Granted Patent B2

US 12,337,831 · App. 17/578,919 · Granted Jun 24, 2025

Inventor: Yui Ota (Tokyo, JP)

Assignee: SUBARU CORPORATION

B60W30/09B60W30/18163B60W2554/4041B60W2554/4042B60W2720/10B60W2720/106

Abstract

Claims (32)

1. A driving assistance apparatus for a vehicle, the driving assistance apparatus comprising:

a forward-risk calculator configured to calculate a forward risk corresponding to a risk of a collision with a leading vehicle that travels ahead of the vehicle;

a backward-risk calculator configured to calculate a backward risk corresponding to a risk of a collision with a trailing vehicle that travels behind the vehicle;

a driving-condition setter configured to set a deceleration target of the vehicle while the vehicle is being decelerated, and set an acceleration target of the vehicle while the vehicle is being accelerated or is traveling at a constant speed, the deceleration target and the acceleration target being different from each other; and

an electronic control unit configured to control a speed of the vehicle in accordance with the deceleration target or the acceleration target, wherein

the driving-condition setter is configured to, in response to determining that the vehicle is being decelerated:

set, based only on the forward risk from the forward risk and the backward risk, a first deceleration target to be greater as the forward risk increases for avoiding the forward risk;

set, based only on the backward risk from the forward risk and the backward risk, a second deceleration target to be smaller as the backward risk increases for avoiding the backward risk;

set, in response to the first deceleration target being less than the second deceleration target, the first deceleration target for the deceleration target;

set, in response to the second deceleration target being less than the first deceleration target, a value smaller than the first deceleration target for the deceleration target; and

set, in response to the vehicle being accelerated or being traveling at the constant speed, the acceleration target such that the forward risk does not increase and the backward risk decreases.

2. The driving assistance apparatus according to claim 1 , wherein in a case where the vehicle can make a lane change from a current traveling lane to a lane adjacent to the current travel lane, the driving-condition setter is configured to prioritize the lane change.

3. The driving assistance apparatus according to claim 1 , wherein the driving-condition setter is configured to set the value smaller than the first deceleration target based on:

detecting a gaze of a driver of the vehicle based on image data that is obtained by an interior camera of the vehicle;

calculating a ratio of a time during which the driver looks ahead to a predetermined time; and

setting the value smaller than the first deceleration target based on the first deceleration target, the second deceleration target, and the ratio of the time during which the driver looks ahead.

4. The driving assistance apparatus according to claim 1 , wherein a current speed of the vehicle is maintained when the deceleration target is set to zero, the current speed of the vehicle is accelerated when the deceleration target is set to a negative value, and the current vehicle speed is decelerated when the deceleration target is set to a positive value.

5. A driving assistance apparatus for a vehicle, the driving assistance apparatus comprising circuitry configured to:

calculate a forward risk corresponding to a risk of a collision with a leading vehicle that travels ahead of the vehicle;

calculate a backward risk corresponding to a risk of a collision with a trailing vehicle that travels behind the vehicle;

set a deceleration target of the vehicle while the vehicle is being decelerated, and set an acceleration target of the vehicle while the vehicle is being accelerated or is traveling at a constant speed, the deceleration target and the acceleration target being different from each other;

control a speed of the vehicle in accordance with the deceleration target or the acceleration target;

set, based only on the forward risk from the forward risk and the backward risk, a first deceleration target to be greater as the forward risk increases for avoiding the forward risk;

set, based only on the backward risk from the forward risk and the backward risk, a second deceleration target to be smaller as the backward risk increases for avoiding the backward risk;

set, in response to the first deceleration target being less than the second deceleration target, the first deceleration target for the deceleration target;

set, in response to the second deceleration target being less than the first deceleration target, a value smaller than the first deceleration target for the deceleration target; and

set, in response to the vehicle being accelerated or being traveling at the constant speed, the acceleration target such that the forward risk does not increase and the backward risk decreases.

6. The driving assistance apparatus according to claim 5 , wherein the circuitry is configured to set the value smaller than the first deceleration target based on:

detecting a gaze of a driver of the vehicle based on image data that is obtained by an interior camera of the vehicle;

calculating a ratio of a time during which the driver looks ahead to a predetermined time; and

setting the value smaller than the first deceleration target based on the first deceleration target, the second deceleration target, and the ratio of the time during which the driver looks ahead.

7. The driving assistance apparatus according to claim 5 , wherein a current speed of the vehicle is maintained when the deceleration target is set to zero, the current speed of the vehicle is accelerated when the deceleration target is set to a negative value, and the current vehicle speed is decelerated when the deceleration target is set to a positive value.

Assignments (1)

Priority Claims (1)

Continuity (1)

References Cited (16)