Granted Patent B2

US 12,735,003 · App. 18/349,317 · Granted Sep 15, 2026

Inventor: Toshiaki Ishikawa (Susono, JP)

Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA

B60T7/12B60W30/09B60W30/0956G08G1/166

Abstract

Claims (20)

1 . A driving assist apparatus comprising:

a sensor for detecting an object located in front of a vehicle and moving in the same direction as the vehicle; and

a controller for executing a brake control for applying a brake force to the vehicle during a time from a time point at which the obstacle satisfies a predetermined start condition to a time point at which a predetermined end condition is satisfied,

wherein,

the controller is configured to:

set a target stop distance such that the target stop distance increases as a relative speed of the object with respect to the vehicle increases when the controller executes the brake control; and

apply the brake force so that the vehicle stops when a distance between the object and the vehicle coincides with the target stop distance, and

the controller is configured to set the target stop distance such that the target stop distance is longer when a vehicle speed representing a speed of the vehicle is a first value than when the vehicle speed is a second value smaller than the first value, in a case where the relative speed when the vehicle speed is the first value is the same as the relative speed of when the vehicle speed is the second value.

2 . The driving assist apparatus according to claim 1 , wherein the target stop distance is a target distance of the vehicle from the object when the vehicle is stopped by the brake control.

3 . The driving assist apparatus according to claim 2 , wherein the controller is configured to determine a target deceleration such that the speed of the vehicle becomes 0 when the vehicle reaches the target stop distance based on the vehicle speed and a distance to the target stop distance, and apply the brake force based on the target deceleration so that the vehicle stops at the target stop distance.

4 . The driving assist apparatus according to claim 3 , wherein the target deceleration becomes smaller as the target stop distance becomes smaller.

5 . A driving assist method to perform a brake control for applying a brake force to a vehicle during a time from a time point at which an obstacle located in front of a vehicle and moving in the same direction as the vehicle satisfies a predetermined start condition to a time point at which a predetermined end condition is satisfied, the method being executed by a computer installed on the vehicle, comprising:

a first step of setting a target stop distance such that the target stop distance increases as a relative speed of the object with respect to the vehicle increases when the brake control is being executed; and

a second step of applying the brake force so that the vehicle stops when a distance between the object and the vehicle coincides with the target stop distance,

wherein the first step of setting comprises setting the target stop distance such that the target stop distance is longer when a vehicle speed representing a speed of the vehicle is a first value than when the vehicle speed is a second value smaller than the first value, in a case where the relative speed of when the vehicle speed is the first value is the same as the relative speed when the vehicle speed is the second value.

6 . A non-transitory computer-readable storage medium storing a program for causing a computer installed on a vehicle to execute a brake control for applying a brake force to the vehicle during a time from a time point at which an obstacle located in front of the vehicle and moving in the same direction as the vehicle satisfies a predetermined start condition to a time point at which a predetermined end condition is satisfied,

the program causing the computer to implement processes of:

a first step of setting a target stop distance such that the target stop distance increases as a relative speed of the object with respect to the vehicle increases when the brake control is being executed; and

a second step of applying the brake force so that the vehicle stops when a distance between the object and the vehicle coincides with the target stop distance,

wherein the first step of setting comprises setting the target stop distance such that the target stop distance is longer when a vehicle speed representing a speed of the vehicle is a first value than when the vehicle speed is a second value smaller than the first value, in a case where the relative speed of when the vehicle speed is the first value is the same as the relative speed when the vehicle speed is the second value.

Assignments (1)

Priority Claims (1)

Continuity (1)

References Cited (23)