US 12,304,469 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. 9, 2023, as Appl. No. 18/166,778.
Claims priority of application No. 2022-034399 (JP), filed on Mar. 7, 2022.
Prior Publication US 2023/0278551 A1, Sep. 7, 2023
Int. Cl. B60W 30/09 (2012.01); B60W 10/20 (2006.01); B60W 30/095 (2012.01)
CPC B60W 30/09 (2013.01) [B60W 10/20 (2013.01); B60W 30/0956 (2013.01); B60W 2554/4041 (2020.02)] 4 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 a steered wheel 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 steering control unit configured to execute, in order to avoid the collision between the own vehicle and the obstacle, first steering control being incremental steering of increasing the steering angle, and to execute second steering control including decremental steering of reducing the steering angle in order to prevent the deviation of the own vehicle from the traveling lane after the execution of the first steering control; and
a damping control unit configured to execute damping control of calculating a steering resistive force based on a steering angle speed during the execution of the collision avoidance control, and applying the calculated steering resistive force to the steered wheel,
wherein the damping control unit is configured to avoid executing the damping control during the execution of the first steering control, and to execute the damping control during the execution of the second steering control.