Driving assistance apparatus
A technology of driving assistance and auxiliary control, applied in the direction of control device, transportation and packaging, input parameters of external conditions, etc., can solve problems such as irritability
Inactive Publication Date: 2020-06-09
TOYOTA JIDOSHA KK
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- Application Information
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Problems solved by technology
On the other hand, when the pedestrian exists far away from the white line, the driver of the vehicle judges that the possibility of colliding with the pedestrian is low, so if the evasion assist control is executed at the same timing as above, there may be a feeling of irritability. possibility of
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[0015] Hereinafter, embodiments of the driving assistance device will be described with reference to the drawings.
[0016]
[0017] First, refer to figure 1 The overall configuration of a vehicle on which the driving assistance device according to the present embodiment can be mounted will be described. figure 1 It is a block diagram showing the configuration of the vehicle according to the embodiment.
[0018] Such as figure 1 As shown, the vehicle 10 according to the present embodiment is configured to include an information detection unit 100 , a driving assistance device 200 , and a vehicle control unit 300 .
[0019] The information detection unit 100 includes an internal sensor 110 and an external sensor 120 . The internal sensor 110 includes, for example, a vehicle speed sensor, an acceleration sensor, a yaw rate sensor, a steering sensor, and the like, and detects internal parameters of the vehicle 10 . The external sensor 120 is configured to include, for examp...
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A driving assistance apparatus capable of suitably executing avoidance assistance control is provided with: an executor configured to perform an avoidance assistance control when there is an avoidancetarget (50), a collision with which is to be avoided, so as to avoid the collision between the vehicle (10) and the avoidance target (50); a first determinator (230) configured to determine whether or not a lateral distance between the avoidance target and a roadway boundary, which is a distance in a lateral direction of the vehicle, is greater than a first threshold value (W), wherein the roadway boundary is a boundary between a roadway on which the vehicle travels and an area outside the roadway in which the avoidance target exists; and a controller (240) programmed to control the executorto delay timing of starting the avoidance assistance control when the lateral distance is greater than the first threshold value, in comparison with when the lateral distance is less than the first threshold value.
Description
technical field [0001] The present invention relates to the technical field of driving assistance devices for assisting driving of vehicles. Background technique [0002] As such a device, there is known a device that executes control for avoiding a vehicle from colliding with an obstacle existing in front of the vehicle (hereinafter, appropriately referred to as "avoidance assist control"). For example, Patent Document 1 discloses a technology that, when a pedestrian is detected in front of the vehicle, automatically executes steering control and deceleration control to create a distance from the pedestrian and pass the pedestrian while decelerating. [0003] Patent Document 1: Japanese Patent Laid-Open No. 2017-095100 [0004] In the technique described in Patent Document 1, the avoidance assist control for avoiding pedestrians is executed on the condition that the distance between the own vehicle and the pedestrian in the front-rear direction of the own vehicle is smalle...
Claims
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IPC IPC(8): B60W30/09
CPCB60W30/09B60W30/0956B60W2554/4029B60W2554/4041B60W2554/801B60W2554/802B60W2554/4049B60W2554/00G06V20/58G06V20/588
Inventor 蒲谷实千佐藤南藤田和幸
Owner TOYOTA JIDOSHA KK