Vehicle driving assistance apparatus

Patent metadata

Field	Value
Publication number	US-9898929-B2
Application number	US-201314780189-A
Country	US
Kind code	B2
Filing date	Apr 10, 2013
Priority date	Apr 10, 2013
Publication date	Feb 20, 2018
Grant date	Feb 20, 2018

Abstract

A vehicle driving assistance apparatus has a sensor that detects an object around an own vehicle; and a processing apparatus that determines whether the object detected by the sensor is a static vehicle or a roadside static object, carries out driving assistance if a first driving assistance carrying-out condition is satisfied when determining as a static vehicle and carries out the driving assistance if a second driving assistance carrying-out condition is satisfied when determining as a roadside static object. A threshold concerning the first driving assistance carrying-out condition is lower than a threshold concerning the second driving assistance carrying-out condition.

First claim

The invention claimed is:

1. A vehicle driving assistance apparatus comprising,
a sensor that detects an object around an own vehicle; and
a processing apparatus that determines whether the object detected by the sensor is a static vehicle or a roadside static object, carries out driving assistance if a first driving assistance carrying-out condition is satisfied when determining the object as a static vehicle, and carries out the driving assistance if a second driving assistance carrying-out condition is satisfied when determining the object as a roadside static object, wherein
a threshold concerning the first driving assistance carrying-out condition is lower than a threshold concerning the second driving assistance carrying-out condition,
the first and second driving assistance carrying-out conditions include conditions that a lateral position of the object with respect to the own vehicle falls within a predetermined range,
the predetermined range concerning the first driving assistance carrying-out condition is greater than the predetermined range concerning the second driving assistance carrying-out condition,
the first and second driving assistance carrying-out conditions include conditions that an estimated value of a period of time elapsing until a collision between the own vehicle and the object is less than or equal to a predetermined period of time, and
the predetermined period of time concerning the first driving assistance carrying-out condition is greater than the predetermined period of time concerning the second driving assistance carrying-out condition.

2. The vehicle driving assistance apparatus as claimed in claim 1 , wherein
when determining the object as a static vehicle, the processing apparatus calculates a first index value indicating a probability that the object is a static vehicle, determines based on a third driving assistance carrying-out condition whether to carry out the driving assistance if the calculated first index value is less than a predetermined reference value, and determines based on the first driving assistance carrying-out condition whether to carry out the driving assistance if the calculated first index value is greater than or equal to the predetermined reference value, and
a threshold concerning the first driving assistance carrying-out condition is lower than a threshold concerning the third driving assistance carrying-out condition.

3. The vehicle driving assistance apparatus as claimed in claim 1 , wherein
when determining that the object as a roadside static object, the processing apparatus calculates a second index value indicating a probability that the object is a roadside static object, determines based on a third driving assistance carrying-out condition whether to carry out the driving assistance if the calculated second index value is less than a predetermined reference value, and determines based on the second driving assistance carrying-out condition whether to carry out the driving assistance if the calculated second index value is greater than or equal to the predetermined reference value, and
a threshold concerning the second driving assistance carrying-out condition is lower than a threshold concerning the third driving assistance carrying-out condition.

4. The vehicle driving assistance apparatus as claimed in claim 3 , wherein
the second index value is calculated in such a manner that the second index value is higher in a case where a road in front of the own vehicle is a curved road than a case where the road in front of the own vehicle is a straight road.

5. A vehicle driving assistance apparatus comprising,
a sensor that detects an object around an own vehicle; and
a processing apparatus that determines whether the object detected by the sensor is a static vehicle or a roadside static object, carries out driving assistance if a first driving assistance carrying-out condition is satisfied when determining the object as a static vehicle, and carries out the driving assistance if a second driving assistance carrying-out condition is satisfied when determining the object as a roadside static object, wherein
a threshold concerning the first driving assistance carrying-out condition is lower than a threshold concerning the second driving assistance carrying-out condition,
the first and second driving assistance carrying-out conditions include conditions that a lateral position of the object with respect to the own vehicle falls within a predetermined range,
the predetermined range concerning the first driving assistance carrying-out condition is greater than the predetermined range concerning the second driving assistance carrying-out condition,
when determining the object as a static vehicle, the processing apparatus calculates a first index value indicating a probability that the object is a static vehicle, determines based on a third driving assistance carrying-out condition whether to carry out the driving assistance if the calculated first index value is less than a predetermined reference value, and determines based on the first driving assistance carrying-out condition whether to carry out the driving assistance if the calculated first index value is greater than or equal to the predetermined reference value, and
a threshold concerning the first driving assistance carrying-out condition is lower than a threshold concerning the third driving assistance carrying-out condition.

6. The vehicle driving assistance apparatus as claimed in claim 5 , wherein
when determining that the object as a roadside static object, the processing apparatus calculates a second index value indicating a probability that the object is a roadside static object, determines based on a third driving assistance carrying-out condition whether to carry out the driving assistance if the calculated second index value is less than a predetermined reference value, and determines based on the second driving assistance carrying-out condition whether to carry out the driving assistance if the calculated second index value is greater than or equal to the predetermined reference value, and
a threshold concerning the second driving assistance carrying-out condition is lower than a threshold concerning the third driving assistance carrying-out condition.

7. The vehicle driving assistance apparatus as claimed in claim 6 , wherein
the second index value is calculated in such a manner that the second index value is higher in a case where a road in front of the own vehicle is a curved road than a case where the road in front of the own vehicle is a straight road.

8. A vehicle driving assistance apparatus comprising,
a sensor that detects an object around an own vehicle; and
a processing apparatus that determines whether the object detected by the sensor is a static vehicle or a roadside static object, carries out driving assistance if a first driving assistance carrying-out condition is satisfied when determining the object as a static vehicle, and carries out the driving assistance if a second driving assistance carrying-out condition is satisfied when determining the object as a roadside static object, wherein
a threshold concerning the first driving assistance carrying-out condition is lower than a threshold concerning the second driving assistance carrying-out condition,
the first and second driving assistance carrying-out conditions include conditions that an estimated value of a period of time elapsing until a collision between the own vehicle and the object is less than or equal to a predetermined period of time,
the predetermined period of time concerning the first driving assistance carrying-out condition is greater than the predetermined period of time concerning the second driving assistance carrying-

Assignees

• Harada Tomoaki
• Ito Yosuke
• Toyota Motor Co Ltd

Inventors

• Harada Tomoaki
• Ito Yosuke

Classifications

• G06V10/75

  Organisation of the matching processes, e.g. simultaneous or sequential comparisons of image or video features; Coarse-fine approaches, e.g. multi-scale approaches; using context analysis; Selection of dictionaries · CPC title

• B60W2552/30

  Road curve radius · CPC title

• B60W2554/00

  Input parameters relating to objects · CPC title

• B60W2556/50

  of positioning data, e.g. GPS [Global Positioning System] data · CPC title

• B60W2552/05

  Type of road, e.g. motorways, local streets, paved or unpaved roads · CPC title