US 11,987,238 B2
Driving support apparatus
Quy Hung Nguyen Van, Susono (JP); and Shoichi Hayasaka, Shizuoka (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on Dec. 9, 2022, as Appl. No. 18/064,092.
Application 18/064,092 is a continuation of application No. 17/452,659, filed on Oct. 28, 2021, granted, now 11,738,744.
Application 17/452,659 is a continuation of application No. 16/881,420, filed on May 22, 2020, granted, now 11,364,901, issued on Jun. 21, 2022.
Application 16/881,420 is a continuation of application No. 16/124,412, filed on Sep. 7, 2018, granted, now 10,696,297, issued on Jun. 30, 2020.
Application 16/124,412 is a continuation of application No. 15/312,698, granted, now 10,106,154, issued on Oct. 23, 2018, previously published as PCT/IB2015/000751, filed on May 27, 2015.
Claims priority of application No. 2014-111774 (JP), filed on May 29, 2014.
Prior Publication US 2023/0109415 A1, Apr. 6, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. B60W 30/08 (2012.01); B60W 10/04 (2006.01); B60W 10/184 (2012.01); B60W 10/20 (2006.01); B60W 30/09 (2012.01); B60W 30/095 (2012.01); B60W 30/16 (2020.01); B60W 50/14 (2020.01); G01S 7/40 (2006.01); G01S 13/72 (2006.01); G01S 13/931 (2020.01); G05D 1/00 (2006.01); G08G 1/16 (2006.01)
CPC B60W 30/09 (2013.01) [B60W 10/04 (2013.01); B60W 10/184 (2013.01); B60W 10/20 (2013.01); B60W 30/08 (2013.01); B60W 30/095 (2013.01); B60W 30/0956 (2013.01); B60W 30/162 (2013.01); B60W 50/14 (2013.01); G01S 7/40 (2013.01); G01S 13/723 (2013.01); G01S 13/931 (2013.01); G05D 1/0219 (2013.01); G05D 1/0238 (2013.01); G08G 1/166 (2013.01); G08G 1/167 (2013.01); B60W 2050/143 (2013.01); B60W 2050/146 (2013.01); B60W 2520/105 (2013.01); B60W 2520/14 (2013.01); B60W 2554/00 (2020.02); B60W 2554/4026 (2020.02); B60W 2554/4029 (2020.02); B60W 2554/80 (2020.02); B60W 2720/24 (2013.01); B60W 2754/10 (2020.02); G01S 2013/9315 (2020.01); G01S 2013/93274 (2020.01); G05D 2201/0213 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A driving support apparatus provided on a subject vehicle, the driving support apparatus comprising:
processing circuitry configured to:
calculate a trajectory of a tracking-target moving body, so that a trajectory of the tracking-target moving body detected in at least one of a first area and a second area and a trajectory of the tracking-target moving body estimated in a blind spot area are continuous to each other, by estimating a position of the tracking-target moving body when the tracking-target moving body leaves one of the first area and the second area and enters the blind spot area and by detecting the position of the tracking-target moving body when the tracking-target moving body leaves the blind spot area and enters the other one of the first area and the second area, and
determine that the tracking-target moving body leaves the second area and enters the blind spot area using a blind spot entrance confirmation area, the blind spot entrance confirmation area being set in advance, being set to have a predetermined range, being situated on a rear side of the subject vehicle with respect to the blind spot area, and having boundaries that are different from boundaries of the second area.