US 11,938,924 B2
Driving assistance control apparatus for vehicle, driving assistance control system for vehicle, and driving assistance control method for vehicle
Kei Kamiya, Kariya (JP); Toshinori Okita, Gotemba (JP); and Tasuku Usui, Gotemba (JP)
Assigned to DENSO CORPORATION, Kariya (JP); and TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by DENSO CORPORATION, Kariya (JP); and TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on Dec. 30, 2020, as Appl. No. 17/138,700.
Application 17/138,700 is a continuation of application No. PCT/JP2019/023935, filed on Jun. 17, 2019.
Claims priority of application No. 2018-127978 (JP), filed on Jul. 5, 2018.
Prior Publication US 2021/0114591 A1, Apr. 22, 2021
Int. Cl. B60W 30/09 (2012.01); B60W 30/095 (2012.01)
CPC B60W 30/09 (2013.01) [B60W 30/0953 (2013.01); B60W 30/0956 (2013.01); B60W 2510/18 (2013.01); B60W 2554/4049 (2020.02)] 11 Claims
OG exemplary drawing
 
1. A driving assistance control apparatus for a vehicle, comprising:
an acquirer configured to acquire a detected traveling state of the vehicle and a detected traveling state of an other vehicle; and
a controller configured to determine whether to perform braking assistance using both a deterministic indicator for collision and a deterministic indicator for crossing,
the deterministic indicator for collision including at least one of
a time to collision with the other vehicle,
a distance to collision with the other vehicle, and
a required deceleration to collision with the other vehicle in which the collision with the other vehicle occurs at a collision point, and
the deterministic indicator for crossing including at least one of
a time to reaching an expected crossing point on a path of travel of the other vehicle,
a distance to reaching the expected crossing point, and
a required deceleration to reaching the expected crossing point,
the expected crossing point being a point where a part of the vehicle is expected to first reach the path of travel of the other vehicle,
the deterministic indicator for collision and the deterministic indicator for crossing being acquired using the acquired traveling state of the vehicle and the acquired traveling state of the other vehicle, and
in response to determining to perform the braking assistance, cause a driving assistance unit to perform the braking assistance.