Toyota Jidosha Kabushiki Kaisha

Continental Autonomous Mobility Germany Gmbh

Daiki Yasui

Nobuaki Fukuchi

Sho Hashimoto

Michael Patzelt

Akshay Rajendra

A driving assistance device () executes collision avoidance control of controlling a steering angle (θs) so that an own vehicle () travels along a target trajectory (Rt) which enables the own vehicle () to avoid collision with an obstacle (OB) without deviating from a traveling lane (LA). The driving assistance device () includes: a steering control unit () which executes, in order to avoid the collision, first steering control of increasing the steering angle (θs), and executes second steering control of reducing the steering angle (θs) in order to prevent the deviation from the traveling lane (LA); and a damping control unit () which executes damping control of applying a steering resistive force calculated based on a steering angle speed (dθs/dt) to a steered wheel. The damping control unit () executes the damping control during the execution of the second steering control.

Driving assistance device, driving assistance method, and program

To increase steering angle followability of automatic steering, provided is a driving assistance device for executing collision avoidance control of controlling a steering angle of an own vehicle such that the own vehicle travels along a target trajectory which enables the own vehicle to avoid a collision with an obstacle. The driving assistance device includes: a setting unit configured to set a target steering angle, and to set a target steering torque for matching the steering angle with the target steering angle; a cancellation unit configured to set a cancellation torque which cancels a total steering torque obtained by summing a driver steering torque and a steering assist torque set based on the driver steering torque; and a control unit configured to execute steering control of controlling the steering angle based on a torque control amount obtained by adding the target steering torque to the cancellation torque.

The vehicle driving assistance apparatus determines whether an own vehicle departs from an own vehicle moving lane while executing a steering avoidance control. When determining that the own vehicle departs from the own vehicle moving lane while executing the steering avoidance control, the vehicle driving assistance apparatus acquires a steering angle determined by a steering angle control pattern, changes the acquired steering angle to be a value to move the own vehicle toward a center of the own vehicle moving lane, sets the changed steering angle as a target steering angle, acquires a deceleration determined by a deceleration control pattern, increases the acquired deceleration, and sets the increased deceleration as a target deceleration.

Vehicle driving assistance apparatus, vehicle driving assistance method, and computer-readable storage medium storing vehicle driving assistance program

A vehicle control apparatus determines that a control start condition is satisfied when there is an object in an area of a route which the own vehicle moves and executes a steering control of steering the own vehicle to increase a yaw angle of the own vehicle with respect to a moving lane of the own vehicle and decrease the yaw angle to avoid a collision of the own vehicle with the object when determining that control start condition is satisfied. The vehicle control apparatus determines that a control termination condition is satisfied when the yaw angle becomes equal to or smaller than a predetermined yaw angle, and a steering angle of the own vehicle becomes equal to or smaller than a predetermined steering angle after starting steering the own vehicle to decrease the yaw angle in executing the steering control.

Growing community of inventors

Atsugi, Japan

Daiki Yasui