Toyota Jidosha Kabushiki Kaisha

Minami Sato

Shinichi Nagata

Kazuyuki Fujita

Jun Ozawa

Miyuki Kamatani

Takahisa Awata

Kohei Tochigi

Shinya Kawamata

Akitoshi Minemura

Satoshi Nakamura

Shoichi Hayasaka

Masayuki Shimizu

Wataru Sasagawa

Hiroshi Izumi

Shintaro Inoue

Masakazu Nishijima

Tomoyuki Doi

Takeshi Hamaguchi

Shintaro Saigo

Taira Nagashima

A control device for collision avoidance assistance includes a processor. The processor is configured to execute region setting processing for setting an assistance determination region indicating a particular region forward of a vehicle, and to execute accumulation processing in which the processor gives an object a determination value and accumulates the determination value. The object is located in the assistance determination region. The determination value is decided according to the position of the object. The processor is configured to perform collision avoidance assistance control of assisting in avoidance of collision of the vehicle and the object based on driving environment information indicating a driving environment of the vehicle, when a cumulative value regarding the object calculated in the accumulation processing exceeds a predetermined threshold value.

Control device for collision avoidance assistance, and collision avoidance assistance method

A target vehicle recognition apparatus for recognizing a target vehicle as a target to be avoided by steering control of a host vehicle detects a stopped vehicle located in front of the host vehicle, determines whether the stopped vehicle is in a forward-facing state to the host vehicle or a rearward-facing state to the host vehicle, determines whether the stopped vehicle is in a right boundary line deviation state crossing a right boundary line of a travel lane of the host vehicle, a left boundary line deviation state crossing a left boundary line of the travel lane, and recognizes the target vehicle for steering control based on a captured image captured by a front camera of the host vehicle and each of the determination results.

Target vehicle recognition apparatus and processing method of the target vehicle recognition apparatus

A control device for a vehicle including an operation unit that receives an operation for setting ON or OFF of a plurality of driver assistance functions, wherein at least two or more driver assistance functions among the plurality of driver assistance functions are driver assistance functions classified into a specific group in which the degree of intervention of control for the driving operation is smaller than other driver assistance functions, and the operation unit includes a main switch for collectively setting ON or OFF of the driver assistance functions classified into the specific group.

Control device for vehicle

A driving assist system executes driving assist control for avoiding a collision with a target ahead of a vehicle. The driving assist control operates when the target exists within an assist area. A crossing target is the target crossing a roadway area ahead of the vehicle from a first side toward a second side. The assist area for the crossing target is divided into a plurality of divided assist areas including a first assist area located on the first side as viewed from the vehicle and a second assist area located on the second side as viewed from the vehicle. When the crossing target exists in the second assist area, the driving assist system decreases a control strength of the driving assist control as compared with a case where the crossing target exists in the first assist area.

Driving assist system

A vehicle control device includes an electronic control unit configured to: enlarge the detection range, when the electronic control unit determines that a current deceleration support control is control for passing the object; set a new target deceleration of the host vehicle when a new object with a possibility of collision with the host vehicle has been detected in the enlarged detection range; determine whether an interval from an ending time of the current deceleration support control to a starting time of the next deceleration support control is less than a threshold value, when the electronic control unit determines that the next deceleration support control is control for passing the new object; and perform one of the inter-vehicle distance control and acceleration support control from the ending time to the starting time, when the electronic control unit determines that the interval is less than the threshold value.

Vehicle control device and control method

A driving support system executes a risk avoidance control for reducing a risk of collision with an object in front of a vehicle. A risk potential field represents a risk value as a function of position. An obstacle potential field is a risk potential field in which the risk value is maximum at a position of the object and decreases as a distance from the object increases. A vehicle center potential field is the risk potential field in which a valley of the risk value extends in a lane longitudinal direction from a position of the vehicle. A first risk potential field is the sum of the vehicle center potential field and the obstacle potential field. The driving support system executes a steering control such that the vehicle follows the first valley of the risk value represented by the first risk potential field.

Driving support system that executes a risk avoidance control for reducing a risk of collision with an object in front of a vehicle

A driving assist system executes driving assist control for avoiding a collision with a target ahead of a vehicle. The driving assist control operates when the target exists within an assist area. First and second roadway boundaries of a roadway area are located on first and second sides as viewed from the vehicle, respectively. A crossing target is the target crossing the roadway area ahead of the vehicle from the first side toward the second side. The assist area for the crossing target is an area between an assist start boundary located on the first side as viewed from the vehicle and an assist end boundary located on the second side as viewed from the vehicle. The driving assist system sets the assist end boundary at a position between the vehicle and the second roadway boundary of the roadway area.

A driving assistance apparatus includes: an assist device configured to perform a steering assist in which a steering torque for steering a vehicle in a direction away from a pedestrian is applied to the vehicle; and a canceller configured to cancel the steering assist if a cancellation condition is satisfied. The cancellation condition includes: a first condition caused by that at least a part of a traffic lane is not recognized; and a second condition caused by that a vehicle operation by a driver is performed. The canceller applies a steering torque in an opposite direction, which is opposite to a direction of the steering torque applied by the steering assist, to the vehicle if the first condition is satisfied, and is configured to increase a torque change amount per unit time of the steering torque in the opposite direction in comparison with when the second condition is satisfied.

Driving assistance apparatus

A control device includes an electronic control unit configured to expand a first detection range at least in front of a host vehicle during execution of current first steering control, determine whether next first steering control is needed to be implemented and whether a relative direction of a next second object with respect to the host vehicle is the same as a relative direction of a first object with respect to the host vehicle when the second object is detected, and perform relaxation steering control based on a target value smaller in absolute value than a return target value after an end of the current first steering control when the implementation of the next first steering control is determined to be needed and the relative directions with respect to the host vehicle are determined to be the same between the second and the first object.

Control device for vehicle and control method of vehicle

A driving assist device for a vehicle sets a a roadway area ahead of the vehicle, detects an avoidance target existing ahead of the vehicle, and executes collision avoidance control that avoids a collision between the vehicle and the avoidance target. The collision avoidance control is more likely to be executed when the avoidance target is within the roadway area than when the avoidance target is outside the roadway area. The driving assist device detects a roadway end object and a first lane marking of a first lane in which the vehicle exists. An imaginary position is a position apart from the detected position of the roadway end object toward the first lane by a constant distance. The driving assist device sets the imaginary position or the detected position of the the first lane marking as a boundary position of the roadway area based on a predetermined condition.

Driving assist device

A vehicle control apparatus is configured to perform a steering assistance control of steering a vehicle to move away from an obstacle to avoid when the obstacle is in a steering assistance range. The vehicle control apparatus is provided with: a determinator configured to determine a steering assistance amount associated with the steering assistance control for the obstacle, on the basis of a distance between two of a plurality of obstacles in a direction of travel of the vehicle, when the plurality of obstacles are in the steering assistance range: and a controller programmed to control the vehicle to perform the steering assistance control by using the steering assistance amount determined by the determinator.

Vehicle control apparatus

A vehicle control device is configured to include a steering control unit. The steering control unit is configured to perform a steering control such that a vehicle passes between a first obstacle of which a position in a lateral direction is closest to the vehicle, among one or multiple obstacles existing ahead of the vehicle on a left side of the traveling direction and a second obstacle of which a position in the lateral direction is closest to the vehicle, among one or multiple obstacles existing ahead of the vehicle on a right side of the traveling direction, and if there exists a third obstacle closer to the vehicle than the first obstacle and the second obstacle, inhibit the steering control to one side where the third obstacle exists either on the left side of the traveling direction or the right side of the traveling direction.

Vehicle control device

A vehicle control device includes at least one electronic control unit configured to recognize at least one object, calculate a time to collision, operate first driving assistance, when the time to collision is equal to or less than a first threshold value, operate second driving assistance for avoiding the collision between the at least one object and the host vehicle or reducing damage of the collision, when the time to collision is equal to or less than a second threshold value smaller than the first threshold value, and set, while the first driving assistance is operated, the second threshold value to a second setting value smaller than a first setting value set when the first driving assistance is not operated, when a second target object causing the second driving assistance to operate is the same object as a first target object causing the first driving assistance to operate.

Growing community of inventors

Ebina, Japan

Minami Sato