Toyota Jidosha Kabushiki Kaisha

Masahiko Adachi

Kohei Tochigi

Shogo Ito

Shin Tanaka

Yuta Ikezawa

Shuichi Yamaki

A driving support apparatus () has: a setting device () for setting a first target position () on the basis of a first sign object (), if the first sign object requesting a vehicle () to stop is detected; and a supporting device () for performing a first deceleration control for decelerating the vehicle to a first target speed before the vehicle reaches the first target position, if a second sign object () representing a stop position is detected during a period when the first decelerating control is performed, the setting device sets a second target position () on the basis of the second sign object and the supporting device performs a second decelerating control for decelerating the vehicle to a second target speed before the vehicle reaches the second target position.

Driving support apparatus

A vehicle control apparatus is provided with: a recognizer configured to recognize a surrounding situation of a host vehicle; a controller programmed to perform a deceleration control when a deceleration target is recognized by the recognizer; and a detector configured to detect a slip of the host vehicle. The controller sets a first controlled variable, which is a controlled variable associated with the deceleration control when the slip of the host vehicle is detected without execution of the deceleration control, so as to suppress an extent of deceleration of the host vehicle, in comparison with a second controlled variable, which is the controlled variable when the slip of the host vehicle is not detected without execution of the deceleration control.

Vehicle control apparatus

A driving assistance apparatus can provide deceleration assistance of decelerating a host vehicle independently of an operation by a driver. The driving assistance apparatus is provided with: a specifier configured to specify a type of a target associated with the deceleration assistance, wherein the target is ahead of the host vehicle on a course thereof and requires the host vehicle to decelerate or stop; and a controller programmed to change an end condition associated with deceleration assistance, in accordance with the specified type.

Driving assistance apparatus

A driving support apparatus is provided with: a recognizer configured to recognize a light of a traffic light that exists ahead of a host vehicle; and a controller configured to perform a deceleration support control if the host vehicle needs to be decelerated on the basis of the recognized light. The controller is configured to suppress a degree of the deceleration support control if the host vehicle needs to be decelerated on the basis of the recognized light and if the recognized light includes a light indicating permission to travel in a particular direction, in comparison with when the recognized light does not include the light indicating the permission to travel in the particular direction.

A driving support apparatus is provided with: a recognizer configured to obtain information indicating a surrounding environment of a host vehicle, and configured to recognize a deceleration required target, which is a target that requires deceleration of the host vehicle; and a supporter configured to perform a driving support operation for supporting the deceleration of the host vehicle, on condition that the deceleration required target is recognized by the recognizer. If a recognition situation, which is recognized by said recognizer, of the deceleration required target that causes the driving support operation to be performed becomes uncertain while performing the driving support operation, said supporter is configured to maintain a preceding operating state of the driving support operation, which is an operating state immediately before the recognition situation becomes uncertain.

A vehicle control apparatus is provided with: an acquirer configured to obtain an expected end timing of a first deceleration support control, which is a deceleration support control for a first target, and an expected start timing of a second deceleration support control, which is the deceleration support control for a second target, if there is the first target as a deceleration target ahead of a host vehicle in the traveling direction and if there is the second target as the deceleration target ahead of the first target; and a controller programmed or configured to perform an interpolation deceleration support control of interpolating the first deceleration support control and the second deceleration support control, in a predetermined period including at least a part of an interval between the expected end timing and the predicted start timing, if the interval is less than a first time.

A vehicle control apparatus is provided with: a calculator configured to calculate a plurality of controlled variables for decelerating a host vehicle, if there are a plurality of deceleration targets ahead in a traveling direction of the host vehicle, in association with the plurality of deceleration targets; an output device configured to select and output one controlled variable from the plurality of controlled variables; and a controller programmed to perform the deceleration support control on the basis of the one controlled variable. When a deceleration support control is performed on the basis of a first controlled variable as the one controlled variable, the output device outputs a second controlled variable, which is different from the first controlled variable out of the plurality of controlled variables, instead of the first controlled variable as the one controlled variable, on condition that the second controlled variable is greater than a switching controlled variable.

In a driving assist device, an electronic control unit is configured to determine whether a target position is able to be decided from a predetermined object indicating that a vehicle needs to be decelerated, when recognizing the predetermined object, to perform a first assist by which the vehicle is decelerated at a first deceleration that is changed based on a brake operation by a driver, when determining that the target position is not able to be decided, and to perform a second assist by which the vehicle is decelerated at a second deceleration that is equal to or higher than a predetermined deceleration necessary to decelerate the vehicle to the target velocity before the vehicle reaches the target position decided from the predetermined object, when determining that the target position is able to be decided.

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Susono, Japan

Masahiko Adachi