the left-hand side at a point among riskiness least points and zero points detected on the left-hand side which lies nearest from the center of the subject vehicle, and the azimuthal angle collision riskiness on the right-hand side and an absolute value of the azimuthal angle on the right-hand side at a point among riskiness least points and zero points detected on the right-hand side which lies nearest from the center of the subject vehicle. - View Dependent Claims (10, 11, 12, 13)
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Specification