Toyota Jidosha Kabushiki Kaisha

Denso Corporation

Shogo Ito

Kohei Tochigi

Yuta Ikezawa

Kumiko Kondo

Masahiko Adachi

Hirotada Otake

Shinya Kawamata

Shin Tanaka

Norio Tsuchida

Hiroshi Toyoda

Shuichi Yamaki

A vehicle control apparatus comprises a sensor that obtains object information on an object that is present in front of a vehicle; a regenerative brake device that applies a regenerative brake force to a wheel; a friction brake device that applies a friction brake force to the wheel; and a control unit that performs a deceleration control to control at least one of the regenerative brake device and the friction brake device, when an execution condition is satisfied, in such a manner that a total of the regenerative brake force and the friction brake force becomes equal to a target brake force. The control unit is configured to make a maximum regenerative brake force smaller when a friction condition is satisfied than when the friction condition is not satisfied. The friction condition is satisfied when it is predicted that the target brake force will become greater than a predetermined force.

Vehicle control apparatus

Provided is a driving support device () including: an operation sensor configured to acquire operation information that is information on an operation on a driving operation device included in an own vehicle; a periphery sensor configured to acquire peripheral information that is information on a target object existing in a periphery of the own vehicle; and a control device configured to execute deceleration support control of supporting a driving operation executed by a driver to decelerate the own vehicle when existence of a target object in front of the own vehicle is detected based on the peripheral information and a predetermined precondition relating to the target object and the own vehicle is satisfied. The control device determines, when the precondition is satisfied and an operation of depressing a brake pedal of the own vehicle is released, a mode of the deceleration support control based on information on one or both of a steering angle and a position of the own vehicle in a crossing direction on a travel lane on which the own vehicle is traveling at a time point when the precondition is satisfied and the operation of depressing the brake pedal of the own vehicle is released.

Driving support device, driving support method, and driving support program

A driving assistance apparatus is configured to determine whether a preset deceleration assistance start condition is satisfied, start deceleration assistance for a driver's vehicle against a first deceleration-triggering object, determine whether a preset deceleration assistance termination condition is satisfied, issue a deceleration assistance termination notification to a driver of the driver's vehicle, determine whether a second deceleration-triggering object is detected ahead of the driver's vehicle, and determine whether a preset quick resumption condition is satisfied. The driving assistance apparatus is configured not to issue the deceleration assistance termination notification when the driving assistance apparatus determines that the quick resumption condition is satisfied, even in a case where the driving assistance apparatus determines that the deceleration assistance termination condition for the first deceleration-triggering object is satisfied.

Driving assistance apparatus

A deceleration assistance device including: a target information acquisition unit for acquiring information of a target located in front of a vehicle; a position estimation unit for estimating an estimated position of a deceleration object; a position recognition unit for recognizing a position of the deceleration object; and a control unit for executing, based on the estimated position, first deceleration control of decelerating a vehicle at a first deceleration and executing, based on the recognized position, second deceleration control of decelerating the vehicle at a second deceleration. The control unit executes processing of gradually changing a deceleration of the vehicle from the first deceleration toward the second deceleration when the deceleration control is caused to transition from the first to the second deceleration control, and when a difference exists between the first and second deceleration.

Deceleration assistance device, vehicle, deceleration assistance method, and program

The driving support apparatus performs deceleration control of the vehicle. The driving support apparatus includes: a sensitivity setting unit configured to set an actuation sensitivity of a deceleration control; a deceleration execution unit configured to execute the deceleration control based on the actuation sensitivity; and a brake operation detection unit configured to detect a brake operation by a driver. The sensitivity setting unit changes the actuation sensitivity based on a control execution count which is the number of executions of the deceleration control and a driver operation count which is the number of operations of the brake operation.

Driving support apparatus

A driving assistance apparatus is configured to perform an assistance control of assisting in driving a vehicle, when a first condition and a second condition are satisfied, in a situation in which a target is recognized. The driving assistance apparatus is provided with: a determinator configured to determine a state of the assistance control. The determinator is configured (i) to determine that the state of the assistance control is a standby state if a standby condition is satisfied, wherein the standby condition requires that the first condition is satisfied, but the second condition is not satisfied, in the situation in which the target is recognized, and (ii) to determine that the state of the assistance control is an interruption state if an interruption condition is satisfied, wherein the interruption condition requires that the first condition is no longer satisfied while the satisfaction of the standby condition is continued.

A driving assistance device configured to execute deceleration assistance for a driver's vehicle when the driver's vehicle turns right or left at an intersection is configured to recognize, based on a detection result from an external sensor of the driver's vehicle, an adjacent vehicle traveling in an adjacent lane adjacent to a traveling lane of the driver's vehicle, determine whether the adjacent vehicle turns in the same direction of the driver's vehicle at the intersection based on the detection result from the external sensor when the adjacent vehicle is recognized and the driver's vehicle turns right or left at the intersection, and execute the deceleration assistance to cause a vehicle-to-vehicle distance between the driver's vehicle and the adjacent vehicle to reach a distance equal to or larger than a target driver's vehicle-to-adjacent vehicle distance when the driving assistance device determines that the adjacent vehicle turns in the same direction.

Driving assistance device

A driving assistance apparatus includes an estimator and a controller. The estimator estimates a first estimated vehicle speed and a second estimated vehicle speed when there are a first deceleration target and a second deceleration target in a course ahead of a vehicle, and when a driver of the vehicle releases an accelerator pedal. Wherein the first estimated vehicle speed is an estimated vehicle speed of the vehicle at a first target position corresponding to the first deceleration target, and the second estimated vehicle speed is an estimated vehicle speed of the vehicle at a second target position corresponding to the second deceleration target. The controller controls the vehicle to automatically decelerate toward the second target position when the first estimated vehicle speed is greater than a first predetermined value, and when the second estimated vehicle speed is less than a second predetermined value.

There is provided a driving assistance device that executes deceleration assistance of a host vehicle when a relative situation between a deceleration object in front of the host vehicle and the host vehicle satisfies a preset deceleration assistance precondition and a driver of the host vehicle does not operate an accelerator and a brake, the driving assistance device including a first deceleration assistance execution unit configured to execute a first deceleration assistance when the deceleration assistance precondition is satisfied in a state in which the driver of the host vehicle does not operate the accelerator and the brake, and a second deceleration assistance execution unit configured to execute a second deceleration assistance when the driver releases the accelerator or the brake in a state in which the deceleration assistance precondition is satisfied.

A driver assistance device is configured to determine whether a type of a deceleration target is included in a category of a position-fixed object or a moving object, and determine whether the deceleration target is lost, and to continue the deceleration assistance on assumption that the lost deceleration target exists when the deceleration target is determined to be lost. The driver assistance device is configured to notify a driver of a host vehicle that the deceleration target is lost when the deceleration target is determined to be lost and the type of the deceleration target is included in the category of the moving object, and not to notify the driver that the deceleration target is lost when the deceleration target is determined to be lost and the type of the deceleration target is included in the category of the position-fixed object.

Driver assistance device

A driving assistance apparatus is configured to provide deceleration assistance of decelerating a host vehicle, and is configured to end the deceleration assistance on condition that a pedal operation is performed by a driver while the deceleration assistance is provided. The driving assistance apparatus is provided with: an estimator configured to estimate an operation intention of the driver associated with an operation of a brake pedal, on condition that the brake pedal is operated by the driver while the deceleration assistance is provided; and a controller programmed to delay timing in which a deceleration assistance amount associated with the deceleration assistance becomes zero at the end of the deceleration assistance, if the estimated operation intention is caused by the target, in comparison with that if the estimated operation intention is not caused by the target.

When a driver is not in pedal erroneous operation inducing situation and a rate of change in an operation amount of an accelerator pedal is equal to or greater than a first erroneous operation determination threshold value, a driving assistance apparatus determines that operation of the accelerator pedal is erroneous operation. When the driver is in the pedal erroneous operation inducing situation and the rate of change in the operation amount of the accelerator pedal is equal to or greater than a second erroneous operation determination threshold value, the riving assistance apparatus determines that the operation of the accelerator pedal is the erroneous operation, and the second erroneous operation determination threshold value is smaller than the first erroneous operation determination threshold value.

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.

Growing community of inventors

Shizuoka-ken, Japan

Shogo Ito