US 11,834,072 B2
Driving assist apparatus with autonomous braking control
Yuto Shimbo, Toyota (JP); Yuma Hoshikawa, Nagoya (JP); Toshifumi Kawasaki, Toyota (JP); and Ryota Murakami, Toyota (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on Sep. 29, 2020, as Appl. No. 17/035,852.
Claims priority of application No. 2020-001798 (JP), filed on Jan. 9, 2020.
Prior Publication US 2021/0213974 A1, Jul. 15, 2021
Int. Cl. B60W 60/00 (2020.01); B60W 10/18 (2012.01); B60W 30/09 (2012.01); B60W 50/10 (2012.01); B60W 40/08 (2012.01); B60W 10/08 (2006.01); G08G 1/16 (2006.01); B60W 10/06 (2006.01)
CPC B60W 60/0015 (2020.02) [B60W 10/06 (2013.01); B60W 10/08 (2013.01); B60W 10/18 (2013.01); B60W 30/09 (2013.01); B60W 40/08 (2013.01); B60W 50/10 (2013.01); G08G 1/16 (2013.01); B60W 2540/10 (2013.01); B60W 2540/12 (2013.01); B60W 2554/00 (2020.02)] 8 Claims
OG exemplary drawing
 
1. A driving assist apparatus, comprising an electronic control unit configured to:
execute an autonomous braking control to apply a braking force to an own vehicle to autonomously stop the own vehicle when the electronic control unit determines that a predetermined autonomous stop condition becomes satisfied;
execute a stopped state keeping control to keep the own vehicle stopped after the electronic control unit stops the own vehicle by the autonomous braking control;
terminate executing the stopped state keeping control when the electronic control unit determines that a predetermined stopped state keeping termination condition becomes satisfied while the electronic control unit executes the stopped state keeping control, the predetermined stopped state keeping termination condition being satisfied after the stopped state keeping control has been executed for a predetermined amount of time;
determine whether a mistaken pressing operation occurs subsequent to executing the autonomous braking control and prior to terminating the stopped state keeping control, the mistaken pressing operation being an operation performed by a driver of the own vehicle to mistakenly press an acceleration pedal of the own vehicle with an intention to press a brake pedal of the own vehicle; and
in response to determining that the mistaken pressing operation has occurred, when terminating the stopped state keeping control, the electronic control unit is further configured to limit a driving force generated to move the own vehicle subsequent to executing the autonomous braking control, wherein the driving force is limited to a value smaller than an initial driving force which was projected to be generated due to the mistaken pressing operation.