The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Oct. 22, 2024
Filed:
Aug. 31, 2022
Toyota Jidosha Kabushiki Kaisha, Toyota, JP;
Ryu Hatakeyama, Nisshin, JP;
TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota, JP;
Abstract
A driving assistance apparatus includes a surrounding information acquisition device configured to acquire information on a three-dimensional object present in surroundings of a vehicle and a lane marking extending in front of the vehicle as surrounding information, a vehicle speed detection device, and a control unit configured to execute, as a steering assist control, a lane tracing assist control and a lane changing assist control, in which the control unit is configured to determine whether or not a tow condition that is satisfied in a case where a towed vehicle is coupled to the vehicle is satisfied, based on the surrounding information and vehicle speed, and make a lane change time longer in a case where a tow condition is satisfied when a start condition of the lane changing assist control is satisfied than a case where the tow condition is not satisfied.