Driving assistance device and driving assistance method

Patent metadata

Field	Value
Publication number	US-2019012920-A1
Application number	US-201616064668-A
Country	US
Kind code	A1
Filing date	Dec 18, 2016
Priority date	Dec 25, 2015
Publication date	Jan 10, 2019
Grant date	—

Abstract

A driving assistance device sets, in front of an own vehicle, an actuation region that is a region sandwiched by boundary lines, positioned at left and right, respectively. In a case where a target existing around the own vehicle has entered the actuation region, the device performs driving assistance for avoiding collision with the target or mitigating collision damage. The device, when setting the actuation region, in a case where the own vehicle is in a turning state, changes a lateral position of a boundary line in an outside in a turning direction of the own vehicle, of the left and right boundary lines of the actuation region, to a position closer to the own vehicle according to turning information. For a boundary line in an inside in a turning direction of the own vehicle, the device does not change a lateral position according to the turning information.

First claim

1 . A driving assistance device, comprising:
a target recognition section configured to recognize a target existing around an own vehicle; a region setting section configured to set, in front of the own vehicle, a front region that is a region sandwiched by boundary lines positioned leftwards and rightwards of the own vehicle, respectively; and a control section configured to perform driving assistance for avoiding collision between the own vehicle and the target or for mitigating collision damage, in a case where the target recognized by the target recognition section enters the front region, wherein the region setting section, in a case where the own vehicle is in a turning state, performs a one-side control of reducing the front region by changing a lateral position of a boundary line in an outside in a turning direction of the own vehicle, of the left and right boundary lines of the front region, to a position closer to the own vehicle according to turning information that is information on the turning state of the own vehicle, and for a boundary line in an inside in a turning direction of the own vehicle, by not changing of a lateral position according to the turning information.

2 . The driving assistance device according to claim 1 , wherein
the region setting section performs, by changing according to a traveling status of the own vehicle, the one-side control and a both-side control of reducing the front region, by changing lateral positions of the boundary lines on both left and right sides of the front region to positions closer to the own vehicle according to the turning information.

3 . The driving assistance device according to claim 2 , further comprising:
a status determination section configured to determine, as the traveling status of the own vehicle, whether the own vehicle is traveling on a curved road or whether the own vehicle is traveling unsteadily, wherein the region setting section performs the one-side control, in a case where it is determined by the status determination section that the own vehicle is traveling on the curved road or traveling unsteadily.

4 . The driving assistance device according to claim 1 , further comprising:
an operation determination section configured to determine start of a collision avoidance operation by a driver for avoiding collision between the target recognized by the target recognition section and the own vehicle, on a basis of the turning information, wherein the region setting section, in a case where it is determined by the operation determination section that the collision avoidance operation has been started, performs the both-side control of reducing the front region by changing lateral positions of the boundary lines on both left and right sides of the front region to positions closer to the own vehicle according to the turning information.

5 . The driving assistance device according to claim 4 , further comprising:
a type determination section configured to determine, in a case where it is determined by the operation determination section that the collision avoidance operation has been started, whether the target is recognized in the traveling direction of the own vehicle by the target recognition section and whether the recognized target is a target belonging to one of predetermined types, wherein the region setting section reduces the front region by the both-side control, in a case where it is determined by the operation determination section that the collision avoidance operation has been started under a condition that it is determined by the type determination section that the target is a target belonging to one of the predetermined types.

6 . The driving assistance device according to claim 1 , wherein
the turning information and other information different from the turning information are specified as an parameter for reducing the front region and the one-side control changes a lateral position of a boundary line in the outside in a turning direction of the own vehicle of the left and right boundary lines of the front region according to the turning information and the other information, and changes a lateral position of a boundary line in the inside in a turning direction of the own vehicle according to the other information.

7 . The driving assistance device according to claim 1 , wherein
the own vehicle mounts a radar device and an imaging device as target detecting devices to detect the target, and the control section performs the driving assistance, in a case where at least one of a target detected by the radar device, a target detected by the imaging device, and a target recognized by fusing detection information of the radar device and detection information of the imaging device, has entered the front region.

8 . A driving assistance method in a driving assistance device, comprising:
a target recognition step of recognizing a target existing around an own vehicle; a region setting step of setting, in front of the own vehicle in a traveling direction, a front region that is a region sandwiched by boundary lines positioned on a left side and on a right side of the own vehicle, respectively; and a control step of performing driving assistance for avoiding collision between the own vehicle and the target or for mitigating collision damage, in a case where the target recognized by the target recognition step enters the front region, wherein the region setting step, in a case where the own vehicle is in a turning state, performs a one-side control of reducing the front region by changing a lateral position of a boundary line in an outside in a turning direction of the own vehicle, of the left and right boundary lines of the front region, to a position closer to the own vehicle according to turning information that is information on the turning state of the own vehicle, and for a boundary line in an inside in a turning direction of the own vehicle, by not changing of a lateral position according to the turning information.

Assignees

• Denso Corp
• Toyota Motor Co Ltd

Inventors

• Tamura Kei
• Ito Yosuke
• Takahashi Toru
• Tanase Masayasu
• Ike Wataru

Classifications

• B60W2554/00

  Input parameters relating to objects · CPC title

• G08G1/166 Primary

  for active traffic, e.g. moving vehicles, pedestrians, bikes · CPC title

• B60W30/08

  Active safety systems} predicting or avoiding probable or impending collision {or attempting to minimise its consequences · CPC title

• B60W2540/12

  Brake pedal position · CPC title

• B60W2540/10

  Accelerator pedal position · CPC title