Driver assistance apparatus and recording medium containing computer program
A driver assistance apparatus for a vehicle calculates a vehicle speed of a random vehicle present ahead of the vehicle, and momentum of a front part or a rear part of the random vehicle, on the basis of detection data by a surrounding environment sensor configured to detect data regarding surrounding environment around the vehicle, and estimate a slip angle or a slip angular speed of a rear wheel of the random vehicle, on the basis of data regarding at least the vehicle speed of the random vehicle and the momentum of the front part or the rear part of the random vehicle, and data regarding an estimated distance from the rear wheel of the random vehicle to the front part or the rear part of the random vehicle.
1. A driver assistance apparatus for a vehicle, comprising:
one or more processors; and
one or more memories communicably coupled to the one or more processors, wherein
the processors are configured to
calculate a vehicle speed of a random vehicle present ahead of the vehicle, and momentum of a front part or a rear part of the random vehicle, on a basis of detection data by a surrounding environment sensor configured to detect data regarding surrounding environment around the vehicle,
estimate a slip angle or a slip angular speed of a rear wheel of the random vehicle, on a basis of data regarding at least the vehicle speed of the random vehicle and the momentum of the front part or the rear part of the random vehicle, and data regarding an estimated distance from the rear wheel of the random vehicle to the front part or the rear part of the random vehicle, and
decelerate the vehicle, on a condition that the slip angle or the slip angular speed of the rear wheel of the random vehicle exceeds a predetermined threshold.
2. The driver assistance apparatus according to claim 1 , wherein
as the estimated distance from the rear wheel of the random vehicle to the front part or the rear part of the random vehicle, two different distances including a first distance and a second distance are set in advance, and
the processors are configured to
estimate two values of the slip angle or two values of the slip angular speed, with use of each of the first distance and the second distance, and
set whichever value is greater out of the two values of the slip angle or the two values of the slip angular speed, to the slip angle or the slip angular speed of the rear wheel.
3. The driver assistance apparatus according to claim 2 , wherein
the first distance and the second distance are set in advance in accordance with a kind of the random vehicle, and
the processors are configured to
use the first distance and the second distance that accord with the kind of the random vehicle estimated on the basis of the detection data by the surrounding environment sensor.
4. The driver assistance apparatus according to claim 1 , wherein
on a condition that the slip angle or the slip angular speed of the rear wheel of the random vehicle exceeds a predetermined threshold,
the processors are configured to
record a traveling point of the random vehicle in a case where the slip angle or the slip angular speed of the rear wheel exceeds the predetermined threshold, and
afterwards, place limitation on one or both of a steering angular speed and an acceleration deceleration rate of the vehicle on an occasion that the vehicle passes through the traveling point.
5. A driver assistance apparatus for a vehicle, comprising:
a random vehicle momentum calculation unit configured to calculate a vehicle speed of a random vehicle present ahead of the vehicle, and momentum of a front part or a rear part of the random vehicle, on a basis of detection data by a surrounding environment sensor configured to detect data regarding surrounding environment around the vehicle;
a wheel slip angle estimation unit configured to estimate a slip angle or a slip angular speed of a rear wheel of the random vehicle, on a basis of data regarding at least the vehicle speed of the random vehicle and the momentum of the front part or the rear part of the random vehicle, and data regarding an estimated distance from the rear wheel of the random vehicle to the front part or the rear part of the random vehicle; and
a risk avoidance controller decelerate the vehicle, on a condition that the slip angle or the slip angular speed of the rear wheel of the random vehicle exceeds a predetermined threshold.
6. A non-transitory recording medium containing a computer program applicable to a driver assistance apparatus for a vehicle,
the computer program causing one or more processors to carry out processing comprising:
calculating a vehicle speed of a random vehicle present ahead of the vehicle, and momentum of a front part or a rear part of the random vehicle, on a basis of detection data by a surrounding environment sensor configured to detect data regarding surrounding environment around the vehicle;
estimating a slip angle or a slip angular speed of a rear wheel of the random vehicle, on a basis of data regarding at least the vehicle speed of the random vehicle and the momentum of the front part or the rear part of the random vehicle, and data regarding an estimated distance from the rear wheel of the random vehicle to the front part or the rear part of the random vehicle; and
decelerating the vehicle, on a condition that the slip angle or the slip angular speed of the rear wheel of the random vehicle exceeds a predetermined threshold.