Granted Patent B2

US 12,447,960 · App. 18/603,592 · Granted Oct 21, 2025

Inventors: Kohei Tochigi (Shizuoka-ken, JP); Kota Endo (Mishima, JP)

Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA

B60W30/143B60W30/18145B60W2552/30B60W2720/10

Abstract

Claims (14)

1. A vehicle driving assistance apparatus, comprising an electronic control unit configured to execute a speed control of controlling a moving speed of an own vehicle to a target speed or less when (i) the own vehicle moves on a curved road, and (ii) the moving speed of the own vehicle is greater than the target speed,

wherein while the electronic control unit is executing the speed control, the electronic control unit is configured to control a deceleration of the own vehicle by the speed control such that a deceleration of the own vehicle realized when an own vehicle moving course is within a drivable area of the curved road, is smaller than the deceleration of the own vehicle realized when a part of the own vehicle moving course is out of an outer boundary of the drivable area,

wherein the own vehicle moving course corresponds to a course of the own vehicle to move from a current position of the own vehicle to a predetermined distance ahead, and

wherein while the electronic control unit is executing the speed control, the electronic control unit is configured to:

set the target speed;

set (i) a target deceleration rate corresponding to a target value of a deceleration rate of the own vehicle, (ii) a target deceleration rate increasing rate corresponding to a target value of an increasing rate of the deceleration rate of the own vehicle, and (iii) a target deceleration assistance start point of time corresponding to a target value of a point of time of starting to decelerate the own vehicle such that the moving speed of the own vehicle is controlled to the target speed or less; and

execute the speed control in accordance with the target speed, the target deceleration rate, the target deceleration rate increasing rate, and the target deceleration assistance start point of time, and

wherein when the own vehicle moving course is within the drivable area of the curved road while the electronic control unit is executing the speed control, the electronic control unit is configured to control the deceleration of the own vehicle by the speed control such that the deceleration of the own vehicle is smaller than the deceleration of the own vehicle realized when a part of the own vehicle moving course is out of the outer boundary of the drivable area by executing at least one of:

a correction process of correcting the target speed so as to increase the target speed;

a correction process of correcting the target deceleration rate so as to decrease the target deceleration rate;

a correction process of correcting the target deceleration rate increasing rate so as to decrease the target deceleration rate increasing rate; and

a correction process of correcting the target deceleration assistance start point of time so as to retard the target deceleration assistance start point of time.

2. The vehicle driving assistance apparatus as claimed in claim 1 , wherein the electronic control unit is configured to set the predetermined distance such that the predetermined distance increases as a curvature of the curved road decreases.

3. The vehicle driving assistance apparatus as claimed in claim 1 , wherein when a part of the own vehicle moving course is out of the outer boundary of the drivable area while the electronic control unit is executing the speed control, the electronic control unit is configured to control the deceleration of the own vehicle by the speed control such that the deceleration of the own vehicle increases as a distance between the own vehicle and a point at which the own vehicle moving course exceeds the outer boundary of the drivable area, decreases.

Assignments (1)

Priority Claims (1)

Continuity (1)

References Cited (32)