Driving assist system

Inventors: Takayuki Nagase (Tokyo, JP); Eiichi Shiraishi (Tokyo, JP)

Assignee: SUBARU CORPORATION

B60W50/082 B60K35/00 B60W50/10 B62D1/046 B60K2370/1446 B60K2370/782 B60W2050/0073 B60W2540/18

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Quick Facts

Patent No.: US 11,046,331
App. No.: 16/241,751
Granted: Jun 29, 2021
Kind: B2

External Links

USPTO Patent Center↗ Full Patent PDF↗

Abstract

A driving assist system includes a steering wheel contact position detector, a steering torque detector, and a driving mode setting calculator. The steering wheel contact position detector includes a plurality of contact sensors disposed in a segmented state on a circumference of a holding part provided on a steering wheel, and is configured to detect a position on the steering wheel at which a driver makes a contact with the steering wheel. The driving mode setting calculator is configured to set a driving mode on the basis of a driving condition. The driving mode setting calculator is configured to determine whether a steering torque detected by the steering torque detector is a steering override intended by the driver or is a false detection, on the basis of the steering torque detected by the steering torque detector and a position at which the contact is detected by the contact sensors.

Claims (52)

1. A driving assist system, comprising:

a steering wheel contact position detector including a plurality of contact sensors, the contact sensors including at least 1) a first contact sensor disposed in a driver side segment of a holding part provided on a steering wheel of an own vehicle and 2) a second contact sensor disposed in an inner peripheral side segment of the holding part of the steering wheel, the steering wheel contact position detector being configured to detect a position on the steering wheel at which a driver makes a contact with the steering wheel;

a steering torque detector configured to detect a steering torque of the driver; and

a driving mode setting calculator configured to determine whether the steering torque detected by the steering torque detector is a steering override intended by the driver or is a false detection that is not the steering override, on a basis of the steering torque detected by the steering torque detector and a position at which the contact is detected by the contact sensors, and

wherein the driving mode setting calculator is configured to determine that the steering torque detected by the steering torque is the false detection in case where the steering torque detected by the steering torque detector exceeds a steering override determining threshold set to a predetermined value and where one of the first contact sensor in the driver side segment and the second contact sensor in inner peripheral side segment has detected the contact.

2. The driving assist system according to claim 1 , wherein the driving mode setting calculator is configured to

identify any contact sensor, out of the contact sensors, that detects the contact when the driver holds the holding part, and

determine that the steering torque detected by the steering torque detector is the steering override, in a case where the steering torque detected by the steering torque detector exceeds a steering override determining threshold set to a predetermined value and where the identified contact sensor has detected the contact.

3. The driving assist system according to claim 1 , wherein

the contact sensors further includes 1) a third contact sensor disposed in an outer peripheral side segment of the holding part of the steering wheel and 2) a fourth contact sensor disposed in a windshield side segment of the holding part of the steering wheel, and

the driving mode setting calculator is configured to determine that the steering torque detected by the steering torque detector is the steering override, in a case where the steering torque detected by the steering torque detector exceeds the steering override determining threshold and where one of the third contact sensor in the outer peripheral side segment and the fourth contact sensor in the windshield side segment has detected the contact.

4. The driving assist system according to claim 1 ,

wherein the driving mode setting calculator is configured to set a driving mode of the own vehicle on a basis of a driving condition, the driving mode including a first driving assist mode, a second driving assist mode, and a manual driving mode, the first driving assist mode allowing for automatic driving that is based on a condition that the driver holds the steering wheel, the second driving assist mode allowing for the automatic driving that is not based on the condition that the driver holds the steering wheel, the manual driving mode allowing the driver himself/herself to steer the steering wheel, and

wherein the driving mode setting calculator is configured to cause the driving mode to make a transition to one of the first driving assist mode and the manual driving mode in accordance with a driving state, in a case where the driving mode setting calculator determines that the steering torque detected by the steering torque detector is the false detection that is not the steering override during traveling in the second driving assist mode.

5. The driving assist system according to claim 2 ,

6. The driving assist system according to claim 3 ,

7. The driving assist system according to claim 1 , wherein

the steering wheel contact position detector is divided into a left hand contact detector and a right hand contact detector,