| US 7,487,020 B2 | ||
| Driving assist apparatus and method for vehicle | ||
| Katsuhiko Iwazaki, Shizuoka-ken (Japan); Hisashi Satonaka, Susono (Japan); Yuichi Kubota, Okazaki (Japan); Tomohiko Endo, Toyota (Japan); Akira Matsui, Toyota (Japan); Hideyuki Iwakiri, Tajimi (Japan); Toru Sugiyama, Toyota (Japan); Seiji Kawakami, Susono (Japan); Hiroaki Kataoka, Susono (Japan); Arata Takahashi, Nagoya (Japan); and Yoshiki Ninomiya, Nagoya (Japan) | ||
| Assigned to Toyota Jidosha Kabushiki Kaisha, Toyota (Japan) | ||
| Filed on Jun. 21, 2004, as Appl. No. 10/871,013. | ||
| Claims priority of application No. 2003-183043 (JP), filed on Jun. 26, 2003. | ||
| Prior Publication US 2005/0021203 A1, Jan. 27, 2005 | ||
| This patent is subject to a terminal disclaimer. | ||
| Int. Cl. B62D 6/00 (2006.01); B62D 6/04 (2006.01); B60S 9/00 (2006.01); G05D 1/00 (2006.01) | ||
| U.S. Cl. 701—41 [701/23; 701/25; 701/44; 180/204] | 18 Claims |
| 1. A driving assist apparatus for a vehicle comprising:
a detecting portion that detects an initial deflection angle at an initial position of the vehicle, the deflection angle being
an angle formed between a direction of the vehicle at a target position and a direction of the vehicle at a present direction
of the vehicle;
a setting portion that sets a basic path along which the deflection angle is changed from the initial deflection angle to
a state of the deflection angle of 0 by steering under a predetermined condition in accordance with a running distance, wherein
the running distance changes with respect to one of a steering angle and a turning curvature; and
a computing portion that computes a target path that extends from the initial position to the target position by using the
basic path as a basis and adding a straight-line path to at least one of a site forward of the basic path and a site rearward
of the basic path under a predetermined condition,
wherein the computing portion computes a target path by similarity-enlarging the basic path.
|