US 9,809,220 B2
Drive assist device, and drive assist method
Quy Hung Nguyen Van, Susono (JP); Hiroshi Kishi, Shizuoka (JP); Shintaro Yoshizawa, Gotemba (JP); and Hirokazu Kikuchi, Hadano (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota-shi, Aichi-ken (JP)
Appl. No. 14/785,044
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota-shi, Aichi (JP)
PCT Filed Apr. 25, 2013, PCT No. PCT/JP2013/062243
§ 371(c)(1), (2) Date Oct. 16, 2015,
PCT Pub. No. WO2014/174637, PCT Pub. Date Oct. 30, 2014.
Prior Publication US 2016/0082955 A1, Mar. 24, 2016
Int. Cl. B60W 30/09 (2012.01); B60T 7/12 (2006.01); B60W 30/08 (2012.01); G08G 1/16 (2006.01); B60T 7/22 (2006.01)
CPC B60W 30/09 (2013.01) [B60T 7/12 (2013.01); B60T 7/22 (2013.01); B60W 30/08 (2013.01); G08G 1/16 (2013.01); G08G 1/166 (2013.01); B60T 2201/022 (2013.01); B60W 2550/304 (2013.01); B60W 2550/308 (2013.01)] 16 Claims
OG exemplary drawing
 
1. A drive assist device comprising:
an ECU configured to:
calculate an index relating to a relative relationship between a vehicle and a target object;
determine whether to execute a drive assist control of the vehicle based on the index; and
control, in response to the ECU executing the drive assist control, the vehicle to perform at least one from among avoiding the target object and stabilizing a behavior of the vehicle,
wherein, in a case where a lateral sensed approach, which is expressed by a ratio of the vehicle width direction component of a relative speed between the vehicle and the target object and the vehicle width direction component of the relative distance, is smaller than a predetermined threshold value, the ECU is configured to calculate the index using below-described Equation (1)
T_PRE={(V+B·Ax)+K1·Vd}/{L+K2·D}  (1), and
wherein, in a case where the lateral sensed approach is equal to or greater than the predetermined threshold value, the ECU is configured to calculate the index using below-described Equation (2)
T_PRE=(V+B·Ax)/L  (2)
wherein in the Equations (1) and (2), T_PRE is the index, V is the vehicle travelling direction component of the relative speed, Vd is the vehicle width direction component of the relative speed, Ax is a deceleration of the vehicle, L is the vehicle travelling direction component of the relative distance, D is the vehicle width direction component of the relative distance, B is a predetermined coefficient, and K1 and K2 are arbitrary coefficients.