Toyota Jidosha Kabushiki Kaisha

Continental Autonomous Mobility Germany Gmbh

Denso Corporation

Sho Hashimoto

Yumi Shimanaka

Mafune Kakeshita

Michael Patzelt

Akshay Rajendra

Satoshi Nakamura

Takashi Moriya

Noriaki Hasegawa

Yuki Nishikawa

Kenta Miyahara

Yusuke Fukui

Kazuya Okamoto

Hiroki Yabushita

Sei Miyazaki

Daiki Yasui

Nobuaki Fukuchi

Tomoki Somiya

Tooru Takahashi

Karin Morita

Kazumasa Harada

Takuto Kozaki

The control device according to the present disclosure is configured to execute, in a process of stopping a vehicle in an emergency, acquiring occupant information including information on at least one of a state or an attribute of an occupant of the vehicle, acquiring traveling environment information of the vehicle, calculating an in-vehicle risk indicating a risk of damage to the occupant when the vehicle is decelerated by the first braking control based on the occupant information, calculating an out-of-vehicle risk indicating a risk of damage caused by the vehicle based on the traveling environment information, braking the vehicle by the second braking control with less deceleration than the first braking control while the in-vehicle risk is higher than the out-of-vehicle risk, and braking the vehicle by the first braking control when the out-of-vehicle risk is higher than the in-vehicle risk.

Control device, control method, and storage medium

A vehicle includes an interface unit and a preventive safety device. The preventive safety device includes a performance evaluation unit that performs evaluation of driving performance of the autonomous driving kit, and a suppression unit that suppresses a cancel signal output from the autonomous driving kit to cancel the preventive safety function based on the evaluation of the driving performance.

Vehicle

A driving assistance device provides driving assistance for avoiding a collision between an own vehicle and an object around the own vehicle, based on detection information on the object. The driving assistance device includes: a primary target determination unit that, based on the detection information, determines an object to be a primary target of which a collision with the own vehicle is to be avoided; a secondary determination region setting unit that, based on the detection information, sets a secondary determination region in which to determine an object to be a secondary target of which a collision with the own vehicle is to be avoided on an avoidance steering route of the own vehicle for avoiding a collision with the primary target; a secondary target determination unit that, based on the detection information, determines an object to be the secondary target in the secondary determination region; and a steering assistance unit that provides steering assistance to the own vehicle. The steering assistance unit suppresses avoidance steering of the own vehicle if the primary target determination unit determines that the primary target exists and the secondary target determination unit determines that the secondary target exists.

Driving assistance device

The vehicle-travel control device estimates an evaluation level of the automated-driving management device from the standpoint of the vehicle-travel control device, when the vehicle is approaching a caution point indicating a point where caution needs to be exercised in driving, determines whether the vehicle-travel control device has a history of passing through the caution point with the vehicle-travel control device having received an execution prohibition instruction to prohibit execution of the travel assistance control, and when the vehicle-travel control device has received the execution prohibition instruction, and it is determined that the vehicle-travel control device does not have a history of passing through the caution point, changes an execution mode of the travel assistance control based on the evaluation level such that the travel assistance control is more likely to be executed.

Vehicle control system and method of controlling vehicle

When a collision avoidance steering control start condition becomes satisfied, a driving support ECU starts a steering control to avoid a collision with a frontward vehicle. The ECU prohibits the steering control when an indicated direction by turn indications of the frontward vehicle is the same as a planned direction of the steering control. The ECU sets the start condition to a first start condition, when the turn indicators of the frontward vehicle are not indicating a turning direction. The ECU sets the start condition to a second start condition, when the indicated direction is different from the planned direction. The first and second start conditions have been set such that an inter-vehicular distance between the host vehicle and the frontward vehicle of when the second start condition can be satisfied is shorter than one of when the first start condition can be satisfied.

Collision avoidance support apparatus

A vehicle collision avoidance assistance device is configured to perform forced braking or forced steering when a driver's vehicle has a possibility of colliding with an object ahead of the driver's vehicle, acquire at least one of information related to a condition of the driver's vehicle and information related to a situation around the driver's vehicle, determine, based on the acquired information, whether a request condition for requesting execution of the forced steering is satisfied and whether a forbiddance condition for forbidding the execution of the forced steering is satisfied, perform the forced braking when the request condition is not satisfied regardless of whether the forbiddance condition is satisfied, perform the forced steering when the forbiddance condition is not satisfied and the request condition is satisfied, and perform the forced braking when the forbiddance condition is satisfied though the request condition is satisfied.

Vehicle collision avoidance assistance device

A vehicle collision avoidance assist apparatus executes a collision avoidance control for avoiding a collision of an own vehicle with an object ahead of the own vehicle. The apparatus determines whether a driver of the own vehicle has a collision self-avoidance probability that the driver can avoid the collision of the own vehicle with the object ahead of the own vehicle by carrying out a driving operation to the own vehicle. When the apparatus determines that the driver does not have the collision self-avoidance probability, the apparatus sets a start timing of starting executing the collision avoidance control to a timing earlier than the start timing set when the apparatus determines that the driver has the collision self-avoidance probability.

Vehicle collision avoidance assist apparatus

A vehicle collision avoidance assist apparatus executes a collision avoidance steering maneuvering assist process of applying a steering force to an own vehicle to assist a collision avoidance steering maneuvering carried out by a driver when there is a probability that the own vehicle collides with an object ahead of the own vehicle, and the driver carries out the collision avoidance steering maneuvering to steer the own vehicle to avoid a collision of the own vehicle with the object. The apparatus notifies the driver of a necessity of carrying out the collision avoidance steering maneuvering when determining that there is the possibility that the own vehicle collides with the object ahead of the own vehicle.

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.

Vehicle control apparatus

A vehicle collision avoidance assist apparatus executes a steering avoidance control of setting an avoidance route for avoiding the collision of the own vehicle with the object in a lane in which the own vehicle moves and executing an avoiding steering process of forcibly steering the own vehicle so as to move the own vehicle along the avoidance route when an index value representing a probability of collision of an own vehicle with an object ahead of the own vehicle becomes equal to or greater than a predetermined index value. The apparatus stops an execution of the steering avoidance control when a departing amount of the own vehicle from the avoidance route becomes equal to or greater than a predetermined departing amount while the electronic control unit executes the steering avoidance control. The predetermined departing amount is set for each of sections of the avoidance route.

A collision avoidance assist apparatus executes an emergency steering control including processes to determine a target steering torque used to change a steering angle to avoid a collision of a vehicle with an obstacle so as not to move the vehicle out of a moving lane when the vehicle has a high probability of colliding with the obstacle, and the moving lane is a straight lane, and applies a steering torque corresponding to the determined target steering torque to a steering mechanism. The collision avoidance assist apparatus stops executing the emergency steering control when determining that the moving lane is a curved lane, based on only one of left and right lane markings at an avoidance side of the obstacle which is the left or the right side of the obstacle which the vehicle passes over while executing the emergency steering control.

Collision avoidance assist apparatus

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.

A collision avoidance assist apparatus calculates a lane marking recognition reliability level and execute an emergency steering control. The emergency steering control includes processes to determine a target steering torque to avoid a collision of a vehicle with an obstacle when determining that the vehicle has a high probability of colliding with the obstacle, a moving lane defined by the left and right lane markings is a straight lane, and the calculated lane marking recognition reliability level is equal to or higher than a first threshold reliability level, and apply a steering torque corresponding to the target steering torque to a steering mechanism. The collision avoidance assist apparatus stops executing the emergency steering control when the lane marking recognition reliability level becomes lower than a second threshold reliability level set to a value lower than the first threshold reliability level.

Growing community of inventors

Shizuoka-ken, Japan

Sho Hashimoto