Toyota Jidosha Kabushiki Kaisha

Nobuaki Fukuchi

Daiki Yasui

Sho Hashimoto

Yumi Shimanaka

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 executes a collision avoiding control of avoiding collision of an own vehicle with an object when a predetermined execution condition becomes satisfied. The collision avoiding control includes a steering control of changing a steering angle of the own vehicle and a braking force control of applying braking force to the own vehicle so as to realize a target deceleration. The vehicle control apparatus terminates the steering control and decreases the target deceleration at a first rate to terminate the braking force control when a predetermined steering termination condition that the collision has been avoided, becomes satisfied. The vehicle control apparatus terminates the steering control and decreases the target deceleration at a second rate to terminate the braking force control when a predetermined cancelation condition that a driver carries out a driving maneuver, becomes satisfied. The second rate is greater than the first rate.

Growing community of inventors

Numazu, Japan

Nobuaki Fukuchi