US 12,269,470 B2
Driving assistance device, driving assistance method, and program
Nobuaki Fukuchi, Numazu (JP); and Daiki Yasui, Atsugi (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on Feb. 21, 2023, as Appl. No. 18/171,753.
Claims priority of application No. 2022-058189 (JP), filed on Mar. 31, 2022.
Prior Publication US 2023/0311862 A1, Oct. 5, 2023
Int. Cl. B60W 30/09 (2012.01); B60W 10/20 (2006.01); B60W 30/095 (2012.01); B60W 50/08 (2020.01)
CPC B60W 30/09 (2013.01) [B60W 10/20 (2013.01); B60W 30/0956 (2013.01); B60W 50/08 (2013.01); B60W 2510/202 (2013.01); B60W 2540/18 (2013.01)] 9 Claims
OG exemplary drawing
 
1. A driving assistance device for executing collision avoidance control of controlling, when an obstacle which is highly likely to collide with an own vehicle is detected in a region located on a front side and front lateral sides of the own vehicle, a steering angle of the own vehicle so that the own vehicle travels along a target trajectory which enables the own vehicle to avoid the collision with the obstacle without deviating from a traveling lane, the driving assistance device comprising:
a target steering torque setting unit configured to set a target steering angle required to cause the own vehicle to travel along the target trajectory, and to set a target steering torque for matching a steering angle of the own vehicle with the target steering angle under a state in which a driver steering torque generated through one of a holding operation or a steering operation of a steering wheel by a driver of the own vehicle is not generated;
a cancellation torque setting unit configured to set a cancellation torque being a torque in a direction of canceling a total steering torque obtained by summing the driver steering torque and a steering assist torque set based on the driver steering torque; and
a steering control unit configured to execute steering control of controlling the steering angle of the own vehicle based on a torque control amount obtained by adding the target steering torque to the cancellation torque.