Toyota Jidosha Kabushiki Kaisha

Ryota Murakami

Yuma Hoshikawa

Yuto Shimbo

Wataru Ike

Toshifumi Kawasaki

A driving assist apparatus executes an autonomous braking control when a predetermined autonomous stop condition becomes satisfied, executes a stopped state keeping control to keep the own vehicle stopped after stopping the own vehicle by the autonomous braking control, and terminates executing the stopped state keeping control when a predetermined stopped state keeping termination condition becomes satisfied while executing the stopped state keeping control. The driving assist apparatus executes a driving force limitation control to limit a driving force generated to move the own vehicle to a value smaller than the driving force which depends on an amount of operating the acceleration pedal when determining that the predetermined stopped state keeping termination condition is satisfied, and a mistaken pressing operation occurs. The mistaken pressing operation is an operation performed by a driver to mistakenly press an acceleration pedal with an intention to press a brake pedal.

Driving assist apparatus with autonomous braking control

When a collision avoidance target is a pedestrian or a bicycle, a driving assistance ECU performs automatic braking control. In this case, accelerator override cannot be performed. When the collision avoidance target is an automobile and when an accelerator operation amount is equal to or larger than a first operation amount threshold, the driving assistance ECU prohibits the automatic braking control. In this case, the accelerator override can be performed. When the accelerator operation amount is smaller than the first operation amount threshold, the driving assistance ECU performs the automatic braking control.

Collision avoidance assistance apparatus

When a driving assist ECU determines that a mistaken pedal operation has occurred, it starts an automatic brake control, and thereafter, ends the automatic brake control when a steering operation rate &#x3c9; is greater than a threshold &#x3c9;f (&#x3c9;&#x3e;&#x3c9;f). Whereas, when the ECU determines that the mistaken pedal operation has not occurred, it performs a steering override control and does not perform the automatic brake control, when a steering operation amount &#x3b8; is greater than a threshold &#x3b8;e or when the steering operation rate &#x3c9; is greater than the threshold.

Collision avoidance assist control apparatus

The vehicle moving control apparatus executes a following moving control to execute a target acceleration setting process and a following acceleration/deceleration process. The vehicle moving control apparatus corrects a target acceleration set by the target acceleration setting process to increase when the following moving control is executed, the target acceleration larger than zero is set by the target acceleration setting process, and an acceleration of an own vehicle is smaller than a predetermined threshold. The vehicle moving control apparatus stops the following acceleration/deceleration process and starts the steering avoidance control when a steering avoidance condition becomes satisfied as the following moving control is executed. The vehicle moving control apparatus limits the target acceleration to a value smaller than or equal to a predetermined acceleration when the steering avoidance control is stopped, and the following acceleration/deceleration process is restarted.

Vehicle moving control apparatus

A vehicle driving assist apparatus acquires a longitudinal distance between an own vehicle and an oncoming vehicle, and a lateral distance between the own vehicle and the oncoming vehicle. The vehicle driving assist apparatus acquires a collision index value which decreases as a ratio of the longitudinal distance to the lateral distance decreases and determine that the own vehicle potentially collides with the oncoming vehicle when a turning condition is satisfied, and a collision condition is satisfied. The turning condition is a condition that the own vehicle turns, crossing an oncoming traffic lane. The collision condition is a condition that the collision index value is within a predetermined index value range. The predetermined index value range at least includes the collision index value acquired when the longitudinal distance is equal to the lateral distance.

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Toyota, Japan

Ryota Murakami