US 12,283,190 B2
Driver assistance apparatus and recording medium containing computer program
Yosuke Takebayashi, Tokyo (JP); Yu Yoshida, Tokyo (JP); Riku Kato, Tokyo (JP); Hideyuki Takao, Tokyo (JP); and Ryuichi Sumikawa, Tokyo (JP)
Assigned to SUBARU CORPORATION, Tokyo (JP)
Appl. No. 17/928,421
Filed by SUBARU CORPORATION, Tokyo (JP)
PCT Filed Sep. 28, 2021, PCT No. PCT/JP2021/035511
§ 371(c)(1), (2) Date Nov. 29, 2022,
PCT Pub. No. WO2023/053165, PCT Pub. Date Apr. 6, 2023.
Prior Publication US 2024/0233545 A1, Jul. 11, 2024
Int. Cl. G08G 1/16 (2006.01); B60W 30/09 (2012.01); B60W 30/095 (2012.01)
CPC G08G 1/166 (2013.01) [B60W 30/0956 (2013.01); B60W 2554/4044 (2020.02); B60W 2554/802 (2020.02)] 7 Claims
OG exemplary drawing
 
1. A driver assistance apparatus configured to set a driving condition of a vehicle based on a collision risk of the vehicle with a moving body around the vehicle, the driver assistance apparatus comprising:
one or more processors;
one or more memories communicably coupled to the one or more processors, wherein the one or more processors are configured to carry out processing including
detecting the moving body and surrounding environment around the vehicle,
obtaining a speed and a current yaw rate of the moving body detected,
predicting multiple driving actions of the moving body, based on acceleration rates and steering angular speeds of the moving body assumed from the current yaw rate and the speed of the moving body detected, and obtaining, assuming that the moving body takes each of the multiple driving actions, multiple positions that the moving body reaches after a predetermined period of time, the multiple positions of the moving body corresponding to the respective multiple driving actions,
setting multiple driving conditions based on a current yaw rate and a speed of the vehicle, and obtaining, assuming that the vehicle travels under each of the multiple driving conditions, multiple positions that the vehicle reaches after the predetermined period of time, the multiple positions of the vehicle corresponding to the respective driving conditions,
calculating multiple collision risks between the moving body and the vehicle after the predetermined period of time, each of the multiple collision risks corresponding to one of the multiple driving conditions of the vehicle based on distances between the moving body and the vehicle, obtained from the positions of the moving body and the positions of the vehicle, after the predetermined period of time, probabilities of performing operations at the respective acceleration rates by the moving body, and probabilities of performing operations at the respective steering angular speeds by the moving body, and
selecting one of the driving conditions corresponding to one of the multiple collision risks, and setting the one of the driving conditions of the vehicle; and
a vehicle controller configured to, using the one of the driving conditions, control the vehicle to avoid collision with the moving body.