Driving support apparatus performing driving support based on reliability of each detection apparatus

Patent metadata

Field	Value
Publication number	US-10435024-B2
Application number	US-201715653343-A
Country	US
Kind code	B2
Filing date	Jul 18, 2017
Priority date	Jul 19, 2016
Publication date	Oct 8, 2019
Grant date	Oct 8, 2019

Abstract

A driving support apparatus performing a plurality of driving support includes: a reliability acquiring unit that acquires each reliability of a plurality of detection apparatus, the reliability representing likelihood of a detection result of the detection apparatus; a determination unit that determines whether or not each of the detection apparatus is a high reliability apparatus determined based on a reliability threshold; a correspondence acquiring unit that acquires correspondence information representing a correspondence between combinations of the plurality of detection apparatus including information of whether or not each apparatus is a high reliability apparatus, and types of driving support to be performed; a setting unit that sets a driving support to be performed, based on a result of the determination; an executing unit that executes the driving support to be performed; and an output unit that outputs a command to allow the executing unit to execute the driving support.

First claim

What is claimed is:

1. A driving support apparatus mounted on a vehicle, performing a plurality of driving supports, the apparatus comprising:
a reliability acquiring unit that acquires reliabilities of a plurality of detection apparatuses, each detecting a state of the vehicle or a state of a surrounding of the vehicle, the reliabilities being acquired for each of the plurality of detection apparatuses, each reliability representing a likelihood of a detection result of a respective detection apparatus and each of the reliabilities comprising a quantitative value within a predetermined range;
a determination unit that determines whether each of the detection apparatuses is a reliability apparatus, the reliability apparatus being determined as a detection apparatus having a reliability that is higher than or equal to a reliability threshold;
a correspondence acquiring unit that acquires correspondence information representing a correspondence between combinations of the plurality of detection apparatuses including information of whether each apparatus is a reliability apparatus and types of driving support to be performed;
a setting unit that sets a driving support to be performed, based on a result of determination whether each of the detection apparatuses is a reliability apparatus and the correspondence information;
an executing unit that executes the driving support to be performed; and
an output unit that outputs a command to allow the executing unit to execute the driving support, wherein
the plurality of detection apparatuses include at least a left-right detecting unit that detects position of the vehicle in a left-right direction;
the execution unit includes a steering assist unit that executes, in response to a command related to a steering operation being outputted from the output unit, a driving support related to a steering operation, in accordance with the command outputted from the output unit, wherein
the steering assist unit includes a tracking command unit, a control value output unit and a tracking gain control unit,
the tracking command unit is configured to calculate a tracking control value representing a control value that allows a motor for steering operation to generate a tracking torque, in response to the command related to the steering operation being outputted, tracking torque being used such that a detection value of a physical quantity related to the steering operation tracks a target value of the physical quantity thereof,
the control value output unit is configured to output the tracking control command to the motor, and
the tracking gain control unit is configured to output a value in which an input value is multiplied by a predetermined gain,

the tracking gain control unit is configured to set a tracking gain such that the lower a reliability of the left-right detecting unit, the smaller the tracking gain, multiply the tracking control value by the tracking gain and output the multiplied value as a new tracking control value, the control value output unit is configured to output the new tracking control value as the tracking control value.

2. The driving support apparatus according to claim 1 , wherein
the correspondence information is configured to include the combinations, a driving support to be performed using a detection result of at least one reliability apparatus is included in the combinations, and the combinations and the driving support to be performed are correlated to each other.

3. The driving support apparatus according to claim 1 , wherein
the plurality of detection apparatuses includes at least
a location detecting unit that detects a location of the vehicle, and
a distance detecting unit that detects distance between the vehicle and an object in surrounding of the vehicle,

the correspondence information is configured to include combinations of the location detecting unit and the distance detecting unit in the plurality of detection apparatuses, including information of whether each apparatus is a reliability apparatus and types of driving support related to a vehicle speed, and
the combinations of the location detecting unit and the distance detecting unit and the types of driving support related to a vehicle speed being correlated to each other.

4. The driving support apparatus according to claim 1 , wherein
the plurality of detection apparatuses is comprised of at least two apparatuses including:
the location detecting unit which detects location of the vehicle,
the distance detecting unit which detects distance between the vehicle and an object in surrounding of the vehicle, and
a left-right detecting unit that detects position of the vehicle in a left-right direction,
the correspondence information is configured to include combinations of the location detecting unit, the distance detecting unit and the left-right detecting unit in the plurality of detection apparatuses, including information of whether each apparatus is a reliability apparatus and types of driving support related to a steering operation of the vehicle, and

the combinations of the location detecting unit, the distance detecting unit, the left-right detecting unit and the types of driving support related to a steering operation being correlated to each other.

5. A driving support apparatus mounted on a vehicle, performing a plurality of driving supports, the apparatus comprising:
a reliability acquiring unit that acquires reliabilities of a plurality of detection apparatuses, each detecting a state of the vehicle or a state of a surrounding of the vehicle, the reliabilities being acquired for each of the plurality of detection apparatuses, each reliability representing a likelihood of a detection result of a respective detection apparatus and each of the reliabilities comprising a quantitative value within a predetermined range;
a determination unit that determines whether each of the detection apparatuses is a reliability apparatus, the reliability apparatus being determined as a detection apparatus having a reliability that is higher than or equal to a reliability threshold;
a correspondence acquiring unit that acquires correspondence information representing a correspondence between combinations of the plurality of detection apparatuses including information of whether each apparatus is a reliability apparatus and types of driving support to be performed;
a setting unit that sets a driving support to be performed, based on a result of determination whether each of the detection apparatuses is a reliability apparatus and the correspondence information;
an executing unit that executes the driving support to be performed; and
an output unit that outputs a command to allow the executing unit to execute the driving support, wherein
the plurality of detection apparatuses include at least a left-right detecting unit that detects position of the vehicle in a left-right direction, and
the execution unit includes a steering assist unit that executes, in response to a command related to a steering operation being outputted from the output unit, a driving support related to a steering operation, in accordance with the command outputted from the output unit, wherein
the steering assist unit includes a tracking command unit, a control value output unit and a tracking gain control unit,
the tracking command unit being configured to calculate a tracking control value representing a control value that allows a motor for steering operation to generate a tracking torque, in response to the command related to the steering operation being outputted, the tracking torque being used such that a detection value of a physical quantity related to the steering operation tracks a target value of the physical quantity thereof,
the control value output unit being configured to output

Assignees

• Denso Corp

Inventors

• Akatsuka Hisaya
• Watanabe Daiji

Classifications

• B60W2556/20

  Data confidence level · CPC title

• B60W2050/0091

  of control inputs · CPC title

• B60W60/0053

  from vehicle to occupant · CPC title

• B60W60/0015

  specially adapted for safety · CPC title

• B60W2552/30

  Road curve radius · CPC title